Reusable buoyancy modules for buoyancy control of underwater vehicles

Patent metadata

Field	Value
Publication number	US-10766147-B2
Application number	US-201916519905-A
Country	US
Kind code	B2
Filing date	Jul 23, 2019
Priority date	Sep 20, 2016
Publication date	Sep 8, 2020
Grant date	Sep 8, 2020

Abstract

A buoyancy module for use with a water environment robotic system of the type having an underwater robotic vehicle having a winch has a buoyancy configuration which can be selectively altered. The system includes a module that is configured to be repeatedly, selectively buoyantly engaged and buoyantly disengaged with the underwater robotic vehicle. A tether is connected to the module and is extendable and retractable in response to operation of the winch. Extending and retracting the module can buoyantly engage or buoyantly disengage the buoyancy module with the underwater robotic vehicle according to the operation of a state controller. By engaging and disengaging the buoyancy module, the buoyancy of the underwater robot can be selectively altered. A method is also disclosed.

First claim

The invention claimed is:

1. A buoyancy module arrangement for use with a water environment robotic system of the type having an underwater robotic vehicle having a winch, comprising
a buoyancy module configured to be repeatably, selectively buoyantly engaged and buoyantly disengaged with the underwater robotic vehicle;
a tether connecting the buoyancy module and the underwater robotic vehicle which is extendable and retractable in response to operation of the winch; and
a state controller operative to control winch to cause a transition of the robotic system between at least two buoyancy conditions including from a first condition to a second condition and back to the first condition;
wherein in the first condition the tether and buoyancy module are in a retracted position and the underwater robotic vehicle has a neutral buoyancy, and in the second condition the tether and buoyancy module are in an extended position and the underwater robotic vehicle has a negative buoyancy,
wherein the buoyancy module is buoyantly engaged in the first condition, and the buoyancy module is buoyantly disengaged with the underwater robot in the second condition, and
wherein the tether being in a slack condition causes the module to be in the state of being buoyantly disengaged with the underwater robot.

2. A buoyancy module arrangement for use with a water environment robotic system of the type having an underwater robotic vehicle having a winch, comprising:
a buoyancy module configured to be repeatably, selectively buoyantly engaged and buoyantly disengaged with the underwater robotic vehicle;
a tether connected to the buoyancy module and extendable and retractable in response to operation of the winch;
a state controller operative to control winch to cause a transition of the robotic system between at least two buoyancy conditions including from a first condition to a second condition and back to the first condition; and
a surface boat as part of the water environment robotic system and wherein the module is incorporated in the surface boat,
wherein in the first condition the tether and buoyancy module are in a retracted position and the underwater robotic vehicle has a neutral buoyancy, and in the second condition the tether and buoyancy module are in an extended position and the underwater robotic vehicle has a negative buoyancy,
wherein the buoyancy module is buoyantly engaged in the first condition, and the buoyancy module is buoyantly disengaged with the underwater robot in the second condition.

3. The buoyancy module arrangement for use with a water environment robotic system of the type having an underwater robotic vehicle having a winch, comprising: a buoyancy module configured to be repeatably, selectively buoyantly engaged and buoyantly disengaged with the underwater robotic vehicle;
a tether connected to the buoyancy module and extendable and retractable in response to operation of the winch; and
a state controller operative to control winch to cause a transition of the robotic system between at least two buoyancy conditions including from a first condition to a second condition and back to the first condition;
wherein in the first condition the tether and buoyancy module are in a retracted position and the underwater robotic vehicle has a neutral buoyancy, and in the second condition the tether and buoyancy module are in an extended position and the underwater robotic vehicle has a negative buoyancy,
wherein the buoyancy module is buoyantly engaged in the first condition, and the buoyancy module is buoyantly disengaged with the underwater robot in the second condition, and
wherein the module is a surface boat.

4. A buoyancy module as in claim 3 , wherein the surface boat is configured to perform functions on a surface of the water when the surface boat is in the disengaged condition.

5. The buoyancy module of claim 1 , further comprising a latching mechanism for securely engaging the buoyancy module to the underwater robotic vehicle.

6. The buoyancy module of claim 5 , wherein the latching mechanism comprises a magnet.

7. The buoyancy module of claim 1 , wherein the module includes multiple discrete units.

8. The buoyancy module of claim 2 , further comprising a latching mechanism for securely engaging the buoyancy module to the underwater robotic vehicle.

9. The buoyancy module of claim 8 , wherein the latching mechanism comprises a magnet.

10. The buoyancy module of claim 2 , wherein the module includes multiple discrete units.

11. The buoyancy module of claim 3 , further comprising a latching mechanism for securely engaging the buoyancy module to the underwater robotic vehicle.

12. The buoyancy module of claim 11 , wherein the latching mechanism comprises a magnet.

13. The buoyancy module of claim 3 , wherein the module includes multiple discrete units.

Assignees

• Saudi Arabian Oil Co

Inventors

• Trigui Hassane
• Outa Ali
• Patel Sahejad
• Abdellatif Fadl

Classifications

• B25J15/0028 Primary

  with movable, e.g. pivoting gripping jaw surfaces · CPC title

• B08B3/024 Primary

  Cleaning by means of spray elements moving over the surface to be cleaned · CPC title

• E21B41/04

  Manipulators for underwater operations, e.g. temporarily connected to well heads · CPC title

• F16H1/16

  comprising worm and worm-wheel · CPC title

• B23K31/125

  Weld quality monitoring · CPC title