Autonomous water-borne vehicle

Abstract

The technical disclosure herein describes an autonomous water-borne vehicle having a segmented non-planing hull with free flood fore and aft sections and a sealed center section. The disclosure also described such a vehicle having a fixed longitudinal thruster and a fixed lateral thruster for changing the heading of the vehicle. The disclosure also described such a vehicle having an autonomous mission system, an autonomous navigation system, and a web-based command and control system. The disclosure also describes such a vehicle having a submersible winch. The disclosure also describes such a vehicle wherein the sealed center section is of substantially rectangular cross section. The disclosure also describes such a vehicle having a wheeled battery tray.

Description

3. BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a simplified diagram of a vessel according to an embodiment of the present invention.

FIG. 2 is a drawing of an example nose fairing design of the vessel of the present invention.

FIG. 3 is a drawing of an example nose fairing design of the vessel of the present invention.

FIG. 4 is a drawing of an example nose fairing design of the vessel of the present invention.

FIG. 5 is a drawing of an example aft fairing design of the vessel of the present invention.

FIG. 6 is a drawing of example aft fairing design of the vessel of the present invention.

FIG. 7 is a drawing of the internal electronics and battery trays of various embodiments of the vessel of the present invention.

FIG. 8 is a drawing of the internal battery tray of various embodiments of the vessel of the present invention.

FIG. 9 is a drawing of the internal electronics tray of various embodiments of the vessel of the present invention.

FIG. 10 is a drawing of the U-shaped hull ribs of various embodiments of the vessel of the present invention.

FIG. 11 is a drawing of the antenna mounts of various embodiments of the vessel of the present invention.

FIG. 12 is a drawing of the center section lift assembly of various embodiments of the vessel of the present invention.

FIG. 13 is a drawing of the forward tow point of various embodiments of the vessel of the present invention.

FIG. 14 is a drawing of the transit navigation algorithm of various embodiments of the vessel of the present invention.

FIG. 15 is a drawing of the constant heading navigation algorithm of various embodiments of the vessel of the present invention.

FIG. 16 is a drawing of the station keeping algorithm of various embodiments of the vessel of the present invention.

FIG. 17 is a drawing of the motor control algorithm of various embodiments of the vessel of the present invention.

FIG. 18 is a drawing of the mission algorithm of various embodiments of the vessel of the present invention.

FIG. 19 is a drawing of the operator/vehicle algorithm of various embodiments of the vessel of the present invention.

FIG. 20 is a drawing of the motorized winch assembly of the various embodiments of the vessel of the present invention.

Claims

1. An autonomous water-borne vehicle comprising: a non-planing segmented hull comprising a fore section, a water-tight tubular center section, and an aft section;at least two fixed thrusters;an autonomous mission system comprising a computing device and associated software that: receives as inputs desired conditions, or actions, or a combination thereof; receives as inputs current events and user input; and operates navigation, payloads and other systems based on events and conditions;an autonomous navigation system comprising a computing device and associated electronics that: receives as inputs a desired heading, speed, or location, or a combination thereof; receives as inputs a current location, heading, and speed; and operates a feedback loop adjusting steering and propulsion controls based on the error between the current and desired heading, speed, or location;

2. The autonomous water-borne vehicle of claim 1 in combination with a web-based command and control system comprising: a web server operating aboard the vehicle; a client software, for example a web browser, operating at a command and control station; and a network, linking the vehicle to the command and control station; wherein the client software of the command and control station accesses the web server of the vehicle through the network.

3. The autonomous water-borne vehicle of claim 1 further comprising: a submersible winch with submersible slip ring.

4. The autonomous water-borne vehicle of claim 1 wherein the non-planing segmented hull further comprises a tubular center section of rectangular cross-section.

5. The autonomous water-borne vehicle of claim 4 further comprising at least one removable rack on which electronics are mounted.

6. The autonomous water-borne vehicle of claim 5 wherein the least one removable rack on which electronics are mounted is mounted on wheels such that it can be rolled in and out of the water-tight center section.

7. The autonomous water-borne vehicle of claim 1 further comprising: a removable rack on which batteries that provide power to the vehicle are mounted; anda removable rack on which additional electronics are mounted.

8. The autonomous water-borne vehicle of claim 7 wherein: the position of the batteries that provide power to the vehicle relative to the hull of the vehicle can be adjusted for the purpose of trimming the vehicle.

9. The autonomous water-borne vehicle of claim 7 wherein the removable rack on which batteries that provide power to the vehicle are mounted and the removable rack on which additional electronics are mounted are mounted on wheels or slides such that they can be rolled in and out of the water-tight center section.

10. The autonomous water-borne vehicle of claim 1 wherein the segmented hull is constructed of plastic.

11. The autonomous water-borne vehicle of claim 1 wherein the segmented hull is constructed of fiberglass.

12. The autonomous water-borne vehicle of claim 1 wherein the segmented hull is constructed of metal.

13. The autonomous water-borne vehicle of claim 1 wherein: at least one of the fixed thrusters is a longitudinal thruster mounted in a fixed position to provide thrust along the longitudinal axis of the hull and at least one of the fixed thrusters is a lateral thruster mounted to provide lateral thrust.

14. The autonomous water-borne vehicle of claim 4 wherein: the lateral thruster is the primary means of heading control for the vehicle.

15. The autonomous water-borne vehicle of claim 4 wherein: the lateral thruster is mounted to the outer surface of a forward bulkhead of the sealed center section of the segmented hull.

16. An autonomous water-borne vehicle system comprising: a non-planing segmented hull comprising a nose fairing, a water-tight tubular center section of substantially rectangular cross-section, and an aft fairing;a fixed thruster providing longitudinal thrust;a fixed thruster providing lateral thrust;an autonomous navigation system comprising a computing device and associated electronics that: receives as inputs a desired heading, speed, or location, or a combination thereof; receives as inputs a current location, heading, and speed; and operates a feedback loop adjusting steering and propulsion controls based on the error between the current and desired heading, speed, or location;a web-based command and control system comprising: a web server operating aboard the vehicle; a web browser operating at a command and control station; and a TCP/IP network linking the vehicle to the command and control station; wherein the web browser of the command and control station accesses the web server of the vehicle through the TCP/IP network.

17. The autonomous water-borne vehicle system of claim 16 wherein the fixed thruster providing lateral thrust is the primary method of controlling the heading of the vehicle.

18. The autonomous water-borne vehicle system of claim 16 further comprising a water resistant winch mounted on or in the segmented hull.

19. An autonomous water-borne vehicle system comprising: a non-planing segmented hull comprising a nose fairing, a water-tight tubular center section of substantially rectangular internal cross-section, and an aft fairing;a fixed longitudinal thruster;a fixed lateral thruster that is the primary means of changing the heading of the vehicle;an autonomous navigation system comprising a computing device and associated electronics that: receive as inputs a desired heading, speed, or location, or a combination thereof; receives as inputs a current location, heading, and speed; and operates a feedback loop adjusting steering and propulsion controls based on the error between the current and desired heading, speed, or location;a web-based command and control system comprising: a web server operating aboard the vehicle; a web browser operating at a command and control station; and a TCP/IP network linking the vehicle to the command and control station; wherein the web browser of the command and control station accesses the web server of the vehicle through the TCP/IP network.