The present invention relates generally to the field of unmanned, autonomous vehicles. In particular, the invention relates to systems and methods for advantageous employment of unmanned vehicles that are capable of operating in atmospheric, marine, and submarine environments, and that are equipped for semi-submersible launch and recovery of objects such as vessels, equipment and/or people.
For decades, use of unmanned vehicles, such as unmanned aircraft systems (generally referred to as drones), has been increasing as delivery, sensor, and automation technologies mature. One advantage of unmanned vehicles is the ability to establish large areas of operation with a significantly reduced number of people than would be required for a manned enterprise. Another advantage is the ability to deploy unmanned systems into operational environments that are hostile or dangerous to human beings.
The United States military is increasing its use of unmanned vehicles by all service branches and in all theaters of operation. Current examples of planned uses of unmanned vehicles in marine and submarine environments are for mine and submarine detection, maritime interdiction missions, harbor security, and intelligence, surveillance, and reconnaissance (ISR) missions. The commercial market also is also experiencing increased use of unmanned vehicles. Current examples of such use include search and rescue, drug interdiction, remote launch and recovery of external payloads, autonomous environmental testing, oil spill collection and monitoring, weather monitoring, and real time tsunami data collection and monitoring. The scope of both military and civilian uses for unmanned vehicles is expected to continue to increase significantly in the coming decade.
Conventional unmanned vehicle designs typically are each limited in scope to a particular operating environment and/or beneficial task. In the marine and submarine environments, most current unmanned vehicle designs are based on retrofits of manned vehicle designs and, as result, incur operational and performance envelope limitations built into vehicles designed for carrying people, such as described in U.S. Pat. No. 7,789,723 to Dane et. al. Alternatively, systems designed specifically as unmanned vehicles, such as described in U.S. Pat. No. 6,807,921 to Huntsman, typically are configured to achieve particular characteristics that are conducive to accomplishing a task of interest, such as, for example, endurance or underwater performance. However, these designs typically preclude achievement of a broader range of unmanned vehicle characteristics (e.g., multi-environment, multi-task) for the sake of limited-environment, limited-task characteristics.
There is a need to autonomously launch and recover various payloads, including vessels (surface and underwater), equipment and people, to perform missions covertly. There is a need for the vessels to autonomously perform the designated mission while hiding from detection by people or objects that could prevent the vessel from successfully completing its mission.
This background information is provided to reveal information believed by the applicant to be of possible relevance to the present invention. No admission is necessarily intended, nor should be construed, that any of the preceding information constitutes prior art against the present invention.
With the above in mind, embodiments of the present invention are related to an unmanned vehicle system comprising a host vehicle and a guest vehicle. The host vehicle includes a host vehicle body, a host vehicle control system, a host vehicle maneuvering system, a host vehicle sensor and communication system, and a securing system. The host vehicle maneuvering system may be in communication with the host vehicle control system and may be operable to provide propulsion to the host vehicle. The host vehicle sensor and communication system may be in communication with the host vehicle control system. The securing system may be carried by the host vehicle body and may be in communication with the host vehicle control system.
The guest vehicle includes a guest vehicle body, a guest vehicle control system, a guest vehicle maneuvering system, and a guest vehicle sensor and communication system. The guest vehicle control system may be positioned in communication with the host vehicle control system. The guest vehicle maneuvering system may be in communication with one or more of the guest vehicle control system and the host vehicle control system. The guest vehicle maneuvering system may be operable to provide propulsion to the guest vehicle. The guest vehicle sensor and communication system may be in communication with one or more of the guest vehicle control system and the host vehicle control system.
The guest vehicle may be moveable between a stowed state and a deployed state. The stowed state of the guest vehicle may be defined as the guest vehicle being at least partially carried by a portion of the host vehicle. The deployed state of the guest vehicle may be defined as the guest vehicle being spaced apart from the host vehicle. The securing system may be operable to move between a locked state and an unlocked state to selectively engage the guest vehicle. When the guest vehicle is in the stowed state, the securing system may be in the locked state. Movement of the securing system from the locked state to the unlocked state may allow for the guest vehicle to be moved from the stowed state to the deployed state.
Some embodiments may include a host vehicle buoyancy system that may be in communication with the host vehicle control system and may be operable to control a flow of water comprising outside environment water into and out of a portion of the host vehicle body to cause the host vehicle to move between a surfaced state and a submerged state. Some embodiments may include a guest vehicle buoyancy system that may be in communication with the guest vehicle control system and may be operable to control a flow of water comprising outside environment water into and out of a portion of the guest vehicle body to cause the guest vehicle to move between a surfaced state and a submerged state.
The host vehicle and the guest vehicle may be moveable between the surfaced state and the submerged state when the guest vehicle is in the stowed state. The guest vehicle buoyancy system may be in communication with the host vehicle control system to be operable by and responsive to command signals received from the host vehicle control system.
The command signals may include maneuvering command signals. The guest vehicle maneuvering system may be in communication with the host vehicle control system to be operable by and responsive to the maneuvering command signals received. The guest vehicle maneuvering system may be operable when the guest vehicle is in the stowed state to provide propulsion to the host vehicle. The securing system may be moveable between the locked state and the unlocked state when the host vehicle is in the submerged state to allow the guest vehicle to move between the stowed state and the deployed state when the guest vehicle is in the submerged state.
The guest vehicle may include an onboard power supply in communication with one or more of the guest vehicle control system, the guest vehicle maneuvering system, and the guest vehicle sensor and communication system. The onboard power supply may be operable to be charged by the host vehicle when the guest vehicle is in the stowed state.
The guest vehicle may comprise a plurality of guest vehicles. Each of the plurality of guest vehicles may be operable to move between the stowed state and the deployed state. One or more of the plurality of guest vehicles may be in communication with the host vehicle. Each of the plurality of guest vehicles may be operable to communicate with one another. The host vehicle is adapted to carry more than one of the plurality of guest vehicles.
The host vehicle and the plurality of guest vehicles may be in communication with a network. The host vehicle and the plurality of guest vehicles may be operable to be remotely commanded and controlled via the network. Each one of the plurality of guest vehicles may be operable to transmit command signals to each of the plurality of guest vehicles.
The communication between the host vehicle and the plurality of guest vehicles may be defined as a mesh network. The host vehicle control system and the guest vehicle control systems of each of the plurality of guest vehicles may be operable to communicate with one another via the mesh network. The host vehicle may comprise a plurality of host vehicles. Each of the plurality of host vehicles may be adapted to carry one or more of the plurality of guest vehicles. Each of the plurality of host vehicles may be in communication with one another to further define the mesh network.
The guest vehicle maneuvering system may be operable to move the guest vehicle from a turned over state to an upright state. The host vehicle maneuvering system may be operable to move the host vehicle from the turned over state to the upright state.
Some embodiments may include a plurality of housings that may each carried by the host vehicle body and/or the guest vehicle body. Each of the plurality of housings may be adapted to carry at least a portion of the host vehicle control system, the host vehicle maneuvering system, the host vehicle sensor and communication system, the securing system, the guest vehicle control system, the guest vehicle maneuvering system, and/or the guest vehicle sensor and communication system. Also, in some embodiments of the present invention, the host vehicle and the guest vehicle may each comprise a rail system. Each of the plurality housings may be adapted to slidably engage to the rail system.
Some embodiments of the present invention may be directed to an unmanned vehicle system comprising a host vehicle, a plurality of guest vehicles, and a plurality of housings. The host vehicle may include a host vehicle body, a host vehicle control system, a host vehicle maneuvering system, a host vehicle sensor and communication system, a securing system, and a host vehicle rail system. The host vehicle maneuvering system may be in communication with the host vehicle control system and may be operable to provide propulsion to the host vehicle. The host vehicle sensor and communication system may be in communication with the host vehicle control system. The securing system may be carried by the host vehicle body and may be in communication with the host vehicle control system.
Each one of the plurality of guest vehicles may comprise a guest vehicle body, a guest vehicle control system, a guest vehicle maneuvering system, a guest vehicle sensor and communication system, and a guest vehicle rail system. The guest vehicle control system may be positioned in communication with the host vehicle control system. The guest vehicle maneuvering system may be in communication with the guest vehicle control system, and the guest vehicle maneuvering system may be operable to provide propulsion to the guest vehicle. The guest vehicle sensor and communication system may be in communication with the guest vehicle control system and/or the host vehicle control system. The plurality of housings may each be carried by the host vehicle body and/or one or more of the guest vehicle bodies of the plurality of guest vehicles.
Each of the plurality of housings may be adapted to carry at least a portion of one or more of the host vehicle control system, the host vehicle maneuvering system, the host vehicle sensor and communication system, the securing system, the guest vehicle control system, the guest vehicle maneuvering system, and/or the guest vehicle sensor and communication system. Each one of the plurality of guest vehicles may be operable to be in communication with the host vehicle and with at least another one of the plurality of guest vehicles.
Each of the plurality housings may be adapted to slidably engage to the rail system. Each one of the plurality of guest vehicles may be operable to move between a stowed state and a deployed state. The stowed state of each guest vehicle may be defined as the guest vehicle being at least partially carried by a portion of the host vehicle. The deployed state of each guest vehicle may be defined as the guest vehicle being spaced apart from the host vehicle. The securing system may be operable to move between a locked state and an unlocked state to selectively engage at least one of the guest vehicles. When one or more of the plurality of guest vehicles is in the stowed state, the securing system may be in the locked state. Movement of the securing system from the locked state to the unlocked state may allow for one or more of the plurality of guest vehicles to be moved from the stowed state to the deployed state.
The host vehicle may comprise a host vehicle buoyancy system that may be in communication with the host vehicle control system and operable to control a flow of water comprising outside environment water into and out of a portion of the host vehicle body to cause the host vehicle to move between a surfaced state and a submerged state. Each guest vehicle of the plurality of guest vehicles may comprise a guest vehicle buoyancy system that may be in communication with the guest vehicle control system and operable to control a flow of water comprising outside environment water into and out of a portion of the guest vehicle body to cause the guest vehicle to move between a surfaced state and a submerged state.
The host vehicle and the plurality of guest vehicles may be moveable between the surfaced state and the submerged state when one or more of the guest vehicles of the plurality of guest vehicles is in the stowed state and when one or more of the guest vehicles are in the deployed state. The guest vehicle buoyancy systems of the plurality of guest vehicles may be in communication with the host vehicle control system to be operable by and responsive to commands received from the host vehicle control system. The command signals may include maneuvering command signals. The guest vehicle maneuverings systems may be in communication with the host vehicle control system to be operable by and responsive to the maneuvering command signals received. The guest vehicle maneuvering system of each guest vehicle of the plurality of guest vehicles may be operable when the guest vehicle is in the stowed state to provide propulsion to the host vehicle.
The securing system may be moveable between the locked state and the unlocked state when the host vehicle is in the submerged state to allow one or more of the plurality of guest vehicles to move between the stowed state and the deployed state when the at least one guest vehicle is in the submerged state. Each one of the plurality of guest vehicles may comprise an onboard power supply in communication with one or more of the guest vehicle control system, the guest vehicle maneuvering system, and/or the guest vehicle sensor and communication system. The onboard power supply may be operable to be charged by the host vehicle when the guest vehicle is in the stowed state.
The host vehicle may be adapted to carry more than one of the plurality of guest vehicles. The host vehicle and the plurality of guest vehicles may be in communication with a network. The host vehicle and the plurality of guest vehicles may be operable to be remotely commanded and controlled via the network. Each one of the plurality of guest vehicles may be operable to transmit command signals to each of the plurality of guest vehicles. The communication between the host vehicle and the plurality of guest vehicles may be defined as a mesh network. The host vehicle control system and the guest vehicle control systems of each of the plurality of guest vehicles may be operable to communicate with one another via the mesh network.
The host vehicle may comprise a plurality of host vehicles. Each of the plurality of host vehicles may be adapted to carry one or more of the plurality of guest vehicles. Each of the plurality of host vehicles may be in communication with one another to further define the mesh network. The guest vehicle maneuvering systems of each of the plurality of guest vehicles may be operable to move the guest vehicle from a turned over state to an upright state. The host vehicle maneuvering system may be operable to move the host vehicle from the turned over state to the upright state.
Some embodiments of the present invention may be directed to an unmanned vehicle system that comprises a plurality of host vehicles and a plurality of guest vehicles. Each host vehicle of the plurality of host vehicles may include a host vehicle body, a host vehicle control system, a host vehicle maneuvering system, a host vehicle sensor and communication system, a securing system, and a host vehicle buoyancy system. The host vehicle maneuvering system may be in communication with the host vehicle control system and may be operable to provide propulsion to the host vehicle.
The host vehicle sensor and communication system may be in communication with the host vehicle control system. The securing system may be carried by the host vehicle body and may be in communication with the host vehicle control system. The host vehicle buoyancy system may be in communication with the host vehicle control system and may be operable to control a flow of water comprising outside environment water into and out of a portion of the host vehicle body to cause the host vehicle to move between a surfaced state and a submerged state.
Each guest vehicle of the plurality of guest vehicles may include a guest vehicle body, a guest vehicle control system, a guest vehicle maneuvering system, a guest vehicle sensor and communication system, and a guest vehicle buoyancy system in communication. The guest vehicle control system may be positioned in communication with one or more of the host vehicle control systems. The guest vehicle maneuvering system may be in communication with the guest vehicle control system and one or more of the host vehicle control systems, and the guest vehicle maneuvering system may be operable to provide propulsion to the guest vehicle. The guest vehicle sensor and communication system may be in communication with the guest vehicle control system and one or more of the host vehicle control systems. The guest vehicle buoyancy system may be in communication with the guest vehicle control system and may be operable to control a flow of water comprising outside environment water into and out of a portion of the guest vehicle body to cause the guest vehicle to move between a surfaced state and a submerged state.
Each one of the plurality of host vehicles may be adapted to carry one of the plurality of guest vehicles. Each of the plurality of guest vehicles may be moveable between a stowed state and a deployed state. The stowed state of each guest vehicle of the plurality of guest vehicles may be defined as the guest vehicle being at least partially carried by a portion of one of the plurality of host vehicles. The deployed state of each guest vehicle of the plurality of guest vehicles may be defined as the guest vehicle being spaced apart from the plurality of host vehicles.
The securing system of each host vehicle of the plurality of host vehicles may be operable to move between a locked state and an unlocked state to selectively engage one of the plurality of guest vehicles. When one or more of guest vehicles of the plurality of guest vehicles are in the stowed state, the securing system of one or more of the plurality of host vehicles may be in the locked state. Movement of the securing systems from the locked state to the unlocked state may allow for the plurality of guest vehicles to be moved from the stowed state to the deployed state. Each of the plurality of host vehicles and the plurality of guest vehicles may be operable to communicate with one another.
Each host vehicle of the plurality of host vehicles and each guest vehicle of the plurality of guest vehicles may be moveable between the surfaced state and the submerged state when the guest vehicle is in the stowed state and when the guest vehicle is in the deployed state. Each guest vehicle buoyancy system may be in communication with one of the host vehicle control systems to be operable by and responsive to command signals received from the host vehicle control system.
The command signals include maneuvering command signals. Each guest vehicle maneuvering system may be in communication with one of the host vehicle control systems to be operable by and responsive to the maneuvering command signals received from the host vehicle control system. The guest vehicle maneuvering system of each guest vehicle of the plurality of guest vehicles may be operable when the guest vehicle is in the stowed state to provide propulsion to an associated carrier host vehicle of the plurality of host vehicles.
The securing system of each host vehicle of the plurality of host vehicles may be moveable between the locked state and the unlocked state when the host vehicle is in the submerged state to allow one or more of the plurality of guest vehicles to move between the stowed state and the deployed state when the guest vehicle is in the submerged state. Each guest vehicle of the plurality of guest vehicles may comprise an onboard power supply in communication with one or more of the guest vehicle control system, the guest vehicle maneuvering system, and/or the guest vehicle sensor and communication system of the guest vehicle. The onboard power supply may be operable to be charged by one of the plurality of host vehicles when the guest vehicle is in the stowed state.
One or more of the plurality of host vehicles may be adapted to carry more than one of the plurality of guest vehicles. The plurality of host vehicles and the plurality of guest vehicles may be in communication with a network. The plurality of host vehicles and the plurality of guest vehicles may be operable to be remotely commanded and controlled via the network. Each one of the plurality of guest vehicles may be operable to transmit command signals to each of the plurality of guest vehicles.
The communication between the plurality of host vehicles and the plurality of guest vehicles may be defined as a mesh network. Each of the host vehicle control systems and the guest vehicle control systems may be operable to communicate with one another via the mesh network. The guest vehicle maneuvering system of each guest vehicle of the plurality of guest vehicles may be operable to move the guest vehicle from a turned over state to an upright state. The host vehicle maneuvering system of each host vehicle of the plurality of host vehicles may be operable to move the host vehicle from the turned over state to the upright state.
Some embodiments may include a plurality of housings that may each carried by one or more of the host vehicle bodies and the guest vehicle bodies. Each of the plurality of housings may be adapted to carry at least a portion of one or more of the host vehicle control systems, the host vehicle maneuvering systems, the host vehicle sensor and communication systems, the securing systems, the host vehicle buoyancy systems, the guest vehicle control systems, the guest vehicle maneuvering systems, the guest vehicle sensor and communication systems, and/or the guest vehicle buoyancy systems. Each one of the plurality of host vehicles and each one of the plurality of guest vehicles may comprise a rail system. Each of the plurality housings may be adapted to slidably engage to one of the rail systems.
Some embodiments of the present invention are illustrated as an example and are not limited by the figures of the accompanying drawings, in which like references may indicate similar elements.
The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which preferred embodiments of the invention are shown. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Those of ordinary skill in the art realize that the following descriptions of the embodiments of the present invention are illustrative and are not intended to be limiting in any way. Other embodiments of the present invention will readily suggest themselves to such skilled persons having the benefit of this disclosure. Like numbers refer to like elements throughout.
In this detailed description of the present invention, a person skilled in the art should note that directional terms, such as “above,” “below,” “upper,” “lower,” and other like terms are used for the convenience of the reader in reference to the drawings. Also, a person skilled in the art should notice this description may contain other terminology to convey position, orientation, and direction without departing from the principles of the present invention.
As a matter of definition, “mission,” as used herein, refers to an overarching goal to be achieved through some combination of human, machine, material, and machine assets. “Planning,” as used herein, refers to establishing a hierarchy of logistical and operational tasks to be accomplished using available mission assets, and to be assigned and managed at the appropriate level of abstraction. For example, and without limitation, levels of abstraction for asset assignment may include an individual unmanned vehicle being assigned a specific task, an unmanned vehicle sub-group being responsible for a mission sub-goal, and/or a full set of available assets being dedicated to an overall mission goal. Therefore, planning may involve pre-configuring missions for each unmanned vehicle as well as mapping and visualizing groups of unmanned vehicles. “Control,” as used herein, refers to asset tracking, data collection, and mission adjustments accomplished in real-time as execution of a plan unfolds and as a mission evolves. Control, in the context of unmanned vehicle use, may involve selection of deployment modes (for example, and without limitation, air, marine, and submarine) and operational timing (for example and without limitation, active, wait at location, and remain on standby).
The furtherance of the state of the art described herein is based on advantageous employment of the multi-mode capabilities of the multi-mode unmanned vehicle disclosed in U.S. patent application Ser. No. 13/470,866 by Hanson et al., which is incorporated in its entirety herein by reference. The mission planning and control system described herein applies at least in part to the transit routes of one or more unmanned vehicles, each of which may be capable of air glide, water surface (e.g., marine), and sub-surface (e.g., submarine) modes of operation. For example, and without limitation, a single unmanned vehicle may transit across multiple modes of operation within a single transit route, and the respective transit routes of multiple unmanned vehicles across air mode, water surface mode, and sub-surface mode may be coordinated by the mission planning and control system.
Mission planning and control, as used herein, involves addressing the problem of accomplishing missions by efficiently and effectively employing some number of unmanned vehicles, each capable of multi-mode operation, and all coordinated in their actions both temporally and geographically. A significant portion of mission planning and control involves coordination across large time spans and diverse global locations. For example, and without limitation, such coordination may involve off-board command and control systems that may communicate and may integrate with unmanned vehicle on-board systems. Also, for example, and without limitation, unmanned vehicles may coordinate with each other, often in sub-groups, as well as coordinate with other assets.
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The unmanned vehicle 100 according to an embodiment of the present invention may include a vehicle body 105 which may be configured as an aerohydrodynamic wing, which will now be described in greater detail. The vehicle body 105 according to an embodiment of the present invention may exhibit the shape characteristics of a catamaran including two opposing and substantially-parallel sponsons 200 each having a stepped hull 210. The stepped hull design may advantageously increase the efficiency of the unmanned vehicle 100 by providing lower drag and increased stability at speed. The stepped hull 210 may also enhance maneuverability of the unmanned vehicle 100. Referring now additionally to
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For purposes of comparison 310, a representative implementation of the NASA orbiter is known to exhibit the following dimensions:
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Those skilled in the art will recognize that the aerodynamic characteristics of the unmanned vehicle 100 operated in air mode will differ from the hydrodynamic characteristics of the same unmanned vehicle 100 operated in submarine mode. For example, and without limitation, underwater glide dynamics may differ from air glide dynamics in that water is an incompressible fluid and, therefore, lift/drag characteristics may be different when the unmanned vehicle 100 moves through water. In this regard, glide characteristics underwater may be dominated by drag characteristics as balanced across the surface area of the vehicle body 105, the glide ratio, and the efficiency of changing from positive to negative buoyancy. For example, and without limitation, the unmanned vehicle 100 may be configured for sub-surface operation that may include underwater glide that employs ballast-only motivation, powered thrust, or power-augmented (e.g., ballast and powered thrust).
Those skilled in the art will appreciate that the hull 210 of the unmanned vehicle 100 does not necessarily have to be a stepped hull but, instead, can have any other shape. More specifically, it is contemplated that the hull 210 of the unmanned vehicle 100 may be smooth, for example, or may have any other shape while still achieving the goals, features and objectives according to the various embodiments of the present invention.
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The present invention may include a sensor system to collect both vehicle 100 functional systems data and also external environmental data. The sensor system may comprise a variable set of sensors of many kinds that collect a wide variety of data from disparate sources, an electronic communication network over which the sensors may send data, and a data processing and routing system for collected sensor data. In one embodiment of the present invention, data representing the condition of components in the on-board environment may be collected by functional sensors such as the following: Global Position System (GPS), electronic compass, accelerometers, roll, pitch, yaw orientation, depth, pressure, temperature, voltage, drive train revolutions per minute (RPM), vibration at multiple locations, vehicle humidity, fuel level, and charge level. External environmental data may be collected by sensors that may include a video camera with computer-controlled articulation, zoom and night vision; electro-optical/infrared imaging and an audio sensor. Optional sensors may include, but are not limited to, radar, sonar, chemical and radiation sensors. External sensors may be mounted on a retractable device rack, as described below. Sensor signals may be connected to a signal multiplexing unit that may provide signal conditioning and routing, and the multiplexing component may be connected to a sensor data processing subsystem that includes a computer software component that may be located in the vehicle's 100 central computer. The sensor system also may include a sensor data storage system comprised of digital storage components that may allow for real time data collection and for latent data processing. The system may categorize stored data by a number of attributes that may include time of capture, device, and data type.
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The vehicle body 105 may be constructed of various materials, including fiberglass, carbon fiber, or aramid fiber, depending on the relative importance of prevailing design factors. For example, and without limitation, if lowering construction costs of the unmanned vehicle 100 is an important design factor, the choice of fiberglass as the material for the vehicle body 105 may reduce the total cost to manufacture the unmanned vehicle 100. In another example and without limitation, if an important design factor is enhancing strength to weight characteristics in the vehicle body 105 for the unmanned vehicle 100 to withstand ambient air pressures during aerodynamic flight or glide as well as to withstand ambient water pressures when submerged in water to hundreds of feet, the choice of aramid fiber as the construction material for the vehicle body 105 may be desirable. Those skilled in the art will appreciate, however, that the unmanned vehicle 100 according to an embodiment of the present invention may be constructed of any material, and that the materials mentioned above are exemplary in nature, and not meant to be limiting. According to an embodiment of the present invention, a vehicle body 105 constructed of disclosed materials less than 0.125 inches thick may exhibit a high tensile strength to counter the pressures at hundreds of feet under water as well as to support a controllable low-pressure differential across the exterior of the vehicle body 105 during atmospheric flight.
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Ballast ports 680 may be located on the bottom surface of the vehicle body 105 which may enable water to be fed into the ballast tanks 600 when the unmanned vehicle 100 is in motion, which may enable fast submersion. A ballast port 680 located on a device rack 690 positioned on the top of the vehicle body 105 may enable water to be routed into the ballast chambers 600 when the unmanned vehicle 100 is in a top-down position in the water. Filling the ballast chambers 600 while top-down may advantageously enable the unmanned vehicle 100 to autonomously self-right, both at or below the surface of the water. In another embodiment, for example and without limitation, a ballast port 680 located on a device rack 690 may allow routing of air or water to the ballast chambers 600 and, in so doing, may allow the unmanned vehicle 100 to operate underwater without fully surfacing, which may be advantageous for stealth objectives.
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To increase the internal pressure in a pressurized compartment inside the vehicle body 105, the pressure relief valve 803 from the pressure tank 800 may be opened. To decrease the internal pressure in a pressurized compartment inside the vehicle body 105, the pressure relief valve 803 between the compartment inside the vehicle body 105 and the environment external to the vehicle body 105 may be opened. In both cases, a control algorithm in the pressurization control system 805 may determine the frequency and duration of opening and closing the pressure valves 803.
A pressure sensor 804 may monitor the pressure tank 800 and may send this signal periodically to the pressure control system 805. When the pressure in the pressure tank 800 may fall below a given level, as may be configured in the pressure control system 805 logic, the pressure control system 805 may issue a request to pressurize to the navigation system which, in turn, may issue a request to pressurize to the off-board mission control and on-board control system master. These systems may have logic and configurations that may determine when pressurization may be authorized. When pressurization is authorized, instructions are sent to the pressurization system to pressurize.
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In certain embodiments of the present invention, the unmanned vehicle 100 may be configured to carry varying types and amounts of payload in one or more operational modes, including on the surface of water, underwater, and in the air. For example, and without limitation, the vehicle 100 may be configured to carry such payloads internal to the vehicle body (e.g., internally stowed payload 150 in
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In one embodiment of the external payload towing feature, a Mobile Unmanned Target Practice System may be characterized by mission planning and control instructions advantageously operating some number of unmanned vehicles 100, each configured with a towing apparatus and a towing sled. Current manned methodologies for positioning, simulating, and assessing military targets limit deployment options and practice locations. The unmanned target practice system described herein may advantageously enable target practice to be done in an expanded range of conditions and locations, allowing for more “organic” target practice. For example, and without limitation, such a target practice system may comprise unmanned vehicles 100 equipped with control systems and mechanical configurations for towing and releasing targets as external payloads. Such towable targets each may be configured with retractable center keels for stability in a surface water environment. The towable targets may also feature retractable target flags. Alternatively, or in addition, towable targets may also be configured as radio-controlled target vessels. For example, and without limitation, an unmanned vehicle 100 may be configured as a “relay station” to remotely operate some number of radio-controlled target vessels.
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As described above, the device rack and/or payload deck may provide mechanical, power, and signal connectivity for any number of interchangeable payload modules and/or auxiliary mounts. In this manner, the unmanned vehicle 100 may be outfitted with working appendages of various form and function. Such appendages may advantageously provide utility in multiple modes, as the appendages may be integrated with the body 105 of the unmanned vehicle 100 so that unmanned vehicle 100 may operate effectively in the air, on water, and underwater. Such appendages may be configured with specialized capabilities (e.g., magnetic, telescopic) or specialized tools, depending on the needs of a particular mission.
In one embodiment, for example and without limitation, the payload deck may support a single (e.g., “simple”) arm and gripper, which may be positioned in a substantially-central payload bay (e.g., interior compartment) of the unmanned vehicle 100, which may be advantageous in terms of reach capability. In another embodiment, the payload deck may support a “bat wing” configuration, which may be defined as two appendages each characterized by a shoulder, some number of arms, and some number of grippers. For example, and without limitation, a bat wing appendage configuration may include two appendages attached, respectively, to each side of the unmanned vehicle 100, and each having a “shoulder” mechanism that may support motion with three degrees of freedom. Each appendage may also include arm sections having connecting “elbows,” and each elbow may support motion with either two or three degrees of freedom. Each appendage may also include hand sections, each of which may have gripping/holding capability and may support motion with three degrees of freedom at a “wrist.” Also, for example, and without limitation, each appendage may comprise a flexible, thin film material positioned between the arm sections that form wings that may be made of (or, alternatively, coated with) thin-film solar. Advantages of “bat wing” design for use with a multi-mode unmanned vehicle 100 is that the design may provide efficient retraction and storage for surface efficiency, increased wing surface for air or sub-surface gliding, solar energy harvesting either in water surface mode or slightly sub-surface, and wind propulsion in water surface mode.
A person of skill in the art will immediately recognize that employing the unmanned vehicle 100 to carry heavy payloads, as in the examples illustrated in
In one embodiment of the present invention, as illustrated in
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For example, and without limitation, the sponson extensions 2710 may exhibit one or more of the following characteristics:
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In one embodiment, for example and without limitation, the navigation control system 1500 may order functional responses from a navigation executive 470, control surfaces 900 and control surfaces control system 930, propulsion executive 430, ballast control 640, and center of gravity 740 subsystems. The multi-mode navigation control system 1500 may enable the unmanned vehicle 100 to operate on the surface of the water, submerged under water, and in controlled glide or flight in the air by coordinated computer control of the vehicle control surfaces 900, ballast 640, center of gravity 740 and mode of propulsion 430 according to logic and sensor input that may be matched to the operating environment in which the unmanned vehicle 100 may be operating. The computer-controlled subsystems for each control activity may be connected in a computer network which may enable communication between each control subsystem and coordination by a control executive.
For example, and without limitation, navigation directives may originate from a mission control system 1505 when all systems may be operating normally, or from the on-board master control system 1510 in the event of an exception condition, for example, if the mission control system 1505 may be not operating reliably or if a critical subsystem may be operating abnormally. The navigation executive 470 may translate instructions for consumption by each subsystem. The navigation executive 470 includes a navigation sub-systems registry 1520 by which it may register and store information about the navigation subsystems that may be available on the unmanned vehicle 100, including the signal format and semantics by which instructions may be communicated to them.
As mentioned above, the navigation control system 1500 of the present invention may control navigation and orientation of the vehicle 100 in multiple modes. This capability may be exemplified by the ability to maintain direction and stability at speeds of typically between 100 to 200 knots on the surface of the water, orientation and depth control underwater, and controllable glide and flight paths in the air. The ability to control navigation and vehicle 100 orientation in multiple modes may be achieved by autonomous computer control of vehicle control surfaces 930, ballast control 640, and vehicle center of gravity control 740. The control systems of all three of these elements may themselves be under coordinated control by the multi-mode navigation control system 1500. Further, the multi-mode navigation control system 1500 may control propulsion 400 which also may affect vehicle 100 orientation in combination with the other navigation systems. The systems that control these elements may employ computer-controlled actuators and feedback sensors for closed loop real-time control.
For example, and without limitation, the multi-mode navigation control system 1500 may include optimization instructions regarding speed and orientation. The orientation control function of the navigation control system may calculate the optimal changes in control surfaces 900 and center of gravity 740 and may send instructions to the navigation executive 470 which may issue instructions to the control surface control system 930 and the center of gravity control system 740. A velocity control function of the navigation control system 1500 may calculate propulsion required and may send the signal to the propulsion control system 430 via the navigation executive 470. A flight control function of the navigation control system 1500 may enable powered flight and aerodynamic gliding.
For example, and without limitation, the mission control system 1505 may send instructions to the navigation executive 470 of the multi-mode navigation control system to initiate a mission segment that has an environmental mode of “air glide to water entry.” The navigation executive 470 may, in turn, send instructions over a computer network or internal computer bus to activate the flight control function of the navigation control system 1500 and to prompt other subsystems to become slaves to the flight control function of the navigation control system 1500. The flight control function may monitor sensor input for altitude, orientation (e.g., roll, pitch, yaw) and speed, and may send control instructions to the control surfaces control system 930 and the center of gravity control system 740. The flight control system may store parameters for optimal orientation and speed characteristics of the vehicle 100 and may also contain logic to operate the control surfaces 900 and center of gravity 740 accordingly. Altitude and infrared sensor input may be fed to the navigation executive 470 that may indicate approach to the water surface. As this approach occurs, the navigation executive 470 may issue new instructions to the flight control function of the navigation control system 1500 as to optimal orientation for entering the water, and the flight control function may issue instructions based on stored logic to the control surfaces 930 and center of gravity control 740 systems to achieve the optimal vehicle 100 orientation. Acceleration, temperature, and pressure sensor data may be fed to the navigation control systems 1500 that indicate water entry.
When water entry occurs, the navigation executive 470 may send instructions to the flight control function of the navigation control system 1500 to shutoff and may initiate logic for underwater operation that may determine characteristics to achieve stable orientation of the vehicle 100 underwater. Instructions may be sent to the control surfaces 930, center of gravity 740, and ballast control 640 systems for this purpose. Also, the navigation executive 470 may send an electronic message over the computer network to the mission control system 1505 signifying that the vehicle 100 has entered and is under the water. The mission control system 1505 may store information that indicates the next mission segment and may also contain logic to translate the segment information into environmental mode of operation, speed, orientation, direction and duration. The mission control system 1505 then may send instructions pertaining to navigation characteristics of the next segment back to the navigation executive 470. For example, and without limitation, the next segment may be water surface operation at 15 knots with a specified directional heading.
Also, for example and without limitation, the navigation executive 470 may execute logic for surfacing the vehicle 100 that includes instructions to the control surfaces 930, ballast 640, and center of gravity 740 systems. Depth, pressure, temperature and directional sensor input may be fed to the navigation executive 470 and, as the vehicle 100 surfaces atop the water, the navigation executive 470 may select the propulsion mode and may initiate propulsion according to configuration parameters stored in computer memory. Speed and direction instructions may be issued by the navigation executive 470 to the propulsion control system 400 and control surfaces control system 930. Each of these systems may accept sensor inputs, the propulsion system 400 may control the propulsion mechanisms to the determined speed, and the control surfaces control system 930 may operate the control surfaces 900 to achieve the instructed orientation.
When an unmanned vehicle 100 is autonomously navigating between two points in a transit route, the navigation control system 1500 may generate directives to other on-board control system components to change speed and direction based on detected wave activity. The navigation control system 1500 may analyze the wave activity and autonomously adjust the transit route to achieve best speed, energy efficiency, and/or vehicle safety (e.g., least likely to overturn). Alternatively, or in addition, the on-board control systems (including the navigation control system 1500) may accept instructions from a remote-control station that may notify the unmanned vehicle of weather and/or sea state conditions in order to equip the navigation control system 1500 to select the best mode of vectoring. In one embodiment, the navigation control system 1500 may be put in a “maximum endurance” mode, which may comprise executing algorithms to exploit the most efficient use of the propulsion systems 430 that the vehicle 100 has on board. In a preferred embodiment for endurance, such a configuration may include wind sail propulsion 1400, current propulsion, underwater glide propulsion, and solar recharge 1450. In such a hybrid-propulsion configuration, the time endurance of the unmanned vehicle 100 may be virtually unlimited from a motive power standpoint.
For example, and without limitation, water current external to the vehicle 100 may be determined by the navigation control system 1500 from maps and algorithms, and sensors for wind speed and direction may be activated by the navigation control system 1500 to perform data collection. The navigation control system 1500 may be configured with algorithms to choose the most effective path segments and overall plan for minimum energy consumption. For example, and without limitation, if the vehicle 100 is proximity to an ocean current moving from west to east, and also to a prevailing wind moving in substantially the same direction, the navigation control system 1500 may choose a path to tack up wind generally in a westerly direction, and then ride the current in an easterly direction without aid of wind to maximize the time of the path on current propulsion. Alternatively, or in addition, mission control system 1505 algorithms may determine that underwater glide mode is the most desirable mode with the current for surveillance reasons. In this case, the unmanned vehicle 100 may sail east to west on the surface, and then glide underwater west to east. In this mode of operation, very little energy may be consumed and, with solar recharge 1450, the unmanned vehicle 100 may actually experience a net gain in energy over this path. Employing the systems and mechanisms described above, the navigation control system 1500 may advantageously accomplish autonomous navigation of the unmanned vehicle 100 through various sea states for “fastest, cheapest, safest” patterns, which may include both surface and sub-surface patterns, and that also may include air-drop patterns of entry into an operational environment.
Referring now to
In one embodiment, for example and without limitation, the on-board master control system 1600 of the present invention may be comprised of software programs that may reside on computer storage devices and may be executed on one or more microprocessors also referred to as central processing units (CPU). Inputs to these software control modules may originate as instructions that may be sent from other on-board control systems, as instructions that may be generated from off-board control systems and communicated to on-board systems, and as sensor data input that the control programs may monitor. The output of the software control programs may be digital control signals that may be translated to electronic control signals that may be consumable by motor-controlled actuators that may operate the mechanical components of the unmanned vehicle 100. Software control module outputs also may be connected to a computer network on the unmanned vehicle 100 and all control modules may be connected to a computer network onboard the unmanned vehicle 100.
The unmanned vehicle 100 according to embodiments of the present invention may be configured for rapid integration of various sensors by employing a “plug-in” design approach where interfaces exposed to the systems of the vehicle 100 may be standard and where interfaces exposed to the sensor are variable. The sensor interface may be translated to a standard system 100 interface which may allow the sensor to be “plugged in” to the vehicle's 100 system. This general approach to interfaces may be implemented on several levels and may apply to the following:
Certain embodiments of the present invention may provide one or more of the following advantages:
As described in more detail below, mechanical interfaces, which include signal and power connectors as well as mounting points may be embodied as part of an enclosure that is resistant to the multi-mode environment. A number of embodiments of payload enclosures exist that vary in size, shape and mounting locations within the vehicle 100 that accommodate various sensor interfaces, and which adhere to the standard vehicle 100 interfaces so that they may be “plugged in”. Also, as described below, “payload control” may be integrated with mechanical, signal and power interfaces and may be extended to include communications control and data processing control. Referring to the system block diagram from the original provisional patent, the architecture is the same and supports the “plug-in” model.
As described above, the on-board control system 1600 may further include the payload control system 1630 that, more specifically, may enable control of a wide variation of payloads and may coordinate the payload behavior with the behavior of the vehicle 100. For example, and without limitation, payload components may include sensor arrays, robotic devices, unmanned aerial vehicles (launch and recovery), and energy sources such as solar arrays. In certain embodiments of the present invention, the payload control system 1630 may manage multiple payloads simultaneously. A person of skill in the art may immediately recognize that the design and operation of the payload control system 1630 may be similar to the design and operation of the device rack control system 1620, except that the former 1630 may allow for multiple unknown payloads.
Referring now to
Referring additionally to
Payload Enclosure: A payload 3110 may be housed in a payload enclosure 3210 with standard connection 3130, 3180 and mechanical characteristics 3230 as described above. While the signal connection 3140, 3150 and power connection 3160, 3170, as well as internal mounting schema may be standard, the actual size, shape and external mounting characteristics 3240 may vary depending on location within the vehicle 100 and physical requirements of the sensor. In addition to providing uniform interfaces, the payload enclosure of
Signal Interface: A payload 3110 may be housed in an enclosure 3210, 3220 with standard interfaces for power 3180 and signal 3130. Examples of standard signal interfaces connections may include USB, Ethernet, Serial (DB9) and a GIO (General IO) connection interface with standard pin configurations. These standard signal interfaces may be connected to one side of a water resistant, pressure rated bulkhead connector 3140, 3160 on the inside of the enclosure 3210, 3220. On the outside interface, the quick connect style connector 3140, 3160 may be connected to a wiring harness 3150, 3170 with known signal mapping to the internal signal inputs that may be, in turn, connected to the vehicles 100 mission control system 1505 and/or known, identified input locations.
Communications Interface: To accommodate payloads 3110 that require an independent communication channel, there may be internal connections in the enclosure for antennae connections. On the outside interface, environment-proof connectors 3140, 3160 may be connected to a wiring harness 3150, 3170 that may terminate at locations where antennae may be secured to the hull of the vehicle 100.
Power Interface: Inside the enclosure (
Mechanical Mounting: Inside the payload enclosure 3210, 3220 may be a number of standard internally threaded standoffs to which the payload 3110 may be secured. For example, and without limitation, these fasteners may take the form of directly bolting the payload 3110 to the inside of the box or fastening the payload 3110 to an intermediary plate or container that may then be fastened to the standard mounting points 3230.
Logical Control: As an extension to the original plug-in design of the payload control system 1630, advantages compared to the known art include configurable components for handling communication paths, data processing of payload generated data, power management of payload power and remote control of the payload. Remote control of the payload may be autonomous logic or direct operator control. The mechanism for this may be described as follows:
Each payload type may be registered with the payload control system 1630. Part of the registration may include a configuration of the particular payload 3110. This configuration may be read when the payload 3110 is initiated and may include directives as to which components and logic apply to the payload 3110. When a payload is installed on the vehicle 100, it may be registered and configured as “installed”. When the payload control system 1630 initiates its control sequence, it may initiate the installed payloads according to the configured logic set and may report initiation status.
Once initialized, the payload control system 1630 may run continuously and may execute according to logic and according to remote operator control. The mechanisms for remote operator control may involve a user operating a control station 3020 performing a read of the payload registration and configuration from the vehicle 100 and activating user control interfaces according to pre-programmed instructions that are part of the payload configuration. Additional remote control may be achieved when the payload has a direct communication link enabled that bypasses the vehicle 100 logic and may enables access to payload controls natively in its own metaphor.
Referring now to
Referring now to
The present invention may advantageously enable coordinated operations across a large number of unmanned vehicles 100 that may be deployed across the globe. The unmanned vehicles 100 may have a number of embodiments of operational characteristics and may potentially support a large number of payload variations. The Fleet Management System 1710 may include a fleet inventory module for unmanned vehicles 100, payloads, and related utility systems. The inventory system may store information on each unmanned vehicle 100, including vehicle specifications, sub-systems, payloads, sensors, operational status, operational history, current location, and availability. Unmanned vehicle information may be provided to the system 1710 by upload from the unmanned vehicle self-test and operational feedback system, which may be initiated automatically by the unmanned vehicle (as described below). Alternatively, software program, graphical user interface, and input means may be provided by the fleet management system 1710 so that human operators may enter information into the system 1710 manually. Application program interfaces (APIs) or interface services may be provided by means of software modules in the fleet management system 1710 that may allow external computer systems to transmit and receive data without human intervention or, alternatively, with a person simply triggering the data transfer through a user interface but not actually entering the data himself. The software programs that may constitute the Fleet Management system 1710 may be modular and separable from each other, even though these programs may inter-communicate. A subset of the programs that may run logic that interacts with the unmanned vehicle self-test and operational feedback system may be executed separately on devices that may collect unmanned fleet and operational data. These data may then be uploaded to a fleet management system 1710 through a connected network 1810. Such asynchronous upload capability may be advantageous for inventory situations wherein unmanned vehicles 100 may be briefly powered up and interrogated, before losing data communication with a network 1810 that may be shared with the Fleet Management System 1710.
Continuing to refer to
For example, and without limitation, the Fleet Management System 1710 may include a Fleet Logistics system 1714 that may track spare parts, orders, shipments, and vehicle process status. The Fleet Management System 1710 further may include a Fleet Maintenance System 1716 that may store maintenance records for each vehicle, self-test history, maintenance plans, maintenance orders, and maintenance status. The Fleet Maintenance System 1710 may further contain a software program module that may compare maintenance activity and status for each vehicle against the maintenance plan for each vehicle. The software program may contain algorithms to determine when maintenance events are needed or warranted for each vehicle; and may provide notification of these events by means of reports that may be retrieved by people, of proactive email alerts, or of notifications on human readable computer interfaces. The Fleet Management System 1710 may provide a software program with data retrieval and reporting algorithms, a GUI, and input means for people to interact with the system and retrieve information about the fleet of unmanned vehicles.
Still referring to
As illustrated in
For example, and without limitation, off-board control systems 1700, which may comprise databases and software programs, may register, classify, and execute mission logic and may exchange inputs and outputs with specific sets of unmanned vehicles or with individual unmanned vehicles 100. Such data exchange may be supported by a common network 1810 that may uniquely identify entities on the network to each other. On-board control systems 1600 may equip an unmanned vehicle 100 to behave autonomously and report events experienced by the unmanned vehicle 100. Off-board control systems 1700 may direct the operations of sets of unmanned vehicles and may have databases and software programs for storing and executing mission logic. The inputs and outputs exchanged across the network 1810 may enable management and control of many vehicles and missions by the off-board control system 1700, thereby advantageously covering larger maritime areas with more vehicles and fewer human operators. The off-board management and control systems 1700 also may advantageously enable management of maintenance and logistics of fleets of unmanned vehicles throughout multiple missions over the life cycles of many vehicles. The characteristics of the unmanned vehicle described above (e.g., autonomous multimode operation, small size, and the ability to deploy a large number of vehicles over a target area) pose a fleet, mission, and vehicle management challenge. As described above, the capability of the off-board system to integrate and communicate with the respective on-board modules of some number of unmanned vehicles may facilitate advantageous fleet management activities, such as registration, tracking, locating, and records maintenance (as described in more detail below).
Referring now to
At Block 1920, mission Initiation may comprise the orderly and sequential initiation for all mission vehicles 100. For example, and without limitation, initiation may include establishing basic and enhanced communication by and between all unmanned vehicles, as well as establishing any external communications dictated by mission needs. Initiation also may include, but is not limited to, the powering up of all on-board systems 1600 and the performance of detailed diagnostic self-tests by all unmanned vehicles 100 involved in the mission (e.g., self-tests of advanced sensors, power systems, control systems, energy systems, and payload systems). At this stage, the initial control modes may be set, the mission directives may be activated, and the unmanned vehicles 100 may be launched either in sequence or in parallel, the latter being advantageous for mass/time critical mission deployment.
At Block 1930, one or more Mission Execution Control and Tracking modules may allow for the control of each unmanned vehicle 100 as an autonomous unit or units, as a semi-autonomous unit or units assisted from a control center, and/or if the situation or mission requires, as a remotely controlled unit. A remote-control unit/user interface may be implemented, for example, and without limitation, as devices such as Droids, iPhones, iPads, Netbooks, Laptops, Joysticks, and Xbox controllers. The control mode precedence may be set prior to the start of the mission. The control system master default precedence may be autonomous mode. In addition, control provisions may be made in unmanned unit logic that may allow a unit to be completely “off the grid” to perform missions that require a high level of stealth, secrecy, and/or security. More specifically, these units may act as their own master and may be programmed to initiate communications at predefined intervals that may be modified as required. These units also may have the ability to go dormant for extended periods of time, which may further support the ability for unmanned vehicles 100 to perform virtually undetectable mission execution.
At Block, 1940, the Mission Execution Control and Tracking modules also may allow for the real time tracking of all unmanned vehicles 100. This capability may include methods such as satellite tracking, GPS tracking, and transponder-based tracking. Communication channels may be redundant and may utilize various levels of military encryption. Tracking may be performed at the fleet level, yet may also support the ability to zoom in on a specific unmanned vehicle 100. The specific unmanned vehicle tracking data may be overlaid with detailed data such as live video feeds, real time pilot perspective viewing, sensor displays, and other relative data. Analysis of sensor data by on-board control systems may detect “events” of interest. Data characterizing these events may be stored in the unmanned vehicle on-board control system logic and may be reported a message transmitted to the Mission Control System. For example, and without limitation, an event may be defined as a positive identification of a particular target. Periodic vehicle and fleet level self-tests for tracking may occur as background tasks. These self-tests may flag and log exceptions detected, as well as may send a notification to the Mission Control System depending on the class of the exception.
At Block 1950, the Mission Execution Operations module may define how the unmanned units 100 perform operational tasks. During a mission, as a primary function, the unmanned vehicle 100 may monitor its ISR (or similar) sensors, as well as sensor input received from external sources (e.g., other unmanned vehicles in the fleet, Mission Control inputs) on a real time basis. As part of this monitoring process, exception handling may be performed. Computational logic may then be performed that may include analysis, decision making, and the execution of a series of tasks to fulfill mission parameters. Also, during a mission, as a secondary function, the unmanned vehicle may monitor its payload sensors. As in the case of primary monitoring, exception handling, analysis, decision making, and mission task specifically related to payload may be performed.
At Block 1960, the Mission Completion module may be designed to close out the unmanned fleet after a mission, may status all vehicles, may perform any required maintenance of the vehicles, and/or may return them to fleet inventory ready for the next mission. Vehicle recovery may be performed in multiple ways. For example, and without limitation, unmanned vehicles may be driven to a pickup point or recovered on location. The unmanned vehicles 100 may be recovered directly by military personnel, military equipment, by other vehicles in the unmanned fleet and similar recovery methods. The unmanned vehicles 100 may be recovered either above or below water, as well as shore or rivers edge, and similar locations. Before, during, or after recovery operations, the identity of each unmanned vehicle 100 may be checked, demanded self-tests may be performed, and the status may be reported. Any required vehicle maintenance may be performed including checking all internal and external systems. At this point, the unmanned vehicle may be returned to the fleet and the inventory status may be updated.
Tying the mission-level actions more specifically to on board actions in response, upon vehicle initialization (Block 1910), the Control System Master 1510 may issue a startup command across a computer network to prompt the on-board mission control system 1600 to perform self-test and operational feedback, and to send an on-line status back to the Control System Master 1510. At Block 1920, the on-board mission system 1600 then may issue start up commands to all other on-board systems. Each system may start up, perform a self-test, and forward success or failure messages across the network to the Control System Master 1510. The Control System Master 1510 may be configured 1700 to start up in autonomous or manual control mode and also may be configured with a designator of the current mission (Block 1930). If in manual control mode, a ready signal may be sent to the Control System Master 1510 and the on-board systems may await manual commands. If in autonomous control mode, the on-board control system 1600 may be activated with the designator of the current mission and the Control System Master 1510 may hand off primary control to the on-board control system 1600. The Control System Master 1510 may be given back primary control if the on-board control system aborts, is diagnosed as malfunctioning, or is over-ridden by manual control. The on-board control system 1600 may be programmed with mission segments that define navigational, sensor, and payload operating characteristics in a time and logic sequence. At Block 1950, the on-board control system 1600 may issue continually updated instructions to vehicle subsystems as to course and speed (e.g., vector), mode of operation (air, water surface, subsurface), sensor data collection, stealth, payload operation, and interaction with external environments, events and entities. The on-board control system 1600 may receive a continuous stream of data from sensors and may interrogate sensors for more granular data through instructions to the sensor system. The on-board control system 1600 may issue higher level instructions to subsystems that are decomposed by the vehicle control subsystems into more specific instructions. This decomposition of more general instructions to more specific instructions may be a multi-level process that may result in specific signals consumable by vehicle devices and mechanisms. For example, the on-board control system 1600 may issue an instruction to the navigation control system 1500 to navigate in a directional heading, within a speed range having maximum endurance. The navigation control system 1500 may execute logic and may, in turn, issue lower-level instructions over the computer network to the subsystems it controls. The on board control system 1600 may also issue instructions to a power control system 1610 for maximum endurance; a perception-reaction system 1605 as to allowable reaction parameters; the device rack control system 1620 as to device rack orientation; the payload system 1630 as to current operational behavior; the communication control system 1640 as to channels and formats of communication; the sensor control system 1650 as to the environmental sensors to activate and the parameters for each as well as the sensor data to collect; and an external system interaction control system 1680 as to current behavioral attributes. All control subsystems may provide continuous status messages to the on-board control system which may multiplex input status messages and may have logic to translate incoming message and sensor data into instructions back to the subsystems.
Referring now to
The concept of a “mission” may be specific to each unmanned vehicle 100, and/or may be aggregated across sets of unmanned vehicles. The Multiple Mission System may enable the management of multiple missions throughout the entire mission life cycle. When missions are initiated, they may be recorded by the Multiple Mission System and then throughout each mission life cycle may be tracked, updated, and executed. The Multiple Mission System also may manage concurrently executing missions and may provide a security capability to allow access to only authorized users. Employing the systems and methods described above, the present invention may enable the use of many unmanned vehicles 100 to cover large maritime areas with minimal operators at a fraction of the cost compared to conventional approaches to cover the same area.
Continuing to refer to
For example, and without limitation, a Mission Simulation and Training module 2020 may enable mission plans to be “run virtually” with various scenarios including variations in weather, sea state, and external system encounters. Operators may interject simulated manual control of unmanned vehicles. The Mission Simulation and Training module 2020 may provide a valuable estimate as to the likely success of the planned mission under various scenarios.
Also, for example, and without limitation, a Mission Readiness module 2030 may enable planned missions to become ready for execution. When a planned mission is put in “prepare” mode, the mission preparation module may interact with the Fleet Management systems 1710 to determine logistics activities and may enable the user of the system to assemble a mission fleet of unmanned vehicles 100. Mission Preparation functionality may provide tracking and reporting functions to allow the user to know the state of mission readiness.
Also, for example, and without limitation, a Mission Execution System 2040 may provide the functions necessary to begin and complete a successful mission of a fleet of unmanned vehicles 100.
Also, for example, and without limitation, a Mission Data Processing System 2050 may receive and record mission data transmitted from the unmanned vehicles 100. A majority of missions may be presumed to relate to data gathering for intelligence, surveillance and reconnaissance (ISR) purposes. The Mission Data Processing system 2050 may collect and process large amounts of data and may extract the most useful information out of the data in near real time. The Mission Data Processing system 2050 may perform complex data pattern processing in addition to raw storage and reporting.
Swarming may be defined as a deliberately structured, coordinated, and strategic way to strike from all directions, by means of a sustainable pulsing of force and/or fire, close-in as well as from stand-off positions. Swarming involves the use of a decentralized force in a manner that emphasizes mobility, communication, unit autonomy, and coordination/synchronization. In the context of unmanned vehicles, “swarming” relates to coordinating a collection of vehicles such the vehicles' movements are orchestrated in relation to each other.
In one embodiment of mission planning and control, multi-mode swarm control advantageously solves the problem of having a number of unmanned vehicles each moving in its own pre-determined path in a coordinated spatial and time pattern where the unmanned vehicles are in close proximity. Unmanned vehicle swarms may locate a collection of unmanned vehicles in a target zone at desired times and locations. The unmanned vehicles may proceed at a collection of coordinated paths and speeds. Paths may be defined by geo-coordinates (e.g., latitude and longitude) and depth (e.g., altitude), so that paths may be said to be “three dimensional”. Additionally, a swarm may include a number of unmanned vehicles deployed by air drop following a pre-determined glide path. Unmanned vehicle multi-mode swarm technology may include coordinated on-board and off-board control. By contrast, conventional swarm control involves swarming in one “mode”, meaning vessels operate in one of three modes (e.g., air, surface, sub-surface) rather than in two or three modes. As described herein, multi-mode control guides unmanned vehicles in three modes. A single unmanned vehicle may traverse multiple modes executing a transit route.
As described above, a military mission may have a specific objective in a specific area and may be time-bound. Multi-mode swarm, as described herein, may be accomplished at the mission level. As illustrated in
For example, and without limitation, a 3D Deployment may comprise an airdrop of a squad (10) of unmanned vehicles, deployment of a platoon (40) of unmanned vehicles off of a ship, and deployment of a team (4) of unmanned vehicles out of a submarine. For example, and without limitation, each of the unmanned vehicles may be equipped with a collision avoidance system (CAS) which may provide awareness of proximate vehicles and/or objects.
In one embodiment of a basic swarm method, each unmanned vehicle may be loaded with a mission track (e.g., one or more transit paths) with location, speed, time, and path tolerance. Missions may be coordinated such that involved unmanned vehicles' paths do not collide. In the example embodiment, each group may proceed from the “drop zone” on a transit path specified by the off-board control system. At a specified time, each group may proceed to its own specified location, at which point the swarm may be considered to have achieved platoon size. Each grouping may be deployed to a location that may be a specified distance from a target. Upon a specified schedule, all mission assets (e.g., unmanned vehicles) may move toward the mission target zone, each executing planned movements in support of the mission and, as appropriate, executing autonomous movements in response to unplanned stimuli but no so as to jeopardize the mission. For example, and without limitation, planned movements may call for the air dropped squad to split off into two teams, for the platoon to split into four squads, and for the team to stay intact. In such a manner, all vessels and groups in the swarm may be coordinated over time, 3D location, and transit path.
A skilled artisan will note that one or more of the aspects of the present invention may be performed on a computing device. The skilled artisan will also note that a computing device may be understood to be any device having a processor, memory unit, input, and output. This may include, but is not intended to be limited to, cellular phones, smart phones, tablet computers, laptop computers, desktop computers, personal digital assistants, etc.
The computer 810 may also include a cryptographic unit 825. Briefly, the cryptographic unit 825 has a calculation function that may be used to verify digital signatures, calculate hashes, digitally sign hash values, and encrypt or decrypt data. The cryptographic unit 825 may also have a protected memory for storing keys and other secret data. In other embodiments, the functions of the cryptographic unit may be instantiated in software and run via the operating system.
A computer 810 typically includes a variety of computer readable media. Computer readable media can be any available media that can be accessed by a computer 810 and includes both volatile and nonvolatile media, removable and non-removable media. By way of example, and not limitation, computer readable media may include computer storage media and communication media. Computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, FLASH memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information, and which can be accessed by a computer 810. Communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media. The term “modulated data signal” means a signal that has one or more of its characteristics set or changed in such a manner as to encode information in the signal. By way of example, and not limitation, communication media includes wired media such as a wired network or direct-wired connection, and wireless media such as acoustic, radio frequency, infrared and other wireless media. Combinations of any of the above should also be included within the scope of computer readable media.
The system memory 830 includes computer storage media in the form of volatile and/or nonvolatile memory such as read only memory (ROM) 831 and random-access memory (RAM) 832. A basic input/output system 833 (BIOS), containing the basic routines that help to transfer information between elements within computer 810, such as during start-up, is typically stored in ROM 831. RAM 832 typically contains data and/or program modules that are immediately accessible to and/or presently being operated on by processing unit 820. By way of example, and not limitation,
The computer 810 may also include other removable/non-removable, volatile/nonvolatile computer storage media. By way of example only,
The drives, and their associated computer storage media discussed above and illustrated in
The computer 810 may operate in a networked environment using logical connections to one or more remote computers, such as a remote computer 880. The remote computer 880 may be a personal computer, a server, a router, a network PC, a peer device or other common network node, and typically includes many or all of the elements described above relative to the computer 810, although only a memory storage device 881 has been illustrated in
When used in a LAN networking environment, the computer 810 is connected to the LAN 871 through a network interface or adapter 870. When used in a WAN networking environment, the computer 810 typically includes a modem 872 or other means for establishing communications over the WAN 873, such as the Internet. The modem 872, which may be internal or external, may be connected to the system bus 821 via the user input interface 860, or other appropriate mechanism. In a networked environment, program modules depicted relative to the computer 810, or portions thereof, may be stored in the remote memory storage device. By way of example, and not limitation,
The communications connections 870 and 872 allow the device to communicate with other devices. The communications connections 870 and 872 are an example of communication media. The communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media. A “modulated data signal” may be a signal that has one or more of its characteristics set or changed in such a manner as to encode information in the signal. By way of example, and not limitation, communication media includes wired media such as a wired network or direct-wired connection, and wireless media such as acoustic, RF, infrared and other wireless media. Computer readable media may include both storage media and communication media. Some of the illustrative aspects of the present invention may be advantageous in solving the problems herein described and other problems not discussed which are discoverable by a skilled artisan. While the above description contains much specificity, these should not be construed as limitations on the scope of any embodiment, but as exemplifications of the presented embodiments thereof. Many other ramifications and variations are possible within the teachings of the various embodiments. While the invention has been described with reference to exemplary embodiments, it will be understood by those skilled in the art that various changes may be made, and equivalents may be substituted for elements thereof without departing from the scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention is not limited to the particular embodiment disclosed as the best or only mode contemplated for carrying out this invention, but that the invention will include all embodiments falling within the description of the invention. Also, in the drawings and the description, there have been disclosed exemplary embodiments of the invention and, although specific terms may have been employed, they are unless otherwise stated used in a generic and descriptive sense only and not for purposes of limitation, the scope of the invention therefore not being so limited. Moreover, the use of the terms first, second, etc. do not denote any order or importance, but rather the terms first, second, etc. are used to distinguish one element from another. Furthermore, the use of the terms a, an, etc. do not denote a limitation of quantity, but rather denote the presence of at least one of the referenced item.
With additional reference to
It should be noted that the present embodiment preferably provides the ability of the host vessel to navigate autonomously with high performance characteristics when not flooded, the ability of the host vessel to maintain headway and navigate while the well deck is flooded, and/or the ability of the host vessel to sense location and position of launched and recovered payload objects as they move away or toward the well deck.
For this description the payload objects are unmanned vessels, such as unmanned surface vessels (“USV”), unmanned underwater vessels (“UUV”) or remote operated vehicles (“ROV”) that can be free-launched or launched using a winched tethered tow, for example.
Initially, referring to
Although not shown here, a propulsion system is configured to propel the unmanned vehicle 3400, a maneuvering system is configured to maneuver the unmanned vehicle, and a vehicle control system is configured to control a speed, an orientation, and a direction of travel of the unmanned vehicle in combination with the propulsion system and the maneuvering system. Various embodiments of such systems are described above with reference to
As described above with reference to
For the buoyancy control system 3402, ballast containers 3410 are positioned within portions of the vehicle body. A pump 3412 and valves 3414, 3416 define a pump and valve system that is configured to vary amounts of water and air in the recessed well deck 3408. Various other pumps and valves, described above with reference to
Water is filled in the recessed well deck 3408 via a combination of the water pump 3412 and actuated valves 3414, 3416 that allow water into and out of the hull. An air valve 3418 may be used to control air flow in and out of the recessed well deck 3408 of the hull. The pump 3412 may also pump water out. The recessed well deck 3408 can accept water in the hull without damaging internal components as it is designed to be flooded through the use of various seals and channels, not shown, as would be appreciated by those skilled in the art. The combination of total water in the well deck 3408 and the four-quadrant buoyancy control enables control of at least three of the six degrees of freedom: pitch, roll and up/down.
The vehicle control system or navigation control system 1500, as the on-board governor of the speed, direction, and orientation, will control the other three of the six degrees of freedom: yaw, forward/reverse and right/left.
Referring additionally to
The supports 3602 and may have an automated apparatus 3604 to secure the payload objects. For example, for winched tethered tow, the automated apparatus 3604 may include tether lines 3605 that connect to an autonomously controlled reel at a fixed end, and attach to the payload objects 3606, 3608 at a free end. The tether lines may be multi-purpose to both convey data and power between the USV/UUV/ROVs and the UMMV, as well as mechanically tow the USV/UUV/ROVs.
The vehicle control system 1500, the buoyancy control system 3402 and the sensor system 1650 define a well deck positioning control system 3500 (
The command-and-control block 3504, which may be under operator direction, or receive autonomous instructions as described above, sends positioning instructions to the well deck positioning controller 3502. Such instructions may include well deck pitch, well deck depth, well deck heading, well deck turn rate or well deck pitch rate, for example. The well deck positioning controller 3502 sends position information back to the command-and-control block 3504. The sensors may include orientation 3520, movement 3521, water level 3522, environment 3523 and payload position 3524. These sensors 3520-3524 provide feedback to the well deck position controller 3502. The actuators 3510-3513 control flooding of the well deck 3408 and ballast containers 3410 via the four buoyancy mechanisms, water inlet valves, water pumps, air valves and vehicle movement.
An embodiment at least includes the plurality of environmental sensors 3430 including, for example, water level sensors 3522 configured to sense water levels in the ballast containers 3410 and the recessed well deck 3408, and payload position sensors 3524 configured to sense the position of the payload relative to the payload securing system 3602/3604 and the recessed well deck 3408.
The launch process begins when the UMMV 3400 initiates a launch sequence request from a remote operator or from internal logic executing autonomous mission logic running on resident control systems as described above. The entire sequence of launch and recovery may be under control of the on-board control systems on the UMMV 3400. The UMMV 3400 floods the recessed well deck 3402, e.g., in the stern section of the vessel to the mid-ship, by opening flood valves and activating flooding pumps if faster flooding is desired.
Water level monitoring sensors 3522 in the well deck 3408 provide feedback to the controller 3502 which also monitors pitch and roll 3520. Additionally, the buoyancy control system 3402 controls the amount and location of flotation. The buoyancy control system 3402 controls the depth of water in the well deck 3408 and the pitch of the well deck by controlling the amount of flooding and center of buoyancy while monitoring water level and pitch sensors.
When the water in the well deck 3408 is at the desired depth and the pitch of the well deck is at the desired angle, the actual launch of the payload objects 3606, 3608 (e.g., either USV, UUV or ROV) is initiated. In this phase, the support 3602 or cradle releases the payload object(s) 3606, 3608 or the object simply floats away from its cradle. The object 3606, 3609 may or may not be tethered 3605 and may drive away from the UMMV 3400 to perform its mission.
It should be appreciated that the UMMV 3400 may drive away from the payload object(s) 3606, 3608, or the objects may drive away from the UMMV. Once the UMMV 3400 achieves separation from the object(s) 3606, 3608, the UMMV may stay partially submerged and navigate in that orientation, may evacuate the flooded water and continue to drive as a surface vessel, or remain floating stationary in its partially submerged orientation, for example.
Orientation sensors 3520 may include positional sensors to provide pitch-roll-yaw and depth position of the UMMV 3400. Also, sensors 3524 detect location and orientation of payload objects 3606, 3608 to provide feedback to the command-and-control block 3504 and/or positioning and payload securing systems. The payload position sensors 3524 may include imaging sensors, e.g., electro-optical or infrared (EO/IR), that are oriented toward payload objects 3606, 3608 and a remote streaming system (i.e., control and communications of imaging) may be part of the command-and-control block 3504 or the vehicle control system 1500 to provide feedback to remote human operators. Thus, the well deck positioning control system 3500, in connection with the vehicle control system, has the capability to dynamically position the UMMV 3400 relative to payload objects 3606, 3608 and may include communication (wired or wireless) between such objects and the UMMV.
In recovery mode, the UMMV 3400 will return to its semi-submersible condition. The payload object(s) 3606, 3608 will either drive back over the well deck 3408 for capture or may be captured aft of the UMMV 3400 and then towed back into the well deck. Once the object(s) 3606, 3608 is/are in position and secured or captured in the well deck 3408, the UMMV 3400 evacuates the flooded water by pumping it out and returns to its surface operation. Sensors 3522, 3520 monitor the water level and pitch during the transition from semi-submersible to surface condition.
Once the flooded water is pumped out of the well deck 3408 and/or the ballast containers 3410, the UMMV 3400 may navigate normally and perform high speed maneuvers as desired.
With additional reference to
It should be noted that the present embodiment preferably provides the ability of the host vessel to navigate autonomously while preventing or limiting the risk of detection or harm to the vessel.
Initially,
Now referring to
The input queue layer 4203 includes mission planning 4207, a mission plan 43034208, mission decision algorithms 4209, sensors 4210, sensor signal processing 4211, sensor data fusion 4212, and sensor data analysis 4213. The input queue layer 4203 may contain inputs to the system that originate from sensors taking in external environment data, or mission information and decision logic that is pre-programmed by mission planners. The input queue layer contains elements of artificial intelligence in the form of a) mission decision algorithms and b) sensor data analysis including recognition, identification and classification.
The integration layer 4204 may include mission plan 4303 integration 4214, algorithm processing integration 4215, sensor integration 4216, and sensor data and analysis integration 4217. The integration layer 4204 conveys data generated in the Input Queue Layer 4203 to the Control Layer 4205. To accomplish this, the Input Queue Layer 4203 components must be integrated into this system with data, electrical, power, and mechanical connections. If physical integration is required, the integration may include waterproofing all components, signals and power.
The control layer 4205 may include a vessel control system 4218, hiding control system 4219, navigation control system 4220, and stealth control system 4221. The control layer 4205 may contain components that process the input data and translate to signals that control “hiding” system components and therefore hiding behavior.
The vessel operation layer 4206 may include the vessel systems that cause the vessel to perform certain behaviors. The vessel operation layer 4206 may include stealth hiding signature suppression systems 4223 and physical hiding navigation modes 4222. The stealth hiding signature suppression systems 4223 may include a thermal cloaking system 4227, an acoustic cloaking system 4228, a radio frequency cloaking system 4229, and a radio frequency imitation system 4229. They physical hiding navigation modes 4222 may include a navigation system 4224, which may include a propulsion system, a steering system, and control surfaces, a buoyancy system 4225, and a ballast system 4226. The buoyancy system 4225 and the ballast system 4226 may be components of the maneuvering system.
Turning to
Sensors 4301 may be attached to the unmanned vehicle for the purpose of detecting items of interest, which may be transient objects. The sensors 4301 may be referred to as transient object detection sensors. The sensors 4301 may provide data to a signal processing block 4304, which may detect an item of interest and provide an item of interest signal to an artificial intelligence block 4305, which may identify or classify the item of interest. The artificial intelligence block 4305 may be part of the vehicle control system. The artificial intelligence block 4305 may provide a classification signal. The classification signal may be provided to the mission execution control 4306 and may be utilized by the propulsion system, maneuvering system, vehicle control system, or buoyancy control system. The classification signal may be determined by the artificial intelligence block 4305 based on the item of interest classification. Items of interest may include, but are not limited to aquatic vessels, humans, mines, aerial vehicles, and chemicals. Items of interest may be classified as one of the listed types of items of interest after identification.
The unmanned vehicle may have any combination of sensors 4308, 4309, 4310, 4311, 4312, and 4313. Examples of sensor 4301 configurations include, but are not limited to, a single optical camera, some combination of sensors 4308, 4309, 4310, 4311, 4312, and 4313, and all of sensors 4308, 4309, 4310, 4311, 4312, and 4313. The enumeration of sensors 4301 may be representative of many embodiments but is not exhaustive.
Sensors 4302 may be attached to the unmanned vehicle to provide environmental information. Examples of environmental information include, but are not limited to, location on earth, vessel heading and course, and vessel orientation in water or air. Environmental information input is consumed by mission planning 4303 and execution 4306 modules. Additional sensors 4302 may be included but are not specifically enumerated in
Items of interest may include transient objects detected by sensors 4301, which may include ships, boats, swimmers, submarines, mines, aerial objects, including unmanned aerial vehicles and varieties of flying vehicles, as well as foreign material in the water detected by sensors 4302, which may include chemicals. Chemicals may include, but are not limited to, oil and nuclear waste.
In one embodiment of the invention, the plurality of transient object detection sensors 4301 of the sensor system may include at least one sensor adapted to detect an item of interest. The sensor data analysis 4213, sensor data and analysis integration 4217, or some combination of the two may be configured to recognize, identify, and classify one or more items of interest based of data received from one or more of the transient object detection sensors 4301 of the sensor system and provide an item of interest classification signal to the vehicle control system 4218, navigation system, hiding control system, orientation control system, stealth control system, propulsion system, maneuvering system, or buoyancy control system.
Signal processing electronics 4304 and algorithms 4305 may receive input from the sensors 4301, 4302 and determine that an item of interest or combination of items of interest have been detected. Detection may include a determination of the location, speed, heading, velocity, and/or dimension of the object of interest. Location may include any or all of the latitude, longitude, and depth of the item of interest. Sensor 4301, 4302 data and associated derivative information may be aggregated from each sensor 4301, 4301 for each item of interest and may be sent over an ethernet network to computation algorithms that may detect, identify, and classify each item of interest. This kind of recognition and classification may be particularly well suited to artificial intelligence (AI) and pattern recognition algorithms. The item of interest signal and classification signal may be provided by the artificial intelligence block 4305.
Once an item of interest has been detected, recognized, or classified that information may be sent over an ethernet network to the Mission Execution Control 4306. The Mission Execution Control 4306 may also receive input from the Mission plan 43034303. The Mission Execution Control 4306 may contain decision-making algorithms 4318 that may determine what hiding characteristics are desired based on the information received. Those decision-making algorithms 4318 may provide information to hiding requests 4319, which may pass command to the Hiding Control System 4307. The decision-making algorithms 4318 included in the Mission Execution Control 4306 may contain AI components.
The output of the Hiding Decision System may include Navigation Mode and Stealth Mode messages which are sent to the Hiding Control system 4307 over an ethernet network. The hiding control system 4307 may provide data to the propulsion system, maneuvering system, vehicle control system, or buoyancy control system, which, individually or collectively, may act to avoid physical, electrical, acoustic, or thermal detection of the unmanned vehicle by the item of interest.
The output of the hiding control system 4402 may be sent to the navigation mode executive control 4404, which may provide electrical and mechanical systems to direct unmanned vehicle navigation modes. The classification signal received from the mission execution control 4401 may be provided to the hiding control system 4402, which provides input to the navigation mode executive control 4404, which may then use that data to provide commands used by the maneuvering system, the buoyancy system, or the propulsion system to position the unmanned vehicle in a location calculated to prevent detection of the unmanned vehicle by the item of interest.
The hiding control system 4402 may select a desired navigation mode and provide this data to the navigation mode executive control 4404. The navigation mode executive control 4404 may process this selection and provide messages to the specific Navigation Mode Controller 4407, 4408, 4409, 4410, 4411, 4412, or 4413 necessary to implement the selected navigation mode. The navigation mode executive control 4404 may also contains control logic for transitioning between selected modes of navigation. The selected navigation mode controller 4407, 4408, 4409, 4410, 4411, 4412, or 4413 may provide date to the navigation come control command messages 4405, which are provided to navigation mode control 4406 to control systems of the unmanned vehicle. The navigation mode control 4406 may provide commands to the maneuvering system, buoyancy control system, or propulsion system. These systems may work independently or cooperatively to position the unmanned vehicle in a body of water at a depth lower than a depth of the item of interest and in an orientation in order to avoid detection by the item of interest.
Turning to
In surface mode 5101, the vessel may travel across the surface of a body of water. In hover mode 5103, the vessel may move to different altitudes above or below the surface of the body of water. In GATOR mode 5102, the vessel may be substantially submerged with a top of the vessel near or slightly above the surface of the water. In SHARK mode 5104, the vessel may be oriented horizontally with only the bow, or a portion of the bow, of the vessel above the waterline. In porpoise mode 5105, the vessel may move forward while alternating between a first position resting on the surface of the water and a second, completely submerged, position. In dive or glider mode 5106, the vessel may travel similarly to porpoise mode while reaching a deeper altitude when submerged below the water line.
Returning to
Referring to
Navigation control 4503 and orientation control 4504 receive inputs from sensors 4502. The sensors 4503 may include, but are not limited to a GPS sensor 4510, compass 4511, gyro sensor 4512, pressure sensor 4513, and water level sensor 4514. The pressure sensor 4513 may be utilized to determine a depth of the vessel. The sensors 4502 and the environmental awareness sensors 4302 may be the same sensors. Output from the GPS sensor 4510, Compass 4511, and Gyro sensor 4512 may be provided to the navigation control 4503 to provide a feedback reference for speed, course and/or heading.
Output from the gyro sensor 4512, pressure sensor 4513, and/or water level sensor 4514 may be provided to the orientation control 4504 to provide a reference feedback for pitch, roll, depth, and water volume in the vessel.
The Navigation Control 4503 may control propulsion and steerage components 4505. The propulsion and steerage components may include, but are not limited to, a power source, drive train, motors, propellers, engines, rudders, or vectored thrust.
The Orientation Control 4504 may include control logic that generates output to control surface actuators 4506 or a buoyancy system 4507. The control surface actuators 4506 may control positions of trim tabs, canards, bow thrusters, or the like. The Buoyancy System 4507 may control the Ballast System 4508 and the Flotation System 4509.
Vessel control surfaces, including, but not limited to, trim tabs, canards, and bow thrusters 4619, may be moved by electrically controlled actuators 4618 that receive signals from the Orientation Control 4603 module. Power may be supplied by the energy source, which may be one or more batteries, and the conversion from digital signals to motive power may occur in circuitry that exists in the on-board processor or within the actuators 4618 themselves.
The Orientation Control module may receive inputs from sensors 4601. The sensors 4601 may include, but are not limited to, a gyro sensor 4612, pressure sensors 4613, 4616, 4617, environmental sensors 4614, and water level sensors 4615. The gyro sensor 4612 may be a 3-axis accelerometer. The environment sensors 4614 may detect sea state, as defined by wave motion, wind speed, wind direction, current speed, or current direction. The pressure sensors 4613, 4616, 4617 may be utilized to detect different data. At least one depth pressure sensor 4613 may detect a depth of the vessel. A water pressure sensor 4616 may detect a water pressure. An air pressure sensor 4617 may detect an air pressure.
The Buoyancy Control system 4604 may receive command and data messages from the Orientation Control 4603. These messages may contain requests for orientation parameters related to depth, pitch, or roll. These messages may also contain sensor 4601 data including information related to pitch, roll, yaw, and depth. These messages may be processed by the buoyancy control system 4604 and translated to instructions to the Ballast Control system 4605 or the floatation control system 4609.
The ballast control system 4605 may control the volume of water in the vessel and direct the systems necessary to remove water from or add water to the vessel to achieve a desired volume of water. Specifically, water may be carried in ballast containers 4608 or the hull. The Ballast Control System 4605 receives an input from water level sensors 4615 inside the vessel and water pressure sensors 4616 indicating pressure in ballast containers 4608. From this sensor data, the volume of water in the vessel or ballast containers 4608 may be determined and compared to the desired water volume as directed from the buoyancy control system 4604. Water volume may be adjusted by activating water pumps or valves 4606 to pump water into the ballast containers 4608 from the ambient water environment 4607 or to pump water out of the ballast containers 4608 into the ambient water environment 4607 until the water volume in the ballast containers 4608 matches the requested water volume. The ballast control system 4605 may convert digital signals to electrical output that drives actuators 4606 that pump the water.
The flotation control system 4609 may control the volume of air in the vessel and direct the systems necessary to remove air from or add air to the vessel to achieve the desired volume of air. Specifically, air may be carried in pneumatic flotation bladders 4611. The Flotation Control System 4609 may receive input from air pressure sensors 4617 measuring air pressure in pneumatic flotation bladders 4611. From this sensor data, the volume of air in a plurality of air bladders 4611 may be determined and compared to the desired volume of air as directed from the buoyancy control system 4604. Air volume may be adjusted by activating an actuator or valve 4610 to pump air into the pneumatic flotation bladders 4611 or to release air from the pneumatic flotation bladders 4611 until the volume of air in the air bladders 4611 matches the requested volume of air. The flotation control system 4609 may convert digital signals to electrical output that drive actuators 4610 that pump the air.
As described, the Buoyancy Control system 4604 may control two systems simultaneously to achieve accurate control of total buoyancy and center of buoyancy of the vessel which may enable multiple orientations, which are grouped as Navigation Modes described in
The thermal cloaking system 4708 may provide a control signal to a hull temperature suppression system 4703. The thermal cloaking system 4708 may be adapted to decrease a temperature of the unmanned vehicle's body by activating the hull temperature suppression system 4703.
The thermal cloaking system controller 4708 may receive a message from the Stealth Control system 4702 with instructions to maintain, or limit, the maximum hull temperature to within a specified difference of the ambient water temperature. The thermal cloaking system controller 4708 may also receive a message from the stealth control system indication what Navigation Mode or Hull Spray action to take to reduce the hull temperature.
The thermal cloaking system controller 4708 may receive data from temperature sensors 4707 to determine the current hull temperature and the ambient water temperature. A hull temperature sensor 4713 may be positioned to measure and provide data related to the maximum hull temperature and an ambient water temperature sensor 4714 may be positioned to measure and provide data related to the ambient water temperature. If the difference between the ambient water temperature and the hull temperature is above the specified difference, the thermal cloaking system controller 4708 may provide a control signal to the navigation mode control 4710 to enter a navigation mode calculated to reduce the hull temperature. The navigation mode control 4710 may be a part of the vehicle control system and may control the propulsion system, maneuvering system, vehicle control system, or buoyancy control system to maintain an actual difference between the hull temperature and the ambient temperature less than the target threshold when the thermal cloaking system 4703 is activated.
Similarly, if the difference between the ambient water temperature and the hull temperature is above the specified difference, the thermal cloaking system controller 4708 may provide a control signal to the hull spray actuator 4709 to activate the hull spray pump 4711 and control the hull spray plumbing and nozzles 4712 to spray the hull with ambient water to reduce the hull temperature. The hull spray actuator 4709 may be a part of the vehicle control system and the hull spray pump 4711 and hull spray plumbing and nozzles 4712 may be a part of a water spray system. Water output from the water spray system may be directed at the exposed hull surface to maintain an actual difference between the hull temperature and the ambient temperature less than the target threshold when the thermal cloaking system 4703 is activated.
For example, if the maximum hull temperature exceeds the specified temperature threshold, the vessel may be instructed to go into PORPOISE mode until the hull decreases temperature. By way of another example, if the maximum hull temperature exceeds the specified temperature threshold, the hull spray mechanism may be activated.
The acoustic cloaking system 4704 may be adapted to cancel an acoustic frequency emitted by the unmanned vehicle. The Acoustic Frequency Controller 4717 may receive a message from the Stealth Control system 4702 with instructions to suppress the acoustic signature of the vessel. The controller 4717 may receive input from an acoustic sensor 4715. By way of example, and not as a limitation, the acoustic sensor 4715 may be a microphone or other sensor adapted to sense a detectable frequency. An algorithm may receive data detected by the acoustic sensor 4715 or control data from the frequency controller 4714 and be configured to control a frequency generator 4716 to output a cancelling frequency calculated to suppress the detectable frequency sensed by the acoustic sensor 4715. The cancelling frequency may suppress or cancel the frequencies sensed by the acoustic sensor 4715. The cancellation frequency may be sent to a frequency generator 4716 in the form of an electrical or digital signal.
The radio frequency imitation system 4706 may be adapted to recreate a target radio frequency. The radio frequency imitation system 4706 may receive a message from the Stealth Control system 4702 with instructions to imitate a known maritime vessel or other object. The object to be imitated could be man-made or natural. The imitation controller 4721 may contain a library of maritime vessel and object frequencies that are matched to the requested object and the matching frequencies may sent to a frequency generator 4722 in the form of an electrical or digital signal or controls may be provided to the frequency generator 4722 to cause the frequency generator to output the desired frequency. The frequency library may include a designation of a plurality of maritime vessels and objects, which may be referred to collectively as frequency generators, and their associated output frequencies. The frequency generator 4722 may be configured to output a frequency associated with one or the plurality of frequency generators contained in the library.
The radio frequency cloaking system 4705 may be adapted to alter the radio frequency emitted by the vessel. The Radio Frequency Suppression Controller 4718 may receive a message from the Stealth Control system 4702 with instructions for which communication frequencies to suppress. These messages may be translated and sent to an Emission Controller 4719 which has logic to determine what frequencies to suppress and the nature of the suppression from turning off those frequencies, choosing other selective frequencies or changing the bandwidth and period of communications. These parameters may be converted to instructions and sent to the vessel's communication modules 4720. The radio frequency cloaking system 4705 may be adapted to alter the emitted radio frequency of the Bessel by at least one of: suppressing an emission of the radio frequency, changing a bandwidth of the radio frequency, and changing a duration of transmission of the radio frequency.
Referring to
The Ballast subsystem contains the following components as shown in
Four water level sensors 4811, 4812, 4813, 4814 are located inside the vessel, two near the top to indicate that water has filled the vessel and two on the bottom, one in each sponson, to indicate that water is evacuated from the vessel.
The central processing control unit 4815 may contains a computer or other computing device for logic processing and input and output conversions between digital signals and electronic signals that are used to actuate valves and pumps in the ballast control system.
The flotation control system includes an air distribution controller 4805. The air distribution controller 4805 controls the volume of air in air bladders 4801, 4802, 4803, 4804 by pumping air in or out through air lines. The volume of air is individually controlled in each air bladder and the air bladders are distributed in four quadrants within the vessel, port, starboard, bow, aft. This may enable control to move the center of buoyancy backward and forward, and left and right, which translates to pitch and roll. The central processing control unit 4815 may send actuation signals to the air distribution controller as described in
Turning to
Turning to
As described above, hull temperature suppression may be achieved by employing a navigation mode that washes the hull and, in this case, the spray system may not be used.
With additional reference to
A mission plan 4303 may comprise commands and/or instructions to be executed, performed, and/or achieved by the host vehicle 5202 and/or guest vehicle 5204. A mission plan 4303 may include, without limitation, one or more of an intelligence mission plan, a surveillance mission plan, a reconnaissance mission plan, a guest vehicle 5204 deployment mission plan, a guest vehicle 5204 recovery mission plan, a unmanned aerial vehicle deployment and/or recovery mission plan, a search and rescue mission plan, a special operations mission plan, a payload 6004 deployment mission plan, a command and control evaluation mission plan, a predetermined object of interest detection mission plan, a predetermined object of interest identification mission plan, a predetermined object of interest classification mission plan, a logistics mission plan, a night operation mission plan, a maritime security mission plan, a mapping mission plan, a scouting mission plan, a data relay mission plan, a fleet security mission plan, an autonomous towing mission plan, a swarm operation mission plan, a submarine mission plan, and/or a vessel detection mission plan,
A mission plan 4303 may include one or more preselected and/or selectable modes which a host vehicle 5202 and/or guest vehicle 5204 may be operable to follow responsive to receiving the selected mode(s). A preselected and/or selectable mode may include, without limitation, one or more of a transport mode, a semi-autonomous mode, a standby mode, a manual control mode, a fully autonomous mode, a loiter mode, a protection mode, a shared manual and autonomous control mode, and/or a keep station mode. A host vehicle 5202 and/or guest vehicle 5204 may receive a selected mode from a user device 6808. In some embodiments of the unmanned vehicle system 5200, the host vehicle 5202 and/or guest vehicle 5204 may be configured to select one or more of the selectable modes upon a predetermined event. For example, without limitation, the host vehicle 5202 and/or guest vehicle 5204 may select the fully autonomous mode upon sensing, detecting, and/or determining that there is no communication between the host vehicle 5202 and/or guest vehicle 5204 with a network 6802, a user device 6808, and/or an associate device 6806.
The host vehicle 5202 may be configured to stow and/or carry at least one guest vehicle 5204 thereby in a stowed state 5220, and may be configured to deploy the one or more guest vehicles 5204 by moving the guest vehicle(s) 5204 from the stowed state 5220 to a deployed state 5404. The host vehicle 5202 and the guest vehicle 5204 also may both be operable to move between a surfaced state 5405 and a submerged state 5402. The host vehicle 5202 may be operable to recover the guest vehicle 5204 while they are both in the submerged state 5402 to have the guest vehicle 5204 move from the deployed state 5404 to the stowed state 5220.
It should be noted that the present embodiments comprising the unmanned vehicle system 5200 preferably provide the ability of the host vehicle 5202 to carry, deploy, and recover one or more guest vehicles 5204, and to cooperate with one another and implement machine learning/Artificial Intelligence (AI) to coordinate performance and fulfillment of a mission plan, which may also be via mesh communications and as a swarm with one or more other host vehicles 5205 and/or one or more other guest vehicles 5204.
It should also be noted that the use of the terms unmanned host vehicle 5202, host vehicle 5202, host 5202, host vessel 5202, and unmanned host vessel 5202 may be used interchangeably, without limitation, as reference to an embodiment host vehicle 5202. Similarly, the same should be noted regarding the use of the term unmanned guest vehicle 5204, guest vehicle 5204, guest 5204, guest vessel 5204, and unmanned guest vessel 5204, without limitation, as reference to an embodiment of the guest vehicle 5204. It should also be noted, that throughout the description of the present invention herein, that features described regarding the host vehicle 5202 may similarly apply to the guest vehicle 5204, and that features described regarding the guest vehicle 5204 may also similarly apply to the host vehicle 5202. For instance, but without limitation, throughout the figures the embodiment(s) illustratively shown therein may be labeled as both and/or either of the host vehicle 5202 and guest vehicle 5204 to show, without limitation, that the features depicted therein may regard both and/or either the host vehicle 5202 and the guest vehicle 5204, such as
A host vehicle 5205 of the unmanned vehicle system 5200 may comprise a host vehicle body 5206 and a securing system 5214. The guest vehicle 5204 may comprise a guest vehicle body 5208 and may also comprise one or more guest securing members 5502. Also, as illustrated in
Now referring to
It should be noted, without limitation, that communications to and/or from the host vehicle 5202, and/or to and/or from one or more of the components of the host vehicle 5202, may be by and/or via the host vehicle sensor and communication system 5210. Similarly, without limitation, communications to and/or from the guest vehicle 5204, and/or to and/or from one or more of the components of the guest vehicle 5204 may be by and/or via the guest vehicle sensor and communication system 5210. E.g., without limitation, communication between the host vehicle control system 7102 and the guest vehicle control system 7102 may be via the host vehicle sensor and communication system 5210 and/or the guest vehicle sensor and communication system 5210. Moreover, without limitation, for some embodiments of the unmanned vehicle system 5200, it should be understood that a recitation, such as, “the host vehicle control system 7102 is in communication with the guest vehicle maneuvering system 5224,” may imply that the communication between the host vehicle control system 7102 and the guest vehicle maneuvering system 5224 is via the host vehicle sensor and communication system 5210 and/or the guest vehicle sensor and communication system 5210.
The guest vehicle 5204 may be moveable between a stowed state 5220 and a deployed state 5404, as illustratively shown in
The cradle 5302 may also be sized and/or configured to allow for a rear portion of the guest vehicle(s) 5204 to not be extending further from the host vehicle 5202 and/or from the host vehicle body 5206 compared to a rear portion of the host vehicle 5202 and/or the host vehicle body 5206 when the guest vehicle 5204 is in the stowed state 5220. The deployed state 5404 of the guest vehicle 5204 may be defined as when the guest vehicle 5204 and/or guest vehicle body 5208 is not being carried by the host vehicle 5202 and/or the host vehicle body 5206. Also, without limitation, the deployed state 5404 of the guest vehicle 5204 may be defined as the guest vehicle 5204 and/or guest vehicle body 5208 being separate and spaced apart from the host vehicle 5202 and/or the host vehicle body 5206.
The securing system 5214 of the host vehicle 5202 may be in communication with the host vehicle control system 7102 and may be operable to selectively engage the guest vehicle(s) 5204 when the guest vehicle(s) 5204 is/are in the stowed state 5220. The securing system 5214 may be operable to move between a locked state and an unlocked state to selectively allow and/or prevent a guest vehicle 5204 carried by the host vehicle 5202 to move between the stowed state 5220 and the deployed state 5404. The locked state of the securing system 5214 may be defined as when at least a portion of the securing system 5214 is engaged with at least a portion of the guest vehicle 5204 and/or the guest vehicle body 5208, which may cause the guest vehicle 5204 and/or guest vehicle body 5208 to be prevented from moving to the deployed state 5404 from the stowed state 5220. The unlocked state of the securing system 5214 may be defined as when the securing system 5214 is not engaged with the guest vehicle 5204 and/or the guest vehicle body 5208, such that the guest vehicle 5204 and/or guest vehicle body 5208 is not prevented from moving to, from, and/or between the stowed state 5220 and the deployed state 5404.
In some embodiments of the unmanned vehicle system 5200, the guest vehicle 5204 may comprise one or more guest vehicle securing members 5502, and the securing system 5214 of the host vehicle 5202 may comprise one or more securing units 5304. The guest vehicle securing members 5502 may be positioned on/at, and/or attached to, one or more outer portions of the guest vehicle body 5208. When the guest vehicle 5204 is in the stowed state 5220, one or more of the guest vehicle securing members 5502 may be positioned adjacent to a securing unit 5304. When the securing system 5214 is in the locked state, at least one securing unit 5304 may be moved to an engaged position, which may be defined as the securing unit 5304 engaging and/or grasping a guest vehicle securing member 5502 and/or a portion of the guest vehicle 5204 and/or guest vehicle body 5208 to prevent the guest vehicle 5204 from moving to the deployed state 5404 from the stowed state 5220. When the securing system 5214 is in the unlocked state, the securing unit(s) 5304 may be moved to a disengaged position, which may be defined as the securing unit 5304 not being engaged with and/or grasping a guest vehicle securing member 5502 and/or a portion of the guest vehicle 5204 and/or guest vehicle body 5208 so the guest vehicle 5204 may be moveable between the stowed state 5220 and the deployed state 5404.
The host vehicle buoyancy system 7116 may be carried by the host vehicle body 5206 and may be in communication with the host vehicle control system 7102. The host vehicle buoyancy system 7116 may be operable to control and regulate outside environment water 5406 flowing into and out from the host vehicle body 5206 to move the host vehicle body 5206 between a surfaced state 5405 and a submerged state 5402. Similarly, the guest vehicle buoyancy system 7116 may be carried by the guest vehicle body 5208 and may be in communication with the guest vehicle control system 7102. The guest vehicle buoyancy system 7116 may be operable to control and regulate outside environment water 5406 flowing into and out from the guest vehicle body 5208 to move the guest vehicle body 5208 between a surfaced state 5405 and a submerged state 5402. The surfaced states 5405 and submerged states 5402 of the host vehicle 5202 and the guest vehicle 5204 are illustratively shown in
The submerged state 5402 of the host vehicle 5202 and/or host vehicle body 5206 may be defined as when an upper deck surface of the host vehicle body 5206 is below the surface of the outside environment water 5406. The submerged state 5402 of the guest vehicle 5204 and/or guest vehicle body 5208 may be defined as when an upper deck surface of the guest vehicle body 5208 being below the surface of the outside environment water 5406. The surfaced state 5405 of the host vehicle 5202 and/or host vehicle body 5206 may be defined as when at least a portion of the upper deck surface of the host vehicle body 5206 is above the surface of the outside environment water 5406, and the surfaced state 5405 of the guest vehicle 5204 and/or guest vehicle body 5208 may be defined as when at least a portion of the upper deck surface of the guest vehicle body 5208 is above the surface of the outside environment water 5406.
The host vehicle control system 7102 may be in communication with the guest vehicle buoyancy system 7116. The guest vehicle buoyancy system 7116 may be operable and controllable by the host vehicle control system 7102 to cause the guest vehicle buoyancy system 7116 to move the guest vehicle 5204 and/or guest vehicle body 5208 between the surfaced state 5405 and the submerged state 5402. The host vehicle sensor and communication system 5210 may sense and/or detect a water depth of the host vehicle body 5206. The guest vehicle sensor and communication system 5210 may sense and/or detect a water depth of the guest vehicle body 5208. The host vehicle control system 7102 may be operable to determine when the water depth of the guest vehicle body 5208 is about equal to a predetermined submerging depth and/or to a predetermined surfacing depth.
Also, the guest vehicle control system 7102 may be operable to determine when the water depth of the guest vehicle body 5208 is about equal to a predetermined submerging depth and/or to a predetermined surfacing depth. The guest vehicle control system 7102 may send a surfacing depth signal to the host vehicle control system 7102 responsive to the depth of the guest vehicle body 5208 being about equal to the predetermined surfacing depth. Also, the guest vehicle control system 7102 may send a submerging depth signal to the host vehicle control system 7102 responsive to the water depth of the guest vehicle body 5208 being about equal to the predetermined submerging depth.
The predetermined surfacing depth may be defined as at least a portion of the upper deck surface of the guest vehicle body 5208 being above the surface of the outside environment water 5406. Alternatively, without limitation, the predetermined surfacing depth may be defined as one or more air valves 7408 carried by the guest vehicle body 5208 being above the surface of the outside environment water 5406. The host vehicle 5202 may also comprise one or more air valves 7408 carried by the host vehicle body 5206. Further detail on the air valves 7408 follows below.
The host vehicle control system 7102 may be operable to cause and/or control the guest vehicle buoyancy system 7116 to move the guest vehicle body 5208 to the submerged state 5402 and/or to the surfaced state 5405 responsive to the water depth of the host vehicle body 5206 and/or the water depth of the guest vehicle body 5208 being about equal to the predetermined submerging depth and/or to the predetermined surfacing depth. For example, without limitation, when the guest vehicle 5204 and/or guest vehicle body 5208 is in the stowed state 5220 and when the host vehicle 5202 and guest vehicle 5204 are in the submerged state 5402, as the host vehicle 5202/host vehicle body 5206 is moving to the surfaced state 5405, the host vehicle control system 7102 may cause and/or control the guest vehicle buoyancy system 7116 to begin moving the guest vehicle body 5208 to the surface state 5405 responsive to the water depth of the guest vehicle body 5208 being about equal to the predetermined surfacing depth and/or responsive to the surfacing depth signal.
For another example, without limitation, when the guest vehicle 5204 and/or guest vehicle body 5208 is in the stowed state 5220 and when the host vehicle 5202 and guest vehicle 5204 are in the surfaced state 5405, as the host vehicle 5202/host vehicle body 5206 is moving to the submerged state 5402, the host vehicle control system 7102 may cause and/or control the guest vehicle buoyancy system 7116 to begin moving the guest vehicle body 5208 to the submerged state 5402 responsive to the water depth of the guest vehicle body 5208 being about equal to the predetermined submerging depth and/or responsive to the submerging depth signal. Additional details on the buoyancy systems 7116 of the host vehicle 5202 and guest vehicle 5204 follows further below.
The guest vehicle 5204 and/or the guest vehicle body 5208 may be movable between the stowed state 5220 and the deployed state 5404 when the securing system 5214 is in the unlocked state and when the host vehicle 5202 and guest vehicle 5204 are both in the submerged state 5402 and/or are both in the surfaced state 5405. However, without limitation, in some embodiments of the present invention the guest vehicle 5204 and/or guest vehicle body 5208 may only be able to move between the stowed state 5220 and the deployed state 5404 when both the host vehicle 5202 and guest vehicle 5204 are in the submerged state 5402, and while the securing system 5214 is in the unlocked state. Those skilled in the art may notice and appreciate that both the guest vehicle 5204 and host vehicle 5202 being able to be in the submerged state 5402 advantageously allows for the guest vehicle 5204 to move between the stowed state 5220 and the deployed state 5404 while the weight of the guest vehicle 5204 is being supported by the outside environment water 5406 such that the guest vehicle 5204 may move between the stowed state 5220 and the deployed state 5404 at substantially low speeds and without the guest vehicle body 5208 exerting a substantial force against the host vehicle body 5206, and such that the chances of detection of the guest vehicle 5204 and/or host vehicle 5202 are lower compared to if the guest vehicle body 5208 applied a substantial force against the host vehicle body 5206 when moving between the stowed state 5220 and the deployed state 5404.
In some embodiments of the unmanned vehicle system 5200, the host vehicle control system 7102 may be the centralized controller and/or commander of the host vehicle 5202 and the guest vehicle 5204 to move the guest vehicle 5204/guest vehicle body 5208 between the stowed state 5220 and the deployed state 5404. For example, without limitation, when moving the guest vehicle 5204 to the deployed state 5404 from the stowed state 5220, the host vehicle control system 7102 may command and control each of the host vehicle buoyancy system 7116, the host vehicle maneuvering system 5224, the securing system 5214, the guest vehicle buoyancy system 7116, and the guest vehicle maneuvering system 5224 until the guest vehicle 5204/guest vehicle body 5208 is in the deployed state 5404 and/or until the host vehicle control system 7102 determines that the guest vehicle 5204/guest vehicle body 5208 is a predetermined distance away from the host vehicle 5202/host vehicle body 5206.
For another example, without limitation, when moving the guest vehicle 5204 to the stowed state 5220 from the deployed state 5404, the host vehicle control system 7102 may command and control each of the host vehicle buoyancy system 7116, the host vehicle maneuvering system 5224, the securing system 5214, the guest vehicle buoyancy system 7116, and the guest vehicle maneuvering system 5224 until the guest vehicle 5204/guest vehicle body 5208 is in the stowed state 5220. The host vehicle control system 7102 may be operable to the commence command and control of the guest vehicle 5204 to move to the stowed state 5220 responsive to the host vehicle control system 7102 determining that the guest vehicle 5204/guest vehicle body 5208 is at a relative distance from the host vehicle 5202/host vehicle body 5206 that is within a predetermined proximity.
The host vehicle sensor and communication system 5210 may be operable to detect a relative distance between the host vehicle 5202 and other objects, such as, between the host vehicle 5202 and the guest vehicle 5204. The host vehicle sensor and communication system 5210 may send a relative distance signal to the host vehicle control system 7102 relating to the relative distance detected, and the host vehicle control system 7102 may determine if the relative distance between the host vehicle 5202 and the guest vehicle 5204 is within the predetermined proximity based on the relative distance detected/the relative distance signal received thereby.
With reference to
In some embodiments of the present invention, the host vehicle(s) 5202 and guest vehicle(s) 5204 may be operable to be in communication with one or more of a network 6802, a user device 6808, an associate device 6806, and/or another vehicle 6804. The communications to, from, and/or between each of the host vehicle(s) 5202, the guest vehicle(s) 5204, the user device(s) 6808, the associate device(s) 6806, and the other vehicle(s) 6804 may be by direct communications and/or via the network 6802. The host vehicle(s) 5202 and/or guest vehicle(s) 5204 may be operable to be commanded and controlled by the user device(s) 6808, the associate device(s) 6806, and/or the other vehicle(s) 6804. The network 6802 may comprise a wireless network that utilizes communication via signals that may comprise radio signals, infrared signals, microwave signals, acoustic signals, visible light signals, and/or via satellite communications.
In some embodiments of the present invention, the unmanned vehicle system 5200 may include a plurality of guest vehicles 5204. One or more of the guest vehicles 5204 may be operable to send operation signals to one or more of the other guest vehicles 5204 to command and control the guest vehicles 5204 that receive the operation signal(s). Additionally, some embodiments of the unmanned vehicle system 5200 may include more than one host vehicle 5202 and/or more than one guest vehicle 5204. Each host vehicle 5202 and/or each guest vehicle 5204 may be operable to be in communication with one another and each other to form and/or define a mesh network. One or more of the host vehicles 5202 and/or one or more of the guest vehicles 5204 within the mesh network may command and control the other host vehicles 5202 and/or guest vehicles 5204 a part of the mesh network. Each host vehicle 5202 and/or guest vehicle 5204 within the mesh network may be operable to share and coordinate all data, commands, and controls to, from, and/or between one another via the mesh network.
The host vehicle(s) 5202 and/or guest vehicle(s) 5204 of the mesh network may also be in communication with one or more of a user device 6808, an associate device 6806, and/or another vehicle 6804, which may be communication via direct communication with one or more of the host vehicle(s) 5202 and/or guest vehicle(s) 5204 a part of the mesh network, and/or may comprise the user device(s) 6808, the associate device(s) 6806, and/or the other vehicle(s) 6804 being included within the mesh network. One or more host vehicle 5202 and/or guest vehicle 5204 of the mesh network may be operable to share data with and/or relay data to the user device(s) 6808, the associate device(s) 6806, and/or the other vehicle(s) 6804. The data shared and/or relayed to the user device(s) 6808, the associate device(s) 6806, and/or the other vehicle(s) 6804 may comprise live data and/or recorded data provided by the vehicle sensor and communication system 5210 of at least one host vehicle 5202 and/or guest vehicle 5204 a part of the mesh network.
The associate device(s) 6806 may comprise may include third party devices or systems able to be in communication with at least one host vehicle 5202 and/or guest vehicle 5204. Examples of an associate device 6806 include, without limitation, a ship, a vessel, a boat, a vehicle, a command center, and/or other maritime vessels. For example, an associate device 6806 may include a ship and/or maritime vessel as illustrated in
The other vehicle(s) 6804 may comprise one or more embodiments of a host vehicle 5202 or guest vehicle 5204. For the purposes of the description of the embodiments of the present invention herein, without limitation, it should be understood that the use of the term “other vehicle 6804” or “other vehicles 6804” may mean, and may be used interchangeably with “guest vehicle 5204” or “host vehicle 5202.” As such, without limitation, the use of the term other vehicle 6804 may be used interchangeably with and/or instead of reciting “another” host vehicle 5202 and/or guest vehicle 5204 or “other” host vehicle 5202 and/or guest vehicle 5204.
Now referring to
The upright state 7002 may be defined as when a lower face of the host vehicle 5202/host vehicle body 5206 and/or guest vehicle 5204/guest vehicle body 5208 is at least partially facing in a downwards direction with respect to the direction of gravity. The turned-over state 7004 may be defined as when the lower face of the host vehicle 5202/host vehicle body 5206 and/or guest vehicle 5204/guest vehicle body 5208 is at least partially facing in an upwards direction with respect to the direction of gravity.
Now referring to
Examples of the aerial vehicle 6902 include, without limitation, an aerial drone, and an unmanned aerial vehicle. The aerial vehicle pad 6904 may include an identification code 6906 displayed on an upper portion of the aerial vehicle pad 6904. In some embodiments, the identification code 6906 may be displayed on an upper portion of the host vehicle 5202. The aerial vehicle 6902 may be configured to identify and track the identification code 6906 to identify and track the host vehicle 5202 and to use as a guide to orient and land the aerial vehicle 6902 on the aerial vehicle pad 6904.
Now referring to
The host vehicle control system 7102 may be operable to command, control, monitor, commands, and manage each one of the host vehicle maneuvering system 5224, the host vehicle sensor and communication system 5210, the securing system 5214, the host vehicle buoyancy system 7116, the onboard power supply 7118, payload deployment system 6002, the aerial vehicle pad 6904, and/or the action unit 7114. The guest vehicle control system 7102 may be operable to control, monitor, command, and manage each one of the guest vehicle maneuvering system 5224, the guest vehicle sensor and communication system 5210, the guest vehicle buoyancy system 7116, the guest vehicle 5204 onboard power supply 7118, the guest vehicle 5204 payload deployment system 6002 and the guest vehicle 5204 action unit 7114.
The host vehicle control system 7102 and the guest vehicle control system 7102 may be operable to send, receive, read, write, store, encrypt, decrypt, compute, execute, run, interpret, and/or manage machine-readable code, information, executables, commands, and/or data. The host vehicle control system 7102 and/or guest vehicle control system 7102 may include, without limitation, one or more of a processor, a controller, a microcontroller, a field-programmable gate array, a non-field-programmable gate array, a graphics processing unit, a random-access memory, a non-volatile machine readable memory, a volatile machine readable memory, a data storage unit, a communication bus, a co-processor, an audio processing unit, and/or any other component as may be understood by those who may have skill in the art.
The host vehicle control system 7102 and/or the guest vehicle control system 7102 may be operable to be in communication with one or more user devices 6808 to send real-time video captured by the host vehicle sensor and communication system 5210 and/or the guest vehicle sensor and communication system 5210. The host vehicle control system 7102 and/or guest vehicle control system 7102 may be in communication with user devices 6808 via the network 6802 and/or via the host vehicle sensor and communication system 5210 and/or guest vehicle sensor and communication system 5210.
In some embodiments of the present invention the control systems 7102 and/or sensor and communication systems 5210 may be operable to authenticate communication therewith and/or to filter communication therewith. For example, without limitation, the control systems 7102 and/or sensor and communication systems 5210 may authenticate communication therewith and/or to filter communication therewith by disallowing and/or filtering communication(s) received thereby which do not include one or more predetermined authentication characteristics and/or predetermined authentication keys.
In some embodiments of the present invention the control systems 7102 and/or sensor and communication systems 5210 may be positionable in communication with third-party hardware devices (not shown). The control systems 7102 and/or sensor and communication systems 5210 may be configured to adapt to the communication type, data type, input type, and output type of a third-party hardware positioned in communication with the control system 7102 and/or sensor and communication system 5210 of the host vehicle 5202 and/or guest vehicle 5204, such that the third-party hardware may be integrated with and operable by the host vehicle 5202 and/or guest vehicle 5204.
The communication between the third-party hardware and the control systems 7102 and/or sensor and communication systems 5210 may be via a rail system 5804 carried by the host vehicle 5202 and/or guest vehicle 5204, and the third-party hardware may be housed by one or more internal housings 5802 which may be mounted on the rail system 5804. In some embodiments, the third-party hardware may be mounted on the host vehicle body 5206 and/or guest vehicle body 5208, and/or the third-party hardware may be mounted on a support body 5226 carried by the host vehicle 5202 and/or guest vehicle 5204. Details on the internal housings 5802, the rail system 5804, and the support body 5226 follows further below.
Now referring to
In some embodiments, the rudder 5604, propeller 5216, and drive unit 7202 may be comprise a single monolithic unit as illustrated in
The guest vehicle maneuvering system 5224 may be carried by the guest vehicle body 5208 and may be in communication with the guest vehicle control system 7102, the guest vehicle sensor and communication system 5210, the guest vehicle buoyancy system 7116, and/or the guest vehicle 5204 onboard power supply 7118. The guest vehicle maneuvering system 5224 may comprise one or more of a rudder 5604, a propeller 5216, a bow or aft thruster 6502, a vertical thruster 6602, and/or a drive unit 7202. The guest vehicle maneuvering system 5224 may be operable to provide propulsion to, and control the movement and orientation of, the guest vehicle 5204/guest vehicle body 5208.
In some embodiments, the rudder 5604 and propeller 5216 of the guest vehicle 5204 may comprise a single monolithic unit as illustrated in
The host vehicle maneuvering system 5224 may be operable to propel the host vehicle 5202 at a speed up to 80 knots and/or up over at least 140 knots. The host vehicle maneuvering system 5224 may be operable to provide the host vehicle 5202 with a travel range up to and between about 250 and 1,100 nautical miles. In some embodiments of the present invention, the host vehicle 5202 may comprise the dimensions of about a 24-foot length, a 10-foot width, a 3.5-foot hull height, and/or a 14-inch draft. In some embodiments, the host vehicle 5202 may comprise the dimensions of about a 38-foot length, an 11-foot width, a 4.5-foot hull height, and/or a 14-inch draft. In some embodiments, the host vehicle 5202 may have a weight of about 8,500 pounds and/or about 12,000 pounds. The host vehicle 5202 may be adapted to carry about 1,800 pounds of additional weight and/or about 3,500 pounds of additional weight. In some embodiments, the host vehicle 5202 may be adapted to have an ocean survivability level (SS“#”) up to SS5 and SS7, as may be understood by one who may have skill in the art. In some embodiments, the host vehicle 5202 may be adapted to include manual controls and to carry and allow for one or more crewmembers to operate and control the host vehicle 5202.
The guest vehicle maneuvering system 5224 may be operable to propel the guest vehicle 5204 at a speed up to about 30 knots. The guest vehicle maneuvering system 5224 may be operable to provide the guest vehicle 5204 with a travel range of about 43 nautical miles. The guest vehicle 5204 may comprise a guest vehicle body 5208 that may have the dimensions of about a 12-foot length, a 3-foot width, a 14-inch height, and/or a 7-inch draft. Also, the guest vehicle 5204 may have a guest vehicle body 5208 that has the dimensions of about an 18-foot length, a 71-inch beam, a 50-inch height, a 28-inch deck height, and/or a 7-inch draft. Some embodiments of the guest vehicle 5204 may have a weight of about 405 pounds and/or 2,200 pounds, and some embodiments of the guest vehicle 5204 may be adapted to carry 140 pounds of additional weight and/or 750 pounds of additional weight. Some embodiments of the guest vehicle 5204 may be adapted to have an ocean survivability level (SS“#”) up to SS3 and/or SS4, as may be understood by one who may have skill in the art. In some embodiments, the guest vehicle 5204 may be adapted to include manual controls and to carry and allow for one or more crewmembers to operate and control the host vehicle 5202.
In some embodiments, the host vehicle maneuvering system 5224/guest vehicle maneuvering system 5224 of the host vehicle 5202 and/or guest vehicle 5204 may comprise one or more bow/aft thrusters 6502. The bow/aft thrusters 6502 may be mounted on an outer portion of the host vehicle body 5206 and/or guest vehicle body 5208. Also, one or more bow/aft thrusters 6502 may be mounted on one or more forward outer portions of the host vehicle body 5206 and/or guest vehicle body 5208, which may be referred to as bow thrusters 6502. Moreover, one or more bow/aft thrusters 6502 may be mounted on one or more rearward outer portions of the host vehicle body 5206 and/or guest vehicle body 5208, which may be referred to as aft thrusters 6502.
The bow/aft thrusters 6502 may be operable to control the orientation of the host vehicle body 5206 and/or guest vehicle body 5208 substantially along a horizontal plane of the host vehicle body 5206 and/or guest vehicle body 5208. For example, without limitation, the bow/aft thrusters 6502 may control the sway and/or yaw orientation(s) of the host vehicle body 5206 and/or guest vehicle body 5208, as may be understood by those who may have skill in the art. The bow/aft thrusters 6502 may be in communication with and operable by the host vehicle control system 7102 and/or the guest vehicle control system 7102. The bow/aft thrusters 6502 may be in communication with an onboard power supply 7118 and/or the drive unit 7202 to receive power therefrom. More detail on the onboard power supply 7118 follows below.
In some embodiments, the host vehicle maneuvering system 5224/guest vehicle maneuvering system 5224 of the host vehicle 5202 and/or the guest vehicle 5204 may include vertical thrusters 6602. The vertical thrusters 6602 may be mounted on one or more outer portions of the host vehicle body 5206 and/or of the guest vehicle body 5208. The vertical thrusters 6602 may be in communication with and be operable by the host vehicle control system 7102/guest vehicle control system 7102. The vertical thrusters 6602 may be operable to propel the host vehicle 5202/the host vehicle body 5206 and/or the guest vehicle 5204/guest vehicle body 5208 in a direction that may be in an upwards and/or a downwards facing direction. The vertical thrusters 6602 may also be operable to control orientation of the host vehicle 5202/host vehicle body 5206 and/or guest vehicle 5204/guest vehicle body 5208. For example, without limitation, the vertical thrusters 6602 may be operable to control the heave, pitch, and/or roll orientation(s) the host vehicle body 5206 and/or guest vehicle body 5208, as may be understood by those who may have skill in the art.
In some embodiment of the present invention, the guest vehicle maneuvering system 5224, the guest vehicle 5204, the host vehicle maneuvering system 5224, and/or the host vehicle 5202 may include a maneuvering system controller 7106. The maneuvering system controller 7106 may be in communication with one or more of the rudder 5604, the propellers 516, the bow/aft thrusters 6505, the vertical thrusters 6602, and/or the drive unit 7202. The maneuvering system controller 7106 may be incorporated into the vehicle control systems 7102 of the host vehicle 5202 and/or guest vehicle 5204, and the maneuvering system controller 7106 may be separate and apart from and in communication with the vehicle control systems 7102 of the host vehicle 5202 and/or guest vehicle 5204. The maneuvering system controller 7106 may be and operable to control one or more of the rudder 5604, the propellers 516, the bow/aft thrusters 6505, the vertical thrusters 6602, and/or the drive unit 7202.
The maneuvering system controller 7106 may be in communication with the guest vehicle sensor and communication system 5210 and/or host vehicle sensor and communication system 5210 and may be operable to control one or more of the rudder 5604, the propellers 516, the bow/aft thrusters 6505, the vertical thrusters 6602, and/or the drive unit 7202 based on signals received from the sensor and communication system(s) 5210. Also, the maneuvering system controller 7106 may be operable to control one or more of the rudder 5604, the propellers 516, the bow/aft thrusters 6505, the vertical thrusters 6602, and/or the drive unit 7202 based on commands received from the vehicle control systems 7102 of the host vehicle 5202 and/or guest vehicle 5204. Additionally, some embodiments of the present invention may not include a maneuvering system controller 7106 and may instead include and/or incorporate one or more of the functions and/or limitations of the maneuvering system controller 7106 into the host vehicle control system 7102/guest vehicle control system 7102 and utilized/operated thereby.
In some embodiments, the maneuvering system controller 7106 may include and/or incorporate a position instruction calculator. The position instruction calculator may be operable to determine an optimal position of the host vehicle 5202 and the guest vehicle 5204 when the host vehicle 5202 and guest vehicle 5204 are maneuvering and/or propelling themselves. The position instruction calculator may also be operable to determine an approach path for the host vehicle 5202 and/or guest vehicle 5204 with respect to a determined and/or predetermined location.
The determined location and/or predetermined location may be associated with a mission plan 4303. The determined location and/or predetermined location may be identified and/or determined by the host vehicle 5202, host vehicle control system 7102, guest vehicle 5204, and/or guest vehicle control system 7102 based on the mission plan 4303 and/or one or more operation factors that are described further below.
Continuing to refer to
Now referring to
The interfaces 6504 of the guest vehicle 5204 may be positioned on a frontal portion of the guest vehicle 5204/guest vehicle body 5208. Also, the interfaces 6504 of the guest vehicle 5204 may be positioned one a lower frontal portion of the guest vehicle 5204/guest vehicle body 5208. The interfaces 6006 of the host vehicle 5202 and the interfaces 6504 of the guest vehicle 5204 may be adapted to be in contact and/or communication with one another when the guest vehicle 5204 is in the stowed state 5220. When the interfaces 6006, 6504 are in contact/communication with one another, the interfaces 6006, 6504 may allow for power to be transferred from an onboard power supply 7118 of the host vehicle 5202 to the onboard power supply 7118 of the guest vehicle 5204 while the guest vehicle 5204 is in the stowed state 5220.
Additionally, in some embodiments of the present invention, the interfaces 6006 may be in communication with the host vehicle control system 7102 and/or the host vehicle sensor and communication system 5210, and the interfaces 6504 may be in communication with the guest vehicle control system 7102 and/or the guest vehicle sensor and communication system 5210, and may allow and/or facilitate communication between the host vehicle control system 7102, the host vehicle sensor and communication system 5210, the guest vehicle control system 7102, and the guest vehicle sensor and communication system 5210, when the guest vehicle 5204 is in the stowed state 5220.
Now referring to
In some embodiments of the present invention, the sensor and communication systems 5210 may include one or more of a proximity sensor 7322, a wireless communication device 7324, a water level sensor 7326, an air volume sensor 7328, a location sensor 7330, and/or a g-force sensor 7332. Each of the aforementioned sensors of which the host vehicle sensor and communication system 5210 and/or guest vehicle sensor and communication system 5210 may comprise, without limitation, may be referred to collectively, individually, and/or in any combination(s) thereof, as the “sensors of the sensor and communication system 5210.”
The sensor and communication systems 5210 may be positioned at and/or carried by an upper portion and/or a lower portion of the host vehicle 5202/host vehicle body 5206 and/or guest vehicle 5204/guest vehicle body 5208. In some embodiments, the host vehicle 5202 and/or guest vehicle 5204 may comprise an upper housing 5222. The upper housing 5222 may be carried by and/or positioned on the host vehicle 5202/host vehicle body 5206 and/or the guest vehicle 5204/guest vehicle body 5208 at an upper portion thereof. In some embodiments of the present invention the host vehicle 5202 and/or guest vehicle 5204 may include one or more of a support body 5226. The support body 5226 may be extending from an upper portion of the host vehicle 5202/host vehicle body 5206 and/or guest vehicle 5204/guest vehicle body 5208 in an upwards direction, and the upper housing 5222 may be carried by the support body 5226 at an upper end of the support body 5226. The upper housing 5222 may be adapted to carry at least a portion of and/or one or more of the sensors of the sensor and communication system 5210 of the host vehicle 5202 and/or guest vehicle 5204.
In some embodiments, the host vehicle 5202 and/or guest vehicle 5204 may comprise a lower housing 5602. The lower housing 5602 may be carried by and/or positioned on the host vehicle 5202/host vehicle body 5206 and/or the guest vehicle 5204/guest vehicle body 5208 at lower portion thereof. Also, the lower housing 5602 may be attached to and extending from a lower portion of the host vehicle body 5206 and/or guest vehicle body 5208, perhaps as best illustrated in
The lower housing 5602 may be positioned and adapted to be extending from the host vehicle body 5206 and/or guest vehicle body 5208 such that the one or more sensors of the sensor and communication system 5210 may be submerged below the surface of outside environment water 5406 which the host vehicle 5202 and/or guest vehicle 5204 may be floating thereupon. Also, the lower housing 5602 may be adapted to allow, facilitate, not interfere with, and/or at least interfere a negligible amount with signals sent and/or to be received by the of the sensor(s) of the sensor and communication system 5210.
For example, without limitation, the lower housing may be adapted to allow, facilitate, not interfere with, and/or at least interfere a negligible amount with signals sent and/or to be received by the of the sensor(s) of the sensor and communication system 5210 such that the signals sent and/or to be received by the sensor(s) of the sensor and communication system 5210 may not be blocked, distorted, absorbed, corrupted, muffled, and/or significantly changed by the lower housing 5602 such that the signals cannot be received and/or successfully received by the sensor(s) of the sensor and communication system 5210 and such that the sensor(s) of the sensor and communication system 5210 is able to obtain the same content from the signal whether the sensor(s) of the sensor and communication system 5210 is carried by or not carried by the lower housing 5602.
The sensor and communication system 5210 and/or the sonar 7302, 7304 may be utilized to send, receive, sense, emit, detect, read, and compute signals, such as, acoustic and/or sound wave signals, which may comprise machine-readable data and/or information. The sensor and communication system 5210 and/or the sonar 7302, 7304 of the host vehicle 5202 and the guest vehicle 5204 may be utilized to allow and facilitate the host vehicle 5202 and guest vehicle 5204 to communicate with one another via acoustic and/or sound wave signals sent via the outside environment water 5406.
The sensor and communication system 5210 and/or the ultra-sonic range detector 7306 may be utilized to sense and/or detect distances and/or positions of physical objects and surfaces, as may be understood by those who may have skill in the art. For example, the sensor and communication system 5210 and/or the ultra-sonic range detector 7306 may be utilized to sense and/or detect a distance and/or position of a surface or object that may be above and/or below a surface of the outside environment water 5406.
In some embodiments of the present invention the sensor and communication system 5210 may be adapted and/or operable to sense and/or detect an audible noise received by the sensor and communication system 5210, and the sensor and communication system 5210 and/or vehicle control system 7102 may be operable to identify and/or determine the cause of the audible noise and/or the direction of the source of the audible noise. The vehicle control system 7102 may be operable to generate and store a sensed audio data based on the audible noise received, and the vehicle control system 7102 may access, utilize, and/or reference the stored sensed audio data to identify and/or determine another audible noise received by the sensor and communication system 5210.
The sensor and communication system 5210 and/or the optical emitter 7308 may be adapted to use one or more wavelengths of light to sense and detect the position and/or size of objects, such as other vessels and/or a, or another, guest vehicle 5204/host vehicle 5202. Also, the sensor and communication system 5210 and/or the optical emitter 7308 may be adapted to use one or more wavelengths to sense and detect the relative distance between and/or proximity of the other vessel, which may be relative to a current position of the sensor and communication system 5210/the optical emitter 7308, the host vehicle 5202, the host vehicle body 5206, the guest vehicle 5204, and/or the guest vehicle body 5208.
The sensor and communication system 5210 and/or the electro-optical camera 7310 may be operable and/or adapted to sensed and/or detect light emitted, such as light emitted from a vessel. For example, without limitation, the sensor and communication system 5210 and/or the electro-optical camera 7310 may sense and/or detect light emitted from a light carried by a vessel, such as a boat or a ship, and/or may sense and/or detect light received comprising one or more wavelengths of the light, such as, and without limitation, visible light, infrared, ultraviolet, thermal, radio, microwave, x-ray, and/or gamma ray. The sensor and communication system 5210 and/or the electro-optical camera 7310 may be operable to emit a light detection signal responsive to sensing and/or detecting light received thereby. The sensor and communication system 5210 and/or the electro-optical camera 7310 may also to sense, detect, and record visual information from an outside environment surrounding the host vehicle 5202/guest vehicle 5204.
The sensor and communication system 5210 and/or the orientation sensor 7312 may be utilized to sense, detect, and/or determine the orientation of the host vehicle body 5206/guest vehicle body 5208 in the three-dimensional space. For example, without limitation, the sensor and communication system 5210 and/or the orientation sensor 7312 may be adapted to sense, detect, and/or determine the pitch, roll, and/or yaw of the host vehicle body 5206/guest vehicle body 5208 in three-dimensional space.
The sensor and communication system 5210 and/or the movement sensor 7314 may be adapted to sense, detect, monitor, and/or determine the movement of the host vehicle body 5206/guest vehicle body 5208. The sensor and communication system 5210 and/or the movement sensor 7314 and be adapted to sense, detect, monitor, and/or determine the movement of the host vehicle body 5206/guest vehicle body 5208 based on a movement of the host vehicle body 5206/guest vehicle body 5208 relative to an outside environment. Also, the sensor and communication system 5210 and/or the movement sensor 7314 and be adapted to sense, detect, monitor, and/or determine the movement of the host vehicle body 5206/guest vehicle body 5208 by sensing, detecting, monitoring, and/or determining a speed and/or velocity of the host vehicle 5202/guest vehicle 5204 and/or an acceleration force and/or inertial force on the host vehicle 5202/guest vehicle 5204 and/or on the sensor and communication system 5210 and/or movement sensor 7314.
The sensor and communication system 5210 and/or the depth sensor 7316 may be adapted and/or utilized to sense, determine, and/or detect a depth of the outside environment water 5406. The sensor and communication system 5210 and/or the depth sensor 7316 may also, and/or instead, be adapted and/or utilized to sense, determine, and/or detect a depth of the outside environment water 5406 that may be immediately below the host vehicle 5202/guest vehicle 5204 and/or immediately below the sensor and communication system 5210 and/or the depth sensor 7316.
The sensor and communication system 5210 and/or the environment sensor 7318 may be adapted and/or utilized to sense, detect, monitor, and/or determine one or more environmental characteristics, such as environmental characteristics adjacent to, near, and/or within view of the host vehicle 520/guest vehicle 5204 and/or the sensor and communication system 5210 and/or the environment sensor 7318. For example, without limitation, the sensor and communication system 5210 and/or the environment sensor 7318 may be adapted to sense, detect, monitor, and/or determine environmental characteristics including one or more of a water current, a wave height, a wave period, a wind speed, a wind direction, a temperature, a humidity, and/or an amount of sunlight. The sensor and communication system 5210 and/or the environment sensor may include and/or utilize one or more of optical sensors, electrical resistance sensors, voltage sensors, capacitance sensors, inductance sensors, rotors, and/or turbines to detect, monitor, and/or determine the one or more environmental characteristics.
The sensor and communication system 5210 and/or the inertial navigation system/inertial measurement unit 7334 (“INS/IMU 7334”) may be adapted to sense, monitor and log the inertial forces, acceleration forces, movement, and orientation of the host vehicle 5202/guest vehicle 5204 to determine a position and/or estimated position of the host vehicle 5202/guest vehicle 5204 within a geographical area. The INS/IMU 7334 may include and/or incorporate the same and/or similar functions and/or features of the orientation sensor 7312, movement sensor 7314, depth sensor 7316, environment sensor 7318, and/or the ultra-sonic range detector 7306 as they are described above to sense, detect, monitor, and/or determined the to determine a position and/or estimated position of the host vehicle 5202/guest vehicle 5204. In some embodiments of the present invention, the INS/IMU 7334 may be in communication with, and receive sensed, detected, monitored, and/or determined data from, one or more of the orientation sensor 7312, movement sensor 7314, depth sensor 7316, environment sensor 7318, and/or the ultra-sonic range detector 7306 to sense, detect, monitor, and/or determined the to determine a position and/or estimated position of the host vehicle 5202/guest vehicle 5204.
The sensor and communication system 5210 and/or the force sensor 7320 of the host vehicle 5202 may be adapted and/or utilized to determine if and when a guest vehicle 5204 is in the stowed state 5220. The force sensor 7320 may be positioned at a rearward portion of the host vehicle 5202/host vehicle body 5206, and the force sensor 7320 may be in communication with the host vehicle control system 7102. The force sensor 7320 may also be positioned within and/or adjacent to the cradle 5302 of the host vehicle 5202/host vehicle body 5206. The force sensor 7320 may be adapted to sense and/or detect when the guest vehicle 5204 and/or the guest vehicle body 5208 is adjacent to, in proximity with, and/or abutting the force sensor 7320. For example, without limitation, the force sensor 7320 may be positioned and adapted to engage with a portion of the guest vehicle 5204 when the guest vehicle 5204 is in the stowed state, and may be adapted to detect when the portion of the guest vehicle 5204 is engaged with the force sensor 7320.
The force sensor 7320 may be adapted to emit a stowed signal to the host vehicle control system 7102 responsive to sensing and/or detecting the guest vehicle 5204/guest vehicle body 5208 is in the stowed state and/or responsive to a portion of the guest vehicle 5204 being engaged with the force sensor 7320. The host vehicle control system 7102 may be operable to control and/or command the securing system 5214 to engage with a portion of the guest vehicle 5204 and/or to move to the locked state from the unlocked state responsive to receiving the stowed signal from the force sensor 7320. Also, the securing system 5214 may be operable to move to the locked state from the unlocked state responsive to receiving the stowed signal from the force sensor 7320.
In some embodiments of the present invention, the sensor and communication system 5210 of the host vehicle 5202/guest vehicle 5204 may include a sensor unit 7104, which also, without limitation, may be alternatively referred to as a sensor fusion unit 7104. The sensor unit 7104 may be in communication with one or more of the sensors of the sensor and communication system 5210. The sensor unit 7104 may be adapted to operate and/or control one or more of the sensors of the sensor and communication system 5210. Also, the sensor unit 7104 may be operable to receive, read, compute, condense, process, interpret, compress, and/or parse data, information, and/or signals sensed, detected, monitored, and/or determined by and from one or more of the sensors of the sensor and communication system 5210 to be sent and/or emitted as condensed sensor data.
The sensor unit 7104 may send the condensed sensor data to one or more of the host vehicle control system 7102, the host vehicle sensor and communication system 5210, the host vehicle maneuvering system 5224, the host vehicle buoyancy system 7116, and/or the securing system 5214 and/or the guest vehicle control system 7102, the guest vehicle sensor and communication system 5210, the guest vehicle maneuvering system 5224, and/or the guest vehicle buoyancy system 7116. However, without limitation, in some embodiments of the present invention one or more of the functions and/or features of the sensor unit 7104 as described herein may be incorporated into and/or included by the control system 7102 of the host vehicle 5202/guest vehicle 5204, such that the embodiment may not include a sensor unit 7104 or a sensor unit 7104 separate from the control system 7102.
As mentioned above, in some embodiments of the present invention the sensor and communication systems 5210 of the host vehicle 5202 and/or guest vehicle 5204 may include one or more of a proximity sensor 7322, a wireless communication device 7324, a water level sensor 7326, an air volume sensor 7328, a location sensor 7330, and/or a g-force sensor 7332. The sensor and communication systems 5210 and/or proximity sensor 7332 may be adapted and/or utilized to sense, detect, and/or determine the presence and/or position of objects, surfaces, structures, and/or formations near, adjacent to, and/or in proximity with the sensor and communication system 5210, the proximity sensor 7332, the host vehicle 5202 and/or the guest vehicle 5204. For example, without limitation, the sensor and communication system 5210 and/or proximity sensor 7332 of a host vehicle 5202 may sense, detect, and/or determine the presence or position of a guest vehicle 5204, and associate device 6806, and/or another vehicle 6804 near, adjacent to, and/or in proximity with the sensor and communication system 5210, the proximity sensor 7332, the host vehicle 5202 and/or the guest vehicle 5204.
The sensor and communication systems 5210 and/or the wireless communication device 7324 may be in communication with the host vehicle control system 7102 and/or the guest vehicle control system 7102. The sensor and communication systems 5210 and/or the wireless communication device 7324 may also be in communication with one or more other sensor and communication systems 5210 of one or more other host vehicle(s) 5202/guest vehicle(s) 5204, and the sensor and communication systems 5210 and/or the wireless communication device 7324 may be in communication with one or more of the network 6802, a user device 6808, an associate device 6806, and/or another vehicle 6804.
The sensor and communication systems 5210 and/or the wireless communication device 7324 may be adapted and/or utilized to receive, send, transmit, transfer, read, write, translate, compute, and/or emit one or more signals that may comprise machine-readable information and/or data. Examples of the wireless communication device 7324 include, without limitation, a receiver, a transmitter, a transceiver, an antenna, a communication relay, a communication dish, and any combination(s) thereof as may be understood by those who may have skill in the art.
The sensor and communication systems 5210 and/or the water level sensor 7326 may be adapted and/or utilized to sense, detect, determine, and/or monitor an amount of water and/or an amount of outside environment water 5406 that maybe present within an interior area of the guest vehicle body 5208 and/or the host vehicle body 5206. The sensor and communication systems 5210 and/or the water level sensor 7326 may be in communication with one or more of the host vehicle control system 7102, the guest vehicle control system 7102, the buoyancy control unit 7110, the host vehicle buoyancy system 7116, the guest vehicle buoyancy system 7116, the host vehicle maneuvering system 5224, and/or the guest vehicle maneuvering system 5224. The sensor and communication systems 5210 and/or the water level sensor 7326 may be operable to emit a water level signal based on the amount of water and/or outside environment water 5406 sensed, detected, determined, and/or monitored to be present with in the interior area of the host vehicle body 5206/guest vehicle body 5208.
The sensor and communication systems 5210 and/or the air volume sensor 7328 may be adapted and/or utilized to sensed, detect, determine, and/or monitor an amount of air and/or a volumetric amount of air that may be present within the interior area of the host vehicle body 5206 and/or the guest vehicle body 5208. The sensor and communication systems 5210 and/or the air volume sensor 7328 may be in communication with one or more of the host vehicle control system 7102, the guest vehicle control system 7102, the buoyancy control unit 7110, the host vehicle buoyancy system 7116, the guest vehicle buoyancy system 7116, the host vehicle maneuvering system 5224, and/or the guest vehicle maneuvering system 5224. The senor and communication systems 5210 and/or the air volume sensor 7328 may be operable to emit an air volume level signal based on the amount of air and/or the volumetric amount of air sensed, detected, determined, and/or monitored to be present with in the interior area of the host vehicle body 5206/guest vehicle body 5208.
The sensor and communication systems 5210 and/or the location sensor 7330 may be adapted and/or utilized to detect, track, and/or monitor the location of the host vehicle 5202 and/or guest vehicle 5204, such as, without limitation, the detect, track, and/or monitor the geographic location of the host vehicle 5202 and/or guest vehicle 5204. The sensor and communication systems 5210 and/or the location sensor 7330 may be configured to emit a location signal related to the location of the host vehicle 5202 and/or guest vehicle 5204 detected, tracked, and/or monitored thereby. The sensor and communication systems 5210 and/or the location sensor 7330 may be in communication with one or more of a network 6802, an associate device 6806, and another vehicle 6804, and the sensor and communication systems 5210 and/or the location sensor 7330 may receive location data via the network 6802. Examples of the location sensor 7330 include, without limitation, a global positioning satellite (GPS) unit.
The sensor and communication systems 5210 and/or the g-force sensor 7332 may be adapted and/or utilized to sense, detect, and/or determine an amount of gravitational force (g-force) applied to one or more of the sensor and communication systems 5210, the g-force sensor 7332, the host vehicle 5202, the guest vehicle 5204, the host vehicle body 5206, and/or the guest vehicle body 5208. For example, without limitation, the sensor and communication systems 5210 and/or the g-force sensor 7332 may be adapted and/or utilized to sense, detect, and/or determine the amount of g-force applied to the vehicle body 5206/5208 during maneuvering of the vehicle body 5206/5208 by one of the maneuvering systems 5224. The sensor and communication systems 5210 and/or the g-force sensor 7332 may be adapted to emit a g-force signal related to the amount of g-force sensed, detected, and/or determined thereby.
Referring now to
The vehicle buoyancy systems 7116 may include one or more water valves 7404, water pumps 7406, and air valves 7408. The water valves 7404 may each be extending through one or more portions of the host vehicle body 5206 and/or the guest vehicle buoyancy system 7116. Also, the water valves 7404 may each be extending through one or more lower portions of the host vehicle body 5206 and/or guest vehicle body 5208. The water pumps 7406 may each be carried within an interior area of the host vehicle body 5206 and/or the guest vehicle body 5208, and may be in fluid communication with one or more of the water valves 7404 and with the interior area of the host vehicle body 5206/guest vehicle body 5208.
The air valves 7408 may each be extending through one or more portions of the host vehicle body 5206 and/or the guest vehicle body 5208. Also, the air valves 7408 may be extending through one or more upper portions of the host vehicle body 5206 and/or guest vehicle body 5208. The air valves 7408 may be adapted to only allow gases to pass therethrough, such that the air valves 7408 may not allow liquids, such a water and/or outside environment water 5406 to pass through the air valve 7408.
The water pumps 7406 may be in communication with one or more of the onboard power supply 7118, the host vehicle maneuvering system 5224, the guest vehicle maneuvering system 5224. The host vehicle control system 7102, and/or the guest vehicle control system 7102. The water pumps 7406 may be operable to allow, cause, control, and regulate outside environment water 5406 from moving into and out from the interior area of the host vehicle body 5206/host vehicle body 5206 to move the host vehicle 5202 and/or guest vehicle 5204 between the surfaced state 5405 and the submerged state 5402. To move the host vehicle 5202 and/or guest vehicle 5204 between the surfaced state 5405 and the submerged state 5402, the water pumps 7406 may pump water, such as the outside environment water 5406, into and out from the interior area of the host vehicle body 5206/guest vehicle body 5208 via one or more of the water valves 7404 that the water pump 7406 is in fluid/fluidic communication therewith. The air valves 7408 may be adapted to allow gases, such as ambient air, to pass and/or move therethrough caused by a change in pressure within the interior area which may be caused by the water pumps 7406 pumping outside environment water 5406 into and out from the interior area.
Some embodiments of the host vehicle 5202 and/or guest vehicle 5204 may include buoyancy quadrants 7402 formed within the interior area of the host vehicle body 5206 and/or guest vehicle body 5208. Examples of the buoyancy quadrants 7402 may be seen as the four sectioned interior areas of the interior area of the host vehicle body 5206/guest vehicle body 5208 illustratively shown by the two intersecting robust dotted/segmented lines laying horizontally and vertically. Each buoyancy quadrant 7402 may define a portion of the interior area of the vehicle body 5206/5208, and each buoyancy quadrant 7402 may be adapted to prevent water and outside environment water 5406 from moving between each buoyancy quadrant 7402, such that water and outside environment water 5406 present within one buoyancy quadrant 7402 may be prevented from moving to another buoyancy quadrant 7402. Each buoyancy quadrant 7402 may house one or more water pumps 7406, and each buoyancy quadrant 7402 may be in fluid communication with one or more of the air valves 7408 and/or the water valves 7404.
The water pumps 7406 in each buoyancy quadrant 7402 may be selectively controlled to move outside environment water 5406 into and out from the buoyancy quadrant 7402 associated with that water pump 7406. The water pumps 7406 may be selectively controlled by the host vehicle control system 7102 and/or guest vehicle control system 7102 to cause outside environment water 5406 to be moved into and out from one or more of the buoyancy quadrants 7402 to cause and/or control an orientation of the host vehicle 5202, host vehicle body 5206, guest vehicle 5204, and/or guest vehicle body 5208. For example, without limitation, the water pumps 7406 may be selectively controlled to move outside environment water 5406 into and/or out from one or more of the buoyancy quadrants 7402 to cause an increase and/or decrease in buoyancy of the portion(s) of the host vehicle body 5206/guest vehicle body 5208 surrounding the buoyancy quadrant(s) 7402, such that the host vehicle body 5206/guest vehicle body 5208 may lean more or less rightwards, leftwards, frontwards, backwards, and any combination(s) thereof and/or have the pitch and/or roll of the host vehicle body 5206/guest vehicle body 5208 be oriented or changed.
In some embodiments of the present invention, the buoyancy control systems 7116 of the host vehicle 5202 and/or guest vehicle 5204 may include a buoyancy control unit 7110. The buoyancy control unit 7110 may be in communication with one or more of the water pumps 7406, the host vehicle control system 7102/guest vehicle control system 7102, the host vehicle maneuvering system 5224/guest vehicle maneuvering system 5224, the host vehicle sensor and communication system 5210/guest vehicle sensor and communication system 5210, the onboard power supply 7118, and/or the drive unit 7202. The buoyancy control unit 7110 may be operable to selectively control one or more of the water pumps 7406 to cause one or more of the water pumps 7406 to move outside environment water 5406 into and out from the interior area of the host vehicle body 5206/guest vehicle body 5208 and/or into and out from one or more of the buoyancy quadrants 7402.
The buoyancy control unit 7110 may be operable by the host vehicle control system 7102/guest vehicle control system 7102 to selectively control one or more of the water pumps 7406 responsive to a water pump signal received from the host vehicle control system 7102/guest vehicle control system 7102. In some embodiments of the present invention, without limitation, one or more of the features and limitations of the buoyancy control unit 7110 described herein may be incorporated into the host vehicle control system 7102/guest vehicle control system 7102 such that the embodiment may not include a buoyancy control unit 7110 and/or that that buoyancy control unit 7110 itself is incorporated into the host vehicle control system 7102/guest vehicle control system 7102.
Some embodiments of the present invention may also include one or more interior housings 5802, rail systems 5804, and external cooling plates 5902. The interior housings 5802 may be carried by the host vehicle 5202 and/or the guest vehicle 5204. Each of the interior housings 5802 may be adapted to carry at least a portion of one or more of the host vehicle control system 7102, the host vehicle maneuvering system 5224, the host vehicle sensor and communication system 5210, the securing system 5214, the host vehicle body 5206, the onboard power supply 7118, the interface(s) 6006, 6504, the water pump 7406, the buoyancy control unit 7110, the guest vehicle control system 7102, the guest vehicle sensor and communication system 5210, the guest vehicle maneuvering system 5224, and/or the guest vehicle buoyancy system 7116. Also, in some embodiments, each of the interior housings 5802 may be adapted to carry at least a portion of a payload deployment system 6002 and an action unit 7114. Details on the payload deployment system 6002 and the action unit 7114 follow further below.
The interior housings 5802 may be adapted to prevent liquids, such as, and without limitation, water or outside environment water 5406. Each of the host vehicle 5202 and guest vehicle 5204 may include a rail system 5804. The rail system 5804 may be carried by the host vehicle body 5206/guest vehicle body 5208 within an interior area of the host vehicle body 5206/guest vehicle body 5208. The rail system 5804 may comprise a pattern and/or grid-like pattern of rails. Each of the rails of the rail system 5804 may be in communication with at least one other rail, and each of the rails may be in fluid communication with at least one other rail. Each of the interior housings 5802 may be adapted to be mounted on a portion of the rail system 5804, and/or each of the interior housings 5802 may be adapted to slidably engage to a portion of the rail system 5804.
The rail system 5804 may be adapted and/or utilized to allow and/or facilitate communications between one or more of the interior housings 5802 within the host vehicle body 5206 and/or guest vehicle body 5208, and/or the rail system 5804 may be adapted and/or utilized to allow and/or facilitate communications between one or more of the components that may be carried by one or more of the interior housings 5802 that are mounted on and/or slidably engaged with the rail system 5804. Those skilled in the art may notice and appreciate that the use of the interior housings 5802 and the rail system 5804 may allow for the components to be shielded from water and outside environment water 5406 that may be within one or more portions of the interior area of the host vehicle body 5206/guest vehicle body 5208, such as when an embodiment of the host vehicle 5202/guest vehicle 5204 moves between the surfaced state 5405 and the submerged state 5402.
The external cooling plate(s) 5902 may be positioned on one or more exterior portions and/or exterior surfaces of the host vehicle body 5206 and/or guest vehicle body 5208. The external cooling plate(s) 5902 may be in fluidic communication with the rail system 5804, and/or the external cooling plate(s) 5902 may be in communication with one or more of the water pumps 7406. The rail system 5804 may be configured to house one or more fluids, such as coolant or water, and one or more of the water pumps 7406 may be utilized to circulate the fluid throughout the rail system 5804 and between the rail system 5804 and the external cooling plate(s) 5902. It should be understood that a water pump 7406 in fluid communication with the rail system 5804 may not also be in fluid communication with any of the water valves 7404. However, it should also be understood that in some embodiments a water pump 7406 in fluid communication with the rail system 5804 may also be in fluid communication with one or more of the water valves 7404 to flow and circulate the outside environment water 5406 into, throughout, and out from the rail system 5804.
The external cooling plate(s) 5902 may be adapted to allow for a transfer of energy, such as thermal energy, to take place through the external cooling plate(s) 5902 and between outside environment water 5406 located external from the host vehicle body 5206/guest vehicle body 5208 and the fluid housed by the rail system 5804 circulated through the external cooling plate(s) 5902. For the purposes of the present invention, it should be understood that the recitation of the external cooling plate(s) 5902 being adapted to allow for a transfer of thermal energy between the outside environment water 5406 and the fluid circulated through the external cooling plate(s) 5902 may be defined as the external cooling plate(s) 5902 having a significantly high amount of thermal conductivity and thermal transfer therethrough.
Now referring to
The securing system 5214 may be carried by a host vehicle 5202 and/or the host vehicle body 5206, however, in some embodiments of the present invention it is contemplated that a guest vehicle 5204 may also carry a securing system 5214. The securing system 5214 may comprise one or more securing units 5304. The securing units 5304 may be carried by the host vehicle 5202 and/or host vehicle body 5206, perhaps as best illustratively shown in
The locked state of the securing units 5304 may be defined as when at least a portion of one or more of the securing units 5304 is engaged with at least a portion of the guest vehicle 5204 and/or the guest vehicle body 5208. Also, and/or alternatively, without limitation, the locked state of the securing units 5304 may be defined as when one or more of the securing units 5304 is engaged with one or more guest securing members 5502 that may be mounted on the guest vehicle 5204 and/or the guest vehicle body 5208. When one or more of the securing units 5304 are in the locked state, the securing units 5403 may cause the guest vehicle 5204 and/or guest vehicle body 5208 to be prevented from moving to the deployed state 5404 from the stowed state 5220 and/or from moving between the deployed state 5404 and the stowed state 5220.
The unlocked state of the securing units 5304 may be defined as when the securing units 5304 are not engaged with the guest vehicle 5204 and/or the guest vehicle body 5208. Also, and/or alternatively, without limitation, the unlocked state of the securing units 5304 may be defined as when the securing units 5304 are not engaged with one or more guest securing members 5502 mounted on the guest vehicle 5204 and/or guest vehicle body 5208. When the securing units 5304 are in the unlocked state, the guest vehicle 5204 and/or guest vehicle body 5208 may not be prevented from moving to, from, and/or between the stowed state 5220 and the deployed state 5404.
Now additionally referring to
The securing control computer 7108 may be in communication with one or more of the control system(s) 7102, the maneuvering system(s) 5224, the sensor and communication system(s) 5210, the onboard power supply 7118, and/or the buoyancy system(s) 7116. The securing control computer 7108 may be adapted to control one or more of the maneuvering system(s) 5224, and the securing control computer 7108 may be operable to control one or more of the maneuvering system(s) 5224 based on the tracked position signal received from the sensor and communication system(s) 5210 and/or the relative position system(s) 7502 of the host vehicle 5202 and/or guest vehicle 5204. However, without limitation, it is contemplated that some embodiments of the present invention may not include a securing control computer 7108, and that the functions and limitations of the securing control computer 7108 described herein may be partially and/or entirely incorporated by and/or included in the host vehicle control system 7102 and/or the guest vehicle control system 7102.
Now referring to
The carried position of a payload 6004 may be defined as when the payload 6004 is slidably carried by the payload deployment system 6002 and/or when the payload 6004 is carried by a portion of the host vehicle 5202, the host vehicle body 5206, the guest vehicle 5204, and/or the guest vehicle body 5208. The deployed state of a payload 6004 may be defined as the payload 6004 being separate from the payload deployment system 6002, the host vehicle 5202, the host vehicle body 5206, the guest vehicle 5204, and/or the guest vehicle body 5208. The deployed state of the payload 6004 may also and/or alternatively be defined as when the payload 6004 is separate from the host vehicle 5202 and/or guest vehicle 5204 and is deployed in and/or on outside environment water 5406. The payload deployment system 6002 may be operable to be controlled by the host vehicle control system 7102 and/or the guest vehicle control system 7102 to move one or more of the payloads 6004 between the carried position and the deployed state.
In some embodiments of the present invention, the payload deployment system 6002 may include a payload control unit 7112. The payload control unit 7112 may be in communication with one or more of the payload deployment system 6002, the host vehicle control system 7102, the host vehicle sensor and communication system 5210, the guest vehicle control system 7102, the guest vehicle sensor and communication system 5210, and/or the onboard power supply 7118. The payload control unit 7112 may be operable to control the payload deployment system 6002 to move one or more of the payloads 6004 between the carried position and the deployed state.
Also, the payload control unit 7112 may be operable to control the payload deployment system 6002 to move one or more of the payloads 6004 between the carried position and the deployed state based on sensor data received from the sensor and communication system(s) 5210 and/or based on a command received from the vehicle control system(s) 7102. It is contemplated that some embodiments of the present invention may not include a payload control unit 7112, and in some embodiments one or more of the functions and/or limitations of the payload control unit 7112 described herein may be incorporated and/or included by the host vehicle control system 7102 and/or the guest vehicle control system 7102.
Some embodiments of the present invention may include one or more cargo attachment member(s) 6102. The cargo attachment member(s) 6102 may be carried by and/or mounted on one or more portions of the host vehicle 5202 and/or the guest vehicle 5204. The cargo attachment member(s) 6102 may include one or more attachment points and/or one or more attachment lines, perhaps ad best illustratively shown in
Some embodiments of the present invention may include one or more action unit(s) 7114. The action unit 7114 may comprise one or more of an audio device, a laser device, a flare launcher, and/or a smoke deployer. The action unit 7114 may be in communication with the host vehicle control system 7102, the guest vehicle control system 7102, and/or the onboard power supply 7118. The action unit 7114 may be adapted to be selectively controlled by the host vehicle control system 7102 and/or guest vehicle control system 7102 to cause the action unit 7114 to perform a predetermined action. Examples of a predetermined action performed by the action unit 7114 include, without limitation, one or more of emitting a predetermined audio sound, emitting a laser, controlling the direction a laser is emitted therefrom, deploying a flare signal, and/or deploying a smoke signal and/or a smoke screen.
Now referring to
A flat deck plan 5506 may define the upper area portion(s) of a vehicle body 5202, 5204 to be flat, such that the upper area portion(s) of the vehicle body 5202, 5204 may not include any significant vacant areas, open spaces, and/or apertures which may be extending into the upper area portion(s) of a vehicle body 5202, 5204. Examples of a flat deck plan 5506, without limitation, for a guest vehicle 5204 is illustratively shown in
A slant deck plan 5708 may define the upper area portion(s) of a vehicle body 5202, 5204 as including an open space extended into the upper area portion(s) of the vehicle body 5202, 5204, which may extend towards and out a rear portion of the vehicle body 5202, 5204, and which may comprise a lower surface that may have a slant and/or gradient height from a frontal end to a rear end of the lower surface, which may be with respect to an upper surface plane of the vehicle body 5202, 5204. Examples of a slant deck plan 5708, without limitation, for a guest vehicle 5204 may be illustratively shown in
An open deck plan 6702 may define the upper area portion(s) of a vehicle body 5202, 5204 as including an open space extended into the upper area portion(s) of the vehicle body 5202, 5204, and which may extend towards and out a rear portion of the vehicle body 5202, 5204. In embodiments of the present invention, the lower surface of an open deck plan 6702 may be substantially parallel to the upper area portion(s) of the vehicle body 5202, 5204. Examples of an open deck plan 6702, without limitation, for a guest vehicle 5204 may be illustratively shown in
It is contemplated that embodiments of the present invention may include many alternative deck plans in addition or in the alternative to the deck plans 5504 described above, and as may be understood by someone whom may have skill in the art, As such, embodiments of the host vehicle 5202, guest vehicle 5204, host vehicle body 5206, guest vehicle body 5208, and/or the cradle 5302 may not comprise one or more of the flat deck plan 5506, slant deck plan 5708, and/or open deck plan 6702 described above.
Now referring to
For method 7700, an embodiment of the unmanned vehicle system 5200 may commence and/or start the method 7700 at Block 7702 and move to Block 7704 to determine if a mission plan 43034303 is directed. For example, a mission plan 43034303 may be directed if a mission plan 43034303 has been received by a host vehicle 5202 and/or guest vehicle 5204, such as a mission plan 43034303 sent from a user device 6808, an associate device 6806, and/or another vehicle 6804. For another example, a mission plan 43034303 may be directed if there is an existing mission plan 43034303 has not yet been completed by the host vehicle 5202 and/or guest vehicle 5204. If, at Block 7704, it is determined that no mission plan 43034303 is directed, the unmanned vehicle system 5200 may move from Block 7704 to Block 7706 to determine if a mission plan 43034303 should be generated.
For example, without limitation, the unmanned vehicle system 5200 may determine that a mission plan 43034303 should be generated based upon one or more operation factors that may include, without limitation, one or more of a danger factor, task factor, location factor, capability factor, time factor, an operation limit factor, and/or an identified task factor. Danger factors may include one or more of calculated damage risks, identified or calculated risk of path obstructions, current and/or predicted environmental conditions, and/or calculated risk of adversarial encounter(s). Task factors may include one or more of the number of tasks to complete regarding the mission instruction, an order of completion for each task of a mission instruction, and the calculated feasibility of completing each task. Location factors may include one or more of the current location of one or more host vehicle(s) 5202, guest vehicle(s) 5204, associate device(s) 6806, other vehicle(s) 6804, and known or estimated locations of tasks associated with the mission operation.
Capability factors may include one or more of the current payload and/or loadout of the host vehicle(s) 5202 and/or guest vehicle(s) 5204 compared to a loadout and/or payload requirement of the mission operation, the current range capabilities of the host vehicle(s) 5202 and/or guest vehicle(s) 5204, the current condition of the host vehicle(s) 5202 and/or guest vehicle(s) 5204, and/or the total count of host vehicle(s) 5202 and/or guest vehicle(s) 5204 compared to a total vehicle requirement of the mission operation. The time factors may include one or more of a time window of completion associated with the mission operation, a predetermined mission operation time completion deadline, and/or a predetermined total operation time limit of the host vehicle(s) 5202 and/or guest vehicle(s) 5204. The operation limit factor may include one or more of an end operation command received, an end operation command generated by the host vehicle(s) 5202 and/or guest vehicle(s) 5204, and/or a predetermined total completed mission operation limit. The identified task factor may include one or more of an identified target, identified target characteristics, identified target location, an identified friendly target, identified friendly target characteristics, and/or an identified friendly target location.
If, at Block 7706, the unmanned vehicle system 5200 determined that a mission plan 43034303 should be generated, then the unmanned vehicle system 5200 may continue the method 7700 from Block 7706 to Block 7708 to generate a mission plan 4303. If, however, at Block 7706, it is determined that a mission plan 43034303 should not be generated, then the unmanned vehicle system 5200 may continue the method 7700 from Block 7706 to Block 7712 to determine if the mission plan 43034303 is completed. From Block 77008, the unmanned vehicle system 5200 may continue the method 7700 to Block 7710 to perform at least a portion of the mission plan 4303.
If, however, at Block 7704, the unmanned vehicle system 5200 determines that a mission plan 43034303 is directed, then the unmanned vehicle system 5200 may continue directly from Block 7704 to Block 7710 to at least partially perform the mission plan 4303. From Block 7710, the unmanned vehicle system 5200 may continue the method 7700 to Block 7712 to determine if the mission plan 43034303 is completed. If, at Block 7712, it is determined that the mission plan 43034303 is not completed, then the unmanned vehicle system 5200 may continue the method 7700 from Block 7712 to Block 7714 to determine if the mission plan 43034303 should be edited. For example, without limitation, the unmanned vehicle system 5200 may determine if the mission plan 43034303 should be edited based on the mission plan, completed task(s) of the mission plan, uncompleted task(s) of the mission plan, and/or based on one or more operation factors.
If it is determined at Block 7714 that the mission plan 43034303 should not be edited, the unmanned vehicle system 5200 may continue the method 7700 from Block 7714 to Block 7710 to perform at least a portion of the mission plan 4303. If, however, at Block 7714 it is determined that the mission plan 43034303 should be edited, then the unmanned vehicle system 5200 may continue the method 7700 from Block 7714 to Block 7716 to edit the mission plan 4303. At Block 7716 the unmanned vehicle system 5200 may continue the method 7700 to Block 7710 to perform at least a portion of the mission plan 4303.
If, however, at Block 7712, it is determined that the mission plan 43034303 is completed, the unmanned vehicle system 5200 may continue the method to Block 7718 to determine if another mission plan 43034303 is directed. For example, without limitation, the unmanned vehicle system 5200 may determine that another mission plan 43034303 is directed if there were multiple mission plans 4303 received by the unmanned vehicle system 5200, and/or if there were multiple mission plans 4303 generated by the unmanned vehicle system 5200, and that one or more of the multiple mission plans 4303 have not been completed. If, at Block 7718, it is determined that another mission plan 43034303 is directed, the unmanned vehicle system 5200 may continue the method 770 from Block 7718 to Block 7710 to perform at least a portion of the mission plan 4303.
If, however, at Block 7718, it is determined that another mission plan 43034303 is not directed, then the unmanned vehicle system 5200 may continue the method 7700 from Block 7718 to Block 7720 to determine is another mission plan 43034303 should be generated. For example, without limitation, the unmanned vehicle system 5200 may determine if another mission plan 43034303 should be generated based on one or more operation factors. If, at Block 7720, it is determined that another mission should be generated, the unmanned vehicle system 5200 may continue the method 7700 to Block 7708 to generate a mission plan, which may be based on one or more operation factors. If, however, at Block 7720, it is determined that another mission plan 43034303 should not be generated, the unmanned vehicle system 5200 may continue the method 7700 to Block 7722 to determine if end mission plan 43034303 operations should be performed.
The unmanned vehicle system 5200 may determine if end mission plan 43034303 operations should be performed based on one or more operation factors. If, at Block 7722 it is determined that end mission plan 43034303 operations should be performed, then unmanned vehicle system 5200 may continue the method 7700 to Block 7724 to perform the end mission plan 43034303 operations. End mission plan 43034303 operations may include, without limitation, one or more of, moving one or more host vehicle(s) 5202 and/or guest vehicle(s) 5204 between the surfaced state 5405 and the submerged state 5402, moving one or more guest vehicle(s) 5204 between the stowed state 5220 and the deployed state 5404, propelling one or more of the host vehicle(s) 5202 and/or guest vehicle(s) 5204, moving one or more of the host vehicle(s) 5202 and/or guest vehicle(s) 5204 from the turned over state 7004 to the upright state 7002, and/or propelling one or more of the host vehicle(s) 5202 and/or guest vehicle(s) 5204 to a predetermined location. The predetermined location may include, without limitation, a safe zone and/or a pickup zone.
From Block 7724, the unmanned vehicle system 5200 may continue the method 7700 to Block 7726 to end the method 7700. If, however, at Block 7722, the unmanned vehicle system 5200 determined that end mission operations should not be performed, the unmanned vehicle system 5200 may continue the method 7700 to Block 7712 to determine if the mission plan 43034303 is completed. From Block 7712, the unmanned vehicle system 5200 may continue the method 7700 as detailed above.
Now referring to
For example, without limitation, the unmanned vehicle system 5200 and/or the host vehicle 5202 may be operable to determine if one or more guest vehicle(s) 5204 should be moved to the deployed state 5404 from the stowed state 5220 based on one or more of the operation factors, and/or based on one or more mission plans 4303. If, at Block 7806, the unmanned vehicle system 5200 and/or host vehicle 5202 determines that a guest vehicle 5204 should not be moved to the deployed state 5404 from the stowed state 5220, then the unmanned vehicle system 5200 may continue the method 7800 from Block 7806 to Block 7824 to end the method 7800.
If, however, at Block 7806 the unmanned vehicle system 5200 and/or host vehicle 5202 determined that one or more guest vehicle(s) 5204 should be moved to the deployed state 5404 from the stowed state 5220, the unmanned vehicle system 5200 may continue the method 7800 from Block 7806 to Block 7808 to determine if deployment conditions are satisfied. For example, without limitation, the unmanned vehicle system 5200 and/or the host vehicle 5202 may determine if deployment conditions are satisfied based on one or more of the operation factors, the mission plan, and/or data generated and sensed by one or more of the sensor and communication system(s) 5210. The deployment conditions may include, without limitation, a location, a damage control status, a time constraint, a risk assessment, a deployment necessity check, and/or a feasibility assessment.
If, at Block 7808 the unmanned vehicle system 5200 and/or host vehicle 5202 determines that the deployment conditions are not satisfied, the unmanned vehicle system 5200 and/or host vehicle 5202 may continue the method 7800 from Block 7808 to Block 7818 to determine if the deployment conditions are able to be satisfied by the unmanned vehicle system 5200 and/or the host vehicle 5202. For example, without limitation, the unmanned vehicle system 5200 and/or host vehicle 5202 may determine if the deployment conditions are able to be satisfied based on one or more of the operation factors and/or the mission plan 4303. If, at Block 7818, the unmanned vehicle system 5200 and/or host vehicle 5202 determines that the deployment conditions are not satisfiable, the unmanned vehicle system 5200 and/or host vehicle 5202 may end the method 7800 at Block 7824.
If, however, at Block 7818 the unmanned vehicle system 5200 and/or host vehicle 5202 determines that the deployment conditions are able to be satisfied, the unmanned vehicle system 5200 and/or host vehicle 5202 may continue the method 7800 from Block 7818 to Block 7820 to satisfy the deployment conditions. For example, without limitation, to satisfy the deployment conditions the unmanned vehicle system 5200 and/or host vehicle 5202 may be operable to cause, and/or one or more of the vehicle control system(s) 7102 may operate, control, and/or command one or more of the other components, members, and/or units of the host vehicle(s) 5202 and/or guest vehicle(s) 5204 to cause, one or more host vehicle(s) 5202 and/or guest vehicle(s) 5204 to move between the surfaced state 5405 and the submerged state 5402 and/or to move to a predetermined location. The predetermined location may be determined by the unmanned vehicle system 5200 and/or the host vehicle 5202 based on one or more of the operation factors and/or the mission plan 4303.
From Block 7820, the unmanned vehicle system 5200 and/or host vehicle 5202 may continue the method 7800 to Block 7810 to determine if the host vehicle 5202 and/or the guest vehicle 5204 (that is in the stowed state 5220) is in the submerged state 5402. If, however, at Block 7810, the unmanned vehicle system 5200 and/or host vehicle 5202 determined that the deployment conditions are satisfied, the unmanned vehicle system 5200 and/or host vehicle 5202 may continue the method 7800 directly from Block 7808 to Block 7810 to determine if the host vehicle 5202 and/or guest vehicle 5204 (that is in the stowed state 5220) is in the submerged state 5402. If, at Block 7810, the unmanned vehicle system 5200 and/or host vehicle 5202 determines that the host vehicle 5202 and/or guest vehicle 5204 is not in the submerged state 5402, the unmanned vehicle system 5200 and/or host vehicle 5202 may move from Block 7810 to Block 7812 to move the host vehicle 5202 and/or guest vehicle 5204 from the surfaced state 5405 to the submerged state 5402.
For example, without limitation, if the host vehicle 5202 is in the surfaced state 5405 the host vehicle 5202 may move to the submerged state 5402, and if the guest vehicle 5204 in the stowed state 5220 is in the surfaced state 5405, the host vehicle 5202 may command the guest vehicle 5204 to move to the submerged state 5402 with the host vehicle 5202. The unmanned vehicle system 5200 and/or host vehicle 5202 may continue the method 7800 from Block 7812 to Block 7814 to move the securing system 5214 of the host vehicle 5202 to the unlocked state from the locked state. If, however, at Block 7810 it is determined that the host vehicle 5202 and guest vehicle 5204 that is in the stowed state 5220 are in the submerged state 5402, the unmanned vehicle system 5200 and/or host vehicle 5202 may continue the method 7800 directly from Block 7810 to Block 7814 to move the securing system 5214 from the locked state to the unlocked state.
The unmanned vehicle system 5200 and/or host vehicle 5202 may continue the method 7800 from Block 7814 to Block 7816 to command the guest vehicle 5204 that is in the stowed state 5220 to move to the deployed state 5404. For example, the guest vehicle 5204 may utilized the guest vehicle maneuvering system 5224 to propel the guest vehicle 5204 away from the host vehicle 5202 to move the guest vehicle 5204 from the stowed state 5220 to the deployed state 5404. For another example, without limitation, the host vehicle 5202 may also and/or alternative utilized the host vehicle maneuvering system 5224 to propel the host vehicle 5202 to cause the guest vehicle 5204 to move from the stowed state 5220 to the deployed state 5404.
At Block 7816, the unmanned vehicle system 5200 and/or host vehicle 5202 may continue the method 7800 to Block 7822 to determine if the mission plan 43034303 includes a mesh configuration. If it is determined that the mission plan 43034303 includes a mesh configuration, the unmanned vehicle system 5200 and/or host vehicle 5202 may continue the method 7800 via path CC to Block 8138 of a method 8100 illustrated on
For example, without limitation, the method 7800 may only include the step of Block 7822 if the method 7800 is indirectly commenced by an embodiment of the present invention moving to Block 7802 from Block 8122 via path BB of the method 8100 illustrated on
Now referring to
At Block 7904, if it is determined that a guest vehicle 5204 is not in the deployed state 5404, the method 7900 may continue to Block 7924 to end the method 7900. If, however, at Block 7904, an embodiment of the present invention determines that a guest vehicle 5204 is in the deployed state 5404, the method 7900 may be continued to Block 7906 to determine if the guest vehicle 5204 should be moved from the stowed state 5220 to the deployed state 5404. For example, without limitation, a host vehicle 5202 may determine if the guest vehicle 5204 should be moved from the deployed state 5404 to the stowed state 5220 based on one or more of a mission plan, an operation factor, and/or based on a stowed request received by the host vehicle 5202 from the guest vehicle 5204. If, at Block 7906, it is determined that the guest vehicle(s) 5204 should not be moved to the stowed state 5220 from the deployed state 5404, the unmanned vehicle system 5200 may continue the method 7900 to Block 7924 to end the method 7900.
If, however, at Block 7906, the unmanned vehicle system 5200 determines that one or more guest vehicle(s) 5204 should be moved from the deployed state 5404 to the stowed state 5220, the unmanned vehicle system 5200 may continue the method 7900 to Block 7908 to determine if stow conditions may be satisfied. An embodiment of the unmanned vehicle system 5200 may determine if stow conditions are satisfied based on one or more of a mission plan 43034303 and/or operation factors in comparison with the stow conditions. The stow conditions may include, without limitation, if the host vehicle 5202 is able to carry a, and/or another, guest vehicle 5204 in the stowed state 5220, if the host vehicle 5202 and/or guest vehicle 5204 are capable of moving to the submerged state 5402 from a surfaced state 5405, if the securing system 5214 and/or maneuvering systems 5224 of the host vehicle 5202/guest vehicle 5204 are operational, and/or if the guest vehicle 5204 and host vehicle 5202 are near one another.
If, at Block 7908, the unmanned vehicle system 5200 determines that the stow conditions are not satisfied, the method 7900 may be continued to Block 7920 to determine if the stow conditions are able to be satisfied. For example, without limitation, an embodiment of the unmanned vehicle system 5200 may determine if the stow conditions are able to be satisfied, such as, if the guest vehicle buoyancy system 7116 is nonoperational but the guest vehicle 5204 is already in the submerged state 5402, if the guest vehicle maneuvering system 5224 is nonoperational but at least the host vehicle maneuvering system 5224 is operational, and/or if the securing system 5214 is at least partially operational (such as, without limitation, at least one securing unit 5304 being operable). The unmanned vehicle system 5200 may also determine if the stow conditions are able to be satisfied based upon the mission instruction and/or one or more operation factor. Also, the unmanned vehicle system 5200 may determine if the stow conditions are able to be satisfied by comparing the stow conditions to one or more operation factor.
If, at Block 7920, the unmanned vehicle system 5200 determines that the stow conditions are unable to be satisfied, the system 5200 may end that method 7900 at Block 7924. If, however, it is determined at Block 7920 that the stow conditions are able to be satisfied, the unmanned vehicle system 5200 may continue to Block 7922 to satisfy the stow conditions. At Block 7922, the unmanned vehicle system 5200 may move to Block 7910 to determine if the host vehicle 5202 and guest vehicle 5204 are in the submerged state 5402. If, however, at Block 7908, the unmanned vehicle system 5200 determined that the stow conditions are satisfied, the unmanned vehicle system 5200 may continue the method 7900 directly from Block 7908 to Block 7910 to determine if the host vehicle 5202 and guest vehicle 5204 are in the submerged state 5402.
At Block 5402, if it is determined that either the host vehicle 5202 or guest vehicle 5204 are not in the submerged state 5402, the unmanned vehicle system 5200 may continue the method 7900 to Block 7912 to move the host vehicle 5202 to the submerged state 5402 and/or for the host vehicle 5202 to command the guest vehicle 5204 to move to the submerged state 5402. The unmanned vehicle system 5200 may continue the method 7900 from Block 7912 to 7914 to move the securing system 5214 to the unlocked state. If, however, at Block 7910, it is determined that the host vehicle 5202 and the guest vehicle 5204 are both in the submerged state 5402, the unmanned vehicle system 5200 may directly continue the method 7900 from Block 7910 to Block 7914 to move the securing system 5214 to the unlocked state.
The unmanned vehicle system 5200 may continue the method 7900 from Block 7914 to Block 7916 to command the guest vehicle 5204 to move from the deployed state 5404 to the stowed state 5220. For example, without limitation, the guest vehicle 5204 may propel itself using the guest vehicle maneuvering system 5224 to move the guest vehicle 5204 from the deployed state 5404 to the stowed state 5220 responsive to a stow command received by the guest vehicle 5204 from the host vehicle 5202. In some embodiment of the present invention, if the guest vehicle maneuvering system 5224 is at least significantly nonoperational, the guest vehicle 5204 may be moved from the deployed state 5404 to the stowed state 5220 by the host vehicle maneuvering system 5224 propelling the host vehicle 5202 towards the guest vehicle 5204 to move the guest vehicle 5204 from the deployed state 5404 to the stowed state 5220.
From Block 7916, the unmanned vehicle system 5200 may continue the method 7900 to Block 7918 to move the securing system 5214 from the unlocked state to the locked state. At Block 7918, the unmanned vehicle system 5200 may continue the method 7900 to Block 7924 to end the method 7900.
Now referring to
If, however, at Block 8004, it is determined that the host vehicle 5202/guest vehicle 5204 is not in the upright state 7002, the unmanned vehicle system 5200 may continue the method to Block 8006 to determine if the host vehicle 5202/guest vehicle 5204 is in the turned-over state 7004. If it is determined at Block 8006 that the host vehicle 5202/guest vehicle 5204 is not in the turned-over state 7004, the unmanned vehicle system 5200 may continue the method 8000 to Block 8014 to determine if the host vehicle 5202/guest vehicle 5204 should send and/or emit a distress signal. For example, without limitation, instances where the host vehicle 5202/guest vehicle 5204 are neither in the upright state 7002 nor the turned-over state 7004 may be when the host vehicle 5202/guest vehicle 5204 are one or more of beached, has crippled mobility, immobile, stuck, captured, snared, snagged, and/or otherwise unable and/or incapable to freely move as may be understood by one who may have skill in the art.
If, at Block 8014, the unmanned vehicle system 5200 determines that a distress signal should be sent and/or emitted, the method 8000 may be continued to Block 8016 for the host vehicle 5202/guest vehicle 5204 to send and/or emit a distress signal. The distress signal may be related to, the restricted mobility and/or immobility of the host vehicle 5202/guest vehicle 5204, and/or the location of the host vehicle 5202/guest vehicle 5204, which may be determined by the host vehicle 5202/guest vehicle 5204 based on data sensed, detect, and/or generated by the guest vehicle sensor and communication system 5210/host vehicle sensor and communication system 5210 and the guest vehicle control system 7102/host vehicle control system 7102. From Block 8016 the unmanned vehicle system 5200 may continue the method 8000 to Block 8012 to wait a predetermined period of time.
If, however, at Block 8014, the unmanned vehicle system 5200 determines that a distress signal should not be sent and/or emitted, the method 8000 may be continued by the unmanned vehicle system 5200 directly from Block 8014 to Block 8012 to wait a predetermined period of time. From Block 8012, the method 8000 may be continued to Block 8004. At Block 8004, the unmanned vehicle system 5200 may continue the method 8000 steps as previously described above.
Now referring to
If it is determined at Block 8106 that a mission plan 43034303 should not be generated, the unmanned vehicle system 5200 may continue the method 8100 to Block 8134 to determine if end mission plan 43034303 operations should be performed. If it is determined at Block 8134 that the end mission plan 43034303 operations should be performed, the unmanned vehicle system 5200 may end the method 8100 at Block 8136. If, however, at Block 8134 it is determined by the unmanned vehicle system 5200 that end mission plan 43034303 operations should not be performed, the unmanned vehicle system 5200 may move to Block 8104 to continue the method 8100 from Block 8104 as described herein. If, however, at Block 8106 the unmanned vehicle system 5200 determines that a mission plan 43034303 should be generated, the unmanned vehicle system 5200 may continue the method 8100 to Block 8108 to generate a mission plan 4303.
From Block 8108, the unmanned vehicle system 5200 may continue to Block 8110 to determine if the mission plan 43034303 includes a mesh configuration. If, however, at Block 8104 it is determined that a mission plan 43034303 has been received, the unmanned vehicle system 5200 may continue the method 8100 directly from Block 8104 to Block 8110 to determine if the mission plan 4303 includes a mesh configuration. If it is determined at Block 8110 that the mission plan 4303 does not include a mesh configuration, the unmanned vehicle system 5200 may continue the method 8100 to Block 8112 to determine if the mission plan 4303 should include a mesh configuration. For example, without limitation, the unmanned vehicle system 5200 may determine if the mission plan 4303 should include a mesh configuration based on a comparison between the mission plan 4303 and one or more operation factors.
If, at Block 8112, the unmanned vehicle system 5200 determined that the mission plan 4303 should not include a mesh configuration, the method 8100 may be continued to Block 8116 to determine if a mesh configuration is active. If, at Block 8116, it is determined that a mesh configuration is active, the unmanned vehicle system 5200 may continue the method 8100 to Block 8124 to end the mesh configuration. From Block 8124, the unmanned vehicle system 5200 may continue the method 8100 through path AA to Block 7702 illustrated in
If, however, at Block 8112, the unmanned vehicle system 5200 determines determined that the mission plan 4303 should include a mesh configuration, the unmanned vehicle system 5200 may continue the method 8100 to Block 8114 to determine if a mesh configuration is active. If, however, at Block 8110, the unmanned vehicle system 5200 determined that the mission plan 4303 does include a mesh configuration, the unmanned vehicle system 5200 may continue the method 8100 directly from Block 8110 to Block 8114 to determine if a mesh configuration is active. If, at Block 8114, the unmanned vehicle system 5200 determines that a mesh configuration is not active, the unmanned vehicle system 5200 may continue to Block 8126 to determine if a mesh configuration may be formed between more than one host vehicle 5202, guest vehicle 5204, associate device 6806, and/or another vehicle 6804.
If, at Block 8126, the unmanned vehicle system 5200 determines that a mesh configuration cannot be formed, the unmanned vehicle system 5200 may continue the method 8100 to 8128 to determine if the mission plan 4303 may be performed without a mesh configuration. If, at Block 8128, it is determined that the mission plan 4303 cannot be performed without a mesh configuration, the unmanned vehicle system 5200 may continue to Block 8130 to send and/or emit a mission plan 4303 abort signal. From Block 8130, the unmanned vehicle system 5200 may end the method 8100 at Block 8132. If, however, at Block 8128, the unmanned vehicle system 5200 determines that the mission plan 4303 can be performed without a mesh configuration, the unmanned vehicle system 5200 may continue the method 8100 from Block 8128 to Block 7702 illustrated in
If, however, at Block 8126, the unmanned vehicle system 5200 determined that it is able to form a mesh configuration, the unmanned vehicle system 5200 may continue the method 8100 to Block 8120 to determine if there is one or more guest vehicle(s) 5204 that may be in the stowed state 5220. If, however, at Block 8114, the unmanned vehicle system 5200 determines that a mesh configuration is active, the unmanned vehicle system 5200 may continue the method 8100 from Block 8114 to Block 8118 to determine if there is/are any other host vehicle 5202, guest vehicle 5204, associate device 6806, and/or other vehicle 6804 that may be included in the mesh configuration. If the unmanned vehicle system 5200 determines an answer of yes at Block 8118, the unmanned vehicle system 5200 may continue the Block 8120 to determine if there is any guest vehicle 5204 in the stowed state 5220.
If, at Block 8120, the unmanned vehicle system 5200 determines that there is/are one or more guest vehicle 5204 in the stowed state 5220, the unmanned vehicle system 5200 may continue to Block 8112 to determine if the one or more guest vehicle(s) 5204 in the stowed state 5220 should be included in the mesh configuration. If the unmanned vehicle system 5200 determines an answer of no at Block 8112, the unmanned vehicle system 5200 may continue the method 8100 through path DD to Block 8138 illustrated in
If, however, at Block 8122, the unmanned vehicle system 5200 determines that the guest vehicle(s) 5204 in the stowed state 5220 should be included in the mesh configuration, the unmanned vehicle system 5200 may continue the method 8100 from Block 8122 through path BB to Block 7802 illustrated in
At Block 8138, the unmanned vehicle system 5200 may form, establish, and/or maintain a/the mesh configuration with the more than one host vehicle(s) 5202, guest vehicle(s) 5204, associate device(s) 6806, and/or other vehicle(s) 6804. At Block 8138, the unmanned vehicle system 5200 may continue the method 8100 to Block 8140 to coordinate the mission plan 4303 with the host vehicle(s) 5202, guest vehicle(s) 5204, associate device(s) 6806, and/or other vehicle(s) 6804 that are in and/or a part of the mesh configuration. From Block 8140, the unmanned vehicle system 5200 may continue the method 8100 to Block 8142 to perform at least a portion of the mission plan 4303 in coordination with the host vehicle(s) 5202, guest vehicle(s) 5204, associate device(s) 6806, and/or other vehicle(s) 6804 that are in and/or a part of the mesh configuration.
From Block 8142, the unmanned vehicle system 5200 may continue the method 8100 to Block 8144 to determine if the mission plan 4303 has been completed. If, at Block 8144, the unmanned vehicle system 5200 determines an answer of yes, the unmanned vehicle system 5200 may continue the method 8100 to Block 8146 to determine if another mission plan 4303 has been directed. If the unmanned vehicle system 5200 determines an answer of yes at Block 8146, the unmanned vehicle system 5200 may continue the method 8110 from Block 8146 through path GG to Block 8110 illustrated in
If, however, at Block 8150 the unmanned vehicle system 5200 determines that another mission plan 4303 should not be generated, the unmanned vehicle system 5200 may continue from Block 8150 to Block 8156 to determine if end mission plan 4303 operations should be performed. At Block 8156, if the unmanned vehicle system 5200 determines an answer of yes, the unmanned vehicle system 5200 may continue the method 8100 to Block 8157 to perform the end mission plan 4303 operations and end the method 8100 at Block 8162. If, however, at Block 8156, the unmanned vehicle system 5200 determines that the end mission plan 4303 operations should not be performed, the unmanned vehicle system 5200 may continue the method 8100 from Block 8156 to Block 8146 to continue the method 8100 therefrom as described herein.
However, if at Block 8144, the unmanned vehicle system 5200 determines that the mission plan 4303 has not been completed, the unmanned vehicle system 5200 may continue the method 8100 to Block 8148 to determine if the mission plan 4303 should be edited. For example, without limitation, the unmanned vehicle system 5200 may determine if the mission plan 4303 should be edited based on the mission plan, any completed portions of the mission plan, any non-completed portions of the mission plan, and/or based on one or more operation factors. If the unmanned vehicle system 5200 determines an answers of yes at Block 8148, the unmanned vehicle system 5200 may continue from Block 8148 to Block 8154 to edit the mission plan 4303. At Block 8154, the unmanned vehicle system 5200 may continue the method 8100 to Block 8140 to continue the method 8100 therefrom as described herein.
If, however, at Block 8148 the unmanned vehicle system 5200 determines that the mission plan 4303 should not be edited, the unmanned vehicle system 5200 may continue the method 8100 from Block 8148 to Block 8152 to determine if any vehicle (5202, 5204, 6806, and/or 6804) has fallen out of the mesh configuration. For example, without limitation, the unmanned vehicle system 5200, host vehicle 5202, and/or guest vehicle 5204 may determine if any vehicle (5202, 5204, 6806, and/or 6804) has fallen out of the mesh configuration if a vehicle (5202, 5204, 6806, and/or 6804) is, and/or is no longer, in communication with the mesh configuration, and/or is, and/or is not longer, operable to communicate via the mesh configuration. In some embodiments of the unmanned vehicle system 5200, the host vehicle 5202 and/or guest vehicle 5204 may be operable to determine if a vehicle (5202, 5204, 6806, and/or 6804) has fallen out of the mesh configuration based on data that may be at least one of received from, sensed by, detected by, determined by, and/or communicated from one or more vehicle control system 7102, sensor and communication system 5210, host vehicle 5202, guest vehicle 5204, associate device 6806, and/or other vehicle 6804.
If, at Block 8152, it is determined that any vehicle (5202, 5204, 6806, and/or 6804) has fallen out of the mesh configuration, the unmanned vehicle system 5200 may continue the method 8100 to Block 8158 to determine if an investigation task should be conducted. For example, without limitation, the unmanned vehicle system 5200 may determine if an investigation task should be conducted based on one or more of the mission plan, any completed portions of the mission plan, any non-completed portions of the mission plan, one or more operation factors, and/or data that may be at least one of received from, sensed by, detected by, determined by, and/or communicated from one or more vehicle control system 7102, sensor and communication system 5210, host vehicle 5202, guest vehicle 5204, associate device 6806, and/or other vehicle 6804. If the unmanned vehicle system 5200 determines an answer of yes at Block 8158, the unmanned vehicle system 5200 may continue the method to Block 8160 to edit the mission plan 4303 to include an investigation task.
For example, and without limitation, an investigation task may include one or more host vehicle 5202 and/or guest vehicle 5204 maneuvering, searching, detecting, determining, and/or identifying one or more of the location of any vehicle (5202, 5204, 6806, and/or 6804) that has fallen out of the mesh configuration, what may have caused the vehicle(s) (5202, 5204, 6806, and/or 6804) to fall out of the mesh configuration. Also, without limitation, an investigation task may include recovery operations to be performed by the unmanned vehicle system 5200, host vehicle(s) 5202, and/or guest vehicle(s) 5204 to recover any vehicle (5202, 5204, 6806, and/or 6804) that has fallen out of the mesh configuration.
From Block 8160, the unmanned vehicle system 5200 may continue the method 8100 through path EE to Block 8114 illustrated in
At Block 6184, the unmanned vehicle system 5200 may determine if any vehicle (5202, 5204, 6806, and/or 6804) of the mesh configuration have been one or more of damaged, crippled, compromised, and/or immobilized. For example, without limitation, the unmanned vehicle system 5200, a host vehicle 5202, and/or a guest vehicle 5204 may determine if any vehicle (5202, 5204, 6806, and/or 6804) of the mesh configuration have been one or more of damaged, crippled, compromised, and/or immobilized based on one or more operation factors, and/or data that may be at least one of received from, sensed by, detected by, determined by, and/or communicated from one or more vehicle control system 7102, sensor and communication system 5210, host vehicle 5202, guest vehicle 5204, associate device 6806, and/or other vehicle 6804. If the unmanned vehicle system 5200 determines an answer of yes at Block 8164, the unmanned vehicle system 5200 may continue the method 8100 to Block 8166 to determine if an investigation task should be conducted.
If, at Block 8166, the unmanned vehicle system 5200 determines that an investigation task should be conducted, the unmanned vehicle system 5200 may continue the method 8100 to Block 8168 to edit the mission plan 4303 to include an investigation task. From Block 8168, the unmanned vehicle system 5200 may continue to Block 8170 to determine if any damaged, crippled, compromised, and/or immobilized vehicle (5202, 5204, 6806, and/or 6804) should continue to support the coordinated mission plan 4303. If, however, at Block 8166, the unmanned vehicle system 5200 determined that an investigation task should not be conducted, the unmanned vehicle system 5200 may continue the method 8100 directly from Block 8166 to Block 8170.
Without limitation, the unmanned vehicle system 5200, a host vehicle 5202, and/or a guest vehicle 5204 may be operable to determine if any damaged, crippled, compromised, and/or immobilized vehicle (5202, 5204, 6806, and/or 6804) should continue to support the coordinated mission plan 4303 based on one or more of the mission plan, any completed portions of the mission plan, any non-completed portions of the mission plan, one or more operation factors, and/or data that may be at least one of received from, sensed by, detected by, determined by, and/or communicated from one or more vehicle control system 7102, sensor and communication system 5210, host vehicle 5202, guest vehicle 5204, associate device 6806, and/or other vehicle 6804. If, at Block 8170 the unmanned vehicle system 5200 determines an answer of yes, the unmanned vehicle system 5200 may continue the method 8100 from Block 8170 to Block 8172 to remove the damaged, crippled, compromised, and/or immobilized vehicle (5202, 5204, 6806, and/or 6804) from the mesh configuration.
From Block 8172 the unmanned vehicle system 5200 may continue the method 8100 through path II to Block 8114 illustrated in
Many modifications and other embodiments of the invention will come to the mind of one skilled in the art having the benefit of the teachings presented in the foregoing descriptions and the associated drawings. Therefore, it is understood that the invention is not to be limited to the specific embodiments disclosed, and that modifications and embodiments are intended to be included within the scope of the appended claims.
The claims in the instant application are different than those of the parent application or other related applications. Applicant therefore rescinds any disclaimer of claim scope made in the parent application or any predecessor application in relation to the instant application. Any such previous disclaimer and the cited references that it was made to avoid, may need to be revisited. Further, any disclaimer made in the instant application should not be read into or against the parent application.
This application is a continuation-in-part application of and claims priority under 35 U.S.C. § 120 of U.S. patent application Ser. No. 18/452,362 (Attorney Docket No. 861.00038) filed on Aug. 18, 2023 and titled SYSTEMS AND METHODS FOR AUTONOMOUS SELECTION AND OPERATION OF COMBINATIONS OF STEALTH AND PERFORMANCE CAPABILITIES OF A MULTI-MODE UNMANNED VEHICLE, which in turn is a continuation application of and claims priority under 35 U.S.C. § 120 of U.S. patent application Ser. No. 18/051,057, now U.S. Pat. No. 11,733,698, issued Aug. 22, 2023 (Attorney Docket No. 861.00035) filed on Oct. 31, 2022 and titled SYSTEMS AND METHODS FOR AUTONOMOUS SELECTION AND OPERATION OF COMBINATIONS OF STEALTH AND PERFORMANCE CAPABILITIES OF A MULTI-MODE UNMANNED VEHICLE, which in turn is a continuation application of and claims priority under 35 U.S.C. § 120 of U.S. patent application Ser. No. 17/164,129, now U.S. Pat. No. 11,507,094, issued Nov. 22, 2022 (Attorney Docket No. 861.00030) filed on Feb. 1, 2021 and titled SYSTEMS AND METHODS FOR AUTONOMOUS SELECTION AND OPERATION OF COMBINATIONS OF STEALTH AND PERFORMANCE CAPABILITIES OF A MULTI-MODE UNMANNED VEHICLE, which in turn is a continuation application of and claims priority under 35 U.S.C. § 120 of U.S. patent application Ser. No. 16/449,824, now U.S. Pat. No. 10,908,611, issued Feb. 2, 2021 (Attorney Docket No. 861.00028) filed on Jun. 24, 2019 and titled SYSTEMS AND METHODS FOR SEMI-SUBMERSIBLE LAUNCH AND RECOVERY OF OBJECTS FROM MULTI-MODE UNMANNED VEHICLE, which in turn is a continuation-in-part application of and claims priority under 35 U.S.C. § 120 of U.S. patent application Ser. No. 15/609,459, now U.S. Pat. No. 10,331,131, issued Jun. 25, 2019 (Attorney Docket No. 861.00026) filed on May 31, 2017 and titled Systems and Methods for Payload Integration and Control in a Multi-Mode Unmanned Vehicle, which in turn is a continuation-in-part application of and claims priority under 35 U.S.C. § 120 of U.S. patent application Ser. No. 14/788,231, now U.S. Pat. No. 9,669,904, issued Jun. 6, 2017 (Attorney Docket No. 861.00021) filed on Jun. 30, 2015 and titled Systems and Methods for Multi-Role Unmanned Vehicle Mission Planning and Control, which in turn is a continuation-in-part application of and claims priority under 35 U.S.C. § 120 of U.S. patent application Ser. No. 13/470,866, now U.S. Pat. No. 9,096,106, issued Aug. 4, 2015 (Attorney Docket No. 861.00020) filed on May 14, 2012 and titled Multi-Role Unmanned Vehicle System and Associated Methods, which in turn is related to and claims the benefit of U.S. Provisional Patent Application Ser. No. 61/485,477 (Attorney Docket No. 861.00019) filed on May 12, 2011 and titled MARITIME MULTI-ROLE UNMANNED VEHICLE SYSTEM. The contents of these applications are incorporated herein by reference except for where they conflict with the content herein.
Number | Date | Country | |
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61485477 | May 2011 | US |
Number | Date | Country | |
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Parent | 18051057 | Oct 2022 | US |
Child | 18452362 | US | |
Parent | 17164129 | Feb 2021 | US |
Child | 18051057 | US | |
Parent | 16449824 | Jun 2019 | US |
Child | 17164129 | US |
Number | Date | Country | |
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Parent | 18452362 | Aug 2023 | US |
Child | 18982614 | US | |
Parent | 15609459 | May 2017 | US |
Child | 16449824 | US | |
Parent | 14788231 | Jun 2015 | US |
Child | 15609459 | US | |
Parent | 13470866 | May 2012 | US |
Child | 14788231 | US |