초록 ▼

A device controlling the depth and motion of an object underwater by using a processor to accurately control the volume of gas within, and thereby the buoyancy, depth, and motion (rate of ascent and descent) of, a buoyancy chamber that is attached to the object. The device has a central component in

A device controlling the depth and motion of an object underwater by using a processor to accurately control the volume of gas within, and thereby the buoyancy, depth, and motion (rate of ascent and descent) of, a buoyancy chamber that is attached to the object. The device has a central component incorporating a processor and associated memory, the processor being in communication with: a buoyancy chamber and a means for measuring the volume or level of gas within, at least one gas control mechanism(s) to input and remove gas from the buoyancy chamber; a depth measuring sensor, a power source; a gas source, and an input device to instruct the processor. By manipulating the volume of gas within the buoyancy chamber, using the gas source and the at least one gas control mechanism(s), the processor is able to control the rate of ascent, rate of descent, level of buoyancy, and depth of itself and the object to which it is attached. Upon receiving instructions from the input device, the processor initializes control. At regular intervals the processor will process sensor readings, determine the volume of gas within the buoyancy chamber, and determine depth and ascent or descent rate. It will then compare these values to acceptable values based on the instruction received, and make corrections to the volume of gas using the at least one gas control mechanism(s). The corrections will be determined by calculations involving algorithms, the sensor readings, recalculations several times each second, and the results of previous corrections.

대표청구항 ▼

1. Apparatus having variable buoyancy for controlling the depth and motion of an object in water, comprising:a buoyancy chamber configured to hold a volume of gas, wherein the buoyancy chamber is an ambient pressure container;gas control means for adding gas to and removing gas from the buoyancy cha

1. Apparatus having variable buoyancy for controlling the depth and motion of an object in water, comprising:a buoyancy chamber configured to hold a volume of gas, wherein the buoyancy chamber is an ambient pressure container;gas control means for adding gas to and removing gas from the buoyancy chamber;processor means for receiving signals from and sending signals to the gas control means for controlling the volume of gas within the buoyancy chamber in order to control the buoyancy, depth, and motion of the buoyancy chamber and an object associated with the buoyancy chamber;volume-determining means for determining the volume of gas within the buoyancy chamber and providing signals to the processor indicative of the volume;depth-determining means for determining the depth of the buoyancy chamber and providing signals to the processor indicative of the depth; andinput means for allowing a user to input instructions to the processor, the input means receiving signals from and sending signals to the processor. 2. The apparatus of claim 1, further comprising display means for displaying information based on the signals received by the processor from the volume-determining means and the depth-determining means. 3. The apparatus of claim 1, wherein the gas control means is a two way, variable orifice, proportional valve. 4. The apparatus of claim 1, further comprising memory means for storing operational parameters for loading into the processor. 5. The apparatus of claim 1, wherein the volume-determining means determines the volume of gas by detecting a level of water in the buoyancy chamber. 6. The apparatus of claim 1, wherein the volume-determining means determines the volume of gas by measuring differential pressures between the top and bottom of the chamber. 7. The apparatus of claim 1, wherein the volume-determining means determines the volume of gas by directly measuring the volume of gas. 8. The apparatus of claim 1, wherein the instructions that can be input by the input means include maintain current depth, maintain current buoyancy, ascend at a particular rate, descend at a particular rate, achieve neutral buoyancy, and suspend operations. 9. The apparatus of claim 8, wherein the input means further functions to allow the user to modify or adjust the target values of depth, buoyancy, or ascent/descent rates when operating in one of the operation modes. 10. The apparatus of claim 1, further comprising means for attaching the chamber with an object, the depth and motion of which are to be controlled. 11. A depth, motion, and buoyancy device comprising:a buoyancy chamber, wherein the buoyancy chamber is an ambient pressure container;gas control means for adding gas to and removing gas from the container;water level means for detecting a level of water in the container and outputting a signal indicative of the water level;depth means for determining the depth of the container and outputting a signal indicative of the depth;processor means for receiving the signals output by the water level means and the depth means, calculating gas volume within the container, and ascent or descent rate based thereon, comparing the gas volume within the chamber, the depth, and the ascent or descent rate to acceptable values, based on the instruction received, and sending command signals to the gas control means based on the calculated gas volume, and ascent or descent rate for controlling the volume of gas withing the buoyancy chamber in order to control the buoyancy, depth, and motion of the buoyancy chamber and an object associated with the buoyancy chamber; andinput means in communication with the processor means for allowing a user to select an operation mode of the apparatus for controlling the buoyancy, depth, and motion of the object. 12. The apparatus of claim 11, wherein the operations modes that can be selected by the user with the input means include maintain current depth, maintain current buoyancy, ascend at a particular rate, descend at a particular rate, achieve neutral buoyancy, and suspend operations. 13. The apparatus of claim 12, wherein the input means further functions to allow the user to modify or adjust the target values of depth, buoyancy, or ascent/descent rates when operating in one of the operation modes. 14. A method of controlling the depth and motion of an object in water, using apparatus associated with the object including a buoyancy chamber that is an ambient pressure container, water level means for determining a level of water within the buoyancy chamber, gas control means for adding gas to and removing gas from the buoyancy chamber; a depth measuring sensor for determining the depth of the buoyancy chamber, a power source, a gas source, a processor, and an input device to send instructions to the processor, the processor being in communication with the water level means, the gas control means, the depth measuring sensor, the power source, and the input device, the method comprising the steps of:using the processor to initialize control of the gas control means in response to instructions received from the input device;at regular intervals using the processor to process readings from the water level and the depth measuring sensor to determine the volume of gas within the buoyancy chamber, and to determine depth and ascent or descent rate;using the processor to compare the volume of gas within the buoyancy chamber, the depth, and the ascent or descent rate to acceptable values based on the instruction received; andusing the processor to control the gas control means, based on corrections, to manipulate the volume of gas within the buoyancy chamber to control the rate of ascent, rate of descent, level of buoyancy, and depth of the buoyancy chamber and the object. 15. The method of claim 14, wherein in the step of making corrections, the corrections are determined by calculations involving algorithms, the readings from the means for determining the volume of gas within the chamber and the depth measuring sensor, recalculations several times each second, and the results of previous correction.