초록 ▼

An unmanned autonomous submarine which can float, dive and move in water to perform various tasks. The submarine includes a pressurized cabin which is necessary for the diving and flotation system to work properly. This also helps to increase its sealing power against water leakage into the cabin. T

An unmanned autonomous submarine which can float, dive and move in water to perform various tasks. The submarine includes a pressurized cabin which is necessary for the diving and flotation system to work properly. This also helps to increase its sealing power against water leakage into the cabin. The submarine is autonomous, that is automatic and self controlled. It is propelled by water jet propulsion. It can be programmed to dive to preset depths, move along preset trajectories, and return to the base after completing the assigned tasks. A remote control option is provided in order to perform special tasks. The submarine is equipped with several sensors that can measure depth, orientation, attitude, location and speed. It is also equipped with an underwater video camera that can send wireless video pictures from underwater to a monitor above water surface.

대표청구항 ▼

What is claimed is: 1. An unmanned autonomous submarine, comprising: a hull formed by at least two hull sections and defining an interior cabin therein, said cabin adapted to retain pressurized air; a plurality of fasteners affixed to said hull sections and adapted for joining said at least two hul

What is claimed is: 1. An unmanned autonomous submarine, comprising: a hull formed by at least two hull sections and defining an interior cabin therein, said cabin adapted to retain pressurized air; a plurality of fasteners affixed to said hull sections and adapted for joining said at least two hull sections, said plurality of fasteners being one of internally and externally affixed to opposing connecting ends of said hull sections; a plurality of hydrofoils attached to opposed external side surfaces of said hull sections for providing stability and maneuverability of said hull; a propulsion system for providing propelling force to said hull; and a ballast system for raising and submersing said hull, said ballast system comprising: a ballast tank adapted to receive a predetermined level of water externally from the submarine and a predetermined amount of the pressurized air from said cabin; and a compressor coupled to said ballast tank to form a closed loop system, said compressor adapted to force air into said cabin from said ballast tank to increase the water level in the tank and thereby cause said hull to submerge, and said compressor being adapted to force air into said ballast tank from said cabin to decrease the water level in the tank and thereby cause the submarine to ascend. 2. The submarine of claim 1, further comprising a sealable opening formed in the upper portion of one of said hull sections for providing access into said interior cabin. 3. The submarine of claim 1, wherein said plurality of fasteners include a plurality of clamps. 4. The submarine of claim 1, wherein said plurality of fasteners include a plurality of bolts positioned on one of said connecting ends of a hull section and threaded into a corresponding plurality of nuts affixed to an opposing connecting end of an adjacent hull section. 5. The submarine of claim 1, further comprising an o-ring inserted between each adjacent hull section. 6. The submarine of claim 1, further comprising a reinforcing ring inserted between each adjacent hull section. 7. The submarine of claim 1, wherein said ballast tank comprises a plurality of partitions to prevent water in the tank from destabilizing the submarine. 8. The submarine of claim 1, wherein said ballast tank comprises a sealable opening formed at its bottom for controlling flow of water in or out of the tank. 9. The submarine of claim 1, wherein said ballast system further includes at least one solenoid valve for controlling air flow between said cabin and said ballast tank. 10. The submarine of claim 1, wherein said propulsion system includes: a first water pump positioned in said cabin; a forward inlet port formed in a forward hull section of said hull sections and coupled to said pump via a first conduit; and an aft outlet port formed in an aft hull section of said hull sections and coupled to an output of said first pump via an aft conduit; wherein said first pump draws water external to said hull through said forward inlet port and first conduit, and forces said water through said aft outlet port to propel said submarine in a forward direction. 11. The submarine of claim 10, further comprising a second aft outlet port formed in the aft hull section and coupled to said first pump via a second aft conduit, wherein said aft conduits are regulated to control water flow therethrough to provide steering of said submarine. 12. The submarine of claim 10, wherein said first water pump draws water external of said hull through said aft outlet port and said aft conduit, and forces the water through said forward inlet port to propel said submarine in a reverse direction. 13. The submarine of claim 12, further comprising a second water pump serially coupled to said first water pump, said second water pump being deactivated while said first pump is activated to propel said submarine in the forward direction. 14. The submarine of claim 13, wherein said first pump is deactivated while said second pump is activated to draw water external to said hull through said aft outlet port and aft conduit, and force said water out of said forward inlet port to propel said submarine in a reverse direction. 15. The submarine of claim 10, further comprising a plate pivotably attached in a vertical direction in said aft outlet port, said vertically positioned plate being rotatable to direct the water jetted out of said aft outlet port at a predetermined angle to steer said submarine. 16. The submarine of claim 15, further comprising: a vertical rudder rotatable attached to said aft hull section; and a link coupled between said rudder and vertical plate, wherein rotation of said plate is controlled by rotation of said rudder. 17. The submarine of claim 1, wherein said propulsion system includes: a forward water pump positioned in said cabin; a forward inlet port formed in a forward hull section of said hull sections and coupled to said forward pump via a forward conduit; a pair of parallel water pumps positioned in said cabin, said parallel pumps coupled to said forward water pump via a Y-shaped conduit; and a pair of aft outlet ports formed in an aft hull section of said hull sections, each aft outlet port being coupled to a corresponding one of said parallel water pumps via a second conduit; wherein at least one of said parallel water pumps draws water external to said hull through said forward inlet port and forward conduit, and forces said water out of said corresponding aft outlet port to propel said submarine in a substantially forward direction. 18. The submarine of claim 17, wherein said forward water pump is deactivated when said pair of parallel water pumps is activated to propel said submarine in a substantially forward direction. 19. The submarine of claim 17, wherein said pair of parallel pumps is deactivated while said forward pump is activated to draw water external to said hull through said aft outlet ports and Y-shaped conduit, and force said water out of said forward inlet port to propel said submarine in a reverse direction. 20. The submarine of claim 17, wherein one of said parallel pumps is one of throttled back and deactivated while the other is activated to steer said submarine in a predetermined direction. 21. The submarine of claim 1, further comprising a vertical rudder rotatably attached to an aft hull section of said hull sections for steering said submarine. 22. The submarine of claim 1, wherein said plurality of hydrofoils comprises: a pair of aft hydrofoils rotatably attached to opposing side surfaces of an aft hull section of said hull sections, said rotatably attached hydrofoils enabling said submarine to submerge and ascend. 23. The submarine of claim 1, wherein said plurality of hydrofoils comprises a pair of forward hydrofoils fixedly attached to said opposing side surfaces proximate a forward hull section of said hull sections, said fixedly attached hydrofoils providing stability for said submarine. 24. The submarine of claim 1, wherein said plurality of hydrofoils comprises a pair of forward hydrofoils rotatably attached to said opposing side surfaces proximate a forward hull section of said hull sections, said rotatably attached hydrofoils enabling said submarine to submerge and ascend. 25. The submarine of claim 1 wherein said hull sections comprises a forward hull section, an aft hull section, and a middle hull section attached therebetween said forward and aft hull sections via said plurality of fasteners. 26. The submarine of claim 1, wherein said propulsion system includes: a pair of forward inlet ports formed in a forward hull section of said hull sections; a pair of parallel water pumps positioned in said cabin, each parallel pump coupled to a corresponding one of said pair of forward inlet ports via a forward conduit; and a pair of aft outlet ports formed in an aft hull section of said hull sections, each aft outlet port being coupled to a corresponding output of one of said parallel water pumps via an aft conduit; wherein at least one of said parallel water pumps draws water external of said hull through said corresponding forward inlet port and forward conduit, and forces said water out of said corresponding aft outlet port to propel and steer said submarine in a substantially forward direction. 27. The submarine of claim 26, wherein at least one of said parallel water pumps draws water external to said hull through said corresponding aft outlet port and aft conduit, and forces said water out of said corresponding forward inlet port to propel and steer said submarine in a substantially reverse direction. 28. The submarine of claim 1, further comprising a programmable controller for controlling operations of said submarine. 29. The submarine of claim 1, further comprising one or more sensors for providing electrical signals to said controller for further controlling said submarine operations. 30. The submarine of claim 29, wherein said one or more sensors is selected from the group of sensors comprising depth sensors, GPS system sensors, pressure sensors, position and orientation sensors, speed sensors, leakage sensors, audio sensors and video sensors. 31. The submarine of claim 29, further comprising at least one robotic arm mounted to said hull and electrically coupled to said controller. 32. The submarine of claim 1, further comprising at least one battery for providing power to said submarine. 33. The submarine of claim 32, wherein said at least one battery is rechargeable. 34. The submarine of claim 33, further comprising an array of photovoltaic cells mounted to the exterior surface of said hull. 35. The submarine of claim 34, wherein said array of photovoltaic cells provide charge to said rechargeable batteries. 36. The submarine of claim 34, wherein said array of photovoltaic cells provide power to said submarine. 37. The submarine of claim 28, further comprising a receiver for receiving remote command signals to control operations of said submarine. 38. The submarine of claim 28, further comprising a transmitter for sending operational information to a remotely located receiver. 39. An unmanned autonomous submarine, comprising: a hull formed by at least two hull sections and defining an interior cabin therein, said cabin adapted to retain pressurized air; a plurality of fasteners affixed to said hull sections and adapted for joining said at least two hull sections, said plurality of fasteners being one of internally and externally affixed to opposing connecting ends of said hull sections; a plurality of hydrofoils attached to opposed external side surfaces of said hull sections for providing stability and maneuverability of said hull; a propulsion system for providing propelling force to said hull, said propulsion system comprises; a first water pump positioned in said cabin; a forward inlet port formed in a forward hull section of said hull sections and coupled to said pump via a first conduit; an aft outlet port formed in an aft hull section of said hull sections and coupled to an output of said first pump via an aft conduit; wherein said first pump draws water external to said hull through said forward inlet port and first conduit, and forces said water through said aft outlet port to propel said submarine in a forward direction; a ballast system for raising and submersing said hull, said ballast system comprising: a ballast tank adapted to receive a predetermined level of water externally from the submarine and a predetermined amount of the pressurized air from said cabin; a compressor coupled to said ballast tank to form a closed loop system, said compressor adapted to force air into said cabin from said ballast tank to increase the water level in the tank and thereby cause said hull to submerge, and said compressor being adapted to force air into said ballast tank from said cabin to decrease the water level in the tank and thereby cause the submarine to ascend; a programmable controller for controlling operations of said submarine; and one or more sensors for providing electrical signals to said controller for further controlling said submarine operations.