TR201920535A1

TR201920535A1 - DIAPHRAGM DRIVEN UNMANNED UNDERWATER VEHICLE

Info

Publication number: TR201920535A1
Application number: TR2019/20535
Authority: TR
Inventors: Ad Ozdemi̇r Kur
Original assignee: Eli̇f Erdoğdu Özdemi̇r; Kürşad Özdemi̇r
Filing date: 2019-12-17
Publication date: 2023-03-21

Abstract

Buluş; -küresel forma sahip, -su altında otonom kontrolde hareket edebilen, -elektrik enerjisi ile tahrik edilen, -itki sisteminde elektrik akımı ile biçim değiştiren esnek diyaframların hareketini kullanan, -gövdesi 3 boyutlu baskı yöntemi ile imal edilebilen, -farklı görev yükleri ile donatılabilir bir insansız su altı aracıdır.Meet; -Has a spherical form, -Can move under water under autonomous control, -Driven by electrical energy, -Uses the movement of flexible diaphragms that change shape with electric current in the propulsion system, -The body can be manufactured by 3D printing method, -It can be equipped with different mission loads It is an unmanned underwater vehicle.

Description

TARIFNAME DIYAFRAM TAH RIKLI INSANSIZ su ALTI ARACI Teknik Alan: Bulusun ilgili oldugu teknik saha askeri ve sivil sualti operasyonlarinda kullanilmakta olan uzaktan ve otonom kumandali insansiz araçlari içerir. Bu teknik alan araçlarin görev kabiliyetlerine göre hareket-itki, enerji, gövde formu-strüktür, görev yükü entegrasyonu basliklarinin arastirilmasi ve gelistirilmesini içerir. Teknigin Bilinen Durumu: Tarif edilen teknik sahaya ait sualti araçlari konvansiyonel olarak hidrodinamik özellikli gövde formuna sahip, pervane ile tahrik edilen araçlardir. Su altinda seyir ve türlü manevralar yapmasi beklenen su alti araçlari, ilk örneklerden itibaren pervane ile yol alacak sekilde tasarlanmislardir. Ilk denizalti araci küresel forma yakin bir gövde içerse de tasarimlar zamanla kiçtan tahrikli tipi tekne formuna yaklasmis ve günümüzde de bu formun hidrodinamik özellikleri gelismis bir türüne dönüsmüstür. Ilk denizalti araçlarinda kullanilan tahrik sistemi insan gücüne dayanirken zamanla yerini dizel, elektrik ve nükleer güce birakmistir. Kumanda- kontrol-itki sistemlerinin gelismesi ile kullanimi artan insansiz su alti araçlari ise günümüzde farkli itki düzenekleri ve genel biçimler içermektedir. Bu araçlar ya serbest-bagimsiz bir biçimde otonom olarak ya da kumanda-kontrol haberlesmesi ve enerji aktarimi için kablo baglariyla bir baska görev platformuna bagli olarak hareket ederler. Optik yolla haberlesme teknigi henüz deneme ve gelisim asamasindadir. Operasyonel isterlere göre itki ünitelerinin gövde ile kurdugu iliski (ör: gövdeye entegre edilmis su jeti ya da harici pervane ünitesi) genel biçimi belirlemektedir. Bu araçlarda hareket büyük oranda pervaneli üniteler (kanalli / açik) ya da dahili pompali su jetlerinin sagladigi itki ile mümkün olmaktadir. Yapilan ön arastirma ile asagida belirtilen örnekler nezdinde bulusun getirdigi yeni teknik çözümler özellikle itki sistemleri ve biçimsel konfigürasyonlar göz önüne alinarak ortaya konmustur. - Ana konfigürasyonu denizalti torpidosu düzeninde, lineer biçimde olmasi ve itki ünitesinin aracin kiç tarafinda konumlandirilmis bir ana pervaneden olusmasi açisindan bulustan temel olarak farklidir. ÇIN Patent No: CN110091974A Temel konfigürasyonu iç içe yerlestirilmis 3 halkadan olusan su alti araci en içte yer alan halkada bulunan pervane ile tahrik edilmektedir. Hareket sistemi ve temel biçimlenis olarak bulustan açik olarak farklidir. ÇIN Patent No: CN110012207A Patent numarasi verilmis Insansiz su alti araci hem orta suda hem de deniz tabaninda hareket etmek üzere tasarlanmistir. Araç alisilmis düzenin disinda farkli vektörlerde sa bitlenmis kanalli pervane takimi ve ek olarak deniz tabaninda yol almak için paletli hareket sistemi içermektedir. Batarya ve görev yükünü barindiran ana gövde açik bir çerçeve olarak gösterilmistir. Bu tasarim özellikle hareket sistemi bakimindan bulustan radikal olarak farklidir. Çin Patent No: CN110116793A Patent numarasi verilmis insansiz su alti araci hem orta suda hem de deniz tabaninda hareket etmek üzere tasarlanmistir. Su altinda yüzme hareketi için farkli vektörlerde sabitlenmis kanalli pervane takimi, deniz tabaninda hareket için her biri iki eklemli alti bacaktan olusan bir yürüme sistemi gösterilmistir. Aracin hareket, enerji ve diger sistemlerini içeren gövdesi açik bir çerçeve seklinde tasarlanmistir. Bahse konu araç tasarimi hareket sistemi ve gövde düzeni açisindan bulustan temel olarak farklidir. Çin Patent No: CN110076749A Hareket sistemi denizanasi rol modeli incelenerek kurulmus bu su alti araci hareket yildiz-isinsal düzende yerlestirilmis her biri 3 er eklemli 5 adet hareketli kol barindirir. Her kol silikon ve manyetik özellikli toz karisimindan olusan yumusak dokular içerir. Araç bu yumusak dokularin dis manyetik etki ile uyarilmasi ve kollara hareket vermesi ile yer degistirir ve belirli manevralari yapar. Kollarin açilip kapanmasi su altinda araca tahrik sagladigi gibi kavrama ve tutma hareketlerini de gerçeklestirmesini saglar. Aracin enerji ve bilgi islem sistemi merkezdeki kafa bileseninde yer alir. Bu araç tasarimi hareket düzeni ve konfigürasyonu açisindan bulustan farklidir. Kore Patent No: KR101283417BI Hareket sistemi bir su alti kabuklu canlisindan esinlenerek ortaya çikarilmis tasarim hem su altinda yüzme hem de deniz tabaninda yürüme hareketlerini icra edebilecek 6 adet 4 ila 6 eklemli bacak içerir. Derin deniz dibi operasyonlarinda kullanilmaya uygun olan tasarim hidrodinamik özellikli ve kapali bir gövde yapisina sahiptir. Gösterilen sistem deniz yüzeyi platformu (surface unit), ara (depressor) ünite ve su alti araci (crapster) olmak üzere 3 ana bilesenden olusur. Bahsedilen araç tasarimi hareketli bacaklara dayali hareket sistemi ve temel bilesenleri açisindan bulustan radikal olarak farklidir. ABD Patent No: U55995882A Patent numarasi verilmis araç lineer denizalti gemisi düzeninde, bas ve kiç tarafta stabilizasyon için kanatlara sahip, anten barindiran bir kule yapisi içeren ve kiç taraftaki tek pervane ile hareketi saglanan bir tasarimdir. Genel lineer düzeni, pervaneli tahriki ve kanatlar ile idare edilen manevra sistemi ile bulustan temel olarak farklidir. Çin Patent No: CN108725721 Küresel su alti aracinin hareket sistemi 8 adet isinsal düzende sabitlenmis pervaneli itki ünitesinden olusmaktadir. Pervaneli itki sistemine sahip olmasi nedeniyle bulustan farklidir. Çin Patent No: CN108791769 Patent numarasi verilmis su alti araci küresel bir gövdeye sahiptir. Hareket sistemini disli bir dis kasnaga bagli iki adet es-eksenli ve iki zit yöne bakan pervane ünitesi olusturur. Disli tekerlekler yardimiyla dis kasnagin konumu ve dolayisiyla pervane itki vektörleri degistirilerek yatay düzlemde farkli yönlerde hareket saglanir. Araç tasarimi küresel bir gövde barindirsa da gövdeden ayrik-hareketli itki düzeni ve pervaneli üniteler barindirmasi açisindan bulustan farklidir. ABD Patent No: USÜ9650118 - Patent numarasi verilmis su alti araci madencilik arastirmasi için tasarlanmis olup, aracin konfigürasyonu derin deniz (6000m olarak belirtilmistir) sartlari düsünülerek ortaya çikarilmistir. Aracin hareketi pervaneli ve pompali su jetleri ile saglanmaktadir. Hareket sisteminin gövdeye entegrasyonu bakimindan bulusla benzerlik gösterse de hareket kaynagi ve genel düzen açisindan bulus ile farklidir. ABD Patent No: US4455962A - Patent numarasi verilmis küresel su alti araci tek bir pompa pervanesi (ing: impeller) ile tahrik edilmektedir. Araç temel yön degistirme manevralarini ise gövdeye entegre edilmis pompali su jetlerinin sagladigi itki ile gerçeklestirir. Araç pervaneli hareket sistemi barindirmasi nedeniyle bulustan farklidir. Bilimsel Makale: Development of a Spherical Underwater Robot Equipped with Multiple Vectored Water-Jet-Based Thrusters, 9651-3 0 Belge numarasi verilmis bilimsel makaleye konu olan küresel su alti araci, su jeti olarak tanimlanan itki vektörü degistirilebilir ve kanal içine yerlestirilmis pervaneli bir düzenek ile hareket ettirilmektedir. Araç tasarimi itki sisteminde kullandigi kanalli pervane-su jeti üniteleri ve bu ünitelerin vektörlerinin degistirilebilir olmasi itibariyla bulustan farklidir. Bilimsel Makale: The Eyeball ROV: Design and Control of a Spherical Underwater Vehicle Steered by an Internal Eccentric Mass - Belge numarasi verilmis bilimsel makaleye konu olan küresel su alti araci, degisken pozisyonlu bir iç agirlik ile oryantasyonunu hassas olarak ayarlayabilen bir gözlem araci hüviyetindedir. Hareketli iç agirlik sistemi ve pervaneli olmasi öngörülen sujeti itki sistemi ile, bu araç bulustan net bir sekilde farklilik gösterir. Bilimsel Makale: A ball-shaped underwater robot for direct inspection of nuclear reactors and other water-filled infrastructure Anirban Mazumdar, Aaron Fittery, Wyatt Ubellacker, H. Harry Asada IEEE (2013) DCI: Belge numarasi verilmis bilimsel makaleye konu olan küresel su alti robotu MIT kurumunda su dolu yapilarin (ör: nükleer reaktör sogutma kanallari) içinde görüntüleme yapmak üzere gelistirilmektedir. Küresel aracin itki sistemi impeller barindiran çift yönlü bir pompa ve kontrol edilebilen valflerden meydana gelmektedir. Itki sistemi itibariyla araç tasarimi bulustan farklidir. Çözümü Amaçlanan Teknik Problemler: Bulusun çözümünü amaçladigi teknik problemler ve çözülme biçimi asagidaki gibidir: 1-Teknik saha arastirmasinda karsilasilan insansiz su alti araçlari farkli bilesenlerden olusan, tek bir ölçekte ve sadece belirli boyutlarda tasarlanmis araçlardir. Bahsedilen araçlarin üretimi /montaji birbirinden farkli adimlari ve teknikleri içerir. Farkli imalat noktalari, malzemeler, teknikler, birlesim detaylari üretim sürecini karmasiklastirir. Bahsedilen araçlar sadece belirli bir görev profiline uygundur. Farkli görev tiplerine uyarlanabilmeleri ya olanaksiz ya da aracin bütünlügünü bozacak eklentilerle mümkündür. Tüm alt bilesenlerinin entegre oldugu küresel forma sahip bulus, küresel temel formu ve fiziksel düzeni sayesinde belirtilen güçlüklere karsi su avantajlari saglar: Bulusun gövde yapisi tamamiyla 3 boyutlu baski teknolojisi ile üretilir. Bu teknoloji çok sayida aracin kisa sürede ve düsük maliyet ile hazir hale getirilmesine imkan Bulus farkli ölçeklerde üretilebilir ve dahili sistemlerin degistirilmesi ile farkli görev isterlerine kolayca uygun hale getirilebilir. 2-Insansiz su alti araçlarinda konvansiyonel yaklasim itki sistemi ve görev yükü modüllerini araç sistemine disaridan takma k-eklemek seklindedir. Distan takma üniteler nedeniyle genel form karmasik hale gelir, hidrodinamik özellik olumsuz yönde etkilenir. Aracin dengesi olumsuz yönde etkilenir. Araç su altinda karmasik formu nedeniyle bir engele (bitki, ag ya da benzer bir atik madde) takilabilir. Aracin görev noktasina konuslandirilmasi, sudan çikarilmasi, depolanmasi güçlesir. Bulusun küresel gövde formu her hareket yönünde hidrodinamik açidan olumlu degerlere sahiptir. Tüm alt sistemler ve görev yükü aracin içinde ve agirlik merkezinde konumlandirilmaktadir. Denge sürekli korunur. Bulus itki sistemini gövde kabuguna entegre ederek tüm iç hacmini araç alt sistemleri ve görev yüküne ayirmis durumdadir. Bulus küresel form sayesinde depolama ve konuslandirma (deployment) ve sudan çikarilmasi basittir. 3- Teknik saha arastirmasinda karsilasilan su alti araci örneklerinde hassas manevra kabiliyetine sahip olmak için (pervaneli ya da su jetli) itki ünitesi sayisi artirilmaktadir. Itki ünitesi sayisi artinca aracin kütlesi artar, menzili düser, görev süresi kisalir. Bulusun itki üniteleri sadece elektro-aktifdiyafram (12), itki kanali (14) ve pozisyon yayi (24) barindirir, sistem aracin kütlesini artirmadan hassas manevra kabiliyeti, uzun menzil ve uzun görev süresi saglar. 4- Teknik saha arastirmasinda karsilasilan su alti araci örneklerinde kullanilan malzemeler ve düzenekler nedeniyle araçlarin olasi manyetik ve ses ayak izleri büyüktür. - Söz konusu araçlar fark edilmeden görev yapamazlar. - Bulusun ana gövdesi ve itki diyaframlari plastik malzemeden olusur. Içinde herhangi bir mekanik düzenek barindirmaz. Bu sayede manyetik ve ses ayak izi düsüktür. Resimlerin Açiklanmasi: Bulusa konu olan "Diyafram Tahrikli Insansiz Sualti Araci" listede belirtilen sekillerde gösterilmistir: Sekil 1 Su alti aracinin bütünsel görünüs çizimidir. Bu sekilde aracin küresel gövde yüzeyinde yer alan alt bilesenler ve yerlesim düzeni görünmektedir. Sekil 2 Su alti aracinin kesit çizimidir. Bu sekilde aracin itki hücreleri, aracin iç yapisi ve sistem bilesenleri görünmektedir. Sekil 3 Su alti aracinin itki hücrelerinin detay-kesit çizimleridir. Bu çizimlerde Itki hücrelerinin bilesenleri ve itki safhalarinda aldiklari pozisyonlar görünmektedir. Resimlerdeki Referanslarin Açiklanmasi: Sekillerde listede belirtilen bilesenler yer almaktadir: -Kati plastik gövde kabugu 11-Jeodezik pozisyonlandirma hatlari (zahiri) 12-Esnek itki diyaframi 14-Itki kanali yan duvari 16-Algilayici ünite 18-F0t0v0ltaik panel modülü -Çekirdek modülü (görev islemci ve batarya ünitesini içerir) 24-Itki ünitesi pozisyon yayi bileseni 122-E5nek itki diyaframi dis yüzey tabakasi 124-Esnek itki diyaframi iç elektroaktif tabakasi Bulusun Açiklanmasi: Bulus, su altinda çesitli görevleri yapabilecek, hassas manevra yetenegine sahip bir insansiz su alti aracidir. Temel özellikleri söyledir: - Bulus küresel temel biçime sahiptir (Sekil 1). Hareket ve algilama üniteleri küresel kabuga entegre edilmistir. Küresel gövdenin iç boslugu kumanda, seyir ve enerji sistemleri ile görev yükü için kullanilir (Sekil 2). o Bulusun itki sistemi aracin küresel kabugunajeodezik düzende (11), farkli itki vektörleri üretecek biçimde dagitilmis 32 adet itki hücresinden olusur. 0 Her itki hücresi sunlari içerir: 0 Itki kanali (14) o Itki diyaframi (12) o Pozisyon Yayi (24) o Itkinin üretilmesi (Sekil 3) esnek diyaframlarin suyu itki kanalina emmesi ve disariya basmasi prensibi üzerine kurulmustur. - Itki sistemi, gerekli elektrik enerjisini dahili bataryadan temin eder. - Bulus farkli boyutlarda üretilebilir, farkli görev tipleri için uyarlanabilir. o Bulusun tüm gövdesi 3 boyutlu baski sistemi ile üretilebilir. Bulus temelde küresel forma sahiptir. Jeodezik düzende yerlestirilmis 32 adet itki hücresi içerir. Algilama, fotovoltaik ünitelerinin ve farkli görev arayüzlerinin (16) yine ayni düzende yer aldigi gövde konvansiyonel su üstü ve su alti araçlarinda oldugu gibi önceden belirlenmis bir oryantasyona (alt-üst, bas-kiç, iskele-sancak gibi) sahip degildir. Itki ünitelerinin yardimi ile her yöne hassas olarak kontrol edilebilen hareketi gerçeklestirebilir. Küresel gövde ortam akiskani içindeki hareket için elverisli bir form arz eder. Gövdeyi olusturan kati kabuk ve esnek diyaframlar farkli plastik malzemelerden olusur. Kati kabuk 3 boyutlu yazici ile basilacak bir tür termo-plastik olan ABS (Akrilonitril bütadien stiren) malzemesinden mamuldür, esnek diyaframlar ise farkli plastik tabakalarin lamine edilmesi ile imal edilir. Bu esnek diyaframlarda termoplastik poliüretan (TPU) malzemesi kullanilabilir. Bulusun ayirt edici özelligi olan diyaframli hareket sisteminin tasariminda yumusak deniz canlilari örnek alinmistir. Sistemin itki hücreleri itki kanali, diyafram ve plastik yay bilesenlerinden olusur. Her itki hücresinde ortam akiskani esnek dokular yardimiyla bir bosluga emilip disariya basilir, farkli vektörlerde itki üretilir. Esnek diyaframlar elastik özelligi uygun plastik malzemelerin lamine edilmesi ile elde edilir (12). Diyaframa hareket saglayan katman ise karbon tozu uygulanarak elektro-aktif polimer haline getirilen bir diger elastik özellikli polimer katmandir. Elektro-aktif polimer katman elektrik akimi geçirildiginde esneme- toplanma seklinde biçim degistirir. Bu sayede lamine edilmis esnek diyaframlarin elektrik enerjisi ile iç bükey olmalari ve akim kesildiginde ise plastik yay yardimiyla disbükey hale dönmeleri saglanir. Elastik polimerlerin Hook yasasina göre plastik özellikli malzemelere göre gerilim ve gerinim davranisi Tablo 1'de gösterilmistir. i pul! 1 .u h-iiiiiii I hiril. Iii «ni imiiiiviil nililirtl / iuiiiiin tiiIiI-iii Tablo 1. Polimer malzemelerin gerilim ve gerinim davranis grafigi (Isaretlenen egri, esnek diyaframlar için seçilen termoplastik elastomer malzemeyi isaret eder) Bulus olarak arz edilen insansiz su alti araci temel hareketleri su sekilde gerçeklestirir: - Hareket 1: tahrikli seyir Esnek diyaframlarin suyu itki kanalina emip, disari basmasi ile araç gidis yönünde olusacak bilesik itki vektörü ile hareket saglanir Araç temel derinlik manevralarini diyaframlarin pozisyonlarini sabitlemesi ile yapar. Araç tüm diyaframlarini iç bükey hale getirdiginde iç hacim azalir, yogunluk artarve araç dalis hareketine baslar. Araç tüm diyaframlarini dis bükey hale getirdiginde iç hacim artar, yogunluk düser ve Endüstriyel üretim biçimi Bulus Için önerilen üretim biçimi büyük oranda yeni gelismekte olan 3 boyutlu baski teknolojisini içerir. Kati kabuk tamamiyla ve itki kanallarini içerecek sekilde 3 boyutlu olarak ABS ya da benzeri katilasan bir polimerden imal edilebilir. Içinde elektro-aktif polimer tabaka bulunduran esnek diyaframlarin ise iki ayri polimer katmanin lamine edilmesi (122-124) ve nihayetinde kati kabuktaki hücrelere uygulanmasi öngörülmektedir. Bu sayede tüm dis gövdenin plastikten olusmasi ile hizli, ekonomik ve kolay imalatin mümkün olacagi düsünülmektedir. TR TR TR TR DESCRIPTION DIAPHRAGM DRIVEN UNMANNED UNDERWATER VEHICLE Technical Field: The technical field to which the invention relates includes remote and autonomous controlled unmanned vehicles used in military and civilian underwater operations. This technical field includes research and development of the topics of motion-thrust, energy, body form-structure, and mission load integration according to the mission capabilities of the vehicles. Known State of the Technology: Underwater vehicles belonging to the described technical field are conventionally propeller-driven vehicles with a hydrodynamic hull form. Underwater vehicles, which are expected to navigate underwater and perform various maneuvers, have been designed to move with propellers since the first examples. Although the first submarine had a hull close to a spherical form, over time the designs approached the stern-drive type boat form and today it has turned into a type of this form with improved hydrodynamic properties. While the propulsion system used in the first submarines relied on human power, it was replaced by diesel, electric and nuclear power over time. Unmanned underwater vehicles, whose use has increased with the development of command-control-propulsion systems, today include different propulsion mechanisms and general shapes. These vehicles move either autonomously or connected to another mission platform with cable ties for command-control communication and energy transfer. Optical communication technique is still in the testing and development phase. According to operational requirements, the relationship of the propulsion units with the hull (e.g. water jet or external propeller unit integrated into the hull) determines the general shape. In these vehicles, movement is largely possible with the thrust provided by propeller units (ducted / open) or water jets with internal pumps. With the preliminary research, the new technical solutions brought by the invention have been put forward, especially considering the propulsion systems and formal configurations, in the examples given below. - It is fundamentally different from the invention in that its main configuration is in a submarine torpedo layout, in linear form, and the propulsion unit consists of a main propeller positioned at the stern of the vehicle. CHINA Patent No: CN110091974A The underwater vehicle, whose basic configuration consists of 3 rings placed inside each other, is driven by the propeller in the innermost ring. It is clearly different from the invention in terms of movement system and basic configuration. CHINA Patent No: CN110012207A Patent number granted Unmanned underwater vehicle is designed to move both in mid-water and on the seabed. Apart from the usual layout, the vehicle includes a ducted propeller set fixed in different vectors and additionally a tracked motion system to move on the seabed. The main body, which houses the battery and payload, is shown as an open frame. This design is radically different from the invention, especially in terms of the movement system. Chinese Patent No: CN110116793A The unmanned underwater vehicle, which has been granted patent number, is designed to move both in mid-water and on the seabed. A ducted propeller set fixed in different vectors for underwater swimming movement and a walking system consisting of six legs, each with two joints, for movement on the seabed are shown. The body of the vehicle, which includes motion, energy and other systems, is designed as an open frame. The vehicle design in question is fundamentally different from the invention in terms of movement system and body layout. Chinese Patent No: CN110076749A The motion system of this underwater vehicle, which was established by examining the jellyfish role model, contains 5 moving arms, each with 3 joints, placed in a star-segmental arrangement. Each arm contains soft tissues made of a mixture of silicone and magnetic powder. The vehicle changes location and performs certain maneuvers by stimulating these soft tissues with an external magnetic effect and moving the arms. Opening and closing the arms not only drives the vehicle under water, but also enables it to perform grasping and holding movements. The vehicle's energy and information processing system is located in the central head component. This vehicle design differs from the invention in terms of movement pattern and configuration. Korean Patent No: KR101283417BI The design, whose locomotion system was inspired by an underwater crustacean, contains 6 legs with 4 to 6 joints that can perform both underwater swimming and walking movements on the seabed. The design, which is suitable for use in deep sea bottom operations, has a hydrodynamic feature and a closed hull structure. The system shown consists of 3 main components: surface unit, intermediate (depressor) unit and underwater vehicle (crapster). Said vehicle design is radically different from the invention in terms of its movement system based on moving legs and its basic components. US Patent Number: U55995882A The vehicle, which has the patent number U55995882A, is a linear submarine ship layout, with wings for stabilization at the bow and aft, a tower structure containing an antenna, and a design that is driven by a single propeller at the stern. It is fundamentally different from the invention with its general linear layout, propeller drive and wing-controlled maneuvering system. Chinese Patent No: CN108725721 The motion system of the spherical underwater vehicle consists of 8 propeller propulsion units fixed in a radial arrangement. It is different from the invention because it has a propeller propulsion system. China Patent No: CN108791769 The underwater vehicle with patent number has a spherical body. The movement system consists of two co-axial and opposite-direction propeller units connected to a toothed outer pulley. With the help of toothed wheels, movement in different directions in the horizontal plane is achieved by changing the position of the outer pulley and therefore the propeller thrust vectors. Although the vehicle design includes a spherical body, it is different from the invention in terms of having separate-moving propulsion system and propeller units from the body. US Patent No: USÜ9650118 - The underwater vehicle with patent number was designed for mining exploration, and the configuration of the vehicle was created by considering the conditions of the deep sea (specified as 6000m). The movement of the vehicle is provided by water jets with propellers and pumps. Although it is similar to the invention in terms of the integration of the movement system into the body, it is different from the invention in terms of movement source and general layout. US Patent No: US4455962A - The spherical underwater vehicle with the patent number is driven by a single pump impeller. The vehicle performs basic direction changing maneuvers with the thrust provided by pumped water jets integrated into the body. The vehicle is different from the invention because it has a propeller motion system. Scientific Article: Development of a Spherical Underwater Robot Equipped with Multiple Vectored Water-Jet-Based Thrusters, 9651-3 0 The spherical underwater vehicle, which is the subject of the scientific article with the document number, is a mechanism with a changeable thrust vector, defined as a water jet, and a propeller placed in the channel. It is moved with . The vehicle design differs from the invention in that the ducted propeller-water jet units used in the propulsion system and the vectors of these units can be changed. Scientific Article: The Eyeball ROV: Design and Control of a Spherical Underwater Vehicle Steered by an Internal Eccentric Mass - The spherical underwater vehicle, which is the subject of the scientific article with the document number, is an observation vehicle that can precisely adjust its orientation with a variable internal weight. This vehicle differs clearly from the invention with its movable internal weight system and waterjet propulsion system, which is expected to be propeller-driven. Scientific Article: A ball-shaped underwater robot for direct inspection of nuclear reactors and other water-filled infrastructure Anirban Mazumdar, Aaron Fittery, Wyatt Ubellacker, H. Harry Asada IEEE (2013) DCI: Global underwater, which is the subject of a scientific article with a document number The robot is being developed at MIT to perform imaging inside water-filled structures (e.g. nuclear reactor cooling channels). The propulsion system of the spherical vehicle consists of a bi-directional pump containing impellers and controllable valves. The vehicle design differs from the invention in terms of its propulsion system. Technical Problems Intended to Solve: The technical problems that the invention aims to solve and the way they are solved are as follows: 1-Unmanned underwater vehicles encountered in technical field research are vehicles consisting of different components, designed on a single scale and only in certain dimensions. The production/assembly of the mentioned vehicles involves different steps and techniques. Different manufacturing points, materials, techniques, and combination details complicate the production process. The tools mentioned are only suitable for a specific mission profile. Adapting them to different task types is either impossible or possible with add-ons that would disrupt the integrity of the vehicle. The invention, which has a spherical form in which all its sub-components are integrated, provides the following advantages against the mentioned difficulties, thanks to its spherical basic form and physical layout: The body structure of the invention is produced entirely with 3D printing technology. This technology allows a large number of vehicles to be prepared in a short time and at low cost. The invention can be produced at different scales and can be easily adapted to different task requirements by changing the internal systems. 2-The conventional approach in unmanned underwater vehicles is to add the propulsion system and payload modules externally to the vehicle system. Due to outboard attachment units, the general form becomes complex and hydrodynamic properties are negatively affected. The balance of the vehicle is negatively affected. Underwater, the vehicle may get stuck on an obstacle (plant, net or similar debris) due to its complex shape. Deploying the vehicle to the duty point, removing it from the water and storing it becomes difficult. The spherical body form of the invention has positive hydrodynamic values in every direction of movement. All subsystems and payload are located inside the vehicle and at the center of gravity. Balance is constantly maintained. The invention integrates the propulsion system into the body shell and allocates the entire interior volume to vehicle subsystems and mission load. Thanks to the spherical form of the invention, storage and deployment and removal from water are simple. 3- In the underwater vehicle examples encountered in technical field research, the number of propulsion units (propeller or water jet) is increased in order to have precise maneuverability. As the number of thrust units increases, the mass of the vehicle increases, the range decreases, and the mission duration decreases. The propulsion units of the invention contain only the electro-active diaphragm (12), thrust channel (14) and position spring (24), the system provides precise maneuverability, long range and long mission duration without increasing the mass of the vehicle. 4- Due to the materials and mechanisms used in the underwater vehicle samples encountered in technical field research, the possible magnetic and sound footprints of the vehicles are large. - The vehicles in question cannot operate without being noticed. - The main body and thrust diaphragms of the invention consist of plastic material. It does not contain any mechanical mechanism inside. In this way, the magnetic and sound footprint is low. Description of the Pictures: The "Diaphragm Driven Unmanned Underwater Vehicle", which is the subject of the invention, is shown in the figures specified in the list: Figure 1 is the holistic view drawing of the underwater vehicle. In this way, the sub-components and layout on the spherical body surface of the vehicle are visible. Figure 2 is a cross-sectional drawing of the underwater vehicle. In this way, the vehicle's impulse cells, the vehicle's internal structure and system components are visible. Figure 3 is the detail-sectional drawings of the thrust cells of the underwater vehicle. These drawings show the components of the impulse cells and the positions they take during the impulse phases. Explanation of References in the Pictures: The figures include the components listed in the list: -Solid plastic body shell 11-Geodetic positioning lines (apparent) 12-Flexible thrust diaphragm 14-Impulse channel side wall 16-Sensor unit 18-F0t0v0ltaic panel module -Core module (task processor and battery unit) 24-Propulsion unit position spring component 122-Flexible thrust diaphragm outer surface layer 124-Flexible thrust diaphragm inner electroactive layer Description of the Invention: The invention is an unmanned underwater vehicle with precise maneuvering ability that can perform various tasks under water. Its basic features are as follows: - The invention has a spherical basic shape (Figure 1). Motion and detection units are integrated into the spherical shell. The internal space of the spherical body is used for control, navigation and energy systems and the payload (Figure 2). o The thrust system of the invention consists of 32 thrust cells distributed in a geodesic arrangement (11) on the spherical shell of the vehicle to produce different thrust vectors. 0 Each thrust cell includes: 0 Thrust channel (14) o Thrust diaphragm (12) o Position Spring (24) o Generation of thrust (Figure 3) is based on the principle of flexible diaphragms absorbing water into the thrust channel and pushing it out. - The propulsion system provides the necessary electrical energy from the internal battery. - The invention can be produced in different sizes and adapted for different types of tasks. o The entire body of the invention can be produced with a 3D printing system. The invention basically has a spherical form. It contains 32 impulse cells placed in a geodesic pattern. The hull, where the detection, photovoltaic units and different task interfaces (16) are located in the same order, does not have a predetermined orientation (such as top-bottom, fore-aft, port-starboard) as in conventional surface and underwater vehicles. It can perform precisely controlled movement in all directions with the help of thrust units. The spherical body presents a form suitable for movement in the ambient fluid. The solid shell and flexible diaphragms that make up the body consist of different plastic materials. The solid shell is made of ABS (Acrylonitrile butadiene styrene) material, which is a type of thermo-plastic that can be printed with a 3D printer, while flexible diaphragms are manufactured by laminating different plastic layers. Thermoplastic polyurethane (TPU) material can be used in these flexible diaphragms. Soft marine creatures were taken as examples in the design of the diaphragm movement system, which is the distinguishing feature of the invention. The thrust cells of the system consist of thrust channel, diaphragm and plastic spring components. In each impulse cell, the ambient fluid is sucked into a space and pressed out with the help of flexible tissues, producing impulse in different vectors. Flexible diaphragms are obtained by laminating plastic materials with suitable elastic properties (12). The layer that provides movement to the diaphragm is another elastic polymer layer that is turned into an electro-active polymer by applying carbon powder. The electro-active polymer layer changes shape by stretching and gathering when electric current is passed through it. In this way, the laminated flexible diaphragms become concave with electrical energy and become convex with the help of a plastic spring when the current is cut off. The stress and strain behavior of elastic polymers compared to plastic materials according to Hook's law is shown in Table 1. I stamp! 1 .u h-iiiiiii I hiril. Iii «ni imiiiiviil nililirtl / iuiiiiin tiiIiI-iii Table 1. Stress and strain behavior graph of polymer materials (The marked curve indicates the thermoplastic elastomer material selected for flexible diaphragms) The unmanned underwater vehicle presented as an invention performs the basic movements as follows: - Movement 1: powered travel. Motion is achieved with the combined thrust vector that will be formed in the direction of the vehicle's travel as the flexible diaphragms absorb the water into the thrust channel and push it out. The vehicle performs basic depth maneuvers by fixing the positions of the diaphragms. When the vehicle makes all its diaphragms concave, the internal volume decreases, the density increases and the vehicle begins to dive. When the vehicle makes all its diaphragms convex, the internal volume increases, the density decreases, and the production method proposed for the Industrial Production Invention largely includes the newly developing 3D printing technology. The solid shell can be manufactured entirely and in 3D, including the thrust channels, from ABS or a similar solidifying polymer. Flexible diaphragms containing an electro-active polymer layer are envisaged to be laminated with two separate polymer layers (122-124) and eventually applied to the cells in the solid shell. In this way, it is thought that fast, economical and easy manufacturing will be possible by making the entire outer body made of plastic.TR TR TR TR

Claims

1- The invention is related to an unmanned vehicle that can navigate underwater and perform various mission actions, and its features are: - Solid shell (10) in spherical basic form that forms the body of the vehicle and diaphragm propulsion cells positioned in a geodesic order (11) on the spherical surface, - Producing the movement of the vehicle In the thrust cells, the thrust pit (14) formed from solid material, the thrust diaphragm (12) formed from flexible material layers and the spring component (24) used to create the convex profile, - Detection units positioned on the spherical solid shell surface of the vehicle, - In the spherical interior space of the vehicle It consists of centrally located digital processor, battery unit, navigation systems and payload module.

2- The system that will enable the movement of the unmanned underwater vehicle in accordance with Claim 1 is a diaphragm propulsion system, and its feature is: - It contains thrust cells distributed in a geodesic order on the surface of the spherical vehicle - Each thrust cell contains a cylindrical thrust channel and a circular diaphragm, - The thrust is absorbed into the thrust cell of water. -Each thrust diaphragm is formed by laminating layers of flexible polymer material, -Each thrust diaphragm contains a dielectric elasomer actuator component, -The electrical energy required by the thrust system is supplied from a battery.