US20120137951A1

US20120137951A1 - Streamline submersible vehicle with internal propulsion and a multidirectional thrust vectoring mechanism for steering

Info

Publication number: US20120137951A1
Application number: US13/080,700
Authority: US
Inventors: Maurizio Porfiri; Vladislav Kopman; Nicholas Cavaliere
Original assignee: Individual
Current assignee: Individual
Priority date: 2010-04-07
Filing date: 2011-04-06
Publication date: 2012-06-07

Abstract

A streamline submersible vehicle having an internal propulsion system and a multidirectional thrust vectoring mechanism for steering.

Description

STATEMENT OF RELATED APPLICATIONS
This patent application is based on and claims the benefit of U.S. Provisional Patent Application No. 61/321,728 having a filing date of 7 Apr. 2010, which is incorporated herein in its entirety by this reference.

BACKGROUND OF THE INVENTION

1. Technical Field
This invention is generally related to the field of submersible vehicles and more specifically related to the field of submersible vehicles having internal propulsion systems using thrust vectoring mechanisms for steering.
2. Prior Art
Most high speed submersible vehicles rely on external control surfaces for steering and exposed propeller blades for propulsion. Such vehicles pose danger to surrounding marine wildlife due to exposed hardware and are often slow maneuvering. Marine vehicles utilizing internal propulsion do not offer three dimensional (3D) thrust vectoring, and the 3D thrust vectoring systems used on jet airplanes have a very complex mechanical structure, are expensive, and difficult to assemble. These factors make them not practical for use on submersible vessels.
To the best of the inventors' knowledge, the specific problem of 3D thrust vectoring in underwater vehicles with internal propulsion has not yet been addressed. For example, maritime vehicles such as jet skis offer only 2D thrust vectoring (yaw axis).
Thus, it can be seen that a streamlined submersible vehicle with an internal propulsion system and a multidirectional thrust vectoring mechanism for steering would be useful, novel and not obvious, and a significant improvement over the prior art. It is to such a vehicle that the current invention is directed.

BRIEF SUMMARY OF THE INVENTION

The invention comprises a vehicle with a fully internal propulsion and steering system, utilizing a multidirectional (3D) thrust vectoring mechanism for attitude control. The vehicle is highly maneuverable, even at high speeds, and the smooth hull and lack of exposed hardware provides for safe operation around sea animals.
The invention comprises a streamlined hull preferably having no protruding appendages. The propulsion system and any scientific instrumentation, cameras, cargo, etcetera are contained completely within the hull. The multidirectional thrust vectoring system is located at the stern of the vehicle and is controlled by instrumentation and mechanisms contained within the hull. The hull has at least one water intake located to provide water to the propulsion system. The water intake can be located on the side of the hull.
In operation, water is taken into the propulsion system through the water intake and ejected out through the multidirectional thrust vectoring mechanism. When the multidirectional thrust vectoring mechanism is in the neutral position (herein defined as pointing straight astern relative to an axial line of the vehicle), water being ejected through the multidirectional thrust vectoring mechanism causes the vehicle to travel in the axial direction forwards (herein defined as along the z-axis). The multidirectional thrust vectoring mechanism can be rotated in the yaw axis (x-axis) and the pitch axis (y-axis) directions (about the longitudinal axis or z-axis), thus causing the water being ejected through the multidirectional thrust vectoring system to be ejected at an angle to the z-axis, thus inducing steering of the vehicle. As the multidirectional thrust vectoring mechanism can be rotated about an entire circle or spherical chord, the vehicle can be steered at any angle relative to the z-axis without the need for external rudders, fins, paddles, or propellers.
These and other objects, features, and advantages of the present invention will become more apparent to those of ordinary skill in the art when the following detailed description of the preferred embodiments is read in conjunction with the appended figures.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a perspective view of a submersible vehicle in accordance with the invention.

FIG. 2 is a rear view of the invention as shown in FIG. 1 showing the multidirectional thrust vectoring mechanism.

FIG. 3 is a perspective view of the invention as shown in FIG. 1 showing the multidirectional thrust vectoring mechanism in a first position.

FIG. 4 is a perspective view of the invention as shown in FIG. 1 showing the multidirectional thrust vectoring mechanism in a second position.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

FIG. 1 is a perspective view of a submersible vehicle in accordance with the invention having a transparent hull so as to illustrate the internal components. FIG. 2 is a rear view of the invention as shown in FIG. 1 showing the multidirectional thrust vectoring mechanism. FIG. 3 is a perspective view of the invention as shown in FIG. 1 showing the multidirectional thrust vectoring mechanism in a first position, specifically, in the neutral position. FIG. 4 is a perspective view of the invention as shown in FIG. 1 showing the multidirectional thrust vectoring mechanism in a second position, specifically, a position causing the vehicle to turn from the z-axis.
Referring now to FIG. 1, an illustrative embodiment of the invention is shown. The invention comprises a vehicle 10 with a fully internal propulsion and steering system, utilizing a multidirectional (3D) thrust vectoring mechanism for attitude control. The vehicle is highly maneuverable, even at high speeds, and the smooth hull 12 and lack of exposed hardware provides for safe operation around sea animals. The vehicle 10 is of traditional streamlined shape, but the hull 12 shape is not a defining parameter of the internal propulsion and steering, and may be modified without affecting the end result, which is a highly maneuverable, animal-safe vehicle with no external hardware, such as sharp control surfaces (fins) or fast-spinning propeller blades.
The propulsion system 14 and any scientific instrumentation, cameras, cargo, etcetera are contained completely within the hull 12. The multidirectional thrust vectoring system 16 is located at the stern 18 of the vehicle 10 and is controlled by instrumentation and mechanisms contained within the hull 12. The hull 12 has at least one water intake 20 located to provide water to the propulsion system 14. The water intake 20 can be located on the side of the hull 12.
Water is drawn into the aft section 22, by a propulsion thruster 30 housed inside the aft section 22, through the water intakes 20, and is pushed out through the multidirectional thrust vectoring mechanism 16. Orienting the multidirectional thrust vectoring mechanism 16 via linear actuators 24 provides steering control of the vehicle 10, including pitch and yaw control.
Referring now to FIG. 2, a stern view of the vehicle 10 shows the multidirectional thrust vectoring mechanism 16. The multidirectional thrust vectoring mechanism 16 comprises a truncated partial hollow spheroid 26 mounted in an eyeball manner at the aft section 22 and has a flow channel 28 through which the water is ejected for propulsion. The propulsion thruster 30, in this case an internal propeller or fan blade, directs the thrusting water through the multidirectional thrust vectoring mechanism 16, specifically, through the flow channel 28. In this view, the truncated hollow spheroid 26 is in the neutral position (that is pointing straight astern) such that water ejected through the flow channel 28 is directed out of the vehicle 10 along the z-axis, causing the thrust to be directed in the z-axis.
Referring now to FIG. 3, a perspective view of the aft section 22 of the vehicle 10 is shown with the multidirectional thrust vectoring mechanism 16 in a first position, specifically, pointing astern as in FIG. 2 as defined by control rods or cables. This view also shows the special and structural relationship between the multidirectional thrust vectoring mechanism 16 and the propulsion thruster 30 in more detail.
Referring now to FIG. 4, a perspective view of the aft section 22 of the vehicle 10 is shown with the multidirectional thrust vectoring mechanism 16 in a second position, specifically, having both a yaw (x-axis) and pitch (y-axis) component. As illustrated in this view, the multidirectional thrust vectoring mechanism 16, and specifically the spheroid 26, has been rotated so as to point slightly to starboard and slightly upwards, which will direct the nose, or fore section, of the vehicle 10 in a starboard and upwards direction relative to the longitudinal axis (the z-axis), thus steering the vehicle 10 in that direction. To achieve this rotation, one or more of the linear actuators 24 has been moved. For example, four linear actuators 24 can be attached to the multidirectional thrust vectoring mechanism 16 at four points, for example at the top (0 degrees), starboard side (90 degrees), bottom (180 degrees), and port side (270 degrees). By moving these linear actuators 24 in various combinations, the multidirectional thrust vectoring mechanism 16 can be rotated about all 360 degrees. To achieve full 3D movement, there should be at least two linear actuators 24.
The linear actuators 24 shown are pushrod-like bars used to actuate the multidirectional thrust vectoring mechanism 16. The linear actuators 24 are force transmission elements used to move the multidirectional thrust vectoring mechanism 16. The linear actuators 24 connect the multidirectional thrust vectoring mechanism 16 to motors located in the middle section of the vehicle 10 (seen as the opaque region in FIG. 1). The linear actuators 24 used in this design are pushrods, but may be replaced with cables or any other type of force transmission element. The motors inside the middle section of the vehicle 10 can be servomotors and also may be interchanged for something similar. At least two linear actuators 24 are required to actuate the multidirectional thrust vectoring mechanism 16, and springs or something similar may be used to compensate for the lack of the other actuators. Other types of kinematic devices for force transmission can be used and the invention is not limited to the use of linear actuators 24. For instance, pulley systems using cables or wire, springs, magnetic actuators, and other actuating devices suitable for force transmission.
When the multidirectional thrust vectoring mechanism 16 is in the neutral position (herein defined as pointing straight astern relative to an axial line of the vehicle as shown in FIGS. 2 and 3), water being ejected through the multidirectional thrust vectoring mechanism 16 cause the vehicle 10 to travel in the axial direction forwards (herein defined as along the longitudinal axis or z-axis). The multidirectional thrust vectoring mechanism 16 can be rotated in the x-axis and the y-axis (about the z-axis), thus causing the water being ejected through the multidirectional thrust vectoring mechanism 16 to be ejected at an angle to the z-axis, creating yaw and pitch, thus causing the vehicle 10 to be steered. As the multidirectional thrust vectoring mechanism 16 can be rotated about an entire circle or spherical chord, the vehicle 10 can be steered at any angle relative to the z-axis without the need for external rudders, fins, paddles, or propellers.
The propulsion thruster 30 shown is an internal propeller located between the intake 20 and the multidirectional thrust vectoring mechanism 16. Other thrust generating devices can be used and the invention is not limited to an internal propeller. For example, centrifugal fans, reciprocating solenoids, and any other such pumping or thrusting device suitable for use in propulsion.
The vehicle 10 as a whole may be safely used around sea animals such as walruses, seals, and sea lions, whether in captivity or in the wild. This may provide a safe means to study the animal or to perform non-animal related missions, including environmental mapping in densely populated marine environments without threatening wildlife.
The vehicle 10 may be deployed into regions densely packed with loose sea weeds or debris, which would easily jam a traditional spinning propeller or break a control surface, therefore permanently immobilizing the vehicle. Further, the vehicle 10 is designed to easily pass through tight openings without risking collision of external hardware with terrain, which would once again cause immobilization. Additionally, the vehicle 10 can be used as a fast and highly maneuverable military vessel (autonomous or remotely controlled) for sea mine scouting or similar military oriented mission.
While the invention has been described in connection with certain preferred embodiments, it is not intended to limit the spirit or scope of the invention to the particular forms set forth, but is intended to cover such alternatives, modifications, and equivalents as may be included within the true spirit and scope of the invention as defined by the appended claims.

Claims

1. A submersible vehicle as disclosed herein.

2. A streamline submersible vehicle comprising:

a. an internal propulsion mechanism; and

b. a multidirectional thrust vectoring mechanism for steering.

3. A vehicle comprising:

a. an internal propulsion mechanism; and

b. a multidirectional thrust vectoring mechanism for steering.

4. A multidirectional thrust vectoring mechanism for steering vehicles.

5. A multidirectional thrust vectoring mechanism for directing thrust.

6. A multidirectional thrust vectoring mechanism for directing fluids.