Maritime vehicle with internally-housed thrusters

Abstract

Implementations described and claimed herein provide an underwater vehicle including internally housed thrusters. The vehicle can include a fairing extending from a proximal end to a distal end of the underwater vehicle. The fairing can include a first opening extending from a first surface of the fairing to a second surface of the fairing. The vehicle can include a first thruster disposed in the first opening in the fairing.

Description

MARITIME VEHICLE WITH INTERNALLY-HOUSED THRUSTERSCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application priority to U.S. provisional application number 63 / 527,368, titled “Maritime Vehicle with Internally-Housed Thrusters,” and filed on July 18, 2023, which is expressly incorporated by reference herein in its entirety.FIELD

[0002] Aspects of the present disclosure relate generally to systems and methods for underwater exploration and more particularly to maritime vehicles, including autonomous underwater vehicles.BACKGROUND

[0003] Underwater vehicles can be deployed in various underwater environments for exploration, research, investigation, commercial, law enforcement, military, and other purposes. These vehicles can include, without limitation, unmanned underwater vehicles, remotely operated underwater vehicles, autonomous underwater vehicles, and / or other maritime vehicles. Autonomous underwater vehicles navigate through underwater environments autonomously, such that the vehicle is capable of operating to move through the underwater environment without or with limited operator input. Rather than an operator having an operational engagement with the vehicle to control its actions, the vehicle autonomously executes one or more objectives through a series of autonomous actions. However, even with advancements in such technologies, underwater environments continue to pose challenges to the movement, integrity, navigation, communication, control, data capture, and operation of underwater vehicles. It is with these observations in mind, among others, that various aspects of the present disclosure were conceived and developed.SUMMARY

[0004] Implementations described and claimed herein address the foregoing observations by providing systems and methods for underwater exploration using an underwater vehicle. In one implementation, an underwater vehicle includes: a fairing extending from a proximal endto a distal end of the underwater vehicle, wherein the fairing includes a first opening extending from a first surface of the fairing to a second surface of the fairing; and a first thruster disposed in the first opening in the fairing.

[0005] Certain aspects of the present disclosure provide a method for controlling an underwater vehicle. The method generally includes: receiving sensor data indicating at least one of a position or orientation of the underwater vehicle, the underwater vehicle including a fairing extending from a proximal end to a distal end of the underwater vehicle, wherein the fairing includes a first opening extending from a first surface of the fairing to a second surface of the fairing; and controlling at least a first thruster of the underwater vehicle based on the sensor data, the first thruster being disposed in the first opening in the fairing.

[0006] Certain aspects of the present disclosure provide a system for controlling an underwater vehicle. The system includes: one or more sensors configured to generate sensor data indicating at least one of a position or orientation of the underwater vehicle, the underwater vehicle including a fairing extending from a proximal end to a distal end of the underwater vehicle, wherein the fairing includes a first opening extending from a first surface of the fairing to a second surface of the fairing; and a control system configured to control at least a first thruster of the underwater vehicle based on the sensor data, the first thruster being disposed in one of the first opening in the fairing.

[0007] Other implementations are also described and recited herein. Further, while multiple implementations are disclosed, still other implementations of the presently disclosed technology will become apparent to those skilled in the art from the following detailed description, which shows and describes illustrative implementations of the presently disclosed technology. As will be realized, the presently disclosed technology is capable of modifications in various aspects, all without departing from the spirit and scope of the presently disclosed technology. Accordingly, the drawings and detailed description are to be regarded as illustrative in nature and not limiting.BRIEF DESCRIPTION OF THE DRAWINGS

[0008] FIGS. 1A and IB illustrate an example underwater vehicle.

[0009] FIGS. 2A, 2B and 2C illustrate example ducts used to implement thrusters.

[0010] FIGS. 3A and 3B illustrate different perspective views of an example thruster.

[0011] FIG. 4 illustrates an underwater vehicle control system.

[0012] FIG. 5 illustrates example operations for controlling an underwater vehicle.

[0013] FIG. 6 is an example computing system that can implement various systems and methods of the presently disclosed technology.DETAILED DESCRIPTION

[0014] Aspects of the presently disclosed technology relate to underwater vehicles and systems and methods related thereto. In one aspect, the underwater vehicle is configured for deployment in an underwater environment with hover and transit capabilities using internally housed thrusters. The thrusters can be implemented as variable rotations per minute (RPM) thrusters. The underwater vehicle can be a long-range transit-capable undersea vehicle with the ability to perform precise hover / station-keeping operations at various depths. The underwater vehicle described herein can be implemented with an internally ducted, pass- through design of thrusters, with variable speed motors capable of clockwise (CW) and counterclockwise (CCW) rotation (e.g., with a near instant change in direction).

[0015] The capabilities of the underwater vehicle presented herein facilitate the vehicle to be used in a broad range of applications across a range of uses. For example, the underwater vehicle can be used for underwater exploration, including without limitation: near-field inspections of undersea structures and infrastructure, such as energy infrastructure (e.g., power lines, wind farms); maintenance and inspection, pipeline inspections, surveys, environmental studies, identifying / marking recovery objects, and a variety of practical and advanced uses.

[0016] Currently, underwater operations are typically performed using tethered remotely operated vehicles. The tether controls the unit and provides continuous power to the unit. The present application is directed towards an underwater vehicle with internally housed, ducted motor hover capability as a remotely operated vehicle (ROV) or autonomous underwater vehicle (AUV) that can both transit long distances and perform highly controlled movements. The underwater vehicle described herein provides both a traditional transit capability and a specialized ability to hover. Traditional navigation / control systems provide transit capabilities from point A to point B, at a specific depth, but cannot have the ability to transit to a point and hover at a specific point and orientation. The underwater vehicle describedherein can be fully autonomous, battery-powered, capable of transit from point A to point B, and perform hover / station-keeping in six axes with precision. Internally housed and ducted motors provide exquisite control beyond traditional transit and maintaining depth control. In contrast, traditional systems with multi-axis control capability are typically tethered, operated under human control, and have depth limitations. Using internally housed thrusters, as opposed to external appendages, reduces snap points and draft during transit.

[0017] To begin a detailed description of an example underwater vehicle 100, reference is made to FIGS. 1A and IB. The underwater vehicle 100 can be an autonomous underwater vehicle, an unmanned underwater vehicle, a remotely operated underwater vehicle, a maritime vehicle, and / or the like. The underwater vehicle 100 can be deployed in various underwater or water environments, such as oceans, lakes, and other bodies of water for missions, which can include capturing data associated with the underwater environment. It will be appreciated that the underwater vehicle 100 can reside on the surface or underwater during operation.

[0018] In one implementation, the underwater vehicle 100 includes a vehicle body extending between a proximal end 104 and a distal end 106. The vehicle body includes a head and a tail, which can be disposed at the proximal end 104 and the distal end 106, respectively. The vehicle body further includes a fairing 102 enclosing the vehicle body. The fairing 102 can be a single integrated structure or comprise a plurality of separate structures interconnected to each other. The fairing 102 streamlines the underwater vehicle 100 to reduce drag and improve hydrodynamics. The fairing 102 can be structural, non- structural, or a combination of both.

[0019] The underwater vehicle 100 can include a communication mast 110. The communication mast 110 can be disposed on a topside of the underwater vehicle 100. The communication mast 110 can house one or more communications systems, such as a Global Positioning System, a radio frequency system, a satellite communication system, and / or the like. The communications systems can be used to communicate with or otherwise transmit data to and receive data from a remote location, such as the surface. The communications mast 110 can further include a location beacon, such as a strobe light or similar beacon to visually locate the underwater vehicle 100. A nose 114 of the vehicle body can provide a single point tow in the underwater environment, either at the surface or underwater. The nose1 14 reduces drag in the stowed position, while facilitating access for tow and release in the tow state. The nose 114 can be disposed at the proximal end 104 of the vehicle body.

[0020] A propulsion system can be disposed at the distal end 106 of the vehicle body, opposite the nose 114. The propulsion system includes a plurality of control fins (e.g., fin 118) and a thruster assembly 120. The control fins can be disposed at equidistant locations about the thruster assembly 120. The thruster assembly 120 propels the underwater vehicle 100 through the underwater environment along a trajectory controlled by the control fins 118. The control fins 118 include a direct torque transfer mechanism between corresponding drive motors and fins and reduce drag.

[0021] As shown, underwater vehicle 100 can include internally housed thrusters 150, 1 2, 154, 156. Two thrusters can be positioned in the front (bow) of the vehicle and two thrusters can be positioned in the rear (stern) of the vehicle. Each thruster is disposed in an opening in the fairing 102 that runs from one surface area to another surface area of the underwater vehicle 100. Each opening in the fairing 102 can be substantial perpendicular (i.e., perpendicular to within ±15°) a longitudinal axis of the underwater vehicle, which extends between the distal and proximal ends of the underwater vehicle 100. For instance, as shown in FIG. IB, the internally-housed thruster 154 can be disposed in an opening that extends from surface area 160 to surface area 162. Each opening in the fairing 102 can be substantial perpendicular (i.e., perpendicular to within ±15°) a longitudinal axis of the underwater vehicle, which extends between the distal and proximal ends of the underwater vehicle 100. Each of the internally-housed thrusters include propellers inside a respective opening. For example, as shown in FIG. IB, the internally-housed thruster 150 includes propeller 164.

[0022] The propeller of each of the internally housed thrusters can be operable to rotate either CW or CCW, allowing thrust in either of two directions. For example, the propeller of thruster 154 can rotate in one direction to generate thrust in direction 180 or rotate in the opposite direction to generate thrust in direction 182.

[0023] The thrusters 150, 152, 154, 156 can be arranged and / or configured to enable lateral and / or vertical movement (e.g., movement transverse / perpendicular to the longitudinal axis extending between the proximal and distal ends of the underwater vehicle 100), even when the underwater vehicle 100 is not moving along the longitudinal axis. Further, thrusters 150, 152, 154, 156 can be arranged and / or configured to enable changes in attitude (e.g., pitch,roll, and / or yaw) independent of whether the underwater vehicle 100 is moving in a longitudinal direction and / or independent of whether the underwater vehicle 100 is moving in a transverse direction.

[0024] FIG. 2A illustrates the thruster 154 implemented using passageways, such as cylinders, ducts, tubes, channels, and / or the like. For example, ducts 202, 204 extending from the surface area 160 and surface area 162, respectively, in accordance with certain aspects of the present disclosure. As shown, the ducts 202, 204 can be disposed in the underwater vehicle 100 to implement an opening in which a propeller can be disposed. The duct 202 can be coupled to the surface area 160 and duct 204 can be coupled to surface area 162. The thruster 206 can be coupled between the two ducts using clamps 208, 210, as shown. While the implementation of thruster 154 is shown as one example to facilitate understanding, one or more of the other internally housed thrusters for the underwater vehicle 100 can be implemented in a similar manner.

[0025] FIG. 2B illustrates ducts used to implement thrusters 154, 156, in accordance with certain aspects of the present disclosure. The opening for thruster 154 faces an axis 250 and the opening for thruster 156 faces an axis 252, as shown. The axis 250 and axis 252 can be perpendicular in some aspects. In this manner, thruster 154 can provide thrust on axis 250 and thruster 156 can provide thrust on axis 252.

[0026] FIG. 2C illustrates ducts used to implement thrusters 150, 152, in accordance with certain aspects of the present disclosure. The opening for thruster 150 faces an axis 260 and the opening for thruster 152 faces an axis 262. The axis 260 and axis 262 can be perpendicular in some aspects. In this manner, thruster 150 can provide thrust on axis 260 and thruster 152 can provide thrust on axis 262.

[0027] FIGS. 3A and 3B illustrate different perspective views of a thruster 300 (e.g., corresponding to thruster 206), in accordance with certain aspects of the present disclosure. The thruster 300 can include a propeller 302 which can rotate CW or CCW, as described herein. As shown, the propeller 302 can be supported within a circular housing 304. The circular housing can be coupled between ducts (e.g., ducts 202, 204 described with respect to FIG. 2A) coupled to surfaces of the fairing 102 of the underwater vehicle 100, in effect implementing an internally housed thruster. As described, the propeller 302 can be operated to rotate CW or CCW, allowing thrust in either of two directions. The thrusters port throughthe body and electric motors operates in both directions, allowing each thruster to provide thrust in either of two directions (e.g., directions 306, 308 shown in FIG. 3A).

[0028] FIG. 4 illustrates an underwater vehicle control system 400, in accordance with certain aspects of the present disclosure. In some aspects, the control system 400 can be part of the underwater vehicle 100. In the example shown, the control system 400 can include storage 416 and processor 414. The storage 416 can include any storage device(s) for storing data. The storage 416 can store data from any of the components of the vehicle control system 400.

[0029] In some implementations, the processor 414 can include a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processor (DSP), any combination thereof, or other type of processor. The control system 400 can be coupled to a power control circuitry 462 (e.g., voltage regulation circuitry). The power control circuitry 462 can control, based on control signaling from control system 400, an amount of power provided to each of one or more thrusters 464 (e.g., corresponding to thrusters 150, 152, 154, 156). As described, each thruster can be controlled to operate with propellers spinning CW or CCW. The internally housed, ducted hover / station-keeping thruster motors, implemented with a control actuation system (e.g., control system 400), provide the capability of maintaining X, Y, Z, pitch, yaw, roll, and / or heading. The control system enables X, Y and Z axis control (e.g., for maintaining or changing position, orientation, etc.) and hover and station-keeping capability, such as at a specific heading and pitch. The control system 400 can control power to each thruster (e.g., control RPM of each thruster) at a range of power levels (0-100% power in either direction).

[0030] As shown, the vehicle control system 400 can include a movement control system 408. The movement control system 408 controls movement, position, and / or orientation of the underwater vehicle 100. For example, the movement control system 408 may provide transverse, vertical control. The movement control system 408 provides control in 3D space and vehicle attitude control (e.g., pitch, yaw, and / or roll), depth, and / or heading control for the underwater vehicle 100. The underwater vehicle 100 provides precise submersible control (e.g., within centimeters) in moving waters (e.g., with currents and gradients) at any depth, autonomously. With the control system 400, the underwater vehicle 100 is able to transit,stop, hover, change direction, orientation and attitude in 3D space (e.g., without any axial motion). The underwater vehicle 100 described herein also provides pitch control.

[0031] As shown, the control system 400 can be coupled to least one sensor 450. The sensor 450 can provide feedback to the control system 400 with regards to a current position and orientation of the underwater vehicle 100. Using closed-loop feedback, the control system 400 (e.g., the movement control system 408) can control movement and orientation (e.g., X, Y, Z, pitch, yaw and heading) of the underwater vehicle 100 by controlling the thrusters described herein. The control system 400 can use sensor feedback and / or minimize perturbations. For example, the control system 400 allows six degrees of freedom (6DOF) pose and reduce error on each degree of freedom by reacting to and compensating for perturbations by adjusting individual thruster RPM.

[0032] As described, the underwater vehicle 100 may be configured to hover. For example, the thrusters may be controlled so that the vehicle 100 does not move in any particular direction and / or orientation under water. The control system 400 may include a hover system 410 which controls the thrusters to hover the underwater vehicle 100. The vehicle 100 may be autonomously operated both in transit and hover mode and is capable of navigating to a point and performing precise controls and movements across six axes. Multi-axis control enables precise control, as well as positioning and placement, to include pitch and yaw control.

[0033] In some examples, the control system 400 includes a transit system 412 that facilitates transit from point A to point B. Beyond the typical transit from point A to point B, the underwater vehicle may include a navigation control system 432 that maintains X / Y position via a velocity and software logger, and Inertial Navigation System (INS) to maintain 3-D space (depth). Latitude, longitude, depth, heading, pitch, and roll information may be received from sensor 450 (e.g., by the INS) to control the thrusters. The control system can use an altimeter for depth measurement.

[0034] In some aspects, software and sensors (e.g., sensor 450) sense various environmental conditions, such as water current (e.g., water current across the vehicle 100 and long body draft). Using the sensed water current, the control system 400 can detect current heading and speed (e.g., vector and magnitude) and use the information to inform a logical heading toaccount for currents. The control system 400 can automatically adjust vehicle trim when in transit mode or hover mode.

[0035] In some aspects, the control system 400 sets a hard-cap motor power draw for power management purposes. In some aspects, the control system 400 includes a disturbance system 418 that can control the thrusters to mitigate disturbances to the water and environment. For example, the disturbance system 418 can implement a hard-cap motor power draw to avoid creating disturbances. In some aspects, the disturbance system 418 can control disturbances depending on a position of the vehicle. For instance, disturbing the seafloor can result in various optical sensors being occluded (e.g., by pushing up sand). Therefore, a power limit can be set when close to the seafloor. In some aspects, electronics (e.g., including control system 400) can be housed within a pressure vessel in the vehicle 100. Phase wires, hall effect sensors, and thermistors for the thrusters can run from the electronics to the thrusters.

[0036] In some aspects, the control system 400 can be coupled to a communication interface 460. The communication interface 460 can be part of the communication mast 110 described with respect to FIG. 1A. The communication interface 460 can be used to communicate with a central control system 402. The central control system 402 can be provide data or instructions to operate the underwater vehicle 100. For instance, the central control system 402 can send an indication to the control system 400 to enter a hover mode of operation. In response, the control system 400 can control thrusters of the underwater vehicle for hover.

[0037] In some aspects, at least one of the movement control system 408, hover system 410, transit system 412, navigation control system 432, or disturbance system 418 can be implemented in hardware, software, or a combination of hardware and software. In some aspects, at least one of the movement control system 408, hover system 410, transit system 412, navigation control system 432, or disturbance system 418 can be implemented by or in the same hardware, software, or combination of hardware and software (e.g., by the same processor). In some aspects, at least one of the movement control system 408, hover system 410, transit system 412, navigation control system 432, or disturbance system 418 can be implemented by or in separate hardware, software, or combination of hardware and software.

[0038] FIG. 5 is a flow diagram illustrating example operations 500 for controlling an underwater vehicle. The operations 500 can be performed by a control system, such as the control system 400 described with respect to FIG. 4.

[0039] At block 502, the control system can receive sensor data indicating at least one of a position or orientation of the underwater vehicle. The underwater vehicle can include a fairing (e.g., fairing 102) extending from a proximal end to a distal end of the underwater vehicle. The fairing can include a first opening extending from a first surface (e.g., surface area 160) of the fairing to a second surface of the fairing (e g., surface area 162).

[0040] At block 504, the control system controls at least a first thruster (e.g., thruster 150, 152, 154, or 156 shown in FIG. 1A) of the underwater vehicle based on the sensor data. The first thruster can be disposed in the first opening in the fairing. In some aspects, controlling at least the first thruster can include controlling a pitch of the underwater vehicle. In some aspects, controlling at least the first thruster can include hovering the underwater vehicle based on the sensor data. In some aspects, controlling at least the first thruster includes reducing disturbances in water. For instance, reducing the disturbances in water can include setting a power limit for the first thruster. In some aspects, the first thruster is controlled to rotate a propeller in a clockwise direction at a first time period and a counterclockwise direction at a second time period.

[0041] In some aspects, the control system can control a second thruster, a third thruster, and a fourth thruster based on the sensor data. The first thruster (e g., thruster 150) and the second thruster (e.g., thruster 152) being closer to a bow of the underwater vehicle than the third thruster (e.g., thruster 154) and the fourth thruster (e.g., thruster 156). Controlling the first thruster can include providing thrust on a first axis (e.g., axis 260 shown in FIG. 2C). Controlling the second thruster can include providing thrust on a second axis (e.g., axis 262 shown in FIG. 2C). The first axis can be perpendicular to the second axis.

[0042] In some aspects, the control system controls a second thruster disposed in a second opening in the fairing. The first opening can face towards a first axis (e.g., axis 260 shown in FIG. 2C) and the second opening can face towards a second axis (e.g., axis 262 shown in FIG. 2C). The first axis can be perpendicular to the second axis.

[0043] While some examples provided herein have shown an underwater vehicle with four internally-housed thrusters to facilitate understanding, the underwater vehicle can be implemented with any number of thrusters. For example, the underwater vehicle can include one, two, three, or more than four thrusters.

[0044] Referring to FIG. 6, a detailed description of an example computing system 600 having one or more computing units that can implement various systems and methods discussed herein is provided. The computing system 600 can be applicable to the vehicle controller, the emergency logic controller, the controller of the additive manufacturing system, the operator system, and other computing systems, controller, and / or network devices or units. It will be appreciated that specific implementations of these devices can be of differing possible specific computing architectures not all of which are specifically discussed herein but will be understood by those of ordinary skill in the art.

[0045] The computer system 600 can be a computing system is capable of executing a computer program product to execute a computer process. Data and program files can be input to the computer system 600, which reads the files and executes the programs therein. Some of the elements of the computer system 600 are shown in FIG. 6, including one or more hardware processors 602, one or more data storage devices 604, one or more memory devices 606, and / or one or more ports 608-610. Additionally, other elements that will be recognized by those skilled in the art can be included in the computing system 600 but are not explicitly depicted in FIG. 6 or discussed further herein. Various elements of the computer system 600 can communicate with one another by way of one or more communication buses, point-to- point communication paths, or other communication means not explicitly depicted in FIG. 6.

[0046] The processor 602 can include, for example, a central processing unit (CPU), a microprocessor, a microcontroller, a digital signal processor (DSP), and / or one or more internal levels of cache. There can be one or more processors 602, such that the processor 602 comprises a single central-processing unit, or a plurality of processing units capable of executing instructions and performing operations in parallel with each other, commonly referred to as a parallel processing environment.

[0047] The computer system 600 can be a conventional computer, a distributed computer, or any other type of computer, such as one or more external computers made available via a cloud computing architecture. The presently described technology is optionally implemented in software stored on the data stored device(s) 604, stored on the memory device(s) 606, and / or communicated via one or more of the ports 608-610, thereby transforming the computer system 600 in FIG. 6 to a special purpose machine for implementing the operations described herein. Examples of the computer system 600 include personal computers,terminals, workstations, mobile phones, tablets, laptops, personal computers, multimedia consoles, gaming consoles, set top boxes, and the like.

[0048] The one or more data storage devices 604 can include any non-volatile data storage device capable of storing data generated or employed within the computing system 600, such as computer executable instructions for performing a computer process, which can include instructions of both application programs and an operating system (OS) that manages the various components of the computing system 600. The data storage devices 604 can include, without limitation, magnetic disk drives, optical disk drives, solid state drives (SSDs), flash drives, and the like. The data storage devices 604 can include removable data storage media, non-removable data storage media, and / or external storage devices made available via a wired or wireless network architecture with such computer program products, including one or more database management products, web server products, application server products, and / or other additional software components. Examples of removable data storage media include Compact Disc Read-Only Memory (CD-ROM), Digital Versatile Disc Read-Only Memory (DVD- ROM), magneto-optical disks, flash drives, and the like. Examples of non-removable data storage media include internal magnetic hard disks, SSDs, and the like. The one or more memory devices 606 can include volatile memory (e.g., dynamic random-access memory (DRAM), static random access memory (SRAM), etc.) and / or non-volatile memory (e.g., read-only memory (ROM), flash memory, etc.).

[0049] Computer program products containing mechanisms to effectuate the systems and methods in accordance with the presently described technology can reside in the data storage devices 604 and / or the memory devices 606, which can be referred to as machine-readable media. It will be appreciated that machine-readable media can include any tangible non- transitory medium that is capable of storing or encoding instructions to perform any one or more of the operations of the present disclosure for execution by a machine or that is capable of storing or encoding data structures and / or modules utilized by or associated with such instructions. Machine-readable media can include a single medium or multiple media (e.g., a centralized or distributed database, and / or associated caches and servers) that store the one or more executable instructions or data structures.

[0050] In some implementations, the computer system 600 includes one or more ports, such as an input / output (I / O) port 608, a communication port 610, and a vehicle sub-systems port,for communicating with other computing, network, or vehicle devices. It will be appreciated that the ports 608-610 can be combined or separate and that more or fewer ports can be included in the computer system 600.

[0051] The I / O port 608 can be connected to an I / O device, or other device, by which information is input to or output from the computing system 600. Such I / O devices can include, without limitation, one or more input devices, output devices, and / or environment transducer devices.

[0052] In one implementation, the input devices convert a human-generated signal, such as, human voice, physical movement, physical touch or pressure, and / or the like, into electrical signals as input data into the computing system 600 via the I / O port 608. Similarly, the output devices can convert electrical signals received from computing system 600 via the I / O port 608 into signals that can be sensed as output by a human, such as sound, light, and / or touch. The input device can be an alphanumeric input device, including alphanumeric and other keys for communicating information and / or command selections to the processor 602 via the I / O port 608. The input device can be another type of user input device including, but not limited to: direction and selection control devices, such as a mouse, a trackball, cursor direction keys, a joystick, and / or a wheel; one or more sensors, such as a camera, a microphone, a positional sensor, an orientation sensor, a gravitational sensor, an inertial sensor, and / or an accelerometer; and / or a touch-sensitive display screen (“touchscreen”). The output devices can include, without limitation, a display, a touchscreen, a speaker, a tactile and / or haptic output device, and / or the like. In some implementations, the input device and the output device can be the same device, for example, in the case of a touchscreen.

[0053] The environment transducer devices convert one form of energy or signal into another for input into or output from the computing system 600 via the I / O port 608. For example, an electrical signal generated within the computing system 600 can be converted to another type of signal, and / or vice-versa. In one implementation, the environment transducer devices sense characteristics or aspects of an environment local to or remote from the computing system 600, such as, light, sound, temperature, pressure, magnetic field, electric field, chemical properties, physical movement, orientation, acceleration, gravity, and / or the like. Further, the environment transducer devices can generate signals to impose some effect on the environment either local to or remote from the example computing system 600, suchas, physical movement of some object (e.g., a mechanical actuator), heating or cooling of a substance, adding a chemical substance, and / or the like.

[0054] In one implementation, a communication port 610 is connected to a network by way of which the computer system 600 can receive network data useful in executing the methods and systems set out herein as well as transmitting information and network configuration changes determined thereby. Stated differently, the communication port 610 connects the computer system 600 to one or more communication interface devices configured to transmit and / or receive information between the computing system 600 and other devices by way of one or more wired or wireless communication networks or connections. Examples of such networks or connections include, without limitation, Universal Serial Bus (USB), Ethernet, Wi-Fi, Bluetooth®, Near Field Communication (NFC), Long-Term Evolution (LTE), and so on. One or more such communication interface devices can be utilized via the communication port 610 to communicate one or more other machines, either directly over a point-to-point communication path, over a wide area network (WAN) (e.g., the Internet), over a local area network (LAN), over a cellular (e.g., third generation (3G) or fourth generation (4G) or fifth generation (5G)) network, or over another communication means. Further, the communication port 610 can communicate with an antenna for electromagnetic signal transmission and / or reception. In some examples, an antenna can be employed to receive GPS data to facilitate determination of a location of a machine, vehicle, or another device.

[0055] The computer system 600 can include a vehicle sub-systems port for communicating with one or more systems related to the underwater vehicle 100 to control an operation of the underwater vehicle 100 and / or exchange information between the computer system 600 and one or more sub-systems of the underwater vehicle 100.

[0056] In an example implementation, mission planning data, diagnostics, mission data, and software and other modules and services for operating various aspects of the underwater vehicle 100 in connection with underwater exploration and operation can be embodied by instructions stored on the data storage devices 604 and / or the memory devices 606 and executed by the processor 602. The computer system 600 can be integrated with or otherwise form part of a vehicle. In some instances, the computer system 600 is a portable device that can be in communication and working in conjunction with various systems or sub-systems of a vehicle.

[0057] The system set forth in FIG. 6 is but one possible example of a computer system that can employ or be configured in accordance with aspects of the present disclosure. It will be appreciated that other non-transitory tangible computer-readable storage media storing computer-executable instructions for implementing the presently disclosed technology on a computing system can be utilized.

[0058] In the present disclosure, the methods disclosed can be implemented as sets of instructions or software readable by a device. Further, it is understood that the specific order or hierarchy of steps in the methods disclosed are instances of example approaches. Based upon design preferences, it is understood that the specific order or hierarchy of steps in the method can be rearranged while remaining within the disclosed subject matter. The accompanying method claims present elements of the various steps in a sample order, and are not necessarily meant to be limited to the specific order or hierarchy presented.

[0059] The described disclosure can be provided as a computer program product, or software, that can include a non-transitory machine-readable medium having stored thereon instructions, which can be used to program a computer system (or other electronic devices) to perform a process according to the present disclosure. A machine-readable medium includes any mechanism for storing information in a form (e.g., software, processing application) readable by a machine (e.g., a computer). The machine-readable medium can include, but is not limited to, magnetic storage medium, optical storage medium; magnetooptical storage medium, read only memory (ROM); random access memory (RAM); erasable programmable memory (e g., EPROM and EEPROM); flash memory; or other types of medium suitable for storing electronic instructions.

[0060] While the present disclosure has been described with reference to various implementations, it will be understood that these implementations are illustrative and that the scope of the present disclosure is not limited to them. Many variations, modifications, additions, and improvements are possible. More generally, implementations in accordance with the present disclosure have been described in the context of particular examples. Functionality can be separated or combined in blocks differently in various implementations of the disclosure or described with different terminology. These and other variations, modifications, additions, and improvements can fall within the scope of the disclosure as defined in the claims that follow.

Claims

CLAIMSWHAT IS CLAIMED IS:

1. An underwater vehicle comprising: a fairing extending from a proximal end to a distal end of the underwater vehicle, an opening extending from a first surface of the fairing to a second surface of the fairing; and a thruster disposed in the opening in the fairing.

2. The underwater vehicle of claim 1, wherein the thruster includes a propeller configured to rotate at least one of clockwise or counterclockwise.

3. The underwater vehicle of claim 1, further comprising: one or more ducts, the opening including the one or more ducts extending from the first surface of the fairing to the second surface of the fairing.

4. The underwater vehicle of claim 1, wherein the thruster is configured to control at least one of transverse movement of the underwater vehicle or attitude of the underwater vehicle.

5. The underwater vehicle of claim 4, wherein the fairing extends along a longitudinal direction, at least one of the transverse movement or the attitude is controlled independent of movement of the underwater vehicle along the longitudinal direction.

6. The underwater vehicle of claim 1, wherein: the thruster is configured to provide thrust on a first axis that is different than a longitudinal axis extending between the distal end and the proximal end of the underwater vehicle; and a second thruster is configured to provide thrust on a second axis, the first axis being different than the second axis and different than the longitudinal axis of the underwater vehicle.

7. The underwater vehicle of claim 1 , wherein the opening is oriented towards a first axis, wherein the fairing further includes a second opening oriented towards a second axis, the first axis being perpendicular to the second axis, and wherein the underwater vehicle includes a second thruster disposed in the second opening.

8. The underwater vehicle of claim 1, further comprising: a control system configured to control attitude of the underwater vehicle via the thruster.

9. The underwater vehicle of claim 1, further comprising: a control system configured to hover the underwater vehicle by controlling the thruster.

10. The underwater vehicle of claim 9, further comprising one or more sensors configured to provide sensor data to the control system, wherein the control system is configured to hover the underwater vehicle by controlling the thruster based on the sensor data.

11. The underwater vehicle of claim 1, further comprising: a control system configured to reduce disturbances in water by setting a power limit for the thruster.

12. The underwater vehicle of claim 1, further comprising: a control system configured to control movement of the underwater vehicle in six degrees of freedom via the thruster.

13. A method for controlling an underwater vehicle, comprising: receiving sensor data indicating at least one of a position or orientation of the underwater vehicle, the underwater vehicle including a fairing extending along a first direction from a proximal end to a distal end of the underwater vehicle, wherein the fairing includes a first opening extending along a second direction different from the first direction, the opening extending from a first surface of the fairing to a second surface of the fairing; and controlling at least a first thruster of the underwater vehicle based on the sensor data, the first thruster being disposed in the first opening in the fairing.

14. The method of claim 13, wherein the first thruster is controlled to rotate a propeller in a clockwise direction at a first time period and a counterclockwise direction at a second time period.

15. The method of claim 13, further comprising: controlling a second thruster, a third thruster, and a fourth thruster based on the sensor data, the first thruster and the second thruster being closer to a bow of the underwater vehicle than the third thruster and the fourth thruster.

16. The method of claim 15, wherein: controlling the first thruster includes providing thrust on a first axis; and controlling the second thruster includes providing thrust on a second axis, the first axis being perpendicular to the second axis.

17. The method of claim 13, wherein controlling at least the first thruster includes controlling a pitch of the underwater vehicle.

18. The method of claim 13, wherein controlling at least the first thruster includes hovering the underwater vehicle based on the sensor data.

19. The method of claim 13, wherein controlling at least the first thruster includes reducing disturbances in water.

20. A system for controlling an underwater vehicle, comprising: one or more sensors configured to generate sensor data indicating at least one of a position or orientation of the underwater vehicle, the underwater vehicle including a fairing extending from a proximal end to a distal end of the underwater vehicle, wherein the fairing includes a first opening extending from a first surface of the fairing to a second surface of the fairing; anda control system configured to control at least a first thruster of the underwater vehicle based on the sensor data, the first thruster being disposed in one of the first opening in the fairing.

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