Modular autonomous underwater vehicle

Abstract

An autonomous, unmanned submersible is provided for performing underwater work. This submersible comprises two or more segments configured to be connected to and disconnected from each other, at least two of which are elongated, connectable in parallel to each other, and form a rigid hull, each segment having a mass of less than 80 kg, and each segment can be submerged in water with its own rated pressure set and not connected to the other segments.

Description

Technical Field

[0001] The present invention relates to a modular autonomous unmanned submersible for underwater operations and a method for assembling the modular autonomous unmanned submersible.

Background Art

[0002] Autonomous unmanned submersibles (AUVs) are used for various purposes and can have a number of shapes and sizes to perform specific functions.

Summary of the Invention

Problems to be Solved by the Invention

[0003] Some AUVs are adapted for survey purposes such as mapping or monitoring of underwater structures. AUVs used for this purpose are usually slender cylindrical in shape and have a propeller for propelling the AUV underwater at the rear end and a rudder or fins for advancing the forward movement at the front end. These usually cannot be controlled without a certain degree of speed in the forward direction. Some of the known survey AUVs are composed of modules arranged in series. In the laboratories or factories where AUVs are built, the modules can be configured in various ways to adapt the AUV to specific usage methods and situations. The assembled AUV is usually transported to the waters scheduled for launching with the assistance of a crane device or a winch device.

[0004] Other known AUVs include hovering AUVs that can hold their position underwater without the need to continue forward movement. The sizes of such AUVs vary from small and lightweight ones weighing several kilograms to very large ones weighing, for example, about 2,000 kilograms. Large AUV devices are difficult to transport and operate, and may be unrealistic to use depending on the situation.

[0005] Therefore, it is desirable to provide an AUV that is versatile, easy to transport and operate, and has the capabilities of larger AUV devices.

Means for Solving the Problems

[0006] According to a first aspect, the present invention provides an autonomous underwater vehicle for performing underwater work, comprising two or more segments configured to be connected to and disconnected from each other, at least two of the segments being elongated and connected to each other in parallel to form a rigid hull, each segment having a mass of less than 80 kg, and each segment being individually rated at a pressure and capable of being submerged in water without being connected to other segments.

[0007] By providing a modular arrangement that forms an AUV by connecting numerous individual sections, each section becomes relatively lightweight, making it easier to transport the AUV to the launch site. Since each section can be carried individually and assembled on-site, there is no need to transport or operate a relatively heavy and bulky pre-assembled AUV.

[0008] Furthermore, since AUVs are intended to be launched into water and perform underwater operations, the launch site for such submersibles is likely to be a wet environment, such as on a ship, dock, or mounting platform. By providing a modular AUV in which each section is individually rated for submersion in water (for example, each section is waterproof), the AUV of the present invention has the advantage of being able to be assembled on-site (i.e., at or near the intended launch site) without concern for water ingress into the internal parts of each section of the submersible. Before submerging the AUV in water, each section can be connected to form the AUV.

[0009] Therefore, each section can be manufactured in a dry environment such as a laboratory or factory where the water-sensitive internal components of the submersible (such as electrical components) are kept dry. Furthermore, because each completed section is lightweight, it can be easily transported to the launch site of the submersible. Once the sections arrive at the launch site, which is typically a wet environment, they can be connected to assemble the AUV without worrying about water damage to the submersible's internal components. Finally, the AUV can be launched into the water and used for underwater operations.

[0010] During AUV operation, it may become necessary to replace one or more components of the AUV, for example, if the battery power decreases or the data storage becomes full. The present invention facilitates such component replacement because each section can be replaced on-site. For example, the AUV can be removed from the water, the section containing the battery module removed from the submersible, a new section with a fully charged battery module connected in its place, and the submersible relaunched. The battery in the removed section can be recharged as needed. Since each section is waterproof, such replacements can be performed in a wet environment on-site without exposing sensitive internal electrical components to water.

[0011] The assembled AUV has a rigid hull formed by connecting at least two or more elongated sections in parallel, that is, aligned along the same longitudinal axis but not along the same axis. Arranging each section in parallel, as in the conventional series arrangement, has the advantage of limiting the overall length of the submersible and improving handling while providing the ability to replace each section. Furthermore, the rigid hull provides a stable hull for the AUV. The two or more sections can be arranged parallel to each other in the same plane, but other parallel arrangements are also possible.

[0012] The present invention therefore provides an AUV that is versatile, easy to transport and construct, and offers flexibility in use by facilitating the replacement of each section, while also possessing stability and robustness.

[0013] Since the mass of each section is less than 80 kg, it may be possible to carry it with a maximum of two people. This is particularly convenient because it reduces or eliminates the need for complex and expensive crane equipment for transporting and moving the submersible, at least until each section is connected to the others. The mass of each section may be less than 70 kg, less than 60 kg, or less than 50 kg. Typically, the mass of each section is more than 10 kg, more than 20 kg, or more than 30 kg.

[0014] The term "rated pressure set" means that the split section can be submerged in water to a certain depth (or pressure) without water ingress. The depth can range from tens of meters to thousands of meters. The pressure rating can be at least 10 meters, or at least 100 meters. A typical pressure rating, for example, for a portable split section of 50-80 kg, could be at least 500 meters, or at least 1000 meters.

[0015] The hull of each section may be made of a metal such as aluminum or titanium. In other embodiments, the hull of each section may be made of a composite material, but such materials may only be rated for pressures up to a maximum depth of approximately 100 meters. The AUV can be understood as "modular" because it is formed by connecting multiple sections (i.e., modules) to each other. Therefore, the AUV may also be called a modular AUV.

[0016] One or more sections, or each section individually, can be rigid, meaning they will not remain bent or flexed under normal use. Therefore, each section is individually endowed with strength and elasticity, and when these sections are connected to one another, the assembled AUV (specifically, the rigid hull) also gains strength and elasticity.

[0017] The rigid hull described above can be formed in a configuration in which all sections are rigidly connected to one another (as opposed to sections connected by flexible joints, as will be further described below).

[0018] One or more of the elongated segments may have a length-to-width ratio of at least 5:1, or at least 6:1, or at least 7:1, or at least 8:1, or at least 9:1, or at least 10:1. Each segment may have a substantially cylindrical shape. This results in a streamlined shape that allows for efficient movement in water.

[0019] The length of an autonomous underwater vehicle may be less than 3 meters, or less than 2.5 meters.

[0020] The length of each section may be less than 3 meters, less than 2.5 meters, less than 2.2 meters, less than 2 meters, or less than 1.5 meters. The length of each section of the AUV may be greater than 30 cm. The AUV may consist of at least two or at least three sections. In one example, the section may be about 100 cm long, have a radius of about 10 cm, and be neutrally buoyant in water, but weigh about 31 kg (in air).

[0021] The assembled AUV, specifically the rigid hull, can consist of two parallel-connected sections, three parallel-connected sections, four parallel-connected sections, or more sections.

[0022] If three or more parallel divisions are provided, the AUV may consist of at least one central division and two lateral divisions located on either side of the central division. The lateral divisions may be directly connectable to the central division. The lateral divisions may be the two outermost divisions in the radial direction. All divisions located between the outermost lateral divisions may be referred to as the central division. For example, if four parallel divisions are provided, there may be two interconnected central divisions and two lateral divisions to which each of the central divisions can be connected.

[0023] The connection between adjacent parallel divided parts of the rigid hull can be a rigid connection, that is, a connection that does not allow relative movements such as bending movements, rotations, and translations. By doing so, the stability of the AUV body is improved, and the submersible becomes more resistant to movements caused by water currents and the like. Also, since the AUV itself is stable and does not roll over or sway radially, it becomes easier to handle on the deck or the shore.

[0024] The connection interface between two adjacent divided parts can be composed of a mechanical connection that physically connects the two divided parts to each other and a non-contact electrical connection that enables non-contact electrical communication between the two divided parts. Therefore, the structure of the connection interface can be simplified, and the removal and replacement of each divided part become easy without the need for complicated removal and reconnection of each electrical component.

[0025] The above electrical connection can be inductive for the transfer of power and data. High-frequency data transfer (for example, at least 1 gigahertz) can also be used to achieve a high-speed data link connection between the divided parts.

[0026] The submersible can be made rigid in a direction perpendicular to the longitudinal direction of each divided part by the connection interface between the two divided parts.

[0027] This connection method enables the connection of each divided part without opening any of the pressurized divided parts.

[0028] One or more divided parts can be connected in series, that is, end to end. The connection between adjacent divided parts connected in series can be a flexible connection to enable the relative bending movement of each divided part. This is in contrast to the rigid connection between parallel divided parts. For example, an AUV includes a joining module for connecting two divided parts to each other in series, and is configured to enable the bending movement of the AUV by this joining module. For this reason, one or more divided parts can be bent with respect to the rigid hull of the AUV. Such divided parts can be used to perform each operation, such as operating as an "arm" of the AUV that can operate tools. The above rigid hull can be a stable base for this arm.

[0029] One or more divided parts themselves can be modularized. That is, a given divided part is composed of one or more modules, and each module is configured to perform a specific function. Each module can be freely configured within each divided part. In this way, the configuration of the AUV can be adjusted for a specific purpose. For example, in order to cope with larger power requirements, the number of divided parts including battery modules can be increased, or many battery modules can be arranged in a specific divided part. Each module of a specific divided part can be referred to as a sub-module in order to distinguish it from each divided part itself regarded as a "module" of the assembled AUV. An AUV in which each divided part itself is composed of each sub-module can be said to have "super modularity".

[0030] One or more divided parts can be composed of one or more thruster modules. The thruster module can be configured to control the operation of the AUV in water. A number of thruster modules can be provided at both ends of a given divided part, for example, an elongated divided part.

[0031] One or more thruster modules may be positioned to provide thrust to the AUV and propel the entire AUV during translational movement. One or more thruster modules may be configured to generate thrust in a direction along the length of the AUV, for example, in a direction aligned with the longitudinal axis of the AUV. One or more thruster modules may be configured to generate thrust in a direction at an angle to the longitudinal direction of the AUV, i.e., laterally and / or perpendicularly to the length of the AUV.

[0032] By using combinations of multiple thrust directions, the AUV can be rotated to perform actions such as pitch, yaw, and / or roll. For example, by applying downward thrust to the front of the AUV and / or upward thrust to the rear of the AUV, the AUV can be controlled to pitch downward.

[0033] If two or more segments are connected via connecting modules that allow relative bending of adjacent segments, one or more thruster modules can apply thrust to the AUV to control the bending of the connecting modules. Therefore, the thruster modules may be used to control the movement of the arm segments, for example, to control tools or other components.

[0034] In addition to providing thrust for propulsion, thruster modules also have the advantage of allowing the AUV to maintain a constant position and / or direction underwater. Therefore, the propulsion system can be configured to provide thrust that gives the AUV hovering capability. The advantage of an AUV being able to hover underwater is that it can collect high-resolution images of, for example, seabed structures for underwater photogrammetry and underwater mosaic photography. When used in combination with navigation equipment, these images can accurately represent seabed structures.

[0035] Therefore, the motion controls provided by the thruster module may include underwater propulsion, rotation, pitch, and / or hovering of the autonomous underwater vehicle.

[0036] Thruster devices may include propellers, impellers, tunnel thrusters, rotary (azimuth) thrusters, screws (single, twin, double-rotating, variable pitch, nozzle style, etc.), rudders, fins, and / or water jets. Control surfaces such as rudders, fins, and guide vanes can be provided and used as thruster devices that passively or actively contribute to directional control. This can occur while the AUV is being propelled by another thruster device, and also when the AUV is being towed. The control surfaces mentioned above may be part of the thruster device.

[0037] Thruster modules can include, for example, tunnel thrusters using propellers or waterjet thrusters. A specific example involves using a thruster module with thrusters oriented in two orthogonal directions, which may be roughly perpendicular to the longitudinal direction of the AUV. This allows thrust to be applied in any lateral direction, such as vertically or diagonally. Multiple thrust modules can be installed along the longitudinal direction of the AUV. This allows thrust to be applied in different directions to different parts of the AUV, enabling all kinds of movements, including translational motion, rotational motion without translation, or a combination of both.

[0038] At least one of the segments may consist of a battery module configured to supply power to the AUV's electrical components. For example, the battery module may be for powering one or more thruster modules, sensors, navigation devices, cameras, etc. The battery module may preferably consist of one or more rechargeable batteries. As mentioned above, the AUV of the present invention has the advantage that the segment containing the depleted battery can be easily removed from the AUV and replaced with another segment containing a fully charged battery, thus facilitating the replacement of the depleted battery. The depleted battery can be recharged (or replaced) while the AUV is re-launched in water.

[0039] An AUV may consist of one or more working modules, such as sensors, one or more different types of cameras, acoustic depth sounders, and gas detectors.

[0040] The electrical components may consist of sonar modules. Sonar modules may be used for navigation, ranging, and communication. For example, sonar modules may be used to identify underwater hazards, search for and map objects on the seabed such as shipwrecks, pipelines, and other seabed structures, or map the seabed itself.

[0041] The electrical components may consist of a navigation module. The navigation module may enable the AUV to navigate autonomously and perform underwater operations without continuous input from a human or operator.

[0042] The electrical components may consist of camera modules. These camera modules may be used to capture still images or video footage of, for example, seabed structures. Numerous still images can be stitched together to create detailed, high-resolution maps of the seabed structures. This stitching can be enhanced by using high-performance navigation equipment. The AUV's voluntary hovering capability allows it to remain stationary underwater, thus improving its ability to capture high-resolution still images.

[0043] Electrical components may consist of satellite modules. These satellite modules may be for navigation, such as tracking the AUV's position using GPS, and / or for communications, etc.

[0044] AUVs may be equipped with accessories that can be attached to them, or connection points for such accessories. These accessories can be any kind of accessories necessary for underwater work, including all kinds of underwater mapping accessories, monitoring accessories, inspection, maintenance, and repair (IMR) accessories (e.g., inspection accessories such as cameras and other sensors), and manipulator tools (such as gripping tools). AUVs may be configured to move on their own to a target location and perform position holding or hovering (also known as dynamic positioning). AUVs may also be configured to perform necessary tasks using the aforementioned accessories.

[0045] One or more of the above modules or accessories may be integrated with each other and / or installed inside or outside the enclosure where the rated pressure of each section of the AUV is set.

[0046] The above-mentioned accessories or connection points can be attached to any convenient location on the AUV and can be any type of accessory, including inspection accessories, manipulator tools, and other types of IMR accessories, as described above. Therefore, the above-mentioned accessories or connection points can be located at the front of the AUV, in the middle, or at the stern of the AUV. There can be many accessories or connection points. Where connection points exist, accessories can be attached in a removable manner. These connection points can also be used to connect other types of accessories, which has the advantage of allowing different accessories for different underwater operations to be attached to the same AUV.

[0047] In some preferred examples, the AUV is equipped with the above-mentioned accessories or connection points for tools on the front section or the front end of the section, so the accessories are positioned at the front end of the AUV. Mounting the accessories at the front end maximizes the range of movement of the AUV and the underwater visibility range in front of the AUV, for example, when navigating to avoid obstacles.

[0048] The AUV may consist of a data storage module. This data storage module may be located in the side section of the autonomous underwater vehicle. Similar to the battery module described above, locating this data storage module in the side section may be advantageous because the side section is easier to remove and replace compared to the central section.

[0049] This data storage module can be configured to allow access to stored data without compromising the rated pressure of each section. For example, this data storage module may consist of a data transfer port and / or a removable data storage medium that can be accessed from outside the AUV without compromising the rated pressure. This data storage module may utilize WiFi data transmission, Bluetooth, etc. TM It may consist of a wireless data transmission interface such as data transmission, cellular data transmission, or wireless data transmission.

[0050] Additionally or alternatively, this data storage module, or in fact each of the segments comprising this data storage module, may be detachable from the AUV. For example, if this data storage module becomes full, the AUV can be retrieved, the data storage module or its constituent segments removed, the data storage module replaced, or a new segment containing a new data storage module connected to the AUV, and the AUV relaunched.

[0051] In embodiments where the central and lateral divisions are arranged in parallel, one or more lateral divisions may consist of a first battery module and a thruster module powered by this battery module. The central division may consist of a second battery module and an electrical component powered by this second battery module. This electrical component may consist of a sonar module, a navigation module, a camera module, and / or a satellite module, as described above.

[0052] Isolating the thrusters and batteries in the side sections of the AUV offers several advantages. The noisy, high-power thrusters and batteries are separated from the more sensitive instrumentation in the central section. This significantly reduces electrical noise and interference to the sensitive instrumentation. Furthermore, placing the thrusters and batteries in the side sections allows for easy replacement on the deck, enabling the AUV to be quickly prepared for its next dive after completing a mission.

[0053] An AUV designed for underwater work means that it is suitable for at least one specific underwater operation. For example, this AUV may be equipped with the necessary equipment to perform a specific underwater operation, such as by using one or more accessories provided on it. For example, this AUV may be equipped with one or more cameras and light sources for the purpose of inspecting seabed pipelines. Additionally or alternatively, this AUV may be equipped with manipulator tools such as gripping tools. [Brief explanation of the drawing]

[0054] Now, some preferred embodiments of the present invention will be described as merely examples with reference to the accompanying drawings. [Figure 1] This shows a top view of an AUV according to the first embodiment of the present invention. [Figure 2] Figure 1 shows a perspective view of the assembled AUV. [Figure 3] Figure 1 shows a perspective view of the AUV in its disassembled state. [Figure 4] This shows a top view of an AUV according to a second embodiment of the present invention. [Figure 5] Figure 4 shows a perspective view of the AUV. [Figure 6] This shows a top view of an AUV according to a third embodiment of the present invention. [Figure 7] Figure 6 shows a perspective view of the AUV. [Figure 8] This shows a top view of an AUV according to the fourth embodiment of the present invention. [Figure 9] Figure 8 shows a perspective view of the AUV. [Figure 10] Figure 8 shows the mounting platform for docking the AUV. [Figure 11] Figure 1 shows the AUV performing work on the seabed. [Modes for carrying out the invention]

[0055] Referring to Figures 1, 2, and 3, an AUV 100 for underwater operations is shown. The AUV 100 consists of three elongated sections 2 and 4 that are rigidly connected in parallel to each other. The three elongated sections 2 and 4 include a central section 2 and two lateral sections 4 located on either side of the central section 2.

[0056] The adjacent pairs of the three division sections 2 and 4 are connected by their respective connecting sections 6. The length of each connecting section 6 is approximately 70% of the length of each side division section 4. Therefore, the connections between adjacent division sections 2 and 4 are strong and rigid, so that the three interconnected division sections 2 and 4 form a rigid hull 22.

[0057] The assembled AUV100 hull 22 is relatively short in height and long in length compared to its width. Each section 2, 4 is substantially cylindrical in shape, as best shown in Figure 3. As a result, the assembled AUV100 has a streamlined shape, allowing it to move through the water more efficiently than conventional large and bulky hovering AUVs.

[0058] Each side section 4 is equipped with two thruster modules 8 located at each end of the side section 4. Each thruster module 8 consists of two thrusters 10.

[0059] The first thruster 10a is oriented to generate vertical thrust and control vertical thrust. This allows the first thruster 10a to be activated, enabling the AUV 100 to hover underwater.

[0060] The second thrusters 10b are oriented to generate horizontal thrust at a 45-degree angle to the longitudinal direction of the AUV 100. In the illustrated example, two of the second thrusters 10b are oriented perpendicular to the other two. Therefore, by selectively driving the second thrusters 10b, thrust control in the longitudinal, lateral, and rotational directions becomes possible.

[0061] Therefore, the AUV100 can be operated underwater by using the thruster module 8 to provide thrust in combination with multiple directions.

[0062] Each side section 4 also includes two battery modules 12 for supplying power to the thrusters 10 and other electrical components of the AUV 100. The thruster modules 8 and battery modules 12 of each side section 4 are connected in series along the length of the side section 4.

[0063] It will be understood that the above example is only one possible thruster configuration. Each thruster can be arranged in a variety of possible configurations. In some embodiments, one or more such thruster modules may be connected to a steerable coupling, which can be bent to allow for rapid pitch and yaw movements.

[0064] The central section 2 consists of a sonar / camera module 14, a navigation module 16, a satellite module 18, and a tail module 20. The sonar / camera module 14 is positioned at the front end of the central section 2 to ensure visibility for the AUV 100 as it moves underwater. The navigation module 16 and the satellite module 18 are located in the central region of the central section 2, and the tail module 20 is located at the rear end of the central section 2.

[0065] Since each battery module 12 is located in each side section 4, when a battery is depleted, each side section 4 can be easily removed from the AUV100, and each section containing a fully charged battery can be reconnected to its original location. This process is much faster than charging each battery individually. Therefore, the downtime of the AUV100 is reduced. Furthermore, since each battery is located away from the sensitive equipment in the central section 2 (such as the navigation module 16 and satellite module 18), noise and interference from each battery are reduced.

[0066] Figures 1 and 2 show the assembled AUV100 with sections 2 and 4 connected to each other, ready to be launched into the water for underwater operations. Figure 3 shows the AUV100 in a disassembled state with sections 2 and 4 separated from each other. Each section 2 and 4 weighs less than 80 kg, for example, around 30-50 kg, so each section 2 and 4 can be carried by a maximum of two people. Therefore, the disassembled AUV100 can be easily transported to the launch site, where it can be assembled and deployed.

[0067] Each of the sections 2 and 4 has a rated pressure for submersion in water set individually, that is, in its unassembled state, so it can be assembled without compromising the rated pressure. This eliminates concerns about damaging the internal electrical components of the AUV100 and allows sections 2 and 4 to be connected and disconnected in a wet environment.

[0068] AUV200 according to the second embodiment is shown in Figures 4 and 5.

[0069] The AUV200 is similar to the AUV100, with a central section 202 and two side sections 204 connected in parallel to form a rigid hull 222. The side sections 204 are the same as the side sections 4 of the AUV100. The AUV200 also includes an additional arm section 224. The arm section 224 is connected to the front of the central section 202 via two connecting modules 226. The arm section 224 is connected in series with the central section 202, that is, end to end.

[0070] The arm segment 224 is elongated and has a sonar / camera module 214 at its front end, which forms the very front of the assembled AUV200.

[0071] The connecting module 226, which connects the divided sections 202 and 224, allows the central divided section 202 and the arm divided section 224 to bend relative to each other at various angles. This allows the AUV200 to operate the sonar / camera module 214 to various positions, enabling it to achieve the optimal position according to the desired function.

[0072] The central division section 202 is the same as the central division section 2 of the AUV100, except that instead of having a sonar / camera module at the front end of the central division section 202, the central division section 202 is connected to one of the connecting modules 226.

[0073] Figure 4 shows the AUV200 with the connecting module 226 not bent and the arm division section 224 aligned axially with the central division section 202. This configuration may be particularly suitable for long-distance underwater travel because the AUV200 has a streamlined shape.

[0074] Figure 5 shows a configuration in which the connecting module 226 is bent and the axis of the arm division section 224 is shifted from the axis position in Figure 4. This allows for flexible control of the attitude of the sonar / camera module 214 at the front end.

[0075] Although not shown in the figures, the sections 202, 204, and 224 of the AUV200 can be separated in the same manner as the AUV100 shown in Figure 3. Therefore, since each section 202, 204, and 224 is lightweight and meets the rated pressure specifications, each section 202, 204, and 224 can be separated from the other sections and carried by up to two people.

[0076] Figures 6 and 7 show an AUV300 according to a third embodiment. The AUV300 is composed of a rigid hull 322 having four elongated divisions 302 and 304 connected in parallel to each other. The four parallel divisions 302 and 304 consist of a first central division 302a and a second central division 302b (collectively referred to as the central division 302) and two side divisions 304.

[0077] The two side divisions 304 are the same as the side divisions 4 and 204 of AUV100 and 200, and each consists, for example, of two battery modules 312 and two thruster modules 308.

[0078] The adjacent sections 302 and 304 of the hull are firmly connected to each other via their respective connecting sections 306.

[0079] The first central division section 302a includes a navigation module 316. The second central division section 302b includes a satellite module 318. Each central division section 302 has a tail module 320 at its rear end.

[0080] The AUV300 further comprises two arm division sections 324a and 324b. The first arm division section 324a is connected in series with the first central division section 302a via two connecting modules 326a, and the second arm division section 324b is connected in series with the second central division section 302b via two connecting modules 326b. The first arm division section 324a is equipped with a light source module 328 at its front end, and the second arm section 324b is equipped with a sonar / camera module 314 at its front end.

[0081] As shown in Figure 7, the connecting modules 326a and 326b allow adjacent divisions to bend relative to each other. Therefore, for example, the first arm division 324a and connecting module 306a can be used to operate the light source module 328 relative to the first central division 302a to illuminate a specific object, and the second arm division 324b and connecting module 326b can be used to operate the sonar / camera module 314 to image the object. The four parallel divisions 302a, 302b, 304a, and 304b form a rigid hull 322 that serves as a stable base for the arm divisions 324a and 324b. A particular advantage is that the two arm divisions 324a and 324b can move independently, which means, for example, that they can illuminate and image the object from multiple different angles, or interact with it.

[0082] Although not shown in each figure, the sections 302, 304, 324a, and 324b of the AUV300 can be separated in the same manner as the AUV100 shown in Figure 3. Therefore, each section 302, 304, 324a, and 324b can be separated from the other sections and carried by up to two people.

[0083] AUV400 according to the fourth embodiment is shown in Figures 8 and 9.

[0084] The AUV400 is similar to the AUV100, with a central section 402 and two side sections 404 connected in parallel to form a rigid hull 422. The side sections 404 are the same as the side sections 4, 204, and 304 of the AUV100, 200, and 300. The AUV400 also includes a forward arm section 424a connected in series to the front end of the central section 402, and a rear arm section 424b connected in series to the rear end of the central section 402. Joining modules 426a and 426b connect each arm section 424 to the respective ends of the central section 402.

[0085] The sonar and camera module 414 is located at the front end of the forward arm section 424a. The thruster module 430 is located at the rear end of the rear arm section 424b. The thruster module 430 may be the main propulsion system for moving the AUV400 forward. This may be beneficial for providing greater thrust for long-distance travel, while the thruster modules 408 in the side sections 404 may be more useful for maneuvers such as turning the AUV400.

[0086] As shown in Figure 9, the connecting modules 26a and 426b allow adjacent arm divisions 424a and 424b to bend relative to the hull 422. Thus, for example, the forward arm division 424a can be used to operate the sonar and camera module 414, and the aft arm division 424b can be used to operate the main propulsion unit 430 and change the direction of thrust. The rigid hull 422, formed by three parallel divisions 402 and 404, provides a stable base for the arm divisions 424a and 424b.

[0087] Figure 10 shows a subsea AUV docking device 500 comprising an AUV 400 and a mounting platform 432 for docking the AUV 400. The subsea AUV docking device 500 can be used to charge the AUV 400 and to transfer data to and from the AUV 400, such as uploading and downloading data.

[0088] By connecting both arm divisions 424 and 424b to the AUV400 in a configuration where they are bent upward, the bottom surface of the AUV400 consists only of the rigid hull 422, so that the AUV400 can be seated on the surface of the mounting base without damaging the arm components.

[0089] Figure 11 shows the AUV100 being used for underwater work. In this example, the AUV100 is illuminating and imaging a structure on the seabed 434. Because the AUV100 has hovering capabilities, it can maintain its position underwater while imaging the seabed 434, and its camera can capture high-resolution images.

[0090] The embodiments described above illustrate typical configurations of the AUV of the present invention. It will be understood that other configurations falling within the scope of each claim can also be designed. In fact, one advantage of the present invention is the flexibility provided by the hypermodularity of the AUV. That is, different sections can be interchanged within the AUV, and different modules can be interchanged within each section. For example, AUV100 can be reconfigured into AUV200 by removing the sonar / camera module at the front end of the central section and connecting two bonding modules in its place, and then connecting the sonar / camera module to the front end of the forward bonding module.

[0091] In each configuration, each section has a set rated pressure, allowing for easy connection and disconnection without damaging the electrical components inside the AUV, even in wet environments such as the mounting platform shown in Figure 10. Furthermore, since each section is relatively lightweight, each disassembled section can be carried by a maximum of two people, making transportation and assembly easy. Once assembled, the sections are firmly connected in a parallel manner, forming a rigid hull that provides strength and stability to the assembled AUV.

[0092] Although only a limited number of variations are shown, it will be understood that any combination of derived devices can be distributed across any number of divisions. For example, an AUV could have only two side divisions 4, each incorporating one or more of the following: a sonar / camera module, a navigation module, a satellite module, and a tail module.

[0093] Furthermore, the AUV is not limited to having each section arranged in the same plane. For example, one or more sections may be connected above or below the central section or the side sections, or diagonally to them.

Claims

1. An autonomous unmanned submersible for performing underwater work, It comprises two or more divisions configured to be connected to and disconnected from one another, At least two of the aforementioned divisions are elongated and connected to each other in parallel to form a rigid hull. The mass of each divided section is less than 80 kg. Each section has its own rated pressure and can be submerged in water without being connected to other sections. An autonomous unmanned submersible characterized by the following.

2. The mass of each of the aforementioned divided parts is less than 70 kg or less than 60 kg. An autonomous unmanned submersible vehicle according to claim 1, characterized in that...

3. At least one of the divisions comprises a thruster module configured to control the operation of the autonomous underwater vehicle. An autonomous unmanned submersible vehicle according to claim 1 or 2, characterized in that it is a submersible vehicle according to claim 1 or 2.

4. The aforementioned motion control includes underwater propulsion, rotation, pitch, and hovering of the autonomous underwater vehicle. The autonomous unmanned submersible according to claim 3, characterized in that...

5. At least one of the divisions comprises a battery module configured to supply power to the electrical components of the autonomous underwater vehicle. An autonomous underwater vehicle according to any one of claims 1 to 4, characterized in that

6. One or more of the elongated divisions have a length-to-width ratio of at least 5:

1. An autonomous underwater vehicle according to any one of claims 1 to 5, characterized in that

7. At least two of the elongated divisions are composed of a central division and two lateral divisions located on either side of the central division. An autonomous underwater vehicle according to any one of claims 1 to 6, characterized in that

8. One or more of the aforementioned side divisions are composed of a first battery module and a thruster module to which power is supplied from the battery module. The autonomous unmanned submersible according to claim 7, characterized in that...

9. The central division section is composed of a second battery module and electrical components to which power is supplied from the second battery module. An autonomous underwater vehicle according to claim 7 or 8, characterized in that it is an autonomous underwater vehicle.

10. The aforementioned electrical components consist of at least one of the following: a sonar module, a navigation module, a camera module, and a satellite module. The autonomous unmanned submersible according to claim 9, characterized in that...

11. At least one of the divisions is comprised of a tool or a connection point for a tool. An autonomous underwater vehicle according to any one of claims 1 to 10, characterized in that

12. The connection interface between the two divisions comprises a mechanical connection that physically connects the two divisions to each other, and a contactless electrical connection that enables contactless telecommunications for bidirectional transfer of power and / or data between the two divisions. An autonomous underwater vehicle according to any one of claims 1 to 11, characterized in that

13. The system includes a junction module that connects the two aforementioned divided sections in series with each other. The connecting module enables the bending motion of the autonomous underwater vehicle. An autonomous underwater vehicle according to any one of claims 1 to 12, characterized in that

14. Equipped with a data storage module, The data storage module is preferably located in the side section of the autonomous underwater vehicle. An autonomous underwater vehicle according to any one of claims 1 to 13, characterized in that

15. At least one of the divisions comprises a plurality of modules configured to be rearranged within the division. An autonomous underwater vehicle according to any one of claims 1 to 14, characterized in that

16. The width of the aforementioned autonomous underwater vehicle is less than 1 meter. An autonomous unmanned submersible vehicle according to any one of claims 1 to 15, characterized in that it is the same as described in any one of claims 1 to 15.

17. The length of the aforementioned autonomous underwater vehicle is less than 2.5 meters. An autonomous underwater vehicle according to any one of claims 1 to 16, characterized in that

18. A method for assembling an autonomous underwater vehicle according to any one of claims 1 to 17, To provide two or more of the aforementioned divisions, This includes connecting two or more of the aforementioned divided parts to form the autonomous unmanned submersible vehicle. A method characterized by the following:

19. The divided sections are connected to each other at a location near the water area where the autonomous submersible will be launched. The method according to claim 18, characterized in that

20. The further includes having up to two people carry each of the aforementioned divided sections before connecting them to each other. The method according to claim 18 or 19, characterized in that

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