Systems and methods for remote buoyancy control

Abstract

A system for controlling the buoyancy of a remotely operated vehicle. The system includes buoyancy tanks, storage tanks, pressure sensors, gyroscopes, a control unit, and transporting and conducting means to couple all the elements. The system autonomously adjusts the depth of all or part of the remotely operated vehicle based at least in part on the pressure readings and the orientation of the remotely operated vehicle. The system is designed to reach the depths of the ocean floor either by a high pressure encasement, or by adjusting the internal pressure of the buoyancy tanks to withstand the ambient pressure exerted by the column of water. The system is entirely closed, meaning that the buoyancy can be adjusted simply by moving gas between a storage tank to a buoyancy tank. The system can finely control total depth, roll, pitch, and yaw of the remotely operated vehicle.

What is claimed is: 
     
         1 . A buoyancy control system comprising:
 at least one buoyancy tank;   at least one pressurized storage tank coupled with the at least one buoyancy tank; and   at least one control arrangement, the at least one control arrangement coupled with the at least one pressurized storage tank.   
     
     
         2 . The buoyancy control system of  claim 1 , wherein the system forms a closed loop such that no gas is released. 
     
     
         3 . The buoyancy control system of  claim 1 , wherein the at least one control arrangement comprises:
 at least one pressure sensor; and   circuitry for determining a pressure at least partially based on a reading of the at least one pressure sensor.   
     
     
         4 . The buoyancy control system of  claim 2 , wherein the at least one control arrangement comprises:
 at least a first pressure sensor;   at least a second pressure sensor; and   circuitry for comparing a pressure reading from the first pressure sensor against a pressure reading from the second pressure sensor.   
     
     
         5 . The buoyancy control system of  claim 1 , wherein the at least one control arrangement comprises:
 at least one gyroscope; and   circuitry for determining an orientation at least partially based on a reading of the at least one gyroscope.   
     
     
         6 . The buoyancy control system of  claim 1 , wherein the at least one control arrangement comprises:
 at least one pressure sensor;   circuitry for determining a pressure at least partially based on a reading of the at least one pressure sensor;   at least one gyroscope;   circuitry for determining an orientation at least partially based on a reading of the at least one gyroscope; and   circuitry for adjusting a flow of a gas at least partially based on a pressure and the orientation of the buoyancy control system.   
     
     
         7 . The buoyancy control system of  claim 1 , wherein the at least one control arrangement comprises:
 at least a first pressure sensor, the first pressure sensor situated to measure an external pressure;   at least a second pressure sensor, the second pressure sensor situated to measure an internal pressure;   circuitry for determining a comparative pressure between the first pressure sensor and the second pressure sensor; and   circuitry for adjusting the internal pressure based on the comparative pressure determination.   
     
     
         8 . The buoyancy control system of  claim 1 , wherein the at least one control arrangement comprises:
 at least a first pressure sensor;   at least a second pressure sensor;   circuitry for determining a comparative pressure between the first pressure sensor and the second pressure sensor;   at least one gyroscope;   circuitry for determining an orientation at least partially based on a reading of the at least one gyroscope; and   circuitry for adjusting a flow of a gas at least partially based on the comparative pressure and the orientation of the buoyancy control system.   
     
     
         9 . The buoyancy control system of  claim 1 , wherein the at least one control arrangement comprises:
 at least a first pressure sensor;   at least a second pressure sensor;   circuitry for determining a comparative pressure between the first pressure sensor and the second pressure sensor;   at least one gyroscope;   circuitry for determining an orientation at least partially based on a reading of the at least one gyroscope; and   circuitry for adjusting a flow of a gas at least partially based on the comparative pressure and the orientation of the buoyancy control system, wherein the adjusting the flow of the gas alters the volume of gas in the at least one buoyancy tank.   
     
     
         10 . A buoyancy control system comprising:
 a plurality of buoyancy tanks;   at least one pressurized storage tank coupled with the plurality of buoyancy tanks; and   at least one control arrangement, the at least one control arrangement coupled with the at least one pressurized storage tank.   
     
     
         11 . The buoyancy control system of  claim 10 , wherein the system forms a closed loop such that no gases are released. 
     
     
         12 . The buoyancy control system of  claim 10 , wherein the at least one control arrangement comprises:
 at least one pressure sensor; and   circuitry for determining a pressure at least partially based on a reading of the at least one pressure sensor.   
     
     
         13 . The buoyancy control system of  claim 10 , wherein the at least one control arrangement comprises:
 at least a first pressure sensor;   at least a second pressure sensor; and   circuitry for comparing a pressure reading from the first pressure sensor against a pressure reading from the second pressure sensor.   
     
     
         14 . The buoyancy control system of  claim 10 , wherein the at least one control arrangement comprises:
 at least one gyroscope; and   circuitry for determining an orientation at least partially based on a reading of the at least one gyroscope.   
     
     
         15 . The buoyancy control system of  claim 10 , wherein the at least one control arrangement comprises:
 at least one pressure sensor;   circuitry for determining a pressure at least partially based on a reading of the at least one pressure sensor;   at least one gyroscope;   circuitry for determining an orientation at least partially based on a reading of the at least one gyroscope; and   circuitry for adjusting a flow of a gas at least partially based on a pressure and the orientation of the buoyancy control system.   
     
     
         16 . The buoyancy control system of  claim 10 , wherein the at least one control arrangement comprises:
 at least a first pressure sensor, the first pressure sensor situated to measure an external pressure;   at least a second pressure sensor, the second pressure sensor situated to measure an internal pressure;   circuitry for determining a comparative pressure between the first pressure sensor and the second pressure sensor; and   circuitry for adjusting the internal pressure based on the comparative pressure determination.   
     
     
         17 . The buoyancy control system of  claim 10 , wherein the at least one control arrangement comprises:
 at least a first pressure sensor;   at least a second pressure sensor;   circuitry for determining a comparative pressure between the first pressure sensor and the second pressure sensor;   at least one gyroscope;   circuitry for determining an orientation at least partially based on a reading of the at least one gyroscope; and   circuitry for adjusting a flow of a gas at least partially based on the comparative pressure and the orientation of the buoyancy control system.   
     
     
         18 . The buoyancy control system of  claim 10 , wherein the at least one control arrangement comprises:
 at least a first pressure sensor;   at least a second pressure sensor;   circuitry for determining a comparative pressure between the first pressure sensor and the second pressure sensor;   at least one gyroscope;   circuitry for determining an orientation at least partially based on a reading of the at least one gyroscope; and   circuitry for adjusting a flow of a gas at least partially based on the comparative pressure and the orientation of the buoyancy control system, wherein the adjusting the flow of the gas alters the volume of gas in the plurality of buoyancy tanks.   
     
     
         19 . A buoyancy control system comprising:
 a plurality of buoyancy tanks;   at least one pressurized storage tank coupled with the plurality of buoyancy tanks; and   at least one control arrangement coupled with the at least one pressurized storage tank, the at least one control arrangement comprising:
 at least a first pressure sensor; 
 at least a second pressure sensor; 
 circuitry for determining a comparative pressure between the first pressure sensor and the second pressure sensor; 
 at least one gyroscope; 
 circuitry for determining an orientation at least partially based on a reading of the at least one gyroscope; and 
 circuitry for adjusting a flow of a gas at least partially based on the comparative pressure and the orientation of the buoyancy control system, wherein the adjusting the flow of the gas alters the volume of gas in the plurality of buoyancy tanks.