Brake module for submersible autonomous vehicle

Abstract

A brake module for submersible autonomous vehicles is disclosed. The brake module is operatively coupled to a fluid propulsion system of an autonomous vehicle and includes a braking mechanism configured to selectively engage a wheel of the autonomous vehicle. The braking mechanism allows or restricts the wheel to rotate when the fluid propulsion system operates with an operating parameter above a parameter threshold.

What is claimed is: 
     
         1 . A submersible autonomous vehicle, comprising:
 a fluid propulsion system;   a wheel assembly; and   a brake module that is operatively connected to the fluid propulsion system and configured to allow or restrict the wheel assembly from rotating when the fluid propulsion system operates with an operating parameter above a parameter threshold.   
     
     
         2 . The submersible autonomous vehicle of  claim 1 , wherein the brake module is configured to, at least momentarily, rotationally lock the wheel assembly to allow the submersible autonomous vehicle to pivot around the wheel assembly. 
     
     
         3 . The submersible autonomous vehicle of  claim 1 , wherein the brake module is configured to rotationally lock the wheel assembly for a predetermined amount of time to allow the submersible autonomous vehicle to execute a specific turn while pivoting around the wheel assembly. 
     
     
         4 . The submersible autonomous vehicle of  claim 1 , wherein the brake module further comprises:
 an actuator; and   a braking mechanism that selectively engages or disengages the wheel assembly in response to an actuation of the actuator, wherein engagement between the braking mechanism and the wheel assembly restricts the wheel assembly from rotating and disengagement between the braking mechanism and the wheel assembly allows the wheel assembly to rotate freely.   
     
     
         5 . The submersible autonomous vehicle of  claim 4 , wherein the actuation of the actuator causes the braking mechanism to engage the wheel assembly. 
     
     
         6 . The submersible autonomous vehicle of  claim 4 , wherein the actuation of the actuator causes the braking mechanism to disengage from the wheel assembly. 
     
     
         7 . The submersible autonomous vehicle of  claim 6 , wherein the braking mechanism is biased into engagement with the wheel assembly. 
     
     
         8 . The submersible autonomous vehicle of  claim 4 , wherein the actuator comprises:
 a bladder that distends past an expansion threshold to cause the actuation.   
     
     
         9 . The submersible autonomous vehicle of  claim 8 , wherein the bladder is in fluid communication with the fluid propulsion system and distends when the fluid propulsion system operates with the operating parameter above the parameter threshold. 
     
     
         10 . The submersible autonomous vehicle of  claim 9 , wherein the fluid communication between the bladder and the fluid propulsion system is provided via a connection element that is mechanically or electrically linked to the fluid propulsion system. 
     
     
         11 . The submersible autonomous vehicle of  claim 4 , wherein the actuator comprises:
 an electromagnetic element that causes the actuation in response to an output of the fluid propulsion system.   
     
     
         12 . The submersible autonomous vehicle of  claim 4 , wherein the wheel assembly comprises:
 a brake engagement portion that the braking mechanism selectively engages or disengages; and   an outer tread with a coefficient of friction that allows the outer tread to engage a support surface to create a pivot point for the submersible autonomous vehicle when the braking mechanism engages the brake engagement portion.   
     
     
         13 . The submersible autonomous vehicle of  claim 1 , wherein the fluid propulsion system is a sole source of propulsion for the submersible autonomous vehicle. 
     
     
         14 . The submersible autonomous vehicle of  claim 1 , wherein the wheel assembly is a first wheel assembly and the submersible autonomous vehicle further comprises:
 a second wheel assembly, the brake module being configured to simultaneously engage the first wheel assembly and the second wheel assembly.   
     
     
         15 . The submersible autonomous vehicle of  claim 1 , wherein the operating parameter is power consumed by the fluid propulsion system and the parameter threshold is a power threshold. 
     
     
         16 . A fluid-actuated brake module for a submersible autonomous vehicle, comprising:
 a fluid-actuated actuator that is operatively coupleable to a fluid propulsion system of an autonomous vehicle; and   a braking mechanism that selectively engages or disengages a wheel assembly included in the autonomous vehicle in response to an actuation of the fluid-actuated actuator, wherein engagement between the braking mechanism and the wheel assembly restricts the wheel assembly from rotating and disengagement between the braking mechanism and the wheel assembly allows the wheel assembly to rotate.   
     
     
         17 . The fluid-actuated brake module of  claim 16 , wherein the fluid-actuated actuator comprises:
 an electromagnetic element configured to cause the actuation based on a voltage supplied to the fluid propulsion system of the autonomous vehicle to cause the fluid propulsion system to pump fluid through the autonomous vehicle.   
     
     
         18 . The fluid-actuated brake module of  claim 16 , wherein the fluid-actuated actuator is in fluid communication with the fluid propulsion system and distends past an expansion threshold, in response to operations of the fluid propulsion system, to cause the actuation. 
     
     
         19 . The fluid-actuated brake module of  claim 18 , wherein the fluid-actuated actuator distends when water is pumped through the autonomous vehicle, by the fluid propulsion system, at or above a predetermined parameter threshold 
     
     
         20 . The fluid-actuated brake module of  claim 19 , wherein the braking mechanism comprises:
 a first segment that is configured to engage the bladder;   a second segment that is coupled to the first segment via a fulcrum and configured to selectively engage the wheel assembly; and   a biasing member that biases the braking mechanism into engagement with the wheel assembly until the water is pumped through the autonomous vehicle, by the fluid propulsion system, at or above the predetermined parameter threshold.