Modular rapid development system for building underwater robots and robotic vehicles

Abstract

A modular system for building underwater robotic vehicles (URVs), including a pressure vessel system, modular chassis elements, a propulsion system and compatible buoyancy modules. The pressure vessel system uses standardized, interchangeable modules to allow for ease of modification of the URV and accommodation of different internal and external components such as sensors 4800 and computer systems. The system also includes standard, reconfigurable connections of the pressure vessel to the modular chassis system. A standardized, modular propulsion system includes a magnetic clutch, and a magnetic sleeve used to power the URV on or off.

1 . (canceled) 
     
     
         2 . An underwater robotic vehicle system for moving an underwater object, comprising:
 an underwater robotic vehicle, comprising:
 a chassis configured for removably coupling to the underwater object; and 
 at least one movement element coupled to the chassis, wherein each movement element is selected from the group consisting of lift bags and thrusters, wherein each movement element is configured to move underwater in at least one direction and receive instructions for operation of the movement element, wherein the underwater robotic vehicle is configured to perform the steps of:
 coupling to the underwater object; 
 receiving of an instruction by at least one of the at least one movement element; and 
 in response to receiving the instruction, coordinated moving underwater of the at least one of the at least one movement element, whereby the underwater robotic vehicle is moved, whereby the underwater object is also moved. 
 
   
     
     
         3 . The underwater robotic vehicle system for moving the underwater object of  claim 1 , wherein the at least one movement element consists of one lift bag. 
     
     
         4 . The underwater robotic vehicle system for moving the underwater object of  claim 1 , wherein the at least one movement element comprises at least one lift bag. 
     
     
         5 . The underwater robotic vehicle system for moving the underwater object of  claim 1 , wherein the at least one movement element includes at least one thruster. 
     
     
         6 . The underwater robotic vehicle system for moving the underwater object of  claim 1 , wherein the underwater robotic vehicle is configured to receive the instruction from a safe stand-off distance from the underwater robotic vehicle. 
     
     
         7 . The underwater robotic vehicle system for moving the underwater object of  claim 1 , wherein the underwater robotic vehicle is further configured to receive instructions transmitted wirelessly and wherein the received instruction is a wirelessly-transmitted instruction. 
     
     
         8 . The underwater robotic vehicle system for moving the underwater object of  claim 1 , the underwater robotic vehicle further comprising an ultrasonic positioning system. 
     
     
         9 . The underwater robotic vehicle system for moving the underwater object of  claim 1 , wherein the underwater robotic vehicle is coupled to a wire and configured to receive instructions via the wire, and wherein the instruction is received via the wire. 
     
     
         10 . The underwater robotic vehicle system for moving the underwater object of  claim 1 , the chassis further comprising a plurality of rods coupled together to form a space frame. 
     
     
         11 . The underwater robotic vehicle system for moving the underwater object of  claim 1 , further comprising a pressure vessel coupled to the chassis, wherein the pressure vessel is configured to provide a dry interior space. 
     
     
         12 . The underwater robotic vehicle system for moving the underwater object of  claim 11 , the pressure vessel including a module in the interior dry space, wherein the module is configured to receive the instruction and communicate the instruction to each of the at least one movement element. 
     
     
         13 . The underwater robotic vehicle system for moving the underwater object of  claim 1 , wherein the underwater robotic vehicle is a first underwater robotic vehicle, further comprising at least one additional underwater robotic vehicle, wherein the plurality of underwater robotic vehicles communicate such that the positioning of each underwater robotic vehicle with respect to the other underwater robotic vehicles is coordinated. 
     
     
         14 . The underwater robotic vehicle system for moving the underwater object of  claim 13 , wherein the response to receiving the instruction further comprises coordinated moving underwater of the plurality of underwater vehicles. 
     
     
         15 . The underwater robotic vehicle system for moving the underwater object of  claim 13 , wherein each underwater robotic vehicle includes a positioning beacon configured to locate the position of that underwater robotic vehicle with respect to the other underwater robotic vehicles. 
     
     
         16 . A method for moving an underwater object by at least one underwater robotic vehicle, comprising the steps of:
 removably coupling the underwater object to the at least one underwater robotic vehicle, each underwater robotic vehicle comprising a chassis and at least one movement element configured to move underwater in at least one direction, receive instructions, the at least one movement element coupled to the chassis and selected from the group of lift bags and thrusters;   receiving, by at least one of the at least one movement element for each underwater robotic vehicle, an instruction;   in response to the receiving the instruction, coordinated moving underwater of the at least one of the at least one movement element for each underwater robotic vehicle, whereby the at least one underwater robotic vehicle is moved, whereby the underwater object is also moved.   
     
     
         17 . The method for moving the underwater object by the at least one underwater robotic vehicle of  claim 16 , wherein the at least one underwater robotic vehicle is a plurality of underwater vehicles. 
     
     
         18 . The method for moving the underwater object by the at least one underwater robotic vehicle of  claim 17 , wherein the response to receiving the instruction further comprises coordinated moving underwater of the plurality of underwater robotic vehicles. 
     
     
         19 . The method for moving the underwater object by the at least one underwater robotic vehicle of  claim 18 , wherein each underwater robotic vehicle further comprises a positioning beacon configured to locate the position of that underwater robotic vehicle with respect to the other underwater robotic vehicles. 
     
     
         20 . The method for moving the underwater object by the at least one underwater robotic vehicle of  claim 16 , wherein the instruction is received wirelessly. 
     
     
         21 . The method for moving the underwater object by the at least one underwater robotic vehicle of  claim 16 , wherein the received instruction is received from at least a safe stand-off distance from each of the at least one underwater robotic vehicle.