Positively buoyant, vertical thrust, manned submersible
The present invention is directed towards a fixed positively buoyant manned submersible that includes a plurality of vertical thrusters and a sealed enclosure(s) that can support one or more human passengers. The vertical thrusters can include vertically aligned propellers that are coupled to motors that control the rotational velocity of the propellers. The vertical thrusters to generate a negative vertical thrust to allow the submersible to dive within a body of water. Horizontal movement can be achieved through horizontal thrusters or directing the thrust vectoring of the vertical thrusters.
1. A submersible comprising:
a hull having at least one pressure pod for accommodating at least one person a first vertical thruster on a front half of the hull;
a second vertical thruster on a rear half of the hull;
a sensor for detecting an orientation of the hull;
a control input for the at least one person; and
a controller coupled to the first vertical thruster and the second vertical thruster for controlling thrust outputs of the vertical thruster and the second vertical thruster based upon control signals from the control input and sensor signals from the sensor;
wherein the submersible has a fixed positive buoyancy and does not include a variable buoyance mechanism.
2. The submersible of claim 1 further comprising:
a third vertical thruster on a right side of the hull;
wherein the first vertical thruster or the second vertical thruster is on a left side of the hull.
3. The submersible of claim 1 further comprising:
a first horizontal thruster on a right side of the hull; and
a second horizontal thruster on a left side of the hull; and
wherein the first horizontal thruster and the second horizontal thruster are coupled to the controller.
4. The submersible of claim 1 further comprising:
a yaw controller for changing a yaw of the submersible;
wherein the yaw controller increases the thrust output of the first horizontal thruster and/or decreases the thrust output of the second horizontal thruster to turn the submersible to the left and the yaw controller increases the thrust output of the second horizontal thruster and/or decreases the thrust output of the first horizontal thruster to turn the submersible to the right.
5. The submersible of claim 1 further comprising:
a pitch controller for changing a pitch of the submersible;
wherein the pitch controller increases the thrust output of the first vertical thruster and/or decreasing the thrust output of the second vertical thruster to cause the submersible to pitch nose down and the pitch controller increases the thrust output of the second vertical thruster and/or decreasing the thrust output of the first vertical thruster to cause the submersible to pitch nose up.
6. The submersible of claim 1 wherein the hull does not include a rudder, wings or elevators.
7. The submersible of claim 1 wherein the hull does not include any hydrodynamic control surfaces.
8. A submersible comprising:
a hull having at least one pressure pod for accommodating at least one person
a first vertical thruster on a front half of the hull;
a first plurality of deflection vanes adjacent to the first vertical thruster;
a second vertical thruster on a rear half of the hull;
a second plurality of deflection vanes adjacent to the first vertical thruster;
a sensor for detecting an orientation of the hull;
a control input for the at least one person; and
a controller coupled to the first vertical thruster and the second vertical thruster for controlling thrust outputs of the vertical thruster and the second vertical thruster based upon control signals from the control input and sensor signals from the sensor;
wherein the submersible has a fixed positive buoyancy and does not include a variable buoyance mechanism.
9. The submersible of claim 8 further comprising:
a third vertical thruster on a right side of the hull; and
a third plurality of deflection vanes adjacent to the third vertical thruster;
wherein the first vertical thruster or the second vertical thruster is on a left side of the hull.
10. The submersible of claim 8 further comprising:
a yaw controller coupled to the first plurality of deflection vanes;
wherein the yaw controller deflects a direction of the thrust of the first vertical thruster to change a yaw of the submersible.
11. The submersible of claim 8 further comprising:
a horizontal velocity controller coupled to the second plurality of deflection vanes;
wherein the horizontal velocity controller deflects a direction of the thrust of the second vertical thruster to change a horizontal velocity of the submersible.
12. The submersible of claim 8 further comprising:
a pitch controller for changing a pitch of the submersible;
wherein the pitch controller increases the thrust output of the first vertical thruster and/or decreasing the thrust output of the second vertical thruster to cause the submersible to pitch nose down and the pitch controller increases the thrust output of the second vertical thruster and/or decreasing the thrust output of the first vertical thruster to cause the submersible to pitch nose up.
13. The submersible of claim 8 wherein the hull does not include a rudder, wings or elevators.
14. The submersible of claim 8 wherein the hull does not include any hydrodynamic control surfaces.
15. A submersible comprising:
a hull having at least one pressure pod for accommodating at least one person a first vertical thruster on a front half of the hull;
a first rotational axis coupled between the hull and the first vertical thruster that allows the first vertical thruster to rotate relative to the hull;
a first actuator coupled to the first vertical thruster for controlling a rotational position of the first vertical thruster relative to the hull;
a second vertical thruster on a rear half of the hull;
a second rotational axis coupled between the hull and the second vertical thruster that allows the second vertical thruster to rotate relative to the hull;
a first actuator coupled to the first vertical thruster for controlling a rotational position of the second vertical thruster relative to the hull;
a sensor for detecting an orientation of the hull;
a control input for the at least one person; and
a controller coupled to the first vertical thruster and the second vertical thruster for controlling thrust outputs of the vertical thruster and the second vertical thruster based upon control signals from the control input and sensor signals from the sensor;
wherein the submersible has a fixed positive buoyancy and does not include a variable buoyance mechanism.
16. The submersible of claim 15 further comprising:
a third vertical thruster on a right side of the hull; and
a third rotational axis coupled between the hull and the third vertical thruster that allows the third vertical thruster to rotate relative to the hull;
wherein the first vertical thruster or the second vertical thruster is on a left side of the hull.
17. The submersible of claim 15 further comprising:
a yaw controller coupled to the first actuator;
wherein the yaw controller alters a direction of the thrust of the first vertical thruster to change a yaw of the submersible.
18. The submersible of claim 15 further comprising:
a horizontal velocity controller coupled to the second actuator;
wherein the horizontal velocity controller alters a direction of the thrust of the second vertical thruster to change a horizontal velocity of the submersible.
19. The submersible of claim 15 further comprising:
a pitch controller for changing a pitch of the submersible;
wherein the pitch controller increases the thrust output of the first vertical thruster and/or decreasing the thrust output of the second vertical thruster to cause the submersible to pitch nose down and the pitch controller increases the thrust output of the second vertical thruster and/or decreasing the thrust output of the first vertical thruster to cause the submersible to pitch nose up.
20. The submersible of claim 15 wherein the hull does not include any hydrodynamic control surfaces.