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 right vertical thruster on the hull;
a left vertical thruster on the hull;
a first accelerometer for detecting a rotational orientation of the hull in pitch and a second accelerometer for detecting the rotational orientation of the hull in roll;
a control input for the at least one person; and
a controller coupled to the right vertical thruster and the left vertical thruster for controlling thrust outputs of the vertical thruster based upon control signals from the control input and sensor signals from the first accelerometer and the second accelerometer;
wherein the submersible has a fixed positive buoyancy and does not include a variable buoyancy mechanism.
2. The submersible of claim 1 further comprising:
a roll controller for changing a roll of the submersible;
wherein the roll controller increases the thrust output of the right vertical thruster and/or decreases the thrust output of the left vertical thruster to roll the submersible to the left and the roll controller increases the thrust output of the left vertical thruster and/or decreases the thrust output of the right vertical thruster to roll the submersible to the right.
3. The submersible of claim 1 further comprising:
a right horizontal thruster on the hull; and
a left horizontal thruster on the hull.
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 a right horizontal thruster and/or decreases the thrust output of the left horizontal thruster to turn the submersible to the left and the yaw controller increases the thrust output of a left horizontal thruster and/or decreases the thrust output of the right horizontal thruster to turn the submersible to the right.
5. The submersible of claim 1 further comprising:
a forward vertical thruster on a forward portion of the submersible; and
a pitch controller for changing a pitch of the submersible;
wherein the right vertical thruster is on rear portion of the hull, the left vertical thruster is on the rear portion of the hull and the pitch controller increases the thrust output of the forward vertical thruster and/or decreasing the thrust output of the right vertical thruster and the left vertical thruster to cause the submersible to pitch nose down and the pitch controller increases the thrust output of the right vertical thruster and the left vertical thruster and/or decreasing the thrust output of the forward 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 right vertical thruster on the hull;
a right vertical deflection vane adjacent to the right vertical thruster;
a left vertical thruster on the hull;
a left vertical deflection vanes adjacent to the left vertical thruster;
a first accelerometer for detecting a rotational orientation of the hull in pitch and a second accelerometer for detecting the rotational orientation of the hull in roll;
a control input for the at least one person; and
a controller coupled to the right vertical deflection vane and the left vertical deflection vane for controlling thrust directions of the right vertical thruster and the left 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 buoyancy mechanism.
9. The submersible of claim 8 further comprising:
a roll controller for changing a roll of the submersible;
wherein the roll controller increases the thrust output of the right vertical thruster and/or decreases the thrust output of the left vertical thruster to roll the submersible to the left and the roll controller increases the thrust output of the left vertical thruster and/or decreases the thrust output of the right vertical thruster to roll the submersible to the right.
10. The submersible of claim 8 further comprising:
a forward vertical thruster on a front portion of the hull; and
a forward deflection vane adjacent to the forward vertical thruster.
11. The submersible of claim 8 further comprising:
a right horizontal thruster on the hull; and
a left horizontal thruster on the hull.
12. The submersible of claim 8 wherein the hull does not include a rudder, wings or elevators.
13. The submersible of claim 8 wherein the hull does not include any hydrodynamic control surfaces.
14. A submersible comprising:
a hull having at least one pressure pod for accommodating at least two people;
a right vertical thruster on the hull;
a left vertical thruster on the hull;
a forward vertical thruster on the hull;
a right horizontal thruster on the hull;
a left horizontal thruster on the hull;
a first accelerometer for detecting a rotational orientation of the hull in pitch and a second accelerometer for detecting the rotational orientation of the hull in roll;
a control input for the at least one person; and
a controller coupled to the right vertical thruster and the left vertical thruster for controlling thrust outputs of the 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 buoyancy mechanism.
15. The submersible of claim 14 further comprising:
a horizontal velocity controller that alters the right horizontal thruster and the left horizontal thruster to change a horizontal velocity of the submersible.
16. The submersible of claim 14 further comprising:
a yaw controller coupled to the first actuator wherein the yaw controller alters outputs of the right horizontal thruster and the left horizontal thruster to change a yaw of the submersible.
17. The submersible of claim 14 further comprising:
a roll controller that increases the thrust output of the right vertical thruster and/or decreases the thrust output of the left vertical thruster to roll the submersible to the left and the roll controller increases the thrust output of the left vertical thruster and/or decreases the thrust output of the right vertical thruster to roll the submersible to the right.
18. The submersible of claim 14 further comprising:
a pitch controller that 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.
19. The submersible of claim 14 wherein the hull does not include any hydrodynamic control surfaces.