Drive module for submersible autonomous vehicle
A drive module for submersible autonomous vehicles is disclosed. The drive module includes a propulsion element configured to engage and rotate against a surface, a motor configured to drive the propulsion element, and a controller configured to cause the motor to drive the propulsion element. The drive module also includes a housing configured to be removably, releasably coupled to the exterior of a submersible autonomous vehicle. The motor and the controller are disposed within the housing.
1. A self-contained drive module for attachment to a submersible autonomous vehicle, the drive module comprising:
a propulsion element configured to engage and rotate against a surface;
a drive gear for imparting motion to the propulsion element; and
a housing configured to be removably coupled to the submersible autonomous vehicle, and in which the drive gear is disposed substantially (a) within the housing and (b) externally of the submersible autonomous vehicle.
2. The self-contained drive module of claim 1 in which the propulsion element comprises an endless track, further comprising a guide pulley for stabilizing the endless track.
3. The self-contained drive module of claim 2 in which the guide pulley is disposed substantially (a) within the housing and (b) externally of the submersible autonomous vehicle.
4. The self-contained drive module of claim 1 in which the propulsion element comprises a wheel.
5. The self-contained drive module of claim 1 further comprising means for coupling to the submersible autonomous vehicle.
6. The self-contained drive module of claim 5 in which the coupling means comprises at least one clasp configured to slide vertically into at least one slot of the submersible autonomous vehicle.
7. The self-contained drive module of claim 1 further comprising a motor configured to drive the propulsion element via the drive gear.
8. The self-contained drive module of claim 7 in which the motor is disposed substantially (a) within the housing and (b) externally of the submersible autonomous vehicle.
9. The self-contained drive module of claim 8 further comprising a controller configured to cause the motor to drive the propulsion element via the drive gear.
10. The self-contained drive module of claim 9 in which the controller is disposed substantially (a) within the housing and (b) externally of the submersible autonomous vehicle.
11. The self-contained drive module of claim 1 in which the housing comprises a water-tight enclosure and the submersible autonomous vehicle is a pool cleaning robot.