Apparatus and method for depth control of submersible vessels
Various embodiments of an apparatus and method for achieving and maintaining a desired depth of a submersible vessel are disclosed. The submersible vessel has both a ballast control system designed to alter a buoyancy of the submersible vessel and one or more vertical marine thrusters, designed to position the submersible vessel at a desired depth. Using the combination of the ballast control system and one or more thrusters, a desired depth may be achieved and maintained more quickly, more quietly and more accurately than vessels using only a ballast control system or one or more thrusters, respectively, alone.
1 . A submersible vessel, configured to achieve and maintain a desired depth, comprising:
a depth gauge for determining a depth of the submersible vessel;
a ballast control system for altering a buoyancy of the submersible vessel;
a vertical marine thruster for vertically positioning the submersible vessel by a thrust developed by the vertical marine thruster;
a memory for storing processor-executable instructions; and
a processor, coupled to the depth gauge, the ballast control system, the vertical marine thruster and the memory, for executing the processor-executable instructions that causes the processor to:
cause the ballast control system to change the buoyancy of the submersible vessel to a negative buoyancy;
determine that the submersible vessel is within a predetermined distance of a desired depth; and
in response to determining that the submersible vessel is within a predetermined distance of the desired depth, maintain the desired depth by activating the vertical marine thruster.
2 . The submersible vessel of claim 1 , wherein the processor-executable instructions comprise further instructions that causes the processor to:
in response to determining that the submersible vessel is within the predetermined distance from the desired depth, cause the ballast control system to change the buoyancy of the submersible vessel to a neutral buoyancy.
3 . The submersible vessel of claim 2 , wherein the processor-executable instructions comprise further instructions that causes the processor to:
in response to the submersible vessel reaching the desired depth, deactivate the vertical marine thruster.
4 . The submersible vessel of claim 1 , wherein the processor-executable instructions comprise further instructions that causes the processor to:
determine that a predetermined event has occurred; and
in response to determining that the predetermined event has occurred, cause the vertical marine thruster to move the submersible vessel to a water surface.
5 . The submersible vessel of claim 1 , wherein the processor-executable instructions that cause the processor to maintain the submersible vessel at the desired depth comprise instructions that causes the processor to:
cause the vertical marine thruster to exert an upward thrust against the submersible vessel when the depth of the submersible vessel sinks to a first predetermined depth below the desired depth; and
cause the vertical marine thruster to exert a downward thrust against the submersible vessel when the depth of the submersible vessel rises to a second predetermined depth above the desired depth.
6 . The submersible vessel of claim 1 , wherein the processor-executable instructions that cause the processor to maintain the submersible vessel at the desired depth comprise instructions that causes the processor to:
cause the ballast control system to change the buoyancy of the submersible vessel to a positive buoyancy;
determine that the submersible vessel has ascended to a predetermined distance from the desired depth; and
activate the thruster to exert a downward thrust against the submersible vessel until the submersible vessel has reached the desired depth.
7 . The submersible vessel of claim 1 , wherein the processor-executable instructions that cause the processor to maintain the submersible vessel at the desired depth comprise instructions that causes the processor to:
prior to activation of the vertical marine thruster, determine a rate of descent of the submersible vessel; and
in response to determining that the submersible vessel is within the predetermined distance of the desired depth, cause the ballast control system to begin increasing the buoyance of the submersible vessel at a predetermined rate to reach a substantially neutral buoyancy when the submersible vessel reaches the predetermined depth.
8 . The submersible vessel of claim 1 , further comprising:
an underwater acoustic sensor coupled to the processor; and
a transmitter coupled to the processor;
wherein the processor-executable instructions further comprise instructions that causes the processor to:
determine that an acoustic anomaly has occurred from signals from the acoustic sensor;
in response to determining the acoustic anomaly, cause the ballast control system to increase the buoyance of the submersible vessel;
in response to determining the acoustic anomaly, cause the vertical marine thruster to move the submersible vessel to the water surface;
determine when the submersible vessel has surfaced; and
transmit a message to a remote location indicating that the acoustic anomaly has occurred.
9 . The submersible vessel of claim 1 , wherein the processor-executable instructions that cause the processor to maintain the submersible vessel at the desired depth comprise instructions that causes the processor to:
in addition to activating the vertical marine thruster, cause the ballast control system to increase the buoyancy of the submersible vessel by a first predetermined amount when the submersible vessel sinks to a first predetermined depth below the desired depth, and cause the ballast control system to decrease the buoyancy of the submersible vessel by a second predetermined amount when the submersible vessel rises to a second predetermined depth above the desired depth.
10 . The submersible vessel of claim 1 , wherein the processor-executable instructions further comprise instructions that causes the processor to:
after maintaining the desired depth, cause the ballast control system to change the buoyance of the submersible vessel;
simultaneously activate the vertical marine thruster;
wherein simultaneously casing the ballast control system to change the buoyancy of the submersible vessel and activating the vertical marine thruster achieves a rate of descent or ascent of the submersible vessel that exceeds a rate of descent or ascent, respectively, able to be achieved by the ballast control system or the vertical marine thruster, respectively, alone.
11 . A method for maintaining a desired depth of a submersible vessel, the submersible vessel comprising a ballast control system and a vertical marine thruster, the method comprising:
causing the ballast control system to change the buoyancy of the submersible vessel to a negative buoyancy;
determining that the submersible vessel is within a predetermined distance of a desired depth; and
in response to determining that the submersible vessel is within a predetermined distance of the desired depth, maintaining the desired depth by activating the vertical marine thruster.
12 . The method of claim 11 , further comprising:
in response to determining that the submersible vessel is within the predetermined distance from the desired depth, causing the ballast control system to change the buoyancy of the submersible vessel to a neutral buoyancy.
13 . The method of claim 12 , further comprising:
in response to the submersible vessel reaching the desired depth, deactivating the vertical marine thruster.
14 . The method of claim 11 , further comprising:
determining that a predetermined event has occurred; and
in response to determining that the predetermined event has occurred, causing the vertical marine thruster to move the submersible vessel to a water surface.
15 . The method of claim 11 , wherein maintaining the submersible vessel at the desired depth comprises:
causing the vertical marine thruster to exert an upward thrust against the submersible vessel when the depth of the submersible vessel sinks to a first predetermined depth below the desired depth; and
causing the vertical marine thruster to exert a downward thrust against the submersible vessel when the depth of the submersible vessel rises to a second predetermined depth above the desired depth.
16 . The method of claim 11 , wherein maintaining the submersible vessel at the desired depth comprises:
causing the ballast control system to change the buoyancy of the submersible vessel to a positive buoyancy;
determining that the submersible vessel has ascended to a predetermined distance from the desired depth; and
activating the thruster to exert a downward thrust against the submersible vessel until the submersible vessel has reached the desired depth.
17 . The method of claim 11 , wherein maintaining the submersible vessel at the desired depth comprises:
prior to activation of the vertical marine thruster, determining a rate of descent of the submersible vessel; and
in response to determining that the submersible vessel is within the predetermined distance of the desired depth, causing the ballast control system to begin increasing the buoyance of the submersible vessel at a predetermined rate to reach a substantially neutral buoyancy when the submersible vessel reaches the predetermined depth.
18 . The method of claim 11 , further comprising:
determining that an acoustic anomaly has occurred from signals from an acoustic sensor coupled to the submersible vessel;
in response to determining the acoustic anomaly, causing the ballast control system to increase the buoyance of the submersible vessel;
determining when the submersible vessel has surfaced; and
transmitting a message to a remote location indicating that the acoustic anomaly has occurred.
19 . The method of claim 11 , wherein maintaining the submersible vessel at the desired depth comprises:
in addition to activating the vertical marine thruster, causing the ballast control system to increase the buoyancy of the submersible vessel by a first predetermined amount when the depth of the submersible vessel sinks to a first predetermined depth below the desired depth, and causing the ballast control system to decrease the buoyancy of the submersible vessel by a second predetermined amount when the submersible vessel rises to a second predetermined depth above the desired depth.
20 . The method of claim 11 , further comprising:
after maintaining the desired depth, causing the ballast control system to change the buoyance of the submersible vessel; and
simultaneously activating the vertical marine thruster;
wherein simultaneously casing the ballast control system to change the buoyancy of the submersible vessel and activating the vertical marine thruster achieves a rate of descent or ascent of the submersible vessel that exceeds a rate of descent or ascent, respectively, achievable by the ballast control system or the vertical marine thruster, respectively, alone.