Underwater vehicle with variable configuration

{
  "publication_number": "US11505293B2",
  "country": "US",
  "kind": "B2",
  "title": "Underwater vehicle with variable configuration",
  "abstract": "The underwater vehicle with variable configuration (1) comprises: a hull (2) consisting of at least four elongated elements (20), mutually articulated by means of joints (21), to form a first closed polygonal structure (F 1), arranged on a plane; thrusters (3), associated in parallel with said elements (20) of the hull (2); actuating means (22), associated with said joints (21), provided for automatically modifying said first closed polygonal structure (F 1), from an elongated shape configuration (AF 1) to an expanded shape (EF 1), corresponding to an elongated conformation of said hull (2), to determine a low hydrodynamic resistance and a longitudinal thrust of the thrusters (3) in the cruising of said underwater vehicle (1), and to a substantially isotropic conformation, wherein the same elements (20) of the hull (2), as well as the thrusters (3) are mutually angled, intended for the hovering of the same underwater vehicle (1), respectively. The latter can be suitably equipped with robotic arms (4) intended for performing maintenance or similar interventions in underwater locations.",
  "claims": [
    "1. An underwater vehicle with variable configuration of a type comprising at least one hull to which thrusters are associated for moving and maneuvering in water the underwater vehicle, comprising: at least four elongated elements, provided for defining the hull and mutually articulated in correspondence with respective ends by means of joints, to form a first closed polygonal structure, arranged on a plane and centered with respect to two orthogonal symmetry axes; at least one thruster, associated with each of the elements of the hull and designed to provide a direct propulsive thrust with a given angle of inclination with respect to a longitudinal axis of the respective element in the plane identified by the first closed polygonal structure; and actuating leans, associated with the joints, provided fat varying and stabilizing a predetermined angle between two respective consecutive elements of the hull, so as to obtain, for the first closed polygonal structure, at least two characteristic configurations, one with an elongated shape and one with expanded shape, to which a first elongated conformation with a reduced cross-section of the hull corresponds, in which the elements of the hull are arranged almost parallel to each other, and a second substantially isotropic conformation, wherein the elements of the hull are mutually angled, intended for hovering of the underwater vehicle, respectively.",
    "2. The underwater vehicle according to claim 1, further comprising two auxiliary supporting elements, each of which are interposed between two of the elements of the hull, in respective opposite positions, with at least one of the auxiliary supporting elements supporting at least one robotic arm equipped with operating tools.",
    "3. The underwater vehicle according to claim 1, wherein the hull is provided with at least four additional elongated elements, mutually articulated in correspondence with respective ends by means of joints, to form a second closed polygonal structure, arranged on a plane perpendicular to that on which the first closed polygonal structure lies and interconnected to the latter, the second closed polygonal structure being centered with respect to two relative orthogonal symmetry axes.",
    "4. The underwater vehicle according to claim 3, further comprising additional actuating means, associated with the joints interposed between the four additional elongated elements of the hull, provided for varying and stabilizing the angles between the latter, so as to obtain, for the second closed polygonal structure, at least two characteristic configurations, respectively with elongated and expanded shape, defined in a combination with the corresponding elongated shape and expanded shape configurations of the first closed polygonal structure.",
    "5. The underwater vehicle according to claim 3, wherein the thrusters are associated with the respective elements of the hull, outside the corresponding first or second closed polygonal structure, and designed to provide a propulsive thrust in a first direction and in a second opposite direction.",
    "6. The underwater vehicle according to claim 1, wherein the elements of the hull are watertight and are provided for housing equipment, tools or instruments of the underwater vehicle.",
    "7. The underwater vehicle according to claim 1, further comprising hydrodynamic protuberances externally projecting from the elements of the hull.",
    "8. The underwater vehicle according to claim 7, wherein the hydrodynamic protuberances are of a fixed type and are provided for stabilizing a trim system of the underwater vehicle.",
    "9. The underwater vehicle according to claim 7, wherein the hydrodynamic protuberances are adjustable by means of actuators thereof, and they are intended to steer the underwater vehicle.",
    "10. The underwater vehicle according to claim 1, further comprising remote control means adapted to control the respective operating functions."
  ],
  "description_excerpt": "The present invention relates to the technical field of underwater vehicles with variable configuration. The invention particularly relates to robotic underwater vehicles with variable configuration, used for surveillance and/or inspection and/or intervention operations not designed to have a driver and/or other staff on board, known as UUV (Unmanned Underwater Vehicles).\n\nUnderwater robotic vehicles are constructed with different characteristics depending on the operating needs for which they are intended.\n\nWhen the purposes are bathymetric survey/surveying or other, where the vehicle is expected to cover significant distances with a good speed, it is useful to have an elongated, e.g. a torpedo-like, conformation offering low hydrodynamic resistance.\n\nAccording to an acronym known in the field, in this case, they are usually referred to as AUVs (Autonomous Underwater Vehicles), i.e. autonomous vehicles.\n\nOn the contrary, when the purposes are on-site inspection and intervention, the vehicle ability of hovering in a certain position with the best possible stability is pursued, therefore an almost isotropic shape is more advantageous; moreover, it is necessary to provide for the presence of motors adapted to thrust in several directions, in order to counteract the underwater currents and to keep the vehicle in trim and/or to be able to move easily in all directions, e.g. for an inspection task.",
  "cpc": [
    "B63C 11/52",
    "B25J 9/08",
    "B63B 2001/045",
    "B63B 2001/145",
    "B63G 2008/002",
    "B63G 8/001",
    "B63G 8/16"
  ],
  "ipc": [
    "B63B 1/04",
    "B63B 1/14",
    "B63C 11/52",
    "B63G 8/00",
    "B63G 8/16"
  ],
  "assignees": [
    "Universita degli Studi di Firenze"
  ],
  "inventors": [
    "Benedetto Allotta",
    "Jonathan Gelli",
    "Marco Pagliai",
    "Alessandro Ridolfi"
  ],
  "filing_date": "2019-07-23",
  "publication_date": "2022-11-22",
  "grant_date": "2022-11-22",
  "priority_date": "2018-07-24",
  "application_number": "US-201917262714-A",
  "family_id": "63965785",
  "cited_by_count": 0,
  "citations": [
    "US4502407A",
    "CN101870352A",
    "EP3145735B1",
    "KR101642494B1",
    "EP3250345A1"
  ]
}