| CPC E21C 50/02 (2013.01) [E02F 3/8866 (2013.01); E02F 3/907 (2013.01); E02F 7/005 (2013.01); G08G 3/00 (2013.01); B63G 2008/002 (2013.01)] | 1 Claim |
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1. A submersible harvesting vehicle comprising:
A submersible vehicle chassis;
A buoyancy module;
A buoyancy compensation system selected from the group of (a) thruster configured to direct thrust along a range of desired vectors; or (b) variable ballast;
An apron,
A harvesting system for harvesting objects from a surface, said harvesting system selected from a group of:
(a) A Mechanical harvesting system further comprising:
A drum configured to move a reel configured to move teeth to substantially skim a surface containing objects the user desires to retrieve;
The teeth being configured to move the objects onto and along the apron;
(b) A Hydraulic harvesting system further comprising:
A pump configured to generate a vacuum at the inlet to remove the objects to be harvested from the surface and deposit the objects onto and along the apron;
The hydraulic control system further configured to substantially optimize operations and account for environmental and operational effects of displaced surface material;
(c) A picker harvesting system comprising:
A robotic arm connected to the submersible vehicle, the robotic arm comprising a proximal end, one or more bendable joints, a distal end, and a grabber component disposed at the distal end for grabbing objects off the surface;
The apron being configured to retain the objects while allowing other material to return to the surface;
The apron further configured to direct the objects to a container for retaining the objects;
A load sensor to measure a weight and mass of the objects in the container;
An altimeter;
A sled configured to maintain the submersible harvesting vehicle at a substantially constant altitude from the surface;
The submersible harvesting vehicle being configured to adjust the buoyancy compensation system based on input from the load sensor and the altimeter to maintain a desired height above the surface;
A power pack configured to be pressure tolerant;
A control system, the control system comprising:
A control sensor package; and
A control architecture;
The control architecture comprising:
A processor;
A memory storing executable instructions;
A data processing module configured to receive and filter and process data from the control sensor package;
A decision-making module configured to analyze the data from the data processing module and generate task-specific control commands; and
An actuation module configured to implement control commands by interfacing with mechanical and electrical components;
The control system being configured to control the vehicle to conduct at least one function selected from the group of: (a) harvesting, (b) navigation, and (c) communications;
wherein, when configured for navigation, the control architecture determines a path based on sensor data and adjusts movement parameters accordingly;
wherein, when configured for harvesting, the control architecture analyzes sensor data related to environmental conditions to optimize object collection via the harvesting system; and
wherein, when configured for communication, the control architecture processes signals received by the sensor package and manages data transmission and reception from a remote system;
A navigation system, the navigation system comprising:
A navigation computer; and
A navigation sensor package including at least one sensors selected from the group of: (a) a Inertial Navigation System, (b) a Doppler Velocity Log, (c) a Depth Sensor, (d) the altimeter, and (e) a heading sensor;
The navigation system being configured to combine inertial data with longitudinal and latitudinal data to optimize navigational data;
The navigation system being further configured to receive input from support sensors to provide data for functions selected from the group of (a) obstacle avoidance data and (b) target identification data;
The navigation system being further configured to navigate the submersible harvesting vehicle fully autonomously;
The navigation system being further configured to receive optional commands from an operator for semiautonomous and fully remotely controlled operations;
A communication system configured to transmit and/or receive information with other submerged or surface equipment using at least one communications protocol selected from the group of: (a) acoustic protocols and (b) optical protocols;
Wherein the submersible harvesting vehicle comprises one or more marine-sensors configured to detect and identify marine life, communicate identified marine life data to the operator, avoid disruption to or attempts to collect marine life, and avoid collisions with marine life; and
Wherein the submersible harvesting vehicle may be configured to coordinate its movement and harvesting activities with other submersible harvesting vehicles operating in the same geographic area to execute a mission assigned by the operator.
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