UNDERWATER VESSEL

Abstract

According to the present invention there is provided an underwater vessel comprising: a body; a thruster operable to produce thrust, wherein the thruster is deployable from the body; an actuator assembly connected to the thruster and operable to deploy the thruster, wherein the actuator assembly is operable to deploy the thruster in a first configuration in which the thruster is oriented to produce a thrust having a vertical component when the thruster is operated.

Claims

1. An underwater vessel comprising: a body; a thruster operable to produce thrust, wherein the thruster is deployable from the body; and an actuator assembly connected to the thruster and operable to deploy the thruster, wherein the actuator assembly is operable to deploy the thruster in a first-configuration in which the thruster is oriented to produce a thrust having a vertical component when the thruster is operated.

2. The underwater vessel according to claim 1, wherein the actuator assembly is operable to deploy the thruster by rotation about an axis.

3. The underwater vessel according to claim 1, wherein the thruster is stowable in the body.

4. The underwater vessel according to claim 3, wherein the actuator assembly is operable to stow the thruster.

5. The underwater vessel according to claim 1, wherein the configuration is a first configuration, and the actuator assembly is operable to deploy the thruster in a second configuration in which the thruster is oriented to produce a thrust having a horizontal component when the thruster is operated.

6. The underwater vessel according to claim 5, wherein the actuator assembly is operable to move the thruster from the first configuration to the second configuration.

7. The underwater vessel according to claim 5, wherein the actuator assembly is operable to deploy the thruster by rotation about a first axis, and the actuator assembly is operable to move the thruster from the first configuration to second configuration by rotation about a second axis.

8. The underwater vessel according to claim 5, wherein the actuator assembly is operable to deploy the thruster in the second configuration in the event of failure of a primary propulsion system of the submarine, thereby to provide a secondary propulsion system.

9. The underwater vessel according to claim 1, comprising a control system arranged to control operation of the thruster based on an operating condition of the vessel.

10. The underwater vessel according to claim 9, wherein the control system is arranged to control operation of the thruster to maintain a substantially constant operating condition.

11. The underwater vessel according to claim 9, wherein the control system is arranged to: control the actuator assembly to deploy the thruster in the configuration; and control operation of the thruster based on the operating condition of the vessel, to maintain a substantially constant operating condition.

12. The underwater vessel according to claim 1, wherein the thruster comprises a rim driven thruster.

13. The underwater vessel according to claim 1, wherein the thruster is one of a plurality of thrusters.

14. The underwater vessel according to claim 13, wherein the thrusters are independently operable.

15. The underwater vessel according to claim 1, wherein the underwater vessel is a submarine.

16. The underwater vessel according to claim 1, wherein the thruster is stowable completely within the body.

17. The underwater vessel according to claim 1, wherein the thruster is one of four thrusters.

18. An underwater vessel comprising: a body; a thruster operable to produce thrust, wherein the thruster is deployable from the body; and an actuator assembly connected to the thruster and operable to move the thruster between a stowed position within the body to a deployed position outside the body, deploy the thruster in a first deployed configuration in which the thruster is oriented to produce a thrust having a vertical component when the thruster is operated, and deploy the thruster in a second deployed configuration in which the thruster is oriented to produce a thrust having a horizontal component when the thruster is operated.

19. The underwater vessel according to claim 18, comprising a control system configured to control operation of the thruster based on an operating condition of the vessel, to: maintain a substantially constant operating condition; and provide a secondary propulsion system for the vessel.

20. An underwater vessel comprising: a body; first and second thrusters each independently operable to produce thrust, wherein the first and second thrusters are deployable from the body; and a first actuator assembly connected to the first thruster and operable to move the first thruster between stowed and deployed positions, rotate the first thruster about a first axis so the first thruster can provide vertical thrust, and rotate the first thruster about a second axis so the first thruster can provide horizontal thrust; and a second actuator assembly connected to the second thruster and operable to move the second thruster between stowed and deployed positions, rotate the second thruster about a first axis so the second thruster can provide vertical thrust, and rotate the second thruster about a second axis so the second thruster can provide horizontal thrust.

Description

BRIEF DESCRIPTION OF THE FIGURES

[0021] Embodiments of the invention will now be described by way of example only with reference to the figures, in which:

[0022] FIG. 1 shows a plan view of an underwater vessel having a plurality of thrusters deployed, each thruster in the first configuration;

[0023] FIG. 2 shows a perspective view of a thruster and an actuator assembly;

[0024] FIG. 3 shows a plan view of the thruster and the actuator assembly of FIG. 2;

[0025] FIG. 4 shows a side view of the thruster and the actuator assembly of FIG. 2;

[0026] FIG. 5 shows a front view of the thruster and the actuator assembly of FIG. 2;

[0027] FIG. 6 shows a part of an underwater vessel having the thruster and the actuator assembly stowed in the body;

[0028] FIG. 7 shows the thruster deployed in a first configuration;

[0029] FIG. 8 shows the thruster deployed in a second configuration; and

[0030] FIG. 9 shows the underwater vessel of FIG. 1 having a control system.

DETAILED DESCRIPTION

[0031] Referring to FIG. 1, an underwater vessel 100 is shown. Here, the underwater vessel is a submarine 100. The submarine 100 comprises a body 110. The submarine 100 comprises a thruster 120 operable to produce thrust. The thruster 120 is deployable from the body 110. An actuator assembly 130 is connected to the thruster 120 and is operable to deploy the thruster 120. The actuator assembly 130 is operable to deploy the thruster 120 in a first configuration in which the thruster 120 is oriented to produce a thrust having a vertical component when the thruster 120 is operated.

[0032] In the embodiment illustrated in FIG. 1, the submarine 100 comprises four thrusters 120. Two thrusters 120 are provided proximal the fore of the submarine 100, one either side of the body 110. Two thrusters are provided proximal the aft of the submarine 100, one either side of the body 110. Furthermore, the submarine comprises four actuator assemblies 130, one actuator assembly 130 associated with each thruster 120. Of course, it will be understood by the skilled person that the submarine 100 may comprise a single actuator assembly operable to deploy each of a plurality of thrusters (in this case, the four thrusters 120). Each thruster 120 is substantially identical in structure and operation. In this exemplary embodiment, each thruster 120 is independently operable. Each actuator assembly 130 is substantially identical in structure and operation, apart from appropriate modifications in directions of deployment and stowing, as will be appreciated by the skilled person from the description provided herein.

[0033] Referring to FIGS. 2 to 5, a thruster 120 and an actuator assembly 130 are shown.

[0034] The thruster 120 is a rim-driven thruster (RDT). The RDT 120 is absent a hub for the transmission of driving torque. The RDT 120 comprises a plurality of blades 122. The blades 122 are mounted on a ring (not shown). The ring functions as the rotor of an electric motor. The ring is surrounded by a stator, which is correspondingly ring shaped, and creates the desired torque. The stator and ring are housed in an annular housing 124. RDTs have a small spatial profile, thereby reducing the volume necessary in which to stow the RDT 120 within the body 110 of the submarine 100. Furthermore, since the rotor is electromagnetically driven, no shaft and no gearbox is needed, which reduces the weight of the thruster 120. In this way, deployment of the thruster 120, which involves movement of the thruster 120, is made easier.

[0035] The actuator assembly 130 comprises a structure 132 having an arm 134 connected to the thruster 120. The actuator assembly 130 further comprises two rotary actuators (not shown) housed within the structure 132. A first one of the rotary actuators is operable to rotate the arm 134 by 90 degrees about a first axis A-A. The first axis A-A is perpendicular to the longitudinal axis of the arm 134. A second one of the rotary actuators is operable to rotate the arm 132 by 90 degrees about a second axis B-B. The second axis B-B is parallel to the longitudinal axis of the arm 134.

[0036] Referring to FIGS. 6 to 8, rear end views of the port side (that is, left-hand side) of the body 110 of the submarine 100 are shown. In FIGS. 6 to 8, the port side aft thruster 120 is shown.

[0037] Referring to FIG. 6, the thruster 120 is shown stowed within the body 110. In this stowed configuration, the plane of the thruster 120that is, the plane perpendicular to the direction of thrust when the thruster 120 is operatedis perpendicular to the length of the body 110 of the submarine 100. In this example, the thruster 120 is stowed completely within the body 110, with no part of the thruster 120 projecting from the body 110. In this way, hydrodynamic properties of the submarine 100 are optimised when the thruster 120 is not deployed. Furthermore, platform performance is improved.

[0038] Referring to FIG. 7, the thruster 120 is shown deployed in a first configuration in which the thruster 120 is oriented to produce a thrust having a vertical component when the thruster 120 is operated. In this exemplary embodiment, the thruster 120 is oriented to produce a vertical thrust. Here, the plane of the thruster 120 is parallel to the width of the body 110 of the submarine 100. In this way, the thruster 120 is operable to produce a vertical thrust which allows the submarine 100 to maintain a constant depth or height above the seabed. In this way, the submarine 100 can hover in the water.

[0039] Movement of the thruster 120 from the stowed configuration to the first configuration is performed by operating the actuator assembly 130 to rotate the arm 134 by 90 degrees about the first axis A-A. In this way, the thruster 120 is moved to swing out away from the body 110. In combination with this first rotation, actuator assembly 130 is operated to rotate the arm 134 by 90 degrees about the second axis B-B. In this way, the thruster 120 is moved to be oriented with the plane of the thruster 120 being horizontal. In this way, the actuator assembly 130 is operable to deploy the thruster 120 in the first configuration.

[0040] Referring to FIG. 8, the thruster 120 is shown deployed in a second configuration in which the thruster is oriented to produce a thrust having a horizontal component when the thruster 120 is operated. In this exemplary embodiment, the thruster 120 is oriented to produce a horizontal thrust. Here, the plane of the thruster 120 is perpendicular to the length of the body 110. In this way, the thruster 120 is operable to produce a horizontal thrust which allows the submarine 100 to be propelled through the water. The actuator assembly 130 is operable to deploy the thruster 120 in the second configuration in the event of failure of a primary propulsion system of the submarine 100, thereby to provide a secondary propulsion system. In this way, redundancy is incorporated into the submarine 100. In this exemplary embodiment, the actuator assembly 130 is operable to deploy the aft thrusters 120, on both the port and starboard side, in the second configuration in the event of failure of a primary propulsion system of the submarine 100. In other exemplary embodiments, one or more pairs of thrusters, including port side thrusters, starboard side thrusters or both pairs of fore and aft thrusters, may be deployed and operated in the event of failure of a primary propulsion system.

[0041] Movement of the thruster 120 from the first configuration to the second configuration is performed by operating the actuator assembly 130 to rotate the arm 134 by 90 degrees about the second axis B-B. Movement of the thruster 120 from the stowed configuration to the second configuration is performed by operating the actuator assembly 130 to rotate the arm 134 by 90 degrees about the first axis A-A. In this way, the actuator assembly 130 is operable to deploy the thruster 120 in the second configuration.

[0042] It will be understood that movement from the second configuration to (or, back to) the first configuration is performed by operating the actuator assembly 130 to rotate the arm 134 by 90 degrees about the second axis B-B. This rotation may include rotation in an opposite direction to the direction of rotation of the arm 134 from the first configuration to the second configuration.

[0043] When the thruster 120 is not in use or no longer required, which may be when a primary propulsion system of the submarine 100 is to be used, the actuator assembly 130 is operated to move the thruster from the first or second configuration to the stowed configuration.

[0044] Of course, the thruster 120 is repeatedly movable between the stowed configuration, first configuration and second configuration. Such movement of the thrusters 120 may otherwise be known as a vectorable thruster.

[0045] Referring to FIG. 9, the submarine 100 comprises a control system 200. The control system is arranged to control operation of the thrusters 120. In one exemplary embodiment, the control system is arranged to control operation of the actuator assembly 130. In this way, the control system is arranged to control deployment of the thrusters 120.

[0046] Control of operation the thrusters 120 is based on an operating condition of the submarine 100. The operating condition includes one or more of: position (including current or desired position), depth, weight, buoyancy, attitude, stability, centre of mass, centre of buoyancy, centre of gravity, and the like. The control system 200 is arranged to receive information relating to the operating condition from sensors provided on the submarine 100. The control system 200 is arranged to control operation of the thrusters 120 to maintain a substantially constant operating condition. In one exemplary embodiment, the control system 200 is arranged to control operation of the thrusters 120 to maintain a constant depth, or height above the seabed. That is, the control system 200 controls the thrusters 120 to cause the submarine 100 to hover at a constant depth. In doing so, the control system 200 can also account for environmental conditions, including water temperature, water speed, density, and the like.

[0047] In one mode of operation, the control system 200 controls the actuator assembly 130 to deploy the thrusters 120 in the first configuration, thereby to provide a vertical thrust component, and control operation of the thrusters 120 based on the desired depth which is desired to maintain. As mentioned above, the thrusters 120 are independently operable, and the control system 200 is operable to control the thrusters 120 independently to maintain or obtain the operating condition. Independent operation of the thrusters 120 advantageously provides for maximum control of the stability, positioning and depth of the submarine 100.

[0048] In another mode of operation, the control system 200 controls the actuator assembly 130 to deploy the thrusters 120 in the first and/or second configuration, and control operation of the thrusters 120 to maintain a desired level of stability of the submarine 100. In this way, complex systems, including pump systems, for maintaining stability of the submarine 100 may not be necessary, or can be supplemented by the present system, thereby reducing weight and complexity of the submarine 100.

[0049] It is to be understood that the singular forms a, an, and the include plural referents unless the context clearly dictates otherwise. The terms front, rear, side, upper, lower, over, under, inner, outer and like terms are used to refer to the apparatus and its components in the orientation in which it is illustrated, which is the orientation in which it is intended to be used but should not be taken as otherwise limiting. Like reference numerals are used to denote like features throughout the figures, which are not to scale.