US-12619214-B2 - Interface and control of underwater robotics, instruments, and sensors from a human occupied submerged space

US12619214B2US 12619214 B2US12619214 B2US 12619214B2US-12619214-B2

Abstract

A networked system architecture including hardware and software elements permits data transmission between underwater systems. The network architecture includes data transmission between underwater computers, instruments, robotic vehicles, human-occupied underwater habitats, and/or worn sensor devices. Data is transmitted over wired communication channels, wireless communication channels, or a combination thereof. The network is established independent of surface connectivity (e.g., a topside connection) and creates a Local Area Network (LAN) or Wide Area Network (WAN) specific to an underwater environment. A system administrator, such as a diver, operates an underwater and waterproof computer to control and operate an underwater and waterproof device (e.g., a robotic vehicle) over the LAN/WAN. The underwater device may be a remotely operated vehicle (ROV), an autonomous underwater vehicle (AUV), a drifting sensor, a moored sensor, or the like.

Inventors

Winslow Burleson
Michael Lombardi

Assignees

ARIZONA BOARD OF REGENTS ON BEHALF OF THE UNIVERSITY OF ARIZONA
Lombardi Undersea LLC

Dates

Publication Date: 20260505
Application Date: 20240429

Claims (20)

1 . A submerged operating environment, comprising: a first set of one or more computing devices associated with one or more system administrators; a second set of one or more computing devices communicatively coupled to the first set of computing devices; and a submerged space comprising a third set of one or more computing devices communicatively coupled to the first and second set of one or more computing devices; wherein at least one of the first set of one or more computing devices is configured to: operate while submerged with a diver, or from within the submerged space that is an underwater structure having one or more modular compartments with reinforced pressure-resistant walls, or an ambient pressure system, and the diver and the submerged space are associated with integrated life support systems, and one or more communication interfaces; transmit one or more control commands to the second set of one or more computing devices; receive one or more signals from the second set of one or more computing devices in response to the one or more control commands; and transmit an alert to the third set of one or more computing devices based on the one or more signals received from the second set of one or more computing devices.
2 . The submerged operating environment of claim 1 , wherein the one or more system administrators is the diver, a submersible pilot or operator, a habitat occupant, or an underwater data center technician.
3 . The submerged operating environment of claim 1 , wherein the submerged space includes an anchor mechanism attached to the submerged space to maintain the submerged space at a desired depth underwater.
4 . The submerged operating environment of claim 1 , wherein the first, second, and third set of one or more computing devices are communicatively coupled to each other via a wireless connection, a wired connection, or a combination thereof.
5 . The submerged operating environment of claim 1 , wherein the one or more control commands manipulate movement of at least one of the second set of one or more computing devices.
6 . The submerged operating environment of claim 1 , wherein the at least one of the second set of one or more computing devices is a remotely operated vehicle (ROV), an autonomous underwater vehicle (AUV), a drifting sensor, or a moored sensor.
7 . The submerged operating environment of claim 1 , wherein the first set of one or more computing devices, the second set of one or more computing devices, and the third set of one or more computing devices form a local area network.
8 . The submerged operating environment of claim 7 , wherein the local area network operates independently from a top-surface network.
9 . The submerged operating environment of claim 1 , wherein the first set of one or more computing devices, the second set of one or more computing devices, and the third set of one or more computing devices communicate using acoustic signals, optical signals, quantum electro-magnetic signals, or combinations thereof.
10 . An underwater communication system, comprising: a submerged space for scientific research, the submerged space comprising modular compartments with reinforced pressure-resistant walls or an ambient pressure system, integrated life support systems, one or more communication interfaces, a data center, a network access point, and an anchor mechanism, or a diver who is associated with the integrate life support systems, the one or more communication interfaces, the data center, and the network access point; a plurality of computing devices, each computing device equipped with a network communication interface, wherein the plurality of computing devices forms an underwater computer network to facilitate data exchange in an underwater environment; a plurality of sensors connected to the underwater computer network; wherein at least one of the plurality of computing devices is housed within the submerged space and is configured to: receive one or more signals from the plurality of sensors via the underwater computer network; detect for anomalies in the one or more signals; and in response to detecting at least one anomaly in the one or more signals, transmit an alert to trigger an alarm within the submerged space.
11 . The underwater communication system of claim 10 , wherein the plurality of computing devices includes one or more autonomous underwater vehicles (AUVs).
12 . The underwater communication system of claim 10 , wherein the underwater computer network operates independently of a top-side surface connection.
13 . The underwater communication system of claim 10 , wherein the alert is transmitted to a top-side and nearby vessel.
14 . A submerged space for scientific research, the submerged space comprising: one or more modular compartments with reinforced pressure-resistant walls or an ambient pressure system, integrated life support systems, and one or more communication interfaces; and at least one computing device comprising a memory and a processor, wherein the memory includes instructions that when executed by the processor implement: receiving, via a user interface, one or more control commands to operate one or more underwater devices; sending, via the one or more communication interfaces, the one or more control commands to the one or more underwater devices; receiving, from the one or more underwater devices, sensor data from one or more environmental sensors of the one or more underwater devices; in response to the sensor data comprising anomaly data, generating an alert based on the anomaly data; and transmitting the alert on an underwater communication network.
15 . The submerged space of claim 14 , wherein the at least one computing device is associated with a diver, a submersible pilot or operator, a habitat occupant, or an underwater data center technician.
16 . The submerged space of claim 14 , wherein the submersible habitat is an underwater habitat.
17 . The submerged space of claim 14 , wherein the at least one computing device and the underwater devices are communicatively coupled via a wireless connection, a wired connection, or a combination thereof.
18 . The submerged space of claim 14 , wherein the one or more control commands manipulate movement of at least one of the underwater devices.
19 . The submerged space of claim 14 , wherein: the underwater devices include at least one of a remotely operated vehicle (ROV) and an autonomous underwater vehicle (AUV); and the one or more environmental sensors include at least one of a drifting sensor and a moored sensor.
20 . The submerged operating environment of claim 1 , wherein the submerged space includes a modular payload which removably attaches to an underwater envelope, the modular payload having a breathable gas source and a carbon dioxide scrubber.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS This application claims the benefit of U.S. Provisional 63/498,564, filed Apr. 27, 2023, which is hereby incorporated by reference as submitted in its entirety. FIELD OF THE INVENTION The present disclosure relates to an underwater networked system architecture and, more particularly, to the control of underwater instruments in a subsea networked environment. BACKGROUND Subsea robotics are most frequently deployed from the surface and communicated via hardwired tethers or wirelessly through acoustic signal transmission. Those robotic systems include, for example, remotely operated vehicles (ROVs), autonomous underwater vehicles (AUVs), as well as independent drifting or moored sensors. By contrast, human divers have endeavored to operate underwater autonomously via self-contained underwater breathing apparatus (SCUBA), surface supplied diving techniques, or while within the protected space of one atmosphere suits or submersibles. Underwater robotics and divers have operated in parallel, though it is not common practice to interface for the purpose of enhancing capabilities and addressing limitations of each independent system or technique. Robots do not have dexterous manipulation, while the human hand is needed for delicate work. Humans do not have unlimited life support capacity, while robots can operate without physiological limitations. SUMMARY A system is described as one that can be used and operated by divers while underwater or within submerged spaces. The system described may be used and operated within habitats or submersibles which allows control of subsea robotics without a topside connection. In some embodiments, the described system may include a combination of hardware and software interfaces to enable operation of subsea robotics by a diver while underwater. Additionally, the hardware/software enable operation of subsea instruments without a surface connection. Operation without a surface connection reduces operational complexity. Additionally, or alternatively, operation sans topside connection enhances synergistic capabilities. In another embodiment, a networked system architecture including hardware and software elements which permits data transmission between underwater systems is provided. The network architecture includes data transmission between underwater computers, instruments, robotic vehicles, human-occupied underwater habitats, and/or worn sensor devices. Data is transmitted over wired communication channels, wireless communication channels, or a combination thereof. The network is established independent of surface (e.g., topside) connectivity and creates a Local Area Network (LAN) or Wide Area Network (WAN) specific to an underwater environment. A system administrator, such as a diver, operates an underwater computer to control and operate another underwater device (e.g., a robotic vehicle) over the LAN/WAN. The underwater device may be a remotely operated vehicle (ROV), an autonomous underwater vehicle (AUV), a drifting sensor, a moored sensor, or the like. Additionally, or alternatively, the system may be autonomously administered (e.g., via rules-based algorithms and/or adaptive emerging AI approaches and/or underwater collaborative robot ROV/AUV). In a first aspect, a submerged computing environment is provided. The submerged computing environment includes a first set of one or more computing devices associated with one or more system administrators, a second set of one or more computing devices communicatively coupled to the first set of computing devices, and a submersible habitat comprising a third set of one or more computing devices communicatively coupled to the first and second set of one or more computing devices. At least one of the first set of one or more computing devices is configured to: (i) transmit information, such as one or more control commands and/or information, to the second set of one or more computing devices, (ii) receive one or more signals from the second set of one or more computing devices in response to the one or more control commands, and (iii) transmit an alert to the third set of one or more computing devices based on the one or more signals received from the second set of one or more computing devices. In a second aspect, an underwater communication system is provided. The underwater communication system includes a submersible habitat for scientific research. The submersible habitat includes modular compartments with reinforced pressure-resistant walls or an ambient pressure system, integrated life support systems, one or more communication interfaces, a data center, a network access point, and an anchoring mechanism. Additionally, the underwater communication system includes a plurality of computing devices, each computing device equipped with a network communication interface. The plurality of computing devices forms an underwater computer network to facilitate data exchange in an underwater envir