DIVE SYSTEM COMPRISING A SUBMARINE AND A CURTAIN DEVICE CONNECTED TO THE SUBMARINE VIA A TETHER

[0001] This invention pertains to a dive system that operates without a ballast tank, utilizing the coordinated actions of the submarine and the curtain device, connected by a tether, to perform diving and rising operations

[0002] Typically, submarines adjust their buoyancy by regulating water inflow into the ballast tanks during diving. However, installing and managing ballast tanks can be burdensome for the submarine's structure and manufacturing. Therefore, it was necessary to develop a submarine capable of performing diving operations without the use of ballast tanks

[0003] This invention pertains to a dive system that operates without a ballast tank, utilizing the coordinated actions of the submarine and the curtain device, connected by a tether, to perform diving and rising operations. The diving operation is executed by releasing the tether connecting the submarine and the curtain device, activating the curtain propellers to generate downward propulsion, and then rewinding the tether. Conversely, the surfacing operation is achieved by rewinding the tether and activating both the curtain device propellers and the submarine propellers to generate upward propulsion

[0011] FIG. 1A-1F illustrates conventional submarine 101 diving and rising operations that utilize a ballast tank 102. As depicted in FIG. 1A, the submarine 101 features a ballast tank 102 essential for regulating buoyancy, enabling the submarine 101 to dive and rise as required. In FIG. 1A-1C, the submarine 101 dives by filling its ballast tank 102 with water, thereby increasing its weight and causing it to sink. This process, known as achieving negative buoyancy, involves opening all valves 103, 104, 105, 106 to allow water ingress into the ballast tank 102. Conversely, as shown in FIG. 1D-1F, the submarine 101 rises by expelling water from the ballast tank 102 and replacing it with air, reducing its weight and enabling it to float. This process, referred to as achieving positive buoyancy, involves opening certain valves to allow water in the ballast tank 102 to be displaced by compressed air. Additionally, the conventional submarine 101 can maintain a specific depth by adjusting the water and air levels in the ballast tank 102 to achieve neutral buoyancy, where the submarine 101 neither sinks nor rises.

[0012] FIG. 2A-2B illustrates the dive system 200 of the present invention, featuring a submarine 201 and a curtain device 202 connected to the submarine 201 via a tether 209. As depicted in FIG. 2A, the dive system 200 comprises a submarine 201 and a tethered curtain device 202. The submarine 201 features a passenger capsule 203 that accommodates passengers and allows them to control the dive system's operations, including diving, pausing, rising, and lateral movement. The passenger capsule 203 has four connecting arms 208, each with an attached submarine propeller 204, 205, 206, and 207. These propellers have rotatable blades (not shown) that generate thrust based on their rotation direction. For instance, when the submarine 201 is submerged, rotating the blades in one direction generates thrust that propels the submarine 201 downward, while rotating the blades in the opposite direction generates thrust that causes the submarine 201 to rise.

[0013] As described in FIG. 2A-2B, the curtain device 202 is shaped like a circular plate. The main body of the curtain device 202 is located at the center, while the outer edge features a circular curtain ring 216. Multiple curtain plates 215 are rotatably connected between the curtain device main body 210 and the curtain ring 216. These plates can rotate around the central axis of the curtain device main body 210 and slide beneath adjacent plates during the folding process. As shown in FIG. 2A, no opening is present when the curtain plates are fully extended. However, as depicted in FIG. 2B, the curtain opening 217 is maximized when the curtain plates are fully folded. The driving force that rotates the multiple curtain plates originates from the curtain plate driver 413 equipped within the curtain device main body 210.

[0014] The curtain device 202 also has four propellers, all attached to the outer edge of the curtain ring 216. Like the submarine propellers described above, curtain device propellers 211, 212, 213, and 214 have blades that can rotate bidirectionally. These blades generate thrust based on their rotation direction. For instance, when the curtain device 202 is submerged, rotating the blades in one direction generates thrust that propels the curtain device 202 downward. Conversely, rotating the blades in the opposite direction generates thrust that causes the curtain device 202 to rise.

[0015] FIG. 3A-3B illustrates a functional block diagram of the present invention, depicting a passenger capsule 203 and a curtain device 202 main body. As shown in FIG. 3A, the passenger capsule 203 consists of a controller 301, memory 302, sensor unit 303, I/O unit 304, power unit 305, communication unit 306, tether driver 307, and propeller driver. 308 The controller manages the overall operation of the dive system 200, including all other functional blocks within the passenger capsule 203. The I/O unit receives commands from passengers and provides status updates on the dive system 200 to passengers. The memory stores all operational instructions for the dive system 200.

[0016] Sensor unit 303 collects data on the dive system's location, depth, speed, and tilt. A GPS sensor determines the submarine's position, while a depth gauge sensor measures its depth and vertical speed. Tilt information is obtained through multiple depth gauges attached to the four submarine propellers. When the submarine 201 tilts, the depth readings from the depth gauges on the inclined propellers differ from those on the opposite side, indicating the degree and direction of the tilt. To correct this tilt, the rotation speed of the propeller on the inclined side can be adjusted. For example, reducing the rotation speed of the propeller on the inclined side relative to the opposite side during a dive corrects the tilt. Conversely, increasing the rotation speed of the propeller on the inclined side relative to the opposite side during rises corrects the tilt.

[0017] The power unit either stores or generates energy, providing the necessary power to operate the dive system 200. The communication unit enables interaction with the curtain device 202 and external entities such as satellites or wireless stations. The tether driver manages the tether 209 by releasing or rewinding it, thereby connecting the curtain device 202. When the curtain device 202 is submerged, releasing the tether 209 causes it to dive due to its weight, while rewinding the tether 209 causes it to rise towards the surface. The propeller driver controls the submarine propellers attached to the passenger capsule 203 via connecting arms. This invention allows the propeller driver to independently control the rotation direction and speed of the submarine propellers. Additionally, it enables the propeller body to rotate, switching the dive system's movement direction between vertical and lateral.

[0018] As illustrated in FIG. 3B, the curtain device 202 main body includes a controller 309, communication unit 310, sensor unit 311, propeller driver 312, curtain driver 313, and power unit 314. The controller manages the overall operation of the curtain device 202, including controlling all other functional components within the main body. The communication unit can interface with the submarine 201 wirelessly or through the tether's internal wiring. Consequently, the curtain device 202 can transmit various data, such as its depth and balance information, to the submarine 201 via the communication unit. It can also receive control data, such as commands to operate the curtain device propellers or the curtain driver to manage the curtain plates. The sensor units can gather various sensing data, such as the depth and balance of the curtain device 202.

[0019] The tilt information of the curtain device 202 is obtained through multiple depth gauges attached to its four propellers. When the curtain device tilts, the depth detected by the gauge on the propeller in the inclined direction will differ from the depths detected by the gauges on the propellers in the opposite direction. This discrepancy allows for determining the degree and direction of the device's inclination. To correct this tilt, the rotation speed of the propeller on the inclined side can be adjusted. For example, decreasing the rotation speed of the propeller on the inclined side relative to the opposite side during a dive corrects the tilt. Conversely, increasing the rotation speed of the propeller on the inclined side relative to the opposite side during rise corrects the tilt. The propeller driver controls the operation of the four propellers connected to the main body of the curtain device 202. The curtain driver manages the rotation of several curtain plates connected between the main body and the curtain ring 216. The power unit supplies energy to the other functional components of the curtain device's main body.

[0020] FIG. 4A-4E illustrates the operation of a dive system 200 according to the present invention. FIG. 4A illustrates a scenario where submarine 201 is partially exposed above the water surface when the gap between submarine 201 and curtain device 202 is minimized. In this state, the tether 209 connecting the submarine 201 and the curtain device 202 is wound as tightly as possible, minimizing the distance between them, and the entire curtain device 202 is submerged below the water surface. FIG. 4B depicts a situation where the submarine 201 releases the tether 209, allowing the curtain device 202 to move further below the surface compared to its position in FIG. 4A. To minimize water resistance as the curtain device 202 dives, as shown in FIG. 2B, maximizing the size of the opening on the curtain device 202 is necessary by rotating the mounted curtain plates.

[0021] FIG. 4C illustrates a scenario where submarine 201 pulls the tether 209 connected to the curtain device 202, diving further than the position shown in FIG. 4B while the curtain device 202 is lowered to a certain depth. When submarine 201 pulls the tether 209, curtain device 202 rotates the curtain plates to close the curtain opening 217, thereby maximizing water resistance against curtain device 202. Maintaining balance during this operation is crucial to prevent the curtain device 202 from tilting, which could reduce water resistance and hinder the submarine's dive. FIG. 4C shows the submarine 201 approaching the vicinity of the curtain device 202 by pulling the tether 209. The tether 209 can be released to send the submarine 201 to a deeper position, lowering the curtain device 202 further than its position in FIG. 4D. The submarine 201 can then dive by performing the pulling operation again. To maintain the submarine at a specific depth for an extended period, the depth can be controlled by adjusting the operating direction and intensity of the submarine 201 propeller or the curtain device 202 propeller without further lowering the curtain device 202 from the position shown in FIG. 4D.

[0022] FIG. 4E illustrates a scenario where the submarine 201 and the curtain device 202 are positioned close to each other at a certain depth, preparing to rise. In this situation, curtain device 202 maximizes the curtain opening 217 by rotating the curtain plates, thereby minimizing water resistance during the rise. During the rise, the direction and speed of both the submarine propeller and the curtain device propeller are controlled to generate propulsion towards the water surface. FIG. 4F also describes a situation where the dive system 200 floats with a portion exposed above the water surface after the rise. FIG. 4G depicts a scenario where the dive system 200 performs lateral movement near the water surface. For this operation, the submarine propeller and the curtain device propeller rotate their bodies to generate propulsion in the direction of the lateral movement.

[0023] FIG. 5 presents a table detailing the operational states of key components of submarine 201 and curtain device 202 based on the submarine's operational status. As indicated in the table, when the submarine 201 is floating on the surface, the curtain plates are fully extended (closed), the tether 209 is stationary, and both the submarine propellers and the curtain device propellers are turned off. When the submarine 201 is in a ready-to-dive state, the curtain plates are folded (opened), the tether 209 is being released, the submarine propellers are turned off, and the curtain device propellers are propelling downward. When the submarine 201 is diving, the curtain plates are extended (closed), the tether 209 is being rewound, the submarine propellers are propelling downward, and the curtain device propellers are turned off.

[0024] When the submarine 201 is in a pausing state, the curtain plates are extended (closed), the tether 209 is stationary, the submarine propellers are propelling downward, and the curtain device propellers are turned off. In this state, to maintain a certain depth, the submarine 201 generates a driving force opposite to the buoyant force of the dive system 200. When the submarine 201 is in a ready-to-rise state, the curtain plates are folded (opened), the tether 209 is stationary, and both the submarine propellers and curtain device propellers are turned off. When the submarine 201 is rising, the curtain plates are folded (opened), the tether 209 is being rewound, and both the submarine propellers and curtain device propellers are propelling upward. When submarine 201 moves laterally, the curtain plates are extended (closed), the tether 209 is stationary, and both the submarine propellers and curtain device propellers propel laterally.

[0025] FIG. 6A illustrates a flowchart for dividing a dive system 200 according to the present invention. In step 601, the dive system 200 receives the diving instructions from the user through the I/O unit in the passenger capsule 203. The user can specify the dividing depth through the I/O unit while commanding the dividing instructions. In step 602, the dive system 200 folds the curtain plates of the curtain device 202 to extend the curtain opening 217. This way, the curtain device 202's water resistance can be minimized when the dive system 200 dives. In step 603, the dive system 200 releases the tether 209, connecting the submarine 201 and the curtain device 202. With this, the curtain device 202 is separated from the submarine 201 and can go down as far as the distance the tether 209 is released. In step 604, the dive system 200 activates the curtain device propellers while the curtain device 202 goes down. By this, the curtain device propellers can generate propulsion in the downward direction to speed up the descending speed of the curtain device 202.

[0026] In step 605, the dive system 200 turns off the curtain device 202 propellers when it is determined that the curtain device 202 went down to a specific depth. In step 606, dive system 200 extends the curtain plates in curtain device 202 to close curtain opening 217. This way, when submarine 201 rewinds the released tether 209, the water resistance to the curtain device 202 is maximized, helping submarine 201 to be divided downward. In step 607, dive system 200 activates the submarine propellers to generate propulsion in the downward direction to speed up the descending speed of the submarine 201. In step 608, the dive system 200 rewinds the tether 209, connecting the submarine 201 and the curtain device 202. In this manner, the submarine 201 can dive to the position where the curtain device 202 is lowered. If the passenger specifies a deeper dive depth, the dive system 200 can reach the designated position by repeatedly performing the aforementioned steps

[0027] FIG. 6B illustrates a flowchart for raising a dive system 200 according to the present invention. In step 611, the dive system 200 receives the rising instructions from the user through the I/O unit in the passenger capsule 203. The user can specify the rising distance through the I/O unit while commanding the dividing instructions. In step 612, the dive system 200 folds the curtain plates of the curtain device 202 to extend the curtain opening 217. This way, the curtain device 202's water resistance can be minimized when the dive system 200 rises. In step 613, the dive system 200 rewinds the tether 209, connecting the submarine 201 and the curtain device 202. This minimizes the distance between the submarine 201 and the curtain device 202. In steps 614 and 615, the dive system 200 activates the curtain device propellers and the submarine device propellers while the dive system 200 is going up. By this, both the curtain device 202 propellers and the submarine device propellers can generate propulsion in the upward direction to speed up the rising speed of the dive system 200.

[0028] In step 616, the dive system 200 turns off both the curtain device 202 propellers and the submarine propellers when it is determined that the dive system 200 rose to a specific position. In step 617, dive system 200 extends the curtain plates in curtain device 202 to close curtain opening 217. If the dive system 200 has not yet reached the position designated by the passenger, it can repeatedly perform the previously mentioned steps to reach the designated position