Description:TECHNICAL FIELD
[001] The present disclosure generally relates to the field of robotic vehicles. In particular, the present disclosure relates to a robotic vehicle equipped with buoyancy control, tilt adjustment, and debris collection capabilities which are remotely managed via a controller, providing precise underwater navigation and cleaning.

BACKGROUND
[002] Underwater robotic vehicles, such as remotely operated vehicles (ROVs) and Autonomous Underwater Vehicles (AUVs), are integral to addressing the complex challenges in marine ecosystems. The ROVs and AUVs are essential for operations like underwater navigation, debris retrieval, and structural inspections. The ROVs and AUVs contribute significantly to environmental conservation and the management of marine resources. However, the underwater environment presents a unique set of challenges, particularly in terms of communication and navigation, where factors such as signal attenuation and dynamic environmental conditions severely impact operational efficiency.
[003] Communication in underwater environments is highly challenging due to issues like signal degradation, limited bandwidth, and interference caused by environmental factors. To mitigate the communication challenges, multimodal communication systems have been developed, combining optical, acoustic, and electromagnetic transmission methods to ensure reliable data transfer under various underwater conditions. Despite the reliability, the integration of the multimodal communication systems increases both the operational complexity and cost of underwater robotic vehicles. Additionally, precise navigation is critical for successful operations and relies on advanced technologies such as Inertial Measurement Units (IMUs), Doppler velocity logs (DVLs), and Global Positioning System (GPS). The multimodal communication systems are essential for maintaining accuracy in dynamic subsea environments, further adding to the complexity and cost of the systems.
[004] Advancements in underwater robotics have focused on enhancing vehicle autonomy and operational efficiency. The integration of deep-learning-based detection models, such as ResNet50-YOLOv3, has significantly improved the accuracy and speed of underwater debris detection. The machine learning models categorize debris types, such as plastics and fishing nets, and improve the efficiency of environmental monitoring efforts. Moreover, satellite remote sensing technologies have enabled the monitoring of marine pollution on a large scale, contributing to more effective environmental protection. The incorporation of such advanced technologies, however, increases both the infrastructure and operational costs associated with underwater robotic systems.
[005] Modern underwater robotic vehicles are also equipped with advanced buoyancy control mechanisms, robotic manipulators, and attachment systems to enhance operational precision. Buoyancy control systems, such as piston-actuated ballast tanks, enable precise adjustments to the vehicle's attitude, ensuring stability during dynamic subsea operations. Robotic arms provide the capability for performing intricate tasks such as debris retrieval and structural repairs, while attachment mechanisms, such as motorized grasping hooks, allow secure anchoring to subsea structures, even under challenging environmental conditions. While these technologies enhance the overall performance of underwater vehicles, an increase in complexity and cost also results.
[006] Control systems for underwater vehicles employ both tethered and wireless communication technologies. Tethered systems provide stable communication, which is crucial for precise manipulator control, but impose limitations in terms of mobility and operational range. On the other hand, wireless communication systems provide greater flexibility, especially for remote underwater missions, but require sophisticated protocols to ensure reliable performance in challenging conditions. The integration of multimodal communication, advanced navigation systems, machine learning models, and satellite monitoring technologies drives the complexity and cost of these underwater robotic vehicles. Although the benefits of these existing systems are substantial, such systems significantly increase both the complexity and cost of development and operation.
[007] Thus, underwater robotic vehicles are essential tools for solving various challenges in marine conservation and underwater exploration. However, the technologies that enable these underwater robotic vehicles to operate effectively in harsh subsea environments come with significant increases in both cost and operational complexity. Ongoing advancements in communication, navigation, autonomy, and data monitoring continue to enhance the capabilities of underwater vehicles but also introduce additional technical and financial challenges that must be addressed to ensure their widespread use.
[008] Therefore, there is a need to address at least the above-mentioned drawbacks and any other shortcomings, or at the very least, provide a valuable alternative to the existing methods and systems.

OBJECTS OF THE PRESENT DISCLOSURE
[009] A general object of the present disclosure relates to an efficient and reliable robotic vehicle that obviates the above-mentioned limitations of existing systems and methods efficiently.
[010] An object of the present disclosure relates to a robotic vehicle equipped with tanks that facilitate the robotic vehicle to sink by displacing air from the tanks and float by expelling water from the tanks, thereby enabling precise position adjustment.
[011] Another object of the present disclosure relates to a robotic vehicle equipped with a balancer tank which regulates a specific volume of water and air to tilt the vehicle, thereby providing stability and optimal orientation during underwater movement.
[012] Yet another object of the present disclosure relates to a robotic vehicle equipped with robotic arms designed for collecting underwater debris, thereby enhancing the ability of the robotic vehicle to clean or maintain underwater environments.
[013] Yet another object of the present disclosure relates to a robotic vehicle equipped with a controller that communicates with a device associated with a user, via a wireless medium to remotely control buoyancy, tilt, and debris collection operations of the robotic vehicle.

SUMMARY
[014] Aspects of the present disclosure generally relate to the field of robotic vehicles. In particular, the present disclosure relates to a robotic vehicle equipped with buoyancy control, tilt adjustment, and debris collection capabilities which are remotely managed via a controller, providing precise underwater navigation and cleaning.
[015] An aspect of the present disclosure relates to a robotic vehicle for collecting underwater debris. The robotic vehicle includes one or more tanks, a balancer tank, one or more robotic arms, and a controller. The one or more tanks may be connected to a first water pump and an air compressor, where the first water pump regulates water inside the one or more tanks through a first solenoid valve and the air compressor regulates air inside the one or more tanks through a second solenoid valve to enable the robotic vehicle to sink into the water or float on the water. Further, the balancer tank is connected to a second water pump and the air compressor, where the second water pump regulates a specific volume of the water inside the balancer tank through a third solenoid valve and the air compressor regulates a specific volume of the air inside the balancer tank through a fourth solenoid valve to tilt the robotic vehicle for adjusting an orientation while moving underwater. Further, the robotic arms is configured to collect underwater debris along a pathway of the robotic vehicle underwater. Further, the controller is configured to receive a first control signal from a device associated with a user through a wireless medium and determine one or more control commands associated with the first control signal. Further, the controller may transmit the one or more control commands to the first water pump, the second water pump, the air compressor, the first solenoid valve, the second solenoid valve, the third solenoid valve, the fourth solenoid valve, and the one or more robotic arms for performing one or more operations.
[016] In an embodiment, the one or more tanks may be connected to the first water pump through the first solenoid valve and the air compressor through the second solenoid valve, where the first water pump may pump the water to enter into the one or more tanks through the first solenoid valve and the air compressor ejects the air out of the one or more tanks through the second solenoid valve to enable the robotic vehicle to sink into the water, and where the first water pump pumps the water to eject out of the one or more tanks and the air compressor facilitates the air to enter into the one or more tanks through the second solenoid valve to enable the robotic vehicle to float on the water. Further, the balancer tank may be connected to the second water pump through the third solenoid valve and the air compressor through the fourth solenoid valve, where the second water pump pumps the specific volume of the water to enter into the balancer tank through the third solenoid valve and simultaneously the air compressor facilitates the specific volume of the air to eject out of the balancer tank through the fourth solenoid valve to tilt the robotic vehicle to adjust the orientation in one direction, and where the second water pump pumps the specific volume of the water to eject out of the balancer tank through the third solenoid valve and simultaneously the air compressor facilitates the specific volume of the air to enter into the balancer tank through the fourth solenoid valve to tilt the robotic vehicle to adjust the orientation in another direction.
[017] In an embodiment, to perform a first operation of the one or more operations, where the controller may be configured to determine that the one or more control commands correspond to a first control command and transmit the first control command of the one or more control commands to the first water pump, the first solenoid valve, and the second solenoid valve. Further, the controller may be configured to activate the first water pump and open the first solenoid valve and the second solenoid valve based on the first control command; where the first water pump is activated to pump the water toward the first solenoid valve that allows the water to enter into the one or more tanks, and where the second solenoid valve is opened to allow the air to eject out of the one or more tanks through an exhaust. Further, the controller may be configured to close the first solenoid valve when a level of the water in the one or more tanks reaches a first predefined threshold based on the first control command and simultaneously close the second solenoid valve when the air is completely ejected from the one or more tanks through the exhaust based on the first control command.
[018] In an embodiment, to perform a second operation of the one or more operations, the controller may be configured to determine that the one or more control commands correspond to a second control command and transmit the second control command of the one or more control commands to the first water pump, the first solenoid valve, the second solenoid valve, and the air compressor. Further, the controller may activate the first water pump and open the first solenoid valve based on the second control command, where the first water pump is activated to eject the water out of the one or more tanks through the first solenoid valve and simultaneously activate the air compressor and open the second solenoid valve based on the second control command, where the air compressor is activated to transfer the air toward the one or more tanks through the second solenoid valve. Further, the controller may close the first solenoid valve when the water is completely ejected from the one or more tanks based on the second control command, and simultaneously close the second solenoid valve when a level of the air in the one or more tanks reaches a second predefined threshold based on the second control command.
[019] In an embodiment, to perform a third operation of the one or more operations, where the controller may be configured to determine that the one or more control commands correspond to a third control command and transmit the third control command of the one or more control commands to the second water pump, the third solenoid valve, and the fourth solenoid valve. Further, the controller may activate the second water pump and open the third solenoid and the fourth solenoid valve based on the third control command; where the second water pump is activated to pump the water toward the third solenoid valve that allows the water to enter into the balancer tank, and where the fourth solenoid valve is opened to allow the air to eject out of the balancer tank through an exhaust. Further, the controller may close the third solenoid valve when a level of the specific volume of the water in the balancer tank reaches a third predefined threshold based on the third control command and simultaneously close the fourth solenoid valve when an eject level of the specific volume of the air from the balancer tank reaches a fourth predefined threshold through the exhaust based on the third control command.
[020] In an embodiment, to perform a fourth operation of the one or more operations, where the controller may be configured to determine that the one or more control commands correspond to a fourth control command and transmit the fourth control command of the one or more control commands to the second water pump, the third solenoid valve, the fourth solenoid valve, and the air compressor. Further, the controller may activate the second water pump and open the third solenoid valve based on the fourth control command; where the second water pump is activated to eject the water out of the balancer tank through the third solenoid valve and simultaneously activate the air compressor and open the fourth solenoid valve based on the fourth control command, where the air compressor is activated to transfer the air toward the balancer tank through the fourth solenoid valve. Further, the controller may close the third solenoid valve when an eject level of the specific volume of the water from the balancer tank reaches a fifth predefined threshold based on the fourth control command and simultaneously close the fourth solenoid valve when a level of the of the specific volume of the air in the balancer tank reaches a sixth predefined threshold based on the fourth control command.
[021] In an embodiment, the robotic vehicle may include one or more pipes, where each of the one or more pipes comprise one or more holes, where the one or more holes allow the water to enter into the one or more pipes to enable the robotic vehicle to sink into the water.
[022] In an embodiment, to perform a fifth operation the one or more operations, where the controller may be configured to determine that the one or more control commands correspond to a fifth control command and transmit a fifth control command of the one or more control commands to the one or more robotic arms to trigger the one or more robotic arms for collecting the underwater debris.
[023] In an embodiment, the controller may be configured to receive a second control signal from the device and transmit the second control signal to one or more first propellers associated with the robotic vehicle to enable the robotic vehicle to move forward or backward along the pathway.
[024] In an embodiment, the controller may be configured to receive a third control signal from the device and transmit the third control signal to one or more second propellers associated with the robotic vehicle to enable the robotic vehicle to turn right or left along the pathway.
[025] Various objects, features, aspects, and advantages of the inventive subject matter will become more apparent from the following detailed description of preferred embodiments, along with the accompanying drawing figures in which like numerals represent components.

BRIEF DESCRIPTION OF THE DRAWINGS
[026] The accompanying drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification. The drawings illustrate exemplary embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.
[027] FIG. 1 illustrates a schematic representation of an example robotic vehicle, in accordance with an embodiment of the present disclosure.
[028] FIG. 2 illustrates a schematic representation of an electronic control unit of a robotic vehicle, in accordance with an embodiment of the present disclosure.

DETAILED DESCRIPTION
[029] The following is a detailed description of embodiments of the disclosure depicted in the accompanying drawings. The embodiments are in such detail as to clearly communicate the disclosure. However, the amount of detail offered is not intended to limit the anticipated variations of embodiments; on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the present disclosures as defined by the appended claims.
[030] Embodiments explained herein relate to the field of object detection and activity monitoring systems. In particular, the present disclosure relates to a robotic vehicle designed with buoyancy control, tilt adjustment, and debris collection capabilities which are remotely managed via a controller, providing precise underwater navigation and cleaning.
[031] Various embodiments with respect to the present disclosure will be explained in detail with reference to FIGs. 1 and 2.
[032] FIG. 1 illustrates a schematic representation of an example robotic vehicle (100), in accordance with an embodiment of the present disclosure.
[033] Referring to FIG. 1, the robotic vehicle (100) may include tanks (102) (without any drilled holes), a balancer tank (104), robotic arms (not shown in figures), a first water pump (106), a second water pump (114), an air compressor (108), a first solenoid valve (110), a second solenoid valve (112), a third solenoid valve (116), a fourth solenoid valve (118), a fifth solenoid valve (122), pipes (not shown in figures), a controller (120) (e.g., 8 channel relay), first propellers (not shown in figures), second propellers (not shown in figures), and an exhaust (124). In an embodiment, the controller (120) may be connected to the robotic arms, the first water pump (106), the second water pump (114), the air compressor (108), the first solenoid valve (110), the second solenoid valve (112), the third solenoid valve (116), the fourth solenoid valve (118), and the fifth solenoid valve (122).
[034] In an embodiment, the tanks (102) may be connected to the first water pump (106) through the first solenoid valve (110) and the air compressor (108) through the second solenoid valve (112). In an embodiment, the first water pump (106) may regulate water inside the tanks (102) through the first solenoid valve (110) and the air compressor (108) may regulate air inside the tanks (102) through the second solenoid valve (112) to enable the robotic vehicle (100) to sink into the water or float on the water. In an embodiment, the first water pump (106) may pump the water to enter the tanks (102) through the first solenoid valve (110) and the air compressor (108) may eject the air out of the tanks (102) through the second solenoid valve (112) to enable the robotic vehicle (100) to sink into the water. In an embodiment, the first water pump (106) may pump the water to eject out of the tanks (102) and the air compressor (108) may facilitate the air to enter into the tanks (102) through the second solenoid valve (112) to enable the robotic vehicle (100) to float on the water. In an embodiment, the pipes may include holes. In an embodiment, the holes may allow the water to enter into the pipes to enable the robotic vehicle (100) to sink into the water.
[035] In an embodiment, the balancer tank (104) may connect to the second water pump (114) and the air compressor (108). In an embodiment, the second water pump (114) may regulate a specific volume of the water inside the balancer tank (104) through the third solenoid valve (116) and the air compressor (108) may regulate a specific volume of the air inside the balancer tank (104) through the fourth solenoid valve (118) to tilt the robotic vehicle (100) for adjusting an orientation while moving underwater. In an embodiment, the robotic arms may be configured to collect underwater debris along a pathway of the robotic vehicle (100) underwater. In an embodiment, the balancer tank (104) may be connected to the second water pump (114) through the third solenoid valve (116) and the air compressor (108) through the fourth solenoid valve (118).
[036] In an embodiment, the second water pump (114) may pump the specific volume of the water to enter into the balancer tank (104) through the third solenoid valve (116), and simultaneously the air compressor (108) may facilitate the specific volume of the air to eject out of the balancer tank (104) through the fourth solenoid valve (118) to tilt the robotic vehicle (100) to adjust the orientation in one direction. In an embodiment, the second water pump (114) may pump the specific volume of the water to eject out of the balancer tank (104) through the third solenoid valve (116), and simultaneously the air compressor (108) may facilitate the specific volume of the air to enter into the balancer tank (104) through the fourth solenoid valve (118) to tilt the robotic vehicle (100) to adjust the orientation in another direction.
[037] In an embodiment, the controller (120) may be configured to communicate with a device associated with a user through a wireless medium. In exemplary embodiments, the device may be, but not limited to mobiles, joysticks, laptops, or any other communication device. In exemplary embodiments, the wireless medium may be, but not limited to Bluetooth, Wireless Fidelity (Wi-Fi), and the like. In an embodiment, the controller (120) may be configured to receive a first control signal from the device and determine one or more control commands associated with the first control signal. In an embodiment, the controller (120) may transmit the control commands to the first water pump (106), the second water pump (114), the air compressor (108), the first solenoid valve (110), the second solenoid valve (112), the third solenoid valve (116), the fourth solenoid valve (118), and the robotic arms for performing operations.
[038] In an embodiment, to perform a first operation (e.g., a sink operation), the controller (120) may be configured to determine whether the control commands correspond to a first control command (e.g., a command to sink the robotic vehicle (100)) or not. Once the controller (120) determines that the control commands correspond to the first control command, the controller (120) may transmit the first control command to the first water pump (106), the first solenoid valve (110), and the second solenoid valve (112) to activate the first water pump (106) and open the first solenoid valve (110) and the second solenoid valve (112).
[039] In an embodiment, the first water pump (106) may be activated to pump the water toward the first solenoid valve (110) that may allow the water to enter the tanks (102). In an embodiment, the second solenoid valve (112) may be opened to allow the air to eject out of the tanks (102) through the exhaust (124) by opening the fifth solenoid valve (122). In an embodiment, once a level of the water in the tanks (102) reaches a first predefined threshold (e.g., the water fills the tanks (102) at a certain limit to sink into the water), the first solenoid valve (110) may close based on the first control command. Simultaneously, once the air is completely ejected from the tanks (102) through the exhaust (124), the second solenoid valve (112) may close based on the first control command. For example, when the water level in the tanks (102) reaches the first predefined threshold of 80% of the volume tank, the first solenoid valve (110) closes upon receiving a first control command to prevent additional water inflow. At the same time, as the exhaust (124) ensures complete ejection of air from the tanks (102), the second solenoid valve (112) closes once a pressure sensor detects an internal air pressure below 0.5 bar, indicating that the tanks are fully filled with water and ready for submersion.
[040] In an embodiment, to perform a second operation (e.g., a float operation), the controller (120) may be configured to determine whether the control commands correspond to a second control command (e.g., a command to float the robotic vehicle (100)) or not. Once the controller (120) determines that the control commands correspond to the second control command, the controller (120) may transmit the second control command to the first water pump (106), the first solenoid valve (110), the second solenoid valve (112), and the air compressor (108) to activate the first water pump (106) and open the first solenoid valve (110).
[041] In an embodiment, the first water pump (106) may be activated to eject the water out of the tanks (102) through the first solenoid valve (110). Simultaneously, the air compressor (108) may be activated to transfer the air toward the tanks (102) through the second solenoid valve (112). In an embodiment, once the water is completely ejected from the tanks (102), the first solenoid valve (110) may close based on the second control command. Simultaneously, once a level of the air in the tanks (102) reaches a second predefined threshold (e.g., the air fills the tanks (102) at a certain limit to float on the water), the second solenoid valve (112) may close based on the second control command. For example, when the air level in the tanks (102) reaches the second predefined threshold of 90% of the volume of the tanks (102), indicating sufficient buoyancy for floating on the water surface, the second solenoid valve (112) closes upon receiving the second control command.
[042] In an embodiment, to perform a third operation (e.g., tilt the robotic vehicle (100) in one direction), the controller (120) may be configured to determine whether the control commands correspond to a third control command (e.g., a command to tilt the robotic vehicle (100) in one direction) or not. Once the controller (120) determines that the control commands correspond to the third control command, the controller (120) may transmit the third control command to the second water pump (114), the third solenoid valve (116), and the fourth solenoid valve (118) to activate the second water pump (114) and open the third solenoid and the fourth solenoid valve (118). In an embodiment, the second water pump (114) may be activated to pump the water toward the third solenoid valve (116) that allows the water to enter into the balancer tank (104).
[043] In an embodiment, the fourth solenoid valve (118) may be opened to allow the air to eject out of the balancer tank (104) through the exhaust (124) by opening the fifth solenoid valve (122). In an embodiment, once a level of the water in the balancer tank (104) reaches a third predefined threshold (e.g., the specific volume of the water fills the tanks (102) to tilt the robotic vehicle (100) in one direction), the third solenoid valve (116) may close based on the third control command. Simultaneously, once an eject level of the specific volume of the air from the balancer tank (104) reaches a fourth predefined threshold (e.g., a certain limit of the specific volume of the air ejected from the balancer tank (104) to tilt the robotic vehicle (100) in one direction) through the exhaust (124), the fourth solenoid valve (118) may close based on the third control command.
[044] In exemplary embodiments, when the water level in the balancer tank (104) reaches 75% of capacity, corresponding to the third predefined threshold that causes the robotic vehicle (100) to tilt in one direction, the third solenoid valve (116) closes upon receiving the third control command. Simultaneously, if the air ejection from the balancer tank (104) reaches the a predefined level, such as reducing the air volume to 25% of the capacity of the tanks (102), corresponding to the fourth predefined threshold necessary for tilting the robotic vehicle (100) in the same direction, the fourth solenoid valve (118) also closes based on the same third control command.
[045] In an embodiment, to perform a fourth operation (e.g., tilt the robotic vehicle (100) in another direction), the controller (120) may be configured to determine whether the control commands correspond to a fourth control command (e.g., a command to tilt the robotic vehicle (100) in another direction) or not. Once the controller (120) determines that the control commands correspond to the fourth control command, the controller (120) may transmit the fourth control command to the second water pump (114), the third solenoid valve (116), the fourth solenoid valve (118), and the air compressor (108) to activate the second water pump (114) and open the third solenoid valve (116). In an embodiment, the second water pump (114) may be activated to eject the water out of the balancer tank (104) through the third solenoid valve (116). In an embodiment, the air compressor (108) may be activated to transfer the air toward the balancer tank (104) through the fourth solenoid valve (118).
[046] In an embodiment, once an eject level of the water from the balancer tank (104) reaches a fifth predefined threshold (e.g., a certain limit of the specific volume of the water ejected from the balancer tank (104) to tilt the robotic vehicle (100) in another direction), the third solenoid valve (116) may close based on the fourth control command. Simultaneously, once a level of the air in the balancer tank (104) reaches a sixth predefined threshold (e.g., a certain limit of the specific volume of the air fills the balancer tank (104) to tilt the robotic vehicle (100) in another direction), the fourth solenoid valve (118) may close based on the fourth control command.
[047] In exemplary embodiments, when the water ejected from the balancer tank (104) reduces to 30% of capacity, corresponding to the fifth predefined threshold required to tilt the robotic vehicle (100) in another direction, the third solenoid valve (116) closes upon receiving the fourth control command. Simultaneously, if the air level in the balancer tank (104) rises to 70% of the capacity, corresponding to the sixth predefined threshold necessary for achieving the tilt in the same direction, the fourth solenoid valve (118) also closes based on the same fourth control command.
[048] In an embodiment, to perform a fifth operation (e.g., collect the underwater debris), the controller (120) may be configured to determine whether the control commands correspond to a fifth control command (e.g., a command to grab the underwater debris) or not. Once the controller (120) determines the fifth control command, the controller (120) may transmit the fifth control command to the robotic arms to trigger the robotic arms to collect the underwater debris. In an embodiment, the controller (120) may be configured to receive a second control signal from the device and transmit the second control signal to the first propellers to enable the robotic vehicle (100) to move forward or backward along the pathway. In an embodiment, the controller (120) may be configured to receive a third control signal from the device and transmit the third control signal to the second propellers to enable the robotic vehicle (100) to turn right or left along the pathway.
[049] Therefore, the floating and sinking of the robotic vehicle (100) have been developed to enable the robotic vehicle (100) to move up and down. The robotic vehicle (100) may be equipped with four tubes such as a bottom two tubes (e.g., the pipes) fitted with drilled holes to allow the robotic vehicle (100) to sink. The top two tanks (102), known as buoyancy tanks (102), are used to control floating and sinking. The tanks (102) do not have holes but allow for the injection of air or water. When water is filled into these tanks (102), the robotic vehicle (100) sinks. Similarly, when water is removed and air is injected, the robotic vehicle (100) rises. In an embodiment, the robotic arm may be mounted at a front of the robotic vehicle (100) to assist in cleaning the water from the bottom of water bodies. Additionally, the balancer tank (104) may be placed at a rear of the vehicle. When the robotic arm picks up an object (e.g., debris), the balancer tank (104) may adjust the weight distribution, preventing the robotic vehicle (100) from tipping in one direction and ensuring safe operation.
[050] In an embodiment, a Remotely operated Underwater Vehicle (RUV) (e.g., the robotic vehicle (100)) may be designed for a variety of applications, including environmental cleaning, where the robotic vehicle (100) may collect waste, debris, or invasive species from the seabed or other water bodies. Further, the robotic vehicle (100) may also suitable for industrial use, such as the inspection and maintenance of underwater structures like pipelines, dams, or ship hulls. Further, the robotic vehicle (100) may be used for sampling and surveying underwater ecosystems. Additionally, the RUV may be effective in recovery operations, aiding in the retrieval of lost items or assisting in rescue missions. Further, the robotic vehicle (100) may be used for aquaculture management by cleaning tanks (102) or removing waste in fish farms.
[051] Referring to FIG. 1, the RUV (e.g., the robotic vehicle (100)) may perform controlled operations based on input from switches, joystick, potentiometer, gyroscope, and logic circuits associated with the robotic vehicle (100). In exemplary embodiments, the robotic vehicle (100) may include floaters (e.g., the tanks (102)) and the balancer tank (104) that may provide a comprehensive overview of the operational and control systems of the RUV.
[052] In an embodiment, the robotic vehicle (100) may operate under distinct modes for descending (sinking), ascending (floating), balancing, motor control, and safety mechanisms. During descent, a channel 1 of a relay (e.g., controller (120)) may open to allow water into the tanks (102) through the first solenoid valve (110) to increase a weight of the robotic vehicle (100). Additionally, channel 5 of the relay may activate the first water pump (106) to pump more water into the tanks (102), while channel 8 of the relay may open the exhaust (124) vent to release the air and facilitate the water inflow for a controlled sinking operation. For ascent, channel 2 of the relay may activate the second solenoid valve (112) to pump compressed air into the floaters, expelling water and reducing weight. Simultaneously, the channel 1 of the relay may ensure water exhaust (124), while channel 3 of the relay may regulate the flow for controlled buoyancy adjustments.
[053] In an exemplary embodiment, the balancer tank (104) may be balanced or managed automatically using the gyroscope. If the vehicle tilts forward, channel 6 of the relay may activate the second water pump (114), and the channel 4 of the relay may open the third solenoid valve (116) to channel water into a rear balancer (e.g., the balancer tank (104)). Excess air exits via the exhaust (124) to stabilize the tilt. Conversely, for backward tilts, channel 7 of the relay may engage the air compressor (108) to remove water from the balancer tank (104), while the channel 2 of the relay 2 facilitates air injection for stability.
[054] In exemplary embodiments, directional control of motors (e.g., the first propellers) may be achieved via input of the joystick (e.g., the device). For forward or backward movement, both motors (e.g., the first propellers) rotate in the same direction, while rotational motion may be controlled by selectively activating the left or right motor (e.g., the second propellers). In exemplary embodiments, a safety mechanism may ensure that the robotic vehicle (100) only arms itself when all control inputs, including the joystick, the switches, and the potentiometer, are in their default positions. In exemplary embodiments, any invalid input may trigger a buzzer to alert an operator (e.g., the user).
[055] In exemplary embodiments, electronic controls may consist of multiple Single Pole Single Throw (SPST) switches for ascent, descent, and manual operations, along with a rocker switch for remote control power and a potentiometer for depth adjustments within a 0-10m range. In exemplary embodiments, the joysticks may manage forward, backward, and rotational motor movement. The device may include an Inter-Integrated Circuit (I2C) Liquid Crystal Display (LCD) that may provide real-time feedback on depth, armed status, and current actions, while a buzzer issue alerts in case of invalid conditions.
[056] In exemplary embodiments, the implementation may involve both hardware and software components. The hardware components may include relays for buoyancy and balance control, the gyroscope for tilt detection, Permanent Magnet Direct Current (PMDC) motors for propulsion, and a motor driver for motor control. The power supply may support all hardware components and the I2C LCD system status. In exemplary embodiments, the software may initialize control inputs, verify conditions for arming, and employ logic for depth management and balance adjustments. In exemplary embodiments, Pulse Width Modulation (PWM) signals ensure precise motor speed and directional control, linking joystick inputs to maneuverability. In exemplary embodiments, the integrated system may enable precise control, stability, and efficiency in underwater operations, addressing challenges associated with navigation, buoyancy, and environmental adaptability.
[057] In an embodiment, a floating and sinking underwater vehicle system (e.g., the robotic vehicle (100)) holds significant commercial potential across various industries. In environmental applications, the robotic vehicle (100) can be used to clean water bodies by removing waste, debris, and pollutants, as well as restoring marine habitats. Industrially, the robotic vehicle (100) is well-suited for inspecting and maintaining underwater infrastructure such as pipelines, oil rigs, and ship hulls, as well as cleaning hydropower plants and aquaculture facilities. The robotic vehicle (100) also plays a key role in waste management by recovering underwater debris and valuable materials for recycling. In marine research, the robotic vehicle (100) can aid in environmental monitoring, sample collection, and exploring ocean floors. Additionally, the system is valuable for maritime and naval operations, supporting search and recovery missions and underwater rescue efforts. This versatility makes the robotic vehicle (100) a promising tool for sustainable and efficient underwater operations.
[058] In an embodiment, the RUVs may detect pollution and protect marine ecosystems. The RUVs may track water quality, measure pollution levels, and monitor environmental changes in oceans, rivers, and lakes. By providing real-time data, the RUVs may identify and address pollution sources, ensuring the health of aquatic ecosystems. The RUVs are also instrumental in coral reef conservation, allowing scientists to assess reef health and observe the effects of climate change on the fragile environments.
[059] FIG. 2 illustrates a schematic representation (200) of an electronic control unit of a robotic vehicle (e.g., (100) as represented in FIG. 1), in accordance with an embodiment of the present disclosure.
[060] Referring to FIG. 2, a Brushless Direct Current (BLDC) motor (202) (e.g., propellers), with speed regulated by an Electronic Speed Controller (120) (ESC) (204) based on joystick inputs. In an embodiment, at (206), a controller (e.g., 120 as represented in FIG. 1) may act as a central hub, coordinating relays, motor controls, and input devices to ensure seamless functionality. In an embodiment, the controller (120) may include relays (208) that may activate solenoid valves (e.g., a third solenoid valve (116), and a fourth solenoid valve (118)), water pumps (e.g., a second water pump (114)), and an air compressor (108) as represented in (210) to manage tanks (102) for ascending and descending (212). The controller (120) may oversee the operations of the robotic arm, which is used for cleaning or retrieving objects underwater. Precision movements of the robotic arm may be controlled by a robotic controller (216) and a robotic motor controller (218) to actuate a motor (220). In an embodiment, the robotic vehicle (100) may receive inputs (e.g., a first control signal, a second control signal, and a third control signal), including the potentiometer, joystick, and switches (214), to determine the depth, movement, and operational modes of the RUV. In an embodiment, the device may include a display (224) that may provide real-time status updates from the controller (120) based on inputs from a camera (222) attached to the robotic vehicle (100), while a buzzer may alert operators (e.g., the users) of anomalies or invalid conditions. The integration of the buzzer and display may ensure reliable and precise underwater operations.
[061] The present disclosure represents an aqua balance RUV (e.g., the robotic vehicle (100)) that focuses on a simpler, practical control mechanism for floating and sinking through remote operation. While wireless control is implied, the robotic vehicle (100) does not delve into the specific communication protocols or Quality of Service (QoS) considerations. In exemplary embodiments, the robotic vehicle (100) introduces the buoyancy tanks (102) for controlled ascent and descent, and the balancer tank (104) to prevent tipping during robotic arm operation, filling a gap in practical stability mechanisms for the robotic vehicle (100). The robotic vehicle (100) may be designed for simpler yet essential tasks such as cleaning, waste removal, and object retrieval, emphasizing operational stability and ease of use. In an embodiment, the robotic vehicle (100) may be a cost-effective, tethered robotic vehicle (100) tailored for tasks like cleaning, debris removal, and object retrieval, primarily in confined water bodies such as reservoirs and harbours. The robotic vehicle (100) may rely on manual remote control for buoyancy adjustment and stability, avoiding the complexities of autonomy.
[062] In exemplary embodiments, the robotic vehicle (100) may feature a simplified buoyancy control system with two buoyancy tanks (102) and two drilled sinking pipes, enabling precise ascent and descent. Stability is maintained through a rear balancer tank (104), ensuring safe operation during load handling by the robotic arm. In exemplary embodiments, the robotic vehicle (100) does not incorporate advanced navigation or autonomous control technologies, focusing instead on ease of operation and affordability. The robotic vehicle (100) may be designed for general-purpose tasks, including cleaning waste from water bodies, removing sediment, and recovering objects.
[063] In exemplary embodiments, the robotic vehicle (100) may provide a low-cost alternative for industries or municipalities that require basic underwater intervention capabilities without the need for high-end technology or autonomy. With minimal operational costs, tethered control, and a simplified design, the robotic vehicle (100) is viable for smaller-scale commercial and environmental applications. The robotic vehicle (100) is suited for general-purpose intervention tasks, such as cleaning, debris removal, and object retrieval in water bodies, and is particularly aimed at smaller, localized operations like reservoirs, harbours, and shallow water. In exemplary embodiments, the robotic vehicle (100) is operated via a simplified remote-control mechanism using a tethered setup for real-time manual control, without an emphasis on advanced or distributed communication protocols, making the robotic vehicle (100) suitable for simpler, single-vehicle operations. Further, the robotic vehicle (100) may lack the capability to manage multiple vehicles or long-range communication.
[064] In exemplary embodiments, the robotic vehicle (100) may rely on manual control through a tether, with no provision for autonomy or navigation systems. Further, the robotic vehicle (100) may be suitable for controlled environments, such as calm water bodies, but not for high-current or deep-sea scenarios. In exemplary embodiments, the robotic vehicle (100) is designed for physical intervention tasks, featuring a robotic arm for object manipulation and cleaning tasks, buoyancy control tanks (102), and a balancer tank (104) for stability and controlled movement. Built for robustness and practicality, the robotic vehicle (100) focuses on localized operations in urban and industrial settings, requiring minimal infrastructure, making the robotic vehicle (100) accessible to smaller organizations, municipalities, and businesses. In exemplary embodiments, the robotic vehicle (100) focuses on practicality rather than scientific precision or autonomy. Further, the robotic vehicle (100) is a cost-effective solution for localized operations that do not require deep learning methods, precision, or autonomy. The present robotic vehicle (100) design performs debris collection, without integrating advanced satellite remote sensing technologies for monitoring marine pollution.
[065] While the foregoing describes various embodiments of the disclosure, other and further embodiments of the invention may be devised without departing from the basic scope thereof. The scope of the disclosure is determined by the claims that follow. The disclosure is not limited to the described embodiments, versions, or examples, which are included to enable a person having ordinary skill in the art to make and use the disclosure when combined with information and knowledge available to the person having ordinary skill in the art.

ADVANTAGES OF THE PRESENT DISCLOSURE
[066] The present disclosure allows for controlled buoyancy, enabling precise vertical movement through the use of the top buoyancy tanks.
[067] The present disclosure ensures efficient and safe operation in varying underwater conditions.
[068] The present disclosure enhances stability by utilizing a balancer tank that prevents tipping caused by uneven loads.
[069] The present disclosure promotes operational safety and precision.
[070] The present disclosure improves versatility by incorporating a robotic arm, which enhances functionality and makes the ROV suitable for multiple tasks.
[071] The present disclosure provides cost-effectiveness through a simple mechanism using air-water injection, which reduces complexity and maintenance.
, Claims:1. A robotic vehicle (100) for collecting underwater debris, comprising:
one or more tanks (102) connected to a first water pump (106) and an air compressor (108), wherein the first water pump (106) regulates water inside the one or more tanks (102) through a first solenoid valve (110) and the air compressor (108) regulates air inside the one or more tanks (102) through a second solenoid valve (112) to enable the robotic vehicle (100) to sink into the water or float on the water;
a balancer tank (104) connected to a second water pump (114) and the air compressor (108), wherein the second water pump (114) regulates a specific volume of the water inside the balancer tank (104) through a third solenoid valve (116) and the air compressor (108) regulates a specific volume of the air inside the balancer tank (104) through a fourth solenoid valve (118) to tilt the robotic vehicle (100) for adjusting an orientation while moving underwater;
one or more robotic arms configured to collect underwater debris along a pathway of the robotic vehicle (100) underwater; and
a controller (120) configured to:
receive a first control signal from a device associated with a user through a wireless medium;
determine one or more control commands associated with the first control signal; and
transmit the one or more control commands to the first water pump (106), the second water pump (114), the air compressor (108), the first solenoid valve (110), the second solenoid valve (112), the third solenoid valve (116), the fourth solenoid valve (118), and the one or more robotic arms for performing one or more operations.
2. The robotic vehicle (100) as claimed in claim 1, wherein the one or more tanks (102) are connected to the first water pump (106) through the first solenoid valve (110) and the air compressor (108) through the second solenoid valve (112), wherein the first water pump (106) pumps the water to enter into the one or more tanks (102) through the first solenoid valve (110) and the air compressor (108) ejects the air out of the one or more tanks (102) through the second solenoid valve (112) to enable the robotic vehicle (100) to sink into the water, and wherein the first water pump (106) pumps the water to eject out of the one or more tanks (102) and the air compressor (108) facilitates the air to enter into the one or more tanks (102) through the second solenoid valve (112) to enable the robotic vehicle (100) to float on the water; and
wherein the balancer tank (104) is connected to the second water pump (114) through the third solenoid valve (116) and the air compressor (108) through the fourth solenoid valve (118), wherein the second water pump (114) pumps the specific volume of the water to enter into the balancer tank (104) through the third solenoid valve (116) and simultaneously the air compressor (108) facilitates the specific volume of the air to eject out of the balancer tank (104) through the fourth solenoid valve (118) to tilt the robotic vehicle (100) to adjust the orientation in one direction, and wherein the second water pump (114) pumps the specific volume of the water to eject out of the balancer tank (104) through the third solenoid valve (116) and simultaneously the air compressor (108) facilitates the specific volume of the air to enter into the balancer tank (104) through the fourth solenoid valve (118) to tilt the robotic vehicle (100) to adjust the orientation in another direction.
3. The robotic vehicle (100) as claimed in claim 2, to perform a first operation of the one or more operations, wherein the controller (120) is configured to:
determine that the one or more control commands correspond to a first control command;
transmit the first control command of the one or more control commands to the first water pump (106), the first solenoid valve (110), and the second solenoid valve (112);
activate the first water pump (106) and open the first solenoid valve (110) and the second solenoid valve (112) based on the first control command; wherein the first water pump (106) is activated to pump the water toward the first solenoid valve (110) that allows the water to enter into the one or more tanks (102), and wherein the second solenoid valve (112) is opened to allow the air to eject out of the one or more tanks (102) through an exhaust (124);
close the first solenoid valve (110) when a level of the water in the one or more tanks (102) reaches a first predefined threshold based on the first control command; and
simultaneously close the second solenoid valve (112) when the air is completely ejected from the one or more tanks (102) through the exhaust (124) based on the first control command.
4. The robotic vehicle (100) as claimed in claim 2, to perform a second operation of the one or more operations, wherein the controller (120) is configured to:
determine that the one or more control commands correspond to a second control command;
transmit the second control command of the one or more control commands to the first water pump (106), the first solenoid valve (110), the second solenoid valve (112), and the air compressor (108);
activate the first water pump (106) and open the first solenoid valve (110) based on the second control command; wherein the first water pump (106) is activated to eject the water out of the one or more tanks (102) through the first solenoid valve (110);
simultaneously activate the air compressor (108) and open the second solenoid valve (112) based on the second control command, wherein the air compressor (108) is activated to transfer the air toward the one or more tanks (102) through the second solenoid valve (112);
close the first solenoid valve (110) when the water is completely ejected from the one or more tanks (102) based on the second control command; and
simultaneously close the second solenoid valve (112) when a level of the air in the one or more tanks (102) reaches a second predefined threshold based on the second control command.
5. The robotic vehicle (100) as claimed in claim 2, to perform a third operation of the one or more operations, wherein the controller (120) is configured to:
determine that the one or more control commands correspond to a third control command;
transmit the third control command of the one or more control commands to the second water pump (114), the third solenoid valve (116), and the fourth solenoid valve (118);
activate the second water pump (114) and open the third solenoid and the fourth solenoid valve (118) based on the third control command; wherein the second water pump (114) is activated to pump the water toward the third solenoid valve (116) that allows the water to enter into the balancer tank (104), and wherein the fourth solenoid valve (118) is opened to allow the air to eject out of the balancer tank (104) through an exhaust (124);
close the third solenoid valve (116) when a level of the specific volume of the water in the balancer tank (104) reaches a third predefined threshold based on the third control command; and
simultaneously close the fourth solenoid valve (118) when an eject level of the specific volume of the air from the balancer tank (104) reaches a fourth predefined threshold through the exhaust (124) based on the third control command.
6. The robotic vehicle (100) as claimed in claim 2, to perform a fourth operation of the one or more operations, wherein the controller (120) is configured to:
determine that the one or more control commands correspond to a fourth control command;
transmit the fourth control command of the one or more control commands to the second water pump (114), the third solenoid valve (116), the fourth solenoid valve (118), and the air compressor (108);
activate the second water pump (114) and open the third solenoid valve (116) based on the fourth control command; wherein the second water pump (114) is activated to eject the water out of the balancer tank (104) through the third solenoid valve (116);
simultaneously activate the air compressor (108) and open the fourth solenoid valve (118) based on the fourth control command, wherein the air compressor (108) is activated to transfer the air toward the balancer tank (104) through the fourth solenoid valve (118);
close the third solenoid valve (116) when an eject level of the specific volume of the water from the balancer tank (104) reaches a fifth predefined threshold based on the fourth control command; and
simultaneously close the fourth solenoid valve (118) when a level of the specific volume of the air in the balancer tank (104) reaches a sixth predefined threshold based on the fourth control command.
7. The robotic vehicle (100) as claimed in claim 1, wherein the robotic vehicle (100) comprises one or more pipes, wherein each of the one or more pipes comprises one or more holes, wherein the one or more holes allow the water to enter into the one or more pipes to enable the robotic vehicle (100) to sink into the water.
8. The robotic vehicle (100) as claimed in claim 1, to perform a fifth operation the one or more operations, wherein the controller (120) is configured to:
determine that the one or more control commands correspond to a fifth control command; and
transmit a fifth control command of the one or more control commands to the one or more robotic arms to trigger the one or more robotic arms for collecting the underwater debris.
9. The robotic vehicle (100) as claimed in claim 1, wherein the controller (120) is configured to:
receive a second control signal from the device; and
transmit the second control signal to one or more first propellers associated with the robotic vehicle (100) to enable the robotic vehicle (100) to move forward or backward along the pathway.
10. The robotic vehicle (100) as claimed in claim 1, wherein the controller (120) is configured to:
receive a third control signal from the device; and
transmit the third control signal to one or more second propellers associated with the robotic vehicle (100) to enable the robotic vehicle (100) to turn right or left along the pathway.