Remote unmanned work system (RUWS) electromechanical cable system

• US 4,010,619 A
• Filed: 05/24/1976
• Issued: 03/08/1977
• Est. Priority Date: 05/24/1976
• Status: Expired due to Term

• Current Assignee: the united states of america as represented by the secretary of the navy
• Original Assignee: the united states of america as represented by the secretary of the navy
• Inventors: Hightower, John D., Wilkins, George A., Beaman, George R., Murphy, Douglas W.
• Primary Examiner(s): Shapiro, Jacob
• Application Number:
  US05/689,306
• Time in Patent Office: 288 Days
• Field of Search: 61/69 R, 61/69 A, 61/63, 114/16 R
• US Class Current: 405/191
• CPC Class Codes: B63C 11/48 Means for searching for underwater objects means for indicating the location of sunken objects B63C7/26; locating by use of the reflection or reradiation of radio or other waves G01S ; mountings of acoustic transducers in underwater equipment G10K11/006
• CPC Class Codes: B63G 2008/005 remotely controlled
• CPC Class Codes: D07B 1/025 comprising high modulus, or high tenacity, polymer filaments or fibres, e.g. liquid-crystal polymers
• CPC Class Codes: D07B 1/147 comprising electric conductors or elements for information transfer D07B1/145 takes precedence
• CPC Class Codes: D07B 2201/108 Cylinder winding, i.e. S/Z or Z/S
• CPC Class Codes: D07B 2205/205 Aramides
• CPC Class Codes: D07B 2401/2015 Killing or avoiding twist
• CPC Class Codes: D07B 2801/10 Smallest filamentary entity of a rope or strand, i.e. wire, filament, fiber or yarn
• CPC Class Codes: E21B 41/04 Manipulators for underwater operations, e.g. temporarily connected to well heads
• CPC Class Codes: H01B 7/045 attached to marine objects, e.g. buoys, diving equipment, aquatic probes, marine towline
• CPC Class Codes: H01B 7/1875 Multi-layer sheaths
• CPC Class Codes: H01B 7/221 Longitudinally placed metal wires or tapes
• CPC Class Codes: H02G 1/10 in or under water

Abstract

A tethered underwater work system comprises a primary lift module attachedo a support vehicle by means of a primary tether. A submarine work vehicle is removably attached to said primary lift module and connected thereto by means of a secondary tether. Additionally, the lift module contains electrical distribution systems to permit an extensive control and instrumentation linkage with the submarine work vehicle and remotely controlled manipulators mounted thereon.

Claims

1. A remotely controlled underwater work system comprising:

a surface control station;

a primary cable operatively connected to said surface control station at its upper end and extending vertically downward therefrom and configured to provide mechanical support to loads attached thereto and to provide electrical energy transfer therealong;

primary cable terminating means connected to said primary cable for underwater support thereby and including,

attachment means mounted on the lower surface of the primary cable terminating means for releasable support of loads attached thereto,

controllably powered reel means mounted on said primary cable terminating means for paying out and recovering a secondary cable,

a secondary cable wound on said controllably powered reel means,

hydrodynamic thrusting means mounted on said primary cable terminating means in fixed relation thereto for providing stabilization and limited spatial positioning thereof, and

electrical signal distribution means mounted on said primary cable terminating means and electricall connected to said primary cable for receipt of electrical energy therefrom and effectively electrically connected to said controllably powered reel means, said secondary cable, and said hydrodynamic thrusting means for apportioning the electrical energy thereto; and

work vehicle means attached to said secondary cable for providing a work station and including,

propulsion means mounted on said work vehicle for moving said work vehicle in a predetermined area and electrically connected to said secondary cable for receipt of electrical energy therefrom,

mechanical manipulator means mounted on said work vehicle and effectively connected to said secondary cable means for receipt of control signals therefrom,

support means mounted on the upper surface of said work vehicle means and constructed to cooperate with said attachment means for permitting selective attachment of said work vehicle to the primary cable terminating means to establish a unitary assemblage therewith, and

communication means mounted on said work vehicle means and electrically connected to said secondary cable for transmission of signals therethrough.

2. A remotely controlled underwater work system according to claim 1 wherein said control station includes a constant tension marine crane effectively connected to payout and retrieve said primary cable.

3. A remotely controlled underwater work system according to claim 1 in which said surface control station includes an enclosed van on a surface vessel.

4. A remotely controlled underwater work system according to claim 3 in which said surface control station includes sensor control linkages operated by the head movements of an operator within said enclosed van.

5. A remotely controlled underwater work system according to claim 4 in which said control station includes time shared multiplex circuitry to translate control signals from said head operated control to multiplex control signals for transmission along said primary cable.

6. A remotely controlled underwater work station according to claim 1 in which said primary cable includes a coaxial electrical conductor.

7. A remotely controlled underwater work system according to claim 1 in which said primary cable includes a plurality of oppositely wound synthetic fiber tension bearing layers.

8. A remotely controlled underwater work system according to claim 7 in which said synthetic fiber layers are each comprised of a plurality of strands of multiple-filament yarn twisted in a polyurethane matrix into filamentary strength member.

9. A remotely controlled underwater work system according to claim 1 in which said primary cable terminating means additionally includes an electroacoustic transponder for cooperating with oceanographic navigation buoys.

10. A remotely controlled underwater work system according to claim 1 in which said secondary cable is threaded through said attachment means.

11. A remotely controlled underwater work system according to claim 1 in which said electrical signal distribution means includes a multiplex filter and time sharing multiplex modulator and demodulators.

12. A remotely controlled underwater work system according to claim 1 in which said work vehicle mounted mechanical manipulator means includes two remotely controlled mechanical manipulators.

13. A remotely controlled underwater work system according to claim 12 where one of said remotely controlled manual manipulators is a limited movement grabber.

14. A remotely controlled underwater work system according to claim 1 in which said work vehicle mounted communication means includes a television camera.

15. A remotely controlled underwater work system according to claim 14 wherein said television camera includes movement controls connected between said camera and said work vehicle which are controlled by head movements of operation personnel at the aforesaid surface control station.

16. A remotely controlled underwater work system according to claim 2 in which said surface control station includes an enclosed van resting on a surface vessel.

17. A remotely controlled underwater work system according to claim 16 in which said surface control station includes control linkages operated by the head movements of an operator within said enclosed van.

18. A remotely controlled underwater work system according to claim 17 in which said control station includes time shared multiplex circuitry to translate control signals from said head operated control to multiplex control signals for transmissions along said primary cable.

19. A remotely controlled underwater work station according to claim 18 in which said primary cable includes a coaxial electrical conductor.

20. A remotely controlled underwater work system according to claim 19 in which said primary cable includes a plurality of oppositely wound synthetic fiber tension bearing layers.

21. A remotely controlled underwater work system according to claim 20 in which said synthetic fiber layers are each comprised of a plurality of strands of a multiple-filament yarn twisted in a polyurethane matrix into filamentary strength member.

22. A remotely controlled underwater work system according to claim 21 in which said primary cable terminating means additionally includes an electroacoustic transponder for cooperating with oceanographic navigation buoys.

23. A remotely controlled underwater work system according to claim 22 in which said secondary cable is threaded through said attachment means.

24. A remotely controlled underwater work system according to claim 23 in which said electrical signal distribution means includes a multiplex filter and time sharing multiplex modulator and demodulators.

25. A remotely controlled underwater work system according to claim 24 in which said work vehicle mounted mechanical manipulator means includes two remotely controlled mechanical manipulators.

26. A remotely controlled underwater work system according to claim 25 where one of said remotely controlled manual manipulators is a limited movement grabber.

27. A remotely controlled underwater work system according to claim 26 in which said work vehicle mounted communication means includes a television camera.