Systems and methods of use for submerged deployment of objects

• US 8,336,479 B2
• Filed: 01/19/2009
• Issued: 12/25/2012
• Est. Priority Date: 01/22/2008
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Vosburgh, Frederick, Pell, Charles A.
• Primary Examiner(s): AVILA, STEPHEN P
• Application Number:
  US12/355,966
• Publication Number:
  US 20120298029A1
• Time in Patent Office: 1,436 Days
• Field of Search: 114322-325, 114/253, 114/254, 114/238
• US Class Current: 114/322
• CPC Class Codes: B63B 2035/405 for carrying submarines
• CPC Class Codes: B63G 8/00 Underwater vessels, e.g. submarines; Equipment specially adapted thereforsubmarine hulls B63B3/13; diving chambers with mechanical link, e.g. cable, to a base B63C11/34; divers' sleds B63C11/46; torpedoes F42B19/00
• CPC Class Codes: B63G 8/001 Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations self-propelled or direction controlled diving chambers with mechanical link to a base B63C11/42
• CPC Class Codes: B63G 8/28 Arrangement of offensive or defensive equipment

Abstract

A submersible object management (SOM) system for releasing and/or recovering a plurality of submersible objects within a body of liquid includes a hold and a deployment system. The hold is configured to store the plurality of submersible objects. The deployment system is selectively operable to controllably release at least one of the plurality of submersible objects from the hold into submersion in the body of liquid and/or selectively operable to controllably direct at least one of the plurality of submersible objects into the hold from submersion in the body of liquid. The deployment system includes a guide that is selectively extendable to direct the at least one submersible object, the guide including a plurality of extendable guide members configured to engage the at least one submersible object.

Claims

1. A submersible object management (SOM) system for releasing and/or recovering a plurality of submersible objects within a body of liquid, the SOM system comprising:

a hold for storing the plurality of submersible objects; and

a deployment system selectively operable to controllably release at least one of the plurality of submersible objects from the hold into submersion in the body of liquid and/or selectively operable to controllably direct at least one of the plurality of submersible objects into the hold from submersion in the body of liquid, wherein the deployment system includes;

a guide that is selectively extendable to direct the at least one submersible object, the guide including a plurality of extendable guide members configured to engage the at least one submersible object; and

a dispenser being configured to convey at least one of the submersible objects between the hold and a staging location, wherein the dispenser includes;

a revolver member including a plurality of beds each configured to hold a respective one of the submersible objects; and

a drive mechanism to rotate the revolver member to selectively position each of the beds adjacent the staging location.

2. The SOM system of claim 1 wherein the guide members are elongated tines.

3. The SOM system of claim 1 wherein the deployment system is selectively operable to controllably release exactly one of the plurality of submersible objects at a time from the hold into submersion in the body of liquid outside the hold.

4. The SOM system of claim 1 wherein the deployment system is selectively operable to controllably direct exactly one of the plurality of submersible objects at a time into the hold from submersion in the body of liquid outside the hold.

5. The SOM system of claim 1 wherein the submersible objects are unmanned underwater vehicles (UUVs).

6. The SOM system of claim 1 wherein the submersible objects are sensors.

7. The SOM system of claim 1 including a portal between the hold and the body of liquid and configured to receive one of the submersible objects therethrough, wherein the guide members are selectively extendable to direct the received submersible object from the body of liquid and through the portal.

8. The SOM system of claim 1 including a portal between the hold and the body of liquid and configured to receive one of the submersible objects therethrough, wherein the guide members are selectively extendable to guide release of the submersible object through the portal into the body of liquid.

9. The SOM system of claim 1 including a portal between the hold and the body of liquid and configured to receive one of the submersible objects therethrough, wherein:

the guide members are selectively extendable from a closed position to an open position;

when in the closed position, the guide members prevent passage of the submersible object through the portal; and

when in the open position, the guide members permit passage of the submersible object through the portal.

10. The SOM system of claim 1 including a platform and a connector, wherein:

the hold and the connector are mounted on the platform; and

the connector is configured to couple with at least one of the submersible objects to transfer power and/or communicating signals between the submersible object and the platform via the connector.

11. The SOM system of claim 1 including is a mobile platform, wherein the hold and the deployment system are mounted on the mobile platform.

12. The SOM system of claim 11 wherein the mobile platform is an unmanned underwater vehicle (UUV).

13. The SOM system of claim 1 including the plurality of submersible objects.

25. The SOM system of claim 2 wherein the tines, when extended, define gaps between adjacent ones of the tines and through which the liquid can flow.

14. A submersible object management (SOM) system for releasing and/or recovering a plurality of submersible objects within a body of liquid, the SOM system comprising:

a platform;

a hold for storing the plurality of submersible objects; and

a deployment system selectively operable to controllably release at least one of the plurality of submersible objects from the hold into submersion in the body of liquid and/or selectively operable to controllably direct at least one of the plurality of submersible objects into the hold from submersion in the body of liquid, wherein the deployment system includes;

a guide including a plurality of extendable guide members that are configured and selectively extendable to engage and direct the at least one submersible object;

wherein, when the guide members are extended, the guide members are configured to manage a flow of the liquid with respect to the platform and the at least one submersible object;

wherein the deployment system includes a dispenser, the dispenser being configured to convey at least one of the submersible objects between the hold and a staging location; and

wherein the dispenser includes;

a revolver member including a plurality of beds each configured to hold a respective one of the submersible objects; and

a drive mechanism to rotate the revolver member to selectively position each of the beds adjacent the staging location.

24. The SOM system of claim 14 wherein the guide members, when extended, are configured to breakup, reduce, redirect or dissipate turbulence in the flow of the liquid with respect to the platform and the at least one submersible object to thereby smooth exit of the at least submersible object from the hold into submersion in the body of liquid and/or to thereby smooth entry of the at least one submersible object into the hold from submersion in the body of liquid.

15. A submersible object management (SOM) system for releasing and/or recovering a plurality of submersible objects within a body of liquid, the SOM system comprising:

a platform;

a hold for storing the plurality of submersible objects; and

a deployment system selectively operable to controllably release at least one of the plurality of submersible objects from the hold into submersion in the body of liquid and/or selectively operable to controllably direct at least one of the plurality of submersible objects into the hold from submersion in the body of liquid, wherein the deployment system includes;

a guide including a plurality of extendable guide members that are configured and selectively extendable to engage and direct the at least one submersible object;

wherein, when the guide members are extended, the guide members are configured to manage a flow of the liquid with respect to the platform and the at least one submersible object;

wherein the deployment system includes a dispenser, the dispenser being configured to convey at least one of the submersible objects between the hold and a staging location; and

wherein the dispenser includes;

a hopper configured to hold a stack of the submersible objects; and

a singulator configured to receive and controllably convey at least one of the submersible objects from the hopper to the staging location.

16. A method for managing submersible objects in a body of liquid, the method comprising:

providing a submersible object management (SOM) system in a body of liquid, the SOM system including;

a platform;

a hold for storing a plurality of submersible objects; and

a deployment system including a guide, the guide including a plurality of selectively extendable guide members;

wherein the deployment system includes a dispenser, the dispenser being configured to convey at least one of the submersible objects between the hold and a staging location; and

wherein the dispenser includes at least one of a revolver dispenser and a singulator dispenser, wherein;

the revolver dispenser includes;

a revolver member including a plurality of beds each configured to hold a respective one of the submersible objects; and

a drive mechanism to rotate the revolver member to selectively position each of the beds adjacent the staging location; and

the singulator dispenser includes;

a hopper configured to hold a stack of the submersible objects; and

a singulator configured to receive and controllably convey at least one of the submersible objects from the hopper to the staging location; and

selectively operating the deployment system to controllably release at least one of the plurality of submersible objects from the hold into submersion in the body of liquid and/or selectively operating the deployment system to controllably direct at least one of the plurality of submersible objects into the hold from submersion in the body of liquid, including selectively extending the guide members of a guide to engage and direct the at least one submersible object, and including operating the revolver dispenser or the singulator dispenser to move the at least one of the plurality of submersible objects;

wherein, when the guide members are extended, the guide members are configured to manage a flow of the liquid with respect to the platform and the at least one submersible object.

17. The method of claim 16 wherein the guide members are elongated tines.

18. The method of claim 16 including operating the deployment system to recover one of the submersible objects from submersion in the body of liquid into the hold.

19. The method of claim 16 including guiding the at least one submersible object into the hold using the guide members.

20. The method of claim 16 wherein the submersible objects are unmanned underwater vehicles (UUVs).

21. The method of claim 16 wherein the submersible objects are sensors.

22. The method of claim 16 wherein the SOM system includes a connector, wherein:

the hold and the connector are mounted on the platform; and

the method includes coupling the connector with at least one of the submersible objects and transferring power and/or communicating signals between the submersible object and the platform via the connector.

23. The method of claim 16 wherein the platform is a mobile platform, and the hold and the deployment system are mounted on the mobile platform.

26. The method of claim 16 wherein the guide members, when extended, are configured to breakup, reduce, redirect or dissipate turbulence in the flow of the liquid with respect to the platform and the at least one submersible object to thereby smooth exit of the at least submersible object from the hold into submersion in the body of liquid and/or to thereby smooth entry of the at least one submersible object into the hold from submersion in the body of liquid.

27. The method of claim 17 wherein the tines, when extended, define gaps between adjacent ones of the tines and through which the liquid can flow.

28. The method of claim 23 including moving the mobile platform through the body of liquid and thereby providing the flow of the liquid with respect to the platform and the at least one submersible object.

29. A submersible object management (SOM) system for releasing and/or recovering a plurality of submersible objects within a body of liquid, the SOM system comprising:

a hold for storing the plurality of submersible objects; and

a deployment system selectively operable to controllably release at least one of the plurality of submersible objects from the hold into submersion in the body of liquid and/or selectively operable to controllably direct at least one of the plurality of submersible objects into the hold from submersion in the body of liquid, wherein the deployment system includes;

a guide that is selectively extendable to direct the at least one submersible object, the guide including a plurality of extendable guide members configured to engage the at least one submersible object; and

a dispenser being configured to convey at least one of the submersible objects between the hold and a staging location, wherein the dispenser includes;

a hopper configured to hold a stack of the submersible objects; and

a singulator configured to receive and controllably convey at least one of the submersible objects from the hopper to the staging location.