Payload delivery units for pressure protecting and delivering a submerged payload and methods for using the same

• US 8,408,956 B1
• Filed: 06/29/2009
• Issued: 04/02/2013
• Est. Priority Date: 07/08/2008
• Status: Expired due to Fees

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Vosburgh, Frederick
• Primary Examiner(s): Olson, Lars A
• Application Number:
  US12/493,933
• Time in Patent Office: 1,373 Days
• Field of Search: 114/312, 114/321, 367/1, 367/131, 367/188, 441/6, 441/21, 441/23, 441/28
• US Class Current: 441/6
• CPC Class Codes: B63B 22/18 having means to control attitude or position, e.g. reaction surfaces or tether

Abstract

A payload delivery unit for protecting and delivering a payload submerged in a submersion medium includes an unmanned buoy, a drop weight member, and a retention system. The buoy includes a container. The container includes a pressure-resistant shell defining a sealed containment chamber. The drop weight member is mounted on the shell and has a negative buoyancy with respect to the submersion medium. The retention system is operative to retain the drop weight member on the buoy and selectively release the drop weight member from the buoy.

Claims

1. A payload delivery unit for protecting and delivering a payload submerged in a submersion medium, the payload delivery unit comprising:

an unmanned buoy including a container, the container including a pressure-resistant shell defining a sealed containment chamber;

a drop weight member mounted on the shell and having a negative buoyancy with respect to the submersion medium; and

a retention system operative to retain the drop weight member on the buoy and selectively release the drop weight member from the buoy;

wherein the drop weight member includes a cap mounted on a portion of and in close proximity to the shell and having a shape generally conformal to an exterior surface of the portion of the shell.

2. The payload delivery unit of claim 1 wherein the shell is substantially spherical.

3. The payload delivery unit of claim 2 wherein the cap is cup-shaped and is mounted on and surrounds a lower portion of the shell.

4. The payload delivery unit of claim 1 wherein the retention system includes an electromagnet and a controller operative to control the electromagnet to retain the drop weight member on the buoy and selectively release the drop weight member from the buoy.

5. The payload delivery unit of claim 1 wherein the retention system includes a mechanical retainer system operative to retain the drop weight member on the buoy and release the drop weight member from the buoy.

6. The payload delivery unit of claim 1 wherein the drop weight member is fenestrated.

7. The payload delivery unit of claim 1 including a pressure generator operable to generate an increase in pressure in the containment chamber to cause the shell to dehisce.

8. The payload delivery unit of claim 1 wherein the retention system is operative to automatically release the drop weight member from the buoy responsive to a prescribed event and/or environmental condition.

9. The payload delivery unit of claim 1 further including a deployable drag reducer mounted on the container in a stowed configuration, wherein:

the drag reducer is retained in the stowed position by the drop weight member; and

upon release of the drop weight member from the buoy, the drag reducer is extendable into a deployed configuration wherein the drag reducer extends from the container to streamline the buoy and thereby reduce dynamic fluid drag on the buoy.

10. A method for protecting and delivering a payload submerged in a submersion medium, the method comprising:

providing a payload delivery unit including;

an unmanned buoy including a container, the container including a pressure-resistant shell defining a sealed containment chamber;

a drop weight member mounted on the shell and having a negative buoyancy with respect to the submersion medium; and

a retention system operative to retain the drop weight member on the buoy and to selectively release the drop weight member from the buoy;

submerging the buoy, the drop weight member and the retention system in the submersion medium with the drop weight member retained on the buoy by the retention system; and

thereafter

automatically releasing the drop weight member from the buoy using the retention system responsive to a prescribed event and/or environmental condition.

11. The method of claim 10 wherein:

the payload delivery unit further includes a deployable drag reducer mounted on the container in a stowed configuration and retained in the stowed position by the drop weight member; and

the method further includes, after releasing the drop weight member from the buoy, extending the drag reducer into a deployed configuration wherein the drag reducer extends from the container to streamline the buoy and thereby reduce dynamic fluid drag on the buoy.

12. A payload delivery unit for protecting and delivering a payload submerged in a submersion medium, the payload delivery unit comprising an unmanned buoy including:

a container including a pressure-resistant container defining a sealed containment chamber; and

a deployable drag reducer mounted on the container in a stowed configuration;

wherein the drag reducer is extendable into a deployed configuration wherein the drag reducer extends from the container to streamline the buoy and thereby reduce dynamic fluid drag on the buoy;

wherein the drag reducer includes a flexible, compliant, distensible flow control member; and

the payload delivery unit is configured such that the flow control member is distended by a flow of the submersion medium as the buoy buoyantly ascends and/or descends in the submersion medium.

13. The payload delivery unit of claim 12 wherein the flow control member comprises a polymeric film.

14. The payload delivery unit of claim 12 including a valve to permit the flow of the submersion medium into the flow control member and to inhibit a flow of the submersion medium out of the flow control member.

15. The payload delivery unit of claim 12 including a mounting hoop securing the flow control member to the shell.

16. The payload delivery unit of claim 12 including a cap mounted on the container and retaining the drag reducer in the stowed configuration, wherein the cap is releasable from the container to permit the drag reducer to expand into the deployed position.

17. The payload delivery unit of claim 12 wherein the payload delivery system is operative to automatically deploy the drag reducer to the deployed position responsive to a prescribed event and/or environmental condition.

18. The payload delivery unit of claim 12 wherein the shell is substantially spherical.

19. A payload delivery unit for protecting and delivering a payload submerged in a submersion medium, the payload delivery unit comprising:

an unmanned buoy including a container, the container including a pressure-resistant shell defining a sealed containment chamber, wherein the shell includes first and second shell members coupled to form the shell and enclose the containment chamber;

a cap mounted on the shell; and

a retention system operative to retain the cap on the buoy and selectively release the cap from the buoy;

wherein;

the cap is configured and positioned on the shell members to inhibit separation of the shell members from one another when the cap is retained on the buoy by the retention system; and

the shell members are permitted to separate from one another after the cap is released from the buoy by the retention system.

20. The payload delivery unit of claim 19 wherein the cap is a drop weight having a negative buoyancy with respect to the submersion medium.

21. A payload delivery unit for protecting and delivering a payload submerged in a submersion medium, the payload delivery unit comprising:

an unmanned buoy including a container, the container including a pressure-resistant shell defining a sealed containment chamber;

a drop weight member mounted on the shell and having a negative buoyancy with respect to the submersion medium; and

a retention system operative to retain the drop weight member on the buoy and selectively release the drop weight member from the buoy;

wherein the retention system includes an electromagnet and a controller operative to control the electromagnet to retain the drop weight member on the buoy and selectively release the drop weight member from the buoy.

22. The payload delivery unit of claim 21 including a permanent magnet on the drop weight member, wherein:

the drop weight member is secured to the buoy by magnetic attraction between the permanent magnet and the electromagnet; and

the retention system is operative to release the drop weight member from the buoy by energizing the electromagnet to at least partly offset the force exerted on the electromagnet by the permanent magnet.

23. A payload delivery unit for protecting and delivering a payload submerged in a submersion medium, the payload delivery unit comprising:

an unmanned buoy including a container, the container including a pressure-resistant shell defining a sealed containment chamber;

a drop weight member mounted on the shell and having a negative buoyancy with respect to the submersion medium; and

a retention system operative to retain the drop weight member on the buoy and selectively release the drop weight member from the buoy;

the retention system includes a mechanical retainer system operative to retain the drop weight member on the buoy and release the drop weight member from the buoy; and

wherein the mechanical retainer system includes at least one finger on the drop weight member configured to engage and releasably secure the drop weight member to the shell.

24. A payload delivery unit for protecting and delivering a payload submerged in a submersion medium, the payload delivery unit comprising:

an unmanned buoy including a container, the container including a pressure-resistant shell defining a sealed containment chamber;

a drop weight member mounted on the shell and having a negative buoyancy with respect to the submersion medium;

a retention system operative to retain the drop weight member on the buoy and selectively release the drop weight member from the buoy; and

a pressure generator operable to generate an increase in pressure in the containment chamber to cause the shell to dehisce.

25. A payload delivery unit for protecting and delivering a payload submerged in a submersion medium, the payload delivery unit comprising:

an unmanned buoy including a container, the container including a pressure-resistant shell defining a sealed containment chamber;

a drop weight member mounted on the shell and having a negative buoyancy with respect to the submersion medium; and

a retention system operative to retain the drop weight member on the buoy and selectively release the drop weight member from the buoy;

wherein the retention system is operative to automatically release the drop weight member from the buoy responsive to a prescribed event and/or environmental condition.

26. A payload delivery unit for protecting and delivering a payload submerged in a submersion medium, the payload delivery unit comprising:

an unmanned buoy including a container, the container including a pressure-resistant shell defining a sealed containment chamber;

a drop weight member mounted on the shell and having a negative buoyancy with respect to the submersion medium;

a retention system operative to retain the drop weight member on the buoy and selectively release the drop weight member from the buoy; and

a deployable drag reducer mounted on the container in a stowed configuration;

wherein;

the drag reducer is retained in the stowed position by the drop weight member; and

upon release of the drop weight member from the buoy, the drag reducer is extendable into a deployed configuration wherein the drag reducer extends from the container to streamline the buoy and thereby reduce dynamic fluid drag on the buoy.

27. A method for protecting and delivering a payload submerged in a submersion medium, the method comprising:

providing a payload delivery unit including;

an unmanned buoy including a container, the container including a pressure-resistant shell defining a sealed containment chamber;

a drop weight member mounted on the shell and having a negative buoyancy with respect to the submersion medium; and

a retention system operative to retain the drop weight member on the buoy and to selectively release the drop weight member from the buoy;

submerging the buoy, the drop weight member and the retention system in the submersion medium with the drop weight member retained on the buoy by the retention system; and

thereafter releasing the drop weight member from the buoy using the retention system;

wherein;

the payload delivery unit further includes a deployable drag reducer mounted on the container in a stowed configuration and retained in the stowed position by the drop weight member; and

the method further includes, after releasing the drop weight member from the buoy, extending the drag reducer into a deployed configuration wherein the drag reducer extends from the container to streamline the buoy and thereby reduce dynamic fluid drag on the buoy.

28. A payload delivery unit for protecting and delivering a payload submerged in a submersion medium, the payload delivery unit comprising an unmanned buoy including:

a container including a pressure-resistant container defining a sealed containment chamber; and

a deployable drag reducer mounted on the container in a stowed configuration;

wherein the drag reducer is extendable into a deployed configuration wherein the drag reducer extends from the container to streamline the buoy and thereby reduce dynamic fluid drag on the buoy; and

wherein the shell is substantially spherical.