Delivery systems for pressure protecting and delivering a submerged payload and methods for using the same

• US 7,942,107 B2
• Filed: 12/11/2008
• Issued: 05/17/2011
• Est. Priority Date: 12/12/2007
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Vosburgh, Frederick
• Primary Examiner(s): Olson; Lars A
• Application Number:
  US12/332,734
• Publication Number:
  US 20110088609A1
• Time in Patent Office: 887 Days
• Field of Search: 114/238, 114/257, 114/312, 114/313, 114/316, 114/319, 114/321
• US Class Current: 114/319
• CPC Class Codes: B63B 49/00 Arrangements of nautical instruments or navigational aids nautical measuring instruments G01C; radio navigation, analogous arrangements using other waves G01S
• 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

Abstract

A payload delivery system for protecting and delivering a payload submerged in a submersion medium includes a containment system. The containment system includes a container and a dehiscing system. The container includes a pressure-resistant shell defining a sealed containment chamber. The dehiscing system is operative to dehisce the shell to open the containment chamber to the submersion medium responsive to a prescribed event and/or a prescribed environmental condition.

Claims

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

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

a dehiscing system operative to dehisce the shell to open the containment chamber to the submersion medium responsive to a prescribed event and/or a prescribed environmental condition;

a secondary object operable to retain and selectively release the container; and

a link between the dehiscing system and the secondary object to transmit force, energy and/or signals between the dehiscing system and the secondary object.

2. The payload delivery system of claim 1 wherein the dehiscing system is operative to automatically dehisce the shell to open the containment chamber to the submersion medium responsive to the prescribed event and/or the prescribed environmental condition.

3. The payload delivery system of claim 1 wherein the shell includes a plurality of substantially rigid shell members mated to one another to form the sealed containment chamber.

4. The payload delivery system of claim 1 wherein the shell includes a flexible envelope defining the sealed containment chamber.

5. The payload delivery system of claim 1 wherein the dehiscing system is operative to automatically dehisce the shell to open the containment chamber to the submersion medium responsive to a prescribed event.

6. The payload delivery system of claim 5 wherein the prescribed event includes at least one of:

elapse of a prescribed period of time;

attainment of a prescribed depth;

detection of a prescribed signal;

receipt of a command;

attainment of a prescribed location; and

occurrence of a prescribed operational condition.

7. The payload delivery system of claim 6 wherein the prescribed event includes a lapse of a prescribed period of time.

8. The payload delivery system of claim 6 wherein the prescribed event includes attainment of a prescribed depth.

9. The payload delivery system of claim 1 wherein the dehiscing system is operative to automatically dehisce the shell to open the containment chamber to the submersion medium responsive to a prescribed environmental condition.

10. The payload delivery system of claim 9 wherein the prescribed environmental condition includes an external pressure on the shell that is less than a prescribed threshold pressure at a time prior to dehiscence.

11. The payload delivery system of claim 1 wherein the dehiscing system includes a pressure generator operable to generate an increase in pressure in the containment chamber to cause the container to dehisce.

12. The payload delivery system of claim 11 wherein the pressure generator includes a heating element to heat a gas in the containment chamber to increase the pressure in the containment chamber.

13. The payload delivery system of claim 11 wherein the pressure generator includes a gas provider to introduce additional gas into the containment chamber to increase the pressure in the containment chamber.

14. The payload delivery system of claim 1 wherein the dehiscing system includes a mechanical dehiscing actuator including a pusher and a retainer.

15. The payload delivery system of claim 1 wherein the dehiscing system includes a magnet dehiscing actuator including at least one magnet.

16. The payload delivery system of claim 1 wherein the dehiscing system includes a heating element to selectively melt the shell.

17. The payload delivery system of claim 1 including a payload contained in the containment chamber.

18. The payload delivery system of claim 17 wherein the payload includes a substantially rigid payload housing disposed in the containment chamber, wherein the payload housing is releasable when the container is dehisced.

19. The payload delivery system of claim 1 including a link between the dehiscing system and the payload to transmit force, energy and/or signals between the dehiscing system and the payload.

20. The payload delivery system of claim 1 wherein an internal pressure of the containment chamber is sub-atmospheric.

21. The payload delivery system of claim 1 wherein an internal pressure of the containment chamber is greater than atmospheric before the container is dehisced.

22. The payload delivery system of claim 1 wherein the containment system is operative to automatically activate the payload prior to release of the payload.

23. The payload delivery system of claim 1 wherein the containment system is operative to emit a signal confirming activation of the dehiscing system and/or the payload.

24. The payload delivery system of claim 1 wherein the containment system and the payload form a dispensable unit having a buoyancy enabling the dispensable unit to passively ascend in the submersion medium.

25. The payload delivery system of claim 1 including a destructor to selectively destroy a component of at least one of the containment system and the payload.

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

providing a containment system including;

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

a dehiscing system;

mounting the payload in the containment chamber;

submerging the container with the payload mounted in the containment chamber at a first depth;

thereafter

permitting the container with the payload mounted in the containment chamber to buoyantly rise to a second depth shallower than the first depth; and

automatically dehiscing the shell at the second depth using the dehiscing system to open the containment chamber to the submersion medium responsive to a prescribed event and/or a prescribed environmental condition.

27. The method of claim 26 wherein dehiscing the shell at the second depth using the dehiscing system to open the containment chamber to the submersion medium includes automatically dehiscing the shell using the dehiscing system to open the containment chamber to the submersion medium responsive to the prescribed event and/or the prescribed environmental condition.

28. A payload delivery system for protecting and delivering a payload submerged in a submersion medium, the payload delivery system comprising a containment system including:

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

a dehiscing system operative to dehisce the shell to open the containment chamber to the submersion medium responsive to a prescribed event and/or a prescribed environmental condition;

wherein the dehiscing system includes a pressure generator operable to generate an increase in pressure in the containment chamber to cause the container to dehisce; and

wherein the pressure generator includes a heating element to heat a gas in the containment chamber to increase the pressure in the containment chamber.

29. A payload delivery system for protecting and delivering a payload submerged in a submersion medium, the payload delivery system comprising a containment system including:

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

a dehiscing system operative to dehisce the shell to open the containment chamber to the submersion medium responsive to a prescribed event and/or a prescribed environmental condition;

wherein the dehiscing system includes a magnet dehiscing actuator including at least one magnet.

30. A payload delivery system for protecting and delivering a payload submerged in a submersion medium, the payload delivery system comprising a containment system including:

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

a dehiscing system operative to dehisce the shell to open the containment chamber to the submersion medium responsive to a prescribed event and/or a prescribed environmental condition;

wherein the dehiscing system includes a heating element to selectively melt the shell.

31. A payload delivery system for protecting and delivering a payload submerged in a submersion medium, the payload delivery system comprising a containment system including:

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

a dehiscing system operative to dehisce the shell to open the containment chamber to the submersion medium responsive to a prescribed event and/or a prescribed environmental condition; and

a link between the dehiscing system and the payload to transmit force, energy and/or signals between the dehiscing system and the payload.

32. A payload delivery system for protecting and delivering a payload submerged in a submersion medium, the payload delivery system comprising a containment system including:

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

a dehiscing system operative to dehisce the shell to open the containment chamber to the submersion medium responsive to a prescribed event and/or a prescribed environmental condition;

wherein the containment system is operative to emit a signal confirming activation of the dehiscing system and/or the payload.

33. A payload delivery system for protecting and delivering a payload submerged in a submersion medium, the payload delivery system comprising a containment system including:

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

a dehiscing system operative to dehisce the shell to open the containment chamber to the submersion medium responsive to a prescribed event and/or a prescribed environmental condition; and

a destructor to selectively destroy a component of at least one of the containment system and the payload.