Pct / us23 / 33390

Abstract

Described herein is an externally mounted payload deployment pod and system and method of use. The pod may be mounted to a host platform such as an underwater vehicle with the capability to deploy one or more payloads to a target location. The pod comprises an interior flood cavity.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims benefit of priority under 35 U.S.C. § 119(e) of U.S. Ser. No. 63 / 408,591, filed Sep. 21, 2022, the entire contents of which is incorporated herein by reference in its entirety.STATEMENT REGARDING GOVERNMENT SUPPORT

[0002] This disclosure was support by the United States Government under Grant No. N6833522C0035 award by Office of Naval Research (ONR). The Government has certain rights therein.FIELD OF INVENTION

[0003] This invention relates to the field of underwater exploration and operation vehicles. Specifically, it relates to the field of payload deployment, underwater sensor activities, and underwater marker activities.BACKGROUND OF THE INVENTION

[0004] Marine vehicles, such as unmanned underwater vehicles (UUVs), are used in a wide range of applications including exploration, military use, and scientific research among others. In many applications, these vehicles are entirely or at least partially remotely controlled from another location such as a ship, vessel, or land base and use a plurality of payloads including instruments such as modems, beacons, markers, acoustic transmitters, acoustic transponders, hydrophones, sensors, seismometers, mines, munitions, and similar devices. These instruments are often deployed on the seafloor or on bottom of a body of water for purposes of observation and communication but are also employed for underwater navigation and tracking involving the integration of acoustic network devices with submersible vehicles to track targets and triangulate locations precisely, Specifically, UUVs have become a workhorse for a wide variety of defense, commercial, and scientific missions. Advances in both artificial intelligence and machine learning (AI / ML) and battery capacity, driven by well-capitalized related fields such as self-driving and electric automobiles, will enable uncrewed platforms to perform longer, more complex, and increasingly adaptive missions. With these advantages in place, future uncrewed assets will have more potency and enable new capabilities. The capability to deploy payloads, which can deliver a wide range of effects, represents a compelling action to future Naval assets. This modular “system of systems” approach also helps to achieve the Navy's vision of a more distributed fleet.

[0005] Precise navigation during operation is a fundamental requirement for many underwater missions and maintaining a steady course and buoyancy level is of significant concern. As a vehicle moves through the water and deploys a payload from the hull, the weight of the vehicle is reduced, and the buoyancy increased. Without a method to immediately compensate this change, the vehicle may shift off course, adding a substantial variable of error to the mission. While methods involving air bladders and gas release are often used to compensate for buoyancy changes, these methods are unsuited for many operations including clandestine missions where the emission of gas bubbles is highly undesirable.

[0006] Further, other payload solutions only allow for buoyancy correction by at least partially flooding a cavity in the host vehicle. And they only allow for a vacuum force connection between the host vehicle and payload. This is not ideal because it does not allow for a host-agnostic payload delivery system.SUMMARY OF THE INVENTION

[0007] The present disclosure describes a system comprising an external assembly that can be attached to an underwater vehicle or another platform with the capability of holding one or a plurality of payloads and deploying one or more payloads at a specified position and time.BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The drawings described herein constitute part of this specification and includes exemplary embodiments which may be embodied in various forms. It is to be understood that in some instances, various aspects of the invention may be shown exaggerated or enlarged to facilitate an understanding of the invention. Therefore, drawings may not be to scale.

[0009] FIG. 1 is a simplified schematic of the system.

[0010] FIG. 2 is a view of the deployment pod attached to a host vehicle.

[0011] FIG. 3 a cut away schematic of the deployment pod attached to a host vehicle.

[0012] FIG. 4 shows a connector ring.

[0013] FIG. 5 is a view of the deployment pod attached to a host vehicle

[0014] FIG. 6A shows the release in the locked position.

[0015] FIG. 6B shows the release is the open position.

[0016] FIG. 7 shows an embodiment of an outer buoyancy cavity tube and linear actuator flood valve.

[0017] FIG. 8 shows an embodiment of an outer buoyancy cavity tube and a cam actuator flood valve.

[0018] FIG. 9 shows an embodiment of an inner buoyancy cavity tube and linear actuator flood valve.

[0019] FIG. 10 shows another embodiment of an inner buoyancy cavity tube and linear actuator flood valve.

[0020] FIG. 11 shows another embodiment of an inner buoyancy cavity tube and cam actuator flood valve.

[0021] FIG. 12 is an exploded view of the deployment pod.

[0022] FIG. 13 is view of the deployment pod showing the spring-loaded tab release.

[0023] FIG. 14 is a cutaway view of the deployment pod.DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0024] Various embodiments may be referred to as the “External Payload Deployment System” (“EPADS”), which is preferably is vehicle / host-agnostic, with the capability of carrying its own power (e.g., battery) and communication system with (e.g., with a host platform to which it is coupled). The system may comprise a body which houses the internal components of the EPADS, a power supply, such as a battery, providing power to the internal components, a controller to initiate the deployment of one or more payloads, a valve to allow outside water to enter a flood cavity area of the body that offsets the buoyancy change when a payload is deployed, and the noted communication system.

[0025] Illustrative embodiments may be scaled and incorporated with a wide range of platforms or “host”, including aquatic vehicles, such as human-occupied vehicles (HOVs), remote operated vehicles (ROVs), autonomous underwater vehicles (AUVs), unmanned underwater vehicles (UUVs), gliders, towed vehicles, surface crafts, submarines, mini-submarines, boats, vessels, and any other suitable vehicles. Some embodiments described herein may be used in aerial vehicles. The illustrative system may also be deployed in connection with non-motorized hosts, such as buoys, platforms, and other structures.

[0026] FIG. 1 shows a simplified schematic of the system configured in accordance with illustrative embodiments. As depicted, the system comprises a deployment pod 1 removably connected to a host 2. The two components 1 and 2 cooperate to release the deployment pod 1 from the host 2 when desired. Specifically, the body of the pod 1 may be configured to attach externally to the host 2, in some instances, at the pressure boundary of the host, which can include a vehicle using a mount or other means of attachment. To that end, the body of the deployment pod 1 comprises a hollow internal area to house internal components of the deployment pod 1.

[0027] In this embodiment, the deployment pod 1 body internal area holds a payload 3 (e.g., sonar listening equipment), power 4 (e.g., a battery), a wireless communication system 5 (e.g., an acoustic modem) for communication with a host wireless communication system 6 (e.g., an acoustic modem) and an onboard computer 8 on the host 2, and a controller 7 configured to manage one or more of communication, decoupling, buoyancy, and other components in the deployment pod and / or host 2. The deployment pod 1 also comprises a flood cavity 9, within the deployment pod 1. An interface for receiving water, such as a valve controls fluid flow (e.g., from the environment, such as water from a lake or ocean) in and out of the flood cavity 9. The flooding of the flood cavity 9 may typically be performed in combination with the deployment of one or more pods 1 such that the host 2 experiences no net buoyancy change prior to and after the pod 1 is deployed. In other embodiments, the flood cavity 9 is segmented such that only a portion of the area is flooded when a payload is released. The flooding of the flood cavity 9 may also be performed after one or more pods 1 is deployed.

[0028] FIG. 2 provides another view of the system showing the exterior of the system. As shown, in this embodiment, the deployment pod 1 may be attached to the host 2 via a mounting connector, which, in the depicted embodiment, comprises a forward connector ring 11a and an aft connector ring 11b. The rings 11a, 11b are adjustable based on the size of the host 2. In one embodiment, the rings 11a, 11b are hose clamps or similar clamps that can be adjusted by loosening or tightening to change the diameter of the clips to secure the rings into place. FIGS. 4 and 5 additionally shows a side view of one of the rings 11a and its connection to the deployment pod 1. Other mechanical mounting connectors are contemplated as along as the connector allows the deployment pod 1 to be released from the host 2 on command. Such include, French cleats, tabs, friction fit cut outs and hooks.

[0029] The deployment pod 1 in this embodiment is removably connected to the connector through a release 13 (shown in FIG. 6A) so that the deployment pod 1 can be disconnected from the host and deployed either to a determined ocean stratum, to the ocean floor, or some prescribed region of the ocean. Note that various embodiments can be used in other bodies of water, such as a lake, river, or pond. As such, discussion of an ocean is exemplary and not intended to limit various embodiments. In the embodiments in which the deployment pod 1 is desired to complete a mission on the ocean floor, an anchor may be part of the payload 3. As shown in FIG. 6A and FIG. 6B, the release 13 may be a spring-loaded tab. The tab in the locked position is shown in FIG. 6A and the tab in the unlocked position is shown in FIG. 6B. The tab may be actuated by a motor or controller 7 housed within the deployment pod 1. In other embodiments, the release 13 may comprise a cam and cam shaft. When the cam shaft is turned, the cam shifts and releases the deployment pod 1. In alternative embodiments, the release may be active, passive, or a combination of active and passive.

[0030] Turning to FIG. 3, a cut away view of the host 2 and deployment pod 1 along line A-A is shown. In this embodiment, a payload is depicted at 16. As depicted, the flood cavity 9 comprises a buoyancy cavity tube 12, formed at least in part from a suitable material that resists corrosion from water (e.g., salt water), such as stainless steel or aluminum. The buoyancy cavity tube 12 is sized based on the size of the deployment pod 1 and payload 3. In an exemplary embodiment, the buoyancy cavity tube 12 is sized so that the weight of the flooded cavity is equal to or approximately equal to the weight of the payload. The overall size and shape of the payload 3 may be designed to the mission at hand. According to one embodiment, a payload is A-Size (4.875″ diameter×36″). In a specific embodiment, a payload is a 5 kg module.

[0031] FIGS. 7-11 depict various configurations of the buoyancy cavity tube 12. The buoyancy cavity tube 12 may be interior to or exterior to the interior of the body of the deployment pod. The buoyancy cavity tube 12 comprises a valve 10 that allows the buoyancy cavity tube 12 to be flooded with water on actuation. FIGS. 7 and 8 show an exterior buoyancy cavity tube 12. FIG. 7 shows a linear flood valve and FIG. 8 shows a cam flood valve. FIGS. 9-11 show an interior buoyancy cavity tube 12. FIGS. 9 and 10 shows a linear flood valve 14 and FIG. 11 shows a cam flood valve 21. FIGS. 9-11 additionally illustrate embodiments varying the size of the and location within the interior of the deployment pod 1 of the buoyancy cavity tube 12. It is also contemplated that the buoyancy cavity tube 12 is shaped to meet the needs of the particular mission. For example, it may be spherical or cubed shaped. There may be more than one buoyancy cavity. For instance, in missions where it is advantageous to deploy only a portion of the deployment pod 1 at a time while a portion remains attached to the host 2, multiple buoyancy cavities may be used.

[0032] FIG. 12 is an exploded view of a preferred embodiment of the deployment pod 1. As depicted, the buoyancy cavity tube 12 is interior to the deployment pod 1 body. The inner payload 16 may house the power 4, acoustic modem 5, and controller 7. The buoyancy cavity tube 12 fits within a cap O-ring 18 that is secured with hardware to an inner cap plate 17 that interfaces with the release. An outer cap 19 fits around the inner cap plate 17 so that water does not enter the interior of the deployment pod 1 unless the flood valve is actuated. A forward host connector 20b and aft host connector 20a are shown. The host connectors 20a, 20b interact with the forward connector ring 11a and aft connector ring 11b. A payload cap 20 interacts with the aft side of the deployment pod 1 to form a watertight seal. Element 21 is part of the wireless communication and as pictured is an acoustic transducer. FIG. 13 shows an assembled view of the release 13. In this embodiment, the release 13 comprises a spring-loaded tab 22. When the tab is actuated, the spring releases and the forward host connector 20b and aft host connector 20a are released from the host connectors 20a, 20b through a change in buoyancy from the simultaneous flooding of the buoyancy cavity, from the pressure of the surrounding water coupled with the movement of the host 1, or some combination thereof.

[0033] FIG. 14 shows the same embodiment in a cut-away view to depict the inner payload 16 in relation to the buoyancy cavity tube 12 and release 13. FIG. 15 shows the same embodiment with the outer cap 19 in place.

[0034] The payload 3 varies based on the mission. In illustrative embodiments, the pod 1 is formed by modular hardware components with well-defined interfaces that make EPADS extensible to a range of payloads and dual-use applications.

[0035] In one or more embodiments, the system may be used to deploy payloads such as markers, beacons, sound or light devices, or other signaling objects to mark specific locations underwater such that the signaling payload may relay a signal immediately or at a later designated time to an aquatic vehicle, observatory, remote location, diver, or other signaling object or payload. In some circumstances, the signaling payloads may be deployed to mark underwater mines, munitions, or other possible obstructions or hazards. In other embodiments, signaling payloads may be deployed to mark the location for the future deployment of mine or munitions. For such operations, the system allows for quiet and potentially silent deployment of payloads for stealth or reconnaissance missions as well as minimalized drifting of the system during deployment with the buoyancy compensation mechanism.

[0036] In some embodiments, the pod 1 may be used to deploy underwater signaling devices such as acoustic communication devices, optical communication devices, sensors, robots, actuators, lights, strobes, cameras, or samplers for the establishment of underwater communication networks comprising of underwater vehicles, observatories, modems, as well as a plurality of other communication or observation devices. However, one skilled in the art would immediately recognize other potential uses for the pod 1.

[0037] In one or more embodiments, the payload 3 may comprise a plurality of sensors. For instance, unmanned underwater vehicles are routinely used for detecting and classifying targets on the seafloor using sensors such as sonars, magnetometers, and cameras. The pod 1 can be adaptively delivered to those detected target locations and can provide the capability to monitor those target locations over longer timescales than the vehicle mission itself affords. The pod 1 can also be adaptively delivered as acoustic nodes in an undersea communications network in locations that optimize sensor performance or fill gaps in network coverage areas.

[0038] According to one embodiment, A-Size dummy payloads carried on a REMUS 600 UUV: two A-Size external payloads would not decrease the vehicle mission time by more than 25% and the parasitic drag of the mounting connector would be less than 10% over the unmodified vehicle drag. In other embodiments, the payload is sized so the vehicle mission time is increased between 0% and 50% and the parasitic drag of the mounting connector is between 0% and 20%, 0% to 25%, or at least under 50%.

[0039] Communication between the deployment pod 1 and host 2 may occur via acoustic modem 5, 6. Other embodiments may communicate using other technologies, such as Bluetooth, digital, wi-fi, magnetic sensors or other communications as known in the art. As depicted, the deployment pod 1 houses its own battery independent of the host 2. This provides maximum interoperability between vehicle classes with no or negligible mechanical integration effort other than, in the embodiments shown in FIG. 2 for example, the external band clamp mounting connector. The controller 7 communicates with the communication system, such as the noted acoustic modem 5, and controls the motor that actuates the valve 10 and release 13. The controller 7 may also communicate with the payload after release to provide status, data exfiltration, or effect triggering. In other embodiments, digital, wi-fi or other communication means as known in the art are used.

[0040] In one or more embodiments, the controller 7 is a microcontroller and may be programmed to communicate between the acoustic modem 5 and the motor that actuates the valve 10 and the release 13. Basic functionality may include translating the drop command signal received by the acoustic modem into a disciplined actuation of the valve and release. Additional functionality may include safety features such as “arming” or “disarming” the system, so it does not prematurely release by falsely reacting to acoustic noise. Other microcontroller functions may include commanding the acoustic modem 5 to transmit status messages such as battery life, arm state, or other status data provided by a to-be-determined payload.

[0041] The method of deploying a payload in illustrative embodiments is as follows. The acoustic modem 5 actuates a motor that moves the valve 10 to flood the cavity (in a preferred embodiment, the buoyancy cavity tube 12) in whole or part with sea water and in succession or simultaneously actuates the release 13. The change in buoyancy caused by flooding the cavity and the water pressure and movement of the host 2 loosen the deployment pod 1 so that it falls away from the host 2.

[0042] The rate of flooding of the cavern is controlled by the modem 5 and controller 7, which in a preferred embodiment, are on board the deployment pod 1. By controlling the rate of flooding and amount of flood water, the deployment pod 1 can be directed to a specific “drop zone.” For example, the payload is prompted to release by the controller 7 at a determined number of meters away from the intended target. For instance, the host 2 may be moving at 1-2 meters per second at approximately 3-4 meters above the ocean floor, such that the specific drag curves for these parameters would dictate the location at which the motor is actuated to actuate the release. In another instance, the host vehicle may be traveling 0-1 meters per second at approximately 5-20 meters above the ocean floor. In another instance, the host vehicle may be traveling 2-8 meters per second at 20-100 meters above the ocean floor. In another instance, the host vehicle may be floating at the ocean surface where the ocean floor is 100-1000 meters or 1,000 -11,000 meters below the host vehicle.

[0043] In one or more embodiments, it may be desirable to release a portion of the payload from the deployment pod 1 while the remainder of the deployment pod 1 remains attached to the host 2. In this case, the body of the deployment pod 1 is modularized and the inner payload 16 (in those embodiments with an inner payload 16) may be modularized. When the valve 10 is opened, the modem controls the motor to only allow a portion of the cavity to be flooded. The volume of flood water relates to the weight of the payload to be deployed such that the overall buoyancy of the host 2 and deployment pod 2 remains stable.

[0044] The described features, advantages, and characteristics may be combined in any suitable manner in one or more embodiments. One skilled in the relevant art will recognize that the circuit may be practiced without one or more of the specific features or advantages of a particular embodiment. In other instances, additional features and advantages may be recognized in certain embodiments that may not be present in all embodiments.

[0045] Reference throughout this specification to “one embodiment,”“an embodiment,” or similar language means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, appearances of the phrase “in one embodiment,”“in an embodiment,” and similar language throughout this specification may, but do not necessarily, all refer to the same embodiment.

[0046] Although the invention has been described with reference to the above examples, it will be understood that modifications and variations are encompassed within the spirit and scope of the invention. Accordingly, the invention is limited only by the following claims.

Claims

1. An external payload deployment system comprising at least one deployment pod comprising a hollow interior, a valve that selectively seals said hollow interior, a release, and a controller in communication with said valve and said release; wherein said controller is configured to actuate said valve to flood said hollow interior in whole or part with water and actuate said release to deploy said deployment pod.

2. The external payload deployment system of claim 1 further comprising a motor that actuates said valve wherein said motor actuates said valve for a set time period, so that said hollow interior is flooded with water to affect the buoyancy of said deployment pod at a predetermined rate.

3. The external payload deployment system of claim 1 wherein said release comprises a spring-loaded tab.

4. The external payload deployment system of claim 1 further comprising a connector that is capable of removably connecting said deployment pod to a host.

5. The external payload deployment system of claim 4 wherein said connector comprises at least one connector ring.

6. The external payload deployment system of claim 1 wherein said deployment pod is capable of storing a payload.

7. The external payload deployment system of claim 6 wherein said payload is selected from the group consisting of markers, beacons, and light devices.

8. The external payload deployment system of claim 6 wherein said payload is selected from the group consisting of acoustic communication devices, optical communication devices, sensors, robots, actuators, lights, strobes, cameras, or samplers.

9. A method for deploying an underwater payload comprising:a. removably attaching a deployment pod to a host vehicle;b. flooding a cavity within said deployment pod; andc. deploying said deployment pod.

10. The method of claim 9 further comprising a release that is actuated to deploy said deployment pod.

11. The method of claim 10 wherein said release comprises a spring-loaded tab.

12. The method of claim 10 wherein said release is actuated by a wireless signal from said host vehicle.

13. The method of claim 9 wherein said deployment pod is removably attached to said host vehicle with at least one connector rings.

14. A deployment pod comprising:a. a body forming an interior;b. a flood cavity within the interior and having a sealable interface for receiving water;c. a connector on the body configured to removably couple with a host; andd. a release configured to decouple said deployment pod from the host.

15. The pod of claim 14 wherein said flood cavity is a buoyancy cavity tube.

16. The pod of claim 14 wherein said interface comprises a valve controlled by a motor.

17. The pod of claim 16 wherein said valve comprises a linear valve.

18. The pod of claim 16 wherein said valve comprises a cam valve.

19. The pod of claim 14 wherein said release comprises a spring-loaded tab.

20. The pod of claim 14 wherein said connector comprises a forward connector ring and an aft connector ring that couple with a forward host connector and aft host connector.

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