Underwater Payload Frame Orientation Control
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Solution Overview
Problem
Complicated underwater terrain with unknown features and unpredictable oceanographic properties disrupts the precise deployment and repositioning of payloads, making it challenging to achieve a target orientation.
Innovation Solution
A payload deployment system with a frame equipped with three lead screws, motors, spherical bearings, and an accelerometer, controlled by a microcontroller to adjust the payload's orientation based on gravity vectors, ensuring stable positioning on the water body bed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If acoustic pulses are used to reposition the payload remotely, then the payload can be repositioned, but the repositioning is disrupted by complicated bed features and unpredictable oceanographic properties
Solution Approach 1:
The system uses an accelerometer to continuously measure the payload's orientation and gravity vectors, providing real-time feedback to the microcontroller. This feedback loop enables the microcontroller to adjust motor positions dynamically to counteract disruptions from oceanographic properties and bed features, ensuring reliable payload repositioning despite environmental uncertainties.
Solution Approach 2:
The payload frame performs self-positioning and self-orientation using its integrated accelerometer and motor system. The microcontroller automatically adjusts the lead screws and motors to maintain the payload in the target orientation without external intervention, enabling the system to compensate for environmental disruptions independently.
2Adaptability or versatility
If the payload is deployed on a complicated bed with unknown features, then deployment can occur, but achieving target orientation becomes difficult
Solution Approach 1:
The system changes the control parameters dynamically based on accelerometer readings. The microcontroller adjusts motor positions and lead screw configurations in real-time according to the measured gravity vectors and payload orientation, enabling precise target orientation achievement despite variations in bed topology and unknown environmental features.
3Manufacturing precision
If lead screws and motors are used to adjust payload orientation, then precise positioning is achieved, but the system complexity increases
Solution Approach 1:
The spherical bearings serve multiple functions: they provide rotational freedom for the lead screws, accommodate misalignment between components, and enable compact integration of the motor-lead screw-assembled units. This multi-functionality reduces overall system complexity while maintaining precise positioning capability.
Solution Approach 2:
The motor and lead screw are nested within a compact assembly that attaches to the payload frame through spherical bearings. This nested configuration integrates multiple components into a space-efficient unit, reducing the overall device complexity while preserving the precision positioning function.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system effectively deploys and repositions payloads in a target orientation, maintaining stability and accuracy even on uneven underwater surfaces by using a microcontroller to adjust the motors based on gravity vector measurements, reducing errors and ensuring the payload remains aligned with the steepest gradient.
Implementation Method 1
an accelerometer attached to the payload, the accelerometer to measure gravity vectors of the payload
Implementation Method 2
at least three motors, each motor connected to a bottom end of one of the lead screws, the motor to rotate the lead screw through the corresponding spherical bearing
Data Source
AI summary
The invention relates to a payload frame for deploying a payload underwater. The payload frame includes at least three lead screws, each lead screw connected near a top end of the lead screw to the payload by a corresponding spherical bearing; at least three motors, each motor connected to a bottom end of one of the lead screws, the motor to rotate the lead screw through the corresponding spherical bearing; at least three feet, each foot attached to one of the motors, the feet to support and secure the payload frame on a water body bed; an accelerometer attached to the payload, the accelerometer to measure gravity vectors of the payload; and a microcontroller connected to the accelerometer and the motors. The microcontroller to receive the gravity vectors from the accelerometer and control each of the motors based on the gravity vectors to position the payload in a target orientation.