Remotely operated, underwater non-destructive ordnance recovery system and method
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
F42B-033/00
B63G-007/02
B63G-007/00
B63C-011/50
B63C-011/00
출원번호
US-0376508
(2006-03-15)
등록번호
US-7363844
(2008-04-29)
발명자
/ 주소
Barton,James
출원인 / 주소
Barton,James
대리인 / 주소
Goldizen & Associates
인용정보
피인용 횟수 :
2인용 특허 :
3
초록▼
A remote operated, underwater non-destructive ordnance recovery system, includes a powered remote controller, a floating remote controlled transceiver wired to a remote disposal unit having a hydraulic grapple, an ordnance recovery basket, and the method in which these devices are used to extract un
A remote operated, underwater non-destructive ordnance recovery system, includes a powered remote controller, a floating remote controlled transceiver wired to a remote disposal unit having a hydraulic grapple, an ordnance recovery basket, and the method in which these devices are used to extract unexploded underwater ordnance. The remote disposal unit includes an electrically driven internal hydraulic pump with bio-degradable hydraulic fluid in a closed loop system. A base includes variable footplates to stabilize the hydraulic grapple by remotely adjustable telescoping legs. A control head that receives signals from control cables and transfers them into hydraulic value actuation, an extendable fully rotating boom, two ballast tubes, a rotating grapple, and lighted underwater cameras on the control box and ballast tubes are also included in remote disposal unit.
대표청구항▼
I claim: 1. An underwater recovery system for disposing of unexploded ordnance comprising: a wireless remote controller having a plurality of switches for creating control signals, said remote control including a power supply, and a first transceiver that transmits the control signals to open and c
I claim: 1. An underwater recovery system for disposing of unexploded ordnance comprising: a wireless remote controller having a plurality of switches for creating control signals, said remote control including a power supply, and a first transceiver that transmits the control signals to open and close a plurality of valves and receives live video feed; a fluid actuated grapple including a pair of jaws and arranged at an end of a fluid actuated boom, said grapple including a plurality of pistons arranged to cause the pair of jaws to open and close, tilt up and down, and twist right and left; video cameras providing the live video feed to the wireless remote controller; a plurality of hoses connected to the plurality of pistons such that said pistons may be extended or retracted to control a direction of movement and orientation of the fluid actuated grapple to grip an unexploded ordnance; a pump connected between a fluid reservoir and the plurality of pistons for providing fluid pressure to extend and retract said pistons; a control head comprising said plurality of valves and further including a floating transceiver coupled to said control head via a cable for receiving at least said control signals to open and close the plurality of valves to vary the fluid pressure in each hose such that the pistons are independently extended and retracted by changing a position of a respective switch of the plurality of switches on the remote controller; a power source connected to said pump and the control head for providing power thereto for operating each; and, an incompressible fluid that flows through the fluid hoses. 2. The system of claim 1 further including a float including a receiver repeater box tethered to the fluid actuated grapple and floating on a surface of water there above. 3. The system of claim 1 further comprising a submergible ordnance recovery basket capable of holding unexploded ordnance, said submergible ordnance recover basket being tethered to a surface buoy by a fixed bail and being comprised of: a wire mesh ordnance receptacle with a spring loaded entry door for ordnance on one side and a hinged prop door on an opposite side; a rigid floatation cylinder comprising self locking latches and an armor kick plate; and compressed air cylinders on opposite sides of the wire mesh ordnance receptacle for feeding air into the cylinder via connective tubes with attached sonic valves located in line with the tubes such that compressed air may be directed into the rigid floatation cylinder to cause the submergible ordnance recovery basket to be raised to a surface of a body of water when a load of ordnance is deposited into the wire mesh ordnance receptacle. 4. The submergible ordnance recovery basket of claim 3 wherein said rigid floatation cylinder further comprises automatic pressure relief valves on both sides of the rigid floatation cylinder to ensure that the submergible ordnance recovery basket does not rapidly rise to the surface of the body of water and cause a premature detonation of the unexploded ordnance. 5. The system of claim 1 wherein the fluid actuated grapple includes waterproof housing that surrounds the pump and the control head. 6. The system of claim 1 further comprising sensors for determining a distance relationship between unexploded ordnance and said grapple. 7. The system of claim 6 wherein said sensors comprise cameras that provide live video feeds to the remote controller. 8. The system of claim 1 wherein said fluid actuated boom includes two ballast tubes arranged on opposite sides thereof for providing stability to the fluid actuated grapple. 9. An underwater recovery system system for disposing of unexploded ordnance comprising: a wireless remote controller having a plurality of switches for creating control signals, said remote control including a power supply, and a first transceiver that transmits the control signals to open and close a plurality of valves and receives live video feed; a fluid actuated grapple including a pair of jaws and arranged at an end of a fluid actuated boom, said grapple including a plurality of pistons arranged to cause the pair of jaws to open and close, tilt up and down, and twist right and left; video cameras providing live video feed to the wireless remote controller; a plurality of hoses connected to the plurality of pistons such that said pistons may be extended or retracted to control a direction of movement and orientation of the fluid actuated grapple to grip an unexploded ordnance; a pump connected between a fluid reservoir and the plurality of pistons for providing fluid pressure to extend and retract said pistons; a control head comprising said plurality of valves and further including a floating transceiver coupled to said control head via a cable for receiving at least said control signals to open and close the plurality of valves to vary the fluid pressure in each hose such that the pistons are independently extended and retracted by changing a position of a respective switch of the plurality of switches on the remote controller; a power source connected to said pump and the control head for providing power thereto for operating each; an incompressible fluid that flows through the fluid hoses; a float including the floating transceiver that includes a receiver repeater box tethered to the fluid actuated grapple and floating on a surface of water there above; a submergible ordnance recovery basket capable of holding unexploded ordnance, said submergible ordnance recover basket being tethered to a surface buoy by a fixed bail and being comprised of a wire mesh ordnance receptacle with a spring loaded entry door for ordnance on one side and a hinged prop door on an opposite side, a rigid floatation cylinder comprises self locking latches and an armor kick plate, and compressed air cylinders are arranged on opposite sides of the wire mesh ordnance receptacle for feeding air into the cylinder via connective tubes with attached sonic valves located in line with the tubes such that compressed air may be directed into the rigid floatation cylinder to cause the submergible ordnance recovery basket to be raised to a surface of a body of water when a load of ordnance is deposited into the wire mesh ordnance receptacle. 10. The submergible ordnance recovery basket of claim 9 wherein said rigid floatation cylinder further comprises automatic pressure relief valves on both sides of the rigid floatation cylinder to ensure that the submergible ordnance recovery basket does not rapidly rise to the surface of the body of water and cause a premature detonation of the unexploded ordnance. 11. The system of claim 9 wherein the fluid actuated grapple includes waterproof housing that surrounds the pump and the control head. 12. The system of claim 9 further comprising sensors for determining a distance relationship between unexploded ordnance and said grapple. 13. The system of claim 12 wherein said sensors comprise cameras that provide live video feeds to the remote controller. 14. The system of claim 9 wherein said fluid actuated boom includes two ballast tubes arranged on opposite sides thereof for providing stability to the fluid actuated grapple. 15. A method for removing underwater unexploded ordnance, comprising the steps of: providing a system for disposing of unexploded ordnance comprising a wireless remote controller having a plurality of switches for creating control signals, said remote control including a power supply, and a first transceiver that transmits the control signals to open and close a plurality of valves and receives live video feed, a fluid actuated grapple including a pair of jaws and arranged at an end of a fluid actuated boom, said grapple including a plurality of pistons arranged to cause the pair of jaws to open and close, tilt up and down, and twist right and left, video cameras providing live video feed a plurality of hoses connected to the plurality of pistons such that said pistons may be extended or retracted to control a direction of movement and orientation of the fluid actuated grapple to grip an unexploded ordnance, a pump connected between a fluid reservoir and the plurality of pistons for providing fluid pressure to extend and retract said pistons, a control head comprising said valves and further including a transceiver for receiving at least said control signals to open and close the plurality of valves to vary the fluid pressure in each hose such that the pistons are independently extended and retracted by changing a position of a respective switch of the plurality of switches on the remote controller, a power source connected to said pump and the control head for providing power thereto for operating each and, an incompressible fluid that flows through the fluid hoses; lowering the fluid actuated grapple to a bottom of a body of water; viewing the bottom of the body of water via a live video feed relayed back to the remote controller; selecting a desired ordnance for retrieval; manipulating the remote controller to cause the fluid actuated grapple to grasp the desired ordnance; and, lifting the ordnance from the bottom of the body of water. 16. The method of claim 15 further comprising: depositing the ordnance into a recovery basket; and, raising the recovery basket to a surface of the body of water. 17. The method of claim 16 further including: closing an ordnance entry door on the recovery basket prior to raising the basket to the surface of the body of water. 18. The method of claim 16 further comprising: remotely actuating valves on the recovery basket to cause compressed air to flow into a floatation cylinder thereby causing the recovery basket to be raised to the surface of the water.
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