U.S. patent application number 13/296488 was filed with the patent office on 2013-04-04 for linkage assembly.
The applicant listed for this patent is Helene B. Anderson, Nathan Johnnie, Francis J. O'Brien, JR., Joseph W. Robicheau. Invention is credited to Helene B. Anderson, Nathan Johnnie, Francis J. O'Brien, JR., Joseph W. Robicheau.
Application Number | 20130081372 13/296488 |
Document ID | / |
Family ID | 47892175 |
Filed Date | 2013-04-04 |
United States Patent
Application |
20130081372 |
Kind Code |
A1 |
Johnnie; Nathan ; et
al. |
April 4, 2013 |
LINKAGE ASSEMBLY
Abstract
A device for recovery of physical objects includes a chain
having two ends and a retriever attached to one of the ends. The
retriever is configured to locate the object to be recovered and to
grasp and retrieve that object once located. The retriever includes
transducers that detect acoustic frequencies propagating in a fluid
medium. Independent transponders, which can be deployed from the
retriever; are provided for deployment in an area to be searched.
Each transponder emits a predetermined acoustic frequency that is
detectable by the transducers. The transducers signal movement of
the recovery device for retrieval of the object.
Inventors: |
Johnnie; Nathan;
(Middletown, RI) ; Anderson; Helene B.; (West
Greenwich, RI) ; Robicheau; Joseph W.; (Portsmouth,
RI) ; O'Brien, JR.; Francis J.; (Newport,
RI) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Johnnie; Nathan
Anderson; Helene B.
Robicheau; Joseph W.
O'Brien, JR.; Francis J. |
Middletown
West Greenwich
Portsmouth
Newport |
RI
RI
RI
RI |
US
US
US
US |
|
|
Family ID: |
47892175 |
Appl. No.: |
13/296488 |
Filed: |
November 15, 2011 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
13248456 |
Sep 29, 2011 |
|
|
|
13296488 |
|
|
|
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Current U.S.
Class: |
59/85 |
Current CPC
Class: |
B63C 7/20 20130101; F16G
13/12 20130101; B63C 11/48 20130101; B63C 7/26 20130101; G10K
11/006 20130101; G01S 5/0231 20130101 |
Class at
Publication: |
59/85 |
International
Class: |
F16G 13/14 20060101
F16G013/14 |
Goverment Interests
STATEMENT OF GOVERNMENT INTEREST
[0002] The invention described herein may be manufactured and used
by or for the Government of the United States of America for
Governmental purposes without the payment of any royalties thereon
or therefor.
Claims
1. (canceled)
2. (canceled)
3. (canceled)
4. (canceled)
5. A chain comprising: a plurality of links arranged as a series of
links defining the chain; and a plurality of pins, each pin
comprising a first end and second end defining a pin length and
with each pin extending between adjacent links of said plurality of
links in said chain and configured to secure together said adjacent
links; wherein each link comprises a body defining an open interior
and containing a pair of surfaces; wherein the surfaces of said
adjacent links are in contact and said pins extend through the
surfaces of said adjacent links that are in contact and through the
body of each link such a first end of each pin is in an interior of
a first of said adjacent links and a second end of each pin is in
an interior of a second of said adjacent links; wherein each pin
comprises a first spherical head on the first end and a second
spherical end on the second end; wherein each link comprises
concave areas disposed in the interior of that link on the body
opposite each one of the surfaces of that link and said spherical
heads of pins disposed in the interior of each link engage the
concave areas.
6. The chain of claim 5, wherein the surfaces of said adjacent
links that are in contact comprise a first surface and a second
surface with the first surface comprising a rod extending from the
first surface and engaging the second surface.
7. The chain of claim 6, wherein the second surface comprises a
void extending into the second surface with said rod engaged in the
void.
8. The chain of claim 7, wherein the void is configured to provide
movement of said rod within the void and to limit rotation between
links around an axis defined by the length of said pin.
9. The chain of claim 8, wherein relative rotation between links is
limited by the void to approximately thirty degrees.
10. (canceled)
Description
[0001] This application is a divisional of pending prior U.S.
patent application Ser. No. 13/248,456 filed on 29 Sep. 2011 and
claims the benefit under 35 U.S.C. .sctn.121 of the prior
application's filing date.
CROSS REFERENCE TO OTHER PATENT APPLICATIONS
[0003] None.
BACKGROUND OF INVENTION
[0004] 1) Field of the Invention
[0005] The present invention is directed to a device for recovering
physical objects.
[0006] 2) Description of Prior Art
[0007] Object retrieval presents two significant obstacles; the
location of the object and physical access to the object. In order
to gain physical access to objects in areas that are not easily
accessible (for example, in the deep sea); mechanical and
remotely-operated recovery devices are used. These mechanical
recovery devices typically utilize a mechanically-operated gripping
mechanism mounted on an arm or a boom so that the mechanism can be
maneuvered into a position for grasping the object to be retrieved.
For example, U.S. Pat. No. 4,015,873 is directed to a U-shaped
retrieving device having spring-based fingers attached to a
retrieval line.
[0008] Regarding the act of locating the object, certain objects
(e.g., aircraft black boxes) emit signals that are used locate
those objects. Other devices do not emit signals or their signals
may not be functioning properly.
[0009] In either case, the actual location of an object is
accomplished using a process of triangulation. For example, devices
such as acoustic beacons have been used to triangulate the location
of an object to be retrieved. Transponders are released in known
locations and the location of the object is determined using
acoustic signals received from the object by each of the
transponders.
[0010] Mechanisms for locating an object are often separate from
and independent of the mechanisms for retrieving those objects;
thereby, requiring separate deployment and operation of each
mechanism. These actions require coordination that complicates
retrieval efforts. In addition, the environments in which the
objects to be retrieved are located, present challenges to the
operation of the retrieval device. For example, strong ocean
currents inhibit accurate maneuvering of retrieval mechanisms by
causing these devices to drift or twist. Therefore, recovery
devices are desired that can both effectively locate and retrieve
objects.
SUMMARY OF THE INVENTION
[0011] Exemplary embodiments of a system and method in accordance
with the present invention provide a recovery device with
integrated object locating mechanisms that can be deployed and
operated in remote locations and in challenging conditions.
[0012] The recovery device comprises a cable having two ends, a
retriever and a transponder. The retriever with at least two
transducers is attached to one of the ends of the cable. Each
transducer is configured to detect acoustic frequencies propagating
in a fluid medium. The transponder, configured to emit an acoustic
frequency, is independent of and separate from the cable and
retriever.
[0013] In preferred embodiments, the acoustic frequency is selected
to be detectable by the transducers and is distinguishable from
acoustic signals emitted from devices or objects to be recovered by
the recovery device. In one embodiment, the recovery device
includes a plurality of independent and separate transponders. Each
transponder is configured to emit a different predetermined
acoustic frequency.
[0014] In another embodiment, the recovery device includes a
plurality of transducers arranged in an array. In yet another
embodiment, each transponder in the plurality of transponders is
deployably attached to the retriever portion of the recovery
device.
[0015] In still another embodiment, the recovery device includes a
cable having two ends and a retriever. The retriever has a metal
detector, a magnet and a grabbing mechanism. The grabbing mechanism
has a plurality of independent fingers movably attached to the
retriever.
[0016] In still another embodiment, the retriever also includes a
plurality of magnets. Each magnet is attached to one of the
fingers. In still another embodiment, the retriever includes a
touch sensor configured to notify a user when the retriever
contacts an object.
[0017] In yet another embodiment, the cable is a chain. The chain
has a plurality of links arranged as a series of links. The chain
also has a plurality of pins. Each pin has two ends defining a
length of the pin. Each pin is attached to and extends between
adjacent pairs of links in the chain and is configured to secure
adjacent pairs of links together. The pins are attached to the
adjacent links such that length of each pin extends parallel to the
length of the chain.
[0018] In still another embodiment, each link in each adjacent pair
of links has a surface. The surfaces of the adjacent pairs of links
are in contact with each other with the pin extending through these
surfaces.
[0019] In still another embodiment, each link is formed from a body
that defines an open interior, and each surface is contained within
the body (for example at an end of each link). Each link includes
two surfaces at opposite ends of the link and is contained in two
separate adjacent pairs of links. A pin is associated with each
adjacent pair of links, extending through one of the surfaces of
each link in the pair of adjacent links and extending into the
interior of each link.
[0020] In still another embodiment, each pin includes a spherical
head on each one of its two ends. Each spherical head is disposed
in the interior of a given link in an associated adjacent pair of
links in which that end of the pin is located. Each link includes a
concave area disposed in the interior of the link and formed in the
body in an area that is opposite each surface that is on the
exterior of the body of the link. The spherical heads of the pins
engage these concave areas of the body of each link. This
arrangement provides a rotatable, ball-and-socket type engagement
between the ends of the pins and the bodies of the links.
[0021] In a given adjacent pair of links, one of the links has a
first surface that is in contact with the second surface associated
with the other link in that adjacent pair of links. These surfaces
slide with respect to each other and can rotate relative to each
other around an axis defined by the pin passing through both
surfaces. This action facilitates relative rotation around this
same axis by both links in the adjacent pair of links.
[0022] In one embodiment, a rod or other protrusion extends from
the first surface in the direction of the second surface and
engages the second surface. The second surface contains a void (for
example: shaped as a slit or partial circular groove centered on
the pin passing through the second surface). The rod passes into
and engages the void. The rod and the length of an arc defined by
the void are configured so that the rod passes completely through
the void; thereby, defining a predetermined degree of rotation
between both links in the adjacent pair of links about the pin.
This engagement of the rod in the void limits the relative
rotational movement between the links in the adjacent pair of links
around the axis of the pin.
[0023] In one embodiment, this relative rotation between links in a
given adjacent pair of links is limited to approximately thirty
degrees. Therefore, the void defines a thirty degree arc centered
on the pin.
BRIEF DESCRIPTION OF THE DRAWINGS
[0024] A more complete understanding of the invention and many of
the attendant advantages there to will be readily appreciated as
the same becomes better understood by reference to the following
detailed description when considered in conjunction with the
companying drawings wherein like reference numerals and symbols
designate identical or corresponding parts throughout the several
views and wherein:
[0025] FIG. 1 is a schematic of an embodiment of a recovery device
in accordance with the present invention;
[0026] FIG. 2 is a representation of an embodiment of a retriever
for use in the recovery device of the present invention;
[0027] FIG. 3 is a view through section lines 3-3 of FIG. 2;
[0028] FIG. 4 is an illustration of a portion of an embodiment of a
chain for use as the cable in the recovery device of the present
invention; and
[0029] FIG. 5 is a view through section lines 5-5 of FIG. 4.
DETAILED DESCRIPTION OF THE INVENTION
[0030] Exemplary embodiments of systems and methods in accordance
with the present invention are directed to recovery devices that
provide for both the location of objects to be recovered and the
recovery of these objects. The recovery devices are rugged enough
to be operated in a desired environment and can compensate for the
operating conditions found in those environments. Suitable
environments include underwater environments, surface water
environments, mountains, swamps, thickly forested areas and ice and
snow covered terrain.
[0031] The objects to be recovered include devices that emit homing
signals or other signals or frequencies that can be detected and
devices that are silent and do not emit any known or detectable
signals.
[0032] Referring initially to FIG. 1, a recovery device 100 in
accordance with exemplary embodiments of the present invention is
depicted. The recovery device 100 includes a cable 110 having two
ends. Suitable cables include, but are not limited to, twisted or
braided wire cables, mechanics cables and wire ropes.
[0033] In one embodiment, the cable 110 is a chain having a
plurality of separate links 112 arranged in series to define a
length of the cable or chain. Each link 112 can move or rotate
relative to the other links in the chain, and each link, with the
exception of the first and last links in the chain is adjacent two
other links in the chain and is therefore contained in two separate
pairs of adjacent links. Suitable materials for the cable are
selected to be compatible with the environment in which the
recovery device is deployed.
[0034] The recovery device 100 is controllably positioned on a
platform 140 attached to a first end 111 of the cable 110. The
platform includes a spool 190 mountable to the platform 140 with
the first end 111 attached to the spool. The length of the cable
110 can be stored and deployed from the spool 190. The platform 140
can also include motors, boom arms, pulleys and guides to aid in
the deployment of the cable 110.
[0035] The platform 140 can be a stationary platform or a mobile
platform. Suitable mobile platforms include, but are not limited
to; vehicles, trucks, helicopters, fixed-wing aircraft, surface
vessels and underwater vessels. The platform 140 includes a power
source and electronic control necessary to operate, monitor and
control the recovery device 100.
[0036] The recovery device 100 also includes at least one retriever
120 attached to a second end 114 of the cable 110. The second end
114 is located opposite the first end 111 of the cable 110 along a
length 113. The retriever 120 is configured to both locate objects
to be retrieved and to grasp or secure those objects. The retriever
120 can be remotely monitored and manipulated.
[0037] The recovery device 100 includes a plurality of transducers
121 attached to the retriever 120. In one embodiment, the recovery
device 100 includes at least two transducers 121. In another
embodiment, the recovery device 100 includes three or more
transducers 121. Each transducer 121 is configured to detect
acoustic frequencies propagating in a fluid medium in which the
recovery device 100 is deployed and the object 199 to be recovered
is located. These acoustic frequencies can be emitted from the
object 199 (e.g., a black box from an aircraft).
[0038] In one embodiment, these acoustic frequencies are also
emitted from one or more acoustic transponders 130, 131 that are
attached to the retriever 120 or are otherwise deployed into the
fluid medium in an area to be searched. The transducers 121 are
configured to use both detection of acoustic signals from the
object 199 and from the transponders 130, 131 and triangulation to
determine a location of the object relative to the retriever 120.
In general, a sufficient number of transducers 121 are attached to
the retriever 120 and are provided in a desired arrangement as
necessary to locate the object 199.
[0039] Referring to FIG. 2, the retriever 120 includes a first
section 261 configured to attach the retriever to the cable 110 and
a second section 262 attached to the first section. In one
embodiment, the cable 110 is a chain, and the first section 261 is
attached to and formed integral with a last link 212 at the second
end 114 of the chain. Suitable materials for the first section 261
include, but are not limited to, plastics and metals including
stainless steel. In one embodiment, the first and second sections
261, 262 are secured together using a plurality of fasteners 255.
Suitable fasteners are known and available in the art and include
stainless steel socket head screws.
[0040] Using threaded fasteners facilitates detachment and removal
of the first section 261 from the second section 262. A gasket 256
is provided between the first section 261 and the second section
262. The gasket 256 is formed from any gasket material (e.g.,
elastomer or rubber) that is sufficient to seal the gap in the
retriever 120 between the first and second sections 261, 262 from
the environment. Suitable gasket materials are known and available
in the art.
[0041] In one embodiment, the retriever 120 is generally
cylindrical with the first section 261 forming a lid or cover for
the second section 262. The first section 261 includes a plurality
of threaded holes 280 extending from a surface opposite the second
section 262 into the body of the first section 261.
[0042] These holes 280 are arranged around the first section 261 to
accept ballast weights that provide stability to the retriever 120
in a fluid medium. In one embodiment, a threaded ballast weight 254
is screwed into each hole. A sufficient number of ballast weights
254 are provided in the first section 261 to counter or to dampen
drift and movement of the retriever caused by conditions in the
ambient environment. In one embodiment, the first section 261 can
include at least eight ballast weights 254.
[0043] In an embodiment where the first section 261 is cylindrical;
the ballast weights 254 are spaced radially around the cylinder at
equal intervals. In another embodiment, the ballast weights 254 are
uniform in size or the size of the ballast weights can vary to
compensate for the weight of the retriever 120 and to act as
ballast to level and stabilize the retriever.
[0044] The second section 262 includes a generally cylindrical case
230. Contained within the case 230 and exposed to the environment
are a temperature sensor 251 and a pressure sensor 252. The
temperature sensor 251 can be any type of thermal sensor sufficient
to measure the temperature of the environment. Similarly, the
pressure sensor 252 can be any type of pressure sensor sufficient
to measure the pressure of the environment. Suitable pressure and
temperature sensors are known in the art and are
commercially-available.
[0045] The retriever 120 includes a plurality of transducers 221
disposed in the case 230 and in communication with the environment.
The transducers 121 are arranged in two separated groups or arrays
spaced from each other along the case 230. These groups include a
first array 222 and a second array 223. In one embodiment, the
transducers 121 in each array of transducers are spaced equally
around the outer circumference of the cylindrical case 230.
[0046] The case 230 also contains a grabbing mechanism initially
disposed within the case. The grabbing mechanism has a plurality of
fingers 270 sufficient to grasp the object to be recovered. The
grabbing mechanism can include four fingers 270 arranged
equidistantly around the circumference of the case 230 and is
moveable with respect to each other to open and close in order to
grasp objects.
[0047] In one embodiment, each finger 270 includes a semi-soft
grabber support 288 on the end of each finger and at least one
touch sensor 289 extending from the end of each finger. Preferably,
a plurality of touch sensors 289 extend from the end of each
finger. The grabber supports 288 provide a soft material to grip
the objects to be recovered, and the touch sensors 289 provide
feedback to indicate when the fingers 270 are in contact with or
are gripping the object 199. The touch sensors 289 can also provide
feedback regarding the amount of force used to grip the object 199.
Therefore, damage to the object 199 can be prevented.
[0048] Each finger 270 can also include at least one magnet (not
shown). The magnet can be located along the length of each finger
270 and is used to attract or hold magnetic material to be
recovered. The magnet can be an electro-magnet that can be
activated as desired. Alternately, the entire length of each finger
270 can be magnetized.
[0049] In one embodiment, the retriever 120 includes a plurality of
motors disposed within the case and in communication with the
fingers 270. The plurality of motors includes at least one vertical
motor 272. The vertical motor 272 is in communication with a
vertical shaft 276 disposed in the interior of the case 230 and
running concentrically along the length of the cylindrical case.
The vertical motor 272 is configured to rotate the vertical shaft
276. A central node 275 engages the vertical shaft 276. Rotation of
the vertical shaft 276 by the vertical motor 272 moves the central
node 275 along the longitudinal axis of the case 230, which is
typically the vertical axis when the retriever 120 is deployed.
[0050] Also included in the retriever 120 is at least one
horizontal shaft 274 attached to and extending from the central
node 275. Preferably, the retriever 120 includes a plurality of
horizontal shafts, one for each finger 270. Therefore, each
horizontal shaft 274 extends from the central node, 275 to one of
the fingers 270.
[0051] In one embodiment, each horizontal shaft 274 is attached to
and engages one of a plurality of horizontal motors 271. Each
horizontal motor 271 is configured to rotate one of the horizontal
shafts 274. In another embodiment, each horizontal motor 271 is
attached to the central node 275, and the horizontal shaft 274
extends from the horizontal motor. A retainer flange 273 is
attached to the end of each shaft opposite the horizontal motor
271.
[0052] Each finger 270 is engaged with one of the horizontal shafts
274 between the horizontal motor 271 and the retainer flange 273.
This engagement can be a threaded engagement. Rotation of the
horizontal shaft 274 by the horizontal motor 271 moves the finger
270 along the length of the horizontal shaft 274. The retainer
flange 273 prevents the finger 270 from being advanced completely
off the horizontal shaft 274.
[0053] The vertical motor 272 and vertical shaft 276 advance the
fingers 270 downward and out from the case 230. The horizontal
motors 271 and shafts 274 move the now exposed fingers 270 away
from each other at a sufficient distance to grasp the object 199.
The horizontal motors 271 and horizontal shafts 274 are then used
to move the fingers toward each other to grasp and recover the
object.
[0054] As is illustrated in FIG. 3, the retriever 120 includes
least one additional vertical transducer 224 attached to a plate
225 connected to an end of the vertical shaft 276. Preferably, the
retriever 120 includes a plurality of vertical transducers 224
attached to the plate 225. The vertical transducers 224 are
arranged in an array around the plate 225 and face vertically
downward when the retriever 120 is deployed. In one embodiment, the
vertical transducers 224 are arranged in a circular array placed
equidistantly apart and around the circumference of the circular
plate 225.
[0055] In another embodiment, the retriever 120 also includes at
least one touch sensor 253 attached to the plate 225. The touch
sensor 253 faces vertically downward when the retriever 120 is
deployed and provides an indication when the retriever contacts an
object, the ground or the bottom of the ocean floor.
[0056] Returning to FIG. 2, the first section 261 of the retriever
120 is attached to the cable 110. The cable 110 is constructed of
any material sufficient to hold the weight of the retriever 120 and
the object to be recovered. The cable 110 is also configured to
tolerate the operating conditions of the environment including any
additional forces placed on the retriever 120 by the environment
(for example, the force of ocean currents).
[0057] In yet another embodiment, the cable 110 is configured as a
chain containing a plurality of independent chain links. As
illustrated in FIG. 4, the links are arranged as adjacent pairs of
links 400, and each link 480 in an adjacent pair of links is
moveable with respect to the other link in the adjacent pair. This
movement includes an amount of bending movement relative to axis
401 running along the length of the chain and rotational movement
about this axis. Suitable shapes for each link 400 include circular
shapes and rectangular shapes.
[0058] In one embodiment, each link 400 has an elongated shape
formed by a body 402 that defines an open interior 489. Although
the body 402 can completely encase the open interior to create a
hollow elongated member; preferably, the open interior is exposed.
Therefore, the fluid medium can pass through the open interior;
thereby, reducing the effects of the forces of the fluid medium on
the cable 110.
[0059] In another embodiment, data lines 487 or other electrical or
electronic connections are disposed in and pass through the body of
each link 400. These data lines 487 are in communication between
the links 400 and each adjacent pair of links. In addition, the
data lines 487 extend from the platform, through the cable to the
retriever 120. This arrangement provides for system control, power
supply and data collection.
[0060] The cable 110 includes a plurality of pins 481. Each pin 481
extends between the links 480 in a given adjacent pair of links and
is configured to secure together the links in the given pair of
links. Each pin 481 has two ends defining a length of the pin. The
pins are attached to the adjacent links such that the length 403 of
each pin extends parallel to the length of the chain. Preferably,
the length of each link 480 runs along the axis 401 of the chain.
In general, each pin 481 is cylindrical with a circular cross
section and is fabricated from any material (such as titanium)
sufficient to hold adjacent links together.
[0061] In one embodiment, each link 400 includes at least one and
preferably a pair of surfaces 488 formed in the exterior surface of
the body and located on opposite ends of each link. In another
embodiment, the surfaces of each adjacent pair of links 400 are in
contact with each other.
[0062] The pin 481 extends through these surfaces. In exemplary
embodiments, the pin 481 extends through the midpoint or center of
the surfaces of two adjacent links. The pin 481 extends through the
surfaces and into the interior of each link 400. In one embodiment,
each pin 481 has a spherical head 483 at each ends. As such, the
spherical heads 483 are located in the interior of each link
400.
[0063] In one embodiment, one spherical head 483 is formed integral
into the pin 481 and the other spherical head is removably attached
to the pin. For example, the pin 481 is threaded on one end, and
the spherical head 483 includes a complementary threaded hole. In
another embodiment, the interior of each link includes a concave
area 484 disposed on either end opposite the portion of the body
containing the surface. Therefore, the pin 481 extends into the
concave area 484 with the concave area is shaped to engage the
spherical head 483 of the pin 481. This arrangement permits motion
of the body of the link 400 with respect to the pin 481.
[0064] In one embodiment, adjacent pairs of links 400 include a
mechanism between the links to limit rotational motion between the
links around the axis of the pin 481. The two surfaces of the links
400 in a given adjacent pair of links include a first surface and a
second surface. The first surface has a rod 485 extending from the
first surface toward the second surface. This rod 485 engages the
second surface. The second surface includes a void 486 extending
into the second surface. The rod 485 is engaged in this void 486.
In one embodiment, the height of the rod 485 does not exceed the
depth of the void 486.
[0065] The rod 485 and void 486 are configured to limit rotation of
each link about an axis of the pin running along the length of the
pin. Referring to FIG. 5, the void 486 is shaped as and defines an
arc, i.e., a portion of a circle, centered on the pin 481 passing
through surfaces 488. The rod 485 is engaged in this void 486 and
can move in the void along the arc. This void defines an angle of
rotation 404 of the surfaces 488 with respect to each other around
the axis of the pin 481. This angle of rotation is approximately
thirty degrees. Therefore, the rotation of each link about the axis
of the pin 481, which runs along the length of the pin, is limited
to approximately thirty degrees.
[0066] Returning to FIG. 1, based on an initial estimate of the
location of the object 199 to be retrieved; the retriever 120 is
deployed into the fluid medium by extending the cable 110 from the
platform 140. The object 199 can emit a known acoustic frequency. A
user of the recovery device 100 monitors signals received by the
transducers 121 on the retriever 120 including signals at the known
acoustic frequency of the object to be recovered.
[0067] In one embodiment, a plurality of transponders 131 that are
detachable from the retriever 120 or are otherwise deployable, are
deployed in the vicinity of the retriever to provide the user with
an acoustic, geographic and navigation reference. In another
embodiment, the plurality of transponders 131 is independent of and
separate from the retriever 120.
[0068] Each transponder 131 is configured to emit a predetermined
acoustic frequency. The predetermined acoustic frequency emitted by
the transponder 131 can be selected to be detectable by one or more
of the transducers 121 and is distinguishable from acoustic signals
emitted from the objects to be recovered. The transponders 131 can
be stored in a separate transponder stowage 132 on the platform 140
and can be deployed separate from the retriever 120.
[0069] A send ping is emitted from each deployed transponder 131 to
be incident upon the object 199. The time differentiation between
the send ping and receipt of a response or reflection of the send
ping for each one of the transponders 131 is measured. These
measurements are compared for all deployed transponders 131 and are
used to determine the type of object to be recovered and the
location of that object 199 relative to the retriever 120.
[0070] In one embodiment, the signal emitted from the object 199 is
received either by the array of transducers 224 located on the
plate at the bottom of the retriever 120 that are arranged to look
vertically one of the arrays 222, 223 of transducers around the
case 230 of the retriever 120 that are arranged to look
horizontally. If the vertically looking array of transducers
receives the object signal; then the object 199 is located below
the retriever 120; If the object 199 is not located below the
retriever 120, one of the horizontal looking arrays of transducers
will receive the target signal.
[0071] In one embodiment, if the object 199 is not located below
the retriever 120, another transponder 130 is deployed at the
present location of the retriever and the transponder location is
recorded. The retriever 120 is maneuvered in a circle around this
location while monitoring for the emitted acoustic frequency of the
object 199. The diameter of the circle is increased until the
acoustic signal from the object 199 is received at a strength
sufficient to calculate a relative bearing from the deployed
transponder 130 to the object.
[0072] In one embodiment, the platform 140 proceeds from the
location of the transponder 130 to pursue an increasingly stronger
acoustic frequency signal from the object 199. In the event of a
failure or signal interference with the originally deployed
transponder 130; additional transponders are launched. Each
additional transponder 130 emits a frequency different than that of
the other transponders, and a new relative bearing to the object
199 is calculated and pursued. Additional transponders 130 are
deployed as needed until the acoustic frequency signal of the
object 199 is detected by the array of transducers on the retriever
120 that are arranged to look vertically and a signal-to-noise
ratio of the object 199 exceeds that detected by the horizontal
array of transducers.
[0073] When the signal-to-noise ratio of the object 199 detected by
the array of vertically-looking transducers exceeds that detected
by the horizontal looking arrays of transducers, the retriever 120
is above the object. Having moved the retriever 120 into a position
vertically above the object to be recovered; a plurality of
transponders 130 is dropped around the location of the object 199
to establish a perimeter of acoustic navigation references. The
retriever 120 is now lowered and maneuvered to the object 199.
[0074] The retriever 120 is lowered until it is in contact with the
object 199. A user is able to monitor data received by a touch
sensor 289 on the bottom of the retriever 120 to indicate when the
retriever has contacted the object. Once contact has been made, the
fingers 270 of the grabbing mechanism are deployed. The fingers 270
are moved vertically by the vertical motor 272 and horizontally by
the horizontal motors 271. The vertical motor 272 rotates the
vertical shaft 276 with the result of advancing the central node
275 along that shaft. As the central node 275 moves, the horizontal
shafts 274 also move and advance the fingers 270 from the case 230.
The horizontal motors 271 are activated to spread the fingers 270
to a sufficient amount to grasp the object 199. Magnets in the
fingers 270 can assist in the recovery of the object 199.
[0075] When the retriever 120 has secured the object 199; the cable
110 is retracted onto the platform 140. The cable 110 is wrapped
around the spool 190. When the retriever 120 is raised to the
platform 140; the object 199 is also raised to the platform. Once
on the platform 140, the object 199 is accessed from the retriever
120.
[0076] In one embodiment, the data lines 487 that extend through
the cable 110 are connected to signal processing software that
allows the user to track acoustic frequencies from the deployed
transponders 131 and to track acoustic signals from the object 199.
Additionally, the user monitors tension exerted on the retriever
120 and the cable 110; monitors the weight of the retriever and
cable combined; analyzes the signal-to-noise ratio; monitors the
proximity of an object to the retriever; and monitors when an
object contacts the retriever.
[0077] It will be understood that many additional changes in
details, materials, steps, and arrangements of parts which have
been described herein and illustrated in order to explain the
nature of the invention, may be made by those skilled in the art
within the principle and scope of the invention as expressed in the
appended claims.
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