US3880103A - Tethered mine hunting system - Google Patents

Abstract

A tethered mine hunting system capable of aerial deployment comprises a lift module attached to an aircraft support vehicle by primary tether and a submarine vehicle attached to said lift module by secondary tether. The lift module and submarine vehicle are configured so as to permit the submarine vehicle to be garaged within the lift module during launch and recovery of the system. A source of hydraulic motive power is located within the lift module and is attached to the submarine vehicle via the secondary tether so as to permit the submarine vehicle to have very low acoustic and magnetic signatures. Additionally, the lift module contains other support equipment and electroacoustic transducers.

Description

United StatesPatent 1 1 1111 3,880,103

Talkington Apr. 29, 1975 [54] TETHERED MINE HUNTING SYSTEM 3 719,l 16 3/1973 Burton et a1. 114/16 R X [75] Inventor: Howard R. Talkington, La Jolla,

Calif- PllI7l(ll E.\'aminerSamue1 Femberg Attorney, Agent, or FirmRichard S. Sciascia; Ervin [73] Assignee: The United States of America as F. J h n; William T skfier represented by the Secretary of the Navy, Washington. DC. [57] ABSTRACT [22] Fled: 1972 A tethered mine hunting system capable of aerial de- 21 App| 2 3 127 ployment comprises a lift module attached to an aircraft support vehicle by primary tether and a submarine vehicle attached to said lift module by secondary U.S. u t i R t th Th d submarine hi l are [51] hit. Cl. B63g 8/00 figured so as to permit the Submarine Vehicle to be [58] held of Seal-chm 114/16 240 R3 raged within the lift module during launch and recov- 61/69 R169 A; 37/54 56 ery of the system. A source of hydraulic motive power is located within the lift module and is attached to the [56] References C'ted submarine vehicle via the secondary tether so as to UNITED STATES PATENTS permit the submarine vehicle to have very low acous- 3105453 10 9 3 Hayes 1 9 R X tic and magnetic signatures. Additionally, the lift mod- 3.38l.485 5/1968 Crooks et a1... 61/69 R ule contains other support equipment and electro- 3 550386 12/1970 Ballingcr l l l. 114/16 R X acoustic transducers.

3.618.236 11/1971 Pipkin l l l l 37/63 3.626.703 12/1971 Richburg 114/16 10 Claim- 2 Drawing Figures PATENTEDAPRZSISYS 1880,1013

SHEET10F 2 FlG.l

TETHERED MINE HUNTING SYSTEM STATEMENT OF GOVERNMENT INTEREST The invention described herein may be manufac' tured 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.

FIELD OF THE INVENTION This invention pertains to the fields of naval architecture and marine engineering. More particularly, the invention pertains to the field of remotely controlled submarine vehicles. In greater particularity, the invention pertains to remotely controlled submarine vehicles operating from a tethered control arrangement. In still greater particularity, the invention pertains to a tethered submarine vehicle having a lift module attached to the support vehicle by means of a primary tether and a submarine vehicle operating from, and attached to, the lift module by means of a secondary tether.

DESCRIPTION OF THE PRIOR ART In many marine activities, it is necessary to identify and recover, or perform work on, objects which are located beneath the surface of the sea. For example, the fields of archeology, geology, petroleum production, and transcontinental communications have taken men into the submarine environments which heretofore have been little known outside the field of submarine warfare. In all of these fields of endeavor, an object is located by means of conventional detection and ranging equipment from the surface of the water and divers are sent down to perform the necessary inspection or work upon the object located. Quite obviously, such operations are greatly influenced by the weather conditions and water condition which will permit the employment of divers. Experience has shown that such conditions as would permit the optimum use of divers occur only approximately half of the time even in temperate climate zones.

It has been proposed in the prior art to use small submersible vehicles to replace the diver in such opera tions. However, such submarine vehicles are expensive to operate and still require considerable surface support in launch and recovery thereof. Too, in mine hunting operations such vehicles ofttimes actuate the detonating mechanism on the marine mine as the submarine vehicle approaches the mine.

Another shortcoming of the prior art systems for locating underwater objects has been the necessity of keeping a relatively large-size surface ship deployed for extended periods of time. Because of the crew requirements for such vessels and their large fixed operating costs combined with their relatively slow speed, the cost of such operations becomes prohibitive. Ifa rotary winged aircraft or lighter than air aircraft could be employed in such operations, the cost and time could be greatly improved. However, heretofore submersible vehicles capable of remote operation have not been able to withstand launch and recovery from a support vehicle above the surface of the water.

SUMMARY OF THE INVENTION The system of the invention uses a low noise, low magnetic signature, submarine vehicle operating from a tether. The submarine vehicless tether is attached to a lift module. The lift module, in turn, contains a garage space for the submarine vehicle, a source of motive power for the submarine vehicle and its attachments, and auxiliary ranging and electroacoustic equipment. The lift module is connected to a suitable aircraft support vehicle located above the surface of the water by means of another tether arrangement.

STATEMENT OF THE OBJECTS OF THE INVENTION It is, accordingly, an object of this invention to provide an improved tethered vehicle system.

Another object of this invention is to provide a tethered vehicle system for submarine exploration and investigation from an aircraft support vehicle.

Another object of the present invention is to provide a tethered submarine vehicle mine hunting system.

A still further object of the present invention is to provide a tethered submarine mine hunting system employing a separate submarine mine hunting vehicle and a lift module.

Another object of this invention is to provide a submersible vehicle operating from a tether which has minimal electromagnetic and acoustic signature.

Still another object of the present invention is to provide a tethered mine hunting system employing a lift hydraulically powered submarine vehicle operating from a tethered lift module.

Yet another object of the present invention is to provide a tethered vehicle mine hunting system employing a lift module containing a propulsive power source for the tethered vehicle.

Still another object of the present invention is to provide a tethered mine hunting system operating from a lift module which contains electroacoustic search transducers.

Still another object of the present invention is to provide a tethered mine hunting system employing a hydraulically powered submarine vehicle operating from a tether to a suitable support and lift module which, in turn, is tethered to an aerial support vehicle.

These and other objects of the invention will become more readily apparent from the ensuing specification when taken with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an elevational view showing the system according to the invention being used in a mine hunting situation; and

FIG. 2 is a schematic representation of the various components comprising the system of the invention.

DESCRIPTION OF THE PREFERRED EMBODIMENT Referring to FIG. 1, an arrangement of the system of the invention to be used in a mine hunting environment will be described. It should be noted that although the system of the invention will be described in connection with its application to the mine hunting problem, other applications where the system of the invention may be used will readily suggest themselves. A support vehicle, such asrotarywinged aircraft 11, having sufficient power and space requirements for operating personnel is shown deployed above the surface of the water. Alift module 12 is illustrated as being connected torotary wing aircraft 11 by means of a suitable primary tether l3.

Asubmarine vehicle 14 is attached tolift module 12 by means of asecondary tether 15. As illustrated.-submarine vehicle 14 has atelevision camera 16 mounted in its forward portion to photograph and to transmit images back to the support vehicle by means oftethers 15 and 13. Further, in waters where sufficient natural illumination is not present the object being photographed bytelevision camera 16 may be illuminated bysuitable light sources 17 which are also attached to the forward portion ofsubmarine vehicle 14 and directed in front thereof. No particular details are shown forTV camera 16 orlight source 17 as they may be conventional prior art arrangements. For example,TV camera 16 may be of the type manufactured by Hydro Products under the designation Model 125."Light sources 17 may be electrically powered by mains carried intethers 13 and 15 or battery powered. In some instances where even further reduction in magnetic signature is required thelight sources 17 may be photochemically operated.

Asuitable manipulator arm 18 is attached tosubmarine vehicle 14 for performing work and investigative assignments upon objects in the near vicinity ofsubmarine vehicle 14. LikeTV camera 16, any suitable prior art manipulator may be used in this environment in dependence upon the particular work assignments encountered. However, for purposes of illustrative completeness, it should be noted that the manipulator arm described in U.S. Pat. No. 3,703,968 for Linear Linkage Manipulator Arm by Richard W. Uhrich et al., issued on Nov. 28, 1972, has proven satisfactory.

It will be observed thatsubmarine vehicle 14 hasmotor 19 mounted on either side thereof and a buoyancy chamber, designated at 20, on the interior thereof to regulate propulsive movments and depths aboutlift module 12. Although some latitude is permitted in choosing motors l9 andbuoyancy chamber 20 from designs of the prior art for the provision of propulsive force and buoyancy forsubmarine vehicle 14, it is highly desirable that such systems exhibit very low acoustic and magnetic signature properties. For this reason, thebuoyancy chamber 20 andmotor 19 are preferably of the hydraulic control type such as that disclosed in U.S. Pat. No. 3,780,220 by Bruce R. Fugitt et al., for Remote Control Underwater Observation Vehicle" issued on Dec. 18, 1973.

If desired,submarine vehicle 14 may carry additional auxiliary equipment as indicated generally at 21. Such auxiliary equipment may include, for example, an explosive charge for providing neutralization of marine mines or a sonar reflector having identifiable conduction characteristics for marking objects examined underwater to aid in their relocation. Also, although only a singleauxiliary equipment package 21 is illustrated, a plurality of such packages may be carried bysubmarine vehicle 14, if desired. Likewise, a variety of methods of release of the package are possible. For example, the package may be extracted bymanipulator 18, released by a catch mechanism and allowed to drop, or ejected. For purposes of completeness, the invention may be considered as using the package shown and described in U.S. Pat. No. 3,757,633 issued on Sept. 11, 1973 for Visual Marker System to Paul K. Salzman et al.

Asuitable tool 22 is shown carried on the distal end ofmanipulator 18 for performing the desired work or investigative action upon objects in the vicinity ofsubmarine vehicle 14. Such a tool may be, for example, an

explosive type cable cutter to sever anchoring cables,

for marine mines or other chains or cables attached to the objects under investigation. Of course, if desired,tool 22 may be a gripping, hand-like device to move or operate underwater equipment. A variety of such engaging hands are known in the prior art and choice between them is a matter of design within the purview of one skilled in the art.

From the foregoing description it may be seen thatsubmarine vehicle 14 may be hydraulically operated and thattether 15 need carry only small electrical currents necessary to operateTV camera 16 and lights 17. Because of the length ofcable 13, it is desirable that the hydraulic power source formanipulator 18, motors l9,buoyancy chamber 20, and operational releases forauxiliary package 21 be provided fromlift module 12 rather than fromsupport vehicle 11. Further, to prevent entanglement oftether 15, it is desirable that suitable retractable storage be provided fortether 15 withinlift module 12. These functions are provided by means of asuitable winch mechanism 25 and ahydraulic power source 26 carried withinlift module 12. The control of the particular functions is provided by means of a conventional solenoid operated hydraulic valve arrangement indicated generally at 27. Such hydrualic power sources and valve arrangements are common in the prior art and unnecessary for the understanding of the invention and therefore are not described in greater detail It will be observed thatlift module 12 is enclosed on one end but has provision forsubmarine vehicle 14 to enter the other end thereof and to be garaged within its hull. This arrangement protectssubmarine vehicle 14 and its associated equipment from damage aslift module 12 passes through the air-water interface during launch and recovery fromsupport vehicle 11.

As shown, anelectroacoustic transducer 23 is mounted onlift module 12 and may be connected, viatether 13, to a conventional search sonar located within the support vehicle. Again, sonar systems of the type employing a remote transducer are common in the prior art and a choice among them may be made by one versed in the electroacoustic arts in dependence upon the particular design parameters required.

It will also be noted that a second electroacoustic transducer, indicated at 24, is mounted onlift module 12 and may be connected, viatether 13, to other acoustic signal sources for providing the desired acoustic signals within the water. For example, such acoustic signals may provide an influence sweep for marine mines or, optionally, a compressional wave communication system for submarine vehicles operating in the vicinity. Likewise, such a communication system may establish a communication link between a plurality ofsupport vehicles 11 without resort to electromagnetic communications, an obvious advantage in some naval operations.

Referring to FIG. 2, the manner in which the various components comprising the system interface with one another will now be described. The major portions of the system such assupport vehicle 11,lift module 12, andsubmarine vehicle 14 are indicated by broken line boxes. The various interconnecting lines represent the connections made viatethers 13 and 15.

As shown, a source ofelectrical power 31 is located withinaircraft 11 and may, if desired, comprise a portion of the aircrafts electrical system. Thesonar control system 32 is also located within aircraft l1 and is connected by suitable electrical connections to thesonar transducer 23 inlift module 12. Likewise,acoustic signal source 33 is similarly connected to auxiliaryelectroacoustic transducer 24.Acoustical signal source 33 may be any conventional source of electrical analog signals to produce a desired acoustic energy fromtransducer 24. For example,acoustical signal source 33 may produce an electrical analog of acoustic signatures to provide a countermeasure sweep for marine mines or, conversely,acoustic signal source 33 may be the electronic portion of a conventional compressional wave acoustic communication system.

The next component part of the system of the invention indicated as beinghoused withinsupport vehicle 11 is thefunction control mechanism 34. This function control mechanism comprises an electrical switching and control arrangement having a plurality of switching mechanisms each corresponding to a desired operational function ofsubmarine vehicle 14. Such operational functions include the direction and magnitude of propelling force supplied bymotors 19, the operation ofballast chamber 20, and the operation ofmanipulator arm 18. A wide variety of such input switching devices is known in the prior art and choice between them is within the purview of one skilled in the art in dependence upon the particular function being controlled. Since such switches are well known and conventional, further description thereof is not deemed warranted.

Awinch 35 is also located withinsupport vehicle 11 and hastether line 13 wound thereon. Of course,tether line 13 contains a tension bearing member, indicated in FlG. 2 by a heavy broken line, connectingwinch 35 withlift module 12. The method of attachment of this tension member to the submarine vehicle is likewise conventional and therefore need not be described in detail for the understanding of the invention.

Avideo readout 36 is also located withinsupport vehicle 11 and is connected toTV camera 16 through internal connections made withinlift module 12 so as to provide a visual indication of the object field being photographed bytelevision camera 16.

As previously noted,lift module 12, in addition tohousing submarine vehicle 14, housessonar transducer 23 andauxiliary transducer 24. As indicated above, these transducers are connected to their appropriate signal sources withinsupport vehicle 11 by means of electrical connections contained intether line 13. Awinch 25 is also contained withinlift module 12. As indicated in FIG. 2,winch 25 may be conveniently powered by a hydraulic motor operating from a commonhydraulic power source 26. The operation ofwinch 25 as well as the various hydraulically controlled functions onsubmarine vehicle 14 is controlled by means ofvalve mechanism 27.

Valve mechanism 27 is an assembly of a plurality of electrically operated fluid valves which control the individual hydraulically operated mechanisms onlift module 12 andsubmarine vehicle 14. The use of hydraulic control in these applications providessubmarine vehicle 12 with a reduced electrical and magnetic signature thereby permitting it to closely approach influence type mines.

As shown by FIG. 2, the previously described systems contained onsubmarine vehicle 14, TV-camera 16, lights 17,manipulator 18, propulsion motors l9, buoy- 'ancy chamber 20, andauxiliary equipment 21 are all connected to their respective sources of power withinlift module 12 by atether 15.Tether 15 is made neutrally buoyant by conventional underwater cabling techniques so as to offer a minimum of resistance and drag tosubmarine vehicle 14 as it moves aboutlift module 12.

While the foregoing description will enable one versed in the marine engineering and oceanographic instrumentation arts to make and use the invention, the invention will be better understood with reference to the following preferred mode of operation.

Preferred Mode Of Operation Of course, the operation of the present system of the invention begins with thesubmarine vehicle 14 withinlift module 12 and supported onsupport vehicle 11. As previously described,support vehicle 11 may be any suitable vehicle which may be rapidly deployed to an area and operate at relatively low speeds above the surface thereof. Rotary wing aircraft, lighter than air aircraft, and certain surface effect vehicles are completed and have proven satisfactory in the operation of the system of the invention. When thevehicle 11 is in the operational area,winch 35 is operated tolower lift module 12 into the water by means oftether 13.Support vehicle 11 then moveslift module 12 about the area in which search and surveillance is being conducted while operating the sonar system includingsonar console 32 andsonar transducer 23. When an object to be investigated has been encountered,support vehicle 11 maneuvers liftmodule 12 within a convenient operational range andsubmarine vehicle 14 is caused to disengage and maneuver fromlift module 12.

During this operation, of course,winch 25 is operated so as to pay outtether 15 and permitsubmarine vehicle 14 to approach the desired object.

Referring to FIG. 1, a marine mine indicated at 41, supported on ananchor chain 42 from ananchor 43 resting on the bottom, is being investigated bysubmarine vehicle 14.Vehicle 14 may approachmine 41 and by means ofmanipulator arm 18 cause asuitable cutting tool 22 to engage and severanchor chain 42 thereby separatingbuoyant mine 41 fromanchor 43.Mine 41 when it reaches the surface may be detonated by a small arms fire or, alternatively, disarmed and picked up by the surface vehicle.

Alternatively, the position ofmine 41 may be marked by suitableauxiliary equipment 21 comprising a sonar reflector or an acoustic marker generator called a pinger. Also,auxiliary equipment 21 may include an explosive charge which may be placed adjacent a mine of the nonmoored or nonbuoyant type. In such instances,explosive charge 21 may be detonated by a suitable timing mechanism.

Of course, other means of mine countermeasures may be employed if mine 41 is of the acoustically detonated type. For example, an acoustic signal may be generated byelectroacoustic transducer 24 in response to signals supplied byacoustic signal source 33 to detonate the mine assubmarine vehicle 14 permits the mine counter-measures operator to observe the effect of the various acoustic signals on the mine. When the mine neutralization or investigation operation has been completed,submarine vehicle 14 may be guided back to liftmodule 12 by means ofpropulsion motors 19 andwinch 25 retractingtether line 15. Whensubmarine vehicle 14 is garaged withinlift module 12,winch 35 withinsupport vehicle 11 is operated so as to recoverlift module 12 withsubmarine vehicle 14 inside.

While the foregoing description of the invention per tains to mine countermeasures. it will be readily apparent that other useful work projects may be performed by the system of the invention. Such fields of utilization include marine salvage, underwater geology and archeology, and petroleum exploration for example.

The foregoing description taken together with the appended claims constitutes a disclosure such as to enable a person skilled in the marine engineering and naval architecture arts and having the benefit of the teachings contained therein to make and use the invention. Further. the structure herein described meets the objects of invention. and generally constitutes a meritorious advance in the art unobvious to such a skilled worker not having the benefit of the teachings contained herein.

Obviously, many modifications and variations of the present invention are possible in the light of the above teachings, and. it is therefore understood that within the scope of the disclosed inventive concept, the invention may be practiced otherwise than specifically described.

What is claimed is:

I. An undersea tethered vehicle system comprising:

a support vehicle;

a primary tether connected to said support vehicle and extending downwardly therefrom for conducting electrical currents and supporting tensional forces therealong;

a lift module attached to the primary tether for support thereby;

a submarine vehicle configured for retention within the lift module;

a source of motive power housed within the lift module; and

a secondary tether connected between the submarine vehicle and the lift module and effectively connected to said source of motive power within the lift module for transmission of the motive power therealong and effectively connected to the primary tether for transmission of electrical currents therealong to permit the submarine vehicle's movement into and out of the lift module and within a predetermined range thereabout.

2. A tethered vehicle system according toclaim 1 wherein the support vehicle is an aircraft.

3. A tethered vehicle system according toclaim 1 wherein the lift module is enclosed on one end to minimize hydrodynamic interaction between the retained submarine vehicle and the water during launch and recovery of the system.

4. A tethered vehicle system according toclaim 1 further including a winch housed within the lift module and effectively connected to the source of motive power to obtain driving power therefrom and having the secondary tether wound thereon for paying out and reeling in the secondary tether in accordance with the movements of the submarine vehicle.

5. A tethered vehicle system according toclaim 1 wherein the source of motive power includes a source of hydraulic power.

6. A tethered vehicle system according toclaim 1 including an auxiliary device releasably mounted on the submarine vehicle for selective release therefrom to cooperate with investigated submerged objects.

7. A tethered vehicle system according toclaim 1 further including a manipulator arm mounted on the submarine vehicle and effectively connected to the source of motive power via the secondary tether for contacting and performing work on objects within the vicinity of the submarine vehicle.

8. A tethered vehicle system according to claim 7 further including a tool carried by the manipulator arm.

9. A tethered vehicle system according to claim 8 further including a television camera mounted on the submarine vehicle and connected via the aforesaid primary and secondary tethers to the support vehicle to provide personnel therein a view of areas adjacent the submarine vehicle.

10. A tethered vehicle system according to claim 9 further including a light source mounted on the submarine vehicle for illumination of objects within the field of view of the television camera.

Claims (10)

1. An undersea tethered vehicle system comprising: a support vehicle; a primary tether connected to said support vehicle and extending downwardly therefrom for conducting electrical currents and supporting tensional forces therealong; a lift module attached to the primary tether for support thereby; a submarine vehicle configured for retention within the lift module; a source of motive power housed within the lift module; and a secondary tether connected between the submarine vehicle and the lift module and effectively connected to said source of motive power within the lift module for transmission of the motive power therealong and effectively connected to the primary tether for transmission of electrical currents therealong to permit the submarine vehicle''s movement into and out of the lift module and within a predetermined range thereabout.

2. A tethered vehicle system according to claim 1 wherein the support vehicle is an aircraft.

3. A tethered vehicle system according to claim 1 wherein the lift module is enclosed on one end to minimize hydrodynamic interaction between the retained submarine vehicle and the water during launch and recovery of the system.

4. A tEthered vehicle system according to claim 1 further including a winch housed within the lift module and effectively connected to the source of motive power to obtain driving power therefrom and having the secondary tether wound thereon for paying out and reeling in the secondary tether in accordance with the movements of the submarine vehicle.

5. A tethered vehicle system according to claim 1 wherein the source of motive power includes a source of hydraulic power.

6. A tethered vehicle system according to claim 1 including an auxiliary device releasably mounted on the submarine vehicle for selective release therefrom to cooperate with investigated submerged objects.

7. A tethered vehicle system according to claim 1 further including a manipulator arm mounted on the submarine vehicle and effectively connected to the source of motive power via the secondary tether for contacting and performing work on objects within the vicinity of the submarine vehicle.

8. A tethered vehicle system according to claim 7 further including a tool carried by the manipulator arm.

9. A tethered vehicle system according to claim 8 further including a television camera mounted on the submarine vehicle and connected via the aforesaid primary and secondary tethers to the support vehicle to provide personnel therein a view of areas adjacent the submarine vehicle.

10. A tethered vehicle system according to claim 9 further including a light source mounted on the submarine vehicle for illumination of objects within the field of view of the television camera.

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