Patent ID: 11904992
Assignee: THE GOVERNMENT OF THE UNITED STATES OF AMERICA, AS REPRESENTED BY THE SECRETARY OF THE NAVY
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
1. A payload frame for deploying a payload underwater, the payload frame comprising:
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.