Abstract:
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.

Description:
There are no related patent applications. 
     This application did not receive federal research and development funding. 
     BACKGROUND OF THE INVENTION 
     The present invention generally relates to a system and method which allows for the safe disposal of unexploded underwater ordnance, like bombs, projectiles and mines. More particularly, the invention relates to a remotely controlled system comprised of a remote controller, a floating transceiver including an antenna that receives remote control signals from the remote controller and provides control signals through a tether to an underwater hydraulic grapple, and an ordnance recovery basket. The floating transceiver further includes a power source such as a generator or battery set for providing power for operating the hydraulic grapple to retrieve ordnance from the bottom of a body of water. 
     “Knucklebooms” or hydraulic grapples are used commercially in the logging industry to load cut logs onto transportation devices such as trucks and railroad cars. Outside of the logging and construction industries, however, grapples are rarely used. 
     There are many offshore sites around the world that have served as dumping grounds for unexploded ordnance, such as mines, bombs, projectiles, and bulk containers holding chemical weapons filler material. At ammunition handling facilities where the draft of the vessel exceeds the working depth of the port, weapons must be unloaded at sea. Cargo handling mishaps result in the sea floor surrounding many ports being laden with undetonated bombs, creating both safety issues and environmental hazards. 
     Moreover, some coastal areas, open ocean, and inland bodies of waters have formerly been subjected to long term use as “live fire impact areas,” for training and weapons development. This has resulted in high concentrations of unexploded ordnance in areas which are today sought for recreational use and commercial development. 
     The present invention incorporates for the first time the use of a remotely controlled grapple, capable of functioning underwater and directed via a remote controller, to dispose of submerged ordnance by first depositing it into a recovery basket to create a safe, non-explosive way of clearing an ocean floor of the explosives. The present invention also claims a method for disposing of unexploded underwater ordnance. 
     SUMMARY OF THE INVENTION 
     The invention, a remotely operated, underwater non-destructive ordnance recovery system, provides a new an unique way of removing underwater ordnance by utilizing a multi-part system operated by remote control. The system comprises a remote controller that is located remote from an underwater grappling unit. The grappling unit is deposited onto the bottom of a body of water in an area that is saturated with unexploded ordnance. An antenna platform floats on a surface of the water and may include a power source. The antenna receives control signals from the remote controller. These control signals cause a plurality of valves in the grappling unit to be opened or closed. Each valve directs a flow of fluid through an associated piston to extend, retract or cause the piston to assume a neutral operation. By extending and retracting the pistons, the grapple may be manipulated to grip unexploded ordnance. The unexploded ordnance is then raised to the surface of the water. 
     The system contains a remote controller having a first plurality of switches that produce control signals which are wirelessly transmitted to a remote antenna to cause the grappling unit to be leveled. A second plurality of switches controls movements of a boom to raise and lower a base boom element and an end boom element to cause a grapple attached at an end of the end boom element to be extended away from the grapple unit. A further switch causes the boom to rotate relative to the outriggers attached to a base of the grapple unit. A third plurality of switches produce control signals that manipulate the jaws of the grapple to open, close, rotate and lock. A fourth keyed locking switch control operation of the remote controller. The remote controller includes an antennae capable of sending the remote controlled signals a minimum distance of 600 feet. Monitors display a remote video feed from cameras located on the grapple unit. 
     The system also contains a floating transceiver comprised antennae for receiving signals from the remote controller, a power source, and a control head. The control head includes a decoder for decoding the control signals transmitted from the remote controller. The decoded control signals are routed to pulse width modulators to produce signals that control the flow of fluid through the pistons. The control head converts electronic signals from the remote controller into the actuation of hydraulic valves in a closed loop hydraulic system driven by an internal electrically powered pump, thereby controlling the motion of the knuckleboom. Located on both the control box and on either side of the ballast tubes are lighted underwater cameras which transmit images to the control station. 
     Tethered to the transceiver by a control cable is the grappling unit. The grappling unit is typically capable of moving ordnance from 500-2000 lbs., depending on the length of extension of the boom. The grappling unit comprises a base stabilized by three or four remotely adjustable legs. The adjustable legs act as outriggers that may be manipulated to maintain the base in a level manner or at a desired angle. Feet attached to the adjustable legs contact the bottom of the body of water. The feet may be of various sizes and shapes and are readily removable and replaceable for accommodating different bottom surfaces. The control head receives signals via the control cable and transfers those signals into hydraulic value actuation to manipulate the jaws arranged at the end of the boom. The end boom element includes two ballast tubes which stabilize the unit at maximum extension. Typically the grapple jaws are capable of picking ordnance having a diameter of no less than three inches and no larger than forty-eight inches. Located on both the control box and on either side of the ballast tubes are lighted underwater cameras which transmit images to the control station. The grapple motion is powered by an electrically driven internal hydraulic pump which circulates a bio-degradable hydraulic fluid, such as vegetable oil, through a closed loop system. 
     The system contains a submergible ordnance recovery basket defining an cavity capable of holding unexploded ordnance. This recovery basket comprises wire mesh sides and top and includes a rigid floatation cylinder that includes an input port for receiving pressurized air and a pressure relief valve for controlling ascent of the recovery basket when raising it to the water surface. The basket is tethered to a surface buoy by a fixed bail attached to the basket. The lower portion of the basket, the receptacle, has a spring loaded entry door for ordnance on one side and a hinged prop door on the other side. The upper portion of the basket, the cylinder, has, on the spring loaded entry door side, attached self locking latches and an armor kick plate for deflecting ordnance downward when it enters the receptacle. On both sides of the basket are located compressed air cylinders which release air through a connective tube into the cylinder to raise the basket to the surface. So that the basket raises at a steady speed, pre-set, automatic pressure relief valves are located on both sides of the cylinder. Pre-set sonic valves are located on each connective tube to allow a set amount of air to be released from the cylinder uniformly to rises the basket at a steady speed. One door is for depositing ordnance in the recovery basket; the other door is located on an opposite side and is opened to allow the ordnance to be dropped from the recovery basket. Compressed air is stored in storage tanks on either side of the recovery basket and includes remotely actuated valves such sonic valves for releasing air from the storage tanks and directing it into the rigid floatation cylinder. Self locking latches are provided for securing the loading door. 
     An object of the invention is to enable the user to safely move underwater unexploded ordnance from the seafloor to a location where it can be safely stored or detonated with as little harm to the environment and wildlife as possible. 
     A further object of the invention is to enable the user to safely clear large areas of underwater unexploded ordnance from a bottom of a body of water. 
     A further object of the invention is to enable the user to safely move underwater unexploded ordnance from the seafloor without the assistance of a human diver. 
     Additional objects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned from practicing the invention. The objects and advantages of the invention will be obtained by means of instrumentalities in combinations particularly pointed out in the appended claims. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a perspective view of a first embodiment of an underwater, unexploded ordnance removal system. 
         FIG. 2A  is a plan view of a remote controller reflecting the various switches that control a remote underwater, unexploded ordnance removal grapple mechanism.  FIG. 2B  is a schematic view of the remote controller. 
         FIG. 3  is an enlarged view of a control station shown in  FIG. 1 . 
         FIG. 4A  is first perspective view of the remote underwater, unexploded ordnance removal grapple mechanism.  FIG. 4B  is a second perspective view of the remote underwater, unexploded ordnance removal grapple mechanism.  FIG. 4C  is a perspective view of the floating antenna and power supply. 
         FIG. 5  is a close up perspective view of the grapple. 
         FIGS. 6A-6D  show schematic views of the control unit attached to the remote underwater, unexploded ordnance removal grapple mechanism. 
         FIGS. 7A-7F  depict perspective views of the recovery basket in various positions. 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     The preferred embodiment is shown in  FIG. 1 . The system  1  includes an operator station  7  that is remote from an ordnance disposal unit  61 . An enlarged view of the operator station is shown in  FIG. 3  and includes a display  5  that comprises a receiver and displays video feeds from lighted cameras on the disposal unit  61 . A remote controller  3  is arranged in easy reach of an operator. In  FIG. 1 , the operator station is arranged in a boat  11 . An antenna  9  receives control signals from the remote controller  3  and transmits these signals to the floating transceiver  41  which comprises a second antenna  43 . These signals are relayed from the floating transceiver  41  to the disposal unit  61  via cable  42 . In this manner, the operator may view the display  5  and manipulate the remote controller  3  to cause the disposal unit  61  to grip ordnance  100  and lift it from a sea floor or lake bottom. The disposal unit  61  thereafter rotates to swing the ordnance  100  and deposit it into a basket  25 . The basket  25  is coupled to a float  21  via retrieval cable  23 . The float  21  may be pulled to a designated area where the basket  25  may be emptied. 
       FIG. 2A  is a plan view of the remote controller  3  that comprise a plurality of switches  11 - 23 . A first plurality of switches  12 - 15  create control signals that extend and retract legs  66  to level disposal unit  61 . These switches are neutrally biased toggle switches that may be force in opposite directions to create control signals. Switches  12  and  14  control the respective operation of a front and rear leg for raising the respective areas of the base. Switches  13  and  15  control the respective operation of left and right legs in the same manner to level the base of the disposal unit  61 . 
     The remote controller  3  comprises a second plurality of switches  16 - 18  which are also neutrally biased toggle switches that may be forced into a opposite directions to control the various operations of the boom. Switch  16  raises and lowers a base boom element that is coupled to the base of the disposal unit  61 . Switch  17  raises and lowers an end boom element that is coupled to the base boom element on one end and to a grapple at the other end. Switch  18  rotates the boom relative to the base. 
     A third plurality of switches  19 ,  20 ,  22  and  23  control the operation of the jaws that comprise the grapple. Switch  19  rotates the jaws relative to the end boom element. Switch  22  tilts the jaws relative to the end boom element. Switch  23  provides control signals that cause the jaws to be opened or closed. When engaged, switch  20  locks the jaws after they grip the ordnance  100  to prevent an inadvertent dropping of them. 
     The remote controller  3  is also equipped with a key lock  11  similar to an automobile ignition switch that prevents unauthorized use of the disposal unit. A key (not shown) must be inserted into the key lock  11  and the key lock twisted to allow power to flow from a power source (shown in  FIG. 2B ) to the remote controller in order for the remote controller  3  to be operated. Without the key, operation of the remote controller  3  is prohibited. An emergency stop switch  21  quickly shuts down the disposal unit if an emergency condition arises. 
       FIG. 2B  is a simplified schematic of the remote controller  3 . A power source  30  is coupled to the  11 . Without first turning key switch  11  on, the remote controller cannot produce control signals to be relayed to the remote disposal unit  61 . The switches  12 - 23  are prohibited from operating when the key switch is in an off position. Each switch is connected to an encoder for producing a control signal associated with a respective valve on the disposal unit  61 . These signals are then routed to a transmitter and transmitted via antenna  9 . 
       FIG. 3  is an enlarged view of operator station  7  shown in  FIG. 1 . The operator station  7  comprises a chair  30  that includes a plurality of legs  31  arranged beneath the chair  30 . An arm  32  extends from the chair  7  and includes a rack  33  for accommodating data storage devices  34  for recording the video signal shown on display  5 . 
       FIGS. 4A and 4B  are different perspective views of the remote controlled disposal unit  61 . For ease in understanding the invention, all hydraulic lines or hoses that transport fluid from the control head to the pistons are labeled as  77 . It should be noted that the bi-directional valves used in the present invention allow for the fluid to flow a direction from the pump to the piston and from the piston back to the reservoir from which the pump draws a source of fluid. Likewise, the piston may be arranged to have a hydraulic line entering opposite ends to drive the piston towards either an extended or retracted position. 
     The remote disposal unit  61  includes a boom  69  that comprises a base boom element  73  and an end boom element  71 . One end of the base boom element  73  rotateably connects to the base  62 . The base  62  includes a control head  90  to which one end of hydraulic lines  77  connect thereto. An opposite end of each hydraulic line  77  connects to a respective piston. A foot  63  attaches at each free end of each retractable leg  66 . The pistons  64  may be extended or retracted to cause the lowering and raising of their respective leg. Since the feet are settled on the bottom, this movement in turn is transmitted to the base  62 . Control signals produced by switches  12 - 15  of remote controller  3  control the position of various valves in the control head  90  to cause the extension and retraction of respective legs  66 . 
     As previously mentioned, the base  62  includes a rotation element  79  that allows the boom  69  to swing a grapple  55  in an arc relative to the legs  66 . This rotation element works similar to the pistons in that fluid may be forced into the rotation element  79  in a first direction to swing the boom  69  and grapple  55  counterclockwise. When fluid is forced into the rotation element  79  in an opposite direction, the boom  69  and grapple  55  spin clockwise about the base  62 . The direction of the flow of fluid is controlled by switch  18  shown in  FIG. 2A . 
     The boom  69  attaches above the rotation element  79  and comprises a base boom element  73  and an end boom element  71  to which grapple  55  attaches. A piston  74  causes a free end of the base boom element  73  to be raised and lowered. This free end is pivotally coupled to one end of the end boom element  71 . A piston  72  attaches between the base boom element  73  and the end boom element  71  to cause the end boom element  71  to be rotated about the free end of the base boom element  73 . Hydraulic hoses  77  connect to each of the pistons  73 ,  74  and pressure in each is controlled by a valve located in the control head  90  and being controlled by the associated switches  16 ,  17 . 
     A pair of ballasts  83  are arranged atop the end boom element  71  to assist in stabilizing the disposal unit  61  when it is operating at with the boom at maximum extension. A camera  84  is coupled to the base unit  62 , as shown. Two lighted cameras  85  are arranged along the end boom element  71  and wirelessly transmit a real time video signal back to the display  5 . Jaws  76 A and  76 B grip ordnance  100  in  FIG. 4A . 
       FIG. 4C  is a perspective view of a floating transceiver that includes a horn  600  informing others when the system is in operation. The floating transceiver includes a generator for supplying power to the remote disposal unit  61 . A receiver repeater box  401  receives signals from remote controller  3  and relays them to the control box  90 . Engine  402  propels the floating transceiver  41  to a remote location where the ordnance is located. 
       FIG. 5  is an enlarged view of the grapple  55 . The grapple  55  includes a pair of jaws  76 A,  76 B that are coupled to one end of a rotation element  80 . The rotation element  80  may includes a plurality of hoses that are associated with the switches  19 ,  20 ,  21 ,  23 . The rotation element  80  may rotate the grapple relative to the free end of the end boom element  71  and in accord with a control signal produced by switch  19 . The rotation element  80  may also tilt the jaws and open or close the jaws in accordance with input control signals produced by the associated switches. 
       FIGS. 6A through 6D  are schematic views of a control head  90  that connects to the floating transceiver  41  via cable  42 . A power supply  120  is either provided in way of a generator or battery source aboard the floating transceiver  41 . Alternatively, the power supply  120  may be provided in the control box  90 . A power distribution point such as a panel, box or board  121  comprises a plurality of connectors, labeled X 1  through X 4 . These connectors accept power from the power supply and thereafter distribute the power to the associated logic circuits, switches, valves, and pump. 
     The power distribution board  121  routes power to a relay  122  that operates as an emergency stop switch to cut power to the various hydraulic valves and pump in the event of an emergency. This relay  122  opens to prevent power from flowing to the valves when switch  21  is activated. The opening of the relay  122  prevents any operation of any of the remote disposal unit  61 . 
     Power from the relay  122  is directed to a plurality of pulse width modulators (PWM)  124 ,  125 ,  126 ,  128 . These modulators receive control signals from a decoder  129  to produce control signals for the various valves that direct a direction of fluid flowing through the various pistons shown in  FIG. 6D . A relay  123  also receives signals that are relayed to the PWMs for controlling the various states of the valves. That is the relay  123  turns the various valves on and off; whilst the output signals from the PWMs to the valves control the direction of fluid, amount and duration of fluid flow through each piston. The relay  123  also provides power to a horn to signal the start up of the signal. The horn may be arranged on the floating transceiver. The connectors, X 1  through X 4 , accepts power from the power supply and thereafter distributes the power to the associated logic circuits, switches, valves, and pump. First and second relays are provided for providing a signal to allow the outriggers to be deployed in a manner to level the remote controlled unit. First and second jaw select relays provide a signal that allows the various functions of the jaws to be realized. A dump valve relay causes the pressure of the pump to be quickly reduced such that a movement of the remote controlled unit may be quickly ceased. 
     PWMs  124 ,  125  control the functions of the leveling of the base of the remote disposal unit  61  through pistons  64 A through  64 D. Control of the boom  69  is also provided by the control signals produce by PWM  124 . The various PWMs receive remote control signals and processing them into signals to be used by the bi-directional valves that control the various functions associated with the receiver. PWMs  126 ,  128  provides control signals for actuating the boom and its respective functions. A receiver  130  is coupled to an antenna on the floating transceiver unit and receives signals from the transmitter of the remote controller. Decoder  129  receives control signals that are produced by the various switches of  FIG. 2A . These control signals are processed to convert them into signals for controlling the relays and PMWs for controlling the valves. The receiver is coupled to an antenna that is located on the surface of the body of water. The receiver receives a signal that is transmitted from the remote controller and relays this signal to the decoder for signal processing. A waterproof connector is supplied in a side of the waterproof housing that surrounds the receiver assembly. An antenna is coupled to the waterproof connector via a signal cable that includes a complementary connector that mates with the waterproof connector in the side of the waterproof housing. 
     Now referring to  FIGS. 7A through 7F  which depict the ordnance disposal basket  25 . Basket  25  comprises sides and an end formed from steel mesh. This is particularly useful in preventing destruction of the basket  25  should ordnance  100  prematurely detonate. The basket includes a fixed bail  400  formed of rigid material such as steel. Self-locking hatches  401  secure a spring loaded entry door  402  via couplers  404 . A rigid floatation cylinder  408  receives pressurized air from compressed air cylinders  406 . A pressure relief valve  407  assures that the basket is raised to the surface  300  in a uniform manner. 
     As shown in  FIG. 7A , the basket  25  is initially deposited onto the bottom  301  of the body of water with door  402  in an open position. Ordnance  100  is loaded into basket  25  and door  402  is closed. Sonic valves connect between compressed air cylinders  406  such that they are actuated to cause air to flow from the cylinders  406  into cylinder  408 . This in turn causes the front of the basket  25  to be raised from the bottom of the water  301 , as shown in  FIG. 7C . Either the float  21  or the cable tether  23  is caught and the basket  25  is towed as shown in  FIG. 7D . When the basket reaches a predetermined dumping area, a second door  420  is opened to dump ordnance  100  from the basket. As ordnance  100  is dumped, the cylinder  408  assumes a higher place on the water surface as shown in  FIG. 7F . 
     While the invention has been described with respect to preferred embodiments, it is intended that all matter contained in the above description or shown in the accompanying drawings shall be interpreted as illustrative and not in limiting sense. From the above disclosure of the general principles of the present invention and the preceding detailed description, those skilled in the art will readily comprehend the various modifications to which the present invention is susceptible. Therefore, the scope of the invention should be limited only by the following claims and equivalents thereof.