Abstract:
An underwater vehicle includes an elongate body defining a longitudinal channel and having a waterproof interior with a processor operably connected to a memory in the interior, a payload holder in the channel for releasably securing a payload, and a communication port in the channel operably connected to the processor and connectable to a payload releasably secured to the payload holder.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     The present application claims the benefit of U.S. Provisional Application No. 60/529,739 filed Dec. 17, 2003, the entire contents of which are hereby incorporated by reference. 
    
    
     FIELD OF THE INVENTION 
     The present invention is directed toward a multipurpose underwater vehicle for carrying diverse payloads and a method of using same, and, more specifically, toward a multipurpose underwater vehicle having an elongate body, a processor in the body interior, and a payload holder for releasably securing a payload, and to a method of using same. 
     BACKGROUND OF THE INVENTION 
     Ships and submarines may be equipped with torpedo tubes and associated systems for launching torpedoes. Non-weapon devices, which may include sonars or various sensors, for example, may also be launched though torpedo tubes. Generally, these sensor devices are torpedo-shaped so that they will fit through a torpedo tube and so that they can be stored on the same supports as torpedoes. 
     The use of single-purpose torpedo-shaped devices carrying sensors is known, and a plurality of such devices may be carried on a ship or boat, each for a particular purpose. Depending on the need at hand, a particular one of the torpedo-shaped devices is selected and discharged from a torpedo tube. Each of these devices, however, is substantially the same size as a torpedo and thus each device reduces the number of torpedoes that can be carried by one. This is a particular problem on submarines where storage space is limited. 
     To reduce the cost of developing future underwater vehicles for carrying out various missions, the use of modular vehicles has been considered. As illustrated in  FIGS. 12 and 13 , these vehicles may include three primary sections: a nose section  200 , a tail section  210  and a payload section  220  or  234  mounted between the nose and tail sections. Each payload section  220 ,  234  is a self-contained module with all the sensors and processing circuitry  230 ,  230 ′ necessary to perform a single mission. To use a given payload, a nose section and tail section are attached to a payload section and the assembled system is tested to ensure that it is watertight. To change payloads, the nose and tail sections must be removed and attached to a new payload, again with the need for testing to ensure proper assembly and that the system is watertight. 
     The use of such modular payloads reduces the room taken up by payloads to some extent, but the payloads are still large enough to require multiple persons and/or lifting equipment to manipulate. Thus, where prior, non-modular, sensing devices were each approximately as large as a torpedo, the above modular sensing devices take up half to three quarters as much space as a torpedo. It is desirable to provide an underwater vehicle for carrying payloads, suitable for discharge via torpedo tube or in a similar manner, which is usable with compact, modular payloads. 
     SUMMARY OF THE INVENTION 
     These problems and others are addressed by the present invention which comprises, in a first aspect, an underwater vehicle that includes an elongate body defining a longitudinal channel and having a waterproof interior with a processor and a memory in the interior. A payload holder is provided in the channel for releasably securing a payload. A communication port in the channel allows a payload connected to the payload holder to communicate with the processor. 
     Another aspect of the invention comprises an underwater vehicle having an elongate body defining a longitudinal channel with a waterproof interior and a processor in the interior operably connected to a memory. A payload holder is mounted in the channel as is a communication port. A payload is detachably connected to the payload holder and to the communications port. 
     A further aspect of the invention comprises a multi-purpose sensing system that includes a torpedo-tube-launchable vehicle comprising an elongate body defining a longitudinal channel having a waterproof interior and a processor in the interior operably connected to a memory. A payload holder is mounted in the channel, and a communication port operably connected to the processor is provided. The system includes at least first and second sensors which can be operably connected, one at a time, to the communications port for communication with the processor. First and second programs specific to the first and second sensors are provided, and the program specific to the sensor connected to the communication port is stored in the memory. 
     An additional aspect of the invention comprises a method that includes the steps of providing a torpedo-tube-launchable vehicle comprising an elongate body defining a longitudinal channel having a waterproof interior and a processor in the interior operably connected to a memory. A payload holder for holding a payload in the channel is provided, and a communication port in the channel is operably connected to the processor. Then a first payload is selected from a plurality of different payloads that are connectable to the payload holder, and the selected payload is connected to the payload holder and to the communication port. A program specific to the first payload is loaded in the memory, and the vehicle is launched from a torpedo tube. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       These aspects of the invention and others will be better understood after a reading of the following detailed description of embodiments of the invention together with the following drawings, wherein: 
         FIG. 1  is a top plan view of an underwater vehicle according to an embodiment of the present invention with a payload attached thereto; 
         FIG. 2  is a sectional side elevational view taken through line II—II in  FIG. 1 ; 
         FIG. 3  schematically shows a first payload for use with the underwater vehicle of  FIG. 1  and associated software for controlling the first payload; 
         FIG. 4  schematically shows a second payload for use with the underwater vehicle of  FIG. 1  and associated software for controlling the second payload; 
         FIG. 5  schematically shows a third payload for use with the underwater vehicle of  FIG. 1  and associated software for controlling the third payload; 
         FIG. 6  schematically shows a fourth payload for use with the underwater vehicle of  FIG. 1  and associated software for controlling the fourth payload; 
         FIG. 7  is a flow chart illustrating a method of using the underwater vehicle of  FIG. 1 ; 
         FIG. 8  is a sectional elevational view schematically illustrating a second type of payload connected to the underwater vehicle of  FIG. 1 ; 
         FIG. 9  is a sectional elevational view schematically illustrating a second embodiment of an underwater vehicle according to the present invention; 
         FIG. 10  is a sectional elevational view schematically illustrating a third embodiment of an underwater vehicle according to the present invention; 
         FIG. 11  is a sectional elevational view schematically illustrating an alternate arrangement for mounting a payload on the vehicle of  FIG. 10 ; 
         FIG. 12  is a conventional modular underwater vehicle including a first conventional modular payload; and 
         FIG. 13  is a conventional payload that can be used with the conventional modular underwater vehicle of  FIG. 12 . 
     
    
    
     DETAILED DESCRIPTION 
     Referring now to the drawings, wherein the showings are for purposes of illustrating embodiments of the invention only and not for purposes of limiting same,  FIGS. 1 and 2  illustrate an underwater vehicle  10  comprising an integrally formed nose portion  12 , tail portion  14  and central body portion  16  defining a watertight interior  18 . A longitudinally extending channel  20  is formed in central body portion  16  having a first end  22  and a second end  24 . While the channel is shown facing in an upward direction in many of the figures, it should be noted that the vehicle will operate equally well with the channel facing to one side of the vehicle or in a downward direction. The orientation of the channel will be determined by the nature of the sensor mounted therein and the direction it needs to face to perform its intended function. 
     An arm  26  is provided in channel  20  with a first end  28  and a second end  30  to which a payload, such as payload  32 , may be attached. Second end  30  includes a mounting surface  34  that includes at least one communication port  36  and a power connector  38  for connection to a payload communication connector  40  and payload power connector  42 , respectively on payload  32 . Payload  32  is shown slightly spaced from mounting surface  34  for illustration purposes, but would, of course, be connected to the mounting surface  34  in use. Fasteners, such as bolts  44  on mounting surface  34  hold payload  32  securely to arm  26 . Other connectors or other connecting arrangements for releasably securing a payload to the arm  26  could be used without exceeding the scope of this invention. 
     A motor  46  pivots arm  26  about its first end  28  between a first position, illustrated in  FIG. 1 , wherein the arm  26  is substantially completely contained within channel  20  and a second position, illustrated in  FIG. 2 , with second end  30  and any attached payload projecting out from channel  20 . Some sensors must be spaced from underwater vehicle  10  to function properly; others may be used while in channel  20  and with such sensors, arm  26  need not be deployed. However, the pivotable nature of arm  26  facilitates the mounting and removal of payloads from arm  26  even when those payloads need not be deployed from the channel  20  during use. 
     Underwater vehicle  10  further includes a power source  50  connected to power connector  38  on arm  26  by a line  52 , and a processor  54  operatively connected to a memory  56  and to communication port  36  by a line  58 . A jack  60  is provided for loading programs into memory  56  as will be discussed hereafter. 
     First payload  32 , shown in  FIGS. 2 and 3 , comprises a video camera  62  or other sensor designed for intelligence, surveillance and reconnaissance. As such, the video camera  62  must generally project above the surface of water surrounding underwater vehicle  10 , and arm  26  must therefore be deployed when payload  32  is attached to arm  26 . First payload  32  also includes an onboard analog/digital converter  64  for processing signals generated by video camera  62  and sending digital signals to processor  54  via payload communication connector  40  connected to communication port  36  and line  58 . A first software program  66  contains instructions for controlling first payload  32  and receiving and storing data generated by first payload  32 . 
     In use, with reference to  FIG. 7 , a first payload  32  is selected at a step  70  from a plurality of payloads  32 ,  100 ,  110 ,  120  illustrated in  FIGS. 3–6 , for example, and connected to payload holder  26  at step  72 . Communications connector  40  on the selected payload is then connected to communication port  36  on the vehicle  10 . A program, such as first software program  66  is selected at a step  74  from among several payload specific software programs  102 ,  112 ,  122 , illustrated in  FIGS. 3–6 , and loaded into memory  56  via jack  60  at step  75 . Underwater vehicle  10  is then placed into a torpedo tube (not shown) and launched from a ship or submarine (not shown) at step  76 . The underwater vehicle operates remotely from the host ship that launches it, and may either transmit data to the host ship via a fiber optic or other cable or by radio. In some cases, the vehicle may operate autonomously with no connection to the host ship and record data onboard for later retrieval. The control and retrieval of the underwater vehicle are performed in a conventional manner and these processes do not form a part of the present disclosure. When a new payload, such as second payload  100  is used, first payload  32  is removed from the payload holder  26  and replaced with second payload  100 , while second software program  102  is installed in memory  56 , preferably replacing first program  66 . 
     Beneficially, unlike in conventional underwater vehicles, payloads can be exchanged without violating the integrity of watertight interior  18 . Thus, payloads can be attached and removed without the need for testing to ensure that watertight interior  18  remains watertight. Moreover, the use of software programs specific to the attached payload allows a general purpose processor to be used rather than dedicated processing circuitry  230 ,  230 ′ that was found in conventional underwater vehicles. The software can also be loaded through a waterproof jack  60  without violating the integrity of the underwater vehicle  10 . Moreover, maximizing the amount of equipment that is reusable with various payloads and minimizing the size of the modular payloads  32 ,  100 ,  110  and  120  increases the number of payloads that can be carried by a ship or submarine and thus increases the number of missions that can be performed while occupying a reduced amount of storage space. 
       FIG. 4  illustrates a second payload  100  and associated second operating software  102 . Second payload  100  may be, for example, sidescan or minehunting sonar. When one of these sonars is used, vehicle  10  would be positioned with channel  20  facing generally downwardly, toward or at an angle to the sea floor.  FIG. 6  illustrates a fourth payload  120  and associate fourth operating software  122 . Fourth payload  120  may comprise a buoy  124  that is released from the underwater vehicle after it has been deployed. To this end, fourth payload  120  includes a controller  126  for controlling a clamp  128  or similar releasing mechanism which can be controlled to release buoy  124  at a given location after the underwater vehicle  10  has been launched and is a given distance away from the ship. When fourth payload  120  is used, vehicle  10  would generally be deployed with channel  20  facing upwardly, toward the surface of the water. 
       FIG. 5  illustrates a third payload  110  and associated software  112 , seen with the underwater vehicle  10  in  FIG. 8 . Third payload  110  differs from first payload  32  in that it includes its own internal power source  114  and thus does not require connection to power source  50  onboard the underwater vehicle. Such a payload can be used with an underwater vehicle that does not include its own power source or when payload  110  has specific power needs that cannot be met by power source  50 . 
     A second embodiment of the invention is illustrated in  FIG. 9  wherein elements common to the first embodiment are identified with the same reference numerals. Fifth payload  130  illustrated in  FIG. 9  does not include an internal analog/digital converter and therefore outputs an analog signal on line  58  that cannot be used directly by processor  54 . Therefore, in this embodiment, underwater vehicle  10  includes an onboard analog/digital converter  80  in line  58  between fifth payload  130  and processor  54 . While not specifically illustrated in  FIG. 9 , a switch could be provided for bypassing analog/digital converter  80  when a payload outputting a digital signal is used. 
     Two versions of a third embodiment of the invention are illustrated in  FIGS. 10 and 11 . In this embodiment, a plurality of U-shaped payload holders  150  are provided in channel  20  in place of arm  26 , and straps  152  or other elements are used to hold payload  154  in place. In this manner, larger payloads that do not require deployment outside of channel  20  can be used in vehicle  10 . Communication port  36  and power connector  38  are provided in a wall of channel  20 , for example, so that payload communications connector  40  and payload power connector  42  can be connected thereto by sliding payload  154  relative to the channel  20 . Alternately, a separate connector  158 , illustrated in the embodiment of  FIG. 11 , may be used to connect the payload  154  to the power source  50  and processor  54 . Other arrangements for holding payload  154  in channel  20  can also be used without exceeding the scope of the invention. 
     The present invention has been described herein in terms of several embodiments. However, it should be understood that additions and changes to these embodiments may be made without exceeding the scope of this invention. It is intended that all such obvious modifications and additions form a part of this invention to the extent they fall within the scope of the several claims appended hereto.