SYSTEM, APPARATUS AND METHOD FOR A HOOK END EFFECTOR

Abstract

A system and method is included for coupling a submersible conveyance to a payload comprising a gripper and an adapter for coupling the hook to the gripper.

Claims

1. A system for coupling an submersible conveyance to a payload comprising: a hook having a base and at least one finger; a gripper; and an adapter for coupling said hook to said gripper.

2. The system of claim 1 where the gripper comprises a pair of jaws.

3. The system of claim 1 where the adapter has at least one groove adapted to accommodate at least one jaw of said gripper disposed within.

4. The system of claim 1 where the adapter has a pair of outwardly facing surfaces that generally extend in parallel planes.

5. The system of claim 1 where the adapter has an outwardly facing surface with at least one aperture dispose within.

6. The system of claim 1 where said finger and a clasp of said hook at least partially define a perimeter and where a centerline of a groove in the adapter does not intersect said perimeter.

7. The system of claim 1 where said finger and a clasp of said hook at least partially define a perimeter and where a line extending from a sidewall of a groove that accommodates at least one jaw of said gripper in the adapter, intersects said perimeter.

8. The system of claim 1 where an end of said finger and a clasp is coupled to a base.

9. The system of claim 1 where the adapter has an adapter centerline that extends from a center of a front side of the adapter to a center of a rear side of said adapter and where the adapter is wider on a farside of the adapter centerline that is farther from said hook than a nearside of the adapter that is closer to said hook.

10. The system of claim 9 where the farside of the adapter forms an apex that is aligned to a pivot point of the clasp to within ten percent of a length of said hook

11.The system of claim 9 where the nearside of the adapter that is closer to said hook has a jut that extends away from the centerline and is laterally within fifteen percent of the length of the hook to the pivot point of the clasp.

12. The system of claim 9 where the farside of the adapter does not overlap with said hook.

13. The system of claim 1 where the adapter has a receiver for receiving the hook and at least a portion of the receiver is complimentary in shape to a portion of said finger and a portion of a base of the hook.

14. The system of claim 1 where a minority of a sidewall of the adapter overlaps with said hook.

15. The system of claim 1 where the adapter is coupled to the hook at a first point along said finger within one third along the length of a phalanx of said finger from a base of said hook.

16. A method for coupling and decoupling an submersible conveyance to a payload comprising: accommodating at least one jaw of a gripper with an adapter of a hook to couple said gripper to said hook; moving said gripper that is coupled an submersible conveyance in proximity to a payload; articulating said hook such that it couples to said payload.

17. The method of claim 16 where the step of accommodating at least one jaw of a gripper with an adapter of a hook to couple said gripper to said hook comprises opening said jaw of said gripper and disposing said jaw within a groove of said adapter.

18. The method for coupling and decoupling an submersible conveyance to a payload further comprising decoupling said payload from said hook.

19. A method of assembling an underwater coupling device comprising inserting a hook into a receiver of an adapter; coupling said hook to said adapter; and accommodating at least one jaw of a gripper with an adapter of a hook to couple said gripper to said hook.

20. The method of assembling in claim 19 where the step of coupling said hook to said adapter comprises coupling said hook at a first point along a finger of said hook within one third along a length of a phalanx of said finger from a base of said hook.

Description

BRIEF DESCRIPTION OF DRAWINGS

[0006] Throughout the several views, like elements are referenced using like references. The elements in the figures are not drawn to scale and some dimensions are exaggerated for clarity.

[0007] FIG. 1 is a perspective view of various states of an improvement to a submersible conveyance that is remotely operated in accordance with an embodiment of the invention.

[0008] FIG. 2 is a perspective view of a line-handling retrofit kit for enhancing a remotely-operated submersible conveyance in accordance with an embodiment of the invention.

[0009] FIG. 3 is a perspective view of a submersible conveyance system that includes a submersible conveyance according to one or more embodiments of the present disclosure.

[0010] FIG. 4 is a perspective view of a submersible conveyance system according to one or more embodiments of the present disclosure.

[0011] FIG. 5 is a top view of a submersible conveyance system according to one or more embodiments of the present disclosure.

[0012] FIG. 6 is a side view of a submersible conveyance system according to one or more embodiments of the present disclosure.

[0013] FIG. 7 is a front perspective view of a submersible conveyance system according to one or more embodiments of the present disclosure.

[0014] FIG. 8 is a front view of a submersible conveyance system according to one or more embodiments of the present disclosure.

[0015] FIG. 9 is a front view of a cap according to one or more embodiments of the present disclosure.

[0016] FIG. 10 is a flowchart for a method for utilizing a submersible conveyance system according to one or more embodiments of the present disclosure.

[0017] FIG. 11 is a perspective view of a prior art submersible conveyance.

[0018] FIG. 12A is a side view of a prior art gripper.

[0019] FIG. 12B is a side view of a prior art gripper.

[0020] FIG. 13 is a perspective view of a system including a gripper, adapter and hook according to one or more embodiments of the present disclosure.

[0021] FIG. 14 is a side view of a hook according to one or more embodiments of the present disclosure.

[0022] FIG. 15 is a perspective view of an adapter according to one or more embodiments of the present disclosure.

[0023] FIG. 16 is a bottom view of an adapter according to one or more embodiments of the present disclosure.

[0024] FIG. 17 is a side view of an adapter according to one or more embodiments of the present disclosure.

[0025] FIG. 18 is a rear view of an adapter according to one or more embodiments of the present disclosure.

[0026] FIG. 19 is a side view of a system including an adapter and a hook according to one or more embodiments of the present disclosure.

[0027] FIG. 20 is a side view of an adapter according to one or more embodiments of the present disclosure.

[0028] FIG. 21 is a side view of a system including an adapter and a hook according to one or more embodiments of the present disclosure.

[0029] FIG. 22 is a flowchart for a method for coupling and decoupling a submersible conveyance to a payload according to one or more embodiments of the present disclosure.

[0030] FIG. 23 is a flowchart for a method of assembling an underwater coupling device according to one or more embodiments of the present disclosure.

DETAILED DESCRIPTION

[0031] The disclosed systems and methods below may be described generally, as well as in terms of specific examples and/or specific embodiments. For instances where references are made to detailed examples and/or embodiments, it should be appreciated that any of the underlying principles described are not to be limited to a single embodiment, but may be expanded for use with any of the other systems and methods described herein as will be understood by one of ordinary skill in the art unless otherwise stated specifically.

[0032] While testing and evaluating the DEFENDER underwater remotely-operated vehicle available from VIDEORAY the inventors noticed several functional limitations of the DEFENDER underwater remotely-operated vehicle. Based upon this experience, the inventors discovered that a retrofit kit for the DEFENDER vehicle could safely maneuver the DEFENDER vehicle closer to the seafloor, while maintaining bottom lock with the onboard velocity maintainer, which is denoted the Digital Velocity Logger (DVD by VIDEORAY The inventors further discovered that the retrofit kit could improve line handling by increasing the lifting capability beyond the limited grasping ability of the onboard gripper, while eliminating overstressing of the control tether of the DEFENDER vehicle and nearly eliminating the possibility of the line becoming entangled with the control tether or the thrusters of the DEFENDER vehicle.

[0033] Testing and evaluation of a prototype line-handling improvement demonstrated that repositioning the main gripper six inches lower and six inches forward brought the gripper into optimal view of the remote operator, while bringing the bottom of the body of water into the focal range of the DVL even when operating the gripper at the bottom of the body of water. The prototype line-handling improvement is small, compact, and easily transported during shipment and easily deployed on small boats. In addition, the existing cam lock mounting points of the DEFENDER vehicle can be used to attach the prototype retrofit kit to the DEFENDER vehicle. The prototype retrofit kit was demonstrated during testing and evaluation to perform as designed and functioned flawlessly in various difficult sea conditions.

[0034] In addition, not only is functionality improved, but safety is improved in and out of the water and while on the deck of small boats. By ensuring, the improved DEFENDER vehicle maintains bottom lock from repositioning the main gripper, the improved DEFENDER vehicle is able to navigate across the seafloor and recover target objection with greater ease and control, and without incurring the detrimental loss of control when the DVL loses bottom lock. Thereby, the main gripper and camera dome avoid damage from impacts with the seafloor. In addition, line entanglement with the DEFENDER vehicle's thrusters is significantly mitigated, dramatically reducing the possibility of the DEFENDER vehicle becoming trapped on the seafloor, adding confidence to the mission's success. The prototype line recovery line-handling improvement was shown to be easily mounted on the DEFENDER vehicle and to perform safely in a demanding war space environment.

[0035] In summary, the prototype line-handling improvement to the DEFENDER vehicle provides easy attachment to the DEFENDER vehicle while improving bottom lock and line handling in the demanding war space environment.

[0036] FIG. I is a perspective view of various states 105, 106, 107, 108, and 109 of an improvement to a submersible conveyance 101 that is remotely operated in accordance with an embodiment of the invention. In one embodiment, a submersible conveyance 101 is improved with a line-handling retrofit kit 102. The line-handling improvement of the retrofit kit 102 includes a pair of storage containers 130 and 132 with respective pliable caps 131 and 133, a line 134, and a hook 138.

[0037] The submersible conveyance 101 is remotely operated for commanded motion in any direction within a body of water 110 surrounding the submersible conveyance 101. The submersible conveyance 101 is remotely operated either wirelessly or with a wired tether 121 that controls the submersible conveyance 101 from a remote control console 122. The submersible conveyance 101 is remotely operated to open and close a gripper 124 affixed to the submersible conveyance 101. The submersible conveyance 101 is remotely operated to engage a velocity maintainer 126 that, within a range of a bottom Ill of the body of water 110, senses the bottom 111 and locks the commanded motion relative to the bottom 111 despite fluctuating currents in the body of water 110. For example, when the commanded velocity is zero velocity, the velocity maintainer 126 works with its inertial measurement unit to hoover the submersible conveyance 101 over a fixed point on the bottom Ill despite a back-and-forth swaying undertow in the body of water 110 caused by waves breaking on a nearby or distant shoreline.

[0038] The pair of storage containers 130 and 132 are symmetrically arranged on an underside of the submersible conveyance 101 with an in-between space. The velocity maintainer 126 senses the bottom 111 of the body of water 110 through the space between the storage containers 130 and 132. Thus, the symmetrical arrangement of the storage containers 130 and 132 balances equilibrium without blocking the view of the velocity maintainer 126. A respective pliable cap 131 or 133 covers a mouth of each of the storage containers 130 and 132.

[0039] The respective pliable caps 131 and 133 apply a slight drag on the line 134 upon the line 134 passing through an aperture in the respective pliable caps 131 and 133. The line 134 is storable within the storage containers 130 and 132. The line 134 has a first end 135 affixable to the submersible conveyance 101. The hook 138 is affixed to the second end 136 of the line 134. The hook 138 is configured to be held in the gripper 124 when the gripper 124 is closed.

[0040] In one embodiment, the storage containers 130 and 132 arranged on the underside of the submersible conveyance 101 are elongated and oriented with the mouth of each of the storage containers 130 and 132 facing a tool side 125 of the submersible conveyance 101. The gripper 124 projects from the tool side 125.

[0041] In a deploying state 105, the line 134 is stored in the storage containers 130 and 132. The line 134 runs sequentially from the first end 135 affixed to the submersible conveyance 101 then into and out of the aperture in the respective pliable cap 131 of a first storage container 130, then into and out of the aperture in the respective pliable cap 133 of a second storage container 132, and finally to the second end 136 of the line 134. The hook 138 affixed to the second end 136 is held in the closed gripper 124.

[0042] In a returning state 106 following the deploying state 105, the hook 138 is hooked onto a target object 140 at the bottom 111 of the body of water 110, and the hook 138 affixed to the second end 136 of the line 134 is no longer held in the gripper 124. At least a portion of the line 134 is no longer stored in the storage containers 130 and 132. This portion of the line 134 runs under the slight drag from the respective pliable cap 131 or 133 of either one of the storage containers 130 and 132 to the second end 136 of the line 134 having the hook 138 affixed and the target object 140 hooked. For example, as shown in FIG. 1 for the returning state 106, the line 134 has emptied from storage container 132, but storage container 130 is still dispensing the line 134.

[0043] In a retrieving state 108 following the returning state 106, the portion of the line 134 and the hook 138 lift the target object 140 from the bottom 111 of the body of water 110 to a top surface 112 of the body of water 110. In one embodiment, the line-handling improvement of the retrofit kit 102 further includes a buoy 137 affixed to the first end 135 of the line 134. The first end 135 of the line 134 is initially affixed to the submersible conveyance 101 with a clasp 128. In an optional awaiting state 107 after the returning state 106 and before the retrieving state 108 the submersible conveyance 101 is remotely operated to release the clasp 128 so that the line 134 dangles from the buoy 137 in the body of water 110.

[0044] In example operation, the submersible conveyance 101 is prepared in the deploying state 105 above the top surface 112 of the body of water 110 with the hook 138 held in the closed gripper 124. The submersible conveyance 101 is deployed into the body of water 110, and remotely operated to maneuver the submersible conveyance 101 to the target object 140. Then, the submersible conveyance 101 is remotely operated to secure the hook 138 onto the target object 140. This might involve, for example, rotating the gripper 124 so the hook 138 rotates into an appropriate orientation for engaging the target object 140. The gripper 124 is remotely opened to release the hook 138 from the gripper 124. Next, the submersible conveyance 101 is remotely operated to ascend to the top surface 112 of the body of water 110, while an operator reels up the slack in the wired tether 121 and potentially lifts the submersible conveyance 101 with the wired tether 121. As the submersible conveyance 101 ascends, the line 134 is dispensed from storage container 132 with slight drag applied by the respective pliable cap 133. If the line 134 stored in the storage container 132 gets dispensed completely as shown in returning state 106, then the line 134 starts dispensing from storage container 130 with slight drag applied by the respective pliable cap 131. Entanglement of the wired tether 121 and the line 134 is prevented because the wired tether 121 and the line 134 extend under tension from opposite sides of the submersible conveyance 101. Entanglement is especially prevented when the submersible conveyance 101 ascends vertically with the tool side 125 facing the target object 140 at the bottom 111 of the body of water 110.

[0045] In the prototype embodiment, the line-handling retrofit kit 102 is equipped with 600 feet of quarter-inch Amsteel Yellow line 134 stuffed into the cylindrical canisters 221 and 223, which are two PVC tubes having a four inch diameter. Increasing the width of the line 134 to inch of Amsteel Yellow line 134 decreases the depth from which the target object 140 can be lifted, but increases the lifting weight for the target object 140. Further increasing the width of the line 134 to half-inch of Amsteel Yellow line 134 further decreases the depth from which the target object 140 can be lifted, but further increases the lifting weight for the target object 140.

[0046] Upon the submersible conveyance 101 reaching the top surface 112 of the body of water 110, either the line 134 is immediately hauled by hand or davit 150 in the retrieving state 108, or the clasp 128 is released to achieve the awaiting state 107. In one example, the retrofit kit 102 includes multiple lines like line 134, each with a respective hook 138 and respective buoy 137, and multiple target objects like target object 140 are captured with the respective hook 138 and the respective buoy 137 before any target objects are lifted from the body of water 110. In another example, the target object 140 is large and has slightly negative buoyancy, so the line 134 has sufficient strength to lift the target object 140 from the bottom Ill to the top surface 112, but not enough strength to lift the target object 140 out of the body of water 110. Before lifting the target object 140 from the bottom 111, the clasp 128 is released with the attached buoy 137 preventing loss of the first end 135 of the line 134. In one embodiment, the release of the clasp 128 automatically inflates a collapsed buoy 137 attached to the first end 135 of the line 134 in the deploying state 105 (collapsed buoy 137 and reference number for clasp 128 shown in redeploying state 109). After lifting the target object 140 from the bottom 111 to the top surface 112 with the line 134 in the retrieving state 108, stronger lines (not shown) are attached to the target object 140 for lifting the target object 140 out of the body of water 110 with davit 150.

[0047] In a redeploying state 109 following the retrieving state 108, the submersible conveyance 101 and the line-handling retrofit kit 102 are partially prepared for the retrieval of another target object. The line 134 or another line in the retrofit kit 102 has been stored in the storage containers 130 and 132, except for a final hank 139 of the line 134 being stuffed into the storage containers 130 and 132. In one embodiment, the mouth and the aperture for each of the storage containers 130 and 132 are dimensioned to accept a hand of a human operator successively grasping each hank 139 of the line and pushing each hank 139 into the storage containers 130 and 132 through the aperture at the mouth of the storage containers 130 and 132.To complete redeployment and again achieve the deploying state 105 after storing hank 139, the first end 135 of the line 134 line is affixed to the clasp 128 and the gripper 124 is closed on the hook 138.

[0048] FIG. 2 is a perspective view of a line-handling retrofit kit 200 for enhancing a remotely-operated submersible conveyance in accordance with an embodiment of the invention. The retrofit kit 200 includes a mounting skid 210, a pair of elongated storage containers 220 and 222, and respective pliable caps 230 and 232 covering a mouth of the elongated storage containers 220 and 222. The retrofit kit 200 preferably includes the mounting skid 210, but the mounting skid 210 could be omitted in one embodiment of the invention. We call the retrofit kit 200 the MARDAN line-handling system.

[0049] The mounting skid 210 has an opening 211. The pair of elongated storage containers 220 and 222 are symmetrically arranged on the mounting skid 210 with an in-between space, which is aligned with the opening 211 in the mounting skid 210 and enables the submersible conveyance's sensing through both the opening 211 and the space between the elongated storage containers 220 and 222. The elongated storage containers 220 and 222 are oriented with the mouth of each of the elongated storage containers 220 and 222 facing a tool side 216 from which projects the gripper (not shown).

[0050] The line 240 is storable within the elongated storage containers 220 and 222. The respective pliable caps 230 and 232 apply a slight drag on the line 240 upon the line 240 passing through an aperture 231 or 233 in each of the respective pliable caps 230 and 232. The line 240 has a first end 241 and a second end 242. The first end 241 is affixed to the mounting skid 210. In one embodiment, the first end 241 of the line 240 is pushed through the pliable cap 233 to the bottom of the elongated storage container 222 and then through a hole 226 in the bottom of the elongated storage container. Next, the first end 241 of the line 240 is affixed to the mounting skid 210. In another embodiment, the first end 241 is affixed to the mounting skid 210 because the first end 241 is affixed to the submersible conveyance as shown in FIG. 1 and the submersible conveyance is affixed to the mounting skid 210. The hook 248 is affixed to the second end 242 of the line 240.

[0051] In one embodiment, the elongated storage containers 220 and 222 include a pair of cylindrical canisters 221 and 223. The elongated storage containers 220 and 222 further include a square mounting block 251, 252, 253, or 254 at each end of each of the cylindrical canisters 221 and 223 for fastening the cylindrical canisters 221 and 223 to the underside of the submersible conveyance via cam lock projections 260. The cam lock projections 260 match cam lock sockets existing on the submersible conveyance before the improvement of installing the line-handling retrofit kit 200. In this embodiment, the respective pliable cap 230 or 232 for each of the elongated storage containers 220 and 222 covers the mouth, which is a circular mouth, of a respective one of the cylindrical canisters 221 and 223.

[0052] When the cam lock projections 260 fasten the cylindrical canisters 221 and 223 to the underside of the submersible conveyance, the elongated storage containers 220 and 222 become sandwiched between the underside of the submersible conveyance and the mounting skid 210. In addition, the flat underside 212 of the mounting skid 210 becomes approximately parallel to the underside of the submersible conveyance. Thus, the mounting skid 210 protects the elongated storage containers 220 and 222 and the submersible conveyance whenever the flat underside 212 of the mounting skid 210 rests on the deck of a maritime vehicle, or during any unfortunate impact with the bottom of the body of water.

[0053] The aperture 231 or 233 of the respective pliable cap 230 or 232 for each of the elongated storage containers 220 and 222 is at least one slit having respective flaps on both sides of the slit for applying the slight drag on the line 240 upon the line 240 passing through the slit while squeezed between the respective flaps. The mouth and the slit or slits for each of the elongated storage containers 220 and 222 are dimensioned to accept a hand of a human operator successively grasping each hank 243 through 244 of the line 240 being stuffed into the elongated storage containers 220 and 222. After half of the line 240 is stuffed into the elongated storage container 222 and the other half of the line 240 is stuffed into the elongated storage container 220, it is recommended to place a strip of adhesive tape over the apertures 231 and 233 and where the line 240 passes between the pliable caps 230 and 232.

[0054] In one embodiment, the elongated storage containers 220 and 222 include cylindrical canisters 221 and 223 perforated with perforations 225 for flooding and de-watering the perforated storage containers 220 and 222 from the body of water.

[0055] In one embodiment, the gripper is repositioned from near the underside of the submersible conveyance to the mounting skid 210 without disconnecting an electrical cable between the submersible conveyance and the gripper. The electrical cable provides control for opening and closing the gripper. Because the electrical cable is not disconnected, the required skill is diminished for the operator of the improved submersible conveyance. The gripper mount 214 accepts the same hardware used to mount the gripper onto the submersible conveyance. Thus, for example, the same four hex head cap bolts and spacers used to mount the gripper onto the submersible conveyance are used to mount the gripper to the gripper mount 214.

[0056] This eliminates the need for additional mounting hardware and provides continuity within the mounting hardware. The gripper and the gripper mount 214 are disposed on the same side of the mounting skid 210. Thus, the mounting skid 210 also protects the gripper while the flat underside 212 of the mounting skid 210 rests on the deck of a maritime vehicle, or during any unfortunate impact with the bottom of the body of water.

[0057] In one embodiment, the gripper is repositioned onto the gripper mount 214 not only away from the underside of the submersible conveyance, but also is repositioned to project out farther from the tool side 216 of the submersible conveyance. The extra distance between the gripper and the underside of the submersible conveyance helps the velocity maintainer focus on the bottom of the body of water when the submersible conveyance approaches a target objection resting on the bottom of the body of water and stirs up interfering debris from the bottom of the body of water. The extra distance projecting out from the tool side 216 of the submersible conveyance helps bring the gripper into optimal view of a gimbaled camera within an observation dome mounted on the tool side 216 of the submersible conveyance.

[0058] In one embodiment, non-compressible foam collars 270 and 271 are affixed to the elongated storage containers 220 and 222. The non-compressible foam collars 270 and 271 provide buoyancy offsetting the submerged weight of the line-handling retrofit kit 200. The non-compressible foam collars 270 and 271 are mounted toward the tool side 216 of the line-handling retrofit kit 200 to balance the moment about the center of buoyancy caused by repositioning the gripper onto the gripper mount 214. Adjustable ballast weights 280 and 281 affixed to the mounting skid 210 fine tune the buoyancy. For example, when the gripper is not repositioned from the submersible conveyance, moving most of the ballast weights 281 into ballast weights 280 achieves neutral attitude of the submersible conveyance improved with the line-handling retrofit kit 200. Collectively, the non-compressible foam collars 270 and 271 and the adjustable ballast weights 280 and 281 achieve near neutral buoyancy and neutral attitude of the improved submersible conveyance. In particular, the improved submersible conveyance rests motionless in a still body of water when the thrusters are deactivated on the submersible conveyance, and the improved submersible conveyance rests oriented with the tool side 216 tilted at an operator-selected angle toward the bottom of the still body of water.

[0059] From the above description of a Line-Handling Improvement and Retrofit Kit for a Submersible Conveyance, it is manifest that various techniques may be used for implementing the concepts of the improvement and retrofit kit 102 and 200 without departing from the scope of the claims. The described embodiments are to be considered in all respects as illustrative and not restrictive. Each of the improvement and retrofit kit 102 or 200 disclosed herein may be practiced in the absence of any element that is not specifically claimed and/or disclosed herein. It should also be understood that each of the improvement and retrofit kit 102 or 200 is not limited to the particular embodiments described herein, but is capable of many embodiments without departing from the scope of the claims.

[0060] Referring to FIG. 3, a submersible conveyance system 1000 that is remotely operated for commanded motion in any direction within a body of water surrounding the submersible conveyance system is shown. The submersible conveyance system 1000 may be remotely operated to open and close a gripper 1124 located at a tool side 1125 of the submersible conveyance 1101. The submersible conveyance system 1000 may include a frame 1100, a pair of storage containers 1200, 1300 and a gripper 1124. The submersible conveyance system 1000 may include at least a thousand feet of line and the line may have an average tensile strength of at least 34000 lbs. The submersible conveyance system 1000 may include a submersible conveyance 1101. The submersible conveyance system 1000 may operate in the ocean or a lake or generally in fluids which have a density ranging from sixty lbs/ft.sup.3 to sixty-six lbs/ft.sup.3. The frame 1100 may be constructed from a material having a density less than fifty lbs/ft.sup.3 and in an embodiment, the frame 1100 is constructed from material having a density of ten lbs/ft.sup.3 to fifteen lbs/ft.sup.3. In an embodiment, the submersible conveyance system 1000 when consisting of a frame 1100, a pair of storage containers 1200, 1300, a thousand feet of line and a gripper 1124 may weigh from 5 lbs to 5 lbs when submerged within a lake, sea or ocean. Thus, when a submersible conveyance 1101 is added to the submersible conveyance system 1000, the submersible conveyance 1101 may only need make minor adjustments to its control laws or make no adjustments at all due to the net zero or near net zero buoyancy of the frame 1100 and other attached components to the submersible conveyance 1101. Net zero or near net zero buoyancy may be achieved with one, two or more batteries attached to the frame 1100.

[0061] Referring to FIGS. 4-8, the frame 1100 may have at least one submersible conveyance coupler and in an embodiment, has four submersible conveyance couplers 1112a, 1112b, 1112c, 1112d. The frame 1100 may include at least one battery coupler and in an embodiment has four battery couplers 1114a, 1114b, 1114c 1114d. The frame 1100 may include four storage container holders 1251, 1252, 1253, 1254, each laterally disposed on respective sides of a frame centerline C1-C2.

[0062] The frame 1100 may include at least one joist, and in an embodiment has a pair of joists, a front joist 1120 and a rear joist 1130. One or both of front joist 1120 and a rear joist 1130 may extend laterally between a pair of storage container holders 1251, 1253, 1252, 1254, respectively, and each may be located on opposed longitudinal ends of the frame 1100. Referring, to FIGS. 7 and 8, in an embodiment, the joists 1120, 1130 include a top element 1122, 1132 that extends laterally between a pair of storage container holders 1251, 1253, 1252, 1254, respectively and a bottom element 1124, 1134 that extends laterally between the pair of storage container holders, 1251, 1253, 1252, 1254, respectively. In an embodiment, the frontal surface area of one or both joists 1120, 1130 is less than twenty-five percent of the frontal surface area between the pair of storage container holders 1251, 1253, 1252, 1254. The frontal surface area occupied by joists impacts the ability of a connected submersible conveyance to maintain bottom lock as the submersible conveyance can be buffeted by undersea currents. The less frontal surface area occupied by the joists the less sail effect is produced by the joists and thus only minor changes to the control laws of submersible conveyance 1101 need be made or no changes at all. The joists 1120, 1130 may each also include a stud 1126, 1136 that extends from the top element 1122, 1132 to the bottom element 1124, 1134, respectively.

[0063] In an embodiment, the storage container holders each have a pair of forward storage container holders 1251, 1253 and a pair of rear storage container holders 1252, 1254. The top elements 1122, 1132 and bottom elements 1124, 1134 of joists 1120, 1130 may extend between each of the pair of forward storage container holders 1251, 1253 and the rear storage container holders 1252, 1254, respectively. The forward storage container holders 1251, 1253 and rear storage container holders 1252, 1254 may be complimentary in shape to the storage containers 1200, 1300 such that an optimum amount of surface contact exists to support the storage containers. The forward storage container holders 1251, 1253 and rear storage container holders 1252, 1254 may be sized to allow the storage containers 1200, 1300 to be slid into the storage container holders without a need for a mechanism to open and close the storage container holders. The forward storage container holders 1251, 1253 and rear storage container holders 1252, 1254 may also be sized to approximately have an inner circumference equal to the outer circumference of the storage containers 1200, 1300 such that when the submersible conveyance system 1000 is in operation, the frictional fit of the forward storage container holders 1251, 1253 and rear storage container holders 1252, 1254 will keep the storage containers in place without the need to provide a clamping force.

[0064] Referring to FIGS. 3, 4, 5 and 8, the frame 1100 may include at least one column that couples to a submersible conveyance, and in an embodiment, there are four columns 1140a, 1140b, 1140c, 1140d each extending upward from respective forward storage container holders 1251, 1253 and rear storage container holders 1252, 1254. Upward is generally determined from the orientation of the submersible conveyance 1101 and the point of distribution of the line. The point of distribution of the line, in an embodiment, is below the submersible conveyance 1101 so as to not to entangle the line with the submersible conveyance as the submersible conveyance rises. A submersible conveyance coupler 1112a, 1112b, 1112c, 1112d may located at or near the top of the frame 1100 and in an embodiment, a submersible conveyance coupler is located at one or more or all of the tops of columns 1140a, 1140b, 1140c, 1140d, respectively. In an embodiment, the submersible conveyance coupler 1112a, 1112b, 1112c, 1112d is a cam lock element such as a cam lock projection or a cam lock socket with one or more cam lock elements located on frame 1100.

[0065] Referring to FIGS. 3, 4 and 6, the frame 1100 includes at least one longitudinally extending beam and in an embodiment, the frame includes two beams 1150 and 1160 which are each coupled to a pair of columns 1140a, 1140d and 1140b, 1140c respectively. In an embodiment, each of beams 1150, 1160 are coupled to two columns at or within twenty percent of the length of the beam, to an end of the beam. In an embodiment, each of beams 1150, 1160 are coupled to two columns at or within twenty percent of the length of the column, to the top of the column. In an embodiment, one or both of beams 1150, 1160 are coupled to a respective column on an outer side of the column. Beams 1150, 1160 may include at least one battery coupler and in an embodiment, one or both of beams 1150, 1160 have two battery couplers 1114a, 1114d, 1114b 1114c which may be located within twenty percent of the length of a respective beam, at opposed ends of the beam. A battery coupler 1114a, 1114b, 1114c 1114d may include a fastening element within a beam. In an embodiment, a battery coupler is orientated within thirty degrees of horizontal where horizontal is determined by the direction a fastening element extends through or from a beam. The battery coupler may be a cam lock element including a cam lock projection or a cam lock socket. In an embodiment the submersible conveyance coupler and the battery coupler are identical in locking mechanism type and in footprint size.

[0066] Referring to FIGS. 3, 4, 8 and 9, the submersible conveyance system 1000 includes at least one storage container and in an embodiment a pair of storage containers 1200, 1300 each have a pliable cap 1230, 1330, respectively. Storage container 1200 may be retained in storage container holders 1253, 1254 while storage container 1300 is retained by storage container holders 1251, 1252. The storage containers 1200, 1300 may have a 6.5 inch diameter or less and a length of thirty inches or less. One or both pliable caps 1230, 1330 have at least one aperture 1232, 1332 which may include a slit and at least one flap. The pliable caps 1230, 1330 may apply a drag on the line upon the line passing through an aperture 1232, 1332.

[0067] In an embodiment, at least one slit 1236 widens at an outer end to form at least one notch 1237a in a flap, and may form a notch 1237a, 1237b in two adjacent flaps 1234d, 1234e. In an embodiment, a pliable cap 1230, 1330 has four or more flaps, e.g. eight, 1234a, 1234b, 1234c, 1234d, 1234e, 1234f, 1234g, 1234h, 1334a, 1334b, 1334c, 1334d, 1334e, 1334f, 1334g, 1334h, where one or more may also include one or more notches on opposed sides. A plurality of flaps may extend from an outer perimeter of a pliable cap 1230, 1330 to a center to form an opening 1238, 1338 in an aperture 1232, 1332 that may be shaped in an ellipse. The opening 1238 may allow a line to transition from one slit or notch to another slit or notch in a pliable cap 1200, 1300. For example, the submersible conveyance system 1000 may have line through a first slit when moving to a payload, then have line in a second slit while or immediately after attaching a hook to a payload, and then in a third slit as the submersible conveyance system 1000 moves towards a watercraft that will store the submersible conveyance system 1000 or tow or haul the payload.

[0068] FIG. 10 is flowchart 1400 for a method for utilizing a submersible conveyance system. The method includes coupling a frame to a submersible conveyance 1410, coupling a battery to the frame 1420, coupling a storage container to the frame 1430, submersing the submersible conveyance 1440, moving the submersible conveyance in proximity to a payload 1450 and coupling an end of a line to a payload 1460. The step of coupling the second end of the line to a payload may include coupling a gripper to the submersible conveyance, coupling a hook to the gripper; and coupling the hook to the payload. The step of coupling a storage container to the frame may include storing at least one thousand feet of line in a plurality of storage containers. The step of coupling a storage container to the frame further comprises storing line having an average tensile strength of at least 34,000 lbs. The step of coupling the second end of the line to a payload may include running line through at least one of five slits in an end of the storage container. The step of coupling the second end of the line to a payload may include running line through a notch of a slit in an end of the storage container.

[0069] Referring to FIG. 13, a system 2100 for coupling line of a submersible conveyance to a payload is shown. Also referring to FIG. 14, the system 2100 includes an end effector such as a hook 2110 having a base 2112, a finger 2114 having a pair of phalanxes 2115a, 2115b and a curved section 2116 that connects the two phalanxes 2115a, 2115b. Phalanx 2115a is coupled to and extends from the base 2112 to curved section 2116. Curved section 2116 extends from opposed end of phalanx 2115a and phalanx 2115b extends from an opposed end of curved section 2116 from phalanx 2115a. A number arrangements may exist involving phalanxes 2115a and 2115b and curved section 2116 including having a single phalanx, no curved section, a straight section or a phalanx being curved. The hook 2110 may include a clasp 2120 which extends from the base 2112 to phalanx 2115b. In an embodiment, the clasp 2120 is pivotally connected to base 2112 and extends to an end of phalanx 2115b. The base 2112 of the hook 2110 may also include an orifice 2150 for interfacing and retaining a tow line.

[0070] A gripper 2020 and an adapter 2300 for coupling the gripper to the hook 2110 are also part of the system. Referring also to FIG. 12A, the gripper 2020 comprises a pair of jaws 2022a, 2022b. FIG. 12A illustrates a gripper 2020 having parallel jaws 2022a, 2022b where when opening or closing, the jaws maintain a relative parallel orientation relative to each other.

[0071] Referring also to FIGS. 15, 16, 17 and 18, in an embodiment, the adapter 2300 generally has the shape of a plate with a rectangular cross-section, a pair of outwardly facing surfaces or sidewalls 2310, 2320 that are spaced apart and may have a thickness t1 at a front side 2340 and t2 at a rear side 2350, each thickness greater than the thickness of the phalanx 2115a and base 2112 of the hook 2110. In an embodiment, t1 is greater than t2. The adapter 2300 has a receiver 2330 for receiving the hook 2110 therein and in an embodiment, at least a portion of the receiver 2330 is complimentary in shape to a one or more of a portion of the finger 2114 and a portion of a base 2112 of the hook 2110. The complimentary shape of the receiver 2330 allows for the hook 2110 to be fixedly attached to the adapter 2300 as the receiver forms a support wall for the hook when disposed therein. Fastener 2362 may be used to attach the adapter 2300 to the hook 2110 at a point along the finger 2114 within one third along the length of phalanx 2115a from the base 2112 of the hook 2110. Fastener 2364 may be attached to base 2112.

[0072] Referring also to FIG. 19, the adapter has a pair of grooves 2312, 2322 adapted to accommodate at least one jaw of the gripper disposed within. Each of the grooves 2312, 2322 lie in a respective outwardly facing surface 2310, 2320. Grooves 2312, 2322 may each have an identical minimum surface area have overlapping surface areas greater than ninety percent on surfaces 2310 and 2320. Referring again to FIG. 14 and also to FIG. 19, in an embodiment, the inner sides 2130 and 2140 of the finger 2114 and the clasp 2120, respectively, of the hook 2110 define a perimeter and a centerline F1-R1 and F2-R2 of a groove 2312, 2322 in the adapter intersects the perimeter. In this embodiment, the gripper may have a parallel jaw 2020. Centerlines F1-R1 and F2-R2 of grooves 2312, 2322 may be determined as the line defined by a series of center points between the two sidewalls 2314, 2316 and 2324, 2326 of respective grooves 2312, 2322 as the grooves extend from rear side 2350 of an adapter 2300 towards a front side 2340 of an adapter. Referring to FIGS. 17 and 18, in an embodiment, the centerlines F1-R1 and F2-R2 are generally aligned within twenty degrees of the centerline of the adapter A1-A2 extending from front side 2340 to rear side 2350. A1 is generally associated with the front of the adapter.

[0073] Referring to FIGS. 13, 16 and 17, the front side 2340 of the adapter 2300 may overlap with the finger 2114 of the hook 2110 at phalanx 2115a. The rear side 2350 of the adapter 2300 may overlap with and/or may be behind the base 2112 of the hook 2110. One or more apertures 2410, 2420 may lie within an outwardly facing surface of the adapter 2300. An aperture 2410, 2420 may be located forward of a groove 2312, 2322. The adapter 2300 has an adapter centerline A1-A2 that extends from a center of a front side 2340 of the adapter to a center of a rear side 2350 of the adapter and divides the adapter 2300 into two sides, a nearside 2370 and a farside 2360. In an embodiment, the adapter is wider on a farside 2360 of the adapter centerline that is farther from the hook than a nearside 2370 of the adapter that is closer to the hook 2110. The center of the front side 2340 or rear side 2350 may be determined as the center of the face of a side where in an embodiment, the shape of the adapter 2300 is generally in the shape of a rectangle but may have apexes 2380 or juts or a pointed front side 2340. Averaging techniques that use a single side determination or a simultaneous multi-side determination to define one or more sides of a shape such as the adapter 2300 into an averaged rectangle may be used to determine the dimensions of each of the sides and faces of the averaged rectangle. In this embodiment, the presence of a jut 2390 or apex 2380 may be reduced or discounted as it may not appreciably add to the length of a side. The technique of using a series of center points in whole or in part may be used.

[0074] In an embodiment, the farside 2360 of the adapter 2300 forms an apex 2380 that is aligned to a pivot point 2122 of the clasp 2120 to within ten percent of a length of the hook 2110. In an embodiment, the length of the hook 2110 is determined as the length of the centerline A3-A4 of the hook. In an embodiment, the nearside 2370 of the adapter 2110 has a jut 2390 that extends away from the centerline A1-A2 and is laterally within fifteen percent of the length A3-A4 of the hook 2110, to the pivot point 2122 of the clasp 2120. In an embodiment, the farside 2360 of the adapter 2300 does not overlap with the hook 2110. In an embodiment, a minority of sidewalls 2310 or 2320 of the adapter overlap with hook 2110.

[0075] FIG. 20 illustrates an adapter 2900 that includes apertures 2912, 2914 for receiving the teeth 2034a, 2034b or 2038a, 2038b of a V-jaw gripper 2030. In an embodiment, apertures 2912, 2914 are complimentary in shape to one or more of teeth 2034a, 2034b and 2038a, 2038b such that the teeth are structurally supported by the aperture in shear and in torsion. In an embodiment a sidewall 2920 and a brace 2930 structural support in shear and torsion the V-jaw gripper 2030 by being in contact with jaws 2032 and 2036 when the jaws lie therein. In an embodiment, sidewall 2920 is in contact with both a tooth 2034a, 2034b, 2038a, 2038b and a jaw 2032, 2036 while the brace 2930 is in contact with jaw 2032 or 2036 only. The brace 2930 has less contact area than sidewall 2920 and is able to satisfactory support V-jaw gripper 2030 due to the support of apertures 2912, 2914. Referring to FIG. 21, in an embodiment, a line S extending from sidewall 2920 does not intersect the perimeter defined by finger 2114 and clasp 2120. In this embodiment, the gripper 2030 may have a V-jaw.

[0076] FIG. 22 is a flowchart 2700 illustrating a method for coupling and decoupling an submersible conveyance to a payload. The method comprises accommodating at least one jaw of a gripper with an adapter of a hook to couple the gripper to the hook 2710, moving the gripper in proximity to a payload 2720. The gripper may be coupled the submersible conveyance at the front. A next step may include articulating the hook such that it couples to the payload 2730. The step of accommodating at least one jaw of a gripper with an adapter of a hook to couple the gripper to the hook may include opening the jaw 2022a, 2022b, 2032, 2036 of the gripper and disposing the jaw within a groove 2312, 2322 or between the sidewall 2920 and 2930 brace of the adapter. After the payload is coupled to the hook 2110 the payload may be transported to a desired destination and there the payload may be decoupled from the hook 2110.

[0077] FIG. 23 is a flowchart illustrating a method of assembling an underwater coupling device 2800 comprising inserting a hook into a receiver of an adapter 2810, coupling the hook to the adapter 2820 and accommodating at least one jaw of a gripper with an adapter of a hook to couple the gripper to the hook 2830. The step of coupling the hook to the adapter may comprises coupling the hook at a first point along a finger of the hook within one third along a length of a phalanx of the finger from a base of the hook

[0078] In understanding the scope of the present invention, the term configured as used herein to describe a component, section or part of a device includes hardware and/or software that is constructed and/or programmed to carry out the desired function. In understanding the scope of the present invention, the term comprising and its derivatives, as used herein, are intended to be open ended terms that specify the presence of the stated features, elements, components, groups, integers, and/or steps, but do not exclude the presence of other unstated features, elements, components, groups, integers and/or steps. The foregoing also applies to words having similar meanings such as the terms, including, having and their derivatives. Finally, terms of degree such as substantially, about, generally and approximately as used herein mean a reasonable amount of deviation of the modified term such that the end result is not significantly changed.