Brian S Bingham

US Patent:

20210323645, Oct 21, 2021

Filed:

Apr 21, 2021

Appl. No.:

17/236975

Inventors:

- Arlington VA, US
Paul R. Leary - Monterey CA, US
Brian S. Bingham - Pacific Grove CA, US

International Classification:

B63G 8/00
B63G 8/20

Abstract:

The invention relates to a payload frame for deploying a payload underwater. The payload frame includes at least three lead screws, each lead screw connected near a top end of the lead screw to the payload by a corresponding spherical bearing; at least three motors, each motor connected to a bottom end of one of the lead screws, the motor to rotate the lead screw through the corresponding spherical bearing; at least three feet, each foot attached to one of the motors, the feet to support and secure the payload frame on a water body bed; an accelerometer attached to the payload, the accelerometer to measure gravity vectors of the payload; and a microcontroller connected to the accelerometer and the motors. The microcontroller to receive the gravity vectors from the accelerometer and control each of the motors based on the gravity vectors to position the payload in a target orientation.