# US 2016/0257525 A1 · Internal winch for self payout and re-wind of a small diameter tether for underwater remotely operated vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2016/0257525 A1 - Document ID: US20160257525A1 - Status: Published application - Kind: A1 - Application number: 15/159,363 - Filed: 2016-05-19 - Published: 2016-09-08 - Earliest claimed: 2011-07-28 - Assignees: Bluefin Robotics Corporation - Applicants: Bluefin Robotics Corporation - Inventors: Graham Hawkes; Charles Chiau; Adam Wright - Web page: https://patentgrep.com/patent/US20160257525A1 ## CPC - B65H 75/425: {attached to, or forming part of a vehicle, e.g. truck, trailer, vessel} - B63G 8/00: Underwater vessels, e.g. submarines; {Equipment specially adapted therefor}(submarine hulls B63B3/13; diving chambers with mechanical link, e.g. cable, to a base B63C11/34; divers' sleds B63C11/46; torpedoes F42B19/00) - B63G 8/001: {Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations (self-propelled or direction controlled diving chambers with mechanical link to a base B63C11/42)} - B65H 49/04: Package-supporting devices - B65H 75/4484: {Electronic arrangements or adaptations for controlling the winding or unwinding process, e.g. with sensors} - B65H 2701/32: Optical fibres or optical cables - B65H: HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES - B63G: OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS (means of attack or defence in general, e.g. turrets F41H) ## Abstract A cable containing an optical fiber is used to transmit data between an underwater remotely operated vehicle (ROV) and a support vessel floating on the surface of the water. The ROV stores the cable on a spool and releases the cable into the water as the ROV dives away from the support vessel. The ROV detects the tension in the cable and the rate that the cable is release from the ROV is proportional to the detected tension in the cable. After the ROV has completed the dive and retrieved by the support vessel, the cable can be retrieved from the water and rewound onto the spool in the ROV. ## Claims ### Claim 1 A cable release apparatus comprising: a cable that includes an optical fiber for transmitting data between a controller on a surface vessel and a remotely operated underwater vehicle; a spool mounted on the remotely operated underwater vehicle for storing substantially all of the cable; and a release mechanism the controls the removal of the cable from the spool into ambient water; wherein the optical fiber is released from the spool when tension in the cable released from the spool is greater than a predetermined value. ### Claim 2 (depends on 1) The apparatus of claim 1 wherein the predetermined value is greater than about 0.5 pound of tension and less than about 2.0 pounds of tension. ### Claim 3 (depends on 1) The apparatus of claim 1 further comprising: a tension sensor for detecting the tension of the cable as it exits the ROV. ### Claim 4 (depends on 3) The apparatus of claim 3 further comprising: a drive motor coupled to the tension sensor for rotating the spool in a first direction to release the cable from the spool and maintain the cable at a tension that is less than about 2.0 pounds. ### Claim 5 (depends on 4) The apparatus of claim 4 wherein the drive motor rotates the spool in a second direction opposite the first direction to retrieve the cable that has been released onto the spool. ### Claim 6 (depends on 1) The apparatus of claim 1 further comprising: an optical slip ring on the remotely operated underwater vehicle; wherein the data is transmitted through the optical slip ring. ### Claim 7 (depends on 1) The apparatus of claim 1 wherein the cable is not stored on the surface vessel. ### Claim 8 (depends on 1) The apparatus of claim 1 wherein the rate that the cable is removed from the spool at approximately the speed of the ROV through the water. ### Claim 9 (depends on 1) The apparatus of claim 1 further comprising: a feeder for guiding the cable from the spool to assist in releasing the cable from the remotely operated underwater vehicle. ### Claim 10 (depends on 9) The apparatus of claim 9 wherein the feeder includes a lead screw for moving the feeder across a portion of the spool. ### Claim 11 A cable release apparatus comprising: a cable that includes an optical fiber for transmitting data between a controller on a surface vessel and a remotely operated underwater vehicle; and a spool mounted on the remotely operated underwater vehicle for storing substantially all of the cable; wherein the optical fiber is released into ambient water from the spool on the remotely operated vehicle when tension in the cable released from the spool is greater than a predetermined value. ### Claim 12 (depends on 11) The apparatus of claim 11 wherein the predetermined value is greater than about 0.5 pound of tension and less than about 2.0 pounds of tension. ### Claim 13 (depends on 11) The apparatus of claim 11 further comprising: a tension sensor for detecting the tension of the cable as it exits the remotely operated vehicle; and a controller coupled to the tension sensor for controlling the removal rate of the cable from the spool based upon tension signals from the tension sensor. ### Claim 14 (depends on 13) The apparatus of claim 13 further comprising: a drive motor coupled to the tension sensor and the controller for rotating the spool in a first direction to release the cable from the spool; wherein the controller causes the drive motor to rotate the spool to maintain the cable at a tension that is less than about 2.0 pounds. ### Claim 15 (depends on 14) The apparatus of claim 14 wherein the drive motor rotates the spool in a second direction opposite the first direction to retrieve the cable that has been released onto the spool. ### Claim 16 (depends on 11) The apparatus of claim 11 further comprising: an optical slip ring on the remotely operated underwater vehicle; wherein the data is transmitted through the optical slip ring. ### Claim 17 (depends on 11) The apparatus of claim 11 wherein the cable is not stored on the surface vessel. ### Claim 18 (depends on 11) The apparatus of claim 11 wherein the rate that the cable is removed from the spool at approximately the speed of the ROV through the water. ### Claim 19 (depends on 11) The apparatus of claim 11 further comprising: a feeder for guiding the cable from the spool to assist in releasing the cable from the remotely operated underwater vehicle. ### Claim 20 (depends on 19) The apparatus of claim 19 wherein the cable stored on the spool is greater than 1,000 meters in length and the diameter of the cable is less than 3 mm.