Abstract: The present invention provides a means by which an underwater plow can avoid large obstacles that otherwise would prevent the plow from executing its desired path. The underwater plow is released into the water, drops to the sea floor, orients itself, and begins to deploy the sensor array along a pre-programmed path. If the plow encounters a sea floor obstacle, the plow 10 automatically maneuvers to overcome the obstacle and continues deployment of the sensor array. The buoyancy shifting apparatus 110 allows the plow to automatically maneuver. The present invention shifts the center of buoyancy of the underwater plow, thereby allowing the plow to float over obstructions.

Abstract: An autonomous underwater plow can include a frame, a plow assembly and a propulsion assembly. The plow assembly is fixed to the one end of the frame, while the propulsion assembly is pivotably attached to the other end. The propulsion assembly includes thrusters that are rigidly coupled to a float, and that provide a propulsion force perpendicular to the float buoyancy force. The plow sinks when placed in the water, but the float provides sufficient buoyancy so that the float end floats while the plow end is in contact with the ocean floor. This establishes a rake angle of between the frame and ocean floor. The plow requires less propulsion force for motion because part of the plow is floating, and requires less force to overcome obstacles on the ocean floor because the thrusters provides a constant horizontal propulsion force while the frame tilts to overcome the obstacle.

Abstract: An underwater plow includes a plow assembly that is attached to a frame. The plow assembly includes a blade portion, which defines a blade trough, and a sensor chute portion. The blade portion extends downwardly below a plane that is coincident with a longitudinal axis defined by the frame, while the chute portion extends upwardly above the same plane. A depressor arm is pivotably attached to the blade portion and biased to be in contact with the trough. The depressor arm has a groove that is sized to allow the cable, but not the sensors, to pass through the groove while the depressor arm is in contact with the trough. With this configuration, an array cable passes downward through the blade portion of the plow assembly and becomes buried in the ocean floor. Array sensors, however, are routed upward and pass through the chute portion of the plow assembly.

Abstract: An underwater plow can include a depressor cam and a chute cam that are pivotably attached to a blade portion. The blade portion can be formed with a trough and the depressor cam can be biased in the trough. The chute cam can be formed with a groove having a minimum thickness at its attached end and an increasing taper to a maximum thickness at its distal end. A sensor passing through the plow contacts the edge of the depressor cam, causing depressor cam rotation away from the trough. The sensor passes the depressor cam and pushes against the chute cam, which causes the chute cam to contra-rotate relative to the depressor cam until the sensor passes through the chute arm at is maximum thickness. Once the sensor passes through, the cams contra-rotate back to their respective biased positions.