US 2026/0048826 A1 · SYSTEM AND METHOD FOR RECOVERY OF AUTONOMOUS UNDERWATER VEHICLES

Abstract

An autonomous tethered vehicle for recovering autonomous underwater vehicles (AUVs) is provided. The autonomous tethered vehicle includes an open-structure frame with vertical and horizontal frame members and a top surface attached to a top portion of the open-structure frame. The autonomous tethered vehicle further includes at least four horizontal thrusters operable to provide lateral maneuvering and at least two vertical thrusters operable to provide vertical thrust. Additionally, the autonomous tethered vehicle includes a plurality of onboard sensors operable to provide positional information of the autonomous tethered vehicle in reference to a nearby AUV, and an electronics housing unit having a control system operable to collect data from the plurality of the onboard sensors and make real-time operational decisions based on the collected data.

Claims20

Dependent claims

A tethered vehicle for recovering autonomous underwater vehicles, comprising:

an open-structure frame comprising vertical and horizontal frame members;
a top surface attached to a top portion of the open-structure frame;
at least four horizontal thruster, each positioned on a respective vertical frame member of the open-structure frame, the four horizontal thrusters operable to provide lateral maneuvering to the tethered vehicle;
at least two vertical thruster integrated into the top surface and operable to provide vertical thrust to the tethered vehicle;
a plurality of onboard sensors attached to the open-structure frame, the plurality of onboard sensor operable to provide positional information of the tethered vehicle in reference to a nearby autonomous underwater vehicle (AUV);
and
an electronics housing unit attached to the open-structure frame, the electronics housing unit comprising a control system operable to collect data from the plurality of the onboard sensors and make real-time operational decisions for the tethered vehicle based on the collected data.

4 more elements

A method for recovering autonomous underwater vehicles, comprising:

instructing an autonomous underwater vehicle (AUV) to approach a recovery vessel at a predetermine underwater location;
deploying an autonomous tethered vehicle from a deck of the recovery vessel at the predetermined underwater location, the autonomous tethered vehicle being tethered to the recovery vessel via a crane cable;
upon deployment of the autonomous tethered vehicle from the deck of the recovery vessel, allowing the recovery vessel to enter a drift mode to minimize its relative motion to the autonomous tethered vehicle;
the autonomous tethered vehicle, using a first set of sensors attached to an open-structure frame of the autonomous tethered vehicle, detecting the AUV and navigating towards the AUV to position itself over the AUV;
the autonomous tethered vehicle, using a second set of sensors attached to the open-structure frame of the autonomous tethered vehicle, detecting fiducial targets on the AUV and subsequently using the fiducial targets as alignment marks to align to the AUV;
and
upon alignment with the AUV, the autonomous tethered vehicle deploying a docking mechanism attached to an end of the crane cable towards a receptacle on the AUV to dock the AUV.

4 more elements

Dependencies are inferred from the claim text.

System and method for recovery of autonomous underwater vehicles

Life of this patent

System and method for recovery of autonomous underwater vehicles

Life of this patent

Abstract

Claims20