WO2015049679A1 - Système et procédé de lancement et de récupération - Google Patents

Système et procédé de lancement et de récupération Download PDF

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Publication number
WO2015049679A1
WO2015049679A1 PCT/IL2014/050856 IL2014050856W WO2015049679A1 WO 2015049679 A1 WO2015049679 A1 WO 2015049679A1 IL 2014050856 W IL2014050856 W IL 2014050856W WO 2015049679 A1 WO2015049679 A1 WO 2015049679A1
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WO
WIPO (PCT)
Prior art keywords
arm
vehicle
underwater
docking
docking port
Prior art date
Application number
PCT/IL2014/050856
Other languages
English (en)
Inventor
Shimon Simhony
Original Assignee
Israel Aerospace Industries Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Israel Aerospace Industries Ltd. filed Critical Israel Aerospace Industries Ltd.
Publication of WO2015049679A1 publication Critical patent/WO2015049679A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/36—Arrangement of ship-based loading or unloading equipment for floating cargo
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/56—Towing or pushing equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/42—Towed underwater vessels

Definitions

  • the presently disclosed subject matter relates to systems and methods for launching and recovering underwater vehicles.
  • Underwater vehicles have a variety of uses, including for example mine hunting. Some types of such underwater vehicles are launched and recovered by a host surface ship, and launch and recovery systems for such underwater vehicles are known. Conventionally, such systems can only be used safely in calm waters, often require skilled manpower for operating the system, and the systems can often represent a significant capital cost, and corresponding high operating costs.
  • an underwater launch and recovery system comprising:
  • a docking system for selectively docking and undocking each said underwater vehicle with respect to the surface vehicle at a selectively controllable water depth
  • the docking system comprising a docking port for enabling said underwater vehicle to be selectively engaged and disengaged with respect to the docking system (for example docking port is selectively engageable and disengageable with respect to a docking interface that is mounted in or otherwise comprised in the at least one underwater vehicle), wherein the docking port is connected to the surface water vehicle via a movable connector;
  • movable connector is configured for:
  • said predetermined water depth is chosen to provide underwater heave of the underwater vehicle within a predetermined threshold; for example, said predetermined threshold is less than 10cm.
  • said predetermined water depth is greater than 5m, or greater than 6m, or greater than 7m, or greater than 8m, or greater than 9m, or greater than 10m.
  • said underwater vehicle is any one of an underwater remotely piloted vehicle, an underwater autonomous vehicle and an underwater unmanned towed vehicle.
  • said surface vehicle comprises any one of a single hull surface vehicle, a multi hull vehicle for example a twin hull surface vehicle, a hovercraft, a hydrofoil, a submersible vehicle.
  • said surface vehicle comprises catamaran type surface vehicle, comprising a pair of hulls laterally spaced via a raised deck.
  • said surface vehicle is connected to the underwater vehicle via a tether.
  • said tether provides at least one of power communication and data communication between said surface vehicle and said underwater vehicle.
  • said movable connector comprises a connector arm and a joint arrangement, said connector arm comprising a first arm end connected to the joint arrangement, and a second arm end connected to said docking port, and wherein said joint arrangement is configured for:
  • said connector arm and said joint arrangement comprise a lumen.
  • said joint arrangement connects said first arm end to said surface vehicle, and is configured for allowing pivoting movement between said first arm end and said surface vehicle in at least one degree of freedom in rotation.
  • said at least one degree of freedom in rotation includes pitch and/or roll and/or yaw.
  • said joint arrangement comprises passive flexible joint allowing free said pivoting movement between said first arm end and said surface vehicle.
  • said passive flexible joint comprises an articulated joint.
  • said connecting arm comprises a single arm segment joining said first arm end to said second arm end, and wherein said single arm segments operates as a rigid body; alternatively, for example, said connecting arm comprises a first arm segment comprising said first arm end, and a second arm segment comprising said second arm end, said first arm segment being connected to said second arm segment via a free joint, and wherein each one of said first arm segment and said second arm segment operates as a rigid body.
  • the surface vehicle in operation of the underwater launch and recovery system for launching or recovering the underwater vehicle, is caused to move with a forward velocity while the connector arm is at least partially submerged to provide said predetermined water depth to said docking port via said connector arm, the position of the docking port with respect to the surface vehicle via the connector arm defining a pitch angle.
  • a tension and a drag are induced in the connector arm; for example, the tension balances the weight and drag of the arm, thereby maintaining the depth and spatial orientation of the docking port stable.
  • said joint arrangement comprises an active flexible joint arrangement configured for selectively and actively controlling said pivoting movement between said first arm end and said surface vehicle.
  • the connector arm is at least partially submerged to provide said predetermined water depth to said docking port via said connector arm, the position of the docking port with respect to the surface vehicle via the connector arm defining a pitch angle, a roll angle and a yaw angle.
  • the underwater launch and recovery system comprises an inertial control system for providing control inputs regarding the spatial position and attitude of the docking port, and wherein said passive flexible joint comprises a motorized articulated joint arrangement for controllably varying at least one of said pitch angle, roll angle, and yaw angle, responsive to said control inputs.
  • said inertial control comprises inertial sensors for sensing pivoting movement of the docking port about respective pitch, yaw and roll axes, and for sensing accelerations of the docking port along said respective pitch, yaw and roll axes.
  • said connecting arm comprises a single arm segment joining said first arm end to said second arm end, and wherein said single arm segments operates as a rigid body; alternatively, for example, said connecting arm comprises a first arm segment comprising said first arm end, and a second arm segment comprising said second arm end, said first arm segment being connected to said second arm segment via a free joint, and wherein each one of said first arm segment and said second arm segment operates as a rigid body.
  • said connector arm is selectively movable between a stowed position and a deployed position, wherein in the stowed position the docking port is immovably engaged to the surface vehicle, and wherein in the deployed position the connector arm is at least partially submerged to:
  • the movable connector is configured for decoupling surface pitch and/or roll and/or yaw movements of surface water vehicle from the docking port from at said predetermined water depth.
  • an underwater launch and recovery method comprising:
  • a docking system for selectively docking and undocking an underwater vehicle with respect to a surface water vehicle at a selectively controllable water depth, the docking system comprising:
  • said docking port being configured for enabling said underwater vehicle to be selectively engaged and disengaged with respect to the docking system;
  • said movable connector being configured for being mounted to the surface water vehicle; the movable connector being further configured for:
  • said predetermined water depth is chosen to provide underwater heave of the underwater vehicle within a predetermined threshold; for example, said predetermined threshold is less than 10cm.
  • said predetermined water depth is greater than 5m, or greater than 6m, or greater than 7m, or greater than 8m, or greater than 9m, or greater than 10m.
  • said movable connector comprises a connector arm and a joint arrangement, said connector arm comprising a first arm end connected to the joint arrangement, and a second arm end connected to said docking port, and wherein said joint arrangement is configured for:
  • said connector arm and said joint arrangement comprise a lumen.
  • said joint arrangement is configured for connecting said first arm end to said surface vehicle, and is configured for allowing pivoting movement between said first arm end and the surface water vehicle in at least one degree of freedom in rotation.
  • said at least one degree of freedom in rotation includes pitch and/or roll and/or yaw.
  • said joint arrangement comprises passive flexible joint allowing free said pivoting movement between said first arm end and said surface vehicle.
  • said passive flexible joint comprises an articulated joint.
  • said connecting arm comprises a single arm segment joining said first arm end to said second arm end, and wherein said single arm segments operates as a rigid body.
  • said connecting arm comprises a first arm segment comprising said first arm end, and a second arm segment comprising said second arm end, said first arm segment being connected to said second arm segment via a free joint, and wherein each one of said first arm segment and said second arm segment operates as a rigid body.
  • the surface vehicle in operation of an underwater launch and recovery system for launching or recovering the underwater vehicle using said docking system, is caused to move with a forward velocity while the connector arm is at least partially submerged to provide said predetermined water depth to said docking port via said connector arm, the position of the docking port with respect to the surface vehicle via the connector arm defining a pitch angle.
  • a tension and a drag are induced in the connector arm.
  • the tension balances the weight and drag of the arm, thereby maintaining the depth and spatial orientation of the docking port stable.
  • said joint arrangement comprises an active flexible joint arrangement configured for selectively and actively controlling said pivoting movement between said first arm end and said surface vehicle.
  • the connector arm is at least partially submerged to provide said predetermined water depth to said docking port via said connector arm, the position of the docking port with respect to the surface vehicle via the connector arm defining a pitch angle, a roll angle and a yaw angle.
  • the docking system comprises an inertial control system for providing control inputs regarding the spatial position and attitude of the docking port, and wherein said passive flexible joint comprises a motorized articulated joint arrangement for controllably varying at least one of said pitch angle, roll angle, and yaw angle, responsive to said control inputs.
  • said inertial control comprises inertial sensors for sensing pivoting movement of the docking port about respective pitch, yaw and roll axes, and for sensing accelerations of the docking port along said respective pitch, yaw and roll axes.
  • said connecting arm comprises a single arm segment joining said first arm end to said second arm end, and wherein said single arm segments operates as a rigid body.
  • said connecting arm comprises a first arm segment comprising said first arm end, and a second arm segment comprising said second arm end, said first arm segment being connected to said second arm segment via a free joint, and wherein each one of said first arm segment and said second arm segment operates as a rigid body.
  • said connector arm is selectively movable between a stowed position and a deployed position, wherein in the stowed position the docking port is immovably engaged to the surface vehicle, and wherein in the deployed position the connector arm is at least partially submerged to:
  • the movable connector is configured for decoupling surface pitch, roll and yaw movements of surface water vehicle from the docking port from at said predetermined water depth.
  • a surface water vehicle comprising the docking system as defined herein, in particular above for the second aspect of the presently disclosed subject matter.
  • an underwater launch and recovery method comprising:
  • the docking system comprising a docking port selectively engageable and disengageable with respect to the at least one underwater vehicle (for example the docking port is selectively engageable and disengageable with respect to a docking interface mounted to or otherwise comprised in the at least one underwater vehicle), wherein the docking port is connected to the surface water vehicle via a movable connector;
  • the underwater launch and recovery method comprises choosing said predetermined water depth to provide underwater heave of the underwater vehicle within a predetermined threshold; for example said predetermined threshold is less than 10cm.
  • said underwater vehicle is any one of an underwater remotely piloted vehicle, an underwater autonomous vehicle and an underwater unmanned towed vehicle, and wherein said surface vehicle comprises any one of a single hull surface vehicle, a twin hull surface vehicle, a hovercraft, a hydrofoil, a submersible vehicle.
  • the underwater launch and recovery method comprises providing at least one of power and data communication between said surface vehicle and said underwater vehicle at least during operation of the underwater vehicle.
  • said movable connector comprises a connector arm and a joint arrangement, said connector arm comprising a first arm end connected to the joint arrangement, and a second arm end connected to said docking port, and wherein said joint arrangement is configured for:
  • the underwater launch and recovery method comprises allowing pivoting movement between said first arm end and said surface vehicle in at least one degree of freedom in rotation at least during docking or undocking operation between the underwater vehicle and the docking port.
  • said at least one degree of freedom in rotation includes pitch and/or roll and/or yaw.
  • the underwater launch and recovery method comprises allowing free said pivoting movement between said first arm end and said surface vehicle.
  • said connecting arm comprises a single arm segment joining said first arm end to said second arm end, and wherein said single arm segments operates as a rigid body; or for example said connecting arm comprises a first arm segment comprising said first arm end, and a second arm segment comprising said second arm end, said first arm segment being connected to said second arm segment via a free joint, and wherein each one of said first arm segment and said second arm segment operates as a rigid body.
  • the underwater launch and recovery method comprises causing the surface vehicle to move with a forward velocity while the connector arm is at least partially submerged to provide said predetermined water depth to said docking port via said connector arm, the position of the docking port with respect to the surface vehicle via the connector arm defining a pitch angle.
  • a tension and a drag are induced in the connector arm.
  • the forward velocity is chosen such that the tension balances the weight and drag of the arm, thereby maintaining the depth of the docking port at said predetermined water depth stable, and the spatial orientation of the docking port stable.
  • the underwater launch and recovery method comprises selectively and actively controlling said pivoting movement between said first arm end and said surface vehicle.
  • the connector arm is at least partially submerged to provide said predetermined water depth to said docking port via said connector arm, the position of the docking port with respect to the surface vehicle via the connector arm defining a pitch angle, a roll angle and a yaw angle.
  • the underwater launch and recovery method comprises providing control inputs regarding the spatial position and attitude of the docking port, and controllably varying at least one of said pitch angle, roll angle, and yaw angle, responsive to said control inputs.
  • the underwater launch and recovery method comprises sensing pivoting movement of the docking port about respective pitch, yaw and roll axes, and sensing accelerations of the docking port along said respective pitch, yaw and roll axes, to provide said control inputs.
  • said connecting arm comprises a single arm segment joining said first arm end to said second arm end, and wherein said single arm segments operates as a rigid body; alternatively, for example, said connecting arm comprises a first arm segment comprising said first arm end, and a second arm segment comprising said second arm end, said first arm segment being connected to said second arm segment via a free joint, and wherein each one of said first arm segment and said second arm segment operates as a rigid body.
  • the underwater launch and recovery method comprises selectively moving the connector arm between a stowed position and a deployed position, wherein in the stowed position the docking port is immovably engaged to the surface vehicle, and wherein in the deployed position the connector arm is at least partially submerged to:
  • the underwater launch and recovery method comprises decoupling surface pitch, roll and yaw movements of surface water vehicle from the docking port at said predetermined water depth.
  • a feature of at least some examples of the presently disclosed subject matter is that launching and recovery of the underwater vehicle by the surface vehicle is possible at WMO Sea States greater than 1, including 3, 4, and 5, and even higher, depending on the ruggedness and/or design of the underwater vehicle and the docking port of the surface vehicle, and/or on the depth at which the docking operation is performed.
  • Another feature of at least some examples of the presently disclosed subject matter is that launching and recovery of the underwater vehicle by the surface vehicle can be carried out in an autonomous or remotely piloted manner, enabling the operators to be far away from the launching and recovery site; at the same time, this also allows the surface vehicle to ferry the underwater vehicle to a launch and recovery site, safely and at high speed. Such a feature may be useful where the operational site can be dangerous, for example a mine field.
  • the surface vehicle can transfer the underwater vehicle from one desired location to another in a time and cost effective manner.
  • the underwater vehicle can be configured for mine clearing operations, including follow up damage assessment after neutralization of the mine, in a safe and efficient manner.
  • Another feature of at least some examples of the presently disclosed subject matter is that the underwater vehicle can operate in the desired manner while tethered to the surface vehicle close thereby, requiring a relatively short tether, minimizing risk of cable entanglement, and minimizing the forces applied by, and thus the effects of, underwater currents on the cable.
  • the surface vehicle can be maintained in a position close to the underwater vehicle, for example providing power thereto via a tether, and serving as a radio and/or satellite communication relay station or platform for the underwater vehicle.
  • Another feature of at least some examples of the presently disclosed subject matter is that the underwater vehicle can be brought into proximity with and locked with respect to the surface vehicle in a safe manner, even in non-calm sea surface conditions.
  • Another feature of at least some examples of the presently disclosed subject matter is that the underwater vehicle can be reeled into close proximity to the docking port via the tether, and relative vertical positions between the underwater vehicle and the docking port is maintained stable for a range of WMO Sea States, including WMO Sea States greater than 1.
  • the launch and recovery system can be used for a variety of applications, including for example one or more of the following: wherein the underwater vehicle is a towable sonar array; for the launch and recovery of ROV's and other underwater vehicles used for construction and/or maintenance of equipment in marine oil fields and marine gas fields, or used for underwater survey and/or underwater rescue and/or underwater archaeology and/or other underwater operations, even in high sea states.
  • the underwater vehicle is a towable sonar array
  • ROV's and other underwater vehicles used for construction and/or maintenance of equipment in marine oil fields and marine gas fields, or used for underwater survey and/or underwater rescue and/or underwater archaeology and/or other underwater operations, even in high sea states.
  • Fig. 1 illustrates in bottom isometric view, a first example of the launch and recovery system in deployed mode.
  • Fig. 2 illustrates in side view the example of Fig. 1.
  • Fig. 3 illustrates in rear view the example of Fig. 1;
  • Fig. 3(a) illustrates the example of Fig. 3 in retracted mode.
  • Fig. 4 illustrates in partial fragmented side view an alternative variation of the example of Fig. 1.
  • Fig. 5 illustrates in partial fragmented rear view the movable connector of the example of Fig. 3(a).
  • Fig. 6 illustrates in partial fragmented isometric view the portions of the flexible joint of the example of Fig. 4.
  • Fig. 7 schematically illustrates variation of particle excursions with depth and surface heave movements of the surface vehicle of the example of Fig. 1.
  • Fig. 8 schematically illustrates forces acting on the movable connector in operation of the example of Fig. 1.
  • Fig. 9(a) and Fig. 9(b) schematically illustrate decoupling of the surface movements of the surface vehicle with respect to the docking port for the example of Fig. 1.
  • Fig. 10 illustrates in side view an alternative variation of the example of Fig. 1.
  • Fig. 11 illustrates in isometric rear view another alternative variation of the example of Fig. 1 in retracted mode.
  • Fig. 12 illustrates in isometric rear view the example of Fig. 11 in deployed mode.
  • Fig. 13 illustrates in isometric side view the example of Fig. 12 with the underwater vehicle disengaged from the docking port.
  • Fig. 14 schematically illustrates in rear view the example of Fig. 11 in deployed mode.
  • Fig. 15 illustrates in side view, a second example of the launch and recovery system in deployed mode.
  • Fig. 16 illustrates in side view an alternative variation of the example of Fig. 15.
  • a system for launch and/or recovery of underwater vehicles (also referred to interchangeably herein as a launch and recovery system) according to a first example of the presently disclosed subject matter, generally designated 100, comprises a surface vehicle 200, an underwater vehicle 300, and a docking system 400 including a movable connector 500 (also referred to interchangeably herein as a movable docking arm system 500).
  • a movable connector 500 also referred to interchangeably herein as a movable docking arm system 500.
  • system 100 is used for launch and/or recovery of one underwater vehicle
  • the system 100 can be modified to include a plurality of underwater vehicles 300, suitably disposed on correspondingly suitably sized surface vehicle 200, and each of the underwater vehicles 300 can be launched and/or recovered from the surface vehicle 200.
  • system 100 is used both for launch and recovery of an underwater vehicle
  • the system 100 can be used only for launching the underwater vehicle 300, for example when the underwater vehicle 300 is expendable or wherever it is intended for the underwater vehicle 300 not to be rejoined with its surface vehicle 200 but rather to be picked up elsewhere, for example in a conventional manner in calm seas, or by another surface vehicle similar to surface vehicle 200.
  • the system 100 can be used only for recovery of the underwater vehicle 300, for example when the underwater vehicle 300 has been launched via a different surface vehicle (e.g. similar to surface vehicle 200) or in a conventional manner in calm seas, and for example the surface vehicle 200 is sent to pick up the underwater vehicle 300 at the end of its mission.
  • the surface vehicle 200 (also referred to interchangeably herein as a water surface vehicle, or as a water surface vessel, or as a surface vessel) is configured for travelling over a water surface (such as the surface of the ocean, or the surface of the sea, or the surface of a lake, or the surface of a river, or the surface of a water reservoir or other artificial body of water, for example) and for floating on the water surface, at least during launching and/or recovery operations of launch and recovery system 100.
  • a water surface such as the surface of the ocean, or the surface of the sea, or the surface of a lake, or the surface of a river, or the surface of a water reservoir or other artificial body of water, for example
  • the surface vehicle 200 is self propelled, and includes any suitable marine propulsion system.
  • a marine propulsion system can include, for example any suitable internal combustion engine, for example diesel propulsion systems and hydraulic systems for reducing electromagnetic signature, or electric propulsion system, or a hybrid propulsion system.
  • the surface vehicle 200 in this example is in the form of a catamaran, comprising a port hull 202 and a starboard hull 204, each being, for example, of multi-cell configuration.
  • the port hull 202 and the starboard hull 204 are connected and laterally spaced from one another via a deck in the form of a raised, partially open frame 210, having a frame underside 215.
  • the surface vehicle 200 is unmanned, and is operated remotely by an operator via a suitable radio or satellite link (not shown), or is operated autonomously, and can include a suitable control and navigation system, optionally including any suitable satellite based positioning system, for example GPS.
  • the surface vehicle 200 can have other configurations.
  • the surface vehicle can be configured as a multi-hull or single-hull surface vessel or any other surface boat, or hydrofoil, or a hovercraft, or a submersible craft (that nevertheless operates on or near the surface of the water at least during launch and/or recovery operations of launch and recovery system 100), and/or, the surface vehicle 200 can be manned.
  • the catamaran configuration for the surface vehicle 200 can provide a number of features including one or more of the following: greater stability during launch and/or recovery of the underwater vehicle; enables the launch and/or recovery of underwater vehicle to occur near to the center of gravity of the surface vehicle in a simple design; allows for launch and/or recovery of underwater vehicle without the need for the surface vehicle to be submerged thereby simplifying the design and minimizing the cost of the surface vehicle as compared with for example other configurations.
  • the underwater vehicle 300 (also referred to interchangeably herein as a submersible vehicle, or as a submersible vessel, or as an underwater vessel) is configured for operating when submerged, and can take many different forms.
  • the underwater vehicle 300 is self propelled, comprising a suitable underwater propulsion system and a suitable underwater maneuvering system (not shown), and is tethered to the surface vehicle 200 via a tether 250, for example in the form of a cable.
  • the tether 250 is configured for providing power transmission and/or data communication between the surface vehicle 200 and the underwater vehicle 300, at least in operation of the underwater vehicle.
  • the underwater vehicle 300 is also configured for mine hunting, including one or more of surveillance, hunting, location, detection, identification and neutralization of underwater mines, and other underwater operations.
  • the underwater vehicle 300 comprises one or more of the following: suitable sensors, for example imaging equipment (optical imaging and/or sonar imaging (for example synthetic aperture sonar SAS)), guidance equipment, and also mine neutralization equipment (for example explosive charges that are controllably detonated when secured in place, by the underwater vehicle 300, in proximity to a located mine); manipulators, for example in the form of articulated manipulator arms for performing mechanical tasks in a marine environment, including for example for cutting the anchoring cable of moored mines.
  • suitable sensors for example imaging equipment (optical imaging and/or sonar imaging (for example synthetic aperture sonar SAS)), guidance equipment, and also mine neutralization equipment (for example explosive charges that are controllably detonated when secured in place, by the underwater vehicle 300, in proximity to a located mine); manipulators, for example in the form of articulated manipulator arms for performing mechanical tasks in a marine
  • the underwater vehicle 300 is unmanned, and is also remotely piloted, via an operator in a geographic location that is suitably spaced from the underwater vehicle 300.
  • Sensor feeds from the underwater vehicle 300 are transmitted to the operator via the radio or satellite link provided by the surface vehicle 200, in communication with the underwater vehicle 300 via data/communication lines (not shown) parallel to or provided in the tether 250, and operator commands to the underwater vehicle 300 are received by the radio or satellite link and channeled to the underwater vehicle 300 via the data/communications lines.
  • the underwater vehicle 300 can be configured for performing different tasks - for example underwater archaeology, and/or underwater exploration, and/or Oceanic floor surveying, and/or hunting/location/detection/identification of sunken ships or objects, and/or study of ocean ecology, and/or detection of smuggling operations, and/or undersea search and rescue, and/or underwater works (for example hunting/location/detection/identification gas fields, oil field, minerals, etc. and/or mining), and/or guarding/maintenance/managing fish farms, and/or underwater cable inspection and maintenance, and/or underwater pipe inspection and maintenance, and so on.
  • tasks for example underwater archaeology, and/or underwater exploration, and/or Oceanic floor surveying, and/or hunting/location/detection/identification of sunken ships or objects, and/or study of ocean ecology, and/or detection of smuggling operations, and/or undersea search and rescue, and/or underwater works (for example hunting/location/detection/
  • the underwater vehicle can have different configurations, including for example one of the following: the underwater vehicle is self propelled and is configured for operating unmanned in an autonomous manner, with or without a tether; the underwater vehicle is self propelled and is remotely operated without a tether, for example via acoustic communication; the underwater vehicle is optionally not self propelled, and is configured for operating unmanned, and operates while being towed by the surface vehicle - for example the underwater vehicle is configured as a towed sonar array.
  • the docking system 400 is configured for enabling the underwater vehicle 300 to be selectively engaged and secured with respect to the surface vehicle 200, particularly during recovery mode of the launch and recovery system 100, and for enabling the underwater vehicle 300 and the surface vehicle 200 to be selectively disengaged with respect to one another, particularly during launching mode of the launch and recovery system 100.
  • the docking system 400 comprises a docking port 410 selectively engageable and disengageable with respect to the underwater vehicle 300, for example via a docking interface 420.
  • the docking interface 420 is mounted to or is otherwise comprised in the underwater vehicle 300.
  • the docking port 410 is connected to the surface vehicle 200 via the selectively movable interconnector 500.
  • the docking port 410 comprises docking arms 415 that are movable from an open position OP to a closed position CP.
  • the docking interface 420 can be brought into proximity and engagement with the docking port 410, after which the docking arms 415 close to the closed position CP, locking the docking interface 420 with respect to the docking port 410, and thus locking the underwater vehicle 300 with respect to the surface vehicle 200.
  • the docking arms 415 optionally comprise fenders 418 for absorbing or damping impact loads that be applied between the docking interface 420 and the docking port 410 during recovery and engagement operations of the docking system 400.
  • the docking port can comprise a cage or hangar for accommodating therein the underwater vehicle 300
  • the docking interface can comprise, for example, any part of the underwater vehicle 300 that can engage with the inside of the cage or hangar.
  • the underwater vehicle 300 comprises skis for enabling the underwater vehicle 300 to rest on a surface, and such skis can constitute or form part of the docking interface.
  • clamps can be provided to secure the underwater vehicle 300 to the inside of the hangar or cage.
  • a docking head 450 is provided proximal to docking port 410, and accommodates various equipment and services, for example floats and an instrument box including for example control mechanism for the docking port, data communication equipment, ballast tanks, gauges including at least depth gauges, magazines for replenishing expendable cargo of the underwater vehicle 300, and power for the underwater vehicle 300.
  • cargo can include, for example, suitable explosives that can be used for detonating undersea mines.
  • the underwater vehicle 300 can optionally be resupplied when docked, and/or its batteries recharged, and/or data (including new or updated operating instructions) can be uploaded or downloaded between the surface vehicle 200 and the underwater vehicle 300.
  • the cable or tether 250 can be configured for powering the underwater vehicle 300 while docked or while undocked, and/or for enabling the underwater vehicle 300 to have its batteries recharged, and/or for enabling data (including new or updated operating instructions) to be uploaded or downloaded between the surface vehicle 200 and the underwater vehicle 300, either continuously or periodically.
  • the launch and recovery system comprises an acoustic pinger mounted to the docking port 410 or docking head 450.
  • a set of approach and docking lights can be provided in the underwater vehicle 300 and an optical sensor or imaging camera in the docking head 450 or docking port 410 to facilitate homing and navigation of the underwater vehicle 300 and capture via the docking system 400, particularly where there is no tether between the underwater vehicle and the surface vehicle 200; additionally or alternatively, docking lights can be provided in docking head 450 or docking port 410, and the an optical sensor or imaging camera in the underwater vehicle 300.
  • an acoustic homing system (for example comprising an acoustic pinger in one of the underwater vehicle 300 or the docking system 400, and an acoustic receiver in the other one of the underwater vehicle 300 or the docking system 400) can also be provided to facilitate homing and navigation of the underwater vehicle 300 and capture via the docking system 400, particularly where there is no tether between the underwater vehicle and the surface vehicle 200.
  • the movable interconnector 500 is configured for providing a predetermined submerged depth H to the docking port 410 while the surface vehicle 200 is on the water surface, to thereby enable selective docking and undocking between the surface vehicle 200 and the underwater vehicle 300 at the predetermined depth H.
  • this predetermined depth H is a minimum depth at which heave q of the underwater vehicle 300 (as a result of water surface conditions, such as wave amplitude) is within an acceptable range Rl.
  • the movable interconnector 500 is also configured for raising the docking port 410 with the underwater vehicle 300 engaged to the movable interconnector 500 while the surface vehicle 200 is on the water surface, to thereby enable the underwater vehicle 300 to be locked in position with the surface vehicle 200, for example with the underwater vehicle 300 raised above the water surface.
  • the movable interconnector 500 is also configured for decoupling at least heave movement q of the underwater vehicle 300 at the predetermined depth H from surface heave movement Q of surface vehicle 200 while the underwater vehicle 300 is connected to or is in close proximity to the surface vehicle 200, particularly during launch and/or recovery operations.
  • the movable interconnector 500 operates to ensure that most or all of surface heave movements Q experienced by the surface vehicle 200 are not transmitted to the underwater vehicle 300 (again, while the underwater vehicle 300 is docking or undocking with respect to the surface vehicle 200, particularly during launch and/or recovery operations), and thus the underwater vehicle 300 is thereby not compelled to mimic or follow these surface heave moments; rather, the underwater vehicle 300 only experiences the heave q appropriate for depth H at the prevalent sea state.
  • the movable interconnector 500 is also configured for decoupling roll, pitch and yaw movements, in addition to heave movement q, of the underwater vehicle 300 at the predetermined depth H from surface roll, pitch and yaw movements as well as surface heave movement Q of surface vehicle 200 while the underwater vehicle 300 is connected to or is in close proximity to the surface vehicle 200, particularly during launch and/or recovery operations.
  • the movable interconnector 500 operates to ensure that most or all of surface roll, pitch and yaw movements as well as surface heave movements Q experienced by the surface vehicle 200 are not transmitted to the underwater vehicle 300 (again, while the underwater vehicle 300 is docking or undocking with respect to the surface vehicle 200, particularly during launch and/or recovery operations), and thus the underwater vehicle 300 is thereby not compelled to mimic or follow these surface roll, pitch, yaw or heave moments; rather, the underwater vehicle 300 only experiences the roll, pitch and yaw movements and the heave q appropriate for depth H at the prevalent sea state.
  • Such surface heave movements Q are often caused by surface waves and are correlated to the amplitudes of the surface waves.
  • Table I lists average wave amplitudes (which correlate to surface heave movements Q) corresponding to several sea states, as classified by the World Meteorological Organization (WMO).
  • WMO World Meteorological Organization
  • the movable connector 500 is also configured for decoupling the docking port 410 at the predetermined depth H from one, two or all of roll, pitch and yaw surface movements of surface vehicle 200, again while the underwater vehicle 300 is in proximity with the surface vehicle 200, particularly during launch and/or recovery operations.
  • the movable connector 500 comprises launch and recovery arm 520 (also referred to interchangeably herein as an arm, or a connector arm, or a boom, or a launch and recovery boom), having a free distal arm end 525 onto which the docking port 410 is mounted via docking head 450, and a proximal arm end 522 movably connected at to the frame 210 via a joint arrangement in the form of flexible joint 550.
  • launch and recovery arm 520 also referred to interchangeably herein as an arm, or a connector arm, or a boom, or a launch and recovery boom
  • the flexible joint 550 is configured to allow the arm 520 to pivot with respect to the surface vehicle 200 in at least two degrees of freedom, i.e., in pitch and roll, and furthermore the flexible joint 550 is movably connected to the surface vehicle 200 to allow the arm 520 to pivot in yaw via the flexible joint 550.
  • the flexible joint 550 is configured to allow the arm 520 to pivot with respect to the surface vehicle 200 in one degree of freedom, i.e., in pitch only (and thus the respective flexible joint only needs to allow pivoting in pitch), or, the flexible joint 550 is configured to allow the arm 520 to pivot with respect to the surface vehicle 200 in only in two degrees of freedom, i.e., in pitch and in roll only (and thus the respective flexible joint is fixedly connected to the surface vehicle 200 and does not allow the arm 520 to pivot in yaw via the respective flexible joint).
  • flexible joint 550 comprises an articulated joint construction, for example a universal joint or a Cardan joint, having a plurality (at least two) joint elements 560.
  • the flexible joint 550 is shown as having five joint elements 560, but in alternative variations of this example a different number of joint elements can be provided.
  • each pair of adjacent joint elements 560 are pivotably connected to one another with respect to a pivot axis P, and adjacent pivot axes P are orthogonal to one another and orthogonal to the longitudinal axis of the respective joint elements 560.
  • the most distal joint element 560D is pivotably mounted to the proximal end 522 of the arm 520.
  • the most proximal joint element 560P is pivotably mounted to a rotary stage 566 on the underside 215 by another pivot axis P.
  • the rotary stage 566 is itself pivotably mounted to the underside 215 about the yaw axis YA of the surface vehicle 200, allowing the arm 520-flexible joint 550 assembly to yaw with respect to the surface vehicle 200 independently of the pitch angle ⁇ and independently of the roll angle ⁇ of the arm 520 (see Fig. 2).
  • the flexible joint 550 can have any other suitable form, for example, a bellows arrangement or asemi-stiff tubing, in either case comprising a suitable guide for the tether 250 to pass therethrough.
  • the arm 520 is formed as a single element, in the sense that the arm 520 pivots with respect to the surface vehicle 200 as a rigid body. Furthermore, the arm 520 is tubular, elongate and rectilinear in this example.
  • the arm 520 can be pivoted about a pitch axis PA of the surface vehicle 200 from a retracted or stowed position RP generally parallel to the underside 215 to a deployed position DP in which the arm 520 is at a pitch angle ⁇ with respect to the longitudinal axis LA of the surface vehicle 200.
  • the flexible joint 550 provides a full range R2 for pitch angle ⁇ from at least 0° (parallel to the longitudinal axis LA of the surface vehicle 200, and the arm facing aft) in a clockwise direction as viewed in Fig. 2 to at least -180° (again parallel to the longitudinal axis LA of the surface vehicle 200, and the arm facing forward).
  • the pitch angle ⁇ can reach a positive value of about +10° in the stowed position, i.e., counterclockwise from the 0° position. This can be useful in further raising the docking system 400 including the movable connector 500, above the water line.
  • this range for pitch angle ⁇ is nominally from about -5° to about -175°, and in practice, in the deployed mode the pitch angle ⁇ is between about -5° to about -90°, typically between about -30° to about -60°, for example any one of -35° or - 40° or -45° or -50° or -55°.
  • a main cable 529 is connected at one end 528 thereof to the docking port 410 that is at the free distal end 525 of the arm 520, and this main cable 529 is connected at the other end 527 thereof to a winch or windlass 528 mounted to an aft end of the frame 210, the windlass 528 being configured for selectively winching the arm 250 from the deployed position DP to the retracted position RP.
  • the windlass 528 is optionally also configured for selectively allowing the arm 520 to deploy from the retracted position RP to any desired maximum deployed position DP, and for selectively changing the maximum deployed position DP to a different maximum deployed position DP.
  • the length of main cable 529 that is reeled out from windlass 528 determines the maximum pitch angle ⁇ available for the arm 520 (corresponding to the maximum deployed position DP), and this enables the arm to adopt a smaller, desired pitch angle ⁇ when the main cable 529 is thus reeled out, thereby enabling the arm 520 to naturally adopt the desired pitch angle ⁇ (smaller than the maximum pitch angle ⁇ ) during launch or recovery operations of the system 100, without interference from the main cable 529.
  • a releasable locking mechanism 270 is also provided for locking the docking system 400 in the retracted portion RP, and comprises a hook element 272 at the end 528 of cable 529, and a catch or bar element 274 near the windlass 528 for selectively engaging/disengaging with the hook element 272. Additional clamping elements can optionally be provided to further secure the docking system 400 and the underwater vehicle 300 to the surface vehicle 200.
  • the underside 215 further optionally comprises wedge-shaped guides 280 for guiding the arm 520 into the retracted position RP.
  • the guides 280 can optionally comprise fenders 282 with shock absorbing elements 281 for absorbing or damping impact loads that be applied between the arm 520 and the surface vehicle 200 during deployment or retraction operations of the arm 520.
  • the arm 520 can optionally also be pivoted about a yaw axis YA of the surface vehicle 200 while in the deployed position DP in which the arm 520 is at a yaw angle ⁇ with respect to the longitudinal axis LA of the surface vehicle 200 (see Fig. 1).
  • the arm 520 can optionally also be pivoted about a roll axis (typically the longitudinal axis LA or parallel thereto) of the surface vehicle 200 while in the deployed position DP in which the arm 520 is at a roll angle ⁇ with respect to the yaw axis YA of the surface vehicle 200 (see Fig.3).
  • the flexible joint 550 provides a range for yaw angle ⁇ from about +45° to about -45°. It is to be noted that typically, while the surface vehicle 200 is in forward motion and the arm 520 is the deployed position DP, the yaw angle ⁇ is negligible, i.e. 0° or close thereto.
  • the degree of freedom in yaw for the arm 520 is typically useful in situations wherein the surface vehicle 200 is stationary, and it may be useful for the arm to pivot in an unrestricted manner in pitch, roll and yaw.
  • the surface vehicle 200 can be fitted with maneuvering thrusters to maintain position as well as orientation, in which case the flexible joint 550 can be fixedly mounted to the surface vehicle 200, i.e., without allowing pivoting in yaw.
  • two auxiliary cables 567 can optionally be provided to control sideways movement of the free distal end 525 of the arm 520, and thus to control or limit the yaw angle ⁇ and the roll angle ⁇ of the arm 520 at any desired pitch angle ⁇ , in particular during launch or recovery operations where the arm is rising towards, or falling away from the locked position with respect to the surface vehicle 200, when the arm 520 is out of the water.
  • Each auxiliary cable 567 is connected to one or the other lateral side of the free distal end 525 and to a respective winch and windlass system 569 symmetrically mounted to an aft end of the frame 210 with respect to the retracted position RP of the arm 520.
  • the two winch and windlass systems 529 are interconnected and the length of auxiliary cable 528 that is reeled out from each windlass 529 limit sideways movement of the arm particular during launch and recovery operations by limiting the yaw angle ⁇ and the roll angle ⁇ , minimizing risk of collision between the arm and the surface vehicle 200.
  • the arm 520 and the flexible joint 550 are hollow, comprising a lumen, allowing the tether 250 to pass from a reel or drum 255, mounted on the surface vehicle 200, via cable guide 258 and rollers 253 through the flexible joint 550 and the arm 520 to the docking port 410 and thence to the underwater vehicle 300.
  • the individual joint elements 560 can each be provided with a pair of spaced rollers 563 to facilitate reeling in and reeling out of the tether 250 with respect to the drum 255 (driven by a suitable powered winch, not shown), as the underwater vehicle is brought into proximity with and distanced from, respectively, the surface vehicle 200.
  • the rollers 563 also minimize friction between the joint elements 560 and the tether 250 (or at least the part thereof that is inside the flexible joint 550), protect the tether 250, and allow efficient and smooth decoupling of heave movement of the underwater vehicle 300 from surface heave movement of surface vehicle 200 via movable interconnector 500.
  • the rollers 563 also allow efficient and smooth decoupling of pitch, roll and yaw movement of the underwater vehicle 300 from surface movements of surface vehicle 200 via movable interconnector 500.
  • the drum 255 can be mounted on the upper side 216 or on the lower side 215 of the frame 210, for example on the rotary stage 566 to pivot in yaw together with the arm 520, thereby minimizing or eliminating risk of twisting of the tether 250 during yawing movements.
  • the launch and recovery system 100 can be used according to the following method for launch and/or recovery of underwater vehicles 300, even at seas states greater than WMO sea states 0 and 1 that correspond to calm waters.
  • the underwater vehicle 300 is in close proximity to the docking port 410 (both, when launching or recovering the underwater vehicle 300), and relative movement between the two, caused by movement of the surrounding water environment, is minimized.
  • docking and undocking of the underwater vehicle 300 with respect to the surface vehicle 200 is carried out at a predetermined depth H for the underwater vehicle 300, in which heave of the underwater vehicle 300 as a direct result of water surface conditions is within a range of, for example, about 0m to 0.1m, but can be greater according to the ruggedness of the underwater vehicle 300 and of the docking port 410.
  • docking and undocking of the underwater vehicle 300 with respect to the surface vehicle 200 is carried out at a predetermined depth H for the underwater vehicle 300, in which relative heave displacements between the underwater vehicle 300 and the docking port 410, as a direct result of water surface conditions, is within range R.
  • R can be the range 0m to 0.1m, and the relative speed between the underwater vehicle 300 and the docking port 410 can be a few cm/sec, allowing soft docking without damaging the underwater vehicle 300 or the arm 520 or the docking port 410.
  • particle movement ⁇ (also referred to interchangeably herein as particle excursion or particle motion amplitude) of water particles in deep water (i.e., the water depth h to the sea bed being greater than half the surface wave lengths) reduces exponentially with depth.
  • the term "sea bed” is used herein interchangeably with “sea bottom”, and also refers to the bottom of other bodies of water, for examplerivers, lakes, reservoirs, etc., mutatis mutandis.
  • particle movement ⁇ at surface depth z is related to surface wave amplitude Ao, surface wave length ⁇ , and depth z, by expression (1) below (for sea bottom water depths h greater than half of the wave length ⁇ ) :
  • the vertical particle motion amplitude ⁇ , and the horizontal particle motion amplitude ⁇ can be derived from the following expressions (2) and (3), respectively, provided by the aforesaid the Airy Wave Theory or Linear Wave Theory:
  • Table II below provides examples vertical particle motion amplitude ⁇ , and the horizontal particle motion amplitude ⁇ vertical amplitude as well as horizontal amplitude) for a range of WMO sea states, wave amplitudes and wave lengths, obtained with expressions (1), (2) or (3) above.
  • the value for depth z corresponding to the predetermined depth H for undocking and docking of the underwater vehicle 300 with respect to the surface vehicle 200, when respectively launching or recovering the underwater vehicle 300 can be about 7m in WMO sea state 3, with average sea wave lengths of 14m to 16m.
  • the respective particle motion amplitude ⁇ will be about 0.05m to 0.08m; even in sea depths h of about 6m or 7m, the respective vertical particle motion amplitude ⁇ will be between about 0.13m and 0.15m.
  • the relative motion between the underwater vehicle 300 and the arm 520, at a mutual spacing between the two of about lm, is a function of the wavelength ⁇ of the sea waves, approximately (2/ ⁇ ) of the particle excursion ⁇ , i.e., only a few centimeters, even at a WMO Sea State 5.
  • the movable connector 500 can be deployed to a desired deployed position DP from the retracted position RP by unlocking the locking mechanism 270, and reeling out the cable 529 from the drum 528, to allow the arm to freely pivot downwardly and adopt any pitch angle ⁇ within a desired range that will enable the docking port 410 to be submerged to the desired predetermined depth H.
  • the heave motion Q of the surface vehicle 200 is decoupled from the docking port 410, and thus it follows that relative movement (in heave due to the surface wave motion) between the docking port 410 and the underwater vehicle 300 during the aforesaid undocking and docking of the underwater vehicle 300 with respect to the surface vehicle 200, when respectively launching or recovering the underwater vehicle 300, is actually very small. In at least some cases, such relative movement is significantly smaller than the heave q of the underwater vehicle 300.
  • one or more of, and typically all of, roll pitch and yaw motion of the surface vehicle 200 is decoupled from the docking port 410, and thus it follows that relative movement (in roll pitch and/or yaw due to the surface wave motion) between the docking port 410 and the underwater vehicle 300 during the aforesaid undocking and docking of the underwater vehicle 300 with respect to the surface vehicle 200, when respectively launching or recovering the underwater vehicle 300, is zero or very small.
  • the surface vehicle 200 is caused to move with a forward velocity while the connector arm 520 is at least partially submerged to provide a predetermined water depth H to the docking port 410 via said connector arm 410, the position of the docking port with respect to the surface vehicle 200 via the connector arm defining a pitch angle ⁇ .
  • a tension and a drag are induced in the connector arm; for example, the tension balances the weight and drag of the arm, thereby maintaining the depth and spatial orientation of the docking port stable.
  • the heave motion Q of the surface vehicle 200 is decoupled from the docking port 410 as follows. Referring in particular to Fig. 8, with the movable connector 500 in the deployed position such that the docking port 410 is at said predetermined depth H, the surface vehicle 200 is provided with forward motion at a predetermined velocity V, which is maintained at a controlled velocity to ensure that the depth H is maintained constant.
  • a number of forces are induced at the free end 525 (including the docking port 410 and docking head 450), including: the weight mg of the free end 525 (including the docking port 410 and docking head 450), acting vertically downwards, drag force D induced by the docking head 450 and docking port 410 acting in a generally horizontal direction away from the direction of motion of the surface vehicle 200, and tension T in the arm 520, in a direction along the longitudinal axis thereof towards the surface vehicle 200 and thus at the respective pitch angle ⁇ with respect to the horizontal .
  • Tension T thus has a horizontal component that balances the drag D, and a vertical component (lift force that balances the weight mg.
  • the pitch angle ⁇ ⁇ of the arm 520 with respect to the horizontal constant, while the pitch angle ⁇ between the arm 520 and the longitudinal axis LA may be changing, and while the pitch angle ⁇ ' between the longitudinal axis LA and the horizontal may be changing .
  • the free end 525 in particular the docking port 410 and/or the docking head 450, is configured for providing a desired level of drag D when the surface vehicle 200 is travelling at a desired forward velocity V for launch and recovery operations.
  • the roll, pitch and yaw motions of the surface vehicle 200 are decoupled from the docking port 410 via the flexible joint 550 including the rotary stage 566.
  • the drag D increases with velocity V (and in fact drag D is proportional to V 2 ), and the tension T increases correspondingly.
  • hydrostatic forces can optionally be used to adjust the buoyancy of the docking system 400 including the movable connector 500, in particular one or more of the arm 520, the docking head 450 and the docking port 410, in order to provide a desired net weight mg.
  • hydrodynamic forces can also be present, and act in all directions. Such hydrodynamic forces are a function of the orientation of the arm 520 (and thus of pitch angle ⁇ and possible also of yaw angle ⁇ ), of the hydrodynamic design of the docking head 450 and docking port 410, of the forward speed V.
  • hydrodynamic forces can optionally be used to further control or supplement the lift force L by providing the movable connector 500 with suitable fins, which can be stationary (for example, fixed at a preset angle), or movable.
  • suitable active control e.g. a computer controller connected to suitable sensors
  • mechanically simple hydrostatic control systems to balance, thereby introducing a the lift force L and adjusting the pitch angle ⁇ .
  • hydrodynamic forces can optionally be reduced or practically eliminated by providing a corresponding hydrodynamic design for the docking head 450 and docking port 410.
  • the speed V of the surface vehicle 200 can be used for controlling the pitch angle ⁇ and the depth of the docking port 410, and thus a stable depth z can be provided corresponding to the predetermined depth H.
  • the predetermined depth H of the docking port 410 can be further controlled via one or more controllable small propulsion maneuvering units provided at fulcrum or close thereto.
  • the movable connector 500 also decouples yaw, roll or pitch of the surface vehicle 200 from the docking port 410.
  • This decoupling in turn enables the underwater vehicle 300 to be reeled via the tether 250 into an engagement position in which the docking interface 420 engages and locks with the docking port 410.
  • the stable predetermined depth H is achieved by the moveable connector 500 in an indirect manner, by controlling the surface vehicle speed V.
  • the underwater vehicle 300 can be resupplied via the docking head 450, and/or the underwater vehicle can be stowed for the next operation.
  • the arm 520 is raised by the winch 528 to the retracted position, and locked therein via the locking mechanism 270. In this position, the underwater vehicle is fully above the water surface, and the surface vehicle 200 can then transport the underwater vehicle to any desired location.
  • such a movable connector can comprise, in addition to the flexible joint 550, an arm 520 comprising two arm segments 520A, 520B, serially connected via a free joint 520C, which can include a weight ballast.
  • the first arm segment 520A is connected to the flexible joint 550, while the second arm segment 520B includes the end 525 and thus carries the docking port 410 including the docking head 450.
  • the second arm segment 520B can be configured and operated to maintain the orientation of the docking port 510 constant (for example horizontal), irrespective of the movement of the first arm segment 520B, possible via the free joint 520C, and thus the first arm segment 520A can be operated with a range of pitch angles ⁇ .
  • the second arm segment 520B can comprise fins or propulsion units for this purpose, while the first arm segment can pivot to compensate further for heave movements of the surface vehicle 200.
  • the first arm segment 520A comprises fins 520D for maintaining a fixed pitch angle for the first arm segment, 520A, and the second arm segment 520B pivots to a desired pitch angle ⁇ according to the balance of forces between the tension T, drag D and weight mg of the arm 520 constant even where the surface vehicle 200 is experiencing severe heave H (for example due to severe WMO Sea State conditions, in which surface heave movements of the surface vehicle 200 (and also pitch/roll/yaw movements) are decoupled from the arm 520 via the flexible joint 550 and free joint 520C.
  • severe heave H for example due to severe WMO Sea State conditions, in which surface heave movements of the surface vehicle 200 (and also pitch/roll/yaw movements) are decoupled from the arm 520 via the flexible joint 550 and free joint 520C.
  • the surface vehicle 200 propels the system 100 to a predetermined deployment zone, while the movable connector 500 is in the retracted position, above the water line.
  • the system 100 minimizes drag and can travel to its destination efficiently and fast.
  • the movable connector 500 is lowered into the water to the deployed position, at least partially submerged to provide via the connector arm 520 the predetermined water depth H to the underwater vehicle 300, which is engaged to the docking port 410.
  • the surface vehicle 200 then moves with a forward velocity V, such that a tension and a drag are induced in the connector arm 520, in particular such that the tension balances the weight and drag of the arm, thereby maintaining the depth and spatial orientation of the docking port stable.
  • V forward velocity
  • the movements of the surface vehicle 200 are essentially decoupled from the docking port 410, and thus the underwater vehicle 300 can undock from the docking port 410 and carry out its mission.
  • Operation of the system 100 for recovering an underwater vehicle 300 is essentially the reverse of the launching operation.
  • the surface vehicle 200 is connected to the underwater vehicle 300 via the tether 250
  • the surface vehicle first reels in the tether 250 until the two vehicles are in close proximity, for example a few meters, depending on the wave height.
  • the movable connector 500 is in the deployed position, with the docking port 410 submerged. .
  • the surface vehicle 200 then moves with a forward velocity V, such that a tension and a drag are induced in the connector arm 520, in particular such that the tension balances the weight and drag of the arm, thereby maintaining the depth at the predetermined water depth H for the docking port 410, by providing a constant pitch angle ⁇ ⁇ with respect to the horizontal, and thereby maintaining spatial orientation of the docking port stable.
  • the movements of the surface vehicle 200 are essentially decoupled from the docking port 410, and thus the underwater vehicle 300 can be further reeled in via the tether 250 until it engages and docks with the docking port 410.
  • the underwater vehicle 300 Once the underwater vehicle 300 is secured to the movable connector 500, this is raised to the retracted position, above the water line. Thereafter, the system 100 can be deployed to a different location or operational site.
  • the winch and windlass system 569 illustrated in Fig. 3 can be omitted, and the auxiliary cables 567 are secured directly to the frame 210, as illustrated in Figs. 11 to 13 for example.
  • the lower ends of the auxiliary cables 567 are not secured to the docking system 400, but rather to opposite sides of a ring member 576, through which the main cable 529 is threaded. As can be seen in Figs.
  • each of the auxiliary cables 567 is attached at one end 567a thereof to a respective one of hulls 202 and 204 at a respective anchor point 289. The other end 567b of each auxiliary cable 567 is attached to the ring member 576.
  • the ends 567b (if not attached to the ring member 576) can be positioned anywhere within a respective circle CI of radius Rl, wherein radius Rl is the length of the respective auxiliary cable 567, this being less than the lateral spacing S between the two anchor points 289.
  • radius Rl is the length of the respective auxiliary cable 567
  • the ends 567b are constrained to move only within the area W of overlap between the two circles CI, which thus avoids the hulls 202, 204.
  • This arrangement reduces risk of cable entanglement on the one hand (for example as compared with the example of Fig. 1), while minimizing risk of collision between the docking port 410 (together with the underwater vehicle 300) and the surface vehicle 200 (in particular the hulls 202, 204) while the docking system 400 is being raised to the retracted configuration.
  • a second example of the launch and recovery system comprises the elements and features of the first example of the launch and recovery system 100 or alternative variations thereof, as disclosed herein but with some differences, mutatis mutandis.
  • the launch and recovery system 100' comprises surface vehicle 200, and underwater vehicle 300, as disclosed for the first example or alternative variations thereof, mutatis mutandis.
  • the launch and recovery system 100' also comprises docking system 400' which includes a movable connector 500', similar to the docking system 400 and movable connector 500 of the first example, but with some differences mutatis mutandis, as will become clear herein.
  • the movable connector 500' of the second example is also configured for providing a predetermined submerged depth H to the docking system 400 while the surface vehicle 200 is on the water surface, to thereby enable selective docking and undocking between the surface vehicle 200 and the underwater vehicle 300 at the predetermined depth H.
  • this predetermined depth H is a minimum depth at which heave q of the underwater vehicle 300 (as a result of water surface conditions, such as wave amplitude) is within an acceptable range Rl.
  • the movable interconnector 500' is also configured for actively raising the docking system 400 with the underwater vehicle 300 engaged to the movable interconnector 500' while the surface vehicle 200 is on the water surface, to thereby enable the underwater vehicle 300 to be locked in position with the surface vehicle 200, for example with the underwater vehicle 300 raised above the water surface.
  • the movable interconnector 500' is also configured for actively decoupling at least heave movement q of the underwater vehicle 300 at the predetermined depth H from surface heave movement Q of surface vehicle 200 while the underwater vehicle 300 is connected to or is in close proximity to the surface vehicle 200, particularly during launch and/or recovery operations.
  • the movable interconnector 500' operates to ensure that most or all of surface heave movements Q experienced by the surface vehicle 200 are not transmitted to the underwater vehicle 300 (again, while the underwater vehicle 300 is docking or undocking with respect to the surface vehicle 200, particularly during launch and/or recovery operations), and thus the underwater vehicle 300 is thereby not compelled to mimic or follow these surface heave moments; rather, the underwater vehicle 300 only experiences the heave q appropriate for depth H at the prevalent sea state.
  • the docking port 410 of docking system 400' is as disclosed for the first example or alternative variations thereof, mutatis mutandis.
  • the movable interconnector 500' is also configured for decoupling roll, pitch and yaw movements, in addition to heave movement q, of the underwater vehicle 300 at the predetermined depth H from surface roll, pitch and yaw movements as well as surface heave movement Q of surface vehicle 200 while the underwater vehicle 300 is connected to or is in close proximity to the surface vehicle 200, particularly during launch and/or recovery operations.
  • the movable interconnector 500' operates to ensure that most or all of surface roll, pitch and yaw movements as well as surface heave movements Q experienced by the surface vehicle 200 are not transmitted to the underwater vehicle 300 (again, while the underwater vehicle 300 is docking or undocking with respect to the surface vehicle 200, particularly during launch and/or recovery operations), and thus the underwater vehicle 300 is thereby not compelled to mimic or follow these surface roll, pitch, yaw or heave moments; rather, the underwater vehicle 300 only experiences the roll, pitch and yaw movements and the heave q appropriate for depth H at the prevalent WMO Sea State.
  • the movable interconnector 500' is in the form of a robotic connector arm 520', and a joint arrangement in the form of an active flexible joint arrangement 540' configured for selectively and actively controlling the movement between the respective free arm end 525 and the surface vehicle 200.
  • the active flexible joint arrangement 540' comprises a base 501' attached to the surface vehicle 200, for example the underside 215 thereof.
  • the active flexible joint arrangement 540' further comprises a first arm platform 502' is pivotably mounted to the base 501' via a first motorized joint 503' to allow selective active relative pivoting movements between the first arm platform 502' and the base 501' about a yaw axis YA.
  • the active flexible joint arrangement 540' further comprises a second arm platform 504' is pivotably mounted to the first arm platform 502' via a second motorized joint 505' to allow selective active relative pivoting movements between the second arm platform 504' and the first arm platform 502' about a roll axis RA.
  • the active flexible joint arrangement 540' further comprises a third motorized joint 507'.
  • the arm 520' is pivotably mounted to the second arm platform 504' via the third motorized joint 507' to allow selective active relative pivoting movements between the arm 520' and the second arm platform 504' about a pitch axis PA.
  • the arm 520' is similar to the arm 520 of the first example, mutatis mutandis, and includes arm end 525, including the docking port 410 and docking head 450, mutatis mutandis.
  • An inertial control unit 530' is provided, for example at end 525.
  • the inertial control unit 530' is configured for actively controlling the spatial position (in particular depth) and spatial attitude of the docking port 410 with respect to the Earth, and in particular for maintaining this spatial position and attitude of the docking port 410 stable during docking and undocking of the underwater vehicle 300 with respect to the surface vehicle 200, in particular with respect to the docking port 410, even at WMO Sea States greater than 1, for example at WMO Sea States of 2, 3, 4, 5 or higher than 5.
  • the inertial control unit 530' comprises inertial sensors and water depth sensors.
  • the inertial sensors are configured for sensing the angular disposition of the docking head 450 or docking port 410 with respect to the pitch axis PA, the roll axis RA and the yaw axis YA, as well as accelerations along each of these three axes, in particular along the heave direction.
  • a controller for example a computer system or an electronic controller in the inertial system 530' or elsewhere in the system 100 provides control commands, based on sensor information provided by the inertial sensors, to the first motorized joint 503', and/or to the second motorized joint 505', and/or to the third motorized joint 507', to thereby control respective pivoting angles of the arm 520' in pitch, roll (via second arm platform 504') and yaw (via first arm platform 502') to thereby maintain stable the spatial attitude of the docking port 410 with respect to the Earth.
  • a controller for example a computer system or an electronic controller in the inertial system 530' or elsewhere in the system 100 provides control commands, based on sensor information provided by the inertial sensors, to the first motorized joint 503', and/or to the second motorized joint 505', and/or to the third motorized joint 507', to thereby control respective pivoting angles of the arm 520' in pitch, roll (via second arm platform 504') and
  • the water depth sensors can comprise a depth gauge, for example, and sensor information regarding depth from the water depth sensors can be provided to the controller, which provides control commands, based on this sensor information, to the first motorized joint 503' and/or the second motorized joint 505', and/or the third motorized joint 507' to thereby control respective pivoting angles of the arm 520' in pitch, roll (via second arm platform 504') and yaw (via first arm platform 502') to thereby maintain the spatial depth of the docking port 410 with respect to the Earth stable.
  • the controller which provides control commands, based on this sensor information, to the first motorized joint 503' and/or the second motorized joint 505', and/or the third motorized joint 507' to thereby control respective pivoting angles of the arm 520' in pitch, roll (via second arm platform 504') and yaw (via first arm platform 502') to thereby maintain the spatial depth of the docking port 410 with respect to the Earth stable.
  • the inertial system 530' can comprise an inertial navigation system (INS) plus a depth gauge, operatively connected to the controller.
  • INS inertial navigation system
  • a depth gauge operatively connected to the controller.
  • the movable interconnector 500' is configured for selectively controlling and maintaining stable the spatial position and attitude of the docking port 410 during docking and undocking of the underwater vehicle 300 with respect to the surface vehicle 200, in particular with respect to the docking port 410, even where the surface vehicle 200 is stationary, i.e., where the surface vehicle 200 is not moving with respect to the water.
  • the arm 520' comprises a single arm segment which moves as a rigid body about pitch axis PA.
  • the arm 520' comprises two arm segments 520A', 520B', each configured to move as a rigid body, and serially connected to one another via a motorized joint 520C
  • the first arm segment 520A' is connected to the second arm platform 504' via third motorized joint 507', while the second arm segment 520B' includes the end 525 and thus carries the docking port 410 including the docking head 450.
  • the second arm segment 520B can be configured and operated to maintain the orientation of the docking port 510 constant (for example horizontal), irrespective of the movement of the first arm segment 520B, possible via the motorized joint 520C, and thus the first arm segment 520A' can be operated with a range of pitch angles ⁇ 1, while the second arm segment 520B' can be operated with a different range of pitch angles ⁇ 2 relative to the first arm segment 520A'.
  • the arm 520' comprises a more than two arm segments, each arm segment configured to move as a rigid body, and serially connected to one another via a respective motorized joint.
  • Operation of the system 100' is similar to that the system 100, mutatis mutandis, with the main differences being that the surface vehicle 200 in the system 100' does not require (but can have) forward motion during docking/undocking procedures, and that the spatial position (i.e. depth) and attitude of the docking port 410 during docking and undocking of the underwater vehicle 300 with respect to the surface vehicle 200, in particular with respect to the docking port 410, is actively controlled.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Other Liquid Machine Or Engine Such As Wave Power Use (AREA)

Abstract

La présente invention concerne un système de lancement et de récupération sous l'eau comprenant : un véhicule aquatique de surface; au moins un véhicule subquatique; un système d'amarrage permettant d'amarrer et de désamarrer chaque véhicule subaquatique par rapport au véhicule de surface à une profondeur d'eau réglable sélectivement. Le système d'amarrage comprend un port d'amarrage permettant au véhicule subaquatique d'être mis en prise et séparé de manière sélective par rapport au système d'amarrage, le port d'amarrage étant raccordé au véhicule aquatique de surface via un raccord mobile. Le raccord mobile est configuré pour : fournir une profondeur d'eau prédéterminée au dit port d'amarrage pour permettre lesdits amarrage et désamarrage sélectifs, et pour désaccoupler au moins le mouvement de houle en surface du véhicule aquatique de surface du mouvement de houle sous l'eau du port d'amarrage à ladite profondeur d'eau prédéterminée. La présente invention concerne également des procédés pour le lancement et la récupération sous l'eau.
PCT/IL2014/050856 2013-10-01 2014-09-29 Système et procédé de lancement et de récupération WO2015049679A1 (fr)

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IL228662A IL228662B (en) 2013-10-01 2013-10-01 System and method for launch and placement

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EP3112251A1 (fr) * 2015-06-29 2017-01-04 PGS Geophysical AS Compensation de mouvement pour un déplacement relatif entre un objet relié à un navire et un objet dans l'eau
US20180057114A1 (en) * 2016-09-01 2018-03-01 Seabed Geosolutions B.V. High angle deployment system for a seismic marine surface vessel
WO2018224207A1 (fr) * 2017-06-06 2018-12-13 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Dispositif et procédé pour loger un navire submersible
CN110104146A (zh) * 2019-03-29 2019-08-09 浙江大学滨海产业技术研究院 一种自锁式水下机器人对接装置
DE102019203090A1 (de) * 2019-03-06 2020-01-09 Atlas Elektronik Gmbh Wasserfahrzeug mit einem Schleppsonar
NO20181231A1 (en) * 2018-09-21 2020-03-23 Usea As A marine structure comprising a launch and recovery system
CN111319740A (zh) * 2020-03-18 2020-06-23 哈尔滨工程大学 一种深海可延展艇体潜航器
DE102019202604A1 (de) * 2019-02-26 2020-08-27 Atlas Elektronik Gmbh Schleppsonarträger
DE102019208454A1 (de) * 2019-06-11 2020-12-17 Atlas Elektronik Gmbh Vorrichtung zum Ausbringen und Einholen eines Schleppkörpers
CN112486168A (zh) * 2020-11-19 2021-03-12 哈尔滨工程大学 一种基于回转圆的移动式对接轨迹规划方法
CN114954861A (zh) * 2022-06-28 2022-08-30 广东海洋大学 一种仿生章鱼式双层auv回收及投放装置
CN115258106A (zh) * 2022-08-08 2022-11-01 中国舰船研究设计中心 一种船载无人潜器回收方法
CN117104433A (zh) * 2023-09-20 2023-11-24 海底鹰深海科技股份有限公司 抛弃式声纳以及抛弃式声纳和船舶的交互方法
IT202200011060A1 (it) * 2022-05-26 2023-11-26 Saipem Spa Sistema e metodo di collegamento per collegare un veicolo subacqueo senza equipaggio ad un veicolo galleggiante

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US3943875A (en) * 1973-03-05 1976-03-16 British Columbia Research Council Method and apparatus for launching and recovering submersibles
US4072123A (en) * 1976-03-16 1978-02-07 Byers Jimmy F Deep towing cable and handling system
US4304189A (en) * 1979-10-25 1981-12-08 The United States Of America As Represented By The Secretary Of The Navy Telescopic launch and retrieval chute
US4516517A (en) * 1983-07-21 1985-05-14 Shell Oil Company Float recovery system
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Cited By (24)

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Publication number Priority date Publication date Assignee Title
EP3112251A1 (fr) * 2015-06-29 2017-01-04 PGS Geophysical AS Compensation de mouvement pour un déplacement relatif entre un objet relié à un navire et un objet dans l'eau
US10407135B2 (en) 2015-06-29 2019-09-10 Pgs Geophysical As Motion compensation for relative motion between an object connected to a vessel and an object in the water
US20180057114A1 (en) * 2016-09-01 2018-03-01 Seabed Geosolutions B.V. High angle deployment system for a seismic marine surface vessel
WO2018045019A1 (fr) * 2016-09-01 2018-03-08 Seabed Geosolutions B.V. Système de déploiement à angle élevé pour navire de surface marin utilisé en sismologie
US10583897B2 (en) 2016-09-01 2020-03-10 Seabed Geosolutions B.V. High angle deployment system for a seismic marine surface vessel
WO2018224207A1 (fr) * 2017-06-06 2018-12-13 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Dispositif et procédé pour loger un navire submersible
NO20181231A1 (en) * 2018-09-21 2020-03-23 Usea As A marine structure comprising a launch and recovery system
US11845521B2 (en) 2018-09-21 2023-12-19 Usea As Marine structure comprising a launch and recovery system
NO345094B1 (en) * 2018-09-21 2020-09-28 Usea As A marine structure comprising a launch and recovery system
DE102019202604A1 (de) * 2019-02-26 2020-08-27 Atlas Elektronik Gmbh Schleppsonarträger
DE102019203090A1 (de) * 2019-03-06 2020-01-09 Atlas Elektronik Gmbh Wasserfahrzeug mit einem Schleppsonar
CN110104146A (zh) * 2019-03-29 2019-08-09 浙江大学滨海产业技术研究院 一种自锁式水下机器人对接装置
DE102019208454A1 (de) * 2019-06-11 2020-12-17 Atlas Elektronik Gmbh Vorrichtung zum Ausbringen und Einholen eines Schleppkörpers
DE102019208454B4 (de) 2019-06-11 2023-09-21 Atlas Elektronik Gmbh Vorrichtung zum Ausbringen und Einholen eines Schleppkörpers
CN111319740A (zh) * 2020-03-18 2020-06-23 哈尔滨工程大学 一种深海可延展艇体潜航器
CN112486168A (zh) * 2020-11-19 2021-03-12 哈尔滨工程大学 一种基于回转圆的移动式对接轨迹规划方法
CN112486168B (zh) * 2020-11-19 2022-05-20 哈尔滨工程大学 一种基于回转圆的移动式对接轨迹规划方法
IT202200011060A1 (it) * 2022-05-26 2023-11-26 Saipem Spa Sistema e metodo di collegamento per collegare un veicolo subacqueo senza equipaggio ad un veicolo galleggiante
WO2023228109A1 (fr) * 2022-05-26 2023-11-30 Saipem S.P.A. Système de connexion et procédé pour connecter un véhicule sous-marin autonome à un véhicule flottant
CN114954861A (zh) * 2022-06-28 2022-08-30 广东海洋大学 一种仿生章鱼式双层auv回收及投放装置
CN114954861B (zh) * 2022-06-28 2023-06-20 广东海洋大学 一种仿生章鱼式双层auv回收及投放装置
CN115258106A (zh) * 2022-08-08 2022-11-01 中国舰船研究设计中心 一种船载无人潜器回收方法
CN117104433A (zh) * 2023-09-20 2023-11-24 海底鹰深海科技股份有限公司 抛弃式声纳以及抛弃式声纳和船舶的交互方法
CN117104433B (zh) * 2023-09-20 2024-07-23 海底鹰深海科技股份有限公司 抛弃式声纳以及抛弃式声纳和船舶的交互方法

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