Autonomous Underwater Vehicle Hover Apparatus, Method, and Applications

Patent metadata

Field	Value
Publication number	US-2016016649-A1
Application number	US-201414774766-A
Country	US
Kind code	A1
Filing date	Mar 7, 2014
Priority date	Mar 12, 2013
Publication date	Jan 21, 2016
Grant date	—

Abstract

An autonomous underwater vehicle (AUV) including a deployable anchor and a method for operating an AUV having a deployable anchor in a hover mode.

First claim

I claim:

1 . An autonomous underwater vehicle (AUV), comprising:
an elongate body including a bow region and a stern region, wherein the body includes a cavity disposed between the bow region and the stern region; an anchor rode extender/retractor mechanism disposed within or on the body an anchor rode coupled at one region thereof to the anchor rode extender/retractor mechanism; an anchor coupled to another region of the anchor rode and adapted to be disposed in the cavity in a retracted mode; and a propulsion/stabilization component.

2 . The AUV of claim 1 , wherein the anchor further includes a shank portion connected at a free end thereof to the another region of the anchor rode.

3 . The AUV of claim 2 , wherein the shank portion is freely, pivotally connected to the anchor and moveable through a range of about zero degrees to about 90 degrees.

4 . The AUV of claim 1 , further comprising an orifice disposed in the cavity, wherein the orifice provides a conduit for a high-pressure fluid exit from the AUV cavity.

5 . The AUV of claim 1 , further comprising at least one of a fluid compressor and a fluid pump adapted to provide the high-pressure fluid exit from the AUV cavity through the orifice.

6 . The AUV of claim 1 , wherein the propulsion/stabilization component includes a propeller mechanism disposed at or near the stern region and a controllable flight surface on the body.

7 . The AUV of claim 1 , wherein the controllable flight surface comprises a pair of elevators and rudders disposed aft of the propeller or substantially forwardly immediately adjacent of the propeller.

8 . The AUV of claim 1 , wherein the propulsion/stabilization component includes an articulated propeller mechanism.

9 . The AUV of claim 1 , wherein the cavity is configured with respect to the anchor such that an exterior surface of the anchor is substantially flush with the body when the anchor is fully disposed in the cavity.

10 . A method for controlling a submersed AUV, comprising:
providing an AUV having a deployable anchor on an anchor rode in a cavity of the AUV, and at least one of a) a combined propulsion/stabilization component and b) a propulsion component and a controllable flight surface, traveling at a given speed in a substantially horizontal, X-direction, in a marine environment; reducing the speed of the AUV while maintaining a minimal thrust sufficient for effective operation of the flight surface; deploying the AUV anchor from the cavity so that it engages the bottom of the marine environment a predetermined distance short of a known target position on the bottom of the marine environment; paying out or taking up a length of the anchor rode so as to adjust a position of the AUV in the X-direction in relation to the known target position; and further reducing the speed of the AUV in the X-direction to zero while maintaining a thrust sufficient for effective operation of the flight surface,
whereby the AUV is in a hover mode proximate the target position.

11 . The method of claim 10 , further comprising activating the at least one of the combined propulsion/stabilization component and the controllable flight surface so as to adjust a polar (radial), Y-position of the hovering AUV in relation to the target position.

12 . The method of claim 11 , wherein the flight surface is a rudder.

13 . The method of claim 11 , wherein the combined propulsion/stabilization component includes an articulated thrust mechanism.

14 . The method of claim 10 , further comprising activating the at least one of the combined propulsion/stabilization component and the controllable flight surface so as to adjust a vertical (elevation), Z-position of the hovering AUV in relation to the target position.

15 . The method of claim 14 , wherein the flight surface is an elevator.

16 . The method of claim 14 , wherein the combined propulsion/stabilization component includes an articulated thrust mechanism.

17 . The method of claim 10 , further comprising exiting the hover mode by reeling-in the anchor rode, wherein the AUV is pulled backwards away from the target position and towards the anchor that is engaged with the bottom of the marine environment.

18 . The method of claim 17 , further comprising jetting a fluid at a determined high pressure from an orifice in the cavity when the anchor is in close proximity to the cavity and stowing the anchor in the cavity.

Assignees

• Fairfield Ind Inc
• Fairfield Ind Inc D B A Fairfieldnodal

Inventors

• Jewell Stephen W

Classifications

• B63B2205/02

  Tether payout means · CPC title

• B63G2008/004

  autonomously operating · CPC title

• B63G8/08

  Propulsion ({schnorkels B63G8/36;} nuclear propulsion B63H21/18; submerged exhausting apparatus F01N13/12) · CPC title

• B63G8/001 Primary

  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) · CPC title

• B63G8/20

  Steering equipment (B63G8/16, B63G8/18 take precedence; steering of vessels in general B63H25/00) · CPC title