Waterborne docking assembly

Abstract

The present invention is broadly directed to a waterborne docking assembly 10 comprising: a docking body 12 adapted to be deployed from a recovery vessel 13; docking means 14 associated with the docking body 12 and adapted for docking of an unmanned underwater vehicle 15; propulsion means 16 associated with the docking body 12 , said propulsion means 16 configured to control positioning of the docking body 12 relative to the unmanned underwater vehicle 15 for guided docking of said vehicle 15 with the docking assembly 10.

1 . (canceled) 
     
     
         2 . A waterborne docking assembly comprising:
 a docking body adapted to be deployed from a recovery vessel;   docking means associated with the docking body and adapted for docking of an unmanned underwater vehicle;   propulsion means associated with the docking body, said propulsion means configured to control positioning of the docking body relative to the unmanned underwater vehicle for guided docking of said vehicle with the docking assembly.   
     
     
         3 . A waterborne docking assembly as claimed in  claim 2  also comprising a cable connected at opposing ends to the docking body and the recovery vessel, respectively, said cable including or being associated with a towline arranged for towing of the docking body from the recovery vessel, said towline configured to (a) combine with the propulsion means to control positioning of the docking body, and (b) assist with retrieval of the docking body and the docked unmanned underwater vehicle to the recovery vessel. 
     
     
         4 . A waterborne docking assembly as claimed in  claim 3  wherein the cable includes a communications cable operatively coupled to one or more sensors associated with the docking body for communicating sensor data from said sensor to the recovery vessel. 
     
     
         5 . A waterborne docking assembly as claimed in  claim 4  wherein the cable also includes an actuator cable operatively coupled to actuators of or associated with the propulsion means for remote control of the position of the docking body for guided docking of the unmanned underwater vehicle from the recovery vessel. 
     
     
         6 . A waterborne docking assembly as claimed in  claim 5  wherein the cable includes a docking cable operatively coupled to the docking means for remote docking of the unmanned underwater vehicle with the docking assembly. 
     
     
         7 . A waterborne docking assembly as claimed in  claim 3  wherein the cable includes a power cable operatively coupled to the docking means and/or the propulsion means for powering them. 
     
     
         8 . A waterborne docking assembly as claimed in  claim 2  wherein the docking means includes suction means associated with a docking cavity formed within the docking body, the docking cavity shaped substantially complementary to at least part of an external surface of the unmanned underwater vehicle. 
     
     
         9 . A waterborne docking assembly as claimed in  claim 8  wherein the suction means includes a suction impeller arranged to reduce pressure and/or create water flow within the docking cavity to promote docking of the unmanned underwater vehicle with the docking assembly. 
     
     
         10 . A waterborne docking assembly as claimed in  claim 2  wherein the docking means in a second embodiment includes a plurality of rigid clasps connected to an extending from the docking body for releasable clasping of the unmanned underwater vehicle for docking with the docking assembly. 
     
     
         11 . A waterborne docking assembly as claimed in  claim 10  wherein the rigid clasps are each articulated and slidably connected to the docking body, said clasps being movable from (a) an open configuration permitting movement of the docking body into close proximity with the unmanned underwater vehicle, and (b) a closed configuration for clasped retention of said vehicle for docking with the docking assembly. 
     
     
         12 . A waterborne docking assembly as claimed in  claim 2  wherein the docking means includes one or more tentacles operatively coupled to the docking body for releasable gripping of the unmanned underwater vehicle in proximity with the docking body for docking with the docking assembly. 
     
     
         13 . A waterborne docking assembly as claimed in  claim 12  wherein the docking means also includes a plurality of resiliently flexible arms connected to and extending from the docking body, said arms arranged for retention of the unmanned underwater vehicle for docking with the docking assembly. 
     
     
         14 . A waterborne docking assembly as claimed in  claim 2  wherein the propulsion means includes one or more thrusters associated with respective of one or more fins mounted to the docking body. 
     
     
         15 . A waterborne docking assembly as claimed in  claim 14  wherein the fins are each pivotally mounted to the docking body whereby tilting of selective of the fins is effective in relative positioning of the docking body to assist with guided docking of the unmanned underwater vehicle with the docking assembly. 
     
     
         16 . A waterborne docking assembly as claimed in  claim 6  further comprising a processor located at the recovery vessel and configured to communicate with said one or more sensors via the communications cable to facilitate guided docking of the unmanned underwater vehicle with the docking assembly. 
     
     
         17 . A waterborne docking assembly as claimed in  claim 16  also comprising an actuator assembly located at the recovery vessel and operatively coupled to the propulsion means via the actuator cable, the processor configured to communicate with the actuator assembly to remotely control actuation of the propulsion means dependent on the sensor data received from the docking body for guided docking of the unmanned underwater vehicle. 
     
     
         18 . A waterborne docking assembly as claimed in  claim 16  wherein the processor is also arranged to communicate with the actuator assembly to remotely control actuation of the docking means via the docking cable for docking of the unmanned underwater vehicle with the docking assembly. 
     
     
         19 . A waterborne docking assembly as claimed in  claim 4  wherein said one or more sensors associated with the docking body include but are not limited to optical, sonar, pressure, depth, piezoelectric, and Global Position System (GPS) sensors. 
     
     
         20 . A waterborne docking assembly as claimed in  claim 19  wherein the optical sensors are at least in part mounted at an aft section of the docking body and configured to capture vision of the unmanned underwater vehicle as it approaches the docking body to assist with guided docking of said vehicle.