Connecting system and method for connecting an unmanned underwater vehicle to a floating vehicle

Abstract

A connecting system for connecting an unmanned underwater vehicle to a floating vehicle in a body of water has a connecting device configured to be connected mechanically and/or electrically and/or for data exchange to the unmanned underwater vehicle in the body of water, and an articulated arm, which is configured to be mounted to the floating vehicle, and which is connected to the connecting device so as to control the position and the orientation of the connecting device in the body of water.

The invention claimed is: 
     
         1 .- 21 . (canceled) 
     
     
         22 . A connecting system comprising:
 a connecting device configured to be connected to an unmanned underwater vehicle in a body of water, the connection being at least one of a mechanical connection, an electrical connection and a data exchange connection; and   an articulated arm which is configured to be mounted to a floating vehicle and is connected to the connecting device to control a position and an orientation of the connecting device in the body of water.   
     
     
         23 . The connecting system of  claim 22 , wherein the articulated arm comprises an actuation assembly configured to control the position and the orientation of the connecting device with respect to the unmanned underwater vehicle. 
     
     
         24 . The connecting system of  claim 23 , wherein the articulated arm comprises:
 a support element configured to be solidly coupled to the floating vehicle,   a first elongated element extending along a first longitudinal axis and hinged to the support element about a first rotation axis, and   a second elongated element that carries the connecting device, extends along a second longitudinal axis and is hinged to the first elongated element about a second rotation axis.   
     
     
         25 . The connecting system of  claim 24 , wherein the actuation assembly comprises:
 a first actuator configured to control a rotation of the first elongated element about the first rotation axis, and   a second actuator configured to control a rotation of the second elongated element about the second rotation axis.   
     
     
         26 . The connecting system of  claim 24 , wherein the first elongated element comprises a first body and a second body hinged to each other about a third rotation axis substantially parallel to the second rotation axis. 
     
     
         27 . The connecting system of  claim 26 , wherein the actuation assembly comprises an actuator configured to control a relative rotation of the second body with respect to the first body about the third rotation axis. 
     
     
         28 . The connecting system of  claim 24 , wherein the articulated arm comprises a connecting joint configured to connect an end of the second elongated element to the connecting device. 
     
     
         29 . The connecting system of  claim 28 , wherein the connecting joint is configured to enable a relative rotation of the connecting device about a third rotation axis and about a fourth rotation axis. 
     
     
         30 . The connecting system of  claim 24 , wherein the first elongated element extends along the first longitudinal axis for a length that is greater than a metacentric roll height of the floating vehicle on which the articulated arm is mounted. 
     
     
         31 . The connecting system of  claim 24 , wherein the second elongated element extends along the second longitudinal axis for a length greater than a metacentric pitching height of the floating vehicle on which the articulated arm is mounted. 
     
     
         32 . The connecting system of  claim 23 , further comprising a control unit configured to control the actuation assembly to arrange the connecting device at the unmanned underwater vehicle and to orient the connecting device towards the unmanned underwater vehicle. 
     
     
         33 . The connecting system of  claim 32 , wherein the connecting device comprises a sensor configured to detect a relative position between the unmanned underwater vehicle and the connecting device, and the control unit is configured to control the actuation assembly as a function of the relative position detected by the sensor. 
     
     
         34 . The connecting system of  claim 22 , wherein the connecting device comprises a plate. 
     
     
         35 . The connecting system of  claim 22 , wherein the connecting device comprises a mechanical connector configured to releasably engage the unmanned underwater vehicle. 
     
     
         36 . The connecting system of  claim 22 , wherein the connecting device comprises an inductive connector configured to be at least one of electrically connected electrically with the unmanned underwater vehicle and connected for data exchange with the unmanned underwater vehicle. 
     
     
         37 . A navigation assembly comprising:
 a floating vehicle configured to navigate on a body of water;   an unmanned underwater vehicle configured to navigate in the body of water; and   a connecting system mounted to the floating vehicle and configured to connect the floating vehicle to the unmanned underwater vehicle, the connecting system comprising:
 a connecting device configured to be connected to the unmanned underwater vehicle, the connection being at least one of a mechanical connection, an electrical connection and a data exchange connection; and 
 an articulated arm connected to the connecting device to control a position and an orientation of the connecting device in the body of water. 
   
     
     
         38 . The navigation assembly of  claim 37 , wherein the floating vehicle is an autonomous unmanned vehicle. 
     
     
         39 . The navigation assembly of  claim 37 , wherein the unmanned underwater vehicle is an autonomous unmanned vehicle. 
     
     
         40 . A method of connecting an unmanned underwater vehicle to a floating vehicle in a body of water, the method comprising:
 carrying, by the floating vehicle, an articulated arm equipped with a connecting device into the body of water;   controlling, by the articulated arm, a position and an orientation of the connecting device in the body of water; and   connecting, by at least one of a mechanical connection, an electrical connection and a connection for data exchange, the connecting device to the unmanned underwater vehicle.   
     
     
         41 . The method of  claim 40 , further comprising:
 detecting a relative position between the unmanned underwater vehicle and the connecting device; and   controlling the position and the orientation of the connecting device in the body of water as a function of the detected relative position.   
     
     
         42 . A method of transferring an unmanned underwater vehicle from a first underwater work site to a second underwater work site, the method comprising:
 carrying, by a floating vehicle, an articulated arm equipped with a connecting device into a body of water;   controlling, by the articulated arm, a position and an orientation of the connecting device in the body of water;   connecting, by at least one of a mechanical connection, an electrical connection and a connection for data exchange, the connecting device to the unmanned underwater vehicle; and   moving the floating vehicle on the body of water while keeping the unmanned underwater vehicle connected to the floating vehicle.