Method of retrieval for autonomous underwater vehicles
A system for automated rendezvous, docking, and capture of autonomous underwater vehicles at the conclusion of a mission comprising of comprised of a docking rod having lighted, pulsating (in both frequency and light intensity) series of LED light strips thereon, with the LEDs at a known spacing, and the autonomous underwater vehicle specially designed to detect and capture the docking rod and then be lifted structurally by a spherical end strop about which the vehicle can be pivoted and hoisted up (e.g., onto a ship). The method of recovery allows for very routine and reliable automated recovery of an unmanned underwater asset.
1. A method for retrieval of an autonomous underwater vehicle using an automated rendezvous and docking system, the steps of said method comprising;
detecting the presence of a docking rod, said docking rod releasably connected to a suspension cable;
homing said autonomous underwater vehicle toward said docking rod;
orienting said autonomous underwater vehicle such that a docking channel within said autonomous underwater vehicle is parallel to and centered on the vertical linear extent axis of said docking rod;
detecting the range of said docking rod from said autonomous underwater vehicle;
guiding said autonomous underwater vehicle to a closure with the docking rod;
capturing said docking rod within said docking channel of said autonomous underwater vehicle;
acknowledging said capturing of said docking rod;
retrieving said suspension cable and said docking rod to within a few meters of an access hole;
rotating said autonomous underwater vehicle 90° downward until said autonomous underwater vehicle is in vertical alignment with said docking rod; and
raising said docking rod and said attached autonomous underwater vehicle to the surface.
2. The method, as recited in claim 1 , wherein said homing step is performed by recognizing said docking rod has said vertical linear extent axis.
3. The method, as recited in claim 2 , wherein said homing step is further performed by detecting the presence of said vertical linear extent axis.
4. The method, as recited in claim 3 , wherein said detecting of the presence of said vertical linear extent axis step is performed by discriminating against all other light sources.
5. The method, as recited in claim 4 , wherein said detecting range step is performed with LEDs uniformly spaced at a predetermined spacing.