Recovery system for a marine vehicle

Abstract

A recovery system for a marine vehicle comprises a capture assembly, the capture assembly comprising: a capture net, the capture assembly having a capture configuration in which the capture net has an open end for receiving a marine vehicle, the capture net defining an internal volume; a sleeve member, the sleeve member comprising: a sleeve portion, the sleeve portion surrounding a portion of the capture net; at least one guide portion coupled to the sleeve portion. The recovery system comprises an actuation system configured to traverse the capture net from a capture position to a recovery position; and a guide system comprising: at least one guide member, wherein the at least one guide member is positioned such that during traversal of the capture net from the capture position to the recovery position the at least one guide member couples with the at least one guide portion of the sleeve member.

Description

RECOVERY SYSTEM FOR A MARINE VEHICLE

[0001] The present invention relates to a recovery system for a marine vehicle and a method of recovering a marine vehicle. In particular, but not exclusively, the present invention relates to a recovery system for unmanned marine vehicles.Background

[0002] In the vast expanse of the world's oceans, critical missions are carried out daily by advanced technological devices known as UUVs (Unmanned Underwater Vehicles) and USVs (Unmanned Surface Vehicles). However, the complex terrains of the ocean and unforeseen circumstances often result in these UUVs and USVs becoming immobilised. Whether it's due to mechanical damage or a sudden loss of power, an incapacitated 'dead sub' floating aimlessly on the water's surface poses a major challenge.

[0003] While the use of UUVs and USVs is widespread in deep-sea explorations and marine research, their recovery mechanisms when they are rendered dysfunctional are considerably primitive. Typically stationed on larger vessels, operators' primary method to recapture these assets has been to manually toss grappling hooks in hopes of securing the dysfunctional vehicle. This approach is fraught with inaccuracy and inefficiency, and the unpredictable nature of the seas makes the probability of a successful recapture alarmingly low. Current retrieval methods are not only time-consuming but also ineffective. Manually tossing grappling hooks overboard requires exceptional skill, timing, and often multiple attempts, leading to valuable time being lost. Furthermore, the very design of this manual method carries a significant risk of further damaging the UUV or USV. Moreover, the present recovery techniques do not guarantee success when the mothership is in motion, making recaptures even more challenging. More sophisticated methods to recapture these vehicles require the UUV / USV to be at least partially functional.

[0004] It would be useful to provide a recovery system and method of recovery that overcomes the above issues.

[0005] According to a first aspect of the invention a recovery system for a marine vehicle comprises: a capture assembly, the capture assembly comprising: a capture net, the capture assembly having a capture configuration in which the capture net has an open end for receiving a marine vehicle, the capture net defining an internal volume; a sleeve member, the sleeve member comprising: a sleeve portion, the sleeve portion surrounding a portion of the capture net; at least one guide portion coupled to the sleeve portion; an actuation system configured to traverse the capture net from a capture position to a recovery position; and a guide system comprising: at least one guide member, wherein the at least one guide member is positioned such that during traversal of the capture net from the capture position to the recovery position the at least one guide member couples with the at least one guide portion of the sleeve member.

[0006] Advantageously, when a marine vehicle is captured in the capture net, the marine vehicle passes into the sleeve portion, the sleeve portion enveloping the marine vehicle. The guide portion of thesleeve member allows the vehicle to be retrieved or recovered via the sleeve member. In this manner, the recovery system can capture and recover passive or inoperative vehicles as each step of capture and recovery is performed by the recovery system without active input from the marine vehicle.

[0007] In certain embodiments, in the capture configuration the sleeve portion has a diameter that is greater than a cross-sectional dimension of a marine vehicle to be recovered. Advantageously this helps ensure the marine vehicle can pass into the sleeve portion in the capture configuration.

[0008] In certain embodiments, the internal volume of the capture net comprises: a first section comprising the portion of the internal volume that extends between the open end of the capture net and the first end of the sleeve portion; and a second section comprising the portion of the internal volume that extends from the first end of the sleeve portion away from the open end of the capture net and is bounded by a portion of capture net, wherein the capture assembly is configured such that during a recovery operation a marine vehicle to be recovered is captured in the second section.

[0009] In certain embodiments, the capture assembly has a recovery configuration in which at least a portion of the sleeve portion substantially conforms with at least a portion of an exterior of the marine vehicle. Advantageously, in the recovery configuration the sleeve portion is tightened around, or held taught against, the marine vehicle allowing the sleeve portion to support the marine vehicle during recovery thereof.

[0010] In certain embodiments the sleeve portion is configured such that an axial extension thereof causes a reduction in the diameter of the sleeve portion. Advantageously, in response to an applied tensile force to the capture net, the sleeve portion can automatically tighten around the captured marine vehicle to secure itself around the body of the marine vehicle.

[0011] In certain embodiments, traversal of the capture net from the capture position towards the recovery position with a marine vehicle captured in the second section of the internal volume changes the capture assembly from the capture configuration to the recovery configuration. Advantageously, the capture assembly is configured so as to automatically switch from the capture configuration to the recovery configuration when the capture net is pulled with a capture marine vehicle therein. Specifically, as the capture net is pulled from the capture position to the recovery position the captured marine vehicle bears against the portion of the capture net that bounds the second section of the sleeve portion. This creates a tension in the capture net and the sleeve portion, which causes the sleeve portion to tighten around the captured marine vehicle.

[0012] In certain embodiments, the at least one guide portion is a secondary sleeve portion.

[0013] In certain embodiments, the at least one guide member is an elongate guide member, wherein in the recovery position the at least one elongate guide member extends at least partially through the at least one secondary sleeve portion. Advantageously, as the capture net is retracted the at least one elongate guide member mates with a corresponding secondary sleeve portion. As a result the captured marine vehicle is effectively supported by the guide system.

[0014] In certain embodiments, the guide system comprises a support element, the support element having a support surface, the sleeve member having a docked position, wherein in the docked position the sleeve portion engages with the support surface of the support element. Advantageously, docking thesleeve member against a support element, restricts movement of the recovered marine vehicle, preventing damage to the marine vehicle.

[0015] In certain embodiments, the at least one guide member is rotatable with respect to the support surface of the support element from a first orientation to a second orientation, wherein, when the at least one elongate guide member extends at least partially through the at least one secondary sleeve portion, rotation of the at least one guide member from the first orientation to the second orientation rotates the sleeve portion into engagement with the support surface of the support element. Advantageously, rotation of the at least one guide member from the first orientation to the second orientation deforms the sleeve member against the support surface. This exerts a hoop and radial stress on the sleeve portion, causing it to tighten about the marine vehicle, ensuring the marine vehicle is supported by the sleeve member.

[0016] In certain embodiments, the recovery configuration includes at least the docked position of the sleeve member. That is, docking the sleeve member against the support surface tightens the sleeve portion about the marine vehicle.

[0017] In certain embodiments, the recovery system comprises one or more buoyancy elements and / or ballast elements for maintaining the open end of the capture net in the capture configuration.

[0018] In certain embodiments, the one or more buoyancy elements is an otter board.

[0019] In certain embodiments, the actuation system is a winch.

[0020] In certain embodiments, the guide system comprises one or more rollers configured to support a captured marine vehicle during traversal of the capture net from the capture position to the recovery position.

[0021] According to another aspect of the invention, a recovery vessel comprises the recovery system of the first aspect of the invention or any embodiment related thereto.

[0022] In certain embodiments, the recovery system comprises a gantry structure, wherein at least the guide system of the recovery system is mounted on the gantry structure, the gantry structure being configured to support the recovery system in a first position and a second position. Advantageously, by having the guide system movable along, or by, a gantry structure, the guide system and captured marine vessel can be moved between out-board and on-board positions. That is, once recovered by the recovery system the marine vehicle can be brought on-board, for example into a hangar, so as to release, store, protect and / or inspect the marine vehicle.

[0023] According to another aspect of the invention, a method of recovering a marine vehicle from a body of water comprises: providing a capture assembly, the capture assembly comprising: a capture net, the capture assembly having a capture configuration, or operational configuration, in which the capture net has an open end for receiving a marine vehicle, the capture net defining an internal volume; a sleeve member, the sleeve member comprising: a sleeve portion, the sleeve portion surrounding a portion of the capture net; at least one guide portion coupled to the sleeve portion; capturing a marine vehicle in the internal volume of the capture net; traversing the capture net from a capture position to a recovery position, wherein during traversal of the capture net from the capture position to the recovery position atleast one guide member of a guide system couples with the at least one guide portion of the sleeve member.

[0024] In certain embodiments, the method comprises operating the recovery system of the first aspect of the invention.

[0025] In certain embodiments, in the capture configuration the sleeve portion has a diameter that is greater than a cross-sectional dimension of a marine vehicle to be recovered.

[0026] In certain embodiments, the internal volume of the capture net comprises: a first section comprising the portion of the internal volume that extends between the open end of the capture net and a first end of the sleeve portion; and a second section comprising the portion of the internal volume that extends from the first end of the sleeve portion away from the open end ofthe capture net and is bounded by a portion of capture net, wherein the marine vehicle is captured in the second section.

[0027] In certain embodiments, the capture assembly has a recovery configuration in which at least a portion of the sleeve portion is substantially conformed with at least a portion of an exterior of the marine vehicle.

[0028] In certain embodiments, at least one guide portion is a secondary sleeve portion.

[0029] In certain embodiments, the at least one guide member is an elongate guide member, wherein in the recovery position the at least one elongate guide member extends at least partially through the at least one secondary sleeve portion.

[0030] In certain embodiments, the guide system comprises a support element, the support element having a support surface, the method comprising bringing the sleeve member into a docked position, wherein in the docked position the sleeve portion engages with the support surface of the support element.

[0031] In certain embodiments, the method comprises, when the at least one elongate guide member extends at least partially through the at least one secondary sleeve portion, rotating the at least one guide member from a first orientation with respect to the support surface to a second orientation with respect to the support surface to rotate the sleeve portion into engagement with the support surface of the support element.

[0032] In certain embodiments, the recovery configuration includes at least the docked position of the sleeve member.

[0033] In certain embodiments, the sleeve member is brought into the docked position while the capture net is in the recovery position. Advantageously, by rotating the at least one guide member while the capture net is static in the recovery position the capture net is stretched around the support element to tighten sleeve portion around the marine vehicle.

[0034] In certain embodiments, the guide system comprises one or more roller configured to support a captured marine vehicle during traversal of the capture net from the capture position to the recovery position.Brief Description of the FIGURES

[0035] Embodiments of the invention are further described hereinafter with reference to the accompanying drawings. In the drawings like reference numerals refer to like parts.

[0036] FIG. 1 illustrates a side view of an example of a recovery system for a marine vehicle.

[0037] FIG. 2 illustrates a forward facing view of the recovery system shown in FIG. 1 .

[0038] FIG. 3 illustrates an example of a guide system for the recovery system shown in FIG. 1 .

[0039] FIG. 4 illustrates a side view of the recovery system of FIG. 1 with a captured marine vehicle.

[0040] FIG. 5 and FIG. 6 illustrate views of the recovery system of FIG. 1

[0041] FIG. 7 and FIG. 8 illustrate views of the recovery system of FIG. 1 with the sleeve member in a docked position.

[0042] FIG. 9 to FIG. 11 illustrate a recovery system being moved along a gantry structure.Detailed Description

[0043] FIG. 1 and FIG. 2 illustrate a recovery system 100 for a marine vehicle 1000. In the example shown the marine vehicle 1000 is a USV (Unmanned Surface Vehicle). However in other examples the marine vehicle 1000 may be a UUV (Unmanned Underwater Vehicle).

[0044] The recovery system 100 includes a capture assembly 200. The capture assembly 200 includes a capture net 202. The capture net 202 defines an internal volume 206. That is, the capture net 202 defines the boundary for the internal volume 206. FIG. 1 shows the capture assembly 200 in a capture configuration in which the capture net 202 has an open end 204 for receiving the marine vehicle 1000. That is, the open end 204 provides a path into the internal volume 206 of the capture net 202 through which a marine vehicle 1000 can pass. In some examples the open end 204 allows the marine vehicle 1000 to pass therethrough in any orientation. The capture net 202 may be a trawl or trawler net.

[0045] The capture assembly 200 includes a sleeve member 208. As shown in more detail in FIG. 3, the sleeve member 208 includes a sleeve portion 214, the sleeve portion 214 surrounding a portion of the capture net 202. That is, the sleeve portion 214 surrounds a portion of the exterior of the capture net 202. In this example the sleeve portion 214 is substantially annular in profile but any suitable continuous profile may be used. The sleeve portion 214 has a first end 2141 and a second end 2142.

[0046] As shown in FIG. 4, during a recovery operation, the marine vehicle 1000 is captured in the capture net 202. The marine vehicle 1000 passes into the bore of the sleeve portion 214, the sleeve portion 214 enveloping the marine vehicle 1000.

[0047] In the capture configuration the sleeve portion 214 has a diameter that is greater than a cross- sectional dimension, for example a diameter, of the marine vehicle 1000 to be recovered. In this manner the marine vehicle 1000 is able to pass at least partially through the sleeve portion 214. As an example the marine vehicle 1000 may have a diameter of about 300mm to about 1 m. It would be understood that marine vehicles exist with diameters above or below these values. However, marine vehicles below this range may not warrant recovery and marine vehicles above this range may have an extended battery life that renders such recovery unnecessary. In the capture configuration the sleeve portion 214 may have a diameter of about 450mm to 1.5m, depending on the diameter of the corresponding marine vehicle1000. For example the diameter of the sleeve portion may be from 1.25 to 2.5 times larger than the diameter of the corresponding marine vehicle 1000, aptly 1.5 times larger than the diameter of the corresponding marine vehicle 1000.

[0048] The internal volume 206 of the capture net comprises a first section 2061 and a second section 2062. The first section 2061 comprises the portion of the internal volume 206 that extends between the open end 204 of the capture net 202 and the first end 2141 of the sleeve portion 214, the first end 2141 being the end of the sleeve portion 214 that, in use, is proximate the open end 204. The second section 2062 comprises the portion of the internal volume 206 that extends from the first end 2141 of the sleeve portion 214 away from the open end 204 of the capture net 202 and is bounded by a portion of capture net 202. Put another way, the sleeve portion 214 divides the internal volume 206 into an open mouth section (the first section 2061 ) and a closed section (the second section 2062). The second section 2062 may be otherwise termed the nose of the capture net 202.

[0049] As shown in FIG. 4, during the recovery operation the marine vehicle 1000 is captured in the second section 2062. That is, the capture net 202 will be maneuvered such that the marine vehicle 1000 passes through the open end 204 of the capture net 202, through the first section 2061 of the internal volume 206 until at least part of the marine vehicle 1000 is in the second section 2062. When captured in the second section 2062 the marine vehicle 1000 will abut the capture net 202 bounding the second section 2062.

[0050] The sleeve portion 214 may be made for any suitable material. A material with a high flexibility may be used. For example a material that is substantially as flexible as the material of the capture net 202, may be used. A material with a high tensile strength may be used, for example polypropylene, nylon or polyester. For example the sleeve portion 214 may be made from a material with a tensile strength from about 10MPa to about 10OMPa. In this example the sleeve portion 214 is made from a fibre material. The fibre material may be woven, braided or the like to form the sleeve portion 214.

[0051] The sleeve member 208 includes at least one guide portion 216 coupled to the sleeve portion 214. In this example the sleeve member 208 includes two guide portions 216 positioned on opposing sides of the sleeve portion 214. However, in other examples there may be any number of guide portions 216, for example one, three or more positioned around the exterior of the sleeve portion 214. In this example the guide portions 216 are secondary sleeve portions. The secondary sleeve portions run parallel with the sleeve portion 214.

[0052] The guide portions 216 may be coupled to the sleeve portion 214 in any suitable manner. For example, the guide portions 216 may be integral with the sleeve portion 214. For example the sleeve member 208 may be constructed as a single integral component, for example by weaving, braiding or the like. Alternatively, the guide portions 216 may be fastened to the sleeve portion 214 in any suitable manner.

[0053] The recovery system 100 includes a guide system 400. The guide system 400 is shown in FIG.3. The guide system 400 includes at least one guide member 402. In this example the guide system 400 includes two guide members 402, each guide member 402 corresponding to a guide portion 216 of thesleeve member 208. However, in other examples there may be any number of guide members 402 depending on the number of guide portions 216.

[0054] The guide members 402 are elongate members or prongs configured to extend at least partially through the corresponding guide portions 216. That is, each elongate member can extend through a corresponding secondary sleeve portion.

[0055] Each guide portion 216 includes an open end 2161 through which the corresponding guide member 402 is received. In some examples the guide portions 216 may include means to keep the end 2161 open. For example the guide portions 216 may each include a stiffening element or a ring element (not shown) that maintains the end 2161 in an annular shape. The stiffening element or ring element may be integral with or attached to the corresponding guide portion 216 (for example by stitching).

[0056] The recovery system 100 includes an actuation system 300 configured to traverse the capture net 202. That is, actuation of the actuation system 300 causes the traversal of the capture net 202 relative to the actuation system 300. In this example the actuation system 300 is coupled to the capture net 202 via lines 210 that are attached to the open end 204 of the capture net 202. In this example the actuation system 300 is a winch, wherein actuation of the winch winds in the lines 210 and / or capture net 202.

[0057] In use the actuation system 300 is configured to traverse the capture net 202 from a capture position to a recovery position. FIG. 1 and FIG. 2 shows the capture net 202 in the capture position. In the capture position the capture net 202 is deployed away from the guide system 400. As will be described in more detail below, FIG. 5 to FIG. 8 show the capture net 202 in the recovery position. In the recovery position the capture net 202 has been drawn, or retracted, towards the guide system 400 from the capture position.

[0058] The guide members 402 are positioned such that during traversal of the capture net 202 from the capture position to the recovery position the guide members 402 couple with the guide portions 216 of the sleeve member 208. That is, as the capture net 202 is traversed from the capture position to the recovery position the capture net 202 travels along a retraction path, the guide members 402 being positioned on the retraction path so as to couple with the guide portions 216.

[0059] The coupling or engagement between the guide members 402 and the guide portions 216 allows the marine vehicle 1000, enveloped by the sleeve member 208, to be retrieved or recovered. That is the sleeve member 208 provides a means by which the marine vehicle 1000 can be recovered in a supported manner by the recovery system 100. As such, the recovery system 100 can capture and recover passive or inoperative marine vehicles as each step of capture and recovery is performed by the recovery system 100 without active input from the marine vehicle 1000.

[0060] In this example, the guide members 402, as elongate members, couple with guide portions 216, as secondary sleeve portions, by penetrating through the open end 2161 of the secondary sleeve portions. In the recovery position the guide members 402 extend at least partially through the corresponding secondary sleeve portion. In the recovery position the captured marine vehicle 1000 is supported by the guide system 400, with the interaction between the elongate members and the secondary sleeve portions ensuring the guide system 400 has a firm grip on the captured marine vehicle1000. FIG. 5 and FIG. 6 show the capture net 202 in the recovery position with the guide members 402 coupled with guide portions 216.

[0061] In this example the guide system 400 includes one or more rollers 600 configured to support the captured marine vehicle 1000 during traversal of the capture net 202 from the capture position to the recovery position. In this example the rollers 600 are configured to engage with the captured marine vehicle 1000 and orient the captured marine vehicle 1000 so to align the guide members 402 with the guide portions 216.

[0062] In this example the capture assembly 200 includes a recovery configuration in which at least a portion of the sleeve portion 214 substantially conforms with at least a portion of an exterior of the marine vehicle 1000. That is, in the recovery configuration the sleeve portion 214 is tightened around, or held taught against, the marine vehicle 1000. This helps the sleeve portion 214 to support the marine vehicle 1000 during recovery thereof.

[0063] In some examples the capture assembly 200 may change from the capture configuration to the recovery configuration by any suitable means. For example, the sleeve portion 214 may be configured such that an axial extension thereof causes a reduction in the diameter of the sleeve portion 214. In this manner traversal of the capture net 202 from the capture position towards the recovery position with a marine vehicle 1000 captured in the second section 2062 of the internal volume 206 may change the capture assembly 200 from the capture configuration to the recovery configuration. Put another way, the capture assembly 200 may be configured so as to automatically switch from the capture configuration to the recovery configuration when the capture net 202 is pulled with a capture marine vehicle 1000 therein. As the capture net 202 is pulled from the capture position to the recovery position the captured marine vehicle 1000 bears against the capture net 202. This creates a tension in the capture net 202 and the sleeve portion 214, which causes the sleeve portion 214 to tighten around the captured marine vehicle 1000.

[0064] In this example the capture assembly 200 changes from the capture configuration to the recovery configuration using a support element 404, as described below.

[0065] As shown in FIG. 3, the support element 404 has a support surface 406. In this example the support surface 406 is a saddle, having a curved surface shaped so as to substantially conform to an exterior of the marine vehicle 1000.

[0066] In this example the sleeve member 208 has a docked position, wherein in the docked position the sleeve portion 214 engages with the support surface 406 of the support element 404. FIG. 7 and FIG. 8 show the sleeve member 208, with the captured marine vehicle 1000, in the docked position. Advantageously, docking the sleeve member 208 against a support element 404 helps restrict movement of the recovered marine vehicle 1000 during recovery thereof. This helps prevent damage to the marine vehicle 1000.

[0067] In this example, the docked position of the sleeve member 208 corresponds to the recovery configuration of the capture assembly 200. That is, as best shown in FIG. 8, as the sleeve member 208 is docked in the docked position the sleeve member 208 is pulled taught around the marine vehicle 1000. Prior to this the nose of the capture net 202 supports the marine vehicle 1000 and the sleeve portion 214constrains the marine vehicle 1000 but is not necessarily taught around the marine vehicle 1000. In the docked position the support element 404 exerts a hoop and radial stress on the sleeve portion 214, which provides support to the marine vehicle 1000. The marine vehicle 1000 becomes more stable as a result.

[0068] As shown through comparison of FIG. 5 and FIG. 7, the guide members 402 are rotatable with respect to the support surface 406 of the support element 404 from a first orientation to a second orientation. FIG. 5 shows the guide members 402 in the first orientation and FIG. 7 shows the guide members 402 in the second orientation. When the elongate guide members 402 extend at least partially through the guide portions 216, rotation of the guide members 402 from the first orientation to the second orientation rotates the sleeve portion 214 into engagement with the support surface 406 of the support element 404. That is, the sleeve member 208 is rotated into the docked position.

[0069] The guide members 402 may be rotated in any suitable manner. In this example the guide members 402 are rotatably mounted on the support element 404. In this example the guide system 400 includes suitable actuators (not shown), for example hydraulic linear actuators or the like, so as to rotate the guide members 402 with respect to the support surface 406. In other examples the sleeve member 208 may be brought into the docked position by traversing the capture net 202 further from the recovery position, which automatically rotates the at guide members 402.

[0070] In this example the sleeve member 208 is brought into the docked position while the capture net 202 is in the recovery position. By rotating the guide members 402 while the capture net 202 is substantially static in the recovery position the sleeve portion 214 is stretched around the support element 404 to tighten the sleeve portion 214 around the marine vehicle 1000.

[0071] The recovery system 100 of any the examples described herein may be located on a recovery vessel 1 .

[0072] In examples of the present disclosure, at least the guide system 400 of the recovery system 100 may be mounted on a gantry structure 500. In this example the gantry structure 500 is mounted to the recovery vessel 1 .

[0073] The gantry structure 500 is configured to support the recovery system 100 in a first position and a second position. For example, the first position may be an out-board position and the second position may be an on-board position. The guide system 400 may capture and recover the marine vehicle 1000 while in the first position.

[0074] FIG. 9 to FIG. 11 illustrate an example where the guide system 400 is movable between a first position and a second position.

[0075] Specifically, FIG. 9 shows the guide system 400 supported by the gantry structure 500 in a first, out-board, position. In this example, the guide system 400 is oriented such that the captured marine vehicle 1000 is parallel to the recovery vessel 1 . In this example the gantry structure 500 is an extendable gantry structure, wherein the guide system 400 is in the first position when the gantry structure 500 is in an extended configuration.

[0076] FIG. 10 also shows the guide system 400 in the first, out-board, position. In FIG. 10 the guide system 400 has been rotated so that the guide system 400 and marine vehicle 1000 are oriented towards the recovery vessel 1. This helps reduce the profile of the guide system 400 and marine vehicle 1000and therefore also the hangar 11 required to receive the guide system 400. It would be understood that rotation of the guide system 400 in this manner may not be required, for example where the hangar 11 is of a width suitable for receiving the guide system 400 in the orientation shown in FIG. 9. As shown in FIG. 7 the rollers 600 may be retracted to allow the guide system 400 to rotate from the arrangement of FIG. 9 to the arrangement of FIG. 10.

[0077] FIG. 11 shows the guide system 400 in the second, on-board, position. In this example, in the on-board position the guide system 400 and marine vehicle 1000 are positioned within the contour of the recovery vessel 1. In this example, the guide system 400 and marine vehicle 1000 are received within the hangar 11 . In this example the guide system 400 is in the second position when the gantry structure 500 is in a retracted configuration.

[0078] Various modifications to the above described arrangement(s) are possible. For example, in the illustrated example at least one buoyancy element 212 is used for maintaining the open end 204 of the capture net 202 in the capture configuration. In this example the at least one buoyancy element is an otter board. In this example, two otter boards 212 are provided at laterally opposed sides of the open end 204 of the capture net 202. The otter boards 212 are oriented and / or shaped so that tension applied to the lines 210 that connect to the otter boards 212 causes the otter boards 212 to move away from each other. This ensures the width of the open end 204 is sufficiently large so as to receive the marine vehicle 1000 therethrough. In some examples one or more otter boards may be provided to ensure the height of the open end 204 is sufficiently large so as to receive the marine vehicle 1000 therethrough and / or to ensure the open end 204 remains at or above the surface of the water..

[0079] In some examples one or more of the otter boards 212 may have an aerofoil profile, which creates a ‘lift’ force as the capture net 202 is pulled through the water. For example, for the otter boards 212 of the illustrated embodiment, the otter boards 212 are orientated such that this ‘lift’ force acts to widen the open end 204. In some examples each otter board 212 may have two aerofoil profiles, a first aerofoil profile to provide a lateral ‘lift’ force and a second aerofoil profile to provide a vertical ‘lift’ force.

[0080] In other examples, any number of buoyancy elements and / or ballast elements may be used to maintain the open end 204 of the capture net 202 in the capture configuration. For example, these may supplement or be in addition to the one or more otter boards 212 described above.

[0081] It would be understood that the sleeve portion 214 may be of any suitable length. For example, a longer marine vehicle 1000 may require a longer sleeve portion 214, although the sleeve portion 214 need not necessarily be the same length as the marine vehicle 1000.

[0082] The position of the sleeve portion 214 on the capture net 202 may be selected so that the captured marine vehicle 1000 can at least partially fill the second section 2062. That is, the position of the sleeve portion 214 may be selected so that when the marine vehicle 1000 is captured it passes through the sleeve portion 214, engages with the capture net 202 that bounds the second section 2062 but still at least partially fills the sleeve portion 214. In this manner the marine vehicle 1000 can be supported by the second section 2062 during traversal of the capture net 202 and the sleeve portion 214 can be tightened around the marine vehicle 1000.

[0083] It will be clear to a person skilled in the art that features described in relation to any of the embodiments described above can be applicable interchangeably between the different embodiments. The embodiments described above are examples to illustrate various features of the invention.

[0084] Throughout the description and claims of this specification, the words “comprise” and “contain” and variations of them mean “including but not limited to”, and they are not intended to (and do not) exclude other moieties, additives, components, integers or steps. Throughout the description and claims of this specification, the singular encompasses the plural unless the context otherwise requires. In particular, where the indefinite article is used, the specification is to be understood as contemplating plurality as well as singularity, unless the context requires otherwise.

[0085] Features, integers or characteristics described in conjunction with a particular aspect, embodiment or example of the invention are to be understood to be applicable to any other aspect, embodiment or example described herein unless incompatible therewith. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and / or all of the steps of any method or process so disclosed, may be combined in any combination, except combinations where at least some of such features and / or steps are mutually exclusive. The invention is not restricted to the details of any foregoing embodiments. The invention extends to any novel one, or any novel combination, of the features disclosed in this specification (including any accompanying claims, abstract and drawings), or to any novel one, or any novel combination, of the steps of any method or process so disclosed.

Claims

Claims1 . A recovery system for a marine vehicle, the recovery system comprising: a capture assembly, the capture assembly comprising: a capture net, the capture assembly having a capture configuration in which the capture net has an open end for receiving a marine vehicle, the capture net defining an internal volume; a sleeve member, the sleeve member comprising: a sleeve portion, the sleeve portion surrounding a portion of the capture net; at least one guide portion coupled to the sleeve portion; an actuation system configured to traverse the capture net from a capture position to a recovery position; and a guide system comprising: at least one guide member, wherein the at least one guide member is positioned such that during traversal of the capture net from the capture position to the recovery position the at least one guide member couples with the at least one guide portion of the sleeve member.

2. The recovery system of claim 1 , wherein in the capture configuration the sleeve portion has a diameter that is greater than a cross-sectional dimension of a marine vehicle to be recovered.

3. The recovery system of claim 1 or 2, wherein the internal volume of the capture net comprises: a first section comprising the portion of the internal volume that extends between the open end of the capture net and a first end of the sleeve portion; and a second section comprising the portion of the internal volume that extends from the first end of the sleeve portion away from the open end of the capture net and is bounded by a portion of capture net, wherein the capture assembly is configured such that during a recovery operation a marine vehicle to be recovered is captured in the second section.

4. The recovery system of any one of claims 1 to 3, the capture assembly having a recovery configuration in which at least a portion of the sleeve portion substantially conforms with at least a portion of an exterior of the marine vehicle.

5. The recovery system of any one of claims 1 to 4, wherein the at least one guide portion is a secondary sleeve portion.

6. The recovery system of claim 5, wherein the at least one guide member is an elongate guide member, wherein in the recovery position the at least one elongate guide member extends at least partially through the at least one secondary sleeve portion.

7. The recovery system of any preceding claim, wherein the guide system comprises a support element, the support element having a support surface, the sleeve member having a docked position, wherein in the docked position the sleeve portion engages with the support surface of the support element.

8. The recovery system of claim 7, wherein the at least one guide member is rotatable with respect to the support surface of the support element from a first orientation to a second orientation,wherein, when the at least one elongate guide member extends at least partially through the at least one secondary sleeve portion, rotation of the at least one guide member from the first orientation to the second orientation rotates the sleeve portion into engagement with the support surface of the support element.

9. The recovery system of claim 8 when dependent on claim 4, wherein the recovery configuration includes at least the docked position of the sleeve member.

10. The recovery system of any one of claims 1 to 9 comprising one or more buoyancy elements and / or ballast elements for maintaining the open end of the capture net in the capture configuration.11 . The recovery system of claim 10, wherein the one or more buoyancy elements is an otter board.

12. The recovery system of any one of claims 1 to 11 , wherein the actuation system is a winch.

13. The recovery system of any one of claims 1 to 12, wherein the guide system comprises one or more rollers configured to support a captured marine vehicle during traversal of the capture net from the capture position to the recovery position.

14. A recovery vessel comprising the recovery system of any one of claims 1 to 13.

15. The recovery vessel of claim 14, wherein the recovery system comprises a gantry structure, wherein at least the guide system of the recovery system is mounted on the gantry structure, the gantry structure being configured to support the recovery system in a first position and a second position.

16. A method of recovering a marine vehicle from a body of water, the method comprising: providing a capture assembly, the capture assembly comprising: a capture net, the capture assembly having a capture configuration in which the capture net has an open end for receiving a marine vehicle, the capture net defining an internal volume; a sleeve member, the sleeve member comprising: a sleeve portion, the sleeve portion surrounding a portion of the capture net; at least one guide portion coupled to the sleeve portion; capturing a marine vehicle in the internal volume of the capture net; traversing the capture net from a capture position to a recovery position, wherein during traversal of the capture net from the capture position to the recovery position at least one guide member of a guide system couples with the at least one guide portion of the sleeve member.

17. The method of claim 16, wherein in the capture configuration the sleeve portion has a diameter that is greater than a cross-sectional dimension of a marine vehicle to be recovered.

18. The method of claim 16 or 17, wherein the internal volume of the capture net comprises: a first section comprising the portion of the internal volume that extends between the open end of the capture net and a first end of the sleeve portion; and a second section comprising the portion of the internal volume that extends from the first end of the sleeve portion away from the open end of the capture net and is bounded by a portion of capture net, wherein the marine vehicle is captured in the second section.

19. The method of any one of claims 16 to 18, the capture assembly having a recovery configuration in which at least a portion of the sleeve portion is substantially conformed with at least a portion of an exterior of the marine vehicle.

20. The method of any one of claims 16 to 19, wherein the at least one guide portion is a secondary sleeve portion.

21. The method of any one of claims 16 to 20, wherein the at least one guide member is an elongate guide member, wherein in the recovery position the at least one elongate guide member extends at least partially through the at least one secondary sleeve portion.

22. The method of claim 21 , wherein the guide system comprises a support element, the support element having a support surface, the method comprising bringing the sleeve member into a docked position, wherein in the docked position the sleeve portion engages with the support surface of the support element.

23. The method of claim 22, the method comprising, when the at least one elongate guide member extends at least partially through the at least one secondary sleeve portion, rotating the at least one guide member from a first orientation with respect to the support surface to a second orientation with respect to the support surface to rotate the sleeve portion into engagement with the support surface of the support element.

24. The method of claim 22 when dependent on claim 19, wherein the recovery configuration includes at least the docked position of the sleeve member.

25. The method of any one of claims 22 to 24, wherein the sleeve member is brought into the docked position while the capture net is in the recovery position.

26. The corresponding method of claim 25 wherein the guide system comprises one or more roller configured to support a captured marine vehicle during traversal of the capture net from the capture position to the recovery position.

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