Rapid deployment and retrieval system for autonomous underwater vehicle

Abstract

A deployment and retrieval system is presented that includes a deployment system having an A-frame crane operable to lower an autonomous underwater vehicle (AUV) from a deck plane of a vessel to a sea level below the deck plane. The system also includes a recovery system configured to collect the AUV from below or at the sea level, the recovery system including a load-bearing hoist crane, one or more stabilizing arms, and a funnel. Further, the system includes a recovery mat and trolley system configured to receive the AUV from the recovery system and a track system having a track network, the track system configured to receive the trolley with the AUV from the recovery mat and trolley system.

Description

[0001] Cross - Reference to Related Applications

[0002] This application claims the benefit of U.S. Provisional Patent Application No. 63 / 428,318, filed on November 28, 2022, titled "Rapid Deployment and Recovery System for Autonomous Underwater Vehicle", the entire content of which is incorporated herein by reference. Technical Field

[0003] The present disclosure generally relates to deep - sea mining systems and, more particularly, to a launch and recovery (LAR) system for an autonomous underwater vehicle (AUV) that is used in deep - sea mining operations. The LAR system can be deployed on the deck of a mining vessel. Background Art

[0004] As the world transitions towards green energy solutions, there is an increasing demand for storing energy in reusable batteries made from critical metals such as nickel, copper, and cobalt. Currently, there are fewer remaining sources of these metals on land, and these land - based resources may be located in inaccessible locations and / or within sensitive ecosystems. Deep - sea mining is an untapped source of critical metals in the form of ore nodules (e.g., polymetallic ferromanganese nodules) and has been a focus of the mining industry in recent years.

[0005] Technical challenges associated with deep - sea mining include the ocean depth (e.g., 5 km to 6 km) and extreme pressure (e.g., between 500 bar and 600 bar) at which ore nodules occur, as well as the technology required to transport the mined ore to the ocean surface. Two systems have been widely studied and determined to be viable at a small scale: (i) a seabed excavation and collection system that pumps the ore as a slurry to the surface through a vertical riser, and (ii) a mechanical lifting system that uses synthetic ropes. However, both systems suffer from reliability and scalability issues and may cause irreparable damage to sensitive environments due to the disturbance of the seabed during the mining process.

[0006] Therefore, there is a need for a more sustainable way to extract minerals from the seabed while keeping the seabed ecosystem intact. Summary of the Invention

[0007] This disclosure relates to a Launch and Recovery (LAR) system for launching and recovering an Autonomous Underwater Vehicle (AUV) for use in deep - sea mining operations. According to some embodiments, the disclosed LAR system can autonomously: (i) recover an AUV rising from the seabed; (ii) remove a payload from the recovered AUV; (iii) charge the AUV or direct the AUV to a repair area for repair; and (iv) return the AUV to the water. In some implementations, the LAR system includes a recovery system, a recovery pad and trolley system, a track system, a launch system, and a control center. The recovery system is for lifting the AUV out of the sea, the recovery pad and trolley system is for placing the recovered AUV on the deck of a mining ship, the track system is for guiding the recovered AUV on the deck within the LAR system, the launch system is for returning the AUV to the sea, and the control center is for supervising the operation of the LAR system. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The accompanying drawings, which are incorporated as part of this specification, illustrate presently preferred embodiments and, together with the general description given above and the detailed description of the preferred embodiments given below, serve to explain and teach the principles described herein.

[0009] Figure 1 An exemplary deep - sea mining system is shown in accordance with some embodiments.

[0010] Figure 2 A Launch and Recovery (LAR) system deployed on the deck of a mining ship is shown in accordance with some embodiments.

[0011] Figure 3 Components of a launch system for an Autonomous Underwater Vehicle (AUV) are shown in accordance with some embodiments.

[0012] Figure 4 Components of a recovery system for an Autonomous Underwater Vehicle (AUV) are shown in accordance with some embodiments.

[0013] Figure 5A One aspect of a recovery process for an Autonomous Underwater Vehicle (AUV) is shown in accordance with some embodiments.

[0014] Figure 5B Another aspect of a recovery process for an Autonomous Underwater Vehicle (AUV) is shown in accordance with some embodiments.

[0015] Figure 6 Components of a recovery pad and trolley system are shown in accordance with some embodiments.

[0016] Figure 7Shows the receiving process of an autonomous underwater vehicle (AUV) via a recovery pad and trolley system according to some embodiments. Detailed Description

[0017] Figure 1 Shows an exemplary deep - sea mining system 100 deployed from a mining ship 102 according to some embodiments for collecting ore nodules 104 placed on the seabed. The deep - sea mining system 100 descends near the seabed and hovers above the seabed during the ore collection process. In some embodiments, the deep - sea mining system 100 includes an autonomous underwater vehicle (AUV) 106, an ore collection system 108, a payload hopper 112, and a dynamic buoyancy system 114. The ore collection system 108 is used to collect ore nodules 104 from the seabed, the payload hopper 112 is used to temporarily store the collected ore nodules 104, and the dynamic buoyancy system 114 is used to enable the deep - sea mining system 100 to move mainly in the vertical direction z (e.g., descend from the ocean surface to the seabed and ascend from the seabed to the ocean surface).

[0018] According to some embodiments, the AUV 106 is equipped with thrusters (not shown in Figure 1 ), which enable the deep - sea mining system 100 to move mainly in the lateral direction (e.g., parallel to the seabed - along the x - y plane) and secondarily in the vertical direction (e.g., along the z - direction). By way of example and not limitation, the ore collection system 108 may be equipped with a robotic arm 110, which can extend towards the seabed and reach the ore nodules 104. In some embodiments, when the deep - sea mining system 100 hovers above the seabed, the robotic arm 110 can, by using a suitable end - effector not shown in Figure 1 ), pick up the ore nodules 104 to collect the ore nodules 104. After the ore nodules 104 are picked up, the ore nodules 104 can be placed into the payload hopper 112.

[0019] According to some embodiments, the deep - sea mining system 100 uses an underwater survey and inspection system to locate the ore nodules 104 on the seabed and determine whether there is marine life rooted on the ore nodules 104. By way of example and not limitation, the deep - sea mining system 100 may be configured to avoid collecting ore nodules 104 on which marine life is rooted. After the payload hopper 112 is full, the dynamic buoyancy system 114 enables the deep - sea mining system 100 to rise to the ocean surface and deliver its payload (e.g., the collected ore nodules 104). In some embodiments, the dynamic buoyancy system 114 is configured to keep the deep - sea mining system 100 at neutral buoyancy at any depth, and especially at depths adjacent to the operating depth, while limiting the use of electric thrusters to save energy.

[0020] According to some embodiments, components of the deep - sea mining system 100 (e.g., the dynamic buoyancy system 114, the payload hopper 112, the ore collection system 108, and the AUV 106) operate in concert. In some embodiments, these components may be integrated within a single housing or may operate as detachable modules that are physically and communicatively connected to one another. According to some embodiments, during the collection / mining process, the dynamic buoyancy system 114, the payload hopper 112, the ore collection system 108, and the AUV 106 are physically attached to one another, and during mining and ascent, at least the payload hopper 112 and the dynamic buoyancy system 114 may be physically attached to one another. In some embodiments, the dynamic buoyancy system 114 may provide the required buoyancy to compensate for the collected ore nodules 104 during the mining process and during the ascent of at least the payload hopper 112 or the entire deep - sea mining system 100. In some embodiments, if the dynamic buoyancy system 114 and the payload hopper 112 rise to the ocean surface on their own, the AUV 106 may use its thrusters to provide the necessary buoyancy for the deep - sea mining system 100 until the dynamic buoyancy system 114 and the payload hopper 112 descend again from the ocean surface to re - attach to the deep - sea mining system 100.

[0021] In some embodiments, the deep - sea mining system 100 may include additional components, modules, and systems necessary for its intended operation. For simplicity and ease of illustration, these additional components, modules, and systems are not shown in Figure 1 . By way of example and not limitation, these additional components, modules, and systems may include cables, one or more on - board computers, electronics, sensors, additional thrusters, motors, batteries, communication devices, cameras, radar, controllers, global positioning systems, etc. These additional components, modules, and systems are within the spirit and scope of the present disclosure. In some embodiments, the deep - sea mining system 100 may operate in an autonomous mode, a semi - autonomous mode, a manual mode, or a combination thereof in accordance with instructions from the mining vessel 102. In yet another embodiment, the deep - sea mining system 100 may be communicatively coupled to and physically connected to the mining vessel 102 via a cable or other suitable means. For the deployment and recovery of the deep - sea mining system, as Figure 1 shown, the mining vessel 102 is equipped with a launch and recovery system, hereinafter referred to as the LAR system.

[0022] In the following description of the LAR system, the term AUV is intended to describe the deep - sea mining system. Thus, any reference to an AUV or the AUV 106 is intended to mean or describe the deep - sea mining system, such as Figure 1 the deep - sea mining system 100 depicted in

[0023] According to some embodiments, Figure 2Shows an LAR system 200 installed on the deck of a ship or vessel, such as the Figure 1 mining ship 102 in. By way of example and not limitation, the LAR system 200 can be arranged along the length of the mining ship 102 (e.g., between the bow and the stern of the ship), and the LAR system 200 occupies a partial width or the entire width of the mining ship 102. According to some embodiments, the LAR system 200 can make the following processes more efficient: deploying an AUV into the water, recovering the AUV from the water, removing the payload of the AUV, charging the AUV, and repairing the AUV. For example, the LAR system 200 can remove the ore nodule payload of the AUV, transport the AUV for maintenance, transport the AUV for charging, transport the AUV for other on-deck operations, or redeploy the AUV back into the water.

[0024] In some embodiments, the LAR system 200 can perform the above operations autonomously, with limited or no human intervention. For this reason, the LAR system 200 includes a plurality of subsystems configured to perform different operations. By way of example, Figure 2 the LAR system 200 in includes five main subsystems: a deployment system 202, a recovery system 204, a recovery pad and trolley system 206, and a track system 208. The control center 210 supervises the operation of each subsystem and evaluates the health of the entire LAR system 200. These subsystems and their operations are described below.

[0025] Deployment system

[0026] According to some embodiments, the deployment system 202 can include one or more cranes for deploying (e.g., lowering or deploying) an AUV from one side of the mining ship 102, such as the starboard side of the mining ship 102 (as Figure 2 shown), or alternatively, the port side of the ship. Figure 3Illustrates exemplary cranes 300a and 300b used by the deployment system 202 for deploying an AUV from the deck of the mining vessel 102 back into the sea. In some implementations, cranes 300a and 300b can be A-frame cranes, which have a pair of hydraulic pistons 304. However, this is not restrictive, and the deployment system 202 can include other types of cranes, including but not limited to articulated cranes, offshore cranes, other suitable types of cranes, or combinations thereof. These other types of cranes and their combinations are all within the spirit and scope of the present disclosure. For illustrative purposes, cranes 300a and 300b will be described in the context of A-frame cranes. The hydraulic piston 304 can have a first end 306 that is firmly anchored to the deck of the mining vessel 102, while the second end 308 can be anchored to the side beam 310 of the crane, such that cranes 300a and 300b can pivot about the pivot point 312 in a forward motion when the hydraulic piston 304 extends and pivot about the pivot point 312 in a backward motion when the hydraulic piston 304 retracts from its extended position. The horizontal beam 302 of cranes 300a and 300b can be firmly attached to the top portion of the AUV 106 via a remotely activated latch mechanism and a cable system while the hydraulic piston 304 operates.

[0027] The AUV 106 can be positioned at a "pickup" position, where the crane is in the on-board position of the crane (e.g., an upright position). Subsequently, the AUV 106 can be slightly lifted using the winch cable 314 such that the AUV 106 is lifted off the deck while the on-deck components of the crane (e.g., the hydraulic piston 304) pivot the crane towards its off-board position. When the crane is in its off-board position, the AUV 106 can be lowered to sea level, and the AUV 106 can be released by means of a release mechanism attached to the top of the AUV 106 between the AUV 106 and the end of the winch cable 314.

[0028] As Figure 3As shown, while the crane 300a is in the tilted (off - ship) position such that the AUV 106 can be lowered into the water, the crane 300b is in the upright (on - ship) position. According to some embodiments, as the crane 300a pivots towards the water, the AUV 106 hovers above the water surface and is positioned at a location away from the ship through the pivoting motion of the crane. The AUV 106 is gradually lowered into the water by the winch system of the crane, which extends the winch cable 314 of the deployment system. After the AUV 106 is released, the AUV 106 can start to descend to the seabed to collect ore nodules 104. According to some embodiments, the deployment system 202 can include multiple cranes (e.g., 2, 4, 6, 8, 10, etc.) along one side of the mining ship 102, as Figure 2 shown.

[0029] In some implementations, the cranes 300a and 300b are operated by the control center 210. For example, the control center 210 can use signals from sensors, detectors, and other electronic devices on - site to control the movement of the cranes 300a and 300b in the deployment system 202. For example, the control center 210 can be equipped with an electronic controller, such as a computer running appropriate software or a computer - implemented model, which can autonomously operate the cranes 300a and 300b based on feedback received from other subsystems within the LAR system 200. In other examples, the control center 210 can use appropriate logic, software, and computer models (e.g., machine - learning models, artificial - intelligence models, and / or other computer - implemented models) to coordinate and optimize the operation of the cranes in the deployment system 202.

[0030] Recovery system

[0031] According to some embodiments, Figure 4 shows the various components of the recovery system 204. The recovery system 204 can be positioned on one side of the mining ship 102, and the side where the recovery system 204 is located is opposite to the side where the deployment system 202 is located - for example, when the deployment system 202 is located on the starboard side of the mining ship 102, the recovery system 204 is located on the port side of the mining ship 102, as Figure 2 shown. After the AUV 106 returns from its dive to the water surface, the AUV 106 can be recovered by the recovery system 204.

[0032] In some implementations, the recovery system 204 can include one or more load-bearing lifting cranes 400 and one or more funnel-shaped members 402, where each funnel-shaped member 402 is fixed by one or more stabilizing arms 404. By way of example and not limitation, the stabilizing arms 404 can be a set of electric robotic arms designed to move in such a way that the position of the funnel-shaped member 402 can be controlled in six degrees of freedom during the recovery process. More specifically, according to some embodiments, the stabilizing arms 404 can be configured to keep the funnel-shaped member 402 stationary in a global coordinate system, regardless of the movement of the mining vessel 102 and the ocean surface. As Figure 4 shown, the stabilizing arms 404 can be attached along the edge of the deck of the mining vessel 102 such that the stabilizing arms 404 can position the funnel-shaped member 402 to keep at least the bottom edge of the funnel-shaped member 402 submerged during the capture process.

[0033] According to some embodiments, the purpose of the funnel-shaped member 402 is to capture the AUV 106 as the AUV 106 rises from the seabed towards the ocean surface. For this reason, the funnel-shaped member 402 is shaped like a bell, having a large bottom opening and a narrower top portion to ensure a self-alignment process. In other embodiments, the funnel-shaped member 402 can be shaped like a pyramid, the number of sides of which varies according to weather conditions and / or other operating conditions, such as the movement of the ship at sea level. The funnel-shaped member 402 can be made of a wireframe mesh to eliminate water resistance and the formation of cavitation within its volume when submerged. In some implementations, the bottom edge of the funnel-shaped member 402 is equipped with a combination of acoustic sensors, optical sensors, and magnetic sensors that can communicate with receivers located in the stabilizing arms 404 and / or the AUV 106. In some implementations, these sensors can provide critical information about the relative position (e.g., distance and angle) between the funnel-shaped member 402 and the AUV 106 such that appropriate adjustments can be made via the AUV thrusters until the AUV 106 is firmly captured by the funnel-shaped member 402. For example, when the AUV 106 approaches the large opening of the funnel-shaped member 402, the AUV 106 can be guided by the funnel-shaped member sensors until the AUV 106 is fixed in place (e.g., locked in place) inside the funnel-shaped member 402, as Figure 4As shown, the large opening of the funnel-shaped member 402 can be submerged to a predetermined depth during the capture process. According to some embodiments, the depth to which the funnel-shaped member 402 is submerged depends on the current operating conditions at sea. For example, the funnel-shaped member 402 can be submerged to a depth at which the AUV 106 can adequately adjust the position of the AUV 106 regardless of wave motion. In some embodiments, the funnel-shaped member sensor can communicate with the AUV sensor and the on-board computer of the AUV to guide the AUV into a position inside the funnel-shaped member 402. In some embodiments, the signals from the AUV sensor and the funnel-shaped member sensor can be used by the control center 210 to determine the position of the AUV relative to the funnel-shaped member. In some embodiments, the signals from the AUV sensor and the funnel-shaped member sensor can be used by the on-board computer of the AUV to guide the AUV into a position inside the funnel-shaped member 402. All of the above and other possible combinations are within the spirit and scope of the present disclosure.

[0034] According to some embodiments, Figure 5A and Figure 5B illustrates the recovery process of the AUV 106 through the funnel-shaped member 402. As Figure 5A shown, the funnel-shaped member sensor 500 and the AUV sensor 502 can provide continuous signals regarding the position of the AUV 106 relative to the funnel-shaped member 402. That is, the AUV sensor 502 and the funnel-shaped member sensor 500 can provide relative distance information and relative angle information to the stabilizing arm 404 and the dynamic buoyancy system 114 and / or the thrusters of the AUV 106 such that the position of the AUV 106 is continuously monitored and adjusted relative to the funnel-shaped member 402. During the capture process, the funnel-shaped member 402 remains stationary regardless of the movement of the mining ship 102 and the water, as discussed above. After the AUV 106 is positioned inside the funnel-shaped member 402, as Figure 5B shown, the locking mechanism 504 inside the funnel-shaped member 402 is activated to secure the AUV 106 before lifting the AUV 106 by the load-bearing lifting crane 400. In some examples, the locking mechanism 504 can include a robotic actuated pin that inserts into a receiving portion on the AUV 106 to restrict the movement of the AUV 106 relative to the funnel-shaped member 402. In some embodiments, the locking mechanism 504 restricts the vertical movement, lateral movement, and angular movement of the AUV 106 relative to the funnel-shaped member 402.

[0035] According to some embodiments, the load-bearing lifting crane 400 can be a cable-based hydraulic lifting crane that is operable to lift the funnel-shaped member 402 and the AUV 106 onto a recovery pad on the deck of the mining vessel 102. In some implementations, the load-bearing lifting crane 400 can be configured to swing in a lateral direction about a vertical axis such that the funnel-shaped member 402 and the AUV 106 are lifted and placed on the recovery pad. The cable 406 from the load-bearing lifting crane 400 can be attached to a suitable receiving member on the uppermost portion of the funnel-shaped member 402 during the recovery operation. In some embodiments, no tension is applied to the cable 406 during the capture operation. This ensures that the cable 406 does not exert any force on the stabilizing arm 404 and does not interfere with the operation of the stabilizing arm 404 when the AUV 106 is captured. After the AUV 106 is secured, the load-bearing lifting crane 400 can lift the AUV 106 and the funnel-shaped member 402 out of the water under the guidance of the stabilizing arm 404 and place the AUV 106 on the recovery pad.

[0036] In one embodiment, the operation of the load-bearing lifting crane 400 and the stabilizing arm 404 can be supervised by the control center 210. In another embodiment, the operation of the funnel-shaped member sensor 500 and / or the AUV sensor 502 can be supervised by the control center 210. In yet another embodiment, the operation of the recovery system 204, including the operation of all components of the recovery system 204, can be supervised by the control center 210. In yet another embodiment, the operation of the recovery system 204, including the operation of all components of the recovery system 204, and the operation when the AUV 106 approaches the mining vessel 102 can be supervised by the control center 210.

[0037] Recovery Pad and Trolley

[0038] According to some embodiments, Figure 6 A vertical expanded view of the components in the recovery pad and trolley system 206 is shown. According to Figure 6 , the recovery pad and trolley system 206 can at least include a recovery pad 600 and a trolley 606. The recovery pad 600 can further include a track portion 602 supported by a hydraulic scissor lift 604. According to some embodiments, the hydraulic scissor lift 604 can move the track portion 602 in a vertical motion (e.g., up or down) as indicated by the double-headed arrow. The trolley 606 can be equipped with wheels 608 that allow the trolley 606 to move on the track portion 602 of the recovery pad 600 and on Figure 2travels on the illustrated track system 208. According to some embodiments, the track width of the track portion 602 of the recovery pad 600 matches the track width of the track system 208. However, unlike the stationary tracks of the track system 208, the track portion 602 of the recovery pad 600 can be vertically raised via a hydraulic scissor lift 604 so that the trolley 606 can receive the AUV 106, as discussed below.

[0039] According to some embodiments, Figure 7 The reception process of the AUV 106 by the recovery pad and trolley system 206 is shown. More specifically, after the AUV 106 is fixed in the funnel-shaped member 402, the load-bearing lifting crane 400, with the assistance of the stabilizing arm 404, lifts the funnel-shaped member 402 out of the water and raises the funnel-shaped member 402 above the recovery pad 600, which can be set at its lowest vertical position. Subsequently, the hydraulic scissor lift 604 can extend upward to raise the recovery pad 600 and position the recovery pad 600 inside the base of the funnel-shaped member 402, as Figure 7 shown. In some embodiments, the funnel-shaped member 402 can be self-aligned to the recovery pad 600 via a suitable mechanism so that the AUV 106 can rest on a designated area of the trolley 606. Then, the base of the AUV 106 can be fixed to the top surface of the trolley 606 via the Figure 6 shown AUV lock 610. After the AUV 106 is fixed to the trolley 606, the funnel-shaped member 402 can release the AUV 106 so that the load-bearing lifting crane 400, the stabilizing arm 404, and the funnel-shaped member 402 can move upward and away from the recovery pad and trolley system 206. For example, the load-bearing lifting crane 400 and the stabilizing arm 404 can return the funnel-shaped member 402 to the water so that the funnel-shaped member 402 can collect the next AUV 106.

[0040] According to some embodiments, and with reference to Figure 2, the LAR system 200 may include a transport container such as transport container 212, which may be configured to travel on the rail system 208 to collect the payload of ore nodules 104 from the recovered AUV 106. For example, when the recovered AUV 106 is lifted on the recovery pad 600, the transport container 212 may approach the AUV 106 via the rail system 208 to collect the payload of the AUV. In some embodiments, the transport container 212 is positioned adjacent to the AUV 106 (e.g., along one side of the AUV) such that the height level at which the transport container 212 is located is lower than the height level at which the payload hopper 112 of the AUV 106 is located. The side of the AUV 106 close to the transport container 212 may be configured to open in such a way (e.g., open outward like a hatch) so that the payload of ore nodules 104 is transferred from the payload hopper 112 to the transport container 212 (e.g., by gravity). In some embodiments, the side of the AUV 106 close to the transport container 212 may be equipped with a hatch or other suitable release mechanism that enables the payload to be transferred from the payload hopper 112 to the transport container 212. After the payload of the AUV 106 is transferred to the transport container 212, the transport container 212 may travel along the rail system 208 to unload the collected ore nodules 104 to the central nodule collection area 216.

[0041] In some embodiments, after the payload of ore nodules 104 is removed from the AUV 106, the AUV 106 may be lowered towards the rail system 208 by a hydraulic scissor lift 604. According to some embodiments, the hydraulic scissor lift 604 may lower the recovery pad 600 such that the rail portion 602 of the recovery pad 600 self-aligns with the rails of the rail system 208. After the rail portion 602 of the recovery pad 600 is aligned with the rails of the rail system 208, the trolley 606 may move from the recovery pad 600 onto the rail system 208 and direct the trolley 606 towards the maintenance area 218, the battery station 214, or to the deployment site of the deployment system 202. After the AUV 106 is unloaded into any one of the maintenance area 218, the battery station 214, or the deployment system 202, the empty trolley 606 may return to the recovery pad 600 to prepare for the next AUV 106 recovery operation.

[0042] As Figure 2 shown, the rail system 208 may form an extended rail network 220 that allows the trolley 606 carrying the AUV 106 (as Figure 2 indicated by the solid box in Figure 2travel between various positions along the deck of the mining vessel 102 (as indicated by the blank boxes in). Thus, the track network 220 can connect the various parts and areas of the LAR system 200 on the deck of the mining vessel 102. According to some embodiments, the track system 208 can be a series of guide rails in a grid pattern as shown in Figure 2 However, this is not restrictive, and the track network 220 can have any suitable pattern. The guide rails of the track system 208, including the track portion 602 of the recovery pad 600, constrain the movement of the carriage 606 in five degrees of freedom (e.g., allowing movement along the x-axis, y-axis, and z-axis), such that the carriage 606 can move as described herein.

[0043] According to some embodiments, the track system 208 can be equipped with a third track system to power the carriage 606. In some embodiments, the carriage 606 is powered by a rechargeable battery. In other embodiments, the track network 220 can provide redundant paths to ensure that technical difficulties do not interrupt the processes performed by the LAR system 200 and to ensure that the deployment system 202 and the recovery system 204 are always connected to the battery station 214, the nodule collection area 216, and the maintenance area 218.

[0044] After recovering the AUV 106 from the sea, the AUV 106 can be placed on the carriage 606 at the recovery pad position and the payload of the AUV 106 can be removed. From here, the carriage 606 can be transferred onto the track system 208 and guided to, for example, the battery station 214 to charge or replace the battery pack of the AUV. After the battery of the AUV is fully charged or replaced, the AUV 106 can continue to one or more deployment sites of the deployment system 202, where the AUV 106 can be removed from the track system 208 to deploy the AUV 106 back into the water. In some embodiments, a damaged AUV 106 can travel via the track system 208 to the maintenance area 218 for repair. In some embodiments, the transport container 212 can travel between the recovery pad 600 and the nodule collection area 216 to collect and unload the nodule payload from the recovered AUV 106.

[0045] Control Center

[0046] According to some embodiments, the control center 210 can be an operation center that supervises the autonomous operation of the LAR system 200 described herein. In some embodiments, the control center 210 can use a monitoring system to monitor the autonomous operation of the LAR system 200, which can include, for example, closed-circuit video lines, sensors distributed throughout the LAR system 200, and / or a direct view of the recovery system 204, the deployment system 202, the track system 208, the maintenance area 218, the battery station 214, and the nodule collection area 216. In some embodiments, the control center 210 has suitable infrastructure (e.g., the control center 210 is equipped with appropriate software and hardware) to enable the LAR system 200 to operate autonomously. In some implementations, the control center 210 is a command center that can pause and restart operations within the LAR system 200. Additionally, the control center 210 ensures that the LAR system 200 operates at an optimal rate.

[0047] Other Considerations

[0048] The language and terminology used herein are for descriptive purposes only and should not be considered limiting.

[0049] Although, for simplicity, the concepts and principles of operation of the deployment system 202, the recovery system 204, the recovery pad and trolley system 206, the track system 208, and the control center 210 of the LAR system 200 have been described using a limited number of components, these systems can include additional suitable electronic and / or mechanical components. These components can include, but are not limited to, computers, power supplies, electrical control panels, etc. These additional components are within the spirit and scope of the present disclosure.

[0050] Furthermore, the connections between components or systems in the figures are not intended to be limited to direct connections. Instead, data or signals between these components can be modified, reformatted, or otherwise changed by intermediate components. Additionally, additional connections or fewer connections can be used. The terms "coupled," "connected," or "communicatively coupled" should be understood to include direct connections, indirect connections through one or more intermediate devices, wireless connections, and the like.

[0051] Moreover, the deployment system 202, the recovery system 204, the recovery pad and trolley system 206, and the track system 208 described herein are modular, which means that one or more systems can be added as needed, depending on the number of AUVs and the size of the mining ship 102. Additionally, arrangements, combinations, and modifications that result in simpler or more efficient versions of the systems disclosed herein are within the spirit and scope of the present disclosure.

[0052] References in the specification to "one embodiment", "preferred embodiment", "an embodiment", "some embodiments", or "multiple embodiments" mean that the particular features, structures, characteristics, or functions described in connection with the embodiments are included in at least one embodiment of the present invention and may be included in more than one embodiment. Further, the above-mentioned phrases that appear throughout the specification do not necessarily refer to the same embodiment or the same multiple embodiments.

[0053] The use of certain terms throughout the specification is for illustrative purposes only and should not be construed as limiting. A service, function, or resource is not limited to a single service, function, or resource; the use of these terms may refer to a collection of related services, functions, or resources, which may be dispersed or aggregated.

[0054] In addition, those skilled in the art should recognize that: (1) certain steps may be performed optionally; (2) the steps may not be limited to the specific order described herein; (3) certain steps may be performed in a different order; and (4) certain steps may be performed simultaneously or concurrently.

[0055] As used in the specification and claims, the terms "about", the phrase "approximately equal to", and other similar phrases (e.g., "X has a value that is about Y" or "X is approximately equal to Y") should be understood to mean that one value (X) is within a predetermined range of another value (Y). Unless otherwise specified, the predetermined range may be plus or minus 20%, plus or minus 10%, plus or minus 5%, plus or minus 3%, plus or minus 1%, plus or minus 0.1%, or less than plus or minus 0.1%.

[0056] Unless expressly stated to the contrary, as used in the specification and claims, the indefinite articles "a" and "an" should be understood to mean "at least one". As used in the specification and claims, the phrase "and / or" should be understood to mean "either or both" of the elements so combined, i.e., the elements exist together in some cases and separately in other cases. Multiple elements listed with "and / or" should be interpreted in the same way, i.e., "one or more" of the elements so combined. Other elements, whether related or unrelated to the specifically identified elements, may optionally exist in addition to the elements specifically identified by the "and / or" clause. Thus, as a non-limiting example, a reference to "A and / or B", when used in conjunction with open-ended language such as "comprising", may, in one embodiment, refer only to A (optionally including elements other than B); in another embodiment, may refer only to B (optionally including elements other than A); in yet another embodiment, may refer to A and B (optionally including other elements); and so on.

[0057] As used in the specification and claims, "or" shall be understood to have the same meaning as "and / or" as defined above. For example, when separating items in a list, "or" or "and / or" shall be interpreted inclusively, meaning including at least one of the elements in the list or multiple elements, as well as including multiple of the elements in the list or multiple elements, and including optionally additional unlisted items. Only terms that explicitly indicate the contrary, such as "only one of" or "exactly one of", or "consisting of" as used in the claims, refer to exactly one element of the list of elements or multiple elements. Generally, the term "or" when preceded by an exclusive term such as "any one of", "one of", "only one of", or "exactly one of" should be interpreted only to mean an exclusive choice (i.e., "one or the other, but not both"). "Consisting essentially of" when used in the claims shall have the ordinary meaning used in the field of patent law.

[0058] As used in the specification and claims, when referring to a list of one or more elements, the phrase "at least one" shall be understood to mean at least one element selected from any one or more of the elements in the list, but not necessarily including at least one of each and every element specifically listed in the list of elements, nor excluding any combination of the elements in the list. This definition also allows that, in addition to the elements specifically identified in the list of elements referred to by the phrase "at least one", there may optionally be other elements, whether related or unrelated to those specifically identified. Thus, as a non-limiting example, "at least one of A and B" (or equivalently, "at least one of A or B", or equivalently, "at least one of A and / or B"), in one embodiment, may refer to at least one A, where at least one A optionally includes more than one A and no B is present (and optionally includes elements other than B); in another embodiment, it may refer to at least one B, where at least one B optionally includes more than one B and no A is present (and optionally includes elements other than A); in yet another embodiment, it may refer to at least one A and at least one B, where at least one A optionally includes more than one A and at least one B optionally includes more than one B (and optionally includes other elements); and so on.

[0059] The use of "including", "comprising", "having", "containing", "involving" and their variants means covering the items listed hereinafter and additional items.

[0060] The use of ordinal numbers such as "first", "second", "third", etc. to modify claim elements in a claim does not in itself indicate any priority, precedence or order of one claim element over another, nor does it indicate the temporal order of acts of performing a method. Ordinal numbers are used only as labels to distinguish one claim element having a particular name from another element having the same name (but with an ordinal number) so as to distinguish claim elements.

[0061] The subject matter and the implementation of operations described in this specification can be implemented in digital electronic circuitry, or in computer software, firmware, or hardware, including the structures disclosed in this specification and structural equivalents thereof, or a combination of one or more of the foregoing structures and structural equivalents thereof. The implementation of the subject matter described in this specification can be implemented as one or more computer programs, i.e., one or more modules of computer program instructions encoded on a computer storage medium for execution by a data processing apparatus or for controlling the operation of a data processing apparatus. Alternatively or additionally, the program instructions can be encoded on an artificially generated propagated signal, such as a machine-generated electrical, optical, or electromagnetic signal generated for encoding information for transmission to a suitable receiving apparatus for execution by a data processing apparatus. A computer storage medium can be a computer-readable storage device, a computer-readable storage substrate, a random or serial access memory array or device, or a combination of one or more of the foregoing, or be included in a computer-readable storage device, a computer-readable storage substrate, a random or serial access memory array or device, or a combination of one or more of the foregoing. Further, although a computer storage medium is not a propagated signal, a computer storage medium can be the source or destination of computer program instructions encoded in an artificially generated propagated signal. A computer storage medium can also be one or more separate physical components or media (such as multiple optical discs, magnetic disks, or other storage devices), or be included in one or more separate physical components or media (such as multiple optical discs, magnetic disks, or other storage devices).

[0062] The operations described in this specification can be implemented as operations performed by a data processing apparatus on data stored on one or more computer-readable storage devices or data received from other sources.

[0063] The term "data processing apparatus" encompasses all kinds of devices, equipment, and machines for processing data, including, for example, programmable processors, computers, systems on a chip, or a plurality or combination of the foregoing. The apparatus may include dedicated logic circuitry, such as an FPGA (Field Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit). In addition to hardware, the apparatus may also include code that creates an execution environment for the computer programs under discussion, such as code that constitutes processor firmware, a protocol stack, a database management system, an operating system, a cross-platform runtime environment, a virtual machine, or a combination of one or more of them. The apparatus and the execution environment may implement various different computing model infrastructures, such as network services, distributed computing, and grid computing infrastructures.

[0064] A computer program (also referred to as a program, software, software application, script, or code) can be written in any form of programming language, including compiled or interpreted languages, declarative or procedural languages, and the computer program can be deployed in any form, including as a stand-alone program or as a module, component, subroutine, object, or other unit suitable for use in a computing environment. A computer program may or may not correspond to a file in a file system. The program may be stored as part of a file that holds other programs or data (e.g., one or more scripts in a markup language document), or in a single file dedicated to the program under discussion, or in multiple files that coordinate with each other (e.g., files that store one or more modules, subroutines, or code segments). A computer program may be deployed so as to be executed on one computer, or on multiple computers located at the same site, or on multiple computers distributed across multiple sites and interconnected by a communication network.

[0065] The processes and logical flows described in this specification can be performed by one or more programmable processors executing one or more computer programs to perform actions by operating on input data and generating output. The processes and logical flows can also be performed by dedicated logic circuitry, and the apparatus can also be implemented as dedicated logic circuitry, such as an FPGA (Field Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit).

[0066] Processors suitable for executing computer programs include, for example, general and special-purpose microprocessors, as well as any one or more processors of any kind of digital computer. Generally, a processor will receive instructions and data from a read-only memory or a random access memory or both. The basic elements of a computer are a processor for performing operations in accordance with the instructions and one or more storage devices for storing the instructions and data. Generally, a computer will also include one or more mass storage devices for storing data, or be operatively connected to such devices to receive data therefrom, transfer data thereto, or both, such as magnetic disks, magneto-optical disks, optical disks, or solid state drives. However, a computer need not necessarily have such devices. In addition, a computer may be embedded in other devices, such as a mobile phone, a personal digital assistant (PDA), a mobile audio or video player, a gaming console, a global positioning system (GPS) receiver, or a portable storage device (such as a universal serial bus (USB) flash drive), to name just a few. Devices suitable for storing computer program instructions and data include various forms of non-volatile memory, storage media, and storage devices, by way of example, including: semiconductor storage devices such as EPROM, EEPROM, and flash memory devices; magnetic disks such as internal hard disks or removable disks; magneto-optical disks; and CD-ROM and DVD-ROM optical disks. The processor and the memory may be supplemented by, or incorporated in, special purpose logic circuitry.

[0067] To provide for interaction with a user, embodiments of the subject matter described in this specification may be implemented on a computer that has a display device for displaying information to the user, such as a CRT (cathode ray tube) or LCD (liquid crystal display) monitor, as well as a keyboard and a pointing device, such as a mouse, trackball, touchpad, or stylus, by which the user can provide input to the computer. Other types of devices may also be used to implement interaction with the user; for example, feedback provided to the user may be any form of sensory feedback, such as visual feedback, auditory feedback, or tactile feedback; and input from the user may be received in any form, including acoustic input, voice input, or tactile input. Additionally, a computer may interact with the user by sending documents to and receiving documents from the device used by the user; for example, by sending a web page in response to a request received from a web browser on a user client device.

[0068] Implementations of the subject matter described in this specification can be implemented in a computing system that includes a backend component (such as a data server), or a middleware component (such as an application server), or a frontend component (such as a client computer having a graphical user interface or a web browser through which a user can interact with an implementation of the subject matter described in this specification), or any combination of one or more such backend, middleware, or frontend components. The components of the system can be interconnected by any form or medium of digital data communication, such as a communication network. Examples of communication networks include local area networks (“LANs”) and wide area networks (“WANs”), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks).

[0069] A computing system can include a client and a server. The client and the server are typically remote from each other and typically interact through a communication network. The relationship between the client and the server is created by computer programs running on respective computers and having a client-server relationship with each other. In some implementations, the server transmits data (e.g., HTML pages) to a client device (e.g., to display data to a user interacting with the client device and to receive user input from a user interacting with the client device). Data generated at the client device (e.g., results of user interactions) can be received at the server from the client device.

[0070] In some embodiments, aspects of the systems and methods described herein can be implemented using ML techniques and / or AI techniques.

[0071] “Machine learning” generally refers to the application of certain techniques (such as pattern recognition and / or statistical inference techniques) by a computer system to perform a specific task. Machine learning techniques can be used to build a model based on sample data (e.g., “training data”) and to validate the model using validation data (e.g., “test data”). The sample and validation data can be organized as a set of records (e.g., “observations” or “data samples”), where each record indicates the value of a particular data field (e.g., “independent variable”, “input”, “feature”, or “predictor variable”) and the corresponding value of another data field (e.g., “dependent variable”, “output”, or “target”). Machine learning techniques can be used to train a model to infer the value of an output based on the values of the inputs. When presented with other data (e.g., “inference data”) that is similar or related to the sample data, such a model can accurately infer the unknown values of the targets of the inference dataset.

[0072] As used herein, "model" can refer to any suitable model product generated by the process of fitting a model to a specific training dataset using machine learning algorithms. The terms "model", "data analysis model", "machine learning model", and "machine learned model" are used interchangeably herein.

[0073] As used herein, "development" of a machine learning model can refer to the construction of the machine learning model. A machine learning model can be constructed by a computer using a training dataset. Thus, "development" of a machine learning model can include training the machine learning model using the training dataset. In some cases (commonly referred to as "supervised learning"), the training dataset used to train the machine learning model can include known results (such as labels or target values) for individual data samples in the training dataset. For example, when training a supervised computer vision model to detect images of cats, the target value for a data sample in the training dataset can indicate whether the data sample includes an image of a cat. In other cases (commonly referred to as "unsupervised learning"), the training dataset does not include known results for individual data samples in the training dataset.

[0074] After development, a machine learning model can be used to generate inferences for an "inference" dataset. For example, after development, a computer vision model can be configured to distinguish data samples that include images of cats from data samples that do not include images of cats. As used herein, "deployment" of a machine learning model can refer to using the developed machine learning model to generate inferences for data other than the training data.

[0075] "Artificial intelligence" (AI) generally encompasses any technology that exhibits intelligence. An application that exhibits intelligence (e.g., software executed by a machine) can be referred to herein as an "artificial intelligence application", "AI application", or "agent". An agent can exhibit intelligence, for example, by perceiving its environment, learning, and / or solving problems (such as taking actions or making decisions to increase the likelihood of achieving a defined goal). In many cases, agents are developed by organizations and deployed on network-connected computer systems so that users within the organization can access them. Agents are used to guide decision-making and / or control systems in a wide range of fields and industries, such as security, transportation, risk assessment and management, supply chain logistics, and energy management. Agents can include models or use models.

[0076] Examples of some non - limiting AI application types can include inference applications, comparison applications, and optimizer applications. An inference application can include any agent that generates inferences (e.g., predictions, forecasts, etc.) about the values of one or more output variables based on the values of one or more input variables. In some examples, the inference application can provide recommendations based on the generated inferences. For example, an inference application of a loan organization can infer the likelihood that a loan applicant will be unable to repay a loan for the requested amount and can recommend whether to approve the loan for the requested amount based on that inference. A comparison application can include any agent that compares two or more possible scenarios. Each scenario can correspond to a set of potential values of one or more input variables over a period of time. For each scenario, the agent can generate one or more inferences (e.g., about the values of one or more output variables) and / or recommendations. For example, a comparison application of a loan organization can display the predicted revenue of the organization over a period of time if the organization approves loan applications only when the predicted default risk is less than 20% (Scenario #1), less than 10% (Scenario #2), or less than 5% (Scenario #3). An optimizer application can include any agent that infers the optimal values of one or more variables of interest based on the values of one or more input variables. For example, an optimizer application of a loan organization can indicate the maximum loan amount that the organization will approve for a particular customer.

[0077] Each numerical value presented herein, such as those given in a table, chart, or graph, is intended to represent the minimum or maximum value of a range of values for the corresponding parameter. Thus, when these numerical values are incorporated into the claims, in accordance with the teachings herein, that numerical value provides clear support for claims that define a range of values above or below that numerical value. If these numerical values are not incorporated into the claims, then the numerical values presented herein should not be considered limiting in any way.

[0078] Particular embodiments of the subject matter have been described. Other embodiments are within the scope of the appended claims. For example, the acts recited in the claims can be performed in a different order and still achieve the desired result. As an example, the processes depicted in the figures do not necessarily need the particular order or sequence shown to achieve the desired result. In certain implementations, multitasking and parallel processes may be advantageous. Other steps or stages can be provided from, or eliminated from, the described processes. Accordingly, other embodiments are within the scope of the appended claims.

[0079] Those skilled in the art will understand that the previous examples and embodiments are exemplary and do not limit the scope of the present disclosure. All arrangements, enhancements, equivalents, combinations, and improvements thereto that are obvious to those skilled in the art upon reading this specification and studying the drawings are included within the true spirit and scope of the present disclosure. It should also be noted that the elements of any claim can be arranged in different ways, and these different arrangements include the presence of multiple dependencies, configurations, and combinations.

[0080] After having described several aspects of at least one embodiment of the invention in this way, it should be understood that various changes, modifications, and improvements will readily occur to those skilled in the art. Such changes, modifications, and improvements are intended to be part of the present disclosure and are intended to be within the spirit and scope of the invention. Accordingly, the foregoing description and drawings are by way of example only.

Claims

1. A deployment and recovery system, the system comprising: A deployment system, the deployment system comprising a crane operable to lower an autonomous underwater vehicle (AUV) from a ship's deck plane to sea level below the deck plane; A recovery system configured to collect the AUV from the sea level, the recovery system comprising a load-bearing lifting crane, one or more stabilizing arms, and a funnel-shaped member; And A track system, the track system comprising a track network on which the AUV is capable of traveling after being collected by the recovery system.

2. The system according to claim 1, further comprising a recovery pad and a trolley system configured to receive the AUV from the recovery system and transfer the AUV onto the track network.

3. The system according to claim 2, wherein The recovery pad and trolley system comprises a trolley and a recovery pad, with the AUV fixed to the trolley.

4. The system according to claim 3, wherein, The recovery pad comprises a track portion configured to receive the trolley.

5. The system according to claim 4, wherein, The track width of the track portion of the recovery pad matches the track width of the track system.

6. The system according to claim 1, wherein, The crane comprises an A-frame crane having at least one hydraulic piston that allows the A-frame crane to tilt forward about a pivot point when the AUV is to be lowered to sea level.

7. The system according to claim 1, wherein, The one or more stabilizing arms are configured to keep the funnel-shaped member stationary in the global coordinate system while the funnel-shaped member waits at sea level for the AUV to rise.

8. The system according to claim 1, wherein, The recovery pad and trolley system is configured to move in a vertical motion via a hydraulic scissor lift.

9. The system according to claim 1, further comprising a maintenance area, a nodule collection area, and a battery station.

10. The system according to claim 9, wherein, The track system comprises a series of guide rails in a grid pattern that connect the recovery pad and trolley system to the maintenance area, the nodule collection area, the battery station, and the deployment system.

11. The system according to claim 1, further comprising a control center configured to supervise the operations of the deployment system, the recovery system, and the track system.

12. The system according to claim 11, wherein, The control center is further configured to enable the deployment and recovery system to operate autonomously.

13. The system according to claim 1, wherein, The funnel-shaped member is a bell-shaped wire frame, and the bell-shaped wire frame comprises sensors arranged at the bottom end of the funnel-shaped member.

14. The system according to claim 13, wherein, The sensors comprise a combination of acoustic sensors, optical sensors, and magnetic sensors.

15. A method for recovering an autonomous underwater vehicle (AUV), comprising: Submerging the bottom portion of a receiving funnel-shaped member into water such that sensors arranged on the bottom portion of the funnel-shaped member detect the rising AUV, wherein the funnel-shaped member is kept stationary in the global coordinate system by a pair of stabilizing arms; Guiding the rising AUV inside the funnel-shaped member, wherein the AUV is guided by sensors on the receiving funnel-shaped member; After the AUV is located inside the funnel-shaped member, locking the AUV to the funnel-shaped member using a locking mechanism; Raising the funnel-shaped member together with the AUV out of the water; Place the AUV on a trolley, which is arranged on the track section of a raised recovery mat; and Lower the recovery mat together with the AUV to the track system.

16. The method according to claim 15, wherein, Guide the ascending AUV inside the funnel-shaped member including self-aligning the AUV with the funnel-shaped member.

17. The method according to claim 15, wherein, The stabilizing arm is configured to move in six degrees of freedom.

18. The method according to claim 15, wherein, Before lowering the raised recovery mat, guide a transport container adjacent to the AUV via the track system such that the height at which the transport container is located is lower than the height at which the AUV is located.

19. The method according to claim 18, further comprising: Open a side of the AUV close to the transport container and move the payload of the AUV into the transport container.

20. The method according to claim 15, wherein, Lowering the raised recovery mat includes: aligning the track section of the recovery mat with the track of the track system and guiding the AUV to one of a maintenance area, a battery station, or a deployment site of a deployment system.

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