High-speed launch and recovery system for autonomous underwater vehicles

Abstract

A launching and recovery system is presented, the system including a launching system having an A-frame crane operable to lower an autonomous underwater vehicle (AUV) from a deck level of a vessel to a sea level below the deck level. The system further includes a recovery system configured to collect the AUV from just below sea level or at sea level, the recovery system including a weight-bearing lift crane, one or more stabilizing arms, and a funnel. Additionally, the system includes a recovery pad and trolley system configured to receive the AUV from the recovery system, and a rail system having a network of rails configured to receive the trolley with the AUV from the recovery pad and trolley system.

Description

[Technical Field]

[0001] (CROSS-REFERENCE TO RELATED APPLICATIONS) This application claims the benefit of U.S. Provisional Patent Application No. 63 / 428,318, entitled "FAST LAUNCH AND RECOVERY SYSTEM FOR AUTONOMOUS UNDERWATER VEHICLE," filed November 28, 2022, which is incorporated herein by reference in its entirety.

[0002] (Technical field) The present disclosure relates generally to deep-sea mining systems, and more particularly to a launch and recovery (LAR) system for an autonomous underwater vehicle (AUV) used in deep-sea mining operations. The LAR system can be deployed on the deck of a mining vessel. [Background technology]

[0003] As the world transitions to 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, fewer and fewer sources of these metals remain on land, and these land-based resources may reside in difficult-to-reach locations and / or within sensitive ecosystems. Deep-sea mining, an untapped source of critical metals in the form of ore nodules (e.g., polymetallic ferromanganese nodules), has attracted the attention of the mining industry in recent years.

[0004] Technical challenges associated with deep-sea mining include the ocean depths (e.g., 5 km to 6 km) and extreme pressures (e.g., 500 bar to 600 bar) at which ore nodule extraction occurs, and the techniques required to transport the mined ore to the ocean surface. Two systems have been widely considered and determined to be viable on a small scale: (i) a seafloor dredge-type collector system, which pumps the ore to the surface as a slurry through a vertical riser pipe, and (ii) a mechanical lifting system using synthetic ropes. However, both systems suffer from reliability and scaling issues and can cause irreparable damage to sensitive environments due to disturbances caused on the seafloor during the mining process.

[0005] Therefore, there is a need for more sustainable methods of extracting minerals from the ocean floor while keeping the undersea ecosystem intact. Summary of the Invention [Means for solving the problem]

[0006] Disclosed herein are launch and recovery (LAR) systems and methods for using same for launching and recovering autonomous underwater vehicles (AUVs) used in deep-sea mining operations. According to some embodiments, the disclosed LAR systems can autonomously (i) recover the AUV as it surfaces from the seafloor, (ii) remove cargo from the recovered AUV, (iii) recharge the AUV or direct the AUV to an inspection area for repairs, and (iv) return the AUV to the water. In some implementations, the LAR system includes a recovery system for lifting the AUV out of the water, a recovery pad and trolley system for placing the recovered AUV on the deck of a mining vessel, a rail system for directing the recovered AUV onto the deck within the LAR system, a launching system for returning the AUV to the water, and a control center for overseeing operation of the LAR system. [Brief explanation of the drawings]

[0007] The accompanying drawings, which are incorporated as part of this specification, illustrate the 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.

[0008] [Figure 1] FIG. 1 illustrates an exemplary deep sea mining system, according to some embodiments.

[0009] [Figure 2] FIG. 2 illustrates a launch and recovery (LAR) system deployed on the deck of a mining vessel, according to some embodiments.

[0010] [Figure 3] FIG. 3 illustrates components of a launching system for an autonomous underwater vehicle (AUV), according to some embodiments.

[0011] [Figure 4] FIG. 4 illustrates components of a recovery system for an autonomous underwater vehicle (AUV), according to some embodiments.

[0012] [Figure 5A] FIG. 5A illustrates aspects of a recovery process for an autonomous underwater vehicle (AUV), according to some embodiments.

[0013] [Figure 5B] FIG. 5B illustrates another aspect of a recovery process for an autonomous underwater vehicle (AUV), according to some embodiments.

[0014] [Figure 6] FIG. 6 illustrates components of a retrieval pad and trolley system, according to some embodiments.

[0015] [Figure 7]FIG. 7 illustrates a receiving process for an autonomous underwater vehicle (AUV) with a recovery pad and trolley system, according to some embodiments. DETAILED DESCRIPTION OF THE INVENTION

[0016] Detailed Description 1 illustrates an exemplary deep-sea mining system 100 deployed from a mining vessel 102 to collect ore nodules 104 located on the seafloor, according to some embodiments. The deep-sea mining system 100 is lowered near the seafloor and floats above the seafloor during the ore collection process. In some embodiments, the deep-sea mining system 100 includes an autonomous underwater vehicle (AUV) 106, an ore collector system 108 for collecting the ore nodules 104 from the seafloor, a payload hopper 112 for temporarily storing the collected ore nodules 104, and a dynamic buoyancy system 114 for enabling the deep-sea mining system 100 to maneuver primarily in the vertical direction z (e.g., descending from the sea surface to the seafloor and ascending from the seafloor to the sea surface).

[0017] According to some embodiments, the AUV 106 is equipped with thrusters (not shown in FIG. 1 ) that enable the deep sea mining system 100 to steer primarily laterally (e.g., parallel to the sea floor along the x-y plane) and secondarily vertically (e.g., along the z-direction). By way of example, and not limitation, the ore collector system 108 may be equipped with a robotic arm 110 that can extend toward the sea floor and reach the ore nodules 104. In some embodiments, the robotic arm 110 can collect the ore nodules 104 by picking them up as the deep sea mining system 100 floats above the sea floor using a suitable end effector, not shown in FIG. 1 . Once picked up, the ore nodules 104 can be placed into a payload hopper 112.

[0018] According to some embodiments, deep sea mining system 100 uses an underwater survey and inspection system to locate ore nodules 104 on the seafloor and determine whether marine life is anchored on the ore nodules 104. By way of example, without limitation, deep sea mining system 100 may be configured to avoid collecting ore nodules 104 that have marine life anchored on them. When payload hopper 112 is full, dynamic buoyancy system 114 enables deep sea mining system 100 to surface and deliver its payload (e.g., collected ore nodules 104). In some embodiments, dynamic buoyancy system 114 is configured to limit the use of electrically powered thrusters, conserving energy while keeping deep sea mining system 100 neutrally buoyant at any depth, particularly near the operating depth.

[0019] According to some embodiments, the components of the deep sea mining system 100 (e.g., the dynamic buoyancy system 114, the payload hopper 112, the ore collector system 108, and the AUV 106) operate in conjunction. In some embodiments, these components may either be integrated into a single housing or operated as removable modules that are physically and communicatively connected to one another. According to some embodiments, the dynamic buoyancy system 114, the payload hopper 112, the ore collector system 108, and the AUV 106 are physically attached to one another during the collection / mining process, and at least the payload hopper 112 and the dynamic buoyancy system 114 can be physically attached to one another during the mining and surfacing processes. In some embodiments, the dynamic buoyancy system 114 can provide the buoyancy necessary to compensate for the collected ore nodules 104 during the mining process and at least during the surfacing of the payload hopper 112 or the entire deep sea mining system 100. In some embodiments, if the dynamic buoyancy system 114 and the load hopper 112 rise to the ocean surface alone, 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 load hopper 112 descend back down from the ocean surface and are reattached to the deep sea mining system 100.

[0020] In some embodiments, deep sea mining system 100 may include additional components, modules, and systems necessary for its intended operation. These additional components, modules, and systems are not shown in FIG. 1 for simplicity and ease of illustration. By way of example, and without limitation, these additional components, modules, and systems may include cables, one or more onboard computers, electronics, sensors, additional thrusters, motors, batteries, communications equipment, cameras, radar, controllers, global positioning systems, and the like. These additional components, modules, and systems are within the spirit and scope of the present disclosure. In some embodiments, deep sea mining system 100 may operate under an autonomous mode, a semi-automatic mode, a manual mode, or a combination thereof, based on commands from mining vessel 102. In yet another embodiment, deep sea mining system 100 may be communicatively coupled and physically connected to mining vessel 102 via cables or other suitable means. To deploy and retrieve a deep-sea mining system, such as deep-sea mining system 100 shown in FIG. 1, mining vessel 102 is equipped with a launching and retrieval system, hereafter referred to as a LAR system.

[0021] In the following description of the LAR system, the term "AUV" is intended to describe a deep-sea mining system. Accordingly, any reference to an AUV or AUV 106 is intended to mean or describe a deep-sea mining system, such as deep-sea mining system 100 illustrated in FIG. 1.

[0022] According to some embodiments, FIG. 2 illustrates a LAR system 200 mounted on the deck of a ship or vessel, such as mining vessel 102 in FIG. 1. By way of example, and not limitation, LAR system 200 may be positioned along the length of mining vessel 102 (e.g., between the bow and stern of the vessel) and may occupy part or all of the width of mining vessel 102. According to some embodiments, LAR system 200 can streamline the process of deploying AUVs into the water, retrieving AUVs from the water, emptying the AUVs of their payload, charging the AUVs, and repairing the AUVs. For example, LAR system 200 can empty the AUVs of their ore nodule cargo, transport the AUVs for maintenance, transport them for recharging, transport them for other on-deck operations, or return them to the water to redeploy.

[0023] In some embodiments, LAR system 200 can autonomously perform the aforementioned operations with limited or no human intervention. For this reason, LAR system 200 includes multiple subsystems configured to perform different operations. By way of example, LAR system 200 in FIG. 2 includes five major subsystems: launching system 202, recovery system 204, recovery pad and trolley system 206, and rail system 208. Control center 210 oversees the operation of each subsystem and assesses the overall health of LAR system 200. These subsystems and their operations are described below.

[0024] (Launching System) According to some embodiments, launching system 202 can include one or more cranes for launching (e.g., lowering or deploying) AUVs into the sea from one side of mining vessel 102, such as the starboard side of mining vessel 102 (as shown in FIG. 2 ), or alternatively, from the port side of the vessel. FIG. 3 depicts exemplary cranes 300a and 300b used by launching system 202 to deploy AUVs from the deck of mining vessel 102 back into the sea. In some implementations, cranes 300a and 300b can be A-frame type cranes featuring a pair of hydraulic pistons 304. However, this is not limiting, and launching system 202 can include other types of cranes, including, but not limited to, knuckle boom cranes, offshore cranes, other suitable types of cranes, or any combination thereof. These other types of cranes and combinations thereof are 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 type cranes. Hydraulic pistons 304 may have a first end 306 that is fixedly secured to the deck of mining vessel 102, while second ends 308 may be fixedly secured to crane side beams 310, allowing cranes 300a and 300b to pivot about pivot points 312 in a forward motion when hydraulic pistons 304 are extended, and in a rearward motion when hydraulic pistons 304 are retracted from their extended positions. The horizontal beams 302 of cranes 300a and 300b may be fixedly attached to the upper portion of AUV 106 via a latch mechanism and cable system that is remotely activated while hydraulic pistons 304 are operated.

[0025] The AUV 106 can be positioned at a "pickup" location where the crane is in its onboard position (e.g., upright position). The AUV 106 can then be lifted slightly using the winch cable 314 so that it is off the deck, while the on-deck components for the crane (e.g., hydraulic piston 304) pivot the crane towards its outboard position. When the crane is in its outboard position, the AUV 106 can be lowered to sea level and released with the help of a release mechanism attached to the top of the AUV 106 between the AUV 106 and the end of the winch cable 314.

[0026] As shown in FIG. 3 , crane 300b is in an upright (onboard) position, while crane 300a is in an inclined (outboard) position so that AUV 106 can be lowered into the water. According to some embodiments, as crane 300a pivots toward the water, AUV 106 floats above the water surface and is positioned outboard of the vessel by the crane's pivoting motion. AUV 106 is gradually lowered into the water by the crane's winch system, which extends launching system winch cable 314. Once released, AUV 106 may begin its descent to the seabed to collect ore nodules 104. According to some embodiments, launching system 202 may include multiple cranes (e.g., 2, 4, 6, 8, 10, etc.) along the side of mining vessel 102, as shown in FIG. 2 .

[0027] In some implementations, cranes 300a and 300b are operated from control center 210. For example, control center 210 may use signals from on-site sensors, detectors, and other electronic devices to control the movement of cranes 300a and 300b in launching system 202. For example, control center 210 may be equipped with an electronic controller, such as a computer, that runs suitable software or computer-implemented models that can automatically operate cranes 300a and 300b based on feedback received from other subsystems in LAR system 200. In further examples, control center 210 may 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 cranes in launching system 202.

[0028] (Collection system) According to some embodiments, Figure 4 illustrates the individual components of recovery system 204. Recovery system 204 may be located on the side of mining vessel 102 opposite the side on which launching system 202 resides, for example, on the port side of mining vessel 102 when launching system 202 resides on the starboard side of mining vessel 102, as shown in Figure 2. When AUV 106 returns to the surface from its dive, it can be recovered by recovery system 204.

[0029] In some implementations, the recovery system 204 can include one or more weight-bearing lift cranes 400 and one or more funnels 402, with each funnel 402 secured by one or more stabilizing arms 404. By way of example, and without limitation, the stabilizing arms 404 can be a set of robotic electric arms designed to move so that the position of the funnel 402 can be controlled in six degrees of freedom during the recovery process. More specifically, the stabilizing arms 404 can be configured, according to some embodiments, to keep the funnel 402 stationary within a global coordinate system despite movement of the mining vessel 102 and the sea surface. As shown in FIG. 4 , the stabilizing arms 404 can be attached along the edge of the deck mining vessel 102 so that they can position the funnel 402 such that at least the bottom edge of the funnel 402 remains submerged during the capture process.

[0030] According to some embodiments, the purpose of the funnel 402 is to capture the AUV 106 as it rises from the seafloor toward the ocean surface. For this reason, the funnel 402 is shaped like a bell, with a large bottom opening and a narrower top portion, ensuring a self-alignment process. In other embodiments, the funnel 402 can be shaped like a pyramid, with the number of sides varying depending on weather conditions and / or other operating conditions, such as the movement of the vessel at sea level. The funnel 402 can be made from a wireframe mesh to eliminate water drag and the formation of air pockets within its volume when submerged. In some implementations, the bottom edge of the funnel 402 is equipped with a combination of acoustic, optical, and magnetic sensors that can communicate with receivers located in the stabilizing arm 404 and / or the AUV 106. In some implementations, these sensors can provide important information about the relative position (e.g., distance and angle) between the funnel 402 and the AUV 106 so that appropriate adjustments can be made by the AUV thrusters until the AUV 106 is securely captured by the funnel 402. For example, as the AUV 106 approaches the large opening of the funnel 402, it can be submerged to a predetermined depth during the capture process, as shown in FIG. 4, and the AUV 106 can be guided by the funnel sensors until the AUV 106 is secured in position inside the funnel 402 (e.g., locked in position). According to some embodiments, the depth to which the funnel 402 is submerged depends on the current operating conditions in the ocean. For example, the funnel 402 can be submerged to a depth that allows the AUV 106 to properly adjust its position regardless of wave motion. In some embodiments, the funnel sensors can communicate with the AUV sensors and the AUV's onboard computer to guide the AUV into position inside the funnel 402. In some embodiments, signals from the AUV sensors and funnel sensors may be used by control center 210 to determine the position of the AUV relative to the funnel.In some embodiments, signals from the AUV sensors and funnel sensors may be used by the AUV's on-board computer to guide the AUV to a fixed position inside the funnel 402. All of the above and other possible combinations are within the spirit and scope of the present disclosure.

[0031] 5A and 5B illustrate the process of retrieving an AUV 106 by a funnel 402. As shown in FIG. 5A, a funnel sensor 500 and an AUV sensor 502 can provide a continuous signal regarding the position of the AUV 106 relative to the funnel 402. That is, the AUV sensor 502 and the funnel sensor 500 can provide relative distance and 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 with respect to the funnel 402. During the capture process, the funnel 402 remains stationary despite the movement of the mining vessel 102 and the water, as discussed above. Once the AUV 106 is positioned inside the funnel 402, as shown in FIG. 5B , a locking mechanism 504 inside the funnel 402 is activated to secure the AUV 106 prior to lifting the AUV 106 by the weight-bearing lift crane 400. In some examples, the locking mechanism 504 may include a robotically actuated pin that is inserted into a receptacle on the AUV 106 to limit movement of the AUV 106 relative to the funnel 402. In some embodiments, the locking mechanism 504 limits vertical, lateral, and angular movement of the AUV 106 relative to the funnel 402.

[0032] According to some embodiments, the weight-supporting lift crane 400 can be a cable-based hydraulic lift crane that is operable to lift the funnel 402 and AUV 106 onto a recovery pad on the deck of the mining vessel 102. In some implementations, the weight-supporting lift crane 400 can be configured to swing laterally about a vertical axis so that the funnel 402 and AUV 106 can be lifted and placed onto the recovery pad. The cable 406 from the weight-supporting lift crane 400 can be attached to a suitable receiver on the top portion of the funnel 402 during the recovery operation. In some implementations, 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 arms 404 and interfere with their operation while the AUV 106 is being captured. Once the AUV 106 is secured, the weight-bearing lift crane 400 can use guidance from the stabilizing arm 404 to lift the AUV 106 and funnel 402 out of the water and place the AUV 106 on a recovery pad.

[0033] In one embodiment, the operation of the weight supporting lift crane 400 and the stabilizing arm 404 may be overseen by the control center 210. In another embodiment, the operation of the funnel sensor 500 and / or the AUV sensor 502 may be overseen by the control center 210. In yet another embodiment, the operation of the recovery system 204, including all of its components, may be overseen by the control center 210. In yet another embodiment, the operation of the recovery system 204, including all of its components, and the operation of the AUV 106 when approaching the mining vessel 102 may be overseen by the control center 210.

[0034] (Recovery pad and trolley) According to some embodiments, FIG. 6 illustrates a vertical close-up view of components in the recovery pad and trolley system 206. According to FIG. 6, the recovery pad and trolley system 206 can include at least a recovery pad 600 and a trolley 606. The recovery pad 600 can further include a rail segment 602 supported by a hydraulic scissor lift 604. According to some embodiments, the hydraulic scissor lift 604 can move the rail segment 602 in a vertical motion (e.g., upward or downward), as indicated by the two-headed arrow. The trolley 606 can be equipped with wheels 608, which allow the trolley 606 to ride on the rail segment 602 of the recovery pad 600 and on the rail system 208 shown in FIG. 2. According to some embodiments, the track width of the rail segment 602 of the recovery pad 600 matches the track width of the rail system 208. However, in contrast to the rails of rail system 208, which are stationary, rail section 602 of recovery pad 600 can be vertically elevated via hydraulic scissor lift 604 so that trolley 606 can receive AUV 106, as discussed below.

[0035] According to some embodiments, FIG. 7 illustrates the receiving process for the AUV 106 by the recovery pad and trolley system 206. More specifically, once the AUV 106 is secured in the funnel 402, the weight-bearing lift crane 400, with help from the stabilizing arm 404, lifts the funnel 402 out of the water and over the recovery pad 600, which can be at its lowest vertical position setting. The hydraulic scissor lift 604 can then extend upward to raise and position the recovery pad 600 inside the base of the funnel 402, as shown in FIG. 7. In some embodiments, the funnel 402 can self-align to the recovery pad 600 via an appropriate mechanism so that the AUV 106 can rest on a designated area of ​​the trolley 606. The base of the AUV 106 can then be secured onto the upper surface of the trolley 606 via the AUV locking part 610 shown in FIG. 6. Once the AUV 106 is secured on the trolley 606, the funnel 402 can release the AUV 106, allowing the weight-bearing lift crane 400, stabilizing arm 404, and funnel 402 to move upward and away from the recovery pad and trolley system 206. For example, the weight-bearing lift crane 400 and stabilizing arm 404 can return the funnel 402 to the water, allowing the funnel 402 to collect the next AUV 106.

[0036] 2 , according to some embodiments, LAR system 200 can include a shipping container, such as shipping container 212, which can be configured to ride on rail system 208 and collect a payload having ore nodules 104 from recovered AUV 106. For example, while recovered AUV 106 is elevated onto recovery pad 600, shipping container 212 can approach AUV 106 via rail system 208 and collect the AUV's payload. In some embodiments, shipping container 212 is positioned adjacent to AUV 106 (e.g., along the side of the AUV) such that shipping container 212 is at a lower elevation level than payload hopper 112 of AUV 106. The side of the AUV 106 proximal to the shipping container 212 can be configured to open (e.g., outward like a hatch) so that the payload having the ore nodules 104 can be transferred (e.g., using gravity) from the payload hopper 112 to the shipping container 212. In some embodiments, the side of the AUV 106 proximal to the shipping container 212 can be equipped with a hatch or other suitable release mechanism that allows the payload to be transferred from the payload hopper 112 to the shipping container 212. Once the AUV 106's payload has been transferred to the shipping container 212, the shipping container 212 can travel along the rail system 208 and unload the collected ore nodules 104 into a central nodule collection area 216.

[0037] In some embodiments, once the payload with ore nodules 104 has been removed from the AUV 106, the AUV 106 can be lowered by a hydraulic scissor lift 604 toward rail system 208. According to some embodiments, the hydraulic scissor lift 604 can lower the recovery pad 600 such that the rail sections 602 of the recovery pad 600 are self-aligned with the rails of the rail system 208. Once the rail sections 602 of the recovery pad 600 are aligned with the rail system 208, the trolley 606 can move the recovery pad 600 onto the rail system 208 and direct it toward the inspection area 218, the battery station 214, or the launch pad of the launching system 202. Once the AUV 106 has been lowered into either the inspection area 218, the battery station 214, or the launching system 202, the empty trolley 606 can return onto the recovery pad 600 in preparation for the next AUV 106 recovery operation.

[0038] As shown in FIG. 2 , rail system 208 can form an extended network of rails 220 that allows trolley 606 to carry AUV 106 (shown as a solid box in FIG. 2 ) and shipping container 212 (shown as a white box in FIG. 2 ) and travel between various locations along the deck of mining vessel 102. As a result, the network of rails 220 can connect various sections and areas of LAR system 200 on the deck of mining vessel 102. According to some embodiments, rail system 208 can be a series of tracks in a grid pattern, as shown in FIG. 2 . However, this is not limiting, and the network of rails 220 can have any suitable pattern. The tracks of rail system 208, including rail section 602 of recovery pad 600, constrain the movement of trolley 606 to five degrees of freedom (e.g., allowing movement along the x-, y-, and z-axes), allowing trolley 606 to move as described herein.

[0039] According to some embodiments, rail system 208 can be equipped with a third rail system that powers trolley 606. In some embodiments, trolley 606 is powered by a rechargeable battery. In further embodiments, network of rails 220 can provide redundant paths to ensure that launching system 202 and recovery system 204 remain connected to battery station 214, nodule collection area 216, and inspection area 218 at all times without a technical difficulty halting the processes performed by LAR system 200.

[0040] Once recovered from the ocean, the AUV 106 can be placed onto a trolley 606 at a recovery pad location and emptied of its payload. From there, the trolley 606 can be transported onto the rail system 208 and directed to, for example, a battery station 214 to charge or replace the AUV's battery pack. Once the AUV's batteries are sufficiently charged or replaced, the AUV 106 can continue to one or more launch pads of the launching system 202, where the AUV 106 can be removed from the rail system 208 and deployed back into the water. In some embodiments, a damaged AUV 106 can proceed via the rail system 208 to an inspection area 218 for repairs. In some embodiments, a shipping container 212 can proceed between the recovery pad 600 and the nodule collection area 216 to collect and unload nodule cargo from the recovered AUV 106.

[0041] (Control Center) According to some embodiments, control center 210 can be an operations center that oversees the autonomous operation of LAR system 200 described herein. In some embodiments, control center 210 can monitor the autonomous operation of LAR system 200 using a monitoring system, which may include, for example, closed video circuits, sensors distributed throughout LAR system 200, and / or direct visibility of recovery system 204, launching system 202, rail system 208, inspection area 218, battery station 214, and nodule collection area 216. In some embodiments, control center 210 has a suitable infrastructure (e.g., it is equipped with appropriate software and hardware) to enable LAR system 200 to operate autonomously. In some implementations, control center 210 is a command center that can pause and restart operations within LAR system 200. Additionally, control center 210 ensures that LAR system 200 operates at an optimal rate.

[0042] (Additional Considerations) The phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting.

[0043] Although the concepts and operating principles for launching system 202, recovery system 204, recovery pad and trolley system 206, rail system 208, and control center 210 of LAR system 200 are described with a limited number of components for simplicity, these systems may include additional suitable electronic and / or mechanical components. Such components may 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.

[0044] Furthermore, connections between components or systems within the figures are not intended to be limited to direct connections. Rather, data or signals between these components may be modified, reformatted, or otherwise altered by intermediate components. Also, additional or fewer connections may be used. It will be understood that the terms "coupled," "connected," or "communicatively coupled" include direct connections, indirect connections through one or more intermediate devices, wireless connections, etc.

[0045] Additionally, the launching system 202, recovery system 204, recovery pad and trolley system 206, and rail system 208 as described herein are modular, meaning that one or more systems can be added together as needed depending on the number of AUVs and the size of the mining vessel 102. Furthermore, permutations, combinations, and modifications that may result in simpler or more efficient versions of the systems disclosed herein are within the spirit and scope of the present disclosure.

[0046] Reference herein to "one embodiment," "preferred embodiment," "an embodiment," "some embodiments," or "embodiments" means that a particular feature, structure, characteristic, or function described in connection with an embodiment is included in at least one embodiment of the invention and may be present in multiple embodiments. Also, the appearances of such phrases in various places in this specification do not necessarily refer to the same embodiment(s).

[0047] The use of certain terms in various places herein 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; use of these terms may refer to a grouping of related services, functions, or resources, which may be distributed or aggregated.

[0048] Furthermore, those skilled in the art will recognize that (1) certain steps may be performed arbitrarily, (2) steps may not be limited to the specific order described herein, (3) certain steps may be performed in different orders, and (4) certain steps may be performed simultaneously or in parallel.

[0049] As used in the specification and claims, the term "approximately," the phrase "approximately equal to," and other similar phrases (e.g., "X has a value of about 'Y,' or "X is approximately equal to Y") should be understood to mean that one value (X) is within a given range of another value (Y). The given range may be + or - 20%, 10%, 5%, 3%, 1%, 0.1%, or less than 0.1%, unless otherwise indicated.

[0050] The indefinite articles "a" and "an," as used in the specification and claims, should be understood to mean "at least one" unless clearly indicated to the contrary. The word "and / or," as used in the specification and claims, should be understood to mean "one or both" of the elements so conjoined, i.e., elements that are conjunctively present in some cases and disjunctively present in other cases. Multiple elements listed with "and / or" should be construed in the same manner, i.e., "one or more" of the elements so conjoined. Other elements other than those specifically identified by the "and / or" clause may optionally be present, whether related or unrelated to those elements specifically identified. Thus, as a non-limiting example, a reference to "A and / or B," when used in conjunction with open-ended language such as "comprising," can refer, in one embodiment, to A only (optionally including elements other than B), in another embodiment to B only (optionally including elements other than A), in yet another embodiment to both A and B (optionally including other elements), etc.

[0051] As used in the specification and claims, "or" should be understood to have the same meaning as "and / or" as defined above. For example, when grouping items in a list, "or" or "and / or" will be construed as inclusive, i.e., the inclusion of at least one, but also including more than one of several elements or a list of elements, and optionally, additional unlisted items. Only terms clearly indicated to the contrary, such as "only one of" or "exactly one of," or when used in the claims, "consisting of" will refer to the inclusion of exactly one element of several elements or a list of elements. In general, the term "or" as used shall be construed only as indicating exclusive alternatives (i.e., "one or the other, but not both") when followed by terms of exclusivity, such as "any of," "one of," "only one of," or "exactly one of." "Consisting essentially of," when used in the claims, will have its ordinary meaning as used in the field of patent law.

[0052] As used in the specification and claims, the phrase "at least one" in reference to a list of one or more elements should be understood to mean at least one element selected from any one or more of the elements in the list of elements, but not necessarily including at least one of each and every element specifically listed within the list of elements, and not excluding any combination of elements in the list of elements. This definition also allows for the optional presence of elements other than those specifically identified in the list of elements to which the phrase "at least one" refers, whether related or unrelated to those specifically identified elements. 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") can refer in one embodiment to at least one A (and optionally including elements other than B) with no B present, optionally including multiple elements; in another embodiment to at least one B (and optionally including elements other than A) with no A present, optionally including multiple elements; in yet another embodiment to at least one A, optionally including multiple elements, and at least one B (and optionally including multiple elements), optionally including multiple elements; etc.

[0053] The use of "including," "comprising," "having," "containing," "involving," and variations thereof, is meant to encompass the items listed thereafter and additional items.

[0054] The use of ordinal terms such as "first," "second," "third," etc. in the claims to modify claim elements does not imply any priority, precedence, or ordering of one claim element relative to another claim element, or the temporal order in which method actions are performed. Ordinal terms distinguish one claim element with a certain name from another element with the same name (absent the use of ordinal terms) and are used merely as labels to distinguish between claim elements.

[0055] Implementations of the subject matter and operations described herein can be implemented in digital electronic circuitry, or in computer software, firmware, or hardware, including the structures disclosed herein and their structural equivalents, or in a combination of one or more of these. Implementations of the subject matter described herein 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 or to control the operation of a data processing apparatus. Alternatively, or in addition, the program instructions can be encoded on an artificially generated propagated signal, e.g., a machine-generated electrical, optical, or electromagnetic signal, that is generated to encode information for transmission to a receiver apparatus suitable for execution by a data processing apparatus. The computer storage medium can be, or be contained within, a computer-readable storage device, a computer-readable storage substrate, a random or serial access memory array or device, or one or more combinations thereof. Furthermore, while a computer storage medium is not a propagating signal, a computer storage medium can be a source or destination of computer program instructions encoded in an artificially generated propagated signal. A computer storage medium may also be, or be contained within, one or more separate physical components or media (eg, multiple CDs, disks, or other storage devices).

[0056] The operations described herein may be implemented as operations performed by a data processing apparatus on data stored on one or more computer-readable storage devices or received from other sources.

[0057] The term "data processing apparatus" encompasses all types of apparatus, devices, and machines for processing data, including, by way of example, a programmable processor, a system on a chip, or a plurality or combination of the foregoing. An apparatus may include special-purpose logic circuitry, such as a field-programmable gate array (FPGA) or an application-specific integrated circuit (ASIC). In addition to hardware, an apparatus may also include code that creates an execution environment for the computer program, such as code constituting processor firmware, a protocol stack, a database management system, an operating system, a cross-platform runtime environment, a virtual machine, or one or more combinations thereof. The apparatus and execution environment may implement a variety of different computing model infrastructures, such as web services, distributed computing, and grid computing infrastructures.

[0058] A computer program (also known as a program, software, software application, script, or code) can be written in any type of programming language, including compiled or interpreted, declarative or procedural, and it 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, but need not, correspond to a file in a file system. A program can be stored in part of a file that holds other programs or data (e.g., one or more scripts stored in a markup language document), in a single file dedicated to the program, or in multiple coordinated files (e.g., files storing one or more modules, subprograms, or portions of code). A computer program can be deployed to be executed on one computer or on multiple computers located at one site or distributed across multiple sites and interconnected by a communications network.

[0059] The processes and logic flows described herein 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 logic flows can also be performed by, and apparatus can be implemented as, special purpose logic circuitry, such as an FPGA (field programmable gate array) or an ASIC (application-specific integrated circuit).

[0060] Processors suitable for executing a computer program include, by way of example, both general-purpose and special-purpose microprocessors, and 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 essential elements of a computer are a processor for performing actions in accordance with the instructions and one or more memory devices for storing instructions and data. Generally, a computer will also include one or more mass storage devices, such as magnetic disks, magneto-optical disks, optical disks, or solid-state drives, for storing data, or be operatively coupled to receive data from or transfer data to these mass storage devices, or both. However, a computer need not have such devices. Furthermore, a computer can be embedded in another device, such as a mobile phone, personal digital assistant (PDA), mobile audio or video player, game console, global positioning system (GPS) receiver, or portable storage device (e.g., a universal serial bus (USB) flash drive), to name but a few. Suitable devices for storing computer program instructions and data include all types of non-volatile memory, media, and memory devices, including, by way of example, semiconductor memory devices (e.g., EPROM, EEPROM, and flash memory devices), magnetic disks (e.g., internal hard disks or removable disks), magneto-optical disks, and CD-ROM and DVD-ROM disks. The processor and memory can be supplemented by, or incorporated in, special purpose logic circuitry.

[0061] To provide for user interaction, implementations of the subject matter described herein can be implemented on a computer having a display device, e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor, for displaying information to the user, and a keyboard and pointing device, e.g., a mouse, trackball, touchpad, or stylus, by which the user may provide input to the computer. Other types of devices can be used to provide for user interaction as well; for example, feedback provided to the user can be any form of sensory feedback, e.g., visual feedback, auditory feedback, or tactile feedback, and input from the user can be received in any form, including acoustic, speech, or tactile input. Additionally, a computer can interact with a user by sending documents to and receiving documents from a device used by the user, e.g., by sending a web page to a web browser on the user's client device in response to a request received from the web browser.

[0062] Implementations of the subject matter described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or includes middleware components (e.g., an application server), or includes front-end components (e.g., a client computer having a graphical user interface or web browser through which a user may interact with an implementation of the subject matter described herein), or in any combination of one or more such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication, e.g., a communications network. Examples of communications networks include local area networks (“LANs”) and wide area networks (“WANs”), internetworks (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks).

[0063] A computing system may include clients and servers. Clients and servers are generally remote from each other and typically interact through a communication network. The relationship of clients and servers arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. In some implementations, a server transmits data (e.g., HTML pages) to client devices (e.g., for the purpose of displaying data to and receiving user input from users interacting with the client devices). Data generated at the client devices (e.g., results of user interactions) can be received from the client devices at the server.

[0064] In some embodiments, aspects of the systems and methods described herein may be implemented using ML and / or AI techniques.

[0065] "Machine learning" generally refers to the application of certain techniques (e.g., pattern recognition and / or statistical inference techniques) by a computer system to perform a specific task. Machine learning techniques can be used to build models based on sample data (e.g., "training data") and validate the models 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"), each record indicating values ​​of defined data fields (e.g., "independent variables," "inputs," "features," or "predictors") and corresponding values ​​of other data fields (e.g., "dependent variables," "outputs," or "targets"). Machine learning techniques can be used to train models and predict values ​​of outputs based on values ​​of inputs. When presented with other data (e.g., "inference data") similar or related to the sample data, such models can accurately predict unknown values ​​of targets in an inference dataset.

[0066] As used herein, a "model" may refer to any suitable model artifact produced by the process of fitting a model to a particular training dataset using a machine learning algorithm. The terms "model," "data analysis model," "machine learning model," and "machine learned model" are used interchangeably herein.

[0067] As used herein, "development" of a machine learning model may refer to the construction of the machine learning model. A machine learning model may be constructed by a computer using a training dataset. Thus, "development" of a machine learning model may include training the machine learning model using a training dataset. In some cases (generally referred to as "supervised learning"), the training dataset used to train the machine learning model may include known outcomes (e.g., labels or target values) for each data sample 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 may indicate whether the data sample contains an image of a cat. In other cases (generally referred to as "unsupervised learning"), the training dataset does not include known outcomes for each data sample in the training dataset.

[0068] Following development, the machine learning model can be used to generate inferences about an "inference" dataset. For example, following development, the 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 the use of the developed machine learning model to generate inferences about data other than the training data.

[0069] "Artificial intelligence" (AI) generally encompasses any technology that demonstrates intelligence. Applications (e.g., machine-executed software) that demonstrate intelligence may be referred to herein as "artificial intelligence applications," "AI applications," or "intelligent agents." An intelligent agent may demonstrate intelligence, for example, by perceiving its environment, learning, and / or solving problems (e.g., taking actions or making decisions that increase the likelihood of achieving a defined goal). Often, intelligent agents are developed by an organization and deployed on networked computer systems so that users within the organization can access them. Intelligent agents are used to guide decisions and / or control systems in a wide variety of fields and industries, such as security, transportation, risk assessment and management, supply chain logistics, and energy management. An intelligent agent may include or use models.

[0070] Some non-limiting examples of AI application types may include inference applications, comparison applications, and optimization applications. Inference applications may include any intelligent 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, inference applications may provide recommendations based on the generated inferences. For example, a inference application for a lending institution may infer the likelihood that a loan applicant will default on a loan repayment for a requested amount and, based on the inference, may recommend whether to approve the loan for the requested amount. Comparison applications may include any intelligent agent that compares two or more possible scenarios. Each scenario may correspond to a set of potential values ​​of one or more input variables over a period of time. For each scenario, the intelligent agent may generate one or more inferences (e.g., about the values ​​of one or more output variables) and / or recommendations. For example, a comparison application for a lending institution may display the institution's projected revenue over a certain period if the institution will approve a loan application if, and only if, the projected risk of default is less than 20% (scenario #1), less than 10% (scenario #2), or less than 5% (scenario #3). An optimization application may include any intelligent agent that infers optimal values ​​for one or more variables of interest based on the values ​​of one or more input variables. For example, an optimization application for a lending institution may show the maximum loan amount the institution would approve for a particular customer.

[0071] Each numerical value presented herein, for example, in a table, chart, or graph, is intended to represent the minimum or maximum value within a range for the corresponding parameter. Thus, when added to a claim, the numerical value provides an explicit basis for claiming a range, which may be greater or less than the numerical value, in accordance with the teachings of this specification. Unless included within the scope of a claim, each numerical value presented herein is not considered limiting in any respect.

[0072] Specific embodiments of the present subject matter have been described. Other embodiments are within the scope of the following claims. For example, the actions recited in the claims can be performed in a different order and still achieve desirable results. By way of example, the processes depicted in the accompanying figures do not necessarily require the particular order shown or sequential order to achieve desirable results. In some implementations, multitasking and parallel processing may be advantageous. Other steps or stages may be provided, or steps or stages may be eliminated from the described processes. Accordingly, other implementations are within the scope of the following claims.

[0073] It will be understood by those skilled in the art that the preceding examples and embodiments are illustrative and do not limit the scope of the present disclosure. All permutations, enhancements, equivalents, combinations, and improvements thereto that become apparent to those skilled in the art upon perusal of this specification and study of the drawings are intended to be within the true spirit and scope of the present disclosure. It will also be noted that elements of any claim may be arranged in different ways, including having multiple dependencies, configurations, and combinations.

[0074] Having thus described several aspects of at least one embodiment of this invention, it should be understood that various alterations, modifications, and improvements will readily occur to those skilled in the art. Such alterations, modifications, and improvements are intended to be part of this 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. 1. A launch and recovery system, comprising: a launching system comprising a crane operable to lower an autonomous underwater vehicle (AUV) from a deck level of the ship to a sea level below said deck level; a recovery system configured to collect the AUV from the sea level, the recovery system comprising a weight-bearing lift crane, one or more stabilizing arms, and a funnel; a rail system comprising a network of rails, wherein the AUV, once collected by the recovery system, is capable of traveling on the network of rails; A system comprising:

2. The system of claim 1 , further comprising a recovery pad and trolley system configured to receive the AUV from the recovery system and transport the AUV onto the network of rails.

3. 3. The system of claim 2, wherein the recovery pad and trolley system comprises a trolley on which the AUV is secured, and a recovery pad.

4. The system of claim 3 , wherein the retrieval pad comprises a rail section configured to receive the trolley.

5. The system of claim 4 , wherein a track width of the rail section of the recovery pad matches a track width of the rail system.

6. 2. The system of 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 lowered to the sea level.

7. 2. The system of claim 1, wherein the one or more stabilizing arms are configured to keep the funnel stationary in a global coordinate system while the funnel is at the sea surface level and waiting for the AUV to surface.

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

9. The system of claim 1 further comprising an inspection area, a nodule collection area, and a battery station.

10. 10. The system of claim 9, wherein the rail system comprises a series of tracks in a grid pattern connecting the recovery pad and trolley system to the inspection area, the nodule collection area, the battery station and the launching system.

11. The system of claim 1 , further comprising a control center configured to oversee operation of the launching system, the recovery system, and the rail system.

12. The system of claim 11 , wherein the control center is further configured to enable the autonomous operation of the launch and recovery system.

13. 10. The system of claim 1, wherein the funnel is a bell-shaped wire frame with a sensor disposed on a bottom end of the funnel.

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

15. 1. A method for recovering an autonomous underwater vehicle (AUV), comprising: submerging a bottom portion of a receiving funnel in water so that a sensor located on the bottom portion of the funnel detects the rising AUV, the funnel being maintained stationary in a global coordinate system by a pair of stabilizing arms; directing the emerging AUV inside the funnel, the AUV being guided by the sensor on the receiving funnel; locking the AUV to the funnel using a locking mechanism once the AUV is inside the funnel; raising the funnel with the AUV out of the water; placing the AUV on a trolley that is positioned on a rail section of an elevated recovery pad; lowering the recovery pad along with the AUV onto a rail system; A method comprising:

16. 16. The method of claim 15, wherein directing the emerging AUV inside the funnel includes self-aligning the AUV with the funnel.

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

18. 16. The method of claim 15, wherein prior to lowering the raised recovery pad, the shipping container is directed adjacent to the AUV via the rail system so that the shipping container is at a height below the AUV.

19. 20. The method of claim 18, further comprising opening a side of the AUV proximal to the shipping container and emptying the AUV's payload into the shipping container.

20. 16. The method of claim 15, wherein lowering the raised recovery pad includes aligning rail sections of the recovery pad with rails of the rail system and directing the AUV to one of an inspection area, a battery station, or a launch pad of a launching system.

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