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

Abstract

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

Description

PRIORITY CLAIM

[0001] This application is a national stage application of PCT / IB2023 / 055344, filed on May 24, 2023, which claims the benefit of and priority to Italian Patent Application No. 102022000011060, filed on May 26, 2022, the entire contents of which are each incorporated by reference herein.TECHNICAL FIELD

[0002] The present disclosure relates to a connecting system and to a connecting method for connecting an unmanned underwater vehicle to a vehicle floating in a body of water.BACKGROUND

[0003] Unmanned underwater vehicles of an autonomous unmanned vehicle (“AUV”) type at a work site are employed for carrying out underwater operations such as, for example, operations for the inspection of underwater hydrocarbon production installations or the monitoring of underwater structures.

[0004] Generally, these AUVs are assisted on the surface by a floating support vehicle, which is configured to launch, control and retrieve on board the AUV.

[0005] As they are not connected to external power sources, these AUVs have a relatively limited autonomy in terms of time of use, space that can be covered with a single charge and exertable force.

[0006] These relative limits in autonomy do not allow, for example, known AUVs to navigate from an underwater work site to a further underwater work site in cases where the distance between these work sites is greater than the maximum distance the AUV can travel with a single charge.

[0007] Consequently, to transfer AUVs from one underwater work site to a further underwater work site, it is necessary to retrieve the AUV on board the floating support vehicle, to transport the AUV on board the floating support vehicle, and to launch the AUV again at the further underwater work site.

[0008] Moreover, when the AUV needs to be recharged due to the depletion of power reserves, the AUV to be recharged is typically retrieved on board the floating support vehicle or, alternatively, the AUV is retrieved in an underwater housing station connected to the floating support vehicle via an umbilical. However, to launch and retrieve the AUV and / or the underwater housing station, it is necessary for the floating vehicle to be equipped with a launch and retrieval system. The launch and retrieval systems are typically relatively bulky, require relatively significant installation / removal times and costs for their installation / removal on board the floating vehicle and occupy a relatively large amount of space on the floating vehicle, which must be specifically designed as a function of the use of the launch and retrieval system.

[0009] Moreover, the launch and the retrieval of an AUV by certain launch and retrieval systems require a relatively large amount of time and can only be carried out in relatively favorable meteorological and environmental conditions.SUMMARY

[0010] In various embodiments, an object of the present disclosure is to provide a connecting system for connecting an unmanned underwater vehicle to a floating vehicle in a body of water that is able to overcome certain of the drawbacks of certain of the prior art. In particular, an object of the present disclosure is to enable the transport, the recharging and the data exchange of the unmanned underwater vehicle in a relatively simple and risk-free manner, while keeping the unmanned underwater vehicle in the body of water.

[0011] According to certain embodiments of the present disclosure, a connecting system for connecting an unmanned underwater vehicle to a floating vehicle in a body of water is provided, the connecting system including a connecting device configured to be connected mechanically and / or electrically and / or for data exchange to the unmanned underwater vehicle in the body of water; and an articulated arm, which is configured to be mounted to the floating vehicle and is connected to the connecting device so as to control the position and the orientation of the connecting device in the body of water.

[0012] According to certain embodiments of the present disclosure, it is possible to connect the unmanned underwater vehicle to the floating vehicle to enable the recharging of the unmanned underwater vehicle and the transport of the unmanned underwater vehicle from a work site to a further work site without the need to retrieve the unmanned underwater vehicle on board the floating vehicle. In other words, it is possible to keep the unmanned underwater vehicle in the body of water during the steps of transporting and / or of recharging the unmanned underwater vehicle. It is thus not necessary for the floating vehicle to be equipped with a relatively bulky launch and retrieval system to launch and retrieve the unmanned underwater vehicle and, as a result, it is possible for the floating vehicle to have relatively reduced dimensions or for the space dedicated to the launch and retrieval system to be used for other purposes.

[0013] Moreover, since it is not necessary to employ a launch and retrieval system, it is possible to transport and / or recharge the unmanned underwater vehicle in a relatively short amount of time and even in relatively adverse meteorological and environmental conditions, which increases the operational window of the connecting system. In particular, the articulated arm comprises an actuation assembly configured to control the position and the orientation of the connecting device with respect to the unmanned underwater vehicle. It is thus possible to connect the connecting device to the unmanned underwater vehicle by moving the connecting device in the body of water towards the unmanned underwater vehicle, while the relative position of the unmanned underwater vehicle with respect to the floating vehicle is kept substantially unchanged.

[0014] It should be appreciated that the relatively low mass and relatively high maneuverability of the articulated arm enable the connecting device to be moved in the body of water relatively precisely and quickly and simplify the docking of the unmanned underwater vehicle. In practice, during connecting operations, the articulated arm moves a relatively small mass of water, which increases the inertia of the articulated arm in the body of water to a limited extent. In particular, the articulated arm comprises a support element configured to be solidly coupled to the floating vehicle; a first elongated element, which extends along a first longitudinal axis and is hinged to the support element about a first rotation axis; a second elongated element, which extends along a second longitudinal axis, is hinged to the first elongated element about a second rotation axis and carries the connecting device. In certain embodiments, the first rotation axis is transverse to the second rotation axis.

[0015] It should be further appreciated that based on the first elongated element being hinged to the support element about a first rotation axis and the second elongated element being hinged to the first elongated element about a second rotation axis, the articulated arm has two degrees of freedom with respect to the floating vehicle. This way, the articulated arm enables the connecting device to achieve a plurality of different positions in the body of water.

[0016] In particular, the actuation assembly comprises a first actuator configured to control the rotation of the first elongated element about the first rotation axis; and a second actuator configured to control the rotation of the second elongated element about the second rotation axis. This enables relatively easy and precise control of the position of the connecting device in the body of water.

[0017] In particular, the first elongated element comprises a first body and a second body hinged to each other about a third rotation axis substantially parallel to the second rotation axis. This way, it is possible to provide the articulated arm with a further degree of freedom so that the articulated arm has three degrees of freedom with respect to the floating vehicle. In this configuration, it is possible to arrange the connecting device close to the surface of the body of water or partially above the surface of the body of water to enable the connection with the unmanned underwater vehicle in that position.

[0018] In particular, the actuation assembly comprises a third actuator configured to control the relative rotation of the second body with respect to the first body about the third rotation axis in a relatively simple and precise manner.

[0019] In particular, the articulated arm comprises a connecting joint for connecting an end of the second elongated element to the connecting device.

[0020] The connecting joint is configured to enable the relative rotation of the connecting device about a fourth rotation axis and about a fifth rotation axis.

[0021] The connecting joint gives the connecting device two degrees of freedom with respect to the articulated arm. This enables the connecting device to be oriented in the body of water in a plurality of different directions.

[0022] In particular, the first elongated element extends along the first longitudinal axis for a first length greater than the metacentric roll height of the floating vehicle on which the articulated arm is mounted. Metacentric roll height is understood as the distance between the roll metacentre of a floating body and its center of gravity. This makes it possible to achieve a dynamic response at the end of the first elongated element hinged to the second elongated element that is faster than the roll movements of the floating vehicle.

[0023] In particular, the second elongated element extends along the second longitudinal axis for a second length greater than the metacentric pitching height of the floating vehicle on which the articulated arm is mounted. Metacentric pitching height is understood as the distance between the pitching metacentre of a floating body and its center of gravity. Such a configuration makes it possible to achieve a dynamic response at the end of the second elongated element connected to the connecting device that is faster than the pitching movements of the floating vehicle.

[0024] In particular, the connecting device comprises a plate. This makes it possible to reduce the mass of the connecting device and to increase its manoeuvrability.

[0025] In particular, the connecting device comprises at least one mechanical connector configured to releasably engage the unmanned underwater vehicle. Such a configuration makes it possible to keep the unmanned underwater vehicle solidly connected to the connecting device during the transfer of the unmanned underwater vehicle from a work site to a further work site. Moreover, the mechanical connector enables the connecting device to be selectively engaged / disengaged by the unmanned underwater vehicle.

[0026] In particular, the connecting device comprises an inductive connector configured to be connected electrically and / or for data exchange to the unmanned underwater vehicle.

[0027] When the unmanned underwater vehicle is connected to the inductive connector, it is thus possible to recharge the unmanned underwater vehicle with electric power and simultaneously communicate via cable with the unmanned underwater vehicle.

[0028] In particular, the connecting system comprises a control unit configured to control the actuation assembly so as to arrange the connecting device at the unmanned underwater vehicle and to orient the connecting device towards the unmanned underwater vehicle. This enables the position and the orientation of the connecting device in the body of water to be controlled automatically or by an operator.

[0029] More specifically, the connecting device comprises at least one sensor configured to detect the relative position between the unmanned underwater vehicle and the connecting device. In certain instances, the at least one sensor is of an optical or acoustic type. The control unit is configured to control the actuation assembly as a function of the detected relative position. This enables the position of the connecting device to be controlled in a closed loop via the feedback of the relative position detected by the at least one sensor.

[0030] In various embodiments, a further object of the present disclosure is to provide a navigation assembly that is not subject to certain of the drawbacks of certain of the known art.

[0031] According to certain embodiments of the present disclosure, a navigation assembly is provided that includes a floating vehicle configured to navigate on a body of water, an unmanned underwater vehicle configured to navigate in the body of water, and a connecting system as described in the foregoing, which is mounted to the floating vehicle and is configured to connect the floating vehicle to the unmanned underwater vehicle.

[0032] By the navigation assembly, it is possible to recharge and transfer the unmanned underwater vehicle from a work site to a further work site, while keeping the unmanned underwater vehicle in the body of water during the steps of transporting and / or of recharging the unmanned underwater vehicle.

[0033] According to one embodiment, the floating vehicle is an autonomous unmanned vehicle and the unmanned underwater vehicle is of an AUV type.

[0034] In certain embodiments, a further object of the present disclosure is to provide a connecting system for connecting an unmanned underwater vehicle to a floating vehicle in a body of water that is not subject to certain of the drawbacks of certain of the prior art.

[0035] According to certain embodiments of the present disclosure, a connecting method for connecting an unmanned underwater vehicle to a floating vehicle in a body of water is provided, the method includes carrying an articulated arm equipped with a connecting device into a body of water by the floating vehicle, controlling the position and the orientation of the connecting device in the body of water by the articulated arm, and connecting mechanically and / or electrically and / or for data exchange the connecting device to the unmanned underwater vehicle.

[0036] The present method enables the floating vehicle to be connected to the underwater vehicle relatively quickly and easily. It is thus possible to recharge and / or transport the unmanned underwater vehicle without the need to retrieve the unmanned vehicle on board the floating vehicle.BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Further features and advantages of the present disclosure will become apparent from the following description of an embodiment, with reference to the figures of the attached drawings, wherein:

[0038] FIG. 1 is a side elevation view, with parts removed for clarity, of a navigation assembly provided in accordance with the present disclosure;

[0039] FIG. 2 is a front view, with parts removed for clarity, of the navigation assembly of FIG. 1;

[0040] FIG. 3 is an enlarged view, with parts removed for clarity, of a detail of the navigation assembly of FIG. 1;

[0041] FIG. 4 is a front view, with parts removed for clarity, of a detail of the navigation assembly of FIG. 1; and

[0042] FIGS. 5 and 6 are side elevation views, with parts removed for clarity, of the navigation assembly of FIG. 1 in respective operating configurations.DETAILED DESCRIPTION

[0043] With reference to FIG. 1, the reference number 1 indicates, as a whole, a navigation assembly employed in a body of water 2.

[0044] The navigation assembly 1 comprises a floating vehicle 3 configured to navigate on the body of water 2; an unmanned underwater vehicle 4 configured to navigate in the body of water 2; and a connecting system 5, which is mounted to the floating vehicle 3 and is configured to connect the floating vehicle 3 to the underwater vehicle 4 in the body of water 2.

[0045] The floating vehicle 3 can be any type of manned or unmanned vessel configured to navigate on a body of water. In the particular case described and illustrated, which does not limit the present disclosure, the floating vehicle 3 is an autonomous unmanned vehicle (“AUV”). Moreover, in the particular case described and illustrated, the underwater vehicle 4 is of an autonomous unmanned vehicle type.

[0046] According to a further embodiment (not shown in the drawings), the underwater vehicle 4 is of a remotely operated vehicle (“ROV”) type.

[0047] With reference to FIGS. 1 and 2, the connecting system 5 comprises a connecting device 6 configured to be connected mechanically and / or electrically and / or for a data exchange to the underwater vehicle 4 in the body of water 2; and an articulated arm 7, which is configured to be mounted to the floating vehicle 3, and which is connected to the connecting device 6 so as to control the position and the orientation of the connecting device 6 in the body of water 2.

[0048] The articulated arm 7 comprises an actuation assembly 8 configured to control the position and the orientation of the connecting device 6 with respect to the unmanned underwater vehicle 4.

[0049] In particular, the articulated arm 7 comprises a support element 9 configured to be solidly coupled to the floating vehicle 3; an elongated element 10, which extends along a first longitudinal axis A1 and is hinged to the support element 9 about a rotation axis R1; an elongated element 11, which extends along a longitudinal axis A2, is hinged to the elongated element 10 about a rotation axis R2 and carries the connecting device 6.

[0050] According to certain embodiments, the rotation axis R1 is transverse to the rotation axis R2. In certain such embodiments, the rotation axis R1 and the rotation axis R2 are substantially perpendicular to each other.

[0051] More specifically, the elongated element 10 is hinged to the support element 9 by an end 12 and is hinged to the elongated element 11 by an end 13 opposite the end 12.

[0052] The elongated element 11 is hinged to the elongated element 10 at an end 14 and carries the connecting device 6 at an end 15 opposite the end 14.

[0053] In particular, the support element 9 is configured to be fixed to a gunwale of the floating vehicle 3 so as to protrude in a cantilevered manner from said gunwale towards the body of water 2 (FIG. 2).

[0054] According to a non-limiting embodiment of the present disclosure, the elongated element 10 comprises a body 16 and a body 17 hinged to each other about a rotation axis R3 substantially parallel to the rotation axis R2.

[0055] According to an alternative embodiment (not shown in the drawings), the elongated element 10 can be formed by a single elongated body extending along the longitudinal axis A1. In particular, the elongated element 10 extends along the longitudinal axis A1 for a length L1 greater than the metacentric roll height of the floating vehicle 3 on which the articulated arm 7 is mounted.

[0056] Analogously, in certain embodiments, the elongated element 11 extends along the longitudinal axis A2 for a length L2 greater than the metacentric pitching height of the floating vehicle 3 on which the articulated arm 7 is mounted. In particular, the actuator assembly 8 comprises an actuator 18 configured to control the rotation of the elongated element 10 about the rotation axis R1 (FIG. 2); and an actuator 19 configured to control the rotation of the elongated element 11 about the rotation axis R2. More specifically, the actuator 18 is configured to act between the support element 9 and the elongated element 10. The actuator 19 is configured to act between the elongated element 10 and the elongated element 11.

[0057] Moreover, the actuation assembly 8 comprises an actuator 20 configured to control the relative rotation of the body 17 with respect to the body 16 about the rotation axis R3.

[0058] According to a non-limiting embodiment of the present disclosure, each actuator 18, 19 and 20 comprises a hydraulic cylinder.

[0059] With reference to FIG. 3, the articulated arm 7 comprises a connecting joint 21 configured to connect the end 15 of the elongated element 11 to the connecting device 6. More specifically, the connecting joint 21 is configured to enable the relative rotation of the connecting device 6 about a rotation axis R4 and about a rotation axis R5. In certain embodiments, the rotation axes R4 and R5 are substantially perpendicular to each other.

[0060] The actuation assembly 8 comprises further actuators (not shown in the drawings), configured to control the rotation of the connecting device 6 about the rotation axis R4 and the rotation axis R5.

[0061] With reference to FIG. 4, the connecting device 6 comprises a plate 22.

[0062] According to certain embodiments of the present disclosure, the connecting device 6 comprises two mechanical connectors 23 configured to releasably engage the underwater vehicle 4. Each mechanical connector 23 is arranged on the plate 22 and comprises a quick-release coupling (not shown in the drawings).

[0063] It is understood that the number and arrangement of the mechanical connectors 23 is purely illustrative and is not to be understood as limiting the present disclosure.

[0064] Moreover, the connecting device 6 comprises an inductive connector 24, which is coupled to the plate 22 and is configured to be connected electrically and / or for data exchange to the underwater vehicle 4.

[0065] According to variants of the present disclosure (not shown in the drawings), the connecting device 6 comprises a plurality of inductive connectors 24.

[0066] The connecting device 6 comprises at least one sensor 25 configured to detect the relative position between the underwater vehicle 4 and the connecting device 6.

[0067] In the particular case described and illustrated here, the connecting device 6 comprises two sensors 25 of an optical type, such as video cameras or photo cameras. Each sensor 25 of an optical type is configured to detect the position and / or the orientation of at least one particular identifying element arranged on a portion of the underwater vehicle 4 facing the connecting device 6 during the connection of the connecting device 6 and the underwater vehicle 4.

[0068] According to a variant of the present disclosure (not shown in the drawings), each sensor 25 is of an acoustic type such as, for example, a sonar.

[0069] According to a further variant of the present disclosure (not shown in the drawings), the connecting device 6 comprises at least one positioning element, such as a laser, configured to emit a light beam detectable by the sensors 25 to verify the correct alignment of the connecting device 6 with the underwater vehicle 4.

[0070] Moreover, the connecting system 5 comprises a control unit 26 (as seen in FIG. 1) configured to control the actuation assembly 8 so as to arrange the connecting device 6 at the underwater vehicle 4 and to orient the connecting device 6 towards the underwater vehicle 4 during the connection of the connecting device 6 and the underwater vehicle 4. In particular, the control unit 26 is connected to the sensors 25 and is configured to control the actuation assembly8 in a closed loop as a function of the relative position detected by the sensors 25.

[0071] In use and with reference to FIG. 1, when the underwater vehicle 4 arrives in the vicinity of the floating vehicle 3, the control unit 26 controls the actuation assembly 8 by actuating the actuators 18, 19 and 20 so as to control the position and the orientation of the connecting device 6 with respect to the underwater vehicle 4. In particular, the control unit 26 controls the actuation assembly 8 in a closed loop as a function of the relative position detected by the sensors 25 so that the connecting device 6 follows the position and the orientation of the underwater vehicle 4.

[0072] With reference to FIG. 5, each mechanical connector 23 engages the underwater vehicle 4 and the inductive connector 24 is connected electrically and for data exchange to the underwater vehicle 4.

[0073] Once the underwater vehicle 4 is coupled to the connecting device 6, the actuators 18, 19 and 20 of the actuation assembly 8 are placed in a neutral configuration, to enable the free rotation of the elongated element 10 with respect to the support element 9, the free rotation of the elongated element 11 with respect to the elongated element 10, and the free rotation of the connecting device 6 about the connecting joint 21. When the floating vehicle 3 carries the underwater vehicle 4 connected to the connecting system 5, it is thus possible to avoid that the articulated arm 7 is subjected to hydrodynamic forces stemming from the mass and volume of the underwater vehicle 4.

[0074] With reference to FIG. 6, in the presence of favourable environmental and meteorological conditions, the connection of the underwater vehicle 4 and the connecting device 6 is carried out close to the surface of the body of water 2 or partially above the surface of the body of water 2. In this scenario, the underwater vehicle 4 is arranged at the surface of the body of water 2 and the control unit 26 controls the actuation assembly 8 by actuating the actuator 20 to rotate the body 17 with respect to the body 16 about the rotation axis R3 and arrange the connecting device 6 in the vicinity of the underwater vehicle 4.

[0075] Finally, it is evident that variations can be made to the present disclosure with respect to the embodiments described with reference to the accompanying figures without however departing from the scope of protection of the following claims. That is, the present disclosure also covers embodiments that are not described in the detailed description above as well as equivalent embodiments that are part of the scope of protection set forth in the claims. Accordingly, various changes and modifications to the presently disclosed embodiments will be apparent to those skilled in the art.

Claims

1. -21. (canceled)22. A connecting system comprising:a connecting device configured to be connected to an unmanned underwater vehicle in a body of water, the connection being at least one of a mechanical connection, an electrical connection and a data exchange connection; andan articulated arm which is configured to be mounted to a floating vehicle and is connected to the connecting device to control a position and an orientation of the connecting device in the body of water.

23. The connecting system of claim 22, wherein the articulated arm comprises an actuation assembly configured to control the position and the orientation of the connecting device with respect to the unmanned underwater vehicle.

24. The connecting system of claim 23, wherein the articulated arm comprises:a support element configured to be solidly coupled to the floating vehicle,a first elongated element extending along a first longitudinal axis and hinged to the support element about a first rotation axis, anda second elongated element that carries the connecting device, extends along a second longitudinal axis and is hinged to the first elongated element about a second rotation axis.

25. The connecting system of claim 24, wherein the actuation assembly comprises:a first actuator configured to control a rotation of the first elongated element about the first rotation axis, anda second actuator configured to control a rotation of the second elongated element about the second rotation axis.

26. The connecting system of claim 24, wherein the first elongated element comprises a first body and a second body hinged to each other about a third rotation axis substantially parallel to the second rotation axis.

27. The connecting system of claim 26, wherein the actuation assembly comprises an actuator configured to control a relative rotation of the second body with respect to the first body about the third rotation axis.

28. The connecting system of claim 24, wherein the articulated arm comprises a connecting joint configured to connect an end of the second elongated element to the connecting device.

29. The connecting system of claim 28, wherein the connecting joint is configured to enable a relative rotation of the connecting device about a third rotation axis and about a fourth rotation axis.

30. The connecting system of claim 24, wherein the first elongated element extends along the first longitudinal axis for a length that is greater than a metacentric roll height of the floating vehicle on which the articulated arm is mounted.

31. The connecting system of claim 24, wherein the second elongated element extends along the second longitudinal axis for a length greater than a metacentric pitching height of the floating vehicle on which the articulated arm is mounted.

32. The connecting system of claim 23, further comprising a control unit configured to control the actuation assembly to arrange the connecting device at the unmanned underwater vehicle and to orient the connecting device towards the unmanned underwater vehicle.

33. The connecting system of claim 32, wherein the connecting device comprises a sensor configured to detect a relative position between the unmanned underwater vehicle and the connecting device, and the control unit is configured to control the actuation assembly as a function of the relative position detected by the sensor.

34. The connecting system of claim 22, wherein the connecting device comprises a plate.

35. The connecting system of claim 22, wherein the connecting device comprises a mechanical connector configured to releasably engage the unmanned underwater vehicle.

36. The connecting system of claim 22, wherein the connecting device comprises an inductive connector configured to be at least one of electrically connected electrically with the unmanned underwater vehicle and connected for data exchange with the unmanned underwater vehicle.

37. A navigation assembly comprising:a floating vehicle configured to navigate on a body of water;an unmanned underwater vehicle configured to navigate in the body of water; anda connecting system mounted to the floating vehicle and configured to connect the floating vehicle to the unmanned underwater vehicle, the connecting system comprising:a connecting device configured to be connected to the unmanned underwater vehicle, the connection being at least one of a mechanical connection, an electrical connection and a data exchange connection; andan articulated arm connected to the connecting device to control a position and an orientation of the connecting device in the body of water.

38. The navigation assembly of claim 37, wherein the floating vehicle is an autonomous unmanned vehicle.

39. The navigation assembly of claim 37, wherein the unmanned underwater vehicle is an autonomous unmanned vehicle.

40. A method of connecting an unmanned underwater vehicle to a floating vehicle in a body of water, the method comprising:carrying, by the floating vehicle, an articulated arm equipped with a connecting device into the body of water;controlling, by the articulated arm, a position and an orientation of the connecting device in the body of water; andconnecting, by at least one of a mechanical connection, an electrical connection and a connection for data exchange, the connecting device to the unmanned underwater vehicle.

41. The method of claim 40, further comprising:detecting a relative position between the unmanned underwater vehicle and the connecting device; andcontrolling the position and the orientation of the connecting device in the body of water as a function of the detected relative position.

42. A method of transferring an unmanned underwater vehicle from a first underwater work site to a second underwater work site, the method comprising:carrying, by a floating vehicle, an articulated arm equipped with a connecting device into a body of water;controlling, by the articulated arm, a position and an orientation of the connecting device in the body of water;connecting, by at least one of a mechanical connection, an electrical connection and a connection for data exchange, the connecting device to the unmanned underwater vehicle; andmoving the floating vehicle on the body of water while keeping the unmanned underwater vehicle connected to the floating vehicle.

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