Coupling apparatus for an uncrewed surface vessel

Abstract

The present disclosure generally relates to coupling apparatus for an uncrewed surface vessel (USV), the coupling apparatus comprising a receiving interface arranged to be interchangeably coupled to at least two types of a plurality of interchangeable payload types. The present disclosure further relates to a launch and recovery system comprising the coupling apparatus, a USV comprising the apparatus, and a method of deploying a payload from an uncrewed surface vessel. Unlocking insights from geodata, the present disclosure further relates to improvements in sustainability and environmental developments: together we create a safe and liveable world.

Description

COUPLING APPARATUS FORAN UNCREWED SURFACE VESSELTECHNICAL FIELD

[0001] The present disclosure generally relates to coupling apparatus for an uncrewed surface vessel (USV), the coupling apparatus comprising a receiving interface arranged to be interchangeably coupled to at least two types of a plurality of interchangeable payload types. The present disclosure further relates to a launch and recovery system (LARS) comprising the coupling apparatus, an uncrewed surface vessel comprising the coupling apparatus, and / or a method of deploying a payload from an uncrewed surface vessel. Unlocking insights from geodata, the present disclosure further relates to improvements in sustainability and environmental developments: together we create a safe and liveable world.BACKGROUND

[0002] There is a general and ongoing need to improve the quality and efficiency of the launch and recovery of mission payloads. Launch and recovery of mission payloads is one of the riskiest operations to be performed from a floating vessel on surface water. The deployment of payloads during operations offshore is prone to accidents due to the relative motion of the payload to the vessel when the payload is above the vessel, and the moving parts of the launch and recovery system. Further, a critical period of deployment is when the payload is in the splash zone, i.e., the air-water interface. When in the splash zone, a launch and recovery system can experience highly increased slamming forces, causing sudden movements and associated dangerous situations. On crewed vessels and uncrewed vessels, there is a need to reduce the manual handling of payloads to improve safety, but also increase efficiency and speed of deployment.

[0003] Attempts to address these issues, launch and recovery systems have been produced, which can take over some of the actions otherwise done through manual intervention. These systems often still require the attachment of the payload to the launch and recovery system and only take over actions taken by the operators in part. As a result, there are still personnel on deck during the launch and recovery of payloads, which introduces hazards to the personnel and the material of the payload and the vessel.

[0004] In an attempt to circumvent such hazards altogether, and to reduce energy consumption and emissions, uncrewed surface vessels (USV) have been introduced. These vessels are operated from a remote operation centre, either on shore or on a support vessel. US Vs have no personnel onboard and, can be manufactured in a more compact way, also reducing the carbon footprint of the operations they execute. As a result, any payload which is deployed from the USV must be handled autonomously or remotely controlled without manual intervention. The step from reduced manual intervention on crewed vessels to completely remote operations on USVs leads to various difficulties. For example, manual intervention in coupling the payload to the launch and recovery system is no longer possible, and the operation needs to be executed remotely, relying on sensor data with limited or no visual feedback to a remote operating centre.

[0005] In addition, since the USVs are generally much smaller in relation to their payload than conventional crewed vessels, the available deck space is considerably reduced. As a result, even though launch and recovery systems for USVs have been produced, they lack operational flexibility and can only deploy a single type of payload. In addition, known launch and recovery systems may interfere with vessel stability and may disrupt the communication link with the remote operating centre. A disrupted communication link with an uncrewed vessel may lead to severely dangerous situations.

[0006] Another known problem with USVs having payloads that need to be deployed, is that the payloads may snag or otherwise become unusable, potentially causing significant risk to the USV, or the environment. The high value of USVs and their equipment means that effective risk mitigation is needed to avoid loss or damage of the USV in emergency situations. In particular, USVs are capable of operating in unpredictable environments, for example with extreme weather conditions, in the dark, or in dangerous geological areas having underwater obstacles. If the towed equipment or ROV gets compromised, or catches on an obstacle, it can put the entire USV at risk. If this risk is not mitigated in a quick manner, it could lead to the loss of the USV in its entirety. These situations could also lead to the USV being rendered uncontrollable, which could lead to collisions if not managed adequately.

[0007] The known state of the art for launch and recovery systems, in particular on uncrewed surface vessels, thus lacks a solution for safely and efficiently operating launching and recovering payloads, specifically lacking operational flexibility and modularity. There is a need for launch and recovery systems that meet the requirements of a multitude of different remote operations, in which payloads are safely deployed and recovered in various configurations.There is thus a need for an improved device and method for the deployment and recovery of payloads from uncrewed surface vessels.OVERVIEW

[0008] The present disclosure provides apparatus, systems, and / or methods for improved deployment and recovery of payloads from uncrewed surface vessels. In particular, the apparatus, systems, and / or methods disclosed herein can provide improved coupling of the payload to the launch and recovery system (LARS) of the uncrewed surface vessel, reducing the need for human intervention and reducing the risk of material loss.

[0009] Coupling apparatus for an uncrewed surface vessel (USV) is disclosed. The coupling apparatus comprises a fixing interface for attaching to a launch and recovery system (LARS) of the USV; a receiving interface arranged to be interchangeably coupled to at least two types of a plurality of interchangeable payload types; and a structural element arranged at least in part between the fixing interface and the receiving interface. The receiving interface may, for example, be arranged such that it can be coupled to a first payload type such as a magnetometer, and the magnetometer may subsequently be swapped or interchanged at another time for a second payload type such as a side scan sonar apparatus. The coupling between the receiving interface and each payload type may be implemented using a further interchangeable payload coupling mechanism arranged between the receiving interface and the payload.

[0010] Advantageously, the coupling apparatus enables a single LARS design to be used for various types of payloads. In particular, by providing a receiving interface arranged to be interchangeably coupled to at least two types of a plurality of interchangeable payload types, each type of interchangeable payload can be coupled to the LARS using the same type of “modular” coupling apparatus, providing improved reliability, stability of deployment, and operational flexibility for the USV.

[0011] In an example, the fixing interface according to the present disclosure is arranged to be coupled to a launch and recovery system (LARS). Normal launch and recovery systems couple directly to a payload and are designed such that they can only couple to a single type of payload. By providing the coupling apparatus according to the present disclosure, various types of payloads may be coupled to the LARS. The coupling apparatus may be coupled to the LARS be virtue of the fixing interface. The payload may then be coupled to the coupling apparatus via the receiving interface. The receiving interface is arranged to be interchangeably coupled to at least two types of a plurality of interchangeable payload types such that different payloadsmay be coupled, by virtue of the coupling apparatus, to the LARS. This advantageously allows the coupling of multiple different payloads to the LARS, rather than requiring a separate LARS for every different type of payload.

[0012] In an example, the two types of a plurality of interchangeable payload types have different coupling interfaces which can be connected to a normal LARS. As such, without use of the coupling apparatus, two different launch and recovery systems would be needed to deploy the payloads. The difference in payload may thus be defined as difference in the way they are generally deployed. The two types of a plurality of interchangeable payload types may have a different connecting interface arranged to couple to a LARS.

[0013] In some examples, the structural element is arranged to accommodate a tow cable. Advantageously, in such examples, the structural element can facilitate controlling the tow cable in a standardized manner for various types of payloads.

[0014] In some examples, the coupling apparatus further comprises at least one over-boarding sheave arranged between the fixing interface and the receiving interface and arranged to accommodate a tow cable. Advantageously, the over-boarding sheave helps to route a tow cable to the payload from the USV. The over-boarding sheave may be arranged to route the tow cable over-board and aft of the USV from the winch drum and / or arranged to ensure that the minimum bend radius of the tow cable is not exceeded. Furthermore, the arrangement, placement, or location of the sheave between the fixing interface and the receiving interface can facilitate the changing of the payload on the coupling apparatus.

[0015] In some examples, the at least one over-boarding sheave comprises a tow cable groove arranged to accommodate a tow cable comprising a Kellems grip. Advantageously, such examples enable improved reliability and versatility for the USV by providing the capability to handle different types of cables.

[0016] In some examples, the coupling apparatus further comprises a cable cutter for cutting a tow cable. Advantageously, the cable cutter can reduce the risks associated with snagging of the payload. If the payload snags, for example on the seafloor, the tow cable may be cut, such that the integrity of the USV is not affected by the snagging of the payload. If situations occur where the towed sensors or the ROV, hereinafter referred to as the ‘tethered payload’, lead to a substantial risk for the USV, cutting the towing cable or umbilical is often the only way to prevent further damage.

[0017] In some examples, the coupling apparatus is arranged to be pivotably coupled to a lifting boom of the LARS, such that a payload coupled to the coupling apparatus may be rotated around a vertical axis and / or pitched around a transverse axis. Advantageously, the payloadcan rotate in such a way that the payload is aligned with the direction of travel of the USV and the rotation can compensate for the pitch and / or yaw motion of the USV, regardless of the angle between the LARS and the USV. Furthermore, by enabling the payload to pivot, the payload can be deployed at a suitable orientation, regardless of the direction in which the LARS is pointing.

[0018] In some examples, the coupling apparatus further comprises at least one of: a cable counter; a latch for locking a payload; a load cell; and / or a sensor arranged to detect that a payload is coupled to the coupling apparatus. Advantageously, each of those components enables improved reliability and / or accuracy for deployment from the USV, and may reduce the likelihood that manual intervention is required.

[0019] In some examples, the coupling apparatus further comprises an interchangeable payload coupling mechanism arranged to be attached to the receiving interface, the interchangeable payload coupling mechanism comprising a docking interface for receiving a payload. Advantageously, the interchangeable payload coupling mechanism can be arranged to meet payload-specific requirements for deployment, retrieval, and / or capture, yet is also attachable to a standardized coupling apparatus for coupling to a LARS, thereby enabling a variety of payload types to be coupled to a single type of LARS.

[0020] In some examples, the docking interface is arranged to receive at least one of: a magnetometer; a side scan sonar apparatus; a moving velocity profiler; an electric remotely operated vehicle; a remotely operated towed vehicle; and / or a depressor wing. Each of the magnetometer, side scan sonar apparatus, moving velocity profiler, electric remotely operated vehicle, remotely operated towed vehicle, and / or a depressor wing represent a type of payload of the plurality of interchangeable payload types. More generally, in some examples, the docking interface is arranged to receive a towfish, which may comprise e.g. a magnetometer. Advantageously, providing a docking interface arranged to receive a particular payload as part of an interchangeable payload coupling mechanism enables improved versatility for deployment of different types of payloads.

[0021] In some examples, the docking interface comprises at least one laterally extending flange. Advantageously, the flange can facilitate attachment of the payload. In an advantageous implementation, the docking interface comprises two opposing laterally extending flanges, wherein a space is defined between the two opposing laterally extending flanges, such that a part of the payload can extend through the space, while the laterally extending flanges are arranged to engage with an upper surface of the payload. Advantageously, such an arrangementallows for the payload to be drawn tightly into the coupling apparatus, without damaging the sensitive parts in the middle of the payload.

[0022] In some examples, a surface of the at least one laterally extending flange is angled downwards along a length of the flange. Advantageously, the flange can be angled to provide a similar effect as a depressor wing to the payload as part of the coupling apparatus, providing hydrodynamic shape and reducing drag on the LARS and / or the payload within the water.

[0023] In some examples, the docking interface comprises a compliant material. Advantageously, the compliant material allows improved capture of the payload and / or resilience of the coupling apparatus by improving absorption of initial impact loads upon payload capture.

[0024] In some examples, the interchangeable payload coupling mechanism comprises at least one mechanical spring arranged to at least partly absorb an impact caused by the docking interface receiving a payload. Advantageously, the mechanical spring allows improved capture of the payload and / or resilience of the coupling apparatus by improving absorption of initial impact loads upon payload capture.

[0025] In some examples, the interchangeable payload coupling mechanism comprises at least one over-boarding sheave. Advantageously, providing an over-boarding sheave as part of the interchangeable payload coupling mechanism allows improved control / handling of a tow cable for a particular payload close to the point at which the payload is deployed and / or captured.

[0026] The disclosure extends to a launch and recovery system for an uncrewed surface vessel, the launch and recovery system comprising a lifting boom having a base and a distal end, wherein the distal end comprises a coupling apparatus as disclosed herein, wherein the fixing interface of the coupling apparatus is integrated with the launch and recovery system.

[0027] In some examples, the launch and recovery system is further arranged to retrieve the payload from the water onto the deck. Advantageously, the launch and recovery system can retrieve the payload from the water. The launch and recovery system may be configured to retrieve the payload from the water in substantially the same manner as the deployment.

[0028] In an implementation of the present disclosure, the coupling apparatus is pivotably coupled to the distal end of the lifting boom, such that the payload may be rotated depending on the angle of the lifting boom. This advantageously allows the payload to be provided at a desirable orientation, regardless of the position of the lifting boom.

[0029] According to an aspect of the present disclosure, there is provided an uncrewed surface vessel for performing remote offshore projects, the USV comprising a hull arranged to be partly submerged in water; a deck; a propulsion device arranged to move the uncrewed surface vessel through the water; at least one launch and recovery system, arranged to deploy a payload from the deck into the water, the launch and recovery system comprising a coupling apparatus as disclosed herein, wherein the fixing interface of the coupling apparatus is integrated with the launch and recovery system.

[0030] In some examples of the uncrewed surface vessel, the launch and recovery system comprises a lifting boom having a base and a distal end, wherein the base of the lifting boom is pivotably coupled to the deck of the USV, such that the distal end of the lifting boom can define a horizontal movement in relation to the deck, and wherein the distal end comprises a coupling apparatus as disclosed herein.

[0031] In some examples of the uncrewed surface vessel, the uncrewed surface vessel further comprises a second launch and recovery system, arranged to deploy a payload from the deck into the water, wherein the second launch and recovery system comprises a second lifting boom having a base and a distal end, wherein the base of the second lifting boom is pivotably coupled to the deck of the USV, such that the distal end of the second lifting boom can define a horizontal movement in relation to the deck, and wherein the distal end of the second lifting boom comprises a second coupling apparatus in accordance with the coupling apparatus disclosed herein. Having two launch and recovery systems advantageously allows the deployment of two or more payloads at the same time, or sequentially. This advantageously provides increased flexibility in operational control. Using the coupling apparatus disclosed herein, those payloads can be of a different type to one another even though much or all of the LARS design is standardized for each of the two launch and recovery systems. In implementations of the present disclosure, the second launch and recovery system provides increased redundancy, for example in cases in which a payload malfunctions or is lost in its entirety.

[0032] According to an aspect of the present disclosure, there is provided a method of deploying a payload from an uncrewed surface vessel. The method comprises the steps of providing an uncrewed surface vessel comprising coupling apparatus according to any of the examples of the present disclosure and deploying a payload from the deck into the water.

[0033] According to an aspect of the present disclosure, and in accordance with the advantages as described herein above, there is provided an uncrewed surface vessel for performing remote offshore projects, the USV comprising a hull arranged to be partlysubmerged in water; a deck; a propulsion device arranged to move the uncrewed surface vessel through the water; at least one launch and recovery system, arranged to deploy a payload from the deck into the water using a payload cable, and a cable cutter, arranged to release the payload from the payload cable by severing the cable.

[0034] In some examples, the uncrewed surface vessel further comprises a cable cutter frame, arranged to couple the cable cutter to the launch and recovery system.

[0035] In some examples, uncrewed surface vessel further comprises a cable cutter frame, arranged to couple the cable cutter to the payload. In some examples, uncrewed surface vessel further comprises a cable cutter frame, arranged to couple the cable cutter to the deck of the uncrewed surface vessel. In some examples, the cable cutter may be integrally mounted to the payload cable, adjacent to the payload. In some examples, the launch and recovery system comprises a winch, the cable cutter being mounted to the winch.

[0036] In some examples the cable cutter is a remotely operable cable cutter. In some examples, the cable cutter is a pyrotechnically actuated cable cutter. Advantageously, the towing cable may be cut accurately and reliably. In some examples, the cable cutter is made of stainless steel and therefore suitable for use in almost every environment. Particularly advantageous to a pyrotechnically actuated cable cutter is that it uses an initiator to activate a blade and anvil to sever the toughest of cables or wires with precision on command. They are designed to cut both solid and multiple stranded cables or wire within 20 milliseconds of initiation. One variant of this device severs a solid 0.033” diameter stainless steel spring wire in less than 20 milliseconds.

[0037] In some examples, the cable cutter comprises a body comprising an aperture arranged to receive a cable, and a blade, positioned inside the body, and arranged to move across the aperture such that a cable received in the aperture is severed. In some examples, the blade is driven by an explosive charge. In some examples, the explosive charge is electrically connected to an ignition mechanism. In some examples, the cable cutter is coupled to a cable cutter frame. In some examples, the cable cutter frame comprises at least one roller, arranged to guide the payload cable. In some examples, the cable cutter frame comprises at least two opposing rollers, arranged to at least partially clamp the payload cable. In some examples, the cable cutter frame comprises at least one clamp, arranged to clamp the cable. Advantageously, having rollers or clamps connected to the cable cutter frame helps position the payload cable such that the cable cutter can reliably cut the cable. If the payload cable would move around too much, there is an increased risk of failure to cut the cable.

[0038] In some examples, the cable cutter comprises a body, the body being substantially cylindrical. In some examples, the aperture is provided in the body, perpendicular to a centreline defined by the cylindrical shape of the body. In some examples, the aperture extends laterally such that it protrudes to the side of the cable cutter body, such that the aperture is arranged to allow lateral insertion of the payload cable. In some examples, the blade is a piston. In some examples, the blade has a substantially cylindrical shape, having a jagged distal edge, arranged to engage with the payload cable.

[0039] In some examples, the blades may be designed to sever steel cables or aramid ropes, providing consistent force output and high energy density compositions. In some examples, the cable cutter may be activated by an electrical current or percussion cap, igniting a small pyrotechnic charge inside the device. This charge rapidly produces hot gases that drive the blade forward, severing the target cable.

[0040] The examples of this aspect of the invention address the problem of being able to quickly release a towing cable or ROV umbilical in the case of an emergency. A remotely operable cable cutter allows the USV to release the compromised equipment quickly and safely. This ensures the USV's preservation and minimizes downtime. In these situations, a trade-off is made between the value of the USV and the risk of losing the vessel or causing damage due to collision and the value of the tethered payload.

[0041] Utilizing gas generators and precision engineered components, electrically initiated cable cutters are designed to be compact and exceptionally reliable. Capable of cutting braided steel wire, armoured electrical cabling, including Kevlar, aramid and glass fibre cords.

[0042] The term “offshore” herein is understood to encompass any operations executed on a body of water, i.e., not on shore. The body of water may include sea, lakes, rivers, or the like, including but not limited to open sea, or nearshore operations. Likewise, the term “vessel” as used herein is understood to encompass vessels for use offshore.

[0043] The term deck in the present disclosure is defined as any upward facing surface of the USV. The deck can either be defined by a separate part or by the hull itself, which extends around such that it defines an upward facing region. The deck may have any shape and is advantageously arranged to hold a payload prior to deployment to the water by the launch and recovery system.

[0044] The term “apparatus” as used herein may refer to either a single apparatus or plural apparatus and should not be understood as being particularly limited to either a single discrete apparatus or a plurality of discrete apparatus unless a particular apparatus is further described as such.

[0045] The terms “cable” and “tow cable” are used interchangeably in some instances herein.BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Disclosed implementations will now be described by way of example and with reference to the accompanying drawings, in which:FIG. 1 shows a three-dimensional view of an uncrewed surface vessel (USV) according to an implementation of the present disclosure;FIG. 2 shows a top view of a USV according to an implementation of the present disclosure;FIG. 3 shows a frontal view of a USV according to an implementation of the present disclosure;FIG. 4 shows a three-dimensional view of a lifting boom of a USV according to an implementation of the present disclosure;FIG. 5 shows a three-dimensional view of a distal end of a lifting boom of a USV according to an implementation of the present disclosure;FIG. 6 shows a side view of a USV according to an implementation of the present disclosure;FIG. 7 shows a side view of a USV according to an implementation of the present disclosure;FIG. 8 shows a side view of a USV according to an implementation of the present disclosure;FIG. 9 shows a schematic diagram showing a method of deploying a payload from an uncrewed surface vessel;FIG. 10 shows a coupling apparatus for a USV according to an example of the present disclosure;FIG. 11 shows a coupling apparatus for a USV according to an example of the present disclosure; andFIG. 12 shows a schematic diagram showing a method of deploying a payload from an uncrewed surface vessel.DETAILED DESCRIPTION

[0047] According to one aspect of the present disclosure, there is provided an uncrewed surface vessel (USV) for performing remote offshore projects. The USV comprises a hull arranged to be partly submerged in water, a deck, a propulsion device arranged to move the USV through water, and at least one launch and recovery system, arranged to deploy a payload from the deck into the water. The launch and recovery system comprises a lifting boom having a base and a distal end. The base of the lifting boom is pivotably coupled to the deck of the USV. As such, the distal end of the lifting boom can define a horizontal movement in relation to the deck. The distal end comprises a coupling mechanism arranged to couple to a payload.

[0048] In an implementation, advantageously, the present disclosure provides a launch and recovery system which is able to deliver a payload to the water lateral to the USV. The region behind the USV, as it moves through the water may comprise turbulent flow due to e.g., the propulsion wash and / or the disturbance of the water due to the hull moving through the water. The position of a payload behind the USV decreases the ability to control the payload during deployment. Additionally, the turbulent flow behind the USV may have a detrimental effect to the quality of measurements made by sensors in the payload, in particular in cases where the launch and recovery system is used for handling seismic equipment, which is used to collect data behind the USV.

[0049] An implementation of the present disclosure addresses these issues by positioning the payload laterally to the moving path of the USV, such that the payload is deployed in benign water, i.e., without influences of the wash of the propulsion device of the USV. Furthermore, as the deployment location can be variably altered, various different payloads can be deployed, such as side scan sonar, magnetometry and / or velocity profilers.

[0050] In addition, the provision of a lifting boom being pivotably connected to the deck of the USV facilitates tow cable separation with any additional payloads that may be deployed e.g., directly behind the vessel or on an opposing side to the location of the lifting boom.

[0051] In an implementation of the present disclosure, the launch and recovery system is arranged to at least deploy a payload to the water, without necessarily recovering the payload. The term launch and recovery system is used in the industry to denote systems that may deploy and / or recover payloads from to the water. In an implementation, the launch and recovery system of the present disclosure only deploys the payload to the water. The retrieval of the payload may be done by another vessel or the USV may sail into port such that the payload is retrieved when the vessel is in a harbour.

[0052] Conventional deployment techniques on large scale crewed vessels often utilize an A- frame. Within the context of maritime operations, A-frames serve as a deployment and retrievalapparatus for payloads from vessels. These structures typically consist of two legs connected by a lateral strut at the top and anchored at the base. The legs may be articulates by a hydraulic actuator, which forms, together with the leg it articulates, an A-shape. This design provides the mechanical leverage necessary to lower and lift heavy payloads, such as underwater research equipment or recovery items, into and from the sea. These A-frames typically have a large footprint. In addition, A-frames generally have a large height. This is because the legs need to extend beyond the aft, or the side, of the vessel to allow the payload to be deployed sufficiently far away from the vessel, for safety purposes. When the legs move upwards to position the lateral strut above the deck of the vessel, legs extend upwards.

[0053] On uncrewed surface vessels, the use of an A-frame is problematic due to the space it occupies on deck. US Vs are smaller in relation to their typical payload, making the A-frame occupy a larger percentage of the deck space, which limits the possibilities of other payloads to be deployed or other operations to be executed. Furthermore, the height of the A-frame has two associated issues. Firstly, the height of the A-frame, required to achieve sufficient distance from the vessel for safe deployment of the payload may lead to the vessel being instable once it is in retracted, upward, position. Second, in the retracted position, an A-frame may lead to a loss of communication between the remote operating centre and the USV if the A-frame blocks the line-of-sight with a communication satellite. For normal vessels, the communication antennae are typically higher, and the risk of losing communication is not as detrimental because there is staff on board. When using USVs, the possibility of losing communications between the remote operations centre and the USV can have highly undesirable consequences and may lead to very unsafe situations.

[0054] Additionally, traditional A-frames are heavy. As such, the use of one or more A- frames on the aft of a USV negatively influences the vessel stability and its fuel efficiency. Furthermore, A-frames typically cannot deploy payloads under the splash-zone (i.e., the waterair interface). As such, the use of A-frames on the aft of the vessel has the further disadvantage that the payload can violently hit the water surface in the event that the USV moves under the influence of swell and / or wind.

[0055] The use of a launch and recovery system comprising a lifting boom which is pivotably connected to the deck of the USV solves this problem, as the boom can stay relatively low, compared to a traditional A-frame. This means that the lifting boom does not interfere with the line-of-sight between the USV and the remote operating centre. Furthermore, it does not negatively affect the stability of the vessel when the boom is in its retracted position on deck. Launch and recovery systems of the present disclosure also limit the total footprint on deck, asthe lifting boom may be positioned parallel to a side of the vessel, thereby only occupying a thin strip along the sides of the vessel, in contrast to the large footprint of an A-frame. The use of launch and recovery systems of the present disclosure thus solves the problems associated with conventional launch and recovery systems.

[0056] In addition, the use of a launch and recovery system using a lifting boom pivotably coupled to the deck of the USV also allows for increased ease of maintenance when the USV is in dock or moored to another vessel. The lifting boom, possibly with its payload, can pivot outwards, such that the coupling mechanism of the lifting boom can be accessed without the need of boarding the vessel. Finally, the use of a lifting boom pivotably connected to the deck of the USV allows for an increased range of motion compared to traditional launch and recovery systems. Because the lifting boom can pivot outward from the vessel, it allows for the positioning of the payload at various distances laterally to the vessel. For example, a 30° outward rotation will place the payload closer to the travel path of the vessel than a 60° outward rotation. In this way, the positioning of the payload can be chosen, dependent on e.g., the need for entanglement prevention, the need for operations in undisturbed water, and the expected forces on the lifting boom.

[0057] With the pivoting arm design, the launch and recovery functionality on the vessel can continue with no risk that it will block the line-of-sight link between vessel and satellite, as by design, it always remains under the receiver on the vessel during operation whilst meeting or exceeding the reach obtained by traditional methods of launch and recovery on a USV with equal space-claim. The pivoting arm solution could be implemented in various configurations while maintaining a low centre of gravity of the vessel. In addition, the pivoting arm minimises the vertical centre of gravity which is necessary for the stability of the floating vessel.

[0058] Furthermore, the use of a lifting boom, being pivotably coupled with the deck of the USV allows for active balancing of the USV while it is influenced by the swell and / or wind. By moving the lifting boom contrary to the movement of the USV, the vessel movement can be actively compensated, thus keeping the payload in a more stable position in relation to the water surface during deployment thereof.

[0059] In an implementation, the lifting boom further comprises at least one linear actuator, coupled to the distal end of the lifting boom, which can retract and expand to compensate for a roll movement of the vessel.

[0060] In an implementation, the USV further comprises an pivot actuator arranged to control the pivotal movement of the lifting boom, and wherein the pivot actuator is arranged to movethe lifting boom such that the movement of the lifting boom compensates for a yaw movement of the USV under the influence of e.g., swell and / or wind.

[0061] In an implementation of the present disclosure, the launch and recovery system is further arranged to retrieve the payload from the water onto the deck. Advantageously, the launch and recovery system can retrieve the payload from the water. The launch and recovery system may be configured to retrieve the payload from the water in substantially the same manner as the deployment.

[0062] In an implementation of the present disclosure the lifting boom comprises a base hinge, the base hinge being positioned adjacent to the base of the lifting boom, wherein a rotation of the lifting boom around the base hinge moves the distal end of the lifting boom in a vertical direction.

[0063] In an implementation of the present disclosure, the base hinge is positioned on top of the base of the lifting boom. This way, the pivotal connection between the lifting boom and the deck of the USV effectuating horizontal movement of the distal end of the lifting boom is provided below the base hinge, which is arranged to move the distal end of the lifting boom vertically.

[0064] Due to the possible movement of the base hinge to displace the distal end of the lifting boom vertically, the launch and recovery system can be positioned in an operational position, a launch and / or recovery position, and a resting position. In the operational position, the coupling mechanism on the distal end of the lifting boom is positioned above the water-air interface, i.e., above the splash zone. The payload is dragged through the water by means of a (tow) cable attached to the lifting boom. The cable keeps the payload at a target operational depth during, e.g., data acquisition. Having the docking head well above the water reduces hydrodynamic drag and wear and tear of the coupling mechanism. In a second position, the system is placed in a launch and / or recovery position, in which the coupling mechanism at the distal end of the lifting boom is below the waterline, such that the splash zone cannot influence the payload, thus increasing reliability of the system. This allows the payload sensors to be deployed and recovered in more benign conditions under the wave splash zone. This aids successful launch from and recovery into the docking head of the payload sensors.

[0065] In an implementation of the present disclosure, the coupling mechanism is rotationally coupled to the distal end of the lifting boom such that it can yaw around a vertical axis. As a result, the payload can rotate in such a way that the payload is aligned with the direction of travel of the USV, regardless of the angle which is defined between the lifting boom and the USV. In an advantageous implementation, the coupling mechanism is further rotationallycoupled to the distal end of the lifting boom such that it can yaw around a vertical axis and pitch around a horizontal axis. As such, the horizontal position of the payload can be maintained, even if the vessel moves under the influence of the swell and / or wind.

[0066] In an implementation of the present disclosure the lifting boom further comprises at least one vertical drive system, arranged to rotate the lifting boom around the base hinge. The lifting vertical drive system of the lifting boom moves the lifting boom in a vertical direction. This can be done, for example, by providing a hydraulic or electric actuator.

[0067] In an implementation of the present disclosure, the at least one vertical drive system comprises an electric actuator connected to the boom to drive the rotation of the lifting boom around the base hinge. Alternatively, or additionally, the vertical drive system comprises a rotary drive system, provided within the base hinge.

[0068] As the weight of a payload increases, torque on the base hinge increases and having an actuator, e.g., hydraulic or electric, to drive the lifting boom vertically becomes more advantageous. In an advantageous implementation, the actuator is provided between the base and the lifting boom. In an advantageous implementation, the actuator is connected to a section of the lifting boom positioned away from the base on one end, and at the base on another end.

[0069] In an implementation of the present disclosure, the coupling mechanism comprises at least one laterally extending flange. In an advantageous implementation, the coupling mechanism comprises two opposing laterally extending flanges, wherein a space is defined between the two opposing laterally extending flanges, such that a part of the payload can extend through the space, while the laterally extending flanges are arranged to engage with an upper surface of the payload. Advantageously, such an arrangement allows for the payload to be drawn tightly into the coupling mechanism, without damaging the sensitive parts of the payload.

[0070] In an implementation of the present disclosure, the launch and recovery system further comprises an electric power source. Advantageously, the launch and recovery system is fully electrically operated, and uses an electric power source to drive the actuators for deployment and recovery of the payload.

[0071] In an implementation of the present disclosure, the USV further comprises a deck cradle, the deck cradle comprising a receiving unit arranged to support the payload on deck.

[0072] In an advantageous implementation the deck of the USV comprises a deck cradle, which can engage with an underside of the payload to fasten the payload in place.

[0073] In an implementation of the present disclosure, the USV further comprises a boom rest latch, having an elevated support structure and a boom receiving unit, arranged to receive and support at least a part of the lifting boom on the deck of the uncrewed surface vessel.

[0074] In an implementation of the present disclosure, the boom receiving unit comprises a moving clamp arranged to move between an open and a closed position such that, in the closed position the boom receiving unit is arranged to fasten the lifting boom in place.

[0075] In an implementation of the present disclosure, the USV further comprises at least one deck rail, wherein the at least one launch and recovery system is connected to the at least one deck rail such that the at least one launch and recovery system can move along the at least one deck rail.

[0076] In an implementation of the present disclosure, the at least one launch and recovery system comprises a winch, the winch being arranged to extend and retract a cable, the cable being attached to the payload. In an advantageous implementation, the minimum required cable length will depend on the maximum water depth in the operational area as well as on the speed of the vessel. The winch advantageously has a rotation mechanism which enables deployment of the payload sensor from parking position onboard the vessel towards the operational position at the side of the vessel. The mechanism of the winch to extend and retract the cable, may be actively controlled to maintain a constant tension on the cable and follow seabed terrain. This may compensate for heave motion such that the payload may be maintained on a fixed water depth. The launch and recovery system may further comprise a cable cutter. The cable cutter may be integrated in the winch. The cable cutter may be integrated within the coupling mechanism. The cable cutter may be coupled to the lifting boom, such that the cable can be cut between the winch and the coupling mechanism. Advantageously, this reduced the risks associated with snagging of the payload. When the payload snags, for example on the seafloor, the cable may be cut, such that the integrity of the USV is not affected by the snagging of the payload.

[0077] In an implementation of the present disclosure, the uncrewed surface vessel further comprises a second launch and recovery system. The second launch and recovery system may be arranged to deploy a payload from the deck into the water. The second launch and recovery system may comprise a second lifting boom. The second lifting boom may have a base and a distal end. The base of the second lifting boom may be pivotably coupled to the deck of the USV. In such an implementation, the distal end of the second lifting boom can define a horizontal movement in relation to the deck. In an implementation, the distal end of the second lifting boom comprises a second coupling mechanism arranged to couple to a second payload.The components of the second launch and recovery system may be substantially the same as the components of the first launch and recovery system. Features disclosed in relation to the implementations of the first launch and recovery system may be equally combined with the features of the second launch and recovery system.

[0078] Having two launch and recovery systems advantageously allows the deployment of two payloads at the same time. In an advantageous implementation, the first and second launch and recovery systems are positioned at laterally opposing regions of the USV. As such, they can pivot outward from opposing sides of the USV, thus providing a large spacing between deployed payloads from the USV. The ability to maximise payload separation is a significant advantage over conventional deployment systems using, e.g., two A-frames laterally positioned next to one another. Having to launch and recovery systems using booms which are pivotably connected to the deck of the USV strongly increases the line separation between the payloads.

[0079] In an implementation of the present disclosure, the two launch and recovery systems are positioned on laterally opposing regions of the uncrewed surface vessel.

[0080] In an implementation of the present disclosure, the uncrewed surface vessel further comprises an extending launch and recovery unit, arranged to deploy a payload of the USV into the water, the extending launch and recovery unit being attached to a horizontal translation mechanism, arranged to move the extending launch and recovery unit in a horizontal direction from a resting position to a deployment position.

[0081] Advantageously, the provision of an extending launch and recovery unit having a horizontal translation mechanism limits the vertical reach, such that vessel balance is less affected and such that the line of sight between a communication unit and a satellite is not affected. This limits the risk of losing communications with the USV.

[0082] According to an implementation, the extending launch and recovery unit comprises a winch. In an implementation, the winch is provided in a housing. In an implementation, the extending launch and recovery unit, including the winch and the housing, are connected to the horizontal translation mechanism, such that the winch and housing may be moved horizontally. In an alternative implementation, the winch is coupled statically to the deck of the USV, such that the horizontal translation mechanism only moves the payload, not the winch.

[0083] According to an implementation, the extending launch and recovery unit is positioned on a rear region of the USV, such that it can deploy a payload from the stem of the USV into the water.

[0084] In an implementation, the extending launch and recovery unit comprises a deployment beam comprising a proximal end and a payload end. The deployment beam may be pivotablycoupled to a support structure at the proximal end. The deployment beam may further be coupled to the support structure by a centre actuator, defining an angle with the deployment beam. Because an angle is defined between the centre actuator and the deployment beam, the extension or retraction of the centre actuator leads to rotation of the deployment beam around the proximal end. This causes the payload end to move in a substantially vertical direction.

[0085] After the horizontal translation mechanism has moved the extending launch and recovery unit to the deployment position, the centre actuator may be retracted, such that the payload end of the deployment beam lowers towards and into the water.

[0086] In an alternative implementation, the extending launch and recovery unit comprises an A-frame, which is provided on a supporting structure. In an implementation, the supporting structure is a platform. The A-frame comprises a rectangular frame and at least one strut. The strut may be an actuator. By providing an actuator, the rectangular frame of the A-frame can move inward an outward, such that the payload may be extended or retracted in relation to the deck. The strut may be also be static. In particular, the strut may be static such that the rectangular frame is provided in a static position, not having the ability to move inward and outward in relation to the supporting structure.

[0087] Advantageously, by providing the A-frame to an extending launch and recovery unit comprising a horizontal translation mechanism, the A-frame does not need to be tall and / or heavy to reach sufficiently far behind the USV for safe deployment of the payload.

[0088] The supporting structure is movably coupled to the deck of the USV. In an implementation, the supporting structure is provided on one or a set of deck rails. The supporting structure may be a moving platform. The supporting structure is coupled to the horizontal translation mechanism, such that the extending launch and recovery unit as a whole can be moved in a horizontal direction.

[0089] In an advantageous implementation, the extending launch and recovery unit comprises a pulley drive, which extends in a longitudinal direction outward from the aft of the USV. Advantageously, the extending launch and recovery unit further comprises a winch, attached to a tether, which runs over the pulley, and is arranged to engage with a payload. Such a payload may be for example a moving velocity profiler. In an implementation, the pulley may be provided on the deployment beam. The deployment beam may be driven by an electric actuator. The extending launch and recovery unit may further be provided on a rail system such that it can move longitudinally outward from the aft of the vessel such that the payload can be deployed overboard without requiring a large A-frame structure on the vessel. In an alternative, or additional, implementation, the extending launch and recovery unit comprises an A-frame.

[0090] In an implementation of the present disclosure, the coupling mechanism is pivotably coupled to the distal end of the lifting boom, such that the payload may be rotated depending on the angle of the lifting boom. This advantageously allows the payload to be provided at a desirable orientation, regardless of the position of the lifting boom.

[0091] According to an aspect of the present disclosure, there is provided a method of deploying a payload from an uncrewed surface vessel. The method comprises the steps of providing an uncrewed surface vessel according to any of implementations of the present disclosure and deploying a payload from the deck into the water.

[0092] In an implementation of the present disclosure, the method further comprises rotating the lifting boom of the launch and recovery system from a resting position wherein the lifting boom is positioned above the deck of the USV to a deployment position wherein the distal end of the lifting boom is submerged in the water, such that the payload is submerged. This advantageously prevents the engagement of the splash-zone with the payload during the deployment, making the system less prone to failure.

[0093] In an implementation of the present disclosure, the method further comprises the step of deploying the payload from the coupling mechanism, and moving the lifting boom to an operational position, wherein the distal end of the lifting boom is positioned above the water. This advantageously reduced hydrodynamic drag during operations.

[0094] In an implementation of the present disclosure, the lifting boom rotates vertically and laterally during operation such that at least one of the roll, pitch and yaw movements of the USV are counteracted.

[0095] Referring to FIG. 1, a three-dimensional view of an uncrewed surface vessel (USV) 1 is shown, according to an implementation of the disclosure. The shown implementation shows the aft section of the USV 1, not the bow of the USV 1. The USV 1 comprises a hull 2 which is arranged to be partly submerged in water. The USV 1 further comprises a deck 11 and a propulsion device 12 arranged to move the USV through water. The USV 1 further comprises at least one launch and recovery system 3, arranged to deploy a payload 10 from the deck 11 into the water. The launch and recovery system 3 comprises a lifting boom 4 having a base 41 and a distal end 42. The base 41 of the lifting boom 4 is pivotably coupled to the deck 11 of the USV 1, such that the distal end 42 of the lifting boom 4 can define a horizontal movement in relation to the deck 11. The distal end 42 comprises a coupling mechanism 5 arranged to couple to a payload 10.

[0096] In the shown implementation, the lifting boom 4 comprises a base hinge 43, the base hinge 43 being positioned adjacent to the base 41 of the lifting boom 4, wherein a rotation ofthe lifting boom 4 around the base hinge 43 moves the distal end 42 of the lifting boom 4 in a vertical direction. The lifting boom 4 of the shown implementation further comprises a vertical drive system 44, arranged to rotate the lifting boom 4 around the base hinge 43. In the shown implementation the lifting boom 4 comprises two vertical drive systems 44, in the form of actuator rods, which are coupled between the lifting boom 4 and the base 41 of the lifting boom 4. In an implementation, the vertical drive system 44 is an electric actuator.

[0097] The lifting boom 4 in the shown implementation is has a triangular structure, when seen from a top view, see also in FIG. 2. This allows the lifting boom 4 to extend on two sides of the base 41. This allows rotational forces exerted by the base 41 of the lifting boom 4 to be translated more efficiently.

[0098] In the shown implementation, the USV 1 further comprises a deck cradle 13 which comprises a receiving unit 14 arranged to support the payload 10 on the deck 11 of the USV 1.

[0099] The USV 1 further comprises a boom rest latch 15 having an elevated support structure16 and a boom receiving unit 17, arranged to receive and support at least a part of the lifting boom 4 on the deck 11 of the USV 1. In the shown implementation, the lifting boom 4 comprises a rest strut 45, provided on an underside of the lifting boom 4, which is arranged to engage with the boom rest latch 15. The rest strut 45 may be supported by the receiving unit17 of the boom rest latch 15. In the shown implementation, the receiving unit 17 comprises a moving clamp 18, arranged to move between an open and a closed position such that, in the closed position the boom receiving unit 17 is arranged to secure the lifting boom 4 in place.

[0100] In the shown implementation, the coupling mechanism 5 comprises two laterally extending flanges 51. These are positioned such that a cable can run over the guide wheels 52 of the coupling mechanism 5 and so that a portion of the payload 10 can protrude upwards between the flanges 51. This way, the payload 10 can be hoisted up towards the coupling mechanism 5 and be secured in place by applying a tension force to the cable, which pulls the payload against the flanges 51. The flanges 51 may be adapted such that they engage with a robust portion of the payload 10, which can withstand the forces required to secure the payload.

[0101] In the shown implementation, the USV 1 comprises a deck rail 19, which supports the launch and recovery system 3. The launch and recovery system 3 is connected to the deck rail 19 such that the launch and recovery system 3 can move over the deck 11 along the deck rail 19.

[0102] In the shown implementation, the launch and recovery system 3 of the USV 1 further comprises a winch 6, the winch 6 being arranged to extend and retract a cable, the cable being attached to the payload 10.

[0103] The winch 6 is contained in a housing 61, which also forms part of the base 41 of the lifting boom 4. The housing 61 and the winch 6 in the housing 61, are pivotably connected to the deck 11 of the USV, such that they rotate, along with the lifting boom 4 to define a horizontal movement of the distal end 42 of the lifting boom 4. The base hinge 43 of the lifting boom 4 is also connected to the housing 61. The vertical drive system 44, in the form of electric actuators in the shown implementation, are provided between the housing 61 and the lifting boom 4 at opposing sides of the housing 61. In an implementation, the housing and the lifting boom are not connected, such that the housing 61 can be removed from the system if necessary, without having to disconnect the lifting boom 4. The cable is fed outside of the housing 61 and between the laterally opposing parts of the lifting boom 4 to a set of lifting boom cable guides 46, which are provided in the shown embodiment opposite the rest strut 45 of the lifting boom 4.

[0104] In the shown implementation, the coupling mechanism 5 is pivotably coupled to the distal end 42 of the lifting boom 4, such that the payload 10 may be rotated depending on the angle of the lifting boom 4. The coupling that provides the pivotable connection is provided between the guide wheels 52 and the distal end 42 of the lifting boom 4. The distal end 42 of the lifting boom 4 also comprises an end cable wheel 47, which is positioned above the guide wheels 52 of the coupling mechanism 5. As such, the cable runs straight down from the end cable wheel 47 to the guide wheels 52 of the coupling mechanism 5, thus minimizing the lateral strain on the cable when the coupling mechanism 5 rotates in relation to the distal end 42 of the lifting boom 4.

[0105] Now referring to FIG. 2, a top view of a USV 1 according to an implementation of the present disclosure is shown. The shown USV 1 comprises two laterally opposed launch and recovery systems 3, which are provided on opposing sides of the USV 1. The second launch and recovery system 3 is similar to the launch and recovery system 3 discussed above. Reference will be made to the same components of the launch and recovery system 3. The second launch and recovery system 3 comprises a second lifting boom 4 having a base 41 and a distal end 42. The base 41 of the second lifting boom 4 being pivotably coupled to the deck 11 of the USV 1, such that the distal end 42 of the second lifting boom 4 can define a horizontal movement in relation to the deck 11, and wherein the distal end 42 of the second lifting boom 4 comprises a coupling mechanism 5 arranged to couple to a second payload 10.

[0106] The two launch and recovery systems 3 are positioned on laterally opposing regions of the USV 1. They may independently operate to deploy and / or recover payloads 10 to and from the water. The lifting booms 4 of the launch and recovery systems 3 may independentlypivot in relation to the deck 11 of the US V 1. In the shown implementation, the launch and recovery system 3 on the starboard side of the USV 1, on the left side of FIG. 2, is outwardly pivoted. This is in line with the shown implementation of FIG. 1, in which the payload 10 is provided above the water.

[0107] In the shown implementation, the port side launch and recovery system 3 is in a resting position, with the payload 10 provided on the deck cradle 13. The port side launch and recovery system 3 also shows the position of the cable 62, running from the winch 6 in the housing 61 to the lifting boom cable guides 46, and further to the coupling mechanism 5 on the distal end 42 of the lifting boom 4.

[0108] The USV 1 further comprises an extending launch and recovery unit 7, the extending launch and recovery unit 7 being attached to a horizontal translation mechanism 71, arranged to move the extending launch and recovery unit in a horizontal direction from a resting position to a deployment position.

[0109] According to an implementation, the extending launch and recovery unit comprises a winch 72. In the shown implementation, the extending launch and recovery unit 7, is connected to the horizontal translation mechanism 71, while the winch 72 is directly coupled to the deck 11. As a result, when the horizontal translation mechanism 71 extends to drive the platform 74 and the A-frame 73 over the stern of the vessel, the winch 72 stays in the same place, and only extends the cable at the same rate as the platform 74 extends outward over the stem of the USV 1. In the shown implementation, the extending launch and recovery unit 7 is in the deployment position, such that the payload 10 is over the stem of the USV 1 and positioned above the water for deployment. In the shown implementation, the extending launch and recovery unit 7 is positioned on a rear region of the USV 1, such that it can deploy a payload from the stern of the USV 1 into the water.

[0110] In the shown implementation, the extending launch and recovery unit 7 comprises an A-frame 73, more clearly shown in FIG. 6, which is provided on a supporting structure 74. In the shown implementation, the supporting structure 74 is a platform.[OHl] The supporting structure 74 is movably coupled to the deck 11 of the USV 1 on a set of deck rails 75. The moving platform 74 is coupled to the horizontal translation mechanism 71, such that the extending launch and recovery unit 7 as a whole can be moved in a horizontal direction.

[0112] Now referring to FIG. 3, a frontal view of a USV 1 according to an implementation of the present disclosure is shown. The USV 1 comprises two propulsion devices 12, mounted to the hull of the USV 1. The lifting boom 4 is pivotably coupled to the deck 11 of the USV 1such that it can move between a deployment position, and a recovery position. As shown, the vertical drive system 44 can extend or retract to cause the lifting boom 4 to move up and down, allowing the payload 10 to be deployed to and from the water. In the shown implementation, the starboard launch and recovery system 3 is provided in an operational position, while the port side launch and recovery system 3 is provided in a resting position.

[0113] The shown implementation further comprises an extending launch and recovery unit 6, comprising an A-frame 73 having a rectangular frame 76 and at least one strut, more clearly shown in FIG. 6 of the present disclosure.

[0114] Now referring to FIG. 4, a three-dimensional view of a lifting boom 4 of a US V 1 according to an implementation of the present disclosure is shown. The lifting boom 4 has a base 41 and a distal end 42. The base 41 of the lifting boom 4 is pivotably coupled to the deck 11 of the US V 1, such that the distal end 42 of the lifting boom 4 can define a horizontal movement in relation to the deck 11. The distal end 42 of the lifting boom 4 comprises a coupling mechanism 5 arranged to couple to a payload 10.

[0115] The base 41 of the lifting boom 4 is coupled to the deck 11 via a deck rail 19. In the shown implementation, the launch and recovery system 3 of the USV 1 further comprises a winch 6, the winch 6 being arranged to extend and retract a cable, the cable being attached to the payload 10. The winch 6 is contained in a housing 61, forming part of the base 41 of the lifting boom 4.

[0116] The housing 61 and the winch 6 in the housing 61, are pivotably connected to the deck 11 of the USV, via the deck rail 19. The vertical drive system 44, in the form of electric actuators in the shown implementation, are provided between the housing 61 and the lifting boom 4 at opposing sides of the housing 61.

[0117] The lifting boom 4 in the shown implementation defines a Y-shape, such that the lifting boom 4 extends from the distal end 41 to both sides of the housing 61 holding the winch 6. The distal end 41 of the lifting boom 4 comprises a coupling mechanism 5. The coupling mechanism 5 defines two laterally opposing flanges 51.

[0118] Now referring to FIG. 5, a three-dimensional view of a distal end 41 of a lifting boom 4 of a USV 1 according to an implementation of the present disclosure is shown. The coupling mechanism 5 comprises a guide wheel 52, provided above the payload 10, such that the payload 10 may be pulled against the laterally extending flanges 51 by a force applied by the cable 53.

[0119] In the shown implementation, the coupling mechanism 5 is pivotably coupled to the distal end 42 of the lifting boom 4, via a rotational connection 55, such that the payload 10 may be rotated, relative to the distal end 42 of the lifting boom 4, depending on the angle of thelifting boom 4. This has the advantage that the payload 10 may be independently oriented to be in line with the direction of travel of the USV 1, regardless of the angle defined by the lifting boom 4 with the USV 1. The rotational connection 55 that provides the pivotable connection is provided between the guide wheel 52 and the distal end 42 of the lifting boom 4. The distal end 42 of the lifting boom 4 also comprises an end cable wheel 47, which is positioned above the guide wheels 52 of the coupling mechanism 5. As such, the cable runs straight down from the end cable wheel 47 to the guide wheel 52 of the coupling mechanism 5, thus minimizing the lateral strain on the cable when the coupling mechanism 5 rotates in relation to the distal end 42 of the lifting boom 4.

[0120] The coupling mechanism 5 further comprises a cable retention wheel 54, arranged to press the cable against the guide wheel 52. This helps prevent the cable 53 sliding out from the guide wheel 52.

[0121] Now referring to FIG. 6, a side view of a USV 1 according to an implementation of the present disclosure is shown. The extending launch and recovery unit 7 comprises an A- frame 73, which is provided on a supporting structure 74. In the shown implementation, the supporting structure 74 is a support platform. The A-frame 73 has a rectangular frame 76 and two struts 77, which engage with either side of the rectangular frame 76.

[0122] The supporting structure 74 is movably coupled to the deck 11 of the USV 1 on a set of deck rails 75. The moving platform 74 is coupled to the horizontal translation mechanism 71, such that the extending launch and recovery unit 7 as a whole can be moved in a horizontal direction. In the shown implementation, the extending launch and recovery unit 7 is in an extended position, in which the A-frame 73, supported by the support platform 74, is provided over the stern of the USV 1, such that at least the payload 10, but preferably the whole A-frame 73 as well, is provided above the water. This allows the A-frame 73 to reach and deploy the payload 10 sufficiently far over the stem of the USV 1, without being very tall and possibly interfering with communication signals.

[0123] Further, the extending launch and recovery unit comprises at least one winch 72. In the shown implementation, the extending launch and recovery unit 7 is in the deployment position, such that the payload 10 is over the stern of the USV 1 and positioned above the water for deployment. In the shown implementation, the extending launch and recovery unit 7 is positioned on a rear region of the USV 1, such that it can deploy a payload from the stern of the USV 1 into the water.

[0124] The one or more stmts 77, may be an actuator, which can extend and retract, such that the A-frame 73 can rotate around a hinge provided between the A-frame 73 and the supportstructure 74. By providing an actuator 77, the rectangular frame 76 of the A-frame 73 can move inward an outward, such that the payload 10 may be extended or retracted in relation to the deck 11. In the shown implementation, the at least one strut 77 is static.

[0125] Now referring to FIG. 7 and FIG. 8, a side view of a US V 1 according to an implementation of the present disclosure is shown. The USV 1 comprises a hull 2 arranged to be partly submerged in water; a deck 11; and a propulsion device arranged to move the uncrewed surface vessel through water. The USV 1 further comprises an extending launch and recovery unit 7, arranged to deploy a payload 10 of the USV 1 into the water, the extending launch and recovery unit 7 being attached to a horizontal translation mechanism 71, arranged to move the extending launch and recovery unit 7 in a horizontal direction from a resting position to a deployment position. In the shown implementation of FIG. 7, the horizontal translation mechanism 71 is in the process of moving the extending launch and recovery unit 7 from the resting position to the deployment position. The implementation of FIG. 8 shows the extending launch and recovery unit 7 in a deployment position, such that the payload 10 is provided over the stem of the USV 1.

[0126] In the shown implementation, the extending launch and recovery unit 7 comprises a deployment beam 78 comprising a proximal end 701 and a payload end 702. The deployment beam 78 is pivotably coupled to a support structure 74 at the proximal end 701. The deployment beam 78 may further be coupled to the support structure 74 by a centre actuator 79, defining an angle with the deployment beam 78. Because an angle is defined between the centre actuator 79 and the deployment beam 78, the extension or retraction of the centre actuator 79 leads to rotation of the deployment beam 78 around the proximal end 701. This causes the payload end 702 to move in a substantially vertical direction.

[0127] After the horizontal translation mechanism 74 has moved the extending launch and recovery unit 7 to the deployment position, the centre actuator 79 may be retracted, such that the payload end 702 of the deployment beam 78 lowers towards and into the water.

[0128] Now referring to FIG. 9, a schematic diagram showing a method of deploying a payload from an uncrewed surface vessel according to an example implementation of the disclosure is shown. The shown method comprises the steps of providing 91 a USV 1, according to any of the embodiments in this disclosure; rotating the lifting boom 4 of the launch and recovery system 3 from a resting position wherein the lifting boom is positioned above the deck 11 of the USV 1 to a deployment position wherein the distal end 42 of the lifting boom 4 is submerged in the water, such that the payload 10 is submerged; deploying a payload 10 intothe water; and moving the lifting boom 4 to an operational position, wherein the distal end 42 of the lifting boom 4 is positioned above the water.

[0129] Also provided herein are coupling apparatus for an uncrewed surface vessel and / or LARS such as those described herein. Exemplary coupling apparatus are shown in FIGS. 10 and 11. Each “coupling apparatus” described herein may be used in place of the coupling mechanisms described herein (such as coupling mechanism 5 described above) in each of the USV and / or LARS examples described herein. Similarly, the coupling mechanism 5 may be used as the coupling apparatus in some implementations, and features of the coupling mechanism 5 described above may be utilised in the coupling apparatus described below. For example, in some implementations, the guide wheel 52 and end cable wheel 47 described above may each correspond to and / or be substituted for an over-boarding sheave as described below, or vice versa. Furthermore, each coupling apparatus described herein may be used with various types of LARS, including the extending launch and recovery unit 7 described above, or conventional A-frame approaches.

[0130] FIG. 10 shows an exemplary coupling apparatus 50 for a USV and / or LARS. In this example, the coupling apparatus 50 is arranged to deployably couple to a first type of payload - a nose-tow magnetometer payload 1002, such as a G-882 Nose-Tow Magnetometer. The payload 1002 is shown stowed in a towfish cradle 1001 (which may be on the deck of a USV) prior to deployment.

[0131] The payload 1002 is received and held by a docking interface 1013, which in this example comprises flanges. The docking interface 1013 is part of an interchangeable payload coupling mechanism that also includes a structural bracket 1011, a first over-boarding sheave 1010 and a second over-boarding sheave 1012. Each over-boarding sheave is arranged to accommodate a tow cable that is attached to the payload 1002. In this example, the structural bracket 1011 is also arranged to accommodate the tow cable such that the tow cable can pass through the structural bracket 1011.

[0132] The interchangeable payload coupling mechanism is arranged to effectively deploy and / or capture a particular type of payload (in this example, a magnetometer). The interchangeable payload coupling mechanism is attached via a bolt-on interface 1003 to a universal coupling mechanism that may in turn be attached or coupled to, e.g., a distal end of a lifting boom or A-frame. The universal coupling mechanism is apparatus that comprises another side of the bolt-on interface 1003 that is arranged to mate with the side of the bolt-on interface 1003 of the interchangeable payload coupling mechanism. The universal coupling mechanism also comprises a fixing interface 1009 for attaching to a LARS, e.g. to a distal endof a lifting boom as described for the coupling mechanism 5, or to an A-frame, which may likewise be attached with bolts or another suitable fixing. The universal coupling mechanism further comprises a structural element arranged between the bolt-on interface and the fixing interface. The universal coupling mechanism side of the bolt-on interface may also be considered to be a receiving interface that enables a particular type of payload to be coupled to the universal coupling mechanism via an interchangeable payload coupling mechanism.

[0133] The example of FIG. 10 further comprises an over-boarding sheave 1004 within the structural element of the universal coupling mechanism. The over-boarding sheave 1004 is used to route the tow cable from a first over-boarding sheave 1005 at the distal end of a lifting boom.

[0134] Each over-boarding sheave disclosed herein may have a sheave groove (such as the sheave groove 1006 of the first over-boarding sheave 1005) arranged to accommodate a tow cable, and which may be arranged to accommodate a particular type of tow cable, such as one having a Kellems grip wrapped around it. The sheave groove is arranged around the circumference of the sheave.

[0135] The coupling apparatus 50 further comprises an integrated cable cutter 1008, and a keeper plate / tension roller 1007. The tow cable itself is not shown in the example of FIG. 10.

[0136] FIG. 11 shows another exemplary coupling apparatus 50 in which the universal coupling mechanism is the same as that of FIG. 10 but the payload type and interchangeable payload coupling mechanism are different to that of FIG. 10.

[0137] It will be understood that, in order to attach each respective interchangeable payload coupling mechanism to the universal coupling mechanism, in some examples each respective interchangeable payload coupling mechanism will comprise a similar or identical interface for mating with the receiving interface of the universal coupling mechanism at the bolt-on interface 1003. Additionally or alternatively, the receiving interface of the universal coupling mechanism may be configured for receiving at least one type of corresponding mating interface for different interchangeable payload coupling mechanisms, and in some examples, the receiving interface may be configured for interchangeably receiving multiple types of corresponding mating interface. The coupling apparatus 50 may be divided by the bolt-on interface 1003 into a universal coupling mechanism and an interchangeable payload coupling mechanism.

[0138] Also shown in FIG. 11 are the tow cable 1020 and a stabilising rod 1022. The stabilising rod 1022 is arranged to be connected to the lifting boom and may be used to stabilise the roll motion of the coupling between the lifting boom and payload.

[0139] The payload 1102 of FIG. 11 is a side scan sonar apparatus, such as an EdgeTech 4205 side scan sonar device. As with the example of FIG. 10, the payload 1102 is shown held or stowed in a towfish cradle 1101, which may be on the deck of the USV prior to deployment.

[0140] In the example of FIG. 11, the interchangeable payload coupling mechanism is arranged with a docking interface 1114 for receiving the side scan sonar apparatus 1102 from the top. The docking interface 1114 is arranged with laterally extending flanges as in other examples herein. However, the flanges of FIG. 11 are shown angled downwards along a length of the flange in order to accommodate and / or receive a depressor wing of the side scan sonar apparatus 1102 in a manner arranged to be hydrodynamic when placed in the water.

[0141] Unlike the interchangeable payload coupling mechanism of FIG. 10, the interchangeable payload coupling mechanism of FIG. 11 does not comprise over-boarding sheaves. The interchangeable payload coupling mechanism of FIG. 11 comprises a structural bracket 1112 and a set of spring-based impact load dampeners 1113 that are arranged to reduce the impact load when the payload 1102 is captured by the coupling apparatus 50.

[0142] It will be appreciated that other variations and configurations of the interchangeable payload coupling mechanism may be used, including other configurations arranged to couple the same type of payloads as those shown, or other configurations for other types of payload. For some implementations of an interchangeable payload coupling mechanism, the docking interface is arranged to receive the payload from the “nose”, for a nose tow payload.

[0143] However, regardless of the implementation details, the universal coupling mechanism between the bolt-on interface 1003 and the fixing interface 1009 provides a coupling apparatus for a USV that may be used with various interchangeable types of payload and / or types of interchangeable payload coupling mechanisms, and can enable improved deployment, capture, and retrieval of various types of payload.

[0144] Accordingly, in general, each coupling apparatus described herein comprises a fixing interface for attaching to a launch and recovery system (LARS) of the USV; a receiving interface arranged to be interchangeably coupled to at least two types of a plurality of interchangeable payload types; and a structural element arranged at least in part between the fixing interface and the receiving interface. As described in relation to the examples of FIGS. 10 and 11, the payload may be interchangeably coupled to the coupling apparatus via an interchangeable payload coupling mechanism that is attached to the receiving interface.

[0145] It will be appreciated that, in some examples, the coupling apparatus may be considered to be part of the LARS itself, such as in the examples described above in relation to the coupling mechanism 5. In such examples, the fixing interface of the coupling apparatusmay be arranged such that the coupling apparatus is integrated with, within, into, and / or onto a LARS of a USV. In some examples, the fixing interface is arranged to be integrated with the launch and recovery system. The fixing interface may attach the coupling apparatus to another component of the LARS, such as the lifting boom, or an A-frame, such that the coupling apparatus becomes part of the LARS.

[0146] In some examples, the coupling apparatus may be considered not to form part of the LARS and instead to be an independent entity that may be mechanically attached and / or coupled to, e.g. a distal end of a lifting boom, or an A-frame of the LARS, using the fixing interface.

[0147] The fixing interface may be, for example, a bolted mechanical interface, or other suitable mechanical interface.

[0148] The structural element may be, for example, a truss, a frame, and / or a structural bracket, or any other suitable mechanical structure for providing a rigid supporting mechanical structure between the fixing interface and the receiving interface.

[0149] In some examples, the structural element is arranged to accommodate a tow cable. The tow cable may be arranged to be attached to a payload and to the USV.

[0150] In some examples, the coupling apparatus further comprises at least one over-boarding sheave arranged between the fixing interface and the receiving interface and arranged to accommodate a tow cable. The tow cable may be arranged to be attached to a payload and to the USV.

[0151] In some examples, the at least one over-boarding sheave comprises a tow cable groove arranged to accommodate a tow cable comprising a Kellems grip.

[0152] In some examples, the coupling apparatus further comprises a cable cutter for cutting a tow cable. The cable cutter may be arranged to cut the tow cable. The cable cutter may comprise an anvil cutter driven by an electric linear actuator and / or a hydraulic actuator. The cutting apparatus may be located either in the universal coupling mechanism part of the coupling apparatus or the interchangeable payload coupling mechanism part.

[0153] In some examples, the coupling apparatus is arranged to be pivotably coupled to the a lifting boom of the LARS, such that a payload coupled to the coupling apparatus may be rotated around a vertical axis and / or pitched around a transverse axis.

[0154] It will be appreciated that FIGS. 10 and 11 show a coupling apparatus 50 that has a fixed angular bend in its structure, with the structural element between interfaces 1003 and 1009 being at a fixed angle such that the payload is angled with respect to the fixing interface1009. In one implementation, the fixed angle is 30 degrees. Such an angle may be particularly beneficial for deployment from a lifting boom-based side LARS such as those disclosed herein.

[0155] However, in other implementations, the structural element does not have an angular bend and the structural element instead extends in a straight line from the fixing interface. In some implementations, the coupling apparatus 50 may be attached to or used with an A-frame type LARS or a centreline LARS. For a centreline LARS, a structural element with no angle or bend may be preferable for deployment straight off the stern.

[0156] In some examples, the structural element between the interfaces 1003 and 1009 may be pivotable such that the interfaces 1003 and 1009 can pivot with respect to one another, such that the rotation of the coupling apparatus may be passively and / or actively adjusted. The structural element may be pivotable such that a payload coupled to the coupling apparatus may be rotated around a vertical axis and / or pitched around a transverse axis.

[0157] In each example of pivoting or rotation of the payload via the coupling apparatus described herein, the pivoting or rotation may be controlled by actuators. Furthermore, in some examples, compensation for roll of the payload may alternatively or additionally be implemented, such as by using actuators. Each actuator may be located on a lifting boom of the LARS.

[0158] In some examples, the coupling apparatus further comprises at least one of a cable counter; a latch for locking a payload; a load cell; and / or a sensor arranged to detect that a payload is coupled to the coupling apparatus. The cable counter is arranged to determine a length of cable that has been deployed from the USV. The latch for locking a payload is arranged to releasably lock the payload to the coupling apparatus. The load cell may be arranged to detect that a payload is coupled to the coupling apparatus and / or to determine an amount of load placed on the coupling apparatus.

[0159] In some examples, the coupling apparatus further comprises an interchangeable payload coupling mechanism arranged to be attached to the receiving interface, the interchangeable payload coupling mechanism comprising a docking interface for receiving a payload. The docking interface may receive a payload from the top side of the payload and / or from the nose of the payload. The docking interface may be hydrodynamically designed and / or may be arranged to handle non-perfect alignment loads as the payload is being captured.

[0160] In some examples, the docking interface is arranged to receive at least one of the following payload types: a magnetometer; a side scan sonar apparatus; a moving velocity profiler; an electric remotely operated vehicle; a remotely operated towed vehicle; and / or a depressor wing. More generally, in some examples, the docking interface is arranged to receivea towfish, which may comprise e.g. a magnetometer; a side scan sonar apparatus; a moving velocity profiler; a remotely operated towed vehicle; and / or a depressor wing. The docking interface for an electric remotely operated vehicle (eROV) may comprise a cage. An eROV may not be towed, and may be used for marine asset integrity survey work. Accordingly, it will be understood that in examples involving an eROV, the tow cable may not be required.

[0161] In general a depressor wing may be attached or fitted to a type of payload such as a side scan sonar apparatus or a magnetometer. The depressor wing assists the payload in reaching greater depths, at greater velocity. In general, towfish types of payload are used for geophysical and hydrography survey work. In some examples, the docking interface comprises at least one laterally extending flange. Advantageously, the flange can facilitate attachment of the payload. In an advantageous implementation, the docking interface comprises two opposing laterally extending flanges, wherein a space is defined between the two opposing laterally extending flanges, such that a part of the payload can extend through the space, while the laterally extending flanges are arranged to engage with an upper surface of the payload.

[0162] In some examples, a surface of the at least one laterally extending flange is angled downwards along a length of the flange. The surface may be angled downwards with respect to a plane that is approximately parallel with the surface of the water such that, when submerged, one end of the surface is deeper in the water than the other end. The flange can be angled to provide a similar effect as a depressor wing to the payload as part of the coupling apparatus, providing hydrodynamic shape and reducing drag on the LARS and / or the payload within the water during the deployment and retrieval positions of the LARS. As shown in the example docking interface 1114 of FIG. 11, in some examples, two opposing laterally extending downwardly angled flanges may be used with a space defined between them for receiving at least part of the payload, which may itself be a depressor wing, such that the angled flanges engage with an angled payload, allowing for the payload to be drawn tightly into the coupling apparatus. In some examples, the flange(s) of the docking interface may be arranged such that an under surface of the flange(s) is angled downward and an upper surface of the flange(s) is hydrodynamically shaped.

[0163] In some examples, the docking interface comprises a compliant material. The compliant material may be arranged on a surface of the docking interface, such as an under surface arranged to make contact with the top of the payload, to form a compliant surface. The compliant material may be a deformable material such as (soft) rubber that is arranged to absorb an impact force imparted on the docking surface. In some examples, a layer of a compliant and / or deformable material may be attached to a harder plastic material of the dockinginterface, so that the two layers may function in a similar manner to a spring in order to absorb a load caused by the impact of capturing a payload.

[0164] In some examples, to retain the payload within the coupling apparatus, a small amount of cable tension is used to restrain the payload against a compliant surface in the docking interface.

[0165] In some examples, once the payload is engaged by the docking interface, a mechanical latch is used to restrain the payload against a compliant surface of the docking interface. The mechanical latch may be passively activated when the payload enters the compliant surface in the docking interface. If cable tension is lost in the tow cable, the mechanical latch is a failsafe.

[0166] In some examples, a primary sea-fastening mechanism is provided on the interchangeable payload coupling mechanism, as well as a mechanical fail-safe for the event of a failure occurring in the primary sea-fastening mechanism. The fail-safe is arranged such that loss of power, e.g. to the LARS and / or winch(s), will not prevent the operation of the failsafe.

[0167] In some examples, the interchangeable payload coupling mechanism comprises at least one mechanical spring arranged to at least partly absorb an impact caused by the docking interface receiving a payload. The interchangeable payload coupling mechanism may comprise a set of springs, as shown in the docking interface 1114 of FIG. 11.

[0168] In some examples, the interchangeable payload coupling mechanism comprises at least one over-boarding sheave.

[0169] Any one or more of the over-boarding sheaves described herein may comprise a cable counter, and / or a sensor. The sensor is arranged to monitor whether the payload is captured in the docking interface. The sensor may be arranged to indicate the presence of a payload.

[0170] Any one or more of the over-boarding sheaves described herein may be controlled using a rotary actuator, which may be electric or hydraulic, to control tow cable traction in the sheave groove.

[0171] Any one or more of the over-boarding sheaves described herein may be interchangeable within the coupling apparatus to accept more than one size of tow cable. Any one or more of the over-boarding sheaves described herein may have a tow cable groove arranged to accept a Kellems grip installed on the exterior of the tow cable.

[0172] Any one or more of the over-boarding sheaves described herein may have an aluminium or other metallic core with a Polyurethane (PUR) material embedded on the sheave circumference to maximise tow cable traction. Alternatively, any one or more of the over-boarding sheaves described herein may alternatively be made of a single material with a high- friction surface on the sheave circumference. Any one or more of the over-boarding sheaves described herein may have a retainer roller to maintain the tow cable in the circumferential sheave groove.

[0173] In examples disclosed herein, the over-boarding sheave on the distal end of the lifting boom routes the tow cable directly into the circumferential path of the sheave on the interchangeable coupling mechanism, which routes the tow cable to the termination on the payload body and parallel to the longitudinal axis of the USV when the payload is being launched or recovered. In an implementation for the launch or recovery of a nose tow payload, the bolt-on (attached) interchangeable payload coupling mechanism may comprise more than one over-boarding sheave in order to maintain a minimum bend radius of the tow cable. Such arrangements may increase the longevity of the tow cable.

[0174] In some examples, the interchangeable payload coupling mechanism and / or universal coupling mechanism is electrically connectorized such that cables for sensors, etc., may run from the USV to the interchangeable payload coupling mechanism when the interchangeable payload coupling mechanism is attached to the universal coupling mechanism.

[0175] In general, at least part of the coupling apparatus may be hydrodynamically designed for under-the-water-line launch and recovery while a vessel is underway to generate minimal drag and conform to local motion currents. The docking interface 1114 of FIG. 11 provides an example of this.

[0176] The disclosure extends to a launch and recovery system for an uncrewed surface vessel, the launch and recovery system comprising a lifting boom having a base and a distal end, wherein the distal end comprises a coupling apparatus as disclosed herein, wherein the fixing interface of the coupling apparatus is integrated with the launch and recovery system.

[0177] In some examples, the launch and recovery system is further arranged to retrieve the payload from the water onto the deck. Advantageously, the launch and recovery system can retrieve the payload from the water. The launch and recovery system may be configured to retrieve the payload from the water in substantially the same manner as the deployment.

[0178] In an implementation of the present disclosure, the coupling apparatus is pivotably coupled to the distal end of the lifting boom, such that the payload may be rotated and / or pitched depending on the angle of the lifting boom. This advantageously allows the payload to be provided at a desirable orientation, regardless of the position of the lifting boom.

[0179] According to an aspect of the present disclosure, there is provided an uncrewed surface vessel for performing remote offshore projects, the USV comprising a hull arranged tobe partly submerged in water; a deck; a propulsion device arranged to move the uncrewed surface vessel through the water; at least one launch and recovery system, arranged to deploy a payload from the deck into the water, the launch and recovery system comprising a coupling apparatus as disclosed herein, wherein the fixing interface of the coupling apparatus is integrated with the launch and recovery system.

[0180] In some examples of the uncrewed surface vessel, the launch and recovery system comprises a lifting boom having a base and a distal end, wherein the base of the lifting boom is pivotably coupled to the deck of the USV, such that the distal end of the lifting boom can define a horizontal movement in relation to the deck, and wherein the distal end comprises a coupling apparatus as disclosed herein.

[0181] In an implementation, the coupling apparatus is rotationally coupled to the distal end of a lifting boom such it can yaw around the vertical axis and / or pitch around the transverse axis. As a result, the payload can rotate in such a way that the payload is aligned with the direction of travel and compensate for the pitch (nose to tail) and yaw motion of the USV, regardless of the angle which is defined between the lifting boom and the USV.

[0182] In some examples of the uncrewed surface vessel, the uncrewed surface vessel further comprises a second launch and recovery system, arranged to deploy a payload from the deck into the water, wherein the second launch and recovery system comprises a second lifting boom having a base and a distal end, wherein the base of the second lifting boom is pivotably coupled to the deck of the USV, such that the distal end of the second lifting boom can define a horizontal movement in relation to the deck, and wherein the distal end of the second lifting boom comprises a second coupling apparatus in accordance with the coupling apparatus disclosed herein. Having two launch and recovery systems advantageously allows the deployment of two payloads at the same time. Using the coupling apparatus disclosed herein, those payloads can be of a different type to one another even though much or all of the LARS design is standardized for each of the two launch and recovery systems.

[0183] FIG. 12 shows a schematic diagram showing a method of deploying a payload from an uncrewed surface vessel. The method comprises the steps of providing 91 an uncrewed surface vessel comprising coupling apparatus according to any of the examples of the present disclosure and deploying 93 a payload from the deck into the water. The payload may be deployed from the coupling apparatus.

[0184] The method of FIG. 12 may comprise one or more further steps according to any one or more of the methods described herein, such as that of using a lifting boom, and / or of submerging the payload under the water, and / or the steps of FIG. 9.

[0185] The systems, devices, and / or approaches described herein may be designed and used for under-the-water-line launch and recovery and / or for deployment / launch from above the water-line.

[0186] The invention has been described by reference to certain implementations discussed above. It will be recognized that these implementations are susceptible to various modifications and alternative forms well known to those of skill in the art.

[0187] Further modifications in addition to those described above may be made to the structures and techniques described herein without departing from the spirit and scope of the invention. Accordingly, although specific implementations have been described, these are examples only and are not limiting upon the scope of the invention.

[0188] Various example implementations of the disclosure are discussed in detail herein. While specific implementations are discussed, it should be understood that this is done for illustration purposes only. A person skilled in the relevant art will recognize that other components and configurations may be used without parting from the spirit and scope of the disclosure.

[0189] Thus, the description and drawings are illustrative and are not to be construed as limiting. Specific details are described to provide a thorough understanding of the disclosure. However, in certain instances, well-known or conventional details are not described in order to avoid obscuring the description. A reference to an implementation in the present disclosure can be a reference to the same implementation or any other implementation. Such references thus relate to at least one of the implementations herein.

[0190] Reference to “one implementation” or “an implementation” means that a particular feature, structure, or characteristic described in connection with the implementation is included in at least one implementation of the disclosure. The appearances of the phrase “in one implementation” in various places in the specification are not necessarily all referring to the same implementation, nor are separate or alternative implementations mutually exclusive of other implementations. Moreover, various features are described which may be exhibited by various implementations and not by others.

[0191] The terms used in this specification generally have their ordinary meanings in the art, within the context of the disclosure, and in the specific context where each term is used. Alternative language and synonyms may be used for any one or more of the terms discussed herein, and no special significance should be placed upon whether or not a term is elaborated or discussed herein. In various cases, synonyms for certain terms are provided. A recital of one or more synonyms does not exclude the use of other synonyms. The use of examples anywherein this specification including examples of any terms discussed herein is illustrative only and is not intended to further limit the scope and meaning of the disclosure or of any example term. Likewise, the disclosure is not limited to various implementations given in this specification.

[0192] Without intent to limit the scope of the disclosure, examples of instruments, apparatus, methods, and their related results according to the implementations of the present disclosure are given below. Note that titles or subtitles may be used in the examples for convenience of a reader, which in no way should limit the scope of the disclosure. Unless otherwise defined, technical and scientific terms used herein have the meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. In the case of conflict, the present document, including definitions will control.

[0193] Those skilled in the art will also recognise that the scope of the invention is not limited by the examples described herein but is instead defined by the appended claims.

Claims

CLAIMS1. Coupling apparatus for an uncrewed surface vessel, the coupling apparatus comprising: a fixing interface for attaching to a launch and recovery system of the uncrewed surface vessel; a receiving interface arranged to be interchangeably coupled to at least two types of a plurality of interchangeable payload types; and a structural element arranged at least in part between the fixing interface and the receiving interface.

2. The coupling apparatus of claim 1, wherein the structural element is arranged to accommodate a tow cable.

3. The coupling apparatus of claim 1 or claim 2, wherein the coupling apparatus further comprises at least one over-boarding sheave arranged between the fixing interface and the receiving interface and arranged to accommodate a tow cable.

4. The coupling apparatus of claim 3, wherein the at least one over-boarding sheave comprises a tow cable groove arranged to accommodate a tow cable comprising a Kellems grip.

5. The coupling apparatus of any preceding claim, wherein the coupling apparatus further comprises a cable cutter for cutting a tow cable.

6. The coupling apparatus of any preceding claim, wherein the coupling apparatus is arranged to be pivotably coupled to a lifting boom of the launch and recovery system, such that a payload coupled to the coupling apparatus may be rotated around a vertical axis and / or pitched around a transverse axis.

7. The coupling apparatus of any preceding claim, wherein the coupling apparatus further comprises at least one of: a cable counter; a latch for locking a payload; a load cell; and / or a sensor arranged to detect that a payload is coupled to the coupling apparatus.

8. The coupling apparatus of any preceding claim, wherein the coupling apparatus further comprises an interchangeable payload coupling mechanism arranged to be attached to the receiving interface, the interchangeable payload coupling mechanism comprising a docking interface for receiving a payload.

9. The coupling apparatus of claim 8, wherein the docking interface is arranged to receive at least one of: a magnetometer; a side-scan sonar apparatus; a moving velocity profiler; an electric remotely operated vehicle; a remotely operated towed vehicle; and / or a depressor wing.

10. The coupling apparatus of claim 8 or claim 9, wherein the docking interface comprises at least one laterally extending flange.

11. The coupling apparatus of claim 10, wherein a surface of the at least one laterally extending flange is angled downwards along a length of the flange.

12. The coupling apparatus of any of claims 8 to 11, wherein the docking interface comprises a compliant material.

13. The coupling apparatus of any of claims 8 to 12, wherein the interchangeable payload coupling mechanism comprises at least one mechanical spring arranged to at least partly absorb an impact caused by the docking interface receiving a payload.

14. The coupling apparatus of any of claims 8 to 13, wherein the interchangeable payload coupling mechanism comprises at least one over-boarding sheave.

15. A launch and recovery system for an uncrewed surface vessel, the launch and recovery system comprising a lifting boom having a base and a distal end, wherein the distal end comprises the coupling apparatus of any preceding claim, wherein the fixing interface of the coupling apparatus is integrated with the launch and recovery system.

16. Uncrewed surface vessel for performing remote offshore proj ects, the uncrewed surface vessel comprising: a hull arranged to be partly submerged in water; a deck;a propulsion device arranged to move the uncrewed surface vessel through water; at least one launch and recovery system, arranged to deploy a payload from the deck into the water, the launch and recovery system comprising the coupling apparatus of any of claims 1 to 14, wherein the fixing interface of the coupling apparatus is integrated with the launch and recovery system.

17. The uncrewed surface vessel of claim 16, wherein the launch and recovery system comprises a lifting boom having a base and a distal end, wherein the base of the lifting boom is pivotably coupled to the deck of the uncrewed surface vessel, such that the distal end of the lifting boom can define a horizontal movement in relation to the deck, and wherein the distal end comprises the coupling apparatus.

18. The uncrewed surface vessel of claim 16 or claim 17, wherein the uncrewed surface vessel further comprises a second launch and recovery system, arranged to deploy a payload from the deck into the water, wherein the second launch and recovery system comprises a second lifting boom having a base and a distal end, wherein the base of the second lifting boom is pivotably coupled to the deck of the uncrewed surface vessel, such that the distal end of the second lifting boom can define a horizontal movement in relation to the deck, and wherein the distal end of the second lifting boom comprises a second coupling apparatus in accordance with the coupling apparatus of any of claims 1 to 14.

19. Method of deploying a payload from an uncrewed surface vessel, the method comprising the steps of: providing an uncrewed surface vessel according to any of claims 16 to 18; and deploying a payload from the deck into the water.

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