A method of deploying autonomous underwater vehicles (AUVs), the method comprising loading the AUVs into a deployment device; submerging the deployment device containing the AUVs after the AUVs have been loaded into the deployment device; towing the submerged deployment device containing the AUVs with a surface vessel; deploying the AUVs from the submerged deployment device as it is towed by the surface vessel; and operating a thruster of each AUV after it has been deployed so that it moves away from the submerged deployment device. A method of retrieving autonomous underwater vehicles (AUVs) is also disclosed, the method comprising towing a submerged retrieval device with a surface vessel; loading the AUVs into the submerged retrieval device as it is towed by the surface vessel; and after the AUVs have been loaded into the submerged retrieval device, lifting the submerged retrieval device containing the AUVs out of the water and onto the surface vessel.

An underwater wireless charging method and device using acoustic waves for covering the entire depth of sea is disclosed. Within 10 meters below the water-level, unmanned undersea vehicles (UUV) are charged from a mother ship . Between 10 meters and 100 meters below the water-level, a sound wave is directly sent from the mother ship to the underwater sensor to be charged. At the depth of more than 100 meters below the water-level, an underwater UUV is adopted to in situ charge the underwater sensor node at close range. The transmitting transducer converts electrical energy to sound energy through the inverse piezoelectric effect. The sound wave is then sent by the transducer to a hydrophone that transforms sound energy to electrical energy via the piezoelectric effect. The load can thus be charged. Three types of wireless charging can be realized by the station for different underwater application scenarios, so as to satisfy the wireless charging for covering the entire depth of sea.

A system for deploying and recovering an autonomous underwater device (AUD) using a surface carrier ship, includes, in addition to the carrier ship, a subaquatic vehicle (SV) guided by a connection wire connected to the carrier ship, the SV able to be positioned in a storage configuration wherein the SV is fixedly but removably joined to the carrier ship in a storage zone, or in a configuration for use, in which the SV, separated from the carrier ship, is in the water and at a distance from the carrier ship while remaining connected by the connection wire, the SV including propulsion, guiding and stabilizing systems and a station for receiving the AUD allowing it to be removably attached to the SV, the receiving station and the AUD including a complementary automated docking unit allowing the AUD to automatically dock with the receiving station during recovery and attach itself thereto.

A field configurable autonomous vehicle includes modular elements and attachable components. The vehicle can be assembled from these modular elements and components to meet desired mission and performance characteristics without the need to purchase specially designed vehicles for each mission. The vehicle can include a module that enables the vehicle to adjust the position of the center of mass to trim the vehicle for efficient operations or to alter the stability and control parameters of the vehicle.

An AUV/UUV docking station is provided that is tethered to a wave energy converter that is in turn tethered to a flotation buoy. The AUV/UUV docking station has a cone for directing an AUV/UUV into a charging dock that is rotatable between a horizontal docking position and a vertical charging position such that in the vertical position the docking station and docked AUV/UUV have a reduced profile so as not to interfere with the operation of the wave energy converter. Energy from the wave energy converter is directed to the dock to charge the AUV/UUV.

Disclosed is path planning system and method for sea-aerial cooperative underwater target tracking, the method comprises: obtaining the position information of a detection target, carrying out a first path planning along a channel of sea surface monitoring device according to the position information of the detection target; carrying out a second path planning along the channel of sea surface monitoring device according to the water surface navigation map and its own position information, constructing an underwater obstacle map; performing a third path planning according to the underwater obstacle map, and tracking to the position of the detection target to complete the tracking task. This disclosure adopts the collaborative optimization of several clusters to reduce the number of iterations and improve the optimization efficiency, making the path planning reasonable, as a result, the target position can be quickly tracked, and the autonomous collaborative tracking capability is improved.

A subsea garage for an unmanned underwater vehicle (UUV) has a body having a receptacle for the UUV, an open top providing a transit path for the UUV into and out of the receptacle and a base opposed to the open top, the base being arranged to lie on the seabed. At least one post is movable, subsea, relative to the body into a deployed position extending upwardly from the body above the open top. A lid may also be movable relative to the body between a closed position that closes the open top and an open position that allows the UUV to move along the transit path through the open top. A fixed post may extend upwardly from the body above the open top, in which case the lid may enclose the post when in the closed position and expose the post when in the open position.

Disclosed is a sonobuoy that houses at least one unmanned vehicle that may be launched from the sonobuoy. The sonobuoy may include a canister, a parachute, an unmanned vehicle, and a launch mechanism. The parachute may be disposed within an interior cavity of the canister proximate to a first end of the canister. The unmanned vehicle may be disposed within the interior cavity of the canister proximate to a second end of the canister. The launch mechanism may be disposed within the interior cavity of the canister and operatively coupled to the unmanned vehicle. The launch mechanism may be configured to launch the unmanned vehicle from the canister. The sonobuoy may further include a launch deployment mechanism that may be configured to orient the canister with respect to a surface after the sonobuoy impacts the surface in order to facilitate the launch of the unmanned vehicle.

A charging system includes a charging station having: a base underwater; a pole extending in an upper-lower direction; and a power supplying portion. An AUV includes: an underwater main body; a power receiving portion; a holding device including a pair of guide and holding portions, the pair of guide portions guides the pole to a holding position after the pole contacts the guide portions from a proceeding-direction, the holding portion holds the pole to be rotatable relative to the pole; a thrust generating apparatus generates in a horizontal direction; and a control device controls the thrust generating apparatus. A light emitter at one of the base and the underwater main body, and a light receiver is provided at the other. The control device controls the thrust so the underwater main body reaches a rotational position where the light receiver receives light emitted, the rotational position set relative to the pole.

A power transmitting device transmits power to a power receiving device having a power receiving coil in water. The power transmitting device includes a power transmitting coil configured to transmit the power to the power receiving coil via a magnetic field. The power transmitting device also includes a support member that supports the power transmitting coil, and one or more spacers that hold the transmitting coil and the support member.