External Rescue and Recovery Devices and Methods for Underwater Vehicles

Abstract

Methods and devices are provided for rescuing and recovering underwater vehicles. In one embodiment, a system is provided that includes a modular rescue device configured to attach to an underwater vehicle, such as with a tow line. The rescue device can include one or more emergency mechanisms that can be automatically and/or manually activated to aid in detecting the location of the underwater vehicle in the event of an emergency. One exemplary emergency mechanism includes a buoyancy mechanism, e.g., an expandable lift bag, configured to be inflated with a fluid to add buoyancy force to the system to pull the underwater vehicle toward a water surface. Another exemplary emergency mechanism includes a signaling mechanism configured to signal the underwater vehicle's location.

1 . A rescue and recovery system, comprising:
 a submersible housing configured to be coupled to and disposed at least partially outside an underwater vehicle;   an emergency mechanism located within the housing and configured to be deployed upon detection of an emergency condition; and   an actuator configured to deploy the emergency notification mechanism.   
     
     
         2 . The system of  claim 1 , wherein the emergency mechanism includes at least one of a light, an expandable bag, a flare, a signal transmitter, a flag, a dye, and a GPS system. 
     
     
         3 . The system of  claim 1 , further comprising a cable configured to couple the housing to the underwater vehicle. 
     
     
         4 . The system of  claim 3 , wherein the cable connects to a head of the housing and a tail of the underwater vehicle to allow the housing to be towed underwater by the underwater vehicle. 
     
     
         5 . The system of  claim 3 , wherein the cable is configured to have a first length extend between the housing and the underwater vehicle and a second length that is longer than the first length contained within at least one of the housing and the underwater vehicle. 
     
     
         6 . The system of  claim 5 , wherein at least a portion of the cable is configured to unspool when underwater to increase a distance between the housing and the underwater vehicle. 
     
     
         7 . The system of  claim 1 , wherein the housing is configured to decouple from the underwater vehicle upon detection of an emergency condition. 
     
     
         8 . The system of  claim 1 , wherein the emergency mechanism includes a buoyancy mechanism, and wherein the actuator is configured to expand the buoyancy mechanism to increase a buoyancy of the housing and the underwater vehicle coupled to the housing. 
     
     
         9 . The system of  claim 1 , wherein the actuator includes at least one of an R134a refrigerant, carbon dioxide, and an explosive powder. 
     
     
         10 . The system of  claim 1 , wherein the emergency condition includes at least one of exceeding a threshold dive depth, exceeding a threshold dive time, falling below a threshold travel speed, the housing longitudinally oriented above a threshold angle, a power loss in the underwater vehicle coupled to the housing, exceeding a threshold dive speed, and receipt of a distress signal. 
     
     
         11 . The system of  claim 1 , further comprising a sensor configured to detect an emergency condition and to trigger the actuator to deploy the emergency mechanism upon detection of the emergency condition. 
     
     
         12 . The system of  claim 11 , wherein the sensor is located within the housing. 
     
     
         13 . The system of  claim 11 , further comprising an underwater vehicle coupled to the housing, wherein the sensor is located within the underwater vehicle. 
     
     
         14 . The system of  claim 1 , further comprising a power system located within the housing and configured to provide power to the housing independent of an underwater vehicle coupled to the housing. 
     
     
         15 . The system of  claim 14 , wherein the actuator is configured to turn on the power system upon detection of the emergency condition. 
     
     
         16 . A self contained rescue system for an underwater vehicle, comprising:
 an expandable buoyancy mechanism;   a propellant providing system operatively connected to the expandable buoyancy mechanism for selectively inflating the buoyancy mechanism; and   a mechanical connecting element for connecting the rescue system to an underwater vehicle.   
     
     
         17 . The system of  claim 16 , wherein the buoyancy mechanism includes an inflatable bag. 
     
     
         18 . The system of  claim 16 , further comprising a localization means and a communication means for determining, following deployment of the buoyancy mechanism and arrival at a water surface, a location of the rescue system and communicating the location. 
     
     
         19 . The system of  claim 16 , further comprising an acoustic pinger for communicating in water. 
     
     
         20 . The system of  claim 16 , further comprising an underwater vehicle, wherein the mechanical connecting element is connected to the underwater vehicle. 
     
     
         21 . The system of  claim 20 , wherein the rescue system and the underwater vehicle are configured to be in electronic communication. 
     
     
         22 . The system of system  21 , wherein the underwater vehicle is configured to provide power to the rescue system. 
     
     
         23 . The system of system  21 , wherein the underwater vehicle is configured to signal the rescue system to deploy the buoyancy mechanism. 
     
     
         24 . The system of  claim 23 , wherein the underwater vehicle includes an emergency detection means configured to signal the rescue system to deploy the buoyancy mechanism. 
     
     
         25 . The system of  claim 20 , wherein the rescue system is configured to be towed behind the underwater vehicle. 
     
     
         26 . The system of  claim 25 , wherein the rescue system is configured to be towed about 2 to 4 feet behind the underwater vehicle. 
     
     
         27 . A rescue and recovery system, comprising:
 a housing;   a buoyancy chamber included in the housing and having a buoyancy mechanism disposed therein;   a propellant chamber included in the housing, operatively connected to the buoyancy chamber, and configured to trigger expansion of the buoyancy mechanism disposed in the buoyancy chamber; and   a coupling element configured to couple the housing to an underwater vehicle.   
     
     
         28 . The system of  claim 27 , wherein the coupling element comprises a cable. 
     
     
         29 . The system of  claim 28 , wherein the cable is configured to be removably coupled to the underwater vehicle. 
     
     
         30 . The system of  claim 27 , wherein expansion of the buoyancy mechanism is effective to float at least the housing toward a water surface. 
     
     
         31 . The system of  claim 30 , further comprising a localization means and a communication means for determining, following deployment of the buoyancy mechanism and arrival at the water surface, a location of the housing and communicating the location.