Abstract:
An external payload module or body that is mechanically attached to the exterior of a standard production AUV. The module expands the applications for which the AUV can be utilized and/or enhances an existing application(s), enabling current single or limited use AUV&#39;s to have multi-mission capability or enhancing existing capability without requiring complete redesign of the AUV. This approach capitalizes on the advantages of high-volume small AUV production to maintain low manufacturing and handling costs, while enabling greatly improved AUV mission flexibility.

Description:
FIELD 
       [0001]    This disclosure relates to an autonomous underwater vehicle (AUV) and to an external payload module that is attachable to the AUV. 
       BACKGROUND 
       [0002]    Autonomous Underwater Vehicles (AUVs) continue to increase in capability and applications. The ideal AUV would be low cost, small in size and capable of carrying at least double its weight. Due to volumetric constraints and necessary payloads, however; AUV&#39;s that are capable of completing multiple missions require significantly larger size, and associated costs. These costs include launch and recovery logistics, material handling and training Smaller AUV&#39;s, although less costly, are more limited due to smaller available volumes, and become effectively application specific. The smaller the AUV, the less payload capability it has, while the size of an AUV is directly proportional to cost. Historically, standard production AUV&#39;s have been developed for application specific tasks and rarely can be used to perform other tasks. 
       SUMMARY 
       [0003]    This invention utilizes an external payload module or body that is mechanically attached to the exterior of a standard production AUV. The module expands the applications for which the AUV can be utilized and/or enhances an existing application(s), enabling current single or limited use AUV&#39;s to have multi-mission capability or enhancing existing capability without requiring complete redesign of the AUV. This approach capitalizes on the advantages of high-volume small AUV production to maintain low manufacturing and handling costs, while enabling greatly improved AUV mission flexibility. 
         [0004]    The external module can have various payloads and capabilities depending upon a number of factors including the intended missions. The external module can have one or more sensors including, but not limited to, depth and/or navigation sensors. The external module can have data processing capability provided by one or more data processors. The external module can have one or more power supplies including, but not limited to, batteries. The external module can be equipped with communication equipment for transmitting and/or receiving signals. The external module can include control surfaces including, but not limited to, controllable steering fins, or other steering capability, for providing enhanced steering control to the combined AUV and module. One or more of these features can be provided depending upon the intended mission. 
         [0005]    However, it is preferred that the external module not include its own propulsion capability. Rather, once mechanically attached to the AUV, the propulsion mechanism of the AUV will be used to propel the combined AUV/module through the water. 
         [0006]    The external module can be watertight to protect the payload that it carries. The external module can also be designed to maintain the mass balance of the AUV. In addition, the module can be designed to mirror the hydrodynamic characteristics of the AUV. 
         [0007]    In an optional embodiment, there can be one or more I/O connections between the AUV and the module to provide data and communications interface between the two. The I/O connection(s) can be wireless, for example using a suitable short range radio communication technology, or wired, for example using one or more Ethernet connections. The I/O connection(s) can occur automatically upon connecting the AUV to the module, and/or require manual connection. 
         [0008]    In another optional embodiment, there can be one or more power connections between the AUV and the module to provide power from the module to the AUV or to provide power from the AUV to the module. The power connection(s) can occur automatically upon connecting the AUV to the module, and/or require manual connection. 
         [0009]    In one exemplary embodiment, the external module is an intelligent module which, when attached to the AUV, automatically assumes control of the AUV&#39;s guidance and control system. By changing the design of the module, single-use AUV&#39;s can be utilized for multiple applications without requiring complete redesign of the AUV. 
         [0010]    In another exemplary embodiment, the module is connected to a forward part of the AUV. The forward module can take control of the standard AUV guidance and control when attached. The forward module can be reconfigured for multiple mission applications without the need to alter the AUV configuration. This permits high fidelity vehicle intelligence to be housed in the external module, while maintaining minimal intelligence in the standard AUV configuration. This allows for low-volume production of variable external payload modules without requiring alteration of high-volume AUV production. 
     
    
     
       DRAWINGS 
         [0011]      FIG. 1  is an exploded view of an AUV and an external payload module prior to connection. 
           [0012]      FIG. 2  illustrates the AUV and the external payload module connected together. 
           [0013]      FIG. 3  is a close-up view of the external payload module. 
       
    
    
     DETAILED DESCRIPTION 
       [0014]    With reference initially to  FIGS. 1-2 , a standard production AUV  10  is illustrated together with an external payload module  12  that is mechanically connectable to the AUV  10 . 
         [0015]    The AUV  10  illustrated in  FIGS. 1 and 2  is representative of any type of unmanned (i.e. a human does not ride on or in the AUV), high-volume, standard production, small in size underwater vehicle having a single or limited use. Specific examples of suitable AUV&#39;s that can be utilized include, but are not limited to, the MK39 EMATT from Lockheed Martin Corporation, the Iver2 from OceanServer Technology Inc., the Gavia Defence from Teledyne Gavia, and many others. 
         [0016]    The AUV  10  generally has a front end  20  and a rear end  22 , and in the illustrated embodiment has a propulsion mechanism  24 , for example a propeller, at the rear end  22 . As would be understood by a person of ordinary skill in the art, the front end  20  is bullet or tear drop shaped or has any other suitable shape to provide the desired hydrodynamic properties to the AUV  10 . Likewise, the remainder of the AUV is shaped to provide desired hydrodynamic properties. The AUV  10  is also provided with standard, minimal guidance and control capability, and has minimal intelligence, so that the AUV is designed specifically for its intended application. 
         [0017]    Steering of the AUV can be provided by vector or steering control of the propulsion mechanism  24  and/or by suitable control surfaces provided on the AUV  10 . The propulsion mechanism  24  is powered by a suitable power supply mechanism within the AUV, for example an electric motor powered by one or more batteries. 
         [0018]    The overall construction, including systems and operation, of the AUV  10  are known in the art. 
         [0019]    The module  12  is mechanically connectable to the AUV  10  to become a single unit with the AUV, and is provided with one or more payload systems to enhance or expand the mission capability of the AUV  10 . The exact construction of the module  12  can vary as long as the module  12  includes one or more payload systems. In addition, the module  12  can be watertight to protect the payload system(s) that it carries, should maintain the mass balance of the AUV to which it is attached, and should mirror the hydrodynamic characteristics of the AUV. 
         [0020]    The module  12  can mechanically connect to the AUV  10  in any manner suitable so that the two systems form a single unit. For example, the module  12  can connect to the AUV  10  using screws or other fasteners. Alternatively, the module  12  and the AUV  10  can connect to one another using a quick-connect/disconnect connection of the type described in U.S. Pat. No. 8,539,898, filed on Mar. 24, 2010, titled Underwater Vehicle with Improved Controls and Modular Payload, which is incorporated herein by reference. 
         [0021]    As shown in  FIGS. 1-2 , the module  12  is configured to detachably attach to the front end  20  of the AUV  10  to allow installation and removal of the module  12  for replacement of a new module. However, the module  12  can attach to any location on the AUV  10  as long as the module  12  performs the functions described herein. 
         [0022]    In the embodiment illustrated in  FIGS. 1-3 , the module  12  includes a rear mounting section  30  that is formed as a cylindrical sleeve configured to receive and surround the front end  20  of the AUV  10 . The rear mounting section  30  is used to mechanically attach the module to the AUV. The module  12  also includes a forward payload section  32  that is designed to house one or more payload systems. The front end of the section  32  is bullet or tear drop shaped or has any other suitable shape to provide the desired hydrodynamic properties to the combined AUV/module unit. 
         [0023]    Examples of payload systems that can be included in the module  12  includes, but are not limited to, one or more of sensors such as depth and/or navigation sensors, one or more data processors to provide data processing capability, one or more power supplies such as batteries, communication equipment for transmitting and/or receiving signals, ordinance, camera(s), lights, sonar, oceanographic instrumentation and sensors, release mechanisms for buoy(s), surveillance equipment, antennas, etc. 
         [0024]    In addition, the module  12  includes one or more control surfaces  34  such as controllable steering fins for providing enhanced steering control and lift characteristics to the combined AUV and module. The control surfaces  34  can enhance the existing steering capability of the AUV. 
         [0025]    It is preferred that the module  12  not include its own propulsion capability. Rather, once the module  12  is mechanically attached to the AUV  10 , the propulsion mechanism  24  of the AUV will be used to propel the combined AUV/module unit through the water. 
         [0026]    In an embodiment, in addition to mechanical connection, there can be one or more I/O connections between the AUV and the module to provide data and communications interface between the two. The I/O connection(s) can be wireless, for example using a suitable short range radio communication technology, or wired, for example using one or more Ethernet connections. The I/O connection(s) can occur automatically upon mechanically mounting the module to the AUV to the module, and/or require manual connection. 
         [0027]    In this embodiment, the module  12  can take control of the AUV, enabling variable mission controls without independent AUV modification. By removing the module  12  and replacing with a new module  12 , the module  12  can be reconfigured for multiple mission applications without the need to alter the standard AUV configuration. In addition, high fidelity vehicle intelligence can be housed in the module  12 , thereby maintaining minimal intelligence in the standard AUV  10 . 
         [0028]    In another embodiment, in addition to mechanical connection, there can also be one or more power connections between the AUV and the module to provide power from the module to the AUV or to provide power from the AUV to the module. The power connection(s) can occur automatically upon mechanically mounting the AUV to the module, and/or require manual connection. 
         [0029]    The examples disclosed in this application are to be considered in all respects as illustrative and not limitative. The scope of the invention is indicated by the appended claims rather than by the foregoing description; and all changes which come within the meaning and range of equivalency of the claims are intended to be embraced therein.