초록 ▼

An at least partially self-propelled vehicle is configured for being towed by a towing vehicle, by way of a tow line. Operation of the vehicles may be coordinated so that, for a length of the tow line that connects the vehicles, the length of the tow line is curved in a manner that inhibits the tow

An at least partially self-propelled vehicle is configured for being towed by a towing vehicle, by way of a tow line. Operation of the vehicles may be coordinated so that, for a length of the tow line that connects the vehicles, the length of the tow line is curved in a manner that inhibits the tow line from transferring oscillatory motion between the vehicles while the entirety of the length of the tow line may be under tension.

대표청구항 ▼

What is claimed is: 1. A method of using a sensor that is carried by a vehicle that is submerged in water and connected to a towing vehicle by a length of a tow line that extends from the towing vehicle to the submerged vehicle, the method comprising simultaneously: operating the sensor that is car

What is claimed is: 1. A method of using a sensor that is carried by a vehicle that is submerged in water and connected to a towing vehicle by a length of a tow line that extends from the towing vehicle to the submerged vehicle, the method comprising simultaneously: operating the sensor that is carried by the submerged vehicle; operating the towing vehicle, comprising operating a propulsion system of the towing vehicle, so that the towing vehicle tows at least the tow line; operating the submerged vehicle, comprising operating a propulsion system of the submerged vehicle, so that the propulsion system of the submerged vehicle is at least partially propelling the submerged vehicle, whereby the submerged vehicle is at least partially self-propelled; and coordinating the operating of the towing vehicle and the operating of the submerged vehicle so that each of the towing vehicle, the submerged vehicle and the entirety of the length of the tow line, which extends from the towing vehicle to the submerged vehicle, travels at substantially the same speed in substantially the same forward direction so that simultaneously the entirety of the length of the tow line is under tension, and the length of the tow line is curved in a manner that inhibits the length of the tow line from transferring oscillatory motion between opposite ends of the length of the tow line, comprising the length of the tow line defining a concave shape that is forwardly oriented, and the length of the tow line having an upper section, a lower section, and a farthest rearward point that is positioned between the upper section and the lower section, wherein the farthest rearward point of the length of the tow line is positioned at and defines a farthest rearward point of the concave shape, the upper section extends to the towing vehicle from the farthest rearward point, comprising the upper section extending upwardly and forwardly from the farthest rearward point toward the towing vehicle, and the upper section curving forwardly from the farthest rearward point toward the towing vehicle, so that the upper section defines an upper of the concave shape, and the lower section extends to the submerged vehicle from the farthest rearward point, comprising the lower section extending downwardly and forwardly from the farthest rearward point toward the submerged vehicle, and the lower section curving forwardly from the farthest rearward point toward the submerged vehicle, so that the lower section defines a lower portion of the concave shape. 2. The method according to claim 1, wherein the coordinating is carried out so that the submerged vehicle tows a portion of the tow line at the same time as the towing vehicle tows a portion of the tow line. 3. The method according to claim 1, wherein the coordinating is carried out so that the towing vehicle at least partially tows the submerged vehicle by way of the tow line while the propulsion system of the submerged vehicle is at least partially propelling the submerged vehicle. 4. The method according to claim 1, wherein a lower end of the length of the tow line is positioned forwardly of an upper portion of the tow line. 5. The method according to claim 1, further comprising the towing vehicle towing the submerged vehicle by way of the tow line prior to the operating of the propulsion system of the submerged vehicle. 6. The method according to claim 1, wherein the coordinating is carried by an autopilot system of the towable vehicle. 7. The method according to claim 1, wherein: the towing vehicle is a boat floating at a surface of the water, and the submerged vehicle is an autonomous unmanned underwater vehicle that is submerged in the water. 8. The method according to claim 1, wherein the speed is at least about 3 knots. 9. The method according to claim 1, wherein the speed is at least about 7 knots. 10. The method according to claim 1, wherein the towing vehicle and the submerged vehicle traveling in substantially the same forward direction comprises: the towing vehicle traveling along an upper path; and the submerged vehicle traveling along a lower path that is below and substantially parallel to the upper path. 11. The method according to claim 10, wherein the upper and lower paths are substantially vertically aligned with one another. 12. A method of using a sensor of a towable vehicle, the method comprising: at least partially towing the towable vehicle under water, comprising connecting the towable vehicle and a towing vehicle to one another with a length of a tow line that extends from the towing vehicle to the towable vehicle, and operating a propulsion system of the towing vehicle, so that the towing vehicle is propelled by the propulsion system of the towing vehicle, and the towable vehicle is at least partially towed by the towing vehicle as a result of the towing vehicle being propelled by the propulsion system of the towing vehicle, so that towing tension is applied to the towable vehicle by way of the tow line; coordinating operation of the towing vehicle and the towable vehicle in order to maintain the towable vehicle under water and at least reduce the towing tension applied to the towable vehicle by way of the tow line, wherein the coordinating comprises operating a propulsion system of the towable vehicle, so that the propulsion system of the towable vehicle is at least partially propelling the towable vehicle, whereby the towable vehicle is at least partially self-propelled, and wherein the coordinating is carried out so that simultaneously each of the towing vehicle, the towable vehicle and the entirety of the length of the tow line travels at substantially the same speed in substantially the same forward direction, the entirety of the length of the tow line is under tension, and the length of the tow line is curved in a manner that inhibits the length of the tow line from transferring oscillatory motion between opposite ends of the length of the tow line, comprising the length of the tow line defining a concave shape that is forwardly oriented, and the length of the tow line having an upper section, a lower section, and a farthest rearward point that is positioned between the upper section and the lower section, wherein the farthest rearward point of the length of the tow line is positioned at and defines a farthest rearward point of the concave shape, the upper section extends to the towing vehicle from the farthest rearward point, comprising the upper section extending upwardly and forwardly from the farthest rearward point toward the towing vehicle, and the upper section curving forwardly from the farthest rearward point toward the towing vehicle, so that the upper section defines an upper portion of the concave shape, and the lower section extends to the towable vehicle from the farthest rearward point, comprising the lower section extending downwardly and forwardly from the farthest rearward point toward the towable vehicle, and the lower section curving forwardly from the farthest rearward point toward the towable vehicle, so that the lower section defines a lower portion of the concave shape. 13. The method according to claim 12, wherein the coordinating comprises steering at least one of the towing vehicle and the towable vehicle. 14. The method according to claim 12, wherein the towing vehicle is a boat. 15. The method according to claim 12, wherein the sensor is a downwardly oriented sonar sensor. 16. The method according to claim 12, wherein the coordinating comprises adjusting the operating of the propulsion system of the towable vehicle, so that forward speed of the towable vehicle substantially matches forward speed of the towing vehicle. 17. The method according to claim 12, wherein the coordinating is carried out so that: the towing vehicle pulls an upper end of the tow line so that the towing vehicle propels the upper end of the tow line, and the towable vehicle pulls a lower end of the tow line so that the towable vehicle propels the lower end of the tow line. 18. The method according to claim 12, comprising sending information via the tow line. 19. The method according to claim 12, comprising sending electrical power via the tow line. 20. A method of using a sensor of a towable vehicle, the method comprising: at least partially towing the towable vehicle under water, comprising connecting the towable vehicle and a towing vehicle to one another with a tow line, and operating a propulsion system of the towing vehicle, so that towing tension is applied to the towable vehicle by way of the tow line; coordinating operation of the towing vehicle and the towable vehicle in order to maintain the towable vehicle under water and at least reduce the towing tension applied to the towable vehicle by way of the tow line, wherein the coordinating comprises operating a propulsion system of the towable vehicle, so that the propulsion system of the towable vehicle is at least partially propelling the towable vehicle, whereby the towable vehicle is at least partially self-propelled, obtaining information indicative of the towing tension applied to the towable vehicle exceeding a predetermined value, and adjusting one or more operating parameters of one or more of the towing vehicle and the towable vehicle in a manner that seeks to at least reduce the towing tension applied to the towable vehicle by way of the tow line, wherein the adjusting is responsive to the obtaining of the information; and operating the sensor during the coordinating. 21. A method of using a sensor of a towable vehicle, the method comprising simultaneously performing a plurality of operations, wherein the plurality of operations, which are performed simultaneously, comprise: propelling a towing vehicle along an upper path while the towing vehicle and the towable vehicle are connected to one another by a tow line, wherein the propelling of the towing vehicle comprises operating a propulsion system of the towing vehicle so that the towing vehicle is at least partially self-propelled; propelling the towable vehicle along an underwater path, wherein the propelling of the towable vehicle comprises operating a propulsion system of the towable vehicle so that the towable vehicle is at least partially self-propelled; maneuvering so that the underwater path and the upper path are substantially parallel to one another, and the underwater path is below the upper path, wherein the maneuvering comprises obtaining information indicative of how parallel the underwater and upper paths are to one another, and adjusting one or more operating parameters of one or more of the towing vehicle and the towable vehicle in a manner that seeks to maintain the underwater path and the upper path substantially parallel to one another, and the underwater path below the upper path; and operating the sensor of the towable vehicle. 22. The method according to claim 21, wherein the propelling of the towable vehicle comprises the towing vehicle at least partially towing the towable vehicle by way of the tow line. 23. The method according to claim 21, wherein the towing vehicle is a boat. 24. The method according to claim 21, wherein the sensor is a downwardly oriented sonar sensor. 25. The method according to claim 21, wherein the plurality of operations, which are performed simultaneously, comprises: the towing vehicle pulling an upper end of the tow line so that the towing vehicle propels the upper end of the tow line along the upper path, and the towable vehicle pulling a lower end of the tow line so that the towable vehicle propels the lower end of the tow line along the underwater path. 26. The method according to claim 21, wherein the plurality of operations, which are performed simultaneously, comprises exposing the towable vehicle to towing tension via the tow line. 27. The method according to claim 21, comprising sending information and/or electrical power via the tow line. 28. The method according to claim 21, wherein the adjusting of the one or more operating parameters comprises steering the towable vehicle. 29. The method according to claim 28, wherein the steering of the towable vehicle comprises adjusting the steering of the towable vehicle in a manner that seeks to maintain the underwater path substantially parallel to the upper path. 30. The method according to claim 21, wherein the plurality of operations, which are performed simultaneously, further comprises controlling the propelling of at least one of the towing vehicle and the towable vehicle to maintain the towing vehicle at least slightly ahead of the towable vehicle.