EP2551185A1 - Underwater or marine vehicle and associated docking method - Google Patents

Underwater or marine vehicle and associated docking method Download PDF

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Publication number
EP2551185A1
EP2551185A1 EP12177504A EP12177504A EP2551185A1 EP 2551185 A1 EP2551185 A1 EP 2551185A1 EP 12177504 A EP12177504 A EP 12177504A EP 12177504 A EP12177504 A EP 12177504A EP 2551185 A1 EP2551185 A1 EP 2551185A1
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EP
European Patent Office
Prior art keywords
cable
machine
marine
clamp
detection means
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP12177504A
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German (de)
French (fr)
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EP2551185B1 (en
Inventor
Eric Frejaville
Gérard Mothier
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Eca Robotics SAS
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Eca Robotics SAS
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Publication of EP2551185A1 publication Critical patent/EP2551185A1/en
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Publication of EP2551185B1 publication Critical patent/EP2551185B1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/56—Towing or pushing equipment
    • B63B21/58—Adaptations of hooks for towing; Towing-hook mountings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/56—Towing or pushing equipment
    • B63B21/66—Equipment specially adapted for towing underwater objects or vessels, e.g. fairings for tow-cables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/18—Arrangement of ship-based loading or unloading equipment for cargo or passengers of cableways, e.g. with breeches-buoys
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
    • B63C11/36—Diving chambers with mechanical link, e.g. cable, to a base of closed type
    • B63C11/42—Diving chambers with mechanical link, e.g. cable, to a base of closed type with independent propulsion or direction control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/42—Towed underwater vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
    • B63B2027/165—Deployment or recovery of underwater vehicles using lifts or hoists
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating

Definitions

  • the present invention relates to the field of submarine or marine gear, and in particular a device for securing such a machine.
  • a particularly interesting application of the invention relates to the recovery of a submersible machine by a traction cable, in order to be brought back to the surface of the water, for example on the deck of a ship, either directly or by via a mobile receiving part.
  • the invention also relates to the recovery of a submersible machine by a traction cable to be recovered for example by a submarine.
  • An autonomous submersible vehicle called “AUV” (Autonomous Underwater Vehicle in Anglo-Saxon terms)
  • AAV Autonomous Underwater Vehicle in Anglo-Saxon terms
  • the mobile part generally called “cage” comprises a frame defining a housing inside which the machine can enter to be recovered.
  • the document WO 01/21476 describes a submersible device for launching, maintenance and recovery of a submersible vehicle comprising in particular a recovery platform comprising a first connection to a surface vehicle and a second connection to a submersible vehicle.
  • the submersible vehicle comprises for this purpose a connection means of complementary shape to the second connection of the recovery platform.
  • Such a recovery device is complex and does not allow effective attachment of the marine machine to a traction cable.
  • the object of the present invention is to overcome the disadvantages of the state of the art.
  • the object of the invention is to propose a submersible machine comprising its own securing means in a marine environment so as to be autonomous while effectively clinging to a recovery cable which can be a traction cable and avoiding the influence of vertical movements due to the swell.
  • the invention relates to a marine or submarine device intended to be secured to a recovery cable.
  • the machine comprises non-contact detection means of the recovery cable capable of detecting the cable and guiding the machine towards the cable and cable hooking means located on the machine.
  • the marine or submarine device finds the cable by detection and is then guided by its own detection means to a tow rope that can be ballasted, the cable is then locked effectively to the machine by means of 'hanging located at the front of the machine.
  • the gear thus secured may, for example, be subsequently towed in a moving part such as a receiving cage or directly on a ramp in order to be reassembled, if it is immersed, on the surface of the water.
  • the attachment means are located at one end of the machine, but may also be located on the outer surface of the body of the machine.
  • the attachment means comprise at least one hook and at least one clamp movable in rotation between a closed position in contact with the outer surface of the machine, an open position deviating from the outer surface of the machine for provide a wide cable receiving opening and a hooking position in which the clamp cooperates with the hook to leave a space for the passage of the cable between the clamp and the outer surface of the marine gear.
  • the clip includes a cable-contact sensing portion.
  • the attachment means may comprise at least one locking valve located in the hook for the passage of the cable.
  • the marine machine comprises an electronic control unit capable of directing the marine machine towards the traction cable as a function of the non-contact detection means, of controlling the position of the clamp according to the data provided by the detection portion. by contact, and lock the flapper after the cable passage.
  • the machine may include one or more forceps judiciously located on the machine.
  • the machine is, for example, autonomous and includes internal propulsion means.
  • the contactless detection means comprise at least one sensor which can be acoustic (for example a sonar), laser or video.
  • the invention relates to a method for attaching a marine gear to a recovery cable in which the cable is detected and the marine gear is guided towards the cable by non-contact detection means and hooks the cable by hooking means which can be located at one end or on the sides of the marine machine.
  • a clip is actuated in an open position away from the outer surface of the machine.
  • the clamp When the cable is detected by contact detection means located on the clamp, the clamp can be actuated in a hooking position in which the clamp cooperates with a hook to leave a space for the passage of the cable between the clamp and the outer surface of the marine gear.
  • the cable when the cable is in the space between the clamp and the outer surface of the marine machine, the cable is slid to a lock valve in the hook and locked the cable by locking the valve.
  • a marine or underwater vehicle As illustrated on the figures 1 and 2 , a marine or underwater vehicle, referenced 1 as a whole, is intended to be recovered by a recovery device (not shown) connected for example by hoisting ropes to a boat or a naval surface vehicle (not shown) .
  • the recovery device comprises, for example, a moving part (not shown), such as a receiving cage and a traction cable 2, a first end 2a is connected to a front end of the receiving cage, for example to a pulling winch (not shown) and a second free end 2b intended to be hooked by the machine 1.
  • the invention is not limited to the use of such a receiving cage to recover the marine gear. Any other means of recovering a marine gear by means of a traction cable may be used, in particular the recovery of the craft by a submersible.
  • the vehicle 1 may, for example, be a submersible or floating underwater vehicle and designed, for example, to perform surveillance and / or underwater inspection.
  • the underwater vehicle 1 extends along a longitudinal axis and comprises a main body 3 of generally cylindrical shape, or torpedo.
  • the body 3 is provided with a stabilizer 4 fixed to a rear end 3a and provided to ensure the stability of the displacement of the vehicle 1, and longitudinal thrusters 5 fixed on one side and the other of the body 3 forward
  • the vehicle 1 also comprises a front portion 3b which may, for example, comprise a camera (not shown) for observing the seabed.
  • the vehicle 1 is thus autonomous and includes its own means of internal propulsion.
  • the machine 1 illustrated at figure 1 is attached to one end 2b of the traction cable 2, the other end 2a is intended to be connected to a recovery device (not shown).
  • the figure 2 illustrates the machine 1 ready to dock at the weighted end 2b of the traction cable 2.
  • a float (not shown) could be hooked to the traction cable to ensure the verticality of the cable, in particular as part of the recovery of the craft by a submersible.
  • the front part 3b of the machine 1, illustrated in detail on the Figures 3 to 5 comprises non-contact detection means 6 of the traction cable 2, such as a sonar, capable of guiding the machine 1 towards the traction cable 2 and the hooking means 7 of the cable 2 situated at a front end 3b 1.
  • the non-contact detection means 6 is located on the upper part of the machine 1, in a housing 6a provided for this purpose.
  • the non-contact detection means 6 may, for example, be controlled to exit this housing 6a in order to look for the traction cable 2. It will be noted that the non-contact detection means could also be directly attached to the outer surface of the housing. gear 1.
  • the attachment means 7 comprise a set of hooks 8 located at the end of the front portion 3b of the machine 1, two clamps 9a, 9b and two locking valves 13a, 13b each located in a hook 8 for the passage cable 2.
  • the set of hooks 8 for example of the double hook type, comprises a base 8a of substantially conical shape matching the end of the front portion 3a of the machine 1, a rigid rod 8b and two curved tips 8c, 8d around the base 8a.
  • a single curved tip 8c forming a single hook.
  • the clamps 9a, 9b are rotatable between a closed position, visible on the figure 3 , in contact with the outer surface 3c of the machine 1, an open position, visible on the figures 2 and 4 , deviating from the outer surface 3c of the machine 1 and a hooking position, visible on the figures 1 and 5 , in which each clamp 9a, 9b cooperates with a curved tip 8c, 8d so as to leave a space E for the passage of the cable 2 between each clamp 9a, 9b and the outer surface 3c of the machine 1.
  • a single clamp 9a could be used.
  • Each clamp 9a, 9b comprises a base 10a, 10b connected to a pivoting mechanism (not shown), comprising for example a set of cylinders, and a protruding portion 11a, 11b outwardly of generally parallelepipedal shape.
  • the front part 3b of the machine 1 has grooves 9c in which the tongs 9a, 9b are housed in the closed position visible on the figure 3 .
  • the closed position corresponds in particular to a transit position.
  • the parts of the clamp 9a, 9b located in the housings 9c of the machine 1 are shown in dotted lines in the figures.
  • a stud 9d can be placed inside the machine 1 in order to avoid the contact between the clamps 9a, 9b when they are in the closed position.
  • the arrangement of the clamps 9a, 9b in the recesses provided for this purpose in the body 3 of the machine 1 makes it possible to prevent the clamps 9a, 9b from clinging to elements during the transit of the machine 1.
  • Each base 10a, 10b comprises a detection portion 12a, 12b by contact of the cable 2.
  • the machine 1 further comprises an electronic control unit (not shown) capable of directing the machine 1 towards the traction cable 2 as a function of the non-contact detection means 6, to control the position of the clamps 9a, 9b in function data provided by the contact detection portion 12a, 12b, and lock the corresponding valve 13a, 13b after the cable passage 2.
  • an electronic control unit capable of directing the machine 1 towards the traction cable 2 as a function of the non-contact detection means 6, to control the position of the clamps 9a, 9b in function data provided by the contact detection portion 12a, 12b, and lock the corresponding valve 13a, 13b after the cable passage 2.
  • the catching means 7 are located elsewhere than at the front end 3b of the machine 1, in fact, it could be provided a hooking of the traction cable 2 for example by the top of the machine 1.
  • the grippers 9a, 9b are actuated simultaneously by the electronic control unit in an open position deviating from the outer surface 3c of the machine 1, as visible on the figures 2 and 4 .
  • each clamp 9a, 9b When the traction cable 2 is detected by one of the contact detection means 12a, 12b respectively located on a clamp 9a, 9b, the clamps 9a, 9b are simultaneously actuated in a hooking position, visible on the figure 3 , in which each clamp 9a, 9b cooperates with a curved end 8c, 8d so as to leave a space E for the passage of the cable 2 between the clamp 9a, 9b and the outer surface 3c of the machine 1.
  • the propulsion means (not shown) of the machine 1 are stopped so that the traction cable 2 slides towards the rigid rod 8b, and slides through one of the locking valves 13a, 13b located in the hook 8 to its weighted end serving as a stop.
  • the electronic control unit actuates the locking valve 13a, 13b to prevent the cable 2 from going back and thus allows effective locking of the traction cable 2 by the machine 1.
  • the machine 1 hooked to the traction cable 2 the machine 1 is towed, for example using a winch in a receiving cage to position the front, called "nose", of the gear 1 in a docking means, for example in a mobile receiving cone.
  • the machine 1 and housed in the cage can then be raised to the surface.
  • the invention is not limited to the use of such a receiving cage to recover the marine gear. Any other means of recovering a marine gear by means of a traction cable may be used.
  • the marine or underwater vehicle is able to dock autonomously to a traction cable by effective hooking means providing multiple benefits, such as the possible recovery of the machine from n any structure, fixed or mobile, aerial or submerged, with a weighted cable.
  • the possible recovery of the machine in immersion makes it possible to overcome the influence of the swell.
  • such a coupling device can be easily adapted to existing systems, for example by using a cable equipped with an end ballast and also requires no human intervention at sea.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Laying Of Electric Cables Or Lines Outside (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The vehicle (1) has a contactless unit for detecting a recovery cable (2) i.e. pulling cable, and guiding the vehicle toward the cable. A coupling unit (7) is located at an end (3b) of the vehicle for coupling the vehicle with the cable. The coupling unit comprises a hook and a gripper. The gripper rotates between a closed position in contact with an outer surface of the vehicle, and a coupling position, in which the gripper interacts with the hook to provide a space for a passage of the cable between the grippers and the outer surface of the vehicle. An independent claim is also included for a method for coupling a marine or underwater vehicle to a recovery cable.

Description

La présente invention concerne le domaine des engins sous-marins ou marins, et en particulier un dispositif d'arrimage d'un tel engin.The present invention relates to the field of submarine or marine gear, and in particular a device for securing such a machine.

Une application particulièrement intéressante de l'invention concerne la récupération d'un engin submersible par un câble de traction, afin d'être ramené à la surface de l'eau, par exemple sur le pont d'un navire, soit directement, soit par l'intermédiaire d'une partie mobile de réception. L'invention concerne aussi la récupération d'un engin submersible par un câble de traction afin d'être récupéré par exemple par un sous-marin.A particularly interesting application of the invention relates to the recovery of a submersible machine by a traction cable, in order to be brought back to the surface of the water, for example on the deck of a ship, either directly or by via a mobile receiving part. The invention also relates to the recovery of a submersible machine by a traction cable to be recovered for example by a submarine.

Un engin submersible autonome, dit « AUV » (Autonomous Underwater Vehicle en terme anglo-saxon), est, en général, récupéré par des moyens de treuillage fixés sur un véhicule naval de surface et une partie mobile de réception de l'engin. Plus particulièrement, la partie mobile, appelée généralement « cage » comprend un châssis définissant un logement à l'intérieur duquel l'engin peut pénétrer pour être récupéré.An autonomous submersible vehicle, called "AUV" (Autonomous Underwater Vehicle in Anglo-Saxon terms), is generally recovered by winching means fixed on a surface naval vehicle and a mobile receiving part of the craft. More particularly, the mobile part, generally called "cage" comprises a frame defining a housing inside which the machine can enter to be recovered.

Le document WO 01/21476 décrit un appareil submersible de mise à l'eau, d'entretien et de récupération d'un engin submersible comprenant notamment une plateforme de récupération comportant une première connexion à un véhicule de surface et une deuxième connexion à un engin submersible. L'engin submersible comprend à cet effet un moyen de connexion de forme complémentaire à la deuxième connexion de la plateforme de récupération. Un tel dispositif de récupération est complexe et ne permet pas un accrochage efficace de l'engin marin à un câble de traction.The document WO 01/21476 describes a submersible device for launching, maintenance and recovery of a submersible vehicle comprising in particular a recovery platform comprising a first connection to a surface vehicle and a second connection to a submersible vehicle. The submersible vehicle comprises for this purpose a connection means of complementary shape to the second connection of the recovery platform. Such a recovery device is complex and does not allow effective attachment of the marine machine to a traction cable.

En effet, lors de fortes houles, un tel système d'accrochage est difficile à mettre en oeuvre.Indeed, during heavy swells, such a fastening system is difficult to implement.

On peut également se référer au document US 2008/0302292 qui décrit un appareil de récupération d'un engin submersible comprenant un corps formé d'une pluralité de tubes télescopiques reliés à un cône de réception de l'engin submersible venant serrer la surface avant cylindrique de l'engin. Un des tubes télescopiques est ensuite rétracté afin de récupérer l'engin dans l'appareil de récupération.We can also refer to the document US 2008/0302292 which describes an apparatus for recovering a submersible machine comprising a body formed of a plurality of telescopic tubes connected to a cone for receiving the submersible machine which grips the cylindrical front surface of the machine. One of the telescopic tubes is then retracted to retrieve the gear in the recovery device.

Toutefois, il est nécessaire d'aligner convenablement l'engin avec le cône de réception afin que celui-ci puisse être récupéré convenablement dans l'appareil de récupération.However, it is necessary to properly align the machine with the receiving cone so that it can be recovered properly in the recovery device.

De tels dispositifs ne sont pas adaptés en cas de mer agitée, en raison de mouvements des moyens de récupération générés par la houle et qui empêcheraient l'engin submersible d'être récupéré convenablement sans être endommagé.Such devices are not suitable in case of rough sea, due to movements of the recovery means generated by the swell and which would prevent the submersible machine to be recovered properly without being damaged.

De plus, aucun de ces documents ne propose un engin submersible capable de s'arrimer de façon autonome à un câble de traction.In addition, none of these documents offers a submersible device capable of docking autonomously to a traction cable.

Le but de la présente invention est de pallier les inconvénients de l'état de la technique.The object of the present invention is to overcome the disadvantages of the state of the art.

Le but de l'invention est de proposer un engin submersible comprenant ses propres moyens d'arrimage en milieu marin afin d'être autonome tout en s'accrochant de façon efficace à un câble de récupération qui peut être un câble de traction et en évitant l'influence des mouvements verticaux dus à la houle.The object of the invention is to propose a submersible machine comprising its own securing means in a marine environment so as to be autonomous while effectively clinging to a recovery cable which can be a traction cable and avoiding the influence of vertical movements due to the swell.

L'invention a pour objet un engin marin ou sous-marin destiné à être arrimé à un câble de récupération. L'engin comprend des moyens de détection sans contact du câble de récupération capables de détecter le câble et de guider l'engin vers le câble et des moyens d'accrochage du câble situés sur l'engin.The invention relates to a marine or submarine device intended to be secured to a recovery cable. The machine comprises non-contact detection means of the recovery cable capable of detecting the cable and guiding the machine towards the cable and cable hooking means located on the machine.

Ainsi, l'engin marin ou sous-marin retrouve le câble par détection et est ensuite guidé par ses propres moyens de détection vers un câble de traction qui peut être lesté, le câble est ensuite verrouillé efficacement à l'engin grâce à des moyens d'accrochage situés à l'avant de l'engin. L'engin ainsi arrimé peut, par exemple, être ensuite tracté dans une partie mobile telle qu'une cage de réception ou directement sur une rampe afin d'être remonté, s'il est immergé, à la surface de l'eau.Thus, the marine or submarine device finds the cable by detection and is then guided by its own detection means to a tow rope that can be ballasted, the cable is then locked effectively to the machine by means of 'hanging located at the front of the machine. The gear thus secured may, for example, be subsequently towed in a moving part such as a receiving cage or directly on a ramp in order to be reassembled, if it is immersed, on the surface of the water.

Avantageusement, les moyens d'accrochage sont situés à une extrémité de l'engin, mais peuvent également être situés sur la surface extérieure du corps de l'engin.Advantageously, the attachment means are located at one end of the machine, but may also be located on the outer surface of the body of the machine.

Avantageusement, les moyens d'accrochage comprennent au moins un crochet et au moins une pince mobile en rotation entre une position fermée en contact avec la surface extérieure de l'engin, une position ouverte s'écartant de la surface extérieure de l'engin pour offrir une large ouverture de réception du câble et une position d'accrochage dans laquelle la pince coopère avec le crochet afin de laisser subsister un espace pour le passage du câble entre la pince et la surface extérieure de l'engin marin.Advantageously, the attachment means comprise at least one hook and at least one clamp movable in rotation between a closed position in contact with the outer surface of the machine, an open position deviating from the outer surface of the machine for provide a wide cable receiving opening and a hooking position in which the clamp cooperates with the hook to leave a space for the passage of the cable between the clamp and the outer surface of the marine gear.

Par exemple, la pince comprend une portion de détection par contact du câble.For example, the clip includes a cable-contact sensing portion.

Les moyens d'accrochage peuvent comprendre au moins un clapet de verrouillage situé dans le crochet pour le passage du câble.The attachment means may comprise at least one locking valve located in the hook for the passage of the cable.

Avantageusement, l'engin marin comprend une unité de commande électronique capable de diriger l'engin marin vers le câble de traction en fonction des moyens de détection sans contact, de commander la position de la pince en fonction des données fournies par la portion de détection par contact, et de verrouiller le clapet après le passage câble.Advantageously, the marine machine comprises an electronic control unit capable of directing the marine machine towards the traction cable as a function of the non-contact detection means, of controlling the position of the clamp according to the data provided by the detection portion. by contact, and lock the flapper after the cable passage.

L'engin peut comprendre une ou plusieurs pinces judicieusement situées sur l'engin.The machine may include one or more forceps judiciously located on the machine.

L'engin est, par exemple, autonome et comprend des moyens de propulsion interne.The machine is, for example, autonomous and includes internal propulsion means.

Avantageusement, les moyens de détection sans contact comprennent au moins un capteur qui peut être acoustique (par exemple un sonar), laser ou vidéo.Advantageously, the contactless detection means comprise at least one sensor which can be acoustic (for example a sonar), laser or video.

Selon un autre aspect, l'invention concerne un procédé d'accrochage d'un engin marin à un câble de récupération dans lequel on détecte le câble et on guide l'engin marin vers le câble par des moyens de détection sans contact et on accroche le câble par des moyens d'accrochage qui peuvent être situés à une extrémité ou sur les côtés de l'engin marin.According to another aspect, the invention relates to a method for attaching a marine gear to a recovery cable in which the cable is detected and the marine gear is guided towards the cable by non-contact detection means and hooks the cable by hooking means which can be located at one end or on the sides of the marine machine.

Avantageusement, lorsque le câble est détecté par les moyens de détection sans contact, on actionne une pince dans une position ouverte s'écartant de la surface extérieure de l'engin.Advantageously, when the cable is detected by the non-contact detection means, a clip is actuated in an open position away from the outer surface of the machine.

Lorsque le câble est détecté par des moyens de détection par contact situés sur la pince, on peut actionner la pince dans une position d'accrochage dans laquelle la pince coopère avec un crochet afin de laisser subsister un espace pour le passage du câble entre la pince et la surface extérieure de l'engin marin.When the cable is detected by contact detection means located on the clamp, the clamp can be actuated in a hooking position in which the clamp cooperates with a hook to leave a space for the passage of the cable between the clamp and the outer surface of the marine gear.

En outre, lorsque le câble se trouve dans l'espace entre la pince et la surface extérieure de l'engin marin, on laisse coulisser le câble vers un clapet de verrouillage situé dans le crochet et on verrouille le câble par verrouillage du clapet.In addition, when the cable is in the space between the clamp and the outer surface of the marine machine, the cable is slid to a lock valve in the hook and locked the cable by locking the valve.

D'autres buts, caractéristiques et avantages de l'invention apparaîtront à la lecture de la description suivante, donnée uniquement à titre d'exemple non limitatif, et faite en référence aux dessins annexés sur lesquels :

  • la figure 1 est une vue générale d'un engin marin récupéré par un câble de traction ;
  • la figure 2 est une vue générale de l'engin marin en vue d'être récupéré par le câble de traction ; et
  • les figures 3, 4, 5 représentent la partie avant de l'engin marin selon la figure 1 illustrant différentes positions des moyens d'accrochage.
Other objects, features and advantages of the invention will appear on reading the following description, given solely by way of nonlimiting example, and with reference to the appended drawings in which:
  • the figure 1 is a general view of a marine craft recovered by a traction cable;
  • the figure 2 is a general view of the marine gear for recovery by the towing cable; and
  • the Figures 3, 4 , 5 represent the front part of the marine gear according to the figure 1 illustrating different positions of the attachment means.

Tel qu'il est illustré sur les figures 1 et 2, un engin marin ou sous-marin, référencé 1 dans son ensemble, est destiné à être récupéré par un dispositif de récupération (non représenté) relié par exemple par des câbles de levage à une embarcation ou un véhicule naval de surface (non représenté). Le dispositif de récupération comprend, par exemple, une partie mobile (non représentée), telle qu'une cage de réception et un câble de traction 2 dont une première extrémité 2a est reliée à une extrémité avant de la cage de réception, par exemple à un treuil de traction (non représenté) et une deuxième extrémité libre 2b destinée à être accrochée par l'engin 1.As illustrated on the figures 1 and 2 , a marine or underwater vehicle, referenced 1 as a whole, is intended to be recovered by a recovery device (not shown) connected for example by hoisting ropes to a boat or a naval surface vehicle (not shown) . The recovery device comprises, for example, a moving part (not shown), such as a receiving cage and a traction cable 2, a first end 2a is connected to a front end of the receiving cage, for example to a pulling winch (not shown) and a second free end 2b intended to be hooked by the machine 1.

La cage de réception, décrite dans la demande de brevet français N° 1061211 , ne sera pas davantage décrite dans la présente demande.The receiving cage, described in the French patent application N ° 1061211 , will not be further described in this application.

On notera que l'invention ne se limite par à l'utilisation d'une telle cage de réception afin de récupérer l'engin marin. Tout autre moyen de récupération d'un engin marin par le biais d'un câble de traction peut être utilisé, notamment la récupération de l'engin par un submersible.Note that the invention is not limited to the use of such a receiving cage to recover the marine gear. Any other means of recovering a marine gear by means of a traction cable may be used, in particular the recovery of the craft by a submersible.

L'engin 1 peut, par exemple, être un véhicule sous-marin submersible ou flottant et conçu, par exemple, pour réaliser une surveillance et/ou une inspection sous-marine. L'engin sous marin 1 s'étend selon un axe longitudinal et comprend un corps principal 3 de forme générale cylindrique, ou torpille. Le corps 3 est pourvu d'un empennage 4 fixé à une extrémité arrière 3a et prévu pour assurer la stabilité du déplacement de l'engin 1, et de propulseurs longitudinaux 5 fixés d'un côté et de l'autre du corps 3 en avant de l'empennage 4. L'engin 1 comprend également une partie avant 3b pouvant, par exemple, comprendre une caméra (non représentée) pour l'observation des fonds sous-marins. L'engin 1 est ainsi autonome et comprend ses propres moyens de propulsion interne.The vehicle 1 may, for example, be a submersible or floating underwater vehicle and designed, for example, to perform surveillance and / or underwater inspection. The underwater vehicle 1 extends along a longitudinal axis and comprises a main body 3 of generally cylindrical shape, or torpedo. The body 3 is provided with a stabilizer 4 fixed to a rear end 3a and provided to ensure the stability of the displacement of the vehicle 1, and longitudinal thrusters 5 fixed on one side and the other of the body 3 forward The vehicle 1 also comprises a front portion 3b which may, for example, comprise a camera (not shown) for observing the seabed. The vehicle 1 is thus autonomous and includes its own means of internal propulsion.

L'engin 1 illustré à la figure 1 est accroché à une extrémité 2b du câble de traction 2, dont l'autre extrémité 2a est destinée à être reliée à un dispositif de récupération (non représenté). La figure 2 illustre l'engin 1 prêt à s'arrimer à l'extrémité lestée 2b du câble de traction 2. On pourrait, en variante, accrocher un flotteur (non représenté) au câble de traction, afin d'assurer la verticalité du câble, notamment dans le cadre de la récupération de l'engin par un submersible.The machine 1 illustrated at figure 1 is attached to one end 2b of the traction cable 2, the other end 2a is intended to be connected to a recovery device (not shown). The figure 2 illustrates the machine 1 ready to dock at the weighted end 2b of the traction cable 2. Alternatively, a float (not shown) could be hooked to the traction cable to ensure the verticality of the cable, in particular as part of the recovery of the craft by a submersible.

La partie avant 3b de l'engin 1, illustrée en détails sur les figures 3 à 5, comprend des moyens de détection sans contact 6 du câble de traction 2, tel qu'un sonar, capable de guider l'engin 1 vers le câble de traction 2 et des moyens d'accrochage 7 du câble 2 situés à une extrémité 3b avant de l'engin 1. Dans l'exemple illustré, le moyen de détection sans contact 6 est situé sur la partie supérieure de l'engin 1, dans un logement 6a prévu à cet effet. Le moyen de détection sans contact 6 peut, par exemple, être commandé pour sortir de ce logement 6a en vue de rechercher le câble de traction 2. On notera que le moyen de détection sans contact pourrait être également directement fixé à la surface extérieure de l'engin 1.The front part 3b of the machine 1, illustrated in detail on the Figures 3 to 5 , comprises non-contact detection means 6 of the traction cable 2, such as a sonar, capable of guiding the machine 1 towards the traction cable 2 and the hooking means 7 of the cable 2 situated at a front end 3b 1. In the illustrated example, the non-contact detection means 6 is located on the upper part of the machine 1, in a housing 6a provided for this purpose. The non-contact detection means 6 may, for example, be controlled to exit this housing 6a in order to look for the traction cable 2. It will be noted that the non-contact detection means could also be directly attached to the outer surface of the housing. gear 1.

Les moyens d'accrochage 7 comprennent un ensemble de crochets 8 situés à l'extrémité de la partie avant 3b de l'engin 1, deux pinces 9a, 9b et deux clapets de verrouillage 13a, 13b situés chacun dans un crochet 8 pour le passage du câble 2.The attachment means 7 comprise a set of hooks 8 located at the end of the front portion 3b of the machine 1, two clamps 9a, 9b and two locking valves 13a, 13b each located in a hook 8 for the passage cable 2.

L'ensemble de crochets 8, par exemple de type hameçon double, comprend une embase 8a de forme substantiellement conique épousant l'extrémité de la partie avant 3a de l'engin 1, une tige rigide 8b et deux pointes recourbées 8c, 8d autour de l'embase 8a. On pourrait prévoir, à titre de variante, l'utilisation d'une seule pointe recourbée 8c, formant un hameçon simple.The set of hooks 8, for example of the double hook type, comprises a base 8a of substantially conical shape matching the end of the front portion 3a of the machine 1, a rigid rod 8b and two curved tips 8c, 8d around the base 8a. One could provide, as an alternative, the use of a single curved tip 8c, forming a single hook.

Les pinces 9a, 9b sont mobiles en rotation entre une position fermée, visible sur la figure 3, en contact avec la surface extérieure 3c de l'engin 1, une position ouverte, visible sur les figures 2 et 4, s'écartant de la surface extérieure 3c de l'engin 1 et une position d'accrochage, visible sur les figures 1 et 5, dans laquelle chaque pince 9a, 9b coopère avec une pointe recourbée 8c, 8d afin de laisser subsister un espace E pour le passage du câble 2 entre chaque pince 9a, 9b et la surface extérieure 3c de l'engin 1. A titre de variante, on pourrait utiliser une unique pince 9a.The clamps 9a, 9b are rotatable between a closed position, visible on the figure 3 , in contact with the outer surface 3c of the machine 1, an open position, visible on the figures 2 and 4 , deviating from the outer surface 3c of the machine 1 and a hooking position, visible on the figures 1 and 5 , in which each clamp 9a, 9b cooperates with a curved tip 8c, 8d so as to leave a space E for the passage of the cable 2 between each clamp 9a, 9b and the outer surface 3c of the machine 1. As an alternative a single clamp 9a could be used.

Chaque pince 9a, 9b comprend une embase 10a, 10b reliée à un mécanisme de pivotement (non représenté), comportant par exemple un ensemble de vérins, et une partie en saillie 11a, 11b vers l'extérieur, de forme générale parallélépipédique. La partie avant 3b de l'engin 1 comporte des rainures 9c dans lesquelles viennent se loger les pinces 9a, 9b en position fermée visible sur la figure 3. La position fermée correspond notamment à une position de transit. Les parties de la pince 9a, 9b situées dans les logements 9c de l'engin 1 sont illustrées en pointillées sur les figures. Un plot 9d peut être disposé à l'intérieur de l'engin 1 afin d'éviter le contact entre les pinces 9a, 9b lorsque celles-ci sont en position fermée. Le rangement des pinces 9a, 9b dans les logements pratiqués à cet effet dans le corps 3 de l'engin 1 permet d'éviter aux pinces 9a, 9b de s'accrocher à des éléments lors du transit de l'engin 1.Each clamp 9a, 9b comprises a base 10a, 10b connected to a pivoting mechanism (not shown), comprising for example a set of cylinders, and a protruding portion 11a, 11b outwardly of generally parallelepipedal shape. The front part 3b of the machine 1 has grooves 9c in which the tongs 9a, 9b are housed in the closed position visible on the figure 3 . The closed position corresponds in particular to a transit position. The parts of the clamp 9a, 9b located in the housings 9c of the machine 1 are shown in dotted lines in the figures. A stud 9d can be placed inside the machine 1 in order to avoid the contact between the clamps 9a, 9b when they are in the closed position. The arrangement of the clamps 9a, 9b in the recesses provided for this purpose in the body 3 of the machine 1 makes it possible to prevent the clamps 9a, 9b from clinging to elements during the transit of the machine 1.

Chaque embase 10a, 10b comporte une portion de détection 12a, 12b par contact du câble 2.Each base 10a, 10b comprises a detection portion 12a, 12b by contact of the cable 2.

L'engin 1 comprend en outre une unité de commande électronique (non représentée) capable de diriger l'engin 1 vers le câble de traction 2 en fonction des moyens de détection sans contact 6, de commander la position des pinces 9a, 9b en fonction des données fournies par la portion de détection par contact 12a, 12b, et de verrouiller le clapet 13a, 13b correspondant après le passage câble 2.The machine 1 further comprises an electronic control unit (not shown) capable of directing the machine 1 towards the traction cable 2 as a function of the non-contact detection means 6, to control the position of the clamps 9a, 9b in function data provided by the contact detection portion 12a, 12b, and lock the corresponding valve 13a, 13b after the cable passage 2.

On ne sort pas du cadre de l'invention lorsque les moyens d'accrochages 7 sont situés ailleurs qu'à l'extrémité avant 3b de l'engin 1, en effet, on pourrait prévoir un accrochage du câble de traction 2 par exemple par le dessus de l'engin 1.It is not beyond the scope of the invention when the catching means 7 are located elsewhere than at the front end 3b of the machine 1, in fact, it could be provided a hooking of the traction cable 2 for example by the top of the machine 1.

Le procédé d'accrochage de l'engin 1 à un câble de traction 2 est le suivant :

  • Dans une première étape, l'engin 1 est guidé vers le câble de traction 2 par des moyens de détection sans contact 6, par exemple de type sonar.
The attachment method of the machine 1 to a traction cable 2 is as follows:
  • In a first step, the machine 1 is guided towards the traction cable 2 by non-contact detection means 6, for example of the sonar type.

Lorsque le câble de traction 2 est détecté par les moyens de détection sans contact 6, les pinces 9a, 9b sont actionnées simultanément par l'unité de commande électronique dans une position ouverte s'écartant de la surface extérieure 3c de l'engin 1, tel que visible sur les figures 2 et 4.When the traction cable 2 is detected by the non-contact detection means 6, the grippers 9a, 9b are actuated simultaneously by the electronic control unit in an open position deviating from the outer surface 3c of the machine 1, as visible on the figures 2 and 4 .

Lorsque le câble de traction 2 est détecté par un des moyens de détection par contact 12a, 12b situés respectivement sur une pince 9a, 9b, les pinces 9a, 9b sont actionnées simultanément dans une position d'accrochage, visible sur la figure 3, dans laquelle chaque pince 9a, 9b coopère avec un bout recourbé 8c, 8d afin de laisser subsister un espace E pour le passage du câble 2 entre la pince 9a, 9b et la surface extérieure 3c de l'engin 1.When the traction cable 2 is detected by one of the contact detection means 12a, 12b respectively located on a clamp 9a, 9b, the clamps 9a, 9b are simultaneously actuated in a hooking position, visible on the figure 3 , in which each clamp 9a, 9b cooperates with a curved end 8c, 8d so as to leave a space E for the passage of the cable 2 between the clamp 9a, 9b and the outer surface 3c of the machine 1.

Une fois que le câble de traction 2 se trouve dans l'espace E entre l'une des pinces 9a, 9b et la surface extérieure 3c de l'engin 1, les moyens de propulsion (non représentés) de l'engin 1 sont arrêtés de sorte que le câble de traction 2 glisse vers la tige rigide 8b, et coulisse à travers un des clapets de verrouillage 13a, 13b situé dans le crochet 8 jusqu'à son extrémité lestée servant d'arrêtoir.Once the traction cable 2 is in the space E between one of the clamps 9a, 9b and the outer surface 3c of the machine 1, the propulsion means (not shown) of the machine 1 are stopped so that the traction cable 2 slides towards the rigid rod 8b, and slides through one of the locking valves 13a, 13b located in the hook 8 to its weighted end serving as a stop.

L'unité de commande électronique actionne le clapet de verrouillage 13a, 13b afin d'empêcher le câble 2 de revenir en arrière et permet ainsi un verrouillage effectif du câble de traction 2 par l'engin 1.The electronic control unit actuates the locking valve 13a, 13b to prevent the cable 2 from going back and thus allows effective locking of the traction cable 2 by the machine 1.

Une fois l'engin 1 accroché au câble de traction 2, l'engin 1 est remorqué, par exemple à l'aide d'un treuil dans une cage de réception afin de positionner l'avant, appelée « nez », de l'engin 1 dans un moyen d'accostage, par exemple dans un cône de réception mobile. L'engin 1 ainsi logé dans la cage peut ensuite être remonté à la surface. On notera que l'invention ne se limite par à l'utilisation d'une telle cage de réception afin de récupérer l'engin marin. Tout autre moyen de récupération d'un engin marin par le biais d'un câble de traction peut être utilisé.Once the machine 1 hooked to the traction cable 2, the machine 1 is towed, for example using a winch in a receiving cage to position the front, called "nose", of the gear 1 in a docking means, for example in a mobile receiving cone. The machine 1 and housed in the cage can then be raised to the surface. Note that the invention is not limited to the use of such a receiving cage to recover the marine gear. Any other means of recovering a marine gear by means of a traction cable may be used.

Par ailleurs, on notera que l'invention décrite ci-dessus peut être appliquée à une unique pince sans engendrer de modifications substantielles.Furthermore, it will be appreciated that the invention described above can be applied to a single clamp without causing substantial changes.

Grâce à l'invention, l'engin marin ou sous marin est capable de s'arrimer de façon autonome à un câble de traction par des moyens d'accrochage efficaces procurant de multiples avantages, tels que la récupération possible de l'engin depuis n'importe quelle structure, fixe ou mobile, aérienne ou immergée, disposant d'un câble lesté. La récupération possible de l'engin en immersion permet de s'affranchir de l'influence de la houle.Thanks to the invention, the marine or underwater vehicle is able to dock autonomously to a traction cable by effective hooking means providing multiple benefits, such as the possible recovery of the machine from n any structure, fixed or mobile, aerial or submerged, with a weighted cable. The possible recovery of the machine in immersion makes it possible to overcome the influence of the swell.

De plus, un tel dispositif d'accrochage peut être adapté aisément sur des systèmes existants, par exemple par utilisation d'un câble équipé d'un lest d'extrémité et ne nécessite par ailleurs aucune intervention humaine à la mer.In addition, such a coupling device can be easily adapted to existing systems, for example by using a cable equipped with an end ballast and also requires no human intervention at sea.

Claims (13)

Engin marin ou sous-marin destiné à être arrimé à un câble de récupération (2) caractérisé en ce qu'il comprend des moyens de détection sans contact (6) du câble de récupération (2) capable de détecter le câble et de guider l'engin (1) vers le câble (2) et des moyens d'accrochage (7) du câble (2) situés sur l'engin (1).Marine or underwater vehicle intended to be secured to a recovery cable (2), characterized in that it comprises non-contact detection means (6) for the recovery cable (2) capable of detecting the cable and guiding the cable. gear (1) to the cable (2) and hooking means (7) of the cable (2) located on the machine (1). Engin marin ou sous-marin selon la revendication 1, dans lequel les moyens d'accrochage (7) sont situés à une extrémité (3b) de l'engin (1).Marine or submarine engine according to claim 1, wherein the attachment means (7) are located at one end (3b) of the machine (1). Engin marin ou sous-marin selon la revendication 1 ou 2, dans lequel les moyens d'accrochage (7) comprennent au moins un crochet (8) et au moins une pince (9a, 9b) mobile en rotation entre une position fermée en contact avec la surface extérieure (3c) de l'engin (1), une position ouverte s'écartant de la surface extérieure (3c) de l'engin (1) et une position d'accrochage dans laquelle la pince (9a, 9b) coopère avec le crochet (8) afin de laisser subsister un espace (E) pour le passage du câble (2) entre la pince (9a, 9b) et la surface extérieure (3c) de l'engin marin (1).Marine or submarine engine according to claim 1 or 2, wherein the attachment means (7) comprise at least one hook (8) and at least one clamp (9a, 9b) rotatable between a closed position in contact with the outer surface (3c) of the machine (1), an open position deviating from the outer surface (3c) of the machine (1) and a hooking position in which the clamp (9a, 9b) cooperates with the hook (8) to leave a space (E) for the passage of the cable (2) between the clamp (9a, 9b) and the outer surface (3c) of the marine machine (1). Engin marin ou sous-marin selon l'une des revendications précédentes, dans lequel la pince (9a, 9b) comprend une portion de détection par contact (12a, 12b) du câble (2).A marine or submarine engine according to one of the preceding claims, wherein the clamp (9a, 9b) comprises a contact sensing portion (12a, 12b) of the cable (2). Engin marin ou sous-marin selon l'une des revendications précédentes, dans lequel les moyens d'accrochage (7) comprennent au moins un clapet de verrouillage (10a, 10b) situé dans le crochet (8) pour le passage du câble (2).Marine or submarine engine according to one of the preceding claims, wherein the attachment means (7) comprise at least one locking valve (10a, 10b) located in the hook (8) for the passage of the cable (2). ). Engin marin ou sous-marin selon les revendications 4 et 5, comprenant une unité de commande électronique capable de diriger l'engin (1) vers le câble de traction (2) en fonction des moyens de détection sans contact (6), de commander la position de la pince (9a, 9b) en fonction des données fournies par la portion de détection par contact (12a, 12b), et de verrouiller le clapet (10a, 10b) après le passage câble (2).A marine or submarine machine according to claims 4 and 5, comprising an electronic control unit capable of directing the machine (1) towards the traction cable (2) as a function of the non-contact detection means (6), of controlling the position of the clamp (9a, 9b) according to the data provided by the contact sensing portion (12a, 12b), and locking the valve (10a, 10b) after the cable passage (2). Engin marin ou sous-marin selon l'une des revendications précédentes, comprenant des pinces (9a, 9b).Marine or submarine machine according to one of the preceding claims, comprising clamps (9a, 9b). Engin marin ou sous-marin selon l'une des revendications précédentes, caractérisé en ce qu'il est autonome et comprend des moyens de propulsion.Marine or submarine engine according to one of the preceding claims, characterized in that it is autonomous and comprises propulsion means. Engin marin ou sous-marin selon l'une des revendications précédentes, dans lequel les moyens de détection sans contact (6) comprennent au moins un capteur.Marine or submarine engine according to one of the preceding claims, wherein the non-contact detection means (6) comprise at least one sensor. Procédé d'accrochage d'un engin marin (1) selon les revendications précédentes à un câble de récupération (2), caractérisé en ce que : - on détecte le câble et on guide l'engin marin ou sous-marin (1) vers le câble (2) par des moyens de détection sans contact (6) ; - on accroche le câble (6) par des moyens d'accrochage (7) situés sur l'engin marin ou sous-marin (1). Method for fastening a marine machine (1) according to the preceding claims to a recovery cable (2), characterized in that : the cable is detected and the marine or underwater vehicle (1) is guided towards the cable (2) by non-contact detection means (6); - The cable (6) is hooked by hooking means (7) located on the marine or underwater vehicle (1). Procédé d'accrochage selon la revendication 10, dans lequel lorsque le câble (2) est détecté par les moyens de détection sans contact (6), on actionne une pince (9a, 9b) dans une position ouverte s'écartant de la surface extérieure (3c) de l'engin (1).Fastening method according to claim 10, wherein when the cable (2) is detected by the non-contact detection means (6), a clip (9a, 9b) is actuated in an open position deviating from the outer surface (3c) of the machine (1). Procédé d'accrochage selon la revendication 11, dans lequel lorsque le câble (2) est détecté par des moyens de détection par contact (12a, 12b) situés sur la pince (9a, 9b), on actionne la pince (9a, 9b) dans une position d'accrochage dans laquelle la pince (9a, 9b) coopère avec un crochet (8) afin de laisser subsister un espace (E) pour le passage du câble (2) entre la pince (9a, 9b) et la surface extérieure (3c) de l'engin marin (1).Fastening method according to claim 11, wherein when the cable (2) is detected by contact detection means (12a, 12b) located on the clamp (9a, 9b), the clamp (9a, 9b) is actuated in a hooking position in which the clamp (9a, 9b) cooperates with a hook (8) to leave a space (E) for the passage of the cable (2) between the clamp (9a, 9b) and the surface outside (3c) of the marine gear (1). Procédé d'accrochage selon la revendication 12, dans lequel lorsque le câble (2) se trouve dans l'espace (E) entre la pince (9a, 9b) et la surface extérieure (3c) de l'engin marin (1), on laisse glisser le câble (2) vers un clapet de verrouillage (10a, 10b) situé dans le crochet (8) et on verrouille le câble (2) par verrouillage du clapet (10a, 10b).Fastening method according to claim 12, wherein when the cable (2) is in the space (E) between the clamp (9a, 9b) and the outer surface (3c) of the marine machine (1), the cable (2) is allowed to slide towards a locking valve (10a, 10b) located in the hook (8) and the cable (2) is locked by locking the valve (10a, 10b).
EP12177504.3A 2011-07-26 2012-07-23 Underwater or marine vehicle and associated docking method Active EP2551185B1 (en)

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FR1156819A FR2978422B1 (en) 2011-07-26 2011-07-26 MARINE OR SUBMARINE ENGINE AND RELIEVING METHOD

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WO2016046497A1 (en) * 2014-09-25 2016-03-31 Eca Robotics Marine or submarine craft and associated mooring method
WO2016062870A1 (en) * 2014-10-24 2016-04-28 Thales System for launching and recovering marine and submarine devices assisted by tiltable protective components
EP3421349A1 (en) * 2017-06-27 2019-01-02 The Boeing Company Vertical recovery for an unmanned underwater vehicle
CN114455034A (en) * 2021-12-27 2022-05-10 宜昌测试技术研究所 Device for realizing rapid capturing and traction of underwater unmanned vehicle
WO2023007085A1 (en) 2021-07-27 2023-02-02 Eca Robotics Device for receiving a marine or sub-marine vehicle, especially an autonomous marine or sub-marine vehicle, from a ship
EP4245653A1 (en) * 2022-03-15 2023-09-20 Exail Robotics Autonomous underwater vehicle and system for recovering such an underwater vehicle
WO2023175264A1 (en) * 2022-03-15 2023-09-21 Exail Robotics Towed underwater vehicle and system for recovering such an underwater vehicle

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WO2016046497A1 (en) * 2014-09-25 2016-03-31 Eca Robotics Marine or submarine craft and associated mooring method
FR3026383A1 (en) * 2014-09-25 2016-04-01 Eca Robotics MARINE OR SUBMARINE ENGINE AND RELIEVING METHOD
WO2016062870A1 (en) * 2014-10-24 2016-04-28 Thales System for launching and recovering marine and submarine devices assisted by tiltable protective components
US10232915B2 (en) 2014-10-24 2019-03-19 Thales System for launching and recovering marine and submarine devices assisted by tiltable protective components
EP3421349A1 (en) * 2017-06-27 2019-01-02 The Boeing Company Vertical recovery for an unmanned underwater vehicle
WO2023007085A1 (en) 2021-07-27 2023-02-02 Eca Robotics Device for receiving a marine or sub-marine vehicle, especially an autonomous marine or sub-marine vehicle, from a ship
FR3125793A1 (en) 2021-07-27 2023-02-03 Eca Robotics Device for receiving a marine or submarine vehicle, in particular autonomous, from a ship.
CN114455034A (en) * 2021-12-27 2022-05-10 宜昌测试技术研究所 Device for realizing rapid capturing and traction of underwater unmanned vehicle
EP4245653A1 (en) * 2022-03-15 2023-09-20 Exail Robotics Autonomous underwater vehicle and system for recovering such an underwater vehicle
WO2023175264A1 (en) * 2022-03-15 2023-09-21 Exail Robotics Towed underwater vehicle and system for recovering such an underwater vehicle
FR3133591A1 (en) * 2022-03-15 2023-09-22 Eca Robotics Underwater towed vehicle and recovery system for such an underwater vehicle
FR3133590A1 (en) * 2022-03-15 2023-09-22 Eca Robotics Autonomous underwater vehicle and recovery system for such an underwater vehicle

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FR2978422B1 (en) 2014-12-12
AU2012206995B2 (en) 2016-09-29
CA2784188A1 (en) 2013-01-26
US9032894B2 (en) 2015-05-19
US20130025523A1 (en) 2013-01-31
EP2551185B1 (en) 2015-10-07
FR2978422A1 (en) 2013-02-01
AU2012206995A1 (en) 2013-02-14
CA2784188C (en) 2019-06-18

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