EP3523192B1 - Measurement system for aquatic environments comprising a surface vessel and a submersible device - Google Patents

Measurement system for aquatic environments comprising a surface vessel and a submersible device Download PDF

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Publication number
EP3523192B1
EP3523192B1 EP17792117.8A EP17792117A EP3523192B1 EP 3523192 B1 EP3523192 B1 EP 3523192B1 EP 17792117 A EP17792117 A EP 17792117A EP 3523192 B1 EP3523192 B1 EP 3523192B1
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EP
European Patent Office
Prior art keywords
vessel
enclosure
machine
underwater
hull
Prior art date
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EP17792117.8A
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German (de)
French (fr)
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EP3523192A1 (en
Inventor
Sébastien GRALL
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iXBlue SAS
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iXBlue SAS
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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 
    • B63B23/00—Equipment for handling lifeboats or the like
    • B63B23/40—Use of lowering or hoisting gear
    • B63B23/48—Use of lowering or hoisting gear using winches for boat handling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/44—Floating buildings, stores, drilling platforms, or workshops, e.g. carrying water-oil separating devices
    • 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
    • B63G8/28—Arrangement of offensive or defensive equipment
    • 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
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B2205/00—Tethers
    • B63B2205/02—Tether payout means
    • B63B2205/06—Reels for tethers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B2211/00—Applications
    • B63B2211/02—Oceanography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B2241/00—Design characteristics
    • B63B2241/20—Designs or arrangements for particular purposes not otherwise provided for in this class
    • 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
    • B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
    • B63G2008/007—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled by means of a physical link to a base, e.g. wire, cable or umbilical
    • 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
    • B63G2008/008—Docking stations for unmanned underwater vessels, or the like

Definitions

  • the present invention relates generally to the field of underwater measurement systems. It relates more particularly to a measuring system for an aquatic environment comprising a surface vessel and an underwater vehicle. It is applicable in fresh water environment or in marine environment. It can for example be implemented during topographic or underwater seismographic measurement campaigns using sonars or hydrophones.
  • Underwater measurement systems consisting of ships towing measuring devices, in particular for making sonar or seismographic measurements.
  • these measuring devices are in passive enclosures which are simply dragged behind the vessel. It has been proposed to use devices with proper guidance and propulsion means and comprising such measuring devices in order to allow the measurement conditions to be more precisely controlled. These devices are generally remotely controlled by wire link from the ship.
  • the measuring devices are brought back on board the ship, on a deck out of the ship's water, which entails relatively long operations which can be dangerous both for the crew and for the monitoring devices. measurements themselves due to swaying, shocks, etc.
  • storage space for the measuring devices must be provided, which accordingly reduces the usable space for the crew.
  • the passage from the aquatic environment to the open air and vice versa causes shocks and / or thermal imbalances which may be prejudicial to the measuring devices and / or to the quality of the measurements.
  • devices with means of propulsion once the devices have come out of the water, their means of propulsion are no longer useful.
  • the present invention provides an underwater vehicle system which remains underwater even in the storage position in the ship and, more precisely, storage against the hull of the ship, under the ship, the hull of the ship comprising a recess adapted to receive said underwater vehicle.
  • a measurement system for an aquatic environment comprising a surface vessel and an underwater vehicle, the underwater vehicle comprising a hull and propulsion and guidance means as well as sensors allowing measurements, the vehicle underwater can be either dropped from the ship to operate underwater independently of the ship during a remote use phase, or stored in the ship in the remote non-use phase, the ship having at least one hull and means of propulsion and guidance, said at least one hull of the vessel comprising a submerged part located below a waterline.
  • the invention also provides an underwater vehicle specially configured for the system of the invention.
  • the underwater machine can be made in any way mentioned.
  • the invention also provides a surface vessel specially configured for the system of the invention.
  • the surface vessel can be built in any way mentioned.
  • FIG. 1 there is shown a first example of a measurement system 1 with a surface vessel 2 and with a wire-guided underwater vehicle 2 used at a distance from the vessel.
  • the underwater vehicle 2 is connected to the vessel 4 by a connecting cable 3 which can be unwound when the underwater vehicle is released or rolled up during the recovery of the underwater vehicle, by a rewinder / unwinder 45 of the connection cable 3 arranged on the aft part of the deck of the ship 4.
  • the ship has a hull 42 with a submerged part.
  • the underwater vehicle comprises a hull 29 and means of propulsion and guidance and in this example two thrusters 20 at the rear.
  • the recess 43 is intended to receive the underwater vehicle during the storage phase of the latter. in the ship, more precisely under and against the hull 42 of the ship 4, in the median part of the latter in order to maintain port-starboard symmetry to the hull.
  • the connecting cable passes through the hull 42 of the ship 4 via a passage well 46 made at the level of the recess 43 and opening there.
  • the passage well 46 is partially filled with water at its lower part due to the fact that the recess 43 is totally submerged.
  • the hull 42 of the vessel 4 is therefore continuous and the recess closed except at the level of the passage well 46. Note that, given that the recess 43 and the passage well 46 are seen by transparency on this figure 2 , they are shown in dotted lines just like their number reference arrows.
  • the underwater vehicle 2 was brought back / recovered for storage in the ship, just like the connecting cable which was wound up on a reel / unwinder (not visible on the figures 3 to 5 ).
  • the underwater vehicle 2 is stored in the recess 43 of the hull 42 of the vessel 4.
  • the recess 43 is configured so that the lower part of the underwater vehicle protrudes from the general template of the hull of the vessel. . In alternative embodiments, this overflow is less pronounced or even absent.
  • the hull 42 comprises a fairing 44 intended to soften the shape transition between the hull 42 and the front of the underwater vehicle 2.
  • the underwater vehicle 2 here comprises a rear thruster 20 and guide means 21 making it possible to orient it in its underwater movements.
  • the recess 43 is located below the waterline and is therefore always submerged, the presence of the underwater vehicle 2, due to its own adapted buoyancy, fixed in the recess or its absence because used at a distance, does not modify not the buoyancy of the vessel.
  • the ship 2 comprises propulsion and guidance means which are in this example in the form of orientable thrusters 40 providing the two functions of propulsion and guidance.
  • the ship also has a rear end wall 41 of its hull 42 defining the rear of the hull of the ship and descending from the deck to and into the water.
  • This rear end wall 41 is open in the main axis of the recess 43 so that the rear part of the stored underwater vehicle 2 can overflow towards the rear of the vessel 4 and that its propulsion means 20 can participate in the propulsion. of the vessel if necessary.
  • at least part of the guide means 21 of the underwater vehicle 2 can assist the guide means 40 of the ship 4.
  • the figure 4 allows a better view of the two steerable thrusters 40 of the ship 4 as well as the median arrangement of the underwater vehicle 2 stored in the recess of the hull 42, under and against the hull 42.
  • the underwater device in the storage position, is rigidly fixed to the ship by complete stowage of the underwater device to the ship.
  • the machine in the storage position is simply hitched to the hull of the ship.
  • a coating or blocks of resilient material and / or shock absorbers are provided in the recess in order to absorb shocks and / or somewhat wedge the machine in the recess.
  • the ship exemplified here is a monohull but the invention can be applied to a catamaran-type ship with two parallel hulls or, which is considered equivalent in the context of the invention, two parallel keels and in this case, the craft. underwater is stored in the recess created by the middle area of the ship where the two hulls or keels meet.
  • the invention can be applied to a ship of the trimaran type with three parallel hulls or, by equivalence, three parallel keels and in this case, the underwater vehicle is stored in the recess formed under the central hull or under the 'any of the three shells. Provision is even made, in a multihull, for each hull or a certain number of hulls to include at least one recess for at least one underwater vehicle.
  • a single vessel, whether monohull or multihull, is capable of deploying several underwater vehicles simultaneously or separately.
  • the structure of the underwater vehicle 2 comprising a payload with sensors 25 has been detailed.
  • This payload is arranged in a payload enclosure 23 of the underwater vehicle 2.
  • the payload enclosure 23 is placed within of the underwater vehicle 2, in a reception chamber 22.
  • This reception chamber 22 is elongated longitudinally, that is to say along the main axis of the vehicle 27 and crosses right through the underwater vehicle .
  • the underwater vehicle 2 is configured to move so that the chamber is substantially horizontal (at least axially transversely), except possibly during changes of direction such as diving or ascent or a turn.
  • connection cable 3 arrives on a part, called the upper part, of the underwater vehicle and that when the connection cable extended upwards has a certain tension, the natural position of the underwater vehicle is that where the chamber is substantially horizontal at least transversely.
  • the guide and propulsion means can be controlled and / or configured to ensure this horizontality at least along a transverse axis (the main axis of the machine 27 being able to be inclined or - preferably - horizontal with respect to a local terrestrial reference frame. ) of the reception room. It is understood that any other position of the underwater vehicle can be controlled if necessary.
  • the payload enclosure 23 has a generally elongated shape along a primary enclosure axis 26 with two opposing enclosure ends, a first enclosure end and a second enclosure end.
  • the sensors 25 are typically arranged at the two opposite ends of the enclosure 23.
  • This form of enclosure 23 laterally corresponds substantially to that generally cylindrical and elongated of the underwater vehicle 2 so that this enclosure 23 in the retracted position is included in the template. of the underwater vehicle and that in particular its free side faces (of the enclosure) are in continuity of shape with the adjacent parts of the wall of the underwater vehicle and therefore reduce the drag of the assembly in position re-entry of the enclosure 23.
  • the payload enclosure 23 may thus include flat faces at the top and bottom, that is to say the interior side of the receiving chamber 22, and rounded side faces, the receiving chamber 22 itself having flat upper and lower interior faces.
  • the payload enclosure 23 is pivotally mounted 24 in the receiving chamber 22 to allow pivoting of the payload enclosure 23 between a retracted position where the main enclosure axis 26 is at least parallel, preferably collinear, with the main axis of machine 27 and an extended position where the main axis of enclosure 26 is inclined relative to the main axis of machine 27 so that the two ends of enclosure come out of the jig d 'machine on each lateral side of the underwater machine.
  • the pivot 24 is disposed at the middle part of the length of the payload enclosure 23.
  • the sensors are also physically protected in this retracted position.
  • the payload enclosure can rotate more than 360 ° to perform circular scans during measurements of the environment by the sensors, not to mention that the sensors themselves can be rotated at the same time. within the payload enclosure, allowing double sweep.
  • the payload enclosure is a pivoting portion of the body of the underwater vehicle and for example a segment the length of the lower edge of the vehicle.
  • This segment then typically has, in cross section, the shape of an arc of a circle cut by a straight line in the case of a machine 2 with a cylindrical body. It will be understood that this shape in section could be different in the case where the machine has a non-cylindrical body.
  • the underwater vehicle comprises any equipment useful for its use and for example electronic and / or computer equipment, an electric buffer or back-up battery for the equipment and the thruster which is preferably electric, possibly a ballast system ...
  • the system comprises more than one underwater device
  • any other recess arrangement receiving several devices underwater is considered and for example with an angular distribution and no longer superimposed gear within a large common recess.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Laying Of Electric Cables Or Lines Outside (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)

Description

DOMAINE TECHNIQUE AUQUEL SE RAPPORTE L'INVENTIONTECHNICAL FIELD TO WHICH THE INVENTION RELATES

La présente invention concerne de manière générale le domaine des systèmes de mesures subaquatiques. Elle concerne plus particulièrement un système de mesure pour milieu aquatique comportant un navire de surface et un engin subaquatique. Elle est applicable en milieu d'eaux douces ou en milieu marin. Elle peut par exemple être mise en œuvre lors de campagnes de mesures topographiques ou sismographiques subaquatiques par sonars ou hydrophones.The present invention relates generally to the field of underwater measurement systems. It relates more particularly to a measuring system for an aquatic environment comprising a surface vessel and an underwater vehicle. It is applicable in fresh water environment or in marine environment. It can for example be implemented during topographic or underwater seismographic measurement campaigns using sonars or hydrophones.

ARRIERE-PLAN TECHNOLOGIQUETECHNOLOGICAL BACKGROUND

On connaît des systèmes de mesure subaquatiques constitués de navires remorquant des appareils de mesure, notamment pour faire des mesures sonars ou sismographiques. En général, ces appareils de mesure sont dans des enceintes passives qui sont simplement trainées derrière le navire. On a proposé d'utiliser des engins à moyens de guidage et de de propulsion propres et comportant de tels appareils de mesure pour permettre de contrôler plus précisément les conditions des mesures. Ces engins sont généralement téléguidés par liaison filaire à partir du navire.Underwater measurement systems are known consisting of ships towing measuring devices, in particular for making sonar or seismographic measurements. Typically, these measuring devices are in passive enclosures which are simply dragged behind the vessel. It has been proposed to use devices with proper guidance and propulsion means and comprising such measuring devices in order to allow the measurement conditions to be more precisely controlled. These devices are generally remotely controlled by wire link from the ship.

Une fois les mesures effectuées, les appareils de mesure sont ramenés à bord du navire, sur un pont hors d'eau de ce dernier, ce qui entraîne des opérations relativement longues et pouvant être dangereuses aussi bien pour l'équipage que pour les appareils de mesure eux-mêmes du fait de balancements, chocs... De plus, il faut prévoir un espace de stockage des appareils de mesure, ce qui réduit d'autant l'espace utilisable pour l'équipage. En outre, le passage du milieu aquatique vers l'air libre et inversement provoque des chocs et/ou déséquilibres thermiques pouvant être préjudiciables aux appareils de mesure et/ou à la qualité des mesures. Enfin, avec les engins à moyens de propulsion, une fois les engins sortis de l'eau, leurs moyens de propulsion n'ont plus d'utilité.Once the measurements have been taken, the measuring devices are brought back on board the ship, on a deck out of the ship's water, which entails relatively long operations which can be dangerous both for the crew and for the monitoring devices. measurements themselves due to swaying, shocks, etc. In addition, storage space for the measuring devices must be provided, which accordingly reduces the usable space for the crew. In addition, the passage from the aquatic environment to the open air and vice versa causes shocks and / or thermal imbalances which may be prejudicial to the measuring devices and / or to the quality of the measurements. Finally, with devices with means of propulsion, once the devices have come out of the water, their means of propulsion are no longer useful.

On connait par le document WO2016/149199 un système robotisé maritime à engin sous-marin robotique et à plateforme flottante robotique pouvant communiquer entre eux. L'engin peut se raccorder à la plateforme notamment pour rechargement électrique, la connexion pouvant être physique ou non (par induction). La plateforme représentée selon diverses vues et modalités de réalisation dans ce document a un fond plat et il n'est pas décrit le stockage de l'engin sous-marin dans un renfoncement de sa coque.We know from the document WO2016 / 149199 a maritime robotic system with robotic underwater vehicle and robotic floating platform that can communicate with each other. The machine can be connected to the platform in particular for electrical recharging, the connection being able to be physical or not (by induction). The platform shown according to various views and embodiments in this document has a flat bottom and the storage of the underwater vehicle in a recess in its hull is not described.

OBJET DE L'INVENTIONOBJECT OF THE INVENTION

Afin de remédier aux inconvénients précités de l'état de la technique, la présente invention propose un système à engin subaquatique qui reste sous l'eau même en position de stockage dans le navire et, plus précisément, stockage contre la coque du navire, sous le navire, la coque du navire comportant un renfoncement adapté à recevoir ledit engin subaquatique.In order to remedy the aforementioned drawbacks of the state of the art, the present invention provides an underwater vehicle system which remains underwater even in the storage position in the ship and, more precisely, storage against the hull of the ship, under the ship, the hull of the ship comprising a recess adapted to receive said underwater vehicle.

Il est ainsi proposé un système de mesure pour milieu aquatique, ledit système comportant un navire de surface et un engin subaquatique, l'engin subaquatique comportant une coque et des moyens de propulsion et de guidage ainsi que des capteurs permettant des mesures, l'engin subaquatique pouvant être, soit largué du navire pour évoluer sous l'eau indépendamment du navire au cours d'une phase d'utilisation à distance, soit stocké dans le navire en phase de non-utilisation à distance, le navire comportant au moins une coque et des moyens de propulsion et de guidage, ladite au moins une coque du navire comportant une partie immergée située sous une ligne de flottaison.A measurement system for an aquatic environment is thus proposed, said system comprising a surface vessel and an underwater vehicle, the underwater vehicle comprising a hull and propulsion and guidance means as well as sensors allowing measurements, the vehicle underwater can be either dropped from the ship to operate underwater independently of the ship during a remote use phase, or stored in the ship in the remote non-use phase, the ship having at least one hull and means of propulsion and guidance, said at least one hull of the vessel comprising a submerged part located below a waterline.

Plus particulièrement, on propose pour l'invention un système selon la revendication 1.More particularly, there is provided for the invention a system according to claim 1.

D'autres caractéristiques non limitatives et avantageuses du système conforme à l'invention, prises individuellement ou selon toutes les combinaisons techniquement possibles, sont les suivantes :

  • le navire comporte un équipage,
  • le navire est sans équipage,
  • le navire est filoguidé,
  • le navire est autonome,
  • le navire est télécommandé,
  • le navire comporte un automate programmable de commande de course/trajectoire,
  • le renfoncement est dans la carène du navire,
  • les mesures par les capteurs sont impossibles lorsque l'engin subaquatique est stocké dans le renfoncement de la coque du navire,
  • au moins certaines mesures par les capteurs sont possibles lorsque l'engin subaquatique est stocké dans le renfoncement de la coque du navire,
  • l'engin subaquatique et le navire comportent des moyens de verrouillage complémentaires, déverrouillables, permettant d'atteler ou d'arrimer d'une manière amovible la coque de l'engin subaquatique à la coque du navire pour maintenir l'engin subaquatique dans le renfoncement de la coque du navire,
  • les moyens de verrouillage assurent un arrimage complet de l'engin subaquatique au navire,
  • l'engin subaquatique est filoguidé par un câble de liaison à partir du navire, le navire comportant un enrouleur/dérouleur dudit câble de liaison,
  • le câble de liaison traverse la coque du navire dans le renfoncement de la coque du navire,
  • le câble de liaison traverse la coque du navire à travers un puit de passage débouchant dans le renfoncement,
  • le câble de liaison est amovible de l'engin subaquatique,
  • l'enrouleur/dérouleur du câble de liaison est hors d'eau dans ou sur le navire,
  • le câble de liaison est destiné à l'alimentation électrique de l'engin subaquatique,
  • le câble de liaison est destiné à des échanges de données entre l'engin subaquatique et le navire,
  • lorsque l'engin subaquatique est stocké dans le navire, les moyens de propulsion de l'engin subaquatique participent, lorsqu'ils sont activés, à la propulsion du navire,
  • au moins une partie des moyens de propulsion de l'engin subaquatique est disposée à l'arrière dudit engin subaquatique, et le navire comporte une paroi d'extrémité arrière et le renfoncement est ouvert sur la paroi d'extrémité arrière du navire afin que ladite partie des moyens de propulsion de l'engin subaquatique stocké dans le renfoncement soit disposée plus en arrière que la paroi d'extrémité arrière du navire et puisse participer à la propulsion dudit navire,
  • au moins le moyen de propulsion des moyens de propulsion et de guidage de l'engin subaquatique est disposé à l'arrière dudit engin subaquatique et le navire comporte une paroi d'extrémité arrière et le renfoncement est ouvert sur la paroi d'extrémité arrière du navire afin que lorsque l'engin subaquatique est stocké dans le renfoncement, le moyen de propulsion de l'engin subaquatique soit disposé plus en arrière que la paroi d'extrémité arrière du navire et puisse participer à la propulsion dudit navire,
  • l'engin subaquatique a une forme générale allongée selon un axe principal d'engin, ladite forme générale définissant un gabarit d'engin, les capteurs de mesure sont logés dans une enceinte de charge utile ayant une forme générale allongée selon un axe principal d'enceinte avec deux extrémités d'enceinte opposées, une première extrémité d'enceinte et une seconde extrémité d'enceinte, et l'enceinte de charge utile étant intégrée à l'engin subaquatique, et étant montée à pivot dans l'engin subaquatique afin de permettre le pivotement de l'enceinte de charge utile entre une position rentrée où l'axe principal d'enceinte est parallèle à l'axe principal d'engin et une position sortie où l'axe principal d'enceinte est incliné par rapport à l'axe principal d'engin afin qu'au moins une des deux extrémités d'enceinte sorte du gabarit d'engin, l'enceinte de charge utile étant configurée afin qu'en position rentrée ladite enceinte soit dans le gabarit d'engin,
  • l'engin subaquatique a une forme générale sensiblement en fuseau allongé,
  • l'engin subaquatique a une forme générale sensiblement cylindrique et allongée,
  • l'engin subaquatique est constitué d'un corps d'engin subaquatique à deux extrémités opposées, une extrémité avant et une extrémité arrière,
  • l'enceinte de charge utile est un segment longitudinal d'un côté du corps de l'engin subaquatique, et l'enceinte de charge utile est montée à pivot par rapport au reste du corps de l'engin subaquatique,
  • le segment longitudinal formant l'enceinte de charge utile ne comporte pas de parties des deux extrémités avant et arrière du corps de l'engin subaquatique,
  • le segment longitudinal formant l'enceinte de charge utile comporte une partie de l'extrémité avant du corps de l'engin subaquatique,
  • le côté de l'engin subaquatique comportant l'enceinte de charge utile est le côté supérieur du corps de l'engin subaquatique,
  • le côté de l'engin subaquatique comportant l'enceinte de charge utile est le côté inférieur du corps de l'engin subaquatique,
  • l'engin subaquatique comporte deux enceintes de charge utile, une du côté supérieur du corps de l'engin subaquatique et une du côté inférieur du corps de l'engin subaquatique, les deux enceintes de charge utile étant montées à pivot sur une partie d'engin centrale allongée fixe et étendue entre les deux extrémités de l'engin subaquatique,
  • l'enceinte de charge utile est disposée au sein de l'engin subaquatique, dans une chambre de réception, ladite chambre de réception étant allongée longitudinalement, c'est-à-dire selon l'axe principal d'engin, et traversant de part en part transversalement l'engin, et l'enceinte de charge utile est montée à pivot dans ladite chambre de réception,
  • l'engin subaquatique a une forme générale allongée selon un axe principal d'engin, ladite forme générale définissant un gabarit d'engin, les capteurs de mesure sont logés dans une enceinte de charge utile ayant une forme générale allongée selon un axe principal d'enceinte avec deux extrémités d'enceinte opposées, une première extrémité d'enceinte et une seconde extrémité d'enceinte, et l'enceinte de charge utile est disposée au sein de l'engin subaquatique, dans une chambre de réception, ladite chambre de réception étant allongée longitudinalement, c'est-à-dire selon l'axe principal d'engin, et traversant de part en part transversalement l'engin, et l'enceinte de charge utile est montée à pivot dans ladite chambre de réception afin de permettre le pivotement de l'enceinte de charge utile entre une position rentrée où l'axe principal d'enceinte est colinéaire à l'axe principal d'engin et une position sortie où l'axe principal d'enceinte est incliné par rapport à l'axe principal d'engin afin qu'au moins une des deux extrémités d'enceinte sorte du gabarit d'engin, l'enceinte de charge utile étant configurée afin qu'en position rentrée ladite enceinte soit dans le gabarit d'engin,
  • en position rentrée, l'axe principal d'enceinte est parallèle à l'axe principal d'engin,
  • en position rentrée, l'axe principal d'enceinte est colinéaire à l'axe principal d'engin,
  • le pivot est disposé à la partie médiane de la longueur de l'enceinte de charge utile,
  • le pivot est disposé décalé de la partie médiane de la longueur de l'enceinte, vers une extrémité de l'enceinte de charge utile,
  • le pivot est disposé vers une extrémité d'enceinte de l'enceinte de charge utile,
  • le renfoncement a des dimensions correspondant sensiblement au gabarit d'engin,
  • le renfoncement a des dimensions permettant le rapatriement de l'engin subaquatique alors que l'enceinte de charge utile est en position de sortie,
  • l'engin subaquatique comporte au moins une chambre de réception,
  • l'engin subaquatique comporte au moins une enceinte de charge utile,
  • l'engin subaquatique comporte une chambre de réception et plusieurs enceintes de charge utile,
  • l'engin subaquatique comporte autant de chambres de réception que d'enceintes de charge utile, avec une enceinte de charge utile par chambre de réception,
  • l'engin subaquatique comporte deux charges utiles dans deux enceintes de charge utiles,
  • en variante à au moins deux charges utiles et autant d'enceintes de charge utile correspondantes, les enceintes de charge utile sont alignées en série dans la chambre de réception, chaque enceinte de charge utile est montée à pivot dans ladite chambre de réception afin de permettre le pivotement de chaque enceinte de charge utile entre une position rentrée où l'axe principal d'enceinte est parallèle à l'axe principal d'engin et une position sortie où l'axe principal d'enceinte est incliné par rapport à l'axe principal d'engin, chaque enceinte de charge utile étant configurée afin qu'en position rentrée ladite enceinte de charge utile soit dans le gabarit d'engin,
  • en variante à deux charges utiles et deux enceintes de charge utile correspondantes, les deux enceintes de charge utile sont installées dans la chambre de réception parallèlement entre elles, chaque enceinte de charge utile est montée à pivot dans ladite chambre de réception afin de permettre le pivotement de chaque enceinte de charge utile entre une position rentrée où l'axe principal d'enceinte est parallèle à l'axe principal d'engin et une position sortie où l'axe principal d'enceinte est incliné par rapport à l'axe principal d'engin, chaque enceinte de charge utile étant configurée afin qu'en position rentrée ladite enceinte de charge utile soit dans le gabarit d'engin,
  • en variante à deux charges utiles et deux enceintes de charge utile correspondantes, les deux enceintes de charge utile sont installées dans la chambre de réception côte à côte,
  • en variante à deux charges utiles et deux enceintes de charge utile correspondantes, les deux enceintes de charge utile sont installées dans la chambre de réception l'une au-dessus de l'autre,
  • en variante à deux charges utiles et deux enceintes de charge utile correspondantes, les deux pivots des deux enceintes de charge utile sont disposés au même niveau longitudinal de part et d'autre de l'axe principal d'engin,
  • en variante à deux charges utiles et deux enceintes de charge utile correspondantes, les deux pivots des deux enceintes de charge utile sont disposés à des niveaux longitudinaux différents de part et d'autre de l'axe principal d'engin,
  • en variante à deux charges utiles et deux enceintes de charge utile correspondantes, les deux pivots sont disposés à la partie médiane de chaque enceinte de charge utile,
  • en variante à deux charges utiles et deux enceintes de charge utile correspondantes, chacun des deux pivots est disposé vers une extrémité d'enceinte de l'enceinte de charge utile correspondante,
  • l'enceinte de charge utile est configurée afin qu'en position rentrée ladite enceinte épouse le gabarit d'engin,
  • l'engin subaquatique est configuré pour normalement se positionner de manière à ce que la chambre de réception traverse horizontalement de part en part transversalement l'engin subaquatique, et le pivot a un axe de pivotement vertical afin que le pivotement de l'enceinte de charge utile se fasse dans un plan horizontal,
  • le/les capteurs sont des capteurs directionnels,
  • chacune des deux extrémités d'enceinte comporte au moins un capteur directionnel,
  • le capteur directionnel est choisi parmi un sonar, un détecteur optique, une caméra, un appareil photographique,
  • l'enceinte de charge utile peut pivoter sur au moins 90° par rapport à l'engin subaquatique,
  • en position sortie l'axe principal d'enceinte est perpendiculaire à l'axe principal d'engin,
  • l'enceinte de charge utile peut pivoter sur 360° ou plus par rapport à l'engin subaquatique,
  • le pivot de montage de l'enceinte de charge utile est amovible afin de permettre la désolidarisation de l'enceinte de charge utile d'avec l'engin subaquatique et son largage de l'engin subaquatique,
  • le pivot de montage de l'enceinte de charge utile dans la chambre de réception est amovible afin de permettre la désolidarisation de l'enceinte de charge utile d'avec l'engin subaquatique et le largage de l'enceinte hors de l'engin subaquatique,
  • en position rentrée, la chambre de réception est fermée latéralement par des portes basculantes,
  • chaque porte basculante comporte un moyen de rappel en fermeture, typiquement à ressort, l'ouverture de la porte étant provoquée par le pivotement de l'enceinte de charge utile poussant ladite porte, la fermeture par la cessation de la poussée,
  • la charge utile est reliée par une liaison filaire à l'engin subaquatique.
Other non-limiting and advantageous characteristics of the system in accordance with the invention, taken individually or in any technically possible combination, are as follows:
  • the vessel has a crew,
  • the ship is unmanned,
  • the vessel is guided,
  • the ship is autonomous,
  • the ship is remotely controlled,
  • the vessel has a programmable controller for course / trajectory,
  • the recess is in the hull of the ship,
  • measurements by the sensors are impossible when the underwater vehicle is stored in the recess of the ship's hull,
  • at least some measurements by the sensors are possible when the underwater vehicle is stored in the recess of the ship's hull,
  • the underwater vehicle and the vessel comprise additional locking means, which can be unlocked, making it possible to detachably hitch or secure the hull of the underwater vehicle to the hull of the ship to keep the underwater vehicle in the recess the hull of the ship,
  • the locking means ensure complete stowage of the underwater vehicle to the ship,
  • the underwater vehicle is guided by a connecting cable from the ship, the ship comprising a reel / unwinder of said connecting cable,
  • the connecting cable passes through the hull of the ship in the recess of the hull of the ship,
  • the connecting cable passes through the hull of the ship through a passage well opening into the recess,
  • the connecting cable is removable from the underwater vehicle,
  • the rewinder / unwinder of the connecting cable is out of water in or on the vessel,
  • the connection cable is intended for the power supply of the underwater vehicle,
  • the link cable is intended for data exchange between the underwater vehicle and the ship,
  • when the underwater vehicle is stored in the vessel, the propulsion means of the underwater vehicle participate, when activated, in the propulsion of the vessel,
  • at least part of the propulsion means of the underwater vehicle is disposed at the rear of said underwater vehicle, and the vessel has a rear end wall and the recess is open on the rear end wall of the vessel so that said part of the means of propulsion of the underwater vehicle stored in the recess is arranged further back than the rear end wall of the vessel and can participate in the propulsion of said vessel,
  • at least the propulsion means of the propulsion and guide means of the underwater vehicle is arranged at the rear of said underwater vehicle and the vessel has a rear end wall and the recess is open on the rear end wall of the ship so that when the underwater vehicle is stored in the recess, the means of propulsion of the underwater vehicle is disposed further back than the rear end wall of the vessel and can participate in the propulsion of said vessel,
  • the underwater vehicle has a general shape elongated along a main axis of the vehicle, said general shape defining a template of the vehicle, the measurement sensors are housed in a payload enclosure having a general shape elongated along a main axis of enclosure with two opposite enclosure ends, a first enclosure end and a second enclosure end, and the payload enclosure being integrated into the underwater vehicle, and being pivotally mounted in the underwater vehicle in order to allow the payload enclosure to pivot between a retracted position where the main enclosure axis is parallel to the main machine axis and an extended position where the primary enclosure axis is tilted relative to the 'main axis of the machine so that at least one of the two enclosure ends leaves the machine template, the payload enclosure being configured so that in the retracted position said enclosure is in the machine template,
  • the underwater vehicle has a general shape substantially elongated spindle,
  • the underwater machine has a generally substantially cylindrical and elongated shape,
  • the underwater vehicle consists of an underwater vehicle body with two opposite ends, a front end and a rear end,
  • the payload enclosure is a longitudinal segment of one side of the body of the underwater vehicle, and the payload enclosure is pivotally mounted relative to the rest of the body of the underwater vehicle,
  • the longitudinal segment forming the payload enclosure does not include parts of the two front and rear ends of the body of the underwater vehicle,
  • the longitudinal segment forming the payload enclosure comprises part of the front end of the body of the underwater vehicle,
  • the side of the underwater vehicle including the payload enclosure is the upper side of the body of the underwater vehicle,
  • the side of the underwater vehicle including the payload enclosure is the lower side of the body of the underwater vehicle,
  • the underwater vehicle has two payload enclosures, one on the upper side of the underwater vehicle body and one on the lower side of the underwater vehicle body, the two payload enclosures being pivotally mounted on a part of elongated central device fixed and extended between the two ends of the underwater device,
  • the payload enclosure is disposed within the underwater vehicle, in a receiving chamber, said receiving chamber being elongated longitudinally, that is to say along the main axis of the vehicle, and passing through starting transversely the machine, and the payload enclosure is pivotally mounted in said receiving chamber,
  • the underwater vehicle has a general shape elongated along a main axis of the vehicle, said general shape defining a template of the vehicle, the measurement sensors are housed in a payload enclosure having a general shape elongated along a main axis of enclosure with two opposed enclosure ends, a first enclosure end and a second enclosure end, and the payload enclosure is disposed within the underwater vehicle, in a receiving chamber, said receiving chamber being elongated longitudinally, that is to say along the main axis of the machine, and passing right through the machine transversely, and the payload enclosure is pivotally mounted in said receiving chamber in order to allow pivoting the payload enclosure between a retracted position where the main enclosure axis is collinear with the main machine axis and an extended position where the main enclosure axis is tilted relative to the main machine axis so that at least one of the two enclosure ends comes out of the machine template, the payload enclosure being configured so that in the retracted position said enclosure is in the machine template,
  • in the retracted position, the main axis of the enclosure is parallel to the main axis of the machine,
  • in the retracted position, the main enclosure axis is collinear with the main vehicle axis,
  • the pivot is disposed at the middle part of the length of the payload enclosure,
  • the pivot is arranged offset from the middle part of the length of the enclosure, towards one end of the payload enclosure,
  • the pivot is disposed towards an enclosure end of the payload enclosure,
  • the recess has dimensions corresponding substantially to the template of the machine,
  • the recess has dimensions allowing the repatriation of the underwater vehicle while the payload enclosure is in the exit position,
  • the underwater vehicle has at least one receiving chamber,
  • the underwater vehicle comprises at least one payload enclosure,
  • the underwater vehicle has a receiving chamber and several payload enclosures,
  • the underwater vehicle has as many receiving chambers as there are payload enclosures, with one payload enclosure per receiving chamber,
  • the underwater vehicle has two payloads in two payload enclosures,
  • alternatively with at least two payloads and as many corresponding payload enclosures, the payload enclosures are aligned in series in the receiving chamber, each payload enclosure is pivotally mounted in said receiving chamber in order to allow the pivoting of each payload enclosure between a retracted position where the main enclosure axis is parallel to the main machine axis and an extended position where the main enclosure axis is tilted relative to the axis main machine, each payload enclosure being configured so that, in the retracted position, said payload enclosure is within the machine template,
  • as a variant with two payloads and two corresponding payload enclosures, the two payload enclosures are installed in the receiving chamber parallel to each other, each payload enclosure is pivotally mounted in said receiving chamber in order to allow pivoting of each payload enclosure between a retracted position where the main enclosure axis is parallel to the main machine axis and an extended position where the main enclosure axis is inclined relative to the main axis d 'machine, each payload enclosure being configured so that, in the retracted position, said payload enclosure is within the machine template,
  • as a variant with two payloads and two corresponding payload enclosures, the two payload enclosures are installed in the receiving chamber side by side,
  • as a variant with two payloads and two corresponding payload enclosures, the two payload enclosures are installed in the receiving chamber one above the other,
  • as a variant with two payloads and two corresponding payload enclosures, the two pivots of the two payload enclosures are arranged at the same longitudinal level on either side of the main machine axis,
  • as a variant with two payloads and two corresponding payload enclosures, the two pivots of the two payload enclosures are arranged at different longitudinal levels on either side of the main machine axis,
  • as a variant with two payloads and two corresponding payload enclosures, the two pivots are arranged in the middle part of each payload enclosure,
  • as a variant with two payloads and two corresponding payload enclosures, each of the two pivots is disposed towards an enclosure end of the corresponding payload enclosure,
  • the payload enclosure is configured so that, in the retracted position, said enclosure conforms to the template of the machine,
  • the underwater vehicle is configured to normally position itself so that the receiving chamber crosses horizontally right through the underwater vehicle, and the pivot has a vertical pivot axis so that the pivoting of the load enclosure useful is done in a horizontal plane,
  • the sensor (s) are directional sensors,
  • each of the two enclosure ends has at least one directional sensor,
  • the directional sensor is chosen from among a sonar, an optical detector, a camera, a photographic device,
  • the payload enclosure can pivot at least 90 ° relative to the underwater vehicle,
  • in the extended position the main enclosure axis is perpendicular to the main machine axis,
  • the payload enclosure can rotate 360 ° or more relative to the underwater vehicle,
  • the payload enclosure mounting pivot is removable in order to enable the payload enclosure to be detached from the underwater vehicle and its release from the underwater vehicle,
  • the payload enclosure mounting pivot in the receiving chamber is removable to allow the payload enclosure to be detached from the underwater vehicle and the enclosure to be released from the underwater vehicle ,
  • in the retracted position, the receiving chamber is closed laterally by tilting doors,
  • each tilting door comprises a means of return to closing, typically spring loaded, the opening of the door being caused by the pivoting of the payload enclosure pushing said door, the closing by the cessation of the thrust,
  • the payload is connected by a wire link to the underwater vehicle.

L'invention propose également un engin subaquatique spécialement configuré pour le système de l'invention. L'engin subaquatique peut être réalisé selon toutes les modalités mentionnées.The invention also provides an underwater vehicle specially configured for the system of the invention. The underwater machine can be made in any way mentioned.

L'invention propose également un navire de surface spécialement configuré pour le système de l'invention. Le navire de surface peut être réalisé selon toutes les modalités mentionnées.The invention also provides a surface vessel specially configured for the system of the invention. The surface vessel can be built in any way mentioned.

DESCRIPTION DETAILLEE D'UN EXEMPLE DE REALISATIONDETAILED DESCRIPTION OF AN EXAMPLE OF AN IMPLEMENTATION

La description qui va suivre en regard des dessins annexés, donnés à titre d'exemples non limitatifs, fera bien comprendre en quoi consiste l'invention et comment elle peut être réalisée.The description which will follow with reference to the appended drawings, given by way of nonlimiting examples, will make it clear what the invention consists of and how it can be implemented.

Sur les dessins annexés :

  • la figure 1 représente en vue perspective un système de mesure avec navire et engin subaquatique filoguidé en phase d'utilisation à distance de l'engin subaquatique, un enrouleur/dérouleur de câble de liaison entre le navire et l'engin subaquatique étant visible sur la partie arrière du pont du navire,
  • la figure 2 représente une vue latérale du navire du système de la figure 1 et de son enrouleur/dérouleur de câble de liaison,
  • la figure 3 représente en vue latérale un système de mesure avec d'autres exemples de navire et d'engin subaquatique en phase de stockage de l'engin subaquatique dans un renfoncement de la coque du navire, l'enrouleur/dérouleur de câble de liaison n'étant pas visible à l'intérieur du navire,
  • la figure 4 représente en vue frontale le système de mesure avec navire et engin subaquatique de la figure 3 toujours en phase de stockage de l'engin subaquatique dans un renfoncement de la coque du navire,
  • la figure 5 représente en vue latérale le système de mesure avec le navire et l'engin subaquatique de la figure 3 cette fois en phase d'utilisation à distance et avec des détails concernant la charge utile de l'engin subaquatique.
In the accompanying drawings:
  • the figure 1 shows a perspective view of a measuring system with ship and underwater machine guided in the phase of remote use of the underwater machine, a rewinder / unwinder of the connecting cable between the ship and the underwater machine being visible on the rear part of the ship's deck,
  • the figure 2 shows a side view of the ship's system of the figure 1 and its connecting cable rewinder / unwinder,
  • the figure 3 shows in side view a measurement system with other examples of a ship and underwater vehicle in the phase of storage of the underwater vehicle in a recess in the hull of the ship, the reel / unwinder of the connecting cable not being not visible inside the vessel,
  • the figure 4 shows in a frontal view the measurement system with ship and underwater vehicle of the figure 3 still in the storage phase of the underwater vehicle in a recess in the hull of the ship,
  • the figure 5 shows in side view the measurement system with the vessel and the underwater vehicle of the figure 3 this time in the remote use phase and with details concerning the payload of the underwater vehicle.

DispositifDevice

Sur la figure 1, on a représenté un premier exemple de système 1 de mesure avec navire de surface 2 et avec un engin subaquatique 2 filoguidé utilisé à distance du navire. L'engin subaquatique 2 est relié au navire 4 par un câble de liaison 3 qui peut être déroulé lors du largage de l'engin subaquatique ou enroulé lors de la récupération de l'engin subaquatique, par un enrouleur/dérouleur 45 de câble de liaison 3 disposé sur la partie arrière du pont du navire 4. Le navire comporte une coque 42 avec une partie immergée. L'engin subaquatique comporte une coque 29 et des moyens de propulsion et de guidage et dans cet exemple deux propulseurs 20 à l'arrière.On the figure 1 , there is shown a first example of a measurement system 1 with a surface vessel 2 and with a wire-guided underwater vehicle 2 used at a distance from the vessel. The underwater vehicle 2 is connected to the vessel 4 by a connecting cable 3 which can be unwound when the underwater vehicle is released or rolled up during the recovery of the underwater vehicle, by a rewinder / unwinder 45 of the connection cable 3 arranged on the aft part of the deck of the ship 4. The ship has a hull 42 with a submerged part. The underwater vehicle comprises a hull 29 and means of propulsion and guidance and in this example two thrusters 20 at the rear.

Sur la figure 2, on voit plus précisément l'enrouleur/dérouleur 45 de câble de liaison 3 et le renfoncement 43 dans la partie immergée de la coque 42 du navire 4. Le renfoncement 43 est destiné à recevoir l'engin subaquatique en phase de stockage de ce dernier dans le navire, plus précisément sous et contre la coque 42 du navire 4, à la partie médiane de cette dernière pour conserver une symétrie bâbord-tribord à la coque. Le câble de liaison traverse la coque 42 du navire 4 par un puit de passage 46 réalisé au niveau du renfoncement 43 et y débouchant. Le puit de passage 46 est partiellement rempli d'eau à sa partie basse du fait que le renfoncement 43 est totalement immergé. La coque 42 du navire 4 est donc continue et le renfoncement fermé sauf au niveau du puit de passage 46. Notons qu'étant donné que le renfoncement 43 et le puit de passage 46 sont vus par transparence sur cette figure 2, ils sont représentés en pointillés tout comme leurs flèches de référence numérique.On the figure 2 , we can see more precisely the reel / unwinder 45 of the connecting cable 3 and the recess 43 in the submerged part of the hull 42 of the ship 4. The recess 43 is intended to receive the underwater vehicle during the storage phase of the latter. in the ship, more precisely under and against the hull 42 of the ship 4, in the median part of the latter in order to maintain port-starboard symmetry to the hull. The connecting cable passes through the hull 42 of the ship 4 via a passage well 46 made at the level of the recess 43 and opening there. The passage well 46 is partially filled with water at its lower part due to the fact that the recess 43 is totally submerged. The hull 42 of the vessel 4 is therefore continuous and the recess closed except at the level of the passage well 46. Note that, given that the recess 43 and the passage well 46 are seen by transparency on this figure 2 , they are shown in dotted lines just like their number reference arrows.

Sur la figure 3 d'un autre exemple de système 1 selon l'invention, l'engin subaquatique 2 a été ramené/récupéré pour stockage dans le navire, tout comme le câble de liaison qui a été enroulé sur enrouleur/dérouleur (non visible sur les figures 3 à 5). L'engin subaquatique 2 est stocké dans le renfoncement 43 de la coque 42 du navire 4. Dans cet exemple, le renfoncement 43 est configuré de manière à ce que la partie inférieure de l'engin subaquatique déborde du gabarit général de la coque du navire. Dans des variantes de réalisation ce débordement est moins prononcé ou même absent. A l'avant du renfoncement 43, la coque 42 comporte un carénage 44 destiné à adoucir la transition de forme entre la coque 42 et l'avant de l'engin subaquatique 2. L'engin subaquatique 2 comporte ici un propulseur 20 arrière et des moyens de guidage 21 permettant de l'orienter dans ses déplacements subaquatiques.On the figure 3 of another example of system 1 according to the invention, the underwater vehicle 2 was brought back / recovered for storage in the ship, just like the connecting cable which was wound up on a reel / unwinder (not visible on the figures 3 to 5 ). The underwater vehicle 2 is stored in the recess 43 of the hull 42 of the vessel 4. In this example, the recess 43 is configured so that the lower part of the underwater vehicle protrudes from the general template of the hull of the vessel. . In alternative embodiments, this overflow is less pronounced or even absent. At the front of the recess 43, the hull 42 comprises a fairing 44 intended to soften the shape transition between the hull 42 and the front of the underwater vehicle 2. The underwater vehicle 2 here comprises a rear thruster 20 and guide means 21 making it possible to orient it in its underwater movements.

Du fait que le renfoncement 43 est situé sous la ligne de flottaison et est donc toujours immergé, la présence de l'engin subaquatique 2, du fait de sa flottabilité propre adaptée, fixé dans le renfoncement ou son absence car utilisé à distance, ne modifie pas la flottabilité du navire.Because the recess 43 is located below the waterline and is therefore always submerged, the presence of the underwater vehicle 2, due to its own adapted buoyancy, fixed in the recess or its absence because used at a distance, does not modify not the buoyancy of the vessel.

Le navire 2 comporte des moyens de propulsion et de guidage qui sont dans cet exemple sous la forme de propulseurs orientables 40 assurant les deux fonctions de propulsion et de guidage. Le navire comporte également une paroi d'extrémité arrière 41 de sa coque 42 délimitant à l'arrière la coque du navire et descendant du pont vers et dans l'eau. Cette paroi d'extrémité arrière 41 est ouverte dans l'axe principal du renfoncement 43 afin que la partie arrière de l'engin subaquatique 2 stocké puisse déborder vers l'arrière du navire 4 et que son moyen de propulsion 20 puisse participer à la propulsion du navire si nécessaire. De même, si nécessaire, au moins une partie des moyens de guidage 21 de l'engin subaquatique 2 peuvent assister les moyens de guidage 40 du navire 4.The ship 2 comprises propulsion and guidance means which are in this example in the form of orientable thrusters 40 providing the two functions of propulsion and guidance. The ship also has a rear end wall 41 of its hull 42 defining the rear of the hull of the ship and descending from the deck to and into the water. This rear end wall 41 is open in the main axis of the recess 43 so that the rear part of the stored underwater vehicle 2 can overflow towards the rear of the vessel 4 and that its propulsion means 20 can participate in the propulsion. of the vessel if necessary. Likewise, if necessary, at least part of the guide means 21 of the underwater vehicle 2 can assist the guide means 40 of the ship 4.

La figure 4 permet de mieux voir les deux propulseurs orientables 40 du navire 4 ainsi que la disposition médiane de l'engin subaquatique 2 stocké dans le renfoncement de la coque 42, sous et contre la coque 42.The figure 4 allows a better view of the two steerable thrusters 40 of the ship 4 as well as the median arrangement of the underwater vehicle 2 stored in the recess of the hull 42, under and against the hull 42.

De préférence, en position de stockage, l'engin subaquatique est fixé d'une manière rigide au navire par un arrimage complet de l'engin subaquatique au navire. Dans une variante présentant l'inconvénient de laisser une certaine liberté de mouvement à l'engin subaquatique et donc avec des risques de chocs entre les coques de l'engin et du navire, l'engin en position de stockage est simplement attelé à la coque du navire. Dans ce dernier cas on prévoit un revêtement ou des blocs en matériau résilient et/ou des amortisseurs dans le renfoncement pour amortir les chocs et/ou coincer quelque peu l'engin dans le renfoncement.Preferably, in the storage position, the underwater device is rigidly fixed to the ship by complete stowage of the underwater device to the ship. In a variant having the drawback of leaving a certain freedom of movement for the underwater machine and therefore with the risk of impacts between the hulls of the machine and the ship, the machine in the storage position is simply hitched to the hull of the ship. In the latter case, a coating or blocks of resilient material and / or shock absorbers are provided in the recess in order to absorb shocks and / or somewhat wedge the machine in the recess.

Le navire exemplifié ici est monocoque mais l'invention peut s'appliquer à un navire de type catamaran à deux coques parallèles ou, ce qui est considéré équivalent dans le contexte de l'invention, deux quilles parallèles et dans ce cas, l'engin subaquatique est stocké dans le renfoncement crée par la zone médiane du navire où les deux coques ou quilles se rejoignent. De même, l'invention peut s'appliquer à un navire de type trimaran à trois coques parallèles ou, par équivalence, trois quilles parallèles et dans ce cas, l'engin subaquatique est stocké dans le renfoncement ménagé sous la coque centrale ou sous l'une quelconque des trois coques. On prévoit même, dans un multicoque, que chaque coque ou un certain nombre de coques comporte au moins un renfoncement pour au moins un engin subaquatique. Un même navire qu'il soit monocoque ou multicoque étant susceptible de déployer plusieurs engins subaquatiques simultanément ou séparément.The ship exemplified here is a monohull but the invention can be applied to a catamaran-type ship with two parallel hulls or, which is considered equivalent in the context of the invention, two parallel keels and in this case, the craft. underwater is stored in the recess created by the middle area of the ship where the two hulls or keels meet. Likewise, the invention can be applied to a ship of the trimaran type with three parallel hulls or, by equivalence, three parallel keels and in this case, the underwater vehicle is stored in the recess formed under the central hull or under the 'any of the three shells. Provision is even made, in a multihull, for each hull or a certain number of hulls to include at least one recess for at least one underwater vehicle. A single vessel, whether monohull or multihull, is capable of deploying several underwater vehicles simultaneously or separately.

Sur la figure 5 on a détaillé la structure de l'engin subaquatique 2 comportant une charge utile avec des capteurs 25. Cette charge utile est disposée dans une enceinte 23 de charge utile de l'engin subaquatique 2. L'enceinte 23 de charge utile est disposée au sein de l'engin subaquatique 2, dans une chambre de réception 22. Cette chambre de réception 22 est allongée longitudinalement, c'est-à-dire selon l'axe principal d'engin 27 et traverse de part en part transversalement l'engin subaquatique. De préférence, l'engin subaquatique 2 est configuré pour se déplacer de manière à ce que la chambre soit sensiblement horizontale (au moins axialement transversalement), sauf éventuellement lors de changements de direction comme la plongée ou la remontée ou un virage. Ceci peut être dû au fait que le câble de liaison 3 arrive sur une partie, dite partie supérieure, de l'engin subaquatique et que lorsque le câble de liaison étendu vers le haut a une certaine tension, la position naturelle de l'engin subaquatique est celle où la chambre est sensiblement horizontale au moins transversalement. En outre, les moyens de guidage et propulsion peuvent être commandés et/ou configurés pour assurer cette horizontalité au moins selon un axe transversal (l'axe principal d'engin 27 pouvant être incliné ou - de préférence - horizontal par rapport un référentiel terrestre local) de la chambre de réception. On comprend que toute autre position de l'engin subaquatique peut être commandée si besoin est.On the figure 5 the structure of the underwater vehicle 2 comprising a payload with sensors 25 has been detailed. This payload is arranged in a payload enclosure 23 of the underwater vehicle 2. The payload enclosure 23 is placed within of the underwater vehicle 2, in a reception chamber 22. This reception chamber 22 is elongated longitudinally, that is to say along the main axis of the vehicle 27 and crosses right through the underwater vehicle . Preferably, the underwater vehicle 2 is configured to move so that the chamber is substantially horizontal (at least axially transversely), except possibly during changes of direction such as diving or ascent or a turn. This may be due to the fact that the connection cable 3 arrives on a part, called the upper part, of the underwater vehicle and that when the connection cable extended upwards has a certain tension, the natural position of the underwater vehicle is that where the chamber is substantially horizontal at least transversely. In addition, the guide and propulsion means can be controlled and / or configured to ensure this horizontality at least along a transverse axis (the main axis of the machine 27 being able to be inclined or - preferably - horizontal with respect to a local terrestrial reference frame. ) of the reception room. It is understood that any other position of the underwater vehicle can be controlled if necessary.

L'enceinte 23 de charge utile a une forme générale allongée selon un axe principal d'enceinte 26 avec deux extrémités d'enceinte opposées, une première extrémité d'enceinte et une seconde extrémité d'enceinte. Les capteurs 25 sont typiquement disposés aux deux extrémités opposées de l'enceinte 23. Cette forme d'enceinte 23 correspond latéralement sensiblement à celle globalement cylindrique et allongée de l'engin subaquatique 2 afin que cette enceinte 23 en position rentrée soit comprise dans le gabarit de l'engin subaquatique et qu'en particulier ses faces latérales libres (de l'enceinte) soient en continuité de forme avec les parties adjacentes de la paroi de l'engin subaquatique et donc permette de réduire la trainée de l'ensemble en position rentrée de l'enceinte 23. L'enceinte 23 de charge utile peut ainsi comporter des faces planes en haut et en bas, c'est-à-dire côté intérieur de la chambre de réception 22, et des faces latérales arrondies, la chambre de réception 22 ayant elle-même des faces intérieures haute et basse planes.The payload enclosure 23 has a generally elongated shape along a primary enclosure axis 26 with two opposing enclosure ends, a first enclosure end and a second enclosure end. The sensors 25 are typically arranged at the two opposite ends of the enclosure 23. This form of enclosure 23 laterally corresponds substantially to that generally cylindrical and elongated of the underwater vehicle 2 so that this enclosure 23 in the retracted position is included in the template. of the underwater vehicle and that in particular its free side faces (of the enclosure) are in continuity of shape with the adjacent parts of the wall of the underwater vehicle and therefore reduce the drag of the assembly in position re-entry of the enclosure 23. The payload enclosure 23 may thus include flat faces at the top and bottom, that is to say the interior side of the receiving chamber 22, and rounded side faces, the receiving chamber 22 itself having flat upper and lower interior faces.

L'enceinte 23 de charge utile est montée à pivot 24 dans la chambre de réception 22 afin de permettre le pivotement de l'enceinte 23 de charge utile entre une position rentrée où l'axe principal d'enceinte 26 est au moins parallèle, de préférence colinéaire, à l'axe principal d'engin 27 et une position sortie où l'axe principal d'enceinte 26 est incliné par rapport à l'axe principal d'engin 27 afin que les deux extrémités d'enceinte sortent du gabarit d'engin de chaque côté latéral de l'engin subaquatique. Le pivot 24 est disposé à la partie médiane de la longueur de l'enceinte 23 de charge utile. Lorsque l'enceinte 23 de charge utile est pivotée à 90° de l'axe principal d'engin 27, les capteurs 25 aux deux extrémités de l'enceinte 23 dépassent du gabarit de l'engin subaquatique 2 et peuvent efficacement procéder à des mesures sans que l'engin subaquatique ne masque la plus grande partie de l'environnement de mesure.The payload enclosure 23 is pivotally mounted 24 in the receiving chamber 22 to allow pivoting of the payload enclosure 23 between a retracted position where the main enclosure axis 26 is at least parallel, preferably collinear, with the main axis of machine 27 and an extended position where the main axis of enclosure 26 is inclined relative to the main axis of machine 27 so that the two ends of enclosure come out of the jig d 'machine on each lateral side of the underwater machine. The pivot 24 is disposed at the middle part of the length of the payload enclosure 23. When the payload enclosure 23 is rotated 90 ° from the main axis of the vehicle 27, the sensors 25 at both ends of the enclosure 23 protrude from the template of the underwater vehicle 2 and can efficiently take measurements. without the underwater vehicle masking most of the measurement environment.

Outre la réduction de la trainée de l'engin subaquatique en position rentrée de l'enceinte de charge utile, les capteurs sont également physiquement protégés dans cette position rentrée. De plus, il est possible de prévoir que l'enceinte de charge utile puisse pivoter sur plus de 360° pour réaliser des balayages circulaires lors de mesures de l'environnement par les capteurs sans compter que les capteurs eux-mêmes peuvent être rendus rotatifs au sein de l'enceinte de charge utile, ce qui permet un double balayage.In addition to reducing the drag of the underwater vehicle in the retracted position of the payload enclosure, the sensors are also physically protected in this retracted position. In addition, it is possible to provide that the payload enclosure can rotate more than 360 ° to perform circular scans during measurements of the environment by the sensors, not to mention that the sensors themselves can be rotated at the same time. within the payload enclosure, allowing double sweep.

En variante, l'enceinte de charge utile est une partie pivotante du corps de l'engin subaquatique et par exemple un segment de la longueur du bord inférieur de l'engin. Ce segment a alors typiquement, en section transversale, la forme d'un arc de cercle coupé par une droite dans le cas d'un engin 2 à corps cylindrique. On comprend que cette forme en section pourra être différente au cas où l'engin a un corps non cylindrique.Alternatively, the payload enclosure is a pivoting portion of the body of the underwater vehicle and for example a segment the length of the lower edge of the vehicle. This segment then typically has, in cross section, the shape of an arc of a circle cut by a straight line in the case of a machine 2 with a cylindrical body. It will be understood that this shape in section could be different in the case where the machine has a non-cylindrical body.

L'engin subaquatique comporte tout équipement utile à son utilisation et par exemple des équipements électroniques et/ou informatiques, une batterie électrique tampon ou de secours pour l'équipement et le propulseur qui est de préférence électrique, éventuellement un système de ballast...The underwater vehicle comprises any equipment useful for its use and for example electronic and / or computer equipment, an electric buffer or back-up battery for the equipment and the thruster which is preferably electric, possibly a ballast system ...

Dans le cas où le système comporterait plus d'un engin subaquatique, on prévoit autant de renfoncements sous la coque du navire qu'il y a d'engins subaquatiques à stocker. On peut en variante ou combinaison prévoir d'empiler les engins subaquatiques les uns sous les autres pour stockage, celui qui est le plus haut étant fixé au navire et ceux en dessous étant fixés à celui qui se trouve juste haut dessus de lui, les câbles de liaison étant agencés en conséquence, soit en étoile (= en parallèle) à partir du navire, soit en série (= un câble passant d'engin à engin) à partir du navire, les engins pouvant comporter des moyens propres d'enroulement/déroulement de câble. On comprend que toute disposition autre de renfoncement recevant plusieurs engin subaquatique est envisagé et par exemple avec une répartition angulaire et non plus superposée des engins au sein d'un grand renfoncement commun.In the event that the system comprises more than one underwater device, there are as many recesses under the hull of the vessel as there are underwater devices to be stored. One can alternatively or in combination provide for stacking the underwater vehicles one under the other for storage, the one which is highest being fixed to the ship and those below being fixed to the one which is just high above it, the cables connection being arranged accordingly, either in a star (= in parallel) from the ship, or in series (= a cable passing from gear to gear) from the vessel, the gear possibly having its own winding means / cable unwinding. It will be understood that any other recess arrangement receiving several devices underwater is considered and for example with an angular distribution and no longer superimposed gear within a large common recess.

Ainsi, parmi toutes les variantes de mise en œuvre de l'invention également possibles on peut mentionner que plusieurs renfoncements peuvent être réalisés sur une même coque d'un navire monocoque ou multicoque pour recevoir autant d'engins subaquatiques, un par renfoncement. Il est également possible de prévoir plusieurs engins subaquatiques dans un même renfoncement, chaque engin ayant son câble de liaison spécifique ou étant relié à un même câble de liaison, ce dernier cas permettant par exemple un largage en chapelet des engins. Toujours dans ce dernier cas, certains des engins reliés sur le même câble peuvent être des appareillages simplifiés sans forcément avoir de moyen de propulsion et/ou de guidage.Thus, among all the variant embodiments of the invention that are also possible, it may be mentioned that several recesses can be made on the same hull of a monohull or multihull ship to receive as many underwater vehicles, one per recess. It is also possible to provide several underwater devices in the same recess, each device having its specific connection cable or being connected to the same connection cable, the latter case allowing for example a string release of the devices. Still in the latter case, some of the devices connected on the same cable can be simplified equipment without necessarily having means of propulsion and / or guidance.

Plus généralement, un homme du métier peut apporter de nombreuses modifications et variations aux modes de réalisation décrits ci-dessus, notamment en remplaçant des éléments par d'autres fonctionnellement équivalents, tout en restant dans la portée de protection des revendications suivantes.More generally, a person skilled in the art can make numerous modifications and variations to the embodiments described above, in particular by replacing elements with other functionally equivalent ones, while remaining within the scope of protection of the following claims.

Claims (12)

  1. A measurement system (1) for aquatic environment, said system comprising a surface vessel (4) and an underwater machine (2), the underwater machine (2) comprising a hull (29) and propulsion and guiding means (20, 21) as well as sensors (25) for taking measurements, in which the underwater machine (2) can be either launched from the vessel (4) to move on under water independently of the vessel during a remote-use phase, or stored into the vessel (4) in a non-remote-use phase, the vessel (4) comprising at least one hull (42) and propulsion and guiding means (40), said at least one hull (42) of the vessel (4) comprising a submerged portion located below a waterline, characterized in that the submerged portion of said at least one hull (42) of the vessel (4) comprises a recess (43) intended to receive at least an upper portion of the hull (29) of the underwater machine (2) when the latter is stored into the vessel (4), said recess (43) being arranged entirely below the waterline so that the underwater machine (2) remains completely submerged during its storage and in that the recess has a depth allowing to store the underwater machine in order that the hydrodynamic drag of the vessel is modified by less than 40 % with respect to the same vessel but without recess and without storing an underwater machine.
  2. The system (1) according to claim 1, wherein, when the underwater machine (2) is stored in the vessel (4), the propulsion means (20) of the underwater machine (2), when activated, take part in the propulsion of the vessel (4).
  3. The system (1) according to claim 2, wherein at least a portion of the propulsion means (20) of the underwater machine (2) is arranged at the rear of said underwater machine (2), and the vessel (4) comprises a rear end wall (41) and the recess (43) is open in the rear end wall (41) of the vessel (4) so that said portion of the propulsion means (20) of the underwater machine (2) stored in the recess is arranged more on the rear than the rear end wall (41) of the vessel and can take part in the propulsion of said vessel (4).
  4. The system (1) according to any one of claims 1 to 3, wherein said underwater machine (2) is wire-guided by a link cable (3) from the vessel (4), the vessel comprising a winder/unwinder (45) for said link cable, and said link cable (3) passing through the vessel hull in the recess (43) of the hull (42) of the vessel (4).
  5. The system (1) according to claim 4, wherein the link cable passes through the hull (42) of the vessel (4) through a passage well (46) opening to the recess (43).
  6. The system (1) according to any one of previous claims, wherein the underwater machine and the vessel comprise complementary, unlockable, locking means, for removably stowing the hull (29) of the underwater machine (2) to the hull (42) of the vessel to maintain the underwater machine (2) in the recess (43) of the hull (42) of the vessel (4).
  7. The system (1) according to claim 6, wherein the locking means allow a complete stowing of the underwater machine to the vessel.
  8. The system (1) according to any one of previous claims, wherein the underwater machine (2) has a general shape elongated along a main machine axis (27), said general shape defining a machine outline, the measurement sensors are housed in a working load enclosure (23) having a general shape elongated along a main enclosure axis (26) with two opposite enclosure ends, a first enclosure end and a second enclosure end, and the working load enclosure (23) being integrated in the underwater machine (2), and being pivotally mounted (24) in the underwater machine (2) in order to allow the pivoting of the working load enclosure (23) between a retracted position in which the main enclosure axis (26) is parallel to the main machine axis and an extracted position in which the main enclosure axis (26) is inclined with respect to the main machine axis (27) so that at least one of both enclosure ends is out of the machine outline, the working load enclosure (23) being configured so that, in retracted position, said enclosure is inside the machine outline.
  9. The system (1) according to claim 8, wherein the working load enclosure (23) is arranged within the underwater machine (2), in an accommodation chamber (22), said accommodation chamber (22) being longitudinally elongated, i.e. along the main machine axis (27), and passing transversally throughout the machine, and the working load enclosure (23) is pivotally mounted (24) in said accommodation chamber (22).
  10. The system (1) according to any one of claims 8 and 9, wherein the working load enclosure (23) can pivot over at least 90° with respect to the underwater machine (2).
  11. The system (1) according to claim 10, wherein the working load enclosure can pivot over 360° or more with respect to the underwater machine (2).
  12. The system (1) according to any one of claims 6 to 11, wherein the mounting pivot (24) of the working load enclosure (23) is removable in order to allow the separation of the working load enclosure (23) from the underwater machine (2) and the launching of the enclosure (23) out of the underwater machine (2).
EP17792117.8A 2016-10-04 2017-10-03 Measurement system for aquatic environments comprising a surface vessel and a submersible device Active EP3523192B1 (en)

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FR1659581A FR3056961B1 (en) 2016-10-04 2016-10-04 MEASUREMENT SYSTEM FOR AQUATIC ENVIRONMENT COMPRISING A SURFACE SHIP AND AN UNDERWATER ENGINE
PCT/FR2017/052715 WO2018065723A1 (en) 2016-10-04 2017-10-03 Measurement system for aquatic environments comprising a surface vessel and a submersible device

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CN109050835B (en) * 2018-08-06 2021-07-13 江苏科技大学 Full-drive autonomous underwater robot structure and recovery three-dimensional path tracking method
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CN114715344B (en) * 2022-05-06 2023-04-07 中电科（宁波）海洋电子研究院有限公司 Control method of mobile multilayer marine environment profile monitoring system

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US20190233071A1 (en) 2019-08-01
US10875614B2 (en) 2020-12-29
FR3056961B1 (en) 2018-11-02
WO2018065723A1 (en) 2018-04-12
EP3523192A1 (en) 2019-08-14

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