EP2964515B1 - System and method for recovering an autonomous underwater vehicle - Google Patents

Description

The field of the invention is that of devices and methods for recovering an autonomous underwater vehicle or AUV (acronym for the English expression "Autonomous Underwater Vehicle") from a ship.

The critical steps in the recovery of an autonomous underwater vehicle are the step of creating a link between the ship and the underwater vehicle and the boarding step of the underwater vehicle on board. of the ship.

Solutions are known in which there is a physical connection between the underwater vehicle and the ship by means of a flexible link that is attached to the top of the underwater vehicle. Once this link is established, the underwater vehicle is lifted by means of a crane or a gantry crane and then placed on board the vessel. However, cranes and gantries are heavy and bulky equipment that one wishes to avoid installing on board small ships. Moreover, during the embarkation phase, by high sea state, the underwater vehicle suspended from the crane or the gantry undergoes significant movements that may lead it to hit the ship or its equipment and damage or to be damaged himself.

Solutions are known to overcome these disadvantages in which a physical link is established between the underwater vehicle and the ship by means of a flexible link that is attached to the front of the AUV.

Once this link is established, the cable is wound to raise the underwater vehicle aboard the ship, for example, by sliding on an inclined plane. The landing phase is performed by unwinding the cable.

The patent US 8,145,369 discloses such a solution comprising a docking device and catching means for connecting the underwater vehicle to the docking device, the docking device comprising a flexible link to ensure a connection with a ship. Another solution of this type comprises a reception device comprising receiving means having a flared shape adapted to receive the front part of the underwater vehicle. This reception device comprises locking means for blocking the front part of the machine in the receiving means and is connected to the vessel via a cable attached to the receiving means on the front of the ship so as to to be able to come and shoot the underwater vehicle from the ship by means of the cable and back up on the boat via an inclined plane.

This solution has the disadvantage of not allowing the AUV to continue its mission of imaging the seabed by means of an onboard active sonar once the link is established with the docking device and it is towed by the vessel, the AUV having a tendency to rise towards the surface under the effect of the force exerted by the cable subjected to a hydrodynamic drag force when the ship is moving forward. This solution is not optimal since the AUV has a limited autonomy that does not allow it to ensure a long-term mission.

An object of the invention is to overcome the aforementioned drawback.

For this purpose, the invention relates to a recovery system for recovering an autonomous underwater vehicle from a ship, the recovery system comprising a docking device comprising a stop on which the nose of the AUV is able to come in support, locking means for securing the underwater vehicle with the stop, a flexible link for providing the interface between the docking device and the ship, the flexible link being arranged so as to that the ship pulls the assembly formed by the docking device and the AUV on the front of the AUV when the latter is secured to the stop.

The reception device furthermore comprises stabilization means configured so as to make it possible to control the immersion, that is to say the depth and the attitude, in particular the heel and the attitude of the assembly formed by the device. and the AUV to which he is linked.

In other words, the size and the positioning of the stabilization means are defined according to the size, the mass and the geometry of the AUV to be recovered so as to be able to control the depth and the attitude of the assembly.

The arrangement of the flexible link and the stabilizing means make it possible to prevent, once towed, the AUV from rising towards the surface of the water under the effect of the force exerted by the cable when the ship moves. This arrangement makes it possible to control the depth of the assembly formed by the AUV and the reception device in the water column. It thus makes it possible to maintain this set at a sufficient depth, or a sufficiently low altitude relative to the seabed, so that the AUV can acquire sonar images of the seabed, the stabilizing means acting as a depressant. It also makes it possible to ensure that the onboard sonar receiving antenna on the AUV can receive a reflected signal from the transmitting antenna by controlling its roll, that is to say by stabilizing its cottage. It allows to control its immersion so that it has a constant depth with respect to the seabed whose relief can vary, which is a necessary condition to obtain quality sonar images. This is, for example, achieved by enslaving the immersion of the whole at the altitude of the seabed. It should be noted that the control surfaces of the AUV are not dimensioned to ensure this control. The AUV control surfaces are not sized to overcome the force exerted upward by the traction cable when the AUV is towed. They are only dimensioned to control the depth of the AUV when it is autonomous.

The system according to the invention thus makes it possible to make the mission of the AUV as profitable as possible since it can acquire sonar images in areas that it could not reach by being towed by a ship but also once its batteries are unloaded while being towed by the vessel. Moreover, the fact of being able to acquire images of an area while being towed by a ship enables it to make this acquisition more quickly than when it is autonomous.

The means for stabilizing the immersion of the reception device make it possible to facilitate the establishment of the link between the AUV and the reception device, in particular when the sea is rough because they allow this operation to be carried out under the surface of the aircraft. the water to a depth less impacted by the sea state. These means also facilitate the recovery of the AUV by means of a ramp.

Advantageously, the reception device further comprises a plate arranged in such a way that the plate extends under the belly of the AUV when the nose the AUV bears against the abutment, the locking means also making it possible to secure the AUV with the tray.

This system has the advantage of limiting the risk of damage to the AUV during the boarding phase on the ship. It allows to remove the contact between the AUV and the ship during this operation and to offer protection to the AUV (to the body of the craft and to the equipment in protuberance on this body). Indeed, once the AUV is secured to the abutment (and therefore the plate) when pulling on the link from the ship to bring the docking device of the ship, the assembly will come slide on the ship or on an inclined plane of the ship. The plate will interface the AUV with the vessel or the inclined plane and provide a protective surface for protruding equipment on the belly of the underwater vehicle of the type of those represented on the figures 1 a and 1b in cross section and respectively in side view.

As visible in these figures, the AUV has an elongate body having an oblong shape in longitudinal section ( figure 1b ) and a rounded shape in cross-section ( figure 1a ). This elongated body is provided with external equipment 3 extending under the flanks 4a, 4b of the AUV on the front part of the latter (in a reference linked to the AUV). In other words, the equipment protrudes on the body 2 of the AUV 1 on the lower sides of the body 2 in a frame linked to the AUV. This equipment includes, for example, active sonar. They are not protected by the hull delimiting the body 2 of the AUV 1 and are therefore very sensitive to friction and shock that can damage them physically and in terms of performance which leads to distort the subsequent measurements made by these equipment .

With the protection offered by the plateau, the underwater vehicle and its equipment are not subject to friction during the boarding phase. Furthermore, the system according to the invention makes it possible to impose a constant inclination of the underwater vehicle with respect to the plate around the axis of the underwater vehicle, which leads to avoid shocks and friction of the equipment. in protuberance on the body the AUV with the plate but also with the ship. This characteristic is particularly important during the boarding phase. During this phase, when winding the cable, if the AUV was not secured to a plate making the interface between the underwater vehicle and the ship, it would be animated by roll movements that could cause shocks and friction between the protruding equipment and the ship. The plate also provides protection to the AUV when the assembly formed by the AUV and the docking device is animated pitching movements, heave and cavally with respect to the ship during the boarding phase.

Advantageously, the plate is secured to the stop.

Advantageously, the plate has an elongate shape along an axis called the longitudinal axis of the plate between the stop and a so-called free end of the plate, the stabilizing means for varying the attitude of the plate between an interception position in which the depth the tray increases from the stop to its free end and a home position in which the tray extends substantially to the same depth along its length.

Advantageously, the reception device comprises first guide means for guiding the nose of the underwater vehicle towards the stop when said underwater vehicle and the abutment approach one another.

Advantageously, the system comprises second guide means for aligning a longitudinal axis of the underwater vehicle with the longitudinal axis of the plate, when the underwater vehicle bears against the stop and rest on the plateau .

Advantageously, the system comprises first sliding means for limiting the friction between the first guide means and the underwater vehicle and / or second sliding means for limiting the friction between the second guide means and the underwater vehicle.

Advantageously, the system comprises first damping means for damping a shock between the nose of the underwater vehicle and the first guide means and / or second damping means for damping a shock between the underwater vehicle and the second guide means.

Advantageously, the system comprises a ramp intended to provide the interface between the ship's deck and the marine environment and on which the host device can slide, the system comprising third guide means whose function is to ensure an alignment of a longitudinal axis of the reception device with the ramp when it slides on the ramp, the ramp comprising first support means on which support second support means of the reception device when said device is guided by the guide means, so as to to impose a constant inclination of the reception device with respect to the ramp around the longitudinal axis of the plate.

Advantageously, the docking device comprises connection means automatically ensuring the connection of the battery of the underwater vehicle to a charging device of the battery on board the ship, when the underwater vehicle is secured to stop.

Advantageously, the stabilization means are configured so as to control the offset of the assembly formed by the docking device and the underwater vehicle when the latter is secured to the stop.

The invention also relates to an underwater assembly comprising the system according to the invention, the plate being arranged to extend over the entire length of a lateral sonar protruding from the body of the machine under -marine.

• une étape de solidarisation de l'engin sous-marin avec la butée,
• une étape de contrôle de l'attitude et de la profondeur de l'ensemble formé par l'engin sous-marin solidaire de la butée et le dispositif d'accueil.

The subject of the invention is also a method for recovering an autonomous underwater vehicle by means of a system according to the invention, comprising:

• a step of securing the underwater vehicle with the abutment,
• a step of controlling the attitude and depth of the assembly formed by the underwater vehicle secured to the stop and the docking device.

Advantageously, the method comprises, prior to the step of securing, a step of positioning the reception device in the interception position by means of the stabilization means and a step of bringing the tray into the home position a when the underwater vehicle is resting against the abutment or when the nose of the underwater vehicle is at a distance from the abutment below a predetermined threshold.

• une étape de contrôle de la position et de l'attitude de l'engin sous-marin de façon qu'il navigue à une profondeur prédéterminée avec une assiette sensiblement nulle et de façon à suivre un cap constant avec une vitesse constante,
• une étape de contrôle de l'immersion du dispositif d'accueil et éventuellement du déport latéral du dispositif d'accueil de façon à le positionner dans l'alignement de l'engin sous marin,
• une étape de contrôle de la vitesse et de la route du navire et/ou une étape de contrôle de la longueur du lien filé de façon que l'engin sous-marin se rapproche de la butée et que la route de l'engin sous-marin soit sensiblement la même que la route du navire.

Advantageously, the process comprises:

• a step of controlling the position and the attitude of the underwater vehicle so that it navigates to a predetermined depth with a substantially zero attitude and so as to follow a constant course with a constant speed,
• a step of controlling the immersion of the reception device and possibly the lateral offset of the reception device so as to position it in alignment with the underwater vehicle,
• a step of controlling the speed and the road of the ship and / or a step of controlling the length of the spun link so that the underwater vehicle approaches the abutment and the road of the underwater vehicle sailor is substantially the same as the ship's route.

• les figures 1a et 1b déjà décrites représentent schématiquement un exemple d'engin sous-marin autonome coupe transversale (figure 1a) et en vue de côté (figure 1b),
• la figure 2 représente une vue de côté du dispositif d'accueil du système selon l'invention dans une situation dans laquelle l'engin sous-marin est en appui sur la butée et les moyens d'accueil sont en position d'interception,
• la figure 3 représente une vue de côté du système selon l'invention,
• la figure 4 représente schématiquement une coupe longitudinale du dispositif d'accueil du système selon l'invention,
• la figure 5 représente schématiquement une vue de face partielle d'une première branche des premiers moyens de guidage,
• la figure 6 représente une vue en perspective de la situation représentée sur la figure 2,
• la figure 7 représente schématiquement en vue de côté le dispositif d'accueil du système selon l'invention dans une situation dans laquelle l'engin sous-marin est en appui sur la butée, les moyens d'accueil sont en position d'accueil et les moyens de verrouillage sont en position de verrouillage,
• la figure 8a représente une coupe transversale selon le plan M de la situation de la figure 7, la figure 8b représente une vue de dessus du dispositif d'accueil dans laquelle l'engin sous-marin est en appui sur la butée, repose sur le plateau et est dans sa position d'équilibre stable,
• les figures 9 et 10 représentent schématiquement en vue de côté le système selon l'invention dans une situation de remorquage dans laquelle le dispositif d'accueil arrive au niveau de la rampe (figure 9) et remonte le long de la rampe (figure 10),
• la figure 11 représente schématiquement un détail de la rampe en vue de dessus.

Other features and advantages of the invention will appear on reading the detailed description which follows, given by way of non-limiting example and with reference to the appended drawings in which:

• the figures 1a and 1b already described represent schematically an example of autonomous underwater vehicle cross-section ( figure 1a ) and side view ( figure 1b )
• the figure 2 represents a side view of the reception device of the system according to the invention in a situation in which the underwater vehicle bears on the stop and the reception means are in the interception position,
• the figure 3 represents a side view of the system according to the invention,
• the figure 4 schematically represents a longitudinal section of the reception device of the system according to the invention,
• the figure 5 schematically represents a partial front view of a first branch of the first guide means,
• the figure 6 represents a perspective view of the situation represented on the figure 2 ,
• the figure 7 schematically shows in side view the reception device of the system according to the invention in a situation in which the underwater vehicle is resting on the abutment, the reception means are in the home position and the means of locking are in the locked position,
• the figure 8a represents a cross section along the M plane of the situation of the figure 7 , the figure 8b represents a view from above of the reception device in which the underwater vehicle is resting on the stop, rests on the plateau and is in its position of stable equilibrium,
• the figures 9 and 10 schematically show in side view the system according to the invention in a towing situation in which the reception device arrives at the level of the ramp ( figure 9 ) and goes up the ramp ( figure 10 )
• the figure 11 schematically represents a detail of the ramp in plan view.

From one figure to another, the same elements are identified by the same references.

In the description, the longitudinal axis of a structure advantageously passes through its vertical plane of symmetry.

On the figure 2 schematically shown in side view a reception device 7 of a recovery system for recovering an autonomous underwater vehicle 1 from a ship located on the surface of the water. The ship is not represented on the figure 2 .

Autonomous underwater vehicle (AUV) means a submersible craft capable of moving in three dimensions in water, which is not physically connected to a ship and which has autonomous propulsion capabilities.

The autonomous underwater vehicle is of the type represented on the figures 1a and 1b . It includes a front part 5 called nose, visible on the figure 1b , having a generally conical shape. The front of the AUV is defined with respect to a reference linked to the AUV that is to say along its longitudinal axis x1.

The reception device 7 is a submersible body. It includes a stop 9 visible on the figure 4 against which the nose 5 of the underwater vehicle is able to come to bear (as visible on the figure 2 ). The stop 9 blocks the movement of the AUV along the longitudinal axis of the AUV 1. The stop 9 advantageously has a shape closing in the direction of displacement of the autonomous underwater vehicle when it bears against the stop 9. This form allows a guide of the machine to its abutment position. In addition, the stop 9 may have a shape complementary to that of the nose of the autonomous underwater vehicle.

The recovery system also comprises a flexible link 12, here a cable, providing the interface between the reception device 7 and the ship 100 (as visible on the figure 3 ). In other words, the device 7 is intended to be towed by the ship 100. The flexible link 12 is then attached to the ship. he is advantageously attached to the rear of the ship 100 along the longitudinal axis of the ship X. The ship 100 can be inhabited or autonomous.

The flexible link 12 is arranged so that the ship pulls the assembly formed by the docking device and the AUV on the front of the AUV when the latter is secured to the stop. In other words, the cable is arranged so that the traction force exerted by the ship on the AUV when it is towing the AUV is exerted on the front of the AUV.

For this purpose, the cable 12 is fixed to the reception device 7 on the front of the AUV when the latter is resting on the stop 9, in a reference linked to the AUV. For example, on the figure 2 , the fastener 14 by means of which is fixed the cable 12 to the reception device 7 is fixed in front of the AUV 1.

On the realization of the figures (see figure 3 ), the flexible link 12 is fixed to the reception device 7 at a first longitudinal end 7a of the reception device 7 near the stop 9.

As visible on the figure 3 , the system comprises pulling means 13, or pulling device, for pulling to deploy the cable 12 or pull on the cable to hoist the docking device 7 aboard the ship 100 aboard the ship or to put it These means are, for example, winding / unwinding means 13, for example, a winch for winding and unwinding the flexible link 12 from the ship 100.

The reception device 7 also comprises locking means, or locking elements, for securing the AUV with the stop 9. These means will be described more precisely later. These means make it possible, in particular, to establish the physical link between the AUV and the ship, which makes it possible to bring it on board the ship with the reception device 7.

The reception device 7 according to the invention comprises stabilization means, or stabilizers, for controlling the depth, that is to say the immersion, and the attitude, in particular the heel and the attitude, of the assembly formed by the docking device and the AUV when the latter is secured to the stop 9. By controlling the depth, the attitude and the heel of the assembly, it is intended to vary or maintain these fixed quantities.

These stabilization means and the arrangement of the flexible link enable the AUV to continue its mission of acquiring sonar images of the seabed of good quality by means of an on-board sonar 3, visible on the figures 1a and 1b even when towed by a ship moving in the water.

The fact that the stabilizing means make it possible to control the attitude and the depth of the assembly implies that they also allow these controls for the reception device alone. This makes it possible to ensure a precise positioning and orientation of the reception device when the AUV approaches it.

In the embodiment of the figures, the stabilization means comprise two pairs 17, 18 of elevators. This embodiment is not limiting, the stabilizing means could, for example, include ballasts or thrusters or any other means of stabilizing the attitude and depth of a submersible body.

In this embodiment, each pair of rudder is installed at a longitudinal end 7a, 10a of the receiving device.

In the embodiment of the figures, one of the pairs of elevators 17 is located at the end of the receiving device to which is fixed the flexible link 12 (here the front end 7a). This makes it possible to vary the depth of the reception device 7 by means of this pair of control surfaces without varying its attitude when the device 7 is towed by the ship 100 by means of the flexible link 12.

Advantageously, the stabilization means also make it possible to control the lateral offset (lurching) of the assembly constituted by the AUV and the reception device. This makes it possible to improve the quality of the sonar images when the AUV is towed and also to improve the accuracy of the positioning of the reception device in the approach phase of the AUV.

For this purpose, the stabilizing means comprise a rudder 19. This rudder is advantageously arranged at the same end 7a that to which is attached the flexible link. This makes it possible to print a lateral offset to the assembly (or to the reception device alone) without printing yaw movement when the device is towed to the ship by means of the flexible link.

The reception device 7 advantageously comprises a plate 10. As visible on the figure 2 , the stop 9 and the plate 10 are arranged so that the plate 10 extends under the belly 11 of the AUV when the nose 5 of the latter is resting on said stop 9. The belly 11 is the most important part. 2 of the AUV 1 in a frame related to the AUV 1. This is the lowest part of the cylindrical portion 50 of the body 2 between the front portions 5 and rear 55 of generally conical shapes . In other words, in a frame linked to the reception device 7, the plate 10 extends under the stop 9.

The plate 10 makes it possible to ensure the interface between the underwater vehicle 1 and the ship 100 or between the underwater vehicle and a ramp connected to the ship 100 (visible on the figure 3 ) during the embarkation phase and thus reduces the risk of damage to the underwater vehicle during these phases.

The plate has an elongate shape along the second longitudinal axis x2 also corresponding to the axis of the receiving device 7. The control surfaces 17, 18 are installed near each of the longitudinal ends 10a, 10b of the plate. In this way they are also installed near each end of the AUV when it is in abutment against the stop and rests on the plate.

Advantageously, the plate over the entire length of the lateral sonars arranged on the sides of the underwater vehicle. This ensures their protection during the boarding phase. In other words, the plate being arranged to extend over the entire length of a lateral sonar protruding from the body of the underwater vehicle.

The plate 10 extends longitudinally between a first free end 10a and a second end 10b of the plate connected to the stop 9 and located near the first end 7a of the receiving device 7. The end 10a constitutes the second longitudinal end of the reception device.

On the figure 2 , the reception device is maintained in a position in which the plate occupies a so-called interception position in which the free end 10a of the plate is deeper, with respect to the surface of the water, than the end of the plateau in relation to the stop 9. In other words, the depth of the plate 10 increases from the stop 9 to its free end 10a. In other words, in this position the axis of the plate x2 is inclined with respect to a horizontal plane so that the free end 10a of the plate is deeper than the stop 9.

Advantageously, the stabilization means make it possible to vary the attitude of the plate 10 from the intercepting position to a reception position in which the free end 10a of the plate extends substantially to the same depth as its end. 10b linked to the stop 9 (see figures 7 and 8b ). Furthermore, the stabilizing means for controlling the attitude of the plate, they allow to maintain the plate in the home position and in the interception position.

In the interception and reception positions, the plateau has a zero or substantially zero heel.

In the embodiment of the figures, the plate 10 is integral with the stop 9. The stabilizing means thus vary the attitude of the reception device 7 between the interception and reception positions when they vary the attitude of the board 10.

Alternatively, the plate 10 is pivotally mounted relative to the stop along an axis perpendicular to the axis of the plate. The stabilizing means are then able to move the plate relative to the stop between the intercepting position and the home position. The system then comprises locking means for securing the plate and the abutment in these two positions or at least when in the home position. The locking means which will be described later then make it possible to secure the AUV with the stop and the plate when the latter is in the home position. Advantageously, the plate is pivotally mounted relative to the stop only about said axis perpendicular to the axis of the plate.

The first solution is simpler to implement and the second solution does not involve movement of the stopper when the plate moves (the stabilization means maintaining the attitude of the fixed stop).

The mobility of the plate 10 between the intercepting and receiving positions makes it possible to limit the risk of damaging the AUV 1 and the protruding elements 3 when the AUV comes to rest on the stop 9 while allowing the move the plate 10 away from the space in which the AUV is going to penetrate to advance towards the stop 9. The risks of friction and shock suffered by the AUV 1 or its protruding equipment during the establishment of the link between the AUV and the reception device, that is to say with the ship, are reduced.

Advantageously, as shown on the Figures 2 to 5 , the reception device 7 comprises first guide means 15, or first guide, for guiding the nose 5 of the underwater vehicle 1 towards the stop 9 when it is close to the stop 9 or that the stop 9 is getting closer to him. They consist of a mechanical structure arranged around the stop 9 defining a space 151 capable of housing the nose 5 of the underwater vehicle 1 and the possible protruding elements 3 on this nose. According to the invention the space 151 is flared when one moves away from the abutment 9 along the second axis x2. In the embodiment of the figures, these first guide means 15 comprise a plurality of rigid or flexible first branches 15a disposed at the periphery of the stop 9 as well as the plate 10. In other words, the first guide means 15 comprise a plurality of first branches. 15a each having a first end fixed at the periphery of the abutment 9 and a second free end. These first branches 15a delimit with the plate 10, a volume that flares from the stop towards the free end of the branches. In a variant, the guide means are made in the form of a structure having a funnel shape.

The first guide means 15 make it possible to ensure that the nose 5 of the underwater vehicle 1 comes to bear on the stop 9 even if it does not exactly face the abutment. When the nose 5 enters the volume 151, it is held by the guide means 15 which guide its nose 5 towards the stop 9.

Advantageously, as visible on the figure 4 and on the figure 5 (Representative in front view a first branch 15a), the receiving device 7 comprises first sliding means 16, or first sliding elements, for limiting the friction between the nose 5 of the AUV 1 and the means of guide. The first sliding means here comprise series of first rollers 16 rolled arranged on the branches 15a. The first rollers 16 installed on the same first branch 15a are pivotally mounted on this branch about respective axes yi represented by arrows on the figure 5 perpendicular to the branch 15a. The rollers 16 are installed on the faces of the first panels 15a which are located inside the volume 151. They have a generally cylindrical shape.

Thus, when approaching the stop, the nose 5 of the underwater vehicle 1 hits a roller 16 of a first branch 15a, the roller pivots about its axis yi which brings the nose 5 closer to the stop 9. This avoids friction between the underwater vehicle 1 and the branches 15a.

Advantageously, the reception device 7 comprises first damping means, or first dampers, for damping a shock between the underwater vehicle and the first guide means 15.

These first damping means comprise for example a damping contact surface 16 'visible on the figure 5 which are provided with the rollers 16 so as to offer the underwater vehicle 1 a cushioning contact surface. The rollers 16 comprise, for example, a rigid axis attached to a branch 15a. The rigid axis 16 is surrounded by a resilient material, for example of the foam type forming the first damping means 16 '.

The first means of damping and sliding protect the nose of the aircraft and any external equipment that protrude on this nose as is the case on the figure 2 damping shocks and limiting friction between the first guide means and these elements.

Advantageously, as visible on the figure 4 , the rods 15a are pivotally mounted on the stop 9 about axes yi perpendicular to the axis of the plate x2. In this way, when the AUV hits the rods, they will pivot to cushion the shock.

Advantageously, the rods 15a are rigid. In this way the rods resist the drag due to the flow while damping the shocks with the nose of the AUV.

As visible on figures 6 , 8a and 8b , the reception device 7 also comprises second guide means 20, 21, 22 or second guide, for aligning the longitudinal axis x1 of the underwater vehicle 1 with that of the plate 10 (as visible on the figure 9b ).

These second guide means 20, 21, 22 are arranged to align the axis of the AUV x1 with that of the plate x2 when the AUV bears on the stop 9 and comes to rest on the plate 10, for example when the reception device 7 is brought from its intercepting position to its home position while the underwater vehicle 1 bears on the stop 9.

As visible on figures 6 , 8a and 8b the second guide means comprise a mechanical structure 20, 21, 22 on which the underwater vehicle can slide and arranged to guide the underwater vehicle to a stable equilibrium position when the plate 10 is brought from its intercept position to its home position. This structure is also arranged to guide the AUV that arrives on the stop while its longitudinal axis is not aligned with that of the plate when it is in the home position as visible on the figure 7 .

It should be noted that the reception device is arranged in such a way that when the AUV is resting on the stop 9 (with a zero attitude) and the reception device is in the home position, the undercarriage Marine 1 rests on the plateau 10.

The mechanical structure 20, 21, 22 is arranged so that in the stable equilibrium position (as visible on the figures 8a and 8b ), the longitudinal axis x1 of the underwater vehicle is aligned with the longitudinal axis plateau x2.

On the realization of the figure 6 , the mechanical structure comprises two second rigid branches 20, 21 fixed to the plate and a link 22 connecting the second branches 20, 21 to the plate and on which the machine is able to slide. The second branches 20, 21 extend in a plane perpendicular to the axis of the plate 10 and are arranged on either side of the plate symmetrically and inclined with respect to a vertical plane passing through the axis of the plate. tray x. They are connected by a link which forms a trap having a shape complementary to the belly 11 of the body 2 of the AUV 1.

In this way, when the AUV 1 is resting on the stop 9 and the plate is brought from the intercepting position to the home position, if the longitudinal axes of the plate and the AUV are located in non-parallel vertical planes, the AUV will slide on the second guide means which will bring these axes in parallel vertical planes.

When the plateau reaches the home position, the AUV will rest on it and their longitudinal axes will be in parallel horizontal planes.

The longitudinal axes of the plate and the AUV will thus be found aligned, that is to say lie in vertical and longitudinal parallel planes. As visible on the figure 9 , the device is arranged so that these axes are in the same vertical plane.

Furthermore, the reception device and the second guide means 20, 21, 22 are arranged so that when the underwater vehicle 1 bears on the stop 9, the plate extends over its entire length. On either side of the submarine's belly 1. In other words, the plateau extends under the belly and flanks of the AUV.

Advantageously, the reception device 7 comprises second sliding means (or second sliding elements) making it possible to limit the friction between the second guiding means 20, 21, 22 and / or the second damping means making it possible to dampen a shock between the second guide means and the underwater vehicle 1.

As visible on the figure 8a the second branches 20, 21 are provided with second rollers 23. The second rollers 23 attached to a branch are rotatable relative to this branch about respective axes perpendicular to the axis of the branch and parallel to the x axis of the plate 10. The rollers 23 are installed on the faces of the branches 20, 21 which face the underwater vehicle when it bears on the stop 9.

The second sliding means make it possible, by limiting the friction, to maintain the bed of the underwater vehicle constant when the reception device passes from the intercepting position to the home position.

Advantageously, the second damping means, or second dampers, comprise damping contact surfaces 23 'which are provided with the second rollers 23 which are designed to provide the underwater vehicle 1 with a damping contact surface. The rollers 23 are, for example, made in the form of rigid axes fixed to a second branch 20 or 21 and are provided surrounded by a resilient material, for example of the foam type forming the second damping means.

The second damping and sliding means make it possible to protect the body of the AUV by damping the shocks and by limiting the friction between the second guiding means and these elements.

Advantageously, the plate comprises third damping means 24, or third dampers, for damping the physical contact between the AUV and the plate 10. In the embodiment of the figures these means comprise cushions 24 made of resilient material arranged on the surface of the plate and spaced along the longitudinal axis of the plate.

Advantageously, the locking means comprise locking means 25d, 25f, 26d, 26m or a locking device, making it possible to perform a locking function consisting in holding the AUV in abutment on the stop 9, in maintaining the heel of the AUV constant with respect to the plate (ie to impose a constant inclination of the underwater vehicle with respect to the plate around the longitudinal axis of the underwater vehicle) and to maintain the AUV pressing on the plate 10 (that is to say to prevent the movements of the AUV relative to the plate along the axis z2 perpendicular to the plane of the plate and the axis x2).

These means are visible on the figure 2 and the figure 6 , they comprise first locking means 25d, or first locking device, integral with the underwater vehicle 1 and the second locking means 26d, or second locking device, included in the receiving device 7. The first and second locking means respectively comprise a first finger 25d and a second finger 26d able to cooperate in order to perform the locking function.

The first locking means here comprise a first finger 25d integral with the AUV 1. It is for example fixed thereto by means of a metal strip 25f circling the AUV 1. The second locking means comprise a second finger 26d. The second finger extends in an arc around the axis x2 of the plate and symmetrical relative to this axis. It also extends on both sides of the x2 plateau axis. This finger 26d is movable in translation along the axis of the plate x between an unlocking position (visible on the figures 2 and 6 ) in which it is distant from the second finger and a locking position (in which is the finger on the figures 9 and 10 but non-visibly) in which it bears on the first finger 25d perpendicular to the axis of the plate and in which it exerts a traction force on the first finger parallel to the x axis of the plate and towards the stop 9, when the AUV 1 rests on the plate 10 so as to perform the locking function.

The second locking means also comprise traction means, or traction device, for moving the finger 26d between the unlocking position and the locking position and to maintain them in these two positions. The traction means comprise for example an articulated arm 26m linked to the finger 26d. The fact that the finger 26d extends in a circular arc makes it possible to secure the AUV with the plate and the stop 9 even when it has a non-zero deposit of absolute value less than or equal to a predetermined angle corresponding to half of the angle on which the finger extends. The angle is for example equal to 10 °. Alternatively, the finger is positioned on the x2 axis and has an angular aperture less than 1 °.

The locking means also comprise means, or a device, for preventing lateral movements (along the axis y2 extending perpendicularly to the axes x2 and z2 perpendicular to each other) of the underwater vehicle 1 relative to the tray. These means here comprise the link 22 (visible on the figure 8a ) which surrounds the belly 11 of the underwater vehicle when it is in its position of stable equilibrium.

Alternatively, the first and second locking means are configured to perform a first locking function of maintaining the AUV bearing on the stop 9, and to maintain the heel of the AUV constant with respect to the plate. The locking means then also include means for maintaining the AUV support on the plate. This is for example movable arms between a release position in which they do not exert force on the AUV and a support position in which they come to rest on the top of the AUV so as to hold it in support on the plate.

The system according to the invention advantageously comprises but not necessarily a ramp 27, as visible on the figures 9 and 10 , intended to provide the interface between the deck of the ship 100 and the marine environment, and on which is adapted to slip the host device 7.

This ramp may be fixed relative to the ship, for example of the inclined plane type, or be a boom pivotally mounted relative to the ship 100 about an axis perpendicular to the longitudinal axis of the ramp.

The ramp advantageously comprises buoyancy means, or floats, not shown configured and arranged so that one end of the ramp floats on the surface or near the surface of the water shown in thick lines on the figures 9 and 10 . This feature ensures the contact between the boom and the marine environment.

The ramp may, for example, be a ramp of the type of that described in the patent application FR1004764 or in the patent application FR1201573 .

Advantageously, the system comprises third guide means 28, or third guide, whose function is to ensure alignment of the longitudinal axis x2 of the reception device 7 on the longitudinal axis of the ramp so as to allow a sliding or correct rolling of the assembly formed by the device 7 and the underwater vehicle 1 along its path on the ramp (uphill or downhill). These means include, for example, as illustrated on the figure 11 , a device acting as a fairlead, inside which passes the traction cable 12 of the machine configured to move along the ramp 27, for example on a rail disposed along the longitudinal axis thereof ci (not shown in the figure).

The system comprises means, or a device, for maintaining the inclination making it possible to impose a constant inclination of the reception device with respect to the ramp, around the axis of the plate. In other words, these means make it possible to impose a constant heel on the reception device. These means comprise, in particular, first support means 29 on which the elevators 17, serving as second support means, when the device is guided by the guide means 28. Alternatively, other means are provided to perform the function of second support means in place of the control surfaces 17.

The means for maintaining the inclination furthermore advantageously comprise longitudinal edges 114, 115 of the ramp (visible on the figure 11 ) configured to form longitudinal support members. The thickness of the edges is then adapted to the dimensions of the host device and the AUV considered, so that when the assembly is installed on the ramp, the plate rests on the means 30 while the second means support, for example the control surfaces, rest on the edges 114 and 115 on which they slide.

The ramp advantageously comprises other sliding means 30, also called another guide, intended to promote the progression of the reception device along the ramp, under the action of the traction exerted by the cable (recovery) or by gravity (launching). These means are for example rollers or rollers arranged laterally on the bottom of the ramp and on which rolls the device.

The system according to the invention comprises connection means, not shown, also called connection, automatically ensuring the connection of the battery of the AUV to a charging device of this battery on board the ship 100, when the AUV is secured to the stop 9. This feature allows its reconditioning energy on the deck of the ship without human intervention. The energy transfer is advantageously done by the cable 12.

We will now describe the recovery process of an autonomous underwater vehicle according to the invention by means of the recovery system according to the invention.

The method advantageously comprises a step of securing the AUV with the stop 9 (and advantageously the plate 10 when the AUV rests on the plate 10). The AUV is then transformed into a towed body.

The method then advantageously comprises a step of controlling the attitude and the depth of the assembly formed by the reception device and the AUV secured to the stop by means of stabilizing means. For example, the stabilizing means are controlled so as to maintain the assembly at a constant altitude relative to the seabed. The method also advantageously comprises a step of acquiring sonar images by means of an on-board sonar on board the AUV as long as the assembly is in the water. The system advantageously comprises wireless communication means (for example of the Wi-Fi or optical type), also called a wireless communication device, making it possible to transmit the sonar images acquired by the AUV to the ship 100. means of communication between the flexible link 12 and the AUV, the cable then transmitting the data to the ship 100.

The method then advantageously comprises a step of recovering the assembly aboard the ship 100 during which a traction force is exerted on the assembly so as to pull it towards the ship 100 and to embark it aboard the ship 100 by dragging it on the ramp. This step is performed by winding the cable 12 around by means of the winch 13.

Advantageously, prior to establishing the link between the AUV and the reception device 7, the method comprises a step of controlling the position and the attitude of the AUV so that it navigates to a predetermined depth. with a substantially zero or no attitude and so as to follow a constant course which is advantageously that of the ship with a constant speed.

The depth is chosen according to the state of the sea. It is all the more important that the sea is agitated so as to recover in relatively calm waters.

The method advantageously comprises a step controlling the speed of the ship 100 so that it sails at a speed lower than that of the AUV so that the AUV can approach the ship 100. More generally, the device comprises a step of control of the ship's route and / or a step of controlling the length of the cable (or link) spun so that the underwater vehicle approaches the stop and the underwater vehicle's road is substantially identical to that of the ship.

The docking device 7 being towed by the ship and having an elongated shape will naturally be oriented so that its longitudinal axis is located along the X axis of the ship 100 which is parallel to the speed of the AUV.

The method according to the invention advantageously comprises a step of controlling, by means of the stabilization means, the immersion of the reception device so as to position it at a predetermined depth which is advantageously the depth of the AUV 1.

The method furthermore advantageously comprises a step of controlling the lateral offset of the reception device so as to position it in alignment with the underwater vehicle.

It possibly includes a step of controlling the attitude of the reception device so as to orient it optimally with respect to the AUV to ensure its recovery.

Since the underwater vehicle 1 has a speed greater than that of the ship, it will move closer to the device according to the invention until it bears on the abutment 9.

The interception of the underwater vehicle by the reception device 7 can be performed when the latter is in the home position. The underwater vehicle 1 then comes into contact with the plate and in particular with the third damping means and slide on the latter before reaching the stop.

In a preferred embodiment, the method comprises, before the AUV comes to bear on the stop 9, a step of controlling the attitude of the plate so as to bring it and keep it in the interception position .

The method then comprises another attitude control step, by means of the stabilization means, so as to bring the plate from its intercepting position to the home position, when the AUV bears on the stop 9 or when the nose of the AUV is at a distance from the stop below a predetermined threshold.

For this purpose, the system according to the invention comprises monitoring means, or a monitoring device, for monitoring the position of the underwater vehicle with respect to the stop 9 and possibly with respect to the plate 10.

The monitoring means advantageously make it possible to measure the distance of the underwater vehicle relative to the abutment and possibly relative to the plateau. They advantageously comprise means for determining the distance of the nose of the underwater vehicle relative to the abutment, from the position measurement of the underwater vehicle, and means for comparing this distance to the threshold. predetermined and possibly to determine his attitude. These means may comprise optical, acoustic or electromagnetic devices. The AUV comprises, for example, devices for transmitting light signals, such as for example a lamp, enabling its positioning by the ship equipped with means capable of intercepting and measuring the distance from the AUV to the abutment from these signals.

In a variant, the monitoring means make it possible to detect the establishment of the physical contact between the stop and possibly the plate. They include detection means, or a detector, for detecting when the underwater vehicle 1 bears on the abutment 9 and possibly against the plate 10. These means comprise, for example, one or more pressure sensors.

Once the reception device 7 has reached the home position, the underwater vehicle rests on the plate 10. The AUV is then secured to the stop 9 and advantageously the plate 10 by means of blocking and in particular by means of the locking means.

The securing step comprises a locking step by means of the locking means. This step can be performed by means of control means, also called steering device, located on the ship. It requires means for monitoring the position of the underwater vehicle 1, also called monitoring device, with respect to the stop and the plate. Alternatively this step is performed automatically, the coming of the underwater vehicle bearing on the plate automatically triggering the actuation of the locking means.

The means for stabilizing the position and the attitude of the AUV and the reception device, the locking means and the traction means (here the winch 13) can be controlled by piloting means located on board. the ship or from a station or ground or an air station (for example an aircraft). When the pilot can be realized from a place other than the ship (ground or air), it is said that the system is teleoperated. The control means may be automatic control means or means allowing an operator to control these remote stabilization means.

In the latter case, the system then comprises information means, or an information device, comprising, for example, display screens and / or alarm means, making it possible to inform the operator of the output monitoring means. Alternatively, the monitoring means comprise a camera allowing the operator to monitor the evolution of the underwater vehicle relative to the device.

In the case of automatic control, the control means are automatic control means capable of controlling stabilization means, the locking means and the traction means. The outputs of the monitoring means are then transmitted to the automatic control means. This fully automatic solution makes it possible to overcome the need of an operator and thus to limit the risks associated with rough sea and can be implemented from an autonomous surface vehicle or USV with reference to the English expression " unmanned surface vehicle ".

When the system is remote controlled, the risk of operator injury is also limited.

The control commands can be transmitted to the stabilization means of the reception device 7 by a wireless link (included in the system according to the invention) or by means of the flexible link 12 (which is then an electrotractor cable).

In a variant, the attitude, the depth and the speed of the AUV are controlled by piloting means on board the AUV. These means may have received a recovery instruction before the start of the mission, indicating the time, course and speed, immersion to be adopted at this time. In a variant, the system comprises means of communication between the AUV and the ship allowing the ship to send her the salvage instruction.

In a variant, the recovery instruction sent to the AUV is a rejoin instruction from a predetermined rendezvous point. The method then comprises a step of controlling the position of the device host so that it comes to put the stop 9 in support against the AUV by means of stabilization means.

The device according to the invention is also a device for launching an AUV from a ship. This device has the same advantages during the landing and establishing the link between the AUV and the docking device as during the phases of boarding and establishment of the link.

• une étape de mise à la mer de l'ensemble formé par l'engin sous-marin et le dispositif d'accueil, l'engin sous-marin étant en appui sur la butée et reposant avantageusement sur le plateau 10, les moyens de blocage solidarisant l'engin sous-marin avec la butée et le plateau, cette étape étant avantageusement réalisée en faisant glisser le dispositif le long d'une rampe,
• avantageusement une étape contrôle de la position du dispositif 7 de façon à venir positionner et maintenir le dispositif à une profondeur prédéterminée, au moyen des moyens de stabilisation,
• cette étape est avantageusement suivie d'une étape de contrôle lors de laquelle, les moyens de stabilisation amènent le plateau en position d'interception avant que l'engin sous marin ne quitte la butée ou avant que l'extrémité avant du nez de l'engin sous-marin ne se trouve à une distance supérieure à un seuil prédéterminée de la butée,
• une étape de désolidarisation de l'engin sous-marin, par exemple, en pilotant les moyens de verrouillage au moyen des moyens de pilotage, cette étape pouvant être réalisée avant ou après l'étape précédente.

The subject of the invention is also a method of placing by sea using the system according to the invention comprising:

• a step of putting into sea of the assembly formed by the underwater vehicle and the reception device, the underwater vehicle being in abutment on the abutment and resting advantageously on the plate 10, the locking means solidarisant the underwater vehicle with the stop and the plateau, this step being advantageously performed by sliding the device along a ramp,
• advantageously a step controlling the position of the device 7 so as to position and maintain the device at a predetermined depth, by means of the stabilization means,
• this step is advantageously followed by a control step during which the stabilization means bring the plate into the interception position before the underwater vehicle leaves the stop or before the nose's front end. underwater vehicle is at a distance greater than a predetermined threshold of the abutment,
• a step of separating the underwater vehicle, for example, by controlling the locking means by means of the control means, this step can be performed before or after the previous step.

These last steps make it possible to reduce the risks of deterioration of the underwater vehicle when it moves away from the stop.

The invention also relates to a subsea unit comprising the autonomous underwater vehicle and / or the ship and the recovery system according to the invention.

As visible on the figure 1b , the AUV 1 comprises lower control surfaces 5b extending under the body of the underwater vehicle and upper 5a, extending above the body in a frame of reference related to the submarine. These control surfaces are located on the rear of the submarine. The lower rudder protrudes under the belly 11 of the underwater vehicle.

Advantageously, as visible on figures 7 and 8 , the reception means are dimensioned so that the plate does not extend to below the lower rudder 5b when the underwater vehicle 1 bears on the abutment 9.

Advantageously, the ramp and the reception device are arranged and configured so that when the reception device 7 integral with the machine 1 slides on the ramp, the lower rudder 5b does not strike the bottom of the ramp. On the example of the figure 11 , the ramp has a hollow bottom. Alternatively, the receiving means are configured so that when the machine rests on the plate, the lower rudder 5b does not protrude under the plate. This is achieved by playing for example on the thickness of the plate. Alternatively, the underwater vehicle does not include a lower dive bar or includes dive bars cross. These characteristics make it possible not to have to leave the machine on the ramp and to be able to go up completely on the deck.

Claims (17)

1. A recovery system for recovering an autonomous underwater vehicle (1) from a ship (100), said underwater vehicle (1) comprising a front part called the nose (5), said system comprising:

   - a receiving device (7),

   - a flexible connection (12) intended to provide the interface between the receiving device (7) and the ship (100),

   characterised in that it further comprises:

   - a stop (9) against which the nose (5) of the underwater vehicle (1) can bear,

   - blocking means making it possible to fix the underwater vehicle to the stop, the flexible connection (12) being arranged such that the ship (100) pulls the assembly formed by the receiving device (7) and the underwater vehicle (1) on the front of the underwater vehicle when the latter is fixed to the stop (9),

   - stabilisation means configured so as permit the depth and the attitude, in particular the list and the trim of the assembly formed by the receiving device (7) and the underwater vehicle when the latter is fixed to the stop (9) to be monitored.
2. The recovery system according to the preceding claim, comprising a plate (10) which is arranged so that the plate (10) extends below the underside (11) of the underwater vehicle (1) when the nose (5) of the underwater vehicle (1) bears against said stop (9), the blocking means permitting the underwater vehicle to be fixed to the plate (10).
3. The system according to claim 2, wherein the plate is fixed to the stop (9).
4. The recovery system according to either of claims 2 to 3, wherein the plate has an elongate shape along an axis called the longitudinal axis of the plate (x2) between the stop (9) and a so-called free end of the plate (10a), the stabilisation means permitting the trim of the plate to be varied between an intercepting position in which the depth of the plate (10) increases from the stop (9) as far as its free end (10a) and a receiving position in which the plate extends substantially at the same depth over its entire length.
5. The recovery system according to any of the preceding claims, wherein the receiving device comprises first guide means (15) permitting the nose (5) of the underwater vehicle (1) to be guided towards the stop (9) when said underwater vehicle (1) and the stop (9) approach one another.
6. The recovery system according to any of claims 2 to 5, comprising second guide means (20, 21, 22) permitting a longitudinal axis of the underwater vehicle to be aligned with a longitudinal axis of the plate when the underwater vehicle (1) comes to bear against the stop (9) and rests on the plate (10).
7. The recovery system according to claim 5 and/or claim 6, comprising first sliding means (16) permitting the friction to be limited between the first guide means (15) and the underwater vehicle and/or second sliding means (16) permitting the friction to be limited between the second guide means (20, 21, 22) and the underwater vehicle (1).
8. The recovery system according to claim 5 and/or claim 6 or 7, comprising first shock absorbing means (16') permitting an impact to be dampened between the nose (5) of the underwater vehicle and the first guide means and/or second shock absorbing means (23') permitting an impact to be dampened between the underwater vehicle and the second guide means.
9. The recovery system according to any of the preceding claims, comprising a ramp (27) intended to provide the interface between the bridge of the ship (100) and the marine environment, and over which the receiving device (7) can slide, the system comprising third guide means (28), the function of which is to provide alignment of a longitudinal axis of the receiving device (7) with the ramp when said receiving device slides over the ramp, the ramp comprising first bearing means (29, 114, 115) against which second bearing means (17) of the receiving device (7) bear when said device is guided by the guide means (28) so as to set a constant incline of the receiving device (7) relative to the ramp about the longitudinal axis of the plate.
10. The system according to any of the preceding claims, wherein the receiving device (7) comprises power connection means automatically providing the connection of the battery of the underwater vehicle to a device for recharging this battery loaded on board the ship (100) when the underwater vehicle (1) is fixed to the stop (9).
11. An assembly comprising a system according to any of the preceding claims, comprising the underwater vehicle and/or the ship.
12. A method for recovering an autonomous underwater vehicle by means of a system according to any of Claims 1 to 10, comprising:

    - a step of fixing the underwater vehicle (1) to the stop (9),

    - a step of monitoring the attitude and the depth of the assembly formed by the underwater vehicle (1) fixed to the stop and the receiving device (7).
13. The method for recovering according to the preceding claim in so far as it is dependent upon claim 4, comprising, prior to the fixing step, a step of positioning the receiving device in the intercepting position by means of the stabilisation means and a step consisting in bringing the plate (10) into the receiving position once the underwater vehicle (1) bears against the stop (9) or when the nose (5) of the underwater vehicle (1) is located a distance away from the stop which is less than a predetermined threshold.
14. The method for recovering according to any of claims 12 to 13, comprising:

    - a step of monitoring the position and the attitude of the underwater vehicle (1) so that it travels at a predetermined depth at substantially zero trim and so as to follow a constant course at a constant speed,

    - a step of monitoring the immersion of the receiving device and possibly the lateral offset of the receiving device so as to position said receiving device in alignment with the underwater vehicle,

    - a step of monitoring the speed and the route of the ship and/or a step of monitoring the length of the unwound connection so that the underwater vehicle approaches the stop (9) and the route of the underwater vehicle is substantially the same as the route of the ship.
15. The system according to any of claims 1 to 10, wherein the stabilisation means are configured so as to permit the offset of the assembly formed by the receiving device (7) and the underwater vehicle to be monitored when said vehicle is fixed to the stop (9).
16. An underwater assembly comprising the system according to any of claims 1 to 15, and said underwater vehicle.
17. The underwater assembly according to the preceding claims, and according to claim 2, wherein the plate is arranged so as to extend over the entire length of a lateral sonar device protruding on the body of the underwater vehicle.

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