EP3601036A1 - Submerged system for storing an underwater vehicle such as a drone and keeping it in operational condition - Google Patents

Submerged system for storing an underwater vehicle such as a drone and keeping it in operational condition

Info

Publication number
EP3601036A1
EP3601036A1 EP18712217.1A EP18712217A EP3601036A1 EP 3601036 A1 EP3601036 A1 EP 3601036A1 EP 18712217 A EP18712217 A EP 18712217A EP 3601036 A1 EP3601036 A1 EP 3601036A1
Authority
EP
European Patent Office
Prior art keywords
underwater vehicle
bell
receiving
shaped
cradle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP18712217.1A
Other languages
German (de)
French (fr)
Other versions
EP3601036B1 (en
Inventor
Arnaud TROUVE
Bernard LABROUSSE
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Naval Group SA
Original Assignee
Naval Group SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Naval Group SA filed Critical Naval Group SA
Publication of EP3601036A1 publication Critical patent/EP3601036A1/en
Application granted granted Critical
Publication of EP3601036B1 publication Critical patent/EP3601036B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • 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

  • Immersed system for storing and sustainably operating an underwater vehicle such as a drone
  • the present invention relates to a submerged system for storing and maintaining in operational condition an underwater vehicle such as a drone, for example cylindrical, that is to say having for example the shape of a torpedo.
  • Underwater vehicles such as drones are increasingly used in particular for the control, monitoring and inspection of submerged facilities.
  • such submarine gear is used in sectors such as the offshore oil and gas industry, in the underwater mining industry, in coastal and maritime surveillance operations, and even in scientific ocean observatories.
  • This also makes it possible to recover the information stored by the payload of the machine, for example the data collected by sensors thereof.
  • the object of the invention is therefore to solve these problems.
  • the subject of the invention is an immersed system for storing and maintaining in operational condition an underwater vehicle such as a drone, characterized in that it comprises means forming a base plate on which provided bell-shaped means for receiving the underwater vehicle comprising receiving cradle means of the underwater vehicle in the storage position and means for filling / emptying these bell-shaped means to using a preservation fluid of the underwater vehicle and in that the means forming a home cradle comprise a cylindrical element having at one of its ends, a guide cone of the machine in the storage position in the latter, at the other of its ends, a front stop cap for the front end of the machine and in its intermediate portion, means in the form of a holding clip in position of the machine.
  • the bell-shaped means comprise door means enabling the underwater vehicle to enter and exit bell-shaped means;
  • the cylindrical element of the reception cradle means comprises, in its intermediate part, means of electrical coupling to the machine in order to recharge the energy storage means thereof and / or to exchange data. information with the gear;
  • the coupling means are inductive coupling means
  • the gripper means comprises two clamp legs extending on either side of the cradle means and associated with actuating means;
  • the preservation fluid of the underwater vehicle is stored in corresponding receiving means integrated in the means forming a base plate;
  • the fluid consists of protective liquid
  • the means for filling / emptying the bell-shaped means comprise means for forming a container for receiving the fluid, associated with means for channeling and circulating the fluid between the bell-shaped means and the container means, according to the need for filling or emptying.
  • FIG. 1 represents a perspective side view with parts in transparency, of a submerged system for storing and keeping in operational condition according to the invention
  • FIGS. 2 and 3 represent partial views of this system illustrating the operation of input and output gate means of this system
  • FIG. 4 represents a detail view illustrating an exemplary embodiment of means forming a cradle for receiving an underwater vehicle, forming part of the constitution of a system according to the invention
  • FIG. 5 represents a detailed view of means in the form of a clamp for holding the machine in position in such a structure
  • FIG. 6 represents a perspective view of an exemplary embodiment of an underwater vehicle
  • FIG. 7 illustrates the operation of filling / emptying means forming part of the constitution of an immersed system according to the invention
  • FIG. 8 illustrates the structure and operation of the inductive coupling means forming a system according to the invention
  • - Figure 9 illustrates the structure and operation of power supply means forming part of a system according to the invention
  • FIG. 1 a submerged system for storing and maintaining in operational condition an underwater vehicle such as a drone has indeed been illustrated.
  • the system is designated by the general reference 1, while the underwater vehicle is designated by the general reference 2.
  • such a system comprises means forming a base base, designated by the general reference 3, on which are provided bell-shaped means for receiving the underwater vehicle 2, in position storage, these bell-shaped means being designated by the general reference 4.
  • This system also comprises means for filling / emptying these bell-shaped means 4 with the aid of a preservation fluid of the underwater vehicle 2.
  • Such a system 1 is intended to be immersed and for example to rest on the bottom such as the seabed.
  • the bell-shaped means 4 thereof have for example at one end, means forming a door allowing the underwater vehicle 2 to enter and exit bell-shaped means 4.
  • these door means are designated by the general reference 5 in these Figures 1 to 3, and are for example in the form of an articulated door deployable between a retracted position, illustrated in Figure 2, and an active position. deployed, illustrated in Figure 3.
  • the underwater vehicle 2 In the retracted position, that is to say the open door, the underwater vehicle 2 can then enter the bell-shaped means 4 to be stored therein.
  • the door can then be closed.
  • the system comprises means for receiving the underwater vehicle 2 in the storage position.
  • These receiving means comprise in fact elongated means forming a cradle for receiving the underwater vehicle 2 in the storage position.
  • these cradle means 6 comprise an elongate cylindrical element, designated by the general reference 7, comprising at one of its ends, that is to say at the end opposite the means forming a door 5 of the bell 4, a guide cone of the machine in the storage position therein.
  • the means forming a home cradle comprise a front stop cap for the front end of the machine submarine 2.
  • This cap is for example designated by the general reference 9 in these figures and is connected to the rest of the system for example by means of damping means designated by the general reference 10.
  • damping means comprise for example a block of elastically deformable material.
  • this cylindrical element constituting the means forming a cradle for receiving the underwater vehicle, comprises means in the form of a clamp for holding the machine in position.
  • these gripper-shaped means comprise two gripper legs, respectively 12 and 13, extending on either side of the cylindrical element 7 of the receiving means of the underwater vehicle and are actuated for example by means such as a cylinder, designated by the general reference 14, to come to seize the underwater vehicle and hold it in position.
  • electrical coupling means may be provided between the means forming a home cradle and the underwater vehicle 2.
  • These coupling means are, for example, inductive coupling means.
  • the reception cradle means 6 and in particular the cylindrical element 7 thereof can comprise, for example near its front end, inductive electrical coupling means. , designated by the general reference 15, which are adapted, when the underwater vehicle 2, is in the storage position in these cradle means 6, to extend facing complementary coupling means 16 of the machine submarine 2.
  • this makes it possible, for example, to transfer electrical energy to recharge the electrical energy storage means of the underwater vehicle 2 and / or to ensure an exchange of information between the vehicle and the cradle-shaped means 6, for example for retrieving information from the underwater vehicle or, on the contrary, ensuring the updating of information in this underwater vehicle from the rest of the system.
  • this entire structure is intended to allow the reception of the underwater vehicle 2 in storage position in a cradle for receiving a submerged structure, to ensure the preservation thereof and the increase of its operational life.
  • This fluid is for example constituted by liquid which is intended to be injected into the bell-shaped means 4, to replace the seawater to ensure the preservation of the underwater vehicle 2.
  • this preservation fluid can for example be stored in containers or corresponding receiving means, integrated for example in the base forming means 3.
  • these receiving means consist of tanks, for example flexible and compensated, placed in the base means 3 and one of which is designated by the general reference 17.
  • this preservation fluid can then be pumped or drained bell-shaped means 4 for receiving the underwater vehicle 2 in the storage position, in order to ensure the preservation thereof.
  • FIG. 7 diagrammatically illustrates the operation of filling / emptying means for these bell-shaped means 4.
  • the means for filling / emptying the bell-shaped means 4 are then associated with means for channeling and circulating the fluid between the bell-shaped means 4 and the tanks for example 17, depending on the filling or drain.
  • pump means designated by the general reference 18, comprising a pump associated with a motor, and connected by channeling means 19 to the tank 17, and by channeling means 20 to the means in the form of bell 4.
  • the motor associated with the pump is then controlled to pump the reservoir fluid in the bell-shaped means or vice versa.
  • bell-shaped means 4 may comprise a buffer volume in their upper part, designated by the general reference 21 in this FIG.
  • FIGS. 8 and 9 show an exemplary embodiment of the complementary coupling means 15 and 16 by electromagnetic induction, in particular making it possible to transfer electrical energy to the underwater vehicle 2 in order to recharge its means of energy storage.
  • the receiving means 6, the underwater vehicle 2 and the complementary inductive coupling means 15 and 16 are recognized.
  • These coupling means comprise the inductive electrical coupling means 15 of the cradle means 6 for receiving the underwater vehicle 2 and the complementary coupling means 16 of this underwater vehicle 2.
  • the coupling means 15 of the receiving means 6 of the underwater vehicle 2 comprise a transmitting coil, denoted by the general reference 30 in these figures.
  • This transmitting coil 30 is integrated in a support of the receiving means 6 of the underwater vehicle and is connected to the output of an electric power supply source of these receiving means, which will be described in more detail by the following. In fact and as illustrated, this transmitting coil 30 is integrated in a protective envelope, designated by the general reference 31.
  • This protective envelope 31 has a section of complementary shape to that of the portion of underwater vehicle 2 corresponding.
  • This protective envelope 31 is for example made of resin.
  • the complementary means 16 of the underwater vehicle 2 are formed on one of the flanks thereof.
  • complementary means 16 then comprise, next to the coupling means of the cradle means 6 and in particular of the transmitting coil 30, a corresponding receiver coil designated by the general reference 32.
  • this receiver coil consists of Litz wires.
  • This coil is also embedded in a resin protective casing, such as, for example, that designated by the general reference 33 in this figure 8.
  • This protective envelope 33 is for example glued to the underwater vehicle 2.
  • this underwater vehicle may comprise, at the level of the complementary electromagnetic induction coupling means 16, shielding means of the interior of the latter against the radiated electromagnetic fields, these screen means being designated by general reference 34.
  • a power cable 35 extending between the receiver coil 32 and the remainder of the underwater vehicle 2 and for example the means for storing electrical energy thereof is also recognized to ensure their recharge.
  • FIG. 9 shows the wiring diagram of these different coils 30 and 32.
  • This FIG. 9 also recognizes the corresponding transmitting coil 30 and the corresponding receiver coil 32.
  • the transmitter coil 30 is connected to electrical power supply means, designated by the general reference 37.
  • These power supply means 37 comprise in series an alternative power source, designated by the general reference 38, a current converter AC / DC 39, and a DC / AC converter 40 supplying this coil 30.
  • converters are associated with control and communication means, designated by the general reference 41, for example to control their operation and to collect information from the underwater vehicle 2.
  • the receiver coil 32 is itself also connected through an AC / DC converter, designated by the general reference 42, to the electrical energy storage means, for example 43 , of the underwater vehicle 2.
  • the submerged system according to the invention makes it possible to store an underwater vehicle, between two missions, in a bath of preserving fluid by protecting it from any contact with the seawater and therefore the effects of corrosion.
  • the system according to the invention also makes it possible to provide an enclosure for protecting the machine against natural or unnatural external aggressions such as, for example, falling light objects.
  • Basic operation maintenance operations can also be implemented such as for example the exchange of information or the recharge of the electrical energy storage means of the underwater vehicle 2.
  • This machine can then be kept for a longer or shorter time safely in the bell until his next mission.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
  • Electric Cable Installation (AREA)
  • Underground Structures, Protecting, Testing And Restoring Foundations (AREA)
  • Farming Of Fish And Shellfish (AREA)
  • Tents Or Canopies (AREA)

Abstract

This submerged system (1) for storing an underwater vehicle (2) such as a drone and keeping it in operational condition, is characterised in that it comprises means forming a support base (3) on which bell-shaped means (4) are provided for receiving the underwater vehicle (2) in the storage position and means for filling/emptying these bell-shaped means (4) with a fluid for preserving the underwater vehicle (2).

Description

Système immergé de stockage et de maintien en condition opérationnelle d'un engin sous-marin tel qu'un drone  Immersed system for storing and sustainably operating an underwater vehicle such as a drone
La présente invention concerne un système immergé de stockage et de maintien en condition opérationnelle d'un engin sous-marin tel qu'un drone par exemple cylindrique c'est-à-dire présentant par exemple la forme d'une torpille. The present invention relates to a submerged system for storing and maintaining in operational condition an underwater vehicle such as a drone, for example cylindrical, that is to say having for example the shape of a torpedo.
Des engins sous-marins tels que des drones sont de plus en plus souvent utilisés en particulier pour assurer le contrôle, la surveillance et l'inspection d'installations immergées.  Underwater vehicles such as drones are increasingly used in particular for the control, monitoring and inspection of submerged facilities.
Ainsi par exemple, de tels engins sous-marins sont utilisés dans des secteurs tels que l'industrie offshore pétrolière et gazière, dans l'industrie minière sous-marine, dans des opérations de surveillance côtière et maritime voire par des observatoires océanographiques scientifiques.  For example, such submarine gear is used in sectors such as the offshore oil and gas industry, in the underwater mining industry, in coastal and maritime surveillance operations, and even in scientific ocean observatories.
A l'heure actuelle, les opérations de maintien en condition opérationnelle de ce type d'engins nécessitent la récupération de cet engin en surface, à bord par exemple d'une plate-forme telle qu'un navire de soutien, où les opérations de remise en condition de l'engin sont effectuées.  At present, operational maintenance operations of this type of gear require the recovery of this craft on the surface, for example on board a platform such as a support ship, where the operations of refurbishment of the machine are performed.
Ceci permet par exemple d'une part de nettoyer l'engin et ses différents capteurs, et d'autre part de recharger ses batteries d'alimentation en énergie électrique.  This allows for example on the one hand to clean the machine and its various sensors, and on the other hand to recharge its power supply batteries.
Ceci permet également de récupérer les informations stockées par la charge utile de l'engin comme par exemple les données collectées par des capteurs de celle-ci.  This also makes it possible to recover the information stored by the payload of the machine, for example the data collected by sensors thereof.
On conçoit cependant que ces opérations de récupération sont relativement contraignantes, consommatrices de temps et coûteuses.  However, it is conceivable that these recovery operations are relatively restrictive, time consuming and expensive.
Le but de l'invention est donc de résoudre ces problèmes.  The object of the invention is therefore to solve these problems.
A cet effet, l'invention a pour objet un système immergé de stockage et de maintien en condition opérationnelle d'un engin sous-marin tel qu'un drone, caractérisé en ce qu'il comporte des moyens formant embase de piètement sur lesquels sont prévus des moyens en forme de cloche de réception de l'engin sous-marin comportant des moyens formant berceau d'accueil de l'engin sous-marin en position de stockage et des moyens de remplissage/vidange de ces moyens en forme de cloche à l'aide d'un fluide de préservation de l'engin sous-marin et en ce que les moyens formant berceau d'accueil comportent un élément de forme cylindrique comportant à l'une de ses extrémités, un cône de guidage de l'engin en position de stockage dans celui-ci, à l'autre de ses extrémités, une coiffe de butée avant pour l'extrémité avant de l'engin et dans sa partie intermédiaire, des moyens en forme de pince de maintien en position de l'engin. Suivant d'autres caractéristiques du système selon l'invention prises seules ou en combinaison : For this purpose, the subject of the invention is an immersed system for storing and maintaining in operational condition an underwater vehicle such as a drone, characterized in that it comprises means forming a base plate on which provided bell-shaped means for receiving the underwater vehicle comprising receiving cradle means of the underwater vehicle in the storage position and means for filling / emptying these bell-shaped means to using a preservation fluid of the underwater vehicle and in that the means forming a home cradle comprise a cylindrical element having at one of its ends, a guide cone of the machine in the storage position in the latter, at the other of its ends, a front stop cap for the front end of the machine and in its intermediate portion, means in the form of a holding clip in position of the machine. According to other features of the system according to the invention taken alone or in combination:
- les moyens en forme de cloche comportent des moyens formant porte permettant à l'engin sous-marin d'entrer et de sortir des moyens en forme de cloche ;  the bell-shaped means comprise door means enabling the underwater vehicle to enter and exit bell-shaped means;
- l'élément de forme cylindrique des moyens formant berceau d'accueil comporte dans sa partie intermédiaire des moyens d'accouplement électrique à l'engin afin de recharger les moyens de stockage d'énergie de celui-ci et/ou d'échanger des informations avec l'engin;  the cylindrical element of the reception cradle means comprises, in its intermediate part, means of electrical coupling to the machine in order to recharge the energy storage means thereof and / or to exchange data. information with the gear;
- les moyens d'accouplement sont des moyens d'accouplement inductif ;  - The coupling means are inductive coupling means;
- les moyens en forme de pince comportent deux branches de pince s'étendant de part et d'autre des moyens formant berceau et associées à des moyens d'actionnement ;  - The gripper means comprises two clamp legs extending on either side of the cradle means and associated with actuating means;
- le fluide de préservation de l'engin sous-marin est stocké dans des moyens de réception correspondants intégrés dans les moyens formant embase de piètement ;  the preservation fluid of the underwater vehicle is stored in corresponding receiving means integrated in the means forming a base plate;
- le fluide est constitué de liquide de protection ;  the fluid consists of protective liquid;
- les moyens de remplissage/vidange des moyens en forme de cloche comprennent des moyens formant conteneur de réception du fluide, associés à des moyens de canalisation et de mise en circulation du fluide entre les moyens en forme de cloche et les moyens formant conteneur, selon les besoins de remplissage ou de vidange.  the means for filling / emptying the bell-shaped means comprise means for forming a container for receiving the fluid, associated with means for channeling and circulating the fluid between the bell-shaped means and the container means, according to the need for filling or emptying.
L'invention sera mieux comprise à l'aide de la description qui va suivre, donnée uniquement à titre d'exemple et faite en se référant aux dessins annexés, sur lesquels :  The invention will be better understood with the aid of the description which follows, given solely by way of example and with reference to the appended drawings, in which:
- la figure 1 représente une vue de côté en perspective avec des parties en transparence, d'un système immergé de stockage et de maintien en condition opérationnelle selon l'invention,  FIG. 1 represents a perspective side view with parts in transparency, of a submerged system for storing and keeping in operational condition according to the invention,
- les figures 2 et 3 représentent des vues partielles de ce système illustrant le fonctionnement de moyens formant porte d'entrée et de sortie de ce système,  FIGS. 2 and 3 represent partial views of this system illustrating the operation of input and output gate means of this system,
- la figure 4 représente une vue de détail illustrant un exemple de réalisation de moyens formant berceau d'accueil d'un engin sous-marin, entrant dans la constitution d'un système selon l'invention,  FIG. 4 represents a detail view illustrating an exemplary embodiment of means forming a cradle for receiving an underwater vehicle, forming part of the constitution of a system according to the invention,
- la figure 5 représente une vue de détail de moyens en forme de pince de maintien en position de l'engin dans une telle structure,  FIG. 5 represents a detailed view of means in the form of a clamp for holding the machine in position in such a structure,
- la figure 6 représente une vue en perspective d'un exemple de réalisation d'un engin sous-marin,  FIG. 6 represents a perspective view of an exemplary embodiment of an underwater vehicle,
- la figure 7 illustre le fonctionnement de moyens de remplissage/vidange entrant dans la constitution d'un système immergé selon l'invention,  FIG. 7 illustrates the operation of filling / emptying means forming part of the constitution of an immersed system according to the invention,
- la figure 8 illustre la structure et le fonctionnement des moyens d'accouplement inductif entrant dans la constitution d'un système selon l'invention, et - la figure 9 illustre la structure et le fonctionnement de moyens d'alimentation électrique entrant dans la constitution d'un système selon l'invention ; FIG. 8 illustrates the structure and operation of the inductive coupling means forming a system according to the invention, and - Figure 9 illustrates the structure and operation of power supply means forming part of a system according to the invention;
On a en effet illustré sur ces figures et en particulier sur la figure 1 , un système immergé de stockage et de maintien en condition opérationnelle d'un engin sous-marin tel qu'un drone.  In these figures, and in particular in FIG. 1, a submerged system for storing and maintaining in operational condition an underwater vehicle such as a drone has indeed been illustrated.
Le système est désigné par la référence générale 1 , tandis que l'engin sous-marin est désigné par la référence générale 2.  The system is designated by the general reference 1, while the underwater vehicle is designated by the general reference 2.
De façon générale et comme cela est illustré, un tel système comporte des moyens formant embase de piètement, désignés par la référence générale 3, sur lesquels sont prévus des moyens en forme de cloche de réception de l'engin sous-marin 2, en position de stockage, ces moyens en forme de cloche étant désignés par la référence générale 4.  In general and as illustrated, such a system comprises means forming a base base, designated by the general reference 3, on which are provided bell-shaped means for receiving the underwater vehicle 2, in position storage, these bell-shaped means being designated by the general reference 4.
Ce système comporte également des moyens de remplissage/vidange de ces moyens en forme de cloche 4 à l'aide d'un fluide de préservation de l'engin sous-marin 2.  This system also comprises means for filling / emptying these bell-shaped means 4 with the aid of a preservation fluid of the underwater vehicle 2.
Ces moyens seront décrits plus en détail par la suite.  These means will be described in more detail later.
Un tel système 1 est destiné à être immergé et par exemple à reposer sur le fond tel que le fond marin.  Such a system 1 is intended to be immersed and for example to rest on the bottom such as the seabed.
Il est alors utilisé pour réaliser des opérations basiques de maintien en condition opérationnelle de l'engin sous-marin 2, comme par exemple la recharge de moyens de stockage d'énergie électrique de celui-ci, comme cela sera décrit plus en détail par la suite.  It is then used to carry out basic operational maintenance operations of the underwater vehicle 2, such as for example the recharging of electrical energy storage means thereof, as will be described in more detail by the after.
A cet effet et plus particulièrement, les moyens en forme de cloche 4 de celui-ci comportent par exemple à une extrémité, des moyens formant porte permettant à l'engin sous-marin 2 d'entrer et de sortir des moyens en forme de cloche 4.  For this purpose and more particularly, the bell-shaped means 4 thereof have for example at one end, means forming a door allowing the underwater vehicle 2 to enter and exit bell-shaped means 4.
En fait, ces moyens formant porte sont désignés par la référence générale 5 sur ces figures 1 à 3, et se présentent par exemple sous la forme d'une porte articulée déployable entre une position escamotée, illustrée sur la figure 2, et une position active déployée, illustrée sur la figure 3.  In fact, these door means are designated by the general reference 5 in these Figures 1 to 3, and are for example in the form of an articulated door deployable between a retracted position, illustrated in Figure 2, and an active position. deployed, illustrated in Figure 3.
En position escamotée, c'est-à-dire porte ouverte, l'engin sous-marin 2 peut alors pénétrer dans les moyens en forme de cloche 4 pour être stocké dans ceux-ci.  In the retracted position, that is to say the open door, the underwater vehicle 2 can then enter the bell-shaped means 4 to be stored therein.
Une fois l'engin en position de stockage dans les moyens en forme de cloche 4, la porte peut alors être refermée.  Once the machine in the storage position in the bell-shaped means 4, the door can then be closed.
Comme cela a été indiqué précédemment, le système comporte des moyens de réception de l'engin sous-marin 2 en position de stockage.  As indicated above, the system comprises means for receiving the underwater vehicle 2 in the storage position.
Un exemple de réalisation de ces moyens de réception est illustré sur ces figures et en particulier sur les figures 1 , 4 et 5. Ces moyens de réception comportent en fait des moyens allongés formant berceau d'accueil de l'engin sous-marin 2 en position de stockage. An exemplary embodiment of these receiving means is illustrated in these figures and in particular in FIGS. 1, 4 and 5. These reception means comprise in fact elongated means forming a cradle for receiving the underwater vehicle 2 in the storage position.
Ces moyens formant berceau sont désignés par la référence générale 6 sur ces figures.  These cradle means are designated by the general reference 6 in these figures.
En fait et comme cela est illustré en particulier sur la figure 1 et sur la figure 4, ces moyens formant berceau 6 comportent un élément de forme cylindrique allongé, désigné par la référence générale 7, comportant à l'une de ses extrémités, c'est-à-dire à l'extrémité en regard des moyens formant porte 5 de la cloche 4, un cône de guidage de l'engin en position de stockage dans celui-ci.  In fact and as illustrated in particular in FIG. 1 and in FIG. 4, these cradle means 6 comprise an elongate cylindrical element, designated by the general reference 7, comprising at one of its ends, that is to say at the end opposite the means forming a door 5 of the bell 4, a guide cone of the machine in the storage position therein.
Sur ces figures, le cône est désigné par la référence générale 8.  In these figures, the cone is designated by the general reference 8.
A l'autre de ses extrémités, c'est-à-dire l'extrémité opposée à l'entrée de la cloche 4, les moyens formant berceau d'accueil comportent une coiffe de butée avant pour l'extrémité avant de l'engin sous-marin 2.  At the other of its ends, that is to say the end opposite to the entrance of the bell 4, the means forming a home cradle comprise a front stop cap for the front end of the machine submarine 2.
Cette coiffe est par exemple désignée par la référence générale 9 sur ces figures et est reliée au reste du système par exemple par l'intermédiaire de moyens d'amortissement désignés par la référence générale 10.  This cap is for example designated by the general reference 9 in these figures and is connected to the rest of the system for example by means of damping means designated by the general reference 10.
Ces moyens d'amortissement comprennent par exemple un bloc de matériau déformable élastiquement.  These damping means comprise for example a block of elastically deformable material.
Dans sa partie intermédiaire, cet élément cylindrique, constituant les moyens formant berceau d'accueil de l'engin sous-marin, comprend des moyens en forme de pince de maintien de l'engin en position.  In its intermediate part, this cylindrical element constituting the means forming a cradle for receiving the underwater vehicle, comprises means in the form of a clamp for holding the machine in position.
Ces moyens en forme de pince sont désignés par la référence générale 1 1 sur ces figures et sont illustrés en détail sur la figure 5.  These clip-shaped means are designated by the general reference January 1 in these figures and are illustrated in detail in Figure 5.
En fait, ces moyens en forme de pince comprennent deux branches de pince, respectivement 12 et 13, s'étendant de part et d'autre de l'élément de forme cylindrique 7 des moyens de réception de l'engin sous-marin et sont actionnés par exemple par des moyens tels qu'un vérin, désigné par la référence générale 14, pour venir saisir l'engin sous-marin et le maintenir en position.  In fact, these gripper-shaped means comprise two gripper legs, respectively 12 and 13, extending on either side of the cylindrical element 7 of the receiving means of the underwater vehicle and are actuated for example by means such as a cylinder, designated by the general reference 14, to come to seize the underwater vehicle and hold it in position.
Comme cela a été indiqué précédemment, dans cette position de stockage, il est possible d'assurer des opérations basiques de maintien en condition opérationnelle de l'engin sous-marin 2, telles que la recharge des moyens de stockage d'énergie par exemple électrique de celui-ci ou d'autres opérations d'échange d'informations entre l'engin et le reste de la structure, etc..  As indicated above, in this storage position, it is possible to provide basic operations for maintaining in operational condition the underwater vehicle 2, such as the recharging of energy storage means for example electric of it or other operations of exchange of information between the machine and the rest of the structure, etc.
A cet effet, des moyens d'accouplement électrique peuvent être prévus entre les moyens formant berceau d'accueil et l'engin sous-marin 2. Ces moyens d'accouplement sont par exemple des moyens d'accouplement inductif. For this purpose, electrical coupling means may be provided between the means forming a home cradle and the underwater vehicle 2. These coupling means are, for example, inductive coupling means.
On a illustré un exemple de réalisation de ces moyens en particulier sur les figures An example embodiment of these means has been illustrated, in particular in the figures
4 et 6. 4 and 6.
On voit en effet sur la figure 4, que les moyens formant berceau d'accueil 6 et en particulier l'élément de forme cylindrique 7 de celui-ci peuvent comporter par exemple à proximité de son extrémité avant, des moyens d'accouplement électrique inductif, désignés par la référence générale 15, qui sont adaptés, lorsque l'engin sous-marin 2, est en position de stockage dans ces moyens formant berceau 6, pour s'étendre en regard de moyens d'accouplement complémentaires 16 de l'engin sous-marin 2.  It can be seen in FIG. 4 that the reception cradle means 6 and in particular the cylindrical element 7 thereof can comprise, for example near its front end, inductive electrical coupling means. , designated by the general reference 15, which are adapted, when the underwater vehicle 2, is in the storage position in these cradle means 6, to extend facing complementary coupling means 16 of the machine submarine 2.
Bien entendu, ceci permet par exemple de transférer de l'énergie électrique pour assurer la recharge des moyens de stockage d'énergie électrique de l'engin sous-marin 2 et/ou d'assurer un échange d'informations entre l'engin et les moyens en forme de berceau 6, par exemple pour récupérer des informations de l'engin sous-marin ou au contraire assurer la mise à jour d'informations dans cet engin sous-marin à partir du reste du système.  Of course, this makes it possible, for example, to transfer electrical energy to recharge the electrical energy storage means of the underwater vehicle 2 and / or to ensure an exchange of information between the vehicle and the cradle-shaped means 6, for example for retrieving information from the underwater vehicle or, on the contrary, ensuring the updating of information in this underwater vehicle from the rest of the system.
Il va de soi bien entendu que d'autres modes de réalisation peuvent encore être envisagés.  It goes without saying of course that other embodiments can still be envisaged.
On conçoit que toute cette structure est destinée à permettre la réception de l'engin sous-marin 2 en position de stockage dans un berceau d'accueil d'une structure immergée, pour assurer la préservation de celui-ci et l'augmentation de sa durée de vie opérationnelle.  It is conceivable that this entire structure is intended to allow the reception of the underwater vehicle 2 in storage position in a cradle for receiving a submerged structure, to ensure the preservation thereof and the increase of its operational life.
Comme cela a été indiqué précédemment également, on peut utiliser un fluide de préservation de l'engin sous-marin 2, lorsque celui-ci est en position de stockage dans les moyens en forme de cloche 4.  As has been indicated previously also, it is possible to use a preservation fluid of the underwater vehicle 2, when the latter is in the storage position in the bell-shaped means 4.
Ce fluide est par exemple constitué par du liquide qui est destiné à être injecté dans les moyens en forme de cloche 4, pour remplacer l'eau de mer afin d'assurer la préservation de l'engin sous-marin 2.  This fluid is for example constituted by liquid which is intended to be injected into the bell-shaped means 4, to replace the seawater to ensure the preservation of the underwater vehicle 2.
En fait, ce fluide de préservation peut par exemple être stocké dans des conteneurs ou des moyens de réception correspondants, intégrés par exemple dans les moyens formant embase de piètement 3.  In fact, this preservation fluid can for example be stored in containers or corresponding receiving means, integrated for example in the base forming means 3.
Ainsi par exemple sur ces figures et en particulier sur les figures 1 , 2 et 3, ces moyens de réception sont constitués par des réservoirs, par exemple flexibles et compensés, placés dans les moyens de piètement 3 et dont l'un est désigné par la référence générale 17. Comme cela a été indiqué précédemment, ce fluide de préservation peut alors être pompé ou vidangé des moyens en forme de cloche 4 de réception de l'engin sous- marin 2 en position de stockage, afin d'assurer la préservation de celui-ci. Thus, for example in these figures and in particular in FIGS. 1, 2 and 3, these receiving means consist of tanks, for example flexible and compensated, placed in the base means 3 and one of which is designated by the general reference 17. As indicated above, this preservation fluid can then be pumped or drained bell-shaped means 4 for receiving the underwater vehicle 2 in the storage position, in order to ensure the preservation thereof.
On a illustré schématiquement sur la figure 7, le fonctionnement de moyens de remplissage/vidange de ces moyens en forme de cloche 4.  FIG. 7 diagrammatically illustrates the operation of filling / emptying means for these bell-shaped means 4.
Ces moyens en forme de cloche sont toujours désignés par la référence générale 4 sur cette figure 7, et l'un des réservoirs par exemple 17, est illustré.  These bell-shaped means are always designated by the general reference 4 in this FIG. 7, and one of the tanks for example 17 is illustrated.
Les moyens de remplissage/vidange des moyens en forme de cloche 4 sont alors associés à des moyens de canalisation et de mise en circulation du fluide entre les moyens en forme de cloche 4 et les réservoirs par exemple 17, selon les besoins de remplissage ou de vidange.  The means for filling / emptying the bell-shaped means 4 are then associated with means for channeling and circulating the fluid between the bell-shaped means 4 and the tanks for example 17, depending on the filling or drain.
Ces moyens comprennent alors par exemple des moyens de pompage, désignés par la référence générale 18, comprenant une pompe associée à un moteur, et raccordés par des moyens de canalisation 19 au réservoir 17, et par des moyens de canalisation 20 aux moyens en forme de cloche 4.  These means then comprise for example pump means, designated by the general reference 18, comprising a pump associated with a motor, and connected by channeling means 19 to the tank 17, and by channeling means 20 to the means in the form of bell 4.
Selon les souhaits, le moteur associé à la pompe est alors piloté pour assurer le pompage du fluide du réservoir dans les moyens en forme de cloche ou l'inverse.  According to the wishes, the motor associated with the pump is then controlled to pump the reservoir fluid in the bell-shaped means or vice versa.
On notera, comme cela est illustré sur ces figures, que les moyens en forme de cloche 4 peuvent comporter un volume tampon dans leur partie supérieure, désigné par la référence générale 21 sur cette figure 7.  It will be noted, as illustrated in these figures, that the bell-shaped means 4 may comprise a buffer volume in their upper part, designated by the general reference 21 in this FIG.
On a représenté sur les figures 8 et 9, un exemple de réalisation des moyens d'accouplement complémentaires 15 et 16 par induction électromagnétique, permettant notamment de transférer de l'énergie électrique vers l'engin sous-marin 2 afin de recharger ses moyens de stockage d'énergie.  FIGS. 8 and 9 show an exemplary embodiment of the complementary coupling means 15 and 16 by electromagnetic induction, in particular making it possible to transfer electrical energy to the underwater vehicle 2 in order to recharge its means of energy storage.
On reconnaît en effet sur ces figures, les moyens de réception 6, l'engin sous- marin 2 et les moyens d'accouplement inductif complémentaires 15 et 16.  In these figures, the receiving means 6, the underwater vehicle 2 and the complementary inductive coupling means 15 and 16 are recognized.
Ces moyens d'accouplement comprennent les moyens d'accouplement électrique inductif 15 des moyens formant berceau 6 de réception de l'engin sous-marin 2 et les moyens d'accouplement complémentaires 16 de cet engin sous-marin 2.  These coupling means comprise the inductive electrical coupling means 15 of the cradle means 6 for receiving the underwater vehicle 2 and the complementary coupling means 16 of this underwater vehicle 2.
En fait, les moyens d'accouplement 15 des moyens de réception 6 de l'engin sous-marin 2, comportent une bobine émettrice, désignée par la référence générale 30 sur ces figures.  In fact, the coupling means 15 of the receiving means 6 of the underwater vehicle 2 comprise a transmitting coil, denoted by the general reference 30 in these figures.
Cette bobine émettrice 30 est intégrée dans un support des moyens de réception 6 de l'engin sous-marin et est raccordée à la sortie d'une source d'alimentation en énergie électrique de ces moyens de réception, qui sera décrite plus en détail par la suite. En fait et comme cela est illustré, cette bobine émettrice 30 est intégrée dans une enveloppe de protection, désignée par la référence générale 31 . This transmitting coil 30 is integrated in a support of the receiving means 6 of the underwater vehicle and is connected to the output of an electric power supply source of these receiving means, which will be described in more detail by the following. In fact and as illustrated, this transmitting coil 30 is integrated in a protective envelope, designated by the general reference 31.
Cette enveloppe de protection 31 présente une section de forme complémentaire à celle de la portion d'engin sous-marin 2 correspondante.  This protective envelope 31 has a section of complementary shape to that of the portion of underwater vehicle 2 corresponding.
Cette enveloppe de protection 31 est par exemple réalisée en résine.  This protective envelope 31 is for example made of resin.
Les moyens complémentaires 16 de l'engin sous-marin 2 sont formés sur l'un des flancs de celui-ci.  The complementary means 16 of the underwater vehicle 2 are formed on one of the flanks thereof.
Ces moyens complémentaires 16 comprennent alors, en regard des moyens d'accouplement des moyens en forme de berceau 6 et en particulier de la bobine émettrice 30, une bobine réceptrice correspondante, désignée par la référence générale 32.  These complementary means 16 then comprise, next to the coupling means of the cradle means 6 and in particular of the transmitting coil 30, a corresponding receiver coil designated by the general reference 32.
Ainsi par exemple, cette bobine réceptrice est constituée de fils de Litz.  For example, this receiver coil consists of Litz wires.
Cette bobine est également noyée dans une enveloppe de protection en résine, telle que, par exemple, celle désignée par la référence générale 33 sur cette figure 8.  This coil is also embedded in a resin protective casing, such as, for example, that designated by the general reference 33 in this figure 8.
Cette enveloppe de protection 33 est par exemple collée sur l'engin sous-marin 2. This protective envelope 33 is for example glued to the underwater vehicle 2.
On notera de plus que cet engin sous-marin peut comporter, au niveau des moyens 16 complémentaires d'accouplement par induction électromagnétique, des moyens formant écran de protection de l'intérieur de celui-ci contre les champs électromagnétiques rayonnés, ces moyens formant écran étant désignés par la référence générale 34. It will further be noted that this underwater vehicle may comprise, at the level of the complementary electromagnetic induction coupling means 16, shielding means of the interior of the latter against the radiated electromagnetic fields, these screen means being designated by general reference 34.
Sur la figure 8, on reconnaît également un câble d'alimentation 35 s'étendant entre la bobine réceptrice 32 et le reste de l'engin sous-marin 2 et par exemple les moyens de stockage d'énergie électrique de celui-ci pour assurer leur recharge.  In FIG. 8, a power cable 35 extending between the receiver coil 32 and the remainder of the underwater vehicle 2 and for example the means for storing electrical energy thereof is also recognized to ensure their recharge.
Sur cette même figure 8, on reconnaît également un câble 36 de transmission d'informations.  In this same figure 8, a cable 36 for transmitting information is also recognized.
On a représenté sur la figure 9, le schéma électrique de raccordement de ces différentes bobines 30 et 32.  FIG. 9 shows the wiring diagram of these different coils 30 and 32.
On reconnaît en effet sur cette figure 9, les moyens formant berceau 6 de réception de l'engin sous-marin 2.  It is recognized in fact in this figure 9, the means forming cradle 6 for receiving the underwater vehicle 2.
On reconnaît également sur cette figure 9, la bobine émettrice correspondante 30 et la bobine réceptrice correspondante 32.  This FIG. 9 also recognizes the corresponding transmitting coil 30 and the corresponding receiver coil 32.
La bobine émettrice 30 est raccordée à des moyens d'alimentation en énergie électrique, désignés par la référence générale 37.  The transmitter coil 30 is connected to electrical power supply means, designated by the general reference 37.
Ces moyens d'alimentation 37 comprennent en série une source d'alimentation alternative, désignée par la référence générale 38, un convertisseur de courant alternatif/continu 39, et un convertisseur de courant continu/alternatif 40 d'alimentation de cette bobine 30. These power supply means 37 comprise in series an alternative power source, designated by the general reference 38, a current converter AC / DC 39, and a DC / AC converter 40 supplying this coil 30.
Ces convertisseurs sont associés à des moyens de contrôle et de communication, désignés par la référence générale 41 , permettant par exemple de piloter leur fonctionnement et de recueillir des informations à partir de l'engin sous-marin 2.  These converters are associated with control and communication means, designated by the general reference 41, for example to control their operation and to collect information from the underwater vehicle 2.
A l'intérieur de l'engin sous-marin 2, la bobine réceptrice 32 est quant à elle également raccordée à travers un convertisseur alternatif/continu, désigné par la référence générale 42, aux moyens de stockage d'énergie électrique, par exemple 43, de l'engin sous-marin 2.  Inside the underwater vehicle 2, the receiver coil 32 is itself also connected through an AC / DC converter, designated by the general reference 42, to the electrical energy storage means, for example 43 , of the underwater vehicle 2.
On conçoit alors qu'une telle structure présente un certain nombre d'avantages par rapport aux structures de l'état de la technique.  It is conceivable that such a structure has a number of advantages over the structures of the state of the art.
En effet, le système immergé selon l'invention permet de stocker un engin sous- marin, entre deux missions, dans un bain de fluide de préservation en le protégeant de tout contact avec l'eau de mer et donc des effets de corrosion.  Indeed, the submerged system according to the invention makes it possible to store an underwater vehicle, between two missions, in a bath of preserving fluid by protecting it from any contact with the seawater and therefore the effects of corrosion.
Le système selon l'invention permet également de fournir une enceinte de protection de l'engin vis-à-vis des agressions extérieures naturelles ou non naturelles telles que par exemple des chutes d'objets légers.  The system according to the invention also makes it possible to provide an enclosure for protecting the machine against natural or unnatural external aggressions such as, for example, falling light objects.
Des opérations élémentaires de maintien en condition opérationnelle peuvent également être mises en œuvre telles que par exemple l'échange d'informations ou la recharge des moyens de stockage d'énergie électrique de l'engin sous-marin 2.  Basic operation maintenance operations can also be implemented such as for example the exchange of information or the recharge of the electrical energy storage means of the underwater vehicle 2.
Cet engin peut alors être conservé pendant une durée plus ou moins longue en toute sécurité dans la cloche jusqu'à sa prochaine mission.  This machine can then be kept for a longer or shorter time safely in the bell until his next mission.
Pour lancer cette nouvelle mission, il suffit alors de déclencher la vidange de la cloche 4, d'ouvrir la porte 5 de celle-ci et de relâcher l'engin sous-marin 2, afin qu'il puisse mener à bien une nouvelle mission jusqu'à son retour dans la cloche de protection.  To launch this new mission, simply trigger the emptying of the bell 4, open the door 5 thereof and release the underwater vehicle 2, so that it can carry out a new mission until he returns to the protective bell.
Bien entendu d'autres modes de réalisation peuvent encore être envisagés.  Of course other embodiments can still be envisaged.

Claims

REVENDICATIONS
1 . - Système (1 ) immergé de stockage et de maintien en condition opérationnelle d'un engin sous-marin (2) tel qu'un drone, caractérisé en ce qu'il comporte des moyens formant embase de piètement (3) sur lesquels sont prévus des moyens en forme de cloche (4) de réception de l'engin sous-marin (2) comportant des moyens formant berceau d'accueil (6) de l'engin sous-marin (2) en position de stockage et des moyens de remplissage/vidange (18, 19, 20) de ces moyens en forme de cloche (4) à l'aide d'un fluide de préservation de l'engin sous-marin (2) et en ce que les moyens formant berceau d'accueil (6) comportent un élément de forme cylindrique (7) comportant à l'une de ses extrémités, un cône (8) de guidage de l'engin en position de stockage dans celui-ci, à l'autre de ses extrémités, une coiffe (9) de butée avant pour l'extrémité avant de l'engin et dans sa partie intermédiaire, des moyens en forme de pince de maintien (1 1 ) en position de l'engin (2). 1. - System (1) immersed storage and maintenance in operational condition of an underwater vehicle (2) such as a drone, characterized in that it comprises means forming a base plate (3) on which are provided bell-shaped means (4) for receiving the underwater vehicle (2) comprising receiving cradle means (6) of the underwater vehicle (2) in a storage position and means for filling / emptying (18, 19, 20) of these bell-shaped means (4) with a preservation fluid of the underwater vehicle (2) and in that the cradle means of reception (6) comprise a cylindrical element (7) having at one of its ends, a cone (8) for guiding the machine in storage position therein, at the other of its ends, a cap (9) front stop for the front end of the machine and in its intermediate portion, means in the form of holding clip (1 1) in position of the machine (2).
2. - Système selon la revendication 1 , caractérisé en ce que les moyens en forme de cloche (4) comportent des moyens formant porte (5) permettant à l'engin sous-marin (2) d'entrer et de sortir des moyens en forme de cloche (4). 2. - System according to claim 1, characterized in that the bell-shaped means (4) comprise means forming a door (5) allowing the underwater vehicle (2) to enter and exit means in bell shape (4).
3.- Système selon l'une quelconque des revendications précédentes, caractérisé en ce que l'élément de forme cylindrique (7) des moyens formant berceau d'accueil (6) comporte dans sa partie intermédiaire des moyens d'accouplement électrique (15) à l'engin (2) afin de recharger les moyens de stockage d'énergie de celui-ci et/ou d'échanger des informations avec l'engin. 3.- System according to any one of the preceding claims, characterized in that the cylindrical element (7) of the receiving cradle means (6) comprises in its intermediate portion of the electrical coupling means (15) the vehicle (2) to recharge the energy storage means thereof and / or exchange information with the machine.
4. - Système selon la revendication 3, caractérisé en ce que les moyens d'accouplement (15) sont des moyens d'accouplement inductif. 4. - System according to claim 3, characterized in that the coupling means (15) are inductive coupling means.
5. - Système selon l'une quelconque des revendications précédentes, caractérisé en ce que les moyens en forme de pince (1 1 ) comportent deux branches de pince (12,5. - System according to any one of the preceding claims, characterized in that the gripper means (1 1) comprise two tongs (12,
13) s'étendant de part et d'autre des moyens formant berceau (6) et associées à des moyens d'actionnement (14). 13) extending on either side of the cradle means (6) and associated with actuating means (14).
6. - Système selon l'une quelconque des revendications précédentes, caractérisé en ce que le fluide de préservation de l'engin sous-marin est stocké dans des moyens de réception (17) correspondants intégrés dans les moyens formant embase de piètement (3). 6. - System according to any one of the preceding claims, characterized in that the preservation fluid of the underwater vehicle is stored in means of receiving (17) integrated in the base forming means (3).
7. - Système selon la revendication 6, caractérisé en ce que le fluide est constitué du liquide de protection. 7. - System according to claim 6, characterized in that the fluid consists of the protective liquid.
8. - Système selon l'une quelconque des revendications précédentes, caractérisé en ce que les moyens de remplissage/vidange des moyens en forme de cloche (4) comprennent des moyens (17) formant conteneur de réception du fluide, associés à des moyens de canalisation (19, 20) et de mise en circulation (18) du fluide entre les moyens en forme de cloche (4) et les moyens formant conteneur (17), selon les besoins de remplissage ou de vidange. 8. - System according to any one of the preceding claims, characterized in that the means for filling / emptying the bell-shaped means (4) comprises means (17) forming a container for receiving the fluid, associated with means for channeling (19, 20) and circulating (18) the fluid between the bell-shaped means (4) and the container means (17), depending on the filling or emptying requirements.
EP18712217.1A 2017-03-23 2018-03-22 Submerged system for storing an underwater vehicle such as a drone and keeping it in operational condition Active EP3601036B1 (en)

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FR1700305A FR3064244B1 (en) 2017-03-23 2017-03-23 IMMERSED SYSTEM FOR STORING AND MAINTAINING AN UNDERWATER VEHICLE SUCH AS A DRONE IN OPERATIONAL CONDITION
PCT/EP2018/057329 WO2018172469A1 (en) 2017-03-23 2018-03-22 Submerged system for storing an underwater vehicle such as a drone and keeping it in operational condition

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US4306413A (en) * 1975-06-30 1981-12-22 The United States Of America As Represented By The Secretary Of The Navy Hydraulic power and control system
ES2403018B1 (en) * 2011-11-07 2014-03-26 Navantia, S.A. DRY REFUGE TO INCREASE THE OPERATING CAPACITY OF A SUBMARINE.
US9758224B2 (en) * 2012-10-08 2017-09-12 Hewlett-Packard Indigo B.V. Docking station for underwater robot
FR3002916B1 (en) * 2013-03-05 2015-03-06 Thales Sa SYSTEM AND METHOD FOR RECOVERING AN AUTONOMOUS SUBMARINE
CN106314732B (en) * 2016-10-14 2018-01-26 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） AUV underwater matings and draw off gear

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WO2018172469A1 (en) 2018-09-27
FR3064244A1 (en) 2018-09-28

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