EP3902742B1 - Andockvorrichtung für ein unterwasserfahrzeug - Google Patents

Andockvorrichtung für ein unterwasserfahrzeug Download PDF

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Publication number
EP3902742B1
EP3902742B1 EP19828756.7A EP19828756A EP3902742B1 EP 3902742 B1 EP3902742 B1 EP 3902742B1 EP 19828756 A EP19828756 A EP 19828756A EP 3902742 B1 EP3902742 B1 EP 3902742B1
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EP
European Patent Office
Prior art keywords
receiving station
auv
docking station
stop
receiving
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EP19828756.7A
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English (en)
French (fr)
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EP3902742C0 (de
EP3902742A1 (de
Inventor
François CADALEN
Olivier Jezequel
Michaël JOURDAN
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Thales SA
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Thales SA
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Publication of EP3902742C0 publication Critical patent/EP3902742C0/de
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/36—Arrangement of ship-based loading or unloading equipment for floating cargo
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
    • B63C7/16—Apparatus engaging vessels or objects
    • B63C7/20—Apparatus engaging vessels or objects using grabs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/42—Towed underwater vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
    • B63B2027/165—Deployment or recovery of underwater vehicles using lifts or hoists
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/42—Towed underwater vessels
    • B63G2008/425—Towed underwater vessels for transporting cargo, e.g. submersible barges for fluid cargo

Definitions

  • the field of the invention is that of devices and methods for handling an autonomous underwater vehicle or AUV (acronym of the Anglo-Saxon expression "Autonomous Underwater Vehicle") in order to facilitate its recovery on board a supporting vessel, in heavy seas.
  • AUV autonomous underwater vehicle
  • the carrier vessel is, for example, a surface vessel or a submarine.
  • the carrier vessel and the AUV to be recovered on board the carrier vessel are subject to high amplitude movements unless they are equipped with expensive stabilizers.
  • the movements, linked to the swell, are random.
  • the maneuvering capabilities are limited:
  • the AUV has little power, especially at the end of the mission because its autonomy is optimized with regard to its energy carrying capabilities.
  • the carrier vessel can maneuver but the maneuvers are heavy and long.
  • AUV recovery techniques on board a carrier vessel can be classified into 2 large families.
  • the AUV In direct capture and recovery solutions on board the carrier vessel, the AUV is "caught" directly from the carrier vessel using a cage, a landing net or a clamp for example, or the AUV is positioned itself in a "zone” dedicated to recovery by the carrier building near it.
  • These solutions are relatively simple to implement in calm seas, but the level of risk for the equipment, and even for the operators, is extremely high as soon as the sea is heavy.
  • the AUV is captured by a capture station so that a link is created between the carrier vessel and the AUV then the capture station and the AUV are recovered on board the carrier vessel.
  • This solution is preferably used in heavy seas, because the risk of collision with the ship is greatly reduced or even eliminated.
  • the critical steps in retrieving an AUV are the step of creating a link between the carrier vessel and the AUV and the step of boarding the AUV on board the vessel.
  • a lifting tool of the crane type, available on board is generally used for various lifting operations. This lifting tool simply makes it possible to raise the AUV linked to a capture station on board the carrier building from the surface of the water and then to place it on the platform of the carrier building.
  • a solution of this type is disclosed in the patent application EN 2931792 , filed by the plaintiff.
  • This solution comprises a recovery pod connected to a ship by a flexible link and comprising a body comprising receiving means having a flared shape capable of receiving the nose of the underwater vehicle, and against which the nose of the AUV comes into abutment during a docking step.
  • the pod includes a back beam extending above the AUV once the AUV has docked.
  • the nacelle is intended to be suspended from a cable in a position in which the beam is horizontal at a predetermined depth for the docking of the AUV.
  • the nacelle comprises blocking means making it possible to make the AUV integral with the beam once the AUV has docked.
  • the AUV must have a positive longitudinal attitude (called “pitch” in Anglo-Saxon terminology) in order to be able to come into abutment against the reception means without being hindered by the back beam, the back beam moves away from the AUV after shock effect.
  • the blocking of the AUV must therefore be carried out as soon as the axes of the AUV and of the body are aligned in order to make the AUV integral with the body before the receiving device resumes its initial inclination.
  • the probability of blocking failure is high.
  • the plating of the dorsal beam on the vehicle is only obtained if the speed of the AUV is sufficiently high at the time of docking, which obliges the AUV to retain sufficient energy for docking and therefore to limit the duration of his mission.
  • the space delimited by the reception means is limited and the AUV must be controlled very precisely so that it can come and position its nose in the reception means, which is a significant drawback in the event of large time.
  • An object of the invention is to limit at least one of the aforementioned drawbacks.
  • the subject of the invention is a docking device for accommodating an underwater vehicle, the docking device comprising a docking station capable of being connected to a carrier building by a cable so that the building carrier pulls the docking station, completely submerged, from above the docking station, by exerting a pulling force at a pulling point on the docking station, the docking station comprising a body comprising a beam extending longitudinally parallel to a longitudinal axis of the body and an abutment, the abutment making it possible to block a movement of the underwater vehicle relative to the body along the longitudinal axis in a direction from the rear to the front defined by the longitudinal axis, the abutment and the beam being arranged with respect to one another so that the back beam extends longitudinally above the underwater vehicle in abutment against the abutment, a center of gravity of the docking station and a hull center of the docking station being positioned and the pull point being capable of occupying a pull point docking position defined so that the docking
  • the station is streamlined hydrodynamically, a center of gravity of the docking station and a hull center of the docking station are positioned and the pull point is able to occupy a defined pull point docking position so that the docking station has a predetermined negative docking longitudinal trim when it is completely submerged and towed by the carrier vessel in the direction of the longitudinal axis at a predetermined speed.
  • the docking station has negative buoyancy in the water.
  • the station is hydrodynamically profiled and configured so that a center of gravity of the docking station and a hull center of the docking station are arranged so that a first return torque is exerted on the station completely submerged with an attitude between the negative reception attitude and zero attitude, when the underwater vehicle is in abutment against the abutment so as to tend to press the back beam against the underwater vehicle by rotation of the docking station relative to the underwater vehicle in a vertical plane.
  • the station is hydrodynamically profiled and configured so that a center of gravity of the docking station and a hull center of the docking station are arranged so that a first return torque is exerted on the station fully submerged docking station with zero trim, when the underwater vehicle is in abutment against the abutment so as to tend to press the back beam against the underwater vehicle by rotation of the docking station relative to the vehicle under sailor in a vertical plane.
  • the docking station is configured so that a center of gravity of the docking station and a hull center of the docking station are arranged so that a first hydrostatic return torque is exerted on the docking station totally submerged with zero trim when the underwater vehicle is in abutment against the abutment so as to tend to flatten the beam dorsal against the underwater vehicle by rotation of the docking station relative to the underwater vehicle in a vertical plane.
  • the center of gravity is located behind the stop along the longitudinal axis.
  • the docking station is configured so that a resultant of the lift generated by a part of the docking station located behind the stop or behind the home position of the pull point is oriented downwards or is nothing.
  • the docking station is configured so that a center of gravity of the docking station and a hull center of the docking station are arranged so that when the AUV is in abutment against the abutment, a second hydrostatic restoring torque is exerted on the docking station about the longitudinal axis when the attitude of the docking station is zero, so that the docking station has a rotationally stable equilibrium position around the longitudinal x axis relative to the AUV.
  • the center of gravity of the docking station is below the longitudinal axis when the trim of the docking station is between the docking trim and zero trim.
  • the docking station comprises a set of guide arms distributed around the abutment, capable of being in a deployed configuration in which they make it possible to guide the underwater vehicle towards the abutment, the set of arms comprising arms lower arms located below the longitudinal axis when the axis is horizontal and the docking station is in the position of stable equilibrium, the lower arms having a greater average density than arms of the set of arms located above the axis.
  • the device comprises the cable, the cable is connected to the body of the docking station so that the pull point advances along the longitudinal axis relative to the body, when the AUV comes into abutment against the abutment .
  • FIG. 1 there is shown schematically a reception device 1 according to the invention approached by an autonomous underwater vehicle AUV 2 and towed by a carrier vessel 3 which can be a surface ship, that is to say intended to navigate at the surface of the water.
  • This reception device 1 makes it possible to establish a link between the carrier building 3 and the AUV 2, via a cable 4 connecting the docking station 5 to the carrier building 3.
  • Cable 4 advantageously belongs to docking device 1. It may be intended to be connected to docking station 5.
  • the docking device 1 comprises a submersible docking station 5 intended to be mechanically connected to the carrier building 3 so that the carrier building 3 pulls the docking station 5 completely submerged from above the docking station.
  • the carrier building 3 is intended to be located at a shallower depth than the docking station 5 but this is not mandatory, the important thing being that the point of pull Tb of the cable on the carrier building 3 is at a shallower depth than the pull point T of the cable on the docking station 5.
  • pull point also called towing point or "tow point” in Anglo-Saxon terminology, is meant the point on which the cable is intended to exert a tensile force.
  • the docking device 1 comprises, for example, a connecting element 40 connected to the docking station 5 and capable of cooperating with the cable 4 so as to make it possible to connect the docking station 5 to the carrier building 3 via the cable 4. Cable 4 is then attached to connecting element 40. Connecting element 40 absorbs the tensile force F exerted by cable 4 on body 7 of docking station 5.
  • the AUV 2 extends longitudinally along a longitudinal axis x1 of the AUV from a rear part 2AR to a nose 2N comprising the front end 2AV of the AUV 2.
  • the AUV 2 is intended to move mainly along the axis x1, in the direction going from the rear part 2AR the rear towards the front end 2AV of the underwater vehicle 2.
  • the nose 2N has a flared shape in the direction of the front end 2AV towards the rear part 2AR.
  • This shape is, for example, convex. It is for example of symmetry of revolution around its longitudinal axis x1. It is, for example, globally hemispherical.
  • the AUV 2 comprises a generally cylindrical central part 2C with an axis of the cylinder x1 connecting the nose 2N to the rear part 2AR.
  • the rear part 2AR includes a thruster 2P intended to propel the AUV 2.
  • the body 7 of the docking station 5 extends longitudinally along a longitudinal axis x of the body 7 from a rear end AR to a front end AV.
  • the x axis extends in the direction from rear rear to front front.
  • the body 7 comprises a beam 8 extending longitudinally parallel to the x axis.
  • front, front, back and behind are defined in the direction of the x axis.
  • the top and the bottom are defined according to a vertical axis of a terrestrial reference.
  • Body 7 also includes a stop 9.
  • Beam 8 extends longitudinally from a rear end of beam 8 towards stop 9, for example as far as stop 9. Stop 9 is integral with beam 8.
  • the abutment 9 has, for example, a concave shape so as to be able to receive the nose 2N of the AUV.
  • the shape of the abutment 9 is, for example, complementary to that of a part of the nose 2N comprising the front end 2AV. This shape is not limiting, it can, for example, as a variant have the shape of a crown, a shape of a plate perpendicular to the x axis.
  • the abutment 9 can extend continuously over its entire surface or it can have at least one opening (it can for example have the shape of a grid), it can have a fixed shape or be deformable under the effect of the support of the AUV.
  • the stop 9 makes it possible to block the movement of the AUV relative to the body 7 along the axis x passing through the stop 9, in the direction defined by the axis x (that is to say towards the front AV of the docking station 5), when the nose 2N of the AUV comes to rest against the stop 9, during a docking phase represented on the picture 3 .
  • the beam 8 moves away from the stop 9 towards the rear end of the body 7 of the docking station 5. In this way, the beam 8 extends facing the AUV 2 when the AUV 2 is in abutment against the abutment 9. More precisely, the beam 8 extends opposite a part of the AUV 2 located behind the nose 2N in abutment against the abutment 9. The AUV 2 advances along the beam 8 towards the stop 9 to come to bear against the stop 9.
  • the beam 8 and the abutment 9 are arranged relative to each other so that the beam 8 extends above the AUV 2 when the nose 2N of the AUV 2 is in abutment against the stop 9.
  • the buoyancy acting on a body is the resultant of the difference between the buoyancy of Archimedes and the weight of the body. This force can be directed from bottom to top (positive buoyancy, weight less than Archimedes' buoyancy) or from top to bottom (negative buoyancy, weight greater than Archimedes' buoyancy).
  • the completely submerged docking station 5 advantageously has a negative buoyancy in the liquid in which it evolves, for example, fresh water or sea water. The docking station 5 is then heavy.
  • the negative buoyancy of the docking station has a positive effect on obtaining a tackle of the docking station on the AUV which is desired and described in the following text because the station tends to sink.
  • This configuration has the advantage of avoiding having to provide means or a hydrodynamic configuration allowing the station to dive, such as means for adjusting the buoyancy of the station or adjustable orientation wings which are expensive means. and binding.
  • the docking station 5 has zero or positive buoyancy.
  • the docking station 5 is intended to be towed by the carrier building 3, in the direction from the rear rear to the front front, when the AUV 2 approaches the stop.
  • the x axis has a privileged direction which allows the AUV to reach the stop more easily.
  • the docking station 5 is hydrodynamically profiled, and has a center of gravity and a center of the hull arranged in a particular way and the pull point T is able to occupy a position defined in a particular way so that the docking station 5 has a negative predetermined docking longitudinal trim (front end AV located at a greater depth than the rear end AR), when the docking station 5 is completely submerged and towed by the carrier vessel 3 from above at a positive predetermined speed in the direction of the longitudinal axis x as shown in the figure 1, 2a And 2b and 3 .
  • the longitudinal trim of the docking station 5 is the trim of the body 7 of the docking station on which the traction of the cable is exerted.
  • the reception longitudinal attitude is fixed when the speed is fixed.
  • the position of the center of the hull of the fully submerged docking station 5 is defined by the shape of the docking station and the position of its center of gravity is defined by the distribution of the masses of the docking station 5.
  • the negative reception trim can be obtained for different hydrodynamic configurations of the station and different relative positions of the center of gravity, the center of the hull and the pull point T.
  • the configuration of the station comprising the shape of the docking station as well as the distribution of the masses of the docking station and the positions suitable for being occupied by the pull point, are therefore defined in such a way as to obtain the trim reception negative for at least one of the positions capable of being occupied by the pull point.
  • a person skilled in the art configures the station by modeling and by iterations in order to obtain a desired negative reception attitude at a desired traction speed.
  • the risks of collision of the beam 8 (in particular the rear end) by the AUV 2 during docking are low.
  • This solution avoids the adjustment of ballasts or docking with an ascending speed of the AUV 2 which adds complexity to the docking phase.
  • the proposed solution is therefore robust and economical.
  • the beam also has a guiding function of the AUV 2.
  • the docking station is thus configured so that the resultant of the gravitational force, the Archimedes' thrust, and the hydrodynamic force applied to the docking station generates a zero moment, at a position likely to be occupied by the pull point, when the docking station is completely submerged, towed by the carrier vessel at the predetermined speed and occupies the negative docking trim at the predetermined speed.
  • this negative reception base is stable.
  • the moment generated by the resultant of the gravitational force, the buoyancy force and the hydrodynamic force tends to bring the docking station back to the negative docking trim when the docking station deviates from this negative host base (when the host base increases or decreases).
  • the orientation of the docking station with the negative docking trim is obtained, when it is submerged and towed at the predetermined speed, for a pull point T of given position, by configuring the docking station so that the resultant of the hydrostatic forces, that is to say of gravity and Archimedes' thrust, is applied in front of the position of the pulling point T and is oriented so as to tend to give a first negative base to the docking station.
  • the resultant of the hydrostatic forces is applied in front of the pulling point T and is oriented downwards along a vertical axis perpendicular to the surface of the water in a calm sea state.
  • the docking station is hydrodynamically profiled so that the resultant of the hydrodynamic forces applied to the station tends to bring the docking station back to a negative docking trim of lower absolute value than the first negative trim.
  • the resultant of the hydrodynamic forces applied behind the position of the pulling point T is oriented downwards, along a vertical axis. The two forces thus generate, at the pull point, T two moments that cancel each other out for a predetermined negative attitude at a predetermined speed.
  • the pull point T may be capable of occupying a reception position located behind the point to which the resultant of gravity, Archimedes' thrust and hydrodynamic force.
  • the position of the pull point T with respect to the body 7 along the x axis can be fixed or variable as we will see later.
  • at least one of its positions along the x axis is defined so as to make it possible to obtain the reception attitude .
  • the docking station 5 is hydrodynamically profiled so that the resultant of the lift generated by the part of the docking station located behind the docking position of the pull point is oriented downwards or is zero. , when the totally submerged docking station is traced by a surface vessel in the direction from the rear rear to the front front. The docking station 5 is then also in a roll equilibrium position (zero list). Thus, the negative longitudinal reception attitude is obtained mainly by the hydrostatic forces.
  • the pull point is advantageously capable of occupying a receiving position situated behind the point to which the resultant of gravity and Archimedes' thrust applies.
  • the pull point T is capable of occupying a position of the pull point situated behind the center of gravity.
  • the docking device is configured so that the pull point T occupies its docking position when the fully submerged docking station is towed by the carrier building 3 before the AUV 2 comes into abutment against the stopper.
  • the beam 8 is pressed against the AUV 2 during a plating phase, as visible on the figure 4 , under the action of a dynamic effect due to the movement imparted forward by the AUV in abutment against the abutment 9.
  • This plating is obtained by a rotational movement of the docking station 5 and of the beam 8 in the vertical plane.
  • the reception device comprises locking means, for example a set of at least one lock, making it possible to make the body 7 integral with the AUV 2 when the beam 8 is resting against the AUV 2.
  • the AUV 2 is then connected to the supporting building 3 via the cable 4.
  • Locking takes place during a capture phase subsequent to the tackle phase.
  • the docking station 5 When the AUV 2 comes into abutment against the abutment 9, the docking station 5 is driven by the AUV 2 forwards, along the x axis, which has the effect of relaxing the cable 4 which does not pull more about docking station 5.
  • the docking station is hydrodynamically configured and has a center of gravity and a center of the hull arranged so that a first restoring torque is exerted on the docking station 5 completely submerged having the longitudinal docking trim.
  • the reception longitudinal attitude is advantageously between -15° and -5°.
  • the back beam 8 presses against the AUV, as shown in the figure 4 , in a sustainable way.
  • This durable plating makes it possible to have sufficient time to join the AUV 2 with the body 7 during a capture phase. The risk of failure to capture the AUV is thus limited.
  • This solution makes it possible to obtain a plating of the dorsal beam 8 against the AUV 2 even if the speed of the AUV 2 is low at the time of docking, it is sufficient for the AUV 2 to go slightly faster than the station docking station 5 at the time of docking so as to drive the docking station 5 and relax the cable 4. Once the cable 4 has been relaxed, the first hydrostatic torque ensures the plating of the back beam on the AUV 2.
  • This solution is advantageous since the AUV 2 generally has a limited energy reserve at the end of the mission, at the time of docking. A maximum quantity of energy can thus be used during the mission, the duration of which can thus be increased.
  • the lasting plating effect is obtained when the attitude of the AUV 2 is greater than that of the docking station 5.
  • the plating effect is therefore obtained in particular when the AUV 2 comes to dock on the docking station. home 5 with its longitudinal axis x horizontal, for example.
  • the docking station is configured so as to undergo a first restoring torque when its longitudinal trim is zero (horizontal x axis) and the beam 8 is resting against the AUV 2 so as to tend to flatten the beam 8 on the AUV. This makes it possible to obtain a durable plating.
  • the balance of the moments applied to the docking station 5 is no longer made with respect to the pulling point but is made with respect to the point P of the abutment 9, on which the AUV 2 is in abutment.
  • the first restoring torque is therefore exerted around a horizontal axis of rotation r represented on the figure 2b passing through the abutment 9, for example through the fulcrum P of the AUV 2 on the abutment 9 in the direction shown on the picture 3 .
  • This point P is a point of the stop.
  • the point P is for example that on which is intended to be exerted the resultant of the support force of the vehicle on the stop 9 when the axes x and x1 are parallel.
  • the first restoring torque tends to rotate the beam 8 around the axis of rotation r so as to lower the rear rear end relative to the stop 9.
  • the position for receiving the pull point T is advantageously behind the stop 9, preferably behind the point P.
  • the docking station is hydrodynamically profiled so that the effect of the hydrodynamic forces on the plating is negligible, that is to say that the resultant of the moments of the hydrodynamic forces relative to the stop is substantially zero when the station pitch shows the pitch pitch and/or a zero pitch attitude.
  • the first restoring torque is then substantially a first hydrostatic restoring torque.
  • the durable plating is then independent of the speed (difference between the horizontal speed of the AUV and that at which the docking station is towed when the AUV comes to rest against the stop 9) and is obtained , even when the speed is high.
  • a negligible hydrodynamic effect can, for example, be obtained by providing a set of at least one tailplane arranged close to the rear rear of the station configured to generate downward lift.
  • the empennage must be sized for this purpose in relation to the rest of the docking station.
  • the docking station advantageously has a center of gravity and a center of the hull arranged so that a first hydrostatic restoring torque is exerted on the fully submerged docking station 5 having the longitudinal trim of reception when the AUV 2 is in abutment against the abutment 9, as represented on the picture 3 , so as to press the back beam 8 against the AUV 2, by rotation of the docking station 5 with respect to the AUV 2 in a vertical plane defined in the terrestrial reference frame.
  • This ensures a durable tackle at least at low speeds.
  • the first hydrostatic restoring torque undergone by the docking station 5 around the axis of rotation r passing through P is the sum of the torque linked to gravity exerted on the docking station 5 around the same axis and the torque linked to the Archimedean thrust exerted on the docking station 5 around the same axis.
  • the shape of the docking station 5 and the distribution of the masses of this docking station 5 are defined so that the positions of the center of gravity and the center of the hull of the docking station 5 induce this first hydrostatic return torque.
  • the mass of the docking station 5 generates a downward force applied to the center of gravity and the volume generates an upward force (the Archimedean thrust) applied to the center of the hull.
  • This solution has the advantage of being simple, safe and cheap. Being passive, this solution does not require a balancing device with variable density of the ballast type to ensure plating against the AUV.
  • the center of gravity and the center of the hull of the body 7 of the completely submerged docking station 5 occupy fixed positions.
  • One of the possibilities for obtaining the first hydrostatic torque which ensures the desired plating is to configure the docking station 5 so that the center of gravity of the docking station 5, and possibly that of the body 7, is arranged behind the stop 9, or behind point P.
  • the position of the center of the hull of the docking station 5, and possibly that of the body 7, can be placed in front of the stop 9, or in front of the point P, along the longitudinal axis x of the docking station 5
  • the position of the center of the hull has a significant effect only if the docking station is light.
  • the docking station is very heavy, it is possible to envisage a center of the hull situated behind the stop or even behind the center of gravity.
  • the center of gravity and the hull are arranged so that the docking station always undergoes the first hydrostatic restoring torque when its longitudinal trim is zero (axis x horizontal) and the beam 8 is resting against the AUV 2 .
  • the first hydrostatic restoring torque is exerted on the docking station when the cable does not exert traction on the docking station 5.
  • the first restoring torque or the first hydrostatic restoring torque is exerted on the docking station when the cable does not exert traction on the docking station 5.
  • the docking station 5 is then pushed forward by the AUV.
  • the cable is slack.
  • the docking station 5 can undergo but no longer necessarily undergoes this first restoring torque or this first hydrostatic restoring torque once the cable tows the docking station 5 again.
  • the body 7, may comprise a tail unit 10 located behind the stop 9.
  • the tail unit 10 is arranged close to the rear end of the beam 8 or at the end of the beam 8, close to the rear rear of the body 7.
  • This empennage is configured to generate downward lift. It is then possible to play on the density of the empennage to play on the position of the center of gravity of the station.
  • the body 7 of the docking station 5 comprises an inverted V tail unit 10 comprising two individual empennages 10a, 10b each forming one of the branches of the inverted V.
  • the center of gravity and the center of the hull of the docking station 5 or of the body 7 are arranged so that the docking station 5 has a positive longitudinal trim in equilibrium when it is subjected only to Archimedes' thrust and gravity. This helps to promote the tackle.
  • the longitudinal trim at equilibrium is, for example, zero.
  • FIG. 5 schematically represents in view from behind the docking station and the AUV 2 in the configuration of the figure 4 .
  • the AUV 2 is in abutment against the abutment 9, its longitudinal axis x1 being coincident with the axis x.
  • the longitudinal axis x passes through the point P. It is intended to bring the reaction of the stop 9 to the support of the AUV 2 on the stop 9.
  • the docking station 5 is configured so that its center of gravity and its hull center are arranged so that when the AUV 2 is in abutment against the abutment 9 and the back beam 8 is pressed against the AUV 2, the docking station 5 being completely submerged, a second hydrostatic return torque is exerted on the docking station 5 around the longitudinal axis x when the longitudinal axis x is horizontal so that the docking station 5 has a position of stable equilibrium in rotation around the longitudinal axis x with respect to the AUV 2 as represented on the figures 4 and 5 .
  • the second hydrostatic restoring torque prevents the docking station 5 from tipping to the side in static, that is to say prevents the rotation of the docking station 5 relative to the AUV 2 around the longitudinal axis x.
  • the position of the docking station 5 represented on the figures 4 and 5 is stable in rotation around the longitudinal axis x.
  • the docking station 5 is configured so that its center of gravity and its hull center are arranged so that when the AUV 2 is in abutment against the abutment 9 and the docking station 5 completely submerged presents a zero trim and preferably when the trim is between a trim between the home trim and a zero trim, a second hydrostatic return is exerted on the docking station 5 around the longitudinal axis x so that the docking station 5 has a position of stable equilibrium in rotation around the longitudinal axis x with respect to the AUV 2, which makes it possible to avoid tilting of the station of reception 5 before it comes to be flattened on the AUV.
  • the stable equilibrium position is the roll equilibrium position.
  • This position is for example a zero heel position in which a vertical plane includes the longitudinal axis x which is the roll axis and constitutes an axis of symmetry of the docking station 5.
  • a vertical plane includes the longitudinal axis x which is the roll axis and constitutes an axis of symmetry of the docking station 5.
  • the center of gravity and the hull center belong to the same vertical plane containing the x axis.
  • the docking station 5 has a non-zero list of a few degrees in the roll equilibrium position.
  • the vertical plane is a plane of symmetry of the inverted V-tail which straddles the AUV when the docking station is pressed against the AUV as seen on the figure 5 .
  • the center of gravity of the docking station 5 is offset vertically with respect to the center of the hull of the docking station 5, when the beam 8 is pressed against the AUV in abutment against the stop 9 and the longitudinal trim of the docking station is the zero trim and preferably when it is between the home trim and the zero trim.
  • the center of gravity is located below the center of the hull when the trim of the docking station is zero and preferably when it is between the docking trim and the zero trim or at least when the plate is nil. This makes it possible to obtain the roll equilibrium position when the cable is slack.
  • the center of gravity is below the x axis, when the trim of the docking station is between the trim reception and the trim is nil or at least when the trim is nil.
  • the docking station 5 (or the body 7 of the docking station) comprises an upper part PS located above a horizontal plane H containing the horizontal x axis and a lower part PI located below the horizontal plane when the docking station 5 is in its stable equilibrium position.
  • the distribution of the masses of the docking station 5 is chosen so that the mass of the lower part PI is greater than that of the upper part PS. In this way, the center of gravity is under the x axis.
  • the shape of the docking station is defined so that the center of the hull is located above the center of gravity.
  • the volume of liquid displaced by the upper part PS can for example be equal to the volume of liquid displaced by the lower part.
  • each individual tailplane 10a, 10b extends from the beam 8 to a lower end of the individual tailplane 10a, 10b located in the lower part PI of the station 5, i.e. ie deeper than the x axis when the longitudinal axis is horizontal and the support structure 5 is in the position of stable equilibrium.
  • This configuration makes it possible to lower the position of the center of gravity. It is possible to play on the mass of the empennages to place the center of gravity at the lowest. It is for example possible to envisage placing ballast at the level of the lower end of each individual empennage.
  • the host device according to the invention allows a simple, passive and robust capture process.
  • the beam 8 and the abutment 9 are arranged relative to each other so that the back beam extends below the AUV 2 when the nose of the AUV is in abutment against the stopper 9.
  • the pull point T is able to move along the longitudinal axis (x) with respect to the body 7.
  • the mobility of the pull point makes it possible to adapt the attitude of the docking station according to its speed, its state (with or without AUV) or the phase of the mission (Capture of the AUV or recovery of the station on board the ship). This makes it possible to minimize the impact of the movements of the vessel linked to the swell by releasing or taking up the tension in the cable.
  • the pull point T is able to slide along the axis x with respect to the body 7.
  • the cable is for example fixed to a bracket 40 pivotally mounted around an axis of rotation y relative to the body 7, the axis of rotation being mounted there sliding relative to the body 7 along an axis x2 parallel to the longitudinal axis x.
  • the body 7 comprises for example a guide groove 41 extending longitudinally parallel to the axis x and receiving the axis of rotation y.
  • An actuator for example a hydraulic cylinder, an electric cylinder or a rack system can make it possible to cause the axis y to slide relative to the body 7. It should be noted that, except for very fast dynamics, the tensile force is always oriented in the same direction along the x axis. A single-acting cylinder may be sufficient. A double-acting cylinder can be interesting if rapid servo-control is desired.
  • the cable 4 is connected to the body 7 of the docking station 5 so that the pull point T advances along the x axis relative to the body 7, when the AUV 2 comes into abutment against the abutment 9, for example under the effect of the support of the AUV on the stop 9.
  • the adjustment means are configured to advance the point of pull along the axis x with respect to the body 7, when the AUV 2 comes into abutment against the abutment 9. This makes it possible to accelerate the pressing of the beam 8 on the AUV 2 and to minimize the power requirement of the AUV.
  • the cable 4 is connected to the body 7 of the docking station 5 so that the pull point T is positioned along the x axis relative to the body 7 in a position for receiving the pull point T such that the docking station 5 has a negative longitudinal trim, when the fully submerged docking station is towed by the carrier vessel before the AUV comes into abutment against the AUV (before docking).
  • This receiving position of the shooting point is advantageously behind the stop 9.
  • the receiving device 1 comprises adjustment means making it possible to adjust the position of the pull point T with respect to the body 7 along the x axis.
  • the adjustment means can be passive (without program type control means) or active (controlled remotely by an operator or by station control means).
  • the passive adjustment means can comprise a spring located behind the pull point, linked to the beam and linked to the pull point which is in a slide.
  • the position of the pull point, the compressed spring is maintained by a trigger which is linked to the stop 9 which is triggered by the AUV pushing on the stop 9: the spring then relaxes and pushes the pull point forward.
  • the docking station 5 comprises a guide device 50 comprising a set E of guide arms 51 arranged around the abutment.
  • the set E of arms 51 able to be in a deployed configuration represented on the figure 2a , 2b, 3 , 6a and 6b in which it allows the AUV 2 to be guided towards the stop 9.
  • the deployed configuration of the arms is stable in the absence of the AUV resting on the guide structure.
  • the arm assembly delimits a first volume capable of receiving the nose 2N of the AUV 2 and widening away from the stop 9 along the axis x towards the rear so as to allow guide the AUV 2 towards the stop 9 to pass from the configuration of the figure 1 to that of the picture 3 during the docking phase during which the arm assembly E is in the deployed configuration.
  • each arm 51 of the set E of arms has a distal end ED and a proximal end EP referenced on a single arm of the figure 6 to clarify more.
  • Each arm 51 of the set of arms E is connected to the body 7 by its proximal end EP.
  • each arm 51 of the assembly E is located behind the proximal end EP.
  • the distal end ED is closer to the rear end AR of the body 7 than a proximal end EP of the arm by which the arm is connected to the body 7.
  • the set of arms E can be fixed or comprise a single stable configuration which is the deployed configuration.
  • the arm assembly 51 is adapted to be in a folded configuration as seen in figures 7a and 7b .
  • the arms advantageously pass from the deployed configuration to the folded configuration, during a folding phase of the assembly E implemented after the docking phase and preferably after the phase of tackling and/or capturing the AUV 2.
  • each distal end ED is closer to the x axis than in the deployed configuration.
  • the distal end ED of each arm 51 approaches the axis x from its position in the deployed configuration to its position in the folded configuration.
  • the folded configuration makes it possible to make the docking station 5 more compact outside of the docking and capture phases so as not to clutter the deck of the carrier vessel. It makes it possible to provide arms of significant length which can thus delimit, in the deployed configuration, a first volume of significant size, in a so-called transverse plane, perpendicular to the x axis, which ensures guidance of the AUV towards the stop. 9 with a large tolerance on the trajectory of the AUV. This also makes it possible to guide the AUV over a significant distance along the x axis.
  • the reception device comprises locking means capable of cooperating with the AUV to make the AUV integral with the body 7 of the reception structure 5 during a capture phase.
  • the locking means are configured to make it possible to make the body 7 integral with the AUV 2 when the arms are in the deployed configuration and/or when the arms are in the folded configuration.
  • These locking means can be present even in the absence of the guide device.
  • the locking means may comprise at least one lock 43, an example of which is shown in figure 7c , comprising a hook 44 capable of being in a retracted position inside the body 7, for example inside the beam 8, and in an extended position shown in figure 7c , in which it is capable of penetrating into the body of the AUV so as to cooperate with an attachment 45 of the AUV to hold the body of the station fixed relative to the body of the AUV.
  • This type of locking means is absolutely not limiting.
  • the docking station can for example comprise arms capable of surrounding the body of the AUV so as to block the body of the AUV relative to the body of the docking station 5.
  • the reception device advantageously forms part of a recovery device 100 comprising handling means 102 represented on the figure 8a comprising means making it possible to wind the cable 4, such as for example a winch, during a winding phase subsequent to capture until the capture station 5 comes to rest on a support 101 of the handling means 102.
  • the support 101 makes it possible to block the translational movement of the capture station and of the AUV secured to the body of the capture station upwards. It can also make it possible to prevent the pivoting of the vehicle around a vertical axis.
  • the handling means 102 further comprise moving means 103 making it possible to move the docking station 5 linked to the AUV and resting on the support 101 to place it on a support of the vehicle 104.
  • the moving means 103 include for example a crane from which is suspended the support 101 comprising articulated arms.
  • the moving means comprise drive means making it possible to pivot an arm 105 of the crane, from which the support 101 is suspended, around a horizontal axis to bring the AUV linked to the capture station 5 opposite the support. , as shown in figure 8b , and means for lowering the support 101 so as to come and place the AUV linked to the capture station on a support 106 of the AUV.
  • the support 106 has a bearing surface 107 of substantially complementary shape to the central part 2C of the AUV 2, that is to say in the shape of a portion of a cylinder.
  • the set E of arms 51 delimits a volume of reduced size in the transverse plane, which facilitates the handling and storage of the capture station on board the carrier vessel 3.
  • the fact of folding the set E of arms 51 after the capture of the AUV 2 makes it easier to handle. Indeed, it is possible to place the AUV 2 on a vehicle support having a simple shape complementary to that of the AUV 2, for example a shape of a cylinder portion by resting all or a large part of the length of the cylindrical part of the AUV on the vehicle support, while limiting the risks of tipping of the AUV likely to be induced by the docking station and thus improving its stability. In addition, it is possible to place the AUV on its support directly with the crane or the gantry having raised the reception device. It is not necessary to separate the AUV from the body 7 from the docking station 5 beforehand. Handling is thus greatly simplified compared to a cage or a landing net which requires a tedious step of extracting the 'AUV of the reception device before placing it on its support.
  • the folding of the arms is particularly advantageous in the case of a beam 8 extending over the top of the AUV but can be advantageous in the case of a beam extending over the underside of the AUV.
  • each arm 51 of the set E of arms or at least one arm of the set of arms is folded against the body 7 in the folded configuration.
  • This configuration ensures good compactness in the folded configuration and makes it possible to improve the stability of the AUV on its support.
  • each arm 51 of the set E of arms or at least one arm extends longitudinally substantially parallel to the longitudinal axis x in the folded configuration.
  • the arm assembly delimits a volume having substantially the shape of a portion of a cylinder in the folded configuration. This configuration ensures good compactness in the folded configuration and further improves the stability of the AUV on its support.
  • each distal end ED In the folded configuration, each distal end ED is in front of the position it occupies in the deployed configuration. In other words, when the arms are folded, the distal end ED of each arm 51 advances, along the x axis and in the direction of the x axis, from its position in the deployed configuration to its position in the folded configuration. .
  • the length, along the x axis, of the volume delimited by the set of arms E along the x axis behind the stop 9 is reduced or canceled out if the arms 51 extend completely in front of the stop 9 in the folded configuration.
  • This particular kinematics of the arms 51 makes it possible to release at least partially the periphery of the AUV 2 after capture, by folding up all the arms.
  • This configuration is particularly advantageous in the case where the beam is arranged with respect to the abutment so as to be intended to be above the AUV in abutment against the abutment 9. It makes it possible to reduce or avoid the masking of a sensor or an antenna arranged on the belly or the sides of the AUV, for example, a sonar intended to image the seabed.
  • the AUV 2 can therefore continue its mission, for example a sonar imaging mission, even after docking. This feature is of interest when the AUV is made integral with the docking station 5 only temporarily, for example, with the aim of recharging its batteries and/or recovering data.
  • This reasoning also applies in the case of a beam 8 arranged with respect to the abutment 9 so as to be intended to be below the AUV in abutment against the abutment, for example to avoid the masking of sensors or antennas located on the top or sides of the AUV.
  • Two embodiments of guiding devices are represented on the figures 9a to 9d And 10a to 10e .
  • each arm 51 is mounted to slide with respect to the stop 9 along the x axis so that the arm 51 undergoes a forward translational movement, with respect to the stop 9, when passing from the deployed configuration of the figure 9a to the folded configuration of the figure 9d passing through the successive intermediate configurations of successive FIGS. 9b and 9c.
  • each arm 51 undergoes a forward translational movement along the x axis, relative to the body 7, when passing from the deployed configuration to the folded configuration.
  • the distal end ED of each arm 51 remains behind its proximal end EP when switching from the deployed configuration to the folded configuration.
  • the proximal end EP of the arm 51 is pivotally mounted on a slider 52 mounted to slide with respect to the stop 9 along the x axis so that the distal end ED is capable of approaching the x axis. , by rotation relative to the slider 52, when the slider 52 advances along the x axis during the passage of the deployed configuration of the figure 9a to the folded configuration of the figure 9d .
  • the guide device advantageously comprises drive or coupling means making it possible to generate, simultaneously with a forward movement of the slider 52 AV, the rotation of the arm around the axis of the pivot link connecting the proximal end EP to the slider 52 in a defined direction so that the distal end ED of the arm 51 approaches the axis x and vice versa.
  • the proximal end EP of each arm 51 is mounted on a slider 52 mounted to slide relative to the body 7 of the docking station along the longitudinal axis x.
  • the proximal end EP of each arm 51 is mounted on the slider 52 by a pivot connection fixed with respect to the slider 52 and whose axis of rotation of the pivot connection is substantially tangential to the axis x.
  • the drive means comprise forks 53 in the form of connecting arms distributed angularly around the longitudinal axis x. Each fork 53 is connected to one of the arms 51.
  • a first longitudinal end E1 of the fork 53 coupled to an arm 51 is connected to the arm 51 by a first pivot connection with an axis substantially tangential to the axis x arranged between the end EP and the distal end ED of arm 51.
  • a second longitudinal end E2 of fork 53 is connected to body 7 by a second pivot connection with an axis substantially tangential to axis x.
  • the second end E2 of the fork is arranged behind the slider 52 along the x axis.
  • each arm 151 is connected to the body 7 by its proximal end EPb.
  • the proximal end EPb is fixed in translation along the longitudinal axis x relative to the body 7.
  • the proximal end EPb of the arm 151 is pivotally mounted with respect to the stop 9 so that the distal end EDb is capable of approaching the axis x and of advancing along the axis x, by rotation of the end EPb proximal to the stop 9 when passing the deployed configuration of the figure 10a to the folded configuration of Figure 10f.
  • each arm 151 is connected to the body 7 by a pivot connection with an axis of rotation fixed relative to the body 7 and arranged so that the rotation of the arm 151 around this axis of rotation causes the end to pass distal end EDb from its position in the deployed configuration, in which the end EDb is behind the proximal end EPb and at a first distance from the x axis, to its position in the folded configuration in which it is located in front of the distal end EDb at a second distance from the x axis less than the first distance.
  • the proximal end EPb is located between the position of the distal end EDb in the deployed configuration and the position of the distal end EDb in the folded configuration along the x axis.
  • the arms 151 turn around.
  • the set E' of arms 151 passes from the deployed configuration, in which the arms 151 delimit a volume flaring towards the rear of the body 7 to an intermediate configuration in which they delimit a volume flaring towards the front AV , the distal ends EDb of the arms 151 then approaching the x axis to reach the folded configuration.
  • the guide device comprises drive means making it possible to ensure the folding of the arm assembly from its deployed configuration and vice versa.
  • the axis of rotation is, for example, tangential to the x axis.
  • the drive means comprise a slider 152 slidably mounted on the body 7 along the longitudinal axis x and forks 153, in the form of connecting arms, distributed angularly around the axis x.
  • Each fork is connected to one of the arms.
  • a first longitudinal end E1b of the fork 153 is connected to one of the arms 151 by a pivot connection with an axis substantially tangential to the x axis arranged between the proximal end EPb and the distal end EDb of the arm 151.
  • a second end longitudinal E2b of the fork 153 is connected to the slider 152 by a pivot connection with an axis substantially tangential to the x axis.
  • the slider 152 is arranged in front of the proximal end EPb of the arm 151 along the x axis. In this way, when the arm assembly is in the deployed configuration, a translation of the slider 152 towards the front of the body 7 causes, via the joints of the fork 153 to the slider 152 and to the arms 151, the rotation of the arms around their respective axes of rotation with respect to the body 7 from their respective positions in the folded configuration to their respective positions in the folded configuration.
  • the drive means comprise an actuator configured to drive the nut 52 or 152 in translation along the x axis relative to the body 7 so as to cause all of the arms to pass from the folded configuration to the deployed configuration.
  • the actuator is for example of the hydraulic or electric cylinder type or of the torque motor type.
  • the slider 52, 152 has, for example, substantially the shape of a circular ring disposed in a plane perpendicular to the x axis, the x axis passing through the center of the ring, the ends
  • the proximal lines EP, EPb are for example distributed over the circle perpendicular to the x axis and centered on the x axis.
  • the forks 53, 153 all have the same length and the first ends of the forks are distributed over a circle perpendicular to the x axis passing through the center of the circle and the second ends of the forks are spread over another circle perpendicular to the x axis passing through the center of the circle.
  • the arms are all the same length.
  • the arms and/or the forks may have different lengths, the proximal ends and of the forks are not necessarily distributed over circles, the nut does not necessarily have the shape of a ring and the axes of the pivot connections are not not necessarily tangential to the x axis.
  • Different arms can also be connected differently to the body 7 and driven by different drive means.
  • the body 7 comprises slots F visible in figure 10c And 10d extending longitudinally parallel to the x axis in which the distal ends EDb of the arms are housed, 151 in the folded configuration.
  • This makes it possible to promote the compactness of the assembly, to improve the balance of the AUV on a support of complementary shape and this makes it possible to protect the arms 151 from shocks during the recovery of the guidance device by a device of the type crane and when placing the AUV on a stand.
  • Slots may also be present in the embodiment of the figures 9a to 9d .
  • the arms 151 are entirely housed in the slots in the folded configuration.
  • the arms are, for example, telescopic so as to advance the distal ends of the arms when passing from the deployed configuration to the folded configuration.
  • the arms 51, 151 are mounted on the body 7 so as to extend essentially in front of the stop 9 in the folded configuration of the figure 9d , 10th .
  • the arms 51, 151 extend essentially behind the stop 9 in the deployed configuration of the figure 9a , 10a .
  • the set E of arms 51 comprises a set of at least one lower arm BI belonging to the lower part PI in the deployed configuration and having a density greater than 1 kg/m3. This feature limits the risk of the docking station tipping over.
  • the average density of each arm of the set of at least one arm lower is greater than the average density of each arm of the set of at least one upper arm.
  • the hydrodynamic profile, the position of the center of gravity, the center of the hull and the pull point to obtain the negative reception trim are predefined when the guide arms are fixed.
  • these positions and profiles are those which are defined when the arm assembly is in the deployed configuration so as to obtain the negative reception attitude when the arm assembly is in the deployed configuration and/or these positions and profiles are those which are defined when the arm assembly is in the folded configuration so as to obtain the negative reception attitude when the arm assembly is in the folded configuration.
  • the invention also relates to an underwater assembly comprising the AUV and the reception device.
  • the docking station advantageously has a length similar to or greater than that of the AUV.
  • the mass of the AUV is preferably higher than that of the docking station. 1

Claims (10)

  1. Andockvorrichtung, welche in der Lage ist, ein autonomes Unterwasserfahrzeug zu fangen und zu bergen, umfassend eine Andockstation (5), welche in der Lage ist, mit einem Trägerschiff (3) durch ein Stahlseil (4) verbunden zu werden, sodass das Trägerschiff die Andockstation (5), welche vollständig eingetaucht ist, von oberhalb der Andockstation (5) zieht, indem es eine Zugkraft an einem Ziehpunkt (T) an der Andockstation (5) ausübt, wobei die Andockstation (5) einen Körper (7) umfasst, welcher einen Träger (8) umfasst, welcher sich in Längsrichtung parallel zu einer Längsachse (x) des Körpers (7) erstreckt, und einen Anschlag (9), wobei der Anschlag (9) es ermöglicht, eine Bewegung eines Unterwasserfahrzeugs (2) in Bezug auf den Körper (7) entlang der Längsachse (x) in eine Richtung von hinten nach vorn, welche durch die Längsachse (x) definiert wird, zu blockieren, wobei der Anschlag (9) und der Träger (8) zueinander so angeordnet sind, dass der Rückenträger (8) sich in Längsrichtung oberhalb des im Anschlag an dem Anschlag (9) befindlichen Unterwasserfahrzeugs (2) erstreckt, und die Andockstation hydrodynamisch profiliert ist, dadurch gekennzeichnet, dass ein Schwerpunkt der Andockstation und ein Formschwerpunkt der Andockstation positioniert sind, und der Ziehpunkt (T) in der Lage ist, eine Andockposition des Ziehpunkts (T) einzunehmen, welche dergestalt definiert ist, dass die Andockstation (5) eine vorbestimmte negative Andocklage in Längsrichtung aufweist, wenn sie vollständig eingetaucht ist und vom Trägerschiff (3) in der Richtung der Längsachse mit einer vorbestimmten Geschwindigkeit geschleppt wird; wobei sich die Andockstation (5) mit der negativen Andocklage in Längsrichtung in einer zum Anlegen günstigen Position befindet, die es dem autonomen Unterwasserfahrzeug ermöglicht, mit einer großen Toleranz in der Bewegungsbahn des autonomen Unterwasserfahrzeugs in Anschlag an dem Anschlag (9) zu gehen.
  2. Andockvorrichtung nach dem vorhergehenden Anspruch, wobei die Andockstation (5) im Wasser eine negative Schwimmfähigkeit aufweist.
  3. Andockvorrichtung nach dem vorhergehenden Anspruch, wobei die Station hydrodynamisch profiliert und dergestalt konfiguriert ist, dass ein Schwerpunkt der Andockstation (5) und ein Formschwerpunkt der Andockstation (5) so angeordnet sind, dass ein erstes Rückstellmoment auf die vollständig eingetauchte Andockstation (5) mit einer Lage, welche sich zwischen der negativen Andocklage und der Nulllage befindet, ausgeübt wird, wenn das Unterwasserfahrzeug (2) im Anschlag an dem Anschlag (9) ist, damit der Rückenträger (8) durch Drehung der Andockstation in Bezug auf das Unterwasserfahrzeug in einer vertikalen Ebene gegen das Unterwasserfahrzeug (2) gedrückt wird.
  4. Andockvorrichtung nach einem der vorhergehenden Ansprüche, wobei die Andockstation dergestalt konfiguriert ist, dass ein Schwerpunkt der Andockstation (5) und ein Formschwerpunkt der Andockstation (5) so angeordnet sind, dass ein erstes hydrostatisches Rückstellmoment auf die mit einer Nulllage vollständig eingetauchte Andockstation (5), wenn das Unterwasserfahrzeug (2) im Anschlag an dem Anschlag (9) ist, dergestalt ausgeübt wird, dass, der Rückenträger (8) durch Drehung der Andockstation in Bezug auf das Unterwasserfahrzeug in einer vertikalen Ebene gegen das Unterwasserfahrzeug (2) gedrückt wird.
  5. Andockvorrichtung nach dem vorhergehenden Anspruch, wobei der Schwerpunkt sich hinter dem Anschlag (9) entlang der Längsachse (x) befindet.
  6. Andockvorrichtung nach einem der vorhergehenden Ansprüche, wobei die Andockstation (5) dergestalt konfiguriert ist, dass eine Resultierende des durch einen Teil der Andockstation, welcher sich hinter dem Anschlag oder hinter der Andockposition des Ziehpunkts befindet, erzeugten Auftriebs nach unten ausgerichtet oder gleich null ist.
  7. Andockvorrichtung nach einem der vorhergehenden Ansprüche, wobei die Andockstation (5) dergestalt konfiguriert ist, dass ein Schwerpunkt der Andockstation und ein Formschwerpunkt der Andockstation dergestalt angeordnet sind, dass, wenn das Unterwasserfahrzeug (2) an dem Anschlag (9) im Anschlag ist, ein zweites hydrostatisches Rückstellmoment auf die Andockstation (5) um die Längsachse (x) ausgeübt wird, wenn die Lage der Station gleich null ist, sodass die Andockstation (5) eine stabile Gleichgewichtsposition in der Drehung rund um die Längsachse x in Bezug auf das Unterwasserfahrzeug (2) aufweist.
  8. Andockvorrichtung nach dem vorhergehenden Anspruch, wobei der Schwerpunkt der Andockstation (5) sich unterhalb der Längsachse (x) befindet, wenn die Lage der Andockstation sich zwischen der Andocklage und der Nulllage befindet.
  9. Andockvorrichtung nach einem der Ansprüche 7 bis 8, wobei die Andockstation (5) eine Gruppe von Führungsarmen umfasst, welche um den Anschlag verteilt sind, welche in der Lage ist, in einer ausgebreiteten Konfiguration zu stehen, in welcher sie es ermöglichen, das Unterwasserfahrzeug in Richtung des Anschlags (9) zu führen, wobei die Gruppe von Armen untere Arme umfasst, welche unterhalb der Längsachse (x) befindlich sind, wenn die Achse (x) horizontal ist und die Andockstation in der stabilen Gleichgewichtsposition ist, wobei die unteren Arme eine mittlere Dichte aufweisen, welche größer als diejenige von Armen der Gruppe von Armen ist, welche sich oberhalb der Achse (x) befinden.
  10. Andockvorrichtung nach einem der vorhergehenden Ansprüche, umfassend das Kabel, wobei das Kabel mit dem Körper (7) der Andockstation (5) dergestalt verbunden ist, dass der Ziehpunkt (T) sich entlang der Längsachse (x) in Bezug auf den Körper (7) nach vom bewegt, wenn das Unterwasserfahrzeug (2) am Anschlag (9) in Anschlag geht.
EP19828756.7A 2018-12-28 2019-12-20 Andockvorrichtung für ein unterwasserfahrzeug Active EP3902742B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1874303A FR3091256B1 (fr) 2018-12-28 2018-12-28 Dispositif d’accueil pour un vehicule sous-marin
PCT/EP2019/086616 WO2020136113A1 (fr) 2018-12-28 2019-12-20 Dispositif d'accueil pour un vehicule sous-marin

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EP3902742A1 EP3902742A1 (de) 2021-11-03
EP3902742B1 true EP3902742B1 (de) 2023-06-07
EP3902742C0 EP3902742C0 (de) 2023-06-07

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US (1) US11414163B2 (de)
EP (1) EP3902742B1 (de)
JP (1) JP2022515066A (de)
AU (1) AU2019412732A1 (de)
CA (1) CA3124897A1 (de)
FR (1) FR3091256B1 (de)
SG (1) SG11202106505QA (de)
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IT202200011063A1 (it) * 2022-05-26 2023-11-26 Saipem Spa Dispositivo di collegamento per collegare un veicolo subacqueo senza equipaggio ad un veicolo galleggiante e gruppo di navigazione comprendente detto dispositivo di collegamento
CN115158609B (zh) * 2022-06-15 2023-10-27 西北工业大学 一种笼式水下基站系统以及水下航行器
CN115042943B (zh) * 2022-06-19 2023-10-27 西北工业大学 一种可变结构的水下航行器动态对接回收装置
CN115743412B (zh) * 2022-11-28 2024-01-26 深海技术科学太湖实验室 一种自治式潜器自适应回收装置及回收方法

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SG11202106505QA (en) 2021-07-29
JP2022515066A (ja) 2022-02-17
AU2019412732A1 (en) 2021-07-22
FR3091256A1 (fr) 2020-07-03
EP3902742C0 (de) 2023-06-07
WO2020136113A1 (fr) 2020-07-02
EP3902742A1 (de) 2021-11-03
US11414163B2 (en) 2022-08-16
FR3091256B1 (fr) 2021-06-25
US20220063780A1 (en) 2022-03-03
CA3124897A1 (fr) 2020-07-02

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