EP3906188A1

EP3906188A1 - Docking device for an underwater vehicle

Info

Publication number: EP3906188A1
Application number: EP19829593.3A
Authority: EP
Inventors: François CADALEN; Olivier Jezequel; Michaël JOURDAN
Original assignee: Thales SA
Current assignee: Thales SA
Priority date: 2018-12-28
Filing date: 2019-12-20
Publication date: 2021-11-10
Anticipated expiration: 2039-12-20
Also published as: US12012191B2; US20220161913A1; FR3091258B1; CA3124900A1; SG11202106211WA; JP7418436B2; EP3906188B1; JP2022515065A; FR3091258A1; WO2020136114A1; EP3906188C0; AU2019416005A1

Abstract

Docking device comprising a docking station capable of being connected to a carrying vessel by means of a cable, the docking station comprising a guide device which comprises a set (E) of arms (51) which are connected to the body and each comprise a distal end (ED) and a proximal end (EP), the set (E) of arms (51) being capable of being in a deployed configuration in which it defines a space flaring towards the rear so as to enable the underwater vehicle to be guided to the stop, the distal end (ED) of each arm (51) being located behind the proximal end (EP) of the arm (51) in the deployed configuration, the set (E) of arms being capable of being in a collapsed configuration in which a distal end (ED) of each arm (51) of the set (E) of arms is closer to the longitudinal axis (x) than in the deployed configuration and in which the distal end (ED) is located in front of the position occupied by the distal end (ED) in the deployed configuration, such that a length, along the axis x, of a space defined by the set (E) of arms (51) behind the stop is smaller in the collapsed configuration than in the deployed configuration.

Description

Title of the invention: Docking device for an underwater vehicle

The field of the invention is that of devices and methods for handling an autonomous underwater vehicle or AUV (acronym for the English expression "Autonomous Underwater Vehicle") to facilitate its recovery on board of a load-bearing vessel, in rough seas. The carrier vessel is, for example, a surface vessel or a submarine.

[0002] In heavy seas, the carrier vessel and the AUV to be recovered on board the carrier vessel are driven by large amplitudes unless they are equipped with expensive stabilizers. The movements, linked to the swell, are random.

In addition, the maneuvering capacities 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 capacities. The carrier vessel can maneuver but the maneuvers are heavy and long. The techniques for recovering AUV on board a load-bearing vessel can be classified into 2 main families.

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 AUV positions itself in a “zone” dedicated to recovery by the load-bearing building near the latter. These solutions are relatively simple to implement in calm seas but the risk level for the equipment, even for the operators is extremely high as soon as the sea is formed.

In prior capture solutions, 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 load-bearing building. This solution is preferably used in heavy seas, since the risk of collision with the ship is greatly reduced or even canceled. The critical steps in recovering an AUV are the step of creating a link between the carrier ship and the AUV and the step of boarding the AUV on board the ship. A lifting tool, of the crane type, is generally used on board for various lifting operations. This lifting tool simply makes it possible to raise the AUV linked to a capture station on board the carrying vessel from the surface of the water and then to deposit it on the platform of the carrying vessel.

We know solutions in which we just establish the physical link between the AUV and the carrier building by means of a flexible link that is attached on top of the AUV to allow, then, its recovery from above by a crane or gantry type device.

A solution of this type is disclosed in patent application FR 2931792, filed by the applicant. This solution comprises a recovery nacelle 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 nacelle includes a backbone extending above the AUV after the AUV has docked. The nacelle is intended to be suspended from a cable in a position in which the beam is horizontal to a predetermined depth for the purpose of docking the AUV. The nacelle includes blocking means making it possible to make the AUV integral with the beam once the AUV has docked.

This solution avoids the intervention, which can be difficult in heavy weather, of an operator to establish the link between the ship and the autonomous underwater vehicle.

When the nose is housed in the receiving means and in abutment against these means, under the action of the movement imparted by the AUV and the inertia of the nacelle the latter takes a rotational movement in the horizontal plane and the vertical plane, movement which has the effect of aligning the axis of the beam on the axis of the AUV and bringing the beam closer to the wall of the AUV. The plating of the dorsal beam on the wall of the AUV is thus obtained by a dynamic effect of the impact between the AUV and the reception means. It requires the maintenance in movement of the AUV upon impact. This means that this tackle is transient. The nacelle returns to its horizontal position at the same depth after the effect of the shock. However, as the AUV must have a positive longitudinal attitude (called “pitch” in English terminology) in order to be able to abut against the reception means without being hindered by the backbone, the backbone moves away from the AUV after the effect of the shock. The AUV must therefore be blocked as soon as the axes of the AUV and the body are aligned in order to make the AUV integral with the body before the reception device resumes its initial inclination. The probability of blocking failure is high. Furthermore, 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 conserve sufficient energy for docking and therefore to limit the duration of his mission.

Furthermore, 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 heavy weather.

An object of the invention is to limit at least one of the above-mentioned drawbacks.

To this end, the invention relates to a reception device for an underwater vehicle, the reception device comprising a reception station capable of being connected to a carrier building, the reception station comprising a body comprising a stop making it possible to block a movement of the underwater vehicle with respect to the body along a longitudinal axis passing through the stop, in a direction from the rear to the front defined by the longitudinal axis, the station reception comprising a guide device for guiding the underwater vehicle towards the stop, the guide device comprising a set of arms connected to the body and each comprising a distal end and a proximal end, the arms being distributed around the stop, the arm assembly being able to be in a deployed configuration in which it delimits a volume flaring towards the rear so as to allow the underwater vehicle to be guided towards the stop, the distal end of each arm being located behind is the proximal end of the arm in the deployed configuration, the arm assembly being adapted to be in a folded configuration in which a distal end of each arm the assembly is closer to the longitudinal axis than in the deployed configuration and in which the distal end is in front of the position occupied by the distal end in the deployed configuration so that a length, along the x axis , of a volume delimited by the set of arms behind the stop (is lower in the folded configuration than in the deployed configuration.

Advantageously, the docking station includes locking means making it possible to make the underwater vehicle, in abutment against the abutment, secured to the body.

In a first embodiment, at least one arm of the assembly is slidably mounted relative to the stop along the axis so that the arm undergoes a translational movement forward, relative to the stop , when switching from the deployed configuration to the folded configuration.

Advantageously, the proximal end of the arm is pivotally mounted on a slide slidably mounted relative to the stop so that the distal end is able to approach the x axis, by rotation of the arm relative to the slide, when the slide advances along the axis during the transition from the deployed configuration to the folded configuration.

In a second embodiment, the proximal end of at least one arm of the assembly is fixed in translation along the longitudinal axis relative to the stop.

Advantageously, the proximal end of the arm is pivotally mounted relative to the stop so that the distal end is able to approach the x axis and advance along the x axis, by rotation of the end proximal to the stop when switching from the deployed configuration to the folded configuration.

Advantageously, the body comprises slots elongated along the axis x receiving the distal ends of the arms in the folded configuration.

Advantageously, the body comprises a beam extending longitudinally parallel to the longitudinal axis away from the stop backwards. Other characteristics and advantages of the invention will appear on reading the detailed description which follows, given by way of nonlimiting example and with reference to the appended drawings in which:

FIG. 1 schematically represents a reception device according to the invention towed by a load-bearing building and approached by an AUV,

FIG. 2a schematically represents a side view of a docking station having a negative docking plate, being approached by the AUV and having a set of arms in a deployed configuration,

FIG. 2b schematically represents a view from behind the docking station in the configuration of FIG. 2a,

FIG. 3 schematically shows in perspective a docking phase of the AUV on the docking station 5,

FIG. 4 schematically represents in perspective a phase of plating the docking station on the AUV in abutment against an abutment of the docking station,

FIG. 5 schematically represents a view from behind the docking station 5 pressed against the AUV in abutment against the abutment,

FIG. 6 schematically represented in top view a partial view of FIG. 5,

FIG. 7a schematically shows a side view of the docking station 5 pressed against the AUV in abutment against the abutment with all of the arms in the folded configuration,

FIG. 7b schematically represents a top view of FIG. 7a,

FIG. 7c schematically represents an example of locking means,

FIG. 8a schematically represents handling means, the docking station being in abutment against a support of the handling means,

FIG. 8b schematically represents the handling means after pivoting relative to FIG. 8a, FIGS. 9a to 9d schematically represent a series of steps through which the guide device passes according to an example of a first embodiment, to go from the deployed configuration to the folded configuration,

Figures 10a to 10e schematically show a series of steps through which passes the guide device according to a second embodiment, to go from the deployed configuration to the folded configuration.

Figure 1 1 schematically shows an example of connection between the cable and the body of the docking station.

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

In Figure 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 may be a surface ship, that is ie intended to navigate on the surface of the water, or a submarine. This reception device 1 makes it possible to establish a link between the support building 3 and the AUV 2, by means of a cable 4 connecting the reception station 5 to the support building 3.

The cable 4 advantageously belongs to the reception device 1. It can be intended to be connected to the reception 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 fully submerged from above the station. Home.

For example, the carrier building 3 is intended to be located at a lesser depth than the docking station 5 but this is not mandatory, the important thing being that the pull point Tb of the cable on the building carrier 3 is at a depth less than the pulling point T of the cable on the docking station 5. By pulling point also called towing point or "tow point" in English terminology, means 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 able to cooperate with the cable 4 so as to allow the docking station 5 to be connected to the carrier building 3 via the cable 4. The cable 4 is then fixed to the connection element 40. The connection element 40 takes up the tensile force F exerted by the cable 4 on the body 7 of the docking station 5.

As shown in Figure 2a, 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.

AUV 2 comprises a central part 2C generally cylindrical with an axis of cylinder x1 connecting the nose 2N to the rear part 2AR. The rear part 2AR comprises a 2P propellant 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 AR to front AV. The body 7 comprises a beam 8 extending longitudinally parallel to the x axis.

In the following text, the terms front, front, rear and behind are defined in the direction of the x axis. The top and bottom are defined along a vertical axis of a terrestrial frame of reference.

The body 7 also includes a stop 9. The beam 8 extends longitudinally from a rear end of the beam 8 towards the stop 9, for example up to the stop 9. The stop 9 is integral with the beam 8 .

As shown in Figure 2b showing a rear view of the docking station 5 in the position of Figure 2a, the stop 9 has, for example, a concave shape so as to be able to receive the nose 2N of the 'AUV. The shape of the stop 9 is, for example, complementary to that of a part of the nose 2N comprising the front end 2AV. This form is not limiting, it can, by example, as a variant, present a shape of a crown, a shape of a plate perpendicular to the x axis. The stop 9 can extend continuously over its entire surface or it can have at least one opening (it can for example have a grid shape), it can have a fixed shape or be deformable under the effect of the support from AUV.

The stop 9 allows to block the movement of the AUV relative to the body 7 along the x axis passing through the stop 9, in the direction defined by the x axis (that is to say forward AV of the docking station 5), when the nose 2N of the AUV bears against the stop 9, during a docking phase shown in FIG. 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 opposite the AUV 2 when the AUV 2 is in abutment against the abutment 9. More specifically, the beam 8 extends opposite a part of the AUV 2 situated behind the nose 2N in abutment against the abutment 9. The AUV 2 advances along the beam 8 towards the stop 9 to come into abutment against the stop 9.

In the embodiment of the figures, the beam 8 and the stop 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 abutment 9.

The buoyancy acting on a body is the result of the difference between the buoyancy and the weight of the body. This force can be directed from bottom to top (positive buoyancy, weight less than the buoyancy) or from top to bottom (negative buoyancy, weight greater than the buoyancy). The fully submerged docking station 5 advantageously has 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 plating 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 making it possible to plunge the station such as, for example, means for adjusting the buoyancy of the station or adjustable orientation wings which are expensive means. and binding. Alternatively, the docking station 5 has zero or positive buoyancy.

It should be noted that the docking station 5 is intended to be towed by the carrier building 3, in the direction from the rear AR towards the front AV, when the AUV 2 approaches the stop . Thus the x axis has a preferred direction which allows the AUV to more easily reach the stop.

Advantageously, the docking station 5 is hydro-dynamically profiled, and has a center of gravity and a center of the hull arranged in a particular way and the pulling point T is able to occupy a position defined in a particular way. so that the docking station 5 has a negative predetermined longitudinal attitude (front end AV located at a greater depth than the rear end AR), when the docking station 5 is fully submerged and towed by the load-bearing building 3 from above at a predetermined positive speed in the direction of the longitudinal axis x as shown in FIG. 1, 2a and 2b and 3. The longitudinal attitude of the docking station 5 is the attitude of the body 7 of the docking station on which the cable is pulled.

The longitudinal reception attitude is fixed when the speed is fixed.

The position of the hull center 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.

In Figures 1, 2a, 2b and 3, we see that with a negative longitudinal attitude, the docking station 5 is in a position favorable to docking which allows the AUV 2 to come into abutment against the stop 9 with great tolerance on the trajectory of the AUV 2.

The risk of impact of the beam 8 (in particular of the rear end) by the AUV 2 during docking is 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 for the AUV 2.

In order to obtain the negative longitudinal attitude of reception, the pull point T is able to occupy a reception position located behind the point to which applies the result of gravity, buoyancy and hydrodynamic force.

The position of the pull point T relative to the body 7 along the x axis can be fixed or variable as we will see later. In the case of a variable position of the pulling point T relative to the body 7 along the x axis, at least one of its positions along the x axis is defined so as to allow the reception base to be obtained .

Advantageously, the docking station 5 is hydrodynamically profiled so that the result of the lift generated by the part of the docking station located behind the reception position of the pull point is oriented downwards or is null, when the fully submerged docking station is traced by a surface building in the direction from rear AR to front AV. The docking station 5 is then also in a position of balance in roll (zero heel). Thus, the negative longitudinal attitude of reception is obtained mainly by hydrostatic forces. Thus, the firing point is advantageously able to occupy a reception position located behind the point to which the result of gravity and Archimedes' thrust applies.

Preferably, the pull point T is able to occupy a position of the pull point located behind the center of gravity.

Advantageously, the reception device is configured so that the pull point T occupies its reception position when the fully submerged docking station is towed by the carrier building 3 before the AUV 2 comes in. stop against the stop.

When the AUV 2 abuts against the stop 9, as visible in FIG. 3, the beam 8, is pressed against the AUV 2 during a plating phase, as visible in FIG. 4, under the action of a dynamic effect due to the movement printed forward by the AUV in abutment against the abutment 9. This plating is obtained by a rotational movement of the docking station 5 and 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 in abutment against the AUV 2. The AUV 2 is then connected to the load-bearing building 3 via the cable 4.

Locking takes place during a capture phase subsequent to the plating phase.

When the AUV 2 abuts against the stop 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 no longer pulls on the docking station 5.

Advantageously, the docking station is hydrodynamically configured and has a center of gravity and a center of the hull arranged so that a first return torque is exerted on the fully submerged docking station 5 having the longitudinal attitude. when the AUV 2 is in abutment against a point P of the abutment 9, as shown in FIG. 3, so as to press the dorsal beam 8 against the AUV 2, by rotation of the docking station 5 compared to AUV 2 in a vertical plane defined in the terrestrial frame of reference.

The longitudinal reception plate is advantageously between - 15 ° and -5 °.

Thus, the back beam 8 is pressed against the AUV, as shown in Figure 4, in a durable manner. This durable plating allows sufficient time to join the AUV 2 with the body 7 during a capture phase. The risk of capture of the AUV is therefore limited. This solution allows the dorsal beam 8 to be pressed 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 5 at the time of docking so as to drive the docking station 5 and relax the cable 4. Once the cable 4 is relaxed, the first hydrostatic couple ensures the plating of the backbone 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 amount 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 base 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 5 with its horizontal axis x1 horizontal, for example.

Advantageously, the docking station is configured so as to undergo a first return torque when its longitudinal attitude is zero (horizontal x axis) and the beam 8 is in abutment against the AUV 2 so as to tend to flatten beam 8 on the AUV. This provides a durable tackle.

Once the AUV is in abutment against the stop, the balance of the moments applied to the docking station 5 is no longer made with respect to the pull point but is made with respect to the point P of the stop 9, on which the AUV 2 is in abutment. The first restoring torque is therefore exerted around a horizontal axis of rotation r represented in FIG. 2b passing through the stop 9, for example by the support point P of the AUV 2 on the stop 9 in the direction shown in Figure 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 result of the force of support of the vehicle on the stop 9 when the axes x and x1 are parallel.

The first return torque tends to rotate the beam 8 around the axis of rotation r so as to lower the rear end AR relative to the stop 9.

In order to obtain the return torque ensuring lasting plating, the pulling point reception position T is advantageously behind the stop 9, preferably behind the point P. This solution is simple and allows d '' avoid having to provide complex means using hydrodynamics to obtain the first return torque.

Advantageously, 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 result of the moments of the hydrodynamic forces relative to the stop is substantially zero. when the reception station has the longitudinal reception attitude and / or a zero attitude. The first return torque is then substantially a first hydrostatic return couple. In these cases, the durable plating is then independent of the speed (difference between the horizontal speed of the AUV and that to which the docking station is towed when the AUV bears 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 rear tail arranged near the rear AR of the station configured to generate a downward lift. The tail must be sized for this purpose according to the rest of the docking station.

In all cases, the docking station advantageously has a center of gravity and a center of the hull arranged so that a first hydrostatic return torque is exerted on the fully submerged docking station 5 presenting the trim longitudinal reception when the AUV 2 is in abutment against the abutment 9, as shown in FIG. 3, so as to press the dorsal beam 8 against the AUV 2, by rotation of the docking station 5 relative AUV 2 in a vertical plane defined in the terrestrial frame of reference. This ensures durable plating at least at low speed.

The first hydrostatic return torque experienced by the docking station 5 around the axis of rotation r passing through P is the sum of the torque linked to the gravity exerted on the docking station 5 around the same axis and of the torque linked to the Archimedes thrust exerted on the docking station 5 around the same axis. Thus, in order to obtain the plating effect, 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 induces this first hydrostatic booster couple. The mass of the docking station 5 generates a downward force applied to the center of gravity and the volume generates an upward force (Archimedes' thrust) applied to the center of the hull. This solution has the advantage of being simple, safe and inexpensive. Being passive, this solution does not require a balancing device with variable density of the ballast type to ensure plating against the AUV.

Advantageously, the center of gravity and the center of the hull of the body 7 of the fully submerged docking station 5 occupy fixed positions.

One of the possibilities for obtaining the first hydrostatic couple 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, either disposed 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 station d 5. However, the position of the center of the hull has a significant effect only if the docking station is light. When the docking station is very heavy, we can consider a center of hull located behind the stop or even behind the center of gravity.

Advantageously, the center of gravity and hull are arranged so that the docking station always undergoes the first hydrostatic return torque when its longitudinal attitude is zero (horizontal x axis) and the beam 8 is in abutment against the 'AUV 2.

It should be noted that the first booster couple or the first hydrostatic booster couple 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 loose. The docking station 5 can undergo but no longer necessarily undergoes this first booster couple or this first hydrostatic booster couple once the cable tows the docking station 5 again.

As shown in Figures 3 and 5, the body 7 may include a tail unit 10 located behind the stop 9. The tail unit 10 is disposed near the rear end of the beam 8 or at the end of the beam 8 , near the rear AR of the body 7. This tail is configured to generate a downward lift. It is then possible to play on the density of the tail to play on the position of the center of gravity of the station.

In the non-limiting embodiments of the figures, the body 7 of the docking station 5 comprises a tail unit 10 in inverted V comprising two tail units 10a, 10b each forming one of the branches of the inverted V.

Advantageously but not necessarily, 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 attitude at equilibrium when subjected only to Archimedes' push and gravity. This helps promote tackling.

As a variant, the longitudinal attitude at equilibrium is, for example, zero.

Figure 5 shows, schematically a view from behind the docking station and the AUV 2 in the configuration of Figure 4. In this configuration, the AUV 2 abuts against the stop 9, its longitudinal axis x1 being confused with the x axis. The longitudinal axis x passes through point P. It is intended to bring the reaction from the stop 9 to the support of the AUV 2 on the stop 9.

Advantageously, the docking station 5 is configured so that its center of gravity and its center of the hull are arranged so that when the AUV 2 is in abutment against the abutment 9 and the dorsal beam 8 is pressed against 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 station reception 5 has a stable equilibrium position in rotation about the longitudinal axis x relative to the AUV 2 as shown in Figures 4 and 5. The second hydrostatic return torque prevents the tilting of the station d reception 5 on the static side, 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 shown in FIGS. 4 and 5 is stable in rotation around the longitudinal axis x.

Advantageously, the docking station 5 is configured so that its center of gravity and its center of the hull are arranged so that when the AUV 2 is in abutment against the abutment 9 and the docking station 5 completely submerged has a zero attitude and preferably when the attitude is between a attitude between the reception attitude and a zero attitude, a second hydrostatic booster is exerted on the reception station 5 around the longitudinal axis x so that the docking station 5 has a stable equilibrium position in rotation about the longitudinal axis x relative to the AUV 2 which makes it possible to avoid tilting the docking station 5 before 'she does not come to press on the AUV. Advantageously, the stable equilibrium position is the roll equilibrium position.

This position is for example a zero heeling position in which a vertical plane comprises the longitudinal axis x which is the roll axis and constitutes an axis of symmetry of the docking station 5. In the position of balance in roll, the center of gravity and the center of hull belong to the same vertical plane containing the axis x.

Alternatively, the docking station 5 has a non-zero heel of a few degrees in the position of balance in roll.

This roll stability makes it easier to recover the AUV because the station also occupies this stable position in roll before the AUV is approached.

In the non-limiting embodiment of Figure 1, the vertical plane is a plane of symmetry of the tail in inverted V which is astride the AUV when the docking station is pressed against the AUV as visible in Figure 5.

To avoid the tilting of the docking station 5 to the side, the center of gravity of the docking station 5 is offset vertically relative 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 attitude of the docking station is the zero attitude and preferably when it is between the reception attitude and the zero attitude.

For this purpose, the center of gravity is located below the center of the hull when the attitude of the docking station is zero and preferably when it is between the attitude of the docking station and the zero attitude or at least when the attitude is zero. This achieves the roll balance position when the cable is soft.

In one embodiment of the invention, the center of gravity is located below the x axis, when the base of the docking station is between the reception base and the zero attitude or at least when the plate is zero. This solution is simple, it avoids having to provide a very high hull center. The center of the hull can also be under the x axis (especially for a heavy station configuration). For this purpose, the docking station 5 (or else the body 7 of the docking station) comprises an upper part PS situated above a horizontal plane H containing the horizontal x axis and a part lower PI located below the horizontal plane when the docking station 5 is in its stable equilibrium position. The mass distribution 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 located 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.

In the nonlimiting embodiment of the figures, each individual tail 10a, 10b extends from the beam 8 to a lower end of the individual tail 10a, 10b located in the lower part PI of the station 5, c ' that is to say deeper than the x axis when the longitudinal axis is horizontal and the support structure 5 is in the stable equilibrium position. This configuration lowers 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. We can for example consider having weights at the lower end of each individual tail.

The reception device according to the invention allows a simple, passive and robust capture process.

Alternatively, the beam 8 and the stop 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 abutment 9.

Advantageously, as visible in FIG. 2a, the pulling point T is able to move along the longitudinal axis (x) relative to the body 7.

The mobility of the firing point makes it possible to adapt the attitude of the docking station as a function of its speed, its condition (with or without AUV) or the phase of the mission (Capture of the AUV or recovery from the station on board the ship). This minimizes the impact of the vessel's movements linked to the swell by releasing or resuming the tension in the cable. For example, as visible in FIG. 11, the pull point T is able to slide along the axis x relative to the body 7.

The cable is for example fixed to a bracket 40 mounted to pivot about an axis of rotation y relative to the body 7, the axis of rotation y being slidably mounted relative to the body 7 along an axis x2 parallel to the longitudinal axis x. To this end, 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 allow the y axis to slide relative to the body 7. Note that, except 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 useful if rapid control is desired.

Advantageously, the cable 4 is connected to the body 7 of the docking station 5 so that the pull point T advances along the axis x relative to the body 7, when the AUV 2 comes in abutment against abutment 9, for example under the effect of the AUV pressing on abutment 9. In other words, the adjustment means are configured to advance the pull point along the x axis relative to the body 7, when the AUV 2 abuts against the stop 9. This accelerates the plating of beam 8 on the AUV 2 and minimizes the power requirement of the AUV.

Advantageously, 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 pulling point T such that the docking station 5 has a negative longitudinal attitude, when the fully submerged docking station is towed by the carrier building before the AUV comes into abutment against the AUV (before docking).

This reception position of the pull point is advantageously behind the stop 9.

The reception device 1 comprises adjustment means making it possible to adjust the position of the pull point T relative to the body 7 along the x axis. The adjustment means can be passive (without control means of the type program) or active (remotely controlled by an operator or by station control means).

The passive adjustment means may include 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, compressed spring is maintained by a trigger which 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.

Advantageously, as can be seen in FIG. 6, the docking station 5 comprises a guide device 50 comprising a set E of guide arms 51 arranged around the stop. The set E of arms 51 able to be in a deployed configuration shown in FIGS. 2a, 2b, 3, 6a and 6b in which it makes it possible to guide the AUV 2 towards the stop 9. The deployed configuration of the arms is stable in the absence of AUV resting on the guide structure.

In the deployed configuration, the set of arms delimits a first volume capable of receiving the nose 2N of the AUV 2 and flaring away from the stop 9 along the x axis towards the rear of so as to allow the AUV 2 to be guided towards the stop 9 to pass from the configuration of FIG. 1 to that of FIG. 3 during the docking phase during which the set E of arms is in the deployed configuration.

As seen in Figures 2a, 2b and 3, the arms 51 are arranged around the stop 9 and distributed angularly around the axis x. Each arm 51 of the set E of arms has a distal end ED and a proximal end EP referenced on a single arm in FIG. 6 for clarity. Each arm 51 of the arm assembly E is connected to the body 7 by its proximal end EP.

In the deployed configuration visible in FIG. 6, the distal end ED of each arm 51 of the assembly E is located behind the proximal end EP. In other words, 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 include a single stable configuration which is the deployed configuration. Advantageously, the arm assembly 51 is able to be in a folded configuration as visible 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 tackling and / or capture phase of the AUV 2.

As shown in Figures 7a and 7b, in the folded configuration, each distal end ED is closer to the x axis than in the deployed configuration. In other words, when the arms are folded, 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 ship. It makes it possible to provide arms of considerable 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 guiding of the AUV towards the stop. 9 with great 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 able to cooperate with the AUV to make the AUV integral with the body 7 of the reception structure 5 during a capture phase. Advantageously, the locking means are configured to allow the body 7 to be secured to 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 can comprise at least one latch 43, an example of which is shown in FIG. 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 FIG. 7c, in which it can penetrate into the body of the AUV so as to cooperate with a fastener 45 of the AUV to keep 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 coming to surround the body of the AUV so as to block the body of the AUV relative to the body of the docking station 5.

The receiving device is advantageously part of a recovery device 100 comprising handling means 102 shown in Figure 8a comprising means for winding the cable 4, such as a winch, during a winding phase subsequent to the capture until the capture station 5 comes to bear 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 the AUV secured to the body of the capture station upwards. It can also help prevent the vehicle from pivoting about a vertical axis. The handling means 102 further comprise displacement means 103 making it possible to move the docking station 5 linked to the AUV and bearing on the support 101 in order to deposit it on a support of the vehicle 104. The displacement means 103 include for example a crane to which the support 101 is suspended comprising articulated arms. The displacement means comprise drive means making it possible to pivot an arm 105 of the crane, on 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. In the nonlimiting embodiment of FIG. 8b, the support 106 has a bearing surface 107 of shape substantially complementary to the central part 2C of the AUV 2, that is to say of the shape of a portion of cylinder .

In the folded configuration, the set E of arms 51 delimits a reduced size in the transverse plane which makes it easier to handle and store the capture station on board the carrier ship 3.

Folding the set E of arms 51 after the capture of 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 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 risk of the tipping 'AUV likely to be induced by the docking station and thus improve its stability. In addition, it is possible to come and place the AUV on its support directly with the crane or gantry having raised the reception device. It is not necessary to separate, beforehand, the AUV from the body 7 of the docking station 5. The 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 may be advantageous in the case of a beam extending over the bottom of the AUV.

Advantageously, each arm 51 of the set of arms E 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 improves its stability of the AUV on its support.

Advantageously, 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. In other words, the set of arms delimits a volume having substantially the shape of a cylinder portion in the folded configuration. This configuration ensures good compactness in the folded configuration and further improves the stability of the AUV on its support.

In the nonlimiting example of FIGS. 6 to 7a, 7b, the distal ends ED of the arms 51 are free.

In the folded configuration, each distal end ED is in front of the position it occupies in the deployed configuration. In other words, during the folding of the arms 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 .

Thus, 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 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 at least partially free the periphery of the AUV 2 after the capture, by the folding of all of the arms.

This configuration is particularly advantageous in the case where the beam is arranged relative to the stop so as to be intended to be located 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 placed on the belly or the flanks 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 characteristic is of interest when the AUV is made integral with the docking station 5 only temporarily, for example, for the purpose of recharging its batteries and / or recovering data.

This reasoning also applies in the case of a beam 8 arranged relative to the stop 9 so as to be intended to be located below the AUV in abutment against the stop, for example to avoid the masking of sensors or antennas located on the top or on the sides of the AUV.

Two embodiments of guide devices are shown in Figures 9a to 9d and 10a to 10e.

In a first embodiment, an example of which is shown in FIGS. 9a to 9d, the distal end ED of each arm advances forwards while remaining permanently behind the proximal end EP, during the passage from the deployed configuration to the folded configuration.

In the nonlimiting example of FIGS. 9a to 9d, each arm 51 of the assembly is mounted on the body 7 of the docking station so that the arm 51 advances forward, relative to the stop 9, during the transition from the deployed configuration to the folded configuration.

In the nonlimiting example of Figures 9a to 9d, each arm 51 is slidably mounted relative to the stop 9 along the axis x so that the arm 51 undergoes a translational movement forward, relative at the stop 9, during the transition from the deployed configuration of FIG. 9a to the folded configuration of FIG. 9d passing through the successive intermediate configurations of the successive figures 9b and 9c.

RECTIFIED SHEET (RULE 91) ISA / EP Thus, each arm 51, as a whole, undergoes a translational movement forward along the axis x, relative to the body 7, during the transition from the deployed configuration to the folded configuration. The distal end ED of each arm 51 remains behind its proximal end EP during the transition from the deployed configuration to the folded configuration

To this end, the proximal end EP of the arm 51 is pivotally mounted on a slider 52 mounted to slide relative to the stop 9 along the axis x so that the distal end ED is able to approach the axis x, by rotation relative to the slide 52, when the slide 52 advances along the x axis during the transition from the deployed configuration of FIG. 9a to the folded configuration of FIG. 9d.

So that the distal end ED approaches the x axis by rotation relative to the slide 52, when the slide 52 advances along the x axis during the transition from the deployed configuration to the folded configuration, the device guidance advantageously comprises drive or coupling means making it possible to simultaneously generate a movement of the slide 52 towards the front AV, the rotation of the arm around the axis of the pivot link connecting the proximal end EP to the slide 52 in a direction defined so that the distal end ED of the arm 51 approaches the axis x and vice versa.

In the particular example of Figures 9a to 9d, the proximal end EP of each arm 51 is mounted on a slider 52 slidably mounted 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 slide 52 by a pivot link fixed relative to the slide 52 and with the axis of rotation of the pivot link substantially tangential to the x axis. The drive means comprise forks 53 in the form of link 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 x axis disposed between the end proximal EP and the distal end ED of the arm 51. A second longitudinal end E2 of the fork 53 is connected to the body 7 by a second pivot connection with an axis substantially tangential to the x axis. The second end E2 of the fork is disposed behind the slide 52 along the axis x. In this way, when the set E of arms 51 is in the deployed configuration, a translation of the slider 52 relative to the body 7 towards the front AV along the axis x causes, by the articulations of the forks to the arms, a translation of the arm 51 forwards combined with bringing the distal ends of each arm 51 closer to the whole of the x-axis.

As a variant, the proximal end of each of the arms is mounted on a connecting rod which makes it undergo a movement along a curved line when passing from the deployed position to the folded position. Each arm advances forwards with respect to the stop, when passing from the deployed position to the folded position, but the movement of the proximal end is not a sliding movement along the x axis.

In another variant, the arms have, for example, a variable length, they are mounted on the body 7 and controllable, and preferably, controlled so that the distal ends ED of the arms advance during the passage of the configuration deployed in the folded configuration.

For example, each arm is connected to the body by its proximal end EP.

The proximal end EP is fixed in translation along the longitudinal axis x, relative to the body, and pivotally mounted relative to the stop so that the distal end ED approaches the axis x by rotation of the end proximal to the abutment, when passing from the deployed configuration to the folded configuration, and each arm is controlled so that its distal end ED advances when passing from the deployed configuration to the folded configuration. Thus, each arm is controlled so that its length decreases when the distal end approaches the x axis.

In another embodiment shown in figs 10a to 10e, 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 relative to the stop 9 so that the distal end EDb is able to approach or approach the x axis and to advance along the x axis, by rotation of the end proximal EPb relative to the stop 9 when passing from the deployed configuration of FIG. 10a to the folded configuration of FIG. 10f.

The proximal end EPb of each arm 151 is connected to the body 7 by a pivot link 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 passage the distal end EDb from its position in the deployed configuration, in which the EDb end 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 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. In other words, during the transition from the deployed configuration to the folded configuration and vice versa, the arms 151 are turned over. The set E 'of arms 151 passes from the deployed configuration, in which the arms 151 define 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 axis x to reach the folded configuration.

The guide device comprises drive means for ensuring 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.

In the particular example of Figures 10a to 10e, 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 distributed link arms angularly around the x axis. Each fork is connected to one of the arms. A first longitudinal end E1 b of the fork 153 is connected to one of the arms 151 by a pivot link with an axis substantially tangential to the x axis disposed between the proximal end EPb and the distal end EDb of the arm 151. A second longitudinal end E2b of the fork 153 is connected to the slide 152 by a pivot connection with a substantially tangential axis the x axis. Slide 152 is disposed in front of the proximal end EPb of the arm 151 along the axis x. In this way, when the set of arms is in the deployed configuration, a translation of the slide 152 towards the front of the body 7 causes, by the articulations of the fork 153 to the slide 152 and to the arms 151, the rotation of the arms around of their respective axes of rotation relative to the body 7 from their respective positions in the folded configuration to their respective positions in the folded configuration.

In the two embodiments of the figures, the drive means comprise an actuator configured to drive the nut 52 or 152 in translation along the axis x relative to the body 7 so as to pass all of the arms of the configuration folded back to the deployed configuration. The actuator is for example of the hydraulic, electric cylinder type or of the torque motor type.

The slide 52, 152 has, for example, substantially the shape of a circular ring arranged in a plane perpendicular to the x axis, the x axis passing through the center of the ring, the proximal ends EP, EPb are for example distributed on 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 on a circle perpendicular to the x axis passing through the center of the circle and the second ends of the forks are distributed on another circle perpendicular to the axis x passing through the center of the circle. The arms all have the same length. As a variant, the arms and / or the forks can have different lengths, the proximal ends and forks are not necessarily distributed over circles, the nut does not necessarily have the shape of a ring and the axes of the pivot links 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.

Advantageously, the body 7 includes slots F visible in Figures 10c and 10d extending longitudinally parallel to the axis x in which are housed the distal ends EDb of the arms, 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 impact when the guide device is recovered by a crane type device and when installing the AUV on a support. Slots may also be present in the embodiment of Figures 9a to 9d.

Advantageously, the arms 151 are entirely housed in the slots in the folded configuration.

Advantageously, 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 FIG. 9d, 10e.

Advantageously, the arms 51, 151 extend essentially behind the stop 9 in the deployed configuration of FIG. 9a, 10a.

The first embodiment is particularly advantageous. It consumes little energy because, during the transition from the deployed configuration to the folded configuration, the arms do not pass through an intermediate position in which they are substantially perpendicular to the x axis and therefore to the flow of the water around the station. However, this position is the one where the drag is the most important. This solution also makes it possible to limit the instabilities of the recovery station after recovery of the underwater vehicle and during the folding and deployment phases of the arms. In addition, this solution limits the risks of catching marine bodies on the arm. These bodies could weaken the arms, prevent the passage and recovery of an underwater vehicle between the arms or destabilize the recovery station before and after recovery of the underwater vehicle. This solution is therefore robust. This solution also has the advantage of being compact. It can be operated compactly, for example, during test or maintenance phases, when the docking station is on board the carrier vehicle or in a workshop.

Advantageously, as visible in FIG. 5, the set E of arms 51 comprises a set of at least one lower arm Bl belonging to the lower part PI in the deployed configuration and having a density greater than 1 kg / m3 . This characteristic makes it possible to limit the risks of tilting the docking station.

In the nonlimiting case where the arm assembly 51 comprises a set of at least one upper arm BS belonging to the upper part PS in the deployed configuration, the average density of each arm of the assembly of at least one lower arm is greater than the average density of each arm of the assembly of at least one upper arm. This characteristic makes it possible to further limit the risks of tilting of the docking station.

In the embodiments of the figures, the arms have a fixed length.

As a variant, the arms have a variable length. Advantageously, the length of each arm is adjustable independently of the inclination of the arm relative to the x axis, that is to say independently of the distance separating the distal end of the arm from the x axis, and the assembly is able to be in several deployed configurations. This allows you to choose the opening and the length, along the x axis, of the volume delimited by the arms depending on the sea state. In rough seas, it is possible to increase the length of this volume.

The arms are, for example, telescopic.

This variant is applicable to the first and to the second embodiment.

The arm assembly may include at least one arm whose kinematics are in accordance with the first embodiment and / or at least one arm whose kinematics are in accordance with the second embodiment.

The guide device can only comprise the set of arms capable of being in the deployed configuration and in the folded configuration. As a variant, the guide device may comprise another set of at least one fixed guide arm making it possible to guide the underwater vehicle towards the stop.

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.

The docking station shown in the figures is towed by the carrier building 3 via a cable 4. Alternatively, the docking station is attached to the hull of the carrier building or connected to the carrier building via an arm.

In one embodiment of the invention, the underwater vehicle comprises one or more sonar antennas. The underwater vehicle may include at least one sonar antenna for receiving acoustic signals and / or at least one sonar antenna for transmitting acoustic signals.

Advantageously, at least one sonar antenna is arranged so that the arms of the arm assembly are unable to be located in a coverage area of the antenna, that is to say facing the antenna, when the antenna is in abutment against the abutment, the arm assembly being in the folded configuration. By coverage area is meant an area in which the antenna is intended to transmit or receive acoustic signals.

On the other hand, the sonar antenna considered is arranged so as to be able to be located opposite at least one of the arms of the assembly, when the underwater vehicle is in abutment against the abutment, when the arms are located in the deployed configuration.

This ability may depend on the heel of the underwater vehicle and the docking station when the underwater vehicle is in abutment against the abutment. For example, at least one of the arms is opposite the sonar antenna, that is to say in a coverage area of the sonar antenna, when the arm assembly is in the deployed configuration, the vehicle is under sailor in abutment against the abutment, the underwater vehicle and the docking station each having a predetermined heel, each arm being located outside the antenna coverage area when the arm assembly is in configuration folded back, the underwater vehicle being in abutment against the stop, the underwater vehicle and the docking station each having the predetermined heel

The kinematics of the arms according to the invention are particularly suitable for this configuration.

The invention then makes it possible to continue the sonar mission using the sonar antenna even when the arms are in the folded configuration.

This is particularly true when the docking station is towed by a load-bearing building via the cable 4. This is also true when the docking station is attached to the carrier building. ]

Claims

[Claim 1] Docking device for an underwater vehicle, the docking device comprising a docking station (5) capable of being connected to a carrier building (3), the docking station (5) comprising a body (7) comprising a stop (9) making it possible to block a movement of the underwater vehicle (2) relative to the body (7) along a longitudinal axis (x) passing through the stop (9), in a direction of the rear to front defined by the longitudinal axis (x), the docking station (5) comprising a guiding device comprising a set (E) of arms (51) connected to the body (7) and each comprising a distal end (ED) and a proximal end (EP), the arms (51) being distributed around the stop (9), the set (E) of arms (51) being able to be in a deployed configuration in which it delimits a volume flaring towards the rear so as to allow the underwater vehicle to be guided towards the stop (9), the distal end (ED) of each arm (51) being located behind e the proximal end (EP) of the arm (51) in the deployed configuration, the arm assembly (E) being able to be in a folded configuration in which a distal end (ED) of each arm (51) of the arm assembly (E) is closer to the longitudinal axis (x) than in the deployed configuration and in which the distal end (ED) is in front of the position occupied by the distal end (ED) in the configuration deployed so that a length, along the x axis, of a volume delimited by the set (E) of arms (51) behind the stop (9) is shorter in the folded configuration than in the deployed configuration .

[Claim 2] Docking device according to claim 1, wherein the docking station (5) comprises locking means making it possible to make the underwater vehicle, in abutment against the abutment (9), integral with the body ( 7).

[Claim 3] Reception device according to any one of the preceding claims, in which at least one arm (51) of the assembly is mounted on the body (7) and configured and / or controlled so that the distal end ED of the arm advances forward while remaining permanently behind the proximal end EP, during the transition from the deployed configuration to the folded configuration.

[Claim 4] Reception device according to claim 3, in which the arm (51) is mounted on the body (7) so that the arm (51) advances forward, relative to the stop (9) , when switching from the deployed configuration to the folded configuration.

[Claim 5] Reception device according to the preceding claim, wherein at least one arm of the assembly (E) is slidably mounted relative to the stop (9) along the axis (x) so that the arm ( 51) undergoes a translational movement forward, relative to the stop (9), when passing from the deployed configuration to the folded configuration.

[Claim 6] Reception device according to the preceding claim, in which the proximal end (EP) of the arm is pivotally mounted on a slide (52) mounted to slide relative to the stop (9) along the axis (x) so that the distal end (ED) is able to approach the x axis, by rotation of the arm (51) relative to the slide (52), when the slide (52) advances along the axis (x) when switching from the deployed configuration to the folded configuration.

[Claim 7] Reception device according to any one of the preceding claims, in which the proximal end (EPb) of at least one arm of the assembly is fixed in translation along the longitudinal axis relative to the stop (9).

[Claim 8] Reception device according to the preceding claim, in which the proximal end (EPb) of the arm is pivotally mounted relative to the stop (9) so that the distal end (EDb) is able to approach from the x axis and to move along the x axis, by rotation of the end

FIRE I LLE RECTI FIÉE (RULE LE 91) ISA / EP proximal (EPb) relative to the stop (9) when switching from the deployed configuration to the folded configuration.

[Claim 9] A receiving device according to any one of the preceding claims, wherein the body includes slots elongated along the x axis receiving the distal ends (ED) of the arms in the folded configuration.

[Claim 10] Reception device according to any one of the preceding claims, in which the body comprises a beam (8) extending longitudinally parallel to the longitudinal axis (x) away from the stop (9) rearward.

[Claim 1 1] A reception device according to any one of the preceding claims, in which at least one arm has a variable length independently of an inclination of the arm relative to the x axis.

[Claim 12] Reception device according to any one of the preceding claims, comprising a cable (4) connected to the reception station and intended to connect the reception station to the carrier building.

[Claim 13] Reception assembly comprising a reception device according to the preceding claim and a load-bearing building, the cable connecting the docking station to the load-bearing building so as to allow the load-bearing building to tow the fully submerged docking station .

[Claim 14] Submarine assembly comprising a reception device according to any one of claims 1 to 12 and the underwater vehicle, the underwater vehicle comprising a sonar antenna arranged so that at least one arm of the assembly is able to be in a coverage area of the sonar antenna, when the underwater vehicle is in abutment against the abutment, the arm assembly being in the deployed configuration; the arms of the arm assembly being unable to be in the coverage area of the sonar antenna when the arm assembly is in the folded configuration.