EP3906188B1 - Andockvorrichtung für ein unterwasserfahrzeug - Google Patents

Andockvorrichtung für ein unterwasserfahrzeug Download PDF

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Publication number
EP3906188B1
EP3906188B1 EP19829593.3A EP19829593A EP3906188B1 EP 3906188 B1 EP3906188 B1 EP 3906188B1 EP 19829593 A EP19829593 A EP 19829593A EP 3906188 B1 EP3906188 B1 EP 3906188B1
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EP
European Patent Office
Prior art keywords
stop
axis
arm
auv
docking station
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EP19829593.3A
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English (en)
French (fr)
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EP3906188A1 (de
EP3906188C0 (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 EP3906188B1 publication Critical patent/EP3906188B1/de
Publication of EP3906188C0 publication Critical patent/EP3906188C0/de
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    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/56—Towing or pushing equipment
    • B63B21/66—Equipment specially adapted for towing underwater objects or vessels, e.g. fairings for tow-cables
    • 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
    • B63G8/39—Arrangements of sonic watch equipment, e.g. low-frequency, sonar
    • 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
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/008—Docking stations for unmanned underwater vessels, or the like

Definitions

  • the field of the invention is that of devices and methods for handling an autonomous underwater vehicle or AUV (acronym for 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 in relation to its energy carrying capacities.
  • the supporting vessel can maneuver but the maneuvers are heavy and long.
  • AUV recovery techniques on board a carrier vessel can be classified into 2 main 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 pliers for example, or the AUV is positioned itself in a “zone” dedicated to recovery by the supporting building near the latter.
  • 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 rough.
  • 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 preferentially used in rough seas, because the risk of collision with the ship is greatly reduced or even eliminated.
  • the critical stages in the recovery of an AUV are the stage of creating a link between the carrying vessel and the AUV and the stage of boarding the AUV on board the vessel.
  • a lifting tool such as a crane, available on board for various lifting operations. This lifting tool simply allows the AUV linked to a capture station on board the carrier vessel to be raised from the water surface and then placed on the platform of the carrier vessel.
  • a solution of this type is disclosed in the patent application FR 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 spine beam extending above the AUV once the AUV docks.
  • the nacelle is intended to be suspended from a cable in a position in which the beam is horizontal at a predetermined depth for docking of the AUV.
  • the nacelle includes locking means making it possible to secure the AUV to the beam once the AUV has docked.
  • the dorsal beam moves away from the AUV after the effect of the shock.
  • the blocking of the AUV must therefore be carried out as soon as the axes of the AUV and the body are aligned to make the AUV integral with the body before the reception device resumes its initial inclination.
  • the probability of blocking failure is high.
  • the pinning 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 requires 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 position its nose in the reception means, which is a significant disadvantage in the event of large time.
  • An aim of the invention is to limit at least one of the aforementioned drawbacks.
  • the subject of the invention is a reception device for an underwater vehicle according to claim 1.
  • the docking station includes locking means making it possible to make the underwater vehicle, abutting against the stop, integral with the body.
  • At least one arm of the assembly is mounted sliding relative to the stop along the axis so that the arm undergoes a forward translation movement, relative to the stop, when switching from the deployed configuration to the collapsed configuration.
  • the proximal end of the arm is pivotally mounted on a slide mounted sliding relative to the stop so that the distal end is able to approach the axis x, by rotation of the arm relative to the slide, when the slide advances along the axis when switching from the deployed configuration to the folded configuration.
  • the proximal end of at least one arm of the assembly is fixed in translation along the longitudinal axis relative to the stop.
  • 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 proximal end by relative to the stop when switching from the deployed configuration to the folded configuration.
  • the body comprises slots elongated along the x axis receiving the distal ends of the arms in the folded configuration.
  • the body comprises a beam extending longitudinally parallel to the longitudinal axis moving away from the stop towards the rear.
  • FIG. 1 there is schematically represented 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 vessel, that is to say intended to navigate at the surface of the water, or a submarine.
  • This docking 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.
  • the cable 4 advantageously belongs to the docking device 1. It can be intended to be connected to the 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 totally submerged from above the docking station.
  • the supporting building 3 is intended to be located at a shallower depth than the docking station 5 but this is not obligatory, the important thing being that the pulling point Tb of the cable on the supporting building 3 is at a depth less than the pulling point T of the cable on the docking station 5.
  • pulling point also called towing point or "tow point” in Anglo-Saxon terminology, we mean 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 enable the docking station 5 to be connected to the supporting building 3 via the cable 4. Cable 4 is then fixed to the connecting element 40.
  • the connecting element 40 takes up the tensile force F exerted by the cable 4 on the body 7 of the 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 to 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 has symmetry of revolution around its longitudinal axis x1. It is, for example, generally hemispherical.
  • the AUV 2 comprises a generally cylindrical central part 2C with cylinder axis x1 connecting the nose 2N to the rear part 2AR.
  • the 2AR rear part includes a 2P thruster 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.
  • front, front, back and back are defined in the direction of the x axis.
  • the top and bottom are defined along a vertical axis of a terrestrial reference frame.
  • 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.
  • 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 restrictive, it can, by example, alternatively present a crown shape, a plate shape 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 the shape of a mesh), 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 shown on the Figure 3 .
  • the beam 8 moves away from the stop 9 towards the AR 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 position. abutment against the abutment 9. More precisely, the beam 8 extends opposite a part of the AUV 2 located behind the nose 2N abutting 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 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 abutting against stop 9.
  • the buoyancy acting on a body is the result of the difference between the Archimedean thrust and the weight of the body. This force can be directed from bottom to top (positive buoyancy, weight less than Archimedes' thrust) or from top to bottom (negative buoyancy, weight greater than Archimedes' thrust).
  • the totally immersed 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 tackle of the docking station on the AUV which is desired and described in the rest of the text because the station has a tendency to sink.
  • This configuration has the advantage of avoiding having to provide means or a hydrodynamic configuration allowing the station to dive, such as for example 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 AR to the front AV, when the AUV 2 approaches the stop.
  • the x axis has a preferred direction which allows the AUV to reach the stop more easily.
  • the docking station 5 is hydro-dynamically profiled, and has a center of gravity and a center of hull arranged in a particular way and the pulling point T is capable of occupying a position defined in a particular way so that the docking station 5 has a negative predetermined longitudinal docking attitude (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 supporting building 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 position of the docking station 5 is the position of the body 7 of the docking station on which the traction of the cable is exerted.
  • the longitudinal reception attitude is fixed when the speed is fixed.
  • the position of the hull center of the totally 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 risk of collision of the beam 8 (in particular the rear end) by the AUV 2 during docking is low.
  • This solution makes it possible to avoid adjusting 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.
  • the pulling point T is able to occupy a reception position located behind the point on which applies the result of gravity, Archimedean thrust and hydrodynamic force.
  • the position of the pulling point T relative 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 position .
  • 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 docking position of the pulling point is oriented downwards or is zero, when the totally 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 rolling equilibrium position (zero list).
  • the negative longitudinal reception attitude is obtained mainly by hydrostatic forces.
  • the pulling point is advantageously able to occupy a reception position located behind the point on which the result of gravity and Archimedes' thrust applies.
  • the draw point T is able to occupy a position of the draw point located behind the center of gravity.
  • the docking device is configured so that the pulling point T occupies its docking position when the totally submerged docking station is towed by the supporting building 3 before the AUV 2 comes into abutment against the stop.
  • the beam 8 comes to press against the AUV 2 during a pressing phase, as visible on the figure 4 , under the action of a dynamic effect due to the forward movement of the AUV abutting against the stop 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 supported against the AUV 2.
  • the AUV 2 is then connected to the supporting building 3 via the cable 4.
  • the locking takes place during a capture phase subsequent to the tackling phase.
  • the docking station is configured hydrodynamically and has a center of gravity and a center of hull arranged so that a first restoring torque is exerted on the totally submerged docking station 5 presenting the longitudinal docking trim.
  • a first restoring torque is exerted on the totally submerged docking station 5 presenting the longitudinal docking trim.
  • the longitudinal reception attitude is advantageously between -15° and -5°.
  • the dorsal beam 8 is pressed against the AUV, as shown in the figure 4 , in a sustainable way.
  • This durable plating provides sufficient time to secure 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 pinning 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 enough 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 is relaxed, the first hydrostatic torque ensures the pinning of the dorsal 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 durable tackling effect is obtained when the attitude of the AUV 2 is greater than that of the docking station 5.
  • the tackling effect is therefore obtained in particular when the AUV 2 docks on the docking station 5 with its longitudinal axis x1 horizontal, for example.
  • the docking station is configured so as to undergo a first restoring torque when its longitudinal attitude is zero (horizontal x axis) and the beam 8 is supported against the AUV 2 so as to tend to flatten the beam 8 on the AUV.
  • This provides a durable plating.
  • the balance of the moments applied to the docking station 5 is no longer in relation to the pulling point but is in relation to the point P of the stop 9, on which the AUV 2 is at a stop.
  • the first restoring torque is therefore exerted around a horizontal axis of rotation r represented on the figure 2b passing through the stop 9, for example through the fulcrum P of the AUV 2 on the stop 9 in the direction shown on the Figure 3 .
  • This point P is a point of the stop.
  • the point P is for example that on which the result of the support force of the vehicle on the stop 9 is intended to be exerted 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.
  • the reception position of pulling point T is advantageously behind the stop 9, preferably behind the point P.
  • This solution is simple and makes it possible to avoid having to provide complex means using hydrodynamics to obtain the first restoring torque.
  • 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 reception presents the reception longitudinal attitude and/or a zero attitude.
  • the first return torque is then substantially a first hydrostatic return torque.
  • the durable tackle is then independent of the speed (difference between the horizontal speed of the AUV and that at which the docking station is towed at the moment 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 rear tail arranged near the rear rear of the station configured to generate downward lift.
  • the tail must be sized for this purpose according to the rest of the docking station.
  • the docking station advantageously has a center of gravity and a center of hull arranged so that a first hydrostatic return torque is exerted on the totally submerged docking station 5 presenting the longitudinal attitude of reception when the AUV 2 is abutting against the stop 9, as shown on the Figure 3 , so as to press the dorsal beam 8 against the AUV 2, by rotation of the docking station 5 relative to the AUV 2 in a vertical plane defined in the terrestrial reference frame.
  • This ensures durable tackling at least at low speeds.
  • 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 gravity exerted on the docking station 5 around the same axis and the torque linked to gravity 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 hull of the docking station 5 induces this first hydrostatic return 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 alignment against the AUV.
  • the center of gravity and the center of the hull of the body 7 of the totally 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 placed behind the stop 9, or behind the 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, we can consider a hull center located behind the stop or even behind the center of gravity.
  • 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 supported against the AUV 2 .
  • first return torque or the first hydrostatic return 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 relaxed.
  • the docking station 5 can undergo but no longer necessarily undergoes this first return torque or this first hydrostatic return torque once the cable tows the docking station 5 again.
  • the body 7 may include a tailplane 10 located behind the stop 9.
  • the tailplane 10 is arranged 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 tailplane is configured to generate downward lift. It is then possible to play on the density of the tail to influence the position of the center of gravity of the station.
  • the body 7 of the docking station 5 comprises an inverted V tailplane 10 comprising two individual tailplanes 10a, 10b each forming one of the branches of the inverted V.
  • the center of gravity and the center of hull of the docking station 5 or the body 7 are arranged so that the docking station 5 has a positive longitudinal attitude in equilibrium when subjected only to Archimedes' thrust and gravity. This helps promote tackling.
  • the longitudinal attitude at equilibrium is, for example, zero.
  • FIG 5 represents, schematically in view from behind the docking station and the AUV 2 in the configuration of the figure 4 .
  • the AUV 2 abuts against the stop 9, its longitudinal axis x1 being coincident with the axis x.
  • the longitudinal axis x passes through the point P. It is intended to carry 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 center of hull are arranged so that when the AUV 2 abuts against the abutment 9 and the dorsal 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 presents a stable equilibrium position in rotation around the longitudinal axis x relative to the AUV 2 as shown on the figures 4 and 5 .
  • the second hydrostatic return torque prevents the docking station 5 from tilting to the side statically, that is to say prevents the rotation of the docking station 5 relative to the AUV 2 around the longitudinal x axis.
  • the position of the docking station 5 shown 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 center of hull are arranged so that when the AUV 2 abuts against the stop 9 and the totally submerged docking station 5 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 stable equilibrium position in rotation around the longitudinal axis x relative to the AUV 2 which makes it possible to avoid tilting of the docking station 5 before it comes to land on the AUV.
  • the stable equilibrium position is the rolling equilibrium position.
  • This position is for example a zero list 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.
  • a vertical plane comprises 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 center of the hull 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 rolling equilibrium position.
  • This rolling stability makes it easier to recover the AUV because the station also occupies this stable rolling position before the AUV docks.
  • the vertical plane is a plane of symmetry of the inverted V tail which sits astride the AUV when the docking station is pressed against the AUV as visible on the figure 5 .
  • the center of gravity of the docking station 5 is offset vertically relative to the hull center of the docking station 5, when the beam 8 is pressed against the AUV abuts against the stop 9 and the longitudinal attitude of the docking station is the zero trim and preferably when it is between the docking 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 base is zero. This makes it possible to obtain the equilibrium position in roll when the cable is slack.
  • the center of gravity is below the x axis, when the attitude of the docking station is between the docking attitude and zero attitude or at least when the base is zero.
  • 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 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.
  • the center of gravity is located under the x axis.
  • the shape of the dock is defined so that the hull center 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 station 5, that is to say say deeper than the x axis when the longitudinal axis is horizontal and the supporting structure 5 is in the stable equilibrium position.
  • This configuration allows the position of the center of gravity to be lowered. It is possible to adjust the mass of the tailplanes to place the center of gravity as low as possible. For example, we can consider placing ballast at the lower end of each individual empennage.
  • the reception device allows a simple, passive and robust capture process.
  • the beam 8 and the stop 9 are arranged relative to each other so that the dorsal beam extends below the AUV 2 when the nose of the AUV abuts against the stop 9.
  • 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 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 helps minimize the impact of ship movements linked to swell by releasing or regaining tension in the cable.
  • the pulling point T is able to slide along the axis x relative to the body 7.
  • the cable is for example fixed to a stirrup 40 pivotally mounted around an axis of rotation y relative to the body 7, the axis of rotation y being mounted 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 slide the axis y relative to the body 7. Note that, except very rapid dynamics, the traction 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 control is desired.
  • the cable 4 is connected to the body 7 of the docking station 5 so that the pulling point T advances along the axis x relative to the body 7, when the AUV 2 abuts against the stop 9, for example under the effect of the AUV pressing on the stop 9.
  • the adjustment means are configured to advance the firing point along the axis x relative to the body 7, when the AUV 2 abuts against the stop 9. This makes it possible to accelerate the plating of 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 pulling point T is positioned along the axis x 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 totally submerged docking station is towed by the supporting building before the AUV comes into abutment against the AUV (before docking).
  • This firing point reception position is advantageously behind the stop 9.
  • the reception device 1 comprises adjustment means making it possible to adjust the position of the draw 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 (controlled remotely by an operator or by station control means).
  • the passive adjustment means may include a spring located behind the draw point, linked to the beam and linked to the draw point which is in a slide.
  • the position of the draw point, compressed spring is maintained by a trigger which is linked to stop 9 which is triggered by the AUV pushing on stop 9: the spring then relaxes and pushes the draw point forward.
  • the docking station 5 comprises a guide device 50 comprising a set E of guide arms 51 arranged around the stop.
  • the assembly E of arms 51 capable of being in a deployed configuration shown on the figures 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.
  • the assembly 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 axis x towards the rear so as to allow guide the AUV 2 towards stop 9 to switch from the configuration of the figure 1 to that of the Figure 3 during the docking phase during which the arm assembly E is in the deployed configuration.
  • each arm 51 of the arm assembly E 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 capable of being 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.
  • 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 guiding 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 able to penetrate 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 restrictive.
  • the docking station can for example include 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 shown on the figure 8a comprising means for winding 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 translation movement of the capture station and of the AUV secured to the body of the capture station upwards. It can also prevent the vehicle from pivoting around a vertical axis.
  • the handling means 102 further comprise movement 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 movement means 103 include for example a crane from which the support 101 comprising articulated arms is suspended.
  • the movement 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 facing the support , as shown in figure 8b , and means for lowering the support 101 so as to place the AUV linked to the capture station on a support 106 of the AUV.
  • the support 106 has a support 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 a cylinder.
  • the assembly E of arms 51 delimits a volume of reduced size in the transverse plane which makes it possible to facilitate the handling and storage of the capture station on board the carrier vessel 3.
  • Folding the arm assembly E 51 after capturing 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 portion of a cylinder by resting the whole 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 improve its stability. Furthermore, it is possible to place the AUV on its support directly with the crane or gantry having lifted the reception device. It is not necessary to first separate the AUV from the body 7 of the docking station 5. 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 on top of the AUV but can be advantageous in the case of a beam extending on the underside of the AUV.
  • each arm 51 of the arm assembly E or at least one arm of the arm assembly is folded against the body 7 in the folded configuration.
  • This configuration ensures good compactness in the folded configuration and improves the stability of the AUV on its support.
  • each arm 51 of the arm assembly E or at least one arm extends longitudinally substantially parallel to the longitudinal axis x in the folded configuration.
  • the assembly of arms 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 folding 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 .
  • 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 totally forward of stop 9 in the folded configuration.
  • This particular kinematics of the arms 51 makes it possible to at least partially release the perimeter of the AUV 2 after capture, by folding all of the arms.
  • This configuration is particularly advantageous in the case where the beam is arranged in relation to the stop so as to be intended to be above the AUV abutting against the stop 9. It makes it possible to reduce or avoid the masking of a sensor or antenna placed on the belly or 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 characteristic is of interest when the AUV is attached to the docking station 5 only temporarily, for example, for the purpose of recharging its batteries and/or retrieving data.
  • This reasoning also applies in the case of a beam 8 arranged in relation to the stop 9 so as to be intended to be below the AUV abutting against the stop, for example to avoid masking sensors or antennas located on the top or sides of the AUV.
  • the distal end ED of each arm advances forward while remaining permanently behind the proximal end EP, when moving from the deployed configuration to the folded configuration.
  • 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, when changing from the deployed configuration to the folded configuration .
  • each arm 51 is mounted sliding relative to the stop 9 along the x axis so that the arm 51 undergoes a forward translation movement, relative to the stop 9, when passing through the deployed configuration of the figure 9a to the folded configuration of the figure 9d passing through the successive intermediate configurations of successive figures 9b and 9c.
  • each arm 51 undergoes a forward translation 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 moving from the deployed configuration to the folded configuration
  • the proximal end EP of the arm 51 is pivotally mounted on a slide 52 mounted sliding relative to the stop 9 along the x axis so that the distal end ED is able to approach the x axis , by rotation relative to the slide 52, when the slide 52 advances along the axis x 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 movement of the slide 52 forward AV, the rotation of the arm around the axis of the pivot connection connecting the proximal end EP to the slide 52 in a defined direction so that the distal end ED of the arm 51 approaches the x axis and vice versa.
  • the proximal end EP of each arm 51 is mounted on a slide 52 mounted sliding 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 connection fixed relative to the slide 52 and the axis of rotation of the pivot connection substantially tangential to the x axis.
  • 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 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 axis x.
  • the second end E2 of the fork is arranged behind the slide 52 along the x axis.
  • each of the arms is mounted on a connecting rod which causes it to move along a curved line when moving from the deployed position to the folded position.
  • Each arm advances forward relative to the stop, when moving from the deployed position to the folded position, but the movement of the proximal end is not a sliding movement along the x axis.
  • 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 when passing from the deployed configuration to the folded configuration.
  • 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 stop, when moving from the deployed configuration to the folded configuration, and each arm is controlled so that its distal end ED advances when moving from the deployed configuration to the folded configuration.
  • each arm is controlled so that its length decreases as the distal end approaches 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 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 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 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 assembly 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 guiding 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 slide 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 axis x disposed 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 slide 152 by a pivot connection with an axis substantially tangential to the x axis.
  • the slide 152 is arranged in front of the proximal end EPb of the arm 151 along the x axis. 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, through 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.
  • 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 pass all of the arms 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 slide 52, 152 has, for example, substantially the shape of a circular ring arranged in a plane perpendicular to the axis x, the axis x passing through the center of the ring, the proximal ends EP, EPb are by 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 over a circle perpendicular to the axis x passing through the center of the circle and the second ends of the forks are distributed over another circle perpendicular to the axis x passing through the center of the circle.
  • the arms are all the same length.
  • the arms and/or forks may 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 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 figures 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 it makes it possible to protect the arms 151 from shocks during the recovery of the guiding device by a crane-type device and when placing the AUV on a support.
  • 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 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 first embodiment is particularly advantageous. It consumes little energy because, when moving 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 greatest.
  • 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. Furthermore, this solution limits the risk of marine bodies getting caught 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 in a compact manner, for example, during testing or maintenance phases, when the docking station is on board the carrier vehicle or in a workshop.
  • the assembly 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 helps limit the risk of the docking station tipping over.
  • the set of arms 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 set of at least one lower arm is greater than the average density of each arm of the set of at least one upper arm. This feature further limits the risk of the docking station tipping over.
  • the arms have a fixed length.
  • the arms have a variable length.
  • 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 capable of being 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.
  • the arm assembly may comprise at least one arm whose kinematics conform to the first embodiment and/or at least one arm whose kinematics conform to the second embodiment.
  • the guiding device may include only the arm assembly capable of being in the deployed configuration and in the folded configuration.
  • the guiding 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 docking 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 supporting building 3 via a cable 4.
  • the docking station is fixed to the hull of the supporting building or connected to the supporting building via an arm.
  • the underwater vehicle comprises one or more sonar antennas.
  • the underwater vehicle may comprise at least one sonar antenna for receiving acoustic signals and/or at least one sonar antenna for transmitting acoustic signals.
  • At least one sonar antenna is arranged so that the arms of the set of arms are unable to be located in a coverage zone of the antenna, that is to say facing the antenna, when the antenna abuts against the stop, the arm assembly being in the folded configuration.
  • coverage area we mean an area in which the antenna is intended to transmit or receive acoustic signals.
  • the sonar antenna considered is arranged so as to be able to be located facing at least one of the arms of the assembly, when the underwater vehicle abuts 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 abutting against the stop.
  • at least one of the arms is facing the sonar antenna, that is to say in a coverage zone of the sonar antenna, when the set of arms is in deployed configuration, the vehicle under sailor being abutted against the abutment, the underwater vehicle and the docking station each having a predetermined list, each arm being located outside the coverage zone of the antenna when the set of arms is in configuration folded, the underwater vehicle being abutting against the stop, the underwater vehicle and the docking station each having the predetermined list
  • the kinematics of the arms according to the invention are particularly adapted to 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.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
  • Electric Cable Installation (AREA)
  • Laying Of Electric Cables Or Lines Outside (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)

Claims (13)

  1. Aufnahmevorrichtung für ein Unterwasserfahrzeug, wobei die Aufnahmevorrichtung eine Aufnahmestation (5) umfasst, die dafür geeignet ist, mit einem Trägerschiff (3) verbunden zu werden, wobei die Aufnahmestation (5) einen Körper (7) umfasst, der einen Anschlag (9) umfasst, der es ermöglicht, eine Bewegung des Unterwasserfahrzeugs (2) in Bezug auf den Körper (7) entlang einer durch den Anschlag (9) hindurchgehenden Längsachse (x) in eine durch die Längsachse (x) definierte Richtung von hinten nach vorne zu blockieren, wobei die Aufnahmestation (5) eine Führungsvorrichtung umfasst, die einen Aufbau (E) von Armen (51) umfasst, die mit dem Körper (7) verbunden sind und jeweils ein distales Ende (ED) und ein proximales Ende (EP) umfassen, wobei die Arme (51) um den Anschlag (9) verteilt sind, wobei der Aufbau (E) von Armen (51) dafür geeignet ist, sich in einer ausgefahrenen Konfiguration zu befinden, in der er ein Volumen abgrenzt, das sich derart nach hinten ausweitet, dass das Unterwasserfahrzeug zum Anschlag (9) hin geführt werden kann, wobei sich das distale Ende (ED) eines jeden Arms (51) in der ausgefahrenen Konfiguration hinter dem proximalen Ende (EP) des Arms (51) befindet, wobei sich der Aufbau (E) der Arme in einer eingezogenen Konfiguration befinden kann, in der sich ein distales Ende (ED) eines jeden Arms (51) des Aufbaus (E) von Armen näher an der Längsachse (x) befindet als in der ausgefahrenen Konfiguration, und in der sich das distale Ende (ED) vor der Position befindet, die in der ausgefahrenen Konfiguration von dem distalen Ende (ED) eingenommen ist, so dass eine Länge entlang der Achse x eines von dem Aufbau (E) von Armen (51) hinter dem Anschlag (9) begrenzten Volumens in der eingezogenen Konfiguration kleiner ist als in der ausgefahrenen Konfiguration, wobei mindestens ein Arm (51) des Aufbaus auf dem Körper (7) montiert und derart konfiguriert und/oder gesteuert ist, dass sich das distale Ende (ED) des Arms beim Übergang von der ausgefahrenen Konfiguration in die eingezogene Konfiguration nach vorne bewegt und dabei dauerhaft hinter dem proximalen Ende (EP) bleibt.
  2. Aufnahmevorrichtung nach Anspruch 1, wobei die Aufnahmestation (5) Blockiermittel umfasst, die es ermöglichen, dass das Unterwasserfahrzeug in Anlage gegen den Anschlag (9) einstückig mit dem Körper (7) wird.
  3. Aufnahmevorrichtung nach einem der vorhergehenden Ansprüche, wobei der Arm (51) derart auf dem Körper (7) montiert ist, dass sich der Arm (51) beim Übergang von der ausgefahrenen Konfiguration in die eingezogene Konfiguration in Bezug auf den Anschlag (9) nach vorne bewegt.
  4. Aufnahmevorrichtung nach dem vorhergehenden Anspruch, wobei mindestens ein Arm des Aufbaus (E) in Bezug auf den Anschlag (9) entlang der Achse (x) derart gleitend montiert ist, dass der Arm (51) beim Übergang von der eingezogenen Konfiguration in die ausgefahrene Konfiguration eine Translationsbewegung nach vorne in Bezug auf den Anschlag (9) erfährt.
  5. Aufnahmevorrichtung nach dem vorhergehenden Anspruch, wobei das proximale Ende (EP) des Arms schwenkbar auf einem Schieber (52) montiert ist, der in Bezug auf den Anschlag (9) entlang der Achse (x) derart gleitend montiert ist, dass das distale Ende (ED) in der Lage ist, sich durch Drehung des Arms (51) in Bezug auf den Schieber (52) der Achse x anzunähern, wenn sich der Schieber (52) beim Übergang von der eingezogenen Konfiguration in die ausgefahrene Konfiguration entlang der Achse (x) nach vorne bewegt.
  6. Aufnahmevorrichtung nach einem der vorhergehenden Ansprüche, wobei das proximale Ende (EPb) mindestens eines Arms des Aufbaus entlang der Längsachse in Bezug auf den Anschlag (9) translatorisch fixiert ist.
  7. Aufnahmevorrichtung nach dem vorhergehenden Anspruch, wobei das proximale Ende (EPb) des Arms derart schwenkbar in Bezug auf den Anschlag (9) montiert ist, dass das distale Ende (EDb) in der Lage ist, sich der Achse x anzunähern und sich durch Drehung des proximalen Endes (EPb) in Bezug auf den Anschlag (9) beim Übergang von der ausgefahrenen Konfiguration in die eingezogene Konfiguration entlang der Achse x nach vorne zu bewegen.
  8. Aufnahmevorrichtung nach einem der vorhergehenden Ansprüche, wobei der Körper entlang der Achse x längliche Schlitze umfasst, die in der eingezogenen Konfiguration die distalen Enden (ED) der Arme aufnehmen.
  9. Aufnahmevorrichtung nach einem der vorhergehenden Ansprüche, wobei der Körper einen Träger (8) umfasst, der sich beim Entfernen von dem Anschlag (9) nach hinten längs parallel zur Längsachse (x) erstreckt.
  10. Aufnahmevorrichtung nach einem der vorhergehenden Ansprüche, wobei mindestens ein Arm eine variable Länge unabhängig von einer Neigung des Arms in Bezug auf die Achse x aufweist.
  11. Aufnahmevorrichtung nach einem der vorhergehenden Ansprüche, umfassend ein Kabel (4), das mit der Aufnahmestation verbunden und dafür bestimmt ist, die Aufnahmestation mit dem Trägerschiff zu verbinden.
  12. Aufnahmeaufbau, umfassend eine Aufnahmevorrichtung nach dem vorhergehenden Anspruch und ein Trägerschiff, wobei das Kabel die Aufnahmestation derart mit dem Trägerschiff verbindet, dass das Trägerschiff die vollständig untergetauchte Aufnahmestation ziehen kann.
  13. Unterwasseraufbau, umfassend eine Aufnahmevorrichtung nach einem der Ansprüche 1 bis 12 und das Unterwasserfahrzeug, wobei das Unterwasserfahrzeug eine Unterwasserschallantenne umfasst, die derart angeordnet ist, dass mindestens ein Arm des Aufbaus sich in einem Erfassungsbereich der Unterwasserschallantenne befinden kann, wenn sich das Unterwasserfahrzeug in Anlage gegen den Anschlag befindet, wobei sich der Aufbau von Armen in der ausgefahrenen Konfiguration befindet; wobei sich die Arme des Aufbaus von Armen nicht in dem Erfassungsbereich der Unterwasserschallantenne befinden können, wenn sich der Aufbau von Armen in der eingezogenen Konfiguration befindet.
EP19829593.3A 2018-12-28 2019-12-20 Andockvorrichtung für ein unterwasserfahrzeug Active EP3906188B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1874296A FR3091258B1 (fr) 2018-12-28 2018-12-28 Dispositif d’accueil pour un véhicule sous-marin
PCT/EP2019/086621 WO2020136114A1 (fr) 2018-12-28 2019-12-20 Dispositif d'accueil pour un vehicule sous-marin

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EP3906188A1 EP3906188A1 (de) 2021-11-10
EP3906188B1 true EP3906188B1 (de) 2024-02-28
EP3906188C0 EP3906188C0 (de) 2024-02-28

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US (1) US12012191B2 (de)
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CN112278197A (zh) * 2020-10-22 2021-01-29 吴凯忠 一种海洋工程水下航行器的马鞍式捕获装置及捕获方法
CN112407191B (zh) * 2020-11-04 2023-01-24 吴凯忠 一种海洋工程勘探用水下机器人面域打捞捕获装置及方法
CN115009473B (zh) * 2022-05-10 2024-06-07 哈尔滨工程大学 一种基于缆绳捕捉的欠驱动auv水下自动回收装置

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US1346551A (en) * 1918-03-20 1920-07-13 Masters Vere Hammond Torpedo-trap
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FR2931792B1 (fr) * 2008-06-03 2010-11-12 Thales Sa Systeme pour la mise a l'eau et la recuperation automatiques d'un drone sous-marin
KR101561163B1 (ko) * 2009-05-08 2015-10-19 대우조선해양 주식회사 잠수정의 도킹 스테이션 장치
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DE102012008074A1 (de) * 2012-04-20 2013-10-24 Atlas Elektronik Gmbh Bergeverfahren zum Bergen eines Unterwasserfahrzeugs, Bergevorrichtung, U-Boot mit Bergevorrichtung, Unterwasserfahrzeug dafür und System damit
FR3002916B1 (fr) * 2013-03-05 2015-03-06 Thales Sa Systeme et procede de recuperation d'un engin sous-marin autonome
FR3091256B1 (fr) * 2018-12-28 2021-06-25 Thales Sa Dispositif d’accueil pour un vehicule sous-marin

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SG11202106211WA (en) 2021-07-29
JP7418436B2 (ja) 2024-01-19
US20220161913A1 (en) 2022-05-26
EP3906188A1 (de) 2021-11-10
US12012191B2 (en) 2024-06-18
JP2022515065A (ja) 2022-02-17
EP3906188C0 (de) 2024-02-28
FR3091258A1 (fr) 2020-07-03
AU2019416005A1 (en) 2021-07-22
CA3124900A1 (fr) 2020-07-02
FR3091258B1 (fr) 2021-04-09

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