EP3956211A1

EP3956211A1 - System for recovering a surface marine craft from a carrier ship

Info

Publication number: EP3956211A1
Application number: EP20716515.0A
Authority: EP
Inventors: Maël FICHOU
Original assignee: Eca Robotics SAS
Current assignee: Eca Robotics SAS
Priority date: 2019-04-17
Filing date: 2020-04-09
Publication date: 2022-02-23
Anticipated expiration: 2040-04-09
Also published as: CA3132142A1; WO2020212269A1; FR3095186B1; FR3095186A1; US20220212760A1; AU2020259058A1; US11772751B2; EP3956211B1

Abstract

The invention relates to a system for the recovery of a surface marine craft (4) by a carrier ship (1). The system comprises a lifting device with which the carrier ship (1) is intended to be equipped and which comprises a lifting means of the davit type (5), equipped with a lifting cable (7) comprising, at one end, a connection interface, a pole (9) bearing a guide cable (10), an anchor (11) connected to one end of the guide cable (10), the connection interface for the lifting cable (7) being coupled removably to the anchor (11), and a hauling cable (12). The system also comprises a receiving device with which the marine craft (4) is intended to be equipped, the receiving device comprising a forward module (13), intended to be fitted to the bow of the marine craft (4) and configured to receive the guide cable (10) and the lifting cable (7) and comprising a receiving housing able to receive the anchor (11), the fixing of the anchor (11) forward module (13) bringing about the fixing of the connection interface for the lifting cable (7) to a handle connected removably to the forward module (13), and a lifting support configured to accept and immobilize the handle (21).

Description

System for recovering a surface marine vehicle from a carrier vessel

The present invention relates to the field of launching and recovery of unsinkable marine vehicles by a ship.

It relates more particularly to the recovery of ships of reduced dimensions from a mother ship or carrier ship. This includes coasters, tenders, exploration vessels, piloted, remotely operated, or autonomous (surface drone). In a military vessel, all of these boats on board the carrier vessel are called the drome. The invention finds preferential application in the launch and recovery of semi-rigid boats, commonly known by the acronym RHIB for "rigid-hulled inflatable boat".

The launching of a marine vehicle by a ship, called mother ship, carrier ship, or mother ship, as well as its recovery, are carried out in the state of the art using various devices.

For example, it is known to use davits of various types which allow a marine vehicle to be placed in the water or raised from the surface of the water, cantilevered from the hull of the mother ship. Davits are particularly suitable for launching and recovering surface gear.

Document CN 104 015 886 presents an example of a davit device.

Davits are reliable devices, and widely used. However, davit devices known in the prior art have a number of drawbacks.

Davit systems are generally not suitable for recovering autonomous surface marine craft. Davit devices that allow the

Autonomous marine vehicle recoveries or without the intervention of personnel on board the marine vehicle are devices dedicated to a specific type of vehicle, and which are complex and heavy. These devices are difficult to adapt to ships that are not equipped from the outset.

In addition, the use of davit systems of simple constitution is complex or even impossible in rough seas with heavy swells. The state of the sea is commonly described using the Douglas scale, which defines the state of the sea according to nine value classes. The davits known in the state of the art are at best usable up to sea level 3, that is to say not very rough. The invention aims to provide a system for launching and especially for recovering a surface marine vehicle of the davit type allowing the recovery of autonomous, remotely operated or manned vehicles but with little intervention (or even without intervention. ) personnel on board the craft during its recovery, and who can be deployed in rough seas.

Thus, the invention relates to a system for recovering a surface marine vehicle by a carrier vessel, said system comprising:

(a) a lifting device intended to equip the carrier vessel and which comprises:

- davit-type lifting means, equipped with a lifting cable comprising at one end a link interface,

- a pole intended to extend laterally to the outside of a hull of the carrier vessel, above its waterline, a guide cable being suspended from said pole,

an anchor linked to a free end of said guide cable, said guide cable being dimensioned so that, when the anchor is suspended from the pole by the guide cable, in the absence of other constraints, the anchor is below the waterline of the carrier vessel with the lifting cable link interface being removably linked to the anchor, and

- a towing cable, intended to be linked on the one hand to the carrying vessel in front of the pole, and on the other hand linked to the anchor, and

b) a receiving device adapted to cooperate with the lifting device and intended to equip the marine vehicle, the receiving device comprising:

- a front module, intended to equip the bow of the marine vehicle, comprising an opening configured to jointly receive the guide cable and the lifting cable, and to leave said guide cable and lifting cable free in translation in said opening , and comprising a receiving housing adapted to receive a part of the anchor by which the anchor is fixed to said front module when said part is engaged in said housing, the fixing of the anchor to the front module causing the fixing of the interface for connecting the lifting cable to a handle removably linked to the front module, and

a lifting support, intended to be rigidly fixed at at least one lifting point of the marine vehicle, said lifting support being shaped to receive and immobilize the handle. The immersion of the anchor keeps the end of the guide cable in the water, which allows the marine vehicle to be linked to the guide cable by its front module, even with a large swell.

The invention is based on a conventional davit device (or a device of similar configuration), which limits its cost, facilitates its implementation, and allows the adaptation of pre-existing davit-type systems. The implementation of a forward module carried by the surface marine vehicle to be recovered makes it possible to automate the steps aimed at receiving the guide and lifting cables at the level of said surface marine vehicle.

The lifting cable may have an end portion removably attached to the guide cable so as to facilitate the joint reception of said guide cable and lifting cable in the opening of the front module.

The system may include a winch on which the tow cable is wound so as to vary the length of the tow cable outside the hull of the carrier vessel.

The anchor may have an arm as the part by which it attaches to the front module, said arm being substantially oriented towards the surface of the water when the anchor is suspended by the guide wire, in the absence of other constraints, and submerged. In one embodiment, the receiving device further comprises two guide bars articulated on the front module, said bars being able to pivot from a folded position to a deployed position in which they form a guide converging towards said front module.

The handle and the lifting support preferably have a correspondence of shape such that the handle is immobilized with respect to the lifting support when the lifting cable, which has been fixed to the handle by its link interface, is put in tension. .

A reel can be provided near the lifting support, the reel comprising a handling cable linked to the handle, the winding of the handling cable making it possible to bring the handle from the front module to the lifting support. The invention also relates to an assembly comprising a carrier vessel and a surface marine vehicle comprising a recovery system as described above, the lifting device fitted to the carrier vessel and the receiving device fitted to the marine vehicle.

The marine vehicle may be a semi-rigid hull type craft.

The invention finally relates to a method of recovering a marine vehicle equipped with a reception device by a carrier vessel equipped with a lifting device, said receiving device and lifting device forming a recovery system as described above, said method comprising the steps of:

- put in the water the anchor linked to the guide cable and to the traction cable, the linkage interface of the lifting cable being linked to said anchor;

- receive in the opening of the receiving device the guide cable and the lifting cable;

- bring the anchor against the front module and engage in the housing of the module before the part of the anchor intended to be received there, causing the anchor to be fixed to the front module and the fixing of the cable link interface lifting at the handle;

- separate the handle vis-à-vis the anchor, the marine vehicle remaining guided by the guide cable and towed by the towing cable,

- fix the handle to the lifting support,

- lift the marine vehicle by the lifting cable,

- place the marine vehicle on a deck of the carrier vessel using the davit-type lifting means.

Other features and advantages of the invention will appear further in the description below.

In the accompanying drawings, given by way of non-limiting examples:

- Figure 1 shows, in a three-dimensional schematic view, the context of application of the invention;

- Figure 2 shows, in a three-dimensional schematic view, a carrier vessel and a surface marine vehicle equipped with a recovery system according to an embodiment of the invention;

- Figure 3 shows a schematic view of a lifting device implemented in one embodiment of the invention;

- Figure 4 shows, in a three-dimensional view, a surface marine vehicle type semi-rigid hull craft, equipped with a receiving device implemented in one embodiment of the invention;

- Figure 5 shows, in a schematic top view, a surface marine vehicle equipped with a receiving device which can be implemented in one embodiment of the invention before recovery by the lifting device of Figure 3; - Figure 6 shows, in a view similar to that of Figure 5, the surface marine vehicle of Figure 5 approaching the lifting device of Figures 3 and 5;

- Figure 7 shows, in a schematic top view, a front module implemented in the receiving device equipping the marine vehicle shown in Figures 5 and 6;

- Figure 8 shows, in a schematic side view, a recovery step of the surface marine vehicle of Figures 5 and 6 by a lifting device of Figures 3,

5 and 6;

- Figure 9 shows a recovery step following the step of Figure 8;

- Figure 10 shows a recovery step following the step in figure

9;

- Figure 11 shows a recovery step following the step of Figure 10;

- Figure 12 shows a recovery step following the step of Figure 11;

- Figure 13 shows, in a three-dimensional view similar to that of Figure 2, the recovery step of Figure 12;

- Figure 14 shows, in a schematic side view, an anchor implemented in one embodiment of the invention;

- Figure 15 shows in a view similar to that of Figure 14, a step of cooperation between the anchor of Figure 14 and a front module implemented in this embodiment of the invention;

- Figure 16 shows a step in the cooperation between the anchor and the front module following the step of Figure 15;

- Figure 17 shows a step in the cooperation between the anchor and the front module following the step of Figure 16;

- Figure 18 shows a step in the cooperation between the anchor and the front module following the step of Figure 17;

- Figure 19 shows, in a schematic view in three dimensions, an example of the configuration of a handle and a lifting support implemented in one embodiment of the invention; - Figure 20 shows, in a view similar to that of Figure 19, the handle and the lifting support in an intermediate position;

- Figure 21 shows, in a view similar to that of Figures 19 and 20, the cooperation between the handle and the lifting support.

Figure 1 shows the context of application of the invention, and corresponds to the state of the art. More particularly, Figure 1 shows a part of a carrier vessel 1, which includes a deck 2, for example a rear deck. The rear deck 2 is intended to receive, for example on cradles 3, a marine vehicle 4, which is a surface marine vehicle.

The marine vehicle 4 shown here is a semi-rigid hull boat, which may form part of the drome of the carrier vessel 1.

To launch the marine vehicle 4 and recover it, the carrier vessel has a davit 5, the end of which can be positioned cantilevered from the hull 6 of the carrier vessel. This makes it possible to raise or lower the marine vehicle 4 along the hull 6, thanks to a lifting cable 7 linked to the davit 5. The lifting cable can in particular be unwound from the carrier vessel 1 to lower the vehicle. sailor 4 or rolled up in the carrier vessel 1 in order to lift the marine vehicle 4, for example using a pulley winch.

The lifting cable 7 is connected for this purpose to a lifting point of the marine vehicle, which is formed by an element adapted to support the weight of the marine vehicle and its

occupants, if any, and which is positioned at a lifting point 8 allowing the marine vehicle to be suspended in equilibrium, substantially flat. The lifting point is thus substantially in the vertical axis of the barycenter of the marine vehicle. When lifting the marine vehicle, one or more drop arms control the orientation of the marine vehicle suspended from the davit.

Obviously, the lifting point can be formed on a set of straps or ropes linked at several points of the marine vehicle, and the invention which is described below is applicable to such a configuration. For simplicity, the lifting point is considered to be a single point, forming part of the marine vehicle 4.

Likewise, both the prior art and the system according to the invention are illustrated in the present document with reference to a system comprising a davit with a single arm, but it is quite obvious that the invention can be applied to a multiple arm system.

The device illustrated in FIG. 1, which corresponds to the launching and recovery device most commonly used in the state of the art, has several drawbacks. The system presented is first of all incompatible with the recovery of a remotely operated or autonomous marine vehicle 4, unmanned. In addition, it does not allow the recovery of the marine vehicle 4 when the sea is rough. In particular, the lifting cable 7 is difficult to recover because of the movements of the surface marine vehicle on rough seas. Even if the crew of the marine vehicle 4 manages to grab the lifting cable 7, its hooking up at the level of the lifting point 8 is complex, even dangerous. In particular, the swell causes rapid variations in the level (height) of the surface marine vehicle 4 with respect to the height of the deck 2 of the carrier vessel 1. The invention proposes a system, based on a conventional davit device such as that of Figure 1, and adaptable to a pre-existing device, allowing the recovery of a surface marine vehicle in rough seas.

In addition, the invention is described below on the basis of a lifting device comprising a davit itself. The invention can more generally implement a lifting means "of the davit type", that is to say a davit itself or an equivalent lifting device, cantilevered from the hull of a carrier vessel. , for example a crane similar in configuration to a davit.

FIG. 2 illustrates the main elements of a system according to an embodiment of the invention, including an example of constitution and the use of which are explained with reference to the following figures.

The system of FIG. 2 is thus based on that of the prior art illustrated in FIG. 1. A lifting device is fitted to a carrier vessel 1. The lifting device comprises a davit 5, which is equipped with a lifting cable 7. The davit 5 is here installed on the deck 2 of the carrier vessel 1. In addition, the lifting device comprises a pole 9 extending laterally from the hull 2 of the carrier vessel 1, which can also be denoted by the term " gallows ”. The pole 9 carries, for example at its end, a cable called the guide cable 10. The guide cable 10 is thus suspended in a vacuum by the pole 9. An anchor 11 is fixed to the free end of the guide cable 10. The boom 9 is positioned above the waterline of the carrier vessel 1 and preferably above the level of the deck 2 and the davit 5.

The length of the guide cable 10 allows the anchor 11 to be submerged. In other words, when the anchor is suspended freely by the guide cable 11, it is located below the waterline of the carrier vessel 1. Advantageously, the anchor is suspended widely below the waterline of the carrier vessel 1. , in order to remain permanently submerged despite the swell. For example, the anchor can be suspended between two and four meters below the waterline of the carrier vessel 1. The length of the guide cable 10 can be fixed or adaptable. A guide cable 10 of adaptable length, for example using a winch on board the carrier vessel 1, makes it possible for example to adapt the length of said guide cable 10 to the sea swell level.

The anchor 11 may consist of a solid element, for example metallic. The anchor 11 may have hydrodynamic planes which orient the anchor in a predefined position when the carrier vessel 1 advances.

The free end of the lifting cable 7 is removably attached to the anchor 11. Further, an end portion of said lifting cable 7 is removably attached to the guide cable 10, so that, 'anchor 11 at a given point of the guide cable, located between the anchor 11 and the pole 9, the lifting cable 7 follows the guide cable 10. On this portion, the lifting cable 7 and the guide cable 10 thus form a single elongated set.

The lifting device further comprises a towing cable 12. The towing cable 12, equivalent to a false arm used in known devices, is linked to the carrier vessel 1 at a point on the hull 6 located in front of the davit 5. and in front of the pole 9.

The notions of fore and aft are understood, throughout this document, in a common way, that is to say along the axis connecting the bow of a boat and corresponding to the "Forward" at the stern or at the transom of the boat and

corresponding to the "rear".

The towing cable 12, by its orientation, allows, when it is linked to a surface marine vehicle which must be recovered by the carrier vessel 1, to tow the marine vehicle and to keep it longitudinally in position relative to the carrier vessel 1.

The system of FIG. 2 further comprises a reception device carried by the marine vehicle 4. The reception device comprises a front module 13, installed at the front of the surface marine vehicle 4. The front module 13, the constitution of which is detailed below, can be called a “rostrum”, because it extends partly cantilevered from the bow of the marine vehicle 4.

FIG. 3 illustrates, according to a block diagram seen from the side, a lifting device implemented in one embodiment of the invention. The components of the lifting device are positioned in Figure 3 substantially according to the positioning they have when the lifting device is installed on a carrier vessel. Thus, the lifting device comprises:

- davit 5, in this case equipped with a winch;

- The lifting cable 7, the length of which varies under the effect of the winch of the davit 5, the lifting cable being provided at its free end with a link interface 4;

- pole 9;

- the guide cable 10, linked to the pole 9, and the length of which is fixed or variable,

- the anchor 11, attached to the end of the guide cable 10;

- the towing cable 12, the length of which can be changed according to the recovery phases of the marine vehicle 4, has a free end fixed to the anchor 11.

By variable length of a cable it is understood that the free part of the cable is of variable length, typically the length of the lifting cable 7 between the davit 5 and its free end, the length of the guide cable between the pole 9 and the anchor 11, the length of the traction cable 12 between the hull 6 of the carrier vessel and the anchor 11. The lifting device of FIG. 3 is shown in a configuration ready for the recovery of a marine vehicle. In the example shown here, the connection interface 14 takes the form of a hook, and is fixed to the anchor 11. The end portion of the lifting cable 7 is fixed to the corresponding end portion of the guide cable 10, by connecting means 15. The connecting means 15 nevertheless allow the release of the connection between the lifting cable 7 and the guide cable 10, for example under the effect of sufficient force.

A float or a buoy 16 can equip the guide cable 10.

FIG. 4 represents a marine vehicle 4, namely a boat with a semi-rigid hull, which constitutes a preferred application of the invention. The marine vehicle 4 is equipped with a reception device, implemented for the recovery of the marine vehicle 4 by the carrier vessel 1. The reception device comprises a front module 13 and a lifting support installed at a point lifting device 8 of the marine vehicle 4. The front module 13 is installed at the bow of the marine vehicle 4.

With reference to the following figures is described a sequence of recovery of the marine vehicle 4, typically corresponding to the marine vehicle of FIG. 4, by a carrier vessel, the carrier vessel and the marine vehicle being equipped with a control system. recovery in accordance with one embodiment of the invention.

FIG. 5 thus represents schematically, seen from above, a surface marine vehicle 4, equipped with a reception device implemented in the invention, and in particular a front module 13. The marine vehicle 4 must be recovered at using a davit lifting device 5, in order to be hoisted by its lifting point 8 on the deck of a carrier vessel. The lifting device corresponds more precisely to the lifting device shown in Figure 3.

In the state shown in Figure 5, the marine vehicle 4 approaches the lifting device.

Once the marine vehicle 4 has arrived near the lifting device, as shown in Figure 6, two bars 17 of the front module are deployed to form a guide. In particular, the bars 17 are oriented towards the front, and form an angle, the apex of which is located at the level of the front module 13. Thus, the front module 13 comprises two bars 17 which can pivot vis-à-vis the rest. of the front module 13, a retracted position shown in FIG. 4, in which they take up little space and extend slightly outside the marine vehicle 4 during its navigation, and the deployed position shown in FIG. 6.

In the retracted position, also called "passive", the bars 17 can substantially match the shape of the hull (rigid or inflatable) of the marine vehicle 4. In the deployed position, also called "active", the bars 17 are oriented

substantially V-shaped with respect to each other, preferably symmetrically with respect to a plane of longitudinal symmetry of the marine vehicle (if the marine vehicle is symmetrical). The bars 17 extend cantilevered at the front of the marine vehicle 4 substantially horizontally (parallel to the surface of the water), and form an angle between them to allow recovery and guidance towards the front module 13 of any cable or substantially vertical element entering between them.

Obviously, other configurations of the front module can be used according to various variant embodiments of the invention, in order to form a guide converging, in particular with fixed bars, or movable in planes other than the horizontal plane. The bars 17 can be curved (for example to match the shape of the front hull of the marine vehicle). The means allowing the reception of a cable or rope at the level of the bow of the marine vehicle can have other forms than two bars, it can be in one piece or on the contrary be formed of several elements which can unfold to form a guide. . The movement of the bars 17, or any other means allowing reception of a cable at the front of the marine vehicle, can be automatic (motorized) or manual.

In the example shown, the marine vehicle 4 is then maneuvered to bring the guide cable 10 opposite the branches 17, in the angle they form. FIG. 7 represents the front module 13, with its bars 17 deployed, during the approach of the guide cable 10. The guide cable 10 is illustrated in three successive positions, referenced a, b, and c. At the level of the guide cable section 10 shown in FIG. 7, the guide cable is linked to the lifting cable 7. In position a, the guide bars 17 abut, due to the advance of the machine. marine 4, against the guide cable 10 and the lifting cable 7. Converging towards the front module 13, the bars 17 guide the guide cable 10 and the lifting cable 7 towards a trigger 18, on which the guide cable 10 and the lifting cable 7 press so as to actuate it in rotation (position b in FIG. 7).

The guide cable 10 and the lifting cable 7 then enter an opening 19 formed in the front module 13. Once the trigger 18 escapes the guide cable 10 and the lifting cable 7, it closes again so as to prevent the guide cable 10 and the lifting cable 7 to come out of the opening 19. The guide cable 10 and the lifting cable 7 can nevertheless freely translate vertically in the opening 19. This position corresponds to the position c illustrated in Figure 7, and also corresponds to the step illustrated in Figure 8, in a side view similar to the view of Figure 3. Thus, the marine vehicle 4 is linked by its front module 13 to the guide cable 10 and concomitantly with the lifting cable 7, which can nevertheless be translated in the front module 13, under the effect of a movement of the marine vehicle relative to the carrying boat, this movement possibly corresponding to a movement in the horizontal plane ( advancement or retreat of the marine vehicle, lateral movement l) or vertically (movement caused by waves, swell).

At this point, the traction cable is loose, and does not apply significant force to the marine vehicle 4.

At the step illustrated in FIG. 9, the marine vehicle 4 has moved back vis-à-vis the pole 9, which has the effect of raising the guide cable 10 in the front module 13. The anchor 11 is thus out of the water, and begins to approach the underside of the front module 13.

The recoil of the marine vehicle can be achieved by slowing down, at a speed lower than that of the carrier boat, for example.

The system illustrated here includes a guide cable of fixed length. As an alternative or in addition, the guide cable may be of variable length, for example adjustable using a winch, to cause the guide cable to rise in the opening 19 of the front module 13. At the step illustrated in FIG. 10, the anchor 11 has come into contact with the front module 13. The anchor 11 is nested in the front module 13. More precisely, an arm 20 of the anchor 11 s' is housed in a corresponding receiving housing of the front module 13. The arm 20 of the anchor is a part of the anchor preferably oriented substantially vertically, so that it fits into the housing of the front module 13 through an opening provided under said front module 13. Once in the receiving housing, the arm 20 and therefore the anchor 11 are immobilized vis-à-vis the front module 13.

The part of the anchor 11 to which the connecting interface 14 of the lifting cable is linked, which here has the shape of a hook, is introduced into the opening 19 of the front module 13. This positions the hook opposite a handle 21, visible in FIG. 7. The connection interface is then engaged on said handle 21, and hooks to the latter. Obviously any other connection interface configuration can be envisaged, as long as said connection interface is configured so as to bind to the handle 21 when fixing the anchor 11 to the front module 13.

The winch of the davit 5 is actuated, which reduces the length of the lifting cable 7. The shortening of the lifting cable 7 begins to cause its separation from the guide cable 10, as shown in figure 10 where the connecting means located at the above the buoy 16 has given way to free the hoisting cable 7.

The connecting means 15 gradually release the lifting cable 7 until it is completely separated from the guide cable 10.

The handle 21 is also linked by a cable to a winch located near the lifting point 8 of the marine vehicle 4.

Pulling the lifting cable 7 on the handle 21 and / or actuating the winch located near the lifting point 8 releases the handle 21 from the front module 13. Winding of the cable linking the handle to the winch located near the lifting point 8 brings said handle 21 to lifting point 8. This step is shown in figure 11.

In this situation, the towing cable 12 ensures the longitudinal retention of the marine vehicle vis-à-vis the carrier boat. The guide cable 10 essentially ensures its lateral support, at its bow.

When the handle arrives at the lifting point 8, it is fixed to a lifting support which is provided at this point, automatically (for example as explained with reference to Figures 19 to 21), or manually.

The marine vehicle 4 can then be lifted, hoisted out of the water by the lifting cable 7. More precisely, the link interface14 (for example in the form of a hook) of the cable lifting device is engaged with handle 21 which is attached to the lifting support. This step is represented in FIG. 12. FIG. 13 represents this same step, in a three-dimensional view similar to that of FIGS. 1 and 2, in which the carrier vessel 1, its deck 2, and the davit 5 in particular are clearly visible.

Figures 14 to 18 illustrate in detailed principle views the sequence that takes place at the front module 13 during the recovery of the marine vehicle.

Figure 14 shows the anchor 11, which has an arm 20. It has a vertical extension 22 to which is linked the guide cable 10. The link interface 4 located at the end of the lifting cable 7 is fixed to removable manner in the vertical extension 22. Finally, the towing cable 12 is also linked to the anchor 11.

In Figure 15, the guide cable 10 and the lifting cable 7 have been introduced into the opening 19 of the front module 13 of a marine vehicle to be recovered, and are held there (for example under the effect of a trigger located at the entrance to the opening 19). The anchor 11 is brought closer to the front module 13, under the effect of the traction of the guide cable 10 (which is shortened, or due to movement of the marine vehicle).

In Figure 16, the arm 20 is introduced into a receiving housing 23. The receiving housing 23 is shaped to accommodate the arm 21. A mechanism, located in the housing 23, or on the arm 20 (or both), makes it possible to immobilize the arm 20 in the housing 23. The anchor 11 is thus rigidly fixed to the front module 13. This also has the consequence of positioning the connecting interface 14, in this case a hook, opposite the handle 21 to which it is ready to hang. Thus, the cooperation between the arm 20 and the anchor makes it possible to put the anchor precisely in position vis-à-vis the front module 13, so as to correctly position the hook so that the handle 21 engages it. In addition, once the arm 20 is engaged, the attachment with the front module is final, that is to say that the anchor cannot be released from the front module without human intervention, voluntary.

In FIG. 17, a traction exerted on the lifting cable 7 has the consequences of separating said lifting cable 7, the end portion of which was linked to the guide cable 10, from said guide cable, and to engage the handle 21 in the hook.

In Figure 18, the handle 21 has been separated from the front module 13. It is brought in the direction of the lifting point of the marine vehicle, by pulling a handle cable 24, to be fixed there.

As shown in Figure 19, a housing 25 may be installed at the lifting point of the marine vehicle, to form a lifting support. The housing 25 has an open face, and a lower hole 26 through which the handle cable 24 passes. exerted by the handle cable 24 on the handle 21 brings the handle 21 into the housing 25, in which it is introduced through the open face. The lifting cable, not shown in Figures 19 to 21, begins to exert a vertical traction on the handle 21, which causes its straightening in the housing 25, illustrated in Figure 20. A notch 27 made in the upper face 28 of the housing 25 allows the passage of an upper element of the handle 21 (to which the lifting cable is linked via its end hook or other connecting interface). After complete recovery of the handle 21, a base 29 of the handle is blocked in the housing 25. The marine vehicle can then be lifted by the lifting cable. The device allowing automatic fixing of the handle to the lifting point which is shown in Figures 19 to 21 is obviously only one possible embodiment. Others

configurations are possible, as well as a system requiring a

manual hooking of the handle. The system thus developed in the invention allows the recovery of a surface marine vehicle from a carrier boat. It can be used both for piloted marine vehicles and for unmanned, remotely operated or autonomous marine vehicles. In addition, the recovery of the marine vehicle can be achieved in rough seas, typically up to a sea state of Level 4 or 5 on the Douglas scale.

The invention is based on a lifting means of the conventional davit type, which limits its cost, facilitates its implementation, and allows the system to be adapted to a pre-existing davit.

Claims

1. System for the recovery of a surface marine vehicle (4) by a carrier vessel (1), said system comprising:

a) a lifting device intended to equip the carrier vessel (1) and which comprises: - davit-type lifting means (5), equipped with a lifting cable (7) comprising at one end a link interface ( 14),

the recovery system being characterized in that the lifting device further comprises:

- a pole (9) intended to extend laterally outside a hull (6) of the carrier vessel (1), above its waterline, a guide cable (10) being suspended from said pole (9),

- an anchor (11) linked to a free end of said guide cable (10), said guide cable (10) being dimensioned so that, when the anchor (11) is suspended from the pole (9) by the cable guide (10), in the absence of other constraints, the anchor (11) is below the waterline of the carrier vessel (1), the link interface (14) of the lifting cable (7) being removably linked to the anchor (11), and

- a towing cable (12), intended to be linked on the one hand to the carrier vessel (1) in front of the pole (9), and on the other hand linked to the anchor (11),

and in that it comprises:

b) a receiving device adapted to cooperate with the lifting device and intended to equip the marine vehicle (4), the receiving device comprising:

- a front module (13), intended to equip the bow of the marine vehicle (4), comprising an opening (19) configured to jointly receive the guide cable (10) and the lifting cable (7), and to leaving said guide cable (10) and lifting cable (7) free in translation in said opening (19), and comprising a receiving housing adapted to receive part of the anchor (11) through which the anchor (11) ) is fixed to said front module (13) when said part is engaged in said housing, the fixing of the anchor (11) to the front module (13) resulting in fixing of the link interface (14) of the lifting cable (7) ) to a handle (21) removably linked to the front module (13), and

- A lifting support, intended to be rigidly fixed at at least one lifting point (8) of the marine vehicle (4), said lifting support being shaped to receive and immobilize the handle (21).

2. System according to claim 1, wherein the lifting cable (7) comprises an end portion detachably fixed to the guide cable (10) so as to facilitate the joint reception of said guide cable (10) and cable. lifting device (7) in the opening (19) of the front module (13).

3. System according to claim 1 or claim 2, further comprising a winch on which is wound the towing cable (12) so as to vary the length of the towing cable (12) out of the hull (6). of the carrier vessel (1).

4. System according to one of the preceding claims, wherein the anchor (11) comprises an arm (20) as part by which it is fixed to the front module (13), said arm (20) being substantially oriented towards the surface of the water when the anchor (11) is suspended by the guide wire (10), in the absence of other constraints, and submerged.

5. System according to one of the preceding claims, wherein the receiving device further comprises two guide bars (17) articulated on the front module (13), said bars (17) being able to pivot from a folded position to a deployed position in which they form a guide converging towards said front module (13).

6. System according to one of the preceding claims, wherein the handle (21) and the lifting support have a shape correspondence such that the handle (21) is immobilized with respect to the lifting support when the lifting cable ( 7), which has been fixed to the handle (21) by its connecting interface (14), is tensioned.

7. System according to one of the preceding claims, comprising a reel near the lifting support, the reel comprising a handling cable linked to the handle (21), the winding of the handling cable allowing the handle to be brought. (21) from the front module (13) to the lifting support.

8. Assembly comprising a carrier vessel (1) and a surface marine vehicle (4)

comprising a system according to one of the preceding claims, the lifting device fitted to the carrier vessel (1) and the receiving device fitted to the marine vehicle (4).

9. The assembly of claim 8, wherein the marine vehicle (4) is a

semi-rigid hull type boat.

10. A method of recovering a marine vehicle (4) equipped with a receiving device by a carrier vessel equipped with a lifting device, said receiving device and lifting device forming a recovery system in accordance with one. of claims 1 to 7, said method comprising the steps of:

- launch the anchor (11) linked to the guide cable (10) and to the traction cable, the connecting interface (14) of the lifting cable (7) being linked to said anchor (11) ;

- receive in the opening (19) of the receiving device of the guide cable (10) and the lifting cable (7);

- bring the anchor (11) against the front module (13) and engage in the housing of the front module (13) the part of the anchor (11) intended to be received there, causing the anchor to be fixed (11 ) to the front module (13) and the fixing of the link interface (14) of the lifting cable (7) to the handle (21);

- separate the handle (21) vis-à-vis the anchor (11), the marine vehicle (4) remaining guided by the guide cable (10) and towed by the towing cable (12),

- fix the handle (21) to the lifting support,

- lift the marine vehicle (4) by the lifting cable (7),

- place the marine vehicle (4) on a deck of the carrier vessel (1) using the davit-type lifting means (5).