EP2964515B1 - System and method for recovering an autonomous underwater vehicle - Google Patents
System and method for recovering an autonomous underwater vehicle Download PDFInfo
- Publication number
- EP2964515B1 EP2964515B1 EP14708010.5A EP14708010A EP2964515B1 EP 2964515 B1 EP2964515 B1 EP 2964515B1 EP 14708010 A EP14708010 A EP 14708010A EP 2964515 B1 EP2964515 B1 EP 2964515B1
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- underwater vehicle
- stop
- plate
- ship
- auv
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Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/36—Arrangement of ship-based loading or unloading equipment for floating cargo
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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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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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
- B63G8/14—Control of attitude or depth
- B63G8/18—Control of attitude or depth by hydrofoils
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/16—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
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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
- B63G8/001—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
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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
- B63G8/001—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
- B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
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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
- B63G8/001—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
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
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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
- B63G8/001—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 recovering an autonomous underwater vehicle or AUV (acronym for the English expression "Autonomous Underwater Vehicle") from a ship.
- AUV autonomous Underwater Vehicle
- the critical steps in the recovery of an autonomous underwater vehicle are the step of creating a link between the ship and the underwater vehicle and the boarding step of the underwater vehicle on board. of the ship.
- the cable is wound to raise the underwater vehicle aboard the ship, for example, by sliding on an inclined plane.
- the landing phase is performed by unwinding the cable.
- the patent US 8,145,369 discloses such a solution comprising a docking device and catching means for connecting the underwater vehicle to the docking device, the docking device comprising a flexible link to ensure a connection with a ship.
- Another solution of this type comprises a reception device comprising receiving means having a flared shape adapted to receive the front part of the underwater vehicle.
- This reception device comprises locking means for blocking the front part of the machine in the receiving means and is connected to the vessel via a cable attached to the receiving means on the front of the ship so as to to be able to come and shoot the underwater vehicle from the ship by means of the cable and back up on the boat via an inclined plane.
- This solution has the disadvantage of not allowing the AUV to continue its mission of imaging the seabed by means of an onboard active sonar once the link is established with the docking device and it is towed by the vessel, the AUV having a tendency to rise towards the surface under the effect of the force exerted by the cable subjected to a hydrodynamic drag force when the ship is moving forward.
- This solution is not optimal since the AUV has a limited autonomy that does not allow it to ensure a long-term mission.
- An object of the invention is to overcome the aforementioned drawback.
- the invention relates to a recovery system for recovering an autonomous underwater vehicle from a ship, the recovery system comprising a docking device comprising a stop on which the nose of the AUV is able to come in support, locking means for securing the underwater vehicle with the stop, a flexible link for providing the interface between the docking device and the ship, the flexible link being arranged so as to that the ship pulls the assembly formed by the docking device and the AUV on the front of the AUV when the latter is secured to the stop.
- the reception device furthermore comprises stabilization means configured so as to make it possible to control the immersion, that is to say the depth and the attitude, in particular the heel and the attitude of the assembly formed by the device. and the AUV to which he is linked.
- the size and the positioning of the stabilization means are defined according to the size, the mass and the geometry of the AUV to be recovered so as to be able to control the depth and the attitude of the assembly.
- the arrangement of the flexible link and the stabilizing means make it possible to prevent, once towed, the AUV from rising towards the surface of the water under the effect of the force exerted by the cable when the ship moves.
- This arrangement makes it possible to control the depth of the assembly formed by the AUV and the reception device in the water column. It thus makes it possible to maintain this set at a sufficient depth, or a sufficiently low altitude relative to the seabed, so that the AUV can acquire sonar images of the seabed, the stabilizing means acting as a depressant. It also makes it possible to ensure that the onboard sonar receiving antenna on the AUV can receive a reflected signal from the transmitting antenna by controlling its roll, that is to say by stabilizing its cottage.
- control surfaces of the AUV are not dimensioned to ensure this control.
- the AUV control surfaces are not sized to overcome the force exerted upward by the traction cable when the AUV is towed. They are only dimensioned to control the depth of the AUV when it is autonomous.
- the system according to the invention thus makes it possible to make the mission of the AUV as profitable as possible since it can acquire sonar images in areas that it could not reach by being towed by a ship but also once its batteries are unloaded while being towed by the vessel. Moreover, the fact of being able to acquire images of an area while being towed by a ship enables it to make this acquisition more quickly than when it is autonomous.
- the means for stabilizing the immersion of the reception device make it possible to facilitate the establishment of the link between the AUV and the reception device, in particular when the sea is rough because they allow this operation to be carried out under the surface of the aircraft. the water to a depth less impacted by the sea state. These means also facilitate the recovery of the AUV by means of a ramp.
- the reception device further comprises a plate arranged in such a way that the plate extends under the belly of the AUV when the nose the AUV bears against the abutment, the locking means also making it possible to secure the AUV with the tray.
- This system has the advantage of limiting the risk of damage to the AUV during the boarding phase on the ship. It allows to remove the contact between the AUV and the ship during this operation and to offer protection to the AUV (to the body of the craft and to the equipment in protuberance on this body). Indeed, once the AUV is secured to the abutment (and therefore the plate) when pulling on the link from the ship to bring the docking device of the ship, the assembly will come slide on the ship or on an inclined plane of the ship. The plate will interface the AUV with the vessel or the inclined plane and provide a protective surface for protruding equipment on the belly of the underwater vehicle of the type of those represented on the figures 1 a and 1b in cross section and respectively in side view.
- the AUV has an elongate body having an oblong shape in longitudinal section ( figure 1b ) and a rounded shape in cross-section ( figure 1a ).
- This elongated body is provided with external equipment 3 extending under the flanks 4a, 4b of the AUV on the front part of the latter (in a reference linked to the AUV).
- the equipment protrudes on the body 2 of the AUV 1 on the lower sides of the body 2 in a frame linked to the AUV.
- This equipment includes, for example, active sonar. They are not protected by the hull delimiting the body 2 of the AUV 1 and are therefore very sensitive to friction and shock that can damage them physically and in terms of performance which leads to distort the subsequent measurements made by these equipment .
- the system according to the invention makes it possible to impose a constant inclination of the underwater vehicle with respect to the plate around the axis of the underwater vehicle, which leads to avoid shocks and friction of the equipment. in protuberance on the body the AUV with the plate but also with the ship. This characteristic is particularly important during the boarding phase.
- the AUV was not secured to a plate making the interface between the underwater vehicle and the ship, it would be animated by roll movements that could cause shocks and friction between the protruding equipment and the ship.
- the plate also provides protection to the AUV when the assembly formed by the AUV and the docking device is animated pitching movements, heave and cavally with respect to the ship during the boarding phase.
- the plate is secured to the stop.
- the plate has an elongate shape along an axis called the longitudinal axis of the plate between the stop and a so-called free end of the plate, the stabilizing means for varying the attitude of the plate between an interception position in which the depth the tray increases from the stop to its free end and a home position in which the tray extends substantially to the same depth along its length.
- the reception device comprises first guide means for guiding the nose of the underwater vehicle towards the stop when said underwater vehicle and the abutment approach one another.
- the system comprises second guide means for aligning a longitudinal axis of the underwater vehicle with the longitudinal axis of the plate, when the underwater vehicle bears against the stop and rest on the plateau .
- the system comprises first sliding means for limiting the friction between the first guide means and the underwater vehicle and / or second sliding means for limiting the friction between the second guide means and the underwater vehicle.
- the system comprises first damping means for damping a shock between the nose of the underwater vehicle and the first guide means and / or second damping means for damping a shock between the underwater vehicle and the second guide means.
- the system comprises a ramp intended to provide the interface between the ship's deck and the marine environment and on which the host device can slide, the system comprising third guide means whose function is to ensure an alignment of a longitudinal axis of the reception device with the ramp when it slides on the ramp, the ramp comprising first support means on which support second support means of the reception device when said device is guided by the guide means, so as to to impose a constant inclination of the reception device with respect to the ramp around the longitudinal axis of the plate.
- the docking device comprises connection means automatically ensuring the connection of the battery of the underwater vehicle to a charging device of the battery on board the ship, when the underwater vehicle is secured to stop.
- the stabilization means are configured so as to control the offset of the assembly formed by the docking device and the underwater vehicle when the latter is secured to the stop.
- the invention also relates to an underwater assembly comprising the system according to the invention, the plate being arranged to extend over the entire length of a lateral sonar protruding from the body of the machine under -marine.
- the method comprises, prior to the step of securing, a step of positioning the reception device in the interception position by means of the stabilization means and a step of bringing the tray into the home position a when the underwater vehicle is resting against the abutment or when the nose of the underwater vehicle is at a distance from the abutment below a predetermined threshold.
- the longitudinal axis of a structure advantageously passes through its vertical plane of symmetry.
- FIG. 2 schematically shown in side view a reception device 7 of a recovery system for recovering an autonomous underwater vehicle 1 from a ship located on the surface of the water.
- the ship is not represented on the figure 2 .
- Autonomous underwater vehicle means a submersible craft capable of moving in three dimensions in water, which is not physically connected to a ship and which has autonomous propulsion capabilities.
- the autonomous underwater vehicle is of the type represented on the figures 1a and 1b . It includes a front part 5 called nose, visible on the figure 1b , having a generally conical shape.
- the front of the AUV is defined with respect to a reference linked to the AUV that is to say along its longitudinal axis x1.
- the reception device 7 is a submersible body. It includes a stop 9 visible on the figure 4 against which the nose 5 of the underwater vehicle is able to come to bear (as visible on the figure 2 ).
- the stop 9 blocks the movement of the AUV along the longitudinal axis of the AUV 1.
- the stop 9 advantageously has a shape closing in the direction of displacement of the autonomous underwater vehicle when it bears against the stop 9. This form allows a guide of the machine to its abutment position.
- the stop 9 may have a shape complementary to that of the nose of the autonomous underwater vehicle.
- the recovery system also comprises a flexible link 12, here a cable, providing the interface between the reception device 7 and the ship 100 (as visible on the figure 3 ).
- the device 7 is intended to be towed by the ship 100.
- the flexible link 12 is then attached to the ship. he is advantageously attached to the rear of the ship 100 along the longitudinal axis of the ship X.
- the ship 100 can be inhabited or autonomous.
- the flexible link 12 is arranged so that the ship pulls the assembly formed by the docking device and the AUV on the front of the AUV when the latter is secured to the stop.
- the cable is arranged so that the traction force exerted by the ship on the AUV when it is towing the AUV is exerted on the front of the AUV.
- the cable 12 is fixed to the reception device 7 on the front of the AUV when the latter is resting on the stop 9, in a reference linked to the AUV.
- the fastener 14 by means of which is fixed the cable 12 to the reception device 7 is fixed in front of the AUV 1.
- the flexible link 12 is fixed to the reception device 7 at a first longitudinal end 7a of the reception device 7 near the stop 9.
- the system comprises pulling means 13, or pulling device, for pulling to deploy the cable 12 or pull on the cable to hoist the docking device 7 aboard the ship 100 aboard the ship or to put it
- pulling means 13 for pulling to deploy the cable 12 or pull on the cable to hoist the docking device 7 aboard the ship 100 aboard the ship or to put it
- These means are, for example, winding / unwinding means 13, for example, a winch for winding and unwinding the flexible link 12 from the ship 100.
- the reception device 7 also comprises locking means, or locking elements, for securing the AUV with the stop 9. These means will be described more precisely later. These means make it possible, in particular, to establish the physical link between the AUV and the ship, which makes it possible to bring it on board the ship with the reception device 7.
- the reception device 7 comprises stabilization means, or stabilizers, for controlling the depth, that is to say the immersion, and the attitude, in particular the heel and the attitude, of the assembly formed by the docking device and the AUV when the latter is secured to the stop 9.
- stabilization means or stabilizers, for controlling the depth, that is to say the immersion, and the attitude, in particular the heel and the attitude, of the assembly formed by the docking device and the AUV when the latter is secured to the stop 9.
- the stabilizing means make it possible to control the attitude and the depth of the assembly implies that they also allow these controls for the reception device alone. This makes it possible to ensure a precise positioning and orientation of the reception device when the AUV approaches it.
- the stabilization means comprise two pairs 17, 18 of elevators.
- the stabilizing means could, for example, include ballasts or thrusters or any other means of stabilizing the attitude and depth of a submersible body.
- each pair of rudder is installed at a longitudinal end 7a, 10a of the receiving device.
- one of the pairs of elevators 17 is located at the end of the receiving device to which is fixed the flexible link 12 (here the front end 7a). This makes it possible to vary the depth of the reception device 7 by means of this pair of control surfaces without varying its attitude when the device 7 is towed by the ship 100 by means of the flexible link 12.
- the stabilization means also make it possible to control the lateral offset (lurching) of the assembly constituted by the AUV and the reception device. This makes it possible to improve the quality of the sonar images when the AUV is towed and also to improve the accuracy of the positioning of the reception device in the approach phase of the AUV.
- the stabilizing means comprise a rudder 19.
- This rudder is advantageously arranged at the same end 7a that to which is attached the flexible link. This makes it possible to print a lateral offset to the assembly (or to the reception device alone) without printing yaw movement when the device is towed to the ship by means of the flexible link.
- the reception device 7 advantageously comprises a plate 10. As visible on the figure 2 , the stop 9 and the plate 10 are arranged so that the plate 10 extends under the belly 11 of the AUV when the nose 5 of the latter is resting on said stop 9.
- the belly 11 is the most important part. 2 of the AUV 1 in a frame related to the AUV 1. This is the lowest part of the cylindrical portion 50 of the body 2 between the front portions 5 and rear 55 of generally conical shapes . In other words, in a frame linked to the reception device 7, the plate 10 extends under the stop 9.
- the plate 10 makes it possible to ensure the interface between the underwater vehicle 1 and the ship 100 or between the underwater vehicle and a ramp connected to the ship 100 (visible on the figure 3 ) during the embarkation phase and thus reduces the risk of damage to the underwater vehicle during these phases.
- the plate has an elongate shape along the second longitudinal axis x2 also corresponding to the axis of the receiving device 7.
- the control surfaces 17, 18 are installed near each of the longitudinal ends 10a, 10b of the plate. In this way they are also installed near each end of the AUV when it is in abutment against the stop and rests on the plate.
- the plate over the entire length of the lateral sonars arranged on the sides of the underwater vehicle. This ensures their protection during the boarding phase.
- the plate being arranged to extend over the entire length of a lateral sonar protruding from the body of the underwater vehicle.
- the plate 10 extends longitudinally between a first free end 10a and a second end 10b of the plate connected to the stop 9 and located near the first end 7a of the receiving device 7.
- the end 10a constitutes the second longitudinal end of the reception device.
- the reception device is maintained in a position in which the plate occupies a so-called interception position in which the free end 10a of the plate is deeper, with respect to the surface of the water, than the end of the plateau in relation to the stop 9.
- the depth of the plate 10 increases from the stop 9 to its free end 10a.
- the axis of the plate x2 is inclined with respect to a horizontal plane so that the free end 10a of the plate is deeper than the stop 9.
- the stabilization means make it possible to vary the attitude of the plate 10 from the intercepting position to a reception position in which the free end 10a of the plate extends substantially to the same depth as its end. 10b linked to the stop 9 (see figures 7 and 8b ). Furthermore, the stabilizing means for controlling the attitude of the plate, they allow to maintain the plate in the home position and in the interception position.
- the plateau In the interception and reception positions, the plateau has a zero or substantially zero heel.
- the plate 10 is integral with the stop 9.
- the stabilizing means thus vary the attitude of the reception device 7 between the interception and reception positions when they vary the attitude of the board 10.
- the plate 10 is pivotally mounted relative to the stop along an axis perpendicular to the axis of the plate.
- the stabilizing means are then able to move the plate relative to the stop between the intercepting position and the home position.
- the system then comprises locking means for securing the plate and the abutment in these two positions or at least when in the home position.
- the locking means which will be described later then make it possible to secure the AUV with the stop and the plate when the latter is in the home position.
- the plate is pivotally mounted relative to the stop only about said axis perpendicular to the axis of the plate.
- the first solution is simpler to implement and the second solution does not involve movement of the stopper when the plate moves (the stabilization means maintaining the attitude of the fixed stop).
- the mobility of the plate 10 between the intercepting and receiving positions makes it possible to limit the risk of damaging the AUV 1 and the protruding elements 3 when the AUV comes to rest on the stop 9 while allowing the move the plate 10 away from the space in which the AUV is going to penetrate to advance towards the stop 9.
- the risks of friction and shock suffered by the AUV 1 or its protruding equipment during the establishment of the link between the AUV and the reception device, that is to say with the ship, are reduced.
- the reception device 7 comprises first guide means 15, or first guide, for guiding the nose 5 of the underwater vehicle 1 towards the stop 9 when it is close to the stop 9 or that the stop 9 is getting closer to him.
- They consist of a mechanical structure arranged around the stop 9 defining a space 151 capable of housing the nose 5 of the underwater vehicle 1 and the possible protruding elements 3 on this nose.
- the space 151 is flared when one moves away from the abutment 9 along the second axis x2.
- these first guide means 15 comprise a plurality of rigid or flexible first branches 15a disposed at the periphery of the stop 9 as well as the plate 10.
- the first guide means 15 comprise a plurality of first branches. 15a each having a first end fixed at the periphery of the abutment 9 and a second free end. These first branches 15a delimit with the plate 10, a volume that flares from the stop towards the free end of the branches.
- the guide means are made in the form of a structure having a funnel shape.
- the first guide means 15 make it possible to ensure that the nose 5 of the underwater vehicle 1 comes to bear on the stop 9 even if it does not exactly face the abutment.
- the nose 5 enters the volume 151, it is held by the guide means 15 which guide its nose 5 towards the stop 9.
- the receiving device 7 comprises first sliding means 16, or first sliding elements, for limiting the friction between the nose 5 of the AUV 1 and the means of guide.
- the first sliding means here comprise series of first rollers 16 rolled arranged on the branches 15a.
- the first rollers 16 installed on the same first branch 15a are pivotally mounted on this branch about respective axes yi represented by arrows on the figure 5 perpendicular to the branch 15a.
- the rollers 16 are installed on the faces of the first panels 15a which are located inside the volume 151. They have a generally cylindrical shape.
- the nose 5 of the underwater vehicle 1 hits a roller 16 of a first branch 15a, the roller pivots about its axis yi which brings the nose 5 closer to the stop 9. This avoids friction between the underwater vehicle 1 and the branches 15a.
- the reception device 7 comprises first damping means, or first dampers, for damping a shock between the underwater vehicle and the first guide means 15.
- first damping means comprise for example a damping contact surface 16 'visible on the figure 5 which are provided with the rollers 16 so as to offer the underwater vehicle 1 a cushioning contact surface.
- the rollers 16 comprise, for example, a rigid axis attached to a branch 15a.
- the rigid axis 16 is surrounded by a resilient material, for example of the foam type forming the first damping means 16 '.
- the first means of damping and sliding protect the nose of the aircraft and any external equipment that protrude on this nose as is the case on the figure 2 damping shocks and limiting friction between the first guide means and these elements.
- the rods 15a are pivotally mounted on the stop 9 about axes yi perpendicular to the axis of the plate x2. In this way, when the AUV hits the rods, they will pivot to cushion the shock.
- the rods 15a are rigid. In this way the rods resist the drag due to the flow while damping the shocks with the nose of the AUV.
- the reception device 7 also comprises second guide means 20, 21, 22 or second guide, for aligning the longitudinal axis x1 of the underwater vehicle 1 with that of the plate 10 (as visible on the figure 9b ).
- These second guide means 20, 21, 22 are arranged to align the axis of the AUV x1 with that of the plate x2 when the AUV bears on the stop 9 and comes to rest on the plate 10, for example when the reception device 7 is brought from its intercepting position to its home position while the underwater vehicle 1 bears on the stop 9.
- the second guide means comprise a mechanical structure 20, 21, 22 on which the underwater vehicle can slide and arranged to guide the underwater vehicle to a stable equilibrium position when the plate 10 is brought from its intercept position to its home position.
- This structure is also arranged to guide the AUV that arrives on the stop while its longitudinal axis is not aligned with that of the plate when it is in the home position as visible on the figure 7 .
- the reception device is arranged in such a way that when the AUV is resting on the stop 9 (with a zero attitude) and the reception device is in the home position, the undercarriage Marine 1 rests on the plateau 10.
- the mechanical structure 20, 21, 22 is arranged so that in the stable equilibrium position (as visible on the figures 8a and 8b ), the longitudinal axis x1 of the underwater vehicle is aligned with the longitudinal axis plateau x2.
- the mechanical structure comprises two second rigid branches 20, 21 fixed to the plate and a link 22 connecting the second branches 20, 21 to the plate and on which the machine is able to slide.
- the second branches 20, 21 extend in a plane perpendicular to the axis of the plate 10 and are arranged on either side of the plate symmetrically and inclined with respect to a vertical plane passing through the axis of the plate. tray x. They are connected by a link which forms a trap having a shape complementary to the belly 11 of the body 2 of the AUV 1.
- the longitudinal axes of the plate and the AUV will thus be found aligned, that is to say lie in vertical and longitudinal parallel planes. As visible on the figure 9 , the device is arranged so that these axes are in the same vertical plane.
- the reception device and the second guide means 20, 21, 22 are arranged so that when the underwater vehicle 1 bears on the stop 9, the plate extends over its entire length. On either side of the submarine's belly 1. In other words, the plateau extends under the belly and flanks of the AUV.
- the reception device 7 comprises second sliding means (or second sliding elements) making it possible to limit the friction between the second guiding means 20, 21, 22 and / or the second damping means making it possible to dampen a shock between the second guide means and the underwater vehicle 1.
- the second branches 20, 21 are provided with second rollers 23.
- the second rollers 23 attached to a branch are rotatable relative to this branch about respective axes perpendicular to the axis of the branch and parallel to the x axis of the plate 10.
- the rollers 23 are installed on the faces of the branches 20, 21 which face the underwater vehicle when it bears on the stop 9.
- the second sliding means make it possible, by limiting the friction, to maintain the bed of the underwater vehicle constant when the reception device passes from the intercepting position to the home position.
- the second damping means comprise damping contact surfaces 23 'which are provided with the second rollers 23 which are designed to provide the underwater vehicle 1 with a damping contact surface.
- the rollers 23 are, for example, made in the form of rigid axes fixed to a second branch 20 or 21 and are provided surrounded by a resilient material, for example of the foam type forming the second damping means.
- the second damping and sliding means make it possible to protect the body of the AUV by damping the shocks and by limiting the friction between the second guiding means and these elements.
- the plate comprises third damping means 24, or third dampers, for damping the physical contact between the AUV and the plate 10.
- these means comprise cushions 24 made of resilient material arranged on the surface of the plate and spaced along the longitudinal axis of the plate.
- the locking means comprise locking means 25d, 25f, 26d, 26m or a locking device, making it possible to perform a locking function consisting in holding the AUV in abutment on the stop 9, in maintaining the heel of the AUV constant with respect to the plate (ie to impose a constant inclination of the underwater vehicle with respect to the plate around the longitudinal axis of the underwater vehicle) and to maintain the AUV pressing on the plate 10 (that is to say to prevent the movements of the AUV relative to the plate along the axis z2 perpendicular to the plane of the plate and the axis x2).
- first locking means 25d or first locking device, integral with the underwater vehicle 1 and the second locking means 26d, or second locking device, included in the receiving device 7.
- the first and second locking means respectively comprise a first finger 25d and a second finger 26d able to cooperate in order to perform the locking function.
- the first locking means here comprise a first finger 25d integral with the AUV 1. It is for example fixed thereto by means of a metal strip 25f circling the AUV 1.
- the second locking means comprise a second finger 26d.
- the second finger extends in an arc around the axis x2 of the plate and symmetrical relative to this axis. It also extends on both sides of the x2 plateau axis.
- This finger 26d is movable in translation along the axis of the plate x between an unlocking position (visible on the figures 2 and 6 ) in which it is distant from the second finger and a locking position (in which is the finger on the figures 9 and 10 but non-visibly) in which it bears on the first finger 25d perpendicular to the axis of the plate and in which it exerts a traction force on the first finger parallel to the x axis of the plate and towards the stop 9, when the AUV 1 rests on the plate 10 so as to perform the locking function.
- an unlocking position visible on the figures 2 and 6
- a locking position in which is the finger on the figures 9 and 10 but non-visibly
- the second locking means also comprise traction means, or traction device, for moving the finger 26d between the unlocking position and the locking position and to maintain them in these two positions.
- the traction means comprise for example an articulated arm 26m linked to the finger 26d.
- the fact that the finger 26d extends in a circular arc makes it possible to secure the AUV with the plate and the stop 9 even when it has a non-zero deposit of absolute value less than or equal to a predetermined angle corresponding to half of the angle on which the finger extends.
- the angle is for example equal to 10 °.
- the finger is positioned on the x2 axis and has an angular aperture less than 1 °.
- the locking means also comprise means, or a device, for preventing lateral movements (along the axis y2 extending perpendicularly to the axes x2 and z2 perpendicular to each other) of the underwater vehicle 1 relative to the tray.
- These means here comprise the link 22 (visible on the figure 8a ) which surrounds the belly 11 of the underwater vehicle when it is in its position of stable equilibrium.
- the first and second locking means are configured to perform a first locking function of maintaining the AUV bearing on the stop 9, and to maintain the heel of the AUV constant with respect to the plate.
- the locking means then also include means for maintaining the AUV support on the plate. This is for example movable arms between a release position in which they do not exert force on the AUV and a support position in which they come to rest on the top of the AUV so as to hold it in support on the plate.
- the system according to the invention advantageously comprises but not necessarily a ramp 27, as visible on the figures 9 and 10 , intended to provide the interface between the deck of the ship 100 and the marine environment, and on which is adapted to slip the host device 7.
- This ramp may be fixed relative to the ship, for example of the inclined plane type, or be a boom pivotally mounted relative to the ship 100 about an axis perpendicular to the longitudinal axis of the ramp.
- the ramp advantageously comprises buoyancy means, or floats, not shown configured and arranged so that one end of the ramp floats on the surface or near the surface of the water shown in thick lines on the figures 9 and 10 . This feature ensures the contact between the boom and the marine environment.
- the ramp may, for example, be a ramp of the type of that described in the patent application FR1004764 or in the patent application FR1201573 .
- the system comprises third guide means 28, or third guide, whose function is to ensure alignment of the longitudinal axis x2 of the reception device 7 on the longitudinal axis of the ramp so as to allow a sliding or correct rolling of the assembly formed by the device 7 and the underwater vehicle 1 along its path on the ramp (uphill or downhill).
- These means include, for example, as illustrated on the figure 11 , a device acting as a fairlead, inside which passes the traction cable 12 of the machine configured to move along the ramp 27, for example on a rail disposed along the longitudinal axis thereof ci (not shown in the figure).
- the system comprises means, or a device, for maintaining the inclination making it possible to impose a constant inclination of the reception device with respect to the ramp, around the axis of the plate.
- these means make it possible to impose a constant heel on the reception device.
- These means comprise, in particular, first support means 29 on which the elevators 17, serving as second support means, when the device is guided by the guide means 28.
- other means are provided to perform the function of second support means in place of the control surfaces 17.
- the means for maintaining the inclination furthermore advantageously comprise longitudinal edges 114, 115 of the ramp (visible on the figure 11 ) configured to form longitudinal support members.
- the thickness of the edges is then adapted to the dimensions of the host device and the AUV considered, so that when the assembly is installed on the ramp, the plate rests on the means 30 while the second means support, for example the control surfaces, rest on the edges 114 and 115 on which they slide.
- the ramp advantageously comprises other sliding means 30, also called another guide, intended to promote the progression of the reception device along the ramp, under the action of the traction exerted by the cable (recovery) or by gravity (launching).
- These means are for example rollers or rollers arranged laterally on the bottom of the ramp and on which rolls the device.
- connection means not shown, also called connection, automatically ensuring the connection of the battery of the AUV to a charging device of this battery on board the ship 100, when the AUV is secured to the stop 9.
- This feature allows its reconditioning energy on the deck of the ship without human intervention.
- the energy transfer is advantageously done by the cable 12.
- the method advantageously comprises a step of securing the AUV with the stop 9 (and advantageously the plate 10 when the AUV rests on the plate 10). The AUV is then transformed into a towed body.
- the method then advantageously comprises a step of controlling the attitude and the depth of the assembly formed by the reception device and the AUV secured to the stop by means of stabilizing means.
- the stabilizing means are controlled so as to maintain the assembly at a constant altitude relative to the seabed.
- the method also advantageously comprises a step of acquiring sonar images by means of an on-board sonar on board the AUV as long as the assembly is in the water.
- the system advantageously comprises wireless communication means (for example of the Wi-Fi or optical type), also called a wireless communication device, making it possible to transmit the sonar images acquired by the AUV to the ship 100. means of communication between the flexible link 12 and the AUV, the cable then transmitting the data to the ship 100.
- the method then advantageously comprises a step of recovering the assembly aboard the ship 100 during which a traction force is exerted on the assembly so as to pull it towards the ship 100 and to embark it aboard the ship 100 by dragging it on the ramp.
- This step is performed by winding the cable 12 around by means of the winch 13.
- the method comprises a step of controlling the position and the attitude of the AUV so that it navigates to a predetermined depth. with a substantially zero or no attitude and so as to follow a constant course which is advantageously that of the ship with a constant speed.
- the depth is chosen according to the state of the sea. It is all the more important that the sea is agitated so as to recover in relatively calm waters.
- the method advantageously comprises a step controlling the speed of the ship 100 so that it sails at a speed lower than that of the AUV so that the AUV can approach the ship 100.
- the device comprises a step of control of the ship's route and / or a step of controlling the length of the cable (or link) spun so that the underwater vehicle approaches the stop and the underwater vehicle's road is substantially identical to that of the ship.
- the docking device 7 being towed by the ship and having an elongated shape will naturally be oriented so that its longitudinal axis is located along the X axis of the ship 100 which is parallel to the speed of the AUV.
- the method according to the invention advantageously comprises a step of controlling, by means of the stabilization means, the immersion of the reception device so as to position it at a predetermined depth which is advantageously the depth of the AUV 1.
- the method furthermore advantageously comprises a step of controlling the lateral offset of the reception device so as to position it in alignment with the underwater vehicle.
- the underwater vehicle 1 Since the underwater vehicle 1 has a speed greater than that of the ship, it will move closer to the device according to the invention until it bears on the abutment 9.
- the interception of the underwater vehicle by the reception device 7 can be performed when the latter is in the home position.
- the underwater vehicle 1 then comes into contact with the plate and in particular with the third damping means and slide on the latter before reaching the stop.
- the method comprises, before the AUV comes to bear on the stop 9, a step of controlling the attitude of the plate so as to bring it and keep it in the interception position .
- the method then comprises another attitude control step, by means of the stabilization means, so as to bring the plate from its intercepting position to the home position, when the AUV bears on the stop 9 or when the nose of the AUV is at a distance from the stop below a predetermined threshold.
- the system according to the invention comprises monitoring means, or a monitoring device, for monitoring the position of the underwater vehicle with respect to the stop 9 and possibly with respect to the plate 10.
- the monitoring means advantageously make it possible to measure the distance of the underwater vehicle relative to the abutment and possibly relative to the plateau. They advantageously comprise means for determining the distance of the nose of the underwater vehicle relative to the abutment, from the position measurement of the underwater vehicle, and means for comparing this distance to the threshold. predetermined and possibly to determine his attitude. These means may comprise optical, acoustic or electromagnetic devices.
- the AUV comprises, for example, devices for transmitting light signals, such as for example a lamp, enabling its positioning by the ship equipped with means capable of intercepting and measuring the distance from the AUV to the abutment from these signals.
- the monitoring means make it possible to detect the establishment of the physical contact between the stop and possibly the plate.
- They include detection means, or a detector, for detecting when the underwater vehicle 1 bears on the abutment 9 and possibly against the plate 10.
- These means comprise, for example, one or more pressure sensors.
- the underwater vehicle rests on the plate 10.
- the AUV is then secured to the stop 9 and advantageously the plate 10 by means of blocking and in particular by means of the locking means.
- the securing step comprises a locking step by means of the locking means.
- This step can be performed by means of control means, also called steering device, located on the ship. It requires means for monitoring the position of the underwater vehicle 1, also called monitoring device, with respect to the stop and the plate. Alternatively this step is performed automatically, the coming of the underwater vehicle bearing on the plate automatically triggering the actuation of the locking means.
- the means for stabilizing the position and the attitude of the AUV and the reception device, the locking means and the traction means can be controlled by piloting means located on board. the ship or from a station or ground or an air station (for example an aircraft). When the pilot can be realized from a place other than the ship (ground or air), it is said that the system is teleoperated.
- the control means may be automatic control means or means allowing an operator to control these remote stabilization means.
- the system then comprises information means, or an information device, comprising, for example, display screens and / or alarm means, making it possible to inform the operator of the output monitoring means.
- the monitoring means comprise a camera allowing the operator to monitor the evolution of the underwater vehicle relative to the device.
- control means are automatic control means capable of controlling stabilization means, the locking means and the traction means.
- the outputs of the monitoring means are then transmitted to the automatic control means.
- control commands can be transmitted to the stabilization means of the reception device 7 by a wireless link (included in the system according to the invention) or by means of the flexible link 12 (which is then an electrotractor cable).
- the attitude, the depth and the speed of the AUV are controlled by piloting means on board the AUV. These means may have received a recovery instruction before the start of the mission, indicating the time, course and speed, immersion to be adopted at this time.
- the system comprises means of communication between the AUV and the ship allowing the ship to send her the salvage instruction.
- the recovery instruction sent to the AUV is a rejoin instruction from a predetermined rendezvous point.
- the method then comprises a step of controlling the position of the device host so that it comes to put the stop 9 in support against the AUV by means of stabilization means.
- the device according to the invention is also a device for launching an AUV from a ship.
- This device has the same advantages during the landing and establishing the link between the AUV and the docking device as during the phases of boarding and establishment of the link.
- the invention also relates to a subsea unit comprising the autonomous underwater vehicle and / or the ship and the recovery system according to the invention.
- the AUV 1 comprises lower control surfaces 5b extending under the body of the underwater vehicle and upper 5a, extending above the body in a frame of reference related to the submarine. These control surfaces are located on the rear of the submarine.
- the lower rudder protrudes under the belly 11 of the underwater vehicle.
- the reception means are dimensioned so that the plate does not extend to below the lower rudder 5b when the underwater vehicle 1 bears on the abutment 9.
- the ramp and the reception device are arranged and configured so that when the reception device 7 integral with the machine 1 slides on the ramp, the lower rudder 5b does not strike the bottom of the ramp.
- the ramp has a hollow bottom.
- the receiving means are configured so that when the machine rests on the plate, the lower rudder 5b does not protrude under the plate. This is achieved by playing for example on the thickness of the plate.
- the underwater vehicle does not include a lower dive bar or includes dive bars cross.
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- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Description
Le domaine de l'invention est celui des dispositifs et des procédés pour récupérer un engin sous-marin autonome ou AUV (acronyme de l'expression anglo-saxonne « Autonomous Underwater Vehicle ») à partir d'un navire.The field of the invention is that of devices and methods for recovering an autonomous underwater vehicle or AUV (acronym for the English expression "Autonomous Underwater Vehicle") from a ship.
Les étapes critiques de la récupération d'un engin sous-marin autonome sont l'étape de création d'un lien entre le navire et l'engin sous-marin et l'étape d'embarquement de l'engin sous-marin à bord du navire.The critical steps in the recovery of an autonomous underwater vehicle are the step of creating a link between the ship and the underwater vehicle and the boarding step of the underwater vehicle on board. of the ship.
On connait des solutions dans lesquelles on vient établir un lien physique entre l'engin sous-marin et le navire au moyen d'un lien souple que l'on attache sur le dessus de l'engin sous-marin. Une fois ce lien établi, on soulève l'engin sous-marin au moyen d'une grue ou d'un portique puis on vient le poser à bord du navire. Toutefois, les grues et les portiques sont des équipements lourds et encombrants que l'on souhaite éviter d'installer à bord des navires de petite taille. Par ailleurs, lors la phase d'embarquement, par fort état de mer, l'engin sous-marin suspendu à la grue ou au portique subit des mouvements importants qui peuvent le conduire à venir heurter le navire ou ses équipements et à les endommager ou à être endommagé lui-même.Solutions are known in which there is a physical connection between the underwater vehicle and the ship by means of a flexible link that is attached to the top of the underwater vehicle. Once this link is established, the underwater vehicle is lifted by means of a crane or a gantry crane and then placed on board the vessel. However, cranes and gantries are heavy and bulky equipment that one wishes to avoid installing on board small ships. Moreover, during the embarkation phase, by high sea state, the underwater vehicle suspended from the crane or the gantry undergoes significant movements that may lead it to hit the ship or its equipment and damage or to be damaged himself.
On connait des solutions permettant de pallier ces inconvénients dans lesquelles on établit un lien physique entre l'engin sous-marin et le navire au moyen d'un lien souple que l'on vient attacher sur l'avant de l'AUV.Solutions are known to overcome these disadvantages in which a physical link is established between the underwater vehicle and the ship by means of a flexible link that is attached to the front of the AUV.
Une fois ce lien établi, on enroule le câble pour faire remonter l'engin sous-marin à bord du navire, par exemple, en le faisant glisser sur un plan incliné. La phase de mise à la mer est effectuée en déroulant le câble.Once this link is established, the cable is wound to raise the underwater vehicle aboard the ship, for example, by sliding on an inclined plane. The landing phase is performed by unwinding the cable.
Le brevet
Cette solution présente l'inconvénient de ne pas permettre à l'AUV de continuer sa mission d'imager le fond marin au moyen d'un sonar actif embarqué une fois que le lien est établi avec le dispositif d'accueil et qu'il est remorqué par le navire, l'AUV ayant tendance à remonter vers la surface sous l'effet de l'effort exercé par le câble soumis à un effort de traînée hydrodynamique lorsque le navire avance. Cette solution n'est pas optimale puisque l'AUV présente une autonomie limitée qui ne lui permet pas d'assurer une mission de longue durée.This solution has the disadvantage of not allowing the AUV to continue its mission of imaging the seabed by means of an onboard active sonar once the link is established with the docking device and it is towed by the vessel, the AUV having a tendency to rise towards the surface under the effect of the force exerted by the cable subjected to a hydrodynamic drag force when the ship is moving forward. This solution is not optimal since the AUV has a limited autonomy that does not allow it to ensure a long-term mission.
Un but de l'invention est de pallier l'inconvénient précité.An object of the invention is to overcome the aforementioned drawback.
A cet effet, l'invention a pour objet un système de récupération pour récupérer un engin sous-marin autonome à partir d'un navire, le système de récupération comprenant un dispositif d'accueil comprenant une butée sur laquelle le nez de l'AUV est apte à venir en appui, des moyens de blocage permettant de solidariser l'engin sous-marin avec la butée, un lien souple destiné à assurer l'interface entre le dispositif d'accueil et le navire, le lien souple étant agencé de façon que le navire tire l'ensemble formé par le dispositif d'accueil et l'AUV sur le devant de l'AUV lorsque ce dernier est solidaire de la butée.For this purpose, the invention relates to a recovery system for recovering an autonomous underwater vehicle from a ship, the recovery system comprising a docking device comprising a stop on which the nose of the AUV is able to come in support, locking means for securing the underwater vehicle with the stop, a flexible link for providing the interface between the docking device and the ship, the flexible link being arranged so as to that the ship pulls the assembly formed by the docking device and the AUV on the front of the AUV when the latter is secured to the stop.
Le dispositif d'accueil comprend en outre des moyens de stabilisation configurés de façon à permettre de contrôler l'immersion, c'est à dire la profondeur et l'attitude, notamment la gîte et l'assiette de l'ensemble formé par le dispositif d'accueil et l'AUV auquel il est lié.The reception device furthermore comprises stabilization means configured so as to make it possible to control the immersion, that is to say the depth and the attitude, in particular the heel and the attitude of the assembly formed by the device. and the AUV to which he is linked.
Autrement dit la taille et le positionnement des moyens de stabilisation sont définis en fonction de la taille, de la masse et de la géométrie de l'AUV devant être récupéré de façon à pouvoir contrôler la profondeur et l'attitude de l'ensemble.In other words, the size and the positioning of the stabilization means are defined according to the size, the mass and the geometry of the AUV to be recovered so as to be able to control the depth and the attitude of the assembly.
L'agencement du lien souple et les moyens de stabilisation permettent d'empêcher qu'une fois remorqué, l'AUV ne remonte vers la surface de l'eau sous l'effet de la force exercée par le câble lorsque le navire se déplace. Cet agencement permet de maitriser la profondeur de l'ensemble formé par l'AUV et le dispositif d'accueil dans la colonne d'eau. Il permet ainsi de maintenir cet ensemble à une profondeur suffisante, ou une altitude suffisamment faible par rapport au fond marin, pour que l'AUV puisse acquérir des images sonar du fond marin, les moyens de stabilisation agissant en dépresseur. Il permet en outre d'assurer que l'antenne de réception du sonar embarqué à bord de l'AUV puisse réceptionner un signal réfléchi issu de l'antenne d'émission en contrôlant son roulis, c'est-à-dire en stabilisant sa gîte. Il permet de contrôler son immersion afin qu'il présente une profondeur constante par rapport au fond marin dont le relief peut varier, ce qui est une condition nécessaire pour obtenir des images sonar de qualité. Ceci est, par exemple, réalisé en asservissant l'immersion de l'ensemble à l'altitude du fond marin. Il faut noter que les gouvernes de l'AUV ne sont pas dimensionnées pour assurer ce contrôle. Les gouvernes de l'AUV ne sont pas dimensionnées pour vaincre la force exercée vers le haut par le câble de traction lorsque l'AUV est remorqué. Elles sont uniquement dimensionnées pour contrôler la profondeur de l'AUV lorsque celui-ci est autonome.The arrangement of the flexible link and the stabilizing means make it possible to prevent, once towed, the AUV from rising towards the surface of the water under the effect of the force exerted by the cable when the ship moves. This arrangement makes it possible to control the depth of the assembly formed by the AUV and the reception device in the water column. It thus makes it possible to maintain this set at a sufficient depth, or a sufficiently low altitude relative to the seabed, so that the AUV can acquire sonar images of the seabed, the stabilizing means acting as a depressant. It also makes it possible to ensure that the onboard sonar receiving antenna on the AUV can receive a reflected signal from the transmitting antenna by controlling its roll, that is to say by stabilizing its cottage. It allows to control its immersion so that it has a constant depth with respect to the seabed whose relief can vary, which is a necessary condition to obtain quality sonar images. This is, for example, achieved by enslaving the immersion of the whole at the altitude of the seabed. It should be noted that the control surfaces of the AUV are not dimensioned to ensure this control. The AUV control surfaces are not sized to overcome the force exerted upward by the traction cable when the AUV is towed. They are only dimensioned to control the depth of the AUV when it is autonomous.
Le système selon l'invention permet donc de rentabiliser la mission de l'AUV au maximum puisque celui-ci peut acquérir des images sonar dans des zones qu'il ne pourrait atteindre en étant remorqué par un navire mais aussi une fois que ses batteries sont déchargées en étant remorqué par le navire. Par ailleurs, le fait de pouvoir acquérir des images d'une zone en étant remorqué par un navire lui permet de réaliser cette acquisition plus rapidement que lorsqu'il est autonome.The system according to the invention thus makes it possible to make the mission of the AUV as profitable as possible since it can acquire sonar images in areas that it could not reach by being towed by a ship but also once its batteries are unloaded while being towed by the vessel. Moreover, the fact of being able to acquire images of an area while being towed by a ship enables it to make this acquisition more quickly than when it is autonomous.
Les moyens de stabilisation de l'immersion du dispositif d'accueil permettent de faciliter l'établissement du lien entre l'AUV et le dispositif d'accueil en particulier lorsque la mer est agitée puisqu'ils permettent de réaliser cette opération sous la surface de l'eau à une profondeur moins impactée par l'état de la mer. Ces moyens permettent également de faciliter la récupération de l'AUV au moyen d'une rampe.The means for stabilizing the immersion of the reception device make it possible to facilitate the establishment of the link between the AUV and the reception device, in particular when the sea is rough because they allow this operation to be carried out under the surface of the aircraft. the water to a depth less impacted by the sea state. These means also facilitate the recovery of the AUV by means of a ramp.
Avantageusement, le dispositif d'accueil comprend en outre un plateau agencé de manière que le plateau s'étende sous le ventre de l'AUV lorsque le nez l'AUV est en appui contre la butée, les moyens de blocage permettant également de solidariser l'AUV avec le plateau.Advantageously, the reception device further comprises a plate arranged in such a way that the plate extends under the belly of the AUV when the nose the AUV bears against the abutment, the locking means also making it possible to secure the AUV with the tray.
Ce système présente l'avantage de limiter les risques d'endommagement de l'AUV lors de la phase d'embarquement sur le navire. Il permet de supprimer le contact entre l'AUV et le navire lors de cette opération et d'offrir une protection à l'AUV (au corps de l'engin et aux équipements en protubérance sur ce corps). En effet, une fois que l'AUV est solidaire de la butée (et donc du plateau) lorsqu'on vient tirer sur le lien depuis sur le navire pour rapprocher le dispositif d'accueil du navire, l'ensemble va venir glisser sur le navire ou sur un plan incliné solidaire du navire. Le plateau va faire l'interface entre l'AUV et le navire ou le plan incliné et offrir une surface de protection à des équipements en protubérance sur le ventre de l'engin sous-marin du type de ceux qui sont représentés sur les
Comme visible sur ces figures, l'AUV présente un corps allongé présentant une forme oblongue en coupe longitudinale (
Avec la protection offerte par le plateau, l'engin sous-marin et ses équipements ne sont pas sujets à des frottements lors de la phase d'embarquement. Par ailleurs, le système selon l'invention permet d'imposer une inclinaison constante de l'engin sous-marin par rapport au plateau autour de l'axe de l'engin sous-marin ce qui conduit à éviter des chocs et frottements des équipements en protubérance sur le corps l'AUV avec le plateau mais aussi avec le navire. Cette caractéristique est particulièrement importante lors de la phase d'embarquement. Lors de cette phase, lorsque l'on enroule le câble, si l'AUV n'était pas solidarisé avec un plateau faisant l'interface entre l'engin sous-marin et le navire, il serait animé de mouvements de roulis qui pourraient provoquer des chocs et frottement entre les équipements protubérants et le navire. Le plateau offre également une protection à l'AUV lorsque l'ensemble formé par l'AUV et le dispositif d'accueil est animé de mouvements de tangage, de pilonnement et de cavalement par rapport au navire lors de la phase d'embarquement.With the protection offered by the plateau, the underwater vehicle and its equipment are not subject to friction during the boarding phase. Furthermore, the system according to the invention makes it possible to impose a constant inclination of the underwater vehicle with respect to the plate around the axis of the underwater vehicle, which leads to avoid shocks and friction of the equipment. in protuberance on the body the AUV with the plate but also with the ship. This characteristic is particularly important during the boarding phase. During this phase, when winding the cable, if the AUV was not secured to a plate making the interface between the underwater vehicle and the ship, it would be animated by roll movements that could cause shocks and friction between the protruding equipment and the ship. The plate also provides protection to the AUV when the assembly formed by the AUV and the docking device is animated pitching movements, heave and cavally with respect to the ship during the boarding phase.
Avantageusement, le plateau est solidaire de la butée.Advantageously, the plate is secured to the stop.
Avantageusement, le plateau présente une forme allongée selon un axe appelé axe longitudinal du plateau entre la butée et une extrémité dite libre du plateau, les moyens de stabilisation permettant de faire varier l'assiette du plateau entre une position d'interception dans laquelle la profondeur du plateau augmente depuis la butée jusqu'à son extrémité libre et une position d'accueil dans laquelle le plateau s'étend sensiblement à la même profondeur sur toute sa longueur.Advantageously, the plate has an elongate shape along an axis called the longitudinal axis of the plate between the stop and a so-called free end of the plate, the stabilizing means for varying the attitude of the plate between an interception position in which the depth the tray increases from the stop to its free end and a home position in which the tray extends substantially to the same depth along its length.
Avantageusement, le dispositif d'accueil comprend des premiers moyens de guidage permettant de guider le nez de l'engin sous-marin vers la butée lorsque ledit engin sous-marin et la butée se rapprochent l'un de l'autre.Advantageously, the reception device comprises first guide means for guiding the nose of the underwater vehicle towards the stop when said underwater vehicle and the abutment approach one another.
Avantageusement, le système comprend des deuxièmes moyens de guidage permettant d'aligner un axe longitudinal de l'engin sous-marin avec l'axe longitudinal du plateau, lorsque l'engin sous-marin vient en appui contre la butée et reposer sur le plateau.Advantageously, the system comprises second guide means for aligning a longitudinal axis of the underwater vehicle with the longitudinal axis of the plate, when the underwater vehicle bears against the stop and rest on the plateau .
Avantageusement, le système comprend des premiers moyens de glissement permettant de limiter les frottements entre les premiers moyens de guidage et l'engin sous-marin et/ou des deuxièmes moyens de glissement permettant de limiter les frottements entre les deuxièmes moyens de guidage et l'engin sous-marin.Advantageously, the system comprises first sliding means for limiting the friction between the first guide means and the underwater vehicle and / or second sliding means for limiting the friction between the second guide means and the underwater vehicle.
Avantageusement, le système comprend des premiers moyens d'amortissement permettant d'amortir un choc entre le nez de l'engin sous-marin et les premiers moyens de guidage et/ou des deuxièmes moyens d'amortissement permettant d'amortir un choc entre l'engin sous-marin et les deuxièmes moyens de guidage.Advantageously, the system comprises first damping means for damping a shock between the nose of the underwater vehicle and the first guide means and / or second damping means for damping a shock between the underwater vehicle and the second guide means.
Avantageusement, le système comprend une rampe destinée à assurer l'interface entre le pont du navire et le milieu marin et sur laquelle est apte à venir glisser le dispositif d'accueil, le système comprenant des troisièmes moyens de guidage dont la fonction est d'assurer un alignement d'un axe longitudinal du dispositif d'accueil avec la rampe lorsque celui-ci glisse sur la rampe, la rampe comprenant des premiers moyens d'appui sur lesquels s'appuient des deuxièmes moyens d'appui du dispositif d'accueil lorsque ledit dispositif est guidé par les moyens de guidage, de manière à imposer une inclinaison constante du dispositif d'accueil par rapport à la rampe autour de l'axe longitudinal du plateau.Advantageously, the system comprises a ramp intended to provide the interface between the ship's deck and the marine environment and on which the host device can slide, the system comprising third guide means whose function is to ensure an alignment of a longitudinal axis of the reception device with the ramp when it slides on the ramp, the ramp comprising first support means on which support second support means of the reception device when said device is guided by the guide means, so as to to impose a constant inclination of the reception device with respect to the ramp around the longitudinal axis of the plate.
Avantageusement, le dispositif d'accueil comprend des moyens de branchement assurant automatiquement le branchement de la batterie de l'engin sous-marin à un dispositif de recharge de cette batterie embarqué à bord du navire, lorsque l'engin sous-marin est solidaire de la butée.Advantageously, the docking device comprises connection means automatically ensuring the connection of the battery of the underwater vehicle to a charging device of the battery on board the ship, when the underwater vehicle is secured to stop.
Avantageusement, les moyens de stabilisation sont configurés de façon à permettre de contrôler le déport de l'ensemble formé par le dispositif d'accueil et l'engin sous-marin lorsque ce dernier est solidaire de la butée.Advantageously, the stabilization means are configured so as to control the offset of the assembly formed by the docking device and the underwater vehicle when the latter is secured to the stop.
L'invention se rapport également à un ensemble sous marin comprenant le système selon l'invention, le plateau étant agencé de façon à s'étendre sur la totalité de la longueur d'un sonar latéral faisant saillie sur le corps de l'engin sous-marin.The invention also relates to an underwater assembly comprising the system according to the invention, the plate being arranged to extend over the entire length of a lateral sonar protruding from the body of the machine under -marine.
L'invention a également pour objet un procédé de récupération d'un engin sous-marin autonome au moyen d'un système selon l'invention, comprenant :
- une étape de solidarisation de l'engin sous-marin avec la butée,
- une étape de contrôle de l'attitude et de la profondeur de l'ensemble formé par l'engin sous-marin solidaire de la butée et le dispositif d'accueil.
- a step of securing the underwater vehicle with the abutment,
- a step of controlling the attitude and depth of the assembly formed by the underwater vehicle secured to the stop and the docking device.
Avantageusement, le procédé comprend, préalablement à l'étape de solidarisation, une étape de positionnement du dispositif d'accueil dans la position d'interception au moyen des moyens de stabilisation et une étape consistant à amener le plateau dans la position d'accueil une fois que l'engin sous-marin est en appui contre la butée ou lorsque le nez de l'engin sous-marin se trouve à une distance de la butée inférieure à un seuil prédéterminé.Advantageously, the method comprises, prior to the step of securing, a step of positioning the reception device in the interception position by means of the stabilization means and a step of bringing the tray into the home position a when the underwater vehicle is resting against the abutment or when the nose of the underwater vehicle is at a distance from the abutment below a predetermined threshold.
Avantageusement, le procédé comprend :
- une étape de contrôle de la position et de l'attitude de l'engin sous-marin de façon qu'il navigue à une profondeur prédéterminée avec une assiette sensiblement nulle et de façon à suivre un cap constant avec une vitesse constante,
- une étape de contrôle de l'immersion du dispositif d'accueil et éventuellement du déport latéral du dispositif d'accueil de façon à le positionner dans l'alignement de l'engin sous marin,
- une étape de contrôle de la vitesse et de la route du navire et/ou une étape de contrôle de la longueur du lien filé de façon que l'engin sous-marin se rapproche de la butée et que la route de l'engin sous-marin soit sensiblement la même que la route du navire.
- a step of controlling the position and the attitude of the underwater vehicle so that it navigates to a predetermined depth with a substantially zero attitude and so as to follow a constant course with a constant speed,
- a step of controlling the immersion of the reception device and possibly the lateral offset of the reception device so as to position it in alignment with the underwater vehicle,
- a step of controlling the speed and the road of the ship and / or a step of controlling the length of the spun link so that the underwater vehicle approaches the abutment and the road of the underwater vehicle sailor is substantially the same as the ship's route.
D'autres caractéristiques et avantages de l'invention apparaîtront à la lecture de la description détaillée qui suit, faite à titre d'exemple non limitatif et en référence aux dessins annexés dans lesquels :
- les
figures 1a et1b déjà décrites représentent schématiquement un exemple d'engin sous-marin autonome coupe transversale (figure 1a ) et en vue de côté (figure 1b ), - la
figure 2 représente une vue de côté du dispositif d'accueil du système selon l'invention dans une situation dans laquelle l'engin sous-marin est en appui sur la butée et les moyens d'accueil sont en position d'interception, - la
figure 3 représente une vue de côté du système selon l'invention, - la
figure 4 représente schématiquement une coupe longitudinale du dispositif d'accueil du système selon l'invention, - la
figure 5 représente schématiquement une vue de face partielle d'une première branche des premiers moyens de guidage, - la
figure 6 représente une vue en perspective de la situation représentée sur lafigure 2 , - la
figure 7 représente schématiquement en vue de côté le dispositif d'accueil du système selon l'invention dans une situation dans laquelle l'engin sous-marin est en appui sur la butée, les moyens d'accueil sont en position d'accueil et les moyens de verrouillage sont en position de verrouillage, - la
figure 8a représente une coupe transversale selon le plan M de la situation de lafigure 7 , lafigure 8b représente une vue de dessus du dispositif d'accueil dans laquelle l'engin sous-marin est en appui sur la butée, repose sur le plateau et est dans sa position d'équilibre stable, - les
figures 9 et10 représentent schématiquement en vue de côté le système selon l'invention dans une situation de remorquage dans laquelle le dispositif d'accueil arrive au niveau de la rampe (figure 9 ) et remonte le long de la rampe (figure 10 ), - la
figure 11 représente schématiquement un détail de la rampe en vue de dessus.
- the
figures 1a and1b already described represent schematically an example of autonomous underwater vehicle cross-section (figure 1a ) and side view (figure 1b ) - the
figure 2 represents a side view of the reception device of the system according to the invention in a situation in which the underwater vehicle bears on the stop and the reception means are in the interception position, - the
figure 3 represents a side view of the system according to the invention, - the
figure 4 schematically represents a longitudinal section of the reception device of the system according to the invention, - the
figure 5 schematically represents a partial front view of a first branch of the first guide means, - the
figure 6 represents a perspective view of the situation represented on thefigure 2 , - the
figure 7 schematically shows in side view the reception device of the system according to the invention in a situation in which the underwater vehicle is resting on the abutment, the reception means are in the home position and the means of locking are in the locked position, - the
figure 8a represents a cross section along the M plane of the situation of thefigure 7 , thefigure 8b represents a view from above of the reception device in which the underwater vehicle is resting on the stop, rests on the plateau and is in its position of stable equilibrium, - the
figures 9 and10 schematically show in side view the system according to the invention in a towing situation in which the reception device arrives at the level of the ramp (figure 9 ) and goes up the ramp (figure 10 ) - the
figure 11 schematically represents a detail of the ramp in plan view.
D'une figure à l'autre, les mêmes éléments sont repérés par les mêmes références.From one figure to another, the same elements are identified by the same references.
Dans la description, l'axe longitudinal d'une structure passe avantageusement par son plan de symétrie vertical.In the description, the longitudinal axis of a structure advantageously passes through its vertical plane of symmetry.
Sur la
Par engin sous-marin autonome (AUV), on entend un engin submersible apte à se déplacer dans les trois dimensions dans l'eau, qui n'est pas relié physiquement à un navire et qui est doté de capacités de propulsions autonomes.Autonomous underwater vehicle (AUV) means a submersible craft capable of moving in three dimensions in water, which is not physically connected to a ship and which has autonomous propulsion capabilities.
L'engin sous-marin autonome est du type de celui qui est représenté sur les
Le dispositif d'accueil 7 est un corps submersible. Il comprend une butée 9 visible sur la
Le système de récupération comprend également, un lien souple 12, ici un câble, assurant l'interface entre le dispositif d'accueil 7 et le navire 100 (comme visible sur la
Le lien souple 12 est agencé de façon que le navire tire l'ensemble formé par le dispositif d'accueil et l'AUV sur le devant de l'AUV lorsque ce dernier est solidaire de la butée. Autrement dit le câble est agencé de façon que la force de traction exercée par le navire sur l'AUV, lorsqu'il remorque l'AUV soit exercée sur le devant de l'AUV.The
A cet effet, le câble 12 est fixé au dispositif d'accueil 7 sur le devant de l'AUV lorsque ce dernier est en appui sur la butée 9, dans un référentiel lié à l'AUV. Par exemple, sur la
Sur la réalisation des figures (voir
Comme visible sur la
Le dispositif d'accueil 7 comprend également des moyens de blocage, ou éléments de blocage, permettant de solidariser l'AUV avec la butée 9. Ces moyens seront décrits plus précisément ultérieurement. Ces moyens permettent notamment d'établir le lien physique entre l'AUV et le navire ce qui permet de pouvoir l'amener à bord du navire avec le dispositif d'accueil 7.The
Le dispositif d'accueil 7 selon l'invention comprend des moyens de stabilisation, ou stabilisateurs, permettant de contrôler la profondeur, c'est-à-dire l'immersion, et l'attitude, notamment la gîte et l'assiette, de l'ensemble formé par le dispositif d'accueil et l'AUV lorsque ce dernier est solidaire de la butée 9. Par contrôler la profondeur, l'assiette et la gîte de l'ensemble, on entend faire varier ou maintenir ces grandeurs fixes.The
Ces moyens de stabilisation et l'agencement du lien souple permettent à l'AUV de continuer sa mission d'acquisition d'images sonar du fond marin de bonne qualité au moyen d'un sonar embarqué 3, visible sur les
Le fait que les moyens de stabilisation permettent de contrôler l'attitude et la profondeur de l'ensemble, implique qu'ils permettent également ces contrôles pour le dispositif d'accueil seul. Cela permet d'assurer un positionnement et une orientation précis du dispositif d'accueil lorsque l'AUV l'approche.The fact that the stabilizing means make it possible to control the attitude and the depth of the assembly implies that they also allow these controls for the reception device alone. This makes it possible to ensure a precise positioning and orientation of the reception device when the AUV approaches it.
Sur la réalisation des figures, les moyens de stabilisation comprennent deux paires 17, 18 de gouvernes de profondeur. Ce mode de réalisation n'est pas limitatif, les moyens de stabilisation pourraient, par exemple, comprendre des ballasts ou des propulseurs ou tout autre moyen de stabilisation de l'attitude et de la profondeur d'un corps submersible.In the embodiment of the figures, the stabilization means comprise two
Dans ce mode de réalisation, chaque paire de gouverne est installée à une extrémité longitudinale 7a, 10a du dispositif d'accueil.In this embodiment, each pair of rudder is installed at a
Sur la réalisation des figures, une des paires de gouvernes de profondeur 17 est située au niveau de l'extrémité du dispositif d'accueil à laquelle est fixé le lien souple 12 (ici l'extrémité avant 7a). Cela permet de faire varier la profondeur du dispositif d'accueil 7 au moyen de cette paire de gouvernes sans faire varier son assiette lorsque le dispositif 7 est tracté par le navire 100 au moyen du lien souple 12.In the embodiment of the figures, one of the pairs of
Avantageusement, les moyens de stabilisation permettent également de contrôler le déport latéral (l'embardée) de l'ensemble constitué par l'AUV et le dispositif d'accueil. Cela permet d'améliorer la qualité des images sonar lorsque l'AUV est remorqué et également d'améliorer la précision du positionnement du dispositif d'accueil en phase d'approche de l'AUV.Advantageously, the stabilization means also make it possible to control the lateral offset (lurching) of the assembly constituted by the AUV and the reception device. This makes it possible to improve the quality of the sonar images when the AUV is towed and also to improve the accuracy of the positioning of the reception device in the approach phase of the AUV.
A cet effet, les moyens de stabilisation comprennent une gouverne de direction 19. Cette gouverne est avantageusement agencée au niveau de la même extrémité 7a que celle à laquelle est attaché le lien souple. Cela permet d'imprimer un déport latéral à l'ensemble (ou au dispositif d'accueil seul) sans imprimer de mouvement de lacet lorsque le dispositif est tracté au navire au moyen du lien souple.For this purpose, the stabilizing means comprise a
Le dispositif d'accueil 7 comprend avantageusement un plateau 10. Comme visible sur la
Le plateau 10 permet d'assurer l'interface entre l'engin sous-marin 1 et le navire 100 ou entre l'engin sous-marin et une rampe liée au navire 100 (visible sur la
Le plateau présente une forme allongée selon le deuxième axe longitudinal x2 correspondant aussi à l'axe du dispositif d'accueil 7. Les gouvernes 17, 18 sont installées à proximité de chacune des extrémités longitudinales 10a, 10b du plateau. De cette façon elles sont également installées à proximité de chacune des extrémités de l'AUV lorsque celui-ci est en butée contre la butée et repose sur le plateau.The plate has an elongate shape along the second longitudinal axis x2 also corresponding to the axis of the receiving
Avantageusement, le plateau sur toute la longueur des sonars latéraux disposés sur les flancs de l'engin sous-marin. Cela permet de garantir leur protection lors de la phase d'embarquement. Autrement dit, le plateau étant agencé de façon à s'étendre sur la totalité de la longueur d'un sonar latéral faisant saillie sur le corps de l'engin sous-marin.Advantageously, the plate over the entire length of the lateral sonars arranged on the sides of the underwater vehicle. This ensures their protection during the boarding phase. In other words, the plate being arranged to extend over the entire length of a lateral sonar protruding from the body of the underwater vehicle.
Le plateau 10 s'étend longitudinalement entre une première extrémité libre 10a et une deuxième extrémité 10b du plateau liée à la butée 9 et située à proximité de la première extrémité 7a du dispositif d'accueil 7. L'extrémité 10a constitue la deuxième extrémité longitudinale du dispositif d'accueil.The
Sur la
Avantageusement, les moyens de stabilisation permettent de faire varier l'assiette du plateau 10 depuis la position d'interception jusqu'à une position d'accueil dans laquelle l'extrémité libre 10a du plateau s'étend sensiblement à la même profondeur que son extrémité 10b liée la butée 9 (voir
Dans les positions d'interception et d'accueil, le plateau présente une gîte nulle ou sensiblement nulle.In the interception and reception positions, the plateau has a zero or substantially zero heel.
Sur la réalisation des figures, le plateau 10 est solidaire de la butée 9. Les moyens de stabilisation font donc varier l'assiette du dispositif d'accueil 7 entre les positions d'interception et d'accueil lorsqu'ils font varier l'assiette du plateau 10.In the embodiment of the figures, the
En variante, le plateau 10 est monté pivotant par rapport à la butée selon un axe perpendiculaire à l'axe du plateau. Les moyens de stabilisation sont alors aptes à déplacer le plateau par rapport à la butée entre la position d'interception et la position d'accueil. Le système comprend alors des moyens de blocage permettant de solidariser le plateau et la butée dans ces deux positions ou au moins lorsqu'il est dans la position d'accueil. Les moyens de blocage qui seront décrits ultérieurement permettent alors de solidariser l'AUV avec la butée et le plateau lorsque ce dernier est dans la position d'accueil. Avantageusement, le plateau est monté pivotant par rapport à la butée uniquement autour dudit axe perpendiculaire à l'axe du plateau.Alternatively, the
La première solution est plus simple à mettre en oeuvre et la deuxième solution n'implique pas de mouvement de la butée lorsque le plateau bouge (les moyens de stabilisation maintenant l'attitude de la butée fixe).The first solution is simpler to implement and the second solution does not involve movement of the stopper when the plate moves (the stabilization means maintaining the attitude of the fixed stop).
La mobilité du plateau 10 entre les positions d'interception et d'accueil permet de limiter les risques d'endommagement de l'AUV 1 et des éléments protubérants 3 lorsque l'AUV vient se mettre en appui sur la butée 9 en permettant d'éloigner le plateau 10 de l'espace dans lequel l'AUV va pénétrer pour avancer vers la butée 9. Les risques de frottement et de choc subis par l'AUV 1 ou ses équipements protubérants lors de l'établissement du lien entre l'AUV et le dispositif d'accueil, c'est-à-dire avec le navire, sont réduits.The mobility of the
Avantageusement, comme représenté sur les
Les premiers moyens de guidage 15 permettent de s'assurer que le nez 5 de l'engin sous-marin 1 arrive en appui sur la butée 9 même s'il n'arrive pas exactement en face de la butée. Lorsque le nez 5 pénètre dans le volume 151, il y est maintenu par les moyens de guidage 15 qui guident son nez 5 vers la butée 9.The first guide means 15 make it possible to ensure that the
Avantageusement, comme visible sur la
Ainsi, lorsqu'en se rapprochant de la butée, le nez 5 de l'engin sous-marin 1 vient percuter un galet 16 d'une première branche 15a, le galet pivote autour de son axe yi ce qui rapproche le nez 5 de la butée 9. On évite ainsi les frottements entre l'engin sous-marin 1 et les branches 15a.Thus, when approaching the stop, the
Avantageusement, le dispositif d'accueil 7 comprend des premiers moyens d'amortissement, ou premiers amortisseurs, permettant d'amortir un choc entre l'engin sous-marin et les premiers moyens de guidage 15.Advantageously, the
Ces premiers moyens d'amortissement comprennent par exemple une surface de contact amortissante 16' visible sur la
Les premiers moyens d'amortissement et de glissement protègent le nez de l'aéronef et les éventuels équipements externes qui viennent en protubérance sur ce nez comme c'est le cas sur la
Avantageusement, comme visible sur la
Avantageusement, les tiges 15a sont rigides. De cette façon les tiges résistent à la trainée due à l'écoulement tout en amortissant les chocs avec le nez de l'AUV.Advantageously, the
Comme visible sur les
Ces deuxièmes moyens de guidage 20, 21, 22 sont agencés de façon à aligner l'axe de l'AUV x1 avec celui du plateau x2 lorsque l'AUV vient en appui sur la butée 9 et vient reposer sur le plateau 10, par exemple, lorsque le dispositif d'accueil 7 est amené de sa position d'interception à sa position d'accueil alors que l'engin sous marin 1 est en appui sur la butée 9.These second guide means 20, 21, 22 are arranged to align the axis of the AUV x1 with that of the plate x2 when the AUV bears on the
Comme visible sur les
Il faut noter que le dispositif d'accueil est agencé de manière que lorsque l'AUV est en appui sur la butée 9 (avec une assiette nulle) et que le dispositif d'accueil est en position d'accueil, l'engin sous-marin 1 repose sur le plateau 10.It should be noted that the reception device is arranged in such a way that when the AUV is resting on the stop 9 (with a zero attitude) and the reception device is in the home position, the
La structure mécanique 20, 21, 22 est agencée de façon que dans la position d'équilibre stable (telle que visible sur les
Sur la réalisation de la
De cette façon, lorsque l'AUV 1 est en appui sur la butée 9 et que le plateau est amené depuis la position d'interception jusqu'à la position d'accueil, si les axes longitudinaux du plateau et de l'AUV se trouvent dans des plans verticaux non parallèles, l'AUV va glisser sur les deuxièmes moyens de guidage ce qui va ramener ces axes dans des plans verticaux parallèles.In this way, when the
Lorsque le plateau va atteindre la position d'accueil, l'AUV va reposer sur lui et leurs axes longitudinaux vont se retrouver dans des plans horizontaux parallèles.When the plateau reaches the home position, the AUV will rest on it and their longitudinal axes will be in parallel horizontal planes.
Les axes longitudinaux du plateau et de l'AUV vont ainsi se retrouver alignés, c'est-à-dire se trouver dans des plans verticaux et longitudinaux parallèles. Comme visible sur la
Par ailleurs, le dispositif d'accueil et les deuxièmes moyens de guidage 20, 21, 22 sont agencés de façon que lorsque l'engin sous-marin 1 est en appui sur la butée 9, le plateau s'étend sur toute sa longueur de part et d'autre du ventre de l'engin sous-marin 1. Autrement dit, le plateau s'étend sous le ventre et les flancs de l'AUV.Furthermore, the reception device and the second guide means 20, 21, 22 are arranged so that when the
Avantageusement, le dispositif d'accueil 7 comprend des deuxièmes moyens de glissement (ou deuxièmes éléments de glissement) permettant de limiter les frottements entre les deuxièmes moyens de guidage 20, 21, 22 et/ou des deuxièmes moyens d'amortissement permettant d'amortir un choc entre les deuxièmes moyens de guidage et l'engin sous-marin 1.Advantageously, the
Comme visible sur la
Le deuxièmes moyens de glissement permettent, en limitant les frottements, de maintenir constante la gîte de l'engin sous marin lorsque le dispositif d'accueil passe de la position d'interception à la position d'accueil.The second sliding means make it possible, by limiting the friction, to maintain the bed of the underwater vehicle constant when the reception device passes from the intercepting position to the home position.
Avantageusement, les deuxièmes moyens d'amortissement, ou deuxièmes amortisseurs, comprennent des surfaces de contact amortissantes 23' dont sont munis les deuxièmes galets 23 qui sont réalisées de façon à offrir à l'engin sous-marin 1 une surface de contact amortissante. Les galets 23 sont, par exemple, réalisés sous forme d'axes rigides fixés à une deuxième branche 20 ou 21 et sont munis entouré d'un matériau résilient, par exemple du type mousse formant les deuxièmes moyens d'amortissement.Advantageously, the second damping means, or second dampers, comprise damping contact surfaces 23 'which are provided with the
Les deuxièmes moyens d'amortissement et de glissement permettent de protéger le corps de l'AUV en amortissant les chocs et en limitant les frottements entre les deuxièmes moyens de guidage et ces éléments.The second damping and sliding means make it possible to protect the body of the AUV by damping the shocks and by limiting the friction between the second guiding means and these elements.
Avantageusement, le plateau comprend des troisièmes moyens d'amortissement 24, ou troisièmes amortisseurs, permettant d'amortir la mise en contact physique entre l'AUV et le plateau 10. Sur la réalisation des figures ces moyens comprennent des coussins 24 réalisés en matériau résilient disposés sur la surface du plateau et espacés selon l'axe longitudinal du plateau.Advantageously, the plate comprises third damping means 24, or third dampers, for damping the physical contact between the AUV and the
Avantageusement, les moyens de blocage comprennent des moyens de verrouillage 25d, 25f, 26d, 26m ou un dispositif de verrouillage, permettant de réaliser une fonction de verrouillage consistant à maintenir l'AUV en appui sur la butée 9, à maintenir la gîte de l'AUV constante par rapport au plateau (c'est-à-dire d'imposer une inclinaison constante de l'engin sous-marin par rapport au plateau autour de l'axe longitudinal de l'engin sous-marin) et à maintenir l'AUV en appui sur le plateau 10 (c'est-à-dire d'empêcher les mouvements de l'AUV par rapport au plateau selon l'axe z2 perpendiculaire au plan du plateau et à l'axe x2).Advantageously, the locking means comprise locking means 25d, 25f, 26d, 26m or a locking device, making it possible to perform a locking function consisting in holding the AUV in abutment on the
Ces moyens sont visibles sur la
Les premiers moyens de verrouillage comprennent ici un premier doigt 25d solidaire de l'AUV 1. Il est par exemple fixé à celui-ci par l'intermédiaire d'un feuillard métallique 25f cerclant l'AUV 1. Les deuxièmes moyens de verrouillage comprennent un deuxième doigt 26d. Le deuxième doigt s'étend en arc de cercle autour de l'axe x2 du plateau et symétrique par rapport à cet axe. Il s'étend également de part et d'autre de l'axe du plateau x2. Ce doigt 26d est mobile en translation selon l'axe du plateau x entre une position de déverrouillage (visible sur les
Les deuxièmes moyens de verrouillage comprennent également des moyens de traction, ou dispositif de traction, permettant de déplacer le doigt 26d entre la position de déverrouillage et la position de verrouillage et de les maintenir dans ces deux positions. Les moyens de traction comprennent par exemple un bras articulé 26m lié au doigt 26d. Le fait que le doigt 26d s'étende en arc de cercle permet de solidariser l'AUV avec le plateau et la butée 9 même lorsqu'il présente une gîte non nulle de valeur absolue inférieure ou égale à un angle prédéterminé correspondant à la moitié de l'angle sur lequel s'étend le doigt. L'angle est par exemple égal à 10°. En variante, le doigt est positionné sur l'axe x2 et présente une ouverture angulaire inférieure à 1°.The second locking means also comprise traction means, or traction device, for moving the
Les moyens de blocage comprennent également des moyens, ou un dispositif, permettant d'empêcher les mouvements latéraux (selon l'axe y2 s'étendant perpendiculairement aux axes x2 et z2 perpendiculaires entre eux) de l'engin sous-marin 1 par rapport au plateau. Ces moyens comprennent ici la liaison 22 (visibles sur la
En variante, les premiers et deuxièmes moyens de verrouillage sont configurés de façon à réaliser une première fonction de verrouillage consistant à maintenir l'AUV en appui sur la butée 9, et à maintenir la gîte de l'AUV constante par rapport au plateau. Les moyens de verrouillage comprennent alors également des moyens permettant de maintenir l'AUV en appui sur le plateau. Il s'agit par exemple de bras mobiles entre une position de libération dans laquelle ils n'exercent pas de force sur l'AUV et une position d'appui dans laquelle ils viennent en appui sur le dessus de l'AUV de façon à le maintenir en appui sur le plateau.Alternatively, the first and second locking means are configured to perform a first locking function of maintaining the AUV bearing on the
Le système selon l'invention comprend avantageusement mais non nécessairement une rampe 27, comme visible sur les
Cette rampe peut être fixe par rapport au navire, par exemple du type plan incliné, ou bien être une rampe montée pivotante par rapport au navire 100 autour d'un axe perpendiculaire à l'axe longitudinal de la rampe.This ramp may be fixed relative to the ship, for example of the inclined plane type, or be a boom pivotally mounted relative to the
La rampe comprend avantageusement des moyens de flottabilité, ou flotteurs, non représentés configurés et agencés de sorte qu'une extrémité de la rampe flotte en surface ou à proximité de la surface de l'eau représentée en traits épais sur les
La rampe peut, par exemple, être une rampe du type de celle décrite dans la demande de brevet
Avantageusement, le système comprend des troisièmes moyens de guidage 28, ou troisième guide, dont la fonction est d'assurer un alignement de l'axe longitudinal x2 du dispositif d' accueil 7 sur l'axe longitudinal de la rampe de façon à permettre un glissement ou un roulement correct de l'ensemble formé par le dispositif 7 et l'engin sous-marin 1 tout au long de son cheminement sur la rampe (en montée ou en descente). Ces moyens comprennent, par exemple, comme illustré sur la
Le système comprend des moyens, ou un dispositif, de maintien de l'inclinaison permettant d'imposer une inclinaison constante au dispositif d'accueil par rapport à la rampe, autour de l'axe du plateau. Autrement dit, ces moyens permettent d'imposer une gîte constante au dispositif d'accueil. Ces moyens comprennent notamment des premiers moyens d'appui 29 sur lesquels s'appuient les gouvernes de profondeur 17, faisant office de deuxièmes moyens d'appui, lorsque le dispositif est guidé par les moyens de guidage 28. En variante, d'autres moyens sont prévus pour réaliser la fonction de deuxièmes moyens d'appui à la place des gouvernes 17.The system comprises means, or a device, for maintaining the inclination making it possible to impose a constant inclination of the reception device with respect to the ramp, around the axis of the plate. In other words, these means make it possible to impose a constant heel on the reception device. These means comprise, in particular, first support means 29 on which the
Les moyens de maintien de l'inclinaison comprennent en outre avantageusement des bords longitudinaux 114, 115 de la rampe (visibles sur la
La rampe comprend avantageusement d'autres moyens de glissement 30, encore appelés autre guide, destinés, à favoriser la progression du dispositif d'accueil le long de la rampe, sous l'action de la traction exercée par le câble (récupération) ou par gravité (mise à l'eau). Ces moyens sont par exemple des rouleaux ou des galets roulants disposés latéralement sur le fond de la rampe et sur lesquels roule le dispositif.The ramp advantageously comprises other sliding
Le système selon l'invention comprend des moyens de branchement, non représentés, encore appelés branchement, assurant automatiquement le branchement de la batterie de l'AUV à un dispositif de recharge de cette batterie embarqué à bord du navire 100, lorsque l'AUV est solidaire de la butée 9. Cette caractéristique permet son reconditionnement en énergie sur le pont du navire sans intervention humaine. Le transfert d'énergie se fait avantageusement par le câble 12.The system according to the invention comprises connection means, not shown, also called connection, automatically ensuring the connection of the battery of the AUV to a charging device of this battery on board the
Nous allons maintenant décrire le procédé de récupération d'un engin sous-marin autonome selon l'invention au moyen du système de récupération selon l'invention.We will now describe the recovery process of an autonomous underwater vehicle according to the invention by means of the recovery system according to the invention.
Le procédé comprend avantageusement une étape de solidarisation de l'AUV avec la butée 9 (et avantageusement le plateau 10 lorsque l'AUV repose sur le plateau 10). L'AUV est alors transformé en corps remorqué.The method advantageously comprises a step of securing the AUV with the stop 9 (and advantageously the
Le procédé comprend ensuite avantageusement une étape de contrôle de l'attitude et de la profondeur de l'ensemble formé par le dispositif d'accueil et l'AUV solidaire de la butée au moyen des moyens de stabilisation. Par exemple, les moyens de stabilisation sont contrôlés de façon à maintenir l'ensemble à une altitude constante par rapport au fond marin. Le procédé comprend en outre avantageusement une étape d'acquisition d'images sonar au moyen d'un sonar embarqué à bord de l'AUV tant que l'ensemble est dans l'eau. Le système comprend avantageusement des moyens de communication sans fil (par exemple du type wifi ou optique), encore appelé dispositif de communication sans fil, permettant de transmettre les images sonar acquises par l'AUV au navire 100. Il s'agit par exemple de moyens de communication entre le lien souple 12 et l'AUV, le câble transmettant ensuite les données au navire 100.The method then advantageously comprises a step of controlling the attitude and the depth of the assembly formed by the reception device and the AUV secured to the stop by means of stabilizing means. For example, the stabilizing means are controlled so as to maintain the assembly at a constant altitude relative to the seabed. The method also advantageously comprises a step of acquiring sonar images by means of an on-board sonar on board the AUV as long as the assembly is in the water. The system advantageously comprises wireless communication means (for example of the Wi-Fi or optical type), also called a wireless communication device, making it possible to transmit the sonar images acquired by the AUV to the
Le procédé comprend ensuite avantageusement une étape de récupération de l'ensemble à bord du navire 100 lors de laquelle un effort de traction est exercé sur l'ensemble de façon à le tirer vers le navire 100 et à l'embarquée à bord du navire 100 en le faisant glisser sur la rampe. Cette étape est réalisée en enroulant le câble 12 autour au moyen du treuil 13.The method then advantageously comprises a step of recovering the assembly aboard the
Avantageusement, préalablement à l'établissement du lien entre l'AUV et le dispositif d'accueil 7, le procédé comprend une étape de contrôle de la position et de l'attitude de l'AUV de façon qu'il navigue à une profondeur prédéterminée avec une assiette sensiblement nulle ou nulle et de façon à suivre un cap constant qui est avantageusement celui du navire avec une vitesse constante.Advantageously, prior to establishing the link between the AUV and the
La profondeur est choisie en fonction de l'état de la mer. Elle est d'autant plus importante que la mer est agitée de façon à procéder à la récupération en eaux relativement calmes.The depth is chosen according to the state of the sea. It is all the more important that the sea is agitated so as to recover in relatively calm waters.
Le procédé comprend avantageusement une étape contrôle de la vitesse du navire 100 de façon qu'il navigue à une vitesse inférieure à celle de l'AUV pour que l'AUV puisse se rapprocher du navire 100. Plus généralement, le dispositif comprend une étape de contrôle de la route du navire et/ou une étape de contrôle de la longueur du câble (ou lien) filée de façon que l'engin sous-marin se rapproche de la butée et que la route de l'engin sous-marin soit sensiblement identique à celle du navire.The method advantageously comprises a step controlling the speed of the
Le dispositif d'accueil 7 étant tracté par le navire et présentant une forme allongée va naturellement s'orienter de façon que son axe longitudinal soit situé selon l'axe X du navire 100 qui est parallèle à la vitesse de l'AUV.The
Le procédé selon l'invention comprend avantageusement une étape de contrôle, au moyen des moyens de stabilisation, de l'immersion du dispositif d'accueil de façon à le positionner à une profondeur prédéterminée qui est avantageusement la profondeur de l'AUV 1.The method according to the invention advantageously comprises a step of controlling, by means of the stabilization means, the immersion of the reception device so as to position it at a predetermined depth which is advantageously the depth of the
Le procédé comprend en outre avantageusement une étape de contrôle du déport latéral du dispositif d'accueil de façon à le positionner dans l'alignement de l'engin sous-marin.The method furthermore advantageously comprises a step of controlling the lateral offset of the reception device so as to position it in alignment with the underwater vehicle.
Il comprend éventuellement une étape de contrôle de l'attitude du dispositif d'accueil de façon à l'orienter de façon optimale par rapport à l'AUV pour assurer sa récupération.It possibly includes a step of controlling the attitude of the reception device so as to orient it optimally with respect to the AUV to ensure its recovery.
Etant donné que l'engin sous-marin 1 présente une vitesse supérieure à celle du navire, il va se rapprocher du dispositif selon l'invention jusqu'à venir en appui sur la butée 9.Since the
L'interception de l'engin sous-marin par le dispositif d'accueil 7 peut être réalisée lorsque ce dernier est en position d'accueil. L'engin sous-marin 1 vient alors en contact avec le plateau et notamment avec les troisièmes moyens d'amortissement et glisser sur ces derniers avant d'atteindre la butée.The interception of the underwater vehicle by the
Dans un mode préférentiel de réalisation, le procédé comprend, avant que l'AUV ne vienne en appui sur la butée 9, une étape de contrôle de l'attitude du plateau de façon à l'amener et le maintenir dans la position d'interception.In a preferred embodiment, the method comprises, before the AUV comes to bear on the
Le procédé comprend ensuite une autre étape de contrôle d'attitude, au moyen des moyens de stabilisation, de façon à amener le plateau depuis sa position d'interception jusqu'à la position d'accueil, lorsque l'AUV est en appui sur la butée 9 ou lorsque le nez de l'AUV se situe à une distance de la butée inférieure à un seuil prédéterminée.The method then comprises another attitude control step, by means of the stabilization means, so as to bring the plate from its intercepting position to the home position, when the AUV bears on the
A cet effet, le système selon l'invention comprend des moyens de surveillance, ou un dispositif de surveillance, permettant de surveiller la position de l'engin sous-marin par rapport à la butée 9 et éventuellement par rapport au plateau 10.For this purpose, the system according to the invention comprises monitoring means, or a monitoring device, for monitoring the position of the underwater vehicle with respect to the
Les moyens de surveillance permettent avantageusement de mesurer la distance de l'engin sous-marin par rapport à la butée et éventuellement par rapport au plateau. Ils comprennent avantageusement des moyens permettant de déterminer la distance du nez de l'engin sous-marin par rapport à la butée, à partir de la mesure de position de l'engin sous-marin, et des moyens permettant de comparer cette distance au seuil prédéterminé et éventuellement de déterminer son attitude. Ces moyens peuvent comprendre des dispositifs optiques, acoustiques ou électromagnétiques. L'AUV comprend, par exemple, des dispositifs d'émission de signaux lumineux, comme par exemple une lampe, permettant son positionnement par le navire équipé de moyens aptes à intercepter et mesurer la distance de l'AUV à la butée à partir de ces signaux.The monitoring means advantageously make it possible to measure the distance of the underwater vehicle relative to the abutment and possibly relative to the plateau. They advantageously comprise means for determining the distance of the nose of the underwater vehicle relative to the abutment, from the position measurement of the underwater vehicle, and means for comparing this distance to the threshold. predetermined and possibly to determine his attitude. These means may comprise optical, acoustic or electromagnetic devices. The AUV comprises, for example, devices for transmitting light signals, such as for example a lamp, enabling its positioning by the ship equipped with means capable of intercepting and measuring the distance from the AUV to the abutment from these signals.
En variante, les moyens de surveillance permettent de détecter l'établissement du contact physique entre la butée et éventuellement le plateau. Ils comprennent des moyens de détection, ou un détecteur, permettant de détecter lorsque l'engin sous-marin 1 vient en appui sur la butée 9 et éventuellement contre le plateau 10. Ces moyens comprennent, par exemple, un ou plusieurs capteurs de pression.In a variant, the monitoring means make it possible to detect the establishment of the physical contact between the stop and possibly the plate. They include detection means, or a detector, for detecting when the
Une fois que le dispositif d'accueil 7 a atteint la position d'accueil, l'engin sous-marin repose sur le plateau 10. On vient alors solidariser l'AUV avec la butée 9 et avec avantageusement le plateau 10 au moyen des moyens de blocage et notamment au moyen des moyens de verrouillage.Once the
L'étape de solidarisation comprend une étape de verrouillage au moyen des moyens de verrouillage. Cette étape peut être réalisée au moyen de moyens de pilotage, encore appelés dispositif de pilotage, situés sur le navire. Elle nécessite des moyens de surveillance de la position de l'engin sous-marin 1, encore appelés dispositif de surveillance, par rapport à la butée et au plateau. En variante cette étape est réalisée automatiquement, la venue de l'engin sous-marin en appui sur le plateau déclenchant automatiquement l'actionnement des moyens de verrouillage.The securing step comprises a locking step by means of the locking means. This step can be performed by means of control means, also called steering device, located on the ship. It requires means for monitoring the position of the
Les moyens de stabilisation de la position et de l'attitude de l'AUV et du dispositif d'accueil, les moyens de verrouillage et les moyens de traction (ici le treuil 13), peuvent être pilotés par des moyens de pilotage situés à bord du navire ou depuis une station ou sol ou une station aérienne (par exemple un aéronef). Quand le pilotage peut être réalisé depuis un autre endroit que le navire (sol ou air), on dit que le système est téléopéré. Les moyens de pilotage peuvent être des moyens de pilotage automatique ou de moyens permettant à un opérateur de piloter ces moyens de stabilisation à distance.The means for stabilizing the position and the attitude of the AUV and the reception device, the locking means and the traction means (here the winch 13) can be controlled by piloting means located on board. the ship or from a station or ground or an air station (for example an aircraft). When the pilot can be realized from a place other than the ship (ground or air), it is said that the system is teleoperated. The control means may be automatic control means or means allowing an operator to control these remote stabilization means.
Dans ce dernier cas, le système comprend alors des moyens d'information, ou un dispositif d'information, comprenant par exemple, des écrans d'affichage et/ou des moyens d'alarme, permettant d'informer l'opérateur de la sortie des moyens de surveillance. En variante, les moyens de surveillance comprennent une caméra permettant à l'opérateur de surveiller l'évolution de l'engin sous-marin par rapport au dispositif.In the latter case, the system then comprises information means, or an information device, comprising, for example, display screens and / or alarm means, making it possible to inform the operator of the output monitoring means. Alternatively, the monitoring means comprise a camera allowing the operator to monitor the evolution of the underwater vehicle relative to the device.
Dans le cas du pilotage automatique, les moyens de pilotage sont des moyens de pilotage automatiques aptes à piloter moyens de stabilisation, les moyens de verrouillage et les moyens de traction. Les sorties des moyens de surveillance sont alors transmises au moyens de pilotage automatique. Cette solution toute automatique permet de s'affranchir du besoin d'un opérateur et ainsi de limiter les risques liés à une mer agitée et peut être mise en oeuvre depuis un véhicule de surface autonome ou USV en référence à l'expression anglo-saxonne « unmanned surface vehicle ».In the case of automatic control, the control means are automatic control means capable of controlling stabilization means, the locking means and the traction means. The outputs of the monitoring means are then transmitted to the automatic control means. This fully automatic solution makes it possible to overcome the need of an operator and thus to limit the risks associated with rough sea and can be implemented from an autonomous surface vehicle or USV with reference to the English expression " unmanned surface vehicle ".
Lorsque le système est téléopéré, on limite également les risques de blessures des opérateurs.When the system is remote controlled, the risk of operator injury is also limited.
Les commandes de pilotage peuvent être transmises aux moyens de stabilisation du dispositif d'accueil 7 par une liaison sans fil (comprise dans le système selon l'invention) ou par l'intermédiaire du lien souple 12 (qui est alors un câble électrotracteur).The control commands can be transmitted to the stabilization means of the
En variante, l'attitude, la profondeur et la vitesse de l'AUV sont pilotées par des moyens de pilotage embarqués à bord de l'AUV. Ces moyens peuvent avoir reçu une consigne de récupération avant le début de la mission, leur indiquant l'heure, le cap et la vitesse, l'immersion à adopter à cette heure. En variante, le système comprend des moyens de communication entre l'AUV et le navire permettant au navire de lui envoyer la consigne de récupération.In a variant, the attitude, the depth and the speed of the AUV are controlled by piloting means on board the AUV. These means may have received a recovery instruction before the start of the mission, indicating the time, course and speed, immersion to be adopted at this time. In a variant, the system comprises means of communication between the AUV and the ship allowing the ship to send her the salvage instruction.
En variante, la consigne de récupération envoyée à l'AUV est une consigne de rejointe d'un point de rendez-vous prédéterminé. Le procédé comprend alors une étape de contrôle de la position du dispositif d'accueil de façon qu'il vienne mettre la butée 9 en appui contre l'AUV au moyen des moyens de stabilisation.In a variant, the recovery instruction sent to the AUV is a rejoin instruction from a predetermined rendezvous point. The method then comprises a step of controlling the position of the device host so that it comes to put the
Le dispositif selon l'invention est également un dispositif de mise à l'eau d'un AUV depuis un navire. Ce dispositif présente les mêmes avantages pendant les phases de débarquement et d'établissement du lien entre l'AUV et le dispositif d'accueil que pendant les phases d'embarquement et d'établissement du lien.The device according to the invention is also a device for launching an AUV from a ship. This device has the same advantages during the landing and establishing the link between the AUV and the docking device as during the phases of boarding and establishment of the link.
L'invention a également pour objet un procédé de mise à la mer au moyen du système selon l'invention comprenant :
- une étape de mise à la mer de l'ensemble formé par l'engin sous-marin et le dispositif d'accueil, l'engin sous-marin étant en appui sur la butée et reposant avantageusement sur le
plateau 10, les moyens de blocage solidarisant l'engin sous-marin avec la butée et le plateau, cette étape étant avantageusement réalisée en faisant glisser le dispositif le long d'une rampe, - avantageusement une étape contrôle de la position du dispositif 7 de façon à venir positionner et maintenir le dispositif à une profondeur prédéterminée, au moyen des moyens de stabilisation,
- cette étape est avantageusement suivie d'une étape de contrôle lors de laquelle, les moyens de stabilisation amènent le plateau en position d'interception avant que l'engin sous marin ne quitte la butée ou avant que l'extrémité avant du nez de l'engin sous-marin ne se trouve à une distance supérieure à un seuil prédéterminée de la butée,
- une étape de désolidarisation de l'engin sous-marin, par exemple, en pilotant les moyens de verrouillage au moyen des moyens de pilotage, cette étape pouvant être réalisée avant ou après l'étape précédente.
- a step of putting into sea of the assembly formed by the underwater vehicle and the reception device, the underwater vehicle being in abutment on the abutment and resting advantageously on the
plate 10, the locking means solidarisant the underwater vehicle with the stop and the plateau, this step being advantageously performed by sliding the device along a ramp, - advantageously a step controlling the position of the
device 7 so as to position and maintain the device at a predetermined depth, by means of the stabilization means, - this step is advantageously followed by a control step during which the stabilization means bring the plate into the interception position before the underwater vehicle leaves the stop or before the nose's front end. underwater vehicle is at a distance greater than a predetermined threshold of the abutment,
- a step of separating the underwater vehicle, for example, by controlling the locking means by means of the control means, this step can be performed before or after the previous step.
Ces dernières étapes permettent de réduire les risques de détérioration de l'engin sous-marin lorsqu'il s'éloigne de la butée.These last steps make it possible to reduce the risks of deterioration of the underwater vehicle when it moves away from the stop.
L'invention a également pour objet un ensemble sous-marin comprenant l'engin sous-marin autonome et/ou le navire ainsi que le système de récupération selon l'invention.The invention also relates to a subsea unit comprising the autonomous underwater vehicle and / or the ship and the recovery system according to the invention.
Comme visible sur la
Avantageusement, comme visible sur les
Avantageusement, la rampe et le dispositif d'accueil sont agencés et configurés de façon que lorsque le dispositif d'accueil 7 solidaire de l'engin 1 glisse sur la rampe, la gouverne inférieure 5b ne vient pas heurter le fond de la rampe. Sur l'exemple de la
Claims (17)
- A recovery system for recovering an autonomous underwater vehicle (1) from a ship (100), said underwater vehicle (1) comprising a front part called the nose (5), said system comprising:- a receiving device (7),- a flexible connection (12) intended to provide the interface between the receiving device (7) and the ship (100),characterised in that it further comprises:- a stop (9) against which the nose (5) of the underwater vehicle (1) can bear,- blocking means making it possible to fix the underwater vehicle to the stop, the flexible connection (12) being arranged such that the ship (100) pulls the assembly formed by the receiving device (7) and the underwater vehicle (1) on the front of the underwater vehicle when the latter is fixed to the stop (9),- stabilisation means configured so as permit the depth and the attitude, in particular the list and the trim of the assembly formed by the receiving device (7) and the underwater vehicle when the latter is fixed to the stop (9) to be monitored.
- The recovery system according to the preceding claim, comprising a plate (10) which is arranged so that the plate (10) extends below the underside (11) of the underwater vehicle (1) when the nose (5) of the underwater vehicle (1) bears against said stop (9), the blocking means permitting the underwater vehicle to be fixed to the plate (10).
- The system according to claim 2, wherein the plate is fixed to the stop (9).
- The recovery system according to either of claims 2 to 3, wherein the plate has an elongate shape along an axis called the longitudinal axis of the plate (x2) between the stop (9) and a so-called free end of the plate (10a), the stabilisation means permitting the trim of the plate to be varied between an intercepting position in which the depth of the plate (10) increases from the stop (9) as far as its free end (10a) and a receiving position in which the plate extends substantially at the same depth over its entire length.
- The recovery system according to any of the preceding claims, wherein the receiving device comprises first guide means (15) permitting the nose (5) of the underwater vehicle (1) to be guided towards the stop (9) when said underwater vehicle (1) and the stop (9) approach one another.
- The recovery system according to any of claims 2 to 5, comprising second guide means (20, 21, 22) permitting a longitudinal axis of the underwater vehicle to be aligned with a longitudinal axis of the plate when the underwater vehicle (1) comes to bear against the stop (9) and rests on the plate (10).
- The recovery system according to claim 5 and/or claim 6, comprising first sliding means (16) permitting the friction to be limited between the first guide means (15) and the underwater vehicle and/or second sliding means (16) permitting the friction to be limited between the second guide means (20, 21, 22) and the underwater vehicle (1).
- The recovery system according to claim 5 and/or claim 6 or 7, comprising first shock absorbing means (16') permitting an impact to be dampened between the nose (5) of the underwater vehicle and the first guide means and/or second shock absorbing means (23') permitting an impact to be dampened between the underwater vehicle and the second guide means.
- The recovery system according to any of the preceding claims, comprising a ramp (27) intended to provide the interface between the bridge of the ship (100) and the marine environment, and over which the receiving device (7) can slide, the system comprising third guide means (28), the function of which is to provide alignment of a longitudinal axis of the receiving device (7) with the ramp when said receiving device slides over the ramp, the ramp comprising first bearing means (29, 114, 115) against which second bearing means (17) of the receiving device (7) bear when said device is guided by the guide means (28) so as to set a constant incline of the receiving device (7) relative to the ramp about the longitudinal axis of the plate.
- The system according to any of the preceding claims, wherein the receiving device (7) comprises power connection means automatically providing the connection of the battery of the underwater vehicle to a device for recharging this battery loaded on board the ship (100) when the underwater vehicle (1) is fixed to the stop (9).
- An assembly comprising a system according to any of the preceding claims, comprising the underwater vehicle and/or the ship.
- A method for recovering an autonomous underwater vehicle by means of a system according to any of Claims 1 to 10, comprising:- a step of fixing the underwater vehicle (1) to the stop (9),- a step of monitoring the attitude and the depth of the assembly formed by the underwater vehicle (1) fixed to the stop and the receiving device (7).
- The method for recovering according to the preceding claim in so far as it is dependent upon claim 4, comprising, prior to the fixing step, a step of positioning the receiving device in the intercepting position by means of the stabilisation means and a step consisting in bringing the plate (10) into the receiving position once the underwater vehicle (1) bears against the stop (9) or when the nose (5) of the underwater vehicle (1) is located a distance away from the stop which is less than a predetermined threshold.
- The method for recovering according to any of claims 12 to 13, comprising:- a step of monitoring the position and the attitude of the underwater vehicle (1) so that it travels at a predetermined depth at substantially zero trim and so as to follow a constant course at a constant speed,- a step of monitoring the immersion of the receiving device and possibly the lateral offset of the receiving device so as to position said receiving device in alignment with the underwater vehicle,- a step of monitoring the speed and the route of the ship and/or a step of monitoring the length of the unwound connection so that the underwater vehicle approaches the stop (9) and the route of the underwater vehicle is substantially the same as the route of the ship.
- The system according to any of claims 1 to 10, wherein the stabilisation means are configured so as to permit the offset of the assembly formed by the receiving device (7) and the underwater vehicle to be monitored when said vehicle is fixed to the stop (9).
- An underwater assembly comprising the system according to any of claims 1 to 15, and said underwater vehicle.
- The underwater assembly according to the preceding claims, and according to claim 2, wherein the plate is arranged so as to extend over the entire length of a lateral sonar device protruding on the body of the underwater vehicle.
Applications Claiming Priority (2)
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FR1300480A FR3002916B1 (en) | 2013-03-05 | 2013-03-05 | SYSTEM AND METHOD FOR RECOVERING AN AUTONOMOUS SUBMARINE |
PCT/EP2014/054149 WO2014135522A1 (en) | 2013-03-05 | 2014-03-04 | System and method for recovering an autonomous underwater vehicle |
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EP2964515B1 true EP2964515B1 (en) | 2018-04-25 |
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EP (1) | EP2964515B1 (en) |
JP (1) | JP6475643B2 (en) |
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CN111409796A (en) * | 2019-01-07 | 2020-07-14 | 中国科学院沈阳自动化研究所 | Cable capturing type mechanism for autonomous recovery underwater robot |
CN111409796B (en) * | 2019-01-07 | 2021-07-20 | 中国科学院沈阳自动化研究所 | Cable capturing type mechanism for autonomous recovery underwater robot |
Also Published As
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CA2904109C (en) | 2021-06-01 |
JP6475643B2 (en) | 2019-02-27 |
AU2014224703A1 (en) | 2015-09-24 |
SG11201507081UA (en) | 2015-10-29 |
FR3002916A1 (en) | 2014-09-12 |
AU2014224703B2 (en) | 2017-05-25 |
FR3002916B1 (en) | 2015-03-06 |
WO2014135522A1 (en) | 2014-09-12 |
JP2016515060A (en) | 2016-05-26 |
CA2904109A1 (en) | 2014-09-12 |
BR112015021686A2 (en) | 2017-07-18 |
US20160009344A1 (en) | 2016-01-14 |
EP2964515A1 (en) | 2016-01-13 |
US10351212B2 (en) | 2019-07-16 |
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