• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
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  • 引用文献
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    • 专利摘要:
    The invention relates to a system (1, 1 ', 1 ") for deployment and recovery of an autonomous underwater vehicle (4) by a surface carrier (2, 6, 7), which comprises, in addition to the ship carrier (2, 6, 7), an underwater vehicle (3) guided by a connecting cable (5) connected to the carrying vessel (2, 6, 7), the underwater vehicle (3) being able to be placed in a storage configuration wherein the underwater vehicle (3) is detachably secured to the carrier (2, 6, 7) in a storage area of the carrier vessel or in a use configuration where the underwater vehicle disconnected from the carrier vessel (2, 6, 7) is at the water and away from the carrying vessel while remaining connected by the connecting cable (5), said underwater vehicle (3) comprising means for propulsion, guidance and stabilization and a docking station. autonomous underwater vehicle (4) allowing the removable attachment of the underwater autonomous vehicle (4) to the subaqua vehicle (3), the docking station and the autonomous underwater vehicle (4) comprising additional automated docking means allowing the submarine autonomous vehicle (4) deployed to dock automatically the station of reception of the underwater vehicle (3) during the recovery and to settle there.
    公开号:FR3080601A1
    申请号:FR1853733
    申请日:2018-04-27
    公开日:2019-11-01
    发明作者:Sebastien GRALL
    申请人:iXBlue SAS；
    IPC主号:
    专利说明:

    Technical field to which the invention relates
    The present invention relates generally to the field of underwater exploration, surveillance and measurement systems, as well as to the field of naval defense. It relates more particularly to a system for the deployment and recovery of underwater, autonomous, preprogrammed and / or teleoperated devices, of exploration, detection, surveillance and measurements, as well as of naval defense in an aquatic environment. It is applicable in fresh water or in marine, sea, ocean, lake and more generally in any body of water. It can for example be implemented during topographic or underwater seismographic measurement campaigns using sonars or hydrophones, exploration and monitoring campaigns using optical, laser, or acoustic sensors. Detection campaigns using magnetometers. Mine action campaigns.
    TECHNOLOGICAL BACKGROUND
    Autonomous underwater vehicles are most often called AUV (Autonomous Underwater Vehicle). Various systems are known for deploying and recovering autonomous underwater vehicles from carrier ships or from land. These systems can be launching and recovery ramps, floating or suspended baskets, or simply lifting devices such as cranes or gantry cranes. These systems are effective for the deployment phases of autonomous underwater vehicles but less effective for recovery.
    One of the difficulties relates to the stowage of the autonomous underwater vehicle with a view to its recovery, in fact, whether it is ramps or handling, it is most of the time necessary to stow the autonomous underwater vehicle beforehand. However, it is difficult, sometimes even impossible, to stow a craft overboard from a ship without the maneuver being executed by men, which represents a significant risk and which is impossible to carry out when one wishes to recover a autonomous underwater vehicle from a ship that is autonomous or remotely operated.
    Other existing systems are similar to baskets in which the autonomous underwater vehicle comes to be housed before being hoisted on board, some still are ramps with conveyor belt on which the autonomous underwater vehicle comes 'fail before being hoisted on board by the treadmill.
    One of the drawbacks of all these systems is the movement of the recovery means. Either these movements are printed on this recovery tool by the carrier ship, or by waves in the case of floating baskets.
    In addition, there are various automated docking systems known in English as "homing" allowing an autonomous underwater vehicle to come automatically to dock on or in a docking station. These automated docking systems conventionally use acoustic and / or optical signals so that the autonomous underwater vehicle finds and recognizes the location of the docking station and can communicate with said docking station. They are effective if and only if the docking station is almost stationary.
    OBJECT OF THE INVENTION
    In order to remedy the abovementioned drawbacks of the state of the art, the present invention provides a remotely operated underwater vehicle (ROV) system by wired link, therefore wire-guided, and which remains underwater at the time of deployment and recovery of the autonomous underwater vehicle. Before deployment and after recovery, the autonomous underwater vehicle is transported by the underwater vehicle. After deployment and before recovery, the autonomous underwater vehicle is separated from the underwater vehicle and can navigate independently.
    Outside the periods during which the deployment and recovery of the autonomous underwater vehicle takes place, the underwater guided vehicle can be brought on or in or against the carrier vessel for storage with or, possibly, without its autonomous underwater vehicle .
    The underwater vehicle is motorized and has propulsion and guidance means, and it is capable, thanks to stabilization means, of maintaining its position underwater along all the axes, that is to say three axes , that is to say six degrees of freedom, and it is therefore not subjected to the movements of the waves and of the carrier ship during the deployment and the recovery of the autonomous underwater vehicle because it is in diving.
    The underwater vehicle has a docking station in or against which at least one autonomous underwater vehicle can be housed automatically. This docking station is generally in the form of a cylinder flared at the mouth, that is to say in the form of a funnel, and it is equipped with an automated docking system for the autonomous underwater vehicle. This underwater vehicle with docking station can be deployed from a carrier vessel with crew or without crew and in the latter case from an autonomous carrier vessel or guided or towed.
    Thus, the invention relates first of all, to a system for the deployment and recovery of an autonomous underwater vehicle by a surface carrier ship, the carrier vessel comprising a hull with a hull, the autonomous underwater vehicle comprising means of propulsion, guidance and stabilization.
    According to the invention, the system comprises, in addition to the carrier ship, an underwater vehicle guided by a connecting cable connected to the carrier ship, the underwater vehicle can be placed in two main configurations, a storage configuration where the underwater vehicle is secured to '' a manner removable to the carrier ship in a storage area of the carrier ship and a configuration of use where the underwater vehicle separated from the carrier ship is in the water and away from the storage area of the carrier ship while remaining connected by the connecting cable to the carrier ship, said underwater vehicle comprising means of propulsion, guidance and stabilization and a docking station of the autonomous underwater vehicle allowing a removable attachment of the autonomous underwater vehicle to the underwater vehicle in order to be able to transport the autonomous underwater vehicle to its place of deployment where it is released re of the underwater vehicle, the underwater vehicle and the autonomous underwater vehicle comprising additional automated docking means allowing the deployed underwater autonomous vehicle to automatically dock the underwater vehicle docking station during recovery and settle there.
    Other non-limiting and advantageous material and functional characteristics of the system according to the invention, taken individually or in any technically possible combination, are the following:
    - the connecting cable is removable from the underwater vehicle,
    - the connecting cable is removable from the carrier ship,
    - the connecting cable is intended for the electrical supply of the underwater vehicle,
    - the connecting cable is intended for the electrical supply, in particular recharging of electric batteries, of the autonomous underwater vehicle.
    - the connecting cable is intended for data exchanges between the underwater vehicle and the carrier ship,
    - the connecting cable is intended for data exchanges between the autonomous underwater vehicle and the carrier ship via the underwater vehicle,
    - the data are measurement and / or control data,
    - the underwater vehicle is guided by a connecting cable from the carrier ship,
    - the carrier vessel includes a cable reel / uncoiler,
    - the reel / unwinder of the connecting cable is out of water in or on the carrier ship,
    - the autonomous underwater vehicle comprises at least one clean / integrated means of propulsion,
    - the autonomous underwater vehicle comprises at least one clean / integrated guidance means,
    - the autonomous underwater vehicle comprises at least one own / integrated stabilization means,
    - the means of propulsion, guidance and stabilization of the autonomous submarine machine make it possible to control movements according to six degrees of freedom,
    - the underwater vehicle includes at least one clean / integrated means of propulsion,
    the underwater vehicle comprises at least one clean / integrated guide means,
    - the underwater vehicle includes at least one own / integrated stabilization means,
    the means of propulsion, guidance and stabilization of the underwater vehicle make it possible to control movements according to six degrees of freedom,
    - the carrier ship includes at least one clean / integrated propulsion means,
    - the carrier ship comprises at least one own / integrated guide means,
    - the carrier ship comprises at least one own / integrated stabilization means,
    the propulsion and guidance means of the carrier ship make it possible to control movements according to three degrees of freedom,
    the means of propulsion, guidance and stabilization of the carrier ship make it possible to control movements according to four degrees of freedom,
    - the propulsion means allow the movement of the carrier ship, the underwater vehicle, the autonomous underwater vehicle as the case may be,
    - the guidance means allow the orientation of the carrier ship, the underwater vehicle, the autonomous underwater vehicle as the case may be,
    - the stabilization means allow the positioning of the carrier ship, the underwater vehicle, the autonomous underwater vehicle as the case may be,
    - the stabilization means allow the fixed point positioning of the carrier ship, the underwater vehicle, the autonomous underwater vehicle as the case may be,
    - the stabilization means allow the constant displacement and orientation positioning of the carrier ship, the underwater vehicle, the autonomous underwater vehicle as the case may be, in particular the deployment and recovery of the autonomous underwater vehicle which can be carried out while the underwater vehicle is in constant motion and orientation,
    - the stabilization means include sensors including an inertial unit and a computer for controlling the propulsion and guidance means according to positioning instructions,
    the propulsion means is a mechanical propulsion device which comprises one or more electric and / or internal combustion and / or chemical motors and which actuates directly or indirectly one or more propellers or one or more turbines,
    - the propulsion device comprises one or more turbines, or propellers,
    - the turbine (s) allow jet / reaction propulsion,
    - the direction of rotation of the propeller or turbine can be reversed,
    the guide means are chosen from rudder, fin, flap, or even propellant type devices,
    the propulsion and guiding means are either separate or combined within single devices, in the latter case these combined means are in particular orientable thrusters,
    - the carrier ship and / or the underwater vehicle and / or the autonomous underwater vehicle comprises / ent guiding devices distinct from the propulsion means, the guiding devices being chosen from among others rudders, ailerons, flaps,
    the propulsion, guidance and stabilization means comprise at least one ballast,
    - the carrier vessel does not have its own / integrated propulsion means, the carrier vessel moving by means of propulsion of the underwater vehicle and / or of the autonomous underwater vehicle when the latter is in storage configuration with the autonomous underwater vehicle which has been recovered,
    - the carrier vessel does not have its own / integrated propulsion means, the carrier vessel moving by means of propulsion of the underwater vehicle when the latter is in storage configuration without the autonomous underwater vehicle which is deployed,
    - the carrier ship does not have its own / integrated guidance means, the carrier ship being guided by means of the guidance of the underwater vehicle and / or of the autonomous underwater vehicle,
    - the autonomous underwater vehicle is preprogrammed or remotely operated / remote controlled,
    - the autonomous underwater vehicle has a body,
    - the autonomous underwater vehicle has a body elongated lengthwise and has a length of between 0.5 m and 8 m,
    - the autonomous underwater vehicle has a body elongated lengthwise and has a maximum width of the body excluding the external appendage (s) of between 0.07 m and 1.5 m,
    - the autonomous underwater vehicle has a body elongated lengthwise,
    - the autonomous underwater vehicle comprises at least one fixed or adjustable external appendage,
    - the autonomous underwater vehicle comprises at least one removable external appendage between a retracted position included in the template of the body and an extended position outside the body,
    - the appendix of the autonomous underwater vehicle is in particular a fin or a flap,
    - the elongated body of the autonomous underwater vehicle is substantially cylindrical,
    - the rear part of the autonomous underwater vehicle comprises at least one propellant,
    the rear part of the autonomous underwater vehicle comprises a means of orientation, in particular a rudder and / or propellant (s) which can be oriented,
    - the autonomous underwater vehicle comprises at least one sensor,
    - the underwater vehicle can surface and float,
    - the underwater vehicle has a general shape substantially in an elongated spindle,
    - the underwater vehicle in a parallelepiped shape,
    - the underwater vehicle has a generally substantially cylindrical and elongated shape,
    - the underwater vehicle has two opposite ends, a front end and a rear end,
    - the underwater vehicle does not have a hull and is an open frame / frame structure,
    - the underwater vehicle has a hull,
    - the hull of the underwater vehicle is substantially cylindrical,
    - the hull of the underwater vehicle is substantially ovoid,
    - the hull of the underwater vehicle has a vertical flattening, the maximum height of the hull being less than the maximum width of the hull excluding the external appendage (s),
    the underwater vehicle has an outer shape that is substantially symmetrical with respect to a front-rear median vertical plane,
    - the underwater vehicle has a hull lengthened lengthwise and has a length of between 1 m and 8.5 m,
    - the underwater vehicle has a hull lengthened lengthwise and has a maximum width of the hull excluding external appendage (s) of between 0.3 m and 3 m,
    - the underwater vehicle has a hull lengthened lengthwise and has a maximum hull height excluding the external appendage (s) of between 0.3 m and 3 m,
    - the underwater vehicle has at least one fixed or steerable external appendage,
    - the underwater vehicle comprises at least one removable external appendage between a retracted position included in the size of the hull and an extended position outside the hull,
    - the appendage of the underwater vehicle is in particular a fin or a flap,
    the rear part of the underwater vehicle comprises at least one propellant,
    - the rear part of the underwater vehicle comprises a means of orientation, in particular rudder and / or propellant (s) which can be oriented,
    - the underwater vehicle comprises several thrusters which can be oriented according to several degrees of freedom,
    - the underwater vehicle includes at least one sensor,
    - said at least one underwater vehicle sensor is directional,
    the directional sensor is chosen from a sonar, an optical detector, a camera, a photographic device, an inertial device, an electronic compass,
    - the underwater vehicle has at least one attitude sensor,
    - the underwater vehicle is intended to carry out acoustic measurements and it includes acoustic measurement systems comprising transducers for transmitting and receiving acoustic waves,
    - the carrier vessel is a surface vessel,
    - the carrier ship has a hull with a hull,
    the carrier ship is substantially symmetrical with respect to a vertical front-rear vertical plane,
    - the carrier ship has a crew,
    - the carrier ship is unmanned,
    - the carrier vessel is towed,
    - the carrier ship is guided,
    - the carrier ship is autonomous,
    - the carrier ship is a drone,
    - the carrier ship is pre-programmed and / or remotely operated / remotely controlled,
    - the carrier ship includes a programmable stroke / trajectory control automaton,
    - the carrier vessel comprises at least one fixed or steerable external appendage,
    - the carrier vessel comprises at least one removable external appendage between a retracted position included in the size of the hull and an extended position outside the hull,
    - the outer appendage of the carrier ship is submerged, below the waterline,
    - the appendage of the carrier vessel is a keel,
    - the submerged appendage of the carrier ship is a keel and the underwater vehicle is stored at the lower end of the keel,
    - in the underwater vehicle storage configuration, the underwater vehicle is placed in a storage area of the carrier ship, the storage area being, as the case may be, in the water / submerged or out of water or partly out of water ,
    in the underwater vehicle storage configuration, the underwater vehicle is placed in a storage area of the carrier ship, the storage area is chosen from a submerged recess of the hull or of an appendage to the hull of the carrier ship, one end drowning of an appendage to the hull of the carrier ship, an at least partially submerged location on or under a submerged bottom of the carrier ship, an out of water location of the carrier ship
    - in the configuration of use of the underwater vehicle, the underwater vehicle is underwater and away from the storage area of the carrier ship,
    - in the underwater vehicle storage configuration, the underwater vehicle is partly disposed out of water on or in the carrier ship, the submerged part of the underwater vehicle in the storage configuration being that comprising the means of propulsion of the underwater vehicle,
    in the underwater vehicle storage configuration, the underwater vehicle is disposed in a recess made in the hull of the carrier ship, the underwater vehicle remaining submerged in the storage configuration, under the carrier ship,
    in the underwater vehicle storage configuration, the underwater vehicle is disposed against one end of an appendage of the carrier ship, said end being below the waterline of the carrier ship so that the underwater vehicle remains submerged in the storage configuration, preferably the appendage being a keel of the carrier ship and the end of the appendage is at the lower end of the keel,
    - the appendix to the type of keel of the carrier ship is fixed or removable and the underwater vehicle is positioned against the fixed or removable keel of the carrier ship in storage configuration,
    the lower end of the keel further comprises a bulb or a gondola for measuring comprising underwater measuring devices, the underwater vehicle being positioned against the bulb or the gondola in the storage configuration,
    in the underwater vehicle storage configuration, the underwater vehicle is placed in a recess made in an appendage of the carrier ship, said recess being under the water line of the carrier ship so that the underwater vehicle remains submerged in the storage configuration,
    - the appendage comprising a recess is a keel of the carrier ship and the recess is arranged at the lower end of the keel,
    - the appendix with a recess is a bulb or gondola at the bottom end of the keel,
    - the gondola or the bulb includes at least one acoustic antenna and, possibly, any other type of sensor,
    - the carrier vessel has on its hull a recess intended for the storage of the underwater vehicle, the underwater vehicle remaining submerged in the storage configuration, against the hull and under the carrier vessel,
    - the recess and the underwater vehicle have forms such that the underwater vehicle is stored in the recess so that the hydrodynamic drag of the carrier ship is modified by less than 40% compared to the same carrier ship but without recess and not storing no underwater vehicle,
    - at least one of the means of propulsion of the underwater vehicle is arranged at the rear of said underwater vehicle and the carrier ship has a rear end wall and the recess is open on the rear end wall of the carrier ship so that when the underwater vehicle is stored in the recess, the means of propulsion of the underwater vehicle is disposed more aft than the rear end wall of the carrier ship and can participate in the propulsion of said ship,
    - the shapes of the recess of the hull and the underwater vehicle are adapted so that in the storage configuration, the resistance to advancement of the carrier ship is low,
    - in the storage configuration, the underwater vehicle is secured to the carrier ship in the recess of the hull of the carrier ship,
    - the connecting cable crosses the hull of the carrier ship in the recess of the hull of the carrier ship,
    - the connecting cable crosses the hull of the carrier ship through a passage well opening into the recess,
    - in the storage configuration, the means of propulsion and possibly of guiding and / or stabilization of the underwater vehicle participate, when they are activated, in the propulsion of the carrier ship and possibly in the orientation and / or stabilization,
    - the carrier vessel does not have a keel,
    - the carrier vessel has a hull elongated longitudinally from the rear to the front and has a port side edge (G) and a starboard side edge (D) floating and a submerged bottom connected to the two side edges, the two floating side edges and the submerged bottom defining an interior space of the carrier ship, the interior space being submerged at least in the rear part, and the two rear ends of the floating lateral edges are separated by an opening towards the rear of the carrier ship, opening limited towards the bottom by the submerged bottom, and the submerged bottom further comprises at least one elongated slot longitudinally open towards the rear and intended for the passage of a lower axial fin of the underwater vehicle and the carrier vessel is configured so that at least the portion front of the underwater vehicle can engage in the interior space with the lower axial fin engaging in the fe nte through the rear end of the slot,
    - the submerged bottom at the rear of the carrier ship is a launching and recovery ramp for the underwater vehicle,
    - the two floating lateral edges meet towards the front of the carrier ship to form a bow,
    - the two floating lateral edges do not meet towards the front of the carrier ship in order to form a catamaran with a central part having a submerged bottom,
    - the carrier vessel has a hull elongated longitudinally from the rear to the front and has a port side edge (G) and a starboard side edge (D) floating and a submerged bottom connected to the two side edges, the two floating side edges and the submerged bottom defining an interior space of the carrier ship, the interior space being submerged at least in the rear part, and the two rear ends of the floating lateral edges are separated by an opening towards the rear of the carrier ship, opening limited towards the bottom by the submerged bottom, and the submerged bottom further comprises at least one elongated slot longitudinally open towards the rear and intended for the passage of a lower axial fin of the underwater vehicle which can surface and the carrier ship is configured so that minus the front part of the underwater vehicle that can surface with the lower axial fin can engage e n floating inside the interior space with the lower axial fin engaging in the slot through the rear end of the slot,
    - the carrier ship has a hull elongated longitudinally from the rear to the front and has a port side edge (G) and a starboard side edge (D) floating and a bottom submerged at least in the rear part, that is to say say a bottom at least partially submerged and under the water line, connected to the two lateral edges, the two floating lateral edges and the submerged bottom defining an interior space of the carrier ship, said interior space being at least partially submerged, and the two rear ends of the floating lateral edges are separated by an opening towards the rear of the carrier ship, opening limited downwards by the submerged bottom, and the submerged bottom also comprises at least one elongated slot longitudinally open towards the rear and intended for the passage of an axial fin of the underwater vehicle, said fin being lower and extended downwards under the underside of the underwater vehicle in the case where the underwater vehicle is intended to be stored in the interior space on the bottom of the carrier ship and / or said fin being upper and extended upward on top of the underwater vehicle in the case where the underwater vehicle is intended to be stored under the bottom of the carrier vessel, said axial fin engaging in the slot through the rear end of the slot,
    - the underwater vehicle has an upper axial fin and a lower axial fin,
    - the underwater vehicle has either an upper axial fin or a lower axial fin,
    - The axial fin has at its upper end for the upper axial fin or at its lower end for the lower axial fin an enlargement preventing the exit of the axial fin out of the slot by vertical translation, once the fin engaged in the slot,
    - the underwater vehicle engages completely inside the interior space of the carrier ship in storage configuration,
    - only the rear part of the underwater vehicle does not engage inside the interior space of the carrier ship in storage configuration,
    the submerged bottom comprises parts of a shape complementary to the adjacent shape of the hull of the underwater vehicle,
    - the front part of the bottom is out of water and the rear part of the bottom is submerged,
    - the bottom is completely submerged,
    - the rear of the slot elongated longitudinally of the submerged bottom through which the axial fin is introduced during the engagement of the underwater vehicle inside the interior space of the carrier ship, has a funnel or Y shape , with widened rear entry,
    - the front of the longitudinally elongated slot of the submerged bottom is closed and forms a stop for the axial fin of the underwater vehicle in order to limit the engagement of the underwater vehicle inside the interior space of the carrier ship,
    the elongated slot longitudinally of the submerged bottom comprises a position locking means which is removable in order to allow the slot to be closed at the rear of the axial fin once the underwater vehicle has entered the interior space of the carrier ship,
    - the longitudinally elongated slot of the submerged bottom comprises a position locking means which is removable in order to allow the slot to be closed at the rear of the axial fin once the underwater vehicle is fully engaged inside the space interior of the carrier ship,
    - the edges of the longitudinally elongated slot of the submerged bottom are covered with at least damping material,
    - the carrier ship has an at least partially inflatable hull,
    - the floating port side edge (G) and the starboard side edge (D) of the hull of the carrier ship consist of at least one inflated tube, possibly compartmentalized,
    - the carrier ship comprises in the interior space inflatable and deflatable cushions, said cushions once inflated being intended to support and / or maintain and / or block the underwater vehicle in the interior space,
    - the inflatable and deflatable cushions are arranged on the bottom,
    - the inflatable and deflatable cushions are placed against the inflated tube forming the lateral edges,
    - the carrier vessel has a full, rigid hull,
    - the carrier ship has a keel,
    - the keel is a measuring keel comprising at least one measuring instrument,
    - the keel is a storage keel of the underwater vehicle, the underwater vehicle can be removably attached to the keel,
    - the keel is a measurement and storage keel,
    - the carrier vessel is monohull,
    - the carrier ship has a hull with a hull, the hull being surmounted by a bridge, the hull being elongated between a bow and a stern in a longitudinal direction of the carrier ship,
    - the deck corresponds to the upper level, out of water, in the open air, of the carrier ship,
    - the carrier vessel is a wave piercing vessel,
    - the hull of the carrier ship is substantially fusiform with a tapered bow in order to form the monocoque wave-piercing ship,
    - the bridge has an upward convex surface,
    - the bow of the monohull wave piercing ship is tapered at a point,
    - the bow of the monocoque wave-piercing carrier is tapered with a knife blade,
    - the stern of the monohull wave piercing ship is flat,
    - the monohull wave piercing carrier has a weighted keel,
    - the monohull wave-piercing vessel has a configuration which allows it to navigate at speeds corresponding to a Froude number greater than 0.45,
    - the Froude number is the ratio between the length of the hull and the speed,
    - the monocoque wave-piercing carrier vessel has a total width to total length ratio of less than 0.2 and a maximum length of less than 20 meters, said length and width being respectively considered in the longitudinal direction of the carrier vessel and a perpendicular horizontal transverse direction in the longitudinal direction,
    - the monohull wave piercing carrier has a height ratio above the waterline of the hull acting as a float and outside its possible appendages, therefore excluding any kiosk, over the height below the waterline of the hull acting as a float and excluding any appendages, therefore excluding the keel, which is less than 0.8 and greater than 0.1,
    - the monocoque wave-piercing carrier is at least 2.5 meters long,
    - the carrier ship has a fixed keel,
    - the carrier ship has a removable keel,
    - the removable keel can be lifted,
    - the removable keel can be raised by translation from bottom to top,
    - the keel is removable and can be reassembled at least partially through the hull by translation from the bottom to the top or vice versa lowered under the hull,
    - the carrier ship has at its lower part a removable keel and at its upper part a kiosk erected above the deck, the removable keel can be lowered under the hull and reassembled at least partly through the hull, the removable keel comprising a lower end and an upper end, the kiosk internally comprises a keel storage space and the removable keel and the keel storage space of the kiosk are arranged in alignment so that the removable keel can be raised by translation upwards at less partially in the keel storage space of the kiosk, in order to be able to reassemble the underwater vehicle against the hull of the carrier ship and preferably in a recess of the hull of the carrier ship,
    - the removable keel and the keel storage space of the kiosk have main axes in alignment which are vertical, due to the axes of the main kiosk axes have the extension of the kiosk have the extension of the main axes
    - the removable keel and the keel storage space of the kiosk have main ones in alignment which are inclined relative to the vertical,
    - the removable keel and the main keel storage space in alignment which are perpendicular longitudinal to the carrier ship,
    - the removable keel and the main keel storage space in alignment which are inclined relative to the longitudinal of the carrier ship,
    - the main axis of the kiosk and the main axis of the keel storage space of the kiosk are parallel and preferably collinear,
    - the kiosk has the keel storage space at the bottom and the equipment at the top,
    - the hull of the carrier vessel includes a keel well allowing at least the passage of the removable keel down and down,
    - the keel storage space of the kiosk is in alignment with a keel well opening from the hull downwards and whose walls rise above the waterline of the carrier ship, the removable keel being able to slide in said well keel,
    - the keel pit is flooded up to the waterline,
    - the carrier vessel comprises sealing means between the connecting part of the removable keel and the hull in order to create in the keel well a space below the waterline which is out of water,
    - a flexible waterproof skirt is extended between the upper end of the removable keel and the hull of the carrier ship,
    - a flexible waterproof skirt is extended between the lower end of the connecting part of the removable keel and the hull of the carrier ship,
    - the flexible skirt is an accordion skirt,
    - the flexible skirt is elastic,
    - the kiosk is partly intended to receive the removable keel and the kiosk storage space of the kiosk represents at least 75% of the total volume of the kiosk,
    - the height of the kiosk placed on the deck or superstructures of the carrier ship is such that the top of the latter is at a minimum altitude of 1.5 meters above the deck when the carrier ship is vertical,
    - the kiosk can be closed over its entire surface,
    - the kiosk can be opened on part of its surface,
    - the kiosk has an aerodynamic shape,
    - the keel has a hydrodynamic shape,
    - the kiosk with a ratio of height (relative to its base) to width (in the direction transverse to the axis of movement of the ship) greater than 3,
    - the fixed or removable keel has at its lower end a bulb or a gondola, the bulb or gondola comprising a recess intended for the storage of the underwater vehicle,
    - the fixed or removable keel has at its lower end a bulb or a gondola elongated longitudinally and connected to the upper end of the keel by a connecting part of the keel of longitudinal extension lower than the longitudinal extension of the bulb or the gondola,
    - when the removable keel is put back in the kiosk, the bulb or the gondola remains under the hull,
    - the bulb or gondola includes at least measuring instruments,
    - the carrier ship comprises an attitude measurement center comprising attitude measurement sensors,
    - attitude measurement sensors are placed in or against the bulb or gondola of the keel,
    - the carrier ship is intended to carry out acoustic measurements and it includes acoustic measurement systems comprising transducers for transmitting and receiving acoustic waves,
    - the transducers of emission and reception of acoustic waves are arranged in or against the bulb or the gondola of the keel,
    the bulb or the gondola has an upper face turned upwards and the hull and a lower face turned downwards and the hull has a recess at the connection of the hull to the removable keel, said recess being able to accommodate at least the upper side of the bulb or gondola when the removable keel is raised,
    - the recess of the hull can accommodate the entire bulb or gondola when the removable keel is raised, the bulb or gondola then being included in the general size of the hull of the carrier ship,
    - the recess of the hull can accommodate the entire bulb or gondola and at least part of the underwater vehicle when the removable keel is raised, the bulb or gondola and the underwater vehicle then being included in the general size of the hull of the hull carrier ship,
    - the carrier vessel comprises an attitude measurement center comprising attitude measurement sensors and at least attitude measurement sensors are disposed in or against the bulb or the gondola of the keel,
    the maximum width of the connecting part of the keel is less than or equal to the maximum width of the bulb or of the gondola, the maximum length of the connecting part being less than the maximum length of the bulb or of the gondola, said lengths and width being respectively considered along the longitudinal direction of the carrier ship and a horizontal transverse direction perpendicular to the longitudinal direction,
    - the ratio of the maximum width of the connecting part to the maximum width of the bulb or gondola is between 0.05 and 0.5,
    the connecting part of the keel has a substantially identical length over its entire height,
    the connecting part of the keel has a substantially identical maximum width over its entire height,
    - the connecting part of the keel has a uniform cross section over its height,
    - the cross section of the keel connecting part is circular, ovoid or fusiform,
    - in the underwater vehicle storage configuration, the underwater vehicle is placed out of water on or in the carrier vessel, said carrier vessel comprising a device for recovering the underwater vehicle,
    - in the underwater vehicle storage configuration, the underwater vehicle is placed out of water on the deck of the carrier ship,
    - the underwater vehicle recovery device includes a launching and recovery / hauling ramp,
    - the underwater vehicle recovery device includes a gantry or a towing crane,
    - the carrier vessel includes a device for recovering the underwater vehicle making it possible to remove it from the water and, conversely, to put said underwater vehicle into the water,
    - the underwater vehicle and the carrier ship comprise additional, unlockable locking means, making it possible to hitch or detachably stow the underwater vehicle to the carrier ship for, in the storage configuration, removably securing the underwater vehicle to the carrier ship,
    the locking means ensure complete securing of the underwater vehicle to the carrier ship,
    - The underwater vehicle has a generally elongated shape along a main axis of the craft, said general shape defining a template of the craft, and the docking station for the autonomous underwater craft is arranged in a payload enclosure having a generally elongated shape along a main enclosure axis, the autonomous underwater vehicle being housed in said payload enclosure,
    - the payload enclosure is open to the outside,
    - the underwater vehicle comprises at least one payload enclosure, each enclosure comprising at least one docking station for an autonomous underwater vehicle,
    - the payload enclosure is a lateral opening in the hull of the underwater vehicle and the underwater autonomous vehicle approaches or leaves the underwater vehicle docking station laterally,
    - the side opening is to port, starboard or lower,
    the payload enclosure has a rear longitudinal end opening of the hull of the underwater vehicle and the autonomous underwater vehicle approaches or leaves the docking station of the underwater vehicle from the rear of the latter,
    - the payload enclosure has a front longitudinal end opening of the hull of the underwater vehicle and the autonomous underwater vehicle approaches or leaves the docking station of the underwater vehicle from the front of the latter,
    - the payload enclosure has a wall having a guide slot for an axial fin of the underwater autonomous vehicle, in order to allow the autonomous underwater vehicle to be guided when it enters the enclosure to reach the docking station,
    - the autonomous underwater vehicle engages completely inside the payload enclosure,
    - the autonomous underwater vehicle engages partially inside the payload enclosure, the rear part of the autonomous underwater vehicle emerging from said enclosure,
    - the docking station allows a removable attachment of the autonomous underwater vehicle to the underwater vehicle,
    - the docking station and the autonomous underwater vehicle include additional automated docking means allowing the deployed underwater autonomous vehicle to automatically dock the docking station when recovering the autonomous underwater vehicle marine.
    The invention also provides an underwater vehicle specially configured for the system of the invention. The underwater vehicle can be made according to all the methods mentioned.
    The invention also provides a carrier vessel specially configured for the system of the invention. The carrier vessel can be made in all of the ways mentioned and is a surface vessel.
    The invention also provides a docking station for an autonomous underwater vehicle adaptable to an existing underwater vehicle in order to implement the system of the invention from an existing underwater vehicle, said existing underwater vehicle being guided by a connecting cable connected to a carrier ship, said docking station allowing a removable attachment of the autonomous underwater vehicle to the underwater vehicle in order to be able to transport the autonomous underwater vehicle to its place of deployment where it is freed from the underwater vehicle, the docking station and the autonomous underwater vehicle comprising additional automated docking means allowing the autonomous underwater vehicle to automatically dock the docking station when recovering the autonomous underwater vehicle.
    Finally, the invention relates to a method for deploying and recovering an autonomous underwater vehicle by a surface carrier ship, the carrier vessel comprising a hull with a hull, the autonomous underwater vehicle comprising a propulsion means, in which method the system of the invention is implemented with an underwater vehicle guided by a connecting cable connected to the carrier ship, said underwater vehicle comprising means of propulsion, guidance and stabilization and a docking station for the autonomous machine submarine allowing a removable attachment of the autonomous underwater vehicle to the underwater vehicle, the underwater vehicle can be placed in two main configurations, a storage configuration where the underwater vehicle is removably secured to the carrier ship in a storage area of the carrier ship and a configuration of use where the underwater vehicle disconnected of the carrier ship is in the water and away from the storage area of the carrier ship while remaining connected by the connecting cable to the carrier ship, and for deployment, the autonomous underwater vehicle is freed from the docking station sailor when the underwater vehicle is diving and in the configuration of use, and for recovery, the autonomous underwater vehicle is automatically recovered from the docking station when the underwater vehicle is diving and in the configuration of use, the underwater vehicle and the autonomous underwater vehicle comprising additional automated docking means allowing the deployed underwater autonomous vehicle to automatically dock the underwater vehicle docking station.
    Thanks to the invention, the deployment and recovery of the autonomous underwater vehicle is simplified since it is no longer necessary to have to handle it to release it or to grab it / grasp it in the water from a ship which is subjected to the movements of the sea, gusts of wind ... The underwater autonomous craft is recovered or released underwater, from the underwater vehicle which is connected by a cable to the carrier ship, therefore allowing a decoupling of the respective movements of the underwater vehicle and the carrier ship. In addition, the underwater vehicle includes means, in particular for stabilization, facilitating the action of the automated docking means between the underwater vehicle and the autonomous underwater vehicle. The recovery for storage of the underwater vehicle on or in or under the carrier ship and its launching / release, are also particularly simple due to the wired connection by cable between the carrier ship and the underwater vehicle: it suffices to d '' wind or unwind the cable as appropriate.
    Detailed description of an exemplary embodiment
    The description which follows with reference to the appended drawings, given by way of nonlimiting examples, will make it clear what the invention consists of and how it can be carried out. In the accompanying drawings:
    FIG. 1 represents a first example of a system according to the invention with a keel wave piercing carrier in the storage configuration of the underwater vehicle, the latter having / transporting its autonomous underwater vehicle,
    FIG. 2 represents the first example of a system being deployed for use, the underwater vehicle with its autonomous underwater vehicle being separated from the carrier ship while remaining connected by wire for wire guidance,
    - Figure 3 shows the first example of a system being deployed for use, the underwater vehicle being separated from the carrier ship while remaining connected by wire for wire guidance, but with this time, the autonomous underwater vehicle being separated or docking of the underwater vehicle,
    FIG. 4 represents, for the first example of a system, another method of deployment with this time the underwater vehicle in storage configuration during the separation or the docking of the underwater vehicle,
    FIG. 5 represents a second example of a system according to the invention with a carrier ship comprising a device for recovering the underwater vehicle enabling it to be removed from the water in the storage configuration,
    FIG. 6 represents the second example of a system according to the invention during deployment, the underwater vehicle with its autonomous underwater vehicle being separated from the carrier ship and having been launched,
    FIG. 7 represents the second example of a system according to the invention during deployment, but this time with the underwater vehicle separated from with the autonomous underwater vehicle,
    FIG. 8 represents a third example of a system according to the invention with a carrier ship comprising a submerged bottom making it possible to recover the underwater vehicle in an interior space of the carrier ship, the interior space being submerged at least in its rear part,
    FIG. 9 represents a fourth example of a system according to the invention with a carrier ship comprising a hull with a recessed hull allowing the storage of the underwater vehicle against the hull,
    - Figure 10 shows a system derived from the second example in which the underwater vehicle is of a different type, without hull, and is a structure on open frame / frame, the underwater vehicle with its autonomous underwater vehicle being stored on the deck of the carrier ship, in storage configuration, and
    - Figure 11 shows an enlarged partial view of implementation of the system of Figure 10, this time in use configuration, the autonomous submarine vehicle being deployed (or vice versa, recovery).
    Device
    In FIG. 1, a first example of a system 1 has been shown, the carrier ship 2 of which is a wave piercing monohull surface ship and which comprises a keel 20 intended to stabilize it. Compared to conventional mechanically propelled vessels which do not need it, and in particular the high speed vessels for which this would be a handicap, the carrier vessel 2 perceives monohull comprises a keel 20 which is useful for its stability. fact that the latter has a very tapered / spindle-shaped shape unlike conventional mechanically propelled ships. This monocoque wave piercing carrier vessel is in particular intended to carry out acoustic measurements in water and that it is not intended to "fly" over water, its keel comprising, in addition to the underwater vehicle transported, measuring devices that must remain in the water. It must therefore be able to pierce the waves thanks to a 25-blade bow while sailing at high speed and with reduced energy expenditure.
    This carrier ship 2 is unmanned and is autonomous because it is preprogrammed and / or remotely operated / remotely controlled as regards in particular its navigation. It has integrated navigation means which are particularly useful in the case of a drone.
    In this first example, the carrier ship 2 has a removable keel which has at its lower immersed end a gondola 21 forming a storage area for an underwater vehicle 3. Sensors, in particular acoustic 27, are fixed against the gondola 21 In a variant, the gondola can be replaced by a bulb containing or supporting underwater measurement devices and which bulb then comprises the storage area of the underwater vehicle 3. In FIG. 1, an autonomous underwater vehicle 4 is installed in the underwater vehicle 3. Such a configuration where the underwater vehicle 3 is stored on the carrier ship may correspond to an end of mission / use or to a displacement towards a zone of use where the autonomous underwater vehicle 4 may be released.
    The carrier ship 2 comprises propulsion means, here with a propeller 23, and a guiding device 24 of the rudder type. The carrier ship 2 comprises a kiosk 22 above water, above the waterline, with devices 26 in particular intended for measurements and / or communications, in particular in the case where the carrier ship is remotely controlled by radio waves. .
    The keel 20 is removable and can go up and down through a keel well of the hull of the carrier ship. Note that the kiosk 22 is in the axis of the keel 20 and this kiosk is also used to internally accommodate the upper end of the keel 20 reassembled in a keel storage space of the kiosk.
    Alternatively, one can provide in the hull or hull, in the region of the keel 20, a recess making it possible to receive, when the keel is raised, at least partially the gondola 21 or the bulb as well as possibly the underwater vehicle 3 and its autonomous underwater vehicle 4, and preferably so as to be within the general size of the hull and in order to reduce the resistance to advancement of the carrier ship in the storage configuration of the underwater vehicle 3.
    In FIG. 2, the system 1 has switched to the configuration of use in which the underwater vehicle 3 is separated from the carrier vessel 2. A connecting cable 5 connects the carrier vessel 2 to the underwater vehicle 3 so that the latter is remotely operated / wire-guided. This figure can correspond to the start of use and the autonomous underwater vehicle 4 will then be released, or correspond to the end of use after the recovery of the autonomous underwater vehicle 4 in the underwater vehicle 3, the system then passing into storage configuration when the underwater vehicle 3 is again fixed to the carrier ship 2.
    In FIG. 3, the system 1 is still in the configuration of use and this time the underwater autonomous vehicle 4 is freed from the underwater vehicle 3 or, conversely, returns to the latter to be recovered.
    Figure 4 shows a variant in which the release or recovery of the autonomous underwater vehicle 4 can be done while the underwater vehicle is attached to the carrier ship as in the storage configuration. This variant can be used in the case where the carrier ship is not subject to movement, that is to say that it is on a body of calm water, without waves or swells.
    The autonomous underwater vehicle 4 is, as its name suggests, a device which moves independently of the underwater vehicle 3 when it has been released, unlike the underwater vehicle 3 which remains connected by a cable to the carrier ship. The autonomous underwater vehicle 4 therefore comprises propulsion means, with a propeller in this example and guide means as well as, preferably, stabilization means. The actions of the guiding propulsion means and possibly of stabilization of the autonomous underwater vehicle, are preprogrammed and / or remotely operated / remote controlled. These actions can also depend on measurements made by sensors.
    The means of propulsion and guidance of the autonomous underwater vehicle can be either separate or combined, in the latter case these means can be orientable thrusters. It can also be provided that the direction of rotation of the propeller or the turbine of the propulsion and possibly guidance device can be reversed.
    The underwater vehicle 3 comprises propulsion and guidance means, for example orientable with turbine for jet / reaction or with variable jet deflection, as well as stabilization means allowing stabilization of the underwater vehicle along three axes.
    It is understood that if the means of propulsion, guidance and stabilization, for each of the carrier ship, the underwater vehicle and the autonomous underwater vehicle, have been separated from the point of view of their description to facilitate the explanations of the different functions, in practice and materially, these different propulsion / displacement, guidance / orientation, stabilization functions can be carried out with one or more devices, each performing several of these functions. Thus, as we have seen, the same orientable propeller or turbine device can serve as a means of propulsion, guidance and stabilization. A ballast system can be used for passive movement, in particular diving or ascent, and for the passive orientation of the underwater vehicle or the autonomous underwater vehicle.
    In FIG. 5, a second example of a system 1 ′ is shown, the carrier ship 6 of which is a more conventional surface ship here in the hull, of the catamaran type, but which can be monohull in one variant. This time, in the storage configuration, the underwater vehicle 3 is raised, out of water, on the deck 60 of the carrier ship 6. This carrier ship 6 has a superstructure 61 intended for a crew ensuring navigation.
    The carrier ship 6 comprises a device for recovering the underwater vehicle making it possible to get out of the water and, conversely, to put said underwater vehicle in the water. This recovery device is a gantry 62 and a motorized winch 63 for winding and unwinding the cable 5 for connection between the underwater vehicle 3 and the carrier ship 6. This gantry recovery device 62 also allows the vehicle to be launched. underwater.
    In the configuration of use of FIG. 6, the underwater vehicle 3 has been launched and the autonomous underwater vehicle 4 is installed in the docking station of the underwater vehicle. In FIG. 7, the autonomous underwater vehicle 4 has been released.
    FIG. 8 shows a third example of a 1 ”system, the carrier vessel 7 of which is a particular surface vessel in that it has a submerged / submerged bottom 76 which comprises a slot 73 in which an axial fin 30, here below, the underwater vehicle can slide. Depending on the depth of the submerged bottom 76, the vehicle can remain underwater in the storage configuration. The two lateral edges 74 and 75 floating of the carrier ship 7 define with the bottom 76 a submerged interior space 72, open towards the rear, for storing the underwater vehicle 3 and its autonomous underwater vehicle 4. A vehicle can be provided underwater 3 which can surface and float in case the depth of the bottom 76 is shallower. In a variant, the underwater vehicle 3 is stored under the bottom 76, below the hull of the carrier ship, and the axial fin is an upper fin which can slide in the slot 73. In the latter case, the bottom 76 can be configured to form a recess in the hull in which the underwater vehicle is placed.
    In variants, the bottom which is partially submerged is a launching and recovery ramp and in the storage configuration the underwater vehicle can be completely taken out of the water by the ramp or, only, its part before leaving the water, the latter case being useful if one wants to use the means of propulsion and possibly guidance, of the underwater vehicle to drive the carrier ship or help it to move, the means of propulsion of the underwater vehicle, but also of the autonomous underwater vehicle sailor, staying in the water.
    As before, the carrier ship 6 of FIG. 8 comprises a bridge 70 and a superstructure 71 intended for a crew ensuring navigation. One or more doors may be provided at the rear of the carrier vessel to close the interior space aft.
    In variants of this third example of a 1 ”system, the floating lateral edges 74, 75 can consist of inflatable tubes making it possible to produce a demountable and collapsible carrier ship.
    In the fourth example of a system shown in FIG. 9, the carrier ship 8 comprises a hull 84, the hull of which has a recess 80 making it possible to store the underwater vehicle 3 in the storage configuration against the keel / hull, the underwater vehicle also being able in certain conditions, participate in the propulsion of the carrier vessel, in particular in the case where the rear wall 82 of the carrier vessel is open at the level of the recess. Preferably, the connecting cable coming from the carrier ship opens out through a cable well 81 in the recess in the case where it arrives at the top of the underwater vehicle but in other ways, it can pass by another path, in particular if the cable reaches the underwater vehicle from the front or from below. A winder / unwinder 83 of connecting cable 5 is disposed on the deck of the carrier ship.
    The underwater vehicle exemplified so far is of the hull type but in other implementation methods, the latter 3 ′ may have a different structure and in particular, as shown in FIGS. 10 and 11, be of the chassis / frame 32 and open structure. In these figures 10 and 11, we see the propulsion, guidance and stabilization means and in particular the adjustable propellers 31 inside the chassis 32 of the open structure of the underwater vehicle 3 ’. The internal equipment of the underwater vehicle 3 ’is also visible within this open structure. In order to facilitate the automatic recovery of the autonomous underwater vehicle within the docking station which includes an automated docking system, the mouth 33 of the docking station has a funnel shape which is better visible. figure 11.
    Process
    The system of the invention allows the deployment and recovery of an autonomous underwater vehicle by a surface carrier ship in optimal conditions since the deployment and especially the recovery are done while the autonomous underwater vehicle is under the surface of the water and is therefore not subject to the movements of waves or swells unlike the carrier ship. To do this, an underwater vehicle is used to transport the autonomous underwater vehicle. For these operations, it is therefore necessary to ensure that the underwater vehicle is itself submerged, under the surface of the water and, preferably when the carrier vessel is agitated, that the underwater vehicle is decoupled / separated from the carrier vessel. .
    Thus, in the case of the system T of the second example, where the underwater vehicle with its autonomous underwater vehicle is stored out of water, on the deck of the carrier ship, in storage configuration, we must first put the 'water the underwater vehicle with its autonomous underwater vehicle thanks to the recovery / launching device with its gantry 62 and the motorized winch 63 of the carrier ship. After launching, the underwater vehicle is guided by cable 5 and taken underwater to the place where it is desired to free the autonomous underwater vehicle from the docking station. Once the autonomous underwater vehicle is released, it can carry out the missions that have been planned for it. Once these missions are completed, the autonomous underwater vehicle can automatically dock with the underwater vehicle docking station for recovery, while the underwater vehicle is diving. For this automatic docking, additional automated docking means are implemented between the underwater vehicle and the autonomous underwater vehicle.
    In the examples shown, a single autonomous underwater vehicle 4 has been represented per underwater vehicle 3, but two or more may be provided. Likewise, only one underwater vehicle 3 has been shown per carrier ship 2, 6, 7 but two or more may be provided. Other implementation methods are possible. If, preferably and as shown, the autonomous underwater vehicle 4 accost and leave the underwater vehicle 3 from the rear of the latter, one can provide a lateral docking or from the front of the underwater vehicle 3. However, provision is made for material means so that the system has low resistance to advancement on and / or underwater and, for this purpose, a removable door can be provided to close the docking station of the autonomous underwater vehicle 15 in which the autonomous underwater vehicle 4 berths. Similarly, the bulb and the gondola, like the underwater vehicle, have hydrodynamic shapes.
    权利要求:
    Claims (10)
    [1" id="c-fr-0001]
    1. System (1, T, 1 ”) for the deployment and recovery of an autonomous underwater vehicle (4) by a surface carrier vessel (2, 6, 7), the carrier vessel (2, 6, 7) comprising a hull with a hull, the autonomous underwater vehicle (4) comprising propulsion, guidance and stabilization means, characterized in that it comprises, in addition to the carrier ship (2, 6, 7), a underwater vehicle (3) guided by a connecting cable (5) connected to the carrier ship (2, 6, 7), the underwater vehicle (3) can be placed in two main configurations, a storage configuration where the underwater vehicle (3 ) is secured in a removable manner to the carrier ship (2, 6, 7) in a storage area of the carrier ship and a configuration of use where the underwater vehicle separated from the carrier ship (2, 6, 7) is at and away from the storage area of the carrier ship while remaining connected by the connecting cable (5) to the nav ire carrier (2, 6, 7), said underwater vehicle (3) comprising means of propulsion, guidance and stabilization and a docking station of the autonomous underwater vehicle (4) allowing a removable attachment of the autonomous underwater vehicle (4) to the underwater vehicle (3) in order to be able to transport the autonomous underwater vehicle (4) to its place of deployment where it is released from the underwater vehicle (3), the underwater vehicle and the autonomous underwater vehicle (4) comprising additional automated docking means enabling the autonomous underwater vehicle (4) deployed to automatically dock the underwater vehicle docking station (3) during the recovery and settle there.
    [2" id="c-fr-0002]
    2. System (1, T, 1 ”) according to claim 1, characterized in that the storage area is chosen from a submerged recess of the hull or of an appendage to the hull of the carrier ship (2, 6, 7 ), a submerged end of an appendage to the hull of the carrier ship, a location (72) at least partially submerged on or under a submerged bottom of the carrier ship, a location above water of the carrier ship (2, 6, 7).
    [3" id="c-fr-0003]
    3. System (1, T, 1 ”) according to claim 2, characterized in that the carrier vessel (2, 6, 7) has on its hull the recess intended for the storage of the underwater vehicle, the underwater vehicle remaining submerged in configuration storage, against the hull and under the carrier ship (2, 6, 7).
    [4" id="c-fr-0004]
    4. System (1, T, 1 ”) according to claim 2, characterized in that
    27 the submerged appendage of the carrier ship (2, 6, 7) is a keel (20) and in that the underwater vehicle is stored at the lower end of the keel (20).
    [5" id="c-fr-0005]
    5. System (1, T, 1 ”) according to claim 4, characterized in that the keel (20) comprises at its lower end a bulb or a gondola (21), the bulb or the gondola (21) comprising a recess intended for the storage of the underwater vehicle (3).
    [6" id="c-fr-0006]
    6. System (1, T, 1 ”) according to claim 4 or claim 5 which can possibly be combined with claim 3, characterized in that the keel (20) is removable and can be reassembled at least partly through the hull by translation from the bottom up or vice versa lowered under the hull.
    [7" id="c-fr-0007]
    7. System (1, T, 1 ”) according to any one of claims 4 to 6, characterized in that the carrier vessel (2) is a monohull wave piercing vessel.
    [8" id="c-fr-0008]
    8. System (1, T, 1 ”) according to claim 2, characterized in that the carrier ship (7) has a hull elongated longitudinally from the rear to the front and has a port side edge (G) and a floating starboard side edge (D) and a submerged bottom (76) connected to the two lateral edges (74, 75), the two floating lateral edges (74, 75) and the submerged bottom (76) defining an interior space (72) of the carrier ship (7), the interior space (72) being submerged at least in the rear part, and the two aft ends of the floating side edges (74, 75) are separated by an opening towards the rear of the carrier ship, limited opening downwards by the submerged bottom (76), and the submerged bottom further comprises at least one slot (73) elongated longitudinally open towards the rear and intended for the passage of a lower axial fin (30) of the underwater vehicle (3 ) and the carrier ship (7) is configured so that at m oins the front part of the underwater vehicle (3) can engage in the interior space (72) with the lower axial fin engaging in the slot.
    [9" id="c-fr-0009]
    9. System (1, T, 1 ”) according to claim 2, characterized in that the carrier ship (6) comprises a recovery device (62) for the underwater vehicle (3) making it possible to remove it from the water and, conversely, to launch said underwater vehicle (3).
    [10" id="c-fr-0010]
    10. method of deployment and recovery of an autonomous underwater vehicle (4) by a surface carrier vessel (2, 6, 7), the carrier vessel (2, 6, 7) comprising a hull with a hull, the apparatus autonomous submarine comprising a propulsion means, characterized in that an underwater vehicle (3) is operated by wire guided by a connecting cable (5) connected to the carrier ship (2, 6, 7), said underwater vehicle ( 3) comprising a means of propulsion, guidance and stabilization and a docking station for the autonomous underwater vehicle (4) allowing a removable attachment of the autonomous underwater vehicle (4) to the underwater vehicle (3 ), the underwater vehicle (3) can be placed in two main configurations, a storage configuration where the underwater vehicle (3) is secured in a removable manner to the carrier ship (2, 6, 7) in a storage area of the carrier ship and a configuration of use where the vehicle underwent tick (3) detached from the carrier ship (2, 6, 7) is in the water and away from the storage area of the carrier ship while remaining connected by the connecting cable (5) to the carrier ship (2, 6, 7), and in that:
    for deployment, the autonomous underwater vehicle (4) is released from the docking station when the underwater vehicle (3) is in the dive and in the configuration of use, and for recovery, it is automatically recovered in the station. receiving the autonomous underwater vehicle (4) when the underwater vehicle (3) is submerged and in configuration of use, the underwater vehicle and the autonomous underwater vehicle (4) comprising complementary automated docking means allowing the autonomous underwater vehicle (4) deployed to automatically dock the underwater vehicle docking station (3).
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    同族专利:
    公开号 | 公开日
    US20210237838A1|2021-08-05|
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    法律状态:
    2019-03-15| PLFP| Fee payment|Year of fee payment: 2 |
    2019-11-01| PLSC| Publication of the preliminary search report|Effective date: 20191101 |
    2020-03-30| PLFP| Fee payment|Year of fee payment: 3 |
    2021-03-19| PLFP| Fee payment|Year of fee payment: 4 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1853733|2018-04-27|
    FR1853733A|FR3080601B1|2018-04-27|2018-04-27|SYSTEM FOR THE DEPLOYMENT AND RECOVERY OF AN AUTONOMOUS UNDERWATER MACHINE, METHOD OF USE|FR1853733A| FR3080601B1|2018-04-27|2018-04-27|SYSTEM FOR THE DEPLOYMENT AND RECOVERY OF AN AUTONOMOUS UNDERWATER MACHINE, METHOD OF USE|
    EP19729335.0A| EP3784558A1|2018-04-27|2019-04-26|System for deploying and recovering an autonomous underwater device, method of use|
    PCT/FR2019/050990| WO2019207263A1|2018-04-27|2019-04-26|System for deploying and recovering an autonomous underwater device, method of use|
    US17/050,588| US20210237838A1|2018-04-27|2019-04-26|System for deploying and recovering an autonomous underwater device, method of use|
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