Recovery and / or launch system for marine or underwater vehicles, in particular autonomous, semi-autonomous or towed, from a ship.

Abstract

The invention relates to a recovery and / or launching system (100) for marine or underwater vehicles, in particular autonomous, semi-autonomous or towed vehicles, from a ship, comprising a receiving device (190) which is at least partially submersible and provided with a movable reception member (130) which has a main wall (135) defining a reception space, characterized in that the recovery and / or launching system (100) further comprises a control and command unit (190) configured to place the reception member (130) in a determined position as a function of at least one said vehicle (200a, 200b) to be recovered, and in that the reception member (130) is configured to maintain, directly or indirectly, generally opposite its reception space, the at least one said vehicle (200a, 200b) in the determined position of the member reception area (130) in which its main wall (135) has a determined general orientation. (Figure 2B)

Description

Title of the invention: Recovery and / or launch system for marine or underwater vehicles, in particular autonomous, semi-autonomous or towed, from a ship. Technical field of the invention

[0001] The present invention relates to a recovery and / or launch system for marine or underwater vehicles, for example of the AUV type for "Autonomous Underwater Vehicle" in English terminology or semi-autonomous and for example of the ROV type for "Remotely Operated underwater Vehicle", or even of the towed type, from a ship, itself marine or underwater.

[0002] The invention also relates to an assembly provided with such a system and at least one such device, and also to a ship provided with such an assembly and on which such a system is mounted. State of the art

[0003] Numerous systems are known for recovering marine or underwater vehicles, particularly autonomous ones. These may be, for example, devices in the form of a reception cage towed by or hoisted onto a ship, a reception ramp secured to the ship, or a davit provided for gripping the craft.

[0004] In a first example, the underwater vehicle may include a hooking mechanism located on a front end of the underwater vehicle, which hooking mechanism is adapted to cooperate with a cable attached to a winch mounted on a vessel. The winch is operable so as to wind the cable to bring the AUV closer to the vessel, and extract it from the water.

[0005] To bring the underwater vehicle back on board the ship, the recovery system may be provided with a ramp movably mounted on the ship. In this case, the underwater vehicle is brought into the immediate vicinity of the ramp and then hoisted aboard the ship. Alternatively, the recovery system may be provided with a cage. In this case, the underwater vehicle is introduced into the cage and the assembly is hoisted by means of winches onto the ship.

[0006] Generally, such recovery solutions are dedicated to underwater vehicles to be recovered and therefore sized relative to the dimensions of such underwater vehicles. Statement of the invention

[0007] The invention aims to provide a recovery and / or launching system for marine or underwater vehicles, in particular autonomous, semi-autonomous or towed, from a ship, which is particularly simple, safe and convenient to use.

[0008] The invention thus relates, in a first aspect, to a recovery and / or launching system for marine or underwater vehicles, in particular autonomous, semi-autonomous or towed vehicles, for example from a ship, comprising a reception device which is at least partially submersible and provided with a mobile reception member which has a main wall defining a reception space,

[0009] characterized in that the recovery and / or launch system further comprises a control and command unit configured to place the receiving member in a determined position as a function of at least one said device (to be recovered, and in that the receiving member is configured to maintain, directly or indirectly, globally opposite its receiving space, the at least one said device in the determined position of the receiving member in which its main wall has a determined general orientation.

[0010] The system according to the invention makes it possible, depending on the type of machine to be recovered and thanks to its control and command unit, to adapt the position of the receiving member and in particular the orientation of its main wall so as to maintain the machine in a determined position. The recovery position of the machine can be determined for example depending on the characteristics of the machine in terms of volume and dimensions.

[0011] According to a characteristic of the system, the control and command unit can be configured to:

[0012] in a first configuration of the system, placing the receiving member in a first determined position when the at least one said device to be recovered is of a first type, with the receiving member which is configured to indirectly hold against its receiving space the at least one said device of the first type in the first determined position of the receiving member in which its main wall has a first determined general orientation directed substantially towards the horizon;and

[0013] in a second configuration of the system, placing the receiving member in a second determined position when the at least one said device to be recovered is of a second type, with the receiving member which is configured to directly maintain globally opposite its receiving space the at least one said device of the second type in the second determined position of the receiving member in which its main wall has a second determined general orientation directed downwards; with the at least one said device of the second type which is substantially larger than the at least one said device of the first type.;

[0014] The system according to the invention therefore makes it possible to recover at least two types of devices and to adapt the orientation of the main wall of the receiving member according to the device. In particular here, bulky devices can be raised by orienting the main wall downwards, while less bulky devices can be reassembled by orienting the main wall horizontally. The horizontal position of the machine reduces the risk of damage, for example, to the electronic devices with which they may be equipped.

[0015] Furthermore, the system may further comprise a ramp configured to be secured to the vessel and extending at least partially in an inclined manner between a first end called submerged and a second end called non-submerged which is opposite the first end, with the receiving member which is movable in translation along the ramp between a first low position at the first end of the ramp and a second high position at the second end of the ramp, where,

[0016] in the first configuration, the first determined general orientation directed substantially towards the horizon forms an angle with the ramp, and

[0017] in the second configuration of the system, the second determined general orientation is directed downwards, towards the first submerged end of the ramp and is substantially parallel to the inclination of the ramp.

[0018] According to another characteristic of the system, the system further comprises a ramp configured to be secured to the ship and extending at least partially in an inclined manner between a first end called submerged and a second end called non-submerged which is opposite the first end, with the reception member which is movable in translation along the ramp between a first low position at the first end of the ramp and a second high position at the second end of the ramp, and a cage for receiving at least one said device to be recovered which is of a first type, the reception cage being configured to be mechanically secured to the reception member and at least partially received in its reception space, and comprising an opening configured to allow the passage of a vehicle of the first type,and the control and command unit is configured to place the receiving member and the receiving cage in a first determined position in which the main wall and the receiving cage have a first determined general orientation directed substantially towards the horizon, and to maintain them in the first determined position when the receiving member is moved, together with the receiving cage, along the ramp between the first low position and the second high position of the receiving member.

[0019] The system according to the invention offers the possibility of recovering machines, particularly those of small size and which are equipped with numerous electronic devices, while reducing the risk of damage to these machines and the devices equipping them. In particular, smaller machines can be raised by orienting the main wall horizontally. This position in particular prevents the machine from sliding in the cage.

[0020] Furthermore, the system may comprise a cable having at a free end a retaining member as well as a winch capable of, respectively, winding and unwinding the cable, and the receiving cage comprises a door configured to cooperate with the retaining member to open and close the receiving cage.

[0021] In addition, the receiving cage may comprise a lower portion intended to be submerged, an opposite upper portion, and an opening provided in the upper portion.

[0022] Also, the system may include a detector configured to indicate the presence of a device in the receiving cage.

[0023] The receiving cage may be mechanically and removably secured to the receiving member, and may include a locking device to ensure that it is held in position on the receiving member.

[0024] Furthermore, the main wall may be generally funnel-shaped.

[0025] The invention also relates, in a second aspect, to an assembly comprising a recovery and / or launch system as described previously and at least one marine or underwater vehicle, in particular autonomous, semi-autonomous or towed, held directly or indirectly, generally opposite a space for receiving a receiving member of a receiving device of the system, the receiving member being in a determined position and having a main wall in a determined general orientation.

[0026] The invention also relates, in a third aspect, to a ship comprising an assembly as described above, with the recovery and / or launching system which is mounted mobile or fixed on the ship.

[0027] The invention also relates, in a fourth aspect, to a method for recovering a marine or underwater vehicle, in particular autonomous, semi-autonomous or towed, from a ship, using a recovery and / or launch system as described previously, comprising the steps:

[0028] - detect and identify the device to be recovered;

[0029] - determine a position in which the receiving member must be arranged according to the device to be recovered;

[0030] - control via the control and command unit the reception organ for the put in the position determined according to the device to be recovered;

[0031] - guide the machine towards the receiving organ;

[0032] - directly or indirectly hold the device on the receiving member.

[0033] Other features and advantages of the invention will become apparent in the description below. Brief description of the drawings

[0034] The invention will be better understood and its advantages will appear better on reading the detailed description which follows, given for information purposes only and in no way limiting, with reference to the appended drawings in which:

[0035] [Fig-1] [Fig.l] is a schematic view of a ship on which is mounted a system for recovering and / or launching different types of marine or underwater vehicles, in particular autonomous, semi-autonomous or towed;

[0036] [Fig.2A] [Fig.2A] is an illustration of the recovery and / or launch system of [Fig.1], according to a first embodiment of the invention;

[0037] [Fig.2B] [Fig.2B] is an illustration of the recovery and / or launch system of [Fig.1], according to a second embodiment of the invention;

[0038] [Fig.3] [Fig.3] schematically and partially shows a device for receiving the recovery and / or launch system visible in Figures 2A and 2B;

[0039] [Fig.4A], [Fig.4B], [Fig.4C], [Fig.4D], [Fig.4E] and [Fig.4F] Figures 4A to 4F re schematically present the recovery of a first device with the recovery and / or launch system visible in [Fig.2A];

[0040] [Fig.5A], [Fig.5B], [Fig.5C], [Fig.5D], [Fig.5E] Figures 5A to 5E represent schematically the recovery of a first device with the recovery and / or launch system visible in [Fig.2B];

[0041] [Fig.6] [Fig.6] is an illustration of a first variant embodiment of the recovery and / or launch system visible in [Fig.2B];

[0042] [Fig.7] [Fig.7] is an illustration of a second variant embodiment of the recovery and / or launch system visible in [Fig.2B], taken in the same configuration as in [Fig.5D]. Description of the embodiments

[0043] Identical elements shown in the above-mentioned figures are identified by identical numerical references.

[0044] The invention finds an application in the field of marine or underwater vehicles, such as for example autonomous, semi-autonomous or towed vehicles from a ship, such as for example AUVs and ROVs, as specified above.

[0045] In general, AUVs and ROVs are used to carry out different operations at sea, such as for example surveillance operations. Given the diversity of surveillance operations, vehicles of all sizes can be used.

[0046] For example, certain devices with a long autonomy can be used to carry out long surveillance operations at sea, lasting several days, while devices with a shorter autonomy are used for short and one-off missions in order to carry out specific tasks.

[0047] Thus, there are different types of machines, whether in terms of dimensions and of weight, which can be deployed at sea.

[0048] For this purpose, the devices are launched from a ship (such as for example USV type boats, in English Unmanned Surface Vessel) and navigate completely submerged in the water in a nominal position.

[0049] Alternatively, it may be a ship with a crew.

[0050] Once the operations are completed, the equipment is recovered and reassembled on board the ship, including a reception area.

[0051] The object of the invention is to propose a recovery system allowing the recovery of any type of equipment at sea.

[0052] Such a system allows the deployment of several vehicles in parallel, in particular to carry out one-off operations between the launch and recovery of vehicles carrying out long-term operations. In the remainder of the description, reference will mainly be made to AUVs and ROVs. Of course, the recovery system can be used for any type of marine or underwater vehicle. To facilitate reading, the term vehicle may simply be used to designate marine or underwater vehicles, such as, for example, autonomous, semi-autonomous or towed vehicles from a ship.

[0053] A vessel on which is mounted a system for recovering and / or launching different types of marine or underwater vehicles, in particular autonomous, semi-autonomous or towed, is illustrated in Figures 1, 2A and 2B.

[0054] This recovery and / or launch system 100 is intended to extract a device from the water and to keep it out of the water. The devices 200a, 200b, of different types and dimensions, can be extracted from the water by this recovery and / or launch system 100. As can be seen, the device 200a, of a first type, is substantially less voluminous than the device 200b of a second type.

[0055] In the illustrated example, the recovery and / or launch system 100 is mechanically attached to a ship 160. Of course, such a recovery and / or launch system 100 can be arranged in any other location, such as for example, on a pontoon for example in a port, or even can be mounted within a container.

[0056] The recovery and / or launch system 100 comprises a receiving device 190, a ramp 110, and a control and command unit 195.

[0057] The control and command unit 195 is a programmable electronic module capable of actuating at least the reception device 190 and more generally the various elements of the recovery and / or launch system 100. This control and command unit may for example be arranged on board the ship and electronically connected to the various actuators associated with the elements of the recovery and / or launch system 100.

[0058] Alternatively, the control and command unit 195 can be arranged directly on the receiving device 190.

[0059] Depending on whether the machine to be recovered is of the first type or the second type, the control and command unit 195 is configured to modify the configuration of the system to recover the machine, in particular by modifying the positioning of the recovery device 190 (see below in more detail).

[0060] The ramp 110 is also secured to the ship, and comprises at least one portion which extends, in an inclined manner, between a first end submerged in the sea water, and a second non-submerged end, opposite the first end, and which is fixed to the ship 160.

[0061] In the example illustrated, the ramp 110 may further comprise a second part 114, articulated with the first part of the ramp, in rotation and / or in translation, in particular by means of mechanical connectors, described in more detail below. The second part is here fixed to the ship 160.

[0062] The receiving device 190 is in [Fig.l] at least partially submerged in water.

[0063] This receiving device 190 comprises, depending on the configuration of the recovery system, a receiving member or a receiving member associated with a recovery cage. This is visible in FIGS. 2A and 2B.

[0064] In the configuration (called second configuration) of the system 100 visible in [Fig.2A], the reception device 190 comprises a reception member 130 mounted to move in translation along the first part 113 of the ramp 110 between at least a first low position at the level of the first submerged end of the first part and at least a second high position at the level of the second end of the first part 113 of the ramp.

[0065] This embodiment is suitable for use with larger machines such as the 200b machine of the second type.

[0066] The movable receiving member 130 comprises a main wall 135 having a general funnel shape, that is to say generally frustoconical. This wall comprises at least two openings.

[0067] A first opening is configured to allow the passage of a cable and a second opening is configured to allow the introduction at least partially of a front part of a second type machine.

[0068] The main wall 135 of the receiving member 130 defines a so-called receiving space. This receiving space is configured to receive a front end of a machine, in particular the front end of the large machines 200b.

[0069] In this configuration of the system for recovering a bulky machine such as the machine 200b, the control and command unit 195 is configured to put the receiving member 130 in a determined position, called the second determined position, to hold directly against and opposite its receiving space the bulky machine 200b of the second type to be recovered. Thus, the machine of the second type 200b, coming directly into the receiving space of the receiving member 130, is held in the second determined position of the receiving member 130.

[0070] The second determined position of the receiving member 130 is characterized by the general orientation of the main wall 135 which is directed downwards, that is to say towards the surface of the water.

[0071] In other words, the second determined general orientation of the receiving member 130 is directed towards the first submerged end of the ramp and is substantially parallel to the inclination of the first part 113 of the ramp 110.

[0072] Thus, the control and command unit 195 is configured to maintain the receiving member 130 in the second determined position, substantially parallel to the first part 113 of the ramp 110, when the receiving member 130 is moved along the first part 113 of the ramp 110 between the first low position and the second high position of the receiving member 130.

[0073] In another configuration of the system (called first configuration) illustrated in [Fig.2B], the receiving device 190 comprises, in addition to the receiving member, a receiving cage 140 adapted for the launching and / or recovery of less bulky devices, such as the device 200a.

[0074] The receiving cage 140 is mechanically secured in a removably manner to the receiving member 130 and defines a space for housing the machine 200a.

[0075] In this first configuration aimed at recovering a small-volume machine such as the machine 200a, the control and command unit 195 is configured to place the receiving member 130 in a determined position, called the first determined position, to indirectly maintain globally opposite its receiving space, the machine of the first type 200a to be recovered. Thus, the machine of the first type 200a is maintained in the cage in the first determined position of the receiving member.

[0076] The first determined position of reception 130 is characterized by the general orientation of the main wall 135 which is directed substantially towards the horizon, that is to say substantially horizontally.

[0077] In other words, the first determined general orientation forms an angle with the first part of the ramp which is inclined.

[0078] Thus, the control and command unit 195 is configured to maintain the receiving member 130 and the cage 140 in the first determined, horizontal position, when the receiving member 130 is moved, together with the receiving cage 140, along the first part 113 of the ramp 110 between the first low position and the second high position of the receiving member 130.

[0079] As can be seen in Figures 1 to 2B, when the ramp 110 comprises two parts 113, 114, the ramp can then be configured to take a first configuration called deployed (as seen in Figures 1 to 2B) and a second configuration called folded.

[0080] The first part 113 of the ramp 110 is mechanically secured to the second part 114 of the ramp 110, so that the first part 113 is movable in translation and articulated relative to the second part 114, at the level of a mechanical connecting member 111.

[0081] The system further comprises a winch 112 configured to allow translational movement of the first part 113 relative to the second part 114 of the ramp 110.

[0082] The winch 112 and the mechanical connecting member 111 can be configured to be actuated by the control and command unit 195 so that its actuation makes it possible in particular to modify the arrangement of the ramp 110.

[0083] In a deployed configuration of the ramp 110, illustrated in FIGS. 2A and 2B, the first portion 113 is inclined relative to the second portion 114 with a non-zero angle. The first portion 113 may be at least partially submerged. The angle formed between the first portion 113 and the second portion 114 is adjustable by means of the actuation of the mechanical connecting member 111.

[0084] In a folded configuration (visible for example in FIGS. 4F and 5E), the first part 113 is at least partially superimposed on the second part 114.

[0085] Thus in the folded configuration, all of the elements of the recovery system can be arranged on board the ship 160, and in the example shown under a container shelter 150.

[0086] The recovery and / or launching system further comprises a winch 116, attached to the first part 113 of the ramp 110, capable of winding and unwinding a cable 117, which is configured to be submerged at sea in water when the recovery and / or launching system 100 is on a ship 160 at sea.

[0087] The cable 117, which can also be described as a recovery cable, comprises, at one of its ends, a retaining member 118. This retaining member is for example a pig, that is to say a mass.

[0088] The other end of the cable 117 is attached to the winch 116, which is capable of varying the deployed length of the cable 117, and thus allows the cable to be immersed more deeply in the water, or extracted from the water.

[0089] The winding and unwinding of the cable can cause, by means of the retaining member, the translation of the receiving device 190, along the first part 113 of the ramp 110.

[0090] As also visible in [Fig.2B], it will be noted that the recovery cage 140 is deployed at sea via a cable 117 having a retaining member configured to cooperate with a door 141 of the recovery cage 140.

[0091] [Fig. 3] shows in more detail the receiving member 130 with the receiving cage 140 which is attached to it.

[0092] The receiving member 130 comprises a base 133, intended to be mounted on the first part 113 of the ramp 110, and movable in translation on the latter.

[0093] The main wall 135 is connected to the base 133 mechanically by an actuator 136, arranged in a housing provided in a connecting portion 134.

[0094] This actuator 136 may for example be a jack, and makes it possible, via the control and command unit (not visible in this figure), to control the positioning of the receiving member 130 and the orientation of the main wall 135 relative to the base 133 and more generally relative to the first part 113 of the ramp 110.

[0095] The general orientation of the main wall 135 of the receiving member 130 can be defined for example as the orientation of the axis of revolution of the receiving member, that is to say the axis 131, which, in the first position illustrated, is substantially horizontal and forms an angle with the axis 132, substantially parallel to the first part 113 of the ramp 110. In [Fig. 3], the main wall 135 is oriented substantially horizontally so that the receiving cage 140 is also substantially horizontal, even though the base 133 is inclined.

[0096] The actuator 136 therefore makes it possible to change the angle between the base 133 and the main wall 135, in order to adapt and maintain the general orientation of the main wall 135 regardless of the variation in inclination of the first part 113.

[0097] It will be noted that the receiving cage 140 is mounted on the receiving member 130 in a removable manner, for example by means of a locking device (not shown).

[0098] The locking device is configured to maintain the receiving cage 140 in a fixed position relative to the receiving member 130.

[0099] The locking device may comprise locking members on the receiving cage 140 and on the receiving member 130, capable of cooperating together to lock the receiving cage 140 relative to the receiving member, once the receiving cage 140 is mechanically connected to the receiving member 130.

[0100] The receiving cage 140 may further comprise a detector configured to detect the presence of a machine in the space defined by the receiving cage 140. It may be, for example, a force detector, a camera, etc.

[0101] Figures 4A to 4F illustrate the recovery of the so-called bulky device 200b, with the system described above, in its configuration visible in [Fig.2A].

[0102] The control and command unit 195 determines that it is a type machine 200b. For this, the information can be provided directly by an operator, via an interface or the control and command unit 195 can be configured to exchange information with the machine 200b.

[0103] In the case of a machine of the type 200b, the control and command unit 195 determines that the receiving member 130 must be placed in the second determined position which is the position in which the main wall 135 has a second determined general orientation downwards, i.e. a second orientation substantially parallel to the first part 113 of the ramp 110.

[0104] The control and command unit 195 operates the winch 116 to unwind the cable 117. Upon detection of the cable, by means of detectors such as a frontal sonar, the machine 200b is then guided in the direction of the cable 117.

[0105] Guidance can be provided by the machine itself, autonomously, or it can be guided remotely.

[0106] Once close to the cable ([Fig.4B]), the device 200b activates a pair of front clamps, to engage with the cable 117.

[0107] Once hooked, the winch 116 is actuated to wind the cable 117 until a front part of the machine 200b is housed in the reception space 130 ([Fig.4C]).

[0108] Alternatively, the device 200b inserts its nose alone into the receiving space of the receiving member 130.

[0109] The control and command unit 195 controls the receiving member 130 so that it holds the machine 200b directly against and opposite its receiving space, in the second determined position, in which the main wall has a general orientation substantially parallel to the first part of the ramp ([Fig.4C]).

[0110] In practice, since the machine 200b rests on the ramp 110, the receiving member 130 is not required to move.

[0111] Then the ramp 110 is folded and the machine 200b stored on the ship (figures 4E and 4F).

[0112] Figures 5A to 5E illustrate the recovery of the so-called smaller device 200a, with the system described above, in its configuration visible in Figures 2B and 3.

[0113] The control and command unit 195 determines that it is a machine of type 200a. For this, the information can be directly provided by an operator, via an interface or the control and command unit 195 can be configured to exchange information with the machine 200b.

[0114] In the case of a machine of the type 200a, the control and command unit 195 determines that the receiving member 130 and the receiving cage 140 must be placed in the first determined position, which is the position in which the main wall 135 has a first determined general orientation substantially towards the horizon, i.e. substantially horizontal.

[0115] The machine 200a is then guided into the receiving cage 140 ([Fig.5B]), autonomously or by remote control.

[0116] Once the machine is in the cage, the control and command unit 195 controls the receiving member 130, so that it maintains the machine 200a, indirectly against its receiving space by means of the recovery cage 140, in the first determined position, in which the main wall 135 has a substantially horizontal general orientation, in fact forming an angle with the first part 113 of the ramp 110 ([Fig.5C]).

[0117] Then the ramp 110 is folded and the machine 200b stored on the ship (figures 5D and 5E).

[0118] A variant of the system is illustrated in [Fig.6], in which the recovery cage 140 is deployed at sea via the cable 117 having a retaining member configured to cooperate with a door 141 of the recovery cage 140.

[0119] The recovery cage 140 may further comprise a projecting member 143, of a shape complementary to the main wall 135 of the receiving member 130, and provided for insertion into the receiving space of the receiving member 130.

[0120] In order to facilitate the guidance of the vehicle inside the receiving cage 140, before it is fixed to the receiving member 130, floats may be provided on the recovery cage 140 so that it is kept on the surface of the water.

[0121] [Fig.7] is similar to [Fig.5D] except that the system is further provided with a winch configured to wind and unwind the remote control cable 117 of an ROV type machine. The other components of the system remain unchanged.

[0122] The winch 173 is here arranged on the ship, for example fixed on a wall of the shelter 150.

[0123] The winch 173 can further be arranged on the shelter so as to be movable in translation.

[0124] The actuation of the winch 173 can be done by means of the control unit and order 195.

[0125] In this embodiment, the cage may further comprise an opening 172, allowing the passage of the cable 177 for remote control of the ROV type machine 200a.

[0126] For example, the opening 172 can be provided on an upper part of the recovery cage 140.

[0127] In another embodiment not shown, the ramp, in particular the first part of the ramp, may comprise holding members, capable of accommodating for example a communication module with the machine, such as for example an underwater positioning system.

[0128] Of course, the steps described above regarding the recovery of different types of devices also apply to the launching of such devices.

[0129] It is recalled more generally that the invention is not limited to the examples described and represented.

Claims

Claims

1. Recovery and / or launching system (100) for marine or underwater vehicles, in particular autonomous, semi-autonomous or towed, from a ship, comprising a receiving device (190) at least partially submersible and provided with a movable reception member (130) which has a main wall (135) defining a reception space, characterized in that the recovery and / or launching system (100) further comprises a control and command unit (195) configured to place the reception member (130) in a determined position as a function of at least one said vehicle (200a, 200b) to be recovered, and in that the reception member (130) is configured to maintain, directly or indirectly, generally opposite its reception space, the at least one said vehicle (200a, 200b) in the determined position of the member reception area (130) in which its main wall (135) has a determined general orientation.

2. Recovery and / or launch system (100) according to claim 1, wherein the control and command unit (195) is configured to: in a first configuration of the system, place the reception member (130) in a first determined position when the at least one said device to be recovered is of a first type (200a), with the reception member (130) which is configured to indirectly hold against its reception space the at least one said device of the first type (200a) in the first determined position of the reception member (130) in which its main wall (135) has a first determined general orientation directed substantially towards the horizon;and in a second configuration of the system, placing the receiving member (130) in a second determined position when the at least one said device to be recovered is of a second type (200b), with the receiving member (130) which is configured to directly maintain globally opposite its receiving space the at least one said device of the second type (200b) in the second determined position of the receiving member (130) in which its main wall (135) has a second determined general orientation directed downwards; with the at least one said device of the second type (200b) which is substantially larger than the at least one said device of the first type (200a).;

3.

4. The recovery and / or launching system (100) according to claim 2 further comprising a ramp (110) configured to be secured to the ship and extending at least partially in an inclined manner between a first so-called submerged end and a second so-called non-submerged end which is opposite the first end, with the receiving member (130) which is movable in translation along the ramp between a first low position at the first end of the ramp and a second high position at the second end of the ramp (110), where, in the first configuration, the first determined general orientation directed substantially towards the horizon forms an angle with the ramp (110), and in the second configuration of the system, the second determined general orientation is directed downwards, towards the first submerged end of the ramp (110) and is substantially parallel to the inclination of the ramp (110). Recovery and / or launching system (100) according to claim 2, characterized in that it further comprises a ramp (110) configured to be secured to the ship (160) and extending at least partially in an inclined manner between a first end called submerged and a second end called non-submerged which is opposite the first end, with the reception member (130) which is movable in translation along the ramp between a first low position at the first end of the ramp (110) and a second high position at the second end of the ramp (110), and a receiving cage (140) for at least one said device to be recovered which is of a first type (200a), the receiving cage (140) being configured to be mechanically secured to the reception member (130) and at least partially received in its reception space, and comprising an opening configured to allow the passage of a vehicle of the first type (200a),and the control and command unit (195) is configured to place the receiving member (130) and the receiving cage (140) in a first determined position in which the main wall (135) and the receiving cage (140) have a first determined general orientation directed substantially towards the horizon, and to maintain them in the first determined position when the receiving member is moved, together with the receiving cage (140), along the ramp between the first low position and the second high position of the member, reception.

5. A recovery and / or launching system (100) according to claim 4, further comprising a cable (117) having at a free end a retaining member (118) as well as a winch (116) capable of, respectively, winding and unwinding the cable (117), and the receiving cage (140) comprises a door configured to cooperate with the retaining member (118) to open and close the receiving cage (140).

6. 6. Recovery and / or launching system (100) according to claim 4 or 5, wherein the receiving cage (140) comprises a lower part intended to be submerged, an opposite upper part, and an opening provided in the upper part.

7. Recovery and / or launch system (100) according to one of claims 4 to 6 further comprising a detector configured to indicate the presence of a device in the receiving cage (140).

8. Recovery and / or launch system according to one of claims 4 to 6 in which the receiving cage (140) is mechanically and removably secured to the receiving member (130), and comprises a locking device to ensure that it is held in position on the receiving member.

9. A recovery and / or launch system according to one of claims 1 to 8, wherein the main wall (135) is generally funnel-shaped.

10. 10. Assembly comprising a recovery and / or launch system (100) according to any one of claims 1 to 9 and at least one marine or underwater vehicle, in particular autonomous, semi-autonomous or towed, held directly or indirectly, generally opposite a space for receiving a receiving member (130) of a receiving device of the system, the receiving member (130) being in a determined position and having a main wall (135) in a determined general orientation.

11. 11. A vessel (160) comprising an assembly according to claim 10, with the recovery and / or launching system (100) being movably or fixedly mounted on the vessel.

12. 12. Method for recovering a marine or underwater vehicle, in particular autonomous, semi-autonomous or towed, from a ship, using a recovery and / or launch system according to one of claims 1 to 9, comprising the steps: - detecting and identifying the vehicle to be recovered (200a, 200b); - determine a position in which the receiving member (130) must be arranged according to the device to be recovered; - control via the control and command unit (195) the reception member (135) to put it in the position determined according to the machine to be recovered; - guide the machine (200a, 200b) towards the receiving member (130); - directly or indirectly hold the device (200a, 200b) on the receiving member.

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