Autonomous underwater vehicle and recovery system for such an underwater vehicle

Abstract

The invention relates to an autonomous underwater vehicle comprising a hull (160) extending along a longitudinal main axis (150) and at least one first clamp (132a-b) arranged towards a front end of the hull, characterized in that it further comprises a second clamp (130a-b) arranged towards a rear end of the hull, opposite the front end, said first and second clamps being arranged respectively on a first lateral portion (160c) and a second lateral portion (160d) of the hull, on either side of the longitudinal main axis, and being configured to take an open position or a closed position, and a detection member and a guide member which are respectively configured to detect cables and so that the first and second clamps respectively engage one of the respective cables. (Fig. 1)

Description

Title of the invention: Autonomous underwater vehicle and recovery system for such an underwater vehicle Technical field of the invention

[0001] The present invention relates to autonomous underwater vehicles, better known by the acronym AUV meaning "Autonomous Underwater Vehicle", and to recovery systems for such underwater vehicles. State of the art

[0002] Various systems are known for launching and recovering autonomous underwater vehicles, known as AUVs.

[0003] In a first example, the AUV may include a hooking mechanism located on a front end of the AUV, which hooking mechanism is adapted to cooperate with a cable attached to a winch mounted on a vessel.

[0004] The winch is operable to wind the cable to bring the AUV closer to the vessel, and extract it from the water.

[0005] To reassemble the AUV on board the vessel, the recovery system may be provided with a ramp movably mounted on the vessel.

[0006] In this case, the AUV is brought into the immediate vicinity of the ramp and then hoisted aboard the ship.

[0007] Alternatively, the recovery system may be provided with a cage.

[0008] In this case, the AUV is introduced into the cage and the assembly is hoisted by means of winches onto the ship.

[0009] In a second example, an AUV may comprise attachment parts, in particular rings, located on an upper part of the AUV and which are capable of cooperating with cables or arms of a crane or a davit on board the ship.

[0010] In this case, to recover the AUV it is generally necessary for men to go into the water to hook the cables or arms with the rings. Statement of the invention

[0011] The invention aims to provide an autonomous underwater vehicle which is particularly simple and convenient to recover.

[0012] The invention thus relates, in a first aspect, to an autonomous underwater vehicle comprising a hull extending along a longitudinal main axis and a first clamp arranged towards a front end of the hull of the underwater vehicle, characterized in that it comprises a second clamp arranged towards a rear end of the hull, opposite the front end, said first and second clamps being arranged respectively on a first lateral part and a second lateral part of the shell, on either side of the longitudinal main axis, and being configured to take an open position or a closed position, and a detection member and a guide member which are respectively configured to detect cables and so that the first and second clamps respectively engage one of the cables.

[0013] Such a vehicle, by means of its grippers and the guidance and detection members, can thus be extracted from the water autonomously, by means of the cables of a reception platform arranged out of the water, for example on a ship or on the pontoon of a port.

[0014] When the vehicle clamps are engaged with the cables of the docking platform, recovery of the vehicle is carried out by reducing the length of the deployed cables by means of, for example, a winching mechanism.

[0015] Although it is completely submerged in water, such a vehicle can thus be recovered in particular thanks to the detection member which is configured to detect the cables deployed for the recovery of the vehicle, then by the guidance member which is configured to guide the vehicle so that the clamps engage with the cables.

[0016] Other particularly simple and convenient characteristics of the vehicle according to the invention are described below.

[0017] The guidance member may comprise a control unit configured to receive output signals from the detection member and to actuate the guidance member to guide the vehicle toward the cables detected by the detection member, and also to actuate the first and second clamps individually in accordance with the guidance of the vehicle.

[0018] The autonomous vehicle comprises a control unit configured to control and synchronize the action of the detection member and the guidance member in order to ensure that the clamps properly engage the recovery cables.

[0019] The autonomous underwater vehicle may comprise a mast disposed projecting towards the front end of the hull of the vehicle, said mast being movable and controllable by means of the guide member between a first position on the port side and a second position on the starboard side and configured to guide at least one of the cables.

[0020] Thus, according to an angular position adjustable between two extreme positions to port and starboard, the mast makes it possible to tilt a cable detected by the detection member, to one side or the other of the main longitudinal axis.

[0021] Such a mast makes it possible to guarantee the side through which the cable will pass and to facilitate the guidance of the vehicle.

[0022] The first clamp may be associated with a first additional clamp, forming a first pair of clamps, said first additional clamp being arranged towards the front end of the hull, the first clamp and the first additional clamp being arranged on either side of the longitudinal axis.

[0023] Furthermore, the second clamp may be associated with a second additional clamp, forming a second pair of clamps, said second additional clamp being arranged towards the rear end of the shell, the second clamp and the second additional clamp being arranged on either side of the longitudinal axis.

[0024] The guide member may be configured so that at least one of the first clamp and the first additional clamp, respectively at least one of the second clamp and the second additional clamp, engages one of the respective cables.

[0025] This allows stable towing on either side of the longitudinal axis of the vehicle so that the risks associated with instability during towing are reduced.

[0026] This further simplifies vehicle guidance once the cables are detected.

[0027] Indeed, since the clamps are present on both the port and starboard sides, the vehicle can navigate towards the cables without necessarily making any particular maneuver to ensure that the cables pass on a predetermined side. Only the attachment of the second cable might require a more precise maneuver to ensure that it passes on the opposite side to that where the first cable passed.

[0028] The detection member may further comprise a front sonar disposed towards the front end of the hull and configured to detect a cable upstream of the front end of the hull of the vehicle.

[0029] During navigation, such a sonar makes it possible to identify submerged recovery cables. Depending on the direction in which the cables were detected by the sonar, the guidance member then guides the vehicle in their direction, preferably in their alignment, to allow the clamps to cooperate with the recovery cables.

[0030] The detection member may comprise at least one cable detector disposed near the first clamp and configured to detect a cable near one of the first and second side portions of the hull, towards its front end.

[0031] The invention also relates, in a second aspect, to a recovery system comprising an autonomous underwater vehicle as described above and a reception platform which comprises a first cable and a second cable each having, at a free end, a retaining member, a winching mechanism configured to wind and unwind the first cable and the second cable, and with said first and second clamps which are configured to engage with said first and second cables and cooperate with the retaining members.

[0032] Such a recovery system makes it possible, through the cooperation of the cables and the retaining members and the actuation of the winching mechanism, to reduce the length of the cables and to remove the autonomous underwater vehicle from the water, to place it on a reception platform.

[0033] The docking platform may include a second control unit configured to operate the winching mechanism.

[0034] The docking platform and the underwater vehicle may each comprise a communication unit configured to synchronize the actuation of the detection and guidance members and the actuation of the winching mechanism.

[0035] Such a recovery system can thus be automated. Communication between the docking platform and the underwater vehicle allows the control units to be synchronized to ensure that the clamps are closed around the recovery cables before the winching mechanism is actuated to reduce the cable length and thus extract the AUV from the water.

[0036] The reception platform can be embarked on a ship.

[0037] The invention also relates, in a third aspect, to a method for recovering an autonomous underwater vehicle by means of a recovery system as described above, comprising the following navigation steps:

[0038] - detect, by means of the detection member, at least one of the first cable and the second cable from the reception platform;

[0039] - guiding the underwater vehicle by means of the guidance member towards the first cable in alignment with the first cable and the second cable so as to route the first cable along one of the first and second side portions of the vehicle shell;

[0040] - actuate the first clamp and the second clamp each in the open position;

[0041] - guide the underwater vehicle by means of the guide member towards the second cable so as to route the second cable along the other side portion of the vehicle body, such that the first cable is housed in the second open clamp and the second cable is housed in the first open clamp;

[0042] - actuate the first clamp and the second clamp each in the closed position;

[0043] - operate the winching mechanism to wind the cables so that the retaining members come into contact with the first and second clamps.

[0044] The method may comprise, when guiding towards the first cable, the step of guiding the underwater vehicle by means of the guide member to route the first cable along the second lateral portion of the hull opposite the first lateral portion of the hull on which the first clamp is arranged; and when guiding towards the second cable, the step of guiding the underwater vehicle by means of the guide member to route the second cable near the first clamp.

[0045] When the recovery system comprises a first clamp associated with a first additional clamp, forming a first pair of clamps, said first additional clamp being arranged towards the front end of the hull, the first clamp and the first additional clamp being arranged on either side of the longitudinal axis, a second clamp associated with a second additional clamp, forming a second pair of clamps, said second additional clamp being arranged towards the rear end of the hull, the second clamp and the second additional clamp being arranged on either side of the longitudinal axis, the guide member being configured so that at least one of the first clamp and the first additional clamp, respectively at least one of the second clamp and the second additional clamp, engages with one of the cables, the method may comprise the steps:

[0046] - to actuate the first pair of clamps of the underwater vehicle in the closed position, before cable detection;

[0047] - when guiding towards the first cable, detecting the presence of the first cable at proximity of one of the first and second side parts of the hull;

[0048] - when actuating the first and second clamps in the open position, to actuate the first and second additional clamps of the underwater vehicle in the open position;

[0049] - when guiding to the second cable, guide the underwater vehicle through of the guide member for routing the other cable near the clamp of the first pair of clamps arranged on the side part near which the first cable has not been detected;

[0050] - when actuating the first and second clamps in the closed position, to actuate the first and second additional clamps of the underwater vehicle in the closed position.

[0051] The guide member may comprise a mast disposed projecting towards the front end of the hull of the vehicle, said mast being movable between a first position on the port side and a second position on the starboard side and configured to guide at least one of the cables and the method comprises the steps of:

[0052] - when guiding to the first cable, guiding the underwater vehicle by means of the guide member for actuating the mast to move the first cable towards the second lateral part;

[0053] - when guiding to the second cable, guide the underwater vehicle through of the guide member for actuating the mast to move the second cable towards the first lateral part.

[0054] The guide member may comprise a mast disposed projecting towards the front end of the hull of the vehicle, said mast being movable between a first position on the port side and a second position on the starboard side and configured to guide at least one of the cables and the method comprises the steps of:

[0055] - when guiding to the second cable, guiding the underwater vehicle through of the guide member for actuating the mast to move the second cable towards the side portion near which the first cable has not been detected;

[0056] - detecting by means of the detection member a recovery cable of the reception platform;

[0057] - operate the underwater vehicle clamp from the closed position to the position open clamp;

[0058] - guiding the underwater vehicle by means of the guide member towards the re cable recovery so that the recovery cable fits into the open clamp;

[0059] - operate the underwater vehicle clamp from the open position to the position closed;

[0060] - operate the winching mechanism to raise the underwater vehicle. Brief description of the figures

[0061] The invention, according to an exemplary embodiment, will be well understood and its advantages will appear better on reading the detailed description which follows, given for information purposes and in no way limiting, with reference to the attached drawings.

[0062] [Fig.l] schematically represents, in top view, an autonomous underwater vehicle, also called AUV, in accordance with the invention.

[0063] [Fig.2] schematically represents in side view the AUV of [Fig.l].

[0064] [Fig. 3] schematically represents in side view a ship equipped with a docking platform for recovering an AUV according to figures 1 and 2 and thus forming a recovery system in accordance with the invention.

[0065] [Fig.4] schematically represents in side view the recovery system formed by the ship of [Fig.3] and the AUV of figures 1 and 2, in a first configuration.

[0066] [Fig.5] is a view similar to [Fig.4], taken from behind.

[0067] [Fig.6] is a view similar to [Fig.4], the system being in second confi structure.

[0068] [Fig.7] is a view similar to [Fig.6], taken from behind. Detailed description

[0069] Identical elements shown in the above-mentioned figures are identified by identical reference numerals in the following description.

[0070] The invention finds an application in the field of autonomous underwater vehicles known as AUVs, as specified above.

[0071] In general, AUVs are used to perform various operations at sea, such as for example surveillance operations.

[0072] For this, autonomous underwater vehicles are launched from a ship, such as such as USV type boats, in English "Unmanned Surface Vessel", and navigate completely submerged in the water in a nominal position.

[0073] Once the operations are completed, the AUV is recovered and reassembled on the ship.

[0074] An example of an autonomous underwater vehicle 100 capable of navigating at sea is illustrated in Figures 1 and 2.

[0075] In the remainder of the description, the terms autonomous underwater vehicle and AUV are used interchangeably to designate the autonomous underwater vehicle.

[0076] The AUV 100 comprises a shell 160, of cylindrical shape or not.

[0077] Alternatively, the vehicle could be of any other shape.

[0078] This shell 160 extends along a longitudinal main axis 150.

[0079] The AUV 100 has a nose 120 at a front end and a tail 110 at a rear end opposite the front end.

[0080] The AUV 100 further comprises a propulsion system 170, such as for example propeller thrusters, at the tail 110.

[0081] In the illustrated example, the longitudinal main axis 150 passes through the nose 120 of the AUV 100 and through the propulsion system 170.

[0082] The AUV 100 is illustrated in Figures 1 and 2 in the nominal navigation position, in which the longitudinal main axis 150 is substantially parallel to the horizontal axis.

[0083] In the remainder of the description, by horizontal plane is meant a plane having an orientation parallel to the horizon.

[0084] In the nominal navigation position, the hull 160 comprises an upper portion 160a facing the sea surface when the AUV 100 is submerged at sea, and a lower portion 160b facing the seabed when the AUV 100 is submerged at sea.

[0085] The shell 160 further comprises side portions, including a first side portion 160c and a second side portion 160d.

[0086] In order to allow its recovery, the AUV 100 comprises on its nose 120 side, a pair of first clamps 132a and 132b, and on its tail 110 side, a pair of second clamps 130a and 130b.

[0087] A first clamp 132a and a second clamp 130a are arranged on the first lateral part 160c, on the port side, while another first clamp 132a, called the first additional clamp, and another second clamp 130a, the second additional clamp, are arranged on the second lateral part 160d of the hull 160, on the starboard side.

[0088] The first and second grippers and additional grippers 130a, 130b, 132a, 132b are configured to take two positions, including a closed position and an open position, in order to grasp an element at sea.

[0089] In the illustrated example, the first and second clamps and additional clamps 130a, 130b, 132a, 132b each comprise a branch mounted articulated on a first or second lateral parts 160c and 160d respectively, which is mounted to be movable in rotation around an axis orthogonal to the longitudinal axis 150.

[0090] Each first and second clamp and additional clamp 130a, 130b, 132a, 132b is then movable between an open position where a free end of the clamp is located at a distance from the shell 160, and a closed position where the branch is substantially parallel or aligned with a portion of the shell 160 of the AUV 100.

[0091] For example, in the open position, the branch forms an angle of between 40° and 80° with the shell 160.

[0092] Alternatively, at least one of the first and second clamps and additional clamps may comprise two branches mounted to be movable in rotation and configured to define the two open and closed positions. In the open position, the clamp defines an open space, delimited laterally by branches of the clamp. In the closed position, the clamp no longer delimits an open space, or a restricted open space.

[0093] In the illustrated example, the first and second clamps and additional clamps of the clamp pairs 130a, 130b and 132a, 132b are arranged symmetrically with respect to the longitudinal axis 150 on the hull 160 of the AUV 100.

[0094] Alternatively, the clamps of the clamp pairs are not symmetrical about the longitudinal axis and / or the AUV may include only a first clamp disposed on a first side portion toward the first end of the AUV and a second clamp disposed on a second side portion toward the second end of the AUV. For example, the first clamp may be disposed on the port side portion toward the forward end of the AUV and the second clamp may be disposed on the starboard side portion toward the aft end of the AUV.

[0095] In the illustrated example, the first and second clamps and additional clamps 130a, 130b, 132a, 132b are actuable and controllable by means of a first control unit (not shown) of the AUV 100.

[0096] The first and second grippers and additional grippers 130a, 130b, 132a, 132b are operable and controllable to recover the AUV 100 via recovery cables engaging the first and second grippers and additional grippers (see below).

[0097] The AUV 100 further comprises a detection member configured to detect recovery cables present in the environment in which the AUV 100 operates.

[0098] The detection member here comprises a frontal sonar 140 arranged towards a front end of the AUV 100, for example on the nose 120.

[0099] The sonar 140 is configured to detect underwater objects by indicating their direction and distance from the AUV 100.

[0100] The positioning of the sonar 140 towards a front end allows in particular the detection of cables upstream of the front end.

[0101] Furthermore, the detection member comprises cable detectors 136a and 136b positioned near the first clamp and additional clamp 132a and 132b of the first pair of clamps and arranged on either side of the longitudinal axis 150.

[0102] These cable detectors 136a and 136b aim to determine the presence or absence of a cable in or near the first clamp and additional clamp 132a and 132b.

[0103] In other words, the cable detectors 136a and 136b make it possible to detect a cable near one of the first and second lateral parts 160c, 160d of the shell 160, and this towards the front end of the shell 160.

[0104] In the variant where there is only a first clamp and a second clamp, the AUV may comprise one or two cable detectors, arranged on either side of the longitudinal axis.

[0105] For example, the cable detectors 136a and 136b are chosen from a force sensor, or force detector, or a camera.

[0106] Optionally, the AUV may further comprise a guide member configured to facilitate engagement of the recovery cables in the clamps.

[0107] This guidance member may include in particular a first control unit configured to guide the AUV according to the information received from the detection member. The control unit may be the same as that which controls the opening and closing of the clamps.

[0108] In other words, the first control unit is configured to receive output signals from the detection member, to actuate the guidance member to guide the vehicle toward the cables detected by the detection member, and to actuate the clamps individually according to the guidance of the vehicle.

[0109] The first control unit is connected to this detection member and is configured to process outgoing signals from the sonar and to detect the position of the recovery cables.

[0110] The first control unit is further configured to process signals output from the cable detectors 136a and 136b so as to control the opening and closing of the first and second clamps and additional clamps 130a, 130b, 132a, 132b.

[0111] Alternatively, the guide member may comprise a mast disposed towards the front end of the AUV and projecting from the hull. For example, the mast may be arranged at the nose.

[0112] The mast may be a branch mounted hinged on the end of the nose, operable by means of the first control unit. The mast may be movable between two extreme positions, including a port position and a starboard position,

[0113] The mast may be configured to guide a cable present at a distance reachable by the mast. The mast, actuable by the first control unit, may therefore be piloted to ensure that the cable passes to the port or starboard side of the AUV.

[0114] The AUV 100 further comprises a communication unit 134 configured to exchange information with a host platform so as to synchronize the actions between the AUV and this host platform.

[0115] In particular, by means of this communication unit 134, it is possible to obtain confirmation from the reception platform that the cables detected are recovery cables.

[0116] [Fig.3] illustrates a docking platform intended to recover the AUV 100 as described with reference to Figures 1 and 2.

[0117] The reception platform is in the illustrated example arranged on a ship 200.

[0118] The docking platform comprises a first cable 230 and a second cable 232, forming the aforementioned recovery cables and which are configured to be immersed in water and / or extracted from the water when the vessel is at sea.

[0119] The cables 230, 240 each have at their ends a retaining member 240, 242.

[0120] These retaining members 240, 242 are for example each formed by a pig, that is to say a mass.

[0121] The cables 230 and 232 are respectively connected to a winching mechanism comprising winches 220 and 210 configured to wind and unwind the cables 230 and 232.

[0122] The winches 220, 210 are configured to vary the deployed length of the cables 230, 232 and therefore allow them to be immersed more deeply in the water or extracted from the water.

[0123] The ship 200 further comprises a geolocation and navigation system 260 and a heading measurement unit 270, in particular to guide it towards the AUV 100 to recover it.

[0124] The vessel 200 also comprises a second control unit (not shown) configured to operate the winches 220, 210 to extract or immerse the cables 230, 232 in the water by winding them up or unwinding them.

[0125] The first and second clamps and additional clamps 130a, 130b, 132a, 132b of the AUV 100 are configured to engage the cables 230 and 232 of the docking platform when submerged in water.

[0126] To extract the AUV 100 from the water, the winches 220 and 210 are operated to reduce the length of the cables 230 and 232.

[0127] The retaining members 240 and 242 then cooperate with some of the first and second clamps and additional clamps 130a, 130b, 132a, 132b by coming into abutment against the clamps closed around the cables 230 and 232, and the AUV 100 can be gradually raised towards the reception platform.

[0128] To synchronize the actuation of the winches 220 and 210 by the second control unit with the effective closing of the first and second clamps and additional clamps 130a, 130b, 132a, 132b around the cables 230 and 232, and generally with the actuation of the detection and guidance members of the AUV 100, the reception platform further comprises a communication unit (not shown) configured to exchange information with the communication unit of the AUV 100.

[0129] Alternatively, the reception platform may comprise more than two recovery cables.

[0130] In order to allow the AUV 100 to be reassembled in a stable manner, the first and second clamps and additional clamps 130a, 130b, 132a, 132b are here arranged on either side and at the front and rear of the AUV 100.

[0131] To facilitate the gripping of the cables 230 and 232, the winches 220, 210 are spaced apart by a distance defined along the axis 280a of the reference frame 280 of [Fig.3] and which is equal here to the distance separating the pair of first clamps from the pair of second clamps.

[0132] The winches 220, 210 are spaced apart by a distance defined along the axis 280c and which is substantially equal to the greatest width of the hull 160, i.e. the maximum dimension of the hull according to a cross-section at the longitudinal axis 150.

[0133] Alternatively, the reception platform may be arranged at any other location, such as for example on a pontoon in a port.

[0134] A method of implementing the recovery system formed by the AUV and the docking platform is described with reference to Figures 3 to 6.

[0135] Figures 3 and 4 illustrate a recovery system 300 in a first configuration in which the cables 230 and 232 are deployed and the first additional clamp 132b and the second clamp 130a of the AUV 100 are engaged with the cables 232 and 230.

[0136] The pair of first clamp and additional clamp 132a, 132b is actuated in the closed position. For hydrodynamic reasons, the pair of second clamp and additional clamp 130a, 130b are also in the closed position.

[0137] Thanks to the frontal sonar 140, the AUV 100 detects the presence of cables 230 and 232.

[0138] To ensure the detection of these cables 230 and 232, the AUV 100 can confirm, through its communication unit, the presence of the reception platform.

[0139] For example, in response to a validation request from the AUV 100, the host platform may provide information relating to its position.

[0140] The first control unit of the guidance member of the AUV 100 controls and guides the AUV 100 in the direction of these cables 230 and 232 so as to position itself in their alignment in the direction 380a, indicated on the reference frame of [Fig.4].

[0141] Once positioned in alignment with these cables, the AUV 100 passes close to the first cable encountered, here cable 230, so that it runs along hull 160, either to port or starboard.

[0142] In the illustrated example, the AUV 100 is guided so that the cable 230 passes to port.

[0143] By means of the detection member, in particular the cable detectors in the vicinity of the first pair of clamps, the first control unit is configured to determine and / or confirm on which side of the AUV 100 the cable 230 is located.

[0144] Once this is confirmed, the first and second clamps and additional clamps 130a, 130b, 132a, 132b are actuated into the open position.

[0145] Only the clamps involved in the recovery process can be selectively actuated to be arranged in the open position.

[0146] The AUV 100 then continues its navigation towards the cable 232, so as to make it pass on the side opposite to that where the cable 230 is arranged.

[0147] In the illustrated example, the AUV 100 is guided to navigate toward the cable 232 so that it passes to starboard.

[0148] Similarly, the AUV 100 is guided so that the cable 232 runs along the hull to starboard, in order to come inside the first additional clamp 132b which is open.

[0149] The cable 230 runs along the hull to port in order to be housed inside the second clamp 130a which is open.

[0150] The first and second clamps and additional clamps 130a, 130b, 132a, 132b are then actuated to be placed in the closed position.

[0151] In the case where only the first additional clamp and the second clamp 130a and 132b have been actuated, they are selectively actuated to be put in the closed position.

[0152] Alternatively, when the AUV comprises only a first clamp on the nose and a second clamp on the tail of the AUV, the method differs in that it navigates so that the first cable encountered passes on the side where the second clamp is located, for example by sliding along the side portion of the hull on which the second clamp is arranged.

[0153] Confirmation that the cable passes through the side of the lateral part of the hull where the second clamp is located can be obtained by means of cable detectors, either by non-detection of the cable on the side of the first clamp or by detection of the cable on the side opposite the first clamp.

[0154] As a further variant, when the AUV comprises a mast, the method may comprise an additional step which is the actuation of the mast.

[0155] Following detection of the cables by the detection member, the AUV is guided by the first control unit to navigate towards the cables.

[0156] The method comprises the step of actuating the mast to position it either to port or to starboard and thus forcing the cable to pass to the opposite side of the mast.

[0157] The mast can also be actuated when the AUV is heading towards the second cable to ensure that it passes on the opposite side to that where the first cable passed.

[0158] In the first configuration illustrated in Figures 4 and 5, the AUV 100 can in particular send a confirmation to the reception platform indicating that it is ready to be recovered.

[0159] The winches 210, 220 are then actuated to wind the cables 230 and 232 so as to reduce their deployed length, as indicated by the arrows 310.

[0160] Thus, the cables 230 and 232 are progressively wound until the recovery system is in the configuration illustrated in Figures 6 and 7.

[0161] When the retaining members 240, 242 are in abutment against the first additional clamp 132b and the second clamp 130a of the AUV 100, the action of the winches via the cables makes it possible to gradually extract the AUV 100 from the water.

[0162] It should be noted that the recovery system can also be reused to launch the AUV 100.

[0163] To do this, once the reception platform is positioned in a launching area, the winches are activated via the control unit to gradually unwind the cables and submerge the AUV.

[0164] Once at the desired launch depth, which can be indicated by the AUV docking platform via the communication units, the AUV control unit actuates the clamps to open them.

[0165] The guide member may guide the AUV to extract the cables from the clamps, for example by means of various maneuvers.

[0166] It is recalled more generally that the invention is not limited to the examples described and represented.

Claims

Claims

1. An autonomous underwater vehicle comprising a hull (160) extending along a longitudinal main axis (150) and at least one first clamp (132a-b) arranged towards a front end of the hull, characterized in that it further comprises a second clamp (130a-b) arranged towards a rear end of the hull, opposite the front end, said first and second clamps being arranged respectively on a first lateral portion (160c) and a second lateral portion (160d) of the hull, on either side of the longitudinal main axis, and being configured to take an open position or a closed position, and a detection member and a guide member which are respectively configured to detect cables (230, 232) and for the first and second clamps to respectively engage one of the respective cables.

2. An autonomous underwater vehicle according to claim 1, wherein the guidance member comprises a control unit configured to receive output signals from the detection member and to actuate the guidance member to guide the vehicle (100) towards the cables (230, 232) detected by the detection member, and also to actuate the first and second clamps (132a-b, 130a-b) individually according to the guidance of the vehicle.

3. Autonomous underwater vehicle according to one of claims 1 and 2, comprising a mast arranged projecting towards the front end of the hull (160), said mast being movable and controllable by means of the guide member between a first position on the port side and a second position on the starboard side and configured to guide at least one of the cables (230, 232).

4. An autonomous underwater vehicle according to any one of claims 1 to 3, wherein the first clamp is associated with a first additional clamp, forming a first pair of clamps, said first additional clamp being arranged towards the front end of the hull, the first clamp and the first additional clamp being arranged on either side of the longitudinal axis, the second clamp is associated with a second additional clamp, forming a second pair of clamps, said second additional clamp being arranged towards the rear end of the hull, the second clamp and the second additional clamp being arranged on either side of the longitudinal axis, and the guide member is configured so that at least one of the first clamp and the first additional clamp, respectively at least one of the second clamp and the second additional clamp, engage with one of the respective cables.

5. An autonomous underwater vehicle according to any one of claims 1 to 4, wherein the detection member comprises a front sonar (140) disposed towards the front end of the hull (160) and configured to detect at least one of the cables (230, 232) upstream of the front end of the hull of the vehicle.

6. An autonomous underwater vehicle according to any one of claims 1 to 4, wherein the detection member comprises at least one cable detector (136a, 136b) disposed near the first clamp and configured to detect at least one of the cables (230, 232) near at least one of the first and second lateral portions (160c-d) of the hull (160) of the vehicle, towards its front end.

7. A recovery system comprising an autonomous underwater vehicle (100) according to any one of claims 1 to 6 and a docking platform which comprises a first cable (230) and a second cable (232) each having, at a free end, a retaining member (240, 242), a winching mechanism configured to wind and unwind the first cable and the second cable, and with said first and second clamps (132a-b, 130a-b) which are configured to engage said first and second cables and cooperate with the retaining members.

8. A recovery system according to claim 7, wherein the docking platform comprises a second control unit configured to operate the winching mechanism.

9. Recovery system according to one of claims 7 and 8, in which the reception platform and the underwater vehicle (100) each comprise a communication unit configured to synchronize the actuation of the detection and guidance members and the actuation of the winching mechanism.

10. A recovery system according to any one of claims 7 to 9, wherein the reception platform is embarked on a ship.

11. Method for implementing the recovery system according to any one of claims 7 to 10, comprising the following navigation steps: - detecting, by means of the detection member, at least one of the first cable (230) and the second cable (232) of the platform

12.

13. reception; - guiding the underwater vehicle (100) by means of the guide member towards the first cable in alignment with the first cable and the second cable so as to route the first cable along one of the first and second lateral parts of the hull of the vehicle; - actuate the first clamp (132a-b) and the second clamp (130a-b) each in the open position; - guiding the underwater vehicle by means of the guiding member towards the second cable so as to route the second cable along the other lateral part of the hull of the vehicle, so that the first cable is housed in the second open clamp and the second cable is housed in the first open clamp; - operate the first clamp and the second clamp each in the closed position; - operate the winching mechanism to wind the cables so that the retaining members come into contact with the first and second clamps. The method of claim 11, wherein, when guiding toward the first cable, the step of guiding the underwater vehicle by means of the guide member to route the first cable along the second lateral portion of the hull opposite the first lateral portion of the hull on which the first clamp is disposed; and when guiding toward the second cable, the step of guiding the underwater vehicle by means of the guide member to route the second cable near the first clamp. Method according to claim 11, wherein the recovery system comprises a first clamp associated with a first additional clamp, forming a first pair of clamps, said first additional clamp being arranged towards the front end of the hull, the first clamp and the first additional clamp being arranged on either side of the longitudinal axis, a second clamp associated with a second additional clamp, forming a second pair of clamps, said second additional clamp being arranged towards the rear end of the hull, the second clamp and the second additional clamp being arranged on either side of the longitudinal axis, the guide member being configured so that at least one of the first clamp and the first additional clamp, respectively at least one of the second clamp and the second additional clamp

14.

15. tional, engage with one of the cables, the method may comprise the steps: - to activate the first pair of clamps of the underwater vehicle in the closed position, before the detection of the cables; - when guiding towards the first cable, detecting the presence of the first cable near one of the first and second side parts of the hull; - when actuating the first and second clamps in the open position, to actuate the first and second additional clamps of the underwater vehicle in the open position; - when guiding towards the second cable, guiding the underwater vehicle by means of the guiding member to route the other cable close to the clamp of the first pair of clamps arranged on the side part close to which the first cable has not been detected; - when actuating the first and second clamps in the closed position, to actuate the first and second additional clamps of the underwater vehicle in the closed position. The method of claim 11, wherein the guide member comprises a mast disposed projecting towards the front end of the hull of the vehicle, said mast being movable between a first position on the port side and a second position on the starboard side and configured to guide at least one of the cables and the method comprises the steps of: - when guiding towards the first cable, guiding the underwater vehicle by means of the guiding member to actuate the mast to move the first cable towards the second lateral part; - when guiding towards the second cable, guiding the underwater vehicle by means of the guiding member to actuate the mast to move the second cable towards the first lateral part. The method of claim 11, wherein the guide member comprises a mast disposed projecting towards the front end of the hull of the vehicle, said mast being movable between a first position on the port side and a second position on the starboard side and configured to guide at least one of the cables and the method comprises the steps of: - when guiding towards the second cable, guiding the underwater vehicle by means of the guiding member to actuate the mast to move the second cable towards the side part near which the first cable has not been detected; - detecting, via the detection device, a recovery cable from the reception platform; - operate the underwater vehicle clamp from the closed position to the open position of the clamp; - guiding the underwater vehicle by means of the guide member towards the recovery cable so that the recovery cable is housed in the open clamp; - operate the underwater vehicle clamp from the open position to the closed position; - operate the winch mechanism to raise the underwater vehicle.

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