Structure for housing a pod for a towing kite and method for launching and landing said pod

Abstract

The invention relates to a structure (3) for housing a pod (7) for a towing kite connected by a line (5) to a vessel, said housing structure comprising a frame (3a), at least one pulley (3b) mounted on a chassis (3d) for connecting the line, as well as a follower arm (3c) and a pod support (4). This pod support comprises at least two plates (4a, 4b) one above the other, at least one elastically deformable return means for fixing said plates, and means for guiding and capturing the line. The support is connected to the frame by at least one righting arm (6). This righting arm (6) is movable between a pod stowage position, a launch position for the pod (7), a cruising position away from the line, a position capturing the line and a home position for the pod.

Description

[Technical field]

[0001] The present invention relates to a mounting structure for a tow kite pod and a method for launching and landing a tow kite pod using the mounting structure. Tow kites are conventionally adapted to deploy and generate traction under the influence of wind, and to stow in the following ways: When the kite is stowed, the pod is placed on a pod mounting structure fixed to the base platform; - when the kite is deployed, the pod launches with the kite and leaves its mounting structure; - when the kite is stowed, the pod lands on the mounting structure; and - When the kite is stowed, the pod must be placed on the mounting structure.

[0002] Such towing kites are used to propel vehicles, particularly ships, or for any application which benefits from such towing power, such as the generation of electricity.

[0003] In the field of maritime transport, in particular, the towing kite can provide the main or supplementary means of propulsion for ships, which are generally propelled by engines powered with heavy fuel oils, such as fuel oil, which emit large amounts of pollutants (sulfur oxides, nitrogen oxides and carbon dioxide). Supporting or replacing these polluting means of propulsion with the towing kite makes it possible to reduce the consumption of hydrocarbons, lower the emissions of pollutants and benefit from energy from clean renewable sources. [Background technology]

[0004] The principle of operation of a towing kite is based on the deployment of a kite, which, once deployed and inflated, provides the traction force. Such kites are generally coupled to a pod, which is connected to the vehicle platform by a towing cable called an umbilical. The pod generally holds the control module of the kite. When the kite is not deployed, it is packed together with the pod and the umbilical in a common storage box.

[0005] Thus, the pod accompanies the kite, particularly when deploying and stowing the kite. The pod is usually guided by an operator when launching during deployment and when returning during stowing. This guidance ensures that the lines, pods and kite do not get tangled when stowing into and out of the common storage box.

[0006] These steps therefore require human intervention and visual confirmation when deploying / stowing, respectively. So far, this human intervention limits the size of the pod and its contents. Furthermore, more complex pods that include probes, beacons, or other equipment required in connection with the use of the kite are difficult for personnel to operate. Moreover, this type of pod is stored under the kite in a storage box, without access to perform maintenance on the equipment.

[0007] This pod also has the disadvantage that it is permanently suspended throughout the deployment of the kite, which may impede the deployment of the kite due to the additional mass that needs to be supported (the mass of the pod). Furthermore, the position of the pod is not fully controlled during all deployment and stow phases, greatly increasing the possibility of pod collision hazards with the surroundings. Summary of the Invention [Problem to be solved by the invention]

[0008] To remedy the above-mentioned shortcomings of the prior art, the main objective of the present invention is to improve the control of the pod through various positions that allow the pod to be supported during deployment of the towing kite, accommodate the pod to the movements of the kite and the lines by receiving the pod during stowage and retracting the pod from the umbilical after the kite has been released. [Means for solving the problem]

[0009] More particularly, the invention is directed to a structure for mounting a kite pod connected to a vessel by an umbilical, the structure comprising a frame defining a horizontal surface, at least one pulley mounted on a chassis for connecting the umbilical, and a follower arm and pod support, the support comprising: - at least two superimposed plates, a so-called upper plate for receiving the pod and a so-called lower plate below it, at least one elastically deformable return means for joining the plates together, and at least one means for guiding and capturing the umbilical, Includes.

[0010] The support is connected to the frame by at least one erector arm that is fixed to the lower plate and is movable relative to the frame between at least one position for stowing the pod, a position for launching the pod, a cruise position away from the umbilical, a position for capturing the umbilical, and a position for home landing the pod.

[0011] The multi-plate structure, fastened with elastic return means, allows to accompany the pod movement before it is launched and to brake its return. Thus, accompaniment during launch and return reduces tensions in the umbilical and the towing kite and helps to optimize the dimensions of these elements. Braking the pod during return reduces the impact of contact between the pod and the support. The hardware contained in the pod swings less from this contact, which reduces both the need to guard this hardware and the overall mass of the pod.

[0012] The system for guiding and capturing the umbilical, integrated in the support, advantageously allows the umbilical, and therefore the pod, to be guided to the preferred position for reception and the preferred position for return without the need for manual guidance by an operator, which is limited by the force that can be applied and, consequently, the overall size and mass of the pod. The guidance means according to the invention therefore allows the use of pods of greater mass and overall size, by limiting safety-related risks.

[0013] The supports are advantageously movable and track the movements of the pods, accommodating the movements of the pods and, once the pods are airborne, the supports are retracted to a cruising position so as not to impede the movements of the umbilicals, and therefore of the kites, which would reduce the efficiency of the kites.

[0014] According to a preferred embodiment, the following are taken into consideration, either alone or in combination: the support is connected to the frame by two erector arms, one on each side of the drive pulley, and anchored together at one of their ends by a cross bar; - the lower plate of the support is bolted to the cross bar; - the erector arm is rotationally movable about an axis parallel to the horizontal plane and actuated by at least one drive mechanism; the drive mechanism is constituted by a cylinder; In the stowed position, the support lies in a plane parallel to the horizontal plane and the umbilical is at an angle of 60° to 120° inclusive to this horizontal plane; the upper plate includes means for centering the pod; the elastically deformable return means is made up of three springs, optimizing the stability of the plate; the upper plate can be tilted at an angle of less than 30° relative to the lower plate; - the guidance and capture means return the umbilical from a maximum angle of 40° to a vertical axis perpendicular to the horizontal plane; the guidance and capture means are integrated in the lower plate; the guidance and capture means are made of a plastic material such as DELRIN®; - the chassis of the connecting pulley is balanced and articulated laterally about an axis perpendicular to the axis of rotation of the erector arm and parallel to the horizontal plane; - at least one erector arm is equipped with a guide roller; the chassis of the connecting pulley includes at least one guide track facing each guide roller; the mounting structure includes position sensors for the erector arm, the connecting pulley chassis, and the follower arm; at least one presence sensor in the upper plate for detecting the presence of a pod; and - at least one sensor in the lower plate, close to the elastic return means, detects the position and centering of the upper plate relative to the lower plate and locks the pod on the support in the storage position.

[0015] The invention also relates to a method for launching and landing a pod of a kite on a support of a mounting structure. Launching the pod from a stowed position comprises the following steps: - tilting the support and the pod towards a launch position; - Steps to deploy the kite, -launching the pod and deploying an umbilical that extends into the range of motion; and - tilting the support towards the cruise position until the support is out of the range of motion of the umbilical.

[0016] Returning the pod to the stowed position involves the following steps: - lowering the kites and pods by towing an umbilical; - tilting the support back and bringing the umbilical into range of motion; - capturing and then centering the umbilical while declining the support, thereby progressively reducing the range of motion of the umbilical; - returning the inclination of the support to its home position; - placing the pod on the support; and -Step that tilts towards storage position.

[0017] Flying and landing the pod are advantageously separated from flying and stowing the kite, respectively, thereby reducing the risk of line entanglement, and in the stowed position the pod rests on its supports, making it accessible for maintenance operations.

[0018] During launch, the pod tilting kinematics favorably tracks the alignment of the umbilical, thereby reducing tension in the umbilical, thus favoring the flight of the kite. During return, the capturing and centering of the umbilical makes the return of the pod safer by guiding it towards the support.

[0019] According to a preferred embodiment, the following are taken into consideration, either alone or in combination: The launch and return of the pod is automated by confining the tilt of the support, the follower arm, and the connecting pulley to specific locations, and by controlling the tilt of the erector arm; - The launch position is reached when the inclination of the support induces an inclination of the umbilical relative to the horizontal plane at an angle of 70-80° inclusive; - tilting the pod relative to the support in the launch position so that the pod tracks the direction of the kite; - in the cruising position, the erector arms abut the frame, retracting the support from the range of motion of the umbilical contained in a cone with a half angle equal to 80° at the apex and with an axis perpendicular to the horizontal plane; - during the capture step, the range of motion of the umbilical is contained in a cone with a half angle at the apex equal to 20°; -guiding and holding the connecting pulley by the erector arm during the step of capturing the umbilical to bring said pulley into a horizontal position during return; - Braking the pod on the support during return, and -After detecting the return of the pod on the support, tensioning the umbilical to hold the pod on the support.

[0020] The method is advantageously automated, allowing automatic launch and return of the pod without human intervention near the pod, and furthermore, the movements of the pod during return are controlled, particularly when capturing the umbilical, which improves safety of those movements by reducing the risk of impacts, particularly in the vicinity of the pod and the attachment station.

[0021] Other characteristics and advantages of the present invention will become apparent from the following detailed description, taken in conjunction with the accompanying drawings of one embodiment, which does not limit the scope of the invention. [Brief description of the drawings]

[0022] [Figure 1] FIG. 1 shows the deployment of the towing kite. [Diagram 2] FIG. 2 is a perspective view of a platform in a stowed position with two mounting structures and two pods disposed thereon. [Diagram 3]FIG. 2 is a perspective view of the mounting structure with the pod in a stowed position. [Figure 4a] FIG. 2 is a side view of the mounting structure in a stowed position. [Figure 4b] FIG. 1 is a side view of the mounting structure in a stowed position with the top plate removed. [Diagram 5] FIG. 13 is a side view of the mounting structure in the launch position after the top plate of the support has been tilted. [Figure 6] FIG. 2 is a side view of the mounting structure in a cruising position. [Figure 7] FIG. 13 is a side view of the mounting structure in position to capture the umbilical. [Figure 8] FIG. [Figure 9] 4 is a flow diagram of a method for a pod to launch from and return to its support. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] Identical reference symbols in the drawings indicate like elements and corresponding passages in the description.

[0024] Figure 1 shows a towing kite 1 deployed, which is connected by lines 1a to a pod 7. This pod 7 is mounted on a mounting structure 3 arranged on a platform 2 on a vessel (not shown). This platform, shown in a perspective view in Figure 2, holds two mounting structures 3, each holding a pod 7.

[0025] Figure 3 is a perspective view of the mounting structure 3 for a pod 7 of a towing kite 1 on a vessel, said pod 7 being connected to the vessel by an umbilical 5, said mounting structure 3 being here in its stowed position with the pod 7 mounted and held on said mounting structure 3. This structure comprises: a frame 3a defining a horizontal plane H, - pulley 3b, connecting umbilical 5 and set on chassis 3d; - a follower arm 3c, fixed to the drive pulley 3b and maintaining the umbilical 5 on the pulley 3b; - pod support 4, - two second guide pulleys 8a, oriented parallel to the horizontal plane H, as well as a cutting machine 8b for cutting the umbilical in case of an emergency, Includes.

[0026] The support part 4 is: - two superimposed plates, the so-called upper plate 4b for receiving the pod 7 and the so-called lower plate 4a arranged below it, - springs 4e, here three for reasons of stability, which connect the plates 4a, 4b at their ends in order to constitute elastically deformable return means for joining the plates 4a, 4b together, - a lip 4c for guiding and capturing the umbilical 5; Includes.

[0027] This support 4 is further connected to the frame 3a by two erector arms 6, located on either side of each of the connecting pulleys 3b, and at one of their ends 6a by a cross bar 6b ​​to which the lower plate 4a of the support 4 is bolted. These erector arms 6 are rotatable relative to the frame 3a around an axis P' parallel to the horizontal plane H. Under these circumstances, the rotation of the erector arms 6, and consequently the rotation in the support 4, is aligned with the rotation of the connecting pulley 3b around the axis P, and thus with the hoisting direction of the umbilical 5. The chassis 3d is laterally balanced and articulated by an angle of -80 to +80° inclusive, around an axis Q, perpendicular to the rotation axis P' of the erector arms 6 and parallel to the horizontal plane H. This tilting movement contributes to the pulley 3b with the umbilical 5.

[0028] The rotation of the erector arm 6 is actuated by two cylinders 6c. The two cylinders 6c constitute a drive mechanism for continuously placing the support 4 in the following positions: -Pod 7 storage position, -Pod 7 launch position, - Cruise position away from Umbilical 5, - a position for capturing Umbilical 5; and -Pod 7 return location.

[0029] Other positions of the support can be envisaged depending on requirements. In particular the maintenance position allows easy access to the pod in order to carry out maintenance operations.

[0030] The mounting structure 4 includes position sensors, which are angle coders 3e, 3f, 3g, for determining the angular position of the erector arm 6, the chassis 3d of the connecting pulley 3b, and the follower arm 3c, respectively. In this embodiment, angular position sensors are used. Other types of position sensors, such as proximity sensors, may be used to determine the position of the erector arm 6, the chassis 3d, and the follower arm 3c.

[0031] In this stowed position, the umbilical 5 is at an angle α1 which is 90° to the horizontal and the support 4 is at an inclined plane R. Alternatively, the support is at horizontal plane R and the umbilical 5 is at an angle of 95° from a horizontal plane H defined parallel to the floating surface of the water.

[0032] Figures 4a and 4b show side views of the support 4 in the stowed / returned position, before and after the release of the top panel 4b of the support 4. In Figure 4a, tension is applied to the umbilical 5, which transfers the tension to the pod 7 on the support 4. The springs 4e are then compressed, holding the pod 7 on the support 4. In Figure 4b, this tension in the umbilical 5 has been released, allowing the springs 4e to apply their elastic return force to remove the pod 7 from the support 4.

[0033] The launch position of the support 4 is shown in Figure 5, where the support 4 is moved by rotation of the erector arm 6. This movement of the support 4 is controlled by the angle coder 3e, which is adapted to determine the angular position of the erector arm 6 and thus the position of the support 4. In this embodiment, this launch position induces a tilt of the umbilical 5 at an angle α2 of 75° with respect to the horizontal plane H. During this movement of the support 4, gravity and the tension of the umbilical 5 keep the pod 7 in equilibrium on the top plate of the support.

[0034] When the support 4 is in the launch position, the kite 1 is unfolded and ready to fly, constituting a towing sail which then pulls the pod 7. The pod 7 is loaded on the one hand by this towing sail and on the other hand by the umbilical 5 under tension. The elastic properties of the spring 4e connecting the two plates 4a, 4b allow the upper plate 4b to tilt with respect to the lower plate 4a, with the movement of the kite relative to the vessel, the aforementioned angle α3 being less than 30°.

[0035] The cruising position of the support 4 is shown in Figure 6, where the erector arms 6 come into abutment with the mounting structure 3 and are aligned with the horizontal plane H. This configuration of the erector arms 6 and the support 4 allows the support 4 to move away from the range of motion of the umbilical 5 so as not to impede the motion of the umbilical 5, which could reduce the efficiency of the kite 1.

[0036] The rear perspective view of Figure 7 shows the support 4 in position to capture the umbilical 5. During stand-up, the erector arms 6 rise from the cruise position to an intermediate position between the cruise and stowed positions, with the umbilical 5 approaching vertical. The combination of sensors 3e, 3f, 3g, follower arms 3c, and erector arms 6 on chassis 3d allows optimal positioning of the support 4 so that the lower plate 4a enters the range of motion of the umbilical 5 in a vertical position.

[0037] The support 4 includes an edge 4c for guiding and capturing the umbilical 5, which returns it from the maximum angle α4, which is 40°, to a vertical axis perpendicular to the horizontal plane H. This guiding edge 4c is integrated into the lower plate 4a, since this plate is closest to the umbilical 5, but in various embodiments it may be integrated into the upper plate 4b as well, or into both plates.

[0038] Each of the erector arms 6 is equipped with a guide roller 6d and the chassis 3d of the connecting pulley 3b includes a guide track 6e facing the guide rollers 6d. This connection, also visible in Figures 4b and 5, makes it possible to guide the connecting pulley 3b into a vertical orientation in order to favour the landing of the pod 7 when capturing the umbilical.

[0039] The perspective view of Figure 8 shows in detail the components of the support 4. The lower plate 4a and the upper plate 4b are connected by three coil springs 4e. The lower plate 4a integrates a guiding edge 4c made of a plastic material, for example DELRIN®. The combination of the edge 4c and the contour of the plastic material makes it possible to limit the wearing of the umbilical 5 on the lower plate 4a, thereby reducing damage to the umbilical 5 when caught.

[0040] The support 4 and erector arms 6 rise from the capture position. When the umbilical 5 is within range of the guiding edge 4c, it is guided towards the centre of the lower plate 4a which contains the capture notch 4i. Other means may be used to guide and capture the umbilical 5, such as a hooking mechanism or a magnetic assembly.

[0041] The top plate 4b has an increased thickness 4d and generates a means of centering together with the pod 7. The pod has a structure complementary to this increased thickness 4d. The circular profile of the increased thickness 4d allows the rotation of the pod 7 on the support 4 after it has been centered. During homecoming, the pod 7 is guided by this mechanism into a mechanical link, ensuring its stability on the support 4. A presence sensor 3h of inductive type is advantageously set on the top plate 4b to detect the presence of the pod 7 and to command the application of tension to the umbilical 5 after the pod has homeward. This tension makes it possible to keep the pod in place.

[0042] The support 4 includes three sensors 3i near the springs 4e on the lower plate 4a to detect the position and centering of the upper plate 4b relative to the lower plate 4a, and by traction of the umbilical 5 locks the pod 7 in the stowed position on the support. In this embodiment, the springs 4e are equipped at one of their ends with a centering finger 4f and at the other end with a centering cone 4g complementary to said centering finger. This system, limited to a specific location for each of the three springs 4e, centers the upper plate 4b on the lower plate 4a. Furthermore, four retaining straps 4h, positioned near the springs 4e, ensure the complementary locking of the springs 4e and the upper plate 4b on the lower plate 4a, for example during a maintenance phase. These retaining straps 4h allow to release the tension of the umbilical 5 while maintaining the support 4 in the stowed position. The number and position of these retaining straps 4h can be varied and adjustable according to the requirements of the support 4.

[0043] All sensors are connected to the control system of the mounting structure 3, which makes it possible to dynamically control and link the position of the erector arms 6 and the supports 4 during the different phases of using the kite 1 and its pods 7.

[0044] The flow chart of FIG. 9 shows the following steps in one example of a method whereby the pod 7 is launched in an automated manner by confining the tilt of the support 4, the follower arm 3c, and the connecting pulley 3b to a specific location and by controlling the tilt of the erector arm 6 from the stowed position P1: - tilting the support 4 and the pod 7 towards the launch position to the extent that the inclination of the umbilical 5 is at an angle equal to 75° with respect to the horizontal plane, step E1; - Deploying the kite to release the upper plate 4b, step E2; tilting the pod 7 relative to the support 4 towards the launch position P2, so that the pod 7 follows the direction of the kites 1, step E3; -Pod 7 launches and deploys Umbilical 5 to expand its range, step E4; - tilting the support 4 towards the cruising position P3 until it leaves the range of motion of the umbilical 5 and the erector arm 6 comes to abut against the plate, retracting the support from the range of motion of the umbilical contained in a cone with a half angle equal to 80° at the apex and with an axis perpendicular to the horizontal plane, step E5.

[0045] The diagram in FIG. 9 also shows detailed steps of one example of a method for homecoming of a pod in an automated manner by confining the tilt of the support 4, the follower arm 3c, and the connecting pulley 3b to specific locations, as well as by controlling the tilt of the erector arm 6 from the cruising position P3: - lowering the kites 1 and the pods 7 by towing the umbilical 5, step E6; - in the capture position P4, the tilt of the support 4 is returned to the range of motion of the umbilical 5, step E7; step E8, capturing the umbilical 5 while tilting back the support 4, then centering and gradually reducing the range of motion of the umbilical 5, contained in a cone with a half angle at the apex equal to 20°, - returning the inclination of the support 4 to its home position P5, step E9; - a step E10 of returning and braking the pod 7 on the support 4 and tensioning the umbilical 5 after detecting that the pod 7 has returned to the support 4 and is held there, as well as - Tilting towards the storage position P1, step E11.

[0046] During the step E8 of capturing the umbilical, the erector arm 6 guides and holds the connecting pulley 3b to bring it into the vertical state in the home position P4.

[0047] The invention is not limited to the embodiments described and represented. The support can therefore be fixed to the erector arm by any means, such as welding, gluing, riveting, etc. The elastic return means between the plates of the support can consist of leaf springs or layers of elastic material.

[0048] Additionally, the erector arm can track translational, circular, or any other type of translational motion relative to the frame of the mounting structure to allow the support to select stowed, launched, cruise, and captured positions, with the drive mechanism being comprised of a belt, articulation, or drive shaft.

[0049] The present invention may equally be combined with itself and the like to use multiple towing kites 1 on a watercraft or to generate energy.

Claims

1. A structure (3) for mounting a pod (7) of a kite (1) connected to a vessel by an umbilical (5), said structure (3) comprising a frame (3a) defining a horizontal plane (H), at least one pulley (3b) mounted on a chassis (3d) for connecting said umbilical (5), and a follower arm (3c) and a support (4) for said pod (7), Here, the support portion (4) is at least two superimposed plates, a so-called upper plate (4b) for receiving said pod (7) and below that a so-called lower plate (4a); at least one elastically deformable means for joining said plates (4a, 4b) together, and At least one means for guiding and capturing said umbilical (5), The present invention is characterized in that it comprises The mounting structure (3), wherein the support (4) is connected to the frame (3a) by at least one erector arm (6), the erector arm (6) being fixed to the lower plate (4a) and movable relative to the frame (3a) between a position (P1) for storing the pod (7), a position (P2) for the pod (7) to be launched, a cruising position (P3) away from the umbilical (5), a position (P4) for capturing the umbilical (5), and a position (P5) for landing the pod (7).

2. 2. The mounting structure (3) according to claim 1, wherein the support (4) is connected by two erector arms (6) located on either side of the drive pulley (3b) and anchored together at one of their ends (6a) by a cross bar (6b).

3. 3. A mounting structure (3) as claimed in claim 2, wherein the lower plate (4a) of the support (4) is bolted to the cross bar (6b).

4. The mounting structure (3) according to any one of claims 1 to 3, wherein the erector arm (6) is rotatably movable about an axis (P') parallel to the horizontal plane (H) and is actuated by at least one drive mechanism.

5. The mounting structure (3) according to claim 4, wherein the drive mechanism is constituted by a cylinder (6c).

6. A mounting structure (3) as claimed in any one of claims 1 to 5, wherein in the stowed position, the support (4) is in a plane parallel to the horizontal plane (H) and the umbilical (5) is at an angle of 60 to 120 degrees, inclusive, relative to the horizontal plane (H).

7. Mounting structure (3) according to any one of the preceding claims, wherein the top plate (4b) includes means for centreing the pod (7).

8. Mounting structure (3) according to any one of claims 1 to 7, wherein said elastically deformable return means consist of three springs (4e).

9. The mounting structure (3) according to any one of the preceding claims, wherein the upper plate (4b) is inclined at an angle of less than 30° relative to the lower plate (4a).

10. A mounting structure (3) according to any one of claims 1 to 9, wherein the guidance and capture means return the umbilical (5) from a maximum angle of 40° to a vertical axis perpendicular to the horizontal plane (H).

11. Mounting structure (3) according to any one of the preceding claims, wherein said guiding and capture means are integrated in said lower plate (4a).

12. A mounting structure (3) according to any one of the preceding claims, wherein said guidance and capture means are made of a plastic material such as DELRIN®.

13. 13. The mounting structure (3) according to any one of claims 1 to 12, wherein the chassis (3d) of the connecting pulley (3b) is balanced and articulated laterally about an axis (Q) perpendicular to the axis of rotation of the erector arm and parallel to the horizontal plane (H).

14. A mounting structure (3) according to any one of claims 1 to 13, wherein at least one erector arm (6) is equipped with a guide roller (6d).

15. 15. A mounting structure (3) according to claim 14, wherein the chassis (3d) of the connecting pulley (3b) comprises at least one track (6e) facing each guide roller (6d).

16. A mounting structure (3) according to any one of claims 1 to 15, comprising position sensors in the erector arm (6), the chassis (3d) of the connecting pulley (3b), and the follower arm (3c).

17. A mounting structure (3) according to any one of the preceding claims, comprising at least one presence sensor in the top plate.

18. Mounting structure (3) according to any one of the preceding claims, wherein said lower plate (4a) comprises at least one sensor (3i) in the vicinity of said elastic return means.

19. A method for launching and landing a pod (5) of a kite (1) on a support (4) of a mounting structure (3) according to any one of claims 1 to 18, wherein launching said pod (5) from a stowed position (P1) comprises: A step (E1) of tilting the support (4) and the pod towards a starting position (P2); A step (E2) of deploying the kite (1), Step (E4) of launching the pod (7) to deploy the umbilical (5) over a range of motion; A step (E5) of tilting the support part (4) towards a cruising position (P3); The present invention is characterized in that it comprises Here, returning the pod (7) includes: A step (E6) of lowering the kites (1) and the pods (7) by towing the umbilical (5), A step (E7) of returning the inclination of the support portion (4); a step (E8) of capturing and then centering the umbilical (5) while resetting the support (4); A step (E9) of returning the inclination of the support part (4) to the return position (P5); A step (E10) of placing said pod (7) on said support (4), and A step (E11) of tilting towards said storage position (P1); 23. A method for launching and homing comprising:

20. 20. The method for launching and landing as claimed in claim 19, wherein the launching and landing of the pod (7) is automated by confining the tilt of the support (4), the follower arm (3c) and the connecting pulley (3b) to specific locations, and by controlling the tilt of the erector arm (6).

21. The method for launching and landing according to claim 19 or 20, wherein in the launch position (P2) the inclination angle of the umbilical (5) relative to the horizontal plane (H) is inclusively 70-80°.

22. The method for launching and landing according to any one of claims 19 to 21, comprising, after said step (E2), a step (E3) of tilting said pod (7) relative to said support (4).

23. The method for launching and landing according to any one of claims 19 to 22, wherein in the cruising position (P3), the erector arm (6) abuts against the frame (3a).

24. 24. The method of launching and homing according to any one of claims 19 to 23, wherein during the capturing step (E8) the range of motion of the umbilical (5) is contained in a cone with a half angle at the apex equal to 20°.

25. 25. The method for launching and landing according to any one of claims 19 to 24, wherein during step (E8), the erector arm (6) guides and holds the connecting pulley (3b).

26. Method for launching and landing according to any one of claims 19 to 25, wherein during said step (E10), said pod (7) is braked while landing on said support (4).

27. A method for launching and homing as claimed in any one of claims 19 to 26, wherein during step (E10), the umbilical (5) is tensioned after detecting the attachment or detachment of the pod (7) on the support (4).

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