Towed underwater vehicle and system for recovering such an underwater vehicle

Description

Technical field of the invention

[0001] The present invention relates to towed underwater vehicles from a ship, better known by the acronym TUV meaning "Towed Underwater Vehicle", and recovery systems for such underwater vehicles. State of the art

[0002] Various systems are known to allow the launching and recovery of towed underwater vehicles from a ship, known as TUVs.

[0003] For example, the TUV is connected to a so-called tow cable, capable of towing the TUV from a ship.

[0004] The towing cable is connected at one end to the TUV, and at the other end to a winch which is usually attached to the ship and which is operable so as to unwind and wind the cable respectively to launch and retrieve the TUV or, in other words, to move the TUV away from and towards the ship.

[0005] To recover the TUV—that is, to extract it from the water and bring it aboard the ship—the system can be equipped with a ramp mounted on the ship. The TUV is winched onto the ramp, which is deployed from the ship, and then the ramp is retracted to lift the TUV aboard.

[0006] Alternatively, the recovery system can be equipped with a cage. The TUV is then winched until it is inserted into the cage, which is submerged, and then the cage with the TUV is hoisted onto the ship using a davit, or a crane equipped with a winch.

[0007] Document FR 2 969 573 A1 describes a device for launching and recovering a submersible craft using a clamp mounted on arms. Description of the invention

[0008] The invention aims to provide an underwater vehicle configured to be towed from a ship, which is particularly simple and convenient to recover.

[0009] The invention thus relates, in a first aspect, to an underwater vehicle configured to be towed and recovered and / or launched from a ship, comprising a hull extending along a main longitudinal axis between a first end and a second end opposite to the first end, the vehicle comprising an attachment element, located on the side of the first end of the hull, capable of cooperating with a towing cable to enable the vehicle to be towed from the ship; characterized in that it comprises a clamp located on the side of the second end of the hull and configured to take an open position or a closed position, a detection element and a guidance element respectively configured to detect a recovery cable and to guide the vehicle so that the clamp in the open position engages with the recovery cable;by means of which the vehicle can be recovered or launched from the ship by means of the attachment device on the one hand, and the clamp on the other hand, respectively in cooperation with the towing cable on the one hand and the recovery cable on the other hand.;

[0010] Such a towed or wheeled vehicle can, thanks to the gripper and the guidance and detection devices, be extracted from the water autonomously by means of a recovery cable fitted to a reception platform arranged out of the water, for example on a ship or on the pontoon of a port.

[0011] In addition to the attachment element by which the vehicle is towed, the vehicle includes a clamp which forms a gripping means configured to engage with a recovery cable using the detection element and the guidance element.

[0012] Thus, the towing cable and the recovery cable are connected to the reception platform and allow the vehicle to be extracted from the water and placed on the reception platform.

[0013] Inside the vehicle, the attachment device and the clamp allow the vehicle to be secured to a reception platform in order to extract the vehicle from the water by means of the towing and recovery cables.

[0014] Other particularly simple and convenient features of the vehicle according to the invention are described below.

[0015] The vehicle may include a first control unit configured to actuate the clamp from the open position to the closed position, and vice versa.

[0016] The guidance unit may include a second control unit configured to receive sensing information provided by the sensing unit and guide the vehicle towards the recovery cable detected by the sensing unit.

[0017] Such a control unit is thus designed to control and synchronize the action of the detection and guidance devices in order to ensure that the gripper engages with the recovery cable.

[0018] The detection device may include a front-facing sonar located on the side of the second end of the vehicle hull, and configured to detect a cable in the vicinity of the second end of the vehicle hull.

[0019] Such a sonar allows, during navigation, the identification of submerged recovery cables. Depending on the direction in which the recovery cable was detected by the sonar, the guidance system then directs the vehicle towards it, preferably aligning it with the cable, to allow the grapple to engage with it.

[0020] The vehicle may also include, protruding from the hull, one or more steerable fins that can be controlled via the guide mechanism.

[0021] The invention also relates, in a second aspect, to a recovery system comprising an underwater vehicle as described above and a reception platform, said reception platform comprising a recovery cable having, at a free end, a retaining member, a towing cable fixed at one end to the vehicle's attachment member, a winching mechanism configured to respectively wind and unwind said recovery and towing cables, and the recovery system is configured so that the clamp, in the open position, engages with the recovery cable and cooperates, in the closed position, with the recovery cable's retaining member; by means of which the vehicle can be recovered or launched from the reception platform by actuating the winching mechanism and via the attachment member and the clamp which are respectively in cooperation with the towing cable and the recovery cable.

[0022] Such a recovery system allows, through the cooperation of the recovery cable and the retaining device and through the cooperation of the towing cable and the attachment device, and by activating the winching mechanism, to reduce the length of the cables and to bring the autonomous underwater vehicle out of the water, to place it on a reception platform.

[0023] The reception platform may also include a third control unit configured to operate the winching mechanism.

[0024] The docking platform and the underwater vehicle can each include a communication unit configured to synchronize the actuation of the detection and guidance devices and the winching mechanism.

[0025] Such a recovery system can therefore be automated. Communication between the receiving platform and the underwater vehicle allows the control units to be synchronized to ensure that the clamp is closed around the recovery cable before the winching mechanism is activated to reduce the cable length, and thus extract the vehicle from the water.

[0026] The reception platform can be mounted on a ship.

[0027] The invention also relates, in a third aspect, to a method for recovering an underwater vehicle by means of a recovery system as described above, comprising the following navigation steps: detect a recovery cable from the landing platform using the detection device; actuate the underwater vehicle's gripper from the closed position to the open position of the gripper; guide the underwater vehicle using the guidance device towards the recovery cable so that the recovery cable is lodged in the open gripper; actuate the underwater vehicle's gripper from the open position to the closed position; actuate the winching mechanism to raise the underwater vehicle. Brief description of the figures

[0028] The invention, according to an exemplary embodiment, will be better understood and its advantages will become clearer upon reading the following detailed description, given by way of example and in no way limiting, with reference to the attached drawings in which: There figure 1schematically represents, in profile view, an underwater vehicle towed from a ship, also known as a TUV, conforming to the invention. figure 2 schematically represents, from below, the TUV of the figure 1 . There figure 3 schematically represents, in profile view, a stage of recovery of the TUV of the figures 1 and 2 using a reception platform located on board a ship, the platform and the TUV together forming a recovery system according to a first embodiment. figure 4 is a view similar to the figure 3 showing another stage of recovery. The figure 5 is a view similar to figure 3 And 4 showing yet another stage of recovery. The figure 6 is a view similar to Figures 3 to 5 but in perspective and showing yet another stage of recovery. The figure 7 represents in profile view the recovery system including the TUV illustrated in figures 1 and 2and a reception platform according to one implementation variant. Detailed description

[0029] Identical elements represented in the aforementioned figures are identified by identical numerical references in what follows.

[0030] The invention finds application in the field of towed underwater vehicles, known as TUVs, as specified above.

[0031] TUVs are used to carry out various operations at sea, such as surveillance operations.

[0032] For this purpose, underwater vehicles are launched from a ship, for example USV type boats, in English "Unmanned Surface Vessel", and are towed, totally submerged in the water in a nominal position.

[0033] Once the operations are completed, the TUV is retrieved and brought back on board the ship.

[0034] An example of a TUV 100 type underwater vehicle suitable for towing at sea is illustrated in figures 1 and 2 . In the rest of the description, the terms vehicle, underwater vehicle and TUV are used interchangeably to refer to a towable, or towable, underwater vehicle.

[0035] The TUV 100 is illustrated on the figures 1 and 2 in nominal navigation position, when towed, in which the main longitudinal axis 155 is substantially parallel to the horizontal axis.

[0036] In the following description, a horizontal plane is understood to be a plane having an orientation substantially parallel to the horizon.

[0037] The TUV 100 includes a 110 shell, generally cylindrical in shape.

[0038] Alternatively, the vehicle's body could be of a completely different shape.

[0039] This hull 110 extends along a main longitudinal axis 155 between a first end, called front, and a second end, called rear.

[0040] The TUV 100 features a 120 nose at the front end and a 130 tail at the rear end opposite the front end.

[0041] In the nominal navigation position, the hull 110 comprises an upper part 110a facing the sea surface when the TUV 100 is submerged at sea and towed by the ship, and a lower part 110b facing the seabed when the TUV 100 is submerged at sea and towed by the ship.

[0042] The hull 110 also includes lateral parts, including a first lateral part 110c and a second lateral part 110d.

[0043] The lateral parts 110c, 110d are thus arranged on either side of the longitudinal axis 155 and connect the upper part 110a to the lower part 110b of the hull 110.

[0044] The TUV 100 may include, on the lateral parts 110c and 110d of the hull 110, fins 115a, 115b, 115c and 115d formed in projection from the hull 110 and extending along an axis forming an angle with the longitudinal axis 155.

[0045] The fins 115a, 115b, 115c and 115d can be fixed or movable.

[0046] When they are mobile, the orientation of the fins relative to the longitudinal axis 155 can, for example, be modified.

[0047] In the illustrated example, the TUV 100 comprises two pairs of fins, respectively fins 115a and 115b and fins 115c and 115d. The fins 115a, 115b and 115c, 115d of these pairs are thus arranged on the hull 110 on either side of the longitudinal axis 155, in other words on the starboard and port sides, here in a substantially symmetrical manner.

[0048] Alternatively, the TUV 100 may include a single pair of fins, for example fins 115a and 115b, or conversely only fins 115c and 115d.

[0049] Of course, other fin arrangements 115a, 115b and 115c, 115d can be considered.

[0050] The fins allow the trajectory of the TUV 100 to be modified when it is sailing.

[0051] On the upper part 110a of the hull 110, the TUV 100 further includes a towing device 175, configured to allow the TUV 100 to be towed at sea. In particular, the towing device 175 is located on the side of one end of the hull 110, for example near the nose 120 of the TUV 100.

[0052] Alternatively, the attachment element 175 can be arranged on other parts of the hull 110.

[0053] The TUV 100 also includes a clamp 140 on the hull 110, for example on the tail side 130 of the TUV 100.

[0054] The 140 clamp forms a gripping means capable of taking on several configurations.

[0055] The clamp 140 may include two arms 140a, 140b mounted articulated and projecting from the shell 110.

[0056] The branches 140a, 140b can be mobile in rotation, for example symmetrically, around an axis orthogonal to the longitudinal axis 155.

[0057] The clamp 140 can be configured to adopt a navigation configuration in which the arms 140a, 140b of the clamp 140 are arranged so as to be in contact with the lateral parts 110c, 110d of the hull 110.

[0058] In this navigation configuration, arms 140a, 140b do not protrude from hull 110.

[0059] The 140 gripper can be configured to also adopt a launching and / or retrieval configuration in which the arms 140a, 140b of the 140 gripper are configured to take different positions.

[0060] In particular, in the launch and / or retrieval configuration of the gripper 140, the arms 140a, 140b can be in an open position in which the arms 140a, 140b are spread apart and define an open space; or in a closed position in which the arms 140a, 140b are brought together and define an overall closed space.

[0061] In this configuration for launching and / or recovering the gripper 140, the arms 140a, 140b are arranged in projection relative to the hull 110.

[0062] The clamp 140 and the fastening member 175 can be arranged respectively at opposite ends of the TUV 100.

[0063] For example, the clamp 140 can be arranged on the tail side 130 of the TUV 100 and the attachment member 175 can be arranged on the nose side 120 of the TUV.

[0064] The clamp 140 and the attachment member 175 can be substantially aligned with the longitudinal axis of the TUV 100.

[0065] The TUV 100 includes means for actuation of the clamp 140.

[0066] For example, the TUV 100 may include a first control unit 180 configured to actuate the clamp 140, so that it takes a position conforming to one of the configurations detailed previously.

[0067] The TUV 100 also includes a detection unit 150 configured to detect elements present in the environment in which the TUV 100 operates.

[0068] The detection unit 150 is positioned on the rear end side of the TUV 100, for example towards the tail 130, to detect objects downstream of the rear end of the hull 110.

[0069] The 150 detection unit can, for example, be a front-facing sonar configured to detect underwater objects and configured to indicate their direction and distance relative to the TUV 100.

[0070] The TUV 100 also includes a guidance device configured to guide the TUV 100 when it is navigating.

[0071] The guidance unit may include a second control unit 185, configured to guide the TUV 100 according to detection information provided by the detection unit 150.

[0072] The guiding element can, for example, control part or all of the fins 115a, 115b, 115c and 115d to guide the TUV 100.

[0073] The guidance system can also be used to control any means of the TUV 100 that allow it to change its trajectory when it is navigating.

[0074] The TUV 100 may include a 190 communication module configured to exchange information with another entity, such as a ship, so as to synchronize actions between the TUV 100 and the ship.

[0075] A 205 recovery system from a TUV 100 is now described with reference to figures 3 to 6 .

[0076] The 205 recovery system is formed from the TUV 100 as described in reference to figures 1 and 2 and a 200-person reception platform arranged on a 210-person ship.

[0077] The ship 210 extends longitudinally along the horizontal axis 280a of the reference frame 280, between a forward part 210a and a rear part 210b.

[0078] In a nominal direction of travel, indicated by arrow 310, the forward part of vessel 210 moves upstream of the aft part of vessel 210.

[0079] The forward 210a and rear 210b sections of the ship 210 are connected to each other by lateral sections.

[0080] The 200 reception platform includes a first 230 cable, also called the recovery cable, and a second 170 cable, also called the towing cable.

[0081] The recovery cable 230 has a retaining device 240 at one of its free ends.

[0082] This retaining element 240 is for example a weight, that is to say a mass.

[0083] The towing cable 170 allows the TUV 100 to be secured to the ship, by means of the attachment device 175.

[0084] The attachment element 175 can allow the towing cable 170 to be attached in a removable manner.

[0085] The first and second cables 170, 230 are configured to be deployed and at least partially submerged at sea.

[0086] For this purpose, the first and second cables 170,230 are respectively connected to a winching mechanism configured to wind and unwind cables 230 and 232.

[0087] The winching mechanism can be positioned on a rear section of the vessel 210.

[0088] The winching mechanism may include two winches 220, 225.

[0089] Winches 220, 225 are here respectively associated with return pulleys 260, 265.

[0090] The return pulleys 260, 265 are spaced a distance D apart along the horizontal axis 280a of the reference frame 280, substantially parallel to the horizon.

[0091] The distance D is approximately equal to the distance between the clamp 140 and the attachment member 175 of the TUV 100.

[0092] Alternatively, the winching mechanism can be without return pulleys.

[0093] The vessel 210 includes means for actuation of the winching mechanism.

[0094] For example, the vessel 210 may include a third control unit 215, configured to operate the winching mechanism, in order to extract or lower the first and second cables 230, 170 into the water, winding or unwinding them.

[0095] The reception platform 200 may also include a protective panel 250 arranged between the two winches 220, 225 or between the two return pulleys 260, 265.

[0096] The 250 protective panel can be made of foam, for example, or any other material suitable for absorbing shocks.

[0097] The reception platform 200 also includes a communication module 245 capable of exchanging information with the communication module 190 of the TUV 100.

[0098] The operation of the recovery system is now described with reference to the steps illustrated in figures 3 to 6 .

[0099] There figure 3 illustrates the 205 recovery system in navigation configuration.

[0100] In this configuration, the TUV 100 is towed by the nose 120 by the ship 210, both moving in the direction indicated by arrow 310.

[0101] The TUV 140 clamp is operated in navigation configuration, for hydrodynamic reasons.

[0102] The tow cable 170, connected to the TUV by the attachment device 175, is at least partially deployed, so that the TUV 100 is fully immersed in the water and towed underwater by the vessel 210.

[0103] During navigation, the 230 recovery cable can be completely extracted from the water and is only deployed during the recovery phases of the TUV 100.

[0104] When a recovery phase is initialized, the 205 recovery system is then in the configuration illustrated in the figure 4 , in which the clamp 140 of the TUV 100 is in the open position and the recovery cable 230 of the docking platform 200 is deployed.

[0105] The TUV 100 then detects, via the detection unit 150, the recovery cable 230 from the reception platform 200.

[0106] Once the recovery cable 230 is detected, the information relating to its detection is sent to the guidance unit, i.e. to the second control unit 185 of the TUV 100, to guide the TUV 100 to the vicinity of the recovery cable 230.

[0107] For this purpose, the second control unit 185 can be configured to actuate one or more fins 115a, 115b, 115c and 115d of the TUV 100.

[0108] The second control unit 185 can be configured to operate the winching mechanism so as to vary the length of the tow cable 170 in order to bring the TUV closer to the recovery cable 230.

[0109] For example, the second control unit 185 can communicate with the reception platform 200 via the communication modules 190, 245, in particular to request from the third control unit 215 the actuation of the winching mechanism to lengthen or shorten the tow cable 170.

[0110] Optionally, before guiding the TUV 100 near the recovery cable 230, the second control unit 185 can obtain confirmation from the third control unit 215 and via the communication modules 190, 245, that the detected cable is indeed the recovery cable 230 of the vessel 210.

[0111] Thus, the guiding element, and therefore the second control unit 185, guides the TUV 100 towards the recovery cable 230 so that the recovery cable 230 fits into the open clamp 140.

[0112] Once the recovery cable 230 is positioned inside the clamp 140, the first control unit 180 actuates the clamp 140 to put it in the closed position.

[0113] For example, detectors capable of detecting the presence of a cable are arranged on the clamp 140, for example on one of the arms 140a, 140b.

[0114] Such detectors are connected to the first control unit 180 and can enable the triggering of the actuation of the clamp 140 in the closed position.

[0115] The 205 recovery system then finds itself in the position illustrated on the figure 5 .

[0116] In this position, the TUV 100 can, in particular, send information to the reception platform 200, via the communication modules 190, 245, to indicate that it is ready to be recovered, and therefore to be extracted from the water.

[0117] Alternatively, the information can be transmitted via the second 170 cable.

[0118] The winches 220, 225 are then operated to wind the first and second cables 170 and 230 in order to reduce their deployed length, as indicated by the arrows 280.

[0119] Thus, the progressive winding of the 230 and 170 cables is carried out until the recovery system is in the configuration illustrated in the figure 6 .

[0120] In this configuration, the TUV 100 is attached to the reception platform 200.

[0121] This is made possible in particular by the cooperation of the retaining device 240 with the clamp 140 and by the attachment device 175 securing the towing cable 170 with the TUV 100.

[0122] Once the retaining device 240 is against the clamp 140, the action of the winches 220, 225 via the cables 230, 170 allows the TUV 100 to be gradually extracted from the water.

[0123] The raising of the TUV 100 is thus stable, in particular due to the position of the clamp 140 and the attachment element 175, respectively at the front and rear of the TUV 100.

[0124] To prevent any damage to the TUV 100 during the ascent, the protective panel 250 is mounted between the two return pulleys 260 and 265, opposite the upper part of the TUV 100.

[0125] The TUV 100 can be remounted and pressed against the protective panel 250 when positioned, after retrieval, on the reception platform 200.

[0126] This 205 recovery system can also be reused to launch the TUV 100.

[0127] For this, once the reception platform 200 is positioned in a launching area, the winches 220, 225 are activated via the third control unit 215, to gradually unwind the cables 170, 230 and to submerge the TUV 100.

[0128] Once at the desired launch depth, which can be indicated by the receiving platform to the TUV 100 via the communication modules 190, 245 of the receiving platform 200 and the TUV 100, the control unit of the TUV 100 actuates the gripper 140 in order to open it.

[0129] The guiding element can then guide the TUV 100 to extract the recovery cable 230 from the clamp 140, for example through different maneuvers.

[0130] Clamp 140 can also be operated to take the navigation position, thereby releasing the retrieval cable 230.

[0131] Recovery and launching operations can be carried out while the vessel 210 is in motion.

[0132] A variant embodiment of a 300 recovery system is illustrated in the Figure 7 .

[0133] The winches 220, 225 of the recovery system 300 can be arranged on a lateral side, port or starboard, of the vessel 210 rather than at the rear.

[0134] The winches 220, 225 can be spaced a distance D apart, defined along axis 280a of the reference frame 280 of the Figure 7 , which is for example equal to the distance between the clamp 140 and the attachment member 175.

[0135] The winches 220, 225 can also be spaced a defined distance apart along axis 280c which is substantially equal to the greatest width of the hull of the TUV 100, i.e. the maximum dimension of the hull according to a cross-section to the longitudinal axis 155.

[0136] In an unillustrated variant, the gripper may admit other configurations and / or the gripper arms may be in positions other than those defined above.

[0137] The clamp may also have different structural characteristics than those described above.

[0138] For example, the clamp may include a single arm fixed to and hinged to a lateral part of the hull on the side of one end of the hull, for example located on the tail side.

[0139] The arm is then mobile between at least two positions, including a first position in which the arm forms a non-zero angle with the lateral part of the hull, and defines an open space with the hull; and a second position in which the arm is positioned substantially parallel to the hull, for example, partially in contact with the hull, so as not to delimit an open space with the hull.

[0140] In an unillustrated variant, the first and second control units may consist of only one control module which performs the functions of each of these units described above; and / or the communication module may be included in the second control unit, or even in the control module.

[0141] It is generally recalled that the invention is not limited to the examples described and represented.

Claims

1. An underwater vehicle configured to be towed and recovered and / or launched from a vessel, comprising a hull (110) extending along a longitudinal main axis (155) between a first end and a second end opposite to the first end, an attachment member (175) located on the side of the first end of the hull and configured to cooperate with a towing cable (170) to allow the vehicle to be towed from the vessel; characterized in that it comprises a clamp (140) located on the side of the second end of the hull and configured to be in an open position or in a closed position, a detection member (150) and a guide member respectively configured to detect a recovery cable (230) and to guide the vehicle so that the clamp in the open position engages with the recovery cable; whereby the vehicle (100) can be recovered or launched from the vessel via the attachment member and the clamp which are respectively in cooperation with the towing cable and the recovery cable.

2. The underwater vehicle of claim 1, comprising a first control unit (180) configured to actuate the clamp (140) from the open position to the closed position, and vice versa.

3. The underwater vehicle according to one of claims 1 and 2, wherein the guide member comprises a second control unit (185) configured to receive detection information provided by the detection member (150) and guide the vehicle (100) toward the recovery cable (230) detected by the detection member.

4. The underwater vehicle according to any one of claims 1 to 3, wherein the detection member (150) comprises a forward sonar located on the side of the second end of the vehicle hull and which is configured to detect a cable in proximity to the second end of the vehicle hull.

5. The underwater vehicle according to any one of claims 1 to 4, comprising one or more fins (115a-d) projecting from the hull (110) and orientable and controllable via the guide member.

6. A recovery system comprising an underwater vehicle (100) according to any one of claims 1 to 5 and an accommodation deck (200), said accommodation deck comprising a recovery cable having at a free end a retaining member (240), a towing cable fastened at an end to an attachment member (175) of the vehicle, a winching mechanism configured to respectively wind and unwind said recovery and towing cables, and the recovery system (205) is configured for the clamp, in the open position, to engage with the recovery cable and cooperate, in the closed position, with the recovery cable retaining member; whereby the vehicle can be recovered or launched from the accommodation deck by actuating the winching mechanism and via the attachment member and the clamp which are respectively in cooperation with the towing cable and the recovery cable.

7. The recovery system according to claim 6, wherein the accommodation deck (200) comprises a third control unit (215) configured to actuate the winching mechanism.

8. The recovery system according to any one of claims 6 and 7, wherein the accommodation deck (200) and the underwater vehicle (100) each comprise a communication unit (190) configured to synchronize the actuation of the detection and guide members and the winching mechanism.

9. The recovery system according to any one of claims 6 to 8, wherein the accommodation deck (200) is embarked on a vessel (210).

10. A method for recovering an underwater vehicle via a recovery system (205) according to any one of claims 6 to 9, comprising the following navigation steps: - detecting, via the detection member, a recovery cable of the accommodation deck; - actuating the clamp of the underwater vehicle from the closed position to the open position of the clamp; - guiding the underwater vehicle via the guide member towards the recovery cable so that the recovery cable fits in the open clamp; - actuating the clamp of the underwater vehicle from the open position to the closed position; - actuating the winching mechanism to raise the underwater vehicle.