Device for securing a kite for towing a floating vessel or a land vehicle, and method for controlling such a kite

Abstract

The invention relates to a securing device (1) for securing a kite (3) to a system (2) such as (i) a floating vessel or (ii) a rolling and / or sliding land vehicle or (iii) an energy converter, the securing device comprising: - a base (11; 111) intended to be attached to a system (2), and - a head (12) intended to be mechanically connected to a wing (31) of a kite (3) via one or more lines (4), the head (12) and the base (11; 111) being mechanically connected by a mechanical connection (13) allowing at least one free rotation of the head (12) relative to the base (11; 111) about an axis (A).

Description

[0001] DESCRIPTION

[0002] TITLE: Device for securing a traction kite to a floating craft or land vehicle and method of piloting such a kite.

[0003] Technical field of the invention

[0004] The invention relates to kites used for towing a floating craft or a rolling and / or sliding land vehicle. More specifically, the invention relates to a device for securing such a kite. The invention also relates to a device for piloting such a kite. The invention further relates to an arrangement comprising such a securing device for attaching a kite to a structure and / or a piloting device. The invention further relates to a method for operating such an arrangement. The invention further relates to a securing device comprising hardware and / or software elements for implementing such a method. The invention further relates to a computer program comprising code instructions for implementing such a method. The invention further relates to a data recording medium for implementing such a method.The invention also relates to a signal from a data carrier carrying such a computer program.

[0005] Prior art

[0006] Kites are known to be used to pull a floating vessel, such as a boat or ship. The kite can be piloted:

[0007] - in a flight mode where it flies in figure-eight patterns, or

[0008] - in a flight mode where it is stationary or relatively fixed relative to the craft.

[0009] In these designs, devices for securing the kite to a structure, such as a boat, are used. Presentation of the invention

[0010] The invention relates to a kite tethering device that improves upon known devices. In particular, the invention provides a tethering device that improves kite flight, specifically by increasing the effort or driving power produced by the kite. This improvement can be achieved by piloting the kite in a specific flight mode made possible by using the tethering device according to the invention.

[0011] Summary of the invention

[0012] According to the invention, a tethering device allows a kite to be tethered to a system such as:

[0013] - a floating vessel, or

[0014] - a rolling and / or sliding land vehicle, or

[0015] - a power converter.

[0016] The lashing system includes:

[0017] - a base intended to be fixed to a system, and

[0018] - a head intended to be mechanically connected to a kite wing via one or more lines, the head and the base being mechanically linked by a mechanical connection allowing at least one free rotation of the head relative to the base around an axis.

[0019] The mechanical linkage includes or is a pivot joint.

[0020] The tethering device may include an element for tracking the azimuth of the head relative to the base and / or the tethering device may include an element for tracking the elevation of the head relative to the base. The base may include a screw-type attachment element for securing to the system and / or the base may include a flexible link element for securing to the system, such as a lanyard.

[0021] The tie-down device may include a head mass compensation element, such as a gas spring.

[0022] The lashing device may include rotating electrical contacts at a base-head interface.

[0023] According to the invention, a kite piloting device includes a previously defined tethering device.

[0024] The lashing device may include a first actuator for piloting the lines of a kite, in particular the front lines of a kite.

[0025] The first line control actuator can be at least partially implanted on the head or on the base.

[0026] The lashing device may include a second actuator for piloting the lines of a kite, in particular the rear lines of a kite.

[0027] The line control actuator can be at least partially mounted on the head or on the base.

[0028] According to the invention, an arrangement comprises:

[0029] - a system,

[0030] - a kite, and

[0031] - a previously defined lashing device or a previously defined piloting device. According to the invention, a method governs the operation of a previously defined arrangement. In this method, the kite is piloted so that it describes an elliptical or substantially elliptical trajectory comprising a succession of several elliptical turns, in particular an uninterrupted series of at least 20 elliptical turns, or even at least 50 elliptical turns.

[0032] The arrangement may include hardware and / or software elements implementing the process defined above, including hardware and / or software elements designed to implement the process defined above.

[0033] The arrangement may include means of implementing the process defined previously.

[0034] According to the invention, a computer program product comprising program code instructions recorded on a computer-readable medium to implement the method defined above when said program runs on a computer

[0035] According to the invention, a computer program product downloadable from a communication network and / or recorded on a data medium readable by a computer and / or executable by a computer, includes instructions which, when the program is executed by the computer, lead the latter to implement the process defined above.

[0036] According to the invention, a computer-readable data storage medium on which a computer program is stored includes program code instructions for implementing the method defined above. According to the invention, a computer-readable storage medium includes instructions which, when executed by a computer, cause the computer to implement the method defined above.

[0037] According to the invention, a signal from a data carrier carries the product of the computer program defined previously.

[0038] Presentation of the figures

[0039] Other advantages and characteristics will become clearer from the following description of a method for implementing an arrangement comprising:

[0040] - a system such as a floating vessel or a rolling and / or sliding land vehicle,

[0041] - a kite, and

[0042] - a device for attaching the kite to the system, and attached figures in which:

[0043] Figure 1 is a schematic view of an arrangement according to a first embodiment.

[0044] Figure 2 is a detailed schematic view of a first variant of the first embodiment of the arrangement.

[0045] Figure 3 is a detailed partial schematic view of a second variant of the first embodiment of the arrangement.

[0046] Figure 4 is a detailed partial schematic view of a third variant of the first embodiment of the arrangement.

[0047] Figure 5 is a view of an arrangement according to a second embodiment.

[0048] Figure 6 is a schematic view illustrating one mode of kite flight permitted by the invention.

[0049] Figure 7 is a graph illustrating the trajectory of a kite in a flight pattern known from the prior art, where the kite describes figure-eights. Figure 8 is a graph illustrating temporal variations in the traction force produced by a kite in this flight pattern known from the prior art.

[0050] Figure 9 is a graph illustrating a trajectory of a kite in a flight mode according to the invention where the kite describes circles or ellipses or spirals in a continuous or uninterrupted manner.

[0051] Figure 10 is a graph illustrating temporal variations of the traction force produced by a kite in this flight mode according to the invention.

[0052] Detailed description

[0053] The direction in which a system (floating craft, sliding or rolling land vehicle) usually moves in a straight line, in a plane parallel to the water level of a body of water or to the land, is defined as the longitudinal direction. By convention, the direction perpendicular to the longitudinal direction, located in a plane parallel to the water level of a body of water or to the land, is called the transverse direction. The third direction, perpendicular to the other two, is called the vertical direction.

[0054] A first embodiment of an arrangement 100 according to the invention is described below with reference to figures 1 to 4. In this embodiment, the kite can for example be of the type with two front lines and two rear lines.

[0055] Layout 100 includes:

[0056] - a system 2,

[0057] - a kite 3, and

[0058] - a lashing device 1, in particular a lashing device 1 forming part of a control device 90 which is itself part of the arrangement. The control device 90 comprises, in addition to the lashing device 1:

[0059] - an actuator 16 for controlling forward lines (for example to adjust the wing's angle of attack),

[0060] - an actuator 17 for controlling the rear lines (for example, to orient the wing or to act on the wing's yaw rate), and

[0061] - means of controlling these actuators, such as a control module 160 and a control module 170.

[0062] The lashing device 1 allows the kite to be mechanically linked to system 2.

[0063] System 2 can include, in particular:

[0064] - a floating vessel, such as a boat or ship, or

[0065] - a rolling and / or sliding land vehicle, or

[0066] - an energy converter, in particular a mechanical energy converter into electricity, i.e. an alternator.

[0067] Kite 3 can be made using different technologies. Kite 3 can include:

[0068] - a wing 31, and

[0069] - one or advantageously several lines 4, the line or several lines connecting the wing 31 of the kite 3 to the lashing device 1.

[0070] Advantageously, lines 4 can include:

[0071] - two lines before 41, and

[0072] - two back lines 42, as shown in figures 1 to 4.

[0073] Alternatively, the kite may have only two lines or only one line. The kite may have any other number of lines. Each line is preferably made of a string. Each line is:

[0074] - attached to wing 31 at a distal end, and

[0075] - fixed or linked to the lashing device 1 at a proximal end.

[0076] For example, in the case of a four-line kite, a greater or lesser extension of the front lines 41 (relative to the rear lines) allows for a greater or lesser angle of attack of the wing 31 in the airflow through which it moves. Consequently, the wing's lift and speed can be defined or adjusted.

[0077] For example, in the case of a four-line kite, a greater or lesser difference in the relative length of the rear lines 42 allows the wing 31 to be oriented and to involve variations in the trajectory of the wing, that is to say, to cause turns of the wing 31.

[0078] The lashing device 1 comprises:

[0079] - a base 11 intended to be fixed to system 2, and

[0080] - a head 12 intended to be mechanically connected to the wing of the kite 3 via the line(s) 4.

[0081] The head 12 and the base 11 are mechanically linked by a mechanical link 13 allowing at least one free rotation of the head 12 relative to the base 11 around an axis A.

[0082] Axis A is generally or substantially parallel to the lines connecting the wing to the structure via the attachment device. This axis A can be defined or oriented by the mechanical linkage 13 (if it has only one degree of rotational freedom, i.e., if it is a pivot joint) or be defined by the tensile mechanical actions of the lines (if the mechanical linkage 13 has two or three degrees of rotational freedom, i.e., if it allows for a pivot joint as with a lashing). Preferably, as illustrated in Figures 1 to 5, the mechanical linkage 13 comprises or is a pivot joint.

[0083] Advantageously, the base 11 includes an azimuth tracking element 14 for the head 12 relative to the structure of the system 2. This tracking element 14 may include a pivot joint about a vertical axis V. Preferably, this tracking element 14 allows free rotation of the head 12 relative to the structure of the system 2 about the vertical axis V.

[0084] Preferably, either additionally or alternatively, the lashing device includes an element 15 for tracking the elevation p of the head 12 relative to the structure of the system 2. This tracking element may include a pivot joint about an axis parallel to a horizontal plane P. Preferably, this tracking element 15 allows free rotation of the head 12 relative to the structure of the system 2 about the horizontal axis H. In addition or alternatively, the rotation may be constrained to compensate for the weight of the head 12. To this end, the lashing device advantageously includes an element 20 for compensating the mass of the head 12, such as a gas spring.

[0085] Thanks to the tracking elements 14 and 15, the head 12, in particular the axis A, automatically aligns itself in the direction of traction of the lines, under the effect of traction of the kite wing.

[0086] To control the wing 31 of the kite 3, the tethering device advantageously includes the front line control actuator 16. This actuator 16 allows the front lines to be adjusted in order to modify their length relative to that of the rear lines, as seen previously, in order to change the angle of attack of the wing 31. The actuator 16 may include:

[0087] - an electric motor 161, for example a geared motor 161, in particular a geared motor 161,

[0088] - a screw 162 driven in rotation by the electric motor 161, and

[0089] - a nut 163 screwed onto the screw and stopped from rotating by a fixing to a frame 129.

[0090] Thus, by activating the electric motor 161, the nut 163 is translated relative to the frame 129 and the proximal ends of the front lines, which are fixed to the nut 163, are moved. As a result, by activating the electric motor 161, the length of the front lines is increased or decreased.

[0091] The 161 electric motor can, for example, be an AC motor or a brushless motor.

[0092] Preferably, the actuator 16 for piloting the forward lines is at least partially mounted on the head 12 or on the base 11. In the embodiment shown in Figure 2, the electric motor 161, the screw 162 and the nut 163 are mounted on the head, in particular on a frame 129 of the head 12. In the embodiment shown in Figure 4, the screw 162 and the nut 163 are mounted on the head, in particular on a frame 129 of the head 12, whereas the electric motor 161 is mounted on the base 11, in particular on a frame 119 of the base.

[0093] Alternatively, as illustrated in the variant in Figure 3, the actuator 16 may include a cylinder, in particular a hydraulic cylinder comprising:

[0094] - a cylinder 166 fixed to a frame 129 of the head 12, and

[0095] - a piston 165, movable in the cylinder 166.

[0096] Thus, by activating the cylinder 16, the proximal ends of the front lines, which are attached to the piston 166, are moved. Consequently, activating the cylinder 16 increases or decreases the length of the front lines 41. In order to control the wing 31 of the kite 3, the tethering device advantageously includes the rear line control actuator 17. This actuator 17 allows for the control of the relative unwinding of the rear lines with respect to each other, as described previously, in order to steer the wing 31.

[0097] Actuator 17 may include:

[0098] - an electric motor 171, for example a geared motor 171, in particular a DC geared motor 171,

[0099] - a pinion 172 driven in rotation by the electric motor 171, and

[0100] - a toothed wheel 173 attached to a drum 174 around which the trailing lines are at least partially wound, and meshing with the pinion 172. Thus, by activating the electric motor 171, the drum is rotated relative to the frame 129, and the proximal ends of the trailing lines attached to the drum are moved. Consequently, activating the electric motor 171 increases or decreases the relative length of the trailing lines. It follows that the wing 31 can be steered as explained previously.

[0101] The 171 electric motor can, for example, be an AC motor or a brushless motor.

[0102] Preferably, the actuator 17 for piloting the back lines is at least partially mounted on the head 12 or on the base 11. In the embodiment variants of figures 2, 3 and 4, the pinion 172, the toothed wheel 173 and the drum 174 are mounted on the head 12, in particular on a frame 129 of the head 12, the motor 171 being mounted on the base 11.

[0103] A second embodiment of an arrangement 100 according to the invention is described below with reference to Figure 5. The arrangement 100 comprises:

[0104] - system 2,

[0105] - kite 3, and

[0106] - the lashing device 1, in particular a lashing device 1 forming part of a piloting device 90 which itself forms part of the arrangement 100.

[0107] The piloting device 90 includes, in addition to the lashing device 1:

[0108] - a 16-pin actuator for forward line control,

[0109] - a 17 actuator for controlling the back lines, and

[0110] - means of controlling these actuators, such as a control module 160 and a control module 170.

[0111] The lashing device 1 comprises:

[0112] - base 11, and

[0113] - the head 12.

[0114] The head 12 and the base 11 are mechanically linked by the mechanical link 13 allowing at least one free rotation of the head 12 relative to the base 11 around an axis A.

[0115] In the second embodiment, the lashing device differs from that of the first embodiment in that it includes a special base device 110. Indeed, the base device comprises three parts articulated to one another:

[0116] - a first part 111 of the base (or base plate) intended to be fixed or attached to the structure of system 2,

[0117] - a second connecting part 112 intended to be mechanically linked to the head 12 via the link 13, or mechanically linked to the head 12 via the link 13, and

[0118] - a third part 113 of intermediate connection between the first part 111 and the second part 112. The first part 111 and the third part 113 are linked by a first pivot connection, in particular a first pivot connection with vertical axis V.

[0119] The second part 112 and the third part 113 are linked by a second pivot joint, in particular a second pivot joint with a horizontal axis, parallel to the horizontal plane P.

[0120] Advantageously, the first pivot link is equipped with a first sensor which provides rotational position information of the third part relative to the first part and therefore an azimuth position of the kite relative to system 2.

[0121] Advantageously, the second pivot link is equipped with a second sensor which provides rotational position information of the second part relative to the third part and therefore an elevation position of the kite relative to system 2.

[0122] Alternatively, the two pivot links may not be perpendicular and the azimuth and elevation position information of the kite may be determined by angular calculation based on sensors indicating the angular positions of the two pivot links.

[0123] Regardless of the variant or embodiment, a motor or geared motor of an actuator 16, 17 can be mounted on the base 11. Such a mounting facilitates the supply of power to the motor or geared motor, whose stator is then fixed or mobile with limited degrees of freedom relative to system 2. A wired power supply can then be easily implemented from system 2.

[0124] Regardless of the variant or embodiment, a motor or geared motor of an actuator 16, 17 can be mounted on the head 12. Such a mounting simplifies the transmission architecture at the motor or geared motor output. Indeed, it is no longer necessary to consider the rotations (around axis A) of the head relative to the base. However, in such a scenario, power can be supplied by a battery mounted on the head 12 or via rotating electrical contacts 168 at the base-head interface. The rotating electrical contacts allow the transmission of control and / or power signals between the base 11 and the head 12, while rotation between the head and the base, around axis A, is permitted without amplitude limit.

[0125] Regardless of the variant or embodiment, the lashing device advantageously includes:

[0126] - the first 47 guides allowing the definition of sliding locations of the front lines relative to the head 2, and / or

[0127] - second guides 48 allowing to define sliding locations of the rear lines relative to the head 2.

[0128] Regardless of the variant or embodiment, the lashing device preferably includes a screw-fastening element 18 for attaching the lashing device to the system, in particular for attaching the base 11 to the structure of system 2. Alternatively, attachment can be achieved by means of a lashing or a shackle (textile or metal) that absorbs the tensile force. In this alternative, the base can be reduced to the fastening elements that allow the lashing or shackle to be attached to the structure of system 2. Attachment can thus be achieved anywhere on the system easily and with freedom of movement in azimuth and elevation. The lashing device constitutes an ideal solution element:

[0129] - for a boat in distress,

[0130] - for a boat with a very specific need (autonomy for a transatlantic crossing, for example),

[0131] - to make a test, or - for a platform (such as a barge, floating craft, iceberg, wind turbine...) to be towed or moved.

[0132] The attachment can be made at reinforced points on a boat, such as a mooring cleat, windlass or chainplate.

[0133] In the first embodiment, in addition to or as an alternative to a screw fixing element 18, the base may include a flexible link element 19, such as a threading 19, for fixing the lashing device to the system, in particular for fixing the base 11 to the structure of the system 2.

[0134] Regardless of the variant or embodiment, the lashing device preferably comprises hardware and / or software elements implementing the method of the invention, in particular hardware and / or software elements designed to implement the method of the invention. In other words, the lashing device includes means for implementing the method of the invention. These elements include, in addition to the actuators described above and any sensors mentioned above, module 160 for controlling or piloting actuator 16 and module 170 for controlling or piloting actuator 17. Modules 160 and 170 may constitute a single module. The elements may also advantageously include a sensor mounted on the kite wing providing real-time information on:

[0135] - the position of the wing in three dimensions (orientation along three perpendicular axes),

[0136] - the wing speed in three dimensions, and

[0137] - the acceleration of the wing in three dimensions.

[0138] The onboard sensor advantageously consists of an accelerometer that measures accelerations along three perpendicular axes. More generally, wing control uses information from various sensors (angle sensor, NEMS (NanoElectronic Mechanical System) cell, accelerometer, gyroscope, GPS position data, camera with image recognition, inertial measurement unit integrated into the wing) providing access to the wing's position, and even its yaw.

[0139] Regardless of the variant or embodiment, the actuator(s) may be hydraulic actuators. For example, a pressurized fluid may pass through a hollow drive shaft to actuate a hydraulic cylinder for adjusting the length of the forward lines, and a hydraulic hose may provide the connection between:

[0140] - the system, and

[0141] - a fixed sealed chamber or a cylinder chamber.

[0142] The elements implementing the process that is the subject of the invention may include software modules.

[0143] An execution method of an operating process of an arrangement described previously is described below with reference to figures 9 and 10.

[0144] In this execution method, the kite is piloted to describe an elliptical or nearly elliptical trajectory comprising a succession of several elliptical turns, in particular an uninterrupted series of at least 20 elliptical turns, or even at least 50 elliptical turns. Such a trajectory is illustrated by the graph in Figure 9 showing the evolution of the wing's elevation and azimuth angles (i.e., the elevation and azimuth angles of axis A) relative to system 2. The turns can be substantially circular. The kite can describe the turns by rotating continuously in the same direction, in particular with a substantially constant yaw rate in a frame of reference attached to the kite.

[0145] This trajectory can be implemented continuously or without interruption for several minutes or for several hours. Conversely, according to the prior art, when a kite is flown to form figure eights, the kite exhibits, in a frame of reference attached to the kite, a highly variable yaw rate with cancellations and changes of sign in the yaw rate value.

[0146] The kite's successive and continuous description of 20 elliptical turns implies a rotation of 7200° in the same direction of the head 12 around the axis A, relative to the base 11. The kite's successive and continuous description of 50 elliptical turns implies a rotation of 18000° in the same direction of the head 12 around the axis A, relative to the base 11. This is made possible by the structure described above, where the head 12 can rotate freely and indefinitely in the same direction relative to the base 11 around the axis A.

[0147] The trajectory is elliptical or nearly elliptical relative to system 2 (assuming that the kite control lines 4 are of constant or nearly constant length during the trajectory description, i.e., they are neither wound nor unwound). Indeed, if the length changes during the trajectory description, the trajectory is an elliptical helix or nearly an elliptical helix. Similarly, if system 2 moves relative to a ground-based frame of reference during the trajectory description, the trajectory is an elliptical helix or nearly an elliptical helix relative to the ground-based frame of reference.

[0148] Such trajectories allow:

[0149] - to increase the speed of the kite wing (compared to the speeds of wings flown in a figure-eight pattern as known in the prior art), thereby increasing the lift of the wing and therefore the traction force on the lines 4 (see Figure 10 showing the temporal variations of the traction force by a wing flown according to the invention and see Figure 8 showing the temporal variations of the traction force by a wing flown in a figure-eight pattern as known in the prior art), and

[0150] - to limit the variations in the speed of the kite wing (compared to the variations in the speed of wings piloted in a "figure-eight" as known in the prior art), thus allowing to limit the variations in the traction force on the lines 4 (see figure 10 showing the temporal variations of the traction force by a wing piloted in accordance with the invention and see figure 8 showing the temporal variations of the traction force by a wing piloted in a "figure-eight" as known in the prior art).

[0151] Elliptical or circular trajectories are permitted by the attachment device according to the invention and, in particular, by the embodiments and variants of the attachment devices described above. Indeed, during the execution of these trajectories, the head 12 can rotate freely relative to the base 11 thanks to the mechanical linkage 13. It follows that the lines 4 do not twist or kink. Twisting or kinking of the lines 4 would prevent the correct control of the wing 31.

[0152] According to prior art, it appears that kites were previously flown in figure-eight patterns to avoid twisting or tangling of the lines.

[0153] Thanks to the invention, the traction power of system 2 supplied by kite 3 can be increased.

[0154] In order to pilot the kite according to the invention, i.e. along an elliptical trajectory, actuators 16 and 17 are appropriately controlled, in particular with the aid of modules 160 and 170.

[0155] The invention also relates to a computer program product comprising program code instructions stored on a computer-readable medium to implement the process described above when said program is run on a computer. In other words, the invention also relates to a computer program product downloadable from a communication network and / or stored on a computer-readable and / or computer-executable data medium, in which the program product includes instructions which, when the program is executed by the computer, cause the computer to implement the process described above.

[0156] The invention also relates to a computer-readable data recording medium on which is recorded a computer program comprising program code instructions for implementing the process described above, or to a computer-readable recording medium comprising instructions which, when executed by a computer, lead the computer to implement the process described above.

[0157] The invention also relates to a signal from a data carrier, carrying the computer program product described above.

[0158] Furthermore, thanks to the invention, the lashing device can include actuators very close to the system, at the bottom of the lines, and not at the wing level. The wing is therefore not weighed down by the actuators.

[0159] Thanks to the actuators, the lashing device can provide different control modes:

[0160] - static flight at the zenith,

[0161] - static flight at the edge of the window,

[0162] - dynamic figure-eight flight (classic), or

[0163] - dynamic flight with 360° rotations (i.e. according to the operating or piloting method that is the subject of the invention).

[0164] Thanks to the invention, and in particular thanks to its operation, the wing speed can be multiplied by a factor of 2 to 5 compared to known prior art solutions. The increase in wing speed results in a significant increase in lift (proportional to the square of the speed) and therefore a significant increase in the traction force on the lines. The traction power, or more generally the power delivered by the wing, can thus be increased.

[0165] In the case where the system is used to produce electricity as mentioned previously, one can, for example:

[0166] - unwinding or unwinding the lines when they are under significant tension (operating mode with elliptical flight path), and

[0167] - rewind the lines when they are slightly taut (for example during a static flight at the zenith).

[0168] During unwinding or winding, a first energy is recovered and, during rewinding, a second energy is consumed which is less than the first energy.

[0169] Of course, it is also possible to recover the energy generated by the movement of the towed system in the water, either by using a horizontal axis propeller dragging in the water, or by using a shovel with a horizontal axis, for example on the surface of the deck at the rear of the boat.

[0170] Thanks to the solutions described above, a kite can fly by tracing a succession of loops, as long as desired, with an elliptical or nearly elliptical shape, always rotating in the same direction, without the kite's tether lines becoming tangled. Furthermore, these solutions significantly reduce the amount of kite control required. It follows that:

[0171] - wear and tear, particularly fatigue, of the kite's control mechanisms (16, 17), and

[0172] - the energy consumption of the kite control means (16, 17) is significantly reduced.

Claims

DEMANDS:

1. A tethering device (1) for tethering a kite (3) to a system (2) such as (i) a floating craft or (ii) a rolling and / or sliding land vehicle or (iii) a power converter, the tethering device comprising: - a base (11; 111) intended to be fixed to a system (2), and - a head (12) intended to be mechanically connected to a wing (31) of a kite (3) via one or more lines (4), the head (12) and the base (11; 111) being mechanically connected by a mechanical link (13) allowing at least one free rotation of the head (12) relative to the base (11; 111) around an axis (A).

2. Lashing device according to the preceding claim, characterized in that the mechanical link (13) comprises or is a pivot link.

3. A lashing device according to any one of the preceding claims, characterized in that the lashing device comprises an element (14) tracking the azimuth of the head (12) relative to the base (11; 111) and / or in that the docking device includes an element (15) monitoring of the elevation of the head (12) relative to the base (11; 111).

4. Lashing device according to any one of the preceding claims, characterized in that the base (11; 111) comprises a screw fastening element (18) for attachment to the system (2) and / or in that the base comprises a flexible link element (19) for attachment to the system (2), such as a lashing.

5. Lashing device according to any one of the preceding claims, characterized in that it comprises a mass compensation element (20) for the head (12), such as a gas spring.

6. Lashing device according to any one of the preceding claims, characterized in that it comprises rotating electrical contacts (168) at a base (11; 111)-head (12) interface.

7. Kite control device (90) comprising a tethering device (1) according to one of the preceding claims.

8. Kite control device (90) according to claim 7, characterized in that the lashing device includes a first actuator (16) for controlling the lines of a kite (3), in particular the front lines (41) of a kite (3).

9. Kite control device (90) according to claim 8, characterized in that the first line control actuator (16) is at least partially implanted on the head (12) or on the base (11; 111).

10. Kite control device (90) according to any one of claims 7 to 9, characterized in that the tethering device includes a second actuator (17) for controlling lines (42) of a kite (3), in particular rear lines (42) of a kite (3).

11. Kite control device (90) according to claim 10, characterized in that the second line control actuator (17) is at least partially implanted on the head (12) or on the base (11; 111).

12. Layout (100) comprising: - a system (2), - a kite (3), and - a lashing device (1) according to one of claims 1 to 6 or a piloting device (90) according to one of claims 7 to 11.

13. A method for operating an arrangement according to the preceding claim and comprising a piloting device (90) according to any one of claims 7 to 11, characterized in that the kite is piloted so that it describes an elliptical or substantially elliptical trajectory comprising a succession of several elliptical turns, in particular an uninterrupted series of at least 20 elliptical turns, or even at least 50 elliptical turns.

14. Arrangement according to claim 12, characterized in that it comprises hardware and / or software elements (11; 111, 12, 13, 16, 17) implementing the process according to claim 13, in particular hardware (11; 111, 12, 13, 16, 17) and / or software elements designed to implement the process according to claim 13.

15. Product computer program comprising program code instructions recorded on a computer-readable medium to implement the method according to claim 13 when said program is running on a computer.

16. Computer-readable data recording medium on which is recorded a computer program comprising program code instructions for implementing the method according to claim 13.

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