Note: Descriptions are shown in the official language in which they were submitted.
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Description
Title of the invention: DOCKING DEVICE FOR AN UNDERWATER VEHICLE
[0001]The field of the invention is that of the devices and methods for
handling an
autonomous underwater vehicle or AUV to facilitate its recovery onboard a
carrying vessel, in a developed sea. The carrying vessel is, for example, a
surface ship or a submarine.
[0002] In a developed sea, the carrying vessel and the AUV that is to be
recovered
onboard the carrying vessel are, unless than are fitted with costly
stabilizers,
subject to high-amplitude movements. The movements, associated with the swell,
are random.
[0003] Furthermore, the maneuvering capabilities are limited: the AUV has very
little
power, especially at the end of its mission because its autonomy is optimized
with
regard to its energy carrying capacity. The carrying vessel is able to
maneuver
but the maneuvers are heavy and time consuming. The techniques employed for
recovering AUVs onboard a carrying vessel can be categorized into 2 broad
families.
[0004] In solutions involving directly capturing the AUV and directly
recovering it
onboard the carrying vessel, the AUV is "caught" directly from the carrying
vessel
using a cage, a landing net or a gripper for example, or else the AUV
positions
itself in a "zone" dedicated to recovery by the carrying vessel and in the
vicinity of
the latter. These solutions are relatively simple to implement in calm seas,
but the
level of risks to the hardware, and even to the operators, is extremely high
as
soon as the sea becomes developed.
[0005] In earlier capture solutions, the AUV is captured by a capture station
in such a
way that a link is created between the carrying vessel and the AUV, then the
capture station and the AUV are recovered onboard the carrying vessel. That
solution is used as a matter of preference in developed seas, because the risk
of
collision with the ship is largely reduced if not eliminated.
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[0006] The critical steps in the recovery of an AUV are the step of creating a
link
between the carrying vessel and the AUV and the step of bringing the AUV
onboard the ship. Use is generally made of a lifting tool, of the crane type,
available onboard for various lifting operations. This lifting tool allows the
AUV
connected te a capture station te be simply lifted onboard the carrying vessel
from the surface of the water and then set down on the platform of the
carrying
vessel.
[0007] Solutions in which the physical link between the AUV and the carrying
vessel
are established by means of a flexible link that is attached te the top of the
AUV
io se that it can subsequently be recovered from above using a device of
the crane
or gantry type, are known.
[0008] A solution of that type is disclosed in patent application FR 2931792,
filed by
the applicant company. That solution comprises a recovery cradle connected te
a
ship by a flexible link and comprising a body comprising receiving means
having
a flared shape able te accept the nose of the underwater vehicle, and against
which the nose of the AUV comes into abutment during a docking-together step.
The cradle comprises a dorsal beam extending above the AUV once the AUV
has completed the docking-together step. The cradle is intended te be
suspended from a cable in a position in which the beam is horizontal at a
predetermined depth se as te dock with the AUV. The cradle comprises blocking
means allowing the AUV te be secured te the beam once the AUV has completed
the docking-together step.
[0009] This solution allows the intervention, which could prove tricky in foul
weather,
of an operator for establishing the link between the ship and the autonomous
underwater vehicle te be avoided.
[0010] When the nose is housed in the receiving means and in abutment against
these means, under the action of the movement imparted by the AUV and of the
inertia of the cradle, the latter adopts a rotational movement in the
horizontal
plane and the vertical plane, which movement has the effect of aligning the
axis
of the beam with the axis of the AUV and of moving the beam closer te the wall
of
the AUV. The pressing of the dorsal beam against the wall of the AUV is thus
achieved through a dynamic effect of the impact between the AUV and the
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receiving means. This requires that the AUV be kept in motion at the moment of
the impact. That makes that this pressing-together is transitory. The cradle
returns to its horizontal position at the same depth after the effect of the
impact.
Now, because the AUV has to exhibit a longitudinal pitch (most commonly
referred to simply as "pitch") that is positive in order to be able to came
into
abutment against the receiving means without being impeded by the dorsal beam,
the dorsal beam moves away from the AUV after the effect of the impact. The
blocking of the AUV therefore has to be performed as soon as the axes of the
AUV and of the body become aligned in order to secure the AUV to the body
before the docking device returns to its initial inclination. The probability
of failure
to immobilize is high. Furthermore, the pressing of the dorsal beam against
the
vehicle is obtained only if the speed of the AUV is sufficient high at the
moment of
docking-together, and this means that the AUV is compelled to conserve enough
energy for the docking-together step, thus limiting the duration of its
mission.
[0011] Furthermore, the space delimited by the receiving means is limited and
the
AUV has to be controlled very accurately in order for it to be able to
position its
nose in the receiving means, and this represents a not-insignificant
disadvantage
in the event of foul weather.
[0012] It is an abject of the invention to limit at least one of the
aforementioned
disadvantages.
[0013] To this end, one subject of the invention is a docking device for an
underwater
vehicle, the docking device comprising a docking station able to be connected
to
a carrying vessel, the docking station comprising a body comprising a stop
allowing a movement of the underwater vehicle with respect to the body along a
longitudinal axis passing through the stop to be blocked, in a direction
directed
from the rear forward defined by the longitudinal axis, the docking station
comprising a guiding device for guiding the underwater vehicle toward the
stop,
the guiding device comprising a set of arms which are connected to the body
and
each comprising a distal end and a proximal end, the arms being distributed
around the stop, the set of arms being able to be in a deployed configuration
in
which it delimits a volume that flares toward the rear so as to allow the
underwater vehicle to be guided toward the stop, the distal end of each arm
being
situated behind the proximal end of the arm in the deployed configuration, the
set
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of arms being able ta be in a furled configuration in which a distal end of
each
arm of the set is closer ta the longitudinal axis than in the deployed
configuration
and in which the distal end is situated forward of the position occupied by
the
distal end in the deployed configuration sa that a length, along the axis x,
of a
volume delimited by the set of arms behind the stop is shorter in the furled
configuration than in the deployed configuration.
[0014] Advantageously, the docking station comprises locking means allowing
the
underwater vehicle, butting against the stop ta be secured ta the body.
[0015] In a first embodiment, at least one arm of the set is mounted with the
ability ta
slip with respect ta the stop along the axis in such a way that the arm
experiences a forward translational movement with respect ta the stop during
the
transition from the deployed configuration ta the furled configuration.
[0016] Advantageously, the proximal end of the arm is mounted with the ability
ta
pivot on a slider mounted with the ability ta slide with respect ta the stop
along in
such a way that the distal end is able ta move closer ta the axis x, through
the
rotation of the arm with respect ta the slider, as the slider advances along
the
axis during the transition from the deployed configuration ta the furled
configuration.
[0017] In a second embodiment, the proximal end of at least one arm of the set
is
fixed in terms of translation along the longitudinal axis with respect ta the
stop.
[0018] Advantageously, the proximal end of the arm is mounted with the ability
ta
pivot with respect ta the stop in such a way that the distal end is able ta
move
closer ta the axis x and ta advance along the axis x, by rotation of the
proximal
end with respect ta the stop during the transition from the deployed
configuration
ta the furled configuration.
[0019] Advantageously, the body comprises slots that are elongate along the
axis x,
accepting the distal ends of the arms in the furled configuration.
[0020] Advantageously, the body comprises a beam extending longitudinally
parallel
ta the longitudinal axis rearward away from the stop.
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[0021] Further features and advantages of the invention will become apparent
from
reading the detailed description which follows, which is given by way of
nonlimiting example, and by reference to the attached drawings in which:
[0022] Figure 1 schematically depicts a docking device according to the
invention,
5 hauled by a carrying vessel and approached by an AUV,
[0023] Figure 2a schematically depicts in side view a docking station having a
negative docking pitch, being approached by the AUV and having a set of arms
in
a deployed configuration,
[0024] Figure 2b schematically depicts in rear view the docking station in the
io configuration of figure 2a,
[0025] Figure 3 schematically depicts, in perspective, a phase of the AUV
docking-
together with the docking station 5,
[0026] Figure 4 schematically depicts, in perspective, a phase of the docking
station
being pressed against the AUV in abutment against a stop of the docking
station,
[0027] Figure 5 schematically depicts, in rear view, the docking station 5
pressed
against the AUV in abutment against the stop,
[0028] Figure 6 schematically depicts in plan view a partial view of figure 5,
[0029] Figure 7a schematically depicts in side view the docking station 5
pressed
against the AUV in abutment against the stop with the set of arms in the
furled
configuration,
[0030] Figure 7b schematically depicts a plan view of figure 7a,
[0031] Figure 7c schematically depicts one example of locking means,
[0032] Figure 8a schematically depicts handling means, the docking station
bearing
against a support of the handling means,
[0033] Figure 8b schematically depicts the handling means after pivoting with
respect
to figure 8a,
[0034] Figures 9a to 9d schematically depict a series of steps through which
the
guiding device according to one example of a first embodiment passes, in order
to transition from the deployed configuration to the furled configuration,
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[0035] Figures 10a to 10e schematically depict a series of steps through which
the
guiding device according to a second embodiment passes, in order to transition
from the deployed configuration to the furled configuration.
[0036] Figure 11 schematically depicts another example of a connection between
the
cable and the body of the docking station.
[0037] From one figure to another, the same elements are identified by the
same
references.
[0038] Figure 1 schematically depicts a docking device 1 according to the
invention
approached by an autonomous underwater vehicle AUV 2 and towed by a
carrying vessel 3 which may be a surface ship, namely one intended to navigate
on a water surface, or a submarine. The docking device 1 is able to establish
a
link between the carrying vessel 3 and the AUV 2, via a cable 4 connecting the
docking station 5 to the carrying vessel 3.
[0039] The cable 4 advantageously belongs to the docking device 1. It may be
intended to be connected to the docking station 5.
[0040] The docking device 1 comprises a submersible docking station 5 intended
to
be mechanically connected to the carrying vessel 3 in such a way that the
carrying vessel 3 hauls the fully submerged docking station 5 via the top of
the
docking station.
[0041] For example, the carrying vessel 3 is intended to be situated at a
shallower
depth than the docking station 5, although this is net compulsory, the
important
point being that the hauling point Tb of the cable on the carrying vessel 3 be
at a
shallower depth than the hauling point T of the cable on the docking station
5.
What is meant by the hauling point, aise known as the "tow point", is the
point at
which the cable is intended to exert a pulling force.
[0042] The docking device 1 comprises, for example, a connecting element 40
connected to the docking station 5 and able to collaborate with the cable 4 in
such a way as to allow the docking station 5 to be connected to the carrying
vessel 3 via the cable 4. The cable 4 is therefore fixed to the connecting
element
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40. The connecting element 40 absorbs the pulling force F exerted by the cable
4
on the body 7 of the docking station 5.
[0043] As visible in figure 2a, the AUV 2 extends longitudinally along a
longitudinal
axis xl of the AUV from a rear part 2AR as far as a nose 2N comprising the
front
end 2AV of the AUV 2. The AUV 2 is intended to move chiefly along the axis xl,
in the direction leading from the rear part 2AR the rear toward the front end
2AV
of the underwater vehicle 2.
[0044] The nose 2N has a shape that is flared in the direction from the front
end 2AV
toward the rear part 2AR. This shape is, for example, convex. lt, for example,
exhibits symmetry of revolution about its longitudinal axis xl. It is, for
example,
hemispherical overall.
[0045] The AUV 2 comprises a central part 20 that is cylindrical overall with
the axis
xl of the cylinder connecting the nose 2N to the rear part 2AR. The rear part
2AR
comprises a thruster 2P intended to propel the AUV 2.
[0046] The body 7 of the docking station 5 extends longitudinally along a
longitudinal
axis x of the body 7 from a rear end AR as far as a front end AV. The axis x
extends in the direction of the rear AR toward the front AV. The body 7
comprises
a beam 8 extending longitudinally parallel to the axis x.
[0047] In the remainder of the text, the terms front, in front of, rear and
behind are
defined in the direction of the axis x. Top and bottom are defined according
to a
vertical axis of an earth frame of reference.
[0048] The body 7 also comprises a stop 9. The beam 8 extends longitudinally
from
a rear end of the beam 8 toward the stop 9, for example as far as the stop 9.
The
stop 9 is solid with the beam 8.
[0049] As visible in figure 2b, which depicts a rear view of the docking
station 5 in the
position of figure 2a, the stop 9 has, for example, a shape that is concave so
as
to be able to accept the nose 2N of the AUV. The shape of the stop 9 is, for
example, a shape that complements that as part of the nose 2N comprising the
front end 2AV. This shape is nonlimiting; it could, for example, as a variant,
have
the shape of a ring, the shape of a plate perpendicular to the axis x. The
stop 9
may extend continuously over its entire surface or else may have at least one
opening (it may for example have a latticework structure); it may have a fixed
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shape or may be deformable under the effect of the pressure of the AUV bearing
against it.
[0050] The stop 9 is able to block the movement of the AUV with respect to the
body
7 along the axis x passing through the stop 9 in the direction defined by the
axis x
(namely toward the front AV of the docking station 5) when the nose 2N of the
AUV cornes to bear against the stop 9, during a docking-together phase
depicted
in figure 3.
[0051] The beam 8 diverges from the stop 9 toward the end AR of the body 7 of
the
docking station 5. In that way, the beam 8 extends facing the AUV 2 when the
AUV 2 is in abutment against the stop 9. More specifically, the beam 8 extends
facing a part of the AUV 2 which part is situated behind the nose 2N in
abutment
against the stop 9. The AUV 2 advances along the beam 8 toward the stop 9 in
order to corne to bear against the stop 9.
[0052] In the embodiment depicted in the figures, the beam 8 and the stop 9
are
arranged relative to one another in such a way that the beam 8 extends above
the AUV 2 when the nose 2N of the AUV 2 is in abutment against the stop 9.
[0053] The buoyancy acting on the body is the resultant of the difference
between
the Archimedean upthrust and the weight of the body. This force may be
directed
upward (positive buoyancy, weight less than Archimedean upthrust) or downward
(negative buoyancy, weight greater than Archimedean upthrust). The fully
submerged docking station 5 advantageously has negative buoyancy in the liquid
in which it moves, for example freshwater or seawater. The docking station 5
is
therefore heavy. The negative buoyancy of the docking station has a positive
effect on achieving, as it desired and described later on the text, a pressing
of the
docking station against the AUV, because the station has a tendency to sink.
This
configuration offers the advantage of avoiding the need to provide means or a
hydrodynamic configuration for causing the station to dive, such as, for
example,
means for adjusting the buoyancy of the station or adjustable orientation
fins,
which are means that are expensive and restrictive.
[0054] In a variant, the docking station 5 has zero or positive buoyancy.
[0055] It should be noted that the docking station 5 is intended to be hauled
by the
carrying vessel 3, in the direction from the rear AR toward the front AV, when
the
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AUV 2 approaches the stop. Thus, the axis x has a preferred direction thereby
allowing the AUV to reach the stop more easily.
[0056] Advantageously, the docking station 5 is hydrodynamically prof iled and
has a
center of gravity and a center of buoyancy which are arranged in a particular
way,
and the tow point T is able to occupy a position defined in a particular way
such
that the docking station 5 has negative predetermined docking pitch (the front
end AV situated at a greater depth than the rear end AR) when the docking
station 5 is fully submerged and hauled by the carrying vessel 3 from the top
at a
positive predetermined speed in the direction of the longitudinal axis x, as
io depicted in figure 1, 2a and 2b and 3. The pitch of the docking station
5 is the
pitch of the body 7 of the docking station on which the pull of the cable is
exerted.
[0057] The docking pitch is fixed when the speed is fixed.
[0058] The position of center of buoyancy of the fully submerged docking
station 5 is
defined by the shape of the docking station and the position of its center of
gravity is defined by the distribution of the mass of the docking station 5.
[0059] It may be seen from figures 1, 2a, 2b and 3 that, with a negative
pitch, the
docking station 5 is in a position favorable to docking-together, thereby
allowing
the AUV 2 to come into abutment against the stop 9 with a wide tolerance on
the
path of the AUV 2.
[0060] The risks of the AUV 2 striking the beam 8 (and particularly the end
AR)
during docking-together are low. This solution means that the adjusting of
ballasts or docking-together with an upward velocity of the AUV 2, which would
add to the complexity of the docking-together phase can be avoided. The
proposed solution is therefore robust and economical. The beam also has a
function of guiding the AUV 2.
[0061] In order to attain the docking negative pitch, the tow point T is able
to occupy
a docking position situated behind the point at which the resultant of
gravity, the
Archimedean upthrust and the hydrodynamic force is applied.
[0062] The position of the tow point T with respect to the body 7 along the
axis x may
be fixed or variable as will be seen later. In the case of the tow point T
having a
variable position with respect to the body 7 along the axis x, at least one of
its
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positions along the axis x is defined in such a way as to allow the docking
pitch to
be obtained.
[0063] Advantageously, the docking station 5 is hydrodynamically prof iled in
such a
way that the resultant of the thrust generated by the part of the docking
station
5
situated behind the docking position of the tow point is oriented downward or
is
zero, when the fully submerged docking station is being towed by a surface
vessel in the direction from the rear AR toward the front AV. The docking
station
5 is then also in a position of equilibrium in terms of roll (zero list).
Thus, the
docking negative pitch is obtained chiefly through hydrostatic forces. In this
way,
10 the tow
point is advantageously able to occupy a docking position situated behind
the point at which the resultant of the gravity and the Archimedean upthrust
is
applied.
[0064] As a preference, the tow point T is able to occupy a tow point position
situated
behind the center of gravity.
[0065] Advantageously, the docking device is configured so that the tow point
T
occupies its docking position when the fully submerged docking station is
being
hauled by the carrying vessel 3 before the AUV 2 cornes into abutment against
the stop.
[0066] When the AUV 2 cornes into abutment against the stop 9, as visible in
figure 3,
the beam 8 presses against the AUV 2 during a pressing-together phase, as
visible in figure 4, under the action of a dynamic effect caused by the
forward
movement imparted by the AUV in abutment against the stop 9. This pressing-
together is obtained by a rotational movement of the docking station 5 and of
the
beam 8 in the vertical plane.
[0067] The docking device comprises locking means, for example a set of at
least
one latch, allowing the body 7 to be secured to the AUV 2 when the beam 8 is
bearing against the AUV 2. The AUV 2 is then connected to the carrying vessel
3
via the cable 4.
[0068] Locking takes place during a capture phase that cornes later than the
pressing-together phase.
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[0069] When the AUV 2 cornes into abutment against the stop 9, the docking
station
is driven forward by the AUV 2, along the axis x, and this has the effect of
relaxing the cable 4 which no longer pulls on the docking station 5.
[0070] Advantageously, the docking station is hydrodynamically configured and
has
5 a center of gravity and a center of buoyancy which are positioned in such
a way
that a first return torque is applied to the fully submerged docking station 5
having
the docking pitch when the AUV 2 is in abutment against a point P of the stop
9,
as depicted in figure 3, so as to press the dorsal beam 8 against the AUV 2
through rotation of the docking station 5 with respect to the AUV 2 in a
vertical
plane defined in the earth frame of reference.
[0071] The docking pitch is advantageously comprised between ¨ 150 and -50
.
[0072] Thus, the dorsal beam 8 cornes to press against the AUV, as depicted in
figure 4, in a lasting manner. This lasting pressing allows enough time for
the
AUV 2 to be secured to the body 7 during a capture phase. The risk of failed
capture of the AUV is thus limited. This solution allows the pressing of the
dorsal
beam 8 against the AUV 2 to be achieved even if the speed of the AUV 2 at the
time of docking-together is low; all that is needed is for the AUV 2 to be
going
slightly faster than the docking station 5 at the moment of docking-together,
so as
to drive the docking station 5 forward and relax the cable 4. Once the cable 4
is
relaxed, the first hydrostatic torque presses the dorsal beam onto the AUV 2.
This
solution is advantageous because the AUV 2 generally has a limited reserve of
energy at the end of a mission, at the time of docking-together. A maximum
quantity of energy can thus be used during the mission, the duration of which
can
thus be increased.
[0073] The lasting-pressing effect is obtained when the pitch of the AUV 2 is
greater
than that of the docking station 5. The pressing effect is therefore obtained
particularly when the AUV 2 starts to dock-together with the docking station 5
with its longitudinal axis x1 horizontal for example.
[0074] Advantageously, the docking station is configured in such a way as to
experience a first return torque when its pitch is zero (axis x horizontal)
and the
beam 8 is bearing against the AUV 2 so as to tend to press the beam 8 against
the AUV. That makes it possible to achieve lasting pressing.
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[0075] Once the AUV is bearing against the stop, the moments applied to the
docking station 5 are no longer balanced about the tow point but about the
point
P of the stop 9, against which the AUV 2 is in abutment. The first return
torque is
therefore exerted about a horizontal axis of rotation r depicted in figure 2b
passing through the stop 9, for example through the point P via which the AUV
2
bears against the stop 9 in the direction depicted in figure 3. This point P
is a stop
point.
[0076] Le point P is, for example, the point at which the resultant of the
force of the
vehicle bearing against the stop 9 is intended to be exerted when the axes x
and
X1 are parallel.
[0077] The first return torque has a tendency to cause the beam 8 to rotate
about the
axis of rotation r so as to lower the rear end AR with respect to the stop 9.
[0078] In order to obtain the return torque that ensures the lasting passing,
the
docking position of the tow point T is advantageously to the rear of the stop
9,
preferably to the rear of the point P. This solution is simple and avoids the
need
to provide complex means employing hydrodynamics in order to obtain the first
return torque.
[0079] Advantageously, the docking station is hydrodynamically prof iled in
such a
way that the effect of the hydrodynamic forces on the pressing-together is
negligible, namely that the resultant of the moments of the hydrodynamic
forces
with respect to the stop is substantially zero when the docking station
exhibits the
docking pitch and/or a zero pitch. The first return torque is then
substantially a
first hydrostatic return torque. In such cases, lasting pressing is then
independent
of the speed (difference between the horizontal speed of the AUV and the speed
at which the docking station is being hauled at the moment at which the AUV
comes into abutment against the stop 9) and is achieved even when the speed is
high.
[0080] A negligible hydrodynamic effect may, for example, be obtained by
providing
a set of at least one rear empennage situated near the rear AR of the station
and
configured to generate downward thrust. The empennage needs to be
dimensioned for this purpose as a function of the rest of the docking station.
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[0081] In ail cases, the docking station advantageously has a center of
gravity and a
center of buoyancy that are positioned in such a way that a first hydrostatic
return
torque is exerted on the fully submerged docking station 5 exhibiting the
docking
pitch when the AUV 2 is in abutment against the stop 9, as depicted in figure
3,
so as to press the dorsal beam 8 against the AUV 2 by rotation of the docking
station 5 with respect to the AUV 2 in a vertical plane defined in the earth
frame
of reference. That ensures lasting pressing, at least at low speed.
[0082] The first hydrostatic return torque experienced by the docking station
5 about
the axis of rotation r passing through P is the sum of the torque associated
with
gravity exerted on the docking station 5 about that same axis and of the
torque
associated with the Archimedean upthrust exerted on the docking station 5
about
that same axis. Thus, in order to obtain the pressing-together effect, the
shape of
the docking station 5 and the mass distribution of this docking station 5 are
defined in such a way that the positions of the center of gravity and of the
center
of buoyancy of the docking station 5 give rise to this first hydrostatic
return torque.
The mass of the docking station 5 generates a downward force applied at the
center of gravity and the volume generates an upward force (the Archimedean
upthrust) applied at the center of buoyancy. This solution offers the
advantage of
being simple, reliable and inexpensive. As it is passive, this solution does
not
require any variable-density equalizing device of the ballast type in order to
ensure the pressing-together against the AUV.
[0083] Advantageously, the center of gravity and the center of buoyancy of the
body
7 of the fully submerged docking station 5 occupy fixed positions.
[0084] One of the possible options for obtaining the first hydrostatic torque
which
ensures the desired pressing-together, is for the docking station 5 to be
configured in such a way that the center of gravity of the docking station 5,
and
possibly that of the body 7, is positioned behind the stop 9 or behind the
point P.
[0085] The position of the center of buoyancy of the docking station 5, and
optionally
that of the body 7, may be situated in front of the stop 9 or in front of the
point P
along the longitudinal axis x of the docking station 5. However, the position
of the
center of buoyancy has a significant effect only if the docking station is not
very
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heavy. When the docking station is very heavy, a center of buoyancy situated
behind the stop or even behind the center of gravity may be envisioned.
[0086] Advantageously, the centers of gravity and of buoyancy are positioned
in such
a way that the docking station always experiences the first hydrostatic return
torque when its pitch is zero (axis x horizontal) and the beam 8 is bearing
against
the AUV 2.
[0087] It should be noted that the first return torque or the first
hydrostatic return
torque is applied to the docking station when the cable is not applying any
pull to
the docking station 5. The docking station 5 is then pushed forward by the
AUV.
The cable is slack. The docking station 5 may experience, but no longer
necessarily experiences, this first return torque or this first hydrostatic
return
torque when the cable is once again hauling the docking station 5.
[0088] As visible in figures 3 and 5, the body 7 may comprise an empennage 10
situated behind the stop 9. The empennage 10 is positioned near the rear end
of
the beam 8 or at the end of the beam 8, near the rear AR of the body 7. This
empennage is configured to generate downward thrust. It is then possible to
alter
the density of the empennage in order to alter the position of the center of
gravity
of the station.
[0089] In the nonlimiting embodiments of the figures, the body 7 of the
docking
station 5 comprises an empennage 10 in the shape of an inverted V comprising
two individual empennages 10a, 10b each forming one of the branches of the
inverted V.
[0090] Advantageously, although not necessarily, the center of gravity and the
center
of buoyancy of the docking station 5 or of the body 7 are positioned in such a
way
that the docking station 5 has a positive pitch in equilibrium when subjected
only
to Archimedean upthrust and to gravity. That encourages the pressing-together.
[0091] In a variant, the pitch in equilibrium is, for example, zero.
[0092] Figure 5 depicts, schematically in rear view, the docking station and
the
AUV 2 in the configuration of figure 4. In this configuration, the AUV 2 is in
abutment against the stop 9, its longitudinal axis x1 being coincident with
the axis
x. The longitudinal axis x passes through the point P. It is intended to bear
the
reaction of the stop 9 when the AUV 2 is bearing against the stop 9.
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[0093] Advantageously, the docking station 5 is configured in such a way that
its
center of gravity and its center of buoyancy are positioned in such a way that
when the AUV 2 is in abutment against the stop 9 and the dorsal beam 8 is
pressed against the AUV 2, with the docking station 5 fully submerged, a
second
5
hydrostatic return torque is applied to the docking station 5 about the
longitudinal
axis x when the longitudinal axis x is horizontal so that the docking station
5 has
a position of stable equilibrium in rotation about the longitudinal axis x
with
respect to the AUV 2 as depicted in figures 4 and 5. The second hydrostatic
return torque prevents the docking station 5 from tilting to the side under
static
10
conditions, namely prevents the docking station 5 from rotating with respect
to
the AUV 2 about the longitudinal axis x. The position of the docking station 5
that
is depicted in figures 4 and 5 is stable in terms of rotation about the
longitudinal
axis x.
[0094] Advantageously, the docking station 5 is configured in such a way that
its
15 center
of gravity and its center of buoyancy are positioned in such a way that
when the AUV 2 is in abutment against the stop 9 and the fully submerged
docking station 5 exhibits a zero pitch and preferably when the pitch is
comprised
between a pitch comprised between the docking pitch and a zero pitch, a second
hydrostatic return is exerted on the docking station 5 about the longitudinal
axis x
such that the docking station 5 exhibits a position of stable equilibrium in
rotation
about the longitudinal axis x with respect to the AUV 2, preventing the
docking
station 5 from tilting before it has become pressed against the AUV.
[0095] Advantageously, the position of stable equilibrium is the position of
equilibrium
in roll.
[0096] This position is, for example, a position of zero list in which a
vertical plane
comprises the longitudinal axis x which is the axis of roll and constitutes an
axis
of symmetry of the docking station 5. In the position of equilibrium for roll,
the
center of gravity and the center of buoyancy lie in the one and the same
vertical
plane containing the axis x.
[0097] In a variant, the docking station 5 has a non-zero list of a few
degrees in the
position of equilibrium for roll.
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[0098] This stability with regard ta roll makes the recovery of the AUV easier
because the station also occupies this position that is stable for roll before
docking together with the AUV.
[0099] In the nonlimiting embodiment of figure 1, the vertical plane is a
plane of
symmetry of the inverted-V-shaped empennage which straddles the AUV when
the docking station is pressed against the AUV, as visible in figure 5.
[0100] In order ta prevent the docking station 5 from tilting ta the side, the
center of
gravity of the docking station 5 is vertically offset with respect ta the
center of
buoyancy of the docking station 5, when the beam 8 is pressed against the AUV
io in abutment against the stop 9 and the pitch of the docking station is
the zero
pitch and preferably when it is comprised between the docking pitch and the
zero
pitch.
[0101] Ta this end, the center of gravity is situated below the center of
buoyancy
when the pitch of the docking station is zero and preferably when it is
comprised
between the docking pitch and the zero pitch or at least when the pitch is
zero.
This allows the position of equilibrium for roll ta be achieved when the cable
is
slack.
[0102] In one embodiment of the invention, the center of gravity is situated
below the
axis x when the pitch of the docking station is comprised between the docking
pitch and the zero pitch or at least when the pitch is zero. This solution is
simple;
it avoids the need ta provide a very high center of buoyancy. The center of
buoyancy may even likewise be below the axis x (particularly for a heavy-
station
configuration).
[0103] Ta this end, the docking station 5 (or else the body 7 of the docking
station)
comprises an upper part PS situated above a horizontal plane H containing the
horizontal axis x and a lower part PI situated below the horizontal plane when
the
docking station 5 is in its position of stable equilibrium. The mass
distribution of
the docking station 5 is chosen sa that the mass of the lower part PI is
greater
than that of the upper part PS. In that way, the center of gravity is below
the axis
x. The shape of the docking station is defined sa that the center of buoyancy
is
situated above the center of gravity. The volume of the liquid displaced by
the
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17
upper part PS may for example be equal to the volume of liquid displaced by
the
lower part.
[0104] In the nonlimiting embodiment of the figures, each individual empennage
10a,
10b extends from the beam 8 as far as a lower end of the individual empennage
10a, 10b situated in the lower part PI of the station 5, namely deeper than
the
axis x when the longitudinal axis is horizontal and the carrying structure 5
is in the
position of stable equilibrium. This configuration allows the position of the
center
of gravity to be lowered. It is possible to alter the mass of the empennages
in
order to position the center of gravity as low down as possible. It is
possible for
example to envision fitting ballast weights to the lower end of each
individual
empennage.
[0105] The docking device according to the invention allows a simple, passive
and
robust capture process.
[0106] In a variant, the beam 8 and the stop 9 are arranged relative to one
another in
such a way that the dorsal beam extends above the AUV 2 when the nose of the
AUV is in abutment against the stop 9.
[0107] Advantageously, as visible in figure 2a, the tow point T is able to
move along
the longitudinal axis (x) with respect to the body 7.
[0108] The mobility of the tow point allows the pitch of the docking station
to be
adapted according to its speed, its status (with or without AUV) or the phase
of
the mission (capture of the AUV, or recovery of the station onboard the ship).
That allows the impact of the movements of the ship associated with the swell
to
be minimized by releasing or regaining the tension in the cable.
[0109] For example, as visible in figure 11, the tow point T is able to slide
along the
axis x with respect to the body 7.
[0110] The cable is for example fixed to a yoke 40 mounted with the ability to
pivot
about an axis of rotation y with respect to the body 7, the axis of rotation y
being
mounted with the ability to slide with respect to the body 7 along an axis x2
parallel to the longitudinal axis x. For this purpose, the body 7 comprises
for
example a guide slot 41 extending longitudinally parallel to the axis x and
accepting the axis of rotation y.
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[0111] An actuator, for example a hydraulic ram, an electric ram or a rack
system
may allow the axis y to be made to slide with respect to the body 7. Note
that,
unless the dynamic movement is very rapid, the pulling force is always
oriented in
the same direction along the axis x. A single-acting ram may be sufficient. A
double-acting ram may be advantageous if rapid servocontrol is desired.
[0112] Advantageously, the cable 4 is connected to the body 7 of the docking
station
5 in such a way that the tow point T advances along the axis x with respect to
the
body 7 when the AUV 2 cames into abutment against the stop 9, for example
under the effect of the AUV bearing against the stop 9. In other words, the
adjusting means are configured to advance the tow point along the axis x with
respect to the body 7 when the AUV 2 comes into abutment against the stop 9.
This accelerates the pressing of the beam 8 against the AUV 2 and allows the
power requirement of the AUV to be minimized.
[0113] Advantageously, the cable 4 is connected to the body 7 of the docking
station
5 in such a way that the tow point T is positioned along the axis x with
respect to
the body 7 in a docking position of the tow point T that is such that the
docking
station 5 exhibits a negative pitch when the fully submerged docking station
is
being hauled by the carrying vessel before the AUV cames into abutment with
the
AUV (before docking-together).
[0114] This docking position of the tow point is advantageously behind the
stop 9.
[0115] The docking device 1 comprises adjusting means for adjusting the
position of
the tow point T with respect to the body 7 along the axis x. The adjusting
means
may be passive (without control means of the program type) or active
(controlled
remotely by an operator or by means of control of the station).
[0116] The passive adjusting means may comprise a spring situated to the rear
of
the tow point, connected to the beam and connected to the tow point which is
in a
guideway. The position of the tow point, with the spring compressed, is
maintained by a catch which is connected to the stop 9 and which is released
by
the AUV pushing against the stop 9: the spring then relaxes and pushes the tow
point forward.
[0117] Advantageously, as visible in figure 6, the docking station 5 comprises
a
guiding device 50 comprising a set E of guiding arms 51 arranged around the
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19
stop. The set E of arms 51 able to be in a deployed configuration depicted in
figures 2a, 2b, 3, 6a and 6b in which it is able to guide the AUV 2 toward the
stop
9. The deployed configuration of the arms is stable in the absence of an AUV
bearing against the guiding structure.
[0118] In the deployed configuration, the set of arms delimits a first volume
able to
rece ive the nose 2N of the AUV 2 and which flare out away from the stop 9
along
the axis x toward the rear so as to be able to guide the AUV 2 toward the stop
9
in order to transition in the configuration of figure 1 to that of figure 3
during the
docking-together phase in which the set E of arms is in the deployed
configuration.
[0119] As visible in figures 2a, 2b and 3, the arms 51 are arranged around the
stop 9
and angularly distributed about the axis x. Each arm 51 of the set E of arms
has a
distal end ED and a proximal end EP which have been referenced on just a
single arm in figure 6 for the sake of greater clarity. Each arm 51 of the set
of
arms E is connected to the body 7 by its proximal end EP.
[0120] In the deployed configuration visible in figure 6, the distal end ED of
each arm
51 of the set E is situated behind the proximal end EP. In other words, the
distal
end ED is closer to the rear end AR of the body 7 than a proximal end EP of
the
arm via which end the arm is connected to the body 7.
[0121] The set of arms E may be fixed or may have a single stable
configuration
which is the deployed configuration.
[0122] Advantageously, the set of arms 51 is able to be in a furled
configuration as
visible in figures 7a and 7b. The arms advantageously transition from the
deployed configuration to the furled configuration during a phase of furling
the set
E which phase is implemented after the docking-together phase and preferably
after the phase of pressing-together with and/or capture of the AUV 2.
[0123] As visible in figures 7a and 7b, in the furled configuration, each
distal end ED
is closer to the axis x than in the deployed configuration. In other words,
during
the furling of the arms, the distal end ED of each arm 51 moves closer to the
axis
x from its position in the deployed configuration, until it reaches its furled-
configuration position.
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[0124] The furled configuration allows the docking station 5 to be rendered
more
compact outside of the docking-together and capture phases so as not to
clutter
the deck of the carrying ship. It allows arms of substantial length to be
provided,
which arms may thus, in the deployed configuration, delimit a first volume of
5 substantial size, in a plane referred to as transverse, perpendicular to
the axis x,
thereby providing guidance of the AUV toward the stop 9 with a wide tolerance
on
the path of the AUV. It also allows the AUV to be guided over a substantial
distance along the axis x.
[0125] The docking device comprises locking means able to collaborate with the
10 AUV to secure the AUV to the body 7 of the docking structure 5 during a
capture
phase. Advantageously, the locking means are configured to allow the body 7 to
be secured to the AUV 2 when the arms are in the deployed configuration and/or
when the arms are in the furled configuration.
[0126] These locking means may be present even in the absence of the guiding
15 device.
[0127] The locking means may comprise at least one latch 43, one example of
which
is depicted in figure 7c, comprising a hook 44 able to be in a retracted
position
retracted inside the body 7, for example inside the beam 8, and in a
projecting
position depicted in figure 7c, in which position it is able to enter the body
of the
20 AUV to collaborate with an attachment 45 of the AUV in order to keep the
body of
the station fixed with respect to the body of the AUV. This type of locking
means
is entirely nonlimiting. The docking station may for example comprise arms
able
to surround the body of the AUV so as to block the body of the AUV with
respect
to the body of the docking station 5.
[0128] The docking device advantageously forms part of a recovery device 100
comprising handling means 102 depicted in figure 8a comprising means for
hauling in the cable 4, such as a winch for example, during a hauling-in phase
subsequent to the capture until the capture station 5 cames to bear against a
support 101 of the handling means 102. The support 101 is able to block the
translational movement of the capture station and of the AUV secured to the
body
of the capture station in the upward direction. It may also be able to prevent
the
vehicle from pivoting about a vertical axis. The handling means 102 further
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21
comprise movement means 103 allowing the docking station 5 connected to the
AUV and bearing against the support 101 to be moved so that it can be set down
on a support of the vehicle 104. The movement means 103 comprise for example
a crane from which is suspended the support 101 comprising articulated arms.
The movement means comprise drive means for pivoting an arm 105 of the crane,
from which arm the support 101 is suspended, about a horizontal axis so as to
bring the AUV connected to the capture station 5 to face the support, as
depicted
in figure 8b, and means for lowering the support 101 so as to set the AUV
connected to the capture station down on a support 106 of the AUV. In the
nonlimiting embodiment of figure 8b, the support 106 has a bearing surface 107
of a shape that more or less complements the central part 20 of the AUV 2,
namely in the shape of a portion of a cylinder.
[0129] In the furled configuration, the set E of arms 51 delimits a volume of
reduced
size in the transverse plane thereby allowing the capture station to be
handled
and stored onboard the carrying ship 3 more easily.
[0130] The fact that the set E of arms 51 is furled after the capturing of the
AUV 2
makes the AUV 2 easier to handle. Specifically, it is possible to set the AUV
2
down on a support of the vehicle having a simple shape that complements that
of
the AUV 2, for example the shape of a portion of a cylinder, by bringing all
or
most of the length of the cylindrical part of the AUV to rest on the support
of the
vehicle, while limiting the risks of tilting of the AUV liable to be induced
by the
docking station and thus improving its stability. Furthermore, it is possible
to set
the AUV down on its support directly using the crane or the gantry used for
lifting
the docking device. There is no need, beforehand, to detach the AUV from the
body 7 of the docking station 5. Handling is thus greatly simplified by
comparison
with a cage or landing net which requires the tricky step of extracting the
AUV
from the docking device before setting it down on its support.
[0131] The furling of the arms is particularly advantageous in the case of a
beam 8
that extends along the top of the AUV, but may also be advantageous in the
case
of a beam extending along the bottom of the AUV.
[0132] Advantageously, each arm 51 of the set E of arms or at least one arm of
the
set of arms is furled against the body 7 in the furled configuration. This
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22
configuration provides a good deal of compactness in the furled configuration
and
thus improves the stability of the AUV on its support.
[0133] Advantageously, each arm 51 of the set E of arms or at least one arm
extends
longitudinally substantially parallel to the longitudinal axis x in the furled
configuration. In other words, the set of arms delimits a volume exhibiting
substantially the shape of a portion of a cylinder in the furled
configuration. This
configuration ensures good compactness in the furled configuration and further
improves the stability of the AUV on its support.
[0134] In the nonlimiting example of figures 6 to 7a, 7b, the distal ends ED
of the
1.0 arms 51 are free.
[0135] In the furled configuration, each distal end ED is in front of the
position it
occupies in the deployed configuration. In other words, during the furling of
the
arms, the distal end ED of each arm 51 advances, along the axis x and in the
direction of the axis X, from its position in the deployed configuration as
far as its
position in the furled configuration.
[0136] In this way, the length, along the axis x, of the volume delimited by
the set of
arms E along the axis x behind the stop 9 is reduced or eliminated if the arms
51
extend entirely forward of the stop 9 in the furled configuration. These
particular
dynamics of the arms 51 allow the periphery of the AUV 2 to be freed up at
least
partially after capture, through the furling of the set of arms.
[0137] This configuration is particularly advantageous for instances in which
the
beam is arranged with respect to the stop in such a way as to be intended to
be
situated above the AUV in abutment against the stop 9. It reduces or avoids
the
masking of a sensor or of an antenna positioned on the belly or the sides of
the
AUV, for example a sonar intended to image the seabed. The AUV 2 can
therefore continue its mission, for example a sonar imaging mission, even
after
docking together. This feature is of benefit when the AUV is secured to the
docking station 5 only temporarily, for example with a view to recharging its
batteries and/or to recover data.
[0138] This reasoning also applies to the case of a beam 8 arranged with
respect to
the stop 9 in such a way as to be intended to be positioned under the AUV in
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abutment against the stop, for example in order to avoid masking sensors or
antennas situated on the top or the sides of the AUV.
[0139] Two embodiments of guiding devices are depicted in figures 9a to 9d and
10a
to 10e.
[0140] In a first embodiment, of which an example is depicted in figures 9a to
9d, the
distal end ED of the arm advances forward while constantly remaining behind
the
proximal end EP, during the transition from the deployed configuration to the
furled configuration.
[0141] In the nonlimiting example of figures 9a to 9d, each arm 51 of the set
is
1.0 mounted
on the body 7 of the docking station in such a way that the arm 51
advances forward, with respect to the stop 9, during the transition from the
deployed configuration to the furled configuration.
[0142] In the nonlimiting example of figures 9a to 9d, each arm 51 is mounted
with
the ability to slide with respect to the stop 9 along the axis x in such a way
that
the arm 51 experiences a forward translational movement, with respect to the
stop 9, during the transition from the deployed configuration of figure 9a to
the
furled configuration of figure 9d, via the successive intermediate
configurations of
the successive figures 9b and 9c.
[0143] Thus, each arm 51, overall, experiences a forward translational
movement
along the axis x, with respect to the body 7, during the transition from the
deployed configuration to the furled configuration. The distal end ED of each
arm
51 remains behind its proximal end EP during the transition from the deployed
configuration to the furled configuration.
[0144] To that end, the proximal end EP of the arm 51 is mounted with the
ability to
pivot on a slider 52 mounted with the ability to slide with respect to the
stop 9
along the axis x in such a way that the distal end ED is able to move closer
to the
axis x, through the rotation with respect to the slider 52, as the slider 52
advances along the axis x during the transition from the deployed
configuration of
figure 9a to the furled configuration of figure 9d.
[0145] In order for the distal end ED to move closer to the axis x by rotation
with
respect to the slider 52, when the slider 52 advances along the axis x during
the
transition from the deployed configuration to the furled configuration, the
guiding
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device advantageously comprises drive means or coupling means able
simultaneously to generate a movement of the slider 52 toward the front AV, a
rotation of the arm about the axis of the pivot connection connecting the
proximal
end EP to the slider 52 in a defined direction such that the distal end ED of
the
arm 51 moves closer to the axis x, and vice versa.
[0146] In the particular example of figures 9a to 9d, the proximal end EP of
each arm
51 is mounted on a slider 52 mounted with the ability to slide with respect to
the
body 7 of the docking station along the longitudinal axis x. The proximal end
EP
of each arm 51 is mounted on the slider 52 by a pivot connection that is fixed
with
1.0 respect to the slider 52 and with the pivot connection having an axis
of rotation
substantially tangential to the axis x. The drive means comprise forks 53 in
the
form of connecting arms distributed angularly about the longitudinal axis x.
Each
fork 53 is connected to one of the arms 51. A first longitudinal end El of the
fork
53 coupled to an arm 51 is connected to the arm 51 by a first pivot connection
of
axis substantially tangential to the axis x positioned between the proximal
end EP
and the distal end ED of the arm 51. A second longitudinal end E2 of the fork
53
is connected to the body 7 by a second pivot connection of axis substantially
tangential to the axis x. The second end E2 of the fork is positioned behind
the
slider 52 along the axis x. In this way, when the set E of arms 51 is in the
deployed configuration, a translational movement of the slider 52 with respect
to
the body 7 toward the front AV along the axis x gives rise, through the
articulations of the forks to the arms, to a forward translational movement of
the
arms 51 combined with a moving of the distal ends of each arm 51 of the set
closer to the axis x.
[0147] In a variant, the proximal end of each of the arms is mounted on a
connecting
rod which causes it to move in a curved line during the transition from the
deployed position to the furled position. Each arm advances forward with
respect
to the stop during the transition from the deployed position to the furled
position,
but the movement of the proximal end is not a movement of sliding along the
axis
x.
[0148] In another variant, the arms for example exhibit a length that is
variable; they
are mounted on the body 7 and can be controlled, and preferably are
controlled,
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in such a way that the distal ends ED of the arms advance during the
transition
from the deployed configuration to the furled configuration.
[0149] For example, each arm is connected to the body by its proximal end EP.
The
proximal end EP is fixed in terms of translation along the longitudinal axis
x, with
5 respect to the body, and mounted with the ability to pivot with respect
to the stop
in such a way that the distal end ED moves closer to the axis x through
rotation of
the proximal end with respect to the stop during the transition from the
deployed
configuration to the furled configuration, and each arm is controlled in such
a way
that its distal end ED advances during transition from the deployed
configuration
10 to the furled configuration. In this way, each arm is controlled in such
a way that
its length decreases as the distal end moves closer to the axis x.
[0150] In another embodiment depicted in figures 10a to 10e, each arm 151 is
connected to the body 7 by its proximal end EPb. The proximal end EPb is fixed
in terms of translation along the longitudinal axis x with respect to the body
7.
15 [0151] The proximal end EPb of the arm 151 is mounted with the ability
to pivot with
respect to the stop 9 in such a way that the distal end EDb is able to move
closer
to or does move closer to the axis x and advance along the axis x, through
rotation of the proximal end EPb with respect to the stop 9 during the
transition
from the deployed configuration of figure 10a to the furled configuration of
20 figure 10f.
[0152] The proximal end EPb of each arm 151 is connected to the body 7 by a
pivot
connection the axis of rotation of which is fixed with respect to the body 7
and
positioned in such a way that the rotation of the arm 151 about this axis of
rotation causes the distal end EDb to transition from its deployed-
configuration
25 position in which the end EDb is to the rear of the proximal end EPb and
at a first
distance away from the axis x, as far as its furled-configuration position in
which it
is situated in front of the distal end EDb at a second distance from the axis
x that
is shorter than the first distance. The proximal end EPb is situated between
the
position of the distal end EDb in the deployed configuration and the position
of
the distal end EDb in the furled configuration along the axis x. In other
words,
during the transition from the deployed configuration to the furled
configuration
and vice versa, the arms 151 turn over. The set E' of arms 151 transitions
from
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the deployed configuration, in which the arms 151 delimit a volume that flares
toward the rear of the body 7 to an intermediate configuration in which they
delimit a volume that flares towards the front AV, the distal ends EDb of the
arms
151 then moving doser to the axis x to reach the furled configuration.
[0153] The guidance device comprises drive means for bringing about the
furling of
the set of arms from its deployed configuration, and vice versa.
[0154] The axis of rotation is, for example, tangential to the axis x.
[0155] In the particular example of figures 10a to 10e, the drive means
comprise a
slider 152 mounted with the ability to slide on the body 7 along the
longitudinal
io axis x
and forks 153, in the form of connecting arms, angularly distributed about
the axis x. Each fork is connected to one of the arms. A first longitudinal
end El b
of the fork 153 is connected to one of the arms 151 by a pivot connection of
axis
substantially tangential to the axis x positioned between the proximal end EPb
and the distal end EDb of the arm 151. A second longitudinal end E2b of the
fork
153 is connected to the slider 152 by a pivot connection of axis substantially
tangential to the axis x. The slider 152 is positioned in front of the
proximal end
EPb of the arm 151 along the axis x. In that way, when the set of arms is in
the
deployed configuration, a translational movement of the slider 152 toward the
front of the body 7, through the articulations of the fork 153 to the slider
152 and
to the arms 151, gives rise to the rotation of the arms about their respective
axes
of rotation with respect to the body 7 from their respective positions in the
furled
configuration to their respective positions in the furled configuration.
[0156] In the two embodiments of the figures, the drive means comprise an
actuator
configured to drive the joint center 52 or 152 in translation along the axis x
with
respect to the body 7 so as to cause the set of arms to transition from the
furled
configuration to the deployed configuration. The actuator is, for example, of
the
hydraulic or electric ram type or of the torque motor type.
[0157] The slider 52, 152 exhibits, for example, substantially the shape of a
circular
ring positioned in a plane perpendicular to the axis x, the axis x passing
through
the center of the ring, the proximal ends EP, EPb are, for example,
distributed on
the circle perpendicular to the axis x and centered on the axis x. The forks
53,
153 all have the same length and the first ends of the forks are distributed
on a
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27
circle perpendicular to the axis x and passing through the center of the
circle and
the seconds ends of the forks are distributed on another circle perpendicular
to
the axis x passing through the center of the circle. The arms ail have the
same
length. In a variant, the arms and/or the forks may have different lengths,
the
proximal ends of the forks are not necessarily distributed on the circles, the
joint
center does not necessarily have the shape of a ring and the axes of the pivot
connections are not necessarily tangential to the axis x. Different arms may
thus
be connected to the body 7 differently and driven by different drive means.
[0158] Advantageously, the body 7 comprises slots F visible in figures 10c and
10d
extending longitudinally parallel to the axis x and in which the distal ends
EDb of
the arms 151 are housed, in the furled configuration. That encourages the
compactness of the assembly, improves the equilibrium of the AUV on a support
of complementing shape, and protects the arms 151 from knocks while the
guiding device is being recovered by a device of the crane type and while the
AUV is being set down on a support. Slots may also be present in the
embodiment of figures 9a to 9d.
[0159] Advantageously, the arms 151 are fully housed in the slots in the
furled
configuration.
[0160] Advantageously, the arms 51, 151 are mou nted on the body 7 in such a
way
as to extend essentially in front of the stop 9 in the furled configuration of
figure
9d, 10e.
[0161] Advantageously, the arms 51, 151 extend essentially behind the stop 9
in the
deployed configuration of figure 9a, 10a.
[0162] The first embodiment is particularly advantageous. It consumes very
little
energy because, in the transition from the deployed configuration to the
furled
configuration, the arms do not pass through an intermediate position in which
they are substantially perpendicular to the axis x and therefore to the flow
of
water around the station. Now, that position is the position in which the drag
is
the greatest. This solution also limits the instabilities of the recovery
station
following recovery of the underwater vehicle and du ring the phases of the
furling
and deploying the arms. Furthermore, this solution limits the risks of marine
bodies becoming caught on the arms. These bodies would be liable to weaken
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28
the arms and prevent an underwater vehicle from passing between and being
recovered by the arms or liable to destabilize the recovery station prior to
and
after the recovery of the underwater vehicle. This solution is therefore
robust.
This solution also offers the advantage of being compact. It can be actuated
in a
compact way, for example during test or maintenance phases, when the docking
station is onboard the carrying vehicle or in a workshop.
[0163] Advantageously, as visible in figure 5, the set E of arms 51 comprises
a set of
at least one lower arm BI belonging to the lower part PI in the deployed
configuration and having a density greater than 1 kg/m3. This feature limits
the
risks of tilting of the docking station.
[0164] In the nonlimiting case in which the set of arms 51 comprises a set of
at least
an upper arm BS belonging to the upper part PS in the deployed configuration,
the mean density of each arm of the set of at least one lower arm is greater
than
the mean density of each arm of the set of at least one upper arm. This
feature
further limits the risks of tilting of the docking station.
[0165] In the embodiments of the figures, the arms have a fixed length.
[0166] As a variant, the arms have a variable length. Advantageously, the
length of
each arm can be adjusted independently of the inclination of the arm with
respect
to the axis x, namely independently of the distance separating the distal end
of
the arm from the axis x, and the set is able to be in a number of different
deployed configurations. That means that the angular aperture and the length,
along the axis x, of the volume delimited by the arms can be selected
according
to the sea state. In rough seas, it is possible to increase the length of this
volume.
[0167] The arms are, for example, telescopic.
[0168] This variant can be applied to the first and second embodiment.
[0169] The set of arms may comprise at least one arm of which the dynamics are
in
accordance with the first embodiment and/or at least one arm of which the
dynamics are in accordance with the second embodiment.
[0170] The guiding device may comprise only the set of arms able to be in the
deployed configuration and in the furled configuration. In a variant, the
guiding
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device may comprise another set of at least one fixed guiding arm able to
guide
the underwater vehicle toward the stop.
[0171] The invention also relates to an underwater assembly comprising the AUV
and the docking device.
[0172] The docking station advantageously has a length similar to or greater
than
that of the AUV.
[0173] The mass of the AUV is preferably higher than that of the docking
station.
[0174] The docking station depicted in the figures is hauled by the carrying
vessel 3
via a cable 4.
[0175] In a variant, the docking station is fixed to the hull of the carrying
vessel or is
con nected to the carrying vessel by an arm.
[0176] In one embodiment of the invention, the underwater vehicle comprises
one or
more sonar antennas. The underwater vehicle may comprise at least one sonar
antenna for receiving acoustic signais and/or at least one sonar antenna for
emitting acoustic signais.
[0177] Advantageously, at least one sonar antenna is positioned in such a way
that
the arms of the set of arms are unable to be situated in a zone of coverage of
the
antenna, namely facing the antenna, when the antenna is in abutment against
the
stop, the set of arms being in the furled configuration. What is meant by zone
of
coverage is a zone in which the antenna is intended to emit or receive
acoustic
signais.
[0178] By contrast, the sonar antenna considered is positioned in such a way
as to
be able to be situated facing at least one of the arms of the set when the
underwater vehicle is in abutment against the stop, when the arms are situated
in
the deployed configuration.
[0179] This ability may be dependent upon the list of the underwater vehicle
and of
the docking station when the underwater vehicle is in abutment against the
stop.
For example, at least one of the arms faces the sonar antenna, namely lies in
a
zone of coverage of the sonar antenna, when the set of arms is in the deployed
configuration, the underwater vehicle being in abutment against the stop, the
underwater vehicle and the docking station each having a predetermined list,
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each arm being situated outside of the zone of cove rage of the antenna when
the
set of arms is in the furled configuration, the underwater vehicle being in
abutment against the stop, the underwater vehicle and the docking station each
having a predetermined list.
5 [0180] The dynamics of the arms according to the invention are
particularly well
suited to this configuration.
[0181] The invention therefore allows the sonar mission to be continued using
the
sonar antenna even when the arms are in the furled configuration.
[0182] This is particularly true when the docking station is being hauled by a
carrying
10 vessel via the cable 4.
[0183] This is also true when the docking station is fixed to the carrying
vessel.
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