AUTONOMOUS UNDERWATER VEHICLE AND SYSTEM FOR RECOVERING SUCH AN UNDERWATER VEHICLE

Abstract

An underwater vehicle includes a hull extending along a main longitudinal axis and at least one first pincer member disposed towards a forward end of the hull, characterized in that it further includes a second pincer member disposed towards an aft end of the hull, which is an opposite end to the forward end, the first and second pincer members being disposed respectively on a first lateral part and a second lateral part of the hull, on opposite sides of the main longitudinal axis, and being configured to take an open position or a closed position, and a detection member and a guide member which are respectively configured to detect cables and in order for the first and second pincer members to come respectively into engagement with one of the respective cables.

Claims

1. An autonomous underwater vehicle comprising a hull extending along a main longitudinal axis and at least one first pincer member disposed towards a forward end of the hull, characterized in that it further comprises a second pincer member disposed towards an aft end of the hull, which is an opposite end to the forward end, said first and second pincer members being disposed respectively on a first lateral part and a second lateral part of the hull, on opposite sides of the main longitudinal axis, and being configured to take an open position or a closed position, and a detection member and a guide member which are respectively configured to detect cables and in order for the first and second pincer members to come respectively into engagement with one of the respective cables.

2. The autonomous underwater vehicle according to claim 1, wherein the guide member comprises a control unit configured to receive output signals from the detection member and to actuate the guide member to guide the vehicle towards the cables detected by the detection member, and also to actuate the first and second pincer members individually according to the guidance of the vehicle.

3. The autonomous underwater vehicle according to claim 1, comprising a boom disposed projecting from the forward end of the hull, said boom being movable and controllable, through utilization of the guide member, between a first port position and a second starboard position and configured to guide at least one of the cables.

4. The autonomous underwater vehicle according to claim 1, wherein the first pincer member is associated with a first additional pincer member, forming a first pair of pincer members, said first additional pincer member being disposed towards the forward end of the hull, the first pincer member and the first additional pincer member being disposed on opposite sides of the longitudinal axis, the second pincer member is associated with a second additional pincer member, forming a second pair of pincer members, said second additional pincer member being disposed towards the aft end of the hull, the second pincer member and the second additional pincer member being disposed on opposite sides of the longitudinal axis, and the guide member is configured such that at least one of the first pincer member and the first additional pincer member, and respectively the at least one second pincer member and the second additional pincer member, come into engagement with one of the respective cables.

5. The autonomous underwater vehicle according to claim 1, wherein the detection member comprises a frontward sonar device disposed towards the forward end of the hull and configured to detect at least one of the cables upstream of the forward end of the hull of the vehicle.

6. The autonomous underwater vehicle according to claim 1, wherein the detection member comprises at least one cable detector disposed near the first pincer member and configured to detect at least one of the cables near at least one of the first and second lateral parts of the hull the vehicle, towards its forward end.

7. A recovery system comprising an autonomous underwater according to claim 1 and a reception platform which comprises a first cable (230) and a second cable each having, at a free end, a retaining member, a winch member configured to wind in and out the first cable and the second cable, said first and second pincer members being configured to come into engagement with said first and second cables and cooperate with the retaining members.

8. The recovery system according to claim 7, wherein the reception platform comprises a second control unit configured to actuate the winch mechanism.

9. The recovery system according to claim 7, wherein the reception platform and the underwater vehicle each comprise a communication unit configured to synchronize the actuation of the detection and guiding members and the actuation of the winch mechanism.

10. The recovery system according to claim 7, wherein the reception platform is carried on the ship.

11. A method of implementing a recovery system according to claim 7, comprising the following navigation steps: detecting, through utilization of the detection member, the at least one of the first cable and of the second cable of the reception platform; guiding the underwater vehicle, through utilization of the guide member, towards the first cable in alignment with the first cable and the second cable so as to convey the first cable along one of the first and second lateral parts of the hull of the vehicle; actuating each one of the first pincer member and the second pincer member into open position; guiding the underwater vehicle, through utilization of the guide member, towards the second cable so as to convey the second cable along the other lateral part of the hull of the vehicle, such that the first cable becomes accommodated in the second pincer member which is open and such that the second cable becomes accommodated in the first pincer member which is open; actuating each one of the first pincer member and the second pincer member into closed position; actuating the winch mechanism to wind in the cables such that the retaining members come to bear against the first and second pincer members.

12. The method according to claim 11, wherein, when guiding towards the first cable, the step of guiding the underwater vehicle through utilization of the guide member to convey the first cable along the second lateral part of the hull on an opposite side to the first lateral part of the hull on which is disposed the first pincer member; and when guiding towards the second cable, the step of guiding the underwater vehicle through utilization of the guide member to convey the second cable near to the first pincer member.

13. The method according to claim 11, wherein the recovery system comprises a first pincer member associated with a first additional pincer member, forming a first pair of pincer members, said first additional pincer member being disposed towards the forward end of the hull, the first pincer member and the first additional pincer member being disposed on opposite sides of the longitudinal axis, a second pincer member associated with a second additional pincer member, forming a second pair of pincer members, said second additional pincer member being disposed towards the aft end of the hull, the second pincer member and the second additional pincer member being disposed on opposite sides of the longitudinal axis, the guide member being configured such that at least one of the first pincer member and the first additional pincer member, and respectively the at least one second pincer member and the second additional pincer member, come into engagement with one of the cables, the method may comprise the steps of: actuating the first pair of pincer members of the underwater vehicle into closed position, before detecting the cables; when guiding towards the first cable, detecting the presence of the first cable near one of the first and second lateral parts of the hull; when actuating the first and second pincer members into open position, actuating the first and second additional pincer members of the submarine vehicle into open position; when guiding towards the second cable, guiding the underwater vehicle through utilization of the guide member to convey the other cable near the pincer member of the first pair of pincer members disposed on the lateral part near which the first cable has not been detected. when actuating the first and second pincer members into closed position, actuating the first and second additional pincer members of the submarine vehicle into closed position.

14. The method according to claim 11, wherein the guide member comprises a boom disposed projecting towards the forward end of the hull of the vehicle, said boom being movable between a first port position and a second starboard position and configured to guide at least one of the cables and the method comprises the steps of: when guiding towards the first cable, guiding the underwater vehicle through utilization of the guide member to actuate the boom to move the first cable towards the second lateral part; when guiding towards the second cable, guiding the underwater vehicle through utilization of the guide member to actuate the boom to move the second cable towards the first lateral part.

15. The method according to claim 11, wherein the guide member comprises a boom disposed projecting towards the forward end of the hull of the vehicle, said boom being movable between a first port position and a second starboard position and configured to guide at least one of the cables and the method comprises the steps of: when guiding towards the second cable, guiding the underwater vehicle through utilization of the guide member to actuate the boom to move the second cable towards the lateral part near which the first cable has not been detected; detecting, through utilization of the detection member, a recovery cable of the reception platform; actuating the pincer member of the underwater vehicle from the closed position towards the open position of the pincer member; guiding the underwater vehicle, through utilization of the guide member, towards the recovery cable in order for the recovery cable to become accommodated in the open pincer member; actuating the pincer member of the underwater vehicle from the open position towards the closed position; actuating the winch mechanism to raise the underwater vehicle.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0062] The disclosure, according to an example embodiment, will be properly understood and its advantages will be clearer on reading the following detailed description, given by way of illustrative example that is in no way limiting, with reference to the accompanying drawings.

[0063] FIG. 1 is a top view diagrammatically representing an autonomous underwater vehicle, also referred to as AUV, in accordance with the disclosure.

[0064] FIG. 2 is a side view diagrammatically representing the AUV of FIG. 1.

[0065] FIG. 3 is a side view diagrammatically representing a ship provided with a reception platform for receiving an AUV according to FIGS. 1 and 2 and thus forming a recovery system in accordance with the disclosure.

[0066] FIG. 4 is a side view diagrammatically representing the recovery system formed by the ship of FIG. 3 and the AUV of FIGS. 1 and 2, in a first configuration.

[0067] FIG. 5 is a similar view to FIG. 4, viewed from behind.

[0068] FIG. 6 is a similar view to FIG. 4, the system being in a second configuration.

[0069] FIG. 7 is a similar view to FIG. 6, viewed from behind.

DETAILED DESCRIPTION

[0070] Identical parts represented in the aforementioned figures are identified by identical numerical references in the description that follows.

[0071] The disclosure finds application in the field of autonomous underwater vehicles known under the term AUV, as pointed out above.

[0072] In general, AUVs are used to perform various operations at sea, for example such as monitoring operations.

[0073] For this, the autonomous underwater vehicles are launched from a ship, for example such as boats of USV type, USV being the initials for “Unmanned Surface Vessel”, and navigate entirely immersed in water in a nominal position.

[0074] Once the operations have terminated, the AUV is recovered and raised onto the ship.

[0075] An example of an autonomous underwater vehicle 100 able to navigate at sea is illustrated in FIGS. 1 and 2.

[0076] Below in the description, the terms autonomous underwater vehicle and AUV are used in the same way to designate the autonomous underwater vehicle.

[0077] The AUV 100 comprises a hull 160, which may or may not be cylindrical.

[0078] As a variant, the vehicle could be of any other shape.

[0079] This hull 160 extends along a main longitudinal axis 150.

[0080] The AUV 100 comprises a nose 120 at a forward end and a tail 110 at an aft end which is an opposite end to the forward end.

[0081] The AUV 100 further comprises a propulsion system 170, for example such as propeller propulsors, at the location of the tail 110.

[0082] In the illustrated example, the main longitudinal axis 150 passes through the nose 120 of the AUV 100 and through the propulsion system 170.

[0083] The AUV 100 is illustrated in FIGS. 1 and 2 in nominal navigation position, in which the main longitudinal axis 150 is substantially parallel to the horizontal axis.

[0084] Below in the description, by horizontal plane is meant a plane having an orientation parallel to the horizon.

[0085] In the nominal navigation position, the hull 160 comprises an upper part 160a that faces the surface of the sea when the AUV 100 is immersed in the sea, and a lower part 160b that faces the sea bed when the AUV 100 is immersed in the sea.

[0086] The hull 160 further comprises lateral parts, including a first lateral part 160c and a second lateral part 160d.

[0087] In order to enable its recovery, the AUV 100 comprises, towards its nose 120, a pair of first pincer members 132a and 132b, and, towards its tail 110, a pair of second pincer members 130a and 130b.

[0088] A first pincer member 132a and a second pincer member 130a are disposed on the first lateral part 160c, to port, while another first pincer 132a, referred to as additional pincer member, and another second pincer member 130a, referred to as second additional pincer member, are disposed on the second lateral part 160d of the hull 160, to starboard.

[0089] The first and second pincer members and additional pincer members 130a, 130b, 132a, 132b are configured to take two positions, which are a closed position and an open position, in order to take hold of an item at sea.

[0090] In the illustrated example, the first and second pincer members and additional pincer members 130a, 130b, 132a, 132b each comprise an appendage mounted in articulated manner on a respective first or second lateral part 160c and 160d, which is rotatably mounted around an axis at a right angle to the longitudinal axis 150.

[0091] Each of the first and second pincer members and additional pincer members 130a, 130b, 132a, 132b is then movable between an open position in which a free end of the pincer members is located at a distance from the hull 160, and a closed position in which the appendage is substantially parallel with or aligned with a portion of the hull 160 of the AUV 100.

[0092] For example, in open position, the appendage forms an angle comprised between 40° and 80° with the hull 160.

[0093] As a variant, at least one of the first and second pincer members and additional pincer members may comprise two appendages rotatably mounted and configured to define the two positions, open and closed. In open position, the pincer member defines an open space, delimited laterally by appendages of the pincer member. In closed position, the pincer member no longer delimits an open space, or a restricted open space.

[0094] In the illustrated example, the first and second pincer members and additional pincer members of the pairs of pincer members 130a, 130b and 132a, 132b are arranged symmetrically relative to the longitudinal axis 150 of the hull 160 of the AUV 100.

[0095] As a variant, the pincer members of the pairs of pincer members are not symmetrical relative to the longitudinal axis and/or the AUV may comprise only a first pincer member disposed on a first lateral part towards the first end of the AUV and a second pincer member disposed on a second lateral part towards the second end of the AUV. For example, the first pincer member may be disposed on the port lateral part towards the forward end of the AUV and the second pincer member may be disposed on the starboard lateral part towards the aft end of the AUV.

[0096] In the illustrated example, the first and second pincer members and additional pincer members 130a, 130b, 132a, 132b may be actuated and controlled through utilization of a first control unit (not shown) of the AUV 100.

[0097] The first and second pincer members and additional pincer members 130a, 130, 132a, 132 may be actuated and controlled so as to recover the AUV 100 via recovery cables coming into engagement in the first and second pincer members and additional pincer members (see below).

[0098] The AUV 100 further comprises a detection member configured to detect recovery cables present in the environment in which the AUV 100 moves.

[0099] The detection member here comprises a frontward sonar device 140 disposed towards a forward end of the AUV 100, for example on the nose 120.

[0100] The sonar device 140 is configured to detect objects under water indicating their direction and their distance relative to the AUV 100.

[0101] The positioning of the sonar device 140 towards a forward end makes it possible in particular to detect cables upstream of the forward end.

[0102] Furthermore, the detection member comprises cable detectors 136a and 136b positioned near the first pincer member and additional pincer member 132a and 132b of the first pair of pincer members and disposed on opposite sides of the longitudinal axis 150.

[0103] These cable detectors 136a and 136b are for determining whether a cable is present or not in or near the first pincer member and additional pincer member 132a and 132b.

[0104] In other words, the cable detectors 136a and 136b make it possible to detect a cable near one of the first and second lateral parts 160c, 160d of the hull 160, this being towards the forward end of the hull 160.

[0105] In a variant in which there is only a first pincer member and a second pincer member, the AUV may comprise one or two cable detectors, disposed on opposite sides of the longitudinal axis.

[0106] For example, the cable detectors 136a and 136b are chosen from a load sensor or force detector, or a camera.

[0107] Optionally, the AUV may furthermore comprise a guide member configured to facilitate engaging the recovery cables in the pincer members.

[0108] This guide member may in particular comprise a first control unit configured to guide the AUV according to the information received from the detection member. The control unit may be the same as that which controls the opening and closing of the pincer members.

[0109] In other words, the first control unit is configured to receive output signals from the detection member, to actuate the guide member to guide the vehicle towards the cables detected by the detection member, and to actuate the pincer members individually according to the guidance of the vehicle.

[0110] The first control unit is connected to that detection member and is configured to process signals coming from the sonar device and to detect the position of the recovery cables.

[0111] The first control unit is furthermore configured to process the signals coming from the cable detectors 136a and 136b so as to govern the opening and the closing of the first and second pincer members and additional pincer members 130a, 130b, 132a, 132b.

[0112] As a variant, the guide member may comprise a boom disposed towards the forward end of the AUV and projecting from the hull. For example, the boom may be located at the nose.

[0113] The boom may be an appendage mounted in articulated manner on the end of the nose, that can be actuated through utilization of the first control unit. The boom may be movable between two extreme positions, which are a port position and a starboard position,

[0114] The boom may be configured to guide a cable present at distance that can be reached by the boom. The boom, which can be actuated by the first control unit, can thus be governed so as to ensure that the cable passes to port or to starboard of the AUV.

[0115] The AUV 100 further comprises a communication unit 134 configured to exchange information with a reception platform so as to synchronize actions between the AUV and that reception platform.

[0116] In particular, through utilization of this communication unit 134, it is possible to obtain confirmation from the reception platform that the cables detected are recovery cables.

[0117] FIG. 3 illustrates a reception platform provided for recovering the AUV 100 as described with reference to FIGS. 1 and 2.

[0118] In the illustrated example the reception platform is disposed on a ship 200.

[0119] The reception platform comprises a first cable 230 and a second cable 232, forming the aforementioned reception cables and which are configured to be immersed in the water and/or extracted from the water when the ship is at sea.

[0120] The cables 230, 240 each comprise at their ends a retaining member 240, 242.

[0121] These retaining members 240, 242 are for example each formed by ballast, that is to say a weight.

[0122] The cables 230 and 232 are respectively linked to a winch mechanism comprising winches 220 and 210 configured to wind the cables 230 and 232 in and out.

[0123] The winches 220, 210 are configured vary the deployed length of the cables 230, 232 and thereby enable them to be immersed more deeply in the water or to be extracted from the water.

[0124] The ship 200 further comprises a geolocation and navigation system 260 and a bearing measurement unit 270, in particular to guide it in the direction of the AUV 100 in order to recover it.

[0125] The ship 200 also comprises a second control unit (not shown) configured to actuate the winches 220, 210 in order to extract the cables 230, 232 or plunge them into the water by winding them in or out.

[0126] The first and second pincer members and additional pincer members 130a, 130b, 132a, 132b of the AUV 100 are configured to come into engagement with the cables 230 and 232 of the reception platform when they are immersed in the water.

[0127] To remove the AUV 100 from the water, the winches 220 and 210 are actuated in order to reduce the length of the cables 230 and 232.

[0128] The retaining members 240 and 242 then cooperate with some of the first and second pincer members and additional pincer members 130a, 130b, 132a, 132b by coming into stopped engagement against the pincer members closed around the cables 230 and 232, and the AUV 100 may then be raised progressively towards the reception platform.

[0129] To synchronize the actuation of the winches 220 and 210 by the second control unit with the actual closing of the first and second pincer members and additional pincer members 130a, 130b, 132a, 132b around the cables 230 and 232, and in general with the actuation of the detection and guide members of the AUV 100, the reception platform further comprises a communication unit (not shown) configured to exchange information with the communication unit of the AUV 100.

[0130] As a variant, the reception platform may comprise more than two recovery cables.

[0131] In order to enable the AUV 100 to be raised stably, the first and second pincer members and additional pincer members 130a, 130b, 132a, 132b are disposed here on opposite sides and fore and aft on the AUV 100.

[0132] To facilitate the taking of the cables 230 and 232, the winches 220, 210 are spaced by a distance defined along the axis 280a of the reference frame 280 of FIG. 3 that here is the distance between the pair of first pincer members and the pair of second pincer members.

[0133] The winches 220, 210 are spaced by a distance defined along the axis 280c that is substantially equal to the greatest length of the hull 160, that is to say the maximum dimension of the hull in a cross-section transverse to the longitudinal axis 150.

[0134] As a variant, the reception platform may be disposed at any other location, for example such as on a wharf in a harbor.

[0135] A method of implementing the reception system formed by the AUV and the reception platform is described with reference to FIGS. 3 to 6.

[0136] FIGS. 3 and 4 illustrate a recovery system 300 in a first configuration in which the cables 230 and 232 are deployed and the first additional pincer member 132b and the second pincer member 130a of the AUV 100 are in engagement with the cables 232 and 230.

[0137] The pair of first pincer member and additional pincer member 132a, 132b is actuated into closed position. For hydrodynamic reasons, the pair of second pincer member and additional pincer member 130a, 130b are also in closed position.

[0138] By virtue of the frontward sonar device 140, the AUV 100 detects the presence of the cables 230 and 232.

[0139] To ensure detection of the cables 230 and 232, the AUV 100 can, through utilization of its communication unit, confirm the presence of the reception platform.

[0140] For example, in response to a validation request from the AUV 100, the reception platform can supply information relative to its position.

[0141] The first control unit of the guide member of the AUV 100 pilots and guides the AUV 100 towards these cables 230 and 232 so as to become positioned aligned with them in the direction 380a, indicated on the reference frame of FIG. 4.

[0142] Once positioned in alignment with these cables, the AUV 100 passes near the first cable encountered, here the cable 230, in order for that cable to pass along the hull 160, either to port or to starboard.

[0143] In the example illustrated, the AUV 100 is guided such that the cable 230 passes to port.

[0144] Through utilization of the detection member, in particular cable detectors near the first pair of pincer members, the first control unit is configured to determine and/or confirm which side of the AUV 100 that cable 230 is located at.

[0145] Once this has been confirmed, the first and second pincer members and additional pincer members 130a, 130b, 132a, 132b are actuated into open position.

[0146] Only the pincer members involved in the recovery method may be selectively actuated to be disposed in open position.

[0147] The AUV 100 then continues its navigation in the direction of the cable 232, so as to pass it on the opposite side to that where cable 230 is disposed.

[0148] In the illustrated example, the AUV 100 is guided to navigate in the direction of the cable 232 in order for it to pass to starboard.

[0149] In similar manner, the AUV 100 is guided in order for cable 232 to be conveyed along the hull to starboard, in order to come inside the first additional pincer member 132b which is open.

[0150] The cable 230 passes along the hull to port in order to be accommodated inside the second pincer member 130a which is open.

[0151] The first and second pincer members and additional pincer members 130a, 130b, 132a, 132b are then actuated to be put into closed position.

[0152] If only the first additional pincer member and the second pincer member 130a and 132b have been actuated, they are selectively actuated to be put into closed position.

[0153] As a variant, when the AUV only comprises a first pincer member on the nose and a second pincer member on the tail of the AUV, the method differs in that it navigates such that the first cable encountered passes to the side at which the second pincer member is located, for example by sliding along the lateral part of the hull on which is arranged the second pincer member.

[0154] The confirmation that the cable indeed passes to same side as the lateral part of the hull where the second pincer member is located may be obtained through utilization of cable detectors, either by the lack of cable detection on the same side as the first pincer member or by the detection of the cable on the opposite side to the first pincer member.

[0155] Still as a variant, when the AUV comprises a boom, the method may comprise an additional step which is the actuation of the boom.

[0156] Further to the detection of the cables by the detection member, the AUV is guided by the first control unit to navigate in the direction of the cables.

[0157] The method comprises the step of actuating the boom to position it either to port or to starboard and thus force the cable to pass on the opposite side of the boom.

[0158] The boom may also be actuated when the AUV heads in the direction of the second cable in order to ensure that it passes on the opposite side to that where the first cable passed.

[0159] In the first configuration illustrated in FIGS. 4 and 5, the AUV 100 may in particular send confirmation to the reception platform indicating that it is ready to be recovered.

[0160] The winches 210, 220 are then actuated to wind in the cables 230 and 232 so as to reduce the deployed length thereof, as indicated by the arrows 310.

[0161] Thus, the cables 230 and 232 are progressively wound in until the recovery system is in the configuration illustrated in FIGS. 6 and 7.

[0162] When the retaining members 240, 242 are in stopped engagement against the first additional pincer member 132b and the second pincer member 130a of the AUV 100 the action of the winches via the cables enables the AUV 100 to be removed progressively from the water.

[0163] It will be noted that the recovery system may also be re-used to place the AUV 100 in the water.

[0164] For this, once the reception platform has been disposed in an area for placing in the water, the winches are activated through utilization of the control unit to wind out the cables progressively and immerse the AUV.

[0165] Once it is at the desired depth for launch, which may be indicated by the reception platform of the AUV through utilization of the communication units, the control unit of the AUV actuates the pincer members in order to open them.

[0166] The guide member may then guide the AUV to extract the cables from the pincer members, for example through various maneuvers.

[0167] It should be noted more generally that the disclosure is not limited to the examples described and represented.