System for deploying and recovering an autonomous underwater device, method of use

Abstract

A system for deploying and recovering an autonomous underwater device (AUD) using a surface carrier ship, includes, in addition to the carrier ship, a subaquatic vehicle (SV) guided by a connection wire connected to the carrier ship, the SV able to be positioned in a storage configuration wherein the SV is fixedly but removably joined to the carrier ship in a storage zone, or in a configuration for use, in which the SV, separated from the carrier ship, is in the water and at a distance from the carrier ship while remaining connected by the connection wire, the SV including propulsion, guiding and stabilizing systems and a station for receiving the AUD allowing it to be removably attached to the SV, the receiving station and the AUD including a complementary automated docking unit allowing the AUD to automatically dock with the receiving station during recovery and attach itself thereto.

Claims

1. A system (1, 1′, 1″) for launching and recovering an autonomous underwater vehicle (4) using a surface carrier ship (2, 6, 7), the carrier ship (2, 6, 7) including a hull with a bottom, the autonomous underwater vehicle (4) including a body elongated in the length direction and propelling, guiding and stabilizing means, wherein the propelling, guiding and stabilizing means of the autonomous underwater vehicle (4) make it possible to control displacements according to six degrees of freedom, the system including, in addition to the carrier ship (2, 6, 7), a subaquatic vehicle (3) wire-guided by a connection wire (5) connected to the carrier ship (2, 6, 7), wherein the subaquatic vehicle (3) can be positioned in two main configurations, a storage configuration in which the subaquatic vehicle (3) is removably attached to the carrier ship (2, 6, 7) in a storage area of the carrier ship and a use configuration in which the subaquatic vehicle, separated from the carrier ship (2, 6, 7), is in water and remote from the storage area of the carrier ship while remaining connected to the carrier ship (2, 6, 7) by the connection wire (5), said subaquatic vehicle (3) including propelling, guiding and stabilizing means, the propelling, guiding and stabilizing means of the subaquatic vehicle making it possible to control the displacements according to six degrees of freedom, and said subaquatic vehicle (3) including a docking station for the autonomous underwater vehicle (4), allowing a removable attachment of the autonomous underwater vehicle (4) to the subaquatic vehicle (3) for transporting the autonomous underwater vehicle (4) to a launching location, where the autonomous underwater vehicle will be released from the subaquatic vehicle (3), the subaquatic vehicle and the autonomous underwater vehicle (4) including complementary automated docking means allowing the launched autonomous underwater vehicle (4) to automatically dock with the docking station of the subaquatic vehicle (3) during the recovery and to attach thereto, wherein said subaquatic vehicle includes a payload enclosure, the payload enclosure including the docking station for the autonomous underwater vehicle, the autonomous underwater vehicle engaging at least partially inside the payload enclosure, the partially engaged rear portion of the autonomous underwater vehicle exiting from said enclosure, said subaquatic vehicle having a substantially elongated spindle general shape, wherein the storage area is chosen among: a submerged recess of the bottom of the carrier ship (2, 6, 7) hull, the subaquatic vehicle remaining submerged in storage configuration, against the hull and under the carrier ship (2, 6, 7), and a submerged end of an appendix of the carrier ship hull, the submerged appendix of the carrier ship (2, 6, 7) being a keel (20) and the subaquatic vehicle being stored at the lower end of the keel (20).

2. The system (1, 1′, 1″) according to claim 1, wherein the keel (20) includes at its lower end a bulb or a gondola (21), the bulb or the gondola (21) including a recess intended for the storage of the subaquatic vehicle (3).

3. The system (1, 1′, 1″) according to claim 2, wherein the carrier ship (2) is a single-hull wave-piercing ship.

4. The system (1, 1′, 1″) according to claim 2, wherein the keel (20) is removable and may be lifted at least in part through the hull by translation from the bottom to the top or, inversely, lowered under the hull.

5. The system (1, 1′, 1″) according to claim 4, wherein the carrier ship (2) is a single-hull wave-piercing ship.

6. The system (1, 1′, 1″) according to claim 1, wherein the keel (20) is removable and may be lifted at least in part through the hull by translation from the bottom to the top or, inversely, lowered under the hull.

7. The system (1, 1′, 1″) according to claim 6, wherein the carrier ship (2) is a single-hull wave-piercing ship.

8. The system (1, 1′, 1″) according to claim 1, wherein the carrier ship (2) is a single-hull wave-piercing ship.

9. The system (1, 1′, 1″) according to claim 1, wherein the keel (20) is removable and may be lifted at least in part through the hull by translation from the bottom to the top or, inversely, lowered under the hull and wherein the carrier ship (2, 6, 7) includes, on a bottom thereof, the recess intended for the storage of the subaquatic vehicle, the subaquatic vehicle remaining submerged in storage configuration, against the hull and under the carrier ship (2, 6, 7).

10. A method for launching and recovering an autonomous underwater vehicle (4) using a surface carrier ship (2, 6, 7), the carrier ship (2, 6, 7) including a hull with a bottom, the autonomous underwater vehicle (4) including a body elongated in the length direction and propelling, guiding and stabilizing means, wherein the propelling, guiding and stabilizing means of the autonomous underwater vehicle (4) make it possible to control displacements according to six degrees of freedom, the method implementing a subaquatic vehicle (3) wire-guided by a connection wire (5) connected to the carrier ship (2, 6, 7), said subaquatic vehicle (3) including propelling, guiding and stabilizing means, wherein the propelling, guiding and stabilizing means of the subaquatic vehicle make it possible to control displacements according to six degrees of freedom, said subaquatic vehicle (3) including a docking station for the autonomous underwater vehicle (4) allowing a removable attachment of the autonomous underwater vehicle (4) to the subaquatic vehicle (3), wherein the subaquatic vehicle (3) can be positioned in two main configurations, a storage configuration in which the subaquatic vehicle (3) is removably attached to the carrier ship (2, 6, 7) in a storage area of the carrier ship and a use configuration in which the subaquatic vehicle (3), separated from the carrier ship (2, 6, 7), is in water and remote from the storage area of the carrier ship while remaining connected to the carrier ship (2, 6, 7) by the connection wire (5), and, for the launching, the autonomous underwater vehicle (4) is released from the docking station when the subaquatic vehicle (3) is submerged and in use configuration, and for the recovery, the autonomous underwater vehicle (4) is automatically recovered into the docking station when the subaquatic vehicle (3) is submerged and in use configuration, the subaquatic vehicle and the autonomous underwater vehicle (4) including automated complementary docking means allowing the launched autonomous underwater vehicle (4) to automatically dock with the docking station of the subaquatic vehicle (3), wherein a subaquatic vehicle (3) including a payload enclosure is implemented, the payload enclosure including the docking station for the autonomous underwater vehicle, the autonomous underwater vehicle engaging at least partially inside the payload enclosure, the partially engaged rear portion of the autonomous underwater vehicle exiting from said enclosure, said subaquatic vehicle having a substantially elongated spindle general shape, and wherein the storage area is chosen among: a submerged recess of the bottom of the carrier ship (2, 6, 7) hull, the subaquatic vehicle remaining submerged in storage configuration, against the hull and under the carrier ship (2, 6, 7), and a submerged end of an appendix of the carrier ship hull, the submerged appendix of the carrier ship (2, 6, 7) being a keel (20) and the subaquatic vehicle being stored at the lower end of the keel (20).

Description

DETAILED DESCRIPTION OF AN EXEMPLARY EMBODIMENT

(1) The following description in relation with the appended drawings, given by way of non-limitative examples, will allow a good understanding of what the invention consists of and of how it can be implemented. In the appended drawings:

(2) FIG. 1 shows a first example of a system according to the invention with a keeled wave-piercing carrier ship, in the subaquatic vehicle storage configuration, the latter carrying/transporting its autonomous underwater vehicle,

(3) FIG. 2 shows the first example of a system in course of launching for use, the subaquatic vehicle with its autonomous underwater vehicle being separated from the carrier ship, while remaining connected thereto by a wire, to be wire-guided,

(4) FIG. 3 shows the first example of a system in course of launching for use, the subaquatic vehicle being separated from the carrier ship while remaining connected thereto by a wire, to be wire-guided, but this time with the autonomous underwater vehicle in course of separation from or docking with the subaquatic vehicle,

(5) FIG. 4 shows, for the first example of a system, another embodiment of launching, this time with the subaquatic vehicle in storage configuration during the separation from or the docking with the subaquatic vehicle,

(6) FIG. 5 shows a second example of a system according to the invention with a carrier ship including a device for recovering the subaquatic vehicle, allowing the latter to be taken out of water in the storage configuration,

(7) FIG. 6 shows the second example of a system according to the invention in course of launching, the subaquatic vehicle with its autonomous underwater vehicle being separated from the carrier ship and having been launched to water,

(8) FIG. 7 shows the second example of a system according to the invention in course of launching, but this time with the subaquatic vehicle separated from the autonomous underwater vehicle,

(9) FIG. 8 shows a third example of a system according to the invention with a carrier ship having a submerged bottom allowing the subaquatic vehicle to be recovered into a inner space of the carrier ship, the inner space being submerged at least in its rear portion,

(10) FIG. 9 shows a fourth example of a system according to the invention with a carrier ship having a hull with a bottom including a recess for the storage of the subaquatic vehicle against the hull,

(11) FIG. 10 shows a system derived from the second example in which the subaquatic vehicle is of a different type, with no hull, and is a an open chassis/frame structure, the subaquatic vehicle with its autonomous underwater vehicle being stored on the deck of the carrier ship, in storage configuration, and

(12) FIG. 11 shows a partial enlarged view of an implementation of the system of FIG. 10, this time in use configuration, the autonomous underwater vehicle being in course of launching (or, conversely, of recovery).

DEVICE

(13) FIG. 1 shows a first example of a system 1 whose carrier ship 2 is a single-hull wave-piercing surface ship and that includes a keel 20 intended to stabilize it. With respect to the conventional mechanical propulsion ships that do not need one, and in particular high-speed ships for which it would be a handicap, the single-hull wave-piercing carrier ship 2 includes a keel 20 that is useful for its stability due to the fact that it has a very tapered/spindle shape contrary to the conventional mechanical propulsion ships. This single-hull wave-piercing carrier ship is in particular intended for making acoustic measurements in water and is not intended to “fly” above water, its keel including, in addition to the transported subaquatic vehicle, measurement devices that have to stay in water. It must hence be able to pierce the waves thanks to a blade-shaped bow 25, while navigating at a high speed and with a reduced energy consumption.

(14) This carrier ship 2 is unmanned and autonomous because it is preprogramed and/or remotely operated/remote-controlled as regards in particular its navigation. It includes integrated navigation means that are particularly useful in the case of a drone.

(15) In this first example, the carrier ship 2 has a removable keel that includes at its submerged, lower end, a gondola 21 forming a storage area for a subaquatic vehicle 3. Sensors, in particular acoustic ones 27, are attached against the gondola 21. In a variant, the gondola can be replaced by a bulb containing or supporting underwater measurement devices, wherein the bulb then contains the storage area of the subaquatic vehicle 3. In FIG. 1, an autonomous underwater vehicle 4 is installed in the subaquatic vehicle 3. Such a configuration in which the subaquatic vehicle 3 is stored on the carrier ship can correspond to a end of mission/use or to a displacement towards an area of use where the autonomous underwater vehicle 4 will be released.

(16) The carrier ship 2 includes propelling means, herein provided with a propeller 23, and a guiding device 24 of the rudder type. The carrier ship 2 includes a wheelhouse 22 out of water, above the waterline, with devices 26 intended in particular for measurements and/or communications, in particular in the case where the carrier ship would be radio-controlled.

(17) The keel 20 is removable and can be lifted and lowered through a keel well of the carrier ship hull. It is to be noted that the wheelhouse 22 is in the axis of the keel 20 and this wheelhouse further serves to house internally the upper end of the keel 20 lifted into a keel storage space of the wheelhouse.

(18) In a variant, it may be provided in the hull or bottom, in the region of the keel 20, a recess making is possible to receive, when the keel is lifted, at least in part the gondola 21 or the bulb as well as, potentially, the subaquatic vehicle 3 and its autonomous underwater vehicle 4, and preferably, in such a way to be within the general volume of the hull and to reduce the resistance to forward motion of the carrier ship in the subaquatic vehicle 3 storage configuration.

(19) In FIG. 2, the system 1 is switched to the use configuration in which the subaquatic vehicle 3 is separated from the carrier ship 2. A connection wire 5 connects the carrier ship 2 to the subaquatic vehicle 3 so that the latter is remotely operated/wire-guided. This figure may correspond to the beginning of use and the autonomous underwater vehicle 4 will then be released, or to the end of use after recovery of the autonomous underwater vehicle 4 into the subaquatic vehicle 3, the system then switching to the storage configuration when the subaquatic vehicle 3 will be attached again to the carrier ship 2.

(20) In FIG. 3, the system 1 is always in use configuration and this time the autonomous underwater vehicle 4 is released from the subaquatic vehicle 3 or, conversely, comes back into the latter to be recovered.

(21) FIG. 4 shows a variant in which the release or the recovery of the autonomous underwater vehicle 4 may be made whereas the subaquatic vehicle is attached to the carrier ship as in the storage configuration. This variant may be used in the case where the carrier ship is not subjected to movements, i.e. it is on a stretch of calm water, with no waves or swell.

(22) The autonomous underwater vehicle 4 is, as its name indicates, a device that moves independently of the subaquatic vehicle 3 when released, contrary to the subaquatic vehicle 3 that remains connected by a wire to the carrier ship. The autonomous underwater vehicle 4 hence includes propelling means, provided with a propeller in this example, and guiding means as well as, preferably, stabilizing means. The actions of the propelling, guiding and possibly stabilizing means of the autonomous underwater vehicle are preprogramed and/or remotely operated/remote-controlled. These actions may also depend on measurements performed by sensors.

(23) The propelling and guiding means of the autonomous underwater vehicle may be either distinct or combined, in this latter case, these means may be steerable propellers. It may also be provided the possibility to invert the direction of rotation of the propeller or of the turbine of the propelling, and possibly guiding, device.

(24) The subaquatic vehicle 3 includes propelling and guiding means, for example steerable, of the jet/reaction turbine or variable jet deflection type, as well as stabilizing means allowing a stabilization of the subaquatic vehicle according to three axes.

(25) It is understood that, if the propelling, guiding and stabilizing means, for each of the carrier ship, the subaquatic vehicle and the autonomous underwater vehicle, have been separated as regards their description to facilitate the explanation of the different functions, but in practice and materially, these different propulsion/displacement, guiding/steering, stabilization functions can be carried out with one or several devices each performing several of these functions. Hence, as seen hereinabove, a same steerable propelling device provided with a propeller or a turbine may serve as a propelling, guiding and stabilizing means. A ballast system may serve to the passive displacement, in particular lowering or lifting displacement, and to the passive steering of the subaquatic vehicle or of the autonomous underwater vehicle.

(26) FIG. 5 shows a second example of a system 1′ whose carrier ship 6 is a more conventional surface ship, herein a two-hull ship, of the catamaran type, but, in a variant, it may be of the single-hull type. This time, in the storage configuration, the subaquatic vehicle 3 is lifted, out of the water, on the deck 60 of the carrier ship 6. This carrier ship 6 includes a superstructure 61 intended to a crew for sailing.

(27) The carrier ship 6 includes a subaquatic vehicle recovery device for taking said subaquatic vehicle out of water and, inversely, launching it to water. This recovery device is a gantry 62 and a motorized winch 63 for winding and unwinding the connection wire 5 between the subaquatic vehicle 3 and the carrier ship 6. This gantry recovery device 62 also allows the launching of the subaquatic vehicle to water.

(28) In the use configuration of FIG. 6, the subaquatic vehicle 3 has been launched to water and the autonomous underwater vehicle 4 is installed in the docking station of the subaquatic vehicle. In FIG. 7, the autonomous underwater vehicle 4 has been released.

(29) FIG. 8 shows a third example of a system 1″ whose carrier ship 7 is a peculiar surface ship in that it includes a submerged/sunk bottom 76 that includes a slot 73 in which an axial wing 30, herein a lower one, of the subaquatic vehicle can slide. According to the depth of the submerged bottom 76, the vehicle may remain subaquatic in storage configuration. The two floating lateral edges 74 and 75 of the carrier ship 7 define with the bottom 76 a submerged inner space 72, open towards the rear, for the storage of the subaquatic vehicle 3 and of its autonomous underwater vehicle 4. A subaquatic vehicle 3 can be provided, which can surface and float in the case where the depth of the bottom 76 would be smaller. In a variant, the subaquatic vehicle 3 is stored under the bottom 76, under the hull of the carrier ship, and the axial wing is a higher wing that may slide in the slot 73. In this latter case, the bottom 76 can be configured so as to form a recess of the bottom into which the subaquatic vehicle is received.

(30) In variants, the partially submerged bottom is a launch and recovery ramp and, in storage configuration, the subaquatic vehicle can be totally taken out of water through the ramp or, only its front portion can be taken out of the water, the latter case being useful if it is desired to use the propelling, and possibly guiding means, of the subaquatic vehicle, to drive the carrier ship or help it to move, the propelling means of the subaquatic vehicle, but also of the autonomous underwater vehicle, remaining in water.

(31) As hereinabove, the carrier ship 6 of FIG. 8 includes a deck 70 and a superstructure 71 intended to a crew for sailing. It may be provided, on the rear of the carrier ship, one or several doors to close the inner space towards the rear.

(32) In variants of this third example of a system 1″, the floating lateral edges 74, 75 may be consisted of inflatable bladders making it possible to make a dismountable and foldable carrier ship.

(33) In the fourth example of a system shown in FIG. 9, the carrier ship 8 includes a hull 84 whose bottom includes a recess 80 making it possible to store the subaquatic vehicle 3 against the keel/bottom in the storage configuration, the subaquatic vehicle being further able, in certain embodiments, to participate to the propulsion of the carrier ship, in particular in the case where the rear wall 82 of the carrier ship is open at the recess. Preferably, the connection wire coming from the carrier ship arrives through a cable well 81 into the recess in the case where it arrives at the top of the subaquatic vehicle but, in other embodiments, it may follow another way, in particular if the cable arrives on the subaquatic vehicle by the front or the underside. A winder/unwinder 83 for the connection wire 5 is arranged on the deck of the carrier ship.

(34) The subaquatic vehicle described by way of example until now if the hull type but, in other embodiments, this subaquatic vehicle 3′ may have a different structure, and in particular, as shown in FIGS. 10 and 11, be of the chassis/frame 32 and open structure type. FIGS. 10 and 11 show the propelling, guiding and stabilizing means, and in particular the steerable propellers 31 inside the chassis 32 of the open structure of the subaquatic vehicle 3′. The inner equipment of the subaquatic vehicle 3′ is also visible within this open structure. In order to facilitate the automatic recovery of the autonomous underwater vehicle within the docking station that includes an automated docking system, the mouth 33 of the docking station has a funnel shape which is better seen in FIG. 11.

(35) Method

(36) The system of the invention allows the launching and recovery of an autonomous underwater vehicle using a surface carrier ship, in optimum conditions, because the launching and above all the recovery are carried out whereas the autonomous underwater vehicle is under the water surface and is hence not subjected to the wave or swell movements, contrary to the carrier ship. For that purpose, a subaquatic vehicle that allows transporting the autonomous underwater vehicle is implemented. For these operations, it is hence necessary that the subaquatic vehicle is itself submerged, under the surface of the water, and, preferably, when the carrier ship wiggles, that the subaquatic vehicle is uncoupled/separated from the carrier ship.

(37) The autonomous underwater vehicle 4 is configured to dock with and enter at least in part the wire-guided subaquatic vehicle 3, the latter being held in a stable attitude during this operation. This docking operation may also be performed whereas the carrier ship and the autonomous underwater vehicle are in motion, and it is provided a docking at speeds up to 7 knots.

(38) Hence, in the case of the system 1′ of the second example, in which the subaquatic vehicle with its autonomous underwater vehicle is stored out of water, on the deck of the carrier ship, in storage configuration, the subaquatic vehicle with its autonomous underwater vehicle must first be launched to water thanks to the recovery/launching device with its gantry 62 and the motorized winch 63 of the carrier ship. After launching to water, the subaquatic vehicle is wire-guided thanks to the wire 5 and it is brought in submersion at the location where it is desired to release the autonomous underwater vehicle from the subaquatic vehicle. Once the autonomous underwater vehicle released, the latter can perform the missions that have been planed for it. Once these missions terminated, the autonomous underwater vehicle can automatically dock with the docking station of the subaquatic vehicle for its recovery, whereas the subaquatic vehicle is submerged. For this automatic docking, complementary automated docking means are implemented between the subaquatic vehicle and the autonomous underwater vehicle.

(39) In the examples shown, only one autonomous underwater vehicle 4 per subaquatic vehicle 3 is shown, but two or more of them can be provided. Likewise, only one subaquatic vehicle 3 has been shown per carrier ship 2, 6, 7, but two or more of them can be provided. Other embodiments are possible. If, preferably and as shown, the autonomous underwater vehicle 4 docks with or leaves the subaquatic vehicle 3 through the rear of the latter, it may be provided a lateral or front docking with the subaquatic vehicle 3. However, physical means are provided so that the system has a small resistance to forward motion and/or under water and, for that purpose, it may be provided a removable door to close the autonomous underwater vehicle docking station with which the autonomous underwater vehicle 4 docks. Likewise, the bulb and the gondola, just as the subaquatic vehicle, have hydrodynamic shapes.