FR3133590B1 - Véhicule autonome sous-marin et système de récupération d'un tel véhicule sous-marin - Google Patents

Véhicule autonome sous-marin et système de récupération d'un tel véhicule sous-marin Download PDF

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Publication number
FR3133590B1
FR3133590B1 FR2202267A FR2202267A FR3133590B1 FR 3133590 B1 FR3133590 B1 FR 3133590B1 FR 2202267 A FR2202267 A FR 2202267A FR 2202267 A FR2202267 A FR 2202267A FR 3133590 B1 FR3133590 B1 FR 3133590B1
Authority
FR
France
Prior art keywords
underwater vehicle
hull
recovery system
autonomous
clamp
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR2202267A
Other languages
English (en)
Other versions
FR3133590A1 (fr
Inventor
Hervé Kermorgant
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Eca Robotics SAS
Original Assignee
Eca Robotics SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Eca Robotics SAS filed Critical Eca Robotics SAS
Priority to FR2202267A priority Critical patent/FR3133590B1/fr
Priority to US18/182,740 priority patent/US20230294798A1/en
Priority to EP23161363.9A priority patent/EP4245653B1/fr
Publication of FR3133590A1 publication Critical patent/FR3133590A1/fr
Application granted granted Critical
Publication of FR3133590B1 publication Critical patent/FR3133590B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/20—Adaptations of chains, ropes, hawsers, or the like, or of parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/04—Fastening or guiding equipment for chains, ropes, hawsers, or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/16—Tying-up; Shifting, towing, or pushing equipment; Anchoring using winches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/04—Superstructure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/16—Control of attitude or depth by direct use of propellers or jets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/39—Arrangements of sonic watch equipment, e.g. low-frequency, sonar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
    • B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
    • B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
    • B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
    • B65H75/44—Constructional details
    • B65H75/4481—Arrangements or adaptations for driving the reel or the material
    • B65H75/4484—Electronic arrangements or adaptations for controlling the winding or unwinding process, e.g. with sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/20—Adaptations of chains, ropes, hawsers, or the like, or of parts thereof
    • B63B2021/203—Mooring cables or ropes, hawsers, or the like; Adaptations thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
    • B63B2027/165—Deployment or recovery of underwater vehicles using lifts or hoists
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Cleaning In General (AREA)

Abstract

L’invention concerne un véhicule autonome sous-marin comprenant une coque (160) s’étendant selon un axe principal longitudinal (150) et au moins une première pince (132a-b) disposée vers une extrémité avant de la coque, caractérisé en ce qu’il comprend en outre une deuxième pince (130a-b) disposée vers une extrémité arrière de la coque, opposée à l’extrémité avant, lesdites première et deuxième pinces étant disposées respectivement sur une première partie latérale (160c) et une deuxième partie latérale (160d) de la coque, de part et d’autre de l’axe principal longitudinal, et étant configurées pour prendre une position ouverte ou une position fermée, et un organe de détection et un organe de guidage qui sont respectivement configurés pour détecter des câbles et pour que les première et deuxième pinces viennent respectivement en prise avec un des câbles respectifs. (Fig. 1)
FR2202267A 2022-03-15 2022-03-15 Véhicule autonome sous-marin et système de récupération d'un tel véhicule sous-marin Active FR3133590B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
FR2202267A FR3133590B1 (fr) 2022-03-15 2022-03-15 Véhicule autonome sous-marin et système de récupération d'un tel véhicule sous-marin
US18/182,740 US20230294798A1 (en) 2022-03-15 2023-03-13 Autonomous underwater vehicle and system for recovering such an underwater vehicle
EP23161363.9A EP4245653B1 (fr) 2022-03-15 2023-03-13 Véhicule autonome sous-marin et système de récupération d'un tel véhicule sous-marin

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2202267 2022-03-15
FR2202267A FR3133590B1 (fr) 2022-03-15 2022-03-15 Véhicule autonome sous-marin et système de récupération d'un tel véhicule sous-marin

Publications (2)

Publication Number Publication Date
FR3133590A1 FR3133590A1 (fr) 2023-09-22
FR3133590B1 true FR3133590B1 (fr) 2025-04-18

Family

ID=82020158

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2202267A Active FR3133590B1 (fr) 2022-03-15 2022-03-15 Véhicule autonome sous-marin et système de récupération d'un tel véhicule sous-marin

Country Status (3)

Country Link
US (1) US20230294798A1 (fr)
EP (1) EP4245653B1 (fr)
FR (1) FR3133590B1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN119611650B (zh) * 2024-11-29 2025-10-10 上海交通大学 适用于复杂海况条件的水面及水下装备布放回收方法及装置

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5291194A (en) * 1993-04-12 1994-03-01 The United States Of America As Represented By The Secretary Of The Navy Apparatus for interconnecting an underwater vehicle and a free-floating pod
FR2978422B1 (fr) * 2011-07-26 2014-12-12 Eca Robotics Engin marin ou sous-marin et procede d'arrimage associe
FR3026383B1 (fr) * 2014-09-25 2016-10-28 Eca Robotics Engin marin ou sous-marin et procede d'arrimage associe
CN109353455A (zh) * 2018-11-19 2019-02-19 淮海工学院 一种水中运载工具自动布放回收装置

Also Published As

Publication number Publication date
EP4245653C0 (fr) 2025-05-07
US20230294798A1 (en) 2023-09-21
EP4245653B1 (fr) 2025-05-07
FR3133590A1 (fr) 2023-09-22
EP4245653A1 (fr) 2023-09-20

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