EP1249390A1 - Vorrichtung und Verfahren zum Aussetzen und Bergen eines Unterwasserfahrzeuges - Google Patents

Vorrichtung und Verfahren zum Aussetzen und Bergen eines Unterwasserfahrzeuges Download PDF

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Publication number
EP1249390A1
EP1249390A1 EP02290879A EP02290879A EP1249390A1 EP 1249390 A1 EP1249390 A1 EP 1249390A1 EP 02290879 A EP02290879 A EP 02290879A EP 02290879 A EP02290879 A EP 02290879A EP 1249390 A1 EP1249390 A1 EP 1249390A1
Authority
EP
European Patent Office
Prior art keywords
chassis
underwater vehicle
cradle
launching
cage
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.)
Granted
Application number
EP02290879A
Other languages
English (en)
French (fr)
Other versions
EP1249390B1 (de
Inventor
Xavier Franck Yann Delahousse
David Jean-Pierre Barre
André Honoré Adolphe Meirier
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 SA
Original Assignee
ECA SA
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 SA filed Critical ECA SA
Publication of EP1249390A1 publication Critical patent/EP1249390A1/de
Application granted granted Critical
Publication of EP1249390B1 publication Critical patent/EP1249390B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • 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
    • B63B27/36—Arrangement of ship-based loading or unloading equipment for floating cargo
    • 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
    • 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

Definitions

  • the present invention relates to a device for launching and recovery of an underwater vehicle.
  • this device for launching and recovering a vehicle submarine does not completely overcome vertical movements, which can only be mitigated.
  • the invention provides a device for launching and recovering a underwater vehicle which overcomes the disadvantages associated with heave.
  • the invention also provides a device for launching and recovery of an underwater vehicle which is suitable for storing the submarine on a boat.
  • the invention finally provides a device which allows launching and recovery of an underwater vehicle, close to its working depth.
  • a device for launching and recovering an underwater vehicle comprises a submersible assembly comprising a frame lower, an upper chassis, the lower and upper chassis being connected by a flexible connection, so that the distance between said upper and lower chassis is adjustable, to facilitate movement of the underwater vehicle in an area between the lower chassis and the upper chassis.
  • the flexible connection and the lower and upper chassis form a cage reception with an opening whose vertical dimension can be adjusted.
  • the spacing of the lower and upper chassis makes it possible to enlarge the dimension vertical of said opening, so that the underwater vehicle can penetrate or get out of the cage without hindered movement of the cage entry or exit of the underwater vehicle.
  • the approximation of the lower chassis and higher in the vertical direction allows, despite the vertical movements of the entire cage due to the heave, to support the underwater vehicle on the lower chassis, and hold it by the upper chassis. By bringing the lower and upper chassis quickly enough, successive shocks are avoided between the underwater vehicle and the lower chassis.
  • the lower and upper chassis are connected by a bundle of cables, which can easily be wound on pulleys so that decrease the distance between the lower and upper chassis, or unrolled so as to increase the distance between the lower and upper chassis.
  • the launching and recovery device includes means for winding and unwinding the cables, which makes it possible to adjust the length of the cables, and therefore the distance between the lower chassis and the upper chassis.
  • the device comprises at least one motor used to rotate a plurality of pulleys on which is wound the flexible binding.
  • the device is maintained by means of at least one cable of adjustable length to a boat located on the surface. So the whole submersible can be submerged to the desired depth, for example a depth close to the working depth of the underwater vehicle.
  • positioning means are arranged between the upper chassis and lower chassis.
  • the positioning means under the form of stops for example, vertically limit the approximation of the chassis lower and upper, so as not to damage the underwater vehicle when recovery of said vehicle.
  • the positioning means guide the positioning of the lower chassis relative to the upper chassis, in a plane horizontal, in order to ensure that the underwater vehicle is properly held in the device launching and recovery.
  • the lower chassis includes a cradle underwater vehicle reception.
  • the receiving cradle facilitates the recovery of the underwater vehicle on the lower chassis.
  • the cradle comprises at least one concave wall of reception, whose profile guides the underwater vehicle when establishing the contact between the lower chassis and the underwater vehicle during recovery of said underwater vehicle.
  • the cradle can be separated from the lower chassis. So when the device is brought back with the underwater vehicle, on the device located on the surface, it is possible to easily access the underwater vehicle, by example for maintenance operations, by moving the cage formed by the launching and recovery device, to free access to the underwater vehicle.
  • the upper chassis includes a cradle upper support, which keeps the underwater vehicle in the launching and recovery device.
  • the invention also relates to a method of launching and recovery of an underwater vehicle, in which a setting device is immersed water and recovery including an upper chassis, a lower chassis, lower and upper chassis being connected by a flexible connection, so that the distance between said upper and lower chassis is adjustable, in which is arranged an underwater vehicle. Increase the distance between the upper chassis and lower to release the underwater vehicle, the distance between the upper and lower chassis to recover the underwater vehicle, once the underwater vehicle moved to an area between the lower chassis and superior.
  • a cradle 1 provided with a front part 1a and a part rear 1b, has a tubular frame 2, comprising two longitudinal tubes 3, 4 arranged parallel in a horizontal plane, and connected by a plurality of tubes transverse 5 extending perpendicular to the longitudinal tubes 3, 4.
  • a seat 6 comprises a support tube 7 located longitudinally above transverse tubes 5, substantially midway between the tubes longitudinal 3,4, vertically away from the transverse tubes 5
  • the seat 6 On the portion of the support tube 7 located on the front part 1a of the cradle 1, the seat 6 comprises a concave wall 8 upwards and convex downwards, under the form of a V-shaped sheet metal plate opening upwards, on the side opposite the frame 2, and extending from the support tube 7, on each side of a plane of vertical symmetry passing through the support tube 7.
  • the concave wall 8 extends longitudinally from a first end of the support tube 7, on a limited length of the support tube 7.
  • the seat 6 comprises a tubular structure of reinforcement 9, arranged under the concave wall 8 on each side of the plane of symmetry, so as to reinforce the concave wall 8.
  • the seat 6 On the portion of the support tube located on the rear part 1b of the cradle 1, the seat 6 comprises a flat support plate 10 extending longitudinally on the support tube 7, from the area of the wall concave 8 in contact with the support tube 7.
  • the seat 6 rests on the frame 2 by means of two tubes of support 11, 12, similar and arranged symmetrically with respect to the wall concave 8, in the same transverse plane, the support tube 12 not being visible in FIG. 1.
  • An absorption stop 13 for example made of elastomeric material, is disposed between the upper end of the support tube 11, and one end upper part of the reinforcing structure 9, to absorb shocks which may occur during the recovery of an underwater vehicle.
  • the support tube 11 is arranged substantially vertically between the longitudinal tube 3 and the reinforcement structure 9.
  • the support tube 11 is located in the same plane transverse than a transverse tube 5.
  • a reinforcement 14 in the form of a plate triangular connecting the adjacent ends of the support tube 11 and said tube transverse 5 stiffen the connection between the support tube 11 and the frame 2, so to take up the forces applied by the seat 6 on the retaining tube 11.
  • the seat 6 rests on the frame 2 by via pads 15 and absorption stops 16 similar to the stop absorption 13, arranged on a transverse tube 5.
  • the concave wall 8 comprises two rectangular openings 17, 18 which extend transversely from substantially the support tube 7 to free ends of the concave wall 8, so as to allow the passage of a strap mounting 19.
  • the front 20a of the vehicle 20 rests on the concave wall 8, the rear 20b of the underwater vehicle 20 rests on the support plate 10.
  • the underwater vehicle comprises a plurality of propulsion units 21 located at the rear of the underwater vehicle 20, for vertical displacement or horizontal, or rotating.
  • the fastening strap 19 holds the front 20a of the underwater vehicle 20 against the concave wall 8 of the seat 6.
  • a strap 22 transversely arranged maintains the rear 20b of the underwater vehicle 20 on the support plate 10, being arranged longitudinally at the level of the propulsion 21.
  • a parallelepiped cage 23 is formed by a frame lower 24, an upper frame 25, a bundle of cables 26 and a curtain of protection 27.
  • the cage 23 includes an opening 28 allowing entry and exit of the underwater vehicle.
  • the lower chassis 24, in the form of a tubular frame of form rectangular, includes two longitudinal tubes 29, 30, connected by two tubes transverse 31, 32, extending perpendicularly between the ends of the tubes longitudinal 29, 30.
  • the chassis 24 fixed to the tubular frame 2 of the cradle 1 by example by means of screw-nut systems, can be separated from the tubular frame 2 of the cradle 1.
  • the frame of the lower chassis 24 forms a opening 33 allowing the vertical passage of the underwater vehicle 20, and having at least one dimension smaller than a corresponding dimension of the frame 2 of the cradle 1.
  • Fixing yokes 34 formed on the longitudinal tubes 29, 30 towards the interior of the tubular frame formed by the lower chassis 24, allow the fixing cables 26 forming a bundle of cables connecting the lower chassis 24 to the chassis upper 25, perpendicular to the plane of the frame 2 of the cradle 1.
  • the upper frame 25 in the form of a tubular frame similar to the tubular frame 2 of the cradle 1 and comprising two longitudinal tubes 35, 36 and a plurality of transverse tubes 37, is connected to a boat located on the surface, and not shown in the figures, via a flexible connection in the form of a cable 38 fixed to a substantially central part 39 of the upper chassis 25.
  • Pulleys 40 arranged vertically opposite the yokes 34 and integral in rotation with longitudinal axes 41, 42 fixed in rotation respectively on the longitudinal tubes 35, 36, by means of a device not shown for to improve the clarity of the drawing, make it possible to wind or unwind the cables 26.
  • a motor 43 arranged longitudinally on the central part 39 of the chassis upper 25 rotates through a mechanical reference 44 a shaft 45 arranged transversely, provided with mechanical references at its ends 46, 47 to rotate the axes 41, 42 respectively.
  • the rotation of the motor 43 in a first direction causes the cables 26 to be wound on the pulleys 40, and the approximation of the lower chassis 24 and upper 25.
  • the rotation of the motor 43 in the opposite direction to the first direction of rotation causes the unwinding cables 26 and the spacing of the lower chassis 24 and upper chassis 25.
  • the portions of the rails 48, 49 in contact with the surface of the underwater vehicle 20 can be covered with a coating flexible 51 for example made of an elastomer type material, in order to avoid impacts with the surface of the underwater vehicle 20 during recovery of the underwater vehicle 20.
  • the supports 52 are provided at their lower end adjacent to the lower chassis 24 with stops of reception 53 of frustoconical shape flared downwards. Reception stops 53 cooperate with pins 54 arranged on the lower frame 24 and visible on the Figure 3, which project vertically from said transverse tubes 5.
  • the supports 52 define the minimum vertical distance between the lower and upper chassis, so that the underwater vehicle 20 is held by the seat 6 and the rails 48, 49, without cause damage to the underwater vehicle 20 when the lower frame 23 and upper frame 30
  • the protective curtain 27 comprising a plurality of bars 55 held by two ropes 56, 57 is deployed like a blind stacked between the longitudinal ends facing the upper 25 and lower 24 chassis, so that the bars 55 are joined when the lower chassis 24 is in contact with stops 53.
  • the unwinding of the cables 26 allows to enlarge said cage 23 vertically, so as to enlarge said opening 28, to facilitate the passage of the underwater vehicle 20.
  • the latter Before launching the underwater vehicle 20, the latter is fixed to the cradle 1 using straps 19 and 22.
  • the cage 23 is raised via of a crane present on the boat and not shown in the figures.
  • the chassis lower 24 allowing the underwater vehicle 20 to pass vertically by opening 33, the cage 23 is placed on the cradle 1.
  • the frame 24 Like the lower chassis 24 has at least one dimension smaller than a corresponding dimension of the frame 2 of the cradle 1, the frame 24 rests on the frame 2 of the cradle 1.
  • the launching device water and recovery is lowered into the water until the desired depth by unwinding the cable 38 using a winch not shown on the figures which control the speed of descent, as well as the tension of the cable 38.
  • the cable unwinding speed 35 is monotonous and can be substantially constant.
  • the unwinding speed can be several meters per second, for example 3 meters per second, which allows the underwater vehicle to be lowered quickly to the desired depth.
  • the unwinding of the cable 38, the unwinding of the cables 26 is controlled to increase the distance between the lower and upper chassis in order to release the underwater vehicle 20.
  • the cables 26 are unwound quickly to prevent the underwater vehicle is unbalanced or damaged by movement of the cage 23 due to surface pounding.
  • the unwinding of the cables 26 can be accompanied of a winding of the cable 38 at a speed lower than the speed of unwinding of the cables 26, simultaneously moving the lower chassis 24 and upper chassis 25 away from the underwater vehicle 20.
  • the underwater vehicle moves back so as to leave said cage 23 through the opening 28.
  • the vertical dimension of the opening 28 of the cage 23 is greater than the amplitude of the vertical movement due to heaving, so that this movement cannot cause no shock between the cage 23 and the underwater vehicle 20.
  • the cage 23 can be raised on the boat, or remain in the water at the depth where the underwater vehicle 20 has been released.
  • the underwater vehicle 20 which may include means for guidance, for example acoustic beacons and sonars, which cooperate with means for guiding the cage 23, for example sonar reflectors arranged on the elements of the cage 23, is guided or is remotely controlled from the boat using transmission means for entering the cage 23, through the opening 28, of preferably the average depth of the launching and recovery device, taking into account the vertical movements of said device.
  • the dimension vertical of the opening 28 is significantly greater than the amplitude of the vertical movements of the cage 23 caused by the pounding on the surface, the underwater vehicle 20 is not likely to be damaged or unbalanced by striking the lower chassis 24 or the upper chassis 25.
  • the cables 26 are wound so as to close the cage to keep the underwater vehicle between the seat 6 of the cradle 1 and the rails 48, 49 of the upper chassis 25.
  • the cable winding speed 26 is fast, to avoid shocks successive movements due to the relative movements between the underwater vehicle 20 and the seat 6 of the cradle 1, when the cradle 1 and the underwater vehicle 20 are brought into contact, which could damage or unbalance the underwater vehicle.
  • the cradle 1 always moves vertically upward relative to the underwater vehicle 20 which undergoes little or no vertical movements due to pounding on the surface.
  • the concave wall 8 of the seat 6 makes it possible to receive the underwater vehicle 20 on the cradle 1, guiding it to position it in the horizontal plane.
  • the shape of the concave wall 8 having a vertical plane of symmetry allows the times to center the underwater vehicle on cradle 1 and align it longitudinally.
  • the absorption stops 13, 16 make it possible to absorb shocks during contact between the underwater vehicle 20 and the seat 6, so as not to not damage the underwater vehicle.
  • the cables 26 are wound up until the lower chassis 23 comes into contact with the stops 53 whose frustoconical shape open downwards guide the pins 54 of the lower chassis 24, so as to precisely position the chassis lower 24 in the horizontal plane with respect to the upper chassis 25. Simultaneously, the upper part of the underwater vehicle 20 comes into contact with the rails 48, 49 of the upper chassis 25. Thus, when the cage 23 is closed, the underwater vehicle is held between the cradle 1 and the rails 48, 49, which prohibit all movement of the underwater vehicle 20 in the cage 23.
  • the launching device and recovery can be raised to the surface by winding the cable 38.
  • any connection between the lower chassis and the upper chassis allowing to vary the vertical dimension of the cage is suitable.
  • a relationship flexible, like cables, chains, or straps is particularly suitable because it can be wound easily, for example on pulleys. We can consider the use of cylinders.
  • the device according to the invention avoids the use of ballast weights. Indeed, for accelerate the descent of the underwater vehicle 20 to its working depth and avoid the use of vertical propulsion means, said underwater vehicle is generally provided with additional ballast weights known as descent, which are released when the underwater vehicle reaches its working depth. For accelerate the ascent of the underwater vehicle, so-called ballast weights are released at the time of the ascent.
  • the launching and recovery device allows to drop and recover the underwater vehicle directly at the working depth. So when of the preparation, the underwater vehicle is directly ballasted for its immersion at the working depth. The mass of the vehicle is then reduced to moment of its immersion since it does not contain any sinker weights or ascent, which can represent up to 10% of the total weight of the vehicle submarine. The underwater vehicle ballast preparation time is reduced. We also avoid the release of ballast weights, which represents a saving, while avoiding pollution of the seabed.
  • said device When the launching and recovery device is returned to the boat, said device constitutes a storage medium for the underwater vehicle.
  • the cage 23 can be lifted without lifting the cradle, as illustrated in FIG. 1. In this way, access to the vehicle is freed submarine 20 to facilitate maintenance or preparation operations.
  • the straps 19 and 22 make it possible to better maintain the underwater vehicle 20 on the cradle 1 in the absence of the upper cradle constituted by the rails 48, 49 of the chassis superior.
  • the device for launching and recovering a underwater vehicle allows the use of a plurality of underwater vehicles each stored on a cradle, while using only one cage to immerse successively the different underwater vehicles
  • the device for launching and recovering an underwater vehicle from a boat in the form of a recovery cage having an opening whose vertical dimension can be adjusted eliminates the disadvantages due to the vertical movements of the recovery cage which originate in the heaving, i.e. the vertical movements of the boat to which the cage and which are due to swell on the surface of the water.
  • the device for launching and recovering an underwater vehicle allows you to quickly drop and retrieve an underwater vehicle at a depth close to the working depth of said underwater vehicle, so that we can conserve more on-board energy for the mission assigned to underwater vehicle, and the use of sinker weights can be avoided, and weight of ascent ballast. We save time underwater vehicle ballast preparation, and ballast weight savings used and dropped on the seabed.
  • the device for launching and recovering an underwater vehicle still allows storage of the underwater vehicle on the boat, while providing the possibility of easy access to the underwater vehicle for operations of maintenance and preparation for a specific mission.

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Laying Of Electric Cables Or Lines Outside (AREA)
  • Earth Drilling (AREA)
  • Underground Or Underwater Handling Of Building Materials (AREA)
  • Electric Cable Installation (AREA)
EP02290879A 2001-04-13 2002-04-09 Vorrichtung und Verfahren zum Aussetzen und Bergen eines Unterwasserfahrzeuges Expired - Lifetime EP1249390B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0105085A FR2823485B1 (fr) 2001-04-13 2001-04-13 Dispositif de mise a l'eau et de recuperation d'un vehicule sous-marin et procede de mise en oeuvre
FR0105085 2001-04-13

Publications (2)

Publication Number Publication Date
EP1249390A1 true EP1249390A1 (de) 2002-10-16
EP1249390B1 EP1249390B1 (de) 2005-12-28

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EP02290879A Expired - Lifetime EP1249390B1 (de) 2001-04-13 2002-04-09 Vorrichtung und Verfahren zum Aussetzen und Bergen eines Unterwasserfahrzeuges

Country Status (7)

Country Link
US (1) US6698376B2 (de)
EP (1) EP1249390B1 (de)
JP (1) JP2003081179A (de)
CA (1) CA2380816A1 (de)
DE (1) DE60208256T2 (de)
FR (1) FR2823485B1 (de)
NO (1) NO20021754L (de)

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WO2008012472A1 (fr) * 2006-07-26 2008-01-31 Ifremer-Institut Francais De Recherche Pour L'exploitation De La Mer Appareil de recuperation d'un engin sous-marin ou marin
EP2610163A1 (de) * 2011-12-27 2013-07-03 ATLAS Elektronik GmbH Bergevorrichtung und Bergeverfahren zum Bergen von an der Wasseroberfläche eines Gewässers befindlicher kondensierter Materie, insbesondere ein unbemanntes Unterwasserfahrzeug
CN104071318A (zh) * 2014-07-08 2014-10-01 中国船舶科学研究中心上海分部 一种水下搜救机器人
CN105775073A (zh) * 2016-03-17 2016-07-20 天津超智海洋科技有限公司 一种模块化水下遥控机器人
WO2017173936A1 (zh) * 2016-04-06 2017-10-12 大连理工大学 一种水下拖体布放装置及其使用方法
CN111559476A (zh) * 2020-01-20 2020-08-21 上海交通大学 适用于水下长柱状物体的浮游式打捞装置
CN112339947A (zh) * 2020-11-04 2021-02-09 上海交通大学 深海应急处置工具布放装置
WO2022002664A1 (de) * 2020-07-02 2022-01-06 Atlas Elektronik Gmbh Transportbox zum absetzen eines wasserfahrzeugs

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FR2868036B1 (fr) * 2004-03-24 2006-06-02 Eca Societe Par Actions Simpli Dispositif de mise a l'eau et de recuperation d'un vehicule submersible
US6843191B1 (en) * 2004-05-19 2005-01-18 Valentin Makotinsky Device and method for raising sunken objects
US7156036B2 (en) * 2005-05-13 2007-01-02 Seiple Ronald L Launch and recovery system
US7350475B2 (en) * 2005-09-16 2008-04-01 Bae Systems Land & Armaments L.P. Launch and recovery system
FR2904288B1 (fr) * 2006-07-26 2009-04-24 Ifremer Installation et procede de recuperation d'un engin sous-marin ou marin
US9440717B2 (en) * 2008-11-21 2016-09-13 Raytheon Company Hull robot
US8342281B2 (en) * 2008-11-21 2013-01-01 Raytheon Company Hull robot steering system
US9254898B2 (en) 2008-11-21 2016-02-09 Raytheon Company Hull robot with rotatable turret
US7854569B1 (en) * 2008-12-11 2010-12-21 The United States Of America As Represented By The Secretary Of The Navy Underwater unmanned vehicle recovery system and method
US8393286B2 (en) * 2009-09-18 2013-03-12 Raytheon Company Hull robot garage
US8146527B2 (en) * 2009-09-22 2012-04-03 Lockheed Martin Corporation Offboard connection system
US8393421B2 (en) * 2009-10-14 2013-03-12 Raytheon Company Hull robot drive system
GB201000662D0 (en) * 2010-01-15 2010-03-03 Wireless Fibre Systems Ltd Subsea wireless communication, navigation and power system
US8096254B1 (en) 2010-03-29 2012-01-17 The United States Of American As Represented By The Secretary Of The Navy Unmanned vehicle launch and recovery system
US8386112B2 (en) * 2010-05-17 2013-02-26 Raytheon Company Vessel hull robot navigation subsystem
DE102012112333A1 (de) 2012-07-06 2014-01-09 Technische Universität Berlin Vorrichtung mit einer Aussetz- und Bergungseinrichtung
US9038557B2 (en) 2012-09-14 2015-05-26 Raytheon Company Hull robot with hull separation countermeasures
US9469382B2 (en) 2013-06-28 2016-10-18 Cgg Services Sa Methods and underwater bases for using autonomous underwater vehicle for marine seismic surveys
CN103693178B (zh) * 2013-09-26 2016-05-11 青岛海山海洋装备有限公司 一种笼式回收装置
KR101817670B1 (ko) * 2016-10-06 2018-02-21 주식회사 대명엘리베이터 요트용 크래들을 포함하는 이송 장치, 이를 포함하는 요트 주차 시스템 및 요트 주차 방법
DE102017212126B4 (de) 2017-07-14 2020-10-08 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. System und Vorrichtung zum Bergen eines Fahrzeugs
US10077095B1 (en) * 2017-08-05 2018-09-18 Jeffrey Alan McChesney Pin array chamber systems and methods for releasing and capturing a moving object—maritime
CN109383714B (zh) * 2018-10-31 2024-04-02 无锡海核装备科技有限公司 无人水下航行器用自动投放及回收装置
FR3109567B1 (fr) * 2020-04-28 2024-04-26 Ixblue Système de récupération d’engins autonome sous-marin ou de surface.
CN112407168A (zh) * 2020-11-24 2021-02-26 西北工业大学 一种适用于水面船滑道的水下航行器动态回收舱及其控制方法
CN112875544B (zh) * 2021-01-11 2022-08-30 大连海事大学 安装在船用起重机上的绳驱式auv回收舱控制系统
CN112896455B (zh) * 2021-01-25 2022-05-17 上海大学 一种用于海上无人艇布放回收的艇架
JP7638108B2 (ja) * 2021-02-22 2025-03-03 三菱重工業株式会社 航走体投入装置
CN113525635B (zh) * 2021-08-11 2022-06-14 中国船舶科学研究中心 一种用于rov水下对接的辅助牵引装置
US11879226B2 (en) * 2021-11-30 2024-01-23 USA as represented by Secretary of the Navy Autonomous deployment system for seafloor devices
CN114056496A (zh) * 2021-12-10 2022-02-18 上海船舶研究设计院（中国船舶工业集团公司第六0四研究院） Auv收放装置及船舶
CN116280022B (zh) * 2023-04-10 2025-07-25 国家深海基地管理中心 一种auv自动升降对接布放回收系统
US20250256819A1 (en) * 2024-02-08 2025-08-14 Chevron U.S.A. Inc. Subsea basket

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FR2904287A1 (fr) * 2006-07-26 2008-02-01 Ifremer Appareil de recuperation d'un engin sous-marin ou marin
EP2610163A1 (de) * 2011-12-27 2013-07-03 ATLAS Elektronik GmbH Bergevorrichtung und Bergeverfahren zum Bergen von an der Wasseroberfläche eines Gewässers befindlicher kondensierter Materie, insbesondere ein unbemanntes Unterwasserfahrzeug
CN104071318A (zh) * 2014-07-08 2014-10-01 中国船舶科学研究中心上海分部 一种水下搜救机器人
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CN111559476A (zh) * 2020-01-20 2020-08-21 上海交通大学 适用于水下长柱状物体的浮游式打捞装置
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WO2022002664A1 (de) * 2020-07-02 2022-01-06 Atlas Elektronik Gmbh Transportbox zum absetzen eines wasserfahrzeugs
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US12486004B2 (en) 2020-07-02 2025-12-02 Atlas Elektronik Gmbh Transport box for setting down a watercraft
CN112339947A (zh) * 2020-11-04 2021-02-09 上海交通大学 深海应急处置工具布放装置

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JP2003081179A (ja) 2003-03-19
US6698376B2 (en) 2004-03-02
US20020152946A1 (en) 2002-10-24
FR2823485B1 (fr) 2003-08-01
DE60208256T2 (de) 2007-02-01
CA2380816A1 (fr) 2002-10-13
EP1249390B1 (de) 2005-12-28
FR2823485A1 (fr) 2002-10-18

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