BR112015021686A2 - sistema e processo de recuperação de um veículo submarino autônomo - Google Patents
sistema e processo de recuperação de um veículo submarino autônomoInfo
- Publication number
- BR112015021686A2 BR112015021686A2 BR112015021686A BR112015021686A BR112015021686A2 BR 112015021686 A2 BR112015021686 A2 BR 112015021686A2 BR 112015021686 A BR112015021686 A BR 112015021686A BR 112015021686 A BR112015021686 A BR 112015021686A BR 112015021686 A2 BR112015021686 A2 BR 112015021686A2
- Authority
- BR
- Brazil
- Prior art keywords
- stop
- receiving device
- underwater vehicle
- vehicle
- submarine
- Prior art date
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
- B63B21/56—Towing or pushing equipment
- B63B21/66—Equipment specially adapted for towing underwater objects or vessels, e.g. fairings for tow-cables
-
- 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
- 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
- B63G8/14—Control of attitude or depth
- B63G8/18—Control of attitude or depth by hydrofoils
-
- 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
- B63G8/42—Towed underwater vessels
-
- 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
-
- 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
-
- 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
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
-
- 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
- B63G2008/008—Docking stations for unmanned underwater vessels, or the like
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
abstract a recovery system for recovering an autonomous underwater vehicle (1) from a ship, said underwater vehicle (1) comprising a front portion referred to as the nose (5), said system comprising: - a receiving device (7) comprising a stop (9) on which the nose (5) of the underwater vehicle (1) is capable of bearing, - blocking means making it possible to secure the underwater vehicle to the stop, - a flexible link (12) intended to provide the interface between the receiving device (7) and the ship, the flexible link (12) being arranged in such a way that the ship pulls the assembly formed by the receiving device (7) and the underwater vehicle (1) on the front of the underwater vehicle when the latter is rigidly connected to the stop (9), - stabilisation means configured in such a way as to make it possible to control the depth and the attitude, in particular the list and trim of the assembly formed by the receiving device (7) and the underwater vehicle when the latter is rigidly connected to the stop (9). tradução do resumo resumo patente de invenção: sistema e processo de recuperação de um veículo submarino autônomo. sistema de recuperação para recuperar um veículo submarino autônomo (1), a partir de um navio, esse veículo submarino (1) compreendendo uma parte dianteira chamada proa (5), esse sistema compreendendo: - um dispositivo de recebimento (7), compreendendo um batente (9) sobre o qual a proa (5) do veículo submarino (1) está apta a se apoiar; - meios de bloqueio, permitindo solidarizar o veículo submarino com o batente; - um elo flexível(12) destinado a assegurar a interface entre o dispositivo de recebimento (7) e o navio, o elo flexível (12) sendo disposto, de forma que o navio puxe o conjunto formado pelo dispositivo de recebimento (7) e o veículo submarino (1) sobre a dianteira do veículo submarino, quando este é solidário ao batente (9); - meios de estabilização configurados de forma a permitir controlar a profundidade e o comportamento, notadamente o local de encalhe de um navio e o equilíbrio do conjunto formado pelo dispositivo de recebimento (7) e o navio submarino, quando este é solidário ao batente (9).
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1300480A FR3002916B1 (fr) | 2013-03-05 | 2013-03-05 | Systeme et procede de recuperation d'un engin sous-marin autonome |
PCT/EP2014/054149 WO2014135522A1 (fr) | 2013-03-05 | 2014-03-04 | Systeme et procede de recuperation d'un engin sous-marin autonome |
Publications (1)
Publication Number | Publication Date |
---|---|
BR112015021686A2 true BR112015021686A2 (pt) | 2017-07-18 |
Family
ID=49111240
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
BR112015021686A BR112015021686A2 (pt) | 2013-03-05 | 2014-03-04 | sistema e processo de recuperação de um veículo submarino autônomo |
Country Status (9)
Country | Link |
---|---|
US (1) | US10351212B2 (pt) |
EP (1) | EP2964515B1 (pt) |
JP (1) | JP6475643B2 (pt) |
AU (1) | AU2014224703B2 (pt) |
BR (1) | BR112015021686A2 (pt) |
CA (1) | CA2904109C (pt) |
FR (1) | FR3002916B1 (pt) |
SG (1) | SG11201507081UA (pt) |
WO (1) | WO2014135522A1 (pt) |
Families Citing this family (39)
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JP6581874B2 (ja) * | 2015-10-06 | 2019-09-25 | 川崎重工業株式会社 | 自律型無人潜水機の充電システム |
CN105607476A (zh) * | 2016-01-04 | 2016-05-25 | 哈尔滨工程大学 | 一种作业型rov六自由度运动控制方法 |
CN106314732B (zh) * | 2016-10-14 | 2018-01-26 | 中国船舶科学研究中心(中国船舶重工集团公司第七0二研究所) | Auv水下对接与收放装置 |
JP2018108790A (ja) * | 2017-01-05 | 2018-07-12 | 株式会社三井E&Sホールディングス | 舟艇用揚収装置、船舶、および舟艇用揚収方法 |
CN106976532A (zh) * | 2017-03-21 | 2017-07-25 | 哈尔滨工程大学 | 网状漏斗形微小型水下航行器回收装置 |
FR3064244B1 (fr) * | 2017-03-23 | 2023-11-10 | Dcns | Systeme immerge de stockage et de maintien en condition operationnelle d'un engin sous-marin tel qu'un drone |
US10155574B1 (en) * | 2017-05-10 | 2018-12-18 | The United States Of America, As Represented By The Secretary Of The Navy | Underwater vessel assembly having tow point adapter plates for performance optimization |
AU2018325058B2 (en) * | 2017-09-04 | 2021-10-21 | Kawasaki Jukogyo Kabushiki Kaisha | Charging system for autonomous underwater vehicle and method of lifting and recovering autonomous underwater vehicle |
CN108639585B (zh) * | 2018-04-24 | 2020-04-03 | 西北工业大学 | 一种用于auv回收的滚轮式防撞回收管 |
CN109263838A (zh) * | 2018-08-01 | 2019-01-25 | 浙江理工大学 | 一种六自由度的水下回收装置 |
CN109319074B (zh) * | 2018-08-30 | 2020-04-03 | 中国人民解放军海军工程大学 | 一种多正交信号发射无人潜器声引导回收系统 |
NO345094B1 (en) | 2018-09-21 | 2020-09-28 | Usea As | A marine structure comprising a launch and recovery system |
US10618615B1 (en) * | 2018-10-01 | 2020-04-14 | United States Of America As Represented By Secretary Of The Navy | Dampened capture mechanism |
CN111361693B (zh) * | 2018-12-25 | 2021-07-27 | 中国科学院沈阳自动化研究所 | 一种应用于布放回收水下拖曳体的自动锁紧和解锁机构 |
CN111361687B (zh) * | 2018-12-25 | 2021-07-27 | 中国科学院沈阳自动化研究所 | 应用于布放回收水下拖曳体的自动锁紧和解锁机构及方法 |
FR3091258B1 (fr) * | 2018-12-28 | 2021-04-09 | Thales Sa | Dispositif d’accueil pour un véhicule sous-marin |
FR3091256B1 (fr) * | 2018-12-28 | 2021-06-25 | Thales Sa | Dispositif d’accueil pour un vehicule sous-marin |
CN111409796B (zh) * | 2019-01-07 | 2021-07-20 | 中国科学院沈阳自动化研究所 | 一种用于自主回收水下机器人的绳缆捕获式机构 |
NO347397B1 (en) * | 2019-09-12 | 2023-10-16 | Kongsberg Maritime As | Intermediate docking station for underwater vehicles |
FR3101846B1 (fr) | 2019-10-10 | 2023-01-27 | Ixblue | Système et procédé de déploiement et de récupération d’engin autonome sous-marin par un véhicule de récupération remorqué par un navire, ensemble d’exploration sous-marine |
CN110745219B (zh) * | 2019-11-05 | 2020-09-08 | 西北工业大学 | 一种弹性联动装置驱动的超大型uuv释放与回收auv装置 |
CN110844027B (zh) * | 2019-11-29 | 2020-11-27 | 吉林大学 | 一种用于auv回收的动态基站 |
CN111152902A (zh) * | 2020-01-03 | 2020-05-15 | 西北工业大学 | 一种水下滑翔机采用的升降台爪式auv释放与回收装置 |
FR3109567B1 (fr) * | 2020-04-28 | 2024-04-26 | Ixblue | Système de récupération d’engins autonome sous-marin ou de surface. |
CN111874194B (zh) * | 2020-07-08 | 2022-08-09 | 山东省科学院海洋仪器仪表研究所 | Auv水下停靠坞和基于浮标与auv的海洋环境观测平台 |
CN112278197A (zh) * | 2020-10-22 | 2021-01-29 | 吴凯忠 | 一种海洋工程水下航行器的马鞍式捕获装置及捕获方法 |
CN112937804B (zh) * | 2021-01-29 | 2022-07-01 | 浙江大学 | 用于auv接驳的柔性接驳基站以及柔性接驳方法 |
US11485461B2 (en) | 2021-03-15 | 2022-11-01 | Tridentis Advanced Marine Vehicles, LLC | Device and method for launching and recovering an unmanned underwater vehicle |
CN113264166B (zh) * | 2021-06-09 | 2022-04-22 | 西北工业大学 | 一种用于回收与释放auv的联动锁紧机构 |
CN113212709B (zh) * | 2021-06-09 | 2022-06-28 | 西北工业大学 | 一种基于柔性材料水下滑翔机保形回收与释放auv的装置 |
FR3125793A1 (fr) | 2021-07-27 | 2023-02-03 | Eca Robotics | Dispositif de réception d’un engin marin ou sous-marin, notamment autonome, à partir d’un navire. |
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 |
CN113788109A (zh) * | 2021-10-27 | 2021-12-14 | 中国核动力研究设计院 | 一种深潜器入涵的类锚链牵引装置、方法、维修涵洞 |
CN114162293B (zh) * | 2021-11-29 | 2022-12-06 | 浙江大学 | 一种带阻尼装置的auv锁紧机构 |
CN114228956B (zh) * | 2021-12-09 | 2022-05-27 | 浙江大学 | 一种水下柔性臂及auv水下柔性回收机构 |
CN114655400B (zh) * | 2022-03-26 | 2023-11-21 | 西北工业大学 | 用于翼身融合水下滑翔机的auv电磁引导式回收装置及方法 |
CN114789772A (zh) * | 2022-04-12 | 2022-07-26 | 株洲中车时代电气股份有限公司 | 一种用于回收水下机器人的对接装置、无人船及回收方法 |
IT202200011063A1 (it) * | 2022-05-26 | 2023-11-26 | Saipem Spa | Dispositivo di collegamento per collegare un veicolo subacqueo senza equipaggio ad un veicolo galleggiante e gruppo di navigazione comprendente detto dispositivo di collegamento |
CN116674731B (zh) * | 2023-07-27 | 2024-06-04 | 自然资源部第一海洋研究所 | 一种基于浮力调节的auv海底着陆装置及方法 |
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FR1004764A (fr) | 1949-12-31 | 1952-04-02 | Toile de polissage souple et lavable et son procédé de fabrication | |
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DE102007031156B4 (de) * | 2007-06-11 | 2009-04-16 | Diehl Bgt Defence Gmbh & Co. Kg | Vorrichtung und Verfahren zur Aussetzung und Bergung eines Unterwasserfahrzeugs und Verfahren zur Andockung eines Unterwasserfahrzeugs an eine solche Vorrichtung |
US7712429B1 (en) * | 2007-06-28 | 2010-05-11 | United States Of America As Represented By The Secretary Of The Navy | Launch and recovery system for unmanned undersea vehicles |
US8145369B1 (en) * | 2007-11-01 | 2012-03-27 | Vehicle Control Technologles, Inc. | Docking apparatuses and methods |
JP5438906B2 (ja) * | 2008-02-29 | 2014-03-12 | 三菱重工業株式会社 | 水中航走体の発射回収システムおよびこの発射回収システムを備える船舶 |
FR2931792B1 (fr) | 2008-06-03 | 2010-11-12 | Thales Sa | Systeme pour la mise a l'eau et la recuperation automatiques d'un drone sous-marin |
DE102011109092A1 (de) * | 2011-08-01 | 2013-02-07 | Atlas Elektronik Gmbh | System und Verfahren zum Bergen eines Unterwasserfahrzeugs |
-
2013
- 2013-03-05 FR FR1300480A patent/FR3002916B1/fr not_active Expired - Fee Related
-
2014
- 2014-03-04 AU AU2014224703A patent/AU2014224703B2/en active Active
- 2014-03-04 US US14/773,197 patent/US10351212B2/en active Active
- 2014-03-04 BR BR112015021686A patent/BR112015021686A2/pt not_active IP Right Cessation
- 2014-03-04 EP EP14708010.5A patent/EP2964515B1/fr active Active
- 2014-03-04 CA CA2904109A patent/CA2904109C/en active Active
- 2014-03-04 WO PCT/EP2014/054149 patent/WO2014135522A1/fr active Application Filing
- 2014-03-04 SG SG11201507081UA patent/SG11201507081UA/en unknown
- 2014-03-04 JP JP2015560659A patent/JP6475643B2/ja active Active
Also Published As
Publication number | Publication date |
---|---|
EP2964515B1 (fr) | 2018-04-25 |
WO2014135522A1 (fr) | 2014-09-12 |
US10351212B2 (en) | 2019-07-16 |
JP2016515060A (ja) | 2016-05-26 |
CA2904109C (en) | 2021-06-01 |
AU2014224703B2 (en) | 2017-05-25 |
AU2014224703A1 (en) | 2015-09-24 |
FR3002916A1 (fr) | 2014-09-12 |
EP2964515A1 (fr) | 2016-01-13 |
SG11201507081UA (en) | 2015-10-29 |
US20160009344A1 (en) | 2016-01-14 |
JP6475643B2 (ja) | 2019-02-27 |
FR3002916B1 (fr) | 2015-03-06 |
CA2904109A1 (fr) | 2014-09-12 |
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