CA1055319A - Cable link system for submersible vehicle - Google Patents
Cable link system for submersible vehicleInfo
- Publication number
- CA1055319A CA1055319A CA272,211A CA272211A CA1055319A CA 1055319 A CA1055319 A CA 1055319A CA 272211 A CA272211 A CA 272211A CA 1055319 A CA1055319 A CA 1055319A
- Authority
- CA
- Canada
- Prior art keywords
- ballast
- cable
- craft
- cable link
- sensing
- 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.)
- Expired
Links
Classifications
-
- 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
- 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
- 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
- B63G2008/007—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled by means of a physical link to a base, e.g. wire, cable or umbilical
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)
- Laying Of Electric Cables Or Lines Outside (AREA)
Abstract
ABSTRACT OF THE DISCLOSURE
A cable link apparatus for linking a submersible craft to a parent surface craft in which the cable link is provided with neg-atively buoyant ballast at a point intermediate its ends, that part of the cable link extending between the surface craft and the ballast is negatively buoyant and that part extending between the ballast and the submersible craft is positively buoyant, the nega-tive buoyancy of the ballast being chosen so that in operational conditions the ballast always assumes a position lower than the lowest part of the negatively buoyant cable portion.
A cable link apparatus for linking a submersible craft to a parent surface craft in which the cable link is provided with neg-atively buoyant ballast at a point intermediate its ends, that part of the cable link extending between the surface craft and the ballast is negatively buoyant and that part extending between the ballast and the submersible craft is positively buoyant, the nega-tive buoyancy of the ballast being chosen so that in operational conditions the ballast always assumes a position lower than the lowest part of the negatively buoyant cable portion.
Description
~0553~
This invention relates to cable link apparatus for linking a submersible craft to a parent craft Eor the purposes of control.
There are various problems associated with such apparatus when the submersible craf-t is in the operational submerged con-dition. For example, the cable link means can contact the sea bed and become snagged on obstacles; an object of the invention is~ therefore, to ensure that those portions of the cable link most likely to become snagged lie, in use, in a position in which the likelihood of such snagging is reduced. A further problem associated with such apparatus is that movement of the parent - craft can be transmitted to the submersible craft thereby making ~ i precise control difficult; a further object of the invention is, ` therefore, to provide a cable link means which includes suffi-cient cable slack to reduce this transmission of movement.
According to the present invention a cable lin~ ,apparatus for linking a parent craft to a submersible craft includes cable link means having a first end adapted to be anchored to a parent ~;
craft and a second end adapted to be coupled to a submersible craft, sensing means for sensing any deviation of the ballast means from a , 20 desired vertical location, ballast means having negative buoyancy 1 anchored to the cable link means between the said ends, a first cable !
portion of the cable link means extending between the first end and the ballast means being of negative buoyancy, a second cable portion of the cable link means extending between the second end and the .1 : ',:
ballast means being of positive buoyancy, the negative buoyancy of the ballast means being such that in use the ballast means always adopts ;~
a lower position than the first cable portion.
A preferred embodiment of an apparatus according to the inven-tion is described with reference to the accompanying drawings in which~
Figure 1 is a diagram of a parent surface craft operatively connected to a submersible craft by cable link apparatus, .:, ... .
;~ Figure 2 is a diagram of a suitable control system for the 1~553~9 cable l.i~ apparatus, and Fig~re 3 is an enla:rged view of a ballast means, and, Fi~ure 4 is a sect-ional v:i.e~r of -the ballast means, the section bein~ taken upon li.ne lV-lV of l;`i~ure ~
Referring initially to Fi~ure 1, the sea has a sur~ace 1 and a bed 2n Upon the surface li.es a parent craft 3 and near the sea bed lies a submersible craft 4. This latter craft is of the rem-otely controlled type, and is used for the remote viewin~ and sub-sequent mainterlance of sub-marine pipe lines and cables~ The sub-10.mersible craft has thrust motors, not shown, which require bothpower to drive them and signals to control them. A cable link apparatus is provided to transmit this power from the parent sur-face craft and also transmit control and associated si~3nals betw-een the t~ro craft.
' Mounted upon the surface craft 3 is a winch 5 to which one end: of a cable link 6 is anchoredO ~'he other end of the cable link 6 is coupl.ed to the submersible craft 4. ~etween these two ends of the cable link 6 is anchored a ballast 7. Ihat portion 6a of the cable link extending between the winch 5 and the ballast 7 has a 20.negative 'buoyancy, that is to say it i.s heavier than the amount of water it displaces, ~hilst that portion 6b of the cable link e~te-nding between the ballast 7 and the submersible craft 4 is formed with a positive buoyancy, that is to say it is lighter than the amount o~ water it displacesO In the latter case, the positive buoyancy is effected by coupling a series of floats 8 of known des-ign (for example fishermen's floats) to it at intervals along its ' lengthO '' The magnitude o~ the negative buoyancy of the ballast 7 is ' chosen such that in use it always adopts a position lo~er than all -' 30~parts of that cable portion referenced 6a. In other words~ that cable portion 6a always extends downwards from the surface craft 3 towards the sea bed 2 with the ballast 7 at its lowest part; no
This invention relates to cable link apparatus for linking a submersible craft to a parent craft Eor the purposes of control.
There are various problems associated with such apparatus when the submersible craf-t is in the operational submerged con-dition. For example, the cable link means can contact the sea bed and become snagged on obstacles; an object of the invention is~ therefore, to ensure that those portions of the cable link most likely to become snagged lie, in use, in a position in which the likelihood of such snagging is reduced. A further problem associated with such apparatus is that movement of the parent - craft can be transmitted to the submersible craft thereby making ~ i precise control difficult; a further object of the invention is, ` therefore, to provide a cable link means which includes suffi-cient cable slack to reduce this transmission of movement.
According to the present invention a cable lin~ ,apparatus for linking a parent craft to a submersible craft includes cable link means having a first end adapted to be anchored to a parent ~;
craft and a second end adapted to be coupled to a submersible craft, sensing means for sensing any deviation of the ballast means from a , 20 desired vertical location, ballast means having negative buoyancy 1 anchored to the cable link means between the said ends, a first cable !
portion of the cable link means extending between the first end and the ballast means being of negative buoyancy, a second cable portion of the cable link means extending between the second end and the .1 : ',:
ballast means being of positive buoyancy, the negative buoyancy of the ballast means being such that in use the ballast means always adopts ;~
a lower position than the first cable portion.
A preferred embodiment of an apparatus according to the inven-tion is described with reference to the accompanying drawings in which~
Figure 1 is a diagram of a parent surface craft operatively connected to a submersible craft by cable link apparatus, .:, ... .
;~ Figure 2 is a diagram of a suitable control system for the 1~553~9 cable l.i~ apparatus, and Fig~re 3 is an enla:rged view of a ballast means, and, Fi~ure 4 is a sect-ional v:i.e~r of -the ballast means, the section bein~ taken upon li.ne lV-lV of l;`i~ure ~
Referring initially to Fi~ure 1, the sea has a sur~ace 1 and a bed 2n Upon the surface li.es a parent craft 3 and near the sea bed lies a submersible craft 4. This latter craft is of the rem-otely controlled type, and is used for the remote viewin~ and sub-sequent mainterlance of sub-marine pipe lines and cables~ The sub-10.mersible craft has thrust motors, not shown, which require bothpower to drive them and signals to control them. A cable link apparatus is provided to transmit this power from the parent sur-face craft and also transmit control and associated si~3nals betw-een the t~ro craft.
' Mounted upon the surface craft 3 is a winch 5 to which one end: of a cable link 6 is anchoredO ~'he other end of the cable link 6 is coupl.ed to the submersible craft 4. ~etween these two ends of the cable link 6 is anchored a ballast 7. Ihat portion 6a of the cable link extending between the winch 5 and the ballast 7 has a 20.negative 'buoyancy, that is to say it i.s heavier than the amount of water it displaces, ~hilst that portion 6b of the cable link e~te-nding between the ballast 7 and the submersible craft 4 is formed with a positive buoyancy, that is to say it is lighter than the amount o~ water it displacesO In the latter case, the positive buoyancy is effected by coupling a series of floats 8 of known des-ign (for example fishermen's floats) to it at intervals along its ' lengthO '' The magnitude o~ the negative buoyancy of the ballast 7 is ' chosen such that in use it always adopts a position lo~er than all -' 30~parts of that cable portion referenced 6a. In other words~ that cable portion 6a always extends downwards from the surface craft 3 towards the sea bed 2 with the ballast 7 at its lowest part; no
- 2 -. . .
.
;
. ~
~ 55331 9 in-t~rmedi~te part of the cable portion 6a can sag do~rn bel.ow the ba]last 7. I~aturally~ the buoya.ncy o-f that cabl.e portion 6b i~
chosen such that in all operational condi.tions it is insu-fficient to pull the ballast 7 upwards.
Depending upon -the actual chosen positive and negative buoya-ncies and the control thrust exertable by the submersible cra*t 4, the combined buoyanc~ of that cable portion 6b and an upwards thr-ust of the submersible craft 4 may tend to lift the ballast 7 but this circumstance is undesi-rable in normal use and is t~lUS a non- :
lO~operational condi-tion. ~ :
. The ballast contains a pressure responsive device in the formof a transducer 9. Conveniently this is the type produced by the ~ational Semiconductor company and is referenced ~X 1440A. It is . :~.
: used to produce an electrical signal corresponding to the depth of the ballast 70 The submersible craft 4 also carries a similar ::
transducer 10 (see ~i~ure 2) which produces an electrical signal ~: corresponding to the depth of the submersible craft 4. -~
Alternatively, the transducers 9 and lO can be replaced by acoustic or similar ranging devlces.
20~ '~he maintaining of the ballast 7 in a desired vertical posit- ;
; ion, that is to say the depth, is effected.by winding in or pa~ing .
out that cable portion referenced 6a by means of the winch 5. '~his `.. :~
control is effected automatically by a system described wi~h refer-ence to Figure 2, but as an alternative it can be effected manu~
; ally~
.- In Figure 2, a box 4' denotes the submersible craft 4, a box .i 7' denotes the ballast 7, a box 3' denotes the surface craft 3,and( line 6' denotes the cable link 6.
. ~he transducer 9 carried in the ballast passes a depth signal ~. 30.through an encoder 11 in the submersible craft to an information transmitter 12 which transmits it through the cable link to a rec-; eiver 13 and a decoder 1~ in the surface craftO
_ 3 --. .
.. . . , - - . .
, ~:)S53~1L9 The transducer 10 carried by the subrnersible cra-~t passes a depth signal through an encoder 15 to the transmitter 12 which transmits it through the cable li~ to the receiver 13 and a deco-der 16 in the surface craft.
~ he -two signals, one corresponding to the balla~t depth and the other correspondin~ to the submersib1e vehicle depth, are fed to a summing device shown generally at 17 and a signal correspond-ing to their difference is produced. This signal is then fed to a further summing device shown generally at 18 and summed ~ith a lO.signal, the input of which is shown at 24, corresponding to a des-ired dif-ference in vertical position (that is to say a depth diff-erence) between the ballast and the submersible craft, to produce :. ~
an error signalO This error signal is presented on a visual indi-cator 19 to a manual controller and is also passed to a discrimin-ator 20, which fails to pass signals below a certain level, to a winch winding control valve shown generally at 21.
A switch for reversion to manual operation of the control val-ve 21 in accordance with the visual presentation i9 provided at 220 Manual operation is by hand control 23.
20. Visual indicators for the vertical position of the ballast and the di~ference between it and the submersible craft are provided at 25_ and 25b respectively.
~ igures 3 and 4 illustrate the ballast 7 in some detail. It is formed in two portions 7a and 7b which are clamped together by nut and bolt assemblies 260 ~n aæially extending bore 27 allows the cable link 6 to pass through the centre of the assembled ballast portionæ 7a and 7b, the anchoring o-f the ballast to the cable being e~fected by the clamping action o~ the nut and bolt assemblies 26 .
as the~ draw the bwo portions 7a and 7b together.
~ 30. ~he outer ends of the bore 27 are tapered to allow free flex-``~j ing of the cable 6 as it extends ~rom the ballast.
~ '~he transducer 9 is carrie~ in a recess 28 -formea in the exte-:: :
. ~ ~ . ; . ,. .
. , , . .~. ., ; .
. ; , . . .. . . .
15~ 55 3 rior of that ballast por-tion r5~ferenced 7a and is held in posit-ion by a strap 29. Slots ~0 are also formed in th~s surface of the ballast to accominodate signal cables, not shown, connected to the transducer 9O
In use the apparatus functions as follo~s. ~he cable link ~- 6 with submersible craft 4 and the balla~t 7 are lowered into the water from the surface vessel. As before described, that portion ;~ o~ the cable link 6a is negatively buoyant and that portion 6b with the ~loats 8 attached is positively buoyan-t. ~he ballast ensures l~.that in all operational conditions a position is assumed as, or sim~
ilar to, that illustrated in ~ig~re 1 in which the ballast 7 lies at the bottom end of that cable portion 6a with no downwardly ext-J ending loops which may snag the sea bed. ~ec~use of the floats 8, that cable portion 6b curves initially upwards from the ballast 7 and then downwards to the submersible craft 4 as it normally op-erates below the ballast 7. That cable portion 6b is thus main-tained well away from sea bed obstacles. In practice, a kink is provided in the cable link 6 betweerl the portions 6a and 6b which con~eniently provides sufficient cable slack to reduce transmiss~
-; 20.ion of surface craft motion to the craft 4 To maintain the ballast at a desired vertical position having regard to the tasks the submersible vehicle is required to perform, the radius of action from the surface craft, and the tide flow con-ditions prevailing, thew inch 5 is controlled automatically or man-ually to either dra~J in or pay out that cable portion 6a in respon-~ se to the error between signals yielded by the transducers 9 and 10 ;
and the signal input 19 which, it will be recalled, is the desired j difference between the depths of the ballast and the submersible 1 craft. ~he discriminator 20 ensures that the winch movement is ;i 30.relatively steady and does not oscillate rapidly from one small q change o~ depth demanded to another.
~he parent craft 3, although illustrated and described as a sur-., .
. - :
l~S5319 face craft in this em'oodiment, may addi.tiollally be capable of op_ erating as a ~ubmarine; i~ the ~ubrnerged case it will al~rays op-erate closer to the surface than the submersible cra~t ~
. :
, :
;, : .
- , ,~
`" , ~ ' ,~
' :
~-! `
'. ,,~ ' ' ~`'' '`'' ,' ~
., , .: .
.i ': -`'~, '' .."j :`.`',1: ' ' ' ~, ..:J
`!
.,
.
;
. ~
~ 55331 9 in-t~rmedi~te part of the cable portion 6a can sag do~rn bel.ow the ba]last 7. I~aturally~ the buoya.ncy o-f that cabl.e portion 6b i~
chosen such that in all operational condi.tions it is insu-fficient to pull the ballast 7 upwards.
Depending upon -the actual chosen positive and negative buoya-ncies and the control thrust exertable by the submersible cra*t 4, the combined buoyanc~ of that cable portion 6b and an upwards thr-ust of the submersible craft 4 may tend to lift the ballast 7 but this circumstance is undesi-rable in normal use and is t~lUS a non- :
lO~operational condi-tion. ~ :
. The ballast contains a pressure responsive device in the formof a transducer 9. Conveniently this is the type produced by the ~ational Semiconductor company and is referenced ~X 1440A. It is . :~.
: used to produce an electrical signal corresponding to the depth of the ballast 70 The submersible craft 4 also carries a similar ::
transducer 10 (see ~i~ure 2) which produces an electrical signal ~: corresponding to the depth of the submersible craft 4. -~
Alternatively, the transducers 9 and lO can be replaced by acoustic or similar ranging devlces.
20~ '~he maintaining of the ballast 7 in a desired vertical posit- ;
; ion, that is to say the depth, is effected.by winding in or pa~ing .
out that cable portion referenced 6a by means of the winch 5. '~his `.. :~
control is effected automatically by a system described wi~h refer-ence to Figure 2, but as an alternative it can be effected manu~
; ally~
.- In Figure 2, a box 4' denotes the submersible craft 4, a box .i 7' denotes the ballast 7, a box 3' denotes the surface craft 3,and( line 6' denotes the cable link 6.
. ~he transducer 9 carried in the ballast passes a depth signal ~. 30.through an encoder 11 in the submersible craft to an information transmitter 12 which transmits it through the cable link to a rec-; eiver 13 and a decoder 1~ in the surface craftO
_ 3 --. .
.. . . , - - . .
, ~:)S53~1L9 The transducer 10 carried by the subrnersible cra-~t passes a depth signal through an encoder 15 to the transmitter 12 which transmits it through the cable li~ to the receiver 13 and a deco-der 16 in the surface craft.
~ he -two signals, one corresponding to the balla~t depth and the other correspondin~ to the submersib1e vehicle depth, are fed to a summing device shown generally at 17 and a signal correspond-ing to their difference is produced. This signal is then fed to a further summing device shown generally at 18 and summed ~ith a lO.signal, the input of which is shown at 24, corresponding to a des-ired dif-ference in vertical position (that is to say a depth diff-erence) between the ballast and the submersible craft, to produce :. ~
an error signalO This error signal is presented on a visual indi-cator 19 to a manual controller and is also passed to a discrimin-ator 20, which fails to pass signals below a certain level, to a winch winding control valve shown generally at 21.
A switch for reversion to manual operation of the control val-ve 21 in accordance with the visual presentation i9 provided at 220 Manual operation is by hand control 23.
20. Visual indicators for the vertical position of the ballast and the di~ference between it and the submersible craft are provided at 25_ and 25b respectively.
~ igures 3 and 4 illustrate the ballast 7 in some detail. It is formed in two portions 7a and 7b which are clamped together by nut and bolt assemblies 260 ~n aæially extending bore 27 allows the cable link 6 to pass through the centre of the assembled ballast portionæ 7a and 7b, the anchoring o-f the ballast to the cable being e~fected by the clamping action o~ the nut and bolt assemblies 26 .
as the~ draw the bwo portions 7a and 7b together.
~ 30. ~he outer ends of the bore 27 are tapered to allow free flex-``~j ing of the cable 6 as it extends ~rom the ballast.
~ '~he transducer 9 is carrie~ in a recess 28 -formea in the exte-:: :
. ~ ~ . ; . ,. .
. , , . .~. ., ; .
. ; , . . .. . . .
15~ 55 3 rior of that ballast por-tion r5~ferenced 7a and is held in posit-ion by a strap 29. Slots ~0 are also formed in th~s surface of the ballast to accominodate signal cables, not shown, connected to the transducer 9O
In use the apparatus functions as follo~s. ~he cable link ~- 6 with submersible craft 4 and the balla~t 7 are lowered into the water from the surface vessel. As before described, that portion ;~ o~ the cable link 6a is negatively buoyant and that portion 6b with the ~loats 8 attached is positively buoyan-t. ~he ballast ensures l~.that in all operational conditions a position is assumed as, or sim~
ilar to, that illustrated in ~ig~re 1 in which the ballast 7 lies at the bottom end of that cable portion 6a with no downwardly ext-J ending loops which may snag the sea bed. ~ec~use of the floats 8, that cable portion 6b curves initially upwards from the ballast 7 and then downwards to the submersible craft 4 as it normally op-erates below the ballast 7. That cable portion 6b is thus main-tained well away from sea bed obstacles. In practice, a kink is provided in the cable link 6 betweerl the portions 6a and 6b which con~eniently provides sufficient cable slack to reduce transmiss~
-; 20.ion of surface craft motion to the craft 4 To maintain the ballast at a desired vertical position having regard to the tasks the submersible vehicle is required to perform, the radius of action from the surface craft, and the tide flow con-ditions prevailing, thew inch 5 is controlled automatically or man-ually to either dra~J in or pay out that cable portion 6a in respon-~ se to the error between signals yielded by the transducers 9 and 10 ;
and the signal input 19 which, it will be recalled, is the desired j difference between the depths of the ballast and the submersible 1 craft. ~he discriminator 20 ensures that the winch movement is ;i 30.relatively steady and does not oscillate rapidly from one small q change o~ depth demanded to another.
~he parent craft 3, although illustrated and described as a sur-., .
. - :
l~S5319 face craft in this em'oodiment, may addi.tiollally be capable of op_ erating as a ~ubmarine; i~ the ~ubrnerged case it will al~rays op-erate closer to the surface than the submersible cra~t ~
. :
, :
;, : .
- , ,~
`" , ~ ' ,~
' :
~-! `
'. ,,~ ' ' ~`'' '`'' ,' ~
., , .: .
.i ': -`'~, '' .."j :`.`',1: ' ' ' ~, ..:J
`!
.,
Claims (8)
OR PRIVILEGE IS CLAIMED ARE DEFINED AS FOLLOWS:
1. Cable link apparatus for linking a parent craft to a submersible craft including cable link means having a first end adapted to be anchored to a parent craft and a second end adapted to be coupled to a submersible craft, ballast means having negative buoyancy, sensing means for sensing any deviation of the ballast means from a desired vertical location, anchorage means anchoring the ballast means to the cable link means between the said ends, a first cable portion of the cable link means extending between the first end and the ballast means being of negative buoyancy, a second cable portion of the cable link means extending between the second end and the ballast means being of positive buoyancy, the negative buoyancy of the ballast means being such that in use the ballast means always adopts a lower position than the first cable portion.
2. Apparatus according to Claim 1, wherein the sensing means is carried by the ballast means.
3. Apparatus according to Claim 2, wherein the sensing means is a pressure responsive device.
4. Cable link apparatus for linking a parent craft to a submersible craft including cable link means, winching means adapted to be carried by a parent craft, ballast means having negative buoyancy, sensing means for sensing any deviation of the ballast means from a desired vertical location, a submersible craft, the cable link means extending between the winching means and the submersible craft, anchorage means anchoring the ballast means to the cable link means, a first cable portion of the cable link means extending between the winching means and the ballast means having negative buoyancy, a second cable portion of the cable link means extending between the submersible craft and the ballast means having positive buoyancy, the negative buoyancy of the ballast means being such that the ballast means always adopts a lower position than the first cable portion, any deviation of the ballast means from its desired vertical location being measured by the sensing means so that the winch means can be operated to draw in or pay out the first cable portion.
5. Apparatus according to claim 4 wherein the sensing means com-prises a pressure responsive device carried by the ballast means, a further pressure responsive device carried by the submersible craft, and means for comparing the sum of their outputs with a signal corresponding to the desired difference in vertical locat-ion between the ballast means and the submersible craft to provide a control signal.
6. Apparatus according to claim 5 having control means respons-ive to the control signal to effect operation of the winching means to draw in or pay out the first cable portion in accordance with said control signal.
7. Apparatus according to claim 4 in which the cable link means is formed of uniformly negatively buoyant cable, the anchorage means comprises clamping means for clamping the ballast means to said cable, and flotation means are provided on the second cable portion to provide its positive buoyancy.
8. Apparatus according to claim 7 wherein the flotation means comprises a series of floats.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB7935/76A GB1523953A (en) | 1976-02-28 | 1976-02-28 | Cable link apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1055319A true CA1055319A (en) | 1979-05-29 |
Family
ID=9842623
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA272,211A Expired CA1055319A (en) | 1976-02-28 | 1977-02-21 | Cable link system for submersible vehicle |
Country Status (2)
| Country | Link |
|---|---|
| CA (1) | CA1055319A (en) |
| GB (1) | GB1523953A (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2543307B1 (en) * | 1983-03-24 | 1986-02-28 | Inst Francais Du Petrole | DEVICE FOR DETERMINING THE POSITION IN THE WATER OF AN ELONGATED TRACTED SUBMERSIBLE ELEMENT |
| DE102012008074A1 (en) * | 2012-04-20 | 2013-10-24 | Atlas Elektronik Gmbh | Recovery method for recovering an underwater vehicle, recovery device, submarine with recovery device, underwater vehicle therefor and system therewith |
| NL2015962B1 (en) * | 2015-12-16 | 2017-06-30 | Moorlink Solutions Ab | Clamping joint for an anchoring wire. |
| CN106564573B (en) * | 2016-10-28 | 2018-01-12 | 浙江大学 | Profiling observation and underwater docking system based on photovoltaic generation |
| WO2019203267A1 (en) * | 2018-04-17 | 2019-10-24 | 川崎重工業株式会社 | Autonomous underwater vehicle support system |
-
1976
- 1976-02-28 GB GB7935/76A patent/GB1523953A/en not_active Expired
-
1977
- 1977-02-21 CA CA272,211A patent/CA1055319A/en not_active Expired
Also Published As
| Publication number | Publication date |
|---|---|
| GB1523953A (en) | 1978-09-06 |
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