CN112722202B - Method for salvaging lost connection submerged buoy - Google Patents
Method for salvaging lost connection submerged buoy Download PDFInfo
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- CN112722202B CN112722202B CN202110110196.XA CN202110110196A CN112722202B CN 112722202 B CN112722202 B CN 112722202B CN 202110110196 A CN202110110196 A CN 202110110196A CN 112722202 B CN112722202 B CN 112722202B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
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Abstract
The invention discloses a salvaging method for an unlink submerged buoy, and relates to a salvaging method. The central operation controller calculates the relative position and distance information of the hydraulic shear port and the releaser and the anchor chain connected with the gravity anchor through the data change of high-frequency sound waves sent by the double-frequency sound wave transducer reflected by the first high-frequency sound wave receiving transducer and the second high-frequency sound wave receiving transducer receiving releaser and the anchor chain connected with the gravity anchor, controls the thrust of the first propeller and the second propeller to coordinate, and when the releaser and the anchor chain connected with the gravity anchor completely enter the hydraulic shear port, the hydraulic oil cylinder pushes the hydraulic shear releaser to be connected with the anchor chain connected with the gravity anchor; a worker on the scientific investigation ship reads that the double-frequency acoustic wave transducer received by the low-frequency acoustic wave distance measurement communication transducer sends a hydraulic shear complete closing signal, starts to recover the steel cable and lifts the underwater robot; and recovering the lost subsurface buoy. The invention can effectively salvage the unlink submerged buoy, improves the salvage efficiency, ensures the salvage effect, and is safe and reliable.
Description
Technical Field
The invention relates to a salvaging method, in particular to a salvaging method for an unlink submerged buoy.
Background
Buoy and submerged buoy technology is used and developed in sixty years by developed countries in the ocean; the buoy and submerged buoy system is important technical equipment for marine environment investigation, has the characteristic of comprehensively and comprehensively monitoring marine hydrological and meteorological elements in an unattended, long-term, continuous, synchronous and automatic manner under severe marine environment conditions, is an extension of a marine observation shore station, an investigation ship and an investigation aircraft in space and time, and is an important means for offshore monitoring. Has the function that other investigation methods cannot replace the method. The submerged buoy is moored below the sea surface and can be recovered through the release device, has the capability of acquiring the profile data of the marine underwater environment, has the advantages of good concealment and difficult damage, and is widely applied. The submerged buoy system carries a large number of ocean observation devices so as to comprehensively monitor ocean elements such as ocean currents, temperature and salinity in the sea area for a long time. Loss of the buoy causes significant economic loss, and in addition, the irretrievable loss of monitoring data is a greater loss. Once the current submerged buoy is disconnected, the submerged buoy is difficult to salvage. In conclusion, the invention designs a fishing method for the lost connection submerged buoy.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the method for salvaging the unlink submerged buoy, which can effectively salvage the unlink submerged buoy, improves the salvaging efficiency, ensures the salvaging effect, and is safe and reliable.
In order to achieve the purpose, the invention is realized by the following technical scheme: the method for salvaging the lost connection submerged buoy comprises the following steps:
and a, positioning the power of the scientific investigation ship right above the offline submerged buoy. The A-shaped frame lifts the underwater robot, and the underwater robot is moved out of a stern deck to put down a steel cable;
b, constantly keeping contact between the low-frequency sound wave ranging communication transducer and the double-frequency sound wave transducer, and calculating the water depth of the underwater robot; when the underwater robot is lowered to the middle position of the releaser of the unconnection submerged buoy and the gravity anchor connecting anchor chain, stopping lowering;
c, the low-frequency sound wave distance measuring communication transducer sends an instruction to instruct the first high-frequency sound wave receiving transducer and the second high-frequency sound wave receiving transducer to receive high-frequency (600kHz) sound waves sent by a double-frequency sound wave transducer reflected by a releaser and a gravity anchor connecting anchor chain; the central operation controller calculates and confirms the relative position and distance between the releaser and the gravity anchor connecting anchor chain and the underwater robot;
d, the central operation controller starts the first propeller and the second propeller, and coordinates the relative rotation number of the first propeller and the second propeller to steer the underwater robot.
e, the underwater robot drags the steel cable to approach the releaser and the gravity anchor connecting anchor chain. The central operation controller calculates the relative position and distance information of the hydraulic shear port, the releaser and the anchor chain connected with the gravity anchor according to the data change of high-frequency (600kHz) sound waves sent by the double-frequency sound wave transducer reflected by the releaser and the anchor chain connected with the gravity anchor through the first high-frequency sound wave receiving transducer and the second high-frequency sound wave receiving transducer, and controls the thrust coordination of the first propeller and the second propeller.
f, when the releaser and the gravity anchor connecting anchor chain completely enter the hydraulic shear port, the hydraulic oil cylinder pushes the hydraulic shear to shear the releaser and the gravity anchor connecting anchor chain; the central operation controller shuts down the first propeller and the second propeller;
g, a worker on the scientific investigation ship reads a double-frequency acoustic wave transducer received by the low-frequency acoustic wave distance measurement communication transducer to send a hydraulic shear complete closing signal, starts to recover a steel cable and lifts the underwater robot; the scientific investigation ship starts to sail at the speed of 1 section at the top current, and the condition that the unlink submerged buoy floats to the sea surface and then contacts with a ship body is avoided;
the h-loss underwater buoy floats to the sea surface under the driving of the deep water floating ball, and workers on the scientific investigation ship begin to recover the loss underwater buoy.
The underwater robot is connected to the scientific investigation ship through a steel cable.
The underwater robot comprises a first propeller, a second propeller, a hydraulic shear, a double-frequency sound wave transducer, a first high-frequency sound wave receiving transducer, a second high-frequency sound wave receiving transducer and a watertight cabin, wherein the first propeller and the second propeller are respectively arranged on two sides of the watertight cabin; and a speed reducing motor, a lithium iron phosphate battery pack and a central operation controller are arranged in the watertight cabin.
The hydraulic shear comprises a hydraulic oil pump, a hydraulic oil cylinder, a tension spring, a hydraulic oil bag, a travel switch, an oil inlet pipe and a high-pressure oil pipe, wherein the oil inlet pipe is respectively connected with the hydraulic oil pump and the hydraulic oil bag, the front end of the hydraulic oil bag is provided with the travel switch, the hydraulic oil pump is also connected with the hydraulic oil cylinder through the high-pressure oil pipe, pistons at the two ends of the hydraulic oil cylinder are connected with two handles at the tail part of the hydraulic shear, the tension spring is arranged between the handles, and the front end of the handle is a shearing opening of the hydraulic shear.
YG8 tungsten steel knife block is inlayed at the shearing mouth of the hydraulic shear, the hardness is 89, the impact toughness is: 2.5. can easily cut off thread in water
The anchor chain,
A nylon rope,
Kevlar cable.
The watertight cabin is made of TC4 titanium alloy, the wall thickness is 28mm, and the watertight cabin bears the water pressure of 100 MPa. A double-channel rubber O-shaped ring is embedded between the hydraulic oil pump and the end face of the watertight cabin, and the hydraulic oil pump and the watertight cabin are fastened by bolts to complete sealing.
The hydraulic oil cylinder adopts synchronous double pistons to push the hydraulic shears.
The invention has the beneficial effects that: the fishing method for the lost connection submerged buoy can effectively salvage the lost connection submerged buoy, improves the fishing efficiency, ensures the fishing effect, and is safe and reliable.
Drawings
The invention is described in detail below with reference to the drawings and the detailed description;
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of the underwater robot of the present invention;
fig. 3 is a schematic structural view of the hydraulic shears of the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
Referring to fig. 1 to 3, the following technical solutions are adopted in the present embodiment: the method for salvaging the lost connection submerged buoy comprises the following steps:
a, dynamically positioning the scientific investigation ship 1 right above the offline submerged buoy 4. The A-shaped frame lifts the underwater robot 6, and the underwater robot is moved out of the stern deck to lower the steel cable 3;
b, keeping the low-frequency acoustic ranging communication transducer 2 in contact with the double-frequency acoustic transducer 10 at all times, and calculating the water depth of the underwater robot when the underwater robot is lowered; when the underwater robot is lowered to the middle position of the releaser 5 of the unconnection submerged buoy 4 and the gravity anchor connecting anchor chain, stopping lowering;
c, the low-frequency sound wave distance measuring communication transducer 2 sends an instruction to instruct the first high-frequency sound wave receiving transducer 11 and the second high-frequency sound wave receiving transducer 12 to receive high-frequency (600kHz) sound waves sent by the double-frequency sound wave transducer 10 which are reflected by the connecting anchor chain of the releaser 5 and the gravity anchor 24; the central operation controller 20 calculates and confirms the relative position and distance between the releaser 5 and the gravity anchor connecting anchor chain and the underwater robot 6;
d, the central arithmetic controller 20 starts to start the first propeller 7 and the second propeller 8, and coordinates the relative rotation speed of the first propeller 7 and the second propeller 8 to steer the underwater robot 6.
e, the underwater robot 6 drags the steel cable 3 to the releaser 5 to be close to the gravity anchor connecting anchor chain. The central operation controller 20 receives the high-frequency (600kHz) sound wave data change sent by the double-frequency sound wave transducer 10 reflected by the releaser 5 and the gravity anchor connecting anchor chain through the first high-frequency sound wave receiving transducer 11 and the second high-frequency sound wave receiving transducer 12, calculates the relative position and distance information of the shear port of the hydraulic shear 9 and the releaser 5 and the gravity anchor connecting anchor chain, and controls the first propeller 7 and the second propeller 8 to push and coordinate.
f, when the releaser 5 and the gravity anchor connecting anchor chain completely enter the shearing opening of the hydraulic shear 9, the hydraulic oil cylinder 17 pushes the hydraulic shear 9 to shear the releaser 5 and the gravity anchor connecting anchor chain; the central operation controller 20 shuts down the first propeller 7 and the second propeller 8;
g, a worker on the scientific investigation ship 1 reads a hydraulic shear complete closing signal sent by the double-frequency acoustic wave transducer 10 received by the low-frequency acoustic wave distance measurement communication transducer 2, starts to recover the steel cable 3 and lifts the underwater robot 6; the scientific investigation ship 1 starts to sail at the speed of 1 section at the top current, and the unconnection submerged buoy 4 is prevented from floating to the sea surface and then contacting the ship body;
the h-loss underwater buoy 4 floats to the sea surface under the driving of the deep water floating ball, and the staff on the scientific investigation ship 1 starts to recover the h-loss underwater buoy 4.
The underwater robot 6 is connected to the scientific investigation ship 1 through a steel cable 3.
The underwater robot 6 comprises a first propeller 7, a second propeller 8, a hydraulic shear 9, a double-frequency sound wave transducer 10, a first high-frequency sound wave receiving transducer 11, a second high-frequency sound wave receiving transducer 12 and a watertight cabin 13, wherein the first propeller 7 and the second propeller 8 are respectively arranged on two sides of the watertight cabin 13, the first high-frequency sound wave receiving transducer 11 is connected to the front end of the first propeller 7, the second high-frequency sound wave receiving transducer 12 is connected to the front end of the second propeller 8, and the hydraulic shear 9 is arranged at the front end of the watertight cabin 13; the inside of the watertight cabin 13 is provided with a speed reducing motor 14, a lithium iron phosphate battery pack 15 and a central arithmetic controller 20.
The hydraulic shear 9 comprises a hydraulic oil pump 16, a hydraulic oil cylinder 17, a tension spring 18, a hydraulic oil bag 19, a travel switch 21, an oil inlet pipe 22 and a high-pressure oil pipe 23, the oil inlet pipe 22 is respectively connected with the hydraulic oil pump 16 and the hydraulic oil bag 19, the travel switch 21 is arranged at the front end of the hydraulic oil bag 19, the hydraulic oil pump 16 is also connected with the hydraulic oil cylinder 17 through the high-pressure oil pipe 23, pistons at two ends of the hydraulic oil cylinder 17 are connected with two handles at the tail of the hydraulic shear 9, the tension spring 18 is arranged between the handles, and a hydraulic shear port 25 is arranged at the front end of each handle.
The first propeller 7 and the second propeller 8 of the present embodiment control the direction of motion of the underwater robot 6 while outputting power. The central operation controller 20 adjusts the relative rotation numbers of the motors of the first propeller 7 and the second propeller 8 to realize flexible steering and accurate directional navigation of the underwater robot 6 in water. YG8 tungsten steel knife block is embedded in the shearing mouth of the hydraulic shear 9, the hardness is 89, the impact toughness is: 2.5. can easily cut off thread in water
The anchor chain,
A nylon rope,
Kevlar cable. The dual-frequency acoustic wave transducer 10 alternately emits high-frequency acoustic waves (600kHz) and emits and receives low-frequency acoustic waves (12 kHz). The low frequency sound wave of (12kHz) is used for ranging and communicating with the low frequency sound wave ranging communication transducer 2. (600kHz) high frequency Acoustic wave for first high frequency Acoustic wave receptionThe transducer 11, the second high frequency acoustic wave receiving transducer 12 provide an acoustic source. The first high-frequency sound wave receiving transducer 11 and the second high-frequency sound wave receiving transducer 12 receive sound signals which are reflected by the obstacle when the (600kHz) high-frequency sound waves emitted by the double-frequency sound wave transducer 10 meet, and convert the two sound signals with time difference and phase difference into electric signals to be transmitted to the central operation controller 20. The central arithmetic controller 20 receives the electric signals transmitted by the first high-frequency sound wave receiving transducer 11 and the second high-frequency sound wave receiving transducer 12 to carry out arithmetic operation, and determines the relative position and the distance between the underwater robot 6 and the releaser 5 and the anchor chain connected with the gravity anchor 24. The releaser 5 is connected with the gravity anchor and the anchor chain enters the shearing mouth of the hydraulic shear 9 by the depth. When the releaser 5 and the anchor chain connected with the gravity anchor completely enter the hydraulic shear port 25, the central arithmetic controller 20 starts the speed reducing motor 14 to drive the hydraulic oil pump 16 to output high-pressure hydraulic oil (30 Mpa). And a piston of the hydraulic oil cylinder 17 pushes the hydraulic shearing port 25 to be closed, and the shearing releaser 5 is connected with the anchor chain of the gravity anchor. The first propeller 7 and the second propeller 8 are shut down.
The material of the watertight compartment 13 of the embodiment is TC4 titanium alloy, and the wall thickness is 28mm and bears the water pressure of 100 MPa. And a double-channel rubber O-shaped ring is embedded between the hydraulic oil pump 16 and the end surface of the watertight cabin 13, and is fastened by bolts to finish sealing. The decelerating motor 14 receives the instruction from the central operation controller 20 to forward, reverse and lock, and drives the hydraulic oil pump 16. The hydraulic oil pump outputs (30Mpa) high-pressure hydraulic oil. The high-pressure hydraulic oil pumped out by the forward rotation pump is conveyed to the hydraulic oil cylinder, and the hydraulic oil sucked in by the reverse rotation pump flows back to the hydraulic oil bag 19. Because the rotating speed of the pump shaft is below 60 revolutions per minute, two O-shaped rings are embedded in the matching part of the output end of the pump shaft and the pump body shaft for sealing. Blocking the flow of high pressure hydraulic oil into the watertight compartment 13.
The hydraulic oil cylinder of the embodiment adopts synchronous double-piston pushing hydraulic shears. The tension spring 18 always ensures the opening of the shearing mouth 25 of the hydraulic shear, and the hydraulic oil sac stores hydraulic oil. The hydraulic oil pump 16, the hydraulic oil cylinder 17 and the hydraulic oil bag 19 are all immersed in seawater to achieve pressure balance. The work of the hydraulic oil pump 16, the hydraulic oil cylinder 17 and the hydraulic oil bag 19 is not influenced by the depth of the seawater. The travel switch 21 feeds back a signal to the central arithmetic controller 20 by detecting the extension length of the hydraulic rod, and controls the rotation turns of the speed reducing motor 14, so that the hydraulic shearing mouth is completely closed and opened. The hydraulic oil in the two hydraulic oil bags 19 is delivered to the hydraulic oil pump 16 through the oil inlet pipe 22; the hydraulic oil inside the two hydraulic oil bags 19 is fed into the hydraulic oil pump 16 through the oil feed pipe 22.
The fishing method for the lost connection submerged buoy of the embodiment can effectively salvage the lost connection submerged buoy, improves the fishing efficiency, ensures the fishing effect, is safe and reliable, has reasonable structural design of a fishing tool, can ensure effective fishing, and has strong practicability.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. The method for salvaging the lost connection submerged buoy is characterized by comprising the following steps of:
(a) the scientific investigation ship (1) is dynamically positioned right above the offline submerged buoy (4); the A-shaped frame lifts the underwater robot (6), and the underwater robot is moved out of the stern deck to lower the steel cable (3);
(b) the low-frequency sound wave distance measurement communication transducer (2) is constantly in contact with the double-frequency sound wave transducer (10), and the descending water depth of the underwater robot is calculated; when the underwater robot is lowered to the middle position of the gravity anchor connecting anchor chain of the releaser (5) of the unconnection submerged buoy (4), stopping lowering;
(c) the low-frequency sound wave ranging communication transducer (2) sends an instruction to instruct a first high-frequency sound wave receiving transducer (11) and a second high-frequency sound wave receiving transducer (12) to receive high-frequency sound waves sent by a double-frequency sound wave transducer (10) which is reflected by a connecting anchor chain of a releaser (5) and a gravity anchor (24); the central operation controller (20) calculates and confirms the relative position and distance between the releaser (5) and the gravity anchor connecting anchor chain and the underwater robot (6);
(d) the central operation controller (20) starts the first propeller (7) and the second propeller (8) to coordinate the relative revolution of the first propeller (7) and the second propeller (8) to steer the underwater robot (6);
(e) an underwater robot (6) drags a steel cable (3) to push the releaser (5) and the gravity anchor connecting anchor chain, a central operation controller (20) receives high-frequency sound wave data changes sent by a dual-frequency sound wave transducer (10) reflected by the releaser (5) and the gravity anchor connecting anchor chain through a first high-frequency sound wave receiving transducer (11) and a second high-frequency sound wave receiving transducer (12) and calculates relative position and distance information of a shear port of a hydraulic shear (9) and the releaser (5) and the gravity anchor connecting anchor chain, and controls the first propeller (7) and the second propeller (8) to coordinate thrust;
(f) when the releaser (5) and the gravity anchor connecting anchor chain completely enter a shearing port of the hydraulic shear (9), the hydraulic oil cylinder (17) pushes the hydraulic shear (9) to shear the releaser (5) and the gravity anchor connecting anchor chain; the central operation controller (20) shuts down the first propeller (7) and the second propeller (8);
(g) a worker on the scientific investigation ship (1) reads a hydraulic shear complete closing signal sent by a double-frequency acoustic wave transducer (10) received by a low-frequency acoustic wave distance measurement communication transducer (2), starts to recover a steel cable (3), and lifts the underwater robot (6); the scientific investigation ship (1) starts to sail at the speed of 1 section at top current, so that the offline submerged buoy (4) is prevented from floating to the sea surface and then contacting the ship body;
(h) the offline submerged buoy (4) floats to the sea surface under the drive of the deep water floating ball, and workers on the scientific investigation ship (1) begin to recover the offline submerged buoy (4).
2. The method for salvaging the lost-link submerged buoy as claimed in claim 1, wherein the underwater robot (6) is connected to the scientific vessel (1) through a steel cable (3).
3. The method for salvaging the unlink submerged buoy as claimed in claim 2, wherein the underwater robot (6) comprises a first propeller (7), a second propeller (8), a hydraulic shear (9), a double-frequency sound wave transducer (10), a first high-frequency sound wave receiving transducer (11), a second high-frequency sound wave receiving transducer (12) and a watertight cabin (13), wherein the first propeller (7) and the second propeller (8) are respectively arranged on two sides of the watertight cabin (13), the first high-frequency sound wave receiving transducer (11) is connected to the front end of the first propeller (7), the second high-frequency sound wave receiving transducer (12) is connected to the front end of the second propeller (8), and the hydraulic shear (9) is arranged at the front end of the watertight cabin (13); a speed reducing motor (14), a lithium iron phosphate battery pack (15) and a central arithmetic controller (20) are arranged in the watertight cabin (13).
4. The method for salvaging the unlink submerged buoy as claimed in claim 3, wherein the hydraulic shear (9) comprises a hydraulic oil pump (16), a hydraulic oil cylinder (17), a tension spring (18), a hydraulic oil bag (19), a travel switch (21), an oil inlet pipe (22) and a high-pressure oil pipe (23), the oil inlet pipe (22) is respectively connected with the hydraulic oil pump (16) and the hydraulic oil bag (19), the travel switch (21) is arranged at the front end of the hydraulic oil bag (19), the hydraulic oil pump (16) is further connected with the hydraulic oil cylinder (17) through the high-pressure oil pipe (23), pistons at two ends of the hydraulic oil cylinder (17) are connected with two handles at the tail of the hydraulic shear (9), the tension spring (18) is arranged between the handles, and the front end of the handles is provided with a hydraulic shear port (25).
5. The method for salvaging the unlink submerged buoy as claimed in claim 4, wherein the YG8 tungsten steel cutter block is embedded in the shearing mouth (25) of the hydraulic shear.
6. The method for salvaging the unlink submerged buoy as claimed in claim 3, wherein the watertight compartment (13) is made of TC4 titanium alloy, has a wall thickness of 28mm and bears a water pressure of 100 MPa; a double-channel rubber O-shaped ring is embedded between the hydraulic oil pump (16) and the end face of the watertight cabin (13) and is fastened and sealed through bolts.
7. The method for salvaging the unlink submerged buoy as claimed in claim 4, wherein the hydraulic oil cylinder (17) adopts a synchronous double-piston pushing hydraulic shear.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110110196.XA CN112722202B (en) | 2021-01-26 | 2021-01-26 | Method for salvaging lost connection submerged buoy |
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| CN202110110196.XA CN112722202B (en) | 2021-01-26 | 2021-01-26 | Method for salvaging lost connection submerged buoy |
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| CN112722202A CN112722202A (en) | 2021-04-30 |
| CN112722202B true CN112722202B (en) | 2022-03-11 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113306667B (en) * | 2021-06-16 | 2023-04-07 | 自然资源部第一海洋研究所 | Polar region anchorage subsurface buoy recovery method, system and application |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102358407A (en) * | 2011-09-19 | 2012-02-22 | 中国人民解放军海军通信应用研究所 | Seabed shearing salvaging device for undersea cable |
| WO2013072690A1 (en) * | 2011-11-15 | 2013-05-23 | Subsea 7 Limited | Launch and recovery techniques for submersible vehicles and other payloads |
| GB201418838D0 (en) * | 2014-10-22 | 2014-12-03 | Ennsub Ltd | Latch Assembly |
| CN110435847A (en) * | 2019-06-20 | 2019-11-12 | 自然资源部第一海洋研究所 | A kind of latent calibration method of scientific investigation boat hook salvaging |
| CN110667803A (en) * | 2019-11-04 | 2020-01-10 | 中国科学院海洋研究所 | Recovery device and recovery method for releaser failure submerged buoy |
-
2021
- 2021-01-26 CN CN202110110196.XA patent/CN112722202B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102358407A (en) * | 2011-09-19 | 2012-02-22 | 中国人民解放军海军通信应用研究所 | Seabed shearing salvaging device for undersea cable |
| WO2013072690A1 (en) * | 2011-11-15 | 2013-05-23 | Subsea 7 Limited | Launch and recovery techniques for submersible vehicles and other payloads |
| GB201418838D0 (en) * | 2014-10-22 | 2014-12-03 | Ennsub Ltd | Latch Assembly |
| CN110435847A (en) * | 2019-06-20 | 2019-11-12 | 自然资源部第一海洋研究所 | A kind of latent calibration method of scientific investigation boat hook salvaging |
| CN110667803A (en) * | 2019-11-04 | 2020-01-10 | 中国科学院海洋研究所 | Recovery device and recovery method for releaser failure submerged buoy |
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