EP1249390A1 - Device and method for launching and recovering an under-water vehicle - Google Patents

Device and method for launching and recovering an under-water vehicle Download PDF

Info

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
German (de)
French (fr)
Other versions
EP1249390B1 (en
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/en
Application granted granted Critical
Publication of EP1249390B1 publication Critical patent/EP1249390B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

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.

Landscapes

  • 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)

Abstract

The cage consists of lower (24) and upper (25) frames connected by a series of flexible cables (26) wound onto pulleys (40) driven by one or more motors (43) to allow the distance between the two frames to be varied. The cage, equipped with supporting cradles for the submersible vehicle, is lowered to the required depth by a cable (38) connected to a winch on a surface unit, and the cage frames are positioned to secure the submersible vehicle or to permit its launch or recovery.

Description

La présente invention concerne un dispositif de mise à l'eau et de récupération d'un véhicule sous-marin.The present invention relates to a device for launching and recovery of an underwater vehicle.

L'opération d'immersion d'un véhicule sous-marin à plusieurs mètres de profondeur sous la surface de la mer, à partir d'une plate-forme d'un bateau, est rendue délicate par les mouvements verticaux du bateau provoqués à la surface de l'eau par la houle, et classiquement appelé « pilonnement ». Les mouvements verticaux dus à la houle à quelques mètres de profondeur sont atténués, or le dispositif de mise à l'eau et de récupération étant fixé généralement au moyen d'un câble au bateau, est entraíné verticalement par le bateau. Les mouvements relatifs du véhicule sous-marin et du dispositif de mise à l'eau et de récupération peuvent provoquer l'endommagement dudit véhicule sous-marin.The submerged operation of an underwater vehicle several meters from depth below the sea surface, from a platform of a boat, is made delicate by the vertical movements of the boat caused on the surface of water by swell, and conventionally called "heaving". Movements vertical due to swell a few meters deep are attenuated, but the launching and recovery device being generally fixed by means of a cable to the boat, is driven vertically by the boat. The relative movements of the underwater vehicle and launch and recovery device can cause damage to said underwater vehicle.

On connaít par le document US -A- 3807335 une plate-forme immergée, destinée à l'immersion d'un véhicule sous-marin fixé verticalement sous la plate-forme, maintenue à un bateau par des câbles reliés à la plate-forme par l'intermédiaire d'amortisseurs, afin d'atténuer les mouvements verticaux de la plate-forme dus aux mouvements verticaux du bateau.We know from document US -A- 3807335 an immersed platform, intended for the immersion of an underwater vehicle fixed vertically under the platform, held to a boat by cables connected to the platform by via shock absorbers, in order to attenuate the vertical movements of the platform due to the vertical movements of the boat.

Néanmoins, ce dispositif de mise à l'eau et de récupération d'un véhicule sous-marin ne permet pas de s'affranchir complètement des mouvements verticaux, qui ne peuvent être qu'atténués.However, this device for launching and recovering a vehicle submarine does not completely overcome vertical movements, which can only be mitigated.

L'invention propose un dispositif de mise à l'eau et de récupération d'un véhicule sous-marin qui permet de s'affranchir des inconvénients liés au pilonnement.The invention provides a device for launching and recovering a underwater vehicle which overcomes the disadvantages associated with heave.

L'invention propose également un dispositif de mise à l'eau et de récupération d'un véhicule sous-marin qui est adapté pour le stockage du sous-marin sur un bateau.The invention also provides a device for launching and recovery of an underwater vehicle which is suitable for storing the submarine on a boat.

L'invention propose enfin un dispositif qui permet la mise à l'eau et la récupération d'un véhicule sous-marin, à proximité de sa profondeur de travail.The invention finally provides a device which allows launching and recovery of an underwater vehicle, close to its working depth.

Un dispositif de mise à l'eau et de récupération d'un véhicule sous-marin selon l'invention comprend un ensemble submersible comprenant un châssis inférieur, un châssis supérieur, les châssis inférieur et supérieur étant reliés par une liaison souple, de façon que la distance entre lesdits châssis supérieur et inférieur soit réglable, pour faciliter le déplacement du véhicule sous-marin dans une zone située entre le châssis inférieur et le châssis supérieur.A device for launching and recovering an underwater vehicle according to the invention 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.

La liaison souple et les châssis inférieur et supérieur forment une cage de réception pourvue d'une ouverture dont la dimension verticale peut être réglée. L'écartement des châssis inférieur et supérieur permet d'agrandir la dimension verticale de ladite ouverture, de façon que le véhicule sous-marin peut pénétrer ou sortir de la cage sans que les mouvements de la cage dus au pilonnement ne gênent l'entrée ou la sortie du véhicule sous-marin. Le rapprochement des châssis inférieur et supérieur dans le sens vertical permet, malgré les mouvements verticaux de l'ensemble de la cage dus au pilonnement, de venir supporter le véhicule sous-marin sur le châssis inférieur, et de le maintenir par le châssis supérieur. En rapprochant les châssis inférieur et supérieur suffisamment rapidement, on évite des chocs successifs entre le véhicule sous-marin et le châssis inférieur.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.

Dans un mode de réalisation, les châssis inférieur et supérieur sont reliés par un faisceau de câbles, qui peuvent facilement être enroulés sur des poulies de façon à diminuer la distance entre les châssis inférieur et supérieur, ou déroulés de façon à augmenter la distance entre les châssis inférieur et supérieur.In one embodiment, 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.

Dans un mode de réalisation, le dispositif de mise à l'eau et de récupération comprend des moyens d'enroulement et de déroulement des câbles, qui permet de régler la longueur des câbles, et donc l'écartement entre le châssis inférieur et le châssis supérieur.In one embodiment, 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.

Dans un mode de réalisation, le dispositif comprend au moins un moteur servant à entraíner en rotation une pluralité de poulies sur lesquelles est enroulée la liaison souple.In one embodiment, the device comprises at least one motor used to rotate a plurality of pulleys on which is wound the flexible binding.

De préférence, le dispositif est maintenu par l'intermédiaire d'au moins un câble de longueur réglable à un bateau situé à la surface. Ainsi, l'ensemble submersible peut être immergé à la profondeur désirée, par exemple une profondeur proche de la profondeur de travail du véhicule sous-marin.Preferably, 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.

Avantageusement, des moyens de positionnement sont disposés entre le châssis supérieur et le châssis inférieur. Les moyens de positionnement, sous la forme de butées par exemple, limitent verticalement le rapprochement des châssis inférieur et supérieur, afin de ne pas endommager le véhicule sous-marin lors de la récupération dudit véhicule. Les moyens de positionnement guident le positionnement du châssis inférieur par rapport au châssis supérieur, dans un plan horizontal, afin d'assurer le bon maintien du véhicule sous-marin dans le dispositif de mise à l'eau et de récupération.Advantageously, 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.

Dans un mode de réalisation, le châssis inférieur comprend un berceau inférieur de réception du véhicule sous-marin. Le berceau de réception facilite la récupération du véhicule sous-marin sur le châssis inférieur.In one embodiment, the lower chassis includes a cradle underwater vehicle reception. The receiving cradle facilitates the recovery of the underwater vehicle on the lower chassis.

De préférence, le berceau comprend au moins une paroi concave de réception, dont le profil guide le véhicule sous-marin lors de l'établissement du contact entre le châssis inférieur et le véhicule sous-marin, pendant la récupération dudit véhicule sous-marin.Preferably, 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.

Avantageusement, le berceau peut être désolidarisé du châssis inférieur. Ainsi, lorsque le dispositif est ramené avec le véhicule sous-marin, sur le dispositif situé à la surface, il est possible d'accéder facilement au véhicule sous-marin, par exemple pour des opérations de maintenance, en déplaçant la cage formée par le dispositif de mise à l'eau et de récupération, pour libérer l'accès au véhicule sous-marin.Advantageously, 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.

Dans un mode de réalisation, le châssis supérieur comprend un berceau supérieur de maintien, qui permet de maintenir le véhicule sous-marin dans le dispositif de mise à l'eau et de récupération.In one embodiment, the upper chassis includes a cradle upper support, which keeps the underwater vehicle in the launching and recovery device.

L'invention concerne également un procédé de mise à l'eau et de récupération d'un véhicule sous-marin, dans lequel on immerge un dispositif de mise à l'eau et de récupération comprenant un châssis supérieur, un châssis inférieur, les châssis inférieur et supérieur étant reliés par une liaison souple, de façon que la distance entre lesdits châssis supérieur et inférieur soit réglable, dans lequel est disposé un véhicule sous-marin. On augmente la distance entre les châssis supérieurs et inférieur pour libérer le véhicule sous-marin, on diminue la distance entre les châssis supérieur et inférieur pour récupérer le véhicule sous-marin, une fois que le véhicule sous-marin s'est déplacé dans une zone située entre les châssis inférieur et supérieur.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.

La présente invention et ses avantages seront mieux compris à l'étude de la description détaillée d'un mode de réalisation pris à titre d'exemple non-limitatif et illustré par les dessins annexés, sur lesquels :

  • La figure 1 est une vue schématique en perspective d'un véhicule sous-marin situé sur le berceau d'un dispositif selon un aspect de l'invention ;
  • La figure 2 est une vue schématique en perspective d'un dispositif selon un aspect de l'invention dans lequel est maintenu un véhicule sous-marin ; et
  • La figure 3 est une vue schématique en perspective d'un dispositif selon un aspect de l'invention situé en profondeur sous la surface de la mer, où les châssis inférieur et supérieur sont distants l'un de l'autre.
    • The present invention and its advantages will be better understood on studying the detailed description of an embodiment taken by way of non-limiting example and illustrated by the appended drawings, in which:
  • Figure 1 is a schematic perspective view of an underwater vehicle located on the cradle of a device according to one aspect of the invention;
  • Figure 2 is a schematic perspective view of a device according to one aspect of the invention in which an underwater vehicle is maintained; and
  • Figure 3 is a schematic perspective view of a device according to one aspect of the invention located deep below the sea surface, where the lower and upper frames are spaced from each other.

    • Sur la figure 1, un berceau 1, pourvu d'un partie avant la et d'une partie arrière 1b, possède une armature tubulaire 2, comprenant deux tubes longitudinaux 3, 4 disposés parallèlement dans un plan horizontal, et reliés par une pluralité de tubes transversaux 5 s'étendant perpendiculairement aux tubes longitudinaux 3, 4.In FIG. 1, 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.

    Une assise 6 comprend un tube de support 7 situé longitudinalement au-dessus des tubes transversaux 5, sensiblement à mi-distance entre les tubes longitudinaux 3,4, verticalement à distance des tubes transversaux 5A 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

    Sur la portion du tube de support 7 située sur la partie avant 1a du berceau 1, l'assise 6 comprend une paroi concave 8 vers le haut et convexe vers le bas, sous la forme d'un plaque de tôle pliée en V s'ouvrant vers le haut, du côté opposé à l'armature 2, et s'étendant à partir du tube de support 7, de chaque côté d'un plan de symétrie vertical passant par le tube de support 7. La paroi concave 8 s'étend longitudinalement à partir d'une première extrémité du tube de support 7, sur une longueur limitée du tube de support 7. L'assise 6 comprend une structure tubulaire de renforcement 9, disposée sous la paroi concave 8 de chaque côté du plan de symétrie, de façon à renforcer la paroi concave 8. Sur la portion du tube de support située sur la partie arrière 1b du berceau 1, l'assise 6 comprend une plaque d'appui 10 plane s'étendant longitudinalement sur le tube de support 7, à partir de la zone de la paroi concave 8 en contact avec le tube de support 7.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. 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.

    L'assise 6 repose sur l'armature 2 par l'intermédiaire de deux tubes de support 11, 12, similaires et disposés de façon symétrique par rapport à la paroi concave 8, dans un même plan transversal, le tube de support 12 n'étant pas visible sur la figure 1. Une butée d'absorption 13, par exemple en matériau élastomère, est disposée entre l'extrémité supérieure du tube de support 11, et une extrémité supérieure de la structure de renforcement 9, pour absorber des chocs qui peuvent survenir lors de la récupération d'un véhicule sous-marin. Le tube de support 11 est disposé sensiblement verticalement entre respectivement le tube longitudinal 3 et la structure de renforcement 9. Le tube de support 11 est situé dans le même plan transversal qu'un tube transversal 5. Un renfort 14 sous la forme d'une plaque triangulaire reliant les extrémités adjacentes du tube de support 11 et dudit tube transversal 5 rigidifient la liaison entre le tube de support 11 et l'armature 2, de façon à reprendre les efforts appliqués par l'assise 6 sur le tube de maintien 11. 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.

    Sur la partie arrière 1b du berceau 1, l'assise 6 repose sur l'armature 2 par l'intermédiaire de plots 15 et de butées d'absorption 16 similaires à la butée d'absorption 13, disposés sur un tube transversal 5.On the rear part 1b of the cradle 1, 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.

    La paroi concave 8 comprend deux ouvertures rectangulaires 17, 18 qui s'étendent transversalement depuis sensiblement le tube de support 7 jusqu'aux extrémités libres de la paroi concave 8, de façon à permettre le passage d'une sangle de fixation 19.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.

    Un véhicule sous-marin référencé 20 dans son ensemble, s'étendant longitudinalement, repose sur l'assise 6. L'avant 20a du véhicule 20 repose sur la paroi concave 8, l'arrière 20b du véhicule sous-marin 20 repose sur la plaque d'appui 10. Le véhicule sous-marin comprend une pluralité d'organes de propulsion 21 situé à l'arrière du véhicule sous-marin 20, en vue d'un déplacement vertical ou horizontal, ou d'une rotation. La sangle de fixation 19 maintient l'avant 20a du véhicule sous-marin 20 contre la paroi concave 8 de l'assise 6. Une sangle 22 disposée transversalement maintient l'arrière 20b du véhicule sous-marin 20 sur la plaque d'appui 10, en étant disposé longitudinalement au niveau des organes de propulsion 21.An underwater vehicle referenced 20 as a whole, extending longitudinally, rests on the seat 6. 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.

    Sur la figure 2, une cage parallélépipédique 23 est formée par un châssis inférieur 24, un châssis supérieur 25, un faisceau de câbles 26 et un rideau de protection 27. La cage 23 comprend une ouverture 28 permettant l'entrée et la sortie du véhicule sous-marin.In FIG. 2, 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.

    Le châssis inférieur 24, sous la forme d'un cadre tubulaire de forme rectangulaire, comprend deux tubes longitudinaux 29, 30, relié par deux tubes transversaux 31, 32, s'étendant perpendiculairement entre les extrémités des tubes longitudinaux 29, 30. Le châssis 24 fixé sur l'armature tubulaire 2 du berceau 1 par exemple par l'intermédiaire de systèmes vis-écrou, peut être désolidarisé de l'armature tubulaire 2 du berceau 1. Le cadre du châssis inférieur 24 forme une ouverture 33 permettant le passage verticalement du véhicule sous-marin 20, et possédant au moins une dimension inférieure à une dimension correspondante de l'armature 2 du berceau 1.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.

    Des chapes de fixation 34, formées sur les tubes longitudinaux 29, 30 vers l'intérieur du cadre tubulaire formé par le châssis inférieur 24, permettent la fixation des câbles 26 formant un faisceau de câbles reliant le châssis inférieur 24 au châssis supérieur 25, perpendiculairement au plan de l'armature 2 du berceau 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.

    Le châssis supérieur 25, sous la forme d'une armature tubulaire similaire à l'armature tubulaire 2 du berceau 1 et comprenant deux tubes longitudinaux 35, 36 et une pluralité de tubes transversaux 37, est relié à un bateau situé à la surface, et non représenté sur les figures, par l'intermédiaire d'une liaison souple sous la forme d'un câble 38 fixé à une partie 39 sensiblement centrale du châssis supérieur 25.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.

    Des poulies 40, disposées verticalement en regard des chapes 34 et solidaires en rotation d'axes 41, 42 longitudinaux fixés à rotation respectivement sur les tubes longitudinaux 35, 36, par l'intermédiaire d'un dispositif non représenté pour en améliorer la clarté du dessin, permettent d'enrouler ou de dérouler les câbles 26. Un moteur 43 disposé longitudinalement sur la partie centrale 39 du châssis supérieur 25 entraíne en rotation par l'intermédiaire d'un renvoi mécanique 44 un arbre 45 disposé transversalement, pourvu à ses extrémités de renvois mécaniques 46, 47 pour entraíner en rotation respectivement les axes 41, 42. La rotation du moteur 43 dans un premier sens provoque l'enroulement des câbles 26 sur les poulies 40, et le rapprochement des châssis inférieur 24 et supérieur 25. La rotation du moteur 43 dans le sens opposé au premier sens de rotation entraíne le déroulement des câbles 26 et l'écartement des châssis inférieur 24 et supérieur 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.

    Des rails tubulaires longitudinaux 48, 49, dont les extrémités sont recourbées vers l'extérieur, fixés sur le châssis supérieur 25 par l'intermédiaire de tubes de liaison 50 disposés verticalement, forment un berceau supérieur qui vient en contact avec la surface supérieure du véhicule sous-marin 20 pour maintenir ce dernier. Comme on peut le voir sur la figure 3, les portions des rails 48, 49 en contact avec la surface du véhicule sous-marin 20 peuvent être recouvertes d'un revêtement souple 51 par exemple en matériau de type élastomère, afin d'éviter les chocs avec la surface du véhicule sous-marin 20 pendant la récupération du véhicule sous-marin 20.Longitudinal tubular rails 48, 49, the ends of which are curved outwards, fixed to the upper frame 25 by means of connecting tubes 50 arranged vertically, form an upper cradle which comes contact with the upper surface of the underwater vehicle 20 to maintain this latest. As can be seen in FIG. 3, 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.

    Des moyens de positionnement sous la forme de supports 52 tubulaires fixés au châssis supérieur 25, descendent verticalement en direction des tubes transversaux 5 situés longitudinalement aux extrémités du châssis inférieur 24. Les supports 52 sont pourvus à leur extrémité inférieure adjacente au châssis inférieur 24 de butées de réception 53 de forme tronconique évasées vers le bas. Les butées de réception 53 coopèrent avec des tétons 54 disposés sur le châssis inférieur 24 et visibles sur la figure 3, qui font saillie verticalement desdits tubes transversaux 5. Les supports 52 définissent la distance verticale minimale entre les châssis inférieur et supérieur, afin que le véhicule sous-marin 20 soit maintenu par l'assise 6 et les rails 48, 49, sans provoquer l'endommagement du véhicule sous-marin 20 lors de rapprochement des châssis inférieur 23 et supérieur 30Positioning means in the form of fixed tubular supports 52 to the upper frame 25, descend vertically in the direction of the transverse tubes 5 located longitudinally at the ends of the lower chassis 24. 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

    Le rideau de protection 27 comprenant une pluralité de barres 55 maintenues par deux filins 56, 57 se déploie à la façon d'un store à empilement entre les extrémités longitudinales en regard des châssis supérieur 25 et inférieur 24, de sorte que les barres 55 sont jointives lorsque le châssis inférieur 24 est en contact avec les butées 53.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.

    Comme illustré sur la figure 3, le déroulement des câbles 26 permet d'agrandir ladite cage 23 dans le sens vertical, de façon à agrandir ladite ouverture 28, pour faciliter le passage du véhicule sous-marin 20.As illustrated in FIG. 3, 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.

    Avant la mise à l'eau du véhicule sous-marin 20, ce dernier est fixé sur le berceau 1 à l'aide des sangles 19 et 22. La cage 23 est soulevée par l'intermédiaire d'une grue présente sur le bateau et non représentée sur les figures. Le châssis inférieur 24 permettant de passer le véhicule sous-marin 20 verticalement par l'ouverture 33, on dépose la cage 23 sur le berceau 1. Comme le châssis inférieur 24 posséde au moins une dimension inférieure à une dimension correspondante de l'armature 2 du berceau 1, le châssis 24 repose sur l'armature 2 du berceau 1. On fixe alors manuellement le châssis inférieur 24 sur le berceau 1 à l'aide de systèmes vis-écrou.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. 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. We fix then manually the lower chassis 24 on the cradle 1 using screw-nut systems.

    Lors de la mise à l'eau du véhicule sous-marin 20, le dispositif de mise à l'eau et de récupération, tel que sur la figure 2, est descendu dans l'eau jusqu'à la profondeur souhaitée en déroulant le câble 38 à l'aide d'un treuil non représenté sur les figures qui contrôle la vitesse de descente, ainsi que la tension du câble 38. La vitesse de déroulement du câble 35 est monotone et peut être sensiblement constante. La vitesse de déroulement peut être de plusieurs mètres par seconde, par exemple 3 mètres par seconde, ce qui permet de descendre rapidement le véhicule sous-marin à la profondeur souhaitée.When the underwater vehicle 20 is launched, the launching device water and recovery, as in Figure 2, 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.

    Une fois la cage 23 parvenue à la profondeur souhaitée, on arrête le déroulement du câble 38, on commande le déroulement des câbles 26 pour augmenter la distance entre les châssis inférieur et supérieur de façon à libérer le véhicule sous-marin 20. Les câbles 26 sont déroulés rapidement pour éviter que le véhicule sous-marin ne soit déséquilibré ou endommagé par le mouvement de la cage 23 dû au pilonnement en surface. Le déroulement des câbles 26 peut s'accompagner d'un enroulement du câble 38 à une vitesse inférieure à la vitesse de déroulement des câbles 26, éloignant simultanément les châssis inférieur 24 et supérieur 25 du véhicule sous-marin 20. Simultanément à l'ouverture de la cage 23, le véhicule sous-marin recule de façon à sortir de ladite cage 23 par l'ouverture 28. De préférence, la dimension verticale de l'ouverture 28 de la cage 23 est supérieure à l'amplitude du mouvement vertical dû au pilonnement, de façon que ce mouvement ne puisse provoquer aucun choc entre la cage 23 et le véhicule sous-marin 20.Once the cage 23 has reached 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. Simultaneously with the opening of the cage 23, the underwater vehicle moves back so as to leave said cage 23 through the opening 28. Preferably, 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.

    Pendant le déroulement de la mission attribuée au véhicule sous-marin 20, la cage 23 peut être remontée sur le bateau, ou rester dans l'eau à la profondeur où le véhicule sous-marin 20 a été libéré.During the course of the mission assigned to 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.

    Lors de la récupération du véhicule sous-marin et de la cage restée ou redescendue dans l'eau, les câbles 26 sont déroulés de façon à obtenir une ouverture 28 dont la dimension verticale est sensiblement supérieure à l'amplitude des mouvements verticaux dus au pilonnement, soit une dimension de l'ordre de 5 m, et pouvant être de 7 m. Le véhicule sous-marin 20, qui peut comprendre des moyens de guidage, par exemple des balises acoustiques et des sonars, qui coopèrent avec des moyens de guidages de la cage 23, par exemple des réflecteurs sonar disposés sur les éléments de la cage 23, se guide ou est télécommandé depuis le bateau à l'aide de moyens de transmission pour pénétrer dans la cage 23, par l'ouverture 28, de préférence à la profondeur moyenne du dispositif de mise à l'eau et de récupération, compte tenu des mouvements verticaux dudit dispositif. Comme la dimension verticale de l'ouverture 28 est sensiblement supérieure à l'amplitude des mouvements verticaux de la cage 23 provoqués par le pilonnement à la surface, le véhicule sous-marin 20 ne risque pas d'être endommagé ou déséquilibré en heurtant le châssis inférieur 24 ou le châssis supérieur 25.When recovering the underwater vehicle and the remaining cage or lowered back into the water, the cables 26 are unwound so as to obtain an opening 28 whose vertical dimension is significantly greater than the amplitude of the vertical movements due to heaving, a dimension of the order of 5 m, and can be 7 m. 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. As 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.

    Une fois le véhicule sous-marin 20 en position à l'intérieur de la cage 23, dans un espace situé entre le châssis inférieur 24 et le châssis supérieur 25, les câbles 26 sont enroulés de façon à venir refermer la cage pour maintenir le véhicule sous-marin entre l'assise 6 du berceau 1 et les rails 48, 49 du châssis supérieur 25. De préférence, la vitesse d'enroulement des câbles 26 est rapide, pour éviter des chocs successifs dus aux mouvements relatifs entre le véhicule sous-marin 20 et l'assise 6 du berceau 1, lors de la mise en contact du berceau 1 et du véhicule sous-marin 20, ce qui pourrait endommager le véhicule sous-marin ou le déséquilibrer. Pour cela, on peut utiliser une vitesse d'enroulement des câbles 26 supérieure à la vitesse maximale de déplacement vertical de la cage 23 dû au pilonnement à la surface. Ainsi, le berceau 1 se déplace toujours verticalement vers le haut relativement au véhicule sous-marin 20 qui ne subit pas ou peu les mouvements verticaux dus au pilonnement à la surface.Once the underwater vehicle 20 is in position inside the cage 23, in a space between the lower chassis 24 and 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. Of preferably, 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. For that, we can use a cable winding speed 26 higher than the speed maximum vertical displacement of the cage 23 due to the heaving on the surface. Thus, 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.

    La paroi concave 8 de l'assise 6 permet de réceptionner le véhicule sous-marin 20 sur le berceau 1, en le guidant pour le positionner dans le plan horizontal. La forme de la paroi concave 8 possédant un plan de symétrie verticale permet à la fois de centrer le véhicule sous-marin sur le berceau 1 et de l'aligner longitudinalement. Les butées d'absorption 13, 16 permettent d'absorber les chocs lors de la mise en contact entre le véhicule sous-marin 20 et l'assise 6, de façon à ne pas endommager le véhicule sous-marin.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.

    Les câbles 26 sont enroulés jusqu'à ce que le châssis inférieur 23 entre en contact avec les butées 53 dont la forme tronconique ouverte vers le bas guident les tétons 54 du châssis inférieur 24, de façon à positionner avec précision le châssis inférieur 24 dans le plan horizontal vis-à-vis du châssis supérieur 25. Simultanément, la partie supérieure du véhicule sous-marin 20 entre en contact avec les rails 48, 49 du châssis supérieur 25. Ainsi, lorsque la cage 23 est refermée, le véhicule sous-marin est maintenu entre le berceau 1 et les rails 48, 49, qui interdisent tout mouvement du véhicule sous-marin 20 dans la cage 23. Le dispositif de mise à l'eau et de récupération peut être remonté à la surface par enroulement du câble 38.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.

    L'utilisation d'un unique moteur 39 entraínant en rotation une pluralité de poulies 40 sur lesquelles sont enroulés les câbles 26 par l'intermédiaire de renvois mécaniques 44, 46, 47 et d'axes 41, 42, 45, permet de synchroniser l'enroulement de tous les câbles 26, de façon à ne pas créer de déséquilibre du châssis inférieur 23, et à conserver le châssis inférieur 23 sensiblement dans un plan horizontal. L'enroulement des câbles 26 pourrait être synchronisé de façon différente, par exemple en employant des capteurs et une pluralité de moteurs asservis.The use of a single motor 39 driving in rotation a plurality of pulleys 40 on which the cables 26 are wound via references mechanical 44, 46, 47 and axes 41, 42, 45, makes it possible to synchronize the winding of all the cables 26, so as not to create an imbalance of the lower chassis 23, and to keep the lower chassis 23 substantially in a horizontal plane. The winding of the cables 26 could be synchronized differently, by example by using sensors and a plurality of servo motors.

    Par ailleurs, toute liaison entre le châssis inférieur et le châssis supérieur permettant de faire varier la dimension verticale de la cage convient. Une liaison souple, comme les câbles, des chaínes, ou des sangles convient particulièrement car elle peut être enroulée aisément, par exemple sur des poulies. On peut envisager l'utilisation de vérins.In addition, 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.

    Lors de la mise à l'eau et de la récupération du sous-marin, le dispositif selon l'invention permet d'éviter l'emploi de poids de lestage. En effet, pour accélérer la descente du véhicule sous-marin 20 vers sa profondeur de travail et éviter l'utilisation de moyens de propulsion verticaux, ledit véhicule sous-marin est généralement pourvu de poids de lestage supplémentaires dits de descente, qui sont largués lorsque le véhicule sous-marin arrive à sa profondeur de travail. Pour accélérer la remontée du véhicule sous-marin, des poids de lestage dits de remontée sont largués au moment de la remontée.When launching and recovering the submarine, 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.

    Or, le dispositif de mise à l'eau et de récupération permet de larguer et de récupérer le véhicule sous-marin directement à la profondeur de travail. Ainsi, lors de la préparation, le véhicule sous-marin est directement lesté en vue de son immersion à la profondeur de travail. On diminue alors la masse du véhicule au moment de son immersion puisqu'il ne contient pas de poids de lestage de descente ni de remontée, qui peuvent représenter jusqu'à 10 % du poids total du véhicule sous-marin. Le temps de préparation du lestage du véhicule sous-marin est diminué. On évite également le largage des poids de lestage, ce qui représente une économie, tout en évitant la pollution du fond sous-marin.However, 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.

    De plus, comme le véhicule sous-marin n'utilise pas ses moyens de propulsion verticaux pendant la descente, on peut réaliser une économie d'énergie utilisée par les moyens de propulsion. Comme la quantité d'énergie embarquée limite la durée d'une intervention du véhicule sous-marin, une économie d'énergie pendant la descente ou la montée permet d'augmenter le temps d'intervention utile du véhicule sous-marin, ou de diminuer la quantité d'énergie embarquée.In addition, as the underwater vehicle does not use its means of vertical propulsion during the descent, we can save energy used by the means of propulsion. As the amount of on-board energy limits the duration of an intervention of the underwater vehicle, an energy saving during the descent or ascent increases the useful intervention time of the underwater vehicle, or decrease the amount of energy on board.

    Lorsque le dispositif de mise à l'eau et de récupération est ramené sur le bateau, ledit dispositif constitue un support de stockage pour le véhicule sous-marin. En plus, comme le châssis inférieur peut être désolidarisé du berceau, et que le châssis inférieur, reposant sur l'armature 2 du berceau 1 permet le passage verticalement du véhicule sous-marin, on peut soulever la cage 23, sans soulever le berceau, comme illustré sur la figure 1. De cette façon, on libère l'accès au véhicule sous-marin 20 pour faciliter des opérations de maintenance ou de préparation. Les sangles 19 et 22 permettent de mieux maintenir le véhicule sous-marin 20 sur le berceau 1 en l'absence du berceau supérieur constitué par les rails 48, 49 du châssis supérieur.When the launching and recovery device is returned to the boat, said device constitutes a storage medium for the underwater vehicle. In addition, as the lower chassis can be detached from the cradle, and the lower frame, resting on the frame 2 of the cradle 1 allows the passage vertically from 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.

    Sur un même bateau, le dispositif de mise à l'eau et de récupération d'un véhicule sous-marin permet d'utiliser une pluralité de véhicules sous-marins chacun stocké sur un berceau, tout en n'utilisant qu'une seule cage pour immerger successivement les différents véhicules sous-marinsOn the same boat, 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

    Le dispositif de mise à l'eau et de récupération d'un véhicule sous-marin à partir d'un bateau sous la forme d'une cage de récupération possédant une ouverture dont la dimension verticale peut être réglée permet de s'affranchir des inconvénients dus aux mouvements verticaux de la cage de récupération qui ont pour origine le pilonnement, c'est-à-dire les mouvements verticaux du bateau auquel est reliée la cage et qui sont dus à la houle à la surface de l'eau.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.

    Le dispositif de mise à l'eau et de récupération d'un véhicule sous-marin permet alors de larguer et de récupérer rapidement un véhicule sous-marin à une profondeur proche de la profondeur de travail dudit véhicule sous-marin, de sorte que l'on peut conserver plus d'énergie embarquée pour la mission attribuée au véhicule sous-marin, et on peut éviter l'emploi de poids de lestage de descente, et le de poids de lestage de remontée. On réalise une économie sur le temps de préparation du lestage du véhicule sous-marin, et une économie de poids de lestage utilisés et largués sur les fonds sous-marins.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.

    Le dispositif de mise à l'eau et de récupération d'un véhicule sous-marin permet encore le stockage du véhicule sous-marin sur le bateau, tout en offrant la possibilité d'un accès facile au véhicule sous-marin en vue d'opérations de maintenance et de préparation pour une mission spécifique.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.

    Claims (12)

    Dispositif de mise à l'eau et de récupération d'un véhicule sous-marin (20) comprenant un ensemble submersible caractérisé par le fait que ledit ensemble comprend un châssis inférieur (24), un châssis supérieur (25), les châssis inférieur (24) et supérieur (25) étant reliés par une liaison souple, de façon que la distance entre lesdits châssis supérieur (25) et inférieur (24) soit réglable pour faciliter le déplacement d'un véhicule sous-marin (20) vers ou hors d'une zone comprise entre les châssis inférieur (24) et supérieur (25).Device for launching and recovering an underwater vehicle (20) comprising a submersible assembly characterized in that the said assembly comprises a lower chassis (24), an upper chassis (25), the lower chassis ( 24) and upper (25) being connected by a flexible connection, so that the distance between said upper (25) and lower (24) chassis is adjustable to facilitate the movement of an underwater vehicle (20) in or out an area between the lower (24) and upper (25) chassis. Dispositif selon la revendication 1, caractérisé par le fait que la liaison souple est un faisceau de câbles (26).Device according to claim 1, characterized in that the flexible connection is a bundle of cables (26). Dispositif selon la revendication 2, caractérisé par le fait qu'il comprend un dispositif d'enroulement et de déroulement du faisceau de câbles (26).Device according to claim 2, characterized in that it comprises a device for winding up and unwinding the cable bundle (26). Dispositif selon l'une quelconque des revendications précédentes, caractérisé par le fait qu'il comprend au moins un moteur (43) servant à entraíner en rotation une pluralité de poulies (40) sur lesquelles est enroulée la liaison souple.Device according to any one of the preceding claims, characterized in that it comprises at least one motor (43) serving to drive in rotation a plurality of pulleys (40) on which the flexible connection is wound. Dispositif selon l'une quelconque des revendications précédentes, caractérisé par le fait qu'il est relié par au moins une liaison souple (38) de longueur réglable à un dispositif situé à la surface.Device according to any one of the preceding claims, characterized in that it is connected by at least one flexible connection (38) of adjustable length to a device located on the surface. Dispositif selon l'une quelconque des revendications précédentes, caractérisé par le fait que des moyens de positionnement (53) sont disposés entre le châssis supérieur (25) et le châssis inférieur (24).Device according to any one of the preceding claims, characterized in that positioning means (53) are arranged between the upper chassis (25) and the lower chassis (24). Dispositif selon l'une quelconque des revendications précédentes, caractérisé par le fait qu'il comprend un berceau inférieur (1).Device according to any one of the preceding claims, characterized in that it comprises a lower cradle (1). Dispositif selon la revendication 7, caractérisé par le fait que le berceau (1) comprend au moins une paroi concave (8) de réception.Device according to claim 7, characterized in that the cradle (1) comprises at least one concave wall (8) for receiving. Dispositif selon l'une quelconque des revendications 7 ou 8, caractérisé par le fait que le berceau (1) peut être désolidarisé du châssis inférieur (24) Device according to either of Claims 7 and 8, characterized in that the cradle (1) can be detached from the lower chassis (24) Dispositif selon l'une quelconque des revendications précédentes, caractérisé par le fait que le châssis supérieur (25) comprend un berceau supérieur de maintien.Device according to any one of the preceding claims, characterized in that the upper chassis (25) comprises an upper holding cradle. Dispositif selon l'une quelconque des revendications précédentes, caractérisé par le fait qu'il comprend des moyens de guidage capable de coopérer avec des moyen de guidage du véhicule sous-marin (20).Device according to any one of the preceding claims, characterized in that it includes guide means capable of cooperating with guide means of the underwater vehicle (20). Procédé de mise à l'eau et de récupération d'un véhicule sous-marin (20), caractérisé par le fait qu'on immerge un dispositif de mise à l'eau et de récupération comprenant un châssis supérieur (25), un châssis inférieur (24), les châssis inférieur (24) et supérieur (25) étant reliés par une liaison souple, de façon que la distance entre lesdits châssis supérieur (25) et inférieur (24) soit réglable, on augmente la distance entre les châssis supérieur (25) et inférieur (24) pour libérer le véhicule sous-marin (20), et on diminue la distance entre les châssis supérieur (25) et inférieur (24) pour récupérer le véhicule sous-marin, une fois qu'il s'est déplacé dans la zone comprise entre les châssis supérieur (25) et inférieur (24).Method of launching and recovering an underwater vehicle (20), characterized in that a launching and recovery device comprising a top chassis (25), a chassis is immersed lower (24), the lower (24) and upper (25) chassis being connected by a flexible connection, so that the distance between said upper (25) and lower (24) chassis is adjustable, the distance between the chassis is increased upper (25) and lower (24) to release the underwater vehicle (20), and decrease the distance between the upper (25) and lower (24) chassis to recover the underwater vehicle, once it has moved in the area between the upper (25) and lower (24) chassis.
    EP02290879A 2001-04-13 2002-04-09 Device and method for launching and recovering an under-water vehicle Expired - Lifetime EP1249390B1 (en)

    Applications Claiming Priority (2)

    Application Number Priority Date Filing Date Title
    FR0105085A FR2823485B1 (en) 2001-04-13 2001-04-13 DEVICE FOR LAUNCHING AND RECOVERING AN UNDERWATER VEHICLE AND METHOD OF IMPLEMENTING
    FR0105085 2001-04-13

    Publications (2)

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

    Family

    ID=8862321

    Family Applications (1)

    Application Number Title Priority Date Filing Date
    EP02290879A Expired - Lifetime EP1249390B1 (en) 2001-04-13 2002-04-09 Device and method for launching and recovering an under-water vehicle

    Country Status (7)

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

    Cited By (8)

    * Cited by examiner, † Cited by third party
    Publication number Priority date Publication date Assignee Title
    WO2008012472A1 (en) * 2006-07-26 2008-01-31 Ifremer-Institut Francais De Recherche Pour L'exploitation De La Mer Apparatus for recovering an underwater or marine vehicle
    EP2610163A1 (en) * 2011-12-27 2013-07-03 ATLAS Elektronik GmbH Recovery device and method for recovering condensed material on the surface of a body of water, especially an unmanned underwater vehicle
    CN104071318A (en) * 2014-07-08 2014-10-01 中国船舶科学研究中心上海分部 Underwater rescue robot
    CN105775073A (en) * 2016-03-17 2016-07-20 天津超智海洋科技有限公司 Modular underwater teleoperator
    WO2017173936A1 (en) * 2016-04-06 2017-10-12 大连理工大学 Underwater towed vehicle laying device and usuage thereof
    CN111559476A (en) * 2020-01-20 2020-08-21 上海交通大学 Floating type fishing device suitable for underwater long columnar object
    CN112339947A (en) * 2020-11-04 2021-02-09 上海交通大学 Deep sea emergency disposal tool laying device
    WO2022002664A1 (en) * 2020-07-02 2022-01-06 Atlas Elektronik Gmbh Transport box for setting down a watercraft

    Families Citing this family (28)

    * Cited by examiner, † Cited by third party
    Publication number Priority date Publication date Assignee Title
    FR2868036B1 (en) * 2004-03-24 2006-06-02 Eca Societe Par Actions Simpli DEVICE FOR LAUNCHING AND RECOVERING A SUBMERSIBLE VEHICLE
    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
    WO2007033384A2 (en) * 2005-09-16 2007-03-22 Bae Systems Land & Armaments L.P. Launch and recovery system
    FR2904288B1 (en) * 2006-07-26 2009-04-24 Ifremer INSTALLATION AND METHOD FOR RECOVERING A SUBMARINE OR MARINE
    US9254898B2 (en) 2008-11-21 2016-02-09 Raytheon Company Hull robot with rotatable turret
    US8342281B2 (en) * 2008-11-21 2013-01-01 Raytheon Company Hull robot steering system
    US9440717B2 (en) * 2008-11-21 2016-09-13 Raytheon Company Hull robot
    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 (en) 2012-07-06 2014-01-09 Technische Universität Berlin Launch and rescue device integrated system for e.g. watercraft, has retainer arranged for settling swimming apparatus or for receiving swimming apparatus by joggle region, and float floating on water around pivotal axis of construction
    US9051028B2 (en) 2012-09-14 2015-06-09 Raytheon Company Autonomous hull inspection
    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 (en) * 2013-09-26 2016-05-11 青岛海山海洋装备有限公司 A kind of cage retracting device
    KR101817670B1 (en) * 2016-10-06 2018-02-21 주식회사 대명엘리베이터 Carrying apparatus having the cradle for yacht, yacht parking system having the same, and yacht parking method thereof
    DE102017212126B4 (en) 2017-07-14 2020-10-08 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. System and device for recovering a vehicle
    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 (en) * 2018-10-31 2024-04-02 无锡海核装备科技有限公司 Automatic throwing and recycling device for unmanned underwater vehicle
    CN112407168A (en) * 2020-11-24 2021-02-26 西北工业大学 Underwater vehicle dynamic recovery cabin suitable for water surface ship slideway and control method thereof
    CN112875544B (en) * 2021-01-11 2022-08-30 大连海事大学 Rope-driven AUV recovery cabin control system mounted on marine crane
    CN112896455B (en) * 2021-01-25 2022-05-17 上海大学 A keel block that is used for unmanned ship at sea to lay and retrieve
    CN113525635B (en) * 2021-08-11 2022-06-14 中国船舶科学研究中心 Auxiliary traction device for underwater butt joint of ROV (remote operated vehicle)
    US11879226B2 (en) * 2021-11-30 2024-01-23 USA as represented by Secretary of the Navy Autonomous deployment system for seafloor devices

    Citations (6)

    * Cited by examiner, † Cited by third party
    Publication number Priority date Publication date Assignee Title
    US3536023A (en) * 1968-09-16 1970-10-27 Gen Dynamics Corp Stabilized system for handling small submarines
    US3807335A (en) 1972-12-07 1974-04-30 Us Navy Submersible underwater docking concept
    JPS51102900A (en) * 1975-03-06 1976-09-10 Mitsubishi Heavy Ind Ltd SENSUISENYOSHUSOCHI
    GB2150903A (en) * 1983-12-07 1985-07-10 Per Berger Method and assembly for launching or retrieving a lifeboat
    JPH08282588A (en) * 1995-04-17 1996-10-29 Tech Res & Dev Inst Of Japan Def Agency Raising and suspending device of underwater cruising body
    WO2000071415A1 (en) * 1999-05-19 2000-11-30 Studio 3 Ingegneria S.R.L. Docking device for self-propelled autonomous underwater vehicles

    Family Cites Families (11)

    * Cited by examiner, † Cited by third party
    Publication number Priority date Publication date Assignee Title
    US3448712A (en) * 1968-01-30 1969-06-10 Gen Dynamics Corp Buoyant floats for docking and towing seacraft
    US3724410A (en) * 1971-04-26 1973-04-03 Nereid Nv Coupling submersible to service craft
    US3943875A (en) * 1973-03-05 1976-03-16 British Columbia Research Council Method and apparatus for launching and recovering submersibles
    US3890919A (en) * 1974-07-25 1975-06-24 Us Navy External launcher for underwater weapon
    US3993011A (en) * 1976-01-08 1976-11-23 Brown & Root, Inc. Method and apparatus for retrieving, securing, and launching an anchor buoy
    US4010619A (en) * 1976-05-24 1977-03-08 The United States Of America As Represented By The Secretary Of The Navy Remote unmanned work system (RUWS) electromechanical cable system
    US4487153A (en) * 1982-01-25 1984-12-11 Eastport International, Inc. Cage for undersea tethered vehicles
    US6148759A (en) * 1999-02-24 2000-11-21 J. Ray Mcdermott, S.A. Remote ROV launch and recovery apparatus
    US6276625B1 (en) * 1999-08-03 2001-08-21 Winston C. Chee Tether storage system
    US6390012B1 (en) * 1999-09-20 2002-05-21 Coflexip, S.A. Apparatus and method for deploying, recovering, servicing, and operating an autonomous underwater vehicle
    US6260504B1 (en) * 2000-01-21 2001-07-17 Oceaneering International, Inc. Multi-ROV delivery system and method

    Patent Citations (6)

    * Cited by examiner, † Cited by third party
    Publication number Priority date Publication date Assignee Title
    US3536023A (en) * 1968-09-16 1970-10-27 Gen Dynamics Corp Stabilized system for handling small submarines
    US3807335A (en) 1972-12-07 1974-04-30 Us Navy Submersible underwater docking concept
    JPS51102900A (en) * 1975-03-06 1976-09-10 Mitsubishi Heavy Ind Ltd SENSUISENYOSHUSOCHI
    GB2150903A (en) * 1983-12-07 1985-07-10 Per Berger Method and assembly for launching or retrieving a lifeboat
    JPH08282588A (en) * 1995-04-17 1996-10-29 Tech Res & Dev Inst Of Japan Def Agency Raising and suspending device of underwater cruising body
    WO2000071415A1 (en) * 1999-05-19 2000-11-30 Studio 3 Ingegneria S.R.L. Docking device for self-propelled autonomous underwater vehicles

    Non-Patent Citations (3)

    * Cited by examiner, † Cited by third party
    Title
    DITANG WANG ET AL: "A LAUNCH AND RECOVERY SYSTEM FOR AN AUTONOMOUS UNDERWATER VEHICLE 'EXPLORER'", PROCEEDINGS OF THE SYMPOSIUM ON AUTONOMOUS UNDERWATER VEHICLE TECHNOLOGY. WASHINGTON, JUNE 2 - 3, 1992, IEEE, 2 June 1992 (1992-06-02), NEW YORK, NY, US, pages 279 - 281, XP010065034, ISBN: 0-7803-0704-6 *
    PATENT ABSTRACTS OF JAPAN vol. 1997, no. 02 28 February 1997 (1997-02-28) *
    SINGH HANUMANT ET AL: "INTELLIGENT DOCKING FOR AN AUTONOMOUS OCEAN SAMPLING NETWORK", OCEANS '97. HALIFAX, CANADA, OCT. 6 - 9, 1997. MTS/IEEE CONFERENCE PROCEEDINGS, IEEE, vol. 2, 6 October 1997 (1997-10-06), NEW YORK, NY, US, pages 1126 - 1131, XP000953884, ISBN: 0-7803-4109-0 *

    Cited By (10)

    * Cited by examiner, † Cited by third party
    Publication number Priority date Publication date Assignee Title
    WO2008012472A1 (en) * 2006-07-26 2008-01-31 Ifremer-Institut Francais De Recherche Pour L'exploitation De La Mer Apparatus for recovering an underwater or marine vehicle
    FR2904287A1 (en) * 2006-07-26 2008-02-01 Ifremer APPARATUS FOR RECOVERING A SUBMARINE OR MARINE
    EP2610163A1 (en) * 2011-12-27 2013-07-03 ATLAS Elektronik GmbH Recovery device and method for recovering condensed material on the surface of a body of water, especially an unmanned underwater vehicle
    CN104071318A (en) * 2014-07-08 2014-10-01 中国船舶科学研究中心上海分部 Underwater rescue robot
    CN105775073A (en) * 2016-03-17 2016-07-20 天津超智海洋科技有限公司 Modular underwater teleoperator
    WO2017173936A1 (en) * 2016-04-06 2017-10-12 大连理工大学 Underwater towed vehicle laying device and usuage thereof
    CN111559476A (en) * 2020-01-20 2020-08-21 上海交通大学 Floating type fishing device suitable for underwater long columnar object
    CN111559476B (en) * 2020-01-20 2021-02-12 上海交通大学 Floating type fishing device suitable for underwater long columnar object
    WO2022002664A1 (en) * 2020-07-02 2022-01-06 Atlas Elektronik Gmbh Transport box for setting down a watercraft
    CN112339947A (en) * 2020-11-04 2021-02-09 上海交通大学 Deep sea emergency disposal tool laying device

    Also Published As

    Publication number Publication date
    CA2380816A1 (en) 2002-10-13
    NO20021754D0 (en) 2002-04-12
    FR2823485B1 (en) 2003-08-01
    JP2003081179A (en) 2003-03-19
    EP1249390B1 (en) 2005-12-28
    US6698376B2 (en) 2004-03-02
    DE60208256D1 (en) 2006-02-02
    US20020152946A1 (en) 2002-10-24
    FR2823485A1 (en) 2002-10-18
    DE60208256T2 (en) 2007-02-01
    NO20021754L (en) 2002-10-14

    Similar Documents

    Publication Publication Date Title
    EP1249390B1 (en) Device and method for launching and recovering an under-water vehicle
    EP2043913B1 (en) Apparatus for recovering an underwater or marine vehicle
    EP1580115B1 (en) Device for launching and beaching of a submersible vehicle
    FR2904288A1 (en) INSTALLATION AND METHOD FOR RECOVERING A SUBMARINE OR MARINE
    EP2468620A1 (en) Device for launching and recovering a marine craft, and associated launch and recovery method.
    WO2021130306A1 (en) Device for recovering a vessel at sea
    WO2013113644A1 (en) Receiving assembly for receiving a seagoing vessel and system for recovering and deploying such a vessel in the sea
    EP3902742A1 (en) Docking device for an underwater vehicle
    FR2577510A1 (en) VERTICAL AND HORIZONTAL TRANSHIPMENT BOAT
    EP0104983A1 (en) Basket
    EP3209546A1 (en) System for launching and recovering marine and submarine devices assisted by tiltable protective components
    FR2505900A1 (en) DEVICE FOR PLATFORM PLACEMENT AND METHOD OF USING THE DEVICE
    FR3062844A1 (en) SYSTEM FOR LAUNCHING AND RECOVERING A PROPULSE ENGINE FROM THE BRIDGE OF A BEARING SHIP
    EP2788643B1 (en) Assembly for the transport of fluid through a pipeline and associated floating structure
    WO2021130333A1 (en) Device for recovering a vessel at sea
    FR2963924A1 (en) DEVICE FOR RECOVERING A MARINE OR SUBMARINE DEVICE
    EP3976460B1 (en) Sonar device and sonar system
    FR2747989A1 (en) METHOD AND FLOATING BODY FOR LIFTING A MARINE PLATFORM
    WO2014108631A1 (en) Submersible floating barge
    FR3066485A1 (en) SYSTEM FOR IMMERING AN OBJECT FROM A FLOATING OR NON-FLOATING PLATFORM
    EP3488102B1 (en) System for storing and producing electrical energy by gravity by virtue of solid linear and continuous masses
    EP1167178B1 (en) Protection device for a tether cable of a submerged object
    WO2022195233A1 (en) System for recovering an ocean-bottom seismometer, ship and corresponding method
    EP1393790B1 (en) Progressive brake and stop apparatus of a carriage or similar
    FR2813578A1 (en) Submersible mooring device with deflation means comprises mooring line, submersible body and compressed air generator; when filled with gas body rises to surface and after time lapse valve opens and gas expelled

    Legal Events

    Date Code Title Description
    PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

    Free format text: ORIGINAL CODE: 0009012

    AK Designated contracting states

    Kind code of ref document: A1

    Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE TR

    AX Request for extension of the european patent

    Free format text: AL;LT;LV;MK;RO;SI

    17P Request for examination filed

    Effective date: 20030407

    AKX Designation fees paid

    Designated state(s): DE DK GB IT NL SE

    17Q First examination report despatched

    Effective date: 20040924

    GRAP Despatch of communication of intention to grant a patent

    Free format text: ORIGINAL CODE: EPIDOSNIGR1

    GRAS Grant fee paid

    Free format text: ORIGINAL CODE: EPIDOSNIGR3

    GRAA (expected) grant

    Free format text: ORIGINAL CODE: 0009210

    AK Designated contracting states

    Kind code of ref document: B1

    Designated state(s): DE DK GB IT NL SE

    PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

    Ref country code: IT

    Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT;WARNING: LAPSES OF ITALIAN PATENTS WITH EFFECTIVE DATE BEFORE 2007 MAY HAVE OCCURRED AT ANY TIME BEFORE 2007. THE CORRECT EFFECTIVE DATE MAY BE DIFFERENT FROM THE ONE RECORDED.

    Effective date: 20051228

    Ref country code: NL

    Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

    Effective date: 20051228

    REG Reference to a national code

    Ref country code: GB

    Ref legal event code: FG4D

    Free format text: NOT ENGLISH

    GBT Gb: translation of ep patent filed (gb section 77(6)(a)/1977)

    Effective date: 20051229

    REF Corresponds to:

    Ref document number: 60208256

    Country of ref document: DE

    Date of ref document: 20060202

    Kind code of ref document: P

    PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

    Ref country code: DK

    Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

    Effective date: 20060328

    Ref country code: SE

    Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

    Effective date: 20060328

    PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

    Ref country code: DE

    Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

    Effective date: 20060329

    NLV1 Nl: lapsed or annulled due to failure to fulfill the requirements of art. 29p and 29m of the patents act
    PLBE No opposition filed within time limit

    Free format text: ORIGINAL CODE: 0009261

    STAA Information on the status of an ep patent application or granted ep patent

    Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

    26N No opposition filed

    Effective date: 20060929

    PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

    Ref country code: DE

    Payment date: 20070410

    Year of fee payment: 6

    PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

    Ref country code: GB

    Payment date: 20070416

    Year of fee payment: 6

    GBPC Gb: european patent ceased through non-payment of renewal fee

    Effective date: 20080409

    PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

    Ref country code: DE

    Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

    Effective date: 20081101

    PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

    Ref country code: GB

    Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

    Effective date: 20080409