EP1957357B1 - Appareil permettant la mise à l'eau et le suivi d'un véhicule sous-marin sans équipage - Google Patents

Appareil permettant la mise à l'eau et le suivi d'un véhicule sous-marin sans équipage Download PDF

Info

Publication number
EP1957357B1
EP1957357B1 EP06805894A EP06805894A EP1957357B1 EP 1957357 B1 EP1957357 B1 EP 1957357B1 EP 06805894 A EP06805894 A EP 06805894A EP 06805894 A EP06805894 A EP 06805894A EP 1957357 B1 EP1957357 B1 EP 1957357B1
Authority
EP
European Patent Office
Prior art keywords
carrier
holding
underwater vehicle
spring
tracking
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.)
Not-in-force
Application number
EP06805894A
Other languages
German (de)
English (en)
Other versions
EP1957357A1 (fr
Inventor
Detlef Lambertus
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.)
Atlas Elektronik GmbH
Original Assignee
Atlas Elektronik GmbH
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 Atlas Elektronik GmbH filed Critical Atlas Elektronik GmbH
Priority to PL06805894T priority Critical patent/PL1957357T3/pl
Publication of EP1957357A1 publication Critical patent/EP1957357A1/fr
Application granted granted Critical
Publication of EP1957357B1 publication Critical patent/EP1957357B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/42—Towed underwater vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/56—Towing or pushing equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/56—Towing or pushing equipment
    • B63B21/66—Equipment specially adapted for towing underwater objects or vessels, e.g. fairings for tow-cables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G7/00—Mine-sweeping; Vessels characterised thereby
    • B63G7/02—Mine-sweeping means, Means for destroying mines

Definitions

  • the invention relates to a device for deploying and tracking an unmanned underwater vehicle according to the preamble of claim 1.
  • Unmanned underwater vehicles the z. B. used for mine destruction and remote from an air or water-based platform, such as helicopter or surface ship, are left from the platform into the water.
  • a dispensing device which has a submarine vehicle in a holder receiving carrier, which is attached to a holding cable. The holding cable is unwound from the platform.
  • the dispensing device is advantageously equipped with a track device, which makes it possible to track the unmanned underwater vehicle used in the water and removing it from the dispensing device, ie to determine its position continuously.
  • the track device which operates on the SSBL or USBL principle, has a plurality of spaced-apart hydrophones for receiving the sound pulses emitted by a responder located on the underwater vehicle. From the time-delayed reception of the sound pulses and the resulting phase shift between the electrical hydrophone output signals the bearing angle to the underwater vehicle and from the duration of the sound pulses between responder and track device, the distance of the underwater vehicle is calculated.
  • the unmanned underwater vehicle equipped with an explosive charge is remotely steered from a submerged platform and the position of the underwater vehicle is continuously determined by means of a track device arranged on the platform, which operates as described above.
  • the platform has a dispenser for inserting the underwater vehicle into the water.
  • This associated spatial stabilization of the track device makes it possible to determine the exact position of the underwater vehicle even under unfavorable sea weather conditions, and the risk of a track loss, that is the tearing of the acoustic connection between the underwater vehicle and the track device, greatly reduced.
  • Such a space-stabilized application device is heavy and relatively expensive in terms of production at relatively high volume.
  • the invention has for its object to provide a lightweight, construction small application device with track device for an unmanned underwater vehicle, which is also suitable for handling on small platforms and ensures an acoustically undisturbed work the track device.
  • the device according to the invention for deploying and tracking an unmanned underwater vehicle has the advantage that the swivel of the carrier after release of the underwater vehicle, the track device is located at the lowest point of the carrier and the acoustic performance of the track device, in particular the acoustic connection to the underwater vehicle or only little disturbed by components on the carrier, such as the support for the underwater vehicle. Due to the elongated, vertically dipping into the water carrier, at the lower end of the track device is arranged, this is held sufficiently stable in the water, so that a reliable position measurement of the underwater vehicle is ensured.
  • a trained eg as a three-axis compass stabilized position sensor in the track device provides information about the orientation of the hydrophone arrangement of the track device, which is then included in the evaluation of the phase shift of the electrical Hydrophonausgangssignale.
  • the track device is arranged at that end of the carrier, which faces the rear of the unmanned underwater vehicle grasping part of the holding device.
  • the pivoting device on a spring which can be tensioned by preferably manually transferring the carrier in its Ausbringrus.
  • the carrier In this deployment position, the carrier is locked by means of a releasable locking device on the holding cable.
  • FIG. 1 in perspective side view to see device 11 for deploying and tracking a small, unmanned underwater vehicle 10 has an elongated, narrow, plate-shaped support 12, on the underside of a holding device 13 is arranged for latching the underwater vehicle 10.
  • the carrier 12 On its upper side, the carrier 12 carries about two centrally spaced mounting flanges 14, between which a fastening tab 15 dips. Through the two mounting flanges 14 and the fastening tab 15, a pivot pin 16 is passed through which the carrier 12 is pivotally supported on the mounting bracket 15.
  • the fastening tab 15 forms the device-side, free end of a holding cable 17, with which the carrier 12 is left with underwater vehicle 10 from a platform to the water.
  • the platform has for this purpose a cable winch, by means of which the holding cable 17 can be gefiert and caught up again.
  • the platform may be air-based or water-based, e.g. B. a Be helicopter or a surface ship.
  • an attenuator 18 is generally still arranged to substantially reduce shocks on the applicator 11 in the rapid stopping of the extension process.
  • the holding device 13 has a carrier 12 fixedly arranged on the rear holding member 131 and a pivotally mounted on the carrier 12 front holding member 132.
  • a hydraulic or compressed air cylinder 19 is provided, which engages via at least one piston rod to the carrier 12 pivotally mounted on the front holding member 132.
  • the underwater vehicle 10 is latched with its rear in the rear support member 131 and with its nose in the front support member 132 by the front support member 132 is pivoted downward and thus the holding device 13 is closed.
  • the front support member 132 is pivoted slightly upward by means of the hydraulic or pneumatic cylinder 19, whereby the front support member 132 releases the bow of the underwater vehicle 10 and the latter falls out of the rear support member 131 due to its weight. This is in Fig. 2 shown.
  • the underwater vehicle 10 is connected in the embodiment via a cross-section small signal cable with the applicator 11.
  • a fiber optic cable 24 is used as a signal cable, which is subtracted when driving the underwater vehicle 10 of two glass fiber spools.
  • One fiber optic coil is located in the stern of the underwater vehicle 10 and the other fiber optic coil is in a arranged on the carrier 12 bobbin 21 housed.
  • the bobbin 21 is received in a cage 22 and locked against falling out.
  • the locking of the bobbin 21 in the cage 22 is released so that the bobbin 21 falls out of the cage and sinks into the water 40 to a between bobbin 21 and support 12 existing connection cable 23rd taut ( Fig. 3 ).
  • the fiber optic cable 24 unwinds from the bobbin 21 and simultaneously unwinds from the arranged in the rear of the underwater vehicle 10 glass fiber spool, so that the fiber optic cable 24th not or only slightly on train is charged.
  • the carrier 12 carries at its rear free end, on which also the cage 22 is arranged, a track device 25 for tracing the moving underwater vehicle.
  • the track device 25 comprises a hydrophone assembly 26 which projects beyond the free end of the carrier 12 and a position sensor 27, the z. B. is a 3-axis stabilized compass.
  • the hydrophone assembly 26 consists of a plurality of spaced-apart hydrophones, which receives from a arranged on the underwater vehicle 10 Responder 28 emitted sound pulses.
  • An evaluation unit 29 connected downstream of the hydrophone arrangement calculates, from the phase shifts between the electrical hydrophone output signals, taking into account the orientation of the hydrophone arrangement, which is measured by the position sensor 27, a bearing angle to the underwater vessel 10 the fiber optic cable 24 in the responder 28 is electrically triggered, and the evaluation unit 29 measures the duration of the sound pulses from the underwater vehicle 10 to the hydrophone assembly 26 and calculates the distance of the underwater vehicle 10 to the applicator 12 from the bearing angle and distance, the position of the underwater vehicle 10 can be determined at any time ,
  • a pivoting device 30 for pivoting the carrier 12 from its dispensing position, in which the underwater vehicle 10 can be disengaged from the holding device 13, in a track position, in which the track device 25 is at most below the articulation point of the carrier 12 on the holding cable 17, that is, at most below the pivot pin 16. Since the carrier 12 is aligned in its dispensing position approximately at right angles to the holding cable 17, the pivoting device 30 rotates the carrier 12 by approximately 90 degrees.
  • the pivoting device 30 is inactive in the deployment position of the carrier 12 with the holding device 13 closed and is activated with or after opening the holding device 13 and the associated notching of the underwater vehicle 10.
  • the pivoting device 30 has a spring 32, which is tensioned in the Ausbringrus of the carrier 12, and a releasable Verrieglungsvorraum 31 which locks the carrier 12 in its Ausbring too on the holding cable 17, more precisely on the mounting flange 14 of the holding cable 17 at tensioned spring 32 ( Fig. 4 ).
  • the spring 32 is formed as a spiral spring 33, the inner spring leg 331 at the mounting tab 15 and the outer spring leg 332 at the in Fig. 4 front mounting flange 14 of the carrier 12 is fixed.
  • the locking device 31 comprises a spring-loaded locking member 34, which on the in Fig. 4 rear mounting flange 14 is axially slidably disposed, and cooperating with the locking member 34 locking groove 35 which is formed in the fastening tab 15.
  • the Verrieglungsvoriques 31 can be solved by means of an electromagnet 37, which lifts the armature of the electromagnet 37 forming locking member 34 from the locking groove 35 when energized.
  • the carrier 12 released from the underwater vehicle 10 pivots in the direction of the arrow 38 in FIG Fig. 4 , The end of the carrier 12 carrying the track device 25 pivots downwards and dips into the water 40, as shown in FIG Fig. 3 is illustrated.
  • the fastening tab 15 has a second locking groove 39, which is offset by 90 ° circumferential angle relative to locking groove 35.
  • the spring-loaded locking member 34 in the second locking groove 39 locks the approximately parallel to the holding cable 17 aligned carrier 12 in this Fig. 3 position shown.
  • the carrier 12 is first manually pivoted into a rotational position in which it is oriented approximately horizontally.
  • the coil spring 33 is tensioned, and at the end of the pivoting path, the locking device 31 is effective by the locking member 34 is incident under the action of the locking spring 36 in the locking groove 35.
  • the underwater vehicle 10 is inserted into the holding device 13 and the holding device 13 is closed by pivoting the front holding member 132.
  • the bobbin 31 is inserted into the cage 20 and also locked therein.
  • the applicator 11 is lowered from the platform by fusing the holding cable 17 with the underwater vehicle 10 latched in the holding device 13 onto the water surface 41.
  • a release control unit 42 arranged on the carrier 12 activates the hydraulic or compressed air cylinder 19, which pivots the front holding member 132 upwards, so that it lifts off from the bow of the underwater vehicle 10.
  • the released underwater vehicle 10 falls out of the rear holding member 131 and dives through the surface 41 into the water, as shown in FIG Fig. 2 is illustrated.
  • With falling out of the underwater vehicle 10 and the bobbin 21 is released, which falls out of the cage 22 and also dips through the water surface 41 into the water 40, then to sink until the tensioning of the connecting cable 23.
  • the tense Coil spring 33 rotates the carrier (12) in the direction of arrow 38 (FIG. Fig. 4 ) until the spring-loaded locking member 34 is incident on the second locking groove 39.
  • the track device 35 lies maximally below the pivot pin 16 and dives through the water surface 41 into the water 40.
  • the holding cable 17 is now further gefiert until the entire dispenser is submerged under the water surface.
  • the track device 25 assumes an optimal position below the water surface 41 and can maintain an undisturbed, acoustic connection to the responder 28 of the underwater vehicle 10 while the underwater vehicle 10 is traveling.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Laying Of Electric Cables Or Lines Outside (AREA)
  • Catching Or Destruction (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)

Claims (9)

  1. Appareil pour mettre à l'eau et suivre un navire sous-marin (10) non habité comprenant un élément porteur (12) monté à l'extrémité d'un câble de maintien (17), un dispositif de maintien (13) monté sur l'élément porteur (12) pour maintenir le navire sous-marin (10), lequel présente un élément de maintien (13) commandable pour larguer le navire sous-marin (10) hors du dispositif de maintien (13), et comprenant un dispositif de suivi (25) monté sur l'élément porteur (12) pour déterminer acoustiquement la position du navire sous-marin (10) immergé dans l'eau (40), caractérisé en ce que le dispositif de suivi (25) est disposé à une extrémité de l'élément porteur (12) de configuration allongée, en ce que l'élément porteur (12) est fixé de manière articulée au câble de maintien (17) de manière à pouvoir pivoter dans la zone centrale de sa longueur et en ce qu'il est prévu un dispositif pivotant (30) pouvant être activé après avoir largué le navire sous-marin (10) hors du dispositif de maintien (13) pour faire pivoter l'élément porteur (12) d'une position de mise à l'eau, dans laquelle le navire sous-marin (10) est mis à l'eau, dans une position de suivi, dans laquelle le dispositif de suivi (25) se trouve de préférence au maximum au-dessous du point d'articulation de l'élément support sur le câble de maintien (17).
  2. Appareil selon la revendication 1, caractérisé en ce que le dispositif de suivi (25) est monté à l'extrémité du support (12) qui se trouve à l'opposé de l'élément de maintien (131) le plus à l'arrière du dispositif de maintien (13), celui qui saisit l'arrière du navire sous-marin (10).
  3. Appareil selon la revendication 1 ou 2, caractérisé en ce que l'élément porteur (12), dans sa position de mise à l'eau, est dirigé à peu près perpendiculairement au câble de maintien (17) et à peu près parallèlement à celui-ci dans sa position de suivi.
  4. Appareil selon l'une des revendications 1 à 3, caractérisé en ce que le dispositif pivotant (30) présente un ressort (32) qui peut être étiré en amenant l'élément porteur (12) dans sa position de mise à l'eau et un dispositif de verrouillage (31) amovible qui verrouille l'élément porteur (12) au câble de maintien (17) au moins dans sa position de mise à l'eau.
  5. Appareil selon la revendication 4, caractérisé en ce que le dispositif de verrouillage (31) peut être détaché en retard lors de l'ouverture du dispositif de maintien.
  6. Appareil selon la revendication 4 ou 5, caractérisé en ce que l'extrémité du câble de maintien (17) est formée par une éclisse de fixation (15) au niveau de laquelle est réalisé le point d'articulation côté câble de l'élément porteur (12) au moyen d'un pivot (16) et en ce que le ressort (32) est réalisé sous la forme d'un ressort en spirale (33) qui est fixé à l'éclisse de fixation (15) avec l'une de ses extrémités (331) et à l'élément porteur (12) avec son autre extrémité (332).
  7. Appareil selon la revendication 6, caractérisé en ce que le dispositif de verrouillage (31) présente un élément de blocage (34) contraint par ressort et une rainure de verrouillage (35) qui reçoit l'élément de blocage (34), lesquels sont réalisés en alternance sur l'éclisse de fixation (15) et sur l'élément porteur (12), et en ce que l'élément de blocage (34) peut être extrait hors de la rainure de verrouillage (35) de manière mécanique ou électromécanique en s'opposant à la force d'un ressort de verrouillage (36).
  8. Appareil selon l'une des revendications 4 à 7, caractérisé en ce que l'élément porteur (12) est enclenché sur le câble de maintien (17) dans sa position de suivi.
  9. Appareil selon la revendication 8, caractérisé en ce que l'élément de blocage (34) est monté sur l'élément porteur (12) et l'éclisse de fixation (15) présente deux rainures de fixation (35, 39) décalées de 90 degrés, dont une rainure de verrouillage (35) accueille l'élément de blocage (34) sous la contrainte du ressort lorsque l'élément porteur (12) se trouve en position de mise à l'eau et l'autre rainure de verrouillage (39) l'accueille lorsque l'élément porteur (12) se trouve en position de suivi.
EP06805894A 2005-12-07 2006-09-27 Appareil permettant la mise à l'eau et le suivi d'un véhicule sous-marin sans équipage Not-in-force EP1957357B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL06805894T PL1957357T3 (pl) 2005-12-07 2006-09-27 Przyrząd do spuszczania i śledzenia bezzałogowego pojazdu podwodnego

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102005058475A DE102005058475B3 (de) 2005-12-07 2005-12-07 Gerät zum Ausbringen und Tracken eines unbemannten Unterwasserfahrzeugs
PCT/EP2006/009371 WO2007065495A1 (fr) 2005-12-07 2006-09-27 Appareil permettant la mise à l'eau et le suivi d'un véhicule sous-marin sans équipage

Publications (2)

Publication Number Publication Date
EP1957357A1 EP1957357A1 (fr) 2008-08-20
EP1957357B1 true EP1957357B1 (fr) 2009-03-11

Family

ID=37478856

Family Applications (1)

Application Number Title Priority Date Filing Date
EP06805894A Not-in-force EP1957357B1 (fr) 2005-12-07 2006-09-27 Appareil permettant la mise à l'eau et le suivi d'un véhicule sous-marin sans équipage

Country Status (12)

Country Link
US (1) US7878138B2 (fr)
EP (1) EP1957357B1 (fr)
JP (1) JP4686610B2 (fr)
AT (1) ATE425078T1 (fr)
AU (1) AU2006322417B8 (fr)
DE (2) DE102005058475B3 (fr)
ES (1) ES2322401T3 (fr)
IL (1) IL191114A (fr)
NO (1) NO337418B1 (fr)
PL (1) PL1957357T3 (fr)
PT (1) PT1957357E (fr)
WO (1) WO2007065495A1 (fr)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009053742B4 (de) * 2009-11-18 2012-01-26 Atlas Elektronik Gmbh Unbemanntes Unterwasserfahrzeug und Einrichtung zum Anschluss eines Lichtwellenleiterkabels an ein unbemanntes Unterwasserfahrzeug
DE102010033638A1 (de) * 2010-08-06 2012-02-09 Atlas Elektronik Gmbh Kampfmittelräumgerät zum Räumen von Kampfmitteln, wie Seeminen, unter Wasser, unbemanntes Unterwasserfahrzeug mit derartigem Kampfmittelräumgerät sowie Verfahren hierzu
FR2969573B1 (fr) * 2010-12-23 2013-02-08 Eca Dispositif de mise a l'eau et de recuperation d'un engin submersible ou de surface.
US9067648B2 (en) * 2012-09-05 2015-06-30 Raytheon Company Unmanned underwater vehicle launcher
AU2013204965B2 (en) 2012-11-12 2016-07-28 C2 Systems Limited A system, method, computer program and data signal for the registration, monitoring and control of machines and devices
DE102014111488A1 (de) 2014-08-12 2016-02-18 Atlas Elektronik Gmbh Startvorrichtung und Fahrzeug
US9928764B2 (en) 2014-08-29 2018-03-27 Charles M. Heath Illuminated support mount for vehicle flag
CN109334921B (zh) * 2018-11-06 2023-08-08 湖南工程学院 一种水下机器人
CN109884729B (zh) * 2019-04-11 2021-04-16 上海大学 一种无人艇与机器鱼协作的水雷检测控制系统及水雷检测方法
DE102020208327A1 (de) 2020-07-02 2022-01-05 Atlas Elektronik Gmbh Transportbox zum Absetzen eines Wasserfahrzeugs
CN113247216B (zh) * 2021-06-11 2022-04-08 哈尔滨工业大学 一种无人水下航行器用抓取释放装置
CN117087818B (zh) * 2023-07-10 2024-05-07 大连海事大学 一种a型架潜器布放回收减摆装置及其工作方法

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3380103A (en) * 1966-06-21 1968-04-30 Electrolux Corp Duplex vacuum cleaner nozzle
US3880103A (en) * 1972-08-21 1975-04-29 Us Navy Tethered mine hunting system
NO902883D0 (no) 1990-06-28 1990-06-28 Bentech Subsea As Fremgangsmaate og anordning for soeking etter en gjenstand.
CA2076151C (fr) * 1992-08-14 1997-11-11 John Brooke Telecommande
FR2722164B1 (fr) * 1994-07-08 1996-09-13 Eca Procede perfectionne de destruction d'un objet sous-marin, notamment d'une mine immergee
US5752460A (en) * 1996-02-02 1998-05-19 The United States Of America As Represented By The Secretary Of The Navy Submergible towed body system
US6279501B1 (en) * 2000-09-28 2001-08-28 Mentor Subsea Technology Services, Inc. Umbilical constraint mechanism
FR2868038B1 (fr) * 2004-03-29 2006-06-02 Eca Societe Par Actions Simpli Dispositif d'observation d'objets sous-marins
EP1582445A1 (fr) 2004-03-30 2005-10-05 de Jongh, Eddy Camion de carrières

Also Published As

Publication number Publication date
ATE425078T1 (de) 2009-03-15
US20090151617A1 (en) 2009-06-18
US7878138B2 (en) 2011-02-01
AU2006322417B8 (en) 2010-03-25
NO20083052L (no) 2008-07-07
EP1957357A1 (fr) 2008-08-20
IL191114A (en) 2011-10-31
AU2006322417B2 (en) 2010-03-04
PL1957357T3 (pl) 2009-08-31
JP4686610B2 (ja) 2011-05-25
WO2007065495A1 (fr) 2007-06-14
DE502006003136D1 (de) 2009-04-23
NO337418B1 (no) 2016-04-11
JP2009518216A (ja) 2009-05-07
DE102005058475B3 (de) 2007-01-04
AU2006322417A1 (en) 2007-06-14
ES2322401T3 (es) 2009-06-19
PT1957357E (pt) 2009-04-27

Similar Documents

Publication Publication Date Title
EP1957357B1 (fr) Appareil permettant la mise à l'eau et le suivi d'un véhicule sous-marin sans équipage
DE102005059635B4 (de) Unterseeboot
EP0389576B1 (fr) Appareil de dragage de mines pour eliminer des mines a cable d'ancrage
EP0877262B1 (fr) Corps remorqué pour système sonar
DE102017216112A1 (de) Aussetz-System und Aussetz-Verfahren mit zusammenziehbarem Vorleinenausleger
DE19812330C2 (de) Startvorrichtung für einen geschleppten Flugkörper
EP1188662B1 (fr) Arrangement pour récupérer un véhicule sous-marin
DE3433512A1 (de) Geraet zum aufbewahren und abschiessen eines rettungsflosses oder aehnlichen fahrzeugs von einem schiff
EP0124133B1 (fr) Dispositif d'emmagasinage d'antennes traînantes pour sous-marins
DE102013218783A1 (de) Haltevorrichtung zur Halterung eines Beibootes oder eines anderen mitzuführenden Anbauteils und deren Verwendung
DE2030162C3 (de) Unterwasser-Schleppgerät und Vorrichtung zum Aussetzen, Schleppen und Aufnehmen des Gerätes
DE19745088C2 (de) Vorrichtung zum Aussetzen und/oder Einholen eines Unterwasserlaufkörpers
DE2213308B2 (de) Ankerkettenstopper
DE102023103889B3 (de) Sichere Führung eines Kabels an einem Unterseeboot
DE20316247U1 (de) Vorrichtung zum Aussetzen und Aufnehmen eines tauchfähigen Wasserfahrzeuges, Vorrichtung zum Schleppen eines tauchfähigen Wasserfahrzeuges sowie Überwasserfahrzeug mit einer solchen Vorrichtung
DE1811490A1 (de) Lastaufnahmeorgan fuer Hebezeuge
DE324065C (de) Seemine mit zwei durch ein schwimmendes Kabel verbundenen Einzelminen
DE1811490C (de) Lastaufnahmevorrichtung für Hebezeuge
DE19940396A1 (de) Verfahren zum Zuwasserlassen, zum Schleppen und zur Bergung eines drahtgelenkten Untersee-Geräts und Vorrichtung zur Umsetzung dieses Verfahrens
DE19750853C2 (de) Schiffsgestützte Auslaufvorrichtung für ein Verbindungskabel zu einem eigengetriebenen Unterwasserfahrzeug
DE267431C (fr)
DE2231053A1 (de) Vorrichtung zum zufuehren der patronen bei einer automatischen handfeuerwaffe
DE311336C (fr)
DE4313638A1 (de) Vorrichtung zum Herstellen einer Schleppverbindung zwischen einem Schiff und einem Schlepper
DE7139963U (de) Einrichtung an Wasserfahrzeugen zum Ausfieren und Einholen eines Schleppseiles für einen hinter dem Wasserfahrzeug herzuziehenden Schleppkörper

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

17P Request for examination filed

Effective date: 20080415

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC NL PL PT RO SE SI SK TR

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

DAX Request for extension of the european patent (deleted)
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): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC NL PL PT RO SE SI SK TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REF Corresponds to:

Ref document number: 502006003136

Country of ref document: DE

Date of ref document: 20090423

Kind code of ref document: P

REG Reference to a national code

Ref country code: PT

Ref legal event code: SC4A

Free format text: AVAILABILITY OF NATIONAL TRANSLATION

Effective date: 20090420

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2322401

Country of ref document: ES

Kind code of ref document: T3

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

Ref country code: SI

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: 20090311

Ref country code: LT

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: 20090311

Ref country code: FI

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: 20090311

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

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: 20090611

Ref country code: LV

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: 20090311

REG Reference to a national code

Ref country code: PL

Ref legal event code: T3

REG Reference to a national code

Ref country code: IE

Ref legal event code: FD4D

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

Ref country code: EE

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: 20090311

Ref country code: IE

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: 20090311

Ref country code: CZ

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: 20090311

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

Ref country code: IS

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: 20090711

Ref country code: SK

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: 20090311

Ref country code: RO

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: 20090311

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

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

Ref country code: BG

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: 20090611

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: 20090311

26N No opposition filed

Effective date: 20091214

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

Ref country code: MC

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

Effective date: 20090930

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

Ref country code: GR

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: 20090612

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

Ref country code: AT

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

Effective date: 20090927

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

Ref country code: LU

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

Effective date: 20090927

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

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

Ref country code: HU

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: 20090912

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

Ref country code: CH

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

Effective date: 20100930

Ref country code: LI

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

Effective date: 20100930

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

Ref country code: TR

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: 20090311

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

Ref country code: CY

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: 20090311

REG Reference to a national code

Ref country code: DE

Ref legal event code: R082

Ref document number: 502006003136

Country of ref document: DE

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

Ref country code: ES

Payment date: 20150916

Year of fee payment: 10

Ref country code: PT

Payment date: 20150916

Year of fee payment: 10

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 11

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

Ref country code: PT

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

Effective date: 20170327

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 12

REG Reference to a national code

Ref country code: DE

Ref legal event code: R083

Ref document number: 502006003136

Country of ref document: DE

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

Ref country code: ES

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

Effective date: 20160928

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 13

REG Reference to a national code

Ref country code: ES

Ref legal event code: FD2A

Effective date: 20181128

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

Ref country code: DE

Payment date: 20200925

Year of fee payment: 15

Ref country code: FR

Payment date: 20200914

Year of fee payment: 15

Ref country code: NL

Payment date: 20200925

Year of fee payment: 15

Ref country code: GB

Payment date: 20200922

Year of fee payment: 15

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

Ref country code: IT

Payment date: 20200922

Year of fee payment: 15

Ref country code: PL

Payment date: 20200918

Year of fee payment: 15

Ref country code: BE

Payment date: 20200925

Year of fee payment: 15

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 502006003136

Country of ref document: DE

REG Reference to a national code

Ref country code: NL

Ref legal event code: MM

Effective date: 20211001

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20210930

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

Effective date: 20210927

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

Ref country code: NL

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

Effective date: 20211001

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: 20210927

Ref country code: FR

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

Effective date: 20210930

Ref country code: DE

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

Effective date: 20220401

Ref country code: BE

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

Effective date: 20210930

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 NON-PAYMENT OF DUE FEES

Effective date: 20210927

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

Ref country code: PL

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

Effective date: 20210927