EP2043911B1 - Anlage und verfahren zur wiederherstellung eines unterwasser- oder wasserfahrzeugs - Google Patents

Anlage und verfahren zur wiederherstellung eines unterwasser- oder wasserfahrzeugs Download PDF

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Publication number
EP2043911B1
EP2043911B1 EP07823640A EP07823640A EP2043911B1 EP 2043911 B1 EP2043911 B1 EP 2043911B1 EP 07823640 A EP07823640 A EP 07823640A EP 07823640 A EP07823640 A EP 07823640A EP 2043911 B1 EP2043911 B1 EP 2043911B1
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EP
European Patent Office
Prior art keywords
cage
vehicle
machine
flexible connection
housing
Prior art date
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EP07823640A
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English (en)
French (fr)
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EP2043911A1 (de
Inventor
Marc Luccioni
Viorel Ciausu
Vincent Rigaud
Laurent Artzner
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Institut Francais de Recherche pour lExploitation de la Mer (IFREMER)
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Institut Francais de Recherche pour lExploitation de la Mer (IFREMER)
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Publication of EP2043911A1 publication Critical patent/EP2043911A1/de
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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
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/008—Docking stations for unmanned underwater vessels, or the like

Definitions

  • the invention relates to an installation and a method for recovering an underwater vehicle or marine in water, from a recovery base.
  • This installation can be used, in particular, for the recovery of an autonomous underwater vehicle or AUV (for "Autonomous Underwater Vehicle”).
  • An installation is already known for recovering an AUV from a boat in the water, which includes a ramp whose one end is hinged to the rear of the boat and the other end of which floats on the surface of the boat. water.
  • a winch mounted on the boat pulls the AUV through its nose (i.e. its forward end) by means of a cable, in order to raise it up along this ramp.
  • This known installation has the following drawbacks. First, it is necessary to properly align the AUV with the ramp, which, in practice, proves difficult, especially in rough sea because the boat oscillates (pitch, roll, heave) and carries with it the ramp that keeps changing direction. Then, high stresses are exerted on the AUV when pulled along the ramp and may damage the latter. Finally, this type of installation can not be used to recover AUVs with fins, because they would be damaged when the AUV slides on the ramp.
  • the invention aims to provide an installation for easily recovering an underwater or marine in the water, without risking damaging it.
  • a recovery base characterized in that it comprises a floating cage, defining a housing inside which at least part of said machine can penetrate, first traction means mounted on said cage and capable of towing said machine inside said housing, via a first flexible link, and second traction means for to be mounted on the recovery base and capable of towing said cage via a second flexible link distinct from the first.
  • This installation can be used to recover different types of gear, floating or controlled immersion, including an AUV, a torpedo, a surface drone or a similar architecture machine. Generally, it is used to recover a floating craft on the surface of the water.
  • said recovery base can be a boat, a dock, an off-shore platform, etc.
  • flexible link we mean any type of link able to stretch and relax depending on the traction exerted on him.
  • the second flexible link allows the cage to move freely relative to the recovery base. More particularly, in the case where the recovery base is a boat, this prevents the boat takes with him the cage when it oscillates (pitch, roll, heave). It is thus easier to align the cage and the machine that must enter.
  • the flexible links of the installation are cables, and the traction means comprise cable winding / unwinding devices.
  • the cage is equipped with means for receiving, guiding and orienting said machine when it enters the cage. This facilitates the alignment between the cage and the machine, as well as the penetration of the machine into the cage.
  • the shape of the cage is adapted for this purpose: for example, it has on its sides side openings for the passage of these fins.
  • the first and second traction means make it possible to independently control the distances between the machine and the cage, and between the cage and the recovery base, it is thus possible to adapt these distances as a function of the operating conditions.
  • the first traction means are remotely controlled from the recovery base.
  • the second traction means are generally mechanical means but, if the weight of the cage and the machine allows it, they may be operators pulling manually on the second flexible link. In addition, several soft links can be used to pull the cage from the recovery base.
  • the second traction means mounted on the recovery base, a handling device, also mounted on said base. It can be a crane, a gantry crane or a derrick.
  • the second traction means and the handling device make it possible to raise the cage and the machine on the recovery base and to easily deposit them on a suitable support.
  • the subject of the invention is also a method for recovering an underwater or marine vehicle from a recovery base in water, in which: a floating cage of the aforementioned type is placed in the water, defining a accommodation within which the craft may enter; this vehicle is towed inside said housing using the first traction means mounted on the cage and connected to said machine via a first flexible link; the cage is towed with the machine using the second traction means mounted on the recovery base and connected to the cage via at least one second flexible link separate from the first.
  • the first flexible link connected to the machine is recovered from the recovery base in the water, for example using a blunder. Then this first flexible link is connected to the first traction means of the cage, the latter being on the recovery base. Then only, the cage is put in the water, it being understood that the cage is launched by being connected to the second traction means via the second flexible link. According to this method, it is at no time necessary to call on divers, which saves time and human resources.
  • the subject of the invention is a method for launching an underwater or marine craft from a launching base.
  • the invention aims to provide a method for easily launching an underwater vehicle or marine, from a launching base, without risking damaging this machine.
  • the cage and the apparatus are put in the water together. During this stage, the machine is protected by the cage that surrounds it and is subjected only to low stresses.
  • the cage being connected to the launching base via a flexible link, once launched, the craft and the cage can move freely vis-à-vis the boat so that the possible oscillations of the boat do not disturb them. This makes it easy to get the machine out of the cage.
  • the machine is immobilized relative to the cage while the latter is put into the water, until it is released by means of release means. This makes it possible to avoid shocks between the cage and the machine during launching.
  • the machine is finally released (if it was immobilized relative to the cage) and pulled out of the cage.
  • these last actions are controlled remotely from the launching base.
  • Figures 1 to 4 allows to recover and / or launch a craft 1.
  • the machine 1 is an AUV in the shape of a torpedo. It will be noted that it has two large lateral fins 3 in its middle part.
  • the installation includes a boat 5 as a recovery base.
  • This boat 5 is equipped with a winch 7 for winding / unwinding a cable 9.
  • This cable is preferably textile.
  • the installation also includes a recovery device within which the machine 1 can accommodate, at least in part.
  • cage 10 This cage 10 is equipped on its sides with floats 12 which allow it to stay on the surface of the water and adjust its immersion height.
  • these floats 12 are connected to said cage by hinge pins, which allows them to switch. On the surface of the water, they thus deviate from the cage to provide maximum stability and not to impede the entry of the machine 1.
  • these floats 12 extend along the cage 10, on each side thereof, so as to protect (and the machine 1) possible lateral shocks. These side impacts may occur, especially when the cage 10 is raised on board the boat 5.
  • the floats 12 are, for example, fenders of boat.
  • Figures 5 to 9 do not represent all the parts of the cage 10. In particular, the lower parts of the cage are not represented. In these figures we wanted to show more particularly the receiving means and the guide means.
  • Said receiving means 18 comprise an element 32 movable between the inlet and the bottom of the cavity 20.
  • the cable 22 passes through this movable element 32, preferably at its center.
  • the movable element 32 comprises a cup 34, adapted to receive the nose of the machine 1 (see figure 7 ), which has a central hole 35 through which the cable 22 passes.
  • a plurality of guide branches 36 (generally at least two diametrically opposed branches) extend around the periphery of the cup 34 and connect it to the structure 37 of the means The end of each branch 36 can slide relative to this structure 37, so that the movable member 32 can slide between the inlet and the bottom of the cavity 20, as represented by the double arrow A on the figure 5 .
  • the cage 10 comprises first locking means 38 (see FIG. figure 5 ) to maintain said receiving means 18 in the vicinity of the entrance of the housing 16, before the machine 1 reaches the cage.
  • said receiving means 18 are in position to receive the machine 1 that arrives.
  • the cable portion 22 extending between the winch 24 and the receiving means 18 (more precisely between the pulley 40, the passage 23 and the nose of the machine 1 - see Fig. 5 and 6 ) forms a lever arm which is oriented cage 10 facing the nose of the machine 1, which facilitates the recovery of the latter. Note that this orientation of the cage is possible because it can move freely in the water, the (s) cable (s) 9 (70) connecting the cage 10 to the boat 5 being relaxed (s).
  • the first blocking means 38 release said receiving means 18 only when the nose of the machine 1 is fully engaged in the receiving means 18 (more precisely in the cavity 20) and is about to penetrate inside the vehicle.
  • the first locking means 38 comprise a stop capable of retracting when the machine 1 exerts on it a thrust force greater than a predetermined force.
  • the stop is formed by an arm 42 pivotally mounted on the frame 14, at the end of which is mounted a roller 46.
  • This arm 42 is connected to a spring 44 whose stiffness is chosen such that from a certain pushing force exerted by the machine 1 on the arm 42, via the receiving means 18, the spring 44 is deformed and allows the arm to retract by pivoting along the arrow B (see figure 5 ).
  • Other types of blocking means could, of course, be considered.
  • the cage further comprises second blocking means 48 (see FIG. Fig. 6 ) to maintain the movable element 32 of the receiving means 18 at the inlet of the cavity 20, these second blocking means 48 release the movable element 32 when the machine 1 comes into contact with this movable element 32 (more precisely of the cup 34).
  • These second locking means 48 are, for example, of the same principle as the first locking means 38 and comprise a stop capable of retracting when the machine 1 exerts on it, via the movable member 32, a thrust force greater than a predetermined force.
  • the locking force of the second blocking means 48 is smaller than that of the first blocking means 38, so that when the machine 1 penetrates inside the receiving means 18 (more precisely inside the the cavity 20), the second blocking means 48 yield before the first blocking means 38.
  • Said receiving means 18 are secured to a rod 50.
  • this rod 50 is oriented vertically (relative to the level of water, horizontal).
  • the rod 50 is mounted on a carriage 52 so as to be pivotable about its axis C, along the double arrow D shown on the Figures 5 to 7 .
  • the carriage 52 is guided along the housing 16 of the cage 10, by said guide means.
  • the lower end of the rod 50 carries a fork 51 and between the two branches of the fork 51 extends an axis F, perpendicular to the axis C of the rod, around which the receiving means are mounted swivel. Stops 53 limit the vertical pivoting angle of the receiving means 18.
  • a guide arm 54 is fixed to the end of the rod 50 so as to be able to drive it and rotate it about its axis C along the double arrow D.
  • This arm 54 has a first end engaged with the rod 50 and a second end on which is mounted a roller 56.
  • Said guide means comprise first and second superimposed guides 58, 60, extending along the housing 16.
  • the first guide 58 guides the carriage 52 along the housing 16. It is formed by a pair of parallel rails 64 and the carriage 52 is equipped with rollers 62 so that it can move along the rails 64, following the double arrow G shown on the figure 6 .
  • the second guide 60 guides the guide arm 54 and, thereby, directs the rod 50 and the receiving means 18 by rotating them horizontally along the double arrow D. It is located above the first guide 58. It is formed by a pair of rails 66 which are closer to each other as one moves away from the entrance of the cage 10.
  • the guide arm 54 can rotate between these rails 66 according to the double arrow D, between a first position in which the roller 56 is in contact with one of the rails 66, and a second position in which the roller 56 is in contact with the other rail 66. Plus the spacing of the rails 66 is important , plus the freedom of horizontal pivoting arm 54, and therefore the rod 50 and receiving means 18, is large.
  • the frame 14 of the cage 10 has on its sides notches 68 open towards the entrance of the cage 10, which allows the passage of the lateral fins 3 of the machine 1 (see Fig. 1 and 4 ).
  • the machine 1 being guided and oriented when it enters the cage 10, the fins 3 are housed in the notches 68 and, thus, are not damaged.
  • said immobilizing means comprise two rods 26 equipped with pads at their ends, and a mechanism for lifting / lowering these rods.
  • the rods 26 slide inside two housings 28 enclosing said mechanism. These housings 28 are fixed on each side of the frame 14, in the vicinity of the entrance of the cage 10. In the lowered position, the rods 26 are in contact with the upper face of the machine 1, as shown on the figures 4 and 8 . Note that the pressure exerted by the rods 26 on the machine 1 must be controlled in order not to damage the latter.
  • the immobilizing means comprise a rod pivotally mounted on the frame 14 and a mechanism, for example a jack, for pivoting this rod.
  • the rod carries at its end a hoop which surrounds the upper face of the machine 1.
  • the machine 1 has a member projecting from its upper face. After the machine has penetrated inside the housing 16, the hoop lowers and is placed behind the protruding member, which makes it possible to immobilize the machine 1 inside the cage 10 .
  • immobilization means are controlled remotely and, preferably, from the boat 5.
  • the underside of the machine 1 is supported on a rocker 29, mounted on the frame.
  • This rocker 29 comprises at each of its ends a hoop 30, on which the machine 1 rests.
  • the hoops 30 extend transversely with respect to the cage 10, under the housing 16. These hoops are easily removed when the machine 1 is placed on a suitable working support present on the boat 5.
  • a cable 22 'connected to the nose of the machine 1 is recovered from the boat 5.
  • the cable 22' is then connected to a cable 22 "in waiting for the cage 10.
  • the cables 22 'and 22 then form the aforementioned cable 22 which is passed through the movable element 32, the passage 23 of the receiving means 18, and around the pulley 40 located at the bottom of the housing 16, and that is connected to the winch 24 of the cage 10 (see figure 5 ).
  • the cage 10 is put into the water. It remains connected to the boat 5 via the traction cable 9, also called lifting cable, and other cables 70, said guide. At this point, the cables 9 and 70 are relaxed so that the boat 5 does not drive the cage 10 in its movements. The cage 10 moves freely in the water.
  • the winding of the cable 22 is controlled remotely on the winch 24 in order to tow the vehicle 1 inside the cage 10.
  • the cable portion 22 extending between the nose of the machine 1, the receiving means 18 located at the entrance of the cage, and the winch 24 (in fact the pulley 40) located at the bottom of the cage 10 forms a lever arm which rotates the cage 10, so that the axis H of the cage approaches the nose of the machine 1.
  • the receiving means 18 turn towards the nose of the vehicle 1 when it approaches, thanks at the cable portion 22 extending between the bottom of the cavity 20 (ie the passage 23), the mobile element 32 and the nose of the machine 1.
  • the nose of the machine 1 first comes into contact with the movable member 32 and exerts on it, as the traction of the machine 1 continues, a thrust force of greater and greater. Beyond a limit force, the second blocking means 48 release the mobile element 32 which is translated with the nose of the vehicle 1, to the bottom of the cavity 20. The nose of the machine 1 then occupies the cavity 20. The relative movements between the receiving means 18, and thus the machine 1, and the cage 2 are still allowed at this stage. Indeed, the receiving means can pivot vertically and horizontally according to the double arrows E and D. It thus limits the stresses exerted at the nose of the machine 1, related to the relative movements between the machine 1 and the cage 10.
  • the machine 1 exerts on the receiving means 18 a thrust force of greater and greater. Beyond a limit force, the first blocking means 38 release the carriage 52 to which the receiving means 18 are connected via the rod 50. The carriage 52 then rolls along the first guide 60, towards the bottom of the housing 16. At the same time, the guide arm 54 is guided along the first guide 58 and its pivoting freedom along the double arrow D gradually decreases. The receiving means 18 and the machine 1 are thus oriented progressively along the main axis H of the cage.
  • the cage 10 and the machine 1 are towed from the boat 5, by means of the cable 9, in order to put them back on board the boat 5.
  • the cables of 70 can be pulled manually, or be connected to a winding device / unwinding cable, for example winches similar to the winch 7.
  • the cables 70 and their possible winding / unwinding devices are part of the traction means mounted on the recovery base, within the meaning of the invention.
  • the guide cables 70 are used to direct the cage 10 and the machine 1 in order to pass them through the gantry 72.
  • the cage 10 is pulled out and the machine 1 out of the water using the cable 9 and the cables 70 are used to guide and pass the cage 10 and the machine 1 through the portico 72, before placing them on the bridge of the boat 5.
  • the recovery base is the boat 5 and the machine to be recovered is the machine 1. Originally, the machine 1 is immobilized in the cage 10 and this cage is on board the boat 5.
  • the winch 7, the traction cable 9, the gantry 72 and possibly the guide cables 70 are used to launch the cage 10.
  • release means comprise a mechanism for raising the rods 26.
  • release means are controlled remotely, preferably from the launching base (i.e. the boat 5).
  • these traction means comprise the cable winding / unwinding device, that is to say the winch 24 and the cable 22 previously described, as well as a pulley 74 located at the entrance to the housing 16 of the cage 10.
  • the cable 22 is connected to the winch 24, extends to the pulley 74, passes around it, and extends to the carriage 52 to which it is connected.
  • the winch 24 is actuated so that the carriage 52, the receiving means 18 and the nose of the machine 1 are pulled by means of the cable 22 in the direction of
  • their pivoting freedom (linked to that of the guide arm 54) increases due to the separation of the rails 66 of the second guide 60.
  • the freedom of movement of the machine 1 relative to the cage 10 increases as the machine 1 is extracted from the cage 10 and it limits or even avoids the appearance of mechanical stresses in the nose of the machine 1.
  • the machine 1 can be made integral with the receiving means 18 and until the end of the output movement. It is then released permanently or, advantageously, by a command from the boat 5, or by a mechanical device placed on the receiving means 18 and automatically triggered at the end of travel of said receiving means.

Claims (16)

  1. Einrichtung zum Einholen eines Unterwasser- oder Wasserfahrzeugs (1) aus dem Wasser von einer Einholbasis (5) aus, dadurch gekennzeichnet, daß sie einen schwimmenden Käfig (10), der eine Aufnahme (16) definiert, in die wenigstens ein Teil des Fahrzeugs eindringen kann, erste Zugmittel (24), die an dem Käfig angebracht und imstande sind, das Fahrzeug mittels eines ersten flexiblen Verbindungsteils (22) in die Aufnahme hineinzuziehen, sowie zweite Zugmittel (7) umfaßt, die dazu bestimmt sind, an der Einholbasis (5) angebracht zu werden, und die imstande sind, den Käfig mittels eines von dem ersten unabhängigen zweiten flexiblen Verbindungsteils (9, 70) zu ziehen.
  2. Einrichtung nach Anspruch 1, wobei der Käfig mit Aufnahmemitteln (18) ausgestattet ist, die geeignet sind, den vorderen Teil des Fahrzeugs (1) aufzunehmen, wobei diese Aufnahmemittel (18) von dem ersten flexiblen Verbindungsteil (22) durchgriffen sind und imstande sind, sich in Richtung des Fahrzeugs (1) auszurichten und sich entlang der Aufnahme (16) mit dem Fahrzeug (1) zu bewegen, wenn das erste flexible Verbindungsteil (22) gespannt ist.
  3. Einrichtung nach Anspruch 1 oder 2, wobei der Käfig (10) mit Führungsmitteln ausgestattet ist, um die Aufnahmemittel (18) sowie das Fahrzeug (1) gegenüber dem Gestell (14) des Käfigs (10) zu führen und auszurichten, um das Eindringen des Fahrzeugs (1) in den Käfig (10) zu erleichtern, wenn das Fahrzeug (1) durch das erste flexible Verbindungsteil (22) in die Aufnahme (16) gezogen wird.
  4. Einrichtung nach einem der Ansprüche 1 bis 3, wobei der Käfig (10) mit Mitteln zum Festlegen (26, 28) des Fahrzeugs (1) innerhalb der Aufnahme (16) ausgestattet ist.
  5. Einrichtung nach einem der Ansprüche 1 bis 4, wobei der Käfig (10) mit wenigstens einer Energiequelle (25) ausgestattet ist, die ermöglicht, die ersten Zugmittel (24) und eventuell die Festlegungsmittel (26, 28) zu betätigen.
  6. Einrichtung nach einem der Ansprüche 1 bis 5, umfassend Mittel zum Fernsteuern der ersten Zugmittel (24) und eventuell der Festlegungsmittel (26, 28).
  7. Einrichtung nach einem der Ansprüche 1 bis 6, wobei die flexiblen Verbindungsteile (9, 70; 22) Seile sind.
  8. Verfahren zum Einholen eines Unterwasser- oder Wasserfahrzeugs (1) aus dem Wasser von einer Einholbasis aus, wobei:
    - ein schwimmender Käfig (10), der eine Aufnahme (16) definiert, in die wenigstens ein Teil des Fahrzeugs eindringen kann, zu Wasser gelassen wird,
    - das Fahrzeug (1) mit Hilfe von ersten Zugmitteln (24), die an dem Käfig (10) angebracht und mittels eines ersten flexiblen Verbindungsteils (22) mit dem Fahrzeug verbunden sind, in die Aufnahme hinein gezogen wird,
    - der Käfig (10) mit dem Fahrzeug mit Hilfe von zweiten Zugmitteln (7), die an der Einholbasis (5) angebracht und über ein von dem ersten unabhängiges zweites flexibles Verbindungsteil (9, 70) mit dem Käfig verbunden sind, gezogen wird.
  9. Verfahren nach Anspruch 8, wobei - vor dem Zuwasserlassen des Käfigs (10) - das mit dem Fahrzeug (1) verbundene erste flexible Verbindungsteil (22) von der Einholbasis (5) aus dem Wasser eingeholt wird und dieses erste flexible Verbindungsteil (22) mit den an dem Käfig (10) angebrachten ersten Zugmitteln (24) verbunden wird.
  10. Verfahren nach Anspruch 8 oder 9, wobei - vor dem Zuwasserlassen des Käfigs (10) - dieser Käfig (10) über das zweite flexible Verbindungsteil (9, 70) mit der Einholbasis (5) verbunden wird, wobei dieses zweite flexible Verbindungsteil (9, 70) nach dem Zuwasserlassen des Käfigs (10) entspannt wird, so daß der Käfig (10) sich im Wasser frei bewegt.
  11. Verfahren nach einem der Ansprüche 8 bis 10, wobei das Fahrzeug (1) mit Hilfe von Festlegungsmitteln (26, 28) gegenüber dem Käfig festgelegt wird, sobald dieses in die Aufnahme (16) eingefahren ist.
  12. Verfahren nach einem der Ansprüche 8 bis 11, wobei die ersten Zugmittel (24) und eventuell die Festlegungsmittel (26, 28) ferngesteuert werden, vorteilhafterweise von der Einholbasis (5) aus.
  13. Verfahren nach einem der Ansprüche 8 bis 12, zum Einholen eines schwimmenden Fahrzeugs (1).
  14. Verfahren für das Zuwasserlassen eines Unterwasser- oder Wasserfahrzeugs (1) von einer Aussetzbasis (5) aus, wobei:
    - ein schwimmender Käfig (10) und ein in dem Käfig wenigstens teilweise aufgenommenes Fahrzeug (1) zu Wasser gelassen werden, wobei dieser Käfig über ein flexibles Verbindungsteil (9, 70) mit der Aussetzbasis verbunden ist, und
    - das Fahrzeug (1) mit Hilfe von Zugmitteln (24), die an dem Käfig angebracht sind, aus dem Käfig herausgezogen wird.
  15. Verfahren nach Anspruch 14, wobei das Fahrzeug (1) gegenüber dem Käfig (10) während seines Zuwasserlassens solange festgelegt wird, bis es mit Hilfe von Freigabemitteln freigegeben wird.
  16. Verfahren nach Anspruch 14 oder 15, wobei die Zugmittel (24) und eventuell die Freigabemittel ferngesteuert werden, vorteilhafterweise von der Aussetzbasis (5) aus.
EP07823640A 2006-07-26 2007-07-25 Anlage und verfahren zur wiederherstellung eines unterwasser- oder wasserfahrzeugs Active EP2043911B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0653128A FR2904288B1 (fr) 2006-07-26 2006-07-26 Installation et procede de recuperation d'un engin sous-marin ou marin
PCT/FR2007/051723 WO2008012473A1 (fr) 2006-07-26 2007-07-25 Installation et procede de recuperation d'un engin sous-marin ou marin

Publications (2)

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EP2043911A1 EP2043911A1 (de) 2009-04-08
EP2043911B1 true EP2043911B1 (de) 2011-07-20

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EP07823640A Active EP2043911B1 (de) 2006-07-26 2007-07-25 Anlage und verfahren zur wiederherstellung eines unterwasser- oder wasserfahrzeugs

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US (1) US20100018449A1 (de)
EP (1) EP2043911B1 (de)
JP (1) JP2009544521A (de)
AT (1) ATE517024T1 (de)
CA (1) CA2658981C (de)
DK (1) DK2043911T3 (de)
FR (1) FR2904288B1 (de)
WO (1) WO2008012473A1 (de)

Cited By (1)

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WO2019011490A1 (de) 2017-07-14 2019-01-17 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. System und vorrichtung zum bergen eines fahrzeugs

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DE102007031156B4 (de) * 2007-06-11 2009-04-16 Diehl Bgt Defence Gmbh & Co. Kg Vorrichtung und Verfahren zur Aussetzung und Bergung eines Unterwasserfahrzeugs und Verfahren zur Andockung eines Unterwasserfahrzeugs an eine solche Vorrichtung
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EP2043911A1 (de) 2009-04-08
WO2008012473A1 (fr) 2008-01-31
FR2904288B1 (fr) 2009-04-24
FR2904288A1 (fr) 2008-02-01
JP2009544521A (ja) 2009-12-17
US20100018449A1 (en) 2010-01-28
DK2043911T3 (da) 2011-10-31
ATE517024T1 (de) 2011-08-15
CA2658981C (en) 2015-12-15

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