EP2551185B1 - Wasser- oder Unterwassergerät und entsprechendes Ankoppelungsverfahren - Google Patents

Wasser- oder Unterwassergerät und entsprechendes Ankoppelungsverfahren Download PDF

Info

Publication number
EP2551185B1
EP2551185B1 EP12177504.3A EP12177504A EP2551185B1 EP 2551185 B1 EP2551185 B1 EP 2551185B1 EP 12177504 A EP12177504 A EP 12177504A EP 2551185 B1 EP2551185 B1 EP 2551185B1
Authority
EP
European Patent Office
Prior art keywords
cable
marine
vehicle
gripper
machine
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.)
Active
Application number
EP12177504.3A
Other languages
English (en)
French (fr)
Other versions
EP2551185A1 (de
Inventor
Eric Frejaville
Gérard Mothier
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 Robotics SAS
Original Assignee
Eca Robotics SAS
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 Robotics SAS filed Critical Eca Robotics SAS
Publication of EP2551185A1 publication Critical patent/EP2551185A1/de
Application granted granted Critical
Publication of EP2551185B1 publication Critical patent/EP2551185B1/de
Active 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
    • B63G8/001—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
    • 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
    • B63B21/58—Adaptations of hooks for towing; Towing-hook mountings
    • 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
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/18—Arrangement of ship-based loading or unloading equipment for cargo or passengers of cableways, e.g. with breeches-buoys
    • 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
    • B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
    • B63C11/36—Diving chambers with mechanical link, e.g. cable, to a base of closed type
    • B63C11/42—Diving chambers with mechanical link, e.g. cable, to a base of closed type with independent propulsion or direction control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/42—Towed underwater vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • 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
    • 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
    • B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating

Definitions

  • the present invention relates to the field of submarine or marine gear, and in particular a device for securing such a machine.
  • the document WO 01/21476 describes a submersible device for launching, maintenance and recovery of a submersible vehicle comprising in particular a recovery platform comprising a first connection to a surface vehicle and a second connection to a submersible vehicle.
  • the submersible vehicle comprises for this purpose a connection means of complementary shape to the second connection of the recovery platform.
  • Such a recovery device is complex and does not allow effective attachment of the marine machine to a traction cable.
  • the object of the present invention is to overcome the disadvantages of the state of the art.
  • the object of the invention is to propose a submersible machine comprising its own securing means in a marine environment so as to be autonomous while effectively clinging to a recovery cable which can be a traction cable and avoiding the influence of vertical movements due to the swell.
  • the invention relates to a marine or submarine device according to claim 1.
  • the marine or submarine device finds the cable by detection and is then guided by its own detection means to a tow rope that can be ballasted, the cable is then locked effectively to the machine through the means of hooking located at the front of the machine.
  • the gear thus secured may, for example, be subsequently towed in a moving part such as a receiving cage or directly on a ramp in order to be reassembled, if it is immersed, on the surface of the water.
  • the attachment means are located at one end of the machine, but may also be located on the outer surface of the body of the machine.
  • the clamp comprises a detection portion by contact of the cable.
  • the attachment means may comprise at least one locking valve located in the hook for the passage of the cable.
  • the machine is, for example, autonomous and includes internal propulsion means.
  • the contactless detection means comprise at least one sensor which can be acoustic (for example a sonar), laser or video.
  • a marine or underwater vehicle As illustrated on the figures 1 and 2 , a marine or underwater vehicle, referenced 1 as a whole, is intended to be recovered by a recovery device (not shown) connected for example by hoisting ropes to a boat or a naval surface vehicle (not shown) .
  • the recovery device comprises, for example, a moving part (not shown), such as a receiving cage and a traction cable 2, a first end 2a is connected to a front end of the receiving cage, for example to a pulling winch (not shown) and a second free end 2b intended to be hooked by the machine 1.
  • the vehicle 1 may, for example, be a submersible or floating underwater vehicle and designed, for example, to perform surveillance and / or underwater inspection.
  • the underwater vehicle 1 extends along a longitudinal axis and comprises a main body 3 of generally cylindrical shape, or torpedo.
  • the body 3 is provided with a stabilizer 4 fixed to a rear end 3a and provided to ensure the stability of the displacement of the vehicle 1, and longitudinal thrusters 5 fixed on one side and the other of the body 3 forward
  • the vehicle 1 also comprises a front portion 3b which may, for example, comprise a camera (not shown) for observing the seabed.
  • the vehicle 1 is thus autonomous and includes its own means of internal propulsion.
  • the front part 3b of the machine 1, illustrated in detail on the Figures 3 to 5 comprises non-contact detection means 6 of the traction cable 2, such as a sonar, capable of guiding the machine 1 towards the traction cable 2 and the hooking means 7 of the cable 2 situated at a front end 3b 1.
  • the non-contact detection means 6 is located on the upper part of the machine 1, in a housing 6a provided for this purpose.
  • the non-contact detection means 6 may, for example, be controlled to exit this housing 6a in order to look for the traction cable 2. It will be noted that the non-contact detection means could also be directly attached to the outer surface of the housing. gear 1.
  • the clamps 9a, 9b are rotatable between a closed position, visible on the figure 3 , in contact with the outer surface 3c of the machine 1, an open position, visible on the figures 2 and 4 , deviating from the outer surface 3c of the machine 1 and a hooking position, visible on the figures 1 and 5 , in which each clamp 9a, 9b cooperates with a curved tip 8c, 8d so as to leave a space E for the passage of the cable 2 between each clamp 9a, 9b and the outer surface 3c of the machine 1.
  • a single clamp 9a could be used.
  • Each clamp 9a, 9b comprises a base 10a, 10b connected to a pivoting mechanism (not shown), comprising for example a set of cylinders, and a protruding portion 11a, 11b outwardly of generally parallelepipedal shape.
  • the front part 3b of the machine 1 has grooves 9c in which the tongs 9a, 9b are housed in the closed position visible on the figure 3 .
  • the closed position corresponds in particular to a transit position.
  • the parts of the clamp 9a, 9b located in the housings 9c of the machine 1 are shown in dotted lines in the figures.
  • a stud 9d can be placed inside the machine 1 in order to avoid the contact between the clamps 9a, 9b when they are in the closed position.
  • the arrangement of the clamps 9a, 9b in the recesses provided for this purpose in the body 3 of the machine 1 makes it possible to prevent the clamps 9a, 9b from clinging to elements during the transit of the machine 1.
  • the grippers 9a, 9b are actuated simultaneously by the electronic control unit in an open position deviating from the outer surface 3c of the machine 1, as visible on the figures 2 and 4 .
  • each clamp 9a, 9b When the traction cable 2 is detected by one of the contact detection means 12a, 12b respectively located on a clamp 9a, 9b, the clamps 9a, 9b are simultaneously actuated in a hooking position, visible on the figure 3 , in which each clamp 9a, 9b cooperates with a curved end 8c, 8d so as to leave a space E for the passage of the cable 2 between the clamp 9a, 9b and the outer surface 3c of the machine 1.
  • the propulsion means (not shown) of the machine 1 are stopped so that the traction cable 2 slides towards the rigid rod 8b, and slides through one of the locking valves 13a, 13b located in the hook 8 to its weighted end serving as a stop.
  • the machine 1 hooked to the traction cable 2 the machine 1 is towed, for example using a winch in a receiving cage to position the front, called "nose", of the gear 1 in a docking means, for example in a mobile receiving cone.
  • the machine 1 and housed in the cage can then be raised to the surface.
  • the invention is not limited to the use of such a receiving cage to recover the marine gear. Any other means of recovering a marine gear by means of a traction cable may be used.
  • such a coupling device can be easily adapted to existing systems, for example by using a cable equipped with an end ballast and also requires no human intervention at sea.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Laying Of Electric Cables Or Lines Outside (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Claims (11)

  1. Wasser- oder Unterwassergerät, das zur Ankopplung an ein Rückholkabel (2) ausgeführt ist, wobei das Gerät Mittel (6) zur kontaktlosen Detektion, die in der Lage sind, das Rückholkabel zu detektieren und das Gerät (1) zum Kabel (2) hinzuführen, und Mittel (7) zur Ankopplung des Kabels (2), die sich an dem Gerät (1) befinden, umfasst, dadurch gekennzeichnet, dass die Ankopplungsmittel (7) mindestens einen Haken (8) und mindestens eine Greifvorrichtung (9a, 9b), die zwischen einer geschlossenen Position im Kontakt mit der Außenfläche (3c) des Geräts (1), einer geöffneten Position von der Außenfläche (3c) des Geräts (1) beabstandet und einer Ankopplungsposition, in der die Greifvorrichtung (9a, 9b) mit dem Haken (8) derart zusammenwirkt, dass ein Raum (E) für den Durchgang des Kabels (2) zwischen der Greifvorrichtung (9a, 9a) und der Außenfläche (3c) des Wassergeräts (1) gelassen wird, drehbeweglich ist, umfassen.
  2. Wasser- oder Unterwassergerät nach Anspruch 1, wobei sich die Ankopplungsmittel (7) an einem Ende (3b) des Geräts (1) befinden.
  3. Wasser- oder Unterwassergerät nach einem der vorhergehenden Ansprüche, wobei die Greifvorrichtung (9a, 9b) einen Abschnitt (12a, 12b) zur Detektion des Kabels (2) durch Kontakt umfasst.
  4. Wasser- oder Unterwassergerät nach einem der vorhergehenden Ansprüche, wobei die Ankopplungsmittel (7) mindestens eine sich im Haken (8) befindende Verriegelungsklappe (13a, 13b) zum Durchgang des Kabels (2) umfassen.
  5. Wasser- oder Unterwassergerät nach Anspruch 3 und 4, das eine elektronische Steuereinheit umfasst, die zum Führen des Geräts (1) in Abhängigkeit von den Mitteln (6) zur kontaktlosen Detektion zum Zugkabel (2) hin, zum Ansteuern der Position der Greifvorrichtung (9a, 9b) in Abhängigkeit von den von dem Abschnitt zur Detektion durch Kontakt (12a, 12b) bereitgestellten Daten und zur Verriegelung der Klappe (13a, 13b) nach dem Durchgang des Kabels (2) in der Lage ist.
  6. Wasser- oder Unterwassergerät nach einem der vorhergehenden Ansprüche, das die Greifvorrichtungen (9a, 9b) umfasst.
  7. Wasser- oder Unterwassergerät nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass es autonom ist und Antriebsmittel umfasst.
  8. Wasser- oder Unterwassergerät nach einem der vorhergehenden Ansprüche, bei dem die Mittel (6) zur Detektion ohne Kontakt mindestens einen Sensor umfassen.
  9. Verfahren zur Ankopplung eines Wasser- oder Unterwassergeräts (1) nach den vorhergehenden Ansprüchen an ein Rückholkabel (2), bei dem:
    - das Kabel detektiert und das Wasser- oder Unterwassergerät (1) mit Mitteln (6) zur kontaktlosen Detektion zum Kabel (2) hingeführt wird;
    - das Kabel (2) mit den sich auf dem Wasser- oder Unterwassergerät (1) befindenden Ankopplungsmitteln (7) angekoppelt wird, dadurch gekennzeichnet, dass bei Detektion des Kabels (2) durch die Mittel (6) zur kontaktlosen Detektion eine Greifvorrichtung (9a, 9b) in eine geöffnete Position von der Außenfläche (3c) des Geräts (1) beabstandet betätigt wird.
  10. Ankopplungsverfahren nach Anspruch 9, wobei bei Detektion des Kabels (2) durch die sich auf der Greifvorrichtung (9a, 9b) befindenden Mittel (12a, 12b) zur kontaktlosen Detektion die Greifvorrichtung (9a, 9b) in eine Ankopplungsposition betätigt wird, in der die Greifvorrichtung (9a, 9b) mit einem Haken (8) derart zusammenwirkt, dass ein Raum (E) zum Durchgang des Kabels (2) zwischen der Greifvorrichtung (9a, 9b) und der Außenfläche (3c) des Wassergeräts (1) gelassen wird.
  11. Ankopplungsverfahren nach Anspruch 10, wobei, wenn sich das Kabel (2) in dem Raum (E) zwischen der Greifvorrichtung (9a, 9b) und der Außenfläche (3c) des Wasserfahrzeugs (1) befindet, das Kabel (2) zu einer sich in dem Haken (8) befindenden Verriegelungsklappe (13a, 13b) gleiten gelassen wird und das Kabel (2) durch Verriegelung der Klappe (13a, 13b) verriegelt wird.
EP12177504.3A 2011-07-26 2012-07-23 Wasser- oder Unterwassergerät und entsprechendes Ankoppelungsverfahren Active EP2551185B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1156819A FR2978422B1 (fr) 2011-07-26 2011-07-26 Engin marin ou sous-marin et procede d'arrimage associe

Publications (2)

Publication Number Publication Date
EP2551185A1 EP2551185A1 (de) 2013-01-30
EP2551185B1 true EP2551185B1 (de) 2015-10-07

Family

ID=46514256

Family Applications (1)

Application Number Title Priority Date Filing Date
EP12177504.3A Active EP2551185B1 (de) 2011-07-26 2012-07-23 Wasser- oder Unterwassergerät und entsprechendes Ankoppelungsverfahren

Country Status (5)

Country Link
US (1) US9032894B2 (de)
EP (1) EP2551185B1 (de)
AU (1) AU2012206995B2 (de)
CA (1) CA2784188C (de)
FR (1) FR2978422B1 (de)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3026383B1 (fr) * 2014-09-25 2016-10-28 Eca Robotics Engin marin ou sous-marin et procede d'arrimage associe
FR3027585B1 (fr) 2014-10-24 2017-09-01 Thales Sa Systeme de mise a l'eau et de recuperation d'engin marin et sous-marin assiste par des protections inclinables
JP6555508B2 (ja) * 2015-03-20 2019-08-07 株式会社Ihi 水中航走体の回収方法及び回収システム
US10065719B1 (en) * 2017-06-27 2018-09-04 The Boeing Company Vertical recovery for an unmanned underwater vehicle
CN111422330B (zh) * 2020-03-17 2022-02-25 国网山东省电力公司青岛市黄岛区供电公司 一种磁力挂钩式海底提缆装置
CN113443105B (zh) * 2021-07-15 2022-06-28 哈尔滨工程大学 一种声呐监测机器人用防护装置
FR3125793A1 (fr) 2021-07-27 2023-02-03 Eca Robotics Dispositif de réception d’un engin marin ou sous-marin, notamment autonome, à partir d’un navire.
CN114228920B (zh) * 2021-11-30 2024-03-29 哈尔滨工业大学（威海） 一种自脱落绑定装置
CN114455034B (zh) * 2021-12-27 2023-07-14 宜昌测试技术研究所 一种实现水下无人航行器快速捕捉牵引的装置
FR3133590A1 (fr) * 2022-03-15 2023-09-22 Eca Robotics Véhicule autonome sous-marin et système de récupération d'un tel véhicule sous-marin
FR3133591B1 (fr) * 2022-03-15 2024-03-22 Eca Robotics Véhicule tracté sous-marin et système de récupération d'un tel véhicule sous-marin

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1061211A (fr) 1952-08-05 1954-04-09 Cultivateur à manoeuvre rapide
US4686927A (en) * 1986-02-25 1987-08-18 Deep Ocean Engineering Incorporated Tether cable management apparatus and method for a remotely-operated underwater vehicle
GB2239632A (en) * 1990-01-05 1991-07-10 Timothy John Godfrey Francis Submersible recovery systems
US6390012B1 (en) * 1999-09-20 2002-05-21 Coflexip, S.A. Apparatus and method for deploying, recovering, servicing, and operating an autonomous underwater vehicle
GB0022002D0 (en) * 2000-09-07 2000-10-25 Global Marine Systems Ltd Method and apparatus for accessing underwater cables or pipes
US7025014B1 (en) * 2004-03-03 2006-04-11 The United States Of America As Represented By The Secretary Of The Navy Sea vessel retrieval of unmanned underwater vehicles
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

Also Published As

Publication number Publication date
AU2012206995A1 (en) 2013-02-14
FR2978422A1 (fr) 2013-02-01
CA2784188A1 (fr) 2013-01-26
FR2978422B1 (fr) 2014-12-12
EP2551185A1 (de) 2013-01-30
AU2012206995B2 (en) 2016-09-29
US9032894B2 (en) 2015-05-19
US20130025523A1 (en) 2013-01-31
CA2784188C (fr) 2019-06-18

Similar Documents

Publication Publication Date Title
EP2551185B1 (de) Wasser- oder Unterwassergerät und entsprechendes Ankoppelungsverfahren
EP2155543B1 (de) U-boot mit vorrichtung zur freisetzung und einholung eines sekundären unterwasserfahrzeuges
CA2960706C (fr) Engin marin ou sous-marin et procede d'arrimage associe
EP2043911A1 (de) Anlage und verfahren zur wiederherstellung eines unterwasser- oder wasserfahrzeugs
FR2978726A1 (fr) Procede et systeme de bouee de queue pouvant etre commandee
EP3956211B1 (de) System zur rückgewinnung eines unterwasserfahrzeuges von einem schiff
EP3209546B1 (de) System zum aussetzen und bergen von see- und unterseevorrichtungen mit unterstützung durch kippbare schutzkomponenten
EP3880551A1 (de) Vorrichtung zur rückgewinnung eines fahrzeugs
EP2776309B1 (de) Schleppvorrichtung mit einer schwenkbarem klüse
FR2994560A1 (fr) Dispositif permettant de remorquer un engin sous-marin autonome
EP2621796B1 (de) System mit einem unterwasserfahrzeug und einer basis an der oberfläche
FR3096653A1 (fr) Dispositif sous-marin et systeme sous-marin
EP4377197A1 (de) Bergungs- und/oder startsystem für ein see- oder unterwasserfahrzeug, insbesondere autonome, halbautonome oder gezogene fahrzeuge, aus einem schiff
EP1794049B2 (de) Vorrichtung zum ablenken von unterwasser- oder schwimmobjekten
WO2010119195A1 (fr) Périscope flottant notamment pour un engin sous-marin
EP4041625A1 (de) Geschleppte unterwasservorrichtung und system zur handhabung der unterwasservorrichtung
EP4051569B1 (de) Klampe zum festmachen eines wasserfahrzeugs und festmachbaugruppe, die eine klampe und eine leine aufweist, die einen stopper aufweist
WO2023175264A1 (fr) Véhicule tracté sous-marin et système de récupération d'un tel véhicule sous-marin
EP4245653A1 (de) Autonomes unterwasserfahrzeug und system zur bergung eines solchen unterwasserfahrzeugs
FR2983288A1 (fr) Systeme de lancement d'un vehicule sous-marin a partir d'une plateforme navale
WO2023007085A1 (fr) Dispositif de réception d'un engin marin ou sous-marin, notamment autonome, à partir d'un navire

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): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

17P Request for examination filed

Effective date: 20130716

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

INTG Intention to grant announced

Effective date: 20150415

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): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM 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: AT

Ref legal event code: REF

Ref document number: 753561

Country of ref document: AT

Kind code of ref document: T

Effective date: 20151015

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: FRENCH

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602012011278

Country of ref document: DE

REG Reference to a national code

Ref country code: SE

Ref legal event code: TRGR

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20151007

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 753561

Country of ref document: AT

Kind code of ref document: T

Effective date: 20151007

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

REG Reference to a national code

Ref country code: NO

Ref legal event code: T2

Effective date: 20151007

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

Effective date: 20151007

Ref country code: ES

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: 20151007

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: 20160207

Ref country code: HR

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: 20151007

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: 20151007

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: 20151007

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 FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20151007

Ref country code: PT

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: 20160208

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: 20151007

Ref country code: AT

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: 20151007

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: 20160108

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: 20151007

Ref country code: RS

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: 20151007

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 5

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602012011278

Country of ref document: DE

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

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: 20151007

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: SM

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: 20151007

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: 20151007

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: 20151007

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: 20151007

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: 20151007

26N No opposition filed

Effective date: 20160708

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: 20151007

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

Ref country code: BE

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

Effective date: 20160731

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: MC

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: 20151007

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: 20160731

Ref country code: LI

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

Effective date: 20160731

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 6

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

Ref country code: IE

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

Effective date: 20160723

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: 20160723

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; INVALID AB INITIO

Effective date: 20120723

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: 20151007

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

Ref country code: MK

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: 20151007

Ref country code: MT

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: 20151007

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: 20151007

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 7

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: 20151007

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

Ref country code: AL

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: 20151007

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

Ref country code: NO

Payment date: 20230623

Year of fee payment: 12

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

Ref country code: GB

Payment date: 20230601

Year of fee payment: 12

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

Ref country code: SE

Payment date: 20230721

Year of fee payment: 12

Ref country code: FR

Payment date: 20230726

Year of fee payment: 12

Ref country code: DE

Payment date: 20230712

Year of fee payment: 12