EP2794393B1 - Dispositif et procédé de récupération d'un véhicule submersible sans équipage - Google Patents

Dispositif et procédé de récupération d'un véhicule submersible sans équipage Download PDF

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Publication number
EP2794393B1
EP2794393B1 EP12797902.9A EP12797902A EP2794393B1 EP 2794393 B1 EP2794393 B1 EP 2794393B1 EP 12797902 A EP12797902 A EP 12797902A EP 2794393 B1 EP2794393 B1 EP 2794393B1
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EP
European Patent Office
Prior art keywords
underwater vehicle
positioning
tender garage
tender
garage
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Application number
EP12797902.9A
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German (de)
English (en)
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EP2794393A1 (fr
Inventor
Joachim Licht
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Atlas Elektronik GmbH
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Atlas Elektronik GmbH
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Publication of EP2794393A1 publication Critical patent/EP2794393A1/fr
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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
    • 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
    • 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 a device for retrieving an unmanned underwater vehicle with a Tender garage for receiving the underwater vehicle according to claim 1.
  • the invention also relates to a method for retrieving an unmanned underwater vehicle in a flooded Tender garage according to claim 9.
  • Unmanned underwater vehicles are used for a variety of underwater tasks, e.g. for the exploration and investigation of the seabed, the control of cables and pipelines on the seabed and the recovery of lost equipment. Unlike manned submersibles, unmanned systems can reach greater working depths and work in environments that are too dangerous for divers or manned systems. Furthermore, unmanned systems are used for the investigation of sea areas, for example, for mine clearance and mine destruction, but also for other missions, which represent a high risk for manned systems.
  • Autonomous underwater vehicles which fulfill their respective mission without constant monitoring by human operators and rather follow a predetermined mission program, are suitable for large-scale reconnaissance under water and investigation of the underwater environment.
  • Manned submersibles may conduct safe sea area survey by an unmanned underwater vehicle or other missions for which an unmanned system is useful or even necessary when carrying an unmanned subsidiary submersible on board the manned parent submersible.
  • the unmanned underwater vehicle must be retrieved and stowed away.
  • the recovery maneuver is often difficult due to water movement in the vicinity of the two submersibles involved and not least due to relative movement between the parent submersible and the unmanned child submersible.
  • uncontrolled relative movements can damage the underwater vehicles involved.
  • the DE 199 38 914 C1 discloses a method for retrieving a self-propelled, remote-controlled underwater vehicle in a bow-side receiving tube within a submarine, the underwater vehicle running in front of the bow of the submarine with respect to the submarine lower speed. Via electroacoustic transducers on the underwater vehicle and the rangefinding submarine, the underwater vehicle is centered with respect to the mouth of the pickup tube during retrieval, with the submarine sliding with its pickup tube over the underwater vehicle.
  • the present invention is based on the problem of ensuring a safe recovery of an unmanned subsidiary underwater vehicle to the mother underwater vehicle.
  • a device for retrieving an unmanned underwater vehicle is provided with a tender garage for receiving the underwater vehicle and with means for centering the underwater vehicle in an entrance area of the tender garage by at least one positioning flow.
  • the tender garage is a space enclosed by walls for receiving the daughter underwater vehicle.
  • the tender garage is preferably placed on the deck of the parent submersible to carry and protect the child's vehicle.
  • the underwater vehicle is centered in front of a gate of the tender garage by means of the positioning flow (s), which are generated outside the edge region of the door and directed into the entrance area, preferably in the direction of an axis lying in the center of the entrance area.
  • the positioning flow s
  • flow conditions are generated selectively in the entrance area of the tender garage by the introduction of positioning flows, which act on the hull of the approaching unmanned vessel centering.
  • the means for retrieving the unmanned underwater vehicle comprises one or more positioning nozzles, by means of which a positioning flow generated by means of pumping devices is delivered into the entry area. After centering the underwater vehicle in the entrance area by means of the positioning flow, the unmanned underwater vehicle is safely introduced into the tender garage, thereby avoiding collisions with the walls of the tender garage.
  • the unmanned underwater vehicle After centering the unmanned underwater vehicle in the entrance area in front of the gate of the tender garage, the unmanned underwater vehicle is driven with its own drive into the Tender garage or pulled by means of a arranged in the Tendergarage receiving device into the interior of the Tender garage.
  • a plurality of positioning nozzles are provided for generating positioning flows.
  • the device for collecting the unmanned submarine vehicle comprises a pumping device, to which the positioning nozzles are connected and from which the positioning nozzles are fed for the purpose of generating the positioning flows.
  • the positioning nozzles are each located in the jacket area of a funnel that widens in the entrance area.
  • a construction is provided, which carries the positioning nozzles such that the positioning flows are generated in the shell region of a funnel.
  • the funnel-shaped arrangement of the positioning nozzles and the individual positioning flows emitted by the positioning nozzles guide the unmanned underwater vehicle, which approaches the bottom of the funnel of the positioning nozzles, to the desired center position in front of the gate of the tender garage.
  • the funnel With increasing proximity to the tender garage, the funnel becomes narrower, so that positioning nozzles lie with increasing proximity to the hull and accordingly exert stronger dynamic dynamic forces on the hull.
  • the positioning nozzles are arranged on a funnel-shaped nozzle carrier, which is attached to the tender housing.
  • the positioning nozzles are always held by the attachment to the nozzle carrier in the optimum position for centering the unmanned underwater vehicle, wherein the positioning currents emanate from places that lie in the shell of a funnel.
  • the nozzle carrier is in an advantageous embodiment of the invention, a circumferential component, which is mounted on the gate of the Tender garage.
  • the nozzle carrier comprises two or more nozzle arms which are pivotably mounted on the outside of the tender housing and which each carry a row of positioning nozzles.
  • the nozzle arms are pivoted in the initiation of a catching maneuver in a maneuvering, in which the nozzle arms are in the mantle area of a funnel and thus bring the positioning in an optimal position for the desired centering of the catching underwater vehicle.
  • the positioning nozzles are advantageously arranged on the nozzle arms in each case at equal intervals, so that at the nozzle arms groups of positioning nozzles are at about the same height in the hopper. These leveling jets act with their respective positioning flows from different directions on the hull between the positioning jets, thereby centering the underwater vehicle.
  • the nozzle arms are arranged at substantially equal distances from each other on the circumference of the door of the Tender garage in order to achieve the most homogeneous centering effect in the interaction of the positioning nozzles.
  • the nozzle arms Upon completion of the recovery maneuver, when the unmanned underwater vehicle is received in the tender garage, the nozzle arms are pivoted from their maneuvering position to a rest position to reduce the hydrodynamic resistance of the unmanned underwater vehicle recovery facility. The nozzle arms are brought in the rest position in coincidence with the gate of the tender garage or placed on the outside of the tender garage.
  • a receiving head is longitudinally movably arranged in the tender garage, to which the underwater vehicle can be coupled.
  • the pickup head When picking up the underwater vehicle, the pickup head is positioned in the region of the gate, wherein the positioning nozzles and the positioning flows generated by these positioning nozzles are coordinated with the position of the pickup head in such a way that the underwater vehicle is centered by the positioning currents at the pickup head.
  • the bow of the underwater vehicle After centering the underwater vehicle, the bow of the underwater vehicle is inserted through the gate and coupled to the pickup head.
  • the receiving head advantageously has tools for gripping the underwater vehicle or salvage means which are fastened to the underwater vehicle for the purpose of carrying out the catching maneuver.
  • the device for retrieving the unmanned underwater vehicle comprises a suction pump, which is arranged in such a way - preferably on the tender garage - that a suction flow in the intended insertion direction for the underwater vehicle is generated in the tender garage.
  • the suction flow supports the collection of the underwater vehicle in the Tender garage.
  • the suction pump is connected on its pressure side to the positioning nozzles such that the suction flow from the interior of the Tender garage for generating the positioning flows into the entrance area of the Tender garage is traceable. In this case, advantageously only a portion of the suction flow is returned to the input region for generating the positioning flows, whereby the centering effect of the positioning flows is increased.
  • the Saugströmung in the Tender garage forms for continuity reasons also in the entrance area of the Tender garage from a flow. Therefore, the suction flow acts in the center of the funnel formed by positioning flows, whereby an increased effectiveness of the centering effect is achieved by the combination of suction flow in the center and positioning flows in the jacket area of the funnel.
  • the suction side of the suction pump is connected to the longitudinally movably arranged receiving head in such a way that the suction flow can be generated via the receiving head. If the suction flow generated by the recording head, the unmanned underwater vehicle is drawn during the catching maneuver of the suction flow directly to the recording head.
  • the underwater vehicle is introduced into the tender garage in a second step of the catch-up maneuver.
  • the receiving head is adapted to receive a salvage rope arranged at the bow of the underwater vehicle, wherein the underwater vehicle can be pulled into the interior of the vehicle via the recovery rope by retracting the receiving head.
  • the recovery rope is transported directly to the receiving head by the suction flow, which is generated by the recording head. As soon as the pickup head picks up the rescue rope the underwater vehicle can be obtained by pulling the recovery rope into the tender garage.
  • a buoyancy-neutral floating body is preferably arranged, which is pulled due to its hydrodynamic resistance of the suction flow into the interior of the Tender garage and thereby takes the salvage rope.
  • the buoyancy-neutral floating body can be a ball which, when it reaches the receiving head, closes the mouth of a suction line acted upon by the suction pump, so that the suction effect wears off after the centering of the underwater vehicle.
  • the subsequent introduction or retraction of the centered underwater vehicle in the Tender garage can be done independently of fluid dynamics effects.
  • the arrangement of a ball-shaped float at the free end of the salvage rope has the advantage that the float can be held in a simple manner by corresponding gripping means in the device for retrieving the unmanned underwater vehicle.
  • the tender garage is designed to accommodate one or more torpedoes.
  • the torpedoes or possibly other underwater body to be dropped while the mother-submersible is being driven may be carried in the tender garage. This is particularly advantageous for manned underwater vehicle missions without planned AUV deployment.
  • Fig. 1 shows the rear part of a manned underwater vehicle 1 or submarine, which leads as a parent vehicle an unmanned underwater vehicle 2 with it.
  • the unmanned underwater vehicle 2 is an autonomous underwater vehicle and is required by the parent vehicle, for example, for reconnaissance of a sea area or other missions, discontinued and recovered after completion of the mission.
  • a tender garage 4 is arranged on the deck 3 of the manned underwater vehicle 1.
  • the tender garage 4 is a container closed by walls, which can be opened by a gate 5 for the passage of the underwater vehicle 2.
  • Fig. 2 is a plan view of the stern of the manned underwater vehicle 1 with the arranged on deck 3 Tender garage 4 for the unmanned subsidiary underwater vehicle 2 shown.
  • Tender garage 4 for the unmanned subsidiary underwater vehicle 2 shown.
  • the tender garage 4 is arranged on the deck 3 in such a way that the door 5 points to the rear.
  • the daughter underwater vehicle 2 thus approaches the tender garage from aft, so that a recovery or docking of the subsidiary underwater vehicle 2 is facilitated when the mother underwater vehicle 1 is driving.
  • the tender garage 4 is part of a device 6 for retrieving the unmanned underwater vehicle 2, which includes means for centering the underwater vehicle 2 further explained below in an entrance area 7 in front of the door 5 of the tender garage 4.
  • the positioning flows 8 are each from a positioning nozzle 9 are generated outside the edge region of the door 5 and are directed radially to the center of the entrance area 7 of the Tender garage 5.
  • the positioning nozzles 9 are arranged such that they are each in the shell of a widening in the entrance area 7 funnel. For this purpose, the positioning nozzles 9 are arranged on a funnel-shaped nozzle carrier 10 fastened to the tender garage 4.
  • the nozzle carrier 10 comprises three nozzle arms 11 which are pivotably mounted on the tender garage 4 and which each carry a row of positioning nozzles 9.
  • the nozzle arms 11 are substantially star-shaped, i. with as similar distances from each other, arranged on the circumference of the door 5 of the Tender garage 4.
  • the nozzle arms 11 are rotatably mounted about a pivot axis 12 on the Tender garage 4 and are brought to carry out a catching maneuver in the maneuvering, in which the nozzle arms 11 are in the shell region of a widening in the entrance area 7 of the Tender garage 4 funnel. In this funnel formed of positioning flows 8, the underwater vehicle 2 is centered because the positioning flows 8 prevent the underwater vehicle from propelling towards the hopper shell.
  • the nozzle carrier 10 comprises three nozzle arms 11 (approximately star-shaped). Fig. 2 ). After introducing the unmanned underwater vehicle 2 in the Tender garage 4, the nozzle arms 11 are pivoted to a rest position in which the lowest possible flow resistance is given. For this purpose, the nozzle arms 11 are pivoted in the direction of the arrow 13 either in the overlapping with the gate 5 section of the input portion 7 or pivoted in the opposite direction and applied to the outside of the Tender garage 4.
  • a suction flow is generated by means of a suction pump 14 which acts in the intended insertion direction 15 for the unmanned underwater vehicle 2 into the tender garage 4.
  • the suction flow in the insertion direction 15 acts on the open door 5 in the entrance area 7 of the Tender garage 4 and contributes to the centering of the underwater vehicle 2 as well as the introduction into the tender garage 4 at.
  • a receiving head 16 in which the unmanned underwater vehicle 2 can be coupled is longitudinally movably arranged in the tender garage 4.
  • the underwater vehicle 2 is coupled to the pickup head.
  • the receiving head 16 is longitudinally movably guided in the Tender garage 4 via corresponding guide means, for example rails 17.
  • the recording head 16 is located near the gate 5 and is moved after coupling of the underwater vehicle 2 via the rails 17 into the interior of the Tender garage 4. the underwater vehicle with its bow on the recording head recorded positively, the underwater vehicle drives with its own drive in the Tender garage 4, while the recording head 16 pushes back.
  • gripping means may be provided on the receiving head 16, which grip the underwater vehicle 2 after docking on the receiving head 16. Subsequently, the underwater vehicle 2 is pulled without internal drive by drive means which act on the recording head 16, inside the Tender garage 4.
  • the suction pump 14 is connected on its pressure side 18 via a return line 19 to the positioning nozzles 9. In this way, both the suction flow in the insertion direction 15 and the positioning flows 8 can be generated with the suction pump 14 of the device 6 for collecting the unmanned underwater vehicle 2.
  • the positioning nozzles 9 are connected to the suction pump 14 in such a way that the suction flow is proportionately returned to the input region 7 for generating the positioning flows 9. Due to the proportional return of the sucked mass flow, the centering effect in the entrance area 7 of the Tender garage 4 is reinforced by a strong central suction flow in the insertion direction 15 acts on the underwater vehicle 2.
  • a suction side 20 of the suction pump 14 is connected to the receiving head 16 such that the suction flow is generated via the receiving head 16.
  • the suction pump 14 is connected via a flexible connection, namely a suction hose 21, to the receiving head 16.
  • the flexible suction hose 21 allows the guided longitudinal movement of the receiving head 16.
  • the suction hose 21 is stretchable and designed to bend, for example. As a bellows.
  • the pickup head 16 is designed to receive a recovery rope 23 arranged on the nose 22 of the unmanned underwater vehicle 2. While the underwater vehicle 2 is centered by the positioning flows, at the same time the recovery rope 23 is sucked into the interior of the tender garage 4 due to the suction flow in the insertion direction 15. About the salvage rope 23 is a retraction of the underwater vehicle 2 in the Tender garage 4 possible.
  • a ball-shaped float 24 is arranged at the free end of the salvage rope 23 at the free end of the salvage rope 23 at the free end of the salvage rope 23 .
  • the float 24 pulled because of its flow resistance of the suction flow to the recording head 16 and takes the salvage rope 23 while.
  • the float 24 is formed as buoyant as possible.
  • the ball-shaped float 24 has a size which is sufficient to seal an orifice 25 of the suction hose 21 to the receiving head 16. As soon as the ball-shaped floating body 24 reaches the receiving head 16 or the mouth 25 of the suction hose 21, the mass flow conveyed by the suction pump 14 is reduced. The at the time of closure of the mouth 25 already centered underwater vehicle 2 can characterized in a subsequent step for recovering the underwater vehicle 2 are more easily introduced into the Tender garage 4.
  • the length of the salvage rope 23 with the floating body 24 arranged thereon is matched with the opening angle of the nozzle carrier 10 to ensure that at the time of closure of the mouth 25 of the suction hose 21, the underwater vehicle 2 is already brought so close the Tender garage 4 that it passes through the positioning flows 8 are optimally centered and positioned in the entrance area 7 of the tender garage 4.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Farming Of Fish And Shellfish (AREA)
  • Underground Or Underwater Handling Of Building Materials (AREA)
  • Road Repair (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)
  • Sewage (AREA)

Claims (14)

  1. Dispositif de récupération d'un véhicule submersible sans équipage (2), comprenant un garage pour tender (4) destiné à recevoir le véhicule submersible (2) et comprenant des moyens destinés au centrage du véhicule submersible (2) dans une zone d'entrée (7) devant une porte (5) du garage pour tender (4) par au moins un courant de positionnement (8), de telle sorte que, pendant le fonctionnement, le véhicule submersible est centré dans la zone d'entrée devant la porte du garage pour tender au moyen de l'au moins un courant de positionnement, caractérisé en ce que l'au moins un courant de positionnement est généré par les moyens destinés au centrage en dehors de la zone de bord de la porte (5) et dirigé dans la zone d'entrée (7).
  2. Dispositif selon la revendication 1,
    caractérisé en ce que
    les moyens destinés au centrage du véhicule submersible (2) dans une zone d'entrée (7) devant une porte (5) du garage pour tender (4) comprennent plusieurs buses de positionnement (9) destinées à générer des courants de positionnement (8), qui sont disposées de telle manière qu'elles se trouvent dans l'enveloppe d'un entonnoir s'élargissant dans la zone d'entrée (7).
  3. Dispositif selon la revendication 2,
    caractérisé en ce que
    les buses de positionnement (9) sont disposées sur un support de buses (10) fixé au garage pour tender (4), le support de buse (10) comprenant deux bras à buses (11) ou plus montés pivotants sur le garage pour tender (4), qui portent respectivement une rangée de buses de positionnement (9).
  4. Dispositif selon l'une des revendications précédentes,
    caractérisé en ce que
    dans le garage pour tender (4), une tête de réception (16) est disposée mobile dans le sens de la longueur, à laquelle le véhicule submersible sans équipage (2) peut être couplé.
  5. Dispositif selon l'une des revendications précédentes 2 à 4,
    caractérisé en ce que
    le garage pour tender (4) comprend une pompe aspirante (14), qui est disposée de telle manière qu'un courant d'aspiration est généré dans le garage pour tender (4) dans la direction d'introduction (15) prévue pour le véhicule submersible (2), la pompe aspirante (14) étant raccordée aux buses de positionnement (9) sur son côté refoulement (17), la pompe aspirante (14) et les buses de positionnement (9) étant reliées entre elles de telle manière que le courant d'aspiration pour générer les courants de positionnement (8) peut être partiellement ramené dans la zone d'entrée (7).
  6. Dispositif selon la revendication 5,
    caractérisé en ce que
    un côté aspiration (20) de la pompe aspirante (14) est raccordée de telle manière à la tête de réception (16) que le courant d'aspiration peut être généré par le biais de la tête de réception (16).
  7. Dispositif selon l'une des revendications 3 à 6,
    caractérisé par
    un câble de récupération (23) à disposer à l'avant (22) du véhicule submersible sans équipage (2), la tête de réception (16) étant conçue pour recevoir le câble de récupération (23) ou un corps flottant (24) disposé sur le câble de récupération (23).
  8. Dispositif selon l'une des revendications précédentes,
    caractérisé en ce que
    le garage pour tender (4) est conçu pour recevoir des torpilles.
  9. Procédé de récupération d'un véhicule submersible sans équipage (2) dans un garage pour tender (4) rempli d'eau, le véhicule submersible (2) étant centré dans une zone d'entrée (7) devant une porte (5) du garage pour tender (4) au moyen d'au moins un courant de positionnement (8),
    le véhicule submersible (2) étant ensuite introduit dans le garage pour tender (4), caractérisé en ce que l'au moins un courant de positionnement est généré en dehors de la zone de bord de la porte (5) et dirigé dans la zone d'entrée (7).
  10. Procédé selon la revendication 9,
    caractérisé en ce que
    plusieurs courants de positionnement (8) sont délivrés dans la zone d'enveloppe d'un entonnoir s'élargissant dans la zone d'entrée (7) du garage pour tender (4).
  11. Procédé selon la revendication 9 ou 10,
    caractérisé en ce que
    le véhicule submersible (2) est couplé à une tête de réception (16) disposée mobile dans le sens de la longueur dans le garage pour tender (4) et guidé avec la tête de réception (16) dans l'intérieur du garage pour tender (4).
  12. Procédé selon la revendication 11,
    caractérisé en ce que
    dans le garage pour tender (4), un courant d'aspiration est généré dans la direction d'introduction (15) prévue pour le véhicule submersible (2) au moyen d'une pompe aspirante (14), le courant d'aspiration étant partiellement ramené dans la zone d'entrée (7) pour générer les courants de positionnement (8).
  13. Procédé selon la revendication 12,
    caractérisé en ce que
    la pompe aspirante (14) génère le courant d'aspiration par le biais de la tête de réception (16).
  14. Procédé selon l'une des revendications 9 à 13,
    caractérisé en ce qu'
    un câble de récupération (23) monté à l'avant (22) du véhicule submersible sans équipage (2) ou un corps flottant (24) disposé sur le câble de récupération (23) est aspiré dans le garage pour tender (4) et le véhicule submersible (2) est ensuite tiré dans le garage pour tender (4) au moyen du câble de récupération (23).
EP12797902.9A 2011-12-21 2012-12-05 Dispositif et procédé de récupération d'un véhicule submersible sans équipage Active EP2794393B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE201110121854 DE102011121854A1 (de) 2011-12-21 2011-12-21 Einrichtung und Verfahren zum Einholen eines unbemannten Unterwasserfahrzeugs
PCT/EP2012/074520 WO2013092216A1 (fr) 2011-12-21 2012-12-05 Dispositif et procédé de récupération d'un véhicule submersible sans équipage

Publications (2)

Publication Number Publication Date
EP2794393A1 EP2794393A1 (fr) 2014-10-29
EP2794393B1 true EP2794393B1 (fr) 2017-02-08

Family

ID=47297273

Family Applications (1)

Application Number Title Priority Date Filing Date
EP12797902.9A Active EP2794393B1 (fr) 2011-12-21 2012-12-05 Dispositif et procédé de récupération d'un véhicule submersible sans équipage

Country Status (7)

Country Link
US (1) US9120544B2 (fr)
EP (1) EP2794393B1 (fr)
AU (1) AU2012358454B2 (fr)
DE (1) DE102011121854A1 (fr)
IN (1) IN2014KN01061A (fr)
SG (1) SG11201402333RA (fr)
WO (1) WO2013092216A1 (fr)

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DE102011121854A1 (de) * 2011-12-21 2013-06-27 Atlas Elektronik Gmbh Einrichtung und Verfahren zum Einholen eines unbemannten Unterwasserfahrzeugs
CN106314732B (zh) * 2016-10-14 2018-01-26 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） Auv水下对接与收放装置
CN109911151B (zh) * 2017-12-13 2020-12-15 中国科学院沈阳自动化研究所 一种水下移动载体推行装置
CN108639585B (zh) * 2018-04-24 2020-04-03 西北工业大学 一种用于auv回收的滚轮式防撞回收管
CN109018272B (zh) * 2018-07-26 2019-06-14 刘广 潜艇保障船
FR3091258B1 (fr) * 2018-12-28 2021-04-09 Thales Sa Dispositif d’accueil pour un véhicule sous-marin
FR3091256B1 (fr) * 2018-12-28 2021-06-25 Thales Sa Dispositif d’accueil pour un vehicule sous-marin
CN110844027B (zh) * 2019-11-29 2020-11-27 吉林大学 一种用于auv回收的动态基站
CN111498070B (zh) * 2020-05-08 2021-06-08 中国科学院半导体研究所 水下矢量光视觉导引方法及装置
CN111824375B (zh) * 2020-07-23 2022-09-23 西北工业大学 一种小型回转体型auv自主收放装置
CN113086137A (zh) * 2021-04-14 2021-07-09 鹏城实验室 一种auv水面自主回收系统及回收方法
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CN115535198A (zh) * 2022-10-31 2022-12-30 浙江东溟科技有限公司 水下航行器布放搭载装置

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AU2012358454B2 (en) 2015-09-17
DE102011121854A1 (de) 2013-06-27
AU2012358454A1 (en) 2014-05-22
EP2794393A1 (fr) 2014-10-29
IN2014KN01061A (en) 2015-10-09
WO2013092216A1 (fr) 2013-06-27
US9120544B2 (en) 2015-09-01
US20140331910A1 (en) 2014-11-13

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