EP3523192B1 - Messsystem für wasserumgebungen mit einem oberflächenschiff und einer tauchvorrichtung - Google Patents

Messsystem für wasserumgebungen mit einem oberflächenschiff und einer tauchvorrichtung Download PDF

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Publication number
EP3523192B1
EP3523192B1 EP17792117.8A EP17792117A EP3523192B1 EP 3523192 B1 EP3523192 B1 EP 3523192B1 EP 17792117 A EP17792117 A EP 17792117A EP 3523192 B1 EP3523192 B1 EP 3523192B1
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EP
European Patent Office
Prior art keywords
vessel
enclosure
machine
underwater
hull
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EP17792117.8A
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English (en)
French (fr)
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EP3523192A1 (de
Inventor
Sébastien GRALL
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iXBlue SAS
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iXBlue SAS
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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
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B23/00—Equipment for handling lifeboats or the like
    • B63B23/40—Use of lowering or hoisting gear
    • B63B23/48—Use of lowering or hoisting gear using winches for boat handling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/44—Floating buildings, stores, drilling platforms, or workshops, e.g. carrying water-oil separating devices
    • 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
    • B63G8/28—Arrangement of offensive or defensive equipment
    • 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
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B2205/00—Tethers
    • B63B2205/02—Tether payout means
    • B63B2205/06—Reels for tethers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B2211/00—Applications
    • B63B2211/02—Oceanography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B2241/00—Design characteristics
    • B63B2241/20—Designs or arrangements for particular purposes not otherwise provided for in this class
    • 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
    • B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
    • B63G2008/007—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled by means of a physical link to a base, e.g. wire, cable or umbilical
    • 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 present invention relates generally to the field of underwater measurement systems. It relates more particularly to a measuring system for an aquatic environment comprising a surface vessel and an underwater vehicle. It is applicable in fresh water environment or in marine environment. It can for example be implemented during topographic or underwater seismographic measurement campaigns using sonars or hydrophones.
  • Underwater measurement systems consisting of ships towing measuring devices, in particular for making sonar or seismographic measurements.
  • these measuring devices are in passive enclosures which are simply dragged behind the vessel. It has been proposed to use devices with proper guidance and propulsion means and comprising such measuring devices in order to allow the measurement conditions to be more precisely controlled. These devices are generally remotely controlled by wire link from the ship.
  • the measuring devices are brought back on board the ship, on a deck out of the ship's water, which entails relatively long operations which can be dangerous both for the crew and for the monitoring devices. measurements themselves due to swaying, shocks, etc.
  • storage space for the measuring devices must be provided, which accordingly reduces the usable space for the crew.
  • the passage from the aquatic environment to the open air and vice versa causes shocks and / or thermal imbalances which may be prejudicial to the measuring devices and / or to the quality of the measurements.
  • devices with means of propulsion once the devices have come out of the water, their means of propulsion are no longer useful.
  • the present invention provides an underwater vehicle system which remains underwater even in the storage position in the ship and, more precisely, storage against the hull of the ship, under the ship, the hull of the ship comprising a recess adapted to receive said underwater vehicle.
  • a measurement system for an aquatic environment comprising a surface vessel and an underwater vehicle, the underwater vehicle comprising a hull and propulsion and guidance means as well as sensors allowing measurements, the vehicle underwater can be either dropped from the ship to operate underwater independently of the ship during a remote use phase, or stored in the ship in the remote non-use phase, the ship having at least one hull and means of propulsion and guidance, said at least one hull of the vessel comprising a submerged part located below a waterline.
  • the invention also provides an underwater vehicle specially configured for the system of the invention.
  • the underwater machine can be made in any way mentioned.
  • the invention also provides a surface vessel specially configured for the system of the invention.
  • the surface vessel can be built in any way mentioned.
  • FIG. 1 there is shown a first example of a measurement system 1 with a surface vessel 2 and with a wire-guided underwater vehicle 2 used at a distance from the vessel.
  • the underwater vehicle 2 is connected to the vessel 4 by a connecting cable 3 which can be unwound when the underwater vehicle is released or rolled up during the recovery of the underwater vehicle, by a rewinder / unwinder 45 of the connection cable 3 arranged on the aft part of the deck of the ship 4.
  • the ship has a hull 42 with a submerged part.
  • the underwater vehicle comprises a hull 29 and means of propulsion and guidance and in this example two thrusters 20 at the rear.
  • the recess 43 is intended to receive the underwater vehicle during the storage phase of the latter. in the ship, more precisely under and against the hull 42 of the ship 4, in the median part of the latter in order to maintain port-starboard symmetry to the hull.
  • the connecting cable passes through the hull 42 of the ship 4 via a passage well 46 made at the level of the recess 43 and opening there.
  • the passage well 46 is partially filled with water at its lower part due to the fact that the recess 43 is totally submerged.
  • the hull 42 of the vessel 4 is therefore continuous and the recess closed except at the level of the passage well 46. Note that, given that the recess 43 and the passage well 46 are seen by transparency on this figure 2 , they are shown in dotted lines just like their number reference arrows.
  • the underwater vehicle 2 was brought back / recovered for storage in the ship, just like the connecting cable which was wound up on a reel / unwinder (not visible on the figures 3 to 5 ).
  • the underwater vehicle 2 is stored in the recess 43 of the hull 42 of the vessel 4.
  • the recess 43 is configured so that the lower part of the underwater vehicle protrudes from the general template of the hull of the vessel. . In alternative embodiments, this overflow is less pronounced or even absent.
  • the hull 42 comprises a fairing 44 intended to soften the shape transition between the hull 42 and the front of the underwater vehicle 2.
  • the underwater vehicle 2 here comprises a rear thruster 20 and guide means 21 making it possible to orient it in its underwater movements.
  • the recess 43 is located below the waterline and is therefore always submerged, the presence of the underwater vehicle 2, due to its own adapted buoyancy, fixed in the recess or its absence because used at a distance, does not modify not the buoyancy of the vessel.
  • the ship 2 comprises propulsion and guidance means which are in this example in the form of orientable thrusters 40 providing the two functions of propulsion and guidance.
  • the ship also has a rear end wall 41 of its hull 42 defining the rear of the hull of the ship and descending from the deck to and into the water.
  • This rear end wall 41 is open in the main axis of the recess 43 so that the rear part of the stored underwater vehicle 2 can overflow towards the rear of the vessel 4 and that its propulsion means 20 can participate in the propulsion. of the vessel if necessary.
  • at least part of the guide means 21 of the underwater vehicle 2 can assist the guide means 40 of the ship 4.
  • the figure 4 allows a better view of the two steerable thrusters 40 of the ship 4 as well as the median arrangement of the underwater vehicle 2 stored in the recess of the hull 42, under and against the hull 42.
  • the underwater device in the storage position, is rigidly fixed to the ship by complete stowage of the underwater device to the ship.
  • the machine in the storage position is simply hitched to the hull of the ship.
  • a coating or blocks of resilient material and / or shock absorbers are provided in the recess in order to absorb shocks and / or somewhat wedge the machine in the recess.
  • the ship exemplified here is a monohull but the invention can be applied to a catamaran-type ship with two parallel hulls or, which is considered equivalent in the context of the invention, two parallel keels and in this case, the craft. underwater is stored in the recess created by the middle area of the ship where the two hulls or keels meet.
  • the invention can be applied to a ship of the trimaran type with three parallel hulls or, by equivalence, three parallel keels and in this case, the underwater vehicle is stored in the recess formed under the central hull or under the 'any of the three shells. Provision is even made, in a multihull, for each hull or a certain number of hulls to include at least one recess for at least one underwater vehicle.
  • a single vessel, whether monohull or multihull, is capable of deploying several underwater vehicles simultaneously or separately.
  • the structure of the underwater vehicle 2 comprising a payload with sensors 25 has been detailed.
  • This payload is arranged in a payload enclosure 23 of the underwater vehicle 2.
  • the payload enclosure 23 is placed within of the underwater vehicle 2, in a reception chamber 22.
  • This reception chamber 22 is elongated longitudinally, that is to say along the main axis of the vehicle 27 and crosses right through the underwater vehicle .
  • the underwater vehicle 2 is configured to move so that the chamber is substantially horizontal (at least axially transversely), except possibly during changes of direction such as diving or ascent or a turn.
  • connection cable 3 arrives on a part, called the upper part, of the underwater vehicle and that when the connection cable extended upwards has a certain tension, the natural position of the underwater vehicle is that where the chamber is substantially horizontal at least transversely.
  • the guide and propulsion means can be controlled and / or configured to ensure this horizontality at least along a transverse axis (the main axis of the machine 27 being able to be inclined or - preferably - horizontal with respect to a local terrestrial reference frame. ) of the reception room. It is understood that any other position of the underwater vehicle can be controlled if necessary.
  • the payload enclosure 23 has a generally elongated shape along a primary enclosure axis 26 with two opposing enclosure ends, a first enclosure end and a second enclosure end.
  • the sensors 25 are typically arranged at the two opposite ends of the enclosure 23.
  • This form of enclosure 23 laterally corresponds substantially to that generally cylindrical and elongated of the underwater vehicle 2 so that this enclosure 23 in the retracted position is included in the template. of the underwater vehicle and that in particular its free side faces (of the enclosure) are in continuity of shape with the adjacent parts of the wall of the underwater vehicle and therefore reduce the drag of the assembly in position re-entry of the enclosure 23.
  • the payload enclosure 23 may thus include flat faces at the top and bottom, that is to say the interior side of the receiving chamber 22, and rounded side faces, the receiving chamber 22 itself having flat upper and lower interior faces.
  • the payload enclosure 23 is pivotally mounted 24 in the receiving chamber 22 to allow pivoting of the payload enclosure 23 between a retracted position where the main enclosure axis 26 is at least parallel, preferably collinear, with the main axis of machine 27 and an extended position where the main axis of enclosure 26 is inclined relative to the main axis of machine 27 so that the two ends of enclosure come out of the jig d 'machine on each lateral side of the underwater machine.
  • the pivot 24 is disposed at the middle part of the length of the payload enclosure 23.
  • the sensors are also physically protected in this retracted position.
  • the payload enclosure can rotate more than 360 ° to perform circular scans during measurements of the environment by the sensors, not to mention that the sensors themselves can be rotated at the same time. within the payload enclosure, allowing double sweep.
  • the payload enclosure is a pivoting portion of the body of the underwater vehicle and for example a segment the length of the lower edge of the vehicle.
  • This segment then typically has, in cross section, the shape of an arc of a circle cut by a straight line in the case of a machine 2 with a cylindrical body. It will be understood that this shape in section could be different in the case where the machine has a non-cylindrical body.
  • the underwater vehicle comprises any equipment useful for its use and for example electronic and / or computer equipment, an electric buffer or back-up battery for the equipment and the thruster which is preferably electric, possibly a ballast system ...
  • the system comprises more than one underwater device
  • any other recess arrangement receiving several devices underwater is considered and for example with an angular distribution and no longer superimposed gear within a large common recess.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)
  • Laying Of Electric Cables Or Lines Outside (AREA)

Claims (12)

  1. Meßsystem (1) für Wasserumgebungen, wobei das System ein Überwasserschiff (4) und eine Tauchvorrichtung (2) aufweist, wobei die Tauchvorrichtung (2) einen Rumpf (29) und Antriebs- und Steuermittel (20, 21) sowie Messungen ermöglichende Sensoren (25) aufweist, wobei die Tauchvorrichtung (2) entweder vom Schiff (4) aus abgeworfen wird, um sich im Verlauf einer Fernverwendungsphase unter Wasser unabhängig vom Schiff zu bewegen, oder während einer Phase der Nicht-Femverwendung am Schiff (4) gelagert wird, wobei das Schiff (4) wenigstens einen Rumpf (42) und Antriebs- und Steuermittel (40) aufweist, wobei der wenigstens eine Rumpf (42) des Schiffs (4) eine Einbuchtung (43) aufweist, die dazu bestimmt ist, wenigstens einen oberen Teil des Rumpfs (29) der Tauchvorrichtung (2) aufzunehmen, wenn letztere am Schiff (4) gelagert ist, wobei die Einbuchtung (43) in ihrer Gesamtheit unter der Wasserlinie liegt, damit die Tauchvorrichtung (2) während ihrer Lagerung vollständig eingetaucht bleibt, und wobei die Einbuchtung eine derartige Tiefe hat, daß die Tauchvorrichtung so gelagert wird, daß der Wasserwiderstand des Schiffs im Vergleich zu dem gleichen Schiff ohne Einbuchtung, und das keine Tauchvorrichtung lagert, um weniger als 40% verändert wird.
  2. System (1) gemäß Anspruch 1, bei dem, wenn die Tauchvorrichtung (2) am Schiff (4) gelagert wird, die Antriebsmittel (20) der Tauchvorrichtung (2) beim Antrieb des Schiffs (4) mitwirken, wenn sie aktiviert sind.
  3. System (1) gemäß Anspruch 2, bei dem wenigstens ein Teil der Antriebsmittel (20) der Tauchvorrichtung (2) am hinteren Ende der Tauchvorrichtung (2) angeordnet ist und das Schiff (4) eine hintere Endwand (41) aufweist und die Einbuchtung (43) auf der hinteren Endwand (41) des Schiffs (4) offen ist, damit der Teil der Antriebsmittel (20) der in der Einbuchtung gelagerten Tauchvorrichtung (2) weiter hinten als die hintere Endwand (41) des Schiffs angeordnet ist und beim Antrieb des Schiffs (4) mitwirken kann.
  4. System (1) gemäß einem der Ansprüche 1 bis 3, bei dem die Tauchvorrichtung (2) vom Schiff (4) aus mittels eines Verbindungskabels (3) drahtgesteuert wird, wobei das Schiff eine Auf- und Abwickelvorrichtung (45) für das Verbindungskabel aufweist und wobei das Verbindungskabel (3) den Rumpf des Schiffs in der Einbuchtung (43) des Rumpfs (42) des Schiffs (4) durchquert.
  5. System (1) gemäß Anspruch 4, bei dem das Verbindungskabel den Rumpf (42) des Schiffs (4) in einem Durchgangskanal (46) durchquert, der in die Einbuchtung (43) mündet.
  6. System (1) gemäß einem der vorangehenden Ansprüche, bei dem die Tauchvorrichtung und das Schiff komplementäre entriegelbare Verriegelungsmittel aufweisen, die ermöglichen, den Rumpf (29) der Tauchvorrichtung (2) abnehmbar am Rumpf (42) des Schiffs anzubringen, um die Tauchvorrichtung (2) in der Einbuchtung (43) des Rumpfs (42) des Schiffs (4) zu halten.
  7. System (1) gemäß Anspruch 6, bei dem die Verriegelungsmittel ein vollständiges Befestigen der Tauchvorrichtung am Schiff sicherstellen.
  8. System (1) gemäß einem der vorangehenden Ansprüche, bei dem die Tauchvorrichtung (2) eine im Wesentlichen längliche Grundform entlang einer Hauptachse (27) der Tauchvorrichtung aufweist, wobei die Grundform einen Umriß definiert, die Meßsensoren in einem Nutzlastraum (23) untergebracht sind, der eine längliche Grundform entlang einer Hauptachse (26) des Raums mit zwei entgegengesetzten Raumenden, einem ersten Raumende und einem zweiten Raumende, aufweist, und wobei der Nutzlastraum (23) in der Tauchvorrichtung (2) integriert ist, und der in der Tauchvorrichtung (2) mit einer Schwenkachse (24) angebracht ist, um ein Schwenken des Nutzlastraums (23) zwischen einer eingezogenen Position, in der die Hauptachse (26) des Raums zur Hauptachse der Vorrichtung parallel ist, und einer Auslaßposition, in der die Hauptachse (26) des Raums gegenüber der Hauptachse (27) der Vorrichtung geneigt ist, zu ermöglichen, damit wenigstens eins der beiden Raumenden über den Vorrichtungsumriß hinausragt, wobei der Nutzlastraum (23) so ausgelegt ist, daß der Raum in der eingezogenen Position innerhalb des Vorrichtungsumrisses liegt.
  9. System (1) gemäß Anspruch 8, bei dem der Nutzlastraum (23) innerhalb der Tauchvorrichtung (2), in einer Aufnahmekammer (22), angeordnet ist, wobei sich die Aufnahmekammer (22) längs, das heißt längs der Vorrichtungshauptachse (27), erstreckt und die Vorrichtung vollständig quer durchläuft, wobei der Nutzlastraum (23) in der Aufnahmekammer (22) drehbar angebracht ist.
  10. System (1) gemäß einem der Ansprüche 8 und 9, bei dem der Nutzlastraum (23) über wenigstens 90° gegenüber der Tauchvorrichtung (2) schwenken kann.
  11. System (1) gemäß Anspruch 10, bei dem der Nutzlastraum (23) über 360° oder mehr gegenüber der Tauchvorrichtung (2) schwenken kann.
  12. System (1) gemäß einem der Ansprüche 6 bis 11, bei dem die Schwenkachse (24) für die Montage des Nutzlastraums (23) abnehmbar ist, um die Trennung des Nutzlastraums (23) von der Tauchvorrichtung (2) und das Abwerfen des Raums (23) nach außerhalb der Tauchvorrichtung (2) zu ermöglichen.
EP17792117.8A 2016-10-04 2017-10-03 Messsystem für wasserumgebungen mit einem oberflächenschiff und einer tauchvorrichtung Active EP3523192B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1659581A FR3056961B1 (fr) 2016-10-04 2016-10-04 Systeme de mesure pour milieu aquatique comportant un navire de surface et un engin subaquatique
PCT/FR2017/052715 WO2018065723A1 (fr) 2016-10-04 2017-10-03 Système de mesure pour milieu aquatique comportant un navire de surface et un engin subaquatique

Publications (2)

Publication Number Publication Date
EP3523192A1 EP3523192A1 (de) 2019-08-14
EP3523192B1 true EP3523192B1 (de) 2020-11-04

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EP17792117.8A Active EP3523192B1 (de) 2016-10-04 2017-10-03 Messsystem für wasserumgebungen mit einem oberflächenschiff und einer tauchvorrichtung

Country Status (4)

Country Link
US (1) US10875614B2 (de)
EP (1) EP3523192B1 (de)
FR (1) FR3056961B1 (de)
WO (1) WO2018065723A1 (de)

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FR3080601B1 (fr) * 2018-04-27 2021-09-24 Ixblue Systeme pour le deploiement et la recuperation d'un engin autonome sous-marin, procede d'utilisation
CN109050835B (zh) * 2018-08-06 2021-07-13 江苏科技大学 全驱动自主水下机器人结构及回收三维路径跟踪方法
NL2024690B1 (en) * 2020-01-17 2021-09-08 Fnv Ip Bv Underwater vehicle docking and communication
CN114715344B (zh) * 2022-05-06 2023-04-07 中电科（宁波）海洋电子研究院有限公司 移动式多层海洋环境剖面监测系统的控制方法

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US3507241A (en) * 1968-11-26 1970-04-21 Us Navy Deep submergence rescue vehicle handling system
DE2356537A1 (de) 1973-11-13 1975-05-15 Laukien Guenther Schiff zur unterwasserbeobachtung
US4312287A (en) * 1977-09-30 1982-01-26 The University Of Strathclyde Apparatus for handling submersibles at sea
US5050523A (en) * 1990-10-17 1991-09-24 The United States Of America As Represented By The Secretary Of The Navy Pivoted vehicle launch for submarine
US5698817A (en) * 1995-10-11 1997-12-16 The United States Of America As Represented By The Secretary Of The Navy Unmanned undersea weapon deployment structure with cylindrical payload deployment system
US6362875B1 (en) * 1999-12-10 2002-03-26 Cognax Technology And Investment Corp. Machine vision system and method for inspection, homing, guidance and docking with respect to remote objects
FR2969574B1 (fr) * 2010-12-23 2013-11-01 Eca Dispositif de mise a l'eau et de recuperation d'un engin marin, et procede de mise a l'eau et de recuperation associe.
WO2016149199A1 (en) * 2015-03-16 2016-09-22 Saudi Arabian Oil Company Communications among water environment mobile robots
WO2016149772A1 (en) * 2015-03-25 2016-09-29 David Dowling A system, towed submersible and docking station for towed underwater recreational sightseeing

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Also Published As

Publication number Publication date
FR3056961A1 (fr) 2018-04-06
US10875614B2 (en) 2020-12-29
EP3523192A1 (de) 2019-08-14
US20190233071A1 (en) 2019-08-01
FR3056961B1 (fr) 2018-11-02
WO2018065723A1 (fr) 2018-04-12

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