EP3784558B1 - System zur einsetzen und zurückholen einer autonomen unterwasservorrichtung, verfahren zur verwendung - Google Patents

System zur einsetzen und zurückholen einer autonomen unterwasservorrichtung, verfahren zur verwendung Download PDF

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Publication number
EP3784558B1
EP3784558B1 EP19729335.0A EP19729335A EP3784558B1 EP 3784558 B1 EP3784558 B1 EP 3784558B1 EP 19729335 A EP19729335 A EP 19729335A EP 3784558 B1 EP3784558 B1 EP 3784558B1
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EP
European Patent Office
Prior art keywords
underwater vehicle
vehicle
subaquatic
autonomous underwater
keel
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EP19729335.0A
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English (en)
French (fr)
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EP3784558A1 (de
Inventor
Sébastien GRALL
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Exail SAS
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Exail SAS
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Classifications

    • 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
    • B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
    • B63C7/16—Apparatus engaging vessels or objects
    • 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
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B41/00—Drop keels, e.g. centre boards or side boards ; Collapsible keels, or the like, e.g. telescopically; Longitudinally split hinged keels
    • 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
    • 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 
    • 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 
    • B63B41/00—Drop keels, e.g. centre boards or side boards ; Collapsible keels, or the like, e.g. telescopically; Longitudinally split hinged keels
    • B63B2041/003—Collapsible keels, or the like, e.g. telescopically; Longitudinally split hinged keels
    • B63B2041/006—Telescopically collapsible keels
    • 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
    • B63G2008/005—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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/02—Devices for facilitating retrieval of floating objects, e.g. for recovering crafts from water
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/52—Floating cranes

Definitions

  • the present invention relates generally to the field of underwater exploration, surveillance and measurement systems, as well as to the field of naval defence. It relates more particularly to a system for the deployment and recovery of underwater, autonomous, pre-programmed and/or remotely-operated vehicles, for exploration, detection, surveillance and measurements, as well as for naval defense in an aquatic environment. It is applicable in a freshwater or marine environment, sea, ocean, lake and more generally in any body of water. It can for example be implemented during topographic or underwater seismographic measurement campaigns using sonars or hydrophones, exploration and monitoring campaigns using optical, laser or acoustic sensors. Magnetometer detection campaigns. Mine action campaigns.
  • Autonomous underwater vehicles are most often called AUV (Autonomous Underwater Vehicle).
  • AUV Autonomous Underwater Vehicle
  • Various systems for the deployment and recovery of autonomous underwater vehicles from carrier ships or from land are known. These systems can be launch and recovery ramps, floating or suspended baskets, or simply lifting devices such as cranes or gantries. These systems are effective for the deployment phases of autonomous underwater vehicles but less effective for recovery.
  • the present invention proposes a system with a remotely operated underwater vehicle (ROV for Remotely Operated Vehicle) by wire connection, therefore wire-guided, and which remains under water at the time of the deployment and recovery of the autonomous underwater vehicle.
  • ROV Remotely Operated Vehicle
  • the autonomous underwater vehicle Prior to deployment and after recovery, the autonomous underwater vehicle is transported by the underwater vehicle. After deployment and before recovery, the autonomous underwater vehicle is separated from the underwater vehicle and can navigate autonomously.
  • the underwater wire-guided vehicle can be brought back on or in or against the carrier vessel for storage with or, possibly, without its autonomous underwater vehicle.
  • the underwater vehicle is motorized and it comprises propulsion and guidance means, and it is capable, thanks to stabilization means, of maintaining its position under water along all axes, that is to say three axes. , ie six degrees of freedom, and it is therefore not subject to the movements of the waves and of the carrier vessel during the deployment and recovery of the autonomous underwater vehicle because it is submerged.
  • the underwater vehicle comprises a docking station in or against which at least one autonomous underwater vehicle can come to be housed automatically.
  • This docking station is generally of a shape close to a flared cylinder at the level of the mouth, that is to say funnel-shaped, and it is equipped with an automated docking system for the autonomous underwater vehicle.
  • This underwater vehicle with docking station can be deployed from a crewed or unmanned carrier vessel and, in the latter case, from an autonomous or wire-guided or towed carrier vessel.
  • the invention relates first of all to a system for the deployment and recovery of an autonomous underwater vehicle by a surface carrier vessel, the carrier vessel comprising a hull with a hull, the autonomous underwater vehicle boat comprising means of propulsion, guidance and stabilization.
  • the invention provides a system according to claim 1.
  • the deployment and recovery of the autonomous underwater vehicle are simplified since it is no longer necessary to have to manipulate it to release it or to grasp/grip it in the water. from a ship which is subject to the movements of the sea, gusts of wind...
  • the autonomous underwater vehicle is recovered or released under water, from the underwater vehicle which is connected by a cable to the ship carrier, thus allowing decoupling of the respective movements of the underwater vehicle and the carrier vessel.
  • the underwater vehicle comprises means in particular for stabilization facilitating the action of the automated docking means between the underwater vehicle and the autonomous underwater vehicle.
  • the recovery for storage of the underwater vehicle on or in or under the carrier vessel and its launching/release are also particularly simple due to the wired cable connection between the carrier vessel and the underwater vehicle: it suffices to d wrap or unwind the cable as appropriate.
  • FIG. 1 there is shown a first example of a system 1 whose carrying vessel 2 is a wave-piercing monohull surface vessel and which comprises a keel 20 intended to stabilize it.
  • the monohull wave-piercing carrier ship 2 comprises a keel 20 which is useful for its stability due to the fact that the latter has a very tapered/fusiform shape unlike conventional mechanically propelled vessels.
  • This monohull wave-piercing carrier vessel is intended in particular to carry out acoustic measurements in the water and that it is not intended to "fly" above the water, its keel comprising, in addition to the underwater vehicle transported, measuring devices that must remain in the water. He must therefore be able pierce the waves thanks to a knife-edge 25 bow while sailing at high speed and with reduced energy expenditure.
  • This carrier vessel 2 is unmanned and is autonomous because it is pre-programmed and/or tele-operated/remote-controlled with regard in particular to its navigation. He includes integrated navigation means which are particularly useful in the case of a drone.
  • the carrier vessel 2 has a removable keel which comprises at its lower end, submerged, a gondola 21 forming a storage area for an underwater vehicle 3.
  • Sensors, in particular acoustic 27, are fixed against the gondola 21
  • the gondola can be replaced by a bulb containing or supporting underwater measuring devices and which bulb then includes the storage area of the underwater vehicle 3.
  • an autonomous underwater vehicle 4 is installed in the underwater vehicle 3.
  • Such a configuration where the underwater vehicle 3 is stored on the carrier vessel may correspond to an end of mission/use or to a move to an area of use where the autonomous underwater vehicle 4 can be released.
  • the carrier vessel 2 comprises means of propulsion, here a propeller 23, and a guide device 24 of the rudder type.
  • the carrier vessel 2 comprises a kiosk 22 out of the water, above the waterline, with devices 26 in particular intended for measurements and/or communications, in particular in the case where the carrier vessel is remotely controlled by radio waves. .
  • the keel 20 is removable and can move up and down through a keel well in the hull of the carrier vessel. It will be noted that the kiosk 22 is in the axis of the pin 20 and this kiosk also serves to accommodate internally the upper end of the pin 20 raised in a pin storage space of the kiosk.
  • a recess making it possible to receive, when the keel is raised, at least in part the gondola 21 or the bulb as well as possibly the underwater vehicle 3 and its autonomous underwater vehicle 4, and preferably in such a way as to be in the general template of the hull and in order to reduce the resistance to the advancement of the carrier vessel in the storage configuration of the underwater vehicle 3.
  • the system 1 is switched to the configuration of use in which the underwater vehicle 3 is separated from the carrier vessel 2.
  • a connection cable 5 connects the carrier vessel 2 to the underwater vehicle 3 so that the latter is remotely operated/wire-guided.
  • This figure may correspond to the start of use and the autonomous underwater vehicle 4 will then be released, or correspond to the end of use after the recovery of the autonomous underwater vehicle 4 in the underwater vehicle 3, the system then switches to storage configuration when the underwater vehicle 3 is again attached to the carrier vessel 2.
  • the system 1 is still in the use configuration and this time the autonomous underwater vehicle 4 is released from the underwater vehicle 3 or, conversely, returns to the latter to be recovered.
  • FIG 4 shows a variant in which the release or recovery of the autonomous underwater vehicle 4 can be done while the underwater vehicle is attached to the carrier vessel as in the storage configuration.
  • This variant can be used in the case where the carrier ship is not subject to movements, that is to say it is on a calm expanse of water, without waves or swells.
  • the autonomous underwater vehicle 4 is, as its name suggests, a device which moves independently of the underwater vehicle 3 when it has been released, unlike the underwater vehicle 3 which remains connected by a cable to the carrier vessel.
  • the autonomous underwater vehicle 4 therefore comprises means of propulsion, with a propeller in this example and means of guidance as well as, preferably, means of stabilization.
  • the actions of the propulsion means for guidance and possibly for stabilization of the autonomous underwater vehicle are preprogrammed and/or remotely operated/remotely controlled. These actions may also depend on measurements made by sensors.
  • the means of propulsion and guidance of the autonomous underwater vehicle can be either distinct or combined, in the latter case these means can be steerable thrusters. Provision can also be made for the direction of rotation of the propeller or of the turbine of the propulsion and possibly guidance device to be reversed.
  • the underwater vehicle 3 comprises means of propulsion and guidance, for example orientable with a turbine for jet/reaction or with variable jet deflection, as well as stabilization means allowing stabilization of the underwater vehicle along three axes.
  • a ballast system can be used for passive displacement, in particular diving or ascent, and for passive orientation of the underwater vehicle or of the autonomous underwater vehicle.
  • FIG. 5 there is shown a second example of a system 1′ which does not form part of the invention, the carrying vessel 6 of which is a surface vessel which is more conventional here with twin hulls, of the catamaran type, but which can be monohull in a variant.
  • the underwater vehicle 3 is raised, out of the water, onto the deck 60 of the carrier vessel 6.
  • This carrier vessel 6 comprises a superstructure 61 intended for a crew providing navigation.
  • the carrier vessel 6 comprises a device for recovering the underwater vehicle making it possible to get out of the water and, conversely, to launch said underwater vehicle.
  • This recovery device is a gantry 62 and a motorized winch 63 for winding and unwinding the connecting cable 5 between the underwater vehicle 3 and the carrier vessel 6.
  • This gantry recovery device 62 also allows the vehicle to be launched underwater.
  • the underwater vehicle 3 has been launched and the autonomous underwater vehicle 4 is installed in the docking station of the underwater vehicle.
  • the autonomous underwater vehicle 4 has been released.
  • the carrying vessel 7 of which is a particular surface vessel in that it comprises a submerged/submerged bottom 76 which comprises a slot 73 in which an axial fin 30, here lower, of the underwater vehicle can slide.
  • the vehicle can remain underwater in the storage configuration.
  • the two floating side edges 74 and 75 of the carrier vessel 7 define with the bottom 76 a submerged interior space 72, open towards the rear, for storing the underwater vehicle 3 and its autonomous underwater vehicle 4.
  • the underwater vehicle 3 which can surface and float in the event that the depth of the bottom 76 is
  • the underwater vehicle 3 is stored under the bottom 76, below the hull of the carrying vessel, and the axial fin is an upper fin which can slide in the slot 73.
  • the bottom 76 can be configured to form a recess in the hull in which the underwater vehicle is placed.
  • the bottom which is partially submerged is a launching and recovery ramp and in the storage configuration the underwater vehicle can be completely taken out of the water by the ramp or, only, its front part can be taken out of the water, this last case being useful if one wants to use the means of propulsion and possibly guidance, of the underwater vehicle to drive the carrier vessel or help it to move, the means of propulsion of the underwater vehicle, but also of the autonomous underwater vehicle, remaining in the water.
  • carrier vessel 6 of the figure 8 has a bridge 70 and a superstructure 71 intended for a crew providing navigation.
  • One or more doors can be provided at the rear of the carrier ship to close the interior space to the rear.
  • the floating side edges 74, 75 can be made up of inflatable tubes making it possible to produce a dismountable and foldable carrier vessel.
  • the carrier vessel 8 comprises a hull 84 whose hull comprises a recess 80 making it possible to store the underwater vehicle 3 against the keel/hull in the storage configuration, the underwater vehicle also being able, in certain modalities, participate in the propulsion of the carrier vessel, in particular in the case where the rear wall 82 of the carrier vessel is open at the level of the recess.
  • the connection cable coming from the carrier vessel emerges via a cable well 81 in the recess in the case where it arrives at the top of the underwater vehicle but in other modalities, it can pass by another path, in particular if the cable enters the underwater vehicle from the front or the bottom.
  • a winder/unwinder 83 of connecting cable 5 is placed on the deck of the carrying vessel.
  • the underwater vehicle exemplified so far is of the hull type but in other embodiments, the latter 3' may have a different structure and in particular, as shown in the figure 10 And 11 , be of sash/frame 32 type and open structure.
  • the internal equipment of the underwater vehicle 3' is also visible within this open structure.
  • the mouth 33 of the docking station has a funnel shape which is better visible. figure 11 .
  • the system of the invention allows the deployment and recovery of an autonomous underwater vehicle by a surface carrier ship in optimal conditions since the deployment and especially the recovery take place while the autonomous underwater vehicle is under the surface of the water and is therefore not subject to the movements of the waves or the swell unlike the carrier vessel.
  • an underwater vehicle is used which makes it possible to transport the autonomous underwater vehicle. For these operations, it is therefore necessary to ensure that the underwater vehicle is itself submerged, under the surface of the water and, preferably when the carrier vessel is agitated, that the underwater vehicle is decoupled/separated from the carrier vessel.
  • the autonomous underwater vehicle 4 is configured to dock and return at least partially to the underwater vehicle 3 guided by wire, the latter being maintained in a stable attitude during this operation.
  • This docking operation can also be carried out while the carrier vessel and the autonomous underwater vehicle are in motion and docking is provided up to speeds of 7 knots.
  • the underwater vehicle with its autonomous underwater vehicle is stored out of the water, on the deck of the carrier ship, in storage configuration, it is first necessary to the water the underwater vehicle with its autonomous underwater vehicle thanks to the recovery/launch device with its gantry 62 and the motorized winch 63 of the carrier vessel. After launching, the underwater vehicle is wire-guided using the cable 5 and it is brought underwater to the place where it is desired to release the autonomous underwater vehicle from the docking station. Once the autonomous underwater vehicle is freed, it can carry out the missions that have been planned for it. Once these missions have been completed, the autonomous underwater vehicle can automatically dock with the docking station of the underwater vehicle for its recovery, this while the underwater vehicle is submerged. For this automatic docking, additional automated docking means are implemented between the underwater vehicle and the autonomous underwater vehicle.
  • a single autonomous underwater vehicle 4 has been shown per underwater vehicle 3, but two or more can be provided.
  • a single underwater vehicle 3 has been shown per carrier vessel 2, 6, 7, but two or more can be provided.
  • Other methods of implementation are possible.
  • the autonomous underwater vehicle 4 docks and leaves the underwater vehicle 3 from the rear of the latter, it is possible to provide a side docking or from the front of the underwater vehicle 3.
  • material means so that the system has a low resistance to progress on and/or under water and, to this end, a removable door can be provided to close the docking station of the autonomous underwater vehicle in which the autonomous underwater vehicle 4 docks.
  • the bulb and the gondola just like the underwater vehicle, have hydrodynamic shapes.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Organic Low-Molecular-Weight Compounds And Preparation Thereof (AREA)

Claims (8)

  1. System (1) zum Aussetzen und Zurückholen einer autonomen Unterwasservorrichtung (4) durch ein Überwasserträgerschiff (2), wobei das Trägerschiff (2) eine Schale mit einem Kiel aufweist, wobei die autonome Unterwasservorrichtung (4) Mittel für den Antrieb, die Führung und die Stabilisierung aufweist,
    wobei das System außer dem Trägerschiff (2) ein mit einem mit dem Trägerschiff (2) verbundenen Verbindungskabel (5) kabelgeführtes Unterwasserfahrzeug (3) aufweist, wobei das Unterwasserfahrzeug (3) in zwei Hauptkonfigurationen gebracht werden kann, eine Lagerungskonfiguration, in der das Unterwasserfahrzeug (3) in einer Lagerungszone des Trägerschiffs (2) trennbar mit dem Trägerfahrzeug verbunden ist, und eine Verwendungskonfiguration, in der das vom Trägerschiff (2) gelöste Unterwasserfahrzeug im Wasser und von der Lagerungszone des Trägerschiffs entfernt ist und dabei durch das Verbindungskabel (5) mit dem Trägerschiff (2) verbunden bleibt,
    wobei das Unterwasserfahrzeug (3) Mittel für den Antrieb, die Führung und die Stabilisierung sowie eine Station für die Aufnahme der autonomen Unterwasservorrichtung (4) aufweist, die eine lösbare Befestigung der autonomen Unterwasservorrichtung (4) am Unterwasserfahrzeug (3) ermöglicht, um die autonome Unterwasservorrichtung (4) bis zu deren Aussetzungsort zu transportieren, an dem sie vom Unterwasserfahrzeug (3) gelöst wird, wobei das Unterwasserfahrzeug und die autonome Unterwasservorrichtung (4) komplementäre Mittel zum automatisierten Anlegen aufweisen, die es der ausgesetzten autonomen Unterwasservorrichtung (4) bei der Wiederaufnahme ermöglichen, automatisch an der Aufnahmestation des Unterwasserfahrzeugs (3) anzulegen und dort festzumachen,
    dadurch gekennzeichnet, daß die Lagerzone des Trägerschiffs ein eingetauchtes Ende eines Anbaus der Schale des Trägerschiffs ist, wobei der Anbau ein Kiel (20) ist, und daß das Unterwasserfahrzeug am unteren Ende des Kiels (20) gelagert ist, wobei das Trägerschiff ein Trägerschiff mit Kiel ist, und
    daß der Kiel (20) bei dem Trägerschiff mit Kiel an seinem unteren Ende eine Knolle oder eine Gondel (21) aufweist, wobei die Knolle oder die Gondel (21) eine Vertiefung aufweist, die für die Lagerung des Unterwasserfahrzeugs (3) bestimmt ist.
  2. System (1) gemäß Anspruch 1, dadurch gekennzeichnet, daß die Knolle oder die Gondel Unterwassermeßgeräte aufweist.
  3. System (1) gemäß einem der Ansprüche 1 bis 2, dadurch gekennzeichnet, daß der Kiel (20) beim Trägerschiff mit Kiel abnehmbar ist und mindestens teilweise durch die Schale hindurch durch Verlagerung von unten nach oben hochgeholt werden kann oder umgekehrt unter die Schale hinunter gelassen werden kann.
  4. System (1) gemäß einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, daß das Trägerschiff (2) mit Kiel (20) ein einteiliges Wellenbrecherschiff ist.
  5. System (1) gemäß einem der vorangehenden Ansprüche, dadurch gekennzeichnet, daß das Unterwasserfahrzeug auftauchen und schwimmen kann.
  6. System (1) gemäß einem der vorangehenden Ansprüche, dadurch gekennzeichnet, daß das kabelgeführte Unterwasserfahrzeug (3) Mittel für den Antrieb, die Führung und die Stabilisation aufweist, die ermöglichen, Fortbewegungen mit sechs Freiheitsgraden zu steuern.
  7. System (1) gemäß einem der vorangehenden Ansprüche, dadurch gekennzeichnet, daß die autonome Unterwasservorrichtung Mittel für den Antrieb, die Führung und die Stabilisation aufweist, die ermöglichen, Fortbewegungen mit sechs Freiheitsgraden zu steuern.
  8. System (1) gemäß einem der vorangehenden Ansprüche, dadurch gekennzeichnet, daß das Unterwasserfahrzeug und die autonome Unterwasservorrichtung (4) automatisierte komplementäre Landungsmittel aufweisen, die der ausgesetzten autonomen Unterwasservorrichtung (4) ermöglichen, an der Aufnahmestation des Unterwasserfahrzeugs (3) automatisch anzulegen, um die autonome Unterwasservorrichtung (4) automatisch in die Aufnahmestation einzuholen, wenn das Unterwasserfahrzeug (3) untergetaucht und in der Verwendungskonfiguration ist.
EP19729335.0A 2018-04-27 2019-04-26 System zur einsetzen und zurückholen einer autonomen unterwasservorrichtung, verfahren zur verwendung Active EP3784558B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1853733A FR3080601B1 (fr) 2018-04-27 2018-04-27 Systeme pour le deploiement et la recuperation d'un engin autonome sous-marin, procede d'utilisation
PCT/FR2019/050990 WO2019207263A1 (fr) 2018-04-27 2019-04-26 Système pour le déploiement et la récupération d'un engin autonome sous-marin, procédé d'utilisation

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NO347397B1 (en) * 2019-09-12 2023-10-16 Kongsberg Maritime As Intermediate docking station for underwater vehicles
FR3107506B1 (fr) 2020-02-26 2022-02-18 Ixblue Navire comportant un système d’adaptation d’un module amovible et module amovible adapté
DE102020202486A1 (de) * 2020-02-27 2021-09-02 Thyssenkrupp Ag Unterwasserplattform, insbesondere zur Verfolgung von Unterseeboten
CN112278198A (zh) * 2020-10-29 2021-01-29 上海交通大学 一种用于水下救援的无人艇
RU2760798C1 (ru) * 2021-06-03 2021-11-30 Федеральное государственное бюджетное учреждение науки Институт проблем морских технологий Дальневосточного отделения Российской академии наук (ИПМТ ДВО РАН) Спускоподъемное устройство для малогабаритных необитаемых подводных аппаратов и опускаемых гидроакустических антенн с судна-носителя
CN113772063B (zh) * 2021-09-30 2022-06-21 杭州电子科技大学 一种水下巡线机器人
WO2024018328A1 (en) * 2022-07-20 2024-01-25 Saipem S.P.A. Launch and recovery system and method

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FR3056961B1 (fr) * 2016-10-04 2018-11-02 Ixblue Systeme de mesure pour milieu aquatique comportant un navire de surface et un engin subaquatique

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EP3784558A1 (de) 2021-03-03
FR3080601B1 (fr) 2021-09-24
US11697478B2 (en) 2023-07-11
US20210237838A1 (en) 2021-08-05
WO2019207263A1 (fr) 2019-10-31
FR3080601A1 (fr) 2019-11-01

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