US20100018449A1 - Installation and method for recovering an underwater or marine vehicle - Google Patents

Installation and method for recovering an underwater or marine vehicle Download PDF

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Publication number
US20100018449A1
US20100018449A1 US12/375,078 US37507807A US2010018449A1 US 20100018449 A1 US20100018449 A1 US 20100018449A1 US 37507807 A US37507807 A US 37507807A US 2010018449 A1 US2010018449 A1 US 2010018449A1
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US
United States
Prior art keywords
vehicle
cage
flexible connection
puller
housing
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.)
Abandoned
Application number
US12/375,078
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English (en)
Inventor
Marc Luccioni
Viorel Ciausu
Vincent Rigaud
Laurent Artzner
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.)
Institut Francais de Recherche pour lExploitation de la Mer (IFREMER)
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Institut Francais de Recherche pour lExploitation de la Mer (IFREMER)
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Application filed by Institut Francais de Recherche pour lExploitation de la Mer (IFREMER) filed Critical Institut Francais de Recherche pour lExploitation de la Mer (IFREMER)
Assigned to IFREMER-INSTITUT FRANCAIS DE RECHERCHE POUR LA EXPLOITATION DE LA MER reassignment IFREMER-INSTITUT FRANCAIS DE RECHERCHE POUR LA EXPLOITATION DE LA MER ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: ARTZNER, LAURENT, CIAUSU, VIOREL, LUCCIONI, MARC, RIGAUD, VINCENT
Publication of US20100018449A1 publication Critical patent/US20100018449A1/en
Abandoned legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/36—Arrangement of ship-based loading or unloading equipment for floating cargo
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/008—Docking stations for unmanned underwater vessels, or the like

Definitions

  • the invention relates to an installation and a method for recovering a surface marine vehicle or an underwater vehicle that is in the water, from a recovery base.
  • the installation may be used in particular for recovering an autonomous underwater vehicle (AUV).
  • AUV autonomous underwater vehicle
  • An installation is already known that enables an AUV in the water to be recovered from a boat, the installation comprising a ramp having one end hinged to the stern of the boat and having its other end floating on the surface of the water.
  • a winch mounted on the boat pulls the AUV via its nose (i.e. its front end) by means of a cable in order to pull it up along the ramp.
  • That known installation presents the following drawbacks. Firstly, it is necessary to align the AUV properly with the ramp, and in practice this can be found to be difficult, in particular in rough water, since the boat is oscillating (pitching, rolling, heaving) and it entrains the ramp together therewith so the ramp is continuously changing its alignment. Furthermore, high stresses are exerted on the AUV while it is being pulled along the ramp, and that runs the risk of damaging the AUV. Finally, that type of installation is not suitable for recovering AUVs having fins since the fins would be damaged while the AUV is sliding on the ramp.
  • An object of the invention is to propose an installation enabling a surface marine vehicle or an underwater vehicle to be recovered easily from the water without running the risk of damaging it.
  • an installation for recovering a surface marine vehicle or an underwater vehicle in water, from a recovery base comprising a floating cage defining a housing in which at least a portion of said vehicle can penetrate, first puller means mounted on said cage and capable of pulling said vehicle into said housing via a first flexible connection, and second puller means designed to be mounted on the recovery base and capable of pulling said cage via a second flexible connection distinct from the first.
  • This installation can be used for recovering various types of vehicle, whether floating or in controlled immersion, and in particular an AUV, a torpedo, a surface drone, or a vehicle of similar architecture. In general, it is used for recovering a vehicle floating on the surface of the water.
  • the recovery base may be a boat, a quay, an off-shore platform, etc.
  • the term “flexible connection” is used to designate any type of connection capable of tensioning and relaxing as a function of the traction exerted thereon.
  • the second flexible connection allows the cage to move freely relative to the recovery base. More particularly, when the recovery base is a boat, this avoids the boat entraining the cage together therewith when the boat is oscillating (in pitching, rolling, heaving). This makes it easier to bring the vehicle into alignment with the cage into which it is to penetrate.
  • the flexible connections of the installation are cables, and the puller means comprise cable winder devices for winding cable in and out.
  • the cage is fitted with means for receiving, guiding, and determining the orientation of said vehicle as it penetrates into the cage. This makes it easier to bring the cage and the vehicle into alignment, and also makes it easier for the vehicle to penetrate into the cage.
  • the shape of the cage is adapted accordingly: for example, its sides may present lateral openings into which the fins can pass.
  • the first and second puller means enable the distance between the vehicle and the cage and the distance between the cage and the recovery base to be controlled independently, thereby enabling these distances to be adapted as a function of operating conditions.
  • the first puller means are controlled remotely from the recovery base.
  • the second puller means are generally mechanical means, but if the weight of the cage plus the vehicle makes this possible, they could be constituted by operators pulling manually on the second flexible connection.
  • a plurality of flexible connections can be used for pulling the cage from the recovery base.
  • handling means are used in association with the second puller means mounted on the recovery base, the handling means likewise being mounted on said base. They may be constituted by a crane, a gantry, or a jib.
  • the second puller means and the handling means serve to enable the cage and the vehicle to be hoisted onto the recovery base and make it easy for them to be placed on a appropriate support.
  • the invention also provides a method of recovering a surface marine vehicle or an underwater vehicle in water, from a recovery base, the method comprising: launching a floating cage of the above-specified type that defines a housing in which at least a portion of said vehicle can penetrate; pulling said vehicle into said housing with the help of first puller means mounted on said cage and connected to said vehicle via a first flexible connection; and pulling said cage together with said vehicle using second puller means mounted on the recovery base and connected to said cage via a second flexible connection distinct from the first.
  • said first flexible connection connected to the vehicle is recovered in the water from the recovery base, e.g. with the help of a boat-hook.
  • the first flexible connection is then connected to the first puller means of the cage, while the cage is on the recovery base. Only thereafter is the cage launched, it being understood that the cage is launched while being connected to the second puller means via the second flexible connection.
  • the invention provides a method of launching or underwater vehicle from a launching base.
  • a method of the above-specified type is already known that makes use of a ramp hinged to the stern of the launching base.
  • the vehicle an AUV
  • the vehicle is caused to slide along the ramp in order to launch it.
  • An object of the invention is to provide a method enabling a surface marine vehicle or an underwater vehicle to be launched easily from a launching base, without running the risk of damaging the vehicle.
  • the cage and the vehicle are launched together. During this step, the vehicle is protected by the cage that surrounds and the vehicle is subjected to low levels of stress only.
  • the cage Since the cage is connected to the launching base via a flexible connection, once they are in the water, the vehicle and the cage can move freely relative to the boat so that any oscillations of the boat do not disturb them. This makes it easy to extract the vehicle from the cage.
  • the vehicle is held relative to the cage while the cage is being launched, and until the vehicle is released with the help of release means. This makes it possible to avoid impacts occurring between the cage and the vehicle during launching.
  • the vehicle is finally released (if it was previously held relative to the cage) and is then pulled out from the cage.
  • these last two actions are remotely controlled from the launching base.
  • FIGS. 1 to 3 show an example of a recovery installation of the invention respectively in side view, plan view, and end view;
  • FIG. 4 shows the installation of FIGS. 1 to 3 in side view when the vehicle for recovery is taken out of the water
  • FIGS. 5 to 7 show, in part only, an example of recovery apparatus of the invention, respectively in side view in longitudinal section, in plan view, and in end view;
  • FIG. 8 shows the apparatus of FIGS. 5 to 7 being used, in this example, to launch a vehicle.
  • FIGS. 1 to 4 serves to recover a vehicle 1 from the water and/or to launch it.
  • the vehicle 1 is an AUV that is torpedo-shaped. It should be observed that it has two large side fins in its middle portion.
  • the installation comprises a boat 5 as a recovery base.
  • the boat 5 is fitted with a winch 7 for winding a cable 9 in and out.
  • the cable is preferably a textile cable.
  • the installation also comprises a recovery apparatus within which the vehicle 1 can be received, at least in part.
  • the cage 10 is fitted on its sides with floats 12 that enable it to remain at the surface of the water and to adjust its immersion depth.
  • the floats 12 are connected to said cage via hinges that allow the floats to flap up and down. On the surface of the water, the floats thus move away from the cage so as to maximize stability and avoiding impeding entry of the vehicle 1 .
  • the floats 12 when not in the water, extend along the cage 10 on either side thereof in such a manner as to protect it (and also the vehicle 1 ) from possible lateral impacts. Such lateral impacts may occur, in particular, while the cage 10 is being hoisted on board the boat 5 .
  • the floats 12 are for example boat fenders.
  • the cage 10 comprises:
  • FIGS. 5 to 9 do not show all of the portions of the cage 10 .
  • the bottom portions of the cage are not shown.
  • These figures seek to show more particularly the reception means and the guide means.
  • Said reception means 18 comprise an element 32 that is movable between the entrance and the end of the cavity 20 .
  • the cable 22 passes through this movable element 32 , preferably through its center.
  • the movable element 32 comprises a cup 34 suitable for receiving the nose of the vehicle 1 (see FIG. 7 ), and presenting a central hole 35 through which the cable 22 passes.
  • a plurality of guide branches 36 (generally at least two diametrically-opposite branches) extend from the periphery of the cup 34 and connect it to the structure 37 of the reception means 18 .
  • the end of each branch 36 can slide relative to said structure 37 so that the movable element 32 can slide between the entrance and the end of the cavity 20 , as represented by double-headed arrow A in FIG. 5 .
  • the cage 10 includes first blocking means 38 (see FIG. 5 ) for holding said reception means 18 in the vicinity of the entrance to the housing 16 , before the vehicle 1 reaches the cage.
  • said reception means 18 are in position for receiving the vehicle 1 when it arrives.
  • the portion of the cable 22 that extends between the winch 24 and the reception means 18 (more precisely between the pulley 40 , the passage 23 , and the nose of the vehicle 1 —see FIGS. 5 and 6 ) forms a lever arm that serves to cause the cage 10 to point towards the nose of the vehicle 1 , thereby making it easier to recover.
  • the cage is capable of being aligned since it can move freely in the water, the cable(s) 9 ( 70 ) connecting the cage 10 to the boat 5 being slack.
  • the first blocking means 38 release said reception means 18 only when the nose of the vehicle 1 is fully engaged in the reception means 18 (more precisely in the cavity 20 ) and is about to penetrate into the housing 16 .
  • the first blocking means 38 comprise an abutment capable of retracting when the vehicle 1 exerts a thrust force thereon that is greater than a predetermined force.
  • the abutment is formed by an arm 42 pivotally mounted on the frame 14 , with a wheel 46 mounted at the end of the arm.
  • the arm 42 is connected to a spring 44 of stiffness that is selected such that beyond a certain thrust force exerted by the vehicle 1 on the arm 42 via the reception means 18 , the spring 44 deforms and allows the arm to retract by pivoting as represented by arrow B (see FIG. 5 ).
  • Other types of blocking means could naturally be envisaged.
  • the cage also has second blocking means 48 (see FIG. 6 ) for holding the moving element 32 of the reception means 18 at the entrance of the cavity 20 , these second blocking means 48 releasing the movable element 32 when the vehicle 1 comes into contact with the movable element 32 (more precisely with the cup 34 ).
  • these second blocking means 48 operate on the same principle as the first blocking means 38 and comprise an abutment capable of retracting when the vehicle 1 acts thereon, via the movable element 32 , to exert a thrust force that is greater than a predetermined force.
  • the presence of the movable element 32 and the blocking of the movable element at the end of the cavity 20 enable the portion of cable 22 that is tensioned between the end of the cavity 20 , the entrance to said cavity, and the nose of the vehicle 1 , to behave like a lever arm, thereby pointing said cavity 20 to face the vehicle 1 , as the vehicle approaches. This makes the vehicle easier to recover.
  • the blocking force of the second blocking means 48 is less than the blocking force of the first blocking means 38 , such that when the vehicle 1 penetrates into the reception means 18 (more precisely into the cavity 20 ), the second blocking means 48 give way before the first blocking means 38 give way.
  • Said reception means 18 are secured to a rod 50 .
  • the rod 50 extends vertically (relative to the horizontal defined by the water).
  • the rod 50 is mounted on a carriage 52 so as to be capable of pivoting about its axis C as represented by double-headed arrow D in FIGS. 5 to 7 .
  • the carriage 52 is guided along the housing 16 of the cage 10 by said guide means.
  • the reception means 18 are mounted on the rod 50 in such a manner:
  • the bottom end of the rod 50 carries a fork 51 , and between the two branches of the fork 51 there extends an axis F perpendicular to the axis C of the rod, about which the reception means are pivotally mounted. Abutments 53 limit the vertical pivot angle of the reception means 18 .
  • a guide arm 54 is fastened to the end of the rod 50 so as to enable it to be entrained and pivoted about its axis C as represented by double-headed arrow D.
  • the arm 54 presents a first end engaged with the rod 50 and a second end having a wheel 56 mounted thereon.
  • Said guide means comprise first and second superposed guides 58 and 60 extending along the housing 16 .
  • the first guide 58 guides the carriage 52 along the housing 16 . It is formed by a pair of parallel rails 64 , and the carriage 52 is fitted with wheels 62 enabling it to move along the rails 64 as represented by double-headed arrow G shown in FIG. 6 .
  • the second guide 60 guides the guide arm 54 and, as a result, turns the rod 50 and the reception means 18 by causing them to pivot horizontally as represented by double-headed arrow D. It is situated above the first guide 58 . It is formed by a pair of rails 66 that come closer to each other on going away from the entrance to the cage 10 .
  • the guide arm 54 can pivot between these rails 66 as represented by double-headed arrow D, between a first position in which the wheel 56 is in contact with one of the rails 66 , and a second position in which the wheel 56 is in contact with the other rail 66 .
  • the greater the spacing between the rails 66 the greater the freedom of the arm 54 , and thus of the rod 50 and of the reception means 18 to pivot horizontally.
  • the further the vehicle 1 penetrates into the cage 10 the more the carriage 52 advances along the rails 66 that approach each other, and the smaller the freedom of the reception means 18 to pivot horizontally.
  • the arm 54 and the reception means 18 are brought progressively into alignment along the main axis H of the cage 10 .
  • the reception means 18 entrain the vehicle 1 via its nose, and the vehicle 1 is likewise brought into alignment along the axis H (see FIG. 6 ). It thus penetrates easily into the cage 10 .
  • the frame 14 of the cage 10 presents notches 68 that are open towards the entrance of the cage 10 , serving to allow the lateral fins 3 of the vehicle 1 to pass therethrough (see FIGS. 1 and 4 ). Since the vehicle 1 is guided and correctly aligned on penetrating into the cage 10 , the fins 3 are received in the notches 68 and are therefore not damaged.
  • said holder means comprise two rods 26 fitted with shoes at their ends, together with a mechanism for raising/lowering the rods.
  • the rods 26 slide inside two boxes 28 containing said mechanism. These boxes 28 are fastened on either side of the frame 14 in the vicinity of the entrance to the cage 10 .
  • the rods 26 are in contact with the top face of the vehicle 1 , as shown in FIGS. 4 and 8 . It should be observed that the pressure exerted by the rods 26 on the vehicle 1 needs to be controlled so as to avoid damaging the vehicle.
  • the holder means comprise a rod that is pivotally mounted on the frame 14 together with a mechanism, e.g. an actuator, for causing the rod to pivot.
  • the rod carries a cradle that surrounds the top face of the vehicle 1 .
  • the vehicle 1 may possibly present a member that projects from its top face. After the vehicle has penetrated into the housing 16 , the cradle is lowered and takes up position behind the projecting member, thereby enabling the vehicle 1 to be held inside the cage 10 .
  • holder means are remotely controlled, and preferably they are controlled from the boat 5 .
  • the bottom face of the vehicle 1 bears against a rocker 29 mounted on the frame.
  • This rocker 29 carries at each of its ends a respective cradle 30 on which the vehicle 1 rests.
  • the cradles 30 extend transversely relative to the cage 10 , under the housing 16 . These cradles are easily withdrawn when the vehicle 1 is placed on a suitable working support present on the boat 5 .
  • the recovery base is the boat 5
  • the vehicle to be recovered is the vehicle 1 .
  • a cable 22 ′ connected to the nose of the vehicle 1 is recovered from on board the boat 5 . Thereafter, the cable 22 ′ is connected to a cable 22 ′′ that is waiting in the cage 10 .
  • the cables 22 ′ and 22′′ then form the above-mentioned cable 22 that is caused to pass through the movable element 32 , the passage 23 in the reception means 18 , and around the pulley 40 situated at the end of the housing 16 , and that is connected to the winch 24 of the cage 10 (see FIG. 5 ).
  • the cage 10 is launched into the water. It remains connected to the boat 5 via the traction cable 9 , also referred to as hoist cable, and via other cables 70 referred to as guide cables. At this stage, the cables 9 and 70 are relaxed such that the boat 5 does not entrain the cage 10 in its own movement. The cage 10 thus moves freely in the water.
  • the winch 24 is remotely controlled to wind in the cable 22 so as to pull the vehicle 1 , the reception means 18 situated at the entrance of the cage 10 , and the winch 24 (in fact the pulley 40 ) situated at the end of the cage 10 , forms a lever arm that causes the cage 10 to turn so that the axis H of the cage approaches the nose of the vehicle 1 .
  • the reception means 18 turn to face the nose of the vehicle 1 as it approaches because of the length of the cable 22 that extends from the end of the cavity 20 (i.e. the passage 23 ), via the movable element 32 , to the nose of the vehicle 1 .
  • the nose of the vehicle 1 initially comes into contact with the movable element 32 , and as traction continues on the vehicle 1 it exerts thereon an ever increasing thrust force. Beyond a limit force, the second blocking means 48 release the movable element 32 , which then moves in translation together with the nose of the vehicle 1 to the end of the cavity 20 . The nose of the vehicle 1 then occupies the cavity 20 . Relative movements between the reception means 18 and thus the vehicle 1 and the cage 10 are still allowed at this stage.
  • the reception means can pivot vertically and horizontally as represented by double-headed arrows E and D. This limits the stresses that are exerted on the nose of the vehicle 1 , associated with the relative movement between the vehicle 1 and the cage 10 .
  • the vehicle 1 exerts an ever increasing thrust force on the reception means 18 .
  • the first blocking means 38 release the carriage 52 to which the reception means 18 are connected via the rod 50 .
  • the carriage 52 then runs along the first guide 60 towards the end of the housing 16 .
  • the guide arm 54 is guided along the first guide 58 and its freedom to move as represented by double-headed arrow D decreases progressively.
  • the reception means 18 and the vehicle 1 thus become progressively aligned along the main axis H of the cage.
  • the rods 26 are remotely controlled to move down so as to hold the vehicle 1 in the cage. In this example, it should be observed that only a fraction of the vehicle 1 penetrates into the cage 10 .
  • the cage 10 together with the vehicle 1 is pulled by the cable 9 towards the boat 5 in order to be hoisted on board the boat 5 .
  • the guide cables 70 can also be used for pulling the cage 10 and the vehicle 1 .
  • the guide cables 70 can be pulled by hand or they may be connected to a cable winder device, e.g. winches analogous to the winch 7 . Under such circumstances, the cables 70 and their winder devices form part of the puller means mounted on the recovery base, in the meaning of the invention.
  • the guide cables 70 are used to direct the cage 10 and the vehicle 1 so as to pass through the gantry 72 .
  • the cage 10 and the vehicle 1 are extracted from the water using the cable 9 , while the cables 70 are used for guiding and passing the cage 10 and the vehicle 1 through the gantry 72 prior to placing them on the deck of the boat 5 .
  • the recovery base is the boat 5 and the vehicle to be recovered is the vehicle 1 .
  • the vehicle 1 is held in the cage 10 and the cage is on board the boat 5 .
  • the winch 7 In a first step, the winch 7 , the traction cable 9 , the gantry crane 72 , and possibly the guide cables 70 are used to launch the cage 10 .
  • the release means comprise a mechanism enabling the rods 26 to be raised. These release means are controlled remotely, advantageously from the launching base (i.e. the boat 5 ).
  • these puller means comprise a cable winder device, i.e. the winch 24 and the cable 22 as described above, together with a pulley 74 situated level with the entrance to the housing 16 of the cage 10 .
  • the cable 22 is connected to the winch 24 , extends as far as the pulley 74 , passes round the pulley, and extends back to the carriage 52 to which it is connected.
  • the winch 24 is actuated so that the carriage 52 , the reception means 18 , and the nose of the vehicle 1 are pulled by the cable 22 towards the entrance of the housing 16 .
  • the vehicle 1 may be secured to the reception means 18 until the end of the extraction movement. It is then finally released either on command from the boat 5 , as is advantageous, or else by means of a mechanical device placed on the reception means 18 and triggered automatically at the end of the stroke of said reception means.
US12/375,078 2006-07-26 2007-07-25 Installation and method for recovering an underwater or marine vehicle Abandoned US20100018449A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR0653128 2006-07-26
FR0653128A FR2904288B1 (fr) 2006-07-26 2006-07-26 Installation et procede de recuperation d'un engin sous-marin ou marin
PCT/FR2007/051723 WO2008012473A1 (fr) 2006-07-26 2007-07-25 Installation et procede de recuperation d'un engin sous-marin ou marin

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US20100018449A1 true US20100018449A1 (en) 2010-01-28

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US12/375,078 Abandoned US20100018449A1 (en) 2006-07-26 2007-07-25 Installation and method for recovering an underwater or marine vehicle

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

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US20110192338A1 (en) * 2008-06-03 2011-08-11 Thales System for Automatically Launching and Retrieving an Underwater Drone
DE102011122533A1 (de) * 2011-12-27 2013-06-27 Atlas Elektronik Gmbh Bergevorrichtung und Bergeverfahren zum Bergen von an der Wasseroberfläche eines Gewässers befindlicher kondensierter Materie
DE102012112333A1 (de) 2012-07-06 2014-01-09 Technische Universität Berlin Vorrichtung mit einer Aussetz- und Bergungseinrichtung
WO2014039690A1 (fr) * 2012-09-05 2014-03-13 Raytheon Company Lanceur de véhicule sous-marin sans équipage
US20150259048A1 (en) * 2011-11-28 2015-09-17 Aeplog, Inc. Launch and recovery device
CN106428485A (zh) * 2016-11-01 2017-02-22 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） 用于长距离声光双向导引捕获回收auv的新型潜水器
WO2017068578A1 (fr) 2015-10-22 2017-04-27 Peleg Amitay Système et procédé de lancement et de récupération d'un bateau
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CN108557040A (zh) * 2018-06-22 2018-09-21 江苏科技大学 一种可收放舱式的多功能auv水下中继站
US20180327057A1 (en) * 2015-11-17 2018-11-15 Fugro N.V. Method of and system for hauling a marine equipment unit, a marine equipment unit and a carrier
CN110104146A (zh) * 2019-03-29 2019-08-09 浙江大学滨海产业技术研究院 一种自锁式水下机器人对接装置
US20190263481A1 (en) * 2016-11-11 2019-08-29 Fraunhofer Gesellschaft Zur Foerderung Der Angewandten Forschung E. V. Recovery apparatus and allocated method
CN110816789A (zh) * 2018-08-09 2020-02-21 上海中车艾森迪海洋装备有限公司 一种水下探索系统
CN110816788A (zh) * 2019-10-28 2020-02-21 中船华南船舶机械有限公司 一种无铠装电缆深潜器单绳回收方法
US10942526B2 (en) 2016-03-31 2021-03-09 Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung E.V. System for navigation of an autonomously navigating submersible body during entry into a docking station, method
CN113212709A (zh) * 2021-06-09 2021-08-06 西北工业大学 一种基于柔性材料水下滑翔机保形回收与释放auv的装置
CN113401323A (zh) * 2021-07-19 2021-09-17 中国科学院沈阳自动化研究所 用于自主回收水下机器人的模块化滑道夹持式回收装置
CN114228956A (zh) * 2021-12-09 2022-03-25 浙江大学 一种水下柔性臂及auv水下柔性回收机构
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DE102007031156B4 (de) * 2007-06-11 2009-04-16 Diehl Bgt Defence Gmbh & Co. Kg Vorrichtung und Verfahren zur Aussetzung und Bergung eines Unterwasserfahrzeugs und Verfahren zur Andockung eines Unterwasserfahrzeugs an eine solche Vorrichtung
FR2963924B1 (fr) 2010-08-18 2012-09-14 Ifremer Dispositif pour la recuperation d'un engin marin ou sous-marin
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DK2043911T3 (da) 2011-10-31
JP2009544521A (ja) 2009-12-17
ATE517024T1 (de) 2011-08-15
CA2658981C (fr) 2015-12-15
EP2043911B1 (fr) 2011-07-20
FR2904288A1 (fr) 2008-02-01
CA2658981A1 (fr) 2008-01-31

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