WO2019011490A1 - Système et dispositif pour récupérer un véhicule - Google Patents

Système et dispositif pour récupérer un véhicule Download PDF

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Publication number
WO2019011490A1
WO2019011490A1 PCT/EP2018/060359 EP2018060359W WO2019011490A1 WO 2019011490 A1 WO2019011490 A1 WO 2019011490A1 EP 2018060359 W EP2018060359 W EP 2018060359W WO 2019011490 A1 WO2019011490 A1 WO 2019011490A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
vessel
tether
vessels
line
Prior art date
Application number
PCT/EP2018/060359
Other languages
German (de)
English (en)
Inventor
Gunnar Brink
Alexei Keller
Eduard Maydanik
Original Assignee
Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. filed Critical Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V.
Publication of WO2019011490A1 publication Critical patent/WO2019011490A1/fr
Priority to NO20200043A priority Critical patent/NO20200043A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/56—Towing or pushing equipment
    • B63B21/66—Equipment specially adapted for towing underwater objects or vessels, e.g. fairings for tow-cables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/36—Arrangement of ship-based loading or unloading equipment for floating cargo
    • 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
    • B63C7/02—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects in which the lifting is done by hauling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
    • B63B2027/165—Deployment or recovery of underwater vehicles using lifts or hoists
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating

Definitions

  • Embodiments of the present invention relate to a system having at least two vessels which enables the recovery of a vehicle such as an autonomous underwater vehicle. Further exemplary embodiments relate to a corresponding recovery method.
  • Autonomous underwater vehicles (autonomous underwater vehicle) can be retrieved in basically two different ways, namely once directly from the mothership, z. B. with a crane or by means of a dinghy, which is specially designed to recover the AUVs.
  • EP2452868 B1 shows that recovery is one of the most critical operations of the entire mission of a submersible (AUV), as any damage must be avoided.
  • This patent describes a crane which can be moved with a plurality of degrees of freedom, so that alignment with the underwater vehicle to be picked up can take place in the best possible way.
  • the hook of the crane is caused, it is a common method of recovery to release a salvage buoy on AUV (eg on the nose of the AUV's hull) and then first recover the buoy and the AUV on a leash between the buoy and the buoy AUV to catch up.
  • the salvage buoy attached to the AUV is connected to the same after ejection via a line and can then z. B. via an operation platform (possibly by manual intervention of the crew) to be connected to a recovery system. After attaching the recovery line to the recovery system (crane) then the leash is obtained by the recovery system, so that a successive salvage of the underwater vehicle can take place.
  • EP24391 1 B1 follows the approach of using existing cranes on the mothership for deployment and recovery.
  • An advantage of this approach is the independence of the system in terms of height differences between water surface and deck due to the different freeboard heights of different ships.
  • Such launch and recovery systems often include a cage, which can be replaced by floats on the Floats and is attached to the mothership with a leash. For example, operating personnel draw a line from the submersible into the floating cage using the teaching of EP2452868 B1.
  • the cage can, for example, have a funnel shape in which the AUV is then mechanically fixed (possibly with the aid of other means, such as pins).
  • the cage When the AUV is fully drawn into the hopper and then into the cage, the cage can be pulled out of the water together with the AUV with the help of the crane.
  • the underwater vehicle to be sheltered is not gripped or coupled externally, but the vehicle autonomously maneuvers into a kind of cage, also called a garage.
  • the garage consists of two lifting arms between which the AUV can be controlled. With vertical folding of these lifting arms, the AUV can thus be secured.
  • Embodiments of the present invention provide a two-vehicle system wherein one of the two vessels is a surface vehicle and another of the two vessels is another vehicle such as an autonomous underwater vehicle (AUV).
  • the system includes a controller that may be located on one of the craft, for example.
  • Both vessels have a safety line, whereby the surface vehicle can be lowered below the waterline and the underwater vehicle can generally be pulled out, e.g. B. by lowering or by pulling, z. B. backwards or upwards.
  • One of the suspension lines namely, that of the first watercraft is equipped with a safety gear (eg a hook or other safety gear), so that the safety gear is connected to the first watercraft via the safety line.
  • This safety gear is designed to establish a connection to the same upon engagement with the suspension line of the second of the two vessels, for. B. by hooking or gripping.
  • the suspension line of the second vessel may have a kind of end stop or a weight in which the safety device engages.
  • the curved path such. B. a circular path or a U-turn
  • the safety gear is pulled obliquely through the water, so that there is a contact between the two suspension lines and the safety gear and a suspension line.
  • a mechanically strong connection (engagement) is then formed by the surface vehicle to the autonomous underwater vehicle with the aid of the safety gear.
  • either the surface vehicle or the autonomous underwater vehicle can travel the curved path.
  • the vehicle that is not traveling in the curved path is reduced in speed or even stopped. Therefore, according to embodiments, the controller is configured to send control signals to the curving vessel and / or to the other vessel.
  • the suspension line straight such. B. protrudes vertically upwards or downwards. This can be ensured, for example, by providing a weight, which may be formed, for example, by a type of end stop, on the suspension line.
  • the background is that the curving vehicle can capture the non-curving vehicle more reliably.
  • Embodiments of the present invention is based on the finding that starting from a predetermined trajectory, such. B.
  • a radius of the circular path that travels the first of the two vessels depends on the length of the line of the first vessel.
  • the radius is e.g. smaller than the length of the leash of the first vessel.
  • the recovery can be automated or even fully automated, in which case individual steps are controlled by the controller.
  • the controller primarily controls the first of the two vessels to its orbit. Further, the controller may also be configured to reduce or even halt the speed of the second vessel so that the first of the two submersibles can reliably pull a sling with its sling around the sling of the second underwater vehicle. Furthermore, the controller can also control the lowering of the line of a surface vehicle and the leash of the autonomous underwater vehicle.
  • the trigger mechanism can be realized in that the suspension line has a weight or the catch hook of the safety gear has a weight, and the safety line is triggered, so that the weight pulls the suspension line down.
  • the weight then also allows the vertical alignment of the suspension line in the water by tensioning the suspension line downwards as a result of the weight force.
  • the triggering can be realized for example by a mechanical locking mechanism or by a corroding wire. In the corroding wire, this corrosion is excited by applying an electrical voltage.
  • a further embodiment provides a method for recovering a vehicle, such as an autonomous underwater vehicle by means of a surface vehicle, with the assistance of a surface vehicle.
  • a vehicle such as an autonomous underwater vehicle by means of a surface vehicle
  • the suspension lines are lowered or extended as explained above, wherein the safety gear is arranged on the suspension line of the first vessel.
  • the method includes the central step of controlling the first of the two watercraft to maneuver it in a curved path around the second of the two watercraft.
  • the method may include the step of controlling the second watercraft, e.g. B. such that this stops or reduces its speed, while the first watercraft drives in a curved path, have.
  • the control is performed so that the radius of the curved path depends on the length of the line of the respective vessel or is smaller than this.
  • the method may comprise the step of extending or lowering the respective suspension line. In this case, the extraction process can in turn be supported by means of a weight.
  • FIG. 1 a-1 f schematic representations of two vessels when capturing to illustrate a system with two underwater vehicles according to
  • Fig. 1 a to 1 b represent the constellation from the side
  • Figs. 1 c to 1 f illustrate the constellation from above.
  • the autonomous underwater vehicle 10 has a safety line 12, which here is arranged as a lowerable safety line, ie at an underside of the autonomous underwater vehicle. is net.
  • the suspension line 12 can be lowered, for example, with the aid of an optional weight 14, for example, by the weight is released.
  • the surface vehicle 20 likewise has a catching line 22, which can be lowered below the waterline 23 and has catching means 24 at the end of the catching line or generally on the catching line.
  • These catching means 24 may be formed for example by a hook. This hook has a weight, so that the lowering here can be done analogously by the hook 24 is disengaged and by means of a weight pulls the suspension line 22 down. This situation is shown in Fig. 1 b.
  • Fig. 1 b shows the autonomous underwater vehicle 10 and the surface vehicle 20, in which the suspension lines 12 and 22 extended, d. H. lowered here.
  • the tether 12 of the autonomous submersible may be lowered 2 m, or generally in the range between 1 and 10 m, while the leash 22 of the surface vehicle is typically further lowered, i. H. for example 5 m or generally in the range between 2 and 30 m.
  • the lowering and now holding down the suspension lines 12 and 22 takes place with the aid of weight on the weight 14 and 24.
  • the autonomous underwater vehicle the vehicle to be sheltered
  • his Speed has significantly reduced or even stopped, so this makes no drive through the water.
  • the depth of the autonomous underwater vehicle is chosen so that the hook 24 is at the same depth as the line 12. Assuming that the line 12 protrudes downwards and is about 2 meters long, while the line 24 is about 5 meters long, the AUV 10 is preferably near the surface 23 because of the oblique course the leash 22 of the hooks 24 (depending on the drive through the water) will be towed behind the surface vehicle 10 at a depth of 1 to 3 m below the water surface. Should the line 22 be longer or the line 12 z. B. protrude upward, of course, then the height of the underwater vehicle 10 can be adjusted. In the case of a (vertically) upstanding line, for example, the underwater vehicle is 5m below the water surface.
  • FIG. 1 c shows the autonomous underwater vehicle 10 assuming that it makes little or no water passage and positions the surface vehicle 20 relative to the autonomous underwater vehicle 10 so that the surface vehicle 20 can pass the underwater vehicle.
  • the tether 10 of the second vessel is oriented substantially vertically in the water.
  • the drive through the water is shown by means of the arrow.
  • the surface vehicle 20 laterally passes the autonomous submersible approximately at a distance corresponding to the spacing of the trailed anchor 24 from the surface vehicle 20. In other words, this means that the distance can be at most as large as the length of the subsequently towed line 22.
  • the upper 20 Shortly after passing, the upper 20 makes a turn around the autonomous underwater vehicle 10 or, in particular, around the suspension line 12 thereof. This cornering is illustrated in Fig. 1d. This curved path or circular path is symbolized by the arrow. As a rule, at this time the armature 24 has not yet passed the suspension line 12, so it is now towed laterally by means of the suspension line 22. The situation is also marked with an arrow.
  • the curved path of the vehicle 20 is further advanced, so that the line 22 a loop around the autonomous underwater vehicle 10, in particular the line 12 pulled.
  • the trajectory of the armature 24 crosses the position of the tether 12, so that, for example, the lines 12 and 22 touch. This results in engagement between the engagement means 24 and the line 12 and the weight (end stop at the line 12).
  • the final intervention is shown in Fig. 1f.
  • the weight 14 has been gripped by the anchor 24 so that the line 12 is obliquely deflected from the straight-down position and the autonomous underwater vehicle 10 can be towed behind the surface vehicle 20.
  • the first phase of the mountain maneuver namely the trapping of the autonomous underwater vehicle is completed, so then, for example, by retrieving the suspension lines 12 and 22, the autonomous underwater vehicle 10 in a cage, z. B. can be pulled into a cage of the surface vehicle 20.
  • the surface vehicle 20 drives the curved path
  • the autonomous underwater vehicle revolves around the slowed down or stopped surface vehicle, for example, in which the suspension line is lowered downwards.
  • the autonomous underwater vehicle preferably has the catching means, while the catching line of the surface vehicle may be weighted, for example, with a weight or an end stop.
  • the optional end stop 14 is adapted to be engaged with the engagement means 24 and here form a mechanical connection.
  • the lowering of the suspension line 12 or 22 can take place by means of different mechanisms. In one case, for example, the respective suspension line 12 or 22 can simply be lowered. To ensure that the suspension line 12 or 22 drops down, it is also appropriate according to embodiments, to attach a corresponding weight 14 and 24 respectively. This weight also makes it possible to lower the suspension lines 12 and 22 by unlatching the weight, for example, by means of a mechanical lock, thus sinking to the ground and pulling out the wound-up or collapsed suspension line 12 and 32, respectively. The weight, which weighs, for example, one kilogram, then remains on the leash, z. B. at the end of the line 12 and 22 connected to the vessel (surface vehicle or AUV).
  • a procedure may be as follows, according to embodiments.
  • the submersible 10 AUV upon return to the water surface, triggers a weight 14 still attached to a line 12 and to the AUV 10.
  • a weight 14 still attached to a line 12 and to the AUV 10.
  • This can be done in accordance with embodiments via a metal made wire or stainless steel wire to which the weight 14 is connected within the vehicle. If one sets this wire / stainless steel wire for a few minutes in salt water of an electrical voltage, the wire can corrode in a few minutes and burns through. As a result, the weight falls down.
  • other methods are also suitable for triggering the weight, such as by a heat engine rotating a lever that releases a latch that secures the weight 14 to the AUV 10.
  • the system explained above has a control which, for example, coordinates the triggering of the weights or in general the extension of the suspension lines 12 and 22.
  • This control is designed to make the curving vessel (in the above example the surface vehicle 20) active, e.g. B. by the engines (outboard or inboard engine or jet propulsion or propeller drive) coordinate in the case of a hull boat or generally to maneuver the corresponding vessel.
  • this control can be used to control the maneuvering of the other vessel to be caught with the tether pulled obliquely through the water, e.g. For example, it may be stopped for the recovery or reduced in speed.
  • the watercraft navigation means such. B. has underwater navigation systems, so that in particular a relative positioning of the two vehicles to each other during the mountain maneuver can be controlled and monitored as best as possible.
  • the driven curve should be at least 90 ° (towards the other vessel) or even at least 135 ° (or in the range of 90-180 °) so that there is a significant change of direction and the trailing rope is looped around the suspension line of the other watercraft.
  • the surface vehicle will be on one side of the rope between the AUV and the weight or float and, after the U-turn maneuver, about 180 ° on the other side of the rope.
  • the precise path of the maneuver depends on the water resistance, the selected speed, the flexibility (material properties and thickness) of the cable and in particular the radius traveled. Taking into account the boundary conditions, the trajectory is then traversed so that the anchor is pulled obliquely through the water and caught when driving around the submersible with the leash of the vehicle to be sheltered or the weight.
  • the anchor may have an optimized shape so that the line locks directly after catching.
  • Examples of such anchors is a throw anchor with three or four arms.
  • the surface vehicle as already indicated, also have a cage and thus secure the autonomous underwater vehicle.
  • the rescending ship can take over the data of the autonomous underwater vehicle and recharge the batteries of the autonomous underwater vehicle until the autonomous underwater vehicle is released again for the next mission.
  • the surface vehicle Since the surface vehicle is usually equipped with a drive, the surface vehicle can be moved together with the salvaged autonomous underwater vehicle to the mothership.
  • the surface vehicle is implemented, for example, in the simplest form of a lifeboat, but so-called rig hull inflatable boats can also be used.
  • surface vehicles in catamaran form, trimaran form (or generally ship with several hulls) next to the monohull would be conceivable.
  • the surface vehicle After returning to the mothership then the surface vehicle is recovered together with the autonomous underwater vehicle, for example with the aid of a davit or crane.
  • a fixed permanent connection between the surface vehicle and the mothership is always realized (eg by a leash).
  • the other vehicle may also be a torpedo, another surface vehicle or a watered-down aircraft (e.g., a Space X rocket stage).
  • the recovery method essentially comprises the central step of controlling the curved path of one of the watercraft, so that there is an engagement between the two lines 12 and 22 or the engagement means on the lines.
  • aspects have been described in the context of a device, it will be understood that these aspects also constitute a description of the corresponding method, so that a block or a component of a device is also to be understood as a corresponding method step or as a feature of a method step , Similarly, aspects described in connection with or as a method step also represent a description of a corresponding block or detail or indicia of a corresponding device.
  • Some or all of the method steps may be performed by a hardware device (or using a hardware device). Apparatus), such as a microprocessor, a programmable computer or an electronic circuit. In some embodiments, some or more of the most important method steps may be performed by such an apparatus.
  • embodiments of the invention may be implemented in hardware or in software.
  • the implementation may be performed using a digital storage medium, such as a floppy disk, a DVD, a Blu-ray Disc, a CD, a ROM, a PROM, an EPROM, an EEPROM or FLASH memory, a hard disk, or other magnetic disk or optical memory on which are stored electronically readable control signals compatible with a programmable computer system. can cooperate or cooperate, that the respective procedure is carried out. Therefore, the digital storage medium can be computer readable.
  • some embodiments according to the invention include a data carrier having electronically readable control signals capable of interacting with a programmable computer system such that one of the methods described herein is performed.
  • embodiments of the present invention may be implemented as a computer program product having a program code, wherein the program code is operable to perform one of the methods when the computer program product runs on a computer.
  • the program code can also be stored, for example, on a machine-readable carrier.
  • inventions include the computer program for performing any of the methods described herein, wherein the computer program is stored on a machine-readable medium.
  • an embodiment of the method according to the invention is thus a computer program which has a program code for carrying out one of the methods described herein when the computer program runs on a computer.
  • a further embodiment of the method according to the invention is thus a data carrier (or a digital storage medium or a computer-readable medium) on which the computer program for performing one of the methods described herein is recorded.
  • a further embodiment of the method according to the invention is thus a data stream or a sequence of signals, which represent the computer program for performing one of the methods described herein.
  • the data stream or the sequence of signals may be configured, for example, to be transferred via a data communication connection, for example via the Internet.
  • Another embodiment includes a processing device, such as a computer or a programmable logic device, that is configured or adapted to perform one of the methods described herein.
  • Another embodiment includes a computer on which the computer program is installed to perform one of the methods described herein.
  • Another embodiment according to the invention comprises a device or system adapted to transmit a computer program for performing at least one of the methods described herein to a receiver.
  • the transmission can be done for example electronically or optically.
  • the receiver may be, for example, a computer, a mobile device, a storage device or a similar device.
  • the device or system may include a file server for transmitting the computer program to the recipient.
  • a programmable logic device eg, a field programmable gate array, an FPGA
  • a field programmable gate array may cooperate with a microprocessor to perform one of the methods described herein.
  • the methods are performed by any hardware device. This may be a universal hardware such as a computer processor (CPU) or hardware specific to the process, such as an ASIC.

Abstract

L'invention concerne un système et un dispositif pour récupérer un véhicule. Un système comprend deux véhicules marins (10, 20) et une unité de commande. Respectivement un des deux véhicules marins est un véhicule de surface (10). Le véhicule de surface (20) et l'autre véhicule (20) comprennent respectivement une aussière (12, 22), un dispositif d'arrêt étant agencé sur une aussière. Ce dispositif d'arrêt permet de créer une liaison avec l'autre aussière en cas de contact avec celle-ci. L'unité de commande est conçue pour commander un premier des deux véhicules marins selon une trajectoire incurvée autour du deuxième des véhicules marins.
PCT/EP2018/060359 2017-07-14 2018-04-23 Système et dispositif pour récupérer un véhicule WO2019011490A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
NO20200043A NO20200043A1 (en) 2017-07-14 2020-01-14 System and apparatus for recovering a vehicle

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017212126.2A DE102017212126B4 (de) 2017-07-14 2017-07-14 System und Vorrichtung zum Bergen eines Fahrzeugs
DE102017212126.2 2017-07-14

Publications (1)

Publication Number Publication Date
WO2019011490A1 true WO2019011490A1 (fr) 2019-01-17

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PCT/EP2018/060359 WO2019011490A1 (fr) 2017-07-14 2018-04-23 Système et dispositif pour récupérer un véhicule

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DE (1) DE102017212126B4 (fr)
NO (1) NO20200043A1 (fr)
WO (1) WO2019011490A1 (fr)

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CN111572716A (zh) * 2020-05-21 2020-08-25 珠海云洲智能科技有限公司 无人船回收方法及用于其的无人船回收系统

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DE102019205262B4 (de) * 2019-04-11 2021-02-18 Thyssenkrupp Ag Bergungssystem für ein unbemanntes Unterwasserfahrzeug

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US4242978A (en) * 1978-07-17 1981-01-06 Fuller Orville A Hook assembly for retrieving the chain bridle component of broken marine vessel towing lines
US5241920A (en) * 1992-05-11 1993-09-07 Richardson Lee E Hook assembly for broken tow line retrieval and emergency marine towing
US6698376B2 (en) 2001-04-13 2004-03-02 Societe Eca Device for launching and recovering an underwater vehicle and implementation method
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EP2043911B1 (fr) 2006-07-26 2011-07-20 Ifremer Institut Francais De Recherche Pour L'exploitation De La Mer Installation et procede de recuperation d'un engin sous-marin ou marin
US20120042818A1 (en) * 2010-08-18 2012-02-23 Ifremer-Institut Francais De Recherche Pour L' Exploitation De La Mer Device for salvaging a marine or submarine engine
EP2452868A1 (fr) * 2010-11-11 2012-05-16 Atlas Elektronik Gmbh Véhicule sous-marin sans pilote et son procédé de récupération
DE102013207731A1 (de) * 2013-04-26 2014-10-30 Atlas Elektronik Gmbh Autonomes Unterwasserfahrzeug und Verfahren zum Einholen eines solchen

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GB2279045B (en) * 1993-06-19 1996-10-30 Alan Matthews Thompson Method for recovery of survivors off-shore from ships lifeboats and the like
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US4242978A (en) * 1978-07-17 1981-01-06 Fuller Orville A Hook assembly for retrieving the chain bridle component of broken marine vessel towing lines
US5241920A (en) * 1992-05-11 1993-09-07 Richardson Lee E Hook assembly for broken tow line retrieval and emergency marine towing
US6698376B2 (en) 2001-04-13 2004-03-02 Societe Eca Device for launching and recovering an underwater vehicle and implementation method
US20070137548A1 (en) * 2005-09-16 2007-06-21 Borgwarth Dennis W Launch and recovery system
EP2043911B1 (fr) 2006-07-26 2011-07-20 Ifremer Institut Francais De Recherche Pour L'exploitation De La Mer Installation et procede de recuperation d'un engin sous-marin ou marin
US20120042818A1 (en) * 2010-08-18 2012-02-23 Ifremer-Institut Francais De Recherche Pour L' Exploitation De La Mer Device for salvaging a marine or submarine engine
EP2452868A1 (fr) * 2010-11-11 2012-05-16 Atlas Elektronik Gmbh Véhicule sous-marin sans pilote et son procédé de récupération
EP2452868B1 (fr) 2010-11-11 2013-01-02 Atlas Elektronik Gmbh Véhicule sous-marin sans pilote et son procédé de récupération
DE102013207731A1 (de) * 2013-04-26 2014-10-30 Atlas Elektronik Gmbh Autonomes Unterwasserfahrzeug und Verfahren zum Einholen eines solchen

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Publication number Priority date Publication date Assignee Title
CN111572716A (zh) * 2020-05-21 2020-08-25 珠海云洲智能科技有限公司 无人船回收方法及用于其的无人船回收系统

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NO20200043A1 (en) 2020-01-14
DE102017212126B4 (de) 2020-10-08

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