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EP2988991B1 - Véhicule submersible autonome, et procédé pour haler un tel véhicule submersible - Google Patents

Véhicule submersible autonome, et procédé pour haler un tel véhicule submersible Download PDF

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Publication number
EP2988991B1
EP2988991B1 EP14717987.3A EP14717987A EP2988991B1 EP 2988991 B1 EP2988991 B1 EP 2988991B1 EP 14717987 A EP14717987 A EP 14717987A EP 2988991 B1 EP2988991 B1 EP 2988991B1
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EP
European Patent Office
Prior art keywords
line
capturing
buoy
submersible vessel
underwater vehicle
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.)
Active
Application number
EP14717987.3A
Other languages
German (de)
English (en)
Other versions
EP2988991A1 (fr
Inventor
Sven-Christian Hesse
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.)
Atlas Elektronik GmbH
Original Assignee
Atlas Elektronik GmbH
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Publication date
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Publication of EP2988991A1 publication Critical patent/EP2988991A1/fr
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Classifications

    • 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
    • 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
    • B63G8/42—Towed underwater vessels
    • 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

Definitions

  • the present invention relates to a method for retrieving an autonomous underwater vehicle. Furthermore, the present invention relates to an autonomous vessel and relates to a vehicle arrangement with an autonomous underwater vehicle and a mothership for this underwater vehicle.
  • Autonomous underwater vehicles are well known, they are usually exposed in the sea or on large lakes by a mothership, then dive and explore essentially autonomous the corresponding underwater area, for example, to examine the laying of a submarine cable to search for mineral resources or flora and To explore fauna under water. After completion of such a dive, the underwater vehicle is again taken on board the mothership, for example, to exchange or recharge one or more batteries of the underwater vehicle. Also, the underwater vehicle can be repaired or maintained aboard the mothership, or results of the dive are evaluated.
  • a problem with such a recovery of the underwater vehicle is that on the sea and on large lakes usually a certain sea state prevails, which moves both the mothership, as well as the underwater vehicle, once it has surfaced, very strong. This may already be problematic finding the surfaced underwater vehicle of the mothership out, but in particular it is difficult in rough seas to attach an on-board crane to a mounting hook or the like of the underwater vehicle.
  • the present invention is therefore based on the object to address at least one of the problems mentioned.
  • a solution should be proposed in which an autonomous underwater vehicle can be obtained even with at least moderate sea state with comparatively little effort.
  • At least an alternative solution should be proposed.
  • a method according to claim 1 and a vehicle arrangement according to claim 8 are proposed.
  • the solution according to the vehicle arrangement comprises an autonomous underwater vehicle and a mothership for receiving the underwater vehicle.
  • the autonomous underwater vehicle has a safety line with a safety buoy and a release device for releasing the safety buoy and at least part of the safety line.
  • the mothership has an outlet and retrieval device for discharging and retrieving a floating line.
  • the mothership first has a floating line for collecting the autonomous underwater vehicle, optionally together with a buoy.
  • This floating line is pulled behind the mothership, while the mothership continues its journey.
  • the underwater vehicle can at this stage raise at least a part of the suspension line by means of the safety buoy.
  • the suspension line is thus attached to the underwater vehicle with one end and at the other end of the suspension line the safety buoy is attached.
  • the catch buoy rises and pulls at least a portion of the line from the underwater vehicle with upwards towards the water surface.
  • the underwater vehicle is hereby submerged, for example. To a depth of 5m, and it is thus hardly any swell placed at this depth.
  • the fishing buoy now drifts on the water surface and is connected to the underwater vehicle via the safety line.
  • the suspension line is preferably not completely, but only partially rise.
  • the underwater vehicle now passes under the floating line, so in the submerged state passes under the floating line.
  • This ride can be done at a right angle to the floating line, but it can also be a diagonal underneath.
  • the underwater vehicle pulls the catch buoy against the floating line.
  • the floating line floats, but is relatively deep in the water.
  • the buoy also floats, but dominates much of the water surface and thus tends when crossing the floating line to move over the floating line.
  • the fishing line runs from the fishing buoy to the submerged submerged vehicle, so that in this case the fishing line with the fishing buoy caught on the floating line, in particular caught with a hook on the floating line, so that the hook surrounds the floating line substantially.
  • the underwater vehicle can now be towed to the mothership by catching the floating line.
  • the underwater vehicle is thus connected to the mothership via a line and floating line.
  • the underwater vehicle traverses the floating line so that the catching buoy with a fishing gear, in particular a fishing hook on the floating line
  • a method according to claim 1 is proposed.
  • the mothership for collecting the autonomous underwater vehicle initially leaves a floating line, optionally together with a buoy.
  • This floating line is pulled behind the mothership, while the mothership continues its journey.
  • the underwater vehicle can at this stage raise at least part of a safety line by means of a safety buoy.
  • the suspension line is thus attached to the underwater vehicle with one end and at the other end of the suspension line the safety buoy is attached.
  • the catch buoy rises and pulls at least a portion of the line from the underwater vehicle with upwards towards the water surface.
  • the underwater vehicle is hereby submerged, for example. To a depth of 5m, and it is thus hardly any swell placed at this depth.
  • the fishing buoy now drifts on the water surface and is connected to the underwater vehicle via the safety line.
  • the suspension line is preferably not completely, but only partially rise.
  • the safety buoy is for this purpose in particular comparatively flat and designed for wide and / or long and has this fishing hook, which is directed substantially downwards and with an opening to the front. By crossing underneath the floating line with the underwater vehicle, the floating line is thus drawn into this fishing hook.
  • the catch hook preferably has a securing device or a securing mechanism, which prevents the floating line from sliding out of the catch hook again.
  • the catch By forward movement of the mothership, which should be as moderate as possible, such as. With a speed of two knots through the water, the catch, namely the fishing hook slides to one end of the floating line.
  • the floating line is of course designed at its end so that it does not slip out of the fishing hook there. Now, if the fishing hook and thus the fishing buoy has arrived at the end of the floating line, it is pulled and in the wake of the underwater vehicle of the mothership.
  • the driven by the underwater vehicle so provided driving course is compared with the actual driving course of the underwater vehicle.
  • the underwater vehicle When passing under the floating line, the underwater vehicle is preferably approximately transversely to the floating line and thus, at least according to one embodiment, moved transversely to the direction of travel of the mothership.
  • the underwater vehicle is now pulled in the direction of travel of the mothership by hooking on the floating line and pulling the underwater vehicle via the floating line and the line. If a significant deviation is found in the examination of the intended driving course of the underwater vehicle, this is due to said pulling of the underwater vehicle by the mothership, so that this course deviation is a successful hooking the buoy or the fishing hook is identified on the floating line.
  • a significant deviation is to be assumed if a predetermined limit is exceeded. Preferably, this is above 30 degrees deviation between the driven driving course and the actual driving course.
  • the floating line is provided at its end facing away from the parent ship with a position buoy, which is omitted together with the floating line, that the position buoy has a location transmitter and the location transmitter emits a locating signal, so that the underwater vehicle locate the position buoy can, and that optionally another position transmitter is provided at the stern of the mothership, in particular there is left on the floating line or otherwise into the water, and that the underwater vehicle passes under the floating line between the position buoy and the further locating transmitter.
  • the mothership basically pulls the position buoy by means of the floating line behind it.
  • the position buoy emits a locating signal through its locating transmitter, which is designed in particular as a sonar.
  • the underwater vehicle can therefore detect the position of this position buoy.
  • the position of the mothership may also be known to the underwater vehicle, or due to a movement of the position buoy, namely the fact that the mothership is moving, the underwater vehicle may also detect the position of the mothership and thus, with a known length of the buoy, the area the swimming leash is omitted and should be undercut.
  • a further position transmitter is provided at the stern of the mothership, in particular such that it is left on the floating line in the water and then positioned immediately behind the stern of the ship.
  • the underwater vehicle can thus locate the position buoy and the further position transmitter.
  • the floating line In between, the floating line must be arranged and therefore the underwater vehicle basically traverses a line which runs at the level of the water surface between the position buoy and the further locating transmitter.
  • the underwater vehicle can thereby determine in a simple manner the approximate location at which the floating line is designed in the water or on the water surface and under this there.
  • the underwater vehicle initially only ascends a part of the suspension line before crossing the floating line, so that the underwater vehicle with a shortened suspension line traverses the floating line. Only after the leash has caught on the buoy with the buoy, the remaining part of the fishing line can be pulled out of a receptacle of the underwater vehicle. In particular, this remaining part can be pulled by pulling on the suspension line by means of the floating line from the recording of the underwater vehicle.
  • a receptacle can be formed, for example, as a receiving cassette or receptacle, or, to give another example, a receiving roll may be provided on which the catching line is first wound up. But it is also under the rising let the leash always understand that this always remains attached with one end to the underwater vehicle.
  • the suspension line when passing under the floating line has a different length than when picking up the underwater vehicle to the mothership.
  • the shorter length can be tuned to the depth of the submersible when catching and is thus adapted to the passing under the floating line so that the line with its catch buoy on the floating line can catch well.
  • a longer line may be advantageous, especially if the underwater vehicle comes in the vicinity of the mothership in order to avoid as possible collisions between mothership and underwater vehicle can.
  • a further embodiment of the method proposes that the underwater vehicle is consulted to the mothership and then, when the underwater vehicle is in the vicinity of the mothership, in particular in range of an on-board crane, a lifting harness of the ship's crane is guided to the underwater vehicle. This guide can be done through the suspension line. When catching the floating line, the underwater vehicle was pulled by the line to the ship and one end of the line, namely the catch buoy is arranged, is thereby pulled from the floating line on the mothership.
  • a lifting harness of the ship's crane on the line to a lifting anchor of the underwater vehicle.
  • a lifting harness may, according to a simple example, be in the form of a rope or a leash placed in a loop, this loop being guided along the line by placing the leash in the loop and thereby guiding the loop to the lifting anchorage.
  • the lifting anchor is arranged in particular at the top of the underwater vehicle approximately above the center of gravity of the underwater vehicle.
  • the lifting anchor can be designed as a hook, in particular with a securing device, and firmly anchored in the underwater vehicle.
  • the exemplified loop is then preferably guided along the suspension line in these hooks. With the help of the safety mechanism - if any - this can already be a firm and secure connection between on-board crane and underwater vehicle are made, namely on said lifting anchor and said lifting harness.
  • the lifting gear or salvage harness can also be guided with the aid of a support line to the lifting anchor of the underwater vehicle, namely instead of or possibly in addition to the guidance by the safety line.
  • the support line is an additional one Leash provided on the underwater vehicle.
  • the support line is provided on the underwater vehicle. It is attached there about in the region of a lifting anchor particular a corresponding hook on the underwater vehicle with one end. With another end, it is attached to the line, such as in a middle area of the line. If the suspension line is caught up by means of the floating line from the mother ship, in particular its winch, this support line also reaches the mother ship with its end attached to the safety line when the underwater vehicle has been pulled close to the mother ship. Then, this support line may be used to, at least temporarily, directly or indirectly attach the submersible to the mothership. In addition, the support line can now be used to guide the lifting harness or salvage harness on this support line to the lifting anchorage of the underwater vehicle.
  • an autonomous underwater vehicle which is prepared to be retrieved by a method according to at least one embodiment described above in a mothership.
  • the autonomous underwater vehicle is prepared so far as to have a safety line with safety buoy and that a triggering device is provided for releasing the safety buoy and for releasing at least part of the safety line.
  • one end of the suspension line is fastened to the underwater vehicle in the region of the lifting anchor, in particular in an upper, middle region of the underwater vehicle.
  • a central portion of the safety line is fixed in the front region of the underwater vehicle.
  • the tether is completely or partially stowed in a front cassette on the underwater vehicle, wherein a triggering device is provided which can cause a part of the tether from there from this front cassette rises together with the catch buoy, in particular so that another Part of the suspension line initially in the cassette remains.
  • a vehicle arrangement which comprises an autonomous underwater vehicle and a mothership for receiving the underwater vehicle.
  • the autonomous underwater vehicle is designed as described in accordance with at least one preceding embodiment, or as is apparent from at least one embodiment of the proposed method for recovering the autonomous underwater vehicle.
  • the mothership has an outlet and catching device for discharging and retrieving the floating line.
  • Such an outlet and Einholvoriques is preferably designed as a motor-driven winch.
  • the mothership has a base station for receiving the underwater vehicle.
  • Such a base station may be permanently installed on the mothership, or it may be temporary as a mobile base station, e.g. be arranged for a trip on the mothership.
  • Such a mobile base station is preferably designed as a container unit.
  • FIGS. 1 to 7 explain, step by step, how to pick it up and, on a crane, to attach a submersible to be retrieved in a mothership, including any proposed preparations.
  • FIG. 1 shows that a mothership 2 has left a floating line 4 with position buoy 6 to the rear in light forward driving.
  • the buoy 6 is prepared to record a WLAN and GPS receiver to represent the position of the buoy 6.
  • the buoy is equipped with a sonar transmitter and a signal or position light and connected to the floating line 4.
  • the buoy 6 is thrown from the deck into the water at the rear of the mothership 2.
  • An electric winch will unwind the floating line 2, namely to about 80 m.
  • the mothership will drive slowly with about a knot ahead to help the unwinding process. It is preferably proposed, in addition to the sonar transmitter of the positioning buoy 6, to arrange a further sonar transmitter outside at the rear end of the mothership.
  • the autonomous underwater vehicle to be picked up is requested via an acoustic underwater modem to start the catching-up process.
  • the underwater vehicle is commanded to a specific position, from which it can safely cross the floating line 4 between the mothership 2 and the position buoy 6.
  • An underwater vehicle buoy will be released on command and the underwater vehicle, which dives at a depth of approximately 5m, will drag the buoy, which has a down hook, behind it.
  • This situation is schematic in FIG. 2 shown, in which the underwater vehicle 8 pulls a catch buoy 12 via a tether 10 behind it, wherein the fishing buoy 12 floats substantially on the water surface 14.
  • the fishing buoy 12 is equipped with a fishing hook 16 which points substantially downwards.
  • FIG. 2 also illustrates on the autonomous underwater vehicle 8 a lifting anchor 18 which has a hook for engagement.
  • the speed V U of the autonomous underwater vehicle 8 is, for example, two nodes.
  • the total length of the fishing line 10 is, for example, about 25m.
  • the process described so far may be performed automatically by automatically receiving the autonomous underwater vehicle 8 with an acoustic connection request. Underwater vehicle 8 will then automatically release the buoy and cross the buoy line between the two sonar transmitters.
  • a support line 20, which may be, for example, about 15m long, connects the lifting anchor 18, in particular the indicated hook, with the safety line, for example. After a length of 9m.
  • This support line 20 is stowed in a front cassette in the underwater vehicle 8.
  • the tether 10 is initially not completely pulled out by the fishing buoy 12, but is limited to a length whose value is slightly greater than the depth of the autonomous craft 8 in this case. This length, to which the tether 10 is first pulled out, can thus be limited, for example, to 8m. The remaining 17m, to continue the above example, are mechanically pulled out when the submersible 8 is pulled behind the mothership.
  • FIG. 3 illustrates the underwater vehicle 8 under the floating line 4 at the speed V U of the underwater vehicle 8.
  • the underwater vehicle Due to the traction of the mothership 2, the underwater vehicle is pulled with its bow in the direction of the mothership 2. This drag effect is detected by the underwater vehicle navigation software and the underwater vehicle engines are stopped. Detection occurs in that the default or commanded direction differs by more than 30 degrees from the actual direction. This check is only active during a taxiing in order to avoid any malfunctioning in a survey, exploration or the like of the underwater vehicle.
  • the floating line 4 is then overtaken by the winds until both buoys, namely the buoy 6 and the buoy 12 on deck of the mothership 2 are.
  • the support line 20 is then attached to the base station, as long as the pulling force on the floating line 4 and the leash 10 from the mothership 2 acts on the underwater vehicle 8.
  • the winch 22, which is only indicated very schematically in some of the figures, will then let the floating rope out again somewhat, namely to the extent that the pulling force is no longer transmitted via the floating line 4 and the tether 10 but via the support line 20.
  • the speed of the mothership 2 is very low or even zero. Both buoys, namely the position buoy 6 and the safety buoy 12, can then be safely removed and the floating line 4 and the tether 10 are connected. This procedure prevents any accidents that could be caused by a pulling force in the lines.
  • the winch 22 then rewinds while salvage harness or lifting harness such as lifting line is installed on a crane hook, in particular a conventional crane hook of an on-board crane.
  • the FIG. 5 shows the situation in which the support line 2 is attached to a base station on the mothership and thus on the mothership.
  • the hoisting gear or salvage harness which may be formed as a lifting line laid in a loop, may be guided on the support line 20 to the hook of the lifting anchor 18.
  • the mother ship 2 should make a turn, which is in FIG. 6 is indicated.
  • FIG. 9 illustrates guiding a lifting line 24, here represents the lifting harness along the support line 20 to the lifting hook 26 of the lifting anchor 18 of the underwater vehicle 8.
  • the lifting hook 26 also has a securing mechanism 28, which prevents the lifting line 24 from the lifting hook 26 can slip out once she has reached her position there.
  • the underwater vehicle 8 can then be raised by the crane hook 30 by a crane.
  • FIG. 10 shows against the FIG. 9 in an overview and partly schematically illustrating how a lifting line 24 can be guided to a lifting anchor 18.
  • the underwater vehicle 8 is attached to its bow 34 with the line 10 to a mooring line 36.
  • the mooring device 36 is located on the mothership and the underwater vehicle 8 can thus be pulled behind the mothership behind this on this leash 10, if the mothership moves at least with low speed ahead.
  • the mooring 36 is proposed a winch, as the winds 22 of Figures 1-8 to use, where the underwater vehicle is attached via the leash 10.
  • a crane 26, which is also secured to the mothership has the lifting line 24, with the concrete attachment of the lifting line 24 to the crane 26 not shown because the crane 26 is shown here only symbolically.
  • the support line 20 is attached to the lifting anchor 18 and is also guided to the mothership.
  • the lifting line 24 is placed in a loop around this support line 20 and thus can be guided at her to the underwater vehicle 8, namely to the lifting anchor 18.
  • FIG. 7 shows a position of the lateral receiving the underwater vehicle 8 from a crane 32 on the mother ship 2.
  • FIGS. 1 to 8 It is true that the illustrations are illustrative and, in particular, proportions do not have to reflect the proportions of reality.
  • the underwater vehicle 8 is usually much smaller than the mothership 2.
  • FIG. 7 shows that the underwater vehicle 8 was used by the winch 22 and the tether 10 very close to the mothership 2. Now, the underwater vehicle 8 can and will be lifted by the crane 32, wherein the support line 20 can be used as a support.
  • the winch 22 continues to exert a pulling force on the underwater vehicle 8 via the line 10, which results in FIG. 8 is indicated.
  • the winch 22 can preferably be rotated on a corresponding rotary mount, such as a turntable, in the direction of the bow of the underwater vehicle 8. This is done basically passive or automatically by the applied tensile forces between winch 22 and underwater vehicle. 8
  • the autonomous underwater vehicle is equipped with a catch buoy with hook and tail line, which is attached to the nose of the autonomous underwater vehicle. Furthermore, a triggering or releasing mechanism is provided to release the catching buoy, and thus also to release a corresponding part of the catching line attached to the catching buoy.
  • the underwater vehicle has a bow hook which allows the underwater vehicle to be pulled through the water up to a speed of three knots. Preferably, two cassettes are provided to receive the lines. Furthermore, a load hook in the central region of the autonomous underwater vehicle is provided in order to raise this. This is particularly part of a lifting anchor of the underwater vehicle.
  • an acoustic modem is provided, including adjustment, to command or direct the autonomous underwater vehicle via an acoustic modem when it has submerged.
  • the underwater vehicle is provided for carrying out an automatic recovery or automatic retrieval, as far as actions of the underwater vehicle are concerned.
  • FIG. 11 shows an underwater vehicle 8, with a nose 34, tail 38, bottom 40 and top 42.
  • a fishing line 10 is arranged and leads to a fishing buoy 12, which floats on the water surface 14.
  • the fishing buoy 12 also has a fishing hook 16 which points forward because the underwater vehicle 8 travels forward at a low speed V U , pulling the fishing buoy 12 in that direction.
  • a support line 20 which is also fastened in a central region of the suspension line 10.
  • An attachment point in this central region bears the reference numeral 44 and is in the FIG. 11 also indicated only schematically.
  • the length ratios between the length of the underwater vehicle 8, the lengths of the tether 10 and support line 20 and the concrete position of the attachment point 44 are not representative of actual size ratios.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Cleaning Or Clearing Of The Surface Of Open Water (AREA)
  • Laying Of Electric Cables Or Lines Outside (AREA)

Claims (11)

  1. Procédé de récupération d'un engin submersible autonome (8) dans un navire-mère (2), le procédé comprenant les étapes suivantes
    - laisser filer une ligne flottante (4) depuis le navire-mère (2) de sorte que la ligne flottante (4) flotte dans l'eau à une profondeur déterminée,
    - lasser remonter au moins une partie d'une ligne de capture (10) au moyen d'une bouée de capture (12) depuis l'engin submersible (8), la ligne de capture (10) étant fixée par une extrémité à l'engin submersible (8) et par l'autre extrémité à la bouée de capture (12) de sorte que la bouée de capture (12) dérive à la surface de l'eau,
    - faire passer la ligne flottante (4) sous l'engin submersible (8) de sorte que la ligne de capture (10) pourvue de la bouée de capture (12) se prenne à la ligne flottante (4) et
    - tirer l'engin submersible (8) vers le navire-mère (2) par récupération de la ligne flottante (4).
  2. Procédé selon la revendication 1,
    caractérisé en ce que
    - l'engin submersible (8) passe sous la ligne flottante (4) de sorte que la bouée de capture (12) s'accroche à un moyen de capture (16), en particulier un crochet de capture (16) au niveau de la ligne flottante (4) et
    - le moyen de capture (16) glisse vers une extrémité de la ligne flottante (4) sous l'effet de la progression du navire-mère (2).
  3. Procédé selon la revendication 1 ou 2,
    caractérisé en ce que
    - une trajectoire commandée par l'engin submersible (8) est comparée à la trajectoire réelle de l'engin submersible (8) et un accrochage de la bouée de capture (12) sur la ligne flottante (4) est considéré comme réussi lorsque le résultat de la comparaison est supérieur à une limite prédéterminée, en particulier supérieure à 30°.
  4. Procédé selon l'une des revendications précédentes,
    caractérisé en ce que
    - la ligne flottante (4) est pourvue, à son extrémité opposée au navire-mère (2), d'une bouée de position (6) qui est laissée à filer avec la ligne flottante (4),
    - la bouée de position (6) comporte un émetteur de localisation et
    - l'émetteur de localisation émet un signal de localisation de sorte que l'engin submersible (8) puisse localiser la bouée de position (6), et
    - l'engin submersible (8) passe sous la ligne flottante (4) entre la bouée de position (6) et l'autre émetteur de localisation.
  5. Procédé selon la revendication 4,
    caractérisé en ce que
    un autre émetteur de position est prévu à l'arrière du navire-mère (2), en particulier sur la ligne flottante (4), ou bien est laissé dans l'eau.
  6. Procédé selon l'une des revendications précédentes,
    caractérisé en ce que
    - l'engin submersible (8) permet à une partie de la ligne de capture (10) de remonter avant de passer sous la ligne flottante (4) de sorte que l'engin submersible (8) passe sous la ligne flottante (4) avec une ligne de capture raccourcie (12) et
    - une partie restante de la ligne de capture (10) peut être tirée d'un logement de l'engin submersible (8) après que la ligne de capture (10) pourvue de la bouée de capture (6) s'est prise sur la ligne flottante (4), une extrémité de la ligne de capture (12) restant fixée à l'engin submersible (8).
  7. Procédé selon l'une des revendications précédentes,
    caractérisé en ce que
    - l'engin submersible (8) est utilisé à bord du navire-mère (2), et
    - un cadre de levage (24) d'une grue de bord (32) est guidé sur la ligne de capture (10) ou une ligne de support (20) vers un ancrage de levage (18) de l'engin submersible (8).
  8. Ensemble à engin comprenant
    - un engin submersible autonome (8) et
    - un navire-mère (2) destiné à recevoir l'engin submersible (8),
    l'engin submersible (8) comportant
    - une ligne de capture (10) pourvue d'une bouée de capture (12) et d'un crochet de capture (16) dirigé vers le bas,
    - un dispositif de déclenchement destiné à libérer la bouée de capture (12) et au moins une partie de la ligne de capture (10) et
    le navire-mère (2) comportant
    - un dispositif de filage et de récupération destiné à laisser filer et récupérer une ligne flottante.
  9. Ensemble à engin selon la revendication 8,
    caractérisé en ce que
    une extrémité de la ligne de capture (10) ou une première extrémité d'une ligne de support (20) est fixée à l'engin submersible (8) au niveau d'une ancre de levage ou de l'ancre de levage (18), dans une région centrale supérieure de l'engin submersible (8) et
    une partie centrale de ligne de capture (10) est fixée dans la région avant de l'engin submersible (8) et/ou une deuxième extrémité de la ligne de support (20) est fixée à la ligne de capture (10) dans sa région centrale.
  10. Ensemble à engin selon la revendication 8 ou 9,
    caractérisé en ce que
    la ligne de capture (10) est rangée dans une cassette avant de l'engin submersible (8) et peut remonter au moins partiellement depuis celle-ci.
  11. Ensemble à engin selon l'une des revendications 8 à 10,
    caractérisé en ce que
    le navire-mère (2) comporte une station de base destinée à recevoir l'engin submersible (8).
EP14717987.3A 2013-04-26 2014-03-06 Véhicule submersible autonome, et procédé pour haler un tel véhicule submersible Active EP2988991B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013207731.9A DE102013207731A1 (de) 2013-04-26 2013-04-26 Autonomes Unterwasserfahrzeug und Verfahren zum Einholen eines solchen
PCT/DE2014/100082 WO2014173392A1 (fr) 2013-04-26 2014-03-06 Véhicule submersible autonome, et procédé pour haler un tel véhicule submersible

Publications (2)

Publication Number Publication Date
EP2988991A1 EP2988991A1 (fr) 2016-03-02
EP2988991B1 true EP2988991B1 (fr) 2019-08-21

Family

ID=50513000

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Application Number Title Priority Date Filing Date
EP14717987.3A Active EP2988991B1 (fr) 2013-04-26 2014-03-06 Véhicule submersible autonome, et procédé pour haler un tel véhicule submersible

Country Status (6)

Country Link
US (1) US9834284B2 (fr)
EP (1) EP2988991B1 (fr)
AU (1) AU2014256563B2 (fr)
CA (1) CA2897733C (fr)
DE (1) DE102013207731A1 (fr)
WO (1) WO2014173392A1 (fr)

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DE102014113183A1 (de) * 2014-09-12 2016-03-17 Thyssenkrupp Ag Verfahren und Vorrichtung zum Bergen eines autonomen Unterwasserfahrzeugs
DE102014113184A1 (de) * 2014-09-12 2016-03-17 Thyssenkrupp Ag Fahrzeugsystem mit einem Mutterschiff und einem unbemannten Wasserfahrzeug und Verfahren zum Bergen eines unbemannten Wasserfahrzeugs
JP6555508B2 (ja) * 2015-03-20 2019-08-07 株式会社Ihi 水中航走体の回収方法及び回収システム
JP6544709B2 (ja) * 2015-03-20 2019-07-17 株式会社Ihi 水中航走体の回収方法及び回収システム
JP6593771B2 (ja) * 2015-07-24 2019-10-23 株式会社Ｉｈｉ 水中無人機の回収装置及び回収方法
NO339664B1 (en) * 2015-10-15 2017-01-23 St Tech As A system for isolating an object
NL2015802B1 (en) * 2015-11-17 2017-06-02 Fugro N V Method of and system for hauling a marine equipment unit, a marine equipment unit and a carrier.
DE202016101197U1 (de) 2016-03-04 2017-06-07 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. System zum Ausbringen und Bergen eines Unterwasserfahrzeugs
EP3226095A1 (fr) 2016-03-31 2017-10-04 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Système et procédé de navigation d'un véhicule de plongée à navigation autonome lors de l'entrée dans une station d'arrêt
DE102017209514B4 (de) 2017-06-06 2025-10-09 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Vorrichtung und Verfahren zum Aufnehmen eines Unterwasserfahrzeugs
DE102017212126B4 (de) * 2017-07-14 2020-10-08 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. System und Vorrichtung zum Bergen eines Fahrzeugs
FR3074473A1 (fr) * 2017-12-06 2019-06-07 Cgg Services Sas Procede de recuperation de dispositifs flottants et dispositif flottant associe
JP6916134B2 (ja) * 2018-03-20 2021-08-11 三井Ｅ＆Ｓ造船株式会社 水中航走体の回収装置、曳航装置、水中航走体の回収システム、及び水中航走体の回収方法
GB2597417B (en) * 2019-06-07 2022-07-20 Subsea 7 Ltd Deployment of unmanned underwater vehicles

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Also Published As

Publication number Publication date
AU2014256563A1 (en) 2015-10-29
DE102013207731A1 (de) 2014-10-30
US9834284B2 (en) 2017-12-05
US20160023722A1 (en) 2016-01-28
AU2014256563B2 (en) 2016-08-25
WO2014173392A1 (fr) 2014-10-30
EP2988991A1 (fr) 2016-03-02
CA2897733C (fr) 2017-01-24
CA2897733A1 (fr) 2014-10-30

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