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US20150246713A1 - Connecting an Underwater Vehicle to a Tether - Google Patents

Connecting an Underwater Vehicle to a Tether Download PDF

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Publication number
US20150246713A1
US20150246713A1 US14/632,058 US201514632058A US2015246713A1 US 20150246713 A1 US20150246713 A1 US 20150246713A1 US 201514632058 A US201514632058 A US 201514632058A US 2015246713 A1 US2015246713 A1 US 2015246713A1
Authority
US
United States
Prior art keywords
tether
drum
drive
pulley
pulley system
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
US14/632,058
Other languages
English (en)
Inventor
Julian Paul Askew
Mark John Guinan
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.)
SEADRIFT HOLDINGS Ltd
Original Assignee
SEADRIFT HOLDINGS Ltd
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 SEADRIFT HOLDINGS Ltd filed Critical SEADRIFT HOLDINGS Ltd
Assigned to SEADRIFT HOLDINGS LIMITED reassignment SEADRIFT HOLDINGS LIMITED ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: ASKEW, JULIAN PAUL, GUINAN, MARK JOHN
Publication of US20150246713A1 publication Critical patent/US20150246713A1/en
Abandoned legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/36—Guiding, or otherwise ensuring winding in an orderly manner, of ropes, cables, or chains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/36—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
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H51/00—Forwarding filamentary material
    • B65H51/02—Rotary devices, e.g. with helical forwarding surfaces
    • B65H51/04—Rollers, pulleys, capstans, or intermeshing rotary elements
    • B65H51/08—Rollers, pulleys, capstans, or intermeshing rotary elements arranged to operate in groups or in co-operation with other elements
    • B65H51/10—Rollers, pulleys, capstans, or intermeshing rotary elements arranged to operate in groups or in co-operation with other elements with opposed coacting surfaces, e.g. providing nips
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H57/00—Guides for filamentary materials; Supports therefor
    • B65H57/12—Tubes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
    • B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
    • B65H75/18—Constructional details
    • B65H75/26—Arrangements for preventing slipping of winding
    • B65H75/265—Reels with grooves or grooved elements inhibiting aligned or orderly winding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
    • B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
    • B65H75/18—Constructional details
    • B65H75/30—Arrangements to facilitate driving or braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
    • B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
    • B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
    • B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
    • B65H75/40—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable
    • B65H75/42—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable attached to, or forming part of, mobile tools, machines or vehicles
    • B65H75/425—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable attached to, or forming part of, mobile tools, machines or vehicles attached to, or forming part of a vehicle, e.g. truck, trailer, vessel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
    • B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
    • B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
    • B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
    • B65H75/44—Constructional details
    • B65H75/4481—Arrangements or adaptations for driving the reel or the material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
    • B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
    • B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
    • B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
    • B65H75/44—Constructional details
    • B65H75/4481—Arrangements or adaptations for driving the reel or the material
    • B65H75/4489—Fluid motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
    • B63G2008/007—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled by means of a physical link to a base, e.g. wire, cable or umbilical

Definitions

  • the present invention relates to an apparatus for connection to an underwater vehicle by a tether.
  • the present invention also relates to a method of unwinding a tether connected to an underwater vehicle from an underwater drum to allow movement of the vehicle.
  • the present invention also relates to a method of re-winding a tether connected to a underwater vehicle onto an underwater drum.
  • TMS tether management system
  • an apparatus for connection to an underwater vehicle by a tether comprising: a drum having a helical surface and which is configured to store said tether such that said tether is unwound from said drum to allow said vehicle to move away from the apparatus; a pulley system configured to engage said tether and unwind the tether from said drum; a pulley-drive operable in a forward mode to drive said pulley system for the unwinding of the tether and operable in a braking mode to resist the re-winding of said tether; and a drum-drive operable in a forward mode to drive said drum for the re-winding of said tether and operable in a braking mode to resist the unwinding of the tether.
  • the tether conveys power, control signals and communication signals.
  • a method of unwinding a tether connected to an underwater vehicle, from an underwater drum to allow movement of said vehicle, said drum having a continuous groove defining a substantially helical surface said method comprising the steps of: driving a pulley system configured to engage with said tether to unwind said tether from said drum; and activating said drum to maintain transported tether between the drum and said pulley system in tension.
  • the pulley system includes a primary pulley defining a radius of curvature for the tether and configured to engage on an internal surface of the tether; and a plurality of support pulleys configured to engage with an external surface of the tether in opposition to said primary pulley.
  • a method of re-winding a tether connected to an underwater vehicle, onto an underwater drum, said drum having a continuous groove defining a substantially helical surface comprising the steps of: driving said drum to rewind said tether onto the drum; and activating a pulley system configured to engage with the tether to maintain transported tether between the pulley system and the drum in tension.
  • FIG. 1 shows a tether management system embodying the present invention
  • FIG. 2 shows the tether connected to an underwater vehicle
  • FIG. 3 details the tether management apparatus
  • FIG. 4 shows a cross-section of the tether management apparatus
  • FIG. 5 shows a hydraulic circuit
  • FIG. 6 details a portion of a pulley in contact with a tether.
  • FIG. 1 A first figure.
  • An apparatus 101 is shown in FIG. 1 , and may be identified as a tether management system (TMS) for tethering an underwater vehicle 102 , possibly taking the form of a remotely operated vehicle receiving control signals from a control station within a support vessel 103 .
  • TMS tether management system
  • the tether management system 101 appears as if sitting on top of the underwater vehicle 102 and as such is sometimes referred to as a “tophat”.
  • the support vessel 103 includes a launch and recovery system 104 , including a drum 105 , a swinging frame 106 and an umbilical cable 107 .
  • a winch is configured to lift and load apparatus 101 off and on the support vessel 103 and in use the apparatus may operate at depths of up to four kilometre (4 km).
  • a drum 108 is configured to store a tether 109 , such that the tether 109 is unwound from the drum 108 to allow the vehicle 102 to move away from the apparatus.
  • the vehicle 102 may travel in any direction away from the apparatus 101 , typically up to a distance of one thousand five hundred metre (1500 m).
  • the support apparatus 101 is connected to the support vessel 103 by an umbilical cable 107 .
  • the weight of apparatus 101 is sufficient to maintain the umbilical cable 107 in tension, thereby facilitating the spooling and unspooling of the umbilical cable 107 onto and off from the drum 105 .
  • the tether management drum 108 has been activated thereby allowing tether 109 to be removed, such that the underwater vehicle 102 may move away from the tether management apparatus 101 .
  • Remotely operated underwater vehicles such as vehicle 102
  • vehicle 102 are often built with a large floatation pack on top of an aluminium chassis to provide buoyancy while tasks are being performed.
  • a tooling skid may be fitted to the bottom of the vehicle to accommodate a variety of sensors and tooling packages.
  • Light components tend to be raised towards the top of the vehicle, with heavy components being at the bottom.
  • Electrical components are contained within oil-filled watertight containers to protect them from water corrosion and water pressure.
  • the re-winding of tether 109 is made problematic due its buoyancy. Unlike umbilical cable 107 , the tether 109 will often be slack, due to the vehicle 102 going out to an extreme distance and then retracting back towards the tether management apparatus. Thus, this slack must be taken up before the tether 109 is again placed in tension. This problem does not occur with the umbilical cable 107 because this always remains substantially in tension due to the weight of the tether management apparatus 101 .
  • the tether 109 is not merely a link between the tether management apparatus 101 and the vehicle 102 .
  • the umbilical 107 provides a voltage of anything up to four kilovolts (4 kv) and experience suggests that a voltage of one kilovolt per kilometre (1 kv/km) of cable is required in order to guarantee the availability of power at the tether management system 101 and the remote vehicle 102 .
  • the tether also conveys control signals to the vehicle 102 , relayed via the umbilical 107 and the tether management apparatus 101 and returns data and images back to the support vessel 103 .
  • the tether 109 represents a complex assembly of materials but given the requirement for buoyancy, the tether 109 tends to be less robust than the umbilical cable 107 .
  • the tether management system reduces the extent to which the support vessel 103 is required to move. Its presence also isolates the remote vehicle 102 from natural movements of the support vessel 103 , possibly due to swell.
  • FIG. 3 A frame 301 of the tether management system 101 is illustrated in FIG. 3 .
  • Tether drum 302 has been located within the frame 301 .
  • drum 302 has a helical surface 303 .
  • the helical surface is provided by a helical sleeve applied over a substantially smooth drum.
  • the management system 101 identified in FIG. 1 is detailed in FIG. 4 .
  • a frame 301 supports a tether drum 302 .
  • the tether drum 302 supports a tether such that the apparatus may be connected to an underwater vehicle as shown in FIG. 2 .
  • the tether drum 302 stores the tether 109 such that the tether 109 may be unwound from the tether drum 302 to allow an underwater vehicle (such as vehicle 102 ) to move away from the apparatus.
  • a pulley system 303 is configured to engage with the tether 109 so as to allow the tether to be unwound from the drum.
  • a pulley-drive is provided, for driving the pulley system 303 , in a forward mode to drive the pulley system for the unwinding of the tether thus moving the tether in the direction of arrow 401 and ultimately allowing the tether to exit the apparatus from an exit port 402 .
  • the pulley-drive is operable in a breaking mode to resist the re-winding of the tether.
  • a drum drive is operable in a forward mode to drive the tether drum 302 for the re-winding of the tether, thereby moving the tether in the direction of arrow 402 .
  • the drum-drive is also operable in a breaking mode to resist the unwinding of the tether.
  • the pulley-drive is operable in its forward mode, thereby pulling the tether away from the drum.
  • the drum 302 is in its breaking mode, applying force in the direction of arrow 402 .
  • the driving force of the pulley ensures that the tether does move in the direction of arrow 401 , against the breaking force of the drum-drive.
  • the tether between the drum 302 and the pulley system 303 remains in tension, thereby ensuring that the tether is removed from the drum in a smooth operation.
  • the tether moves in the direction of arrow 402 , thereby returning the tether to the drum.
  • the pulley system 303 operates in its breaking mode, applying a reduced degree of force in the direction of arrow 401 , thus resisting the movement of the drum 302 .
  • Drum 302 continues to move and the tether continues to be wound onto the drum.
  • the pulley system 303 includes a primary pulley 403 defining a radius of curvature 404 for the tether 109 as it moves. This radius of curvature is sufficient to ensure that the tether 109 does not experience excessive bending forces which may result in tether damage and failure.
  • a plurality of support pulleys are also provided which, in this embodiment, include a first support pulley 405 and a second support pulley 406 .
  • the support pulleys 405 and 406 are configured to engage with an external surface 407 of the tether 109 in opposition to the primary pulley 403 .
  • the tether 109 is held securely between the primary pulley 403 and the secondary pulleys 405 , 406 .
  • This overall region of support may be referred to as a sheave and, given its driven nature, it may collectively be referred to as a power sheave.
  • the apparatus 101 provides for the tether to exit from exit port 402 in a substantially vertical direction.
  • a flexible support conduit 408 supports the tether as it passes between the pulley system and the exit port 402 .
  • the conduit 408 is fabricated from a plurality of interlocking portions, thereby facilitating flexibility during assembly and maintenance procedures.
  • pulley-drive 403 is driven by a hydraulic motor 501 .
  • drum 302 is driven by a second hydraulic motor 502 .
  • An electric motor receives electrical power from the umbilical 107 and uses this to apply pressure to a hydraulic fluid circulated within a hydraulic circuit; a schematic version of which is shown in FIG. 5 .
  • Hydraulic fluid from the hydraulic pump is supplied to a valve 503 from a main inlet 504 .
  • Valve 503 may receive a first pilot signal on an input line 505 , resulting in pressure being supplied to line 506 .
  • the valve 503 may also receive a pilot signal on input line 507 resulting in pressure being applied to output line 508 .
  • the valve 503 may also remain in a rest condition, resulting in neither line 506 nor line 508 being energised.
  • a pilot signal on line 505 represents a spool out condition, forcing the tether out of orifice 401 through movement in the direction of arrow 401 .
  • a valve 509 directs high pressure fluid to the pulley-drive 501 causing the pulley-drive to pull tether away from drum 302 .
  • a further valve 510 supplies a lower breaking pressure to the drum-drive 502 .
  • the hydraulic system of FIG. 5 allows the apparatus to be deployed in accordance with two methods of operation.
  • a tether is connected to a underwater vehicle from an underwater drum 302 to allow movement of the vehicle.
  • a pulley system 403 is driven, configured to engage with the tether so as to unwind the tether from the drum.
  • the drum is also activated (at lower pressure) so as to maintain transported tether 109 between the drum and the pulley system in tension.
  • a second method of operation is provided for the re-winding of the tether, with the tether connected to an underwater vehicle.
  • the tether re-winds onto underwater drum 302 .
  • the drum is driven so as to re-wind the tether onto the drum.
  • pulley system 403 is also activated so as to engage with the tether, to maintain transported tether 109 between the pulley system 103 and the drum 302 in tension.
  • the drum 302 has a continuous groove defining a substantially helical surface.
  • a first layer of the rewound tether may be forced into this groove, due to the activation of the pulley system maintaining the tether in tension.
  • a second layer may be rewound so as to fall within grooves defined by the first layer.
  • this process may continue until all of the tether has been rewound onto the tether drum 302 .
  • the underwater vehicle is then restrained by a spring loaded device when the tether has been fully rewound. In this way, it is possible for the underwater vehicle to be restrained in the absence of power but for the vehicle to be released, activation of the spring loaded device is required.
  • hydraulic pressure is used to effect this release in response to the spool-out pilot signal being generated.
  • pulley 403 An example of pulley 403 is illustrated in FIG. 6 .
  • This primary pulley defines a groove 601 configured to make contact with tether 109 such that force may be applied in the direction of arrow 401 in order to remove tether from cable 303 .
  • the pulley system effectively maintains a tight grip on the tether 109 , given that the tether is being maintained in tension by the activation pressure applied to drum-drive 502 .
  • the profile of groove 601 is such that as the diameter of the tether 109 reduces, the tether is forced radially inwards, such that it is still held by the reducing width of groove 601 .
  • pulley 403 is cast from polymer material, so as to enhance the frictional force between groove 601 and tether 109 .

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Storing, Repeated Paying-Out, And Re-Storing Of Elongated Articles (AREA)
  • Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
  • Devices For Conveying Motion By Means Of Endless Flexible Members (AREA)
US14/632,058 2014-03-01 2015-02-26 Connecting an Underwater Vehicle to a Tether Abandoned US20150246713A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB1403694.1A GB2523600B (en) 2014-03-01 2014-03-01 Connecting an underwater vehicle to a tether
GB1403694.1 2014-03-01

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US20150246713A1 true US20150246713A1 (en) 2015-09-03

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US14/632,058 Abandoned US20150246713A1 (en) 2014-03-01 2015-02-26 Connecting an Underwater Vehicle to a Tether

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US (1) US20150246713A1 (fr)
EP (1) EP2921445B1 (fr)
GB (1) GB2523600B (fr)

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WO2019232617A1 (fr) * 2018-06-05 2019-12-12 Igloo Innovations Incorporated Véhicule volant et immergeable à commande sans fil
WO2023039296A1 (fr) * 2021-09-13 2023-03-16 Diefendorf Dylan Procédés de récupération pour équipement de pêche en mer

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NO20160328A1 (en) * 2016-02-26 2017-02-13 Oceaneering As A system and method of operating an unmanned underwater vehicle

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GB2523600A (en) 2015-09-02
GB201403694D0 (en) 2014-04-16
EP2921445B1 (fr) 2017-05-10
GB2523600B (en) 2016-07-06

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