Launch and recovery techniques for submersible vehicles and other payloads

摘要

A subsea payload such as an AUV or an AUV garage is lifted from an underwater location by flying a latch unit (38) through the water to the payload (22). The latch unit (38) carries a lift line (20) toward the payload (22). The latch unit (38) is then attached to the payload (22) and the payload (22) is lifted using tension applied through the lift line (20) via the latch unit (38). The latch unit (38) can also be used on a lift line to lower a payload and then to release the payload at an underwater location. The lift line (20) is supported by a heave - compensating winch (12) on a surface vessel that effects z-axis movement of the latch unit (38). The winch (12) maintains tension on the lift line (20) to prevent the lift line (20) falling on the payload. Movement of the latch unit (38) on x-and y-axes is effected by on-board thrusters (48).