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WO2009016209A2 - Port immergé pour engin sous-marin - Google Patents

Port immergé pour engin sous-marin Download PDF

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Publication number
WO2009016209A2
WO2009016209A2 PCT/EP2008/060025 EP2008060025W WO2009016209A2 WO 2009016209 A2 WO2009016209 A2 WO 2009016209A2 EP 2008060025 W EP2008060025 W EP 2008060025W WO 2009016209 A2 WO2009016209 A2 WO 2009016209A2
Authority
WO
WIPO (PCT)
Prior art keywords
craft
hereinbefore
submerged
port
submerged port
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.)
Ceased
Application number
PCT/EP2008/060025
Other languages
English (en)
Other versions
WO2009016209A3 (fr
Inventor
Bruno Giuseppe Becchio
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.)
SALES ENGINEERING AG
Original Assignee
SALES ENGINEERING AG
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 SALES ENGINEERING AG filed Critical SALES ENGINEERING AG
Publication of WO2009016209A2 publication Critical patent/WO2009016209A2/fr
Publication of WO2009016209A3 publication Critical patent/WO2009016209A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • B63C1/00—Dry-docking of vessels or flying-boats
    • B63C1/12—Docks adapted for special vessels, e.g. submarines

Definitions

  • the present invention concerns an at least partly submerged port for the berthing and departure, advantageously underwater, of a craft suitable to navigate also underwater.
  • the submerged port according to the present invention is applied particularly for the protection and rescue of persons, and also to allow the transport of persons, medicine or goods, through routes that are normally impassable or dangerous, or not otherwise practicable.
  • Submerged ports are known in the state of the art, to allow the underwater navigation, starting from a submerged condition, of underwater craft, such as miniature craft or other.
  • Known submerged ports are normally installed in a fixed manner, irremovable, or completely integrated, on supporting pillars of oil rigs or other marine installations in general, and used almost exclusively for the emergency evacuation of the marine installation, for example in the event of atmospheric phenomena or other calamities.
  • One type of known submerged port provides a watertight chamber, or bay, normally dry, in which a craft is maintained, by means of relative support means, in a condition out of the water, always dry, suitable for loading or unloading goods and staff.
  • This known type of submerged port provides that, for the craft to exit, first of all water is made to enter the watertight chamber until it is filled, and then the support elements are released in order to allow the craft to navigate freely underwater.
  • the known submerged port provides to keep the craft in a dry condition for long periods. This entails a great expenditure, because the craft has to be maintained, for most of the time, in a substantially unused condition, with the risk of malfunctions in the event of an emergency, and the need to provide frequent maintenance operations, with a consequent further increase in the management costs.
  • Another disadvantage of the known submerged port is that, since it is not possible to provide the berthing, but only the departure, of the craft, for every application one or more specific known submerged ports must be installed, and the specialized staff for piloting and maintaining the craft must remain constantly on board, or in the immediate vicinity of, the rig to which the known submerged port is applied. This causes consequent very high costs of management and installation.
  • the known submerged port in order to have reasonably short times for the influx and outflow of the water, provides a watertight chamber with a relatively limited internal volume, such as to allow to house only one craft at a time. Therefore, for a craft to arrive from outside, a craft already berthed must first leave.
  • One purpose of the present invention is to achieve an at least partly submerged port which allows the berthing and departure of an underwater craft quickly and effectively, reducing to a minimum possible waiting times.
  • Another purpose of the present invention is to achieve an at least partly submerged port which allows several underwater craft to arrive and depart simultaneously.
  • Another purpose is to allow to cross sections of sea, lakes or rivers obstructed by ice or other material preventing normal navigation. Furthermore, it is a purpose of the present invention to achieve a low-cost berthing place, transportable and installable everywhere, both temporarily and definitively.
  • Another purpose of the present invention is to achieve an at least partly submerged port which can be associated, even temporarily, and movable between desired structures or sections of coast.
  • An at least partly submerged port for craft suitable also to navigate underwater comprises a containing structure able to be at least partly immersed in water and defining inside it a chamber or bay able to house the craft and accessible from the outside through an aperture.
  • the chamber comprises at least an upper compartment, dry, in which the craft is in a condition at least partly emerging from the water, and at least a lower compartment immersed in the water, in which the craft is in a condition of complete immersion in the water.
  • the aperture is made on the containing structure in a position such as to be, during use, always immersed in the water and able to put the immersed lower compartment of the chamber in communication with the outside of the containing structure.
  • an aperture is also provided in association with the normal level of the sea or lake.
  • the underwater craft can enter and exit freely from the chamber through the aperture, always maintaining a condition of immersion in the water and of safety, both in the presence of prohibitive conditions, and also in conditions of maximum load.
  • the aperture is made at a depth such as to be at least equal to the average height of the waves that occur in the relative positioning site.
  • the craft moves from the upper dry compartment to the lower immersed compartment and then navigates out of the chamber through the aperture.
  • the underwater craft enters into the chamber through the aperture, navigating in an immersed condition, and then moves from the lower immersed compartment to the upper dry compartment, in order to allow the desired embarkation or unloading operations. For this reason, possible evacuation and/or emergency interventions can be effected in a considerably shorter time than that allowed by submerged ports present in the state of the art.
  • a conveyor is externally associated with the access aperture to the chamber, able to facilitate the berthing and departure operations of the craft with respect to the chamber.
  • the conveyor can be lifted, like a drawbridge, during the movement of the submerged port.
  • the conveyor can be at least partly retracted inside the containing structure. Moreover, since it is not necessary to have influxes and outflows of water, it is possible to have a chamber of relatively larger sizes and such as to allow the simultaneous berthing of two or more craft inside the submerged port.
  • This solution allows to further accelerate the evacuation operations, and possibly to perform simultaneous operations to control fires or other dangerous situations.
  • the submerged port comprises movement means provided inside the chamber, or in partial cooperation with it, and able to servo- assist, or to perform completely, the operations of moving the underwater craft between one and the other of the two compartments of the chamber.
  • the submerged port comprises first closing means disposed in cooperation with the aperture, in order to determine the selective closure thereof.
  • the first closing means determines the watertight closure of the aperture.
  • the submerged port comprises second closing means interposed between the dry upper compartment and the immersed lower compartment, and able to determine the selective watertight compartmentalization of the upper compartment with respect to the lower compartment.
  • first and second closing means allow to keep the level of immersion of the lower compartment substantially constant, even in the condition of complete immersion in the water of the containing structure.
  • dry upper compartment allows, always in emergency conditions, to regroup staff and constitutes an assembly place for protection in the event of a fire or explosion, in the installation to which the submerged port according to the invention is fixed or anchored.
  • Another advantage of the present invention is that the greater speed of, and possibly simultaneous, entrance and exit of the underwater craft to/from the chamber allows to use the submerged port both in association with rigs for purposes of evacuation and emergency, and also autonomously along sections of coast or on the seabed for commercial purposes, for inspections or other.
  • the submerged port according to the invention has a propulsion unit which allows it to navigate autonomously in the water, so as to reach different operating positions.
  • the submerged port has a pump chamber associated with a plurality of watertight chambers, to allow navigation even in a condition of complete emergence from or immersion in the water, it also being possible to vary the depth of immersion in a controlled manner.
  • the submerged port comprises means to control the external environment, for underwater navigation. Furthermore, the submerged port according to the invention comprises at least a chamber to accommodate the crew.
  • two or more chambers are provided.
  • one or more of said chambers is movable according to the tide.
  • the submerged port comprises attachment means that allows association with one or more means of transport, such as ships, helicopters or other, so as to be transported more quickly from one place to another.
  • the submerged port according to the present invention provides externally means suitable to allow navigation both in a condition of normal surface navigation, and also gliding over the surface of the water.
  • the submerged port according to the present invention comprises extendible means, for example activated pneumatically, but not only, which allows to selectively define a connection bridge between the port and an external structure from which staff and/or materials can be transferred.
  • extendible means for example activated pneumatically, but not only, which allows to selectively define a connection bridge between the port and an external structure from which staff and/or materials can be transferred.
  • the submerged port according to the present invention comprises a landing pad for aircraft, such as helicopters or suchlike, so as to allow the aerial evacuation of the submerged port.
  • - fig. 2 shows a section from II to II of fig. 1 ;
  • - fig. 3 shows the section in fig. 2 in a second operating condition
  • - fig. 4 shows a section from IV to IV of fig. 2;
  • - fig. 5 shows a sectioned lateral view of a second form of embodiment of a submerged port according to the present invention
  • - fig. 6 shows a section from VI to VI of fig. 5; - fig. 7 shows a section from VII to VII of fig. 6.
  • a port 10 which can be at least partly submerged, according to the present invention is applied to allow the berthing and departure in a submerged condition of a craft 11 also suitable to navigate underwater.
  • the submerged port 10 according to the present invention is applied particularly but not exclusively to rescue and transport, also for tourist purposes, persons, equipment and/or goods.
  • the craft 11 is of the type suitable to transport passengers, both in emergency evacuation and also for tourist transport.
  • the craft 11 shown is able to navigate in a submerged condition at least 10/20 meters deep, and comprises rear propulsion systems, lateral screw propellers and compensation chambers, to allow all the necessary and possible movements, both in its submerged and in its emerging condition.
  • the submerged port 10 according to the present invention is applied both in temporary association with oil rigs or other marine installations, for example in order to guarantee a rapid and safe evacuation, and also in association with sections of coast or seabed, to function as an auxiliary berthing place, or in lakes, rivers or other aquatic equipment.
  • the submerged port 10 according to the present invention comprises a containing structure 12, provided internally with a chamber 13 able to house one or more craft 11, and an aperture 14 made on the containing structure 12 and able to connect the chamber 13 with the outside of the containing structure 12.
  • the containing structure 12 is partly below the level of the water, so that at least the aperture 14 is completely immersed in water.
  • the aperture 14 is made at a depth from the level of the water equal at least to the average height of the waves expected in the specific zone where the port 10 is to be moored.
  • the aperture 14 is made at a depth comprised between one or two times the average height of the waves.
  • the chamber 13 comprises a dry upper compartment 15, in which the craft 11 is in a condition at least partly out of the water, and a lower compartment 16, immersed in the water, in which the craft 11 is in a condition immersed in the water.
  • the upper compartment 15 and the lower compartment 16 communicate with each other through one or more gaps 18, wide enough to allow the passage of a craft 11.
  • the upper compartment 15 is maintained dry and at atmospheric pressure, and inside it a plurality of technical rooms are located, such as workshops, storehouses or other, and/or reception rooms, such as first aid, shelter, accommodation, waiting rooms for the passengers, or other.
  • a plurality of technical rooms are located, such as workshops, storehouses or other, and/or reception rooms, such as first aid, shelter, accommodation, waiting rooms for the passengers, or other.
  • seats anchored to the ceiling may be provided, oscillating in a controlled manner according to the pitch and roll of the submerged port 10, so as to prevent the persons being subjected to oscillations which might cause sickness.
  • At least one of the staff reception rooms is selectively movable according to the height of the tides.
  • a gantry 24 is set up, or other lifting member, able to allow the complete removal of the craft 11 from the water through the gap 18, so as to position it completely out of the water inside the upper compartment 15, for example in order to allow maintenance, recharge the batteries, or to keep it dry, even for long periods.
  • the gantry 24 is not provided.
  • the aperture 14 is open towards the outside in correspondence with the lower compartment 16, to allow the craft 11 to enter and exit the chamber 13, always remaining immersed in the water. In this case, the entrance and exit of the craft 1 1 through the aperture 14 occurs in a substantially horizontal direction.
  • the submerged port 10 also comprises a movement member 17 mounted inside the lower compartment 15 and able to selectively move the craft 11 between the immersed position and the emerging position.
  • the movement effected with the movement member 17 occurs in a substantially vertical direction.
  • the movement member 17 is provided with a mobile cradle 19 and with a plurality of hydraulic lifting motors 20 fixed on the bottom of the lower compartment 16 and able to actuate the substantially vertical movement of the mobile cradle 19.
  • the mobile cradle 19 is conformed in such a manner as to support the craft 1 1 and keep it in position during the movement steps.
  • the mobile cradle 19 is movable laterally on tracks so as to be translated dry inside the upper compartment 15.
  • the movement member 17 also comprises a supporting abutment 21 disposed inside the lower compartment 16 on the side opposite the aperture 14, so as to define the end-of-travel abutment of the craft 11 during the entrance step.
  • the submerged port 10 also comprises a conveyor 22, mounted on an external surface of the containing structure 12, in correspondence with the aperture 14, to guide the berthing and the exit of the craft 11.
  • the conveyor 22 is shaped like the hull of the craft 11 and comprises a plurality of rollers 23 which promote the sliding of the craft 11.
  • the conveyor 22 is hinged to the external surface of the containing structure 12, so as to be able to be selectively raised, like a drawbridge, during non-use and/or during the possible movement of the submerged port 10.
  • the conveyor 22 is mounted retractably sliding with respect to the containing structure 12, so as to be able to be selectively withdrawn at least partly inside the containing structure.
  • the conveyor 22 is not provided.
  • the submerged port 10 also comprises a first closing door 25 mounted sliding like a guillotine in correspondence with the aperture 14, and a second closing door 26 mounted sliding in correspondence with the gap 18 between the two compartments 15 and 16.
  • the first closing door 25 is activated so as to selectively close the aperture 14, advantageously in a watertight manner, so that the craft 11 is not affected by the surface sea conditions during the berthing and exit operations.
  • the second closing door 26 is activated to selectively close the gap 18, in a watertight manner, so as to compartmentalize the two compartments 15 and 16 and guarantee the dry condition of the upper compartment 15, also if the containing structure 12 is positioned completely immersed in the water.
  • an access may also be provided inside the submerged port 10 through a suitable door located at sea level.
  • This variant becomes useful every time the sea allows it, so that it is possible to move, for example the staff which is on a rig, without having to go below the water or without having to go too far under water.
  • the submerged port 10 according to the present invention is configured to be associated, or installed, permanently on oil rigs or other marine structures with the function of a structure used for the evacuation of the rig by means of a craft 11 equipped for civil transport. It is clear that the length and the displacement of the craft 11 are chosen on each occasion according to the specific applications of the submerged port 10.
  • the containing structure 12 of the submerged port 10 according to the invention is made for example of steel or reinforced concrete, or a mixture, or again of composite plastic materials.
  • the materials used are advantageously fireproof or have a high resistance to fire.
  • the containing structure 12 is cylindrical in shape with rounded corners and, on the upper part and lower part, is defined by respective closing domes, both consisting for example of elliptical rounded half-bottoms joined at the center by a plate with the same section as the elliptical bottom. In this way, the submerged port 10 in this form of embodiment is able to contain two or more craft 11.
  • access of the staff into the upper compartment 15, in the event of entrance from below, takes place by means of two elevators 27, of the Paternoster type, that is, with continuous functioning, consisting of a series of cabins, cages or boxes joined in an endless chain, and an emergency stairs, not shown.
  • the staff can enter by means of one or more specific pneumatic members of the extendible type, for example, but not only, in concertina or unrolling fashion, made of polymer material and conformed so as to be able to be selectively taken between an extended condition, in which they define an open passage to the upper compartment 15, and a retracted condition, in which they are folded back on each other so as to occupy minimum space.
  • one or more specific pneumatic members of the extendible type for example, but not only, in concertina or unrolling fashion, made of polymer material and conformed so as to be able to be selectively taken between an extended condition, in which they define an open passage to the upper compartment 15, and a retracted condition, in which they are folded back on each other so as to occupy minimum space.
  • the submerged port 10 according to the present invention is isolated from the rig on which it is installed by anti-fire walls and anti-fire cooling plants. Since it is largely below the water line the submerged port 10 constitutes an excellent shelter from fire.
  • the submerged port 10 is configured to be towed, or moved autonomously, and then anchored in suitable coastal zones, in order to function as a commercial or inspection base for a determinate marine or aquatic area in general.
  • the containing structure 12 is at least partly made for example of steel or composite material, such as fiber glass, carbon fibers or suchlike, it comprises a gap 18 and is conformed so as to be able to provide protection and technical assistance to various craft 11, for example for tourist transport.
  • two lateral stabilizing tanks 30 are provided outside the containing structure 12 .
  • the submerged port 10 comprises a plurality of extractable legs 29 moved hydraulically towards the outside of the containing structure 12, so as to allow the submerged port 10 to rest on the sea bed, and effect the auto leveling thereof.
  • At least a propulsion member is associated with the containing structure 12 and is able to allow the autonomous movement of the submerged port 10 both in navigation and on the seabed.
  • a plurality of watertight chambers are provided, with relative pumps to dry and flood them, so as to allow the positioning and navigation at different depths of the submerged port 10.
  • the submerged port 10 provides at least a step in which, by means of the drying pumps, the selective filling/emptying of the watertight chambers is effected, so as to command the immersion/emergence of the containing structure 12 into/from the water.
  • the submerged port 10 comprises environmental control means so as to allow it to navigate safely in its immersed condition.
  • the submerged port 10 comprises means able to allow it to be coupled with a towing ship, or to one or more helicopters, so as to allow it to be transported rapidly from one place to another.
  • the containing structure 12 comprises externally a navigation hull or specific wings, or runners, so as to glide over the water, in order to facilitate the drawing action exerted by the ship or helicopter with which the submerged port 10 is coupled.
  • the submerged port 10 irrespective of whether it is fixed or mobile, functions as follows.
  • the first closing door 25 is closed and the second closing door 26 is open, to allow the positioning of a craft 1 1 partly out of the water.
  • the staff to be evacuated or transported accesses inside the specific space or spaces of the upper compartment 15, for example by means of the elevators 27, to assemble at defined assembly points, so as then to embark on the craft 1 1 ;
  • the movement member 17 moves the craft 1 1 vertically downwards to take it to its immersed condition inside the lower compartment 16, until it is aligned with the aperture 14;
  • the second closing door 26 is then closed and subsequently the first closing door 25 is opened, to allow the craft 1 1 to exit through the aperture 14.
  • the first closing door 25 is closed with a shutter-type closure.
  • the craft 11 is positioned on the conveyor 22 and passes beyond the aperture 14 until it enters into the lower compartment 16 and is positioned on the cradle 19 of the movement member 17;
  • the containing structure 12 comprises an aperture able to allow, in the condition at least partly out of the water, entrance into the upper compartment 15 of a helicopter or other aircraft, to allow aerial evacuation of the staff.
  • the containing structure 12 comprises at least an external platform for said aircraft to land on.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Buildings Adapted To Withstand Abnormal External Influences (AREA)
  • Motor Or Generator Frames (AREA)
  • Catching Or Destruction (AREA)

Abstract

La présente invention concerne un port immergé (10) pour embarcation (11) qui peut également naviguer sous l'eau, comprenant une structure de contenant (12) au moins partiellement immergée dans l'eau qui définit à l'intérieur une chambre (13) pour loger l'embarcation (11) et qui est accessible de l'extérieur par une ouverture (14). La chambre (13), au moins lorsqu'elle est en état de marche, comporte un compartiment supérieur (15), sec, dans lequel l'embarcation (11) se trouve partiellement immergée, et au moins un compartiment inférieur (16) immergé dans l'eau, dans lequel l'embarcation (11) se trouve totalement immergée dans l'eau. L'ouverture (14) se situe sur la structure de contenant (12) dans une position telle qu'elle se trouve toujours au moins partiellement immergée dans l'eau, lors de son utilisation, et fait communiquer le compartiment inférieur (16) avec l'extérieur de la structure de contenant (12).
PCT/EP2008/060025 2007-07-31 2008-07-30 Port immergé pour engin sous-marin Ceased WO2009016209A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ITUD2007A000138 2007-07-31
ITUD20070138 ITUD20070138A1 (it) 2007-07-31 2007-07-31 Porto sommerso per natanti subacquei

Publications (2)

Publication Number Publication Date
WO2009016209A2 true WO2009016209A2 (fr) 2009-02-05
WO2009016209A3 WO2009016209A3 (fr) 2009-06-11

Family

ID=39967989

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2008/060025 Ceased WO2009016209A2 (fr) 2007-07-31 2008-07-30 Port immergé pour engin sous-marin

Country Status (2)

Country Link
IT (1) ITUD20070138A1 (fr)
WO (1) WO2009016209A2 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012039619A3 (fr) * 2010-09-24 2013-04-25 Gustomsc Resources B.V. Vaisseau comprenant une coque dotée d'un pont et d'une zone de cargaison s'étendant dans la direction de la longueur du pont
CN108407998A (zh) * 2018-04-26 2018-08-17 广西大学 一种小型自主移动式无人船的收容装置

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR343898A (fr) * 1903-06-11 1904-10-17 Alexander John Maffuniades Appareil à nettoyer les couteaux, fourchettes et cuillers et aiguiser les couteaux
GB191218352A (en) * 1912-08-09 1913-07-17 Frederick Arthur Bullivant Improved Means for Raising, and Giving Access to, Submarines and other Sunken Vessels, or Bodies.
DE469225C (de) * 1925-03-21 1928-12-06 Johann Georg Stein Mutterschiff fuer Unterwasserfahrzeuge
US4306413A (en) * 1975-06-30 1981-12-22 The United States Of America As Represented By The Secretary Of The Navy Hydraulic power and control system
GB2105392A (en) * 1981-07-08 1983-03-23 Ronald Dowie Taylor Docking facilities associated with off-shore installations
JPS63176798A (ja) * 1987-01-17 1988-07-21 Mitsubishi Heavy Ind Ltd 作業用潜水船
FR2740102A1 (fr) * 1995-10-18 1997-04-25 Gil Andre Leonce Bateau-cargo pour petits sous-marins nucleaires
DE10308499A1 (de) * 2003-02-26 2004-09-16 Aloys Wobben Offshore-Windenergieanlage

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012039619A3 (fr) * 2010-09-24 2013-04-25 Gustomsc Resources B.V. Vaisseau comprenant une coque dotée d'un pont et d'une zone de cargaison s'étendant dans la direction de la longueur du pont
CN108407998A (zh) * 2018-04-26 2018-08-17 广西大学 一种小型自主移动式无人船的收容装置

Also Published As

Publication number Publication date
WO2009016209A3 (fr) 2009-06-11
ITUD20070138A1 (it) 2009-02-01

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