JP2022123522A - Recovery device of unmanned underwater vehicle - Google Patents

Abstract

To provide a recovery device of an unmanned underwater vehicle which can easily capture an unmanned underwater vehicle even if a position of the unmanned underwater vehicle changes.SOLUTION: A recovery device 1 of an unmanned underwater vehicle includes: at least one unmanned aircraft 10 which can rest in air; a capture device 20 which includes a capture member 21 formed in a lattice-like shape and hung from the unmanned aircraft 10 through a rope 40; and an imaging device 30 which captures an image of a target area 22 of an unmanned underwater vehicle 3 set by the capture member 21 and is mounted on the unmanned aircraft 10.SELECTED DRAWING: Figure 4

Description

The present disclosure relates to a recovery device for an unmanned underwater vehicle.

An unmanned aerial vehicle that navigates on or under water is called an unmanned underwater vehicle (UUV: Unmanned Underwater Vehicle) or the like, and is used for purposes such as exploration, investigation, surveying, and photographing. Unmanned underwater vehicles are further classified into autonomous underwater vehicles (AUV: Autonomous Underwater Vehicles) and remotely operated underwater vehicles (ROV: Remotely Operated Vehicles).

When recovering a UUV that has completed activities such as exploration to a mother ship, if the UUV is brought directly close to the side of the mother ship, there is a risk of accidental contact between the UUV and the mother ship. Therefore, Patent Literature 1 discloses a pick-up system using an unmanned aerial vehicle. The unmanned aerial vehicle of Patent Literature 1 is provided with a catching device, and the catching device is connected to a traction cable pulled out from a mothership. When retrieving a UUV, the unmanned aerial vehicle approaches the UUV and anchors the capture device to the UUV, which is parked far from the mothership. By hoisting the tow cable while maintaining this condition, the UUV is towed to the mothership.

JP 2019-34651 A

Like the unmanned aerial vehicle described above, when a recovery device independent of a mothership captures UUVs, the UUVs slow down or stop at a distance of several tens to hundreds of meters from the mothership. Also, slowed down or stopped UUVs are susceptible to the effects of wind, waves, water currents, and the like, and are easily swept away. Therefore, the position of the UUV tends to fluctuate, and the capture operation by the recovery device tends to be difficult.

The present disclosure has been made in view of such circumstances, and aims to provide an unmanned underwater vehicle recovery apparatus that can easily capture an unmanned underwater vehicle even if the position of the unmanned underwater vehicle changes.

A recovery device for an unmanned underwater vehicle according to one aspect of the present disclosure includes at least one unmanned aerial vehicle capable of resting in the air and a trapping member formed in a lattice shape, and is suspended from the unmanned aerial vehicle via a cable. A capture device to be lowered, a cable connecting between the unmanned aerial vehicle and the capture device, and a target area of the unmanned underwater vehicle set in the capture member, and mounted on the unmanned aerial vehicle. and a device.

the unmanned aerial vehicle is an autonomous unmanned aerial vehicle, and based on the image acquired by the imaging device, moving the capture device so that the unmanned underwater vehicle moves toward the target area; When it is confirmed that the unmanned underwater vehicle has been captured by the capturing device, it may move to a predetermined location together with the capturing device.

The capture member may be horizontally arranged. The catching device may include a frame having a plurality of legs extending toward the catching member and tethered to the cord. The plurality of legs may support the capture member when the capture member is deployed. The frame body may be configured to be foldable.

The at least one unmanned aerial vehicle may comprise a plurality of unmanned aerial vehicles. The plurality of unmanned aerial vehicles may be connected to portions of the capture device at different positions via corresponding cable bodies. The capture device may include a weight suspended from the target area of the capture member.

The capture member may be arranged vertically. The catching device may include a support member that supports the catching member in a deployed state and is connected to the cord body. The support member may be configured to be foldable. The catching device may include a weight suspended from a vertically lower edge of the catching member.

According to the present disclosure, it is possible to provide a recovery device for an unmanned underwater vehicle that can easily capture the unmanned underwater vehicle even if the position of the unmanned underwater vehicle changes.

It is a figure which shows the outline|summary of the collection|recovery work by the collection|recovery apparatus which concerns on this embodiment. 1 is a functional block diagram showing an example of a collection system including a collection device; FIG. 1 is a functional block diagram showing an example of an unmanned aerial vehicle according to an embodiment; FIG. FIG. 4 is a side view showing an example of the configuration of the recovery device; It is a perspective view which shows an example of the capture apparatus which concerns on this embodiment. It is a perspective view which shows the modification of a capture apparatus. It is a perspective view which shows the modification of a capture apparatus. It is a perspective view which shows the modification of a capture apparatus. 4 is a flow chart showing an example of recovery work of the recovery device. It is a figure which shows one process of collection|recovery work. It is a figure which shows one process of collection|recovery work. It is a figure which shows one process of collection|recovery work. It is a figure which shows one process of collection|recovery work. It is a figure which shows one process of collection|recovery work. It is a figure which shows one process of collection|recovery work. FIG. 10 is a diagram showing a modification of the return operation of the unmanned aerial vehicle; It is a figure which shows an example of the image acquired by an imaging device. It is a figure which shows an example of the image acquired by an imaging device. It is a perspective view of a capture device according to a modification. It is a figure for demonstrating the collection|recovery work using the capture apparatus which concerns on a modification.

Several embodiments of the present disclosure will be described below with reference to the accompanying drawings. In addition, the same code|symbol is attached|subjected to the part which is common in each figure, and the overlapping description is abbreviate|omitted. For convenience of explanation, the unmanned underwater vehicle is hereinafter referred to as UUV (Unmanned Underwater Vehicle).

The recovery device 1 uses an unmanned aerial vehicle (UAV: Unmanned Aerial Vehicle) 10 to recover UUVs 3 that have reached a recovery area 4 in or on water. The UUV 3 may be an autonomous type unmanned underwater vehicle (AUV: Autonomous Underwater Vehicle) or a remotely operated type unmanned underwater vehicle (ROV: Remotely Operated Vehicle). The UUV 3 is put into the water from the mother ship 2 and performs activities such as exploration, investigation, surveying, and photographing.

FIG. 1 is a diagram showing an overview of recovery work by a recovery device 1 according to this embodiment. As shown in this figure, the unmanned aerial vehicle 10 carries the capture device 20 over the recovery area 4 and throws the capture device 20 into the water. A UUV 3 is waiting in the recovery area 4 , and the unmanned aerial vehicle 10 moves the capture device 20 to the position of the UUV 3 . The trapping device 20 has a trapping member 21 , and the UUV 3 is trapped by the trapping member 21 by movement of the trapping device 20 .

When the capture device 20 captures the UUV 3 , the unmanned aerial vehicle 10 carries the capture device 20 to the mothership 2 while keeping the UUV 3 held by the capture device 20 . At this time, the capture device 20 may be carried directly onto the deck of the mother ship 2, or once carried near the mother ship 2 (stern, ship side, etc.). In the latter case, the UUV 3 is hoisted onto the mothership 2 by a lifting machine (not shown) mounted on the mothership 2 .

Note that the base from which the unmanned aerial vehicle 10 takes off and lands is not limited to a ship with self-propelled equipment. The base of the unmanned aerial vehicle 10 may be a barge having no self-propelled equipment or a port facility such as a wharf.

An unmanned aerial vehicle 10 according to this embodiment will be described.
FIG. 2 is a functional block diagram showing an example of a recovery system including the recovery device 1. As shown in FIG. FIG. 3 is a functional block diagram showing an example of the unmanned aerial vehicle 10 according to this embodiment. As shown in FIG. 2, the recovery device 1 captures an area including at least one unmanned aerial vehicle 10, a capture device 20 connected to the unmanned aerial vehicle 10 via a cable 40, and a capture member 21 of the capture device 20. A photographing device 30 is provided.

The unmanned aerial vehicle 10 is a stationary (i.e., hoverable) flying object such as a rotorcraft, and has at least lift performance capable of carrying the capture device 20 and the UUV 3 . The unmanned aerial vehicle 10 is remotely operated by wireless or wired communication with the mothership 2 and carries the capture device 20 to the recovery area 4 of the UUV 3 by its own movement. An example in which a rotorcraft is applied as the unmanned aerial vehicle 10 will be described below.

As shown in FIG. 3, the unmanned aerial vehicle 10 includes a rotor 11, a motor 12, a motor drive section 13, a positioning section 14, a sensor section 15, a communication section 16, an input/output section (I/O) 17, and a control section 18. Prepare.

The motor 12 is installed, for example, on the fuselage 19 of the unmanned aerial vehicle 10 or on an arm 19a extending from the fuselage 19 . The rotor 11 is attached to the output shaft of the motor 12 and generates lift by rotating together with the output shaft. A motor drive unit 13 is a drive circuit for the motor 12 and supplies the motor 12 with electric power necessary for rotating the output shaft. The rotation speed of the output shaft is controlled by the control section 18 .

The positioning unit 14 includes a satellite navigation system such as a global positioning system or a quasi-zenith satellite system, and measures a horizontal position (latitude and longitude). Positioning. The positioning unit 14 also has an altimeter (not shown) and measures a vertical position (that is, altitude). A measurement result obtained by the positioning unit 14 is input to the control unit 18 .

The sensor unit 15 includes sensors necessary for flight control of the unmanned aerial vehicle 10 . The sensor unit 15 is composed of at least an acceleration sensor and a gyro sensor, which are used for attitude control and azimuth control of the unmanned aerial vehicle 10 . Note that the sensor unit 15 may include any sensor such as an acoustic sensor, a temperature sensor, or an atmospheric pressure sensor, depending on the usage environment.

The communication unit 16 communicates with the mothership 2 via a network constructed with the mothership 2 . This communication may be either wireless communication or wired communication. For example, wireless communication may be performed using microwaves in the 2.4 GHz band used for wireless LANs (Local Area Networks). An input/output unit (I/O) 17 is a general-purpose input/output port for data, control signals, power supply, etc., and is connected to an external device such as an imaging device 30, which will be described later.

The control unit 18 is composed of a central processing unit (CPU), a memory, an auxiliary storage device, and the like. The control unit 18 executes various processes based on programs and data stored in a memory or auxiliary storage device, and controls the motor driving unit 13, the positioning unit 14, the communication unit 16, the input/output unit (I/O) 17, and the like. controls each operation of For example, the control unit 18 controls the motor drive unit 13 based on commands from the mother ship 2 received via the communication unit 16 to move and stop the unmanned aerial vehicle 10 . As will be described later, the control unit 18 according to this embodiment detects capture of the UUV 3 by the capture device 20 .

A capture device 20 according to this embodiment will be described.
FIG. 4 is a side view showing an example of the configuration of the collecting device 1 including the catching device 20. As shown in FIG. The capture device 20 is a device for capturing the UUV 3 and is suspended from the unmanned aerial vehicle 10 via a cable 40 . Capture device 20 includes capture member 21 . The catching members 21 are nets or cages formed in a lattice shape, and are arranged horizontally (transversely) as shown in FIG. 4, for example. In addition, when the capturing member 21 is a cage, the cage is arranged horizontally so that the upper side is open. There are no restrictions on the material of the capturing member 21 as long as it has sufficient mechanical strength. However, in order to suppress damage due to contact with UUV 3, it is desirable that capture member 21 have moderate flexibility. A target area 22, which is an area where UUVs 3 are captured, is set on the capturing member 21. As shown in FIG.

The term "horizontal" as used herein is not limited to a strict meaning, and includes "substantially horizontal". That is, the term “horizontal” as used in the present disclosure includes a state of being tilted or curved with respect to the strictly horizontal due to water currents, towing of the unmanned aerial vehicle 10, or the like.

FIG. 5 is a perspective view showing an example of the capturing device 20 according to this embodiment. As shown in this figure, the capture device 20 may have a frame 23 tethered to the cord 40 . The frame 23 is composed of a plurality of rod-shaped members and has a plurality of legs 24 extending toward the capturing member 21 . The plurality of legs 24 have a length that allows the UUVs 3 to enter the frame 23 when the frame 23 is immersed in water, and support the capture member 21 when the capture member 21 is deployed. The edge of the catch member 21 is, for example, clipped to the end of each leg 24 . Thus, the frame 23 maintains the deployed state of the capturing member 21 .

As shown in FIG. 5, the plurality of legs 24 are spaced apart and extend vertically. In this case, the catching device 20 has a base 25 that is suspended from the cord 40 and supports a plurality of legs 24 . The base 25 is arranged horizontally, for example, and the leg 24 is connected to its end (edge). For example, when the four legs 24 are supported by the base 25, the frame 23 has a cuboid shape (outer shape).

6A-6C illustrate several variations of capture device 20. FIG. The frame 23 may be composed of a plurality of legs 24 as shown in FIG. 6A. In this case, the plurality of leg portions 24 are connected to each other at one ends by connecting portions 27, and the frame body 23 has a cone shape (outer shape). Also, the height from the capturing member 21 to the connecting portion 27 has a value that allows the UUV 3 to enter the frame 23 when the frame 23 is put into water.

Note that the frame body 23 may be configured to be foldable. In this case, as shown in FIGS. 5 and 6A, the rod-shaped members forming the frame 23 are connected by joints 26 or the like that can maintain a desired mounting angle. By configuring the frame body 23 to be foldable, it is possible to reduce the exclusive area of the recovery device 1 in the mother ship 2 or the like having a limited working area such as a deck.

As shown in FIG. 6B, the capture device 20 may consist of the capture member 21 only. In this case the recovery device 1 comprises a plurality of unmanned aerial vehicles 10 . A plurality of unmanned aerial vehicles 10 are connected to portions of the capture device 20 at different positions via corresponding cable bodies 40 . This part is, for example, the corner 21a of the catching member 21. As shown in FIG. The plurality of unmanned aerial vehicles 10 fly while maintaining the state in which the capturing members 21 are deployed.

The capture device 20 may include a weight 28, as shown in FIG. 6C. In this case the weight 28 is suspended from the target area 22 of the capture member 21 . By suspending the weight 28, the target area 22 (that is, the center of the capture member 21) becomes the lowest, and this state can be stably maintained against water currents and waves. Also, the captured UUV 3 tends to remain in the target area 22 .

A cable 40 connects between the unmanned aerial vehicle 10 and the capture device 20 . The cable body 40 is suspended from the unmanned aerial vehicle 10 and connected to a predetermined portion of the capture device 20 . Note that the cable 40 may be pulled out from a reel (not shown) attached to the unmanned aerial vehicle 10 .

A photographing device 30 according to this embodiment will be described.
The imaging device 30 is mounted on the unmanned aerial vehicle 10 . For example, as shown in FIG. 2, the imaging device 30 is attached to the bottom surface 19b of the fuselage 19 of the unmanned aerial vehicle 10. As shown in FIG. The photographing device 30 photographs the capturing member 21 and sends the data of the image 31 (see FIGS. 10A and 10B) to the control section 18 via the input/output section (I/O) 17 . The control unit 18 controls the position of the unmanned aerial vehicle 10 based on the data of the image 31 .

Image 31 includes target area 22 of UUV 3 set on capture member 21 (see FIGS. 10A and 10B). A target area 22 is a reaching area of the UUV 3 at the time of capture and is set at the center of the capture member 21 . Unmanned aerial vehicle 10 positions capture device 20 such that UUV 3 is located within target area 22 .

Next, a recovery operation of the UUV 3 using the recovery device 1 will be described.
FIG. 7 is a flow chart showing an example of the recovery operation of the recovery device 1. As shown in FIG. 8A to 8F are diagrams showing an example of collection work in chronological order. FIG. 9 is a diagram showing a modification of the return operation of the unmanned aerial vehicle 10. As shown in FIG. 10A and 10B are diagrams showing an example of an image 31 acquired by the imaging device 30. FIG. Note that the unmanned aerial vehicle 10 and the capture device 20 are connected via the cable body 40 before the recovery operation.

As shown in FIG. 8A, the unmanned aerial vehicle 10 takes off from the mothership 2 (see FIG. 1) and moves to the recovery area 4 (step S10). Movement of the unmanned aerial vehicle 10 may be performed by remote control from the mothership 2, or may be performed by automatic control based on position data of the recovery area 4 input in advance. The UUV 3 is waiting in the collection area 4, and the photographing device 30 photographs the UUV 3 and the capturing member 21 of the capturing device 20 at the same time.

The unmanned aerial vehicle 10 hovers so that the photographing device 30 maintains the state of photographing the UUV 3, and waits in the sky until receiving a recovery command from the mother ship 2 (NO in steps S20 and S30). After that, when receiving a recovery command from the mother ship 2 (YES in step S30), the unmanned aerial vehicle 10 moves the UUV 3 toward the target area 22 based on the image 31 (see FIG. 10A) acquired by the imaging device 30. The capture device 20 is moved so as to (steps S40 to S60). Specifically, the unmanned aerial vehicle 10 lowers the catching device 20 and throws it into the water by sending out the rope 40 by lowering itself or rotating the reel (not shown) (step S40). The descent of the capture device 20 continues until the capture member 21 reaches a position deeper than the UUV3.

Next, as shown in FIG. 8B, lateral movement of unmanned aerial vehicle 10 adjusts the relative position of capture device 20 to UUV 3 (step S50). In position adjustment of the capture device 20, feedback control using the image 31 is performed. For example, as shown in FIG. 10A, when the UUV 3 in the image 31 is positioned to the lower right from the target area 22 (NO in step S60), the unmanned aerial vehicle 10 performs lateral movement corresponding to the lower right direction. , continue to position the capture device 20 . On the other hand, if the UUV 3 is positioned within the target area 22 (YES in step S60), the unmanned aerial vehicle 10 stops lateral movement.

Next, when it is confirmed that the UUV 3 has been captured by the capture device 20, the unmanned aerial vehicle 10 moves to a predetermined location together with the capture device 20 (steps S70 to S90). Here, the predetermined place is the deck of the mother ship 2, the ship's side, the stern, or the like, or a harbor facility. First, the capturing operation of the UUV 3 is performed by the capturing device 20 (step S70). That is, with the UUV 3 positioned within the target area 22, the capture device 20 is raised, as shown in FIG. 8C. Raising of the capture device 20 is performed by raising the unmanned aerial vehicle 10 or by hoisting the cable 40 by a reel (not shown). As the trapping device 20 rises, the trapping member 21 rises to scoop up the UUVs 3 (see FIG. 8D).

While the capture device 20 is ascending, the controller 18 of the unmanned aerial vehicle 10 determines whether the UUV 3 has been captured by the capture member 21 (step S80). When the capture device 20 captures the UUV 3 , its impact (vibration) is transmitted to the unmanned aerial vehicle 10 . The control unit 18 uses the acceleration sensor or gyro sensor of the sensor unit 15 to detect rocking of the unmanned aerial vehicle 10 due to the impact. Alternatively, the capture of UUV 3 may be detected from a change in the output of the motor drive 13 that maintains the unmanned aerial vehicle 10 ascent or from a set value of the output. In either case, it is possible to confirm the capture of UUV 3 by capture device 20 .

Next, as shown in FIG. 8E, unmanned aerial vehicle 10 returns to a predetermined location (step S90). Specifically, the unmanned aerial vehicle 10 moves to the vicinity of the mothership 2 together with the capture device 20 . After that, the unmanned aerial vehicle 10 rises and places the capture device 20 on the deck or the like (Fig. 8F). This completes the recovery operation. As shown in FIG. 9, after the capture device 20 captures the UUV 3, the unmanned aerial vehicle 10 may maintain its ascent until the capture device 20 is lifted into the air, and carry the capture device 20 to the deck or the like.

According to this embodiment, when capturing UUV 3 , capture device 20 moves laterally according to the position of UUV 3 . In other words, even if the UUV 3 is affected by wind, waves, water currents, etc. and placed in a state where it is likely to be swept away, the unmanned aerial vehicle 10 and the capture device 20 follow the UUV 3 based on the image of the UUV 3. In addition, since the trapping member 21 picks up the UUVs 3 as the trapping device 20 rises, the UUVs 3 can be reliably trapped even if there is a positional deviation between the trapping member 21 and the UUVs 3 in the vertical direction. That is, it suffices if the capturing member 21 is located at a deep position with respect to the UUV 3, and the accuracy of positioning in the vertical direction is relaxed. Therefore, even if the position of UUV3 fluctuates, easy capture becomes possible.

The operations from step S40 to step S90 are controlled by the control unit 18 of the unmanned aerial vehicle 10. FIG. Therefore, the operator in the mother ship 2 can retrieve the UUV 3 simply by sending the unmanned aerial vehicle 10 to the retrieval area 4 and transmitting a retrieval command. However, among these, operations other than the capture confirmation operation in step S80 may be controlled by remote control from the mother ship 2. FIG. In this case, the capture confirmation in step S80 is notified to the mother ship 2 via the communication unit 16. FIG.

Next, a modification of the capture device 20 and capture of the UUV 3 by the capture device 20A according to the modification will be described.
FIG. 11 is a perspective view of a capture device 20A according to the modification. As shown in this figure, the capture device 20A comprises a capture member 21A. Like catching member 21, catching member 21A is a net. However, the capturing member 21A is arranged vertically (longitudinally). Note that the term “vertical” here is not limited to a strict meaning, and includes “substantial vertical”. That is, the term “vertical” as used in the present disclosure includes a state of being tilted or curved with respect to the strictly vertical due to water currents, towing of the unmanned aerial vehicle 10, or the like.

The catching device 20 may include a weight 28 suspended from the vertically lower edge 21Aa of the catching member 21A. For example, the weight 28 is suspended from each of the left end and the right end of the edge 21Aa. By suspending the weight 28, the deformation of the capturing member 21A due to the relative water flow to the capturing member 21A is suppressed, and the capturing of the UUV3 is facilitated.

The capture device 20A includes a support member 29 that is tethered to the cord 40. As shown in FIG. The support member 29 supports the capture member 21A in a state in which the capture member 21A is deployed. The support member 29 is provided along the edge of the net, which is the catching member 21A, and is connected to the edge 21Aa of the catching member 21A using a connecting thread or the like.

Like the frame 23, the support member 29 may also be configured to be foldable. In this case, the rod-shaped members forming the support member 29 are connected by a joint 26 or the like that can maintain a desired mounting angle. By configuring the support member 29 to be foldable, the exclusive area of the recovery device 1 can be reduced.

FIG. 12 is a diagram for explaining the recovering work of the UUV 3 using the capture device 20A according to the modification. When the UUV 3 is recovered using the catching device 20A, the UUV 3 is provided with an engaging member 5 such as a hook that catches the catching member 21A. The engaging member 5 is provided in a portion of the housing of the UUV 3 that does not interfere with navigation and activities. In addition, the engagement member 5 may be configured to be storable in the housing of the UUV 3 . In this case, the engaging member 5 is stored in the housing of the UUV 3 at times other than recovery.

In the recovery operation of the UUV 3 using the capture device 20A, although the image acquired by the imaging device 30 shows the capture member 21A and the target area 22 in a substantially straight line, lateral movement of the capture device brings the target area closer to the UUV and captures it. It is the same as the recovery operation using the capturing device 20 in that it is captured by a member. However, depending on the weight of the UUV3, it may be difficult to lift the UUV3. In that case, the recovery device 1 carries the UUV 3 to the ship side or stern of the mother ship 2, and completes the recovery operation. After that, the UUV 3 is pulled up to the mother ship 2 using a lifting machine or the like.

Easy capture is also possible in the above variant, regardless of variations in the position of the UUV 3 . Moreover, the target area 22 set on the capturing member 21A extends not only in the horizontal direction but also in the vertical direction. Therefore, even if there is a positional deviation between the capturing member 21 and the UUV 3 in the vertical direction, the UUV 3 can be reliably captured.

It should be noted that the present disclosure is not limited to the above-described embodiments, but is indicated by the description of the scope of claims, and further includes all modifications within the meaning and scope equivalent to the description of the scope of claims.

DESCRIPTION OF SYMBOLS 1... Recovery apparatus, 2... Mother ship, 3... UUV (unmanned underwater vehicle), 4... Recovery area, 5... Engagement member, 10... Unmanned aircraft, 11... Rotor, 12... Motor, 13... Motor drive part, 14 Positioning unit 15 Sensor unit 16 Communication unit 17 Input/output unit (I/O) 18 Control unit 19 Body 19a Arm 19b Bottom surface 20 Capture device 20A catching device 21 catching member 21a corner 21A catching member 21Aa edge 22 target area 23 frame 24 leg 25 base 26 joint 27 connecting portion , 28... Weight, 29... Supporting member, 30... Imaging device, 31... Image, 40... Cable body

Claims (11)

at least one unmanned aerial vehicle capable of hovering in the air;
a capture device that includes a grid-shaped capture member and is suspended from the unmanned aerial vehicle via a cable;
A recovery device for an unmanned underwater vehicle, comprising: a photographing device mounted on the unmanned aerial vehicle for photographing a target area of the unmanned underwater vehicle set on the catching member. The unmanned aerial vehicle is
moving the capture device so that the unmanned underwater vehicle moves toward the target area based on the image captured by the imaging device;
2. A recovering apparatus for an unmanned underwater vehicle according to claim 1, wherein when it is confirmed that said unmanned underwater vehicle has been captured by said capturing apparatus, it moves to a predetermined location together with said capturing apparatus. the capture member is horizontally arranged;
The unmanned underwater vehicle recovery device according to claim 1 or 2. The catching device includes a frame having a plurality of legs extending toward the catching member and connected to the rope,
The plurality of legs support the capturing member in a state in which the capturing member is deployed.
The recovering device for the unmanned underwater vehicle according to claim 3. The frame body is configured to be foldable,
The recovering device for the unmanned underwater vehicle according to claim 4. said at least one unmanned aerial vehicle comprising a plurality of unmanned aerial vehicles;
4. The recovering device for an unmanned underwater vehicle according to claim 3, wherein the plurality of unmanned aerial vehicles are connected to portions of the capturing device at different positions through corresponding cables. the capture device includes a weight suspended from the target area of the capture member;
7. A recovery device according to claim 6. the capture member is arranged vertically,
The unmanned underwater vehicle recovery device according to claim 1 or 2. The catching device includes a support member that supports the catching member in a deployed state and is connected to the cord.
The recovering device for the unmanned underwater vehicle according to claim 8. The support member is configured to be foldable,
The recovering device for the unmanned underwater vehicle according to claim 9. The capture device includes a weight suspended from the lower edge in the vertical direction of the capture member,
The recovery device according to any one of claims 8-10.

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