JP2001247085A - Depth measuring method by diving machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform depth measuring work of lakes and marshes continuously and with high accuracy. SOLUTION: A sailing route regulated by plural weight points is preset in the lakes and marshes, and while maintaining an altitude or the depth set between the weight points by a self-controlled navigation submarine 10, a two-dimensional moving speed is determined from a log speed calculated value by a Doppler sonar 66 and an azimuth measured value by an azimuth sensor 98 to perform dead-reckoning propulsion, and the depth of the water bottom is measured by an ultrasonic depth sounder in this dead-reckoning propulsion.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a depth measurement method using a submersible, and more particularly to a depth measurement method using a submersible suitable for performing a water depth measurement of a lake using an unmanned underwater vehicle of an autonomous navigation type.

[0002]

2. Description of the Related Art Generally, when measuring the depth of the water bottom of a lake such as a dam lake, a mesh-shaped measurement point is set by stretching a knotted rope at a predetermined interval from the opposite shore. Then, for each of the set mesh points, measurement is performed while moving on a ship and using a single beam sounder. However, the above-described method has a drawback that continuous data cannot be collected because the vehicle moves on a ship for each mesh point. In addition, a single beam measurement method using ultrasonic waves is a so-called pinpoint measurement, so that accurate depth measurement cannot be performed.

[0003] From such a viewpoint, a work form in which ultrasonic waves are emitted by a multi-beam system from a large vessel toward the sea bottom, which is used for depth measurement in the sea area, is used for measuring a lake such as a dam lake. It is considered to apply to depth measurement and to measure while moving near the seabed with a measuring device mounted on a submersible using a submersible towed by a mother ship.

[0004]

However, in the former method of measuring with a multi-beam from a ship, there is a problem that the measurement accuracy cannot be improved due to the motion of the ship. Usually, in depth measurement using ultrasonic waves, the measurement error is Δr / r = 0.005.
Since the error increases as the distance from the water surface to the water bottom increases, the measurement accuracy cannot be improved because the distance from the water surface to the water bottom is long.

In the case of measurement using the latter towing type submersible, since the submersible measures near the bottom of the water, the accuracy of measurement using sound waves is improved. However, the movement of the mother ship is transmitted to the submersible through the catenary wire, which causes a problem that the measurement accuracy is reduced.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a method for measuring depth of a lake by using an autonomous navigation type unmanned submersible so that the depth of a lake can be measured continuously and with high accuracy. And

[0007]

In order to achieve the above object, a method for measuring the depth of a submersible vehicle according to the present invention comprises the steps of: setting a navigation route defined by a plurality of waypoints in a lake in advance; While maintaining the altitude or depth set between waypoints by a submersible, a two-dimensional moving speed is obtained from the calculated value of water velocity by Doppler sonar and the measured value of azimuth by the azimuth sensor, and estimation and propulsion is performed.
During this estimation, the depth of the water bottom was measured using an ultrasonic sounding device.

In this case, the autonomous navigation type submersible is accompanied by a support mother ship, and the measured values of the two-dimensional coordinate position by the support mother ship are transmitted to the submersible to correct the navigation position of the autonomous navigation type submersible. The depth measurement may be performed by repeatedly measuring the navigation position by intermittently ascending the autonomous navigation type submersible and correcting the position. Further, it is preferable that the ultrasonic sounding device be configured to scan the single beam back and forth in the left-right direction of the submersible to measure the depth of the water bottom.

With this configuration, the autonomous navigation type submersible can predict and advance a predetermined navigation route at a constant altitude or a constant depth while diving.
The depth of the water bottom can be measured. As a result, the submersible equipped with a sounding device is an autonomous navigation type, so that the hull does not wobble, and the measurement distance to the water bottom can be shortened, making it possible to perform shallow and deep measurements with a small measurement error by the sounding device. It becomes.

In diving route tracking, a two-dimensional moving speed is obtained from a calculated value of water velocity by Doppler sonar and an azimuth measurement value by an azimuth sensor, and an inferring process of measuring a height direction using an altimeter or a depth sensor is performed. Navigation control.

[0011] Since the actual navigation route may deviate from the prescribed route due to the supposition propulsion, the error increases with the passage of time. As a countermeasure, the support mother ship is accompanied by a submersible, and the submersible The position is measured using an ultrasonic position measurement device, and the mother ship itself is
lobal Positioning System) and DGPS (DifferentialGl
By observing the position using the obal positioning system, the absolute position of the submersible with respect to the reference coordinate position can be determined. This data is calculated on the submersible side or the support mother ship side, and is obtained as position information of the submersible. When no data is received from the support mother ship, the depth measurement may be continued while performing three-dimensional route tracking while measuring its own position by estimating and propulsion. If there is no support mother ship, while measuring shallow depth, it will ascend once at a fixed time, at a fixed distance, or at specified points, and measure its own position using GPS and DGPS mounted on the submersible Then, the position correction may be repeated.

The autonomous navigation submersible measures the depth of the seabed with an ultrasonic sounding device during the dive while navigating by performing three-dimensional route tracking by the above method. In order to increase the measurement accuracy, a thin beam using a profiler is used. Is scanned (measured in a sawtooth waveform), so that the measurement range is expanded and the measurement efficiency is significantly improved.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a specific embodiment of a depth measurement method using a submersible according to the present invention will be described in detail with reference to the drawings. FIG. 1 is a perspective view of an autonomous navigation type unmanned underwater vehicle used for depth measurement. In FIG. 1, a submersible 1
Reference numeral 0 denotes a cylindrical tank-shaped pressure vessel 14 in which the body 12 is made of a hollow metal, and a fairing 16 provided below the pressure vessel 14. The pressure-resistant container 14 has a transparent dome 18 made of a transparent plastic (for example, acrylic) at a front end, and a bridge 20 serving as a tail fin is provided at an upper part on a rear end side. A thrust hole 22 through which water flows when a vertical thruster, which will be described later, is driven passes through the center of the pressure-resistant container 14 in the vertical direction. At the upper part of the pressure-resistant container 14, on both sides of the thrust hole 22 in the longitudinal direction, hanging metal fittings 24 for hanging and lifting the submersible 10 by a mother ship (not shown) are fixed.

Above the bridge 20, there are provided data transmission transducers 26, 26 for communicating position data and measurement data with the mother ship by ultrasonic waves. Further, the bridge 20 has a camera (CC) to be described later.
(D camera), an image transmission transducer 28 for converting the image data captured by the D camera into an ultrasonic image signal to the mother ship, and a GPS antenna 30 for determining the position of the submersible 10 when the submersible 10 floats on the water. DGPS for equipment that is provided and that makes the position more precise
Antenna 32, SS radio (spread spectrum communication system) for communicating with mother ship etc.
m) Antenna 34 is attached. Bridge 2
A blinking device 36 is provided at the rear end of the submarine 0 so that the submerged vehicle 10 can easily be visually recognized.

As shown in FIG. 2, a CCD camera 38 attached to the pressure-resistant container 14 is housed in the transparent dome 18, so that the underwater state can be photographed by the CCD camera 38. ing. Then, around the transparent dome 18, the upper end of the pressure-resistant container 14 and
Three bumpers 40 attached to the front end of the fairing 16 are provided so as to protrude from the transparent dome 18 to prevent the transparent dome 18 from colliding with a dam embankment or an underwater obstacle. I have.

The fairing 16 is attached to the pressure vessel 14 via a frame (not shown).
4, a gap is formed, and water infiltrates into the inside. Horizontal thrusters 44 are provided on the fairing 16 via brackets 42 on both sides in the center in the front-rear direction.
(44a, 44b) are provided, and by driving the horizontal thruster 44, the submersible 10 can be moved forward, backward and turn. Further, at the front end of the fairing 16, an illumination lamp 46 for irradiating a light forward, an underwater microscope 48 for observing microorganisms in the water, a chlorophyll meter 50 for detecting the amount of phytoplankton, etc. An environment sensor 52 for detecting the pH value, turbidity, and the like of the above is provided. Further, inside the front end of the fairing 16, a front sonar 54 for detecting a front obstacle or the like, and a depth sensor 5 for obtaining a depth from water pressure are provided.
6. A water landing sensor 58 for detecting water landing when suspended from the mother ship is provided. A driftwood sensor 60 for detecting an obstacle such as driftwood when floating is attached to the port side front and rear ends of the fairing 16 (see FIGS. 2 and 3).

The thrust hole 22 provided in the pressure vessel 14 is
The wall surface is formed of a cylindrical wall material, and penetrates the pressure vessel 14 and the fairing 16. As shown in FIG. 4, a vertical thruster 62 is provided inside the thrust hole 22, and the submersible 10 can be lowered or raised by driving the vertical thruster 62. Also, the thrust hole 2 of the fairing 16
On both sides in the left-right direction of the ballast 2, a common ballast dropping device 64 is provided (see FIG. 3). By dropping the ballast by the common ballast dropping device 64, the submersible 10 is lightened and a predetermined buoyancy is obtained. It has become.

Further, a Doppler sonar 66 is attached to the bottom of the fairing 16 on the front side of the regular ballast dropping device 64 so that the traveling speed of the submersible 10 can be determined. In front of the Doppler sonar 66, an altitude sonar 68 is arranged to detect the distance (altitude) from the water bottom, obtain the height of the submersible 10 from the water bottom, and use it for tracking navigation coordinates. ing. Further, a sediment sensor 70 as an ultrasonic sounding device is provided in front of the altitude sonar 68 so that the thickness of the sediment deposited on a lake bottom or the like can be detected. A buoyancy adjusting device 72 is provided above the altitude sonar 68 so that the buoyancy of the submersible 10 can be finely adjusted. The buoyancy adjusting device 72 has a cylinder structure, and has a buoyancy adjusting function by changing the internal volume of the chamber by fitting the piston 76 to the cylindrical chamber in a watertight and slidable manner. I'm making it. The buoyancy of the diving machine 10 can be finely adjusted by moving the piston by a pinion rack mechanism for forcibly driving the piston.

A weight 90 is provided inside the rear end of the fairing 16 (see FIG. 3). This weight 9
An emergency ballast dropping device 92 is provided above the zero. And the fairing 16 just below the weight 90
Is provided with a hole (not shown), so that the emergency ballast can be dropped outside the fairing 16 by the emergency ballast dropping device 92 when the submersible 10 floats. Furthermore, inside the fairing 16,
A battery 94 serving as a driving power source housed in a pressure-resistant container (not shown) is housed in front of the weight 90.

A transponder transmitter / receiver 96 for communicating with the mother ship and a direction sensor 98 for obtaining the direction of the submersible 10 by geomagnetism are housed inside the bridge 20. A control device 100 that controls the drive control is accommodated.

FIG. 5 is a block diagram of the control device 100. This is the command unit 1 that outputs the control method, target value, etc.
02. The command unit 102 sets a tracking route and outputs a target value to the tracking control unit 104, which is provided for performing horizontal control of the submersible device 10. And outputs a selection command of the altitude control unit 106 or the depth control unit 108 and a target value to them. The tracking control unit 104 outputs a forward / backward thrust command and a rotational moment command for matching the target waypoint with the route. Altitude control unit 1
06 is for controlling the vertical thruster 22 so that the height from the water bottom matches the target value, and the depth control unit 108 controls the vertical thruster 22 so that the depth from the water surface matches the target value. In each case, an ascent / descent thrust command is output.

Output signals from the tracking control unit 104, the altitude control unit 106, and the depth control unit 108 are sent to a horizontal thruster command calculation unit 110 and a vertical thruster command calculation unit 112, respectively. Based on the thrust command value generated by 106 (or 108), horizontal thruster 44 and vertical thruster 6
6, the command voltage value of each actuator is calculated. These horizontal thruster command calculation units 11
0, the command voltage value calculated by the vertical thruster command calculation unit 112 is output to the command output unit 114, where it is D / A converted, and the actual command voltage is output to the actuator.

The control device 100 has a data input unit 1
16 is provided, where a signal measured by a Doppler sonar 66 and a direction sensor 98 for estimating propulsion, a signal from an altitude sonar 68 for altitude control, a signal from a depth sensor 56 for depth control, and the like are provided. , Driftwood sensor 60
And signals from a temperature sensor sonar (not shown), an obstacle sensor (not shown), and the like. The data input unit 116 outputs the horizontal position / azimuth data to the tracking control unit 104 constituting the horizontal control unit, and outputs the altitude control unit 106 constituting the vertical control unit.
The vertical position data and the like are output to the depth control unit 108.

Further, the control device 100 is provided with an acoustic / wireless communication unit 118, which communicates with the onboard device of the supporting mother ship by acoustic communication and wireless communication, and sends a command from the onboard device to a command task group. I try to tell. For this reason, the acoustic / wireless communication unit 118 is connected to a communication device 120 such as an acoustic transponder including the underwater communication transceiver 96 attached to the submersible 10 and a wireless device including the SS wireless antenna 34. . The control device 1
00 has a data storage unit (memory) 121 for storing measurement data and command data from the sensor group.

The method of communication between the support mother ship and the submersible 10 is such that radio communication is performed by radio waves when the submersible 10 is floating, and acoustic radio communication by sound waves is performed when the submersible 10 is submerged. Radio communication by radio wave is SS
The two-way communication of data is performed by a wireless specific power-saving wireless communication device, and communication is performed via an antenna on the mother ship and an antenna 34 attached to the top of the tail of the submersible 10. When the submersible 10 is submerged, communication becomes impossible, so communication is switched to acoustic communication. Acoustic wireless communication is configured to perform bidirectional data communication by underwater ultrasonic communication (FSK method), and projects from a transmitter / receiver (data transmission transducer 26) attached to the tail of the submersible 10 and the mother ship into the water. The two-way communication of data is performed via the transmitter / receiver attached to the bracket. Since the transmitter / receiver cannot be used underwater, communication is performed by switching to the radio of the above radio system when the submersible 10 floats.

FIG. 6 is a system diagram of a data transmission task between the onboard device of the support mother ship and the control device 100 of the submersible 10. There is a personal computer system 122 as an input / output system on the shipboard side, which processes data request commands and other commands by the submersible control software 124, and communicates data to a data transmission / reception board 128 via data communication software 126. The data transmission / reception board 128 makes acoustic communication with the submersible 10 via the mother ship transducer / transducer 130. If the sound communication cannot be performed, the task processed by the data communication software 124 is stored in the memory 1
32 is stored in the wireless transmission system 1
34.

On the other hand, the submersible 10 communicates via the data transmitting transducer 26 or the SS radio antenna 34, and the communication data from the former is transmitted to the data transmitting / receiving board 13
5 and the same data communication software 13 as the mother ship side
6 and processed by the submersible control software 13
8 for data communication. The communication data from the latter is transmitted to the submersible vehicle control software 138 via the wireless transmission system 140 of the submersible vehicle 10. The diving machine control software 138 processes control tasks for actuators such as thrusters and processes signals from various sensors, communicates with the data communication software 136, and performs data communication with the mother ship. If the submersible device 10 cannot perform acoustic communication, the task processed by the data communication software 136 is stored in the memory 121 and is transmitted to the wireless transmission system 140.

By the way, the above-mentioned submersible 10 measures the depth using the above-mentioned sediment sensor 70 while navigating the tracking route defined by the waypoint. This shallow depth measurement measures the amount of sand, mud, etc. deposited on the water bottom, and measures the cross-sectional shape of the water bottom along the measurement line. The depth measuring device includes a sensor 70 for measuring a distance by acoustic reflection and a CPU (not shown) for controlling and recording.
And the collected data is stored in the communication device 12 described above.
0 to the support mother ship, calculates the position of the water bottom from the depth information and the distance information of the submersible 10 on the ship, and displays the cross-sectional shape.

The sediment sensor 70 has a frequency of 500.
In this case, a cone type single beam of about 1 kHz to 1500 kHz is used.
The measurement is made by scanning back and forth in the left and right directions. FIG. 7A is a front view of a state where a beam is irradiated by the sediment sensor 70, and FIG. 7B is a plan view. Submersible 10
The sensor 70 is scanned right and left while navigating through the submersible unit 1 as shown in FIG. 7 (2).
In other words, the beam irradiation area (circle in the figure) moves along a scan path set in a sawtooth shape while moving the sensor 70 forward, thereby expanding the measurement range. In the embodiment, while driving the submersible 10 at 2 knots,
Cone beam of frequency 1200kHz (vertical angle 1.4 degrees)
From a height h = 10 m (the diameter of the irradiation area is 52 cm) and a scan angle of 90 degrees, and a scan speed Vθ = 9 de.
The scanning is performed at g / sec (90 degrees for 10 seconds). By doing so, the scan distance L becomes 22
m, which is 2.2 times higher than the efficiency of simple linear scanning (L = 10 m).

The work of measuring the depth of the water while performing the route tracking control by the submersible 10 having the above-described system configuration is performed as follows. As shown in FIG. 8, a plurality of waypoints (a),
(B), (c), (d)... The navigation route defined by... Is set in advance, and the submersible 10 is set between waypoints (ab, cd) as a measurement line. Doppler sonar 66 while maintaining high altitude or depth
A two-dimensional moving speed is obtained from the calculated value of the water velocity by the azimuth and the azimuth measurement value by the azimuth sensor 98 to perform a propulsive propulsion. The depth of the water bottom is measured by the sediment sensor 70 while making a reciprocating scan in the left-right direction perpendicular to the direction.

When the submersible 10 predicts and advances the navigation route, the actual navigation route may deviate from the prescribed route, and the error increases with the lapse of time. (Fig. 8
(See (2)), the position of the submersible 10 is measured from the support mother ship 142 using a position measuring device by ultrasonic waves, and the mother ship 1 is measured.
As can be understood from FIG. 9 (the state shown in FIG. 9A), the position of the submersible 42 itself can be determined by GPS or DGPS to determine the absolute position of the submersible with respect to the reference coordinate position. This data is calculated on the submersible side or the support mother ship side, and is obtained as position information of the submersible. That is, the position of the underwater vehicle 10 in the water is determined by an underwater position detection device of the SSBL (Super Short Base Line) type mounted on the support mother ship 142 (an acoustic underwater that specifies the direction and distance by the time and phase of the reflected sound wave). The position relative to the mother ship 142 is detected by the position specifying device). On the other hand, the mother ship 142 can know the absolute coordinates of the own ship by DGPS mounted on the ship.

A position and azimuth coordinate system used for controlling the submersible 10 is defined as shown in FIG. The horizontal position (XY position) of the submersible 10 is represented by relative coordinates from one point on the ground, and the north is the positive direction of the X coordinate and the east is the positive direction of the Y coordinate. Submersible 1
The azimuth θ of 0 is 0 degrees in the north, and clockwise as viewed from above is a positive rotation direction. The vertical position (Z-direction position) of the submersible 10 is 0 on the water surface, and positive downward. Thus, the absolute position X _v submersible device 10, the absolute position X _s of the support mother ship 142 by the measurement of DGPS, support mother ship 142 and submersible 10 by underwater position detecting device SSBL method from the relative position X _vs by: Can be calculated.

(Equation 1)

On the other hand, when there is no data from the support mother ship 142, or when there is no support mother ship 142, the depth measurement is continued while performing the three-dimensional route tracking while measuring the self-position by estimating the propulsion. ,
Alternatively, it once intermittently levitates at a fixed distance or at a predetermined point, and then, as shown in FIGS. 8 (1) and 9 (b), (d).
As shown in the figure, the GPS and DG mounted on the
What is necessary is just to repeat the process of measuring the self-position using the PS and correcting the position.

Next, a specific route tracking control method of the submersible 10 will be described step by step. First, set the route data. The setting of the route data is performed on board before the submersible 10 is put in. That is, the submersible 1
0 and the onboard controller are connected by Ethernet, and route data is transmitted from the personal computer system 122 to the submersible 10 via the onboard controller. By the initial position setting command,
From the personal computer system 122 via the onboard controller, the subway system 10 is set with which waypoint to start route tracking.

Next, data input is performed. The route data set in the submersible 10 includes the following elements. Latitude / longitude of each waypoint, travel speed between each waypoint, vertical control method (altitude / depth / thermocline) between each waypoint and its set value, passing speed at each waypoint, and each way Set whether to perform DGPS survey at points. And
It is checked whether the input route does not deviate from the range such as the position and the speed, and the personal computer system 122 calculates the predicted values such as the route length, time and power consumption.

By the way, in order for the submersible 10 to travel between waypoints, it is necessary to prescribe a criterion for reaching the waypoint. The determination of arrival at each waypoint is made based on whether or not the current position is included in the elliptic cylinder centered on the waypoint. The current position data for the determination is obtained by using the output from the DVL and the direction sensor 98 mounted on the submersible 10 and the calculated values of GPS and SSBL sent from the onboard device.
Is calculated within. The arrival judgment is made using this value.
It is done by itself.

The major axis of the ellipse for the arrival determination is the direction perpendicular to the route between waypoints, the minor axis is the direction parallel to the route, and the minor axis length is shorter than the length of the submersible 10 to facilitate the determination. I have to. Long diameter RL, short diameter RS of elliptical cylinder
The height H and the height H can be set on the personal computer system 122 and are transmitted to the submersible 10 together with the route data.

After such pre-processing, before the start of route tracking, movement to the route initial position is performed. The waypoint specified by the initial position setting command is used as the route initial position. This work procedure confirms that the route data and the initial position have been set from the personal computer system 122 to the submersible 10. When the submersible 10 is in the manual mode, the personal computer system 122 instructs the submersible 10 to shift to the automatic mode. The personal computer system 122 instructs the dive machine 10 to move to the initial position according to an instruction from the operator. After receiving the command, the submersible 10 starts moving to the route initial position. First, horizontal movement to the initial position is performed while maintaining the movement start depth. After the horizontal movement to the initial position is completed, the control is shifted to the vertical control method after the start of the route tracking control, and the movement to the initial altitude / depth is performed. After the movement to the initial position is completed, the submersible 10 waits until the start of the route tracking control is commanded.

After moving to the initial position, the personal computer system 122 instructs the submersible unit 10 to start route tracking control according to an instruction from the operator. Upon receiving the route tracking control start command, the submersible 10 starts route tracking.

The submersible 10 starts route tracking control based on the set route data. The voyage between waypoints moves at a specified speed while turning the nose to the next waypoint. At this time, the altitude / depth is controlled in the vertical direction by a designated control method.

The altitude control is for controlling the submersible 10 to reach a target altitude (see FIG. 9: h2). The control unit 106 for altitude control (see FIG. 5) includes a feedback control unit 144 and a time-series data creation unit 146, as shown in FIG. The former generates a thrust command to the vertical thruster 62 by feeding back the difference between the time series data of the target altitude h2 and the current altitude. In the latter case, when the altitude is maintained, a constant target altitude is set to the feedback control unit 14.
Enter 4 At the time of altitude change at the time of single shot or route tracking, time series data of the target altitude between the altitude at the start of altitude change and the final target altitude is calculated and input to the feedback control unit 144. Further, at the time of manual operation by the remote controller, since the output data of the remote controller is the change speed of the target altitude, the data is integrated to calculate the target altitude every moment and input to the feedback control unit 144.

The depth control is such that the submersible 10 is controlled to the target depth (see FIG. 9: h1), and is almost the same as the altitude control. The control unit 108 for depth control (see FIG. 5) includes a feedback control unit 148 and a time-series data creation unit 150, as shown in FIG.
Consists of The former generates a thrust command to the vertical thruster 62 by feeding back the difference between the time series data of the target depth h1 and the current depth. In the latter case, when the depth is maintained, a constant target depth is input to the feedback control unit 148. At the time of depth change at the time of single shot or route tracking, time series data of the target depth from the depth at the start of the depth change to the final target depth is calculated and input to the feedback control unit 148. Further, at the time of manual operation by the remote controller, since the output data of the remote controller is the change speed of the target depth, the output data is integrated to calculate the instantaneous target depth and input to the feedback control unit 148. At this depth control, if the altitude measured by the altitude sonar 68 becomes smaller than the minimum altitude, the process shifts to altitude control with the current altitude as the target altitude.

The submersible 10 navigates from the departure waypoint to the next waypoint by horizontal control. As shown in FIG. 5, the configuration for this horizontal control is a position / azimuth calculation unit 152 that calculates the position / azimuth of the submersible 10 from the measurement values of various measuring instruments, and the position / azimuth calculation unit 152.
The tracking control unit 104 performs tracking control so that the position of the submersible vehicle 10 reaches the next waypoint using the calculated value of the tracking control unit 104, and outputs a moving thrust command and a rotational moment command, and the tracking control unit 10
The thruster command calculator 110 calculates a command voltage to the left and right horizontal thrusters 44 from the moving thrust command and the rotational moment command output from the control unit 4.

The azimuth of the submersible 10 is determined by using an azimuth sensor 98 provided in the submersible 10, which uses a magnetic azimuth sensor to obtain drift-free measurement data. The azimuth speed data of the azimuth sensor 98 may be used as the azimuth change speed used for the route tracking control. The position of the submersible 10 is measured by synthesizing and using data of the following measuring devices.
Absolute position can be measured. That is, DGP
S, the absolute position of the support carrier 142 by the SBL, the relative position of the submersible 10 from the support carrier 142 by the SSBL, the speed of the submersible 10 by the Doppler sonar 66, the direction sensor 9
8 is the bearing of the submersible 10. DGPS / SSBL
Is different from the measurement interval of the Doppler sonar 66 / azimuth sensor 98, the speed of the diving vehicle 10 obtained from the Doppler sonar 66 / azimuth sensor 98 is integrated into a position estimate, and the position estimate is DGPS / SSBL. The value is corrected. That is, in normal cruising, the speculative propulsion using the Doppler sonar 66 / azimuth sensor 98 is performed, and this is corrected by the DGPS / SSBL value in the post-processing.

That is, at the start of position measurement, DGPS
Then, the absolute position of the submersible 10 is calculated from the calculated value of SSBL and the calculated value of SSBL. When the submersible 10 starts running, the two-dimensional moving speed of the submersible 10 is calculated from the calculated value of the water velocity by the Doppler sonar 66 and the measured value of the direction of the submersible 10 by the direction sensor 98. The two-dimensional moving speed of the submersible 10 is integrated with the absolute value of the submersible 10 at the start of the position calculation as an initial value, and the position of the submersible 10 is estimated.
Then, when the error vector of the position estimation value of the submersible 10 is corrected by a single correction operation using the absolute value of the submersible 10 obtained from the calculated values of DGPS and SSBL, the position measurement for use in control is performed. Data becomes discontinuous and thruster 4
Since the control amount of No. 4 is discontinuous, the correction of the position estimation value is a post-processing operation (see FIG. 13).

When the submersible 10 is operated without using the support mother ship 142, the absolute position of the support mother ship 142 and S
The absolute position measurement of the submersible 10 using the relative position measurement value between the support mother ship 142 and the submersible 10 by the SBL cannot be performed. Therefore, in such a case, the submersible 10
Is measured. That is, the submersible 1
The position of the submersible 10 is measured by the DGPS attached to the zero. When the submersible 10 starts sailing after the dive ends,
The submersible vehicle 10 is calculated from the calculated value of the water velocity by the Doppler sonar 66 and the measured direction of the submersible 10 by the direction sensor 98.
Calculate the two-dimensional moving speed of. The position of the submersible 10 is estimated by integrating the two-dimensional moving speed of the submersible 10 with the absolute value of the submersible 10 at the start of position measurement as an initial value. At the time of traveling by route tracking, the submersible 10 is levitated at a predetermined point (such as a waypoint), and its own position is corrected using a value calculated by DGPS. After the measurement is completed, the submersible 10 may be sunk and the route tracking may be resumed.

The tracking control unit 104 (see FIG. 5) controls the submersible unit 10 to move along the designated route. As shown in FIG. Creation unit 154, upper position control unit 15
6, the lower speed control unit 158. The time-series data creation unit 154 calculates a target position / target speed and a target direction / target direction change speed of the submersible 10 for tracking control. The upper position control unit 156 calculates a speed command and an azimuth change speed command to the lower speed control unit 158 in order to correct the deviation of the submersible 10 from the target position and the deviation from the target azimuth. The lower speed control unit 158 performs feedback control using the measured moving speed and the measured azimuth change speed of the submersible 10 in order to realize the moving speed command and the azimuth change speed command from the upper position control system. Through these feedback controls, a moving thrust command and a rotational moment command to the horizontal thruster 44 are output. This output is sent to the horizontal thruster command calculation unit 110 as described above (see FIG. 5).
reference).

The submersible 10 moves between waypoints while performing such horizontal control and the altitude / depth control. When the next waypoint approaches, the submersible 10 moves at a speed up to the set speed at the time of passing the waypoint. Changes are made. When the altitude / depth is changed, or when the user once ascends and self-positions by GPS, the vehicle decelerates before the waypoint, sets the speed to "0" at the waypoint, and stops. If the vehicle does not stop at the waypoint, the vehicle passes through the waypoint at the speed at the time of passing the waypoint, then changes to the moving speed in the next section, and moves toward the next waypoint. When changing altitude / depth at a waypoint, or when ascending to measure the GPS position, stop at the waypoint, perform the specified work, and start moving to the next waypoint. I do. And
When reaching the last waypoint, set the movement speed to "0"
And stops until the next command is issued while maintaining the position.

Here, the route tracking control is stopped when the following event occurs, and the operation of holding the current position is started. For example, if you deviate significantly from the set route, if you deviate from the limit value range such as depth / altitude,
When the waypoint is not reached even if the estimated travel time between waypoints is significantly exceeded, the personal computer system 122
When there is a stop command or a sudden stop command from the controller, there is an abnormality in the mounted device, etc. (determined by the underwater control device).

When the route tracking control is stopped, the onboard personal computer system 122 acquires the following information from the submersible 10. Which way point was stopped when moving, and the coordinate information of the submersible 10 at the time of the stop.

After the route tracking control is stopped for the above reason, the procedure for restarting the control is as follows. First, the personal computer system 122 sends the submersible 10
Inquires about which waypoint the control was interrupted and the coordinates of the submersible 10 at the time of the interruption. Then, the personal computer system 122 presents a stop point to the operator, and the operator inputs a restart point of the route tracking control based on the presented data. The restart point is, for example, specified to restart from the waypoint at the start or end of the suspended section, or to return to the waypoint at the start of the route and restarted, and the operator specifies any waypoint on the set route Then, the suspended point may be regarded as a temporary waypoint and resumed.

If the selected waypoint is set to a depth change or a floating GPS survey, a restart or an input before or after the work is input. When restarting from a stop point between waypoints, the moving speed setting and the vertical control setting need to inherit the setting of the section.

The selected restart point is transmitted from the personal computer system 122 to the submersible 10, and the personal computer system 122 transmits an initial position movement command to the submersible 10 in response to an input from the operator. Submersible machine 10 that received the command
Moves to the set restart point. Then, in response to an input from the operator, the personal computer system 122 transmits a route tracking control start command to the submersible 10 so that the submersible 10 starts the route tracking control.

[0054]

As described above, according to the present invention, the navigation route defined by a plurality of waypoints is set in advance in a lake, and the altitude or depth set between the waypoints by the autonomous navigation type submersible is set. The system is configured to calculate the two-dimensional moving speed from the calculated value of the water velocity by Doppler sonar and the measured value of the direction by the direction sensor while maintaining Therefore, an excellent effect is obtained that the depth measurement of a lake can be performed continuously and with high accuracy by using an autonomous navigation type unmanned underwater vehicle.

[Brief description of the drawings]

FIG. 1 is a perspective view of an autonomous navigation type submersible used for a depth measurement method according to the present invention.

FIG. 2 is a front view of the autonomous navigation submersible.

FIG. 3 is a side view of the autonomous navigation type submersible.

FIG. 4 is a plan view of the autonomous navigation type submersible.

FIG. 5 is a block diagram of a control device mounted on the autonomous navigation submersible.

FIG. 6 is a system diagram of a data transmission task between the support mother ship and the submersible machine.

FIG. 7 is an explanatory diagram of a scanning operation of the earth and sand accumulation sensor.

FIG. 8 is an explanatory diagram of tracking navigation of the submersible.

FIG. 9 is an explanatory diagram of a submersible position measuring method.

FIG. 10 is an explanatory diagram of a coordinate definition of a submersible.

FIG. 11 is an altitude control block diagram.

FIG. 12 is a block diagram of depth control.

FIG. 13 is an explanatory diagram of position measurement of the submersible.

FIG. 14 is a tracking control block diagram.

[Explanation of symbols]

10 ... unmanned submersible, 12 ... body, 14 ... pressure vessel, 16 ... fairing, 20 ... bridge, 26 ... transducer for data transmission, 28 ...
... Transducers for image transmission, 38 ... Cameras (CCD cameras), 44a, 44b ... Horizontal thrusters, 46 ... Lighting, 56 ... Depth sensors, 60 ...
... driftwood sensor, 62 ... vertical thruster, 64 ... regular ballast dropper, 66 ... Doppler sonar, 6
8 ... sonar, 70 ... sediment sensor 72
……… buoyancy adjustment device, 90 …… weight, 92 ………
Emergency ballast release device, 94 Battery, 96
Transponder transducer 98, direction sensor 10
0: Control device, 102: Command unit, 104:
Tracking controller, 106... Altitude controller, 108
...... Depth control unit, 110 ...... Horizontal thruster command calculation unit, 112 ...... Vertical thruster command calculation unit, 114 ......
... Command output unit, 116 ... Data input unit, 118 ...
... Acoustic / wireless communication unit, 120 ... Communication device, 121 ...
…… Data storage unit (memory), 122 …… PC system, …………………………………………………………………………………………………………………………………………………………………………………………………………………………………………………………………… nd Embodiment,
126 Data communication software (mother ship side), 12
8. Data transmission / reception board (mother ship side), 130 ... mother ship transducer (transducer), 132 ... memory (mother ship side), 134 ... wireless transmission system (mother ship side), 135 ... Data transmission / reception board (submersible side), 13
6. Data communication software (submersible side), 138
…… Submersible control system (submersible side), 140 ………
Wireless transmission system (submersible side), 142 ... support mother ship, 144 ... feedback control section, 146 ...
Time series data creation section, 148 feedback control section, 150 time series data creation section, 152 position / direction calculation section, 154 time series data creation section, 1
56: Upper position control unit, 158: Lower speed control unit

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Tokuo Hosoya 5-6-4 Tsukiji, Chuo-ku, Tokyo Mitsui Engineering & Shipbuilding Co., Ltd. (72) Inventor Michio Kumagai 1-10 Uchidehama, Otsu City, Shiga Prefecture Lake Biwa, Shiga Prefecture Inside the research institute (72) Yoshinori Nikaido 10-1 Yamada Ikekitacho, Hirakata-shi, Osaka Prefecture Ministry of Construction, Kinki Regional Construction Bureau Yodogawa Dam Integrated Management Office (72) Inventor Tamaki Ura 3-28-6 Nishiogita, Suginami-ku, Tokyo

Claims (4)

[Claims] 1. A navigation route defined by a plurality of waypoints is set in advance in a lake, and a water speed by a Doppler sonar is maintained while maintaining an altitude or depth set between the waypoints by an autonomous navigation type submersible vehicle. A depth measurement method using a submersible, wherein a two-dimensional moving speed is obtained from a calculated value and an azimuth measurement value obtained by an azimuth sensor to perform a propulsion propulsion, and a depth of the water is measured by an ultrasonic sounding device during the propulsion. 2. An autonomous navigation type submersible is accompanied by a support mother ship, and a two-dimensional coordinate position measurement value by the support mother ship is transmitted to the submersible to correct the navigation position of the autonomous navigation type submersible. 2. The depth measurement is performed.
Depth measurement method using the submersible described in. 3. The shallow water by the submersible according to claim 1, wherein the autonomous navigating submersible is intermittently levitated to measure the navigation position and correct the position to repeatedly perform the depth measurement. Measurement method. 4. The method according to claim 1, wherein the ultrasonic depth sounder is reciprocally scanned by a single beam in the left-right direction of the autonomous navigation type submersible.