JP2009173073A - Underwater object searching system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an underwater object searching system capable of searching underwater objects while securing safety of a searching supervision vessel. <P>SOLUTION: A flying can body 2 is flied from the searching supervision vessel and landed in a searching water range. After landing on water, the flying can body 2 is separated into a flying rocket part 21 and a traveling sensor 22. The flying rocket part 21 includes a rocket part 211 and an underwater part 212, and the rocket part 211 works as an anchor after separating from the underwater part 212. The underwater part 212 measures a self position by a GPS signal receiving machine 21224, transmits data to a supervision part 1 on the vessel of the searching supervision vessel together with the position of the traveling sensor 22 obtained by an underwater position monitoring device 21225 and data for searching collected by the traveling sensor 22. The traveling sensor 22 is equipped with a sensor for searching, such as a sonar 222, a magnetic sensor 223, a camera 224, and records data for searching. The recorded data for searching is gathered in the recording data relay part 2122 through non-contact type data receiving/sending devices 221, 21221. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  TECHNICAL FIELD The present invention relates to an underwater object search system for searching for an underwater object, and in particular, quickly searches a target water area for an autonomously traveling sensor and ensures the safety of a search control ship. The present invention relates to an underwater object search system.

  Conventionally, sonar has been mainly used to search and detect underwater objects such as mines. The sonar is used as a fixed bottom sonar attached to the bottom of a search-control vessel that controls the search for underwater objects, or as a variable depth sonar suspended from a search-control vessel, or towed from a search-control vessel. Has been used as a towed sonar.

  However, in recent years, targeted threats such as mines have become more sophisticated and intelligent, and the risk of search-controlled vessels has increased. For this reason, the fixed bottom sonar, variable depth sonar, and towed sonar type cannot secure a sufficient distance from the target threat, and the search and control vessel can be secured in order to ensure the safety of the search and control vessel. Remote sonar that can search far ahead of ships is beginning to be used.

  In particular, as a remote sonar, an autonomous underwater vehicle (hereinafter referred to as AUV (Autonomous Underwater Vehicle)) that searches the autonomously designated water area without being controlled by a cable from a search and control ship, It has been used to ensure the safety of search and control ships.

FIG. 6 is an explanatory diagram for explaining an operation method of a conventional underwater object search system, as described in Japanese Patent Laid-Open No. 2001-174545 “Underwater stationary object detection method and apparatus”. , Shows an example of searching for an underwater object using AUV. In general, since the area to be searched is large, FIG. 6 shows an example in which the search is divided into, for example, three areas and is searched using three AUVs. In most cases, the water channel to be searched has a width of 600 m or more and a length of 18 km or more. If one AUV is used, the efficiency is low and a quick search cannot be performed. Furthermore, when the water channel is handled by a single unit, AUV requires a large amount of power to simultaneously search for the target (underwater object) by the mounted search sensor and drive the AUV main body. Yes, the capacity of the AUV battery will be insufficient. In particular, the AUV in charge of the water area in the back of the search waterway will run out of the onboard battery and become unable to search by starting from the search control ship and arriving at the water area.
JP 2001-174545 A (page 3-5)

  In the conventional method of starting AUV directly from a search-and-control vessel, as illustrated in FIG. 6, in order to search a distant water area, the AUV is self-propelled to the target water area to be searched. There must be. The same goes for return.

  The AUV is equipped with search sensors such as a sonar, a magnetic detector, and a camera for searching. The search result of each search sensor generates a huge amount of digital data in units of gigabytes as search data.

  It is necessary to finally transmit these search data to the search and control ship. However, underwater, radio waves are attenuated rapidly, so that transmission by radio waves is difficult. Even in communications using underwater sound waves, long-distance and large-capacity transmission cannot be expected due to attenuation or bending of the propagation path. In addition, even if the AUV is equipped with a wireless device, and the search data is transmitted by aerial communication by airborne, if the self-propelled distance to the search area is long and the search area is wide, the battery is consumed. Therefore, there is a high possibility that data communication is impossible. For this reason, it is often necessary to record the collected search data once in the AUV, return to the search and control ship, and suck the recorded search data to the search and control ship. .

  The present invention has been made in view of the above-described problems of the prior art, and an object of the present invention is to mount a cruising sensor and an underwater part on the rocket, and to the vicinity of the search water area in charge. After landing, the underwater part is deployed, and the search is started by separating the navigation sensor, or the navigation sensor and the underwater part are mounted on the surface of the surface, and the search is in charge. By navigating the surface of the watercraft to the vicinity of the water area and expanding the underwater part after arrival, separating the navigation sensor and starting the search, further, the navigation sensor has landed or When returning to the position of the underwater part that has been moored and arrived, it has a buoy that sucks the search data recorded in the navigation sensor and relays it to the search control ship using a radio signal. Travel time and travel It is possible to save the required battery, and it is possible to carry out a long and efficient search while ensuring the safety of the search and control ship, and it is possible to effectively utilize the limited battery capacity To provide an underwater search system.

  In order to solve the above-described problems, the underwater object search system according to the present invention employs the following characteristic configuration.

  (1) In an underwater object search system that searches for objects placed underwater and at the bottom of the water controlled by a search-and-control vessel, the navigation sensor that searches for objects in the water while navigating underwater flies to the target water area. An underwater object search system having at least a flying can body that is allowed to start underwater.

  According to the underwater object search system of the present invention, the following effects can be obtained.

  In the present invention, the traveling sensor does not have to travel between the search and control ship and the search area, and saves the battery time required for the search area and travel time. A timely and highly efficient search can be performed while ensuring the safety of the search and control ship.

  In the present invention, the non-contact type data transmission / reception device performs data transmission between the navigation sensor and the data relay unit. In addition to simplifying sensor control, the number of data transmission equipment can be reduced, and the navigation sensor can be downsized.

(Features of the present invention)
Prior to the description of the embodiments of the present invention, an outline of the features of the present invention will be described first. The underwater object search system of the present invention includes a flying can or a watercraft that is launched from a search and control ship that controls the search and stores a navigation sensor therein. It also includes an onboard control unit installed on search and control ships.

  The navigation sensor is presumed to be an autonomous underwater vehicle AUV (Autonomous Underwater Vehicle) having the intelligence to autonomously travel, but is programmed to pass only the target water area previously input. A case where the vehicle is an unmanned underwater vehicle (UUV) is also assumed. Therefore, in the present invention, as a vehicle equipped with a search sensor, not only AUV but also “cruising sensor” including UUV is targeted.

  FIG. 1 shows an example of a flying can body storing AUV as a navigation sensor. As shown in FIG. 1, after the flying can body 2 storing the traveling sensor 22 flies to the search area and landed, the underwater portion 212 is deployed, and the traveling sensor 22 starts and starts searching. The shipboard control unit 1 sets rocket setting parameters for landing the flying can body 2 at a predetermined location. In addition, the ship control unit 1 lands on the search area and is moored and transmitted by radio signals from the underwater unit 212 in a deployed state. A data receiving unit 12 that receives GPS measurement position information of the middle unit 212 and a data recording unit 13 that records the received data as a previous stage for analysis are provided.

  The flying can body 2 stores the underwater portion 212 and the navigation sensor 22 and is launched from a search and control ship. After landing on a designated area, the navigation sensor 22 starts underwater. The underwater portion 212 remains in the flying can body 2 after the navigation sensor 22 has started, and the underwater portion 212 includes a float 21211, a float buoy 2121 equipped with a GPS antenna 21212 and a data relay antenna 21213. And a recording data relay unit 2122 that monitors the current position of the started traveling sensor 22, sucks up position information and search data from the traveling sensor 22, and transmits them to the search controlled ship by radio signals.

  The navigation sensor 22 is a vehicle that searches underwater and / or underwater objects while navigating underwater, and is used for searching for a sonar 222 driven by a battery, a magnetic sensor (magnetic detector) 223, a camera 224, and the like. It has a sensor.

  In addition, the underwater object search system of the present invention is equipped with wireless non-contact type data transmission / reception units 221 and 12221 which are non-contact type proximity communication means in the navigation sensor 22 and the recorded data relay unit 2122, so It has a function to download data without physically connecting cables and connectors.

  By having the configuration as described above, the underwater object search system according to the present invention can save the battery required for moving to the target water area, and can perform a long and efficient search for the safety of the search control ship. It becomes possible to carry out while ensuring.

  FIG. 4 is an explanatory diagram for explaining an example of an operation method of the underwater object search system of the present invention. As shown in FIG. 4, if the width of the search area is 1,200 m × 5,000 m, and a sonar with a navigation sensor, for example, an AUV, has an effective search width of 200 m, the search overlap is ignored. In this case, it is necessary to travel 6 times (total 30 km) on the 5,000 m sweep line in the search area. In the case of a conventional underwater object search system, as shown in FIG. 5, in addition to the navigation sensor in charge of the search area in the middle, in addition to that, a 5 km × 2 It is necessary to sail 10km. In addition, the travel sensor in charge of the search area on the right side requires a travel distance of 10 km × 2 and 20 km for reciprocation with the search control ship.

  In general, since the operating speed of AUV used as a traveling sensor is about 2.5 m / s, in the conventional underwater object searching system, the traveling sensor in charge of the left search area is 30,000 / 2. 5 = 12,000 seconds = about 3 hours and 20 minutes, with the navigation sensor in charge of the middle search area, 40,000 / 2.5 = 16,000 seconds = about 4 hours and a half, in charge of the right search area In the traveling sensor, 50,000 / 2.5 = 20,000 seconds = about 5 and a half hours are required.

  In order to further increase the search probability, the search will be performed while navigating the same sweep line multiple times, so if you navigate multiple times, the required time difference between each search area will double. .

  On the other hand, since the consumption of the battery (battery) mounted on the AUV increases in proportion to the time, 1.5 kw / h is required for the navigation sensor and the search sensor operation. Then, in the navigation sensor in charge of the search area on the left side, at least 1.5 kW × 3.33h = 5 kW, in the navigation sensor in charge of the middle search area, 1.5 kW × 4.5 h = 6.75 kW, The navigation sensor in charge of the search area on the right side requires 1.5 kw × 5.5 h = 8.3 kw, respectively.

  Taking into consideration the case where the same sweep line as described above is traveled a plurality of times, a battery capacity (battery capacity) more than doubled as described above is required. The battery (battery) occupies a volume of about 1/3 of the payload of the AUV serving as a navigation sensor. In the conventional underwater object search system, as described above, the search area on the right side where the AUV is farthest away. In consideration of the case of self-propelled, the occupied volume of the battery (battery) occupies about twice as large as the case of the left search area, and the AUV becomes large.

  On the other hand, in the present invention, by adopting a flying can body equipped with a traveling sensor and flying the flying can body to the search area, the time required for moving to the search area can be reduced within a few minutes. As a result, the energy source for movement will be present in the rocket, and the battery built into the navigation sensor will only have to consider the search within the search area, thus increasing the payload of the AUV. Therefore, even when searching in a remote water area, the search can be performed quickly and effectively.

(Configuration of the embodiment)
Next, embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a configuration diagram showing an embodiment of a system configuration of an underwater object search system according to the present invention, and shows a configuration example when a traveling sensor is mounted on a flying can body. In FIG. 1, the underwater object search system includes a shipboard control unit 1 and a flying can body 2. The ship control unit 1 is a part equipped on a search control ship that controls the search for underwater objects, and includes at least a launch control unit 11, a data receiving unit 12, and a data recording unit 13.

  Further, the flying can body 2 includes at least a flying rocket unit 21 and a traveling sensor 22. Further, the flying rocket unit 21 is configured to include a rocket unit 211 that propels the flying can body 2 and an underwater unit 212 that expands into the water after landing in a target water area. A float buoy 2121 that floats on the surface of the water and enables transmission and reception of data by radio signals, and a record data relay unit 2122 that transmits search data collected by the navigation sensor 22 to the search control ship. .

  The cruising sensor 22 is a vehicle that travels underwater, and has at least a sonar 222, a magnetic sensor 223, and a camera 224 as a search sensor for searching for underwater and / or the bottom of the water. At least a non-contact type data transmitting / receiving device 221 for transmitting search data collected by the sensor for use to the underwater part 212 of the flying rocket part 21 and an acoustic repeater 225 for measuring the position of the navigation sensor 22 Configured.

  In addition to this, the navigation sensor 22 includes a control processing device, an inertial navigation device, a battery, a motor, a screw, a thruster, etc., but such a device is an essential component of this patent. It is not, so I will omit the detailed explanation here. However, since the traveling sensor 22 equipped with these equipments is premised on being small in size to be mounted on the flying can body 2 for flight, each equipment to be mounted is required to be downsized. In particular, it is necessary to reduce the size of a battery that greatly affects the payload.

  The float buoy 2121 which is a component of the underwater portion 212 is further used for data transmission / reception between the float 21211 for providing buoyancy and not sinking, the GPS antenna 21212 for receiving GPS signals, and the search controlled ship. The data relay antenna 21213 is provided as a minimum configuration. As the underwater portion 212, a battery, a flashlight for self-position confirmation, and the like exist as equipment, but they are general and are not essential constituent elements of this patent. Omit.

  The recorded data relay unit 2122 further includes a non-contact type data transmission / reception device 21221 that sucks up the search data collected by the navigation sensor 22 as an underwater side non-contact type data transmission / reception device, and a search that is sucked up by the non-contact type data transmission / reception device 21221. The data relay device 21222 that converts the data and the current position information acquired by the GPS receiver 21224 into a transmission format for transmission to the search and control ship, and the data converted by the data relay apparatus 21222 is transmitted to the search and control ship as a radio signal. A relay radio 21223 (that is, the data relay device 21222 and the relay radio 21223 constitute a relay radio device), a GPS receiver 21224 that obtains current position information from a GPS signal, Underwater position monitoring to monitor the current position of the sensor 22 And apparatus 21225, a is the minimum configuration. These devices are stored in a watertight can body and filled with a foaming agent or the like for neutral buoyancy and impact mitigation, but they are common in underwater devices and are essential components of this patent. Since this is not a requirement, a detailed explanation here is omitted.

  Next, an example of the operation of the underwater object search system shown in FIG. 1 will be described. 2 and 3 are conceptual diagrams showing an example of the operation of the underwater object search system shown in FIG. 1. FIG. 2 shows the search for the self-position information of the underwater portion 212 and the position information of the navigation sensor 22. FIG. 3 is a conceptual diagram for explaining the operation for transmitting the search data collected by the navigation sensor 22 to the search control ship. First, referring to the conceptual diagram of FIG. 2, of the operations of the underwater object search system shown in FIG. 1, the operation of transmitting the self position information of the underwater portion 212 and the position information of the navigation sensor 22 to the search and control ship. An example will be described.

  In the conceptual diagram of FIG. 2, the launch control unit 11 of the shipboard control unit 1 calculates the landing point of the flying can body 2 and the initial launch direction and rocket combustion time for the flight, along with the search line plan for the search area. , Input to the flying can body 2. The flying can body 2 is launched based on the input information, is propelled by the rocket unit 211, and reaches the search area of the target water area. After landing, the flying can body 2 separates the flying rocket part 21 and the traveling sensor 22 and deploys the stored traveling sensor 22 and underwater part 212 in water. The rocket part 211 becomes an anchor after separation, and prevents the underwater part 212 from being washed away by a tidal current or the like.

  The navigation sensor 22 is a target (underwater) based on the sweep line plan input before the launch by the launch controller 11 by the sonar 222, the magnetic sensor 223, and the camera 224, which are the sensors for the search. The search for the object is started. The underwater unit 212 deploys the float buoy 2121 and the recording data relay unit 2122 underwater, and the float buoy 2121 inflates the float 21211 to ensure the buoyancy of the underwater unit 212 and to measure the position of the underwater unit 212. GPS antenna 21212 and the data relay antenna 21213 for transmitting the search data recorded by the position of the underwater portion 212 and the navigation sensor 22 are made operable.

  The recorded data relay unit 2122 enables the data relay device 21222, the relay radio device 21223, the GPS receiver 21224, and the underwater position monitoring device 21225 after being deployed in water. The GPS receiver 21224 calculates the self position of the underwater portion 212 based on the GPS signal received via the GPS antenna 21212 and outputs it to the data relay device 21222 at a predetermined fixed period. The data relay device 21222 converts the self-location information of the underwater section 212 calculated by the GPS receiver 21224 into a transmission format and outputs the transmission format to the relay radio device 21223.

  The relay radio device 21223 establishes wireless communication with the data receiving unit 12 of the onboard control unit 1 on the search and control ship, and then transmits the self-position information of the underwater unit 212 to the data receiving unit 12. The data receiving unit 12 receives the self-position information of the underwater unit 212 transmitted from the underwater unit 212 and outputs the received information to the data recording unit 13. The data recording unit 13 records information on a recording medium.

  The underwater position monitoring device 21225 transmits a sound wave having a specific frequency at a predetermined period and is calculated based on the time when a response signal returned from the acoustic repeater 225 mounted on the navigation sensor 22 is received. The position of the cruising sensor 22 is monitored based on the round trip time and the receiving direction. At this time, the acoustic repeater 225 of the navigation sensor 22 instantly transmits a response signal when receiving the sound wave emitted from the underwater position monitoring device 21225.

  The position information of the navigation sensor 22 monitored by the underwater position monitoring device 21225 is sent to the data relay device 21222, converted into a transmission format, and then output to the relay radio device 21223. The relay radio 21223 transmits the position information of the navigation sensor 22 to the data receiving unit 12 on the search and control ship. The data receiving unit 12 outputs the received position information of the navigation sensor 22 to the data recording unit 13. The data recording unit 13 records information on a recording medium.

  The cruising sensor 22 is monitored by the underwater position monitoring device 21225 and the acoustic repeater 225, but there is a possibility that the cruising sensor 22 may act outside the sonic wave reachable range. Based on the result, a method of calculating the self-position of the traveling sensor 22 and traveling a scheduled point using the information is also used.

  Next, with reference to the conceptual diagram of FIG. 3, an example of the operation of transmitting the search data collected by the navigation sensor 22 to the search control ship among the operations of the underwater object search system shown in FIG. 1 will be described. In the conceptual diagram of FIG. 3, first, the navigation sensor 22 that has performed a search based on a preset sweep line plan is based on the transmission signal of the underwater position monitoring device 21225 and the self-position of the inertial navigation device. Return to the point where the underwater part 212 exists. At this time, the traveling sensor 22 receives the transmission signal of the underwater position monitoring device 21225 by the sonar 222, calculates the presence direction of the underwater portion 212 from the received direction, and self-guides the traveling sensor 22 in that direction. When the sonar 222 recognizes that the underwater portion 212 has been sufficiently approached, the sonar 222 performs active transmission, accurately measures the distance and direction of the underwater portion 212, and finally sets the navigation sensor 22 in the water. It guides to the position of the recording data relay unit 2122 in the middle part 212.

  The traveling sensor 22 that has returned to the recorded data relay unit 2122 of the underwater unit 212 is mechanically held so as not to be separated from the recorded data relay unit 2122. Since the holding method is not an essential constituent element of this patent, a detailed description thereof will be omitted.

  The navigation sensor 22 held in the vicinity of the record data relay unit 2122 is stored in search data collected and stored by search sensors such as the sonar 222, magnetic sensor 223, and camera 224, and in an inertial navigation device. The underwater position information of the cruising sensor 22 is transmitted to the underwater side non-contact type data transmitter / receiver installed in the recording data relay unit 2122, that is, the non-contact type data transmitter / receiver 21221 via the non-contact type data transmitter / receiver 221. To do. Here, the non-contact type data transmission / reception device 221 and the non-contact type data transmission / reception device 21221 are induction coil type data transfer devices, and use non-contact type data transfer technology by electromagnetic induction without using a physical connection connector. It is equivalent to a commuter pass information reading device or the like installed at a railway station or the like.

  The non-contact type data transmission / reception device 21221 on the underwater part 212 side sends the data received from the non-contact type data transmission / reception device 221 of the navigation sensor 22 to the data relay device 21222. The data relay device 21222 converts the data into a transmission format, and then outputs the data to the relay radio device 21223. The relay radio device 21223 transmits various sensor information collected by the navigation sensor 22, that is, search data, to the data receiving unit 12 on the search and control ship. The data receiving unit 12 converts various received sensor information, that is, search data into a recording format, and then outputs the data to the data recording unit 13. The data recording unit 13 records various sensor information, that is, search data, on the recording medium in association with the position information of the underwater unit 212 and the position information of the navigation sensor 22 described above.

  In addition, since the position information of the underwater portion 212 is periodically transmitted to the onboard control portion 1 on the search and control ship at regular intervals in advance, the search and control of the underwater portion 212 will be performed later. The ship moves to that point and carries out.

  Moreover, in FIG. 1, although the case where the flight can body 2 carrying the navigation sensor 22 was made to fly to the target water area used as a search water area was demonstrated, this invention is not restricted only to such a case. For example, you may make it use instead of the flying can body 2 the water navigation body which conveys the water to the target water area for the navigation sensor 22, and starts underwater.

  In the case of using a floating body, the flying can body 2 and its components, the flying rocket part 21 and the rocket part 211, are used as a floating body for remote operation or autonomous navigation, such as a surface boat. You can replace it. An example thereof is shown in FIG. FIG. 5 is a configuration diagram showing another embodiment of the underwater object search system of the present invention, and shows a case where the cruising sensor 22 is mounted on a watercraft. In the case of FIG. 5, when the navigation sensor 22 of FIG. 1 is mounted on the flying can body 2, the launch control section 11 is connected to the boat control section 11 </ b> A that controls the water navigation body 2 </ b> A. The flying rocket unit 21 is replaced with the surface boat 2A, and the rocket unit 211 is replaced with the engine / anchor unit 211A.

  The engine / anchor part 211A arrives at the search sea area, separates the underwater part 212 and the navigation sensor 22, and then inserts an anchor for drift prevention. At this time, the point that the engine part is not dropped into the water is different from the case of the flying can body 2. Further, unlike the flying can body 2, the boat body itself of the watercraft 2 </ b> A can include the function of the float buoy 2121.

(Industrial applicability)
As an application example of the present invention, for example, there is an underwater object search system for searching for mines and the like. In the underwater object search system according to the present invention, it is possible to search for a target mine or the like without introducing a search and control ship in which a sailor is on board to a dangerous water area where a threat exists. In particular, even in such a case, it is possible to realize a system that takes into consideration the reduction of the battery capacity and payload of the navigation sensor, which is a problem, and the improvement of search efficiency.

The configuration of the preferred embodiment of the present invention has been described above. However, it should be noted that such examples are merely illustrative of the invention and do not limit the invention in any way. Those skilled in the art will readily understand that various modifications and changes can be made according to a specific application without departing from the gist of the present invention. For example, the embodiment of the present invention can be expressed as the following configuration in addition to the configuration (1) in the means for solving the problems.
(2) The flying can body includes a flying rocket part and the traveling sensor, and the flying rocket part is deployed in water after landing on a target water area and a rocket part for propelling the flying can body. And the underwater part is a vehicle that travels underwater, and the search sensor for searching for underwater and / or the bottom of the water and the position of the underwater sensor are measured. An underwater object search system according to (1), further comprising: an acoustic repeater for transmitting the search data collected by the search sensor to the underwater part of the flying rocket part.
(3) The underwater object search system according to (2), wherein the search sensor includes at least a sonar, a magnetic sensor, and a camera.
(4) When transmitting the search data acquired by the navigation sensor to the underwater portion, electromagnetic induction is performed by the non-contact type data transmitting / receiving device of the navigation sensor without using a physical connection connector. The underwater object search system according to (2) or (3), wherein transmission is performed using a non-contact type data transfer technique according to (1).
(5) The underwater part of the flying rocket part has a float for providing buoyancy and does not sink, and a record data relay part for transmitting the search data collected by the navigation sensor to the search control ship that controls the search. And the underwater object search system according to any one of the above (2) to (4).
(6) The recorded data relay unit includes an underwater side non-contact data type transmitter / receiver that sucks up the search data collected by the navigation sensor, a GPS receiver that acquires current position information from a GPS signal, and the underwater unit (5) an underwater object search having at least a relay wireless device for transmitting the search data sucked by the side non-contact data type transmitting / receiving device and the current position information acquired by the GPS receiver to the search controlled ship system.
(7) In an underwater object search system that searches for objects placed underwater and at the bottom of the water under the control of a search and control ship, transports a traveling sensor that searches for objects underwater while traveling underwater to the target water area. An underwater object search system having at least a watercraft that starts underwater.
(8) The watercraft includes a watercraft part and the sailing sensor, and the waterboat part includes an engine anchor part for propelling and mooring the watercraft and a target water area. And at least a submerged part that expands in the water after arriving, wherein the navigation sensor is a vehicle that travels underwater, and a search sensor that searches the underwater and / or the bottom of the water, and the navigation The above (7) having at least an acoustic repeater for measuring the position of the sensor and a non-contact type data transmitting / receiving device for transmitting search data collected by the search sensor to the underwater part of the surface boat part Underwater object search system.
(9) The underwater object search system according to (8), wherein the search sensor includes at least a sonar, a magnetic sensor, and a camera.
(10) When transmitting the search data acquired by the navigation sensor to the underwater portion, electromagnetic induction is performed by the non-contact type data transmitting / receiving device of the navigation sensor without using a physical connection connector. The underwater object search system according to (8) or (9), wherein transmission is performed using a non-contact type data transfer technique according to the above.
(11) A float for providing buoyancy and preventing subsidence of the underwater portion of the surface boat portion, and a record data relay portion for transmitting the search data collected by the navigation sensor to the search control vessel that controls the search And the underwater object search system according to any one of (8) to (10).
(12) The recorded data relay unit includes an underwater side non-contact data type transmitting / receiving device that sucks up the search data collected by the navigation sensor, a GPS receiver that acquires current position information from a GPS signal, and the underwater unit (11) Underwater object search having at least a relay wireless device for transmitting the search data sucked by the non-contact data type transmitting / receiving device and the current position information acquired by the GPS receiver to the search controlled ship system.

It is a block diagram which shows one Embodiment of the system configuration | structure of the underwater object search system of this invention. It is a conceptual diagram which shows an example of operation | movement of the underwater object search system of this invention. It is a conceptual diagram which shows the example different from FIG. 2 of operation | movement of the underwater object search system of this invention. It is explanatory drawing for demonstrating an example of the operating method of the underwater object search system of this invention. It is a block diagram which shows other embodiment of the underwater object search system of this invention. It is explanatory drawing for demonstrating the operation method of the conventional underwater object search system.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Ship control part 11 Launch control part 11A Boat control part 12 Data receiving part 13 Data recording part 2 Flying can body 2A Watercraft 21 Flight rocket part 21A Watercraft part 22 Navigation sensor 211 Rocket part 211A Engine anchor part 212 Underwater part 221 Non-contact data transmission / reception device 222 Sonar 223 Magnetic sensor 224 Camera 225 Acoustic repeater 2121 Float buoy 2122 Recording data relay unit 21111 Float 21212 GPS antenna 21213 Data relay antenna 21221 Non-contact data transmission / reception device 21222 Data relay device 21223 Relay Radio device 21224 GPS receiver 21225 Underwater position monitoring device

Claims (12)

  In an underwater object search system that searches for objects placed underwater and on the bottom of the water controlled by a search and control ship, the underwater sensor that searches for underwater objects while navigating underwater flies to the target water area. An underwater object search system characterized by having at least a flying can body to be started.   The flying can body includes a flying rocket portion and the navigation sensor, the flying rocket portion propelling the flying can body, and an underwater portion that expands in water after landing in a target water area. And the navigation sensor is a vehicle that travels underwater, and is a search sensor that searches the underwater and / or the bottom of the water, and an acoustic for measuring the position of the navigation sensor. The underwater object according to claim 1, further comprising: a repeater; and a non-contact type data transmitting / receiving device for transmitting search data collected by the search sensor to the underwater portion of the flying rocket portion. Search system.   The underwater object search system according to claim 2, wherein the search sensor includes at least a sonar, a magnetic sensor, and a camera.   When transmitting the search data acquired by the traveling sensor to the underwater part, the contactless data transmission / reception device of the traveling sensor does not use a physical connection connector, and the contactless sensor is not contacted by electromagnetic induction. The underwater object search system according to claim 2 or 3, wherein transmission is performed using a type data transfer technique.   The underwater part of the flying rocket part has a float for giving buoyancy and not sinking, and a record data relay part for transmitting the search data collected by the navigation sensor to the search control ship that controls the search. The underwater object search system according to any one of claims 2 to 4, wherein the underwater object search system is at least provided.   The recorded data relay unit includes an underwater side non-contact data type transmitting / receiving device that sucks up the search data collected by the navigation sensor, a GPS receiver that acquires current position information from a GPS signal, and the underwater side non-contact The relay wireless device for transmitting at least the search data sucked up by the data type transmission / reception device and the current position information acquired by the GPS receiver to the search control vessel. Underwater object search system.   In an underwater object search system that searches for objects placed underwater and at the bottom of the water under the control of a search and control vessel, a traveling sensor that searches for an object underwater while traveling underwater is transported to the target water area An underwater object search system comprising at least a watercraft to be started.   The watercraft includes a watercraft part and the sailing sensor, the waterboat part propelling and mooring the watercraft, and after arriving at a target water area. An underwater portion that develops underwater, and the navigation sensor is a vehicle that travels underwater, and a search sensor that searches the underwater and / or the bottom of the water, and a position of the navigation sensor. And at least a non-contact type data transmitting / receiving device for transmitting search data collected by the search sensor to the underwater portion of the surface boat portion. 7. The underwater object search system according to 7.   The underwater object search system according to claim 8, wherein the search sensor includes at least a sonar, a magnetic sensor, and a camera.   When transmitting the search data acquired by the traveling sensor to the underwater part, the contactless data transmission / reception device of the traveling sensor does not use a physical connection connector, and the contactless sensor is not contacted by electromagnetic induction. The underwater object search system according to claim 8 or 9, wherein transmission is performed using a type data transfer technique.   The underwater part of the surface boat part has a float for giving buoyancy and not sinking, and a record data relay part for transmitting the search data collected by the navigation sensor to the search control ship that controls search. The underwater object search system according to any one of claims 8 to 10, wherein the underwater object search system is at least provided.   The recorded data relay unit includes an underwater side non-contact data type transmitting / receiving device that sucks up the search data collected by the navigation sensor, a GPS receiver that acquires current position information from a GPS signal, and the underwater side non-contact The relay wireless device for transmitting at least the search data sucked by the data type transmission / reception device and the current position information acquired by the GPS receiver to the search controlled vessel. Underwater object search system.

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