JP2010139270A - System for collecting under-water information - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To reduce the restrictions on the travel region of an underwater navigation object. <P>SOLUTION: The underwater navigation object 1 can move underwater by power which the object itself possesses and includes a side scan sonar 10C, or the like, for collecting under-water information, and an underwater-side first acoustic modem 12H, capable of transmitting the underwater information collected by the side scan sonar 10C, or the like. A water surface moving object 2 includes a water-surface-side first acoustic modem 22H, which can communicate with the underwater-side modem 12H and receives the underwater information transmitted from the underwater-side modem 12H; and an underwater position measuring device 21 for detecting the position of the underwater navigation object 1. The moving object 2 moves on the water surface H, in matching with the movement of the underwater navigation object 1, while detecting the position of the underwater navigation object 1. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an underwater information collection system that collects underwater information while controlling an underwater vehicle in a water moving body.

The underwater vehicle is equipped with a propulsion device for navigating underwater and an observation device for collecting underwater information, and navigates underwater and collects data of the sea and the seabed. In Patent Document 1, laser light is sent from the ship to an underwater vehicle via an optical fiber, and laser light is irradiated from the underwater vehicle into the water, and reflected light from an exploration object is transmitted to the underwater vehicle. It is disclosed that an image based on reflected light is sent to a ship by taking it into a camera head mounted on the ship. Further, Patent Document 2 is provided with a transmitter for transmitting ultrasonic waves to the underwater vehicle, and for receiving ultrasonic waves transmitted from the transmitter of the underwater vehicle to predetermined three or more locations in the water. A technique for detecting the position of an underwater vehicle is disclosed by installing a receiver and receiving the ultrasonic wave transmitted from the transmitter of the underwater vehicle with a receiver provided in the water. .
JP 2003-294841 A JP 2004-138568 A

  However, in the method disclosed in Patent Literature 1, there is a problem that the movement area of the underwater vehicle is restricted due to the restriction due to the length of the optical fiber. was there. Moreover, in the method disclosed in Patent Document 2, it is necessary to install receivers at predetermined intervals in the moving area of the underwater vehicle, and there is a problem that the moving area of the underwater vehicle is limited. there were. This invention is made | formed in view of the above, and aims at reducing the restriction | limiting of the movement area | region of an underwater vehicle.

  In order to solve the above problems, an underwater information collection system according to the present invention includes an underwater information collection unit that collects underwater information, and a first acoustic communication capable of transmitting underwater information collected by the underwater information collection unit. An underwater vehicle capable of moving underwater and capable of communicating with the first acoustic communication device and receiving the underwater information transmitted from the first acoustic communication device. 2 and a position detecting means for detecting the position of the underwater vehicle, and moves the water surface in accordance with the movement of the underwater vehicle while detecting the position of the underwater vehicle. And a water moving body.

  As in the present invention, the water moving body is moved in accordance with the movement of the underwater vehicle, and between the two, by transmitting data by wireless communication using an acoustic communication device, the communication range is maintained. If so, there is no restriction on movement between the surface moving body and the underwater vehicle. As a result, the mother ship can obtain the information collected by the underwater vehicle through the surface moving body, so that the mother ship can collect information without having to enter the water area that is difficult to navigate. Further, unlike the mother ship of the underwater vehicle, the surface moving object has high mobility, so that it is easy to follow the movement of the underwater vehicle, and the degree of freedom in collecting underwater information is improved.

  As a preferred aspect of the present invention, in the underwater information collection system, it is desirable that the water moving body has a stabilizing support structure capable of maintaining the posture of the second acoustic communication device in a predetermined posture. Thereby, the influence which the rocking | swiveling of a surface moving body has on the communication using an acoustic communication apparatus can be reduced.

  As a preferred aspect of the present invention, in the underwater information collection system, the stabilization support structure has at least two swinging shafts orthogonal to each other, and the second acoustic communication device includes It is desirable to be configured to be able to swing around the swing axis. Thereby, the influence which the rocking | swiveling of a surface moving body has on the communication using an acoustic communication apparatus can be reduced.

  As a preferred aspect of the present invention, in the underwater information collecting system, the water moving body is composed of a power ship having power and capable of navigating by itself, and a towed body towed by the power ship, The second acoustic communication device is preferably mounted on the towing body. Power ships capable of navigating on their own may cause the hull to oscillate due to vibrations of the power source and power transmission device, and noise generated by them may affect communication using the acoustic communication device. According to the configuration, the second acoustic communication device is mounted on a towing body that is not mounted with a power source. As a result, there is no influence of rocking and noise caused by the vibration of the power source or the power transmission device, so that communication using the acoustic communication device can be reliably realized.

  As a preferred aspect of the present invention, in the underwater information collection system, the underwater vehicle includes a processing device that sequentially compresses the underwater information acquired by the underwater information acquisition means in a predetermined unit, Preferably, the acoustic communication device 1 transmits the compressed underwater information in the order of compression. In general, communication using an acoustic communication device has a low communication speed, but the information in the underwater vehicle is transmitted by sequentially compressing the acquired underwater information in predetermined units and then transmitting in the compressed order. And a time delay from reception on the water can be reduced.

  The present invention can reduce the restriction of the movement area of the underwater vehicle.

  Hereinafter, the present invention will be described in detail with reference to the drawings. The present invention is not limited to the following description. In addition, constituent elements in the following description include those that can be easily assumed by those skilled in the art, those that are substantially the same, and those in a so-called equivalent range.

  FIG. 1 is a conceptual diagram showing an outline of an underwater information collection system according to the present embodiment. The underwater information collection system 100 includes an underwater vehicle 1 that can move underwater and a waterborne vehicle 2 that can move on the water surface H. Then, the underwater vehicle 1 collects underwater information (hereinafter referred to as underwater information), for example, the state of the bottom of the water, and transmits the underwater information collected via the acoustic communication device to the surface moving body 2. The surface moving body 2 transmits the received underwater information to the mother ship 3 in a place away from the place where the underwater vehicle 1 collects the underwater information via the communication satellite 4 (or radio wave communication). . FIG. 1 shows an example in which a search target Q that has sinked to the bottom of the water is searched by the underwater vehicle 1, and the underwater vehicle 1 observes the bottom of the water while moving in the water. And if the search object Q is discovered, the underwater vehicle 1 will approach that position and will collect more detailed information on the search object Q. Thereafter, the underwater vehicle 1 returns to the original movement path. Next, the configuration of the underwater information collection system 100 will be described.

  FIG. 2 is a system configuration diagram showing the configuration of the underwater information collection system according to the present embodiment. The underwater vehicle 1 collects underwater information while moving underwater, has power, and moves underwater by itself. The underwater vehicle 1 includes underwater information collecting means for collecting underwater information, and a first acoustic communication device capable of transmitting underwater information collected by the underwater information collecting means. In this embodiment, the underwater information collecting means is a CCD camera 10A, an underwater acoustic camera 10B, and a side scan sonar (SSS) 10C. Thereby, in this embodiment, underwater information is collected as an image. The underwater information collecting unit is not limited to this, and may be, for example, a sub-bottom profiler, a multi-beam echo sounder, a magnetic sensor, a temperature sensor, a contaminant detection device, or the like. Any one of the CCD camera 10A, the underwater acoustic camera 10B, and the side scan sonar 10C is selected by the input changeover switches S1 and S2, and the underwater information is collected by the selected underwater information collecting means. The

  The first acoustic communication device is a first acoustic modem (underwater side first acoustic modem) 12H. In the present embodiment, the underwater vehicle 1 includes a second acoustic modem (underwater second acoustic modem) 12L in addition to the underwater first acoustic modem 12H. The underwater side first acoustic modem 12H has a higher communication speed than the underwater side second acoustic modem 12L. For this reason, the underwater side first acoustic modem 12H is mainly used when transmitting / receiving information having a large amount of information such as image data. The underwater side second acoustic modem 12L, for example, transmits / receives information for controlling the motion of the underwater vehicle 1 or transmits an abnormality occurrence communication when the underwater vehicle 1 is in an abnormal state. Used when.

  The underwater vehicle 1 is provided with a processing device (underwater vehicle processing device) 13 for controlling the collection and communication of underwater information and controlling the operation of the underwater vehicle 1. The underwater vehicle processing apparatus 13 is configured by a computer, and includes an information processing unit 13A that processes underwater information collected by the underwater information collecting unit, and a communication control unit 13B that controls communication of the underwater vehicle 1. At least. The information processing unit 13A is connected to the input changeover switch S2, and inputs the underwater information collected by any one of the CCD camera 10A, the underwater acoustic camera 10B, and the side scan sonar 10C. The underwater side first acoustic modem 12H and the underwater side second acoustic modem 12L are connected to the communication control unit 13B. The underwater information processed by the information processing unit 13A is transmitted or the underwater navigation requested by the processing device 13 is performed. Information for controlling the movement of the running body 1 is transmitted and received.

  A storage device 14 is connected to the underwater vehicle processing apparatus 13, for example, a computer program and data for controlling the operation of the underwater vehicle 1, The computer program necessary for performing the communication, the computer program for processing the underwater information collected by the underwater information collecting means, and the like are stored. The underwater vehicle processing apparatus 13 reads out these computer programs and data from the storage device 14 and controls the operation of the underwater vehicle 1 and controls the communication of the underwater vehicle 1. The storage device 14 may store the underwater information collected by the underwater information collection means.

  A transponder 11 is mounted on the underwater vehicle 1. The transponder 11 receives a signal transmitted from an underwater position measuring device 21 (described later) included in the surface moving body 2, and transmits a response signal to the received signal to the underwater position measuring device 21. For example, the transponder 11 is an acoustic device that instantaneously returns a pulse sound transmitted from the underwater position measurement device 21. Next, the structure of the water moving body 2 will be described.

  The surface moving body 2 can communicate with the underwater side first acoustic modem 12H, which is the first acoustic communication device provided in the underwater vehicle 1, and receives underwater information transmitted from the underwater side first acoustic modem 12H. A second acoustic communication device and position detecting means for detecting the position of the underwater vehicle 1, and detecting the position of the underwater vehicle 1 while matching the surface of the underwater vehicle 1 Move H. The second acoustic communication device is a first acoustic modem (water surface side first acoustic modem) 22H.

  In the present embodiment, the surface moving body 2 includes a second acoustic modem (water surface side second acoustic modem) 22L in addition to the water surface side first acoustic modem 22H. The water surface side first acoustic modem 22H has a higher communication speed than the water surface side second acoustic modem 22L. The water surface side first acoustic modem 22H is paired with the underwater side first acoustic modem 12H included in the underwater vehicle 1, and the water surface side second acoustic modem 22L is included in the underwater side included in the underwater vehicle 1. It is paired with the second acoustic modem 12L. That is, communication is performed between the water surface side first acoustic modem 22H and the underwater side first acoustic modem 12H, and between the water surface side second acoustic modem 22L and the underwater side second acoustic modem 12L.

  In the present embodiment, the position detection means is the underwater position measurement device 21. The underwater position measurement device 21 transmits a signal to the underwater vehicle 1 that is traveling underwater, receives a response signal from the underwater vehicle 1 to the signal, and based on the response signal. The relative position of the underwater vehicle 1 with respect to the surface vehicle 2 is measured. For this reason, the underwater position measuring device 21 is provided on the bottom of the surface of the surface moving body 2 and is configured to be able to send signals to the water and receive signals propagated in the water. The underwater position measuring device 21 is, for example, an SSBL (Super Short Base Line) positioning system or the like, and periodically emits a pulse sound toward the underwater vehicle 1 and receives the sound of the underwater vehicle 1 that has received this sound. The distance to the underwater vehicle 1 is obtained by measuring the time until the echo returned by the transponder 11 is received. The underwater position measuring device 21 measures the relative position of the underwater vehicle by triangulation by receiving the echoes with at least three acoustic sensors.

  The position of the underwater vehicle 1 with respect to the surface moving body 2 is known by the underwater position measuring device 21. Therefore, the surface moving body 2 detects the underwater vehicle 1 while maintaining the state where the position of the underwater vehicle 1 and the position of the underwater vehicle 1 can be communicated using the acoustic communication device, Move along with the movement of the underwater vehicle 1.

  The water moving body 2 is provided with a processing device (water moving body processing device) 23 for controlling communication with the outside of the water moving body 2, positioning of the underwater vehicle 1, and the like. The water moving body processing device 23 is configured by a computer. The underwater position measurement device 21, the water surface side first acoustic modem 22H, the water surface side second acoustic modem 22L, and the satellite communication unit 24 are connected to the surface moving body processing device 23. The processing device 23 transmits the underwater information acquired via the water surface side first acoustic modem 22H from the antenna 25 to the communication satellite 4 via the satellite communication unit 24. Moreover, the surface moving body processing device 23 transmits a command for controlling the underwater vehicle 1 to the underwater vehicle processing device 13 of the underwater vehicle 1 via the water surface side second acoustic modem 22L. The underwater vehicle 1 is controlled. Next, the configuration of the mother ship 3 will be described.

  The mother ship 3 stands by in a water area away from the underwater vehicle 1 and the floating vehicle 2, and the underwater information collected by the underwater vehicle 1 and transmitted to the communication satellite 4 by the underwater vehicle 2 is transmitted to the communication satellite. 4 is received. The mother ship 3 includes a satellite communication unit 34, an antenna 35 connected to the satellite communication unit 34, and a console 33. The console 33 includes an information processing device 33A configured with a computer and a display device (CRT) 33D configured with, for example, a CRT (Cathode Ray Tube). The information processing device 33A acquires the underwater information collected by the underwater vehicle 1 via the antenna 35 and the satellite communication unit 34, performs a predetermined decoding process, and displays the information on the display device 33D. The underwater vehicle 1 performs a predetermined process on the collected underwater information, and then transmits it to the watercraft 2. The watercraft 2 transmits the received underwater information to the communication satellite 4, and the mother ship 3 Receives underwater information from the communication satellite 4 and displays it on the display device 33D. As a result, the underwater information collected by the underwater vehicle 1 is a display device for the mother ship 3 that is waiting in a remote place from the underwater vehicle 1 in substantially real time, although there is a delay in the time required for information processing and communication. It is observable at 33D.

  In this embodiment, the surface-moving vehicle 2 that has power and can be navigated by itself moves the water surface in accordance with the underwater vehicle 1 while detecting the position of the underwater vehicle 1 and wirelessly moves underwater. Communication is performed between the running body 1 and the surface moving body 2. This eliminates the need for a cable for data transmission, so that it is not necessary to consider the underwater resistance of the cable, and underwater information can be collected without increasing the power of the underwater vehicle 1 without darkness. Moreover, in this embodiment, since it is not necessary to mount the transmission cable in the underwater vehicle 1, the action range of the underwater vehicle 1 is not limited by the length of the cable. As a result, in the present embodiment, it is possible to reduce restrictions on the movement region of the underwater vehicle.

  FIG. 3 is a conceptual diagram illustrating the relationship between the cover area of the second acoustic communication device provided in the surface moving body and the underwater vehicle. FIG. 4 is an explanatory diagram of a stabilization support structure that maintains the posture of the second acoustic communication device in the present embodiment. FIG. 5 is a conceptual diagram showing the relationship between the cover area of the underwater position measurement device and the underwater vehicle when the stabilization support structure according to the present embodiment is applied. In FIG. 3, the cover area of the water surface side 1st acoustic modem (2nd acoustic communication apparatus) 22H mounted in the water moving body 2 is shown. The cover area when the surface moving body 2 is horizontal is a solid line CA1, and the cover area when the surface moving body 2 is inclined with respect to a horizontal plane is a dotted line CA2.

  The surface moving body 2 floats on the water surface H and receives underwater information transmitted from the underwater side first acoustic modem 12H (first acoustic communication device) of the underwater vehicle 1. For this reason, the water moving body 2 swings under the influence of waves and winds. Therefore, when the water surface side first acoustic modem 22H is fixed to the water surface moving body 2, the water surface side first acoustic modem 22H also rocks together with the water surface moving body 2 and the cover of the water surface side first acoustic modem 22H. The area (receivable area) also changes. For this reason, as shown in CA2 of FIG. 3, even if the underwater vehicle 1 is in the cover area of the water surface side first acoustic modem 22H, if the floating mobile body 2 swings, as shown in CA2 of FIG. Moreover, the underwater vehicle 1 may be out of the cover area of the water surface side first acoustic modem 22H. Then, the underwater information transmitted from the underwater side first acoustic modem 12H cannot be received by the water surface side first acoustic modem 22H, and the underwater information cannot be transmitted to the surface moving body 2.

  In order to avoid this, in this embodiment, the attitude of the water surface side first acoustic modem 22H is maintained with respect to at least the second acoustic communication device that receives underwater information, that is, the water surface side first acoustic modem 22H. The water surface side first acoustic modem 22H is supported by the surface moving body 2 by the stabilizing support structure 26 (see FIG. 4). As shown in FIG. 4, the stabilization support structure 26 uses a biaxial gimbal mechanism and is attached to the bottom of the surface moving body 2 so that the reception surface 22HC of the water surface side first acoustic modem 22H is always provided. The water surface side first acoustic modem 22H is supported and controlled so that the attitude facing the direction of the underwater vehicle 2 can be maintained. Note that the position of the underwater vehicle 2 is measured by the underwater position measurement device 21.

  In this embodiment, the stabilization support structure 26 has at least two rocking axes X and Y orthogonal to each other, and the water surface side first acoustic modem 22H is arranged around the rocking axes X and Y, respectively. It is comprised so that rocking is possible. Here, in the present embodiment, the swing axis X is parallel to the front-rear direction of the water moving body 2. Since the water surface side first acoustic modem 22H is attached to the water surface moving body 2 via the stabilization support structure 26 having such a structure, even if the water surface moving body 2 swings, the reception of the water surface side first sound modem 22H is received. The face 22HC is always maintained in a posture facing the direction of the underwater vehicle 2. And as shown in FIG. 5, even when the surface moving body 2 swings, the state of the underwater vehicle 1 in the cover area of the water surface side first acoustic modem 22H is maintained. Thereby, since stable transmission from the underwater side first acoustic modem 12H to the water surface side first acoustic modem 22H can be realized, stable transmission of underwater information can be realized. The stabilizing support structure 26 is not limited to the above-described configuration. For example, the stabilizing support structure 26 may include three or more oscillating shafts, and the stabilizing support structure may be configured using a spherical bearing. May be. Further, the water surface side second acoustic modem 22 </ b> L may also be supported by the stabilization support structure 26.

  FIG. 6 is an explanatory diagram of an underwater information transmission method. In this embodiment, the underwater vehicle processing apparatus 13 of the underwater vehicle 1 sequentially compresses the underwater information acquired by the underwater information acquisition means such as the side scan sonar 10C in a predetermined unit. Then, the underwater side first acoustic modem 12H transmits the compressed underwater information in the order of compression. As shown in FIG. 6, the underwater information IW is acquired by the underwater information acquisition means while the underwater vehicle 1 is moving. In the present embodiment, the underwater information is acquired as image information by the CCD camera 10A, the underwater acoustic camera 10B, or the side scan sonar 10C. In general, image information has a large amount of information. Therefore, if the image information is transmitted as it is from the underwater side first acoustic modem 12H to the water surface side first acoustic modem 22H, it takes time to transmit underwater information because the communication speed is low. If the time required for transmission is longer than the collection time of underwater information in a predetermined unit, continuous information transmission cannot be performed and the system may not be established.

  For this reason, in this embodiment, the information processing unit 13A of the underwater vehicle processing apparatus 13 uses the underwater information IW acquired by the underwater information acquisition unit to a predetermined unit (in this embodiment, the time tm, The underwater side first acoustic modem 12H transmits underwater information of a predetermined unit in the compressed order. In FIG. 6, the underwater information IW continuously acquired by the underwater information acquisition means is temporarily stored in the storage device 14, and when a predetermined time tm has elapsed (or when a predetermined amount of data is accumulated), The information processing unit 13A starts processing the underwater information (unit underwater information) accumulated at a predetermined time tm (time t = t1).

  In the present embodiment, the information processing unit 13A first reads unit underwater information (data 1) from the storage device 14 and creates still image data from the data 1 (processing 1). In this case, for example, the information processing unit 13A may extract an image from the data 1 of the underwater information IW acquired continuously at a predetermined sampling period, and make this a still image.

  Then, the information processing unit 13A compresses the created still image (processing 2) to create compressed image data (compressed data 1). In the process 2, the information processing unit 13A converts, for example, the created still image into a JPEG file format. When the compressed data 1 is created, the communication control unit 13B transmits the compressed data 1 from the underwater side first acoustic modem 12H. tt is the time required for transmitting the compressed data 1.

  When the water surface side first acoustic modem 22H receives the compressed data 1, the surface moving body processing device 23 of the surface moving body 2 transmits the compressed data 1 to the communication satellite 4 via the satellite communication unit 24, and information on the mother ship 3 is obtained. The processing device 33A receives the compressed data 1 via the communication satellite unit 34. The information processing apparatus 33A restores (decompresses) the received compressed data 1, reconstructs it into a continuous image, and displays it on the display device 33D.

  Here, the time during which the reconstructed underwater information is displayed on the display device 33D is t2. Processing 3 includes satellite communication, decompression and reconstruction of compressed image data. When the transmission of the compressed data 1 is completed, the information processing unit 13A of the underwater vehicle processing apparatus 13 performs the processing 1 and the processing 2 on the data 2 that is the unit underwater information accumulated after the data 1, and after the data 2 Processes 1 and 2 are sequentially executed for the unit underwater information.

  In the example shown in FIG. 6, acquisition of underwater information starts at time t = t0. When an acoustic communication device such as an acoustic modem is used, the time required for data transmission is long, and the time required for the processes 1 to 3 is shorter than that for the data transmission. In this embodiment, since the underwater information is compressed and transmitted, the time required for data transmission can be shortened accordingly. As a result, the delay time td from when collection of underwater information is started until the reconstructed underwater information is displayed on the display device 33D of the mother ship can be shortened.

(Modification)
FIG. 7 is a conceptual diagram showing a surface moving body according to a modification of the present embodiment. 8 and 9 are configuration diagrams showing a water moving body according to a modification of the present embodiment. 10 and 11 are schematic views showing the state of the towing body constituting the surface moving body according to the modification of the present embodiment. The present modification is substantially the same as the above embodiment, but the surface moving body is composed of a power ship having power and capable of navigating by itself, and a towed body towed by the power ship, and at least the second The water surface side first acoustic modem, which is an acoustic communication apparatus, is different in that it is mounted on a towed body. Other configurations are the same as in the above embodiment.

  As shown in FIG. 7, in this modification, the surface moving body is composed of a power ship 2a and a towed body 2b towed by the power ship 2a via a wire 2W. The underwater vehicle 1 dives under the surface of the towed vehicle 2b (vertical direction side) and collects underwater information while moving underwater. The towed body 2 b is towed by the power ship 2 a and moves on the water surface H in accordance with the movement of the underwater vehicle 1. As shown in FIGS. 8 and 9, the towed body 2 b includes a buoyancy body 50, a buoyancy body anchoring member (including a rope and the like) 52, levitation force generators 51 </ b> A and 51 </ b> B, and a frame 53. Is done.

  The levitation force generators 51 </ b> A and 51 </ b> B are attached to the frame 53. The buoyancy body 50 is attached to the frame 53 by a buoyancy body tie member 52. Acoustical communication devices such as the water surface side first acoustic modem 22H, the water surface side second acoustic modem 22L, and the underwater position measuring device 21 shown in FIG. 2 are attached to the levitation force generators 51A and 51B and the frame 53. Specifically, as shown in FIG. 9, the water surface side second acoustic modem 22L is attached to the levitation force generator 51A, the water surface side first acoustic modem 22H is attached to the levitation force generator 51B, and the frame 53 is submerged in water. A position measuring device 21 is attached. As described above, the water surface side first acoustic modem 22H is attached to the levitation force generator 51B via the stabilization support structure 26. The stabilization support structure 26 allows the water surface side first acoustic modem 22H to swing independently around the swing axes X and Y. In the present embodiment, only the water surface side first acoustic modem 22H is supported by the stabilization support structure 26, but the water surface side second acoustic modem 22L may also be supported by the stabilization support structure 26.

  A GPS (Global Positioning System) device 55 is attached to the buoyancy body 50. The power ship 2 a tows the towed body 2 b based on the position information of the towed body 2 b obtained from the GPS device 55 and guides the underwater vehicle 1. In this case, since the absolute position of the towed vehicle 2b can be known by the GPS device 55, the guidance accuracy of the underwater vehicle 1 is improved. That is, if the towed body 2b is towed so that the latitude and longitude of the towed object 2b obtained from the GPS device 55 are the latitude and longitude of the place to be searched, the underwater vehicle 1 can be accurately guided to the place to be searched. .

  As described above, the towed body 2b is towed to the power ship 2a through the wire 2W. When the towing speed is relatively low, for example, the towed body 2b is moved in accordance with the movement of the underwater vehicle 1. When moving, as shown in FIG. 10, the parts to which the acoustic communication device is attached, that is, the levitation force generators 51 </ b> A and 51 </ b> B and the frame 53 (see FIG. 9) are submerged and are below the water surface H. At this time, the buoyancy of the towing body 2 b is obtained by the buoyancy body 50. As a result, the center of gravity of the towed body 2b can be lowered, so that the swinging of the towed body 2b can be suppressed. As described above, when communicating with the underwater vehicle 1 using the acoustic communication device, the portion to which the acoustic communication device is attached is submerged to suppress the swinging of the entire towed vehicle 2b. Can be realized.

  On the other hand, when the underwater vehicle 1 is collected in the mother ship 3 and moved at a relatively high speed, the towed body 2b towed by the power ship 2a generates levitation force generators 51A and 51B as shown in FIG. Due to the buoyancy to be caused, part of the buoyancy body 50 and the levitation force generators 51A and 51B appear on the water surface H. As a result, the resistance of the towed body 2b is reduced, so that the burden on the power ship 2a when towing the towed body 2b is reduced. Note that the buoyancy body 50 may be towed by the power ship 2a using the buoyancy body anchoring member 52 shown in FIG. 8 as a rope or wire.

  With the configuration described above, as shown in FIG. 7, the underwater vehicle 1 collects underwater information by the underwater information collecting means while moving below the towed body 2b towed by the power ship 2a. In the example illustrated in FIG. 7, as the underwater information collection unit, for example, the bottom information (the bottom information in the region indicated by SS <b> 1 in FIG. 7) is collected using a side scan sonar. The position information of the underwater vehicle 1 is acquired by the position detecting means of the towed body 2b (MP in FIG. 7), and the underwater information collected by the underwater information collecting means is mounted on the underwater vehicle 1 and the towed body 2b. Is transmitted to the towed vehicle 2b side through the acoustic communication device (TRI in FIG. 7). The position information of the underwater vehicle 1 and the underwater information collected by the underwater information collecting means are transmitted directly from the towed body 2b to the communication satellite 4 or sent from the towed body 2b to the power ship 2a, and then the power ship 2a. To the communication satellite 4.

  Since the power ship 2a navigates with its own power, vibrations of the power generation means and the power transmission system are generated. Since the surface moving body 2 of the above-described embodiment is equipped with the power generation means, the surface movement body 2 itself is shaken by the vibration of the power generation means and the power transmission device, and the influence is influenced by the underwater vehicle 1 and the surface of the water. There is a possibility of affecting the transmission of data using the acoustic communication device between the mobile bodies 2. In order to avoid this, it is necessary to take measures for damping the power generation means and the power transmission device. On the other hand, in the present modification, the acoustic communication device is mounted on the towing body 2b that does not have power, so that vibration of the power generation means and the power transmission device does not occur. This eliminates the need for vibration suppression measures for the power generation means and the power transmission device, and the stabilization support structure 26 may absorb the swinging of the towed body 2b caused by waves, winds, or the like.

  As mentioned above, although embodiment of this invention was explained in full detail with reference to drawings, the concrete structure is not restricted to this embodiment and a modified example, The design change etc. of the range which does not deviate from the summary of this invention are included. It is.

  As described above, the underwater information collection system according to the present invention is useful for collecting underwater information using the underwater vehicle 1 while controlling the underwater vehicle with a surface moving object.

It is a conceptual diagram which shows the outline | summary of the underwater information collection system which concerns on this embodiment. It is a system configuration figure showing the composition of the underwater information collection system concerning this embodiment. It is a conceptual diagram which shows the relationship between the cover area of the 2nd acoustic communication apparatus with which a surface moving body is provided, and an underwater vehicle. It is explanatory drawing of the stabilization support structure which maintains the attitude | position of the 2nd acoustic communication apparatus in this embodiment. It is a conceptual diagram which shows the relationship between the cover area of an underwater position measuring device at the time of applying the stabilization support structure which concerns on this embodiment, and an underwater vehicle. It is explanatory drawing of the transmission method of underwater information. It is a conceptual diagram which shows the surface moving body which concerns on the modification of this embodiment. It is a block diagram which shows the surface moving body which concerns on the modification of this embodiment. It is a block diagram which shows the surface moving body which concerns on the modification of this embodiment. It is a schematic diagram which shows the state of the towing body which comprises the surface moving body which concerns on the modification of this embodiment. It is a schematic diagram which shows the state of the towing body which comprises the surface moving body which concerns on the modification of this embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Underwater vehicle 2 Water moving body 2W Wire 2a Power ship 2b Towing body 3 Mother ship 4 Communication satellite 10A CCD camera 10B Underwater acoustic camera 10C Side scan sonar 11 Transponder 12H First underwater side acoustic modem (first acoustic modem)
12L Underwater side second acoustic modem (second acoustic modem)
13 Underwater vehicle treatment equipment (treatment equipment)
13A Information processing unit 13B Communication control unit 14 Storage device 21 Underwater position measurement device 22H Water surface side first acoustic modem (first acoustic modem)
22L Water surface side second acoustic modem (second acoustic modem)
22HC receiving surface 23 Water moving body processing device (processing device)
24, 34 Satellite communication unit 25, 35 Antenna 26 Stabilization support structure 33 Console 33A Information processing device 33D Display device (CRT)
DESCRIPTION OF SYMBOLS 50 Buoyancy body 51A, 51B Levitation force generating body 52 Buoyancy body anchoring member 53 Frame 55 GPS apparatus 100 Underwater information collection system

Claims (5)

An underwater vehicle that has underwater information collection means for collecting underwater information and a first acoustic communication device capable of transmitting underwater information collected by the underwater information collection means;
A second acoustic communication device capable of communicating with the first acoustic communication device and receiving the underwater information transmitted from the first acoustic communication device; and a position for detecting a position of the underwater vehicle. A water moving body that moves on the water surface in accordance with the movement of the underwater vehicle while detecting the position of the underwater vehicle,
An underwater information collection system characterized by including:   The underwater information collection system according to claim 1, wherein the water moving body has a stabilizing support structure capable of maintaining a posture of the second acoustic communication device in a predetermined posture.   The stabilizing support structure includes at least two swing shafts orthogonal to each other, and the second acoustic communication device is configured to swing around the swing shafts. The underwater information collection system according to claim 2.   The surface moving body is composed of a power ship having power and capable of navigating by itself, and a towed body towed by the power ship, and at least the second acoustic communication device is mounted on the towed body. The underwater information collection system according to any one of claims 1 to 3, wherein the underwater information collection system is provided. The underwater vehicle has a processing device that sequentially compresses the underwater information acquired by the underwater information acquisition means in a predetermined unit,
5. The underwater information collection system according to claim 1, wherein the first acoustic communication device transmits the compressed underwater information in the order of compression.

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