JP2011170575A - Sailing control method for and device forunderwater vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To reduce the number of acoustic scanning sonars set up in a plurality of underwater vehicles. <P>SOLUTION: An underwater vehicle 1 for location which is equipped with an acoustic scanning sonar 6 and is configured to sail, with a position display device 2 mounted thereon and a target underwater vehicle 3, which is to be guided having a relative position detector 8 for detecting a relative position to the position display device 2 are constructed. First, the underwater vehicle 1 for location is made to sail, to accurately detect a specific position 4a on a seabed 4 by the acoustic scanning sonar 6, and the position display device 2 is installed there. When the target underwater vehicle 3 is sailed later, the relative position to the position display device 2 is detected by the relative position detector 8, and the target underwater vehicle 3 is sailed toward the detected position display device 2, whereby the target underwater vehicle is made to accurately reach the specific position 4a on the seabed 4. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a cruise control method and apparatus for an underwater vehicle used for controlling the travel of an underwater vehicle that is capable of autonomous navigation.

  Autonomous underwater vehicles have come to be used as devices for underwater research work in relatively deep and wide areas in the sea and lakes.

  This type of underwater vehicle measures the position of the underwater vehicle, which consists of the latitude and longitude on earth coordinates, and the depth, and based on the measured position, the route given in advance is measured. I am trying to sail.

At this time, as a method of positioning the latitude and longitude on the earth coordinates by the underwater vehicle, positioning by inertial navigation is generally used. This is equipped with an inertial navigation device equipped with a gyro on the underwater vehicle so that it can detect the roll, pitch and yaw of the underwater vehicle and detect the acceleration acting on the underwater vehicle. For example, the inertial position information of the start point of the underwater vehicle, which is given based on the latitude and longitude on the earth coordinates of the support ship measured using a marine positioning system such as GPS, is used. By adding the information of the cruising distance (movement amount) obtained by integrating the acceleration of the underwater vehicle detected by the navigation system to the second floor, the latitude and longitude on the earth coordinates of the underwater vehicle are obtained. The underwater vehicle itself is used for measurement.

  By the way, as described above, the positioning by inertial navigation for the underwater vehicle to perform positioning by itself is the distance traveled by the underwater vehicle obtained by second-order integration of acceleration acting on the underwater vehicle. On the basis of the measurement principle of measuring the position of the underwater vehicle based on the (movement amount), an acceleration detection error that occurs depending on the accuracy of the detector used to detect the acceleration of the underwater vehicle, Errors such as rounding errors during calculation accumulate with time. Therefore, if autonomous underwater navigation is performed for a long time using inertial navigation, the latitude and longitude on the earth coordinates that the underwater vehicle is positioning based on the inertial navigation and the actual underwater navigation There is a gradual shift in latitude and longitude on the earth coordinates of the runner.

  For this reason, the underwater vehicle has a high precision equipped with a transducer that transmits and receives sound waves as a means to enable accurate position identification by itself near the sea floor (water bottom). Equipped with a simple acoustic position identification device (acoustic detection device), for example, an acoustic scan sonar such as a side scan sonar, from the time it takes for the transmitted ultrasonic wave to be reflected back to the object By measuring the distance and measuring the direction of the object from the direction of the reflected wave (reflected sound), the topography of the seabed (bottom) is identified, and the underwater vehicle's own In general, a position is specified and a target or an obstacle is grasped (see, for example, Patent Document 1).

  Note that the depth of the underwater vehicle is generally measured using a depth meter installed in the underwater vehicle, and no integral calculation is performed at the time of detection. There is no risk of errors accumulating with the passage of time.

JP 2006-313087 A

  However, the size of the underwater vehicle is limited because it needs to be transported by a ship such as a support ship. For this reason, if an attempt is made to equip each underwater vehicle with a high-accuracy acoustic position identification device such as an acoustic scan sonar such as the above-mentioned side scan sonar, the mounting of devices having other functions is limited, The actual situation is that the medium-sized vehicle itself becomes larger.

  Furthermore, since a high-accuracy acoustic position identification device such as the acoustic scan sonar such as the side scan sonar is expensive, when operating a plurality of underwater vehicles, a device required for each underwater vehicle Cost increases.

  Therefore, the present invention provides a high-accuracy acoustic system that should be equipped to the entire plurality of underwater vehicles without causing an increase in size of each underwater vehicle when operating a plurality of underwater vehicles. An object of the present invention is to provide a cruise control method and apparatus for an underwater vehicle for easily reducing the number of positioning devices and increasing the number of devices having different functions. Is.

  In order to solve the above-mentioned problem, the present invention, corresponding to claim 1, has a position-specific underwater vehicle equipped with an acoustic position specifying device sailed with a position display device mounted thereon, The guided underwater vehicle equipped with the relative position detection device for installing the position display device at the specific position detected by the acoustic position specifying device and then detecting the relative position with respect to the position display device. The relative position detection device detects the relative position with respect to the position display device, and controls the navigation of the guided underwater vehicle according to the detection result of the relative position. It is a cruise control method for underwater vehicles.

  Further, in the above configuration, when a pulse wave is transmitted from a transducer installed in the relative position detection device of the guided underwater vehicle, and the pulse wave is received by a transponder provided in the position display device, the transponder A reply pulse wave is returned at a constant time lag, and the reply pulse wave is received by the transducer equipped in the relative position detection device of the guided underwater vehicle, The relative position detection device for the guided underwater vehicle from the elapsed time from when the pulse wave is transmitted from the transmitter until the receiving pulse wave is received by the transmitter and underwater sound speed The relative distance to the display device is measured, and the relative position with respect to the position display device is detected by the relative position detection device of the guided underwater vehicle based on the measurement result of the relative distance.

  Furthermore, in the above configuration, during the navigation of the guided underwater vehicle, the relative distance to the position display device is determined by the relative position detection device of the guided underwater vehicle at at least three locations that are not in a straight line. By measuring and superimposing the measurement results, the relative position of the guided underwater vehicle with respect to the position display device is detected.

  Corresponding to claim 4, an acoustic position specifying device is provided and the position display device can be mounted to navigate and the position display device is installed at a specific position detected by the acoustic position specifying device. A position-specific underwater vehicle and a guided underwater vehicle having a relative position detection device, the relative position relative to a position display device installed at the specific position by the position-specific underwater vehicle. Underwater navigation having a configuration in which the position is detected by the relative position detection device for the guided underwater vehicle and the navigation of the guided underwater vehicle is controlled according to the detection result of the relative position. A cruise control device for a running body.

According to the present invention, the following excellent effects are exhibited.
(1) A position-determining underwater vehicle equipped with an acoustic position specifying device is sailed in a state in which a position display device is mounted, and the position is detected at the specific position detected by the acoustic position specifying device. When the display device is installed, and then the guided underwater vehicle including the relative position detection device for detecting the relative position with respect to the position display device is navigated, the relative position detection device causes the position display device to The underwater vehicle traveling control method for detecting the relative position of the underwater vehicle and controlling the traveling of the guided underwater vehicle according to the detection result of the relative position, and the acoustic position determination An underwater vehicle for position identification, which is equipped with a device and is capable of traveling with a position display device and capable of installing the position display device at a specific position detected by the acoustic position specifying device, and a relative position A relative position detection device for the guided underwater vehicle with a relative position to the position display device installed at the specific position by the position specifying underwater vehicle. And the underwater vehicle has a configuration that controls the navigation of the guided underwater vehicle according to the detection result of the relative position. The position identification device of the type need only be installed in the underwater vehicle for position identification, and for other guided underwater vehicles, information on the relative position with respect to the position display device detected by the relative position detection device is used. In addition, the specific position where the position display device is installed is used as a target, the vehicle is navigated to reach the specific position as the target, or the specific position where the position display device is installed is used as an obstacle. , With the obstacle That can make accurate cruising to avoid certain position.
(2) In the guided underwater vehicle, since it becomes easy to install a device having other functions than the acoustic position specifying device, the acoustic underwater vehicle can be operated by operating a plurality of guided underwater vehicles. It is possible to easily increase the number of devices having other functions than the position determining device of the formula. In addition, it is possible to prevent the size of each guided underwater vehicle.
(3) Furthermore, since the expensive acoustic position identification device only needs to be installed in the position identification underwater vehicle, the device cost can be greatly reduced for each of the guided underwater vehicles. become.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic side view showing a state in which a specific position is detected by an underwater vehicle for position identification, illustrating an embodiment of a cruise control method and apparatus for an underwater vehicle according to the present invention. FIG. 3 is a schematic side view showing a procedure following FIG. 1 in the underwater vehicle traveling control method of the present invention, showing a state where a position display device is installed at a specific position detected by the underwater vehicle for position identification. . It is a schematic diagram which shows the apparatus structure used with the cruise control method of the underwater vehicle of this invention. It is a top view which shows the outline | summary of the detection principle of the position display apparatus by the to-be-guided underwater vehicle.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.

  FIG. 1 to FIG. 4 show an embodiment of a cruise control method and apparatus for an underwater vehicle according to the present invention, which is as follows.

  That is, the underwater vehicle navigation control apparatus of the present invention used for the implementation of the underwater vehicle navigation control method of the present invention includes a position specifying underwater vehicle 1 and the position specifying underwater vehicle 1. It is set as the structure provided with the single or several position display apparatus 2 for installing in the specific position 4a of the seabed 4 as a water bottom, and the underwater vehicle 3 for a guided or single machine.

  As shown in FIG. 3, the position specifying underwater vehicle 1 includes an inertial navigation device 5 and an acoustic scan sonar 6 such as a side scan sonar as a high-accuracy acoustic position specifying device. In addition to detecting the position of the underwater vehicle 1 for position identification based on inertial navigation by the inertial navigation device 5, the acoustic scan sonar 6 identifies the topography of the seabed (bottom) 4 and identifies the identified seabed 4. On the basis of the topography, the position of the position identifying underwater vehicle 1 itself can be accurately specified, and the specific position 4a of the seabed 4 such as a target or an obstacle can be grasped.

  Further, the position specifying underwater vehicle 1 is provided with a storage chamber 7 for storing the single or plural position display devices 2 in a removable manner (in the figure, one position display device 2 is stored). And a position display device (not shown) for taking out the position display device 2 stored in the storage chamber 7 and installing it at the specific position 4a of the seabed 4 grasped by the acoustic scan sonar 6 The structure is provided with a mechanism.

  The guided underwater vehicle 3 includes an inertial navigation device 5a so that the position of the guided underwater vehicle 3 itself can be detected based on inertial navigation.

  Further, the guided underwater vehicle 3 transmits / receives an acoustic signal to / from the position display device 2 installed at the specific position 4 a of the seabed 4 by the position specifying underwater vehicle 1. A relative position detection device 8 for detecting the relative position of the underwater vehicle 3 for guidance with respect to the position display device 2 is provided, and the relative position detection device 8 detects the relative position detection device 8. An underwater vehicle control apparatus for controlling the navigation of the guided underwater vehicle 3 through control of a propulsion device such as a thruster or a steering device in accordance with the relative position of the guided underwater vehicle 3. 9 is provided.

  Specifically, for example, the relative position detection device 8 of the guided underwater vehicle 3 includes a transducer (not shown) capable of transmitting and receiving pulse waves.

  On the other hand, when the position display device 2 receives a pulse wave transmitted from the transducer of the relative position detection device 8 of the guided underwater vehicle 3, a reply pulse wave is returned with a certain time lag. In this configuration, a transponder (not shown) is provided, and a reply pulse wave returned by the transponder is transmitted / received by the transmitter / receiver of the relative position detecting device 8 of the guided underwater vehicle 3. It can be received. As a result, a pulse wave is transmitted from the transducer of the relative position detection device 8 of the guided underwater vehicle 3 until the reply pulse wave is detected by the transducer. The elapsed time, the time lag from when the transponder of the position display device 2 receives the pulse wave transmitted from the transmitter / receiver until the reply pulse wave is returned, and information (data) about the sound speed in water Based on this, the distance from the guided underwater vehicle 3 to the position display device 2 can be measured.

  Further, in the relative position detecting device 8, as shown in FIG. 4, the underwater vehicle 3 for guidance is made to travel in a state where the traveling direction of the guided vehicle 3 is slightly changed, and at least three locations without being arranged in a straight line. That is, when the guided underwater vehicle 3 that is sailing is positioned at points A, B, and C in FIG. 3 with time, for example, the relative position detector 8 The distance La to the position display device 2 from the guided underwater vehicle 3 located at the point A is repeatedly measured by repeatedly measuring the distance to the position display device 2 by the pulse wave transmitted from the transducer. , The measurement result of the distance Lb from the guided underwater vehicle 3 positioned at the point B to the position display device 2, and the guided underwater vehicle 3 positioned at the point C To the position display device 2 By overlapping the measurement results of Lc, it is to be able to detect the relative position of the position indicator 2 relative to the position of the object to be induced for underwater vehicle 3.

  In FIG. 3, the description of the underwater vehicle control apparatus in the position specifying underwater vehicle 1 is omitted.

  When using the underwater vehicle navigation control device of the present invention having the above-described configuration, as shown in FIG. 1, first, the position specifying underwater vehicle 1 is navigated, and the inertial navigation device 5 is operated. In addition to the position detection by the underwater vehicle 1 for position identification by itself, the accurate position of the underwater vehicle 1 for position identification itself based on the identification of the topography of the seabed 4 by the acoustic scan sonar 6 is performed.

  After that, the position specifying underwater vehicle 1 is based on the specification of the exact position of the position specifying underwater vehicle 1 itself, for example, as shown in FIG. When the specific position 4a of the seabed 4 that is the target of cruising is detected and reached above the specific position 4a, a position display device installation mechanism (not shown) installed in the position identifying underwater vehicle 1 The position display device 2 mounted in the storage chamber 7 (see FIG. 3) of the position identifying underwater vehicle 1 is taken out and installed at the specific position 4a.

  Next, as shown in FIG. 2, the guided underwater vehicle 3 is navigated based on position information detected by the inertial navigation device 5 by the guided underwater vehicle 3 itself, and the guided underwater vehicle 3 It is made to reach | attain the area | region where transmission / reception of a pulse wave with the transponder of the position indicator 2 installed in the specific position 4a of the said seabed 4 and the transponder of the relative position detection apparatus 8 with which the run body 3 was equipped is possible.

  As described above, it is possible to transmit and receive pulse waves between the transducer of the relative position detection device 8 of the guided underwater vehicle 3 and the transponder of the position display device 2 installed at the specific position 4 a of the seabed 4. Then, the relative position detection device 8 detects the relative position of the position display device 2 based on the position of the guided underwater vehicle 3 based on the method shown in FIG. The guided underwater vehicle 3 of the guided underwater vehicle 3 is controlled by the underwater vehicle control device 9 of the guided underwater vehicle 3 through control of a propulsion device such as a thruster or a steering device so as to go in the direction of the position display device 2. Let the navigation control. As a result, the guided underwater vehicle 3 travels toward the position display device 2, and therefore the guided underwater vehicle 3 is moved to the specific position 4 a of the seabed 4 as the target. Will be able to sail accurately.

  When a plurality of guided underwater vehicles 3 are operated, the transmitter / receiver of the relative position detecting device 8 of each guided underwater vehicle 3 is set to transmit pulse waves of different wavelengths. In addition, the transponder of the position display device 2 has a function of returning a reply pulse wave having a different wavelength with respect to a pulse wave having a different wavelength to be received. Only the time data when a return pulse wave having a wavelength set in advance for each transmitter / receiver is detected by the transmitter / receiver of the relative position detecting device 8 of the body 3 is used for each guided underwater navigation. What is necessary is just to use it for the measurement of the distance of the body 3 and the said position display apparatus 2. FIG. Thereby, the plurality of guided underwater vehicles 3 can be operated simultaneously.

  Thus, according to the underwater vehicle navigation control method and apparatus of the present invention, the acoustic scan sonar 6 such as the side scan sonar that is a high-accuracy acoustic position specifying device is used for the position specifying underwater vehicle. 1 and the other guided underwater vehicle 3 only includes the relative position detection device 8 including a transducer for transmitting and receiving an acoustic signal between the inertial navigation device 5a and the position display device 2. Even if it is only mounted, the specific position 4a of the seabed 4 where the position display device 2 is installed can be used as a target to accurately travel to the specific position 4a.

  Further, in the guided underwater vehicle 3 that is not equipped with the acoustic scan sonar 6, since it is easy to mount a device having other functions than the acoustic scan sonar 6, a plurality of guided underwater vehicles 3 are provided. By operating, it is possible to easily increase the number of equipment having a function other than the acoustic scan sonar 6 and to prevent the underwater vehicle 3 for each guided vehicle from being enlarged. become.

  Further, even when the underwater vehicle 1 for position identification and the plurality of underwater vehicles 3 for guided operations are operated, the acoustic scan sonar 6 that is an expensive acoustic position identification device is configured to identify the position. Since it is only necessary to equip the submersible underwater vehicle 1 with respect to each guided underwater vehicle 3 other than the position specifying underwater vehicle 1, it is possible to greatly reduce the apparatus cost.

  Note that the present invention is not limited to the above-described embodiment. In the guided underwater vehicle 3, the transmitter / receiver of the relative position detection device 8 provided in the guided underwater vehicle 3 can be downsized. From the viewpoint of obtaining an effect of securing a large space for mounting a device having a function other than the acoustic scan sonar 6, the transducer of the relative position detection device 8 is returned from the position display device 2. Although it is preferable to have a function of simply receiving a reply pulse wave, the relative position detection device 8 of the guided underwater vehicle 3 includes an array type transducer, and the transducer Accordingly, the direction in which the return pulse wave returned from the position display device 2 can be detected may be detected. If it does in this way, when detecting the relative position of the position display apparatus 2 installed in the specific position 4a of the seabed 4 with the relative position detection apparatus 8 of the to-be-guided underwater vehicle 3, it depends on the arrangement of the array. However, the transmission / reception of the pulse wave between the transmitter / receiver of the relative position detection device 8 of the guided underwater vehicle 3 and the transponder of the position display device 2 is performed twice without repeating transmission / reception of the pulse wave three times as shown in FIG. Alternatively, the relative position of the position display device 2 can be accurately detected by transmitting and receiving a single pulse wave.

  The position display device 2 is not on the specific position 4a of the seabed 4 which is the target of the guided underwater vehicle 3, but on the traveling course of the guided underwater vehicle 3 specified by the underwater vehicle 1 for specifying the position. You may make it install in the position where an obstruction exists. In this case, when the relative position of the position display device 2 is measured by the guided underwater vehicle 3, the guided water is controlled by the underwater vehicle control device 9 of the guided underwater vehicle 3. What is necessary is just to make the middle traveling body 3 perform the navigation which avoids the installation location of the said position display apparatus 2. FIG.

  The relative position detection device 8 can detect the relative position of the position display device 2 by the relative position detection device of the guided underwater vehicle 3 by a simple detection principle, and the configuration of the relative position detection device 8 can be simplified and downsized. From the viewpoint of obtaining the effect, the position display device 2 includes a transponder for transmitting and receiving a pulse wave to and from the transducer of the relative position detection device 8 of the guided underwater vehicle 3. However, if the relative position detection device 8 of the guided underwater vehicle 3 can detect the relative position of the position display device 2 with a required accuracy, Information on the installation position of the display device 2 is put on an acoustic signal and given to the guided underwater vehicle 3, or an acoustic signal is transmitted from the position display device 2 in the form of a beam. The position display device 2 adopting any type of measurement principle may be used such that the relative position of the position display device 2 is measured by the guided underwater vehicle 3 depending on whether or not it can be received. Good. In this case, the relative position detection device 8 provided in the guided underwater vehicle 3 is appropriately provided with a function of measuring the relative position to the position display device 2 in response to the acoustic signal emitted from the position display device 2. It may be selected and used.

  The size and shape of each underwater vehicle 1, 3 and position display device 2 shown in FIGS. 1 to 4 are for convenience of illustration, and each underwater vehicle 1, 3, and The size and shape of the position display device 2 may be set arbitrarily. The position identifying underwater vehicle 1 and the guided underwater vehicle 3 may be different in shape and size.

  A plurality of position display devices 2 are mounted when the position identification underwater vehicle 1 is sailed, and the seabed 4 that becomes a target or an obstacle in one movement of the position identification underwater vehicle 1. The position display device 2 that emits the proximity acoustic signal and the avoidance acoustic signal may be installed at each of the plurality of specific positions 4a.

  Of course, various modifications can be made without departing from the scope of the present invention.

1 Underwater vehicle for position identification 2 Position display device 3 Underwater vehicle for guided vehicle 4 Sea bottom (water bottom)
4a Specific position 6 Acoustic scan sonar (acoustic position identification device)
8 Relative position detector

Claims (4)

  A position-specific underwater vehicle equipped with an acoustic position specifying device is run with the position display device mounted, and the position display device is placed at a specific position detected by the acoustic position specifying device. When the guided underwater vehicle equipped with a relative position detection device for detecting the relative position with respect to the position display device is navigated, the relative position with respect to the position display device is detected by the relative position detection device. And controlling the traveling of the guided underwater vehicle according to the detection result of the relative position.   When a pulse wave is transmitted from a transducer installed in the relative position detection device of the guided underwater vehicle, and the pulse wave is received by a transponder provided in the position display device, the transponder returns a response with a certain time lag. The pulse wave is transmitted from the transmitter / receiver so that the return pulse wave is received by the transmitter / receiver installed in the relative position detector of the guided underwater vehicle. The relative distance from the relative position detection device of the guided underwater vehicle to the position display device from the elapsed time until the reception pulse wave is received by the transducer and the sound speed in water The relative position of the guided underwater vehicle is detected by the relative position detection device of the guided underwater vehicle based on the measurement result of the relative distance. Navigation system Method.   During the navigation of the guided underwater vehicle, measure the relative distance to the position display device using the relative position detector of the guided underwater vehicle at at least three locations that are not in a straight line. The underwater vehicle traveling control method according to claim 2, wherein the relative position of the guided underwater vehicle with respect to the position display device is detected by superimposing the results.   An underwater cruise for position identification provided with an acoustic position identification device and mounted with a position display device so that the position display device can be installed at a specific position detected by the acoustic position identification device. And a guided underwater vehicle having a relative position detecting device, the relative position of the guided underwater vehicle with respect to the position display device installed at the specific position by the position specifying underwater vehicle. The underwater vehicle has a configuration that is detected by a relative position detection device and that controls the navigation of the guided underwater vehicle according to the detection result of the relative position. Control device.

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