JP2016175538A - Collection method and collection system of underwater sailing body - Google Patents
Collection method and collection system of underwater sailing body Download PDFInfo
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- JP2016175538A JP2016175538A JP2015057261A JP2015057261A JP2016175538A JP 2016175538 A JP2016175538 A JP 2016175538A JP 2015057261 A JP2015057261 A JP 2015057261A JP 2015057261 A JP2015057261 A JP 2015057261A JP 2016175538 A JP2016175538 A JP 2016175538A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
- B63B2027/165—Deployment or recovery of underwater vehicles using lifts or hoists
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Abstract
Description
本発明は、水中航走体の回収方法及び回収システムに係り、特に、荒天時でも水中航走体を的確に母船に回収することができる水中航走体の回収方法及び回収システムに関する。 The present invention relates to an underwater vehicle recovery method and a recovery system, and more particularly to an underwater vehicle recovery method and a recovery system that can accurately recover an underwater vehicle to a mother ship even in stormy weather.
海中や海底における種々の調査を行うため、調査に必要な機器を搭載した水中航走体を母船から海に投入し、海中で航走させることが行われている。特に、大深度や広域の調査では、母船から切り離された状態で自由に海中を航走可能な自律航行型の水中航走体が用いられることが多い。かかる水中航走体は、母船から海中に投入し、調査終了後に母船に引き上げられる。 In order to conduct various surveys in the sea and at the bottom of the sea, an underwater vehicle equipped with the equipment necessary for the survey is introduced from the mother ship into the sea, and it is made to travel in the sea. In particular, in deep and wide-area surveys, an autonomous navigation type underwater vehicle that can freely travel in the sea while being disconnected from the mother ship is often used. Such an underwater vehicle is thrown into the sea from the mother ship and lifted up to the mother ship after the survey is completed.
従来、水中航走体を海中から母船に引き上げる方法として、水中航走体から揚収索に繋がれたブイを放出し、海面に浮くブイを母船の甲板から投擲した回収索（サンドレット等）で海面において引っ掛け、その索を手繰ることで水中航走体を母船に回収する方法が知られている（例えば、特許文献１，２参照）。 Conventionally, as a method of lifting the underwater vehicle from the sea to the mother ship, a recovery cable (sandlet, etc.) that released a buoy connected to the uplifting line from the underwater vehicle and dropped a buoy floating on the sea surface from the deck of the mother ship A method is known in which an underwater vehicle is collected on a mother ship by hooking on the sea surface and handling the rope (see, for example, Patent Documents 1 and 2).
また、水中航走体を海面に浮上させて停止させ、母船の甲板から先端にフロートが取り付けられた回収索を投擲し、その回収索を水中航走体に設けられたフックに海面で係合させ、回収索を手繰ることで水中航走体を母船に回収する方法も知られている（例えば、特許文献３参照）。 In addition, the underwater vehicle is raised to the sea level and stopped, and a recovery line with a float attached to the tip is thrown from the deck of the mother ship, and the recovery line is engaged with a hook provided on the underwater vehicle at the sea level. In addition, there is also known a method of collecting an underwater vehicle in a mother ship by handling a collection line (see, for example, Patent Document 3).
特許文献１，２に記載された回収方法は、海面に浮上したブイに母船から投擲した回収索を引っ掛けており、特許文献３に記載された回収方法は、海面に浮上した水中航走体のフックに母船から投擲した回収索を引っ掛けており、何れにしても海面で水中航走体を引っ掛ける作業となっている。 The recovery method described in Patent Documents 1 and 2 hooks a recovery line thrown from a mother ship onto a buoy that has surfaced on the sea surface, and the recovery method described in Patent Document 3 is an The hooks are hooked with the recovery cables thrown from the mother ship, and in any case, the underwater vehicle is hooked on the sea surface.
このため、海面が波立つ荒天時には、水中航走体の回収が困難となるケースが多い。すなわち、従来の水中航走体の回収方法では、回収のポイントとなる引っ掛け作業を海面で行っていたので、気象や海象の影響を受け易く、荒天時における回収が困難であるという問題があった。 For this reason, it is often difficult to collect the underwater vehicle during stormy weather when the sea surface is waved. That is, in the conventional underwater vehicle recovery method, the hooking work that is the point of recovery is performed on the sea surface, so there is a problem that it is easily affected by weather and sea conditions and is difficult to recover in stormy weather. .
本発明は、上述した問題点を鑑みて創案されたものであり、荒天時でも水中航走体を的確に母船に回収することができる水中航走体の回収方法及び回収システムを提供することを目的とする。 The present invention was devised in view of the above-described problems, and provides an underwater vehicle recovery method and recovery system that can accurately recover an underwater vehicle to a mother ship even in stormy weather. Objective.
本発明によれば、水中航走体を水中から母船に回収する水中航走体の回収方法であって、前記母船から繰り出したケーブルを水中で水平方向に張った状態とし、前記ケーブルを横切るように前記水中航走体を水中で航走させ、前記水中航走体の表面に設けられたフックを水中で前記ケーブルに係合させた後、前記ケーブルを巻き取って前記水中航走体を前記母船に回収する、ことを特徴とする水中航走体の回収方法が提供される。 According to the present invention, there is provided an underwater vehicle recovery method for recovering an underwater vehicle from underwater to a mother ship, wherein the cable fed from the mother ship is stretched horizontally in the water so as to cross the cable. The underwater vehicle is crushed in water, and a hook provided on the surface of the underwater vehicle is engaged with the cable in water. There is provided an underwater vehicle recovery method, characterized in that the recovery is performed on a mother ship.
前記ケーブルは、水中で水の抵抗を受け得る曳航体を備え、該曳航体を水中に投入して前記ケーブルを繰り出した後、前記ケーブルを前記母船で曳航することにより、前記ケーブルを水中で水平方向に張った状態とするようにしてもよい。 The cable is provided with a towed body capable of receiving water resistance in water, and after the towed body is put into the water and the cable is unwound, the cable is towed in the mother ship so that the cable is leveled in the water. You may make it be in the state stretched in the direction.
また、前記ケーブルは、水中で浮遊可能な浮遊ケーブルを備え、該浮遊ケーブルを水中に投入して前記ケーブルを繰り出した後、前記母船を停止した状態で前記ケーブルを水中で水平方向に張った状態とするようにしてもよい。 In addition, the cable is provided with a floating cable that can float in water, and after the cable is fed out by feeding the floating cable into the water, the cable is stretched horizontally in the water while the mother ship is stopped You may make it.
また、前記ケーブルは、間隔を隔てて配置された水深センサを備え、該水深センサにより水中で水平方向に張られた前記ケーブルの水深を計測し、前記水中航走体を航走させる水深を設定するようにしてもよい。 In addition, the cable includes a water depth sensor arranged at an interval, and measures the water depth of the cable stretched horizontally in the water by the water depth sensor to set the water depth for running the underwater vehicle. You may make it do.
また、本発明によれば、水中航走体を水中から母船に回収する水中航走体の回収システムであって、繰り出し可能かつ巻き取り可能に構成され前記母船に搭載されたケーブルと、前記水中航走体の表面に設けられたフックと、を備え、前記母船から繰り出した前記ケーブルを水中で水平方向に張った状態で前記フックを前記ケーブルに係合させるようにした、ことを特徴とする水中航走体の回収システムが提供される。 Further, according to the present invention, there is an underwater vehicle recovery system for recovering the underwater vehicle from the water to the mother ship, the cable being configured to be unwound and windable and mounted on the mother ship, and the water A hook provided on the surface of the middle traveling body, and the hook is engaged with the cable in a state where the cable fed from the mother ship is stretched horizontally in water. An underwater vehicle recovery system is provided.
前記ケーブルは、水中で水の抵抗を受け得る曳航体を有していてもよいし、水中で浮遊可能な浮遊ケーブルを有していてもよい。また、前記ケーブルは、間隔を隔てて配置された複数の水深センサを有していてもよい。 The cable may have a towing body that can receive water resistance in water, or may have a floating cable that can float in water. The cable may include a plurality of water depth sensors arranged at intervals.
本発明に係る水中航走体の回収方法及び回収システムによれば、母船から繰り出したケーブルを水中で水平方向に張った状態にして水中航走体のフックを係合させるようにしたことから、荒天時に水面が波立っている場合であっても、水中のケーブルは波の影響を受け難く、ケーブルを安定して展張することができ、水中航走体を的確にケーブルに係合させて母船に回収することができる。 According to the recovery method and recovery system for an underwater vehicle according to the present invention, the hook of the underwater vehicle is engaged with the cable fed from the mother ship stretched horizontally in the water, Even if the water surface is undulating during stormy weather, the underwater cable is not easily affected by the wave, and the cable can be stably deployed. Can be recovered.
以下に添付図面を参照しながら、本発明の好適な実施形態について詳細に説明する。かかる実施形態に示す寸法、材料、その他具体的な数値等は、発明の理解を容易にするための例示に過ぎず、特に断る場合を除き、本発明を限定するものではない。なお、本明細書及び図面において、実質的に同一の機能、構成を有する要素については、同一の符号を付すことにより重複した説明を省略し、また、本発明に直接関係のない要素は図示を省略する。 Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The dimensions, materials, and other specific numerical values shown in the embodiments are merely examples for facilitating understanding of the invention, and do not limit the present invention unless otherwise specified. In the present specification and drawings, elements having substantially the same function and configuration are denoted by the same reference numerals, and redundant description is omitted, and elements not directly related to the present invention are illustrated. Omitted.
図１〜図４を用いて本発明の第一実施形態に係る水中航走体の回収方法及び回収システムについて説明する。 The underwater vehicle recovery method and recovery system according to the first embodiment of the present invention will be described with reference to FIGS.
本発明の第一実施形態に係る水中航走体１の回収システムは、図１に示したように、水中航走体１を水中（例えば、海中２）から母船３に回収する水中航走体１の回収システムであって、繰り出し可能かつ巻き取り可能に構成され母船３に搭載されたケーブル４と、水中航走体１の表面に設けられたフック５と、を備え、ケーブル４は、海中２で水の抵抗を受け得る曳航体６と、間隔を隔てて配置された複数の水深センサ１９と、を有し、母船３から繰り出したケーブル４を海中２で水平方向に張った状態でフック５をケーブル４に係合させるようにしたことを特徴とする。 As shown in FIG. 1, the recovery system for an underwater vehicle 1 according to the first embodiment of the present invention recovers the underwater vehicle 1 from the water (for example, underwater 2) to the mother ship 3. 1, a cable 4 mounted on the mother ship 3 and configured to be unwindable and rewindable, and a hook 5 provided on the surface of the underwater vehicle 1. 2 has a towed body 6 capable of receiving water resistance and a plurality of water depth sensors 19 arranged at intervals, and hooked in a state where the cable 4 fed from the mother ship 3 is stretched horizontally in the sea 2 5 is engaged with the cable 4.
ここで、「ケーブル４を海中２で水平方向に張った状態」とは、ケーブル４を水平方向に引っ張って海中２で展張させた状態を意味し、ケーブル４が海中２で水平に展張された状態のみならず、海中２で斜めに展張された状態も含む趣旨である。 Here, “the state in which the cable 4 is stretched horizontally in the sea 2” means a state in which the cable 4 is pulled in the horizontal direction and stretched in the sea 2, and the cable 4 is stretched horizontally in the sea 2. It is intended to include not only the state but also the state of being stretched obliquely in the sea 2.
水中航走体１は、例えば、図１及び図４（ａ）に示したように、先端１ａが流線型の円柱状の本体８と、本体８の尾部に配置された垂直翼９及び水平翼１０と、を備えており、垂直翼９及び水平翼１０を操舵することで進行方向を変更できるようになっている。本体８は、浮力を調節するための浮き袋を有していてもよい。本体８には、深度センサ１１、慣性航法装置１２、制御装置１３、音響通信器１４、電動機１５等が収容されている。なお、水中航走体１は、図示した構成に限定されるものではない。 For example, as shown in FIGS. 1 and 4A, the underwater vehicle 1 has a streamlined columnar main body 8, and a vertical wing 9 and a horizontal wing 10 arranged at the tail of the main body 8. And the direction of travel can be changed by steering the vertical wing 9 and the horizontal wing 10. The main body 8 may have a floating bag for adjusting buoyancy. The main body 8 houses a depth sensor 11, an inertial navigation device 12, a control device 13, an acoustic communication device 14, an electric motor 15, and the like. The underwater vehicle 1 is not limited to the illustrated configuration.
深度センサ１１は、水中航走体１の深度を計測するセンサである。慣性航法装置１２は、ジャイロや加速度センサ等を用いて水中航走体１の位置や速度を算出する機器である。制御装置１３は、水中航走体１の深度、位置、速度等に基づいて目標とする進行方向、進行速度等を制御する機器である。音響通信器１４は、水中航走体１の位置や速度や深度等を母船３に音波で送信し、母船３から制御装置１３に指令を与えるための各種信号を音波で受信する。電動機１５は、制御装置１３からの指令に応じてスクリュー１６を駆動する。 The depth sensor 11 is a sensor that measures the depth of the underwater vehicle 1. The inertial navigation device 12 is a device that calculates the position and speed of the underwater vehicle 1 using a gyro, an acceleration sensor, and the like. The control device 13 is a device that controls a target traveling direction, traveling speed, and the like based on the depth, position, speed, and the like of the underwater vehicle 1. The acoustic communicator 14 transmits the position, speed, depth, etc. of the underwater vehicle 1 to the mother ship 3 by sound waves, and receives various signals from the mother ship 3 for giving commands to the control device 13 by sound waves. The electric motor 15 drives the screw 16 in response to a command from the control device 13.
また、図４（ｂ）に示したように、水中航走体１の本体８の表面にはフック５が取り付けられている。フック５は、例えば、水中航走体１の表面に固定されたＪ字状のフック本体５ａと、水中航走体１の表面に回動自在に取り付けられたＩ字状の抜止金具５ｂと、抜止金具５ｂとフック本体５ａとの間に設けられたバネ５ｃと、を備えている。 Further, as shown in FIG. 4B, a hook 5 is attached to the surface of the main body 8 of the underwater vehicle 1. The hook 5 includes, for example, a J-shaped hook body 5 a fixed to the surface of the underwater vehicle 1, an I-shaped retaining bracket 5 b rotatably attached to the surface of the underwater vehicle 1, A spring 5c provided between the retaining metal fitting 5b and the hook body 5a.
抜止金具５ｂは、通常はバネ５ｃの付勢力によって先端５ｄがフック本体５ａに押し付けられて閉じており、ケーブル４によって押されるとバネ５ｃが縮んで開きケーブル４をフック本体５ａの内部に導く。その後、バネ５ｃが復元して抜止金具５ｂが閉じ、ケーブル４がフック５から抜けない状態となる。 The stopper 5b is normally closed by pressing the tip 5d against the hook body 5a by the urging force of the spring 5c. When the cable 5 is pressed, the spring 5c contracts to open and guide the cable 4 into the hook body 5a. Thereafter, the spring 5c is restored, the retaining metal fitting 5b is closed, and the cable 4 cannot be removed from the hook 5.
また、図４（ａ）に示したように、フック５は水中航走体１の上部及び下部の両方に取り付けられていてもよい。ケーブル４は、母船３に曳航された曳航体６が海水から受ける抵抗によって、図４（ａ）の図面裏表方向に延出された状態となっており、水中航走体１の先端１ａに衝突した後、水中航走体１の上側に案内された場合には上部のフック５と係合し、水中航走体１の下側に案内された場合には下部のフック５と係合する。 Further, as shown in FIG. 4A, the hook 5 may be attached to both the upper part and the lower part of the underwater vehicle 1. The cable 4 is in a state of being extended in the reverse direction of the drawing of FIG. 4A due to the resistance that the towed body 6 towed by the mother ship 3 receives from seawater, and collides with the tip 1a of the underwater vehicle 1 Then, when guided to the upper side of the underwater vehicle 1, it engages with the upper hook 5, and when guided to the lower side of the underwater vehicle 1, it engages with the lower hook 5.
かかる構成により、水中航走体１の先端１ａに衝突したケーブル４が、水中航走体１の上側に案内された場合であっても下側に案内された場合であっても、上部及び下部の何れか一方のフック５に係合させることができる。 With this configuration, the upper and lower portions of the cable 4 that collides with the tip 1a of the underwater vehicle 1 are guided upward or under the underwater vehicle 1. It is possible to engage with either one of the hooks 5.
また、図４（ａ）に示したように、フック５は、水中航走体１の重心位置Ｇに合わせて取り付けられている。このため、フック５に係合したケーブル４を吊り上げたとき、水中航走体１が略水平姿勢となり、水中航走体１の取り扱い（ハンドリング）が良好となる。 Further, as shown in FIG. 4A, the hook 5 is attached according to the gravity center position G of the underwater vehicle 1. For this reason, when the cable 4 engaged with the hook 5 is lifted, the underwater vehicle 1 is in a substantially horizontal posture, and the handling (handling) of the underwater vehicle 1 is improved.
また、図４（ａ）に示したように、水中航走体１の先端１ａからフック５に渡る表面に、先端１ａに衝突したケーブル４を案内するためのガイド部材１７を設けるようにしてもよい。ガイド部材１７は、例えば、水中航走体１の表面を覆う鞘状に形成されている。ガイド部材１７は、プラスチック樹脂等のケーブル４が滑りやすい材質から成り、ケーブル４の衝突による水中航走体１の損傷を防止するプロテクタとしても機能する。なお、ガイド部材１７と水中航走体１の先端１ａとの間に衝撃吸収用の隙間１８を設け、ケーブル４が衝突したときにガイド部材１７を隙間１８で撓ませることにより衝撃を吸収するようにしてもよい。 Further, as shown in FIG. 4A, a guide member 17 for guiding the cable 4 colliding with the tip 1a may be provided on the surface extending from the tip 1a of the underwater vehicle 1 to the hook 5. Good. The guide member 17 is formed in a sheath shape that covers the surface of the underwater vehicle 1, for example. The guide member 17 is made of a material in which the cable 4 such as plastic resin is slippery, and also functions as a protector for preventing the underwater vehicle 1 from being damaged by the collision of the cable 4. An impact absorbing gap 18 is provided between the guide member 17 and the tip 1a of the underwater vehicle 1, and the guide member 17 is bent by the gap 18 when the cable 4 collides so as to absorb the impact. It may be.
母船３は、水中航走体１の運搬、回収、制御等を行う作業船である。母船３は、水中航走体１を制御する制御装置（図示せず）や水中航走体１との間で各種信号やデータを送受信する通信機器（図示せず）を有している。また、母船３は、図１に示したように、ケーブル４の繰り出し及び巻き取りを行うクレーン７を有している。 The mother ship 3 is a work ship that carries, recovers, and controls the underwater vehicle 1. The mother ship 3 includes a control device (not shown) that controls the underwater vehicle 1 and a communication device (not shown) that transmits and receives various signals and data to and from the underwater vehicle 1. Moreover, the mother ship 3 has a crane 7 for feeding and winding the cable 4 as shown in FIG.
ケーブル４は、例えば、ワイヤロープであり、少なくとも水中航走体１を吊り上げ可能な強度を有している。ケーブル４は、通常時はクレーン７に巻き取られており、水中航走体１の回収時に海中２に投入されクレーン７から繰り出される。ケーブル４は、比重が海水と略等しい中性浮遊のケーブルであってもよい。また、図１に示したように、ケーブル４の先端には曳航体６が接続されている。 The cable 4 is a wire rope, for example, and has a strength capable of lifting at least the underwater vehicle 1. The cable 4 is normally wound around the crane 7, and is thrown into the sea 2 when the underwater vehicle 1 is collected and is drawn out from the crane 7. The cable 4 may be a neutral floating cable having a specific gravity substantially equal to seawater. As shown in FIG. 1, a towing body 6 is connected to the tip of the cable 4.
曳航体６は、例えば、図３に示したように、輪郭が円錐状のワイヤフレーム６ａと、ワイヤフレーム６ａに張られたネット６ｂと、を有している。かかる構成によれば、前進する母船３によってケーブル４が曳航されると、海水がネット６ｂを通過する際の抵抗によってケーブル４が張った状態となる。ネット６ｂは、円錐状のワイヤフレーム６ａの側面（頂点と底面との間の面）に張るのみならず、底面に張るようにしてもよい。 For example, as shown in FIG. 3, the towing body 6 includes a wire frame 6a having a conical outline and a net 6b stretched on the wire frame 6a. According to this configuration, when the cable 4 is towed by the mother ship 3 that moves forward, the cable 4 is stretched by resistance when seawater passes through the net 6b. The net 6b may be stretched not only on the side surface (the surface between the apex and the bottom surface) of the conical wire frame 6a but also on the bottom surface.
曳航体６は、海水よりも比重が大きいため、曳航時に海面２ａに浮き上がることなく沈んだ状態が維持される。また、輪郭を円錐状とすることにより、曳航時に生じる振動や揺動を低減することができる。曳航体６は、上述した構成に限られず、曳航時に海水によって抵抗が生じる構造であれば足り、例えば、パラシュート状の構造であってもよい。 Since the towed body 6 has a specific gravity greater than that of seawater, the towed body 6 is maintained in a state of sinking without floating on the sea surface 2a during towing. Further, by making the contour conical, vibrations and swings that occur during towing can be reduced. The towed body 6 is not limited to the above-described configuration, and may be a structure in which resistance is generated by seawater during towing. For example, the towed body 6 may have a parachute-like structure.
また、図１及び図２に示したように、ケーブル４には、所定の間隔（例えば、４〜５ｍ）を隔てて複数の水深センサ１９が取り付けられている。水中航走体１のフック５は、水深センサ１９間のケーブル４に係合される。このように、複数の水深センサ１９を配置することにより、水深センサ１９間に展張されたケーブル４の位置をより正確に把握することができる。例えば、二つの水深センサ１９の水深が異なる場合には、その間の水深（例えば、平均値）を水中航走体１の目標深度に設定することができる。 Moreover, as shown in FIG.1 and FIG.2, the some water depth sensor 19 is attached to the cable 4 at predetermined intervals (for example, 4-5 m). The hook 5 of the underwater vehicle 1 is engaged with the cable 4 between the water depth sensors 19. As described above, by arranging the plurality of water depth sensors 19, the position of the cable 4 extended between the water depth sensors 19 can be grasped more accurately. For example, when the water depths of the two water depth sensors 19 are different, the water depth (for example, an average value) between them can be set as the target depth of the underwater vehicle 1.
ここで、二つの水深センサ１９の水深差が水中航走体１の本体８の直径よりも小さければ、水中航走体１をケーブル４に的確に衝突させることができる。したがって、水深センサ１９の水深差が水中航走体１の本体８の直径よりも小さくなるように、母船３の速度や方向を制御するようにしてもよい。 Here, if the water depth difference between the two water depth sensors 19 is smaller than the diameter of the main body 8 of the underwater vehicle 1, the underwater vehicle 1 can be made to collide with the cable 4 accurately. Therefore, the speed and direction of the mother ship 3 may be controlled so that the water depth difference of the water depth sensor 19 is smaller than the diameter of the main body 8 of the underwater vehicle 1.
上述した本実施形態に係る水中航走体１の回収システムを用いることにより、図２に示したように、母船３から繰り出したケーブル４を海中２で水平方向に張った状態とし、ケーブル４を横切るように水中航走体１を海中２で航走させ、水中航走体１の表面に設けられたフック５を海中２でケーブル４に係合させた後、ケーブル４を巻き取って水中航走体１を母船３に回収することができる。 By using the recovery system for the underwater vehicle 1 according to the present embodiment described above, as shown in FIG. 2, the cable 4 fed from the mother ship 3 is stretched horizontally in the sea 2, and the cable 4 is The underwater vehicle 1 is crushed in the sea 2 so as to cross, and the hook 5 provided on the surface of the underwater vehicle 1 is engaged with the cable 4 in the underwater 2, and then the cable 4 is wound up and the underwater vehicle The traveling body 1 can be collected in the mother ship 3.
ケーブル４を海中２で水平方向に張った状態にするには、曳航体６を海中２に投入してケーブル４を繰り出した後、ケーブル４を母船３で曳航する。曳航体６は、上述したように、海中２で海水の抵抗を受け得る構成を成していることから、母船３で曳航することにより、ケーブル４を海中２で略水平方向に展張することができる。 In order to make the cable 4 stretch horizontally in the sea 2, the towing body 6 is thrown into the sea 2 and the cable 4 is unwound, and then the cable 4 is towed by the mother ship 3. As described above, the towing body 6 is configured to be able to receive the resistance of seawater in the sea 2, so that the cable 4 can be extended in the substantially horizontal direction in the sea 2 by towing in the mother ship 3. it can.
次に、水深センサ１９により海中２で水平方向に張られたケーブル４の水深を計測し、水中航走体１を航走させる水深を設定する。また、母船３の速度及び方向並びにケーブル４の位置情報に基づいて、水中航走体１を航走させる方向や速度を設定する。このとき、水中航走体１の水深・方向・速度は、先端１ａが水深センサ１９間のケーブル４に略直角に衝突するように設定することが好ましい。なお、水中航走体１の水深は、先端１ａをケーブル４に衝突させずにフック５に係合させることができるように設定してもよい。 Next, the water depth of the cable 4 stretched horizontally in the sea 2 is measured by the water depth sensor 19, and the water depth at which the underwater vehicle 1 sails is set. Further, based on the speed and direction of the mother ship 3 and the position information of the cable 4, the direction and speed for the underwater vehicle 1 to travel are set. At this time, the water depth, direction, and speed of the underwater vehicle 1 are preferably set so that the tip 1 a collides with the cable 4 between the water depth sensors 19 at a substantially right angle. The water depth of the underwater vehicle 1 may be set so that the tip 1 a can be engaged with the hook 5 without colliding with the cable 4.
そして、水中航走体１を海中２でケーブル４に向かって航走させることにより、フック５をケーブル４に係合させる。フック５がケーブル４に係合したか否かは、母船３から目視で確認するようにしてもよいし、フック５にセンサを配置してケーブル４の係合を母船３で把握できるようにしてもよい。 The hook 5 is engaged with the cable 4 by causing the underwater vehicle 1 to travel toward the cable 4 in the sea 2. Whether the hook 5 is engaged with the cable 4 may be confirmed visually from the mother ship 3, or a sensor is arranged on the hook 5 so that the engagement of the cable 4 can be grasped by the mother ship 3. Also good.
その後、クレーン７を作動させてケーブル４を巻き取ることにより、曳航体６をフック５に係止させることができ、水中航走体１を曳航体６とともに母船３に回収することができる。したがって、曳航体６は、フック５に係合した状態で曳航されたとき及びクレーン７により水中航走体１を吊り上げたときに、フック５から抜けないような構成を有している。 Thereafter, the crane 7 is operated to wind the cable 4, whereby the towed body 6 can be locked to the hook 5, and the underwater vehicle 1 can be recovered together with the towed body 6 to the mother ship 3. Therefore, the towed body 6 has a configuration that does not come off the hook 5 when towed while engaged with the hook 5 and when the underwater vehicle 1 is lifted by the crane 7.
クレーン７により母船３上に吊り上げた水中航走体１は、例えば、母船３の所定の収容場所（例えば、甲板上）にクレーン７によって搬送して載置するようにしてもよいし、クレーン７上にそのまま固定するようにしてもよい。 The underwater vehicle 1 suspended on the mother ship 3 by the crane 7 may be transported by the crane 7 and placed on a predetermined accommodation location (for example, on the deck) of the mother ship 3, for example. You may make it fix on top as it is.
本実施形態に係る水中航走体１の回収方法及び回収システムによれば、母船３から繰り出したケーブル４を海中２で水平方向に張った状態にして水中航走体１のフック５を係合させるようにしたことから、荒天時に水面が波立っている場合であっても、海中２のケーブル４は波の影響を受け難く、ケーブル４を安定して展張することができ、水中航走体１を的確にケーブル４に係合させて母船３に回収することができる。 According to the recovery method and recovery system for the underwater vehicle 1 according to the present embodiment, the hook 4 of the underwater vehicle 1 is engaged with the cable 4 fed from the mother ship 3 stretched horizontally in the sea 2. Therefore, even when the water surface is undulating during stormy weather, the cable 4 in the sea 2 is not easily affected by the waves, and the cable 4 can be stably deployed. 1 can be accurately engaged with the cable 4 and collected in the mother ship 3.
次に、図５及び図６を用いて本発明の第二実施形態に係る水中航走体１の回収方法及び回収システムを説明する。 Next, the recovery method and recovery system for the underwater vehicle 1 according to the second embodiment of the present invention will be described with reference to FIGS. 5 and 6.
第二実施形態に係る水中航走体１の回収システムは、基本的に上述した第一実施形態に係る回収システムと同様の構成を有しており、ケーブル４の先端に曳航体６に替えて、海中２で浮遊可能な浮遊ケーブル２０を接続したものである。また、浮遊ケーブル２０の両端には、浮遊ケーブル２０の姿勢を安定させる錘２１を配置するようにしてもよい。水深センサ１９は、錘２１間の浮遊ケーブル２０に配置される。 The recovery system for the underwater vehicle 1 according to the second embodiment basically has the same configuration as the recovery system according to the first embodiment described above, and instead of the towed body 6 at the tip of the cable 4. The floating cable 20 that can float in the sea 2 is connected. Further, weights 21 that stabilize the posture of the floating cable 20 may be arranged at both ends of the floating cable 20. The water depth sensor 19 is disposed on the floating cable 20 between the weights 21.
浮遊ケーブル２０の海中２における姿勢を安定させるためには、浮遊ケーブル２０の比重ｘが海水の比重ａよりも僅かに小さく、錘２１の比重ｙが海水の比重ａよりも僅かに大きく、ｘ＜ａ＜ｙの関係を有していることが好ましい。なお、水深センサ１９の比重ｚは、浮遊ケーブル２０の比重ｘと等しいか僅かに小さい（ｚ≦ｘ）ことが好ましい。 In order to stabilize the posture of the floating cable 20 in the sea 2, the specific gravity x of the floating cable 20 is slightly smaller than the specific gravity a of seawater, the specific gravity y of the weight 21 is slightly larger than the specific gravity a of seawater, and x < It is preferable to have a relationship of a <y. The specific gravity z of the water depth sensor 19 is preferably equal to or slightly smaller than the specific gravity x of the floating cable 20 (z ≦ x).
第二実施形態に係る水中航走体１の回収方法は、上述した第一実施形態に係る回収方法とケーブル４の展張の仕方が異なるものでる。具体的には、第二実施形態に係る回収方法では、浮遊ケーブル２０を海中２に投入してケーブル４を繰り出した後、母船３を停止した状態でケーブル４を海中２で水平方向に張った状態にしている。このように、浮遊ケーブル２０を用いることにより、ケーブル４を曳航させることなく水平方向に展張した状態を保持することができ、水中航走体１の航走制御を容易に行うことができる。 The recovery method of the underwater vehicle 1 according to the second embodiment is different from the recovery method according to the first embodiment described above in the manner of extending the cable 4. Specifically, in the recovery method according to the second embodiment, after the floating cable 20 is thrown into the sea 2 and the cable 4 is fed out, the cable 4 is stretched horizontally in the sea 2 with the mother ship 3 stopped. It is in a state. As described above, by using the floating cable 20, it is possible to maintain a state in which the cable 4 is expanded in the horizontal direction without towing the cable 4, and it is possible to easily perform the traveling control of the underwater vehicle 1.
以上、添付図面を参照しつつ本発明の好適な実施形態について説明したが、本発明は上述した各実施形態に限定されないことは勿論であり、特許請求の範囲に記載された範疇における各種の変更例又は修正例についても、本発明の技術的範囲に属することは言うまでもない。 The preferred embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the above-described embodiments, and various modifications within the scope of the claims. Needless to say, examples and modifications also belong to the technical scope of the present invention.
１ 水中航走体
１ａ 先端
２ 海中
２ａ 海面
３ 母船
４ ケーブル
５ フック
５ａ フック本体
５ｂ 抜止金具
５ｃ バネ
５ｄ 先端
６ 曳航体
６ａ ワイヤフレーム
６ｂ ネット
７ クレーン
８ 本体
９ 垂直翼
１０ 水平翼
１１ 深度センサ
１２ 慣性航法装置
１３ 制御装置
１４ 音響通信器
１５ 電動機
１６ スクリュー
１７ ガイド部材
１８ 隙間
１９ 水深センサ
２０ 浮遊ケーブル
２１ 錘
DESCRIPTION OF SYMBOLS 1 Underwater vehicle 1a Tip 2 Underwater 2a Sea surface 3 Mother ship 4 Cable 5 Hook 5a Hook main body 5b Stopping fitting 5c Spring 5d Tip 6 Towing body 6a Wire frame 6b Net 7 Crane 8 Main body 9 Vertical wing 10 Horizontal wing 11 Depth sensor 12 Inertia Navigation device 13 Control device 14 Acoustic communication device 15 Electric motor 16 Screw 17 Guide member 18 Clearance 19 Water depth sensor 20 Floating cable 21 Weight
Claims (7)
前記母船から繰り出したケーブルを水中で水平方向に張った状態とし、
前記ケーブルを横切るように前記水中航走体を水中で航走させ、
前記水中航走体の表面に設けられたフックを水中で前記ケーブルに係合させた後、
前記ケーブルを巻き取って前記水中航走体を前記母船に回収する、
ことを特徴とする水中航走体の回収方法。 An underwater vehicle recovery method for recovering an underwater vehicle from the water to a mother ship,
The cable drawn from the mother ship is stretched horizontally in the water,
Running the underwater vehicle in water so as to cross the cable,
After engaging a hook provided on the surface of the underwater vehicle in water with the cable,
Winding the cable and collecting the underwater vehicle to the mother ship;
A method for recovering an underwater vehicle.
繰り出し可能かつ巻き取り可能に構成され前記母船に搭載されたケーブルと、
前記水中航走体の表面に設けられたフックと、を備え、
前記母船から繰り出した前記ケーブルを水中で水平方向に張った状態で前記フックを前記ケーブルに係合させるようにした、
ことを特徴とする水中航走体の回収システム。 An underwater vehicle recovery system for recovering an underwater vehicle from the water to a mother ship,
A cable configured to be unwound and windable and mounted on the mother ship;
A hook provided on the surface of the underwater vehicle,
The hook is engaged with the cable in a state where the cable fed from the mother ship is stretched horizontally in water.
An underwater vehicle recovery system.
The underwater vehicle recovery system according to claim 5, wherein the cable includes a plurality of water depth sensors arranged at intervals.
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