JP2017001482A - Unmanned underwater vehicle carrier device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an underwater unmanned vehicle carrier device capable of easily carrying an underwater unmanned vehicle while suppressing damage to the underwater unmanned vehicle.SOLUTION: A carrier device for an underwater unmanned vehicle V for reciprocating the underwater unmanned vehicle V between a mother ship S and underwater, comprises: a pedestal 2 provided with an installation surface 21 having a larger projection area in a direction of gravitational acceleration than the underwater unmanned vehicle V; a buoyancy adjustment device 3 disposed on the pedestal 2 and adjusting a buoyant force of the pedestal 2; and a towing line 4 connected to the pedestal 2, the pedestal 2 being made close to or apart from the mother ship S and the pedestal 2 being made to float or sink between a water surface and underwater in a state in which the underwater unmanned vehicle V is placed on the installation surface 21.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an underwater drone transport device, and more particularly, to an underwater drone transport device used for throwing an underwater drone into a submarine from a mother ship or taking it from underwater to a mother ship.

  In recent years, there are increasing opportunities to use unmanned submersibles and explorers to conduct exploration, surveying, surveying, photographing, and the like in the water and bottom of oceans, rivers, dams, and reservoirs. These unmanned aerial vehicles are generally called underwater unmanned aerial vehicles (UUVs), and self-supporting AUVs (Autonomous Underwater Vehicles) and remotely operated ROVs (Remotely Operated Vehicles) are known.

  Such underwater drone recovery methods include, for example, a method in which a diver captures an underwater drone with a lifting net and pulls it up from a swash plate installed on the mother ship (see Patent Document 1), After launching and towing, housing the underwater drone, storing the recovered basket in the mother ship (see Patent Document 2), towing the net-shaped lifting device from the mother ship into the water and towing the underwater drone There has already been proposed a method of lifting a lifting device to a mother ship with a crane after housing (see Patent Document 3).

Japanese Patent Laid-Open No. 11-218991 JP 2009-208511 A JP2013-184525A

  However, in the recovery method in which divers work underwater, there is a problem that they are easily affected by waves and are dangerous. In addition, in the collection method using the collection basket and the lifting device, there is a problem that the position and direction must be precisely controlled in order to accommodate the underwater drone in the collection basket and the lifting device in the water. . In addition, when a net or net-like lifting device is used, there is a problem that a part of the underwater drone is caught by the net or net and is damaged.

  The present invention was devised in view of the above-described problems, and provides an underwater drone transport device that can easily transport an underwater drone while suppressing damage to the underwater drone. With the goal.

  According to the present invention, in an underwater drone transfer device that makes an underwater drone travel between a mother ship and underwater, a pedestal having an installation surface on which the underwater drone is installed, and the pedestal disposed on the pedestal A buoyancy adjustment device that adjusts buoyancy; and a towline connected to the pedestal, wherein the pedestal approaches or separates from the mother ship in a state where the underwater drone is mounted on the installation surface, or the pedestal An underwater drone transporting device is provided, characterized in that the water is floated and submerged between the water surface and the water.

  The pedestal may include a posture control device that controls a posture in water. The pedestal may include a drainage mechanism for draining water on the installation surface when ascending. The pedestal may include a restraining mechanism that restrains the underwater drone on the installation surface. The pedestal may include a support base that is disposed on the installation surface and supports the underwater drone. The pedestal may include a communication device capable of communicating with the underwater drone in water.

  According to the underwater drone transport device of the present invention, the underwater drone is placed on the pedestal having the installation surface on which the underwater drone is installed. When moving, precise control is not required compared to the case where the underwater drone is accommodated in a cylindrical container or the like. In addition, since the underwater drone can be collected or unloaded on the base with the underwater drone mounted on the pedestal, there is no need to diving the diver, and contact between the underwater drone and the structure of the mother ship is suppressed. Can do. Therefore, according to this invention, an underwater drone can be easily conveyed, suppressing the damage of an underwater drone.

It is a top view which shows the conveying apparatus of the underwater drone which concerns on one Embodiment of this invention. It is explanatory drawing which shows the collection | recovery method of the underwater drone using the conveying apparatus shown in FIG. 1, (a) is a base movement process, (b) is a base settling process, (c) is an underwater drone movement process, ( d) shows the pedestal levitation process. It is a figure which shows the pick-up process of the underwater drone using the conveying apparatus shown in FIG. 1, (a) is a top view, (b) is a side view. It is explanatory drawing which shows the injection | throwing-in method of the underwater drone using the conveying apparatus shown in FIG. 1, (a) is a base movement process, (b) is a base settling process, (c) is an underwater drone movement process, ( d) shows the pedestal levitation process. It is a perspective view which shows the modification of a base, (a) shows a 1st modification, (b) shows a 2nd modification, (c) shows a 3rd modification, (d) shows a 4th modification. Yes. It is a top view which shows the modification of a base, (a) shows a 5th modification, (b) shows a 6th modification, (c) shows a 7th modification, (d) shows an 8th modification. Yes.

  Hereinafter, an embodiment of the present invention will be described with reference to FIGS. Here, FIG. 1 is a plan view showing a transport device for an underwater drone according to an embodiment of the present invention. 2A and 2B are explanatory views showing a recovery method of the underwater drone using the transport device shown in FIG. 1, wherein FIG. 2A is a pedestal moving step, FIG. 2B is a pedestal settling step, and FIG. 2C is an underwater drone. The moving process, (d) shows the pedestal levitation process. FIGS. 3A and 3B are diagrams illustrating a lifting process of the underwater drone using the conveyance device illustrated in FIG. 1. FIG. 3A is a plan view and FIG. 3B is a side view.

  The underwater drone V transport device 1 according to an embodiment of the present invention is an underwater drone V transport device that allows the underwater drone V to travel between the mother ship S and the underwater. A pedestal 2 provided with an installation surface 21 having a large projected area in the direction of gravitational acceleration, a buoyancy adjustment device 3 arranged on the pedestal 2 to adjust the buoyancy of the pedestal 2, and a towline 4 connected to the pedestal 2 With the underwater drone V placed on the installation surface 21, the base 2 is moved closer to or away from the mother ship S, or the base 2 is caused to float and sink between the water surface and the water.

  The underwater drone V is, for example, a searchless UUV, and may be an autonomous AUV or a remote operation type ROV. The underwater drone V is thrown into the water from the mother ship S, performs tasks such as exploration, surveying, surveying, and photographing, and is finally collected or taken up by the mother ship S. The transport apparatus 1 according to the present embodiment can be used for the introduction and recovery (pickup) of the underwater drone V.

  For example, as shown in FIGS. 1 and 2A, the base 2 has a disk shape having a certain thickness. The outer shape of the pedestal 2 includes, for example, a top plate disposed on the upper side, a bottom plate disposed on the lower side, and a cylindrical side plate connecting the top plate and the bottom plate. The shape of the pedestal 2 is not limited to the illustrated shape, and may be a polygonal column shape, or may have a cross-sectional streamline shape in consideration of water resistance.

  A depth sensor 22 that measures the water depth of the pedestal 2, a communication device 23 that can communicate with the underwater drone V underwater, a buoyancy adjustment device 3 that adjusts the buoyancy of the pedestal 2, and the like are disposed inside the pedestal 2. Electric power for operating these devices may be supplied from a battery (not shown) mounted in the base 2 or may be supplied from the mother ship S via a cable.

  The depth sensor 22 is used to measure the water depth of the pedestal 2 that has submerged in the water, and to move the pedestal 2 to a water depth suitable for the introduction or recovery of the underwater drone V. The communication device 23 is, for example, an acoustic positioning / communication device capable of communicating with the underwater drone V and capable of positioning measurement. The acoustic positioning / communication device may be an integrated type that can be used for both acoustic positioning and acoustic communication, or may be a device that separates the functions of acoustic positioning and acoustic communication.

  Note that “acoustic positioning” refers to an underwater drone V that transmits a pulse signal toward the underwater drone V. The underwater drone V that has received the pulse signal transmits the pulse signal toward the pedestal 2 and the communication device 23 receives the signal. This means that the relative position and orientation of the underwater drone V are measured. “Acoustic communication” means that a signal for controlling the behavior (start, stop, moving direction, etc.) of the underwater drone V is transmitted toward the underwater drone V.

  The upper surface of the base 2 forms an installation surface 21 on which the underwater drone V can be placed, for example, as shown in FIG. Therefore, the area of the installation surface 21 is preferably larger than the underwater drone V, and the larger the area, the lower the accuracy of control for moving the underwater drone V onto the installation surface 21. For example, the installation surface 21 may have an area that is several times to ten times the total length of the underwater drone V.

  Moreover, since the base 2 floats and sinks between the water surface and the water as described later, the pedestal 2 may have a drainage mechanism 24 that drains the water on the installation surface 21 when ascending. The drainage mechanism 24 is configured by, for example, a plurality of pipelines that penetrate the pedestal 2 up and down. The number of pipes, the arrangement, the size of the diameter, etc. can be arbitrarily set.

  By disposing the drainage mechanism 24, the water on the installation surface 21 can be drained below the pedestal 2 when the pedestal 2 is lifted, and the resistance of the water at the time of rising can be reduced. Movement and falling of the underwater drone V mounted on the installation surface 21 can be suppressed by the water flow flowing above. Moreover, when it has the drainage mechanism 24 penetrated up and down like this embodiment, when sinking the base 2, water can be drawn upward from the lower side of the base 2, and the resistance of the water at the time of sedimentation can be reduced. Can be reduced.

  The buoyancy adjusting device 3 is, for example, a ballast tank configured to be capable of pouring and draining from the bottom of the base 2. For example, when the pedestal 2 is submerged in water, water is injected into the ballast tank, and when the pedestal 2 is levitated in water, the water may be discharged from the ballast tank. By using the buoyancy adjusting device 3 and the depth sensor 22, the position (water depth) of the base 2 in water can be kept within a certain range. The buoyancy adjusting device 3 may be a float bag provided with a variable volume mechanism.

  The towline 4 is a wire that tows the base 2 from the mother ship S, for example. The towline 4 is connected to the side surface of the base 2. In order to stabilize the posture of the pedestal 2 during towing, the tip of the towline 4 is bifurcated and connected to the pedestal 2 at two points. The rear end of the towline 4 is connected to a winder 5 mounted on the mother ship S, for example. The towline 4 may be a cable capable of data communication or power transmission with a device in the base 2.

  Here, with reference to FIGS. 2A to 2D and FIGS. 3A and 3B, a method of collecting and unloading the submersible drone V after work to the mother ship S will be described.

  The pedestal moving step shown in FIG. 2A is a step of moving the pedestal 2 to a place where the underwater drone V is desired to be collected. Specifically, the pedestal 2 is thrown into the water surface from the mother ship S, the towline 4 is fed out from the winder 5 and the pedestal 2 is towed while being separated from the mother ship S, and the pedestal 2 is moved to a predetermined location. At this time, the base 2 can be towed in a stable state on the downstream side of the mother ship S by advancing the mother ship S so as to face the tidal current, and the base 2 can be used even when the mother ship S is stopped. The position of can be stabilized.

  The pedestal settling step shown in FIG. 2B is a step of sinking the pedestal 2 to a predetermined water depth. Specifically, by reducing the buoyancy of the pedestal 2 by the buoyancy adjusting device 3, the pedestal 2 is submerged in water. At this time, the pedestal 2 can be kept within a predetermined range of water depth by sinking while measuring the water depth of the pedestal 2 using the depth sensor 22. In order to stabilize the water depth of the pedestal 2 in water, the buoyancy of the pedestal 2 may be appropriately controlled using the buoyancy adjusting device 3 while constantly measuring the water depth of the pedestal 2.

  The underwater drone moving process illustrated in FIG. 2C is a process of moving the underwater drone V onto the installation surface 21 of the base 2. Specifically, the relative position or positioning of the underwater drone V is measured using the communication device 23 of the pedestal 2, and the traveling data such as the traveling direction, distance, and depth are transmitted to the underwater drone V. The communication device 23 may transmit the navigation data as needed while monitoring the position of the underwater drone V. In addition, when the base 2 does not have the communication device 23 or when the sensitivity of the communication device 23 is low due to an obstacle or the like, the underwater drone V may communicate with the underwater drone V via the mother ship S.

  The pedestal levitation process shown in FIG. 2 (d) is a process in which the pedestal 2 is levitated to the water surface with the underwater drone V placed thereon. Specifically, by increasing the buoyancy of the pedestal 2 by the buoyancy adjusting device 3, the pedestal 2 is levitated from the water to the water surface. 2C, the underwater drone V is placed on the installation surface 21 by keeping the underwater drone V above the pedestal 2 and allowing the pedestal 2 to float. You may make it make it.

  The lifting process shown in FIGS. 3A and 3B is a process of lifting the base 2 on which the underwater drone V is placed on the mother ship S. Specifically, as shown in FIG. 2 (d), after the underwater drone V is placed on the installation surface 21 of the pedestal 2, the pedestal 2 is levitated to the surface of the water and then towed by the winder 5. The base 2 is brought close to the mother ship S by winding the rope 4. Then, for example, by lowering the bridge 6 arranged at the stern of the mother ship S to the water surface, the lifting port of the base 2 is formed.

  Thereafter, the winder 5 is moved forward on the mother ship S or the towline 4 is taken up by the winder 5, and the base 2 is moved onto the mother ship S while sliding on the bridge 6. After the base 2 is picked up on the mother ship S, the bridge 6 is pulled up to close the pick-up port. In the above-described lifting process, a deck crane (not shown) disposed on the mother ship S may be used instead of the bridge 6.

  According to the transport device 1 for the underwater drone V according to the present embodiment, the underwater drone V on the pedestal 2 provided with the installation surface 21 having a larger projected area in the direction of gravity acceleration than the underwater drone V. Therefore, when the underwater drone V is moved onto the pedestal in water, precise control is required compared to the case where the underwater drone V is accommodated in a cylindrical container or the like. There is nothing to do.

  In addition, since the underwater drone V can be collected or collected in the mother ship S with the underwater drone V mounted on the pedestal 2, there is no need for divers to dive, and the underwater drone V and the structure of the mother ship S Contact can be suppressed. Therefore, according to the transport device 1 according to the present embodiment, the underwater drone V can be easily transported while suppressing damage to the underwater drone V.

  Next, a method of throwing the underwater drone V into the water will be described with reference to FIGS. Here, FIG. 4 is explanatory drawing which shows the injection | throwing-in method of the underwater drone using the conveying apparatus shown in FIG. 1, (a) is a base movement process, (b) is a base settling process, (c) is The underwater drone moving process, (d) shows the pedestal levitation process.

  The pedestal moving step shown in FIG. 4A is a step of moving the pedestal 2 on which the underwater drone V is placed at a place where the underwater drone V is to be input. Specifically, the pedestal 2 is thrown into the surface of the water from the mother ship S with the underwater drone V mounted thereon, and the pedestal 2 is towed while being pulled away from the mother ship S by unwinding the towing cable 4 from the winder 5. 2 is moved to a predetermined place. At this time, the base 2 can be towed in a stable state on the downstream side of the mother ship S by advancing the mother ship S so as to face the tidal current, and the base 2 can be used even when the mother ship S is stopped. The position of can be stabilized.

  The pedestal settling step shown in FIG. 4B is a step of sinking the pedestal 2 on which the underwater drone V is placed to a predetermined depth. Specifically, by reducing the buoyancy of the pedestal 2 by the buoyancy adjusting device 3, the pedestal 2 is submerged in water. At this time, it is possible to keep the pedestal 2 within a predetermined water depth range by using the depth sensor 22 to sink while measuring the water depth of the pedestal 2. In order to stabilize the water depth of the pedestal 2 in water, the buoyancy of the pedestal 2 may be appropriately controlled using the buoyancy adjusting device 3 while constantly measuring the water depth of the pedestal 2.

  The underwater drone moving process shown in FIG. 4C is a process of moving the underwater drone V from the installation surface 21 of the base 2. Specifically, the underwater drone V is detached from the installation surface 21 by operating the thruster and propulsion device of the underwater drone V. Thereafter, the underwater drone V moves to a predetermined location based on the cruise data transmitted from the base 2 or the mother ship S.

  The pedestal surfacing step shown in FIG. 4D is a step of surfacing the pedestal 2 that has become empty to the water surface. Specifically, by increasing the buoyancy of the pedestal 2 by the buoyancy adjusting device 3, the pedestal 2 is levitated in the water and finally levitated to the water surface.

  Thus, according to the transport device 1 for the underwater drone V according to the present embodiment, it can be used not only for collecting or lifting the underwater drone V but also for throwing the underwater drone V into the water. . When the pedestal 2 is thrown into the water surface from the mother ship S, or when the pedestal 2 that has finished the work is picked up on the mother ship S, for example, a bridge 6 as shown in FIGS. Or using a deck crane (not shown).

  Next, a modified example of the pedestal 2 described above will be described with reference to FIGS. 5 (a) to 6 (d). Here, FIG. 5 is a perspective view showing a modification of the pedestal, where (a) is a first modification, (b) is a second modification, (c) is a third modification, and (d) is a first modification. Four modified examples are shown. FIG. 6 is a plan view showing a modification of the pedestal, where (a) is a fifth modification, (b) is a sixth modification, (c) is a seventh modification, and (d) is an eighth modification. , Shows.

  In the first modification of the base 2 shown in FIG. 5A, the whole base 2 is formed of a wire mesh. According to such a configuration, the mesh of the metal mesh can be used as the drainage mechanism 24. In addition, you may make it accommodate the apparatus (depth sensor 22, the communication apparatus 23, the buoyancy adjustment apparatus 3, etc.) accommodated in the base 2 individually or collectively in the container which has watertightness.

  In the second modification of the base 2 shown in FIG. 5B, the base 2 is formed by a frame 2a that forms a skeleton of the base 2 and a wire mesh 2b that is stretched between the frames 2a. According to this configuration, the strength can be improved as compared with the base 2 according to the first modification.

  In the third modification of the base 2 shown in FIG. 5C, the drainage mechanism 24 is configured by a groove formed in the installation surface 21. Here, the case where a plurality of grooves parallel to one direction are formed is illustrated, but the present invention is not limited to this shape. For example, the grooves may be formed radially. Further, a deep groove may be formed from the center side of the pedestal 2 toward the outer peripheral side to form an inclined surface so that drainage can be facilitated.

  In the fourth modification of the base 2 shown in FIG. 5D, a restraining mechanism 25 that restrains the underwater drone V on the installation surface 21 is arranged. The restraining mechanism 25 is configured by, for example, a wall surface standing along the outer periphery of the base 2. By forming such a wall surface (restraint mechanism 25), even if the underwater drone V moves on the installation surface 21 when the base 2 moves up and down, the movement of the underwater drone V can be restricted by the wall surface. Falling from the base 2 can be prevented. For example, the height of the wall surface is formed higher than the position of the center of gravity of the underwater drone V.

  In a fifth modification of the base 2 shown in FIG. 6A, a posture control device 26 that controls the posture in water is arranged on the base 2. When the pedestal 2 is lifted and lowered with the underwater drone V placed on the installation surface 21, it is conceivable that the pedestal 2 is inclined due to water resistance or tidal current. Therefore, in the present modification, the posture control device 26 for holding the posture control device 26 substantially horizontally is provided. The attitude control device 26 can be configured by a plurality of buoyancy adjustment devices 3, for example.

  As shown in the drawing, the pedestal 2 is arranged so that the installation surface 21 is substantially horizontal by arranging the plurality of buoyancy adjusting devices 3 at substantially equal intervals and individually adjusting the buoyancy of the plurality of buoyancy adjusting devices 3. Can be controlled. Here, the case where four buoyancy adjusting devices 3 are arranged is illustrated, but the number of buoyancy adjusting devices 3 can be arbitrarily set.

  In the sixth modification of the base 2 shown in FIG. 6B, the attitude control device 26 is configured by a vertical thruster. Thus, the attitude control device 26 may be configured as a device separate from the buoyancy adjustment device 3. Although the case where four vertical thrusters are arranged is shown here, the number of vertical thrusters can be arbitrarily set.

  In the seventh modification of the base 2 shown in FIG. 6C, the restraining mechanism 25 is constituted by an electromagnet. By placing an electromagnet on the inner surface of the installation surface 21, the underwater drone V can be adsorbed on the installation surface 21, and the underwater drone V is restrained on the installation surface 21 even when the pedestal 2 is inclined. Can be kept. As illustrated, the restraining mechanism 25 may be used in combination with the attitude control device 26.

  In the eighth modification of the pedestal 2 shown in FIG. 6D, a support base 27 that supports the underwater drone V is disposed on the installation surface 21. For example, when the underwater drone V has protrusions p such as sensors, stabilizers, and rudder, the protrusion p may be damaged if the underwater drone V is landed on the installation surface 21. .

  Therefore, in the present embodiment, a support base 27 for avoiding interference between the protrusion p and the installation surface 21 is disposed on the installation surface 21. Here, although the support base 27 is comprised with two board | plate materials, it is not limited to this shape, According to the structure of the underwater drone V, it can change arbitrarily.

  The present invention is not limited to the above-described embodiment, and various modifications may be made without departing from the spirit of the present invention, for example, the above-described embodiment and the first to eighth modifications may be used in appropriate combination. Of course, it is possible.

DESCRIPTION OF SYMBOLS 1 Conveyance device 2 Base 2a Frame 2b Wire net 3 Buoyancy adjustment device 4 Towing cable 5 Winding machine 6 Bridge 21 Installation surface 22 Depth sensor 23 Communication device 24 Drainage mechanism 25 Restraint mechanism 26 Attitude control device 27 Support stand

Claims (6)

In the underwater drone transport device that allows the underwater drone to move between the mother ship and the underwater,
A pedestal having an installation surface for installing the underwater drone;
A buoyancy adjustment device arranged on the pedestal for adjusting the buoyancy of the pedestal;
A towline connected to the pedestal,
With the underwater drone mounted on the installation surface, the pedestal is moved closer to or away from the mother ship, or the pedestal is caused to float and sink between the water surface and the water,
An underwater unmanned aerial vehicle transport device.   The underwater drone transfer device according to claim 1, wherein the pedestal includes a posture control device that controls a posture in water.   The underwater drone transport apparatus according to claim 1, wherein the pedestal includes a drainage mechanism that drains water on the installation surface when ascending.   The underwater drone transfer device according to claim 1, wherein the pedestal includes a restraining mechanism that restrains the underwater drone on the installation surface.   The underwater drone transport apparatus according to claim 1, wherein the pedestal includes a support base that is disposed on the installation surface and supports the underwater drone. The underwater drone transport apparatus according to claim 1, wherein the pedestal includes a communication device capable of communicating with the underwater drone in water.