JP2017001637A - Underwater unmanned vehicle accommodation device and underwater unmanned vehicle accommodation method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an underwater unmanned vehicle accommodation device and an underwater unmanned vehicle accommodation method capable of ensuring safe and easy accommodation of an underwater unmanned vehicle while suppressing damage to the underwater unmanned vehicle.SOLUTION: An accommodation device for accommodating an underwater unmanned vehicle V in the water, comprises: a float 2 floating on a water surface; and a cradle 3 disposed to be able to fall and rise in the water with respect to the float 2. The cradle 3 comprises: a housing for accommodating the underwater unmanned vehicle V; a thruster 32 for adjusting a direction of the housing; and imaging means 33 for imaging situations near an entrance 31a of the housing. A direction of the entrance 31a of the housing is adjusted in accordance with a position of the underwater unmanned vehicle V, and the underwater unmanned vehicle V is accommodated in the housing while monitoring the underwater unmanned vehicle V.SELECTED DRAWING: Figure 1

Description

  BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underwater drone accommodation apparatus and accommodation method, and more particularly to an underwater drone accommodation apparatus and accommodation method suitable for accommodating an underwater drone underwater with little influence of waves.

  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, the recovery method using a collection basket and a lifting device has a problem that the position and direction must be controlled with high accuracy in order to accommodate the underwater drone in the collection basket and the lifting device underwater. It was. 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. Furthermore, in the conventional recovery method described above, a swash plate and a storage mechanism must be installed in the mother ship, and a dedicated ship must be built or an existing ship must be modified, which increases costs. There was also a problem.

  The present invention has been made in view of the above-described problems, and can accommodate an underwater drone that can safely and easily accommodate an underwater drone while suppressing damage to the underwater drone. It aims to provide a method.

  According to the present invention, in an underwater drone housing apparatus that houses an underwater drone in water, the float that floats on the water surface, and a cradle that is arranged to be able to descend and rise in water relative to the float, The cradle includes a housing that accommodates the underwater drone, a thruster that adjusts the orientation of the housing, and a photographing unit that photographs a situation in the vicinity of the entrance of the housing, according to the position of the underwater drone. An accommodation device for an underwater drone is provided, wherein the housing is accommodated in the housing while adjusting the direction of the entrance of the housing and monitoring the underwater drone.

  The cradle may include an acoustic positioning / communication device capable of communicating with the underwater drone and capable of positioning measurement. The cradle may have a restraining means for restraining the underwater drone accommodated in the housing. The float has a concave-convex first connecting portion formed on a lower surface, and the cradle is formed on an upper surface of the housing and has a concave-convex shape that can be fitted to the first connecting portion. You may have. The cradle may be configured to be able to charge the underwater drone accommodated in the housing.

  Further, according to the present invention, there is provided a method for housing an underwater drone using a housing device including a float that floats on a water surface, and a cradle that can be lowered and raised with respect to the float. In accordance with the position of the underwater drone, the loading step of throwing the container into the water, the lowering step of lowering the cradle from the float to a predetermined depth, the approaching step of bringing the underwater drone closer to the cradle There is provided an underwater drone accommodation method comprising: an attitude control step for controlling the posture of the cradle; and an accommodation step of allowing the underwater drone to advance and accommodate in the cradle.

  You may have the positioning process which measures the position of the said underwater drone before the said approach process. You may have the connection process which raises the said cradle and contacts the said float after the said accommodation process. You may have the collection | recovery process which collect | recovers the said accommodating apparatus in a mother ship after the said connection process. You may have the charge process which charges the said underwater drone after the said accommodation process.

  According to the storage device and the storage method of the underwater drone according to the present invention, the float is floated on the surface of the water by separating from the mother ship, the posture of the cradle is controlled in a state where the cradle is suspended from the float, Since the drone is housed in the cradle, the underwater drone can be protected in the cradle by submerging the underwater drone in the water with little influence of waves. There is no need for control and no need for divers to dive. Therefore, according to this invention, an underwater drone can be accommodated safely and easily, suppressing the damage of an underwater drone.

  In addition, since the underwater drone can be accommodated in the cradle by remote control at a location away from the mother ship, the underwater drone can be collected even during stormy weather. In addition, the float can be easily collected using the on-board crane, and the construction of the special ship or modification is not required regardless of the form of the mother ship.

It is a whole lineblock diagram showing the storage device of the underwater drone concerning one embodiment of the present invention. It is a flowchart which shows the usage example of the accommodation method of the underwater drone which concerns on 1st embodiment of this invention. It is explanatory drawing of the flow shown in FIG. 2, (a) has shown the injection | throwing-in process, (b) has shown the descent | fall process. It is explanatory drawing which shows the positioning process of the flow shown in FIG. It is explanatory drawing of the flow shown in FIG. 2, (a) has shown the approach process, (b) has shown the attitude | position control process. It is explanatory drawing of the flow shown in FIG. 2, (a) has shown the accommodation process, (b) has shown the connection process. It is explanatory drawing which shows the collection | recovery process of the flow shown in FIG. It is a flowchart which shows the usage example of the accommodation method of the underwater drone which concerns on 2nd embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to FIGS. Here, FIG. 1 is an overall configuration diagram showing a storage device for an underwater drone according to an embodiment of the present invention.

  An underwater drone V storage device 1 according to an embodiment of the present invention is an underwater drone V storage device that accommodates an underwater drone V in water, a float 2 that floats on the water surface, The cradle 3 includes a housing 31 that accommodates the underwater drone V, a thruster 32 that adjusts the orientation of the housing 31, and a situation in the vicinity of the entrance 31a of the housing 31. The underwater drone V is adjusted in accordance with the position of the underwater drone V so as to be accommodated in the housing 31 while monitoring the underwater drone V.

  The underwater drone V is an unreasonable 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, performs tasks such as exploration, survey, surveying, and photography, and is finally collected by the mother ship. The storage device 1 according to the present embodiment can be used when the underwater drone V is charged and collected.

  The float 2 includes, for example, a main body 21 that is submerged in water and a support 22 that is exposed to the draft surface. The main body 21 is configured to give an appropriate buoyancy for floating the float 2 on the water surface. Further, inside the main body 21, a reel 24 that supports a cable 23 connected to the cradle 3 so as to be able to wind and unwind, a float 2, a storage battery 25 that supplies electric power to the electronic components constituting the cradle 3, and a float 2. Further, a control device 26 for controlling the equipment of the cradle 3 is disposed.

  Further, the main body 21 may have a first connection portion 27 having a concave and convex shape formed on the lower surface. The 1st connection part 27 is a recessed part formed in the lower surface of the float 2 (main-body part 21), for example. The illustrated shape and configuration of the main body 21 are merely examples, and the present invention is not limited to this.

  The support column 22 is connected to the upper surface of the main body 21 and extends upward. The column portion 22 has a circular cross section in order to reduce the resistance of water on the draft surface, and is preferably formed in an elongated truncated cone shape or a cylindrical shape. An antenna 28 for communicating with an external engine such as a mother ship, a ground station, or an artificial satellite is connected to the tip of the support column 22. Further, a ring-shaped metal fitting 29 for engaging a hook of an onboard crane may be connected to the side surface of the support column 22.

  The cradle 3 is a container for accommodating the underwater drone V, and is connected to the float 2 by a cable 23. The housing 31 has a substantially cylindrical shape with both ends open. One end side of the housing 31 has an enlarged shape, and constitutes an inlet 31a of the underwater drone V. A thruster 34 for adjusting the position of the cradle 3 in the axial direction in the horizontal plane may be arranged on the other end side of the housing 31. The thruster 34 can be omitted if necessary.

  In addition, a second connection portion 35 having an uneven shape that can be fitted to the first connection portion 27 may be formed on the upper surface of the housing 31. The 2nd connection part 35 is a convex part formed in the root part of the connection part of the cable 23, for example. In addition, the 1st connection part 27 may be a convex part, and the 2nd connection part 35 may be a recessed part.

  By forming the first connection part 27 and the second connection part 35, when the cradle 3 is brought into contact with the lower surface of the float 2, the unevenness is engaged and the connected state can be stabilized. Of course, the 1st connection part 27 and the 2nd connection part 35 are omissible as needed.

  Further, a leg portion 36 for placing the housing 31 on the floor may be disposed on the lower surface of the housing 31. The thruster 32 that adjusts the orientation of the housing 31 (cradle 3) is disposed, for example, between the lower surface of the housing 31 and the lower end of the leg portion 36. The thruster 32 includes, for example, a cylinder that extends in a direction perpendicular to the axial direction of the housing 31 and a screw that is disposed inside the cylinder.

  Since the thrusters 32 are for adjusting the horizontal direction (azimuth) of the cradle 3, it is preferable that one thruster 32 is arranged at each of both ends in the axial direction of the housing 31. According to the thruster 32, by causing both thrusters 32 to act in the same direction, the cradle 3 can be translated in the horizontal plane, and both thrusters 32 can act in opposite directions, or only one thruster 32 can be moved. Or the like, the direction of the inlet 31a in the horizontal plane of the cradle 3 can be changed.

  Further, by adjusting the length of the cable 23 for suspending the cradle 3 by the reel 24, the water depth (vertical position) of the cradle 3 can be changed. Therefore, by using the thruster 23, the thruster 34, and the reel 24, the attitude (including at least the position and orientation) of the cradle 3 can be easily controlled.

  The photographing means 33 is, for example, a video camera that can be used underwater. The photographing means 33 is disposed on the side surface of the housing 31 near the entrance 31a of the cradle 3 so that the situation near the entrance 31a can be photographed.

  Further, the cradle 3 may have an acoustic positioning / communication device 37 capable of communicating with the underwater drone V and capable of positioning measurement. The acoustic positioning / communication device 37 may be an integrated type capable of performing both acoustic positioning and acoustic communication, or may be one in which the functions of acoustic positioning and acoustic communication are separated. In the present embodiment, an integrated acoustic positioning / communication device 37 is illustrated.

  Here, “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 cradle 3 and the cradle 3 receives the signal. This means that the relative position and orientation of the underwater drone V are measured. Here, “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.

  In addition, although this embodiment demonstrated the case where acoustic positioning and acoustic communication were performed between the cradle 3 and the underwater drone V, you may make it carry out via the float 2 or a mother ship. For example, when using a mother ship, the positioning of the underwater drone V may be measured by the mother ship, and the positioning data may be transmitted to the cradle 3 via the float 2, or the behavior of the underwater drone V may be controlled from the mother ship. A signal may be transmitted. In this case, the acoustic positioning / communication device 37 arranged in the cradle 3 can be omitted.

  The cradle 3 may have a restraining means 38 that restrains the underwater drone V accommodated in the housing 31. As shown by the dotted line in the figure, the underwater drone V that has entered the housing 31 is positioned so that it will not fall out of the cradle 3 or be damaged by contact with the inner surface of the housing 31 in subsequent processing. It is preferable to keep it. The restraining means 38 has, for example, a plurality of gripping arms configured to be able to expand and contract from the inner surface of the housing 31 toward the center direction, and is configured to grip the side surface of the underwater drone V by the gripping arms. The restraining means 38 is not limited to the illustrated configuration.

  The cradle 3 may be configured to be able to charge the underwater drone V accommodated in the housing 31. For example, when the underwater drone V is restrained by the restraining means 38, a power supply terminal (not shown) is connected to the underwater drone V, and the storage battery 25 and the underwater drone V are electrically connected via the cable 23 or the like. Connect and charge the underwater drone V. Alternatively, after the underwater drone V is accommodated in the cradle 3, the underwater drone V may be charged by non-contact power feeding using a magnetic field or radio waves.

  In this way, by adding a charging function to the cradle 3, the float 2 and the cradle 3 can be used as a relay station for charging the underwater drone V, and a wider range of work can be continued for a longer time. Can do.

  Next, the accommodation method of the underwater drone V using the accommodation device 1 described above will be described with reference to FIGS. Here, FIG. 2 is a flowchart showing an example of use of the underwater drone accommodation method according to the first embodiment of the present invention. 3A and 3B are explanatory diagrams of the flow shown in FIG. 2, in which FIG. 3A shows a charging process and FIG. 3B shows a lowering process. FIG. 4 is an explanatory diagram showing a positioning process of the flow shown in FIG. FIGS. 5A and 5B are explanatory diagrams of the flow shown in FIG. 2, in which FIG. 5A shows an approach process, and FIG. 5B shows an attitude control process. 6A and 6B are explanatory diagrams of the flow shown in FIG. 2, in which FIG. 6A shows the accommodation process and FIG. 6B shows the connection process. FIG. 7 is an explanatory diagram showing the flow recovery step shown in FIG.

  The usage example of the accommodation method of the underwater drone V according to the first embodiment of the present invention includes an introduction step Step 1 for putting the accommodation device 1 on the water, and a lowering step Step 2 for lowering the cradle 3 from the float 2 to a predetermined water depth. , A positioning step Step 3 for measuring the position of the underwater drone V, an approach step Step 4 for causing the underwater drone V to approach the cradle 3, and an attitude control step Step 5 for controlling the posture of the cradle 3 in accordance with the position of the underwater drone V. And an accommodation step Step 6 in which the underwater drone V is advanced and accommodated in the cradle 3, a connection step Step 7 in which the cradle 3 is raised and brought into contact with the float 2, and a collection step Step 8 in which the accommodation device 1 is collected in the mother ship. Contains.

  As shown in FIG. 3A, the charging step Step1 is a step of charging the storage device 1 onto the water. At this time, when the cradle 3 is brought into contact with the lower surface of the float 2 and integrated, the loading operation of the storage device 1 can be easily performed. Specifically, in the charging step Step 1, the storage device 1 is mounted on a mother ship (not shown), transported to the storage position of the underwater drone V or the vicinity thereof, and the storage device 1 is placed on the water using an onboard crane. Transport.

  The descending step Step 2 is a step of lowering the cradle 3 into water as shown in FIG. Specifically, in the lowering step Step 2, a lowering start instruction and a lowering depth are transmitted from the mother ship to the storage device 1, the reel 24 (see FIG. 1) of the float 2 is operated, the cable 23 is fed into the water, and the cradle 3 is When the measured value of the arranged depth meter (not shown) reaches a predetermined water depth, the reel 24 is stopped.

  The positioning step Step 3 is a step of measuring the relative position of the underwater drone V with respect to the cradle 3 as shown in FIG. Specifically, in the positioning step Step 3, a pulse signal is transmitted from the acoustic positioning / communication device 37 of the cradle 3 into the water, and the underwater drone V that receives the signal returns the pulse signal to the cradle 3, thereby The relative position and direction of the machine V are measured. In addition, when the cradle 3 does not have the acoustic positioning / communication device 37, the positioning step Step3 may be performed via the mother ship. The acoustic positioning / communication device 37 has a power source or is configured to obtain electric power via the cable 25 from the storage battery 25.

  The approaching step Step 4 is a step of moving the underwater drone V to a position where it can be visually recognized by the photographing means 33 of the cradle 3 as shown in FIG. Specifically, in the approach step Step4, based on the relative position of the underwater drone V measured in the positioning step Step3, data on the azimuth and the moving distance is transmitted to the underwater drone V, and the underwater drone is based on the data. Move machine V. When the coordinates of the cradle 3 and the underwater drone V are known, the movement target position of the underwater drone V may be indicated by the coordinates.

  Attitude control step Step 5 is a step of matching the position and orientation of the cradle 3 to the underwater drone V as shown in FIG. Specifically, in the attitude control step Step 5, the thruster 32 is operated to control the attitude of the cradle 3 so that the inlet 31 a of the housing 31 faces in the direction in which the underwater drone V is stopped.

  At this time, it is preferable to match the traveling direction (axial direction) of the underwater drone V and the axial direction of the housing 31 while photographing the underwater drone V using the photographing means 33. If the cradle 3 and the underwater drone V have different water depths, the length of the cable 23 may be adjusted by the reel 24. The photographing means 33 has a power source or is configured to obtain power through the cable 25 from the storage battery 25.

  The housing step Step 6 is a step of housing the underwater drone V in the housing 31 of the cradle 3 as shown in FIG. Since the attitude control step Step 5 controls the attitude (position and orientation) of the cradle 3 in accordance with the position of the underwater drone V, in the accommodation step Step 6, the underwater drone V is simply moved straight in the housing 31. Underwater drone V can be entered.

  At this time, stop and go of the underwater drone V may be repeated while finely adjusting the attitude of the cradle 3 using the photographing means 33, the thruster 32, the thruster 34, the reel 24, and the like. Then, after the underwater drone V is accommodated in the cradle 3, the underwater drone V is restrained by the restraining means 38.

  As shown in FIG. 6B, the connection step Step 7 is a step of raising the cradle 3 and integrating it with the float 2. Specifically, in the connection step Step 7, the cable 23 is wound up by the reel 24 to raise the cradle 3 to approach the float 2 and to integrate the upper surface of the housing 31 against the lower surface of the float 2. . By such processing, relative movement of the cradle 3 with respect to the float 2 can be suppressed, and the storage device 1 can be easily handled in the subsequent steps.

  As shown in FIG. 7, the collection step Step 8 is a step of bringing the mother ship 4 close to the floating position of the storage device 1 and collecting (lifting) it on the ship. Specifically, in the collection step Step 8, the hook 42 of the onboard crane 41 of the mother ship 4 is engaged with the metal fitting 29 of the float 2 to lift the storage device 1 and transfer it to the mother ship. Here, the case where the hook 42 is engaged with the metal fitting 29 has been described. However, the present invention is not limited to this. For example, the float 2 is gripped by a robot hand connected to the tip of the onboard crane 41 so as to be movable up and down. Alternatively, the accommodation device 1 may be captured by a net connected to the tip of the onboard crane 41 so as to be able to cast a net.

  According to the storage device 1 and the storage method of the underwater drone V according to this embodiment described above, the attitude of the cradle 3 in a state where the float 2 is floated on the water surface by being separated from the mother ship 4 and the cradle 3 is suspended from the float 2. Since the underwater drone V is accommodated in the cradle 3 while watching the video, the underwater drone V is accommodated in the cradle 3 in the water with little influence of the waves to protect the underwater drone V. Because it is not necessary to control the position and orientation of the underwater drone V with high precision and the diver does not need to dive, the underwater drone V can be safely and easily controlled while suppressing damage to the underwater drone V. Can be accommodated.

  In addition, since the underwater drone V can be accommodated in the cradle 3 by remote control at a location away from the mother ship 4, the underwater drone V can be collected even during stormy weather. In addition, the float 2 can be easily collected using the onboard crane 41, and the form of the mother ship 4 is not selected, and the construction or modification of a dedicated ship is unnecessary.

  Next, the usage example of the accommodation method of the underwater drone V which concerns on 2nd embodiment of this invention is demonstrated, referring FIG. Here, FIG. 8 is a flowchart showing an example of use of the underwater drone accommodation method according to the second embodiment of the present invention. In addition, about the same component as the accommodating apparatus 1 in embodiment mentioned above, the same code | symbol is attached | subjected and the overlapping description is abbreviate | omitted.

  The accommodation method according to the second embodiment shown in FIG. 8 includes an introduction step Step 1 for introducing the accommodation device 1 onto the water, a lowering step Step 2 for lowering the cradle 3 from the float 2 to a predetermined water depth, and the underwater drone V. Positioning step Step 3 for measuring the position, approach step Step 4 for bringing the underwater drone V closer to the cradle 3, an attitude control step Step 5 for controlling the posture of the cradle 3 in accordance with the position of the underwater drone V, and the underwater drone V Are included in the cradle 3, a charging step Step 9 for charging the underwater drone V, and a detaching step Step 10 for detaching the underwater drone V from the cradle 3.

  Here, since the steps from the input step Step 1 to the accommodation step Step 6 are the same as the usage example of the accommodation method according to the first embodiment described above, detailed description thereof is omitted here.

  The charging step Step 9 is a step of charging the underwater drone V using the storage battery 25 (see FIG. 1). Specifically, for example, when the underwater drone V is accommodated in the cradle 3 and restrained, the storage battery 25 and the underwater drone V are electrically connected and charged via the cable 23. In the case of non-contact power feeding, the battery 25 and the underwater drone V may be electromagnetically connected to perform non-contact charging when housed in the cradle 3 and restrained.

  The separation step Step 10 is a step of discharging the underwater drone V from the cradle 3 into the water. Specifically, in the separation step Step 10, after releasing the restraining means 38 of the cradle 3, the underwater drone V is retreated or the cradle 3 is advanced by the thruster 34 to release the underwater drone V into the water. To separate from the storage device 1.

  In this way, by charging the underwater drone V using the cradle 3, the storage device 1 can be used as a relay station for charging the underwater drone V, and the work can be continued over a wider range and for a longer time. can do. Further, in the charging step Step 9, data accumulated by the underwater drone V in the work so far may be transmitted to an external engine such as the mother ship 4 through the accommodation device 1.

  Although not shown, when the underwater drone V is thrown into the water at the start of work, the throwing step Step 1, the lowering step Step 2, and the detaching step are performed while the underwater drone V is housed and restrained in the housing 31 of the cradle 3. Step 10 may be performed.

  The present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 1 Storage apparatus 2 Float 3 Cradle 4 Mother ship 21 Main body part 22 Support | pillar part 23 Cable 24 Reel 25 Storage battery 26 Control apparatus 27 First connection part 28 Antenna 29 Metal fitting 31 Housing 31a Inlet 32 Thruster 33 Shooting means 34 Thruster 35 Second connection part 36 Leg 37 Acoustic positioning / communication device 38 Restraining means 41 Onboard crane 42 Hook Step 1 Loading process Step 2 Lowering process Step 3 Positioning process Step 4 Approaching process Step 5 Attitude control process Step 6 Housing process Step 7 Collection process Step 8 Collection process Step 9 Charging process Step 10 Release process

Claims (10)

In an underwater drone housing device that houses an underwater drone underwater,
A float floating on the surface of the water,
A cradle arranged to be able to descend and ascend in water with respect to the float,
The cradle includes a housing that houses the underwater drone, a thruster that adjusts the orientation of the housing, and a photographing unit that photographs a situation near the entrance of the housing,
The direction of the entrance of the housing is adjusted according to the position of the underwater drone, and the underwater drone is accommodated in the housing while being monitored.
An underwater drone storage device characterized in that.   The underwater drone storage device according to claim 1, wherein the cradle includes an acoustic positioning / communication device capable of communicating with the underwater drone and capable of positioning and measuring.   The said cradle has a restraining means to restrain the said underwater drone accommodated in the said housing, The accommodation apparatus of the underwater drone of Claim 1 characterized by the above-mentioned.   The float has a concave-convex first connecting portion formed on a lower surface, and the cradle is formed on an upper surface of the housing and has a concave-convex shape that can be fitted to the first connecting portion. The underwater drone storage device according to claim 1, wherein the underwater drone storage device is provided.   The said cradle is comprised so that charging of the said underwater drone accommodated in the said housing is possible, The accommodation apparatus of the underwater drone of Claim 1 characterized by the above-mentioned. An underwater drone accommodation method using an accommodation device comprising a float floating on a water surface, and a cradle arranged to be able to descend and rise relative to the float,
A charging step of charging the storage device onto the water;
A descending step of lowering the cradle from the float to a predetermined depth;
An approaching step of causing the underwater drone to approach the cradle;
An attitude control step for controlling the attitude of the cradle according to the position of the underwater drone;
An advancing step of accommodating the underwater drone and accommodating it in the cradle,
A method for containing an underwater drone.   The underwater drone accommodation method according to claim 6, further comprising a positioning step of measuring a position of the underwater drone before the approaching step.   The underwater drone accommodation method according to claim 6, further comprising a connection step of raising the cradle and contacting the float after the accommodation step.   The underwater drone accommodation method according to claim 8, further comprising a collection step of collecting the accommodation device in a mother ship after the connection step. The underwater drone accommodation method according to claim 6, further comprising a charging step of charging the underwater drone after the accommodation step.