JP2017226329A - Starting and collecting method for underwater vehicle, and ship - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a starting and collecting method for an underwater vehicle, and a ship, capable of quickly starting and collecting the underwater vehicle.SOLUTION: A starting and collecting method for an underwater vehicle comprises: arranging the underwater vehicle 20 in a storage part 6 for the underwater vehicle 20, which includes an opening part 4 communicating with the outside of a hull and a closable/openable door 5 for opening/closing the opening part 4; at starting time of the underwater vehicle 20, opening the openable/closable door 5 to provide a state of the storage part 6 communicating with the outside of the hull through a water channel, submerging or floating the underwater vehicle 20 arranged in the storage part 6, and starting the underwater vehicle 20 to proceed to the outside of the hull through the opening part 4; and at collecting time of the underwater vehicle 20, opening the openable/closable door 5 to provide the state of the storage part 6 communicating with the outside of the hull through the water channel, further providing a state of the storage part 6 having a water level high enough to allow the underwater vehicle 20 to be submerged or floated, and causing the underwater vehicle 20 to enter the storage part 6 from the outside of the hull through the opening part 4, to collect the underwater vehicle 20 in the storage part 6.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a method for starting and collecting an underwater vehicle and, more particularly, to a ship, and more particularly, a method for starting and collecting an underwater vehicle that can quickly start and collect an underwater vehicle, and Regarding ships.

  An underwater vehicle is known as an underwater device that performs underwater surveying, topographic surveys, and the like. This underwater vehicle has various types such as remotely operated unmanned spacecraft (ROV) and self-supporting unmanned submersible (AUV) controlled by the operator from the water. In the scientific, commercial and military fields, etc. Widely used.

  Conventionally, it is common to mount an underwater vehicle on a ship, move the ship to the water area where the activity is performed, and then use the crane mounted on the ship to put the underwater vehicle into the water and start off. . Even when the underwater vehicle is collected on the ship from underwater, the crane is used to collect the underwater vehicle.

  However, when starting and collecting an underwater vehicle using a crane, there is a problem that a lot of man-hours and time are required for connecting the underwater vehicle to the crane and operating the crane. Also, it is necessary to move each underwater vehicle from the storage location to the crane suspension position or from the crane suspension position to the storage location. There is a problem that labor and time are required.

  Further, when the underwater vehicle is suspended from the crane or when the underwater vehicle is thrown into the water, a large external force acts on the underwater vehicle and stress is generated based on the external force. Therefore, there is also a problem that there is a possibility of damaging a propulsion device, fins, and the like included in the underwater vehicle. In particular, when the sea is rough, it is very difficult to start and collect the underwater vehicle.

  In addition, as a method for starting and collecting the underwater vehicle, another method is proposed in which an inclined surface connected to the stern of the ship by a hinge is provided and the inclined surface is used. In this method, when the underwater vehicle is started, the underwater vehicle is submerged along an inclined surface so that it can be submerged. And lift the underwater vehicle along the slope.

  However, even in this method, when the underwater vehicle is slid along the inclined surface or is submerged, a large external force acts on the underwater vehicle and stress is generated based on it. May be damaged. Further, when the sea is rough, since the inclined surface swings with the ship, it is difficult to start and collect the underwater vehicle.

  In connection with these problems, the underwater vehicle is reduced by a cage shaped to suit the underwater vehicle for the purpose of launching and retrieving the underwater vehicle easily from the water with less risk of damaging the underwater vehicle. A facility for launching and collecting an underwater vehicle in a state where the underwater vehicle is held and protected by a cage has been proposed (see, for example, Patent Document 1).

  However, in this facility, it takes a lot of man-hours and time to start and recover the underwater vehicle. In addition, since each vehicle is started and collected one by one, there is a problem that it takes a lot of labor and time to start and collect a plurality of underwater vehicles.

Special table 2009-544521

  The present invention has been made in view of the above-described situation, and provides an underwater vehicle launch and recovery method and a ship that can quickly start and collect a large number of underwater vehicles. is there.

In order to achieve the above object, the underwater vehicle launching and collecting method of the present invention is equipped with an underwater vehicle, and the underwater vehicle is started and recovered from outside the hull. A method for starting and collecting an underwater vehicle in a marine vessel,
While disposing the underwater vehicle in an accommodating portion of the underwater vehicle having an opening communicating with the outside of the hull and an opening / closing door that opens and closes the opening,
When the underwater vehicle is started, the underwater door is opened and the housing portion is in communication with the outside of the hull through a water channel. Start the middle cruising body, let it pass through the opening and advance outside the hull,
At the time of collecting the underwater vehicle, the opening / closing door is opened and the housing portion is in communication with the outside of the hull through a water channel so that the housing portion is in a submerged state where the underwater vehicle can be submerged or floated. It is a method characterized in that a middle traveling body is caused to pass through the opening from the outside of the hull and enter the housing portion, and the underwater traveling body is collected in the housing portion.

  According to this method, in a relatively small ship, the ship itself is sunk, and in a relatively large ship, the draft of the underwater vehicle is submerged while maintaining the draft of the ship itself. Thus, by setting the housing portion and the outside of the hull to communicate with each other through a water channel, the underwater vehicle can pass between the housing portion and the outside of the hull by self-propelling through the opening. Therefore, it is possible to quickly start and collect the underwater vehicle. It is also possible to start and collect a plurality of underwater vehicles at the same time.

  Furthermore, since the underwater vehicle can be launched and recovered in the state of being submerged or levitated inside the ship, the underwater vehicle is thrown in or lifted from the deck above the water surface outside the ship. Compared to starting and recovery, no large external force acts on the underwater vehicle, and the stress generated in the underwater vehicle is small. Therefore, it is possible to reduce the risk of damage to the propulsion device, the fins, and the like equipped on the underwater vehicle at the start and recovery of the underwater vehicle.

  In addition, if the door is closed during preparatory work before the start of the underwater vehicle or work after collection, the inside of the housing becomes a work environment that is not affected by waves. Therefore, even when the waves are high during stormy weather, the worker can perform preparatory work before starting the underwater vehicle and work after collection in a safe work environment.

  Also, by starting and collecting inside the ship, compared to starting and collecting outside the ship, the relative movement of both caused by the wave's shaking of the ship and the underwater vehicle's shaking caused by the waves is significantly reduced. Can be small. Therefore, it is possible to easily start and collect the underwater vehicle even when the waves are high during stormy weather.

  In the start and recovery method of the underwater vehicle, when the underwater vehicle is started, the underwater vehicle is started by the thrust of the underwater vehicle, and when the underwater vehicle is recovered, the water In the state where the middle traveling body is moved to the accommodation section of the underwater traveling body by the thrust of the underwater traveling body, the underwater traveling body is allowed to sink and settle or the water level of the accommodation section is lowered. Then, when the underwater vehicle is grounded, the following effects can be exhibited.

  According to this method, since the underwater vehicle itself starts and collects according to the maneuverability of the underwater vehicle, the mechanism for throwing in and capturing the underwater vehicle itself becomes unnecessary, and the configuration is simplified. Moreover, since the start and the collection work can be performed based on the operation of each underwater vehicle, simultaneous start and simultaneous landing are possible, and the underwater vehicle can be started and collected quickly.

  In the above-described method for starting and collecting the underwater vehicle, water is poured into the housing portion to immerse the inside of the housing portion to sink the ship so that part or all of the opening is below the water surface. When the opening / closing door is opened in the positioned state and the housing portion and the hull exterior are communicated with each other through a water channel, the following effects can be exhibited.

  This method is suitable for relatively small vessels, and in relatively small vessels, it is difficult to provide a ballast tank corresponding to the volume of the accommodating portion. Therefore, water can be easily submerged by pouring water into the accommodating portion. be able to.

  Moreover, since the opening / closing door is opened after the housing portion is in a flooded state, it is possible to suppress a water flow caused by water entering the housing portion from the outside of the hull. Therefore, the external force due to the water flow applied to the underwater vehicle can be reduced, and the risk of damage to the propulsion device, fins, and the like equipped in the underwater vehicle can be reduced.

  Even when the speed of sinking the ship is high, the momentum of the water flow generated in the accommodating portion does not increase because the accommodating portion is submerged with the open / close door closed. As a result, the time required for the ship to sink after it reaches the destination for the start and recovery of the underwater vehicle can be shortened, so that the underwater vehicle can be started and recovered more quickly. It becomes possible.

  In the above-described underwater vehicle launching and recovery method, when the ship is subsidized by increasing the amount of water injected into the ballast tank of the ship, the capacity of the container is the volume of the entire ship in a relatively large ship. Since it is easy to provide a ballast tank corresponding to the volume of the storage part, it is easy to increase the amount of water injected into the ballast tank regardless of the flooded state of the storage part. The ship can be sunk down and the container and the outside of the hull can be quickly communicated with each other through a water channel.

  In the above method for starting and collecting an underwater vehicle, the housing portion is formed by a concave portion whose upper side is opened, and the opening portion and the door are provided in front of the concave portion. By adopting a front-opening door such as a landing boat, the compartment can be easily connected to the outside of the hull with a waterway by moving forward, or the housing part can be drained by shutting off the waterway by closing The underwater structure housing part can be configured relatively simply and easily.

  The ship of the present invention for achieving the above object is a ship equipped with an underwater vehicle, starting from the underwater vehicle to the outside of the hull, and recovering from the outside of the hull. An underwater vehicle having an opening communicating with the opening and an opening / closing door that opens and closes the opening, and an opening that opens and closes the opening when the opening / closing door is opened in a flooded state. A ship characterized by comprising a water injection mechanism for bringing the housing portion into a flooded state.

  The water injection mechanism is a combination of water injection pipes and water injection pumps, the arrangement of the hull design, and the ballast adjustment of the ship, etc., so that the bottom of the container is lower than the water level outside the hull. It is possible to adopt a configuration in which water is injected by opening the shut-off valve or partially opening the door.

  According to this configuration, the water injection mechanism injects water into the storage unit on which the underwater vehicle is mounted to make it inundated, and opens the open / close door so that the storage unit communicates with the outside of the hull through the water channel. Therefore, it is possible to make the underwater vehicle capable of traveling by itself between the accommodating portion and the outside of the hull. Thereby, the underwater vehicle can be started and collected quickly. Furthermore, it is possible to start and collect a plurality of underwater vehicles at the same time.

  In addition, since the underwater vehicle is started and collected in a submerged or floating state, the external force applied to the underwater vehicle can also be reduced from this aspect. Therefore, it is possible to reduce the risk of damaging a propulsion device, fins and the like equipped on the underwater vehicle when starting and collecting. In addition, the underwater vehicle is less susceptible to waves compared to when the underwater vehicle is thrown onto the surface of the water. Therefore, even when the waves are rough, the underwater vehicle can be started and recovered safely and quickly. it can.

  In addition, if the container with the underwater vehicle is infused with water, the water level in the container is set to the same level as the water level outside the hull, and then the opening / closing door is opened. The water flow which arises when water enters from the outside can be suppressed. Thereby, the external force by the water flow added to an underwater vehicle can be made small.

  Also, if this ship is equipped with a drainage mechanism that drains the containment part, when the ship is sailing or when the underwater vehicle is maintained or repaired, the containment part is drained and there is no water from the flooded state. Therefore, even if an operator enters the storage section, maintenance and repair work can be performed safely without water in the storage section. Moreover, since it is not necessary to hold water in the accommodating part during the navigation of the ship, the weight of the ship at the time of navigation can be reduced.

  In the above-described ship, when the housing part is formed by a recess having an open upper side, the ship can be provided in the ship with a very simple configuration.

  In the above-described ship, when the opening and the door are provided in front of the housing portion, the door can be easily moved forward by adopting a door that is moved forward like a landing boat. The housing part and the hull exterior can be communicated with each other by a water channel, or the water channel can be blocked by closing to make the container part a drainable compartment, and the housing part of the underwater structure can be configured relatively simply and easily. Can do.

  In the above-described ship, when the opening is provided at the bottom of the ship and the opening / closing door is provided between the storage and the opening, the water channel that connects the storage and the outside of the hull is directly affected by waves. This makes it easier to control the underwater vehicle and makes it possible to start and collect the underwater vehicle more quickly.

  According to the start and recovery method of the underwater vehicle of the present invention and the ship, the housing part of the underwater vehicle is submerged and the container and the outside of the hull are in communication with each other by a water channel. Then, the underwater vehicle can pass by the self-propelled vehicle between the housing and the outside of the hull through the opening. Therefore, it is possible to quickly start and collect the underwater vehicle. It is also possible to start and collect a plurality of underwater vehicles at the same time.

  Furthermore, since the underwater vehicle can be launched and recovered in the state of being submerged or levitated inside the ship, the underwater vehicle is thrown in or lifted from the deck above the water surface outside the ship. Compared to starting and recovery, no large external force acts on the underwater vehicle. Therefore, it is possible to reduce the risk of damage to the propulsion device, the fins, and the like equipped on the underwater vehicle at the start and recovery of the underwater vehicle.

  In addition, by closing the open / close door during preparatory work before the start of the underwater vehicle or work after collection, a safe working environment that is not affected by waves can be secured inside the housing. In addition, by starting and collecting inside the ship, the relative movement between the ship caused by the wave and the underwater vehicle can be remarkably reduced. It is possible to start and collect the underwater vehicle.

1 is a side cross-sectional view schematically showing a ship according to a first embodiment of the present invention. It is a perspective view of the ship of FIG. It is a front view which shows typically the condition which made the inside of the accommodating part of the ship of FIG. It is a sectional side view which shows typically the condition which is making the underwater vehicle start from the ship of FIG. It is side sectional drawing which shows typically the ship of 2nd Embodiment which concerns on this invention. It is a front view which shows typically the condition which opened the opening-and-closing door of the ship of FIG. It is a sectional side view which shows typically the condition which is making the underwater vehicle start from the ship of FIG. It is a sectional side view which shows typically the ship of 3rd Embodiment concerning this invention. It is a front view which shows typically the condition which made the inside of the accommodating part of the ship of FIG. FIG. 9 is a side sectional view schematically showing a state in which the underwater vehicle is started and collected from the ship of FIG. 8.

  Hereinafter, a ship according to an embodiment of the present invention will be described with reference to the drawings.

  As shown in FIGS. 1-4, the ship 1 of 1st Embodiment which concerns on this invention is the opening which connects the accommodating part 6 which accommodates the underwater vehicle 20, and this accommodating part 6 and the hull exterior. A portion 4 and an opening / closing door 5 for opening and closing the opening 4 are provided.

  The underwater vehicle 20 is an underwater device that performs undersea surveying, underwater topographic surveys, and the like. Specifically, an underwater vehicle (ROV) or a self-supporting unmanned underwater vehicle controlled by an operator from the surface of the water. (AUV).

  As shown in FIG. 2, the ship 1 is formed of a recess with the upper side of the accommodating portion 6 opened, and an opening 4 and an opening / closing door 5 are provided in front of the recess (the bow 2 side). . The open / close door 5 constitutes a part of the bow outer plate of the ship 1, and the lower end portion of the open / close door 5 is connected to the hull via a hinge portion 5a. And the opening part 4 is open | released by opening the opening-and-closing door 5 so that it may fall forward around the hinge part 5a, and it has the structure where the accommodating part 6 and the hull exterior ahead of the bow 2 communicate.

  The ship 1 further includes a water injection mechanism 8 that brings the housing 6 into a flooded state, and a ballast tank 7. The water injection mechanism 8 includes a water injection unit 8 a that injects water W into the storage unit 6, and a drainage unit 8 b that discharges the water W inside the storage unit 6 to the outside of the storage unit 6. The water intake port of the water injection part 8a and the discharge port of the drainage part 8b are provided in the ship bottom 3, and are configured to be able to supply and drain water between the outside of the hull and the accommodating part 6.

  Next, a method for starting and collecting the underwater vehicle 20 using the ship 1 will be described. In the following description, the procedure from the state during navigation shown in FIG. 1 to the start and recovery of the underwater vehicle 20 will be shown.

  First, as shown in FIG. 3, with the door 5 closed, the water injection mechanism 8 (water injection unit 8 a) injects water W into the storage unit 6 to bring the storage unit 6 into a flooded state. The water immersion depth H1 of the accommodating part 6 is set to such a depth that the underwater vehicle 20 can be moved by its own thrust. Specifically, the water immersion depth H1 is, for example, about 1 m to 5 m.

  Then, the ship 1 is sunk to make a state where a part or all of the opening 4 is located below the water surface. Specifically, the ship 1 is sunk until the water level inside the accommodating portion 6 and the water level outside the hull become substantially the same water level. In this embodiment, the ship 1 can be sunk by injecting water W into the container 6 to make the container 6 submerged, but when the ship 1 needs to be sunk deeper. Increases the amount of water injected into the ballast tank 7 of the ship 1.

  Next, as shown in FIG. 4, in a state where the water level inside the container 6 and the water level outside the hull are substantially the same, the opening / closing door 5 is opened to open the opening 4, and the container 6 And the outside of the hull are in communication with each other through a water channel. The underwater vehicle 20 is started by the thrust of the underwater vehicle 20 in a state where the underwater vehicle 20 disposed in the storage unit 6 is submerged or floated in a state where the storage unit 6 communicates with the outside of the hull through a water channel. Then, the underwater vehicle 20 is advanced from the opening 4 to the outside of the hull.

  When the underwater vehicle 20 is collected, the opening / closing door 5 is opened and the housing 6 and the outside of the hull are in communication with each other through the water channel in the same manner as when the underwater vehicle 20 is started. The underwater vehicle 20 is placed in a flooded state where the underwater vehicle 20 can be submerged or floated. Then, the underwater vehicle 20 is moved from the outside of the hull through the opening 4 to the accommodation unit 6 by the thrust of the underwater vehicle 20 itself, and the underwater vehicle 20 is sunk and settled in the accommodation unit 6. . Alternatively, after the underwater vehicle 20 has been moved to the storage unit 6, the door 5 is closed and the water W inside the storage unit 6 is drained to the outside of the hull by the water injection mechanism 8 (drainage unit 8 b). The underwater vehicle 20 is bottomed in the housing portion 6 by lowering.

  As described above, in the vessel 1, the vessel 1 itself is sunk and the portion below the draft of the vessel 1 of the vessel 6 that accommodates the underwater vehicle 20 is submerged so that the vessel 6 and the hull exterior Is in a state in which the underwater vehicle 20 can travel between the accommodating portion 6 and the outside of the hull by self-propelled by passing through the opening 4. Therefore, the underwater vehicle 20 can be started and collected quickly. It is also possible to start and collect a plurality of underwater vehicles 20 at the same time.

  Furthermore, since the underwater vehicle 20 can be started and collected while being submerged or levitated inside the ship, the underwater vehicle can be thrown in or out of the deck above the water surface outside the ship. Compared to starting and collecting, a large external force does not act on the underwater vehicle 20, and the stress generated in the underwater vehicle 20 is small. Therefore, it is possible to reduce the risk of damage to the propulsion device, the fins, and the like equipped on the underwater vehicle 20 when the underwater vehicle 20 starts and recovers.

  In addition, if the door 5 is closed during preparatory work before the start of the underwater vehicle 20 or work after collection, the interior of the housing portion 6 becomes a work environment that is not affected by waves. Therefore, even when the waves are high during stormy weather, the worker can perform preparatory work before starting the underwater vehicle 20 and work after collection in a safe work environment.

  In addition, by starting and collecting inside the ship 1, both starting from and collecting outside the ship 1, both caused by the shake of the ship 1 by waves and the shake of the underwater vehicle 20 by waves. Relative motion can be significantly reduced. Therefore, it is possible to start and collect the underwater vehicle 20 easily even when the waves are high during stormy weather.

  In the start of the underwater vehicle 20 in a stormy weather, even if a wave enters from the opening 4, the underwater vehicle 20 is submerged to the extent that the underwater vehicle 20 does not collide with the floor surface or wall surface of the storage unit 4. The door 5 is opened after the amount is increased, and the underwater vehicle 20 is advanced from the opening 4 to the outside of the hull. Further, in the recovery of the underwater vehicle 20 in stormy weather, the underwater vehicle 20 is set in a state where the amount of water in the storage unit 6 is increased to such an extent that the underwater vehicle 20 does not collide with the floor surface or wall surface of the storage unit 6. The door 5 is closed after 20 has entered the housing 6. Thereby, even when the waves are rough, the underwater vehicle 20 can be started and collected safely and quickly.

  In this embodiment, since the start and recovery are performed by the controllability of the underwater vehicle 20 itself, a mechanism for throwing in or capturing the underwater vehicle 20 itself becomes unnecessary. Therefore, the configuration of the ship 1 can be simplified. Moreover, since the start and the collection work can be performed based on the operation of each underwater vehicle 20, simultaneous start and simultaneous landing are possible, and the underwater vehicle 20 can be started and collected quickly.

  In the ship 1, the water 1 can be submerged by injecting water W into the accommodation unit 6 by the water injection mechanism 8 to make the inside of the accommodation unit 6 inundated, so that, for example, it corresponds to the volume of the accommodation unit 6. Even in a relatively small ship 1 where it is difficult to provide the ballast tank 7, the ship 1 can be easily sunk. That is, by making the inside of the accommodating portion 6 in a flooded state, the same effect as when the ballast water BW is poured into the ballast tank 7 can be obtained, so it is necessary to provide the ballast tank 7 for sinking the ship 1. Or the capacity of the ballast tank 7 can be reduced.

  In particular, when the open / close door 5 is opened in a state where the water level inside the accommodating portion 6 and the water level outside the hull are substantially the same as in this embodiment, the water W from the hull outside to the inside of the accommodating portion 6 is opened. Since it becomes difficult to produce the water flow which arises by entering, the external force by the water flow added to the underwater vehicle 20 can be made smaller. This can further reduce the risk of damage to the propellers, fins, and the like that the underwater vehicle 20 is equipped with.

  Moreover, in this embodiment, since the accommodating part 6 is in the flooded state with the open / close door 5 closed, even when the speed of sinking the ship 1 is high, the momentum of the water flow generated in the accommodating part 6 increases. There is nothing. Further, the ship 1 can be sunk during navigation. Therefore, it is possible to reduce the time required to sink the ship 1 after arriving at the start and recovery destination of the underwater vehicle 20, and to start and recover the underwater vehicle 20 more quickly. Is possible.

  In other words, when the storage unit 6 is submerged without opening the door 5 without being submerged, the water W outside the hull enters the storage unit 6 through the opening 4. In this case, a water flow is generated by the inflow of water W from the opening 4. When the momentum of this water flow is large, the external force applied to the underwater vehicle 20 becomes large, so that there is a risk that the propulsion device, fins, and the like equipped in the underwater vehicle 20 are damaged. Therefore, in order to suppress the water flow inside the accommodating portion 6, it is necessary to gradually submerge the ship 1 over time.

  In this embodiment, since the ship 1 can be sunk by increasing not only the water injection into the housing part 6 but also the water injection quantity of the ballast tank 7, the amount of settlement and the settlement speed of the ship 1 can be reduced. Can be easily controlled. Further, the subsidence amount and subsidence speed of the ship 1 can be controlled without being affected by the volume of the storage unit 6 and the amount of water inside the storage unit 6.

  Therefore, when the ship 1 is relatively large, the volume of the storage unit 6 tends to be smaller than the volume of the entire ship. Although it may not be able to sink, since it is relatively easy to provide the ship 1 with the ballast tank 7 for lowering the container 6 below the draft, the amount of sinking even when the ship 1 is a large ship. And the settlement speed can be controlled.

  Moreover, since this ship 1 is provided with the drainage mechanism 8b which drains the container 6, the container 6 is drained when the ship 1 is navigating or when the underwater vehicle 20 is maintained or repaired. Thus, it is possible to change from the flooded state to the state without water W. Therefore, the worker can safely perform maintenance and repair work in a state where there is no water W in the storage unit 6. Moreover, since it is not necessary to hold the water W in the accommodating part 6 during the navigation of the ship 1, the weight of the ship 1 at the time of navigation can be reduced.

  In the marine vessel 1, the accommodating portion 6 is formed by a concave portion whose upper side is opened, and the opening portion 4 and the open / close door 5 are provided in front of the concave portion, so that the open / close door 5 is moved forward like a landing boat. By adopting the open / close door 5 or the like of the system, it is possible to easily connect the housing portion 6 and the outside of the hull with a water channel by moving forward, or to block the water channel by closing and make the housing portion 6 a drainable compartment. The housing portion 6 that houses the underwater vehicle 20 can be configured relatively simply and easily.

  In the above embodiment, the method of injecting water into the housing portion 6 with the opening / closing door 5 closed and opening the opening / closing door 5 after the housing portion 6 is submerged has been described. The door 5 is opened before being opened, and the ship 1 is sunk by allowing the external water W to flow from the opening 4 into the housing 6 while the opening 4 is open. Thus, the housing 6 and the outside of the hull can be communicated with each other through a water channel.

  In this method, the accommodating portion 6 can be submerged with a small number of man-hours so that the accommodating portion 6 communicates with the outside of the hull through a water channel, and the water injection mechanism 8 is not required. In addition, there is an advantage that the ship 1 can have a simpler configuration. However, in this method, since the water W outside the hull flows from the opening 4 into the accommodating portion 6 in the process of sinking the ship 1, a water flow is generated inside the accommodating portion 6. Therefore, the momentum of the water W flowing into the housing portion 6 is suppressed by gradually sinking the ship 1 over time or installing a rectifying plate or the like that weakens the momentum of water near the opening 4. Good.

  Next, a description will be given of a ship 1A according to a second embodiment of the present invention and a method for starting and collecting the underwater vehicle 20 by the ship 1A with reference to FIGS.

  In the ship 1A, the accommodating portion 6 is formed in the hull, and the upper side of the accommodating portion 6 is in a closed state. An opening 4 communicating with the outside of the hull is provided in the ship bottom 3, and an opening / closing door 5 is provided between the housing 6 and the opening 4. The open / close door 5 constitutes a part of the bottom 3 of the ship 1 and is disposed on the front side (the bow 2 side) of the accommodating portion 6. The floor surface 6 a of the housing portion 6 is formed so as to be inclined downward toward the opening / closing door 5. A drainage portion 8 b is provided in the vicinity of the opening / closing door 5 of the housing portion 6, and an outlet of the drainage portion 8 b is provided in the ship bottom 3.

  The marine vessel 1 </ b> A further includes a fixing device 9 that detachably fixes the underwater vehicle 20 inside the accommodating portion 6. The fixing device 9 is fixed to the floor surface 6 a of the housing portion 6.

  Next, a method for starting and collecting the underwater vehicle 20 using the ship 1A will be described. In the following description, a procedure from starting the underwater vehicle 20 to recovering it from the state of navigation shown in FIG. 5 is shown.

  First, as shown in FIG. 6, in a state where the underwater vehicle 20 is connected to the fixing device 9, the opening / closing door 5 is opened, and the accommodation unit 6 and the outside of the hull are in communication with each other through the opening 4. Next, as shown in FIG. 7, until the inside of the accommodating portion 6 is in communication with the outside of the hull through a water channel, the amount of water injected into the ballast tank 7 is increased to submerge the ship 1 </ b> A, and the accommodating portion 6 is in a flooded state. To do. And the accommodating part 6 is flooded to the inundation depth which the underwater vehicle 20 arrange | positioned in the accommodating part 6 can be submerged or floated. The submerged depth H2 of the shallowest part of the accommodating part 6 is a depth to which the underwater vehicle 20 can be moved by its own thrust, and specifically, for example, about 1 m to 5 m. Then, the connection between the fixing device 9 and the underwater vehicle 20 is released in a state where the inside of the housing portion 6 communicates with the outside of the hull through a water channel, the underwater vehicle 20 is started, and the opening 4 is passed through the hull. Advance to the outside.

  When the underwater vehicle 20 is collected, in the same manner as when the underwater vehicle 20 is started, the ship 1A is sunk with the open / close door 5 opened, and the container 6 is in communication with the outside of the ship through a water channel. The container 6 is brought into a flooded state where the underwater vehicle 20 can be submerged or floated. Then, the underwater vehicle 20 is passed from the outside of the hull through the opening 4 to enter the storage unit 6 and collected in the storage unit 6, and the underwater vehicle 20 is connected to the fixing device 9 and fixed.

  When the start and recovery of the underwater vehicle 20 are completed and it is no longer necessary to place the accommodating portion 6 in a flooded state, the water injection amount of the ballast tank 7 is reduced with the open / close door 5 open, thereby reducing the amount of water injected into the ship 1A. And the water W inside the accommodating portion 6 is drained from the opening 4 to the outside of the hull. That is, in this embodiment, since the water level inside the container 6 and the water level outside the hull are substantially the same, the water level inside the container 6 is lowered by raising the hull. And after the water inside the accommodating part 6 of the part in which the underwater vehicle 20 is arrange | positioned is substantially discharged | emitted, the opening / closing door 5 is closed and the water W which remain | survives near the opening / closing door 5 is hulled by the drainage part 8b. Drain outside. As a result, there is no water W inside the accommodating portion 6.

  As described above, in the marine vessel 1A, the opening 4 is provided in the ship bottom 3, and the opening / closing door 5 is provided between the accommodating portion 6 and the opening 4. Therefore, there is a water channel that communicates the accommodating portion 6 and the outside of the hull. It becomes difficult to be directly affected by the waves. Therefore, the underwater vehicle 20 can be easily controlled, and the underwater vehicle 20 can be started and collected more quickly. Further, by providing the opening 4 in the ship bottom 3, even when the ship 1 is quickly sunk in a state where the open / close door 5 is opened, it is difficult for a water flow to be generated inside the accommodating portion. Therefore, the risk of damage to the propulsion device, fins, and the like equipped on the underwater vehicle 20 is reduced.

  Furthermore, since most of the water W inside the accommodating portion 6 can be drained in a short time by floating the ship 1 with the open / close door 5 open, it is necessary to provide a large drainage portion 8b. Disappear. In addition, the time required for draining the inside of the housing portion 6 can be shortened. In particular, when the floor surface 6a of the accommodating portion 6 is formed so as to be inclined downward toward the open / close door 5 as in this embodiment, the water W inside the accommodating portion 6 is directed toward the opening portion 4. Since it becomes easy to flow, it can drain more efficiently.

  Since the ship 1A includes the fixing device 9 that detachably fixes the underwater vehicle 20 in the interior of the accommodating portion 6, the underwater vehicle 20 is fixed even when the accommodating portion 6 is submerged. 9 can be fixed in a stable state. Therefore, for example, even when a water flow is generated in the housing portion 6 due to water injection or drainage, the underwater vehicle 20 is prevented from moving or the direction and posture of the underwater vehicle 20 being changed. be able to. Therefore, the underwater vehicle 20 can be started and collected more reliably and smoothly.

  Next, a description will be given of a ship 1B according to the third embodiment of the present invention and a method for starting and collecting the underwater vehicle 20 by the ship 1B with reference to FIGS.

  The ship 1 </ b> B has a housing portion 6 formed in the hull, and a storage portion 11 for maintaining and storing the underwater vehicle 20 is formed above the housing portion 6. Two communication portions 12 are provided between the storage portion 6 and the storage portion 11, and the storage portion 6 and the storage portion 11 have a structure that is spatially continuous by the communication portion 12.

  An opening 4 communicating with the outside of the hull is provided in the bow 2, and a sliding opening / closing door 5 is provided between the accommodating portion 6 and the opening 4. The opening / closing door 5 constitutes a part of the bow outer plate of the ship 1, and the opening 4 is opened by sliding the opening / closing door 5 upward, so that the accommodating portion 6 communicates with the outside of the hull in front of the bow 2. It has a structure to do. The upper end portion of the opening 4 is formed so as to be positioned below the ceiling of the accommodating portion 6.

  The ship 1 </ b> B includes a water injection mechanism 8 (a water injection unit 8 a and a drainage unit 8 b) and a ballast tank 7. The water intake port of the water injection part 8a and the discharge port of the drainage part 8b are provided in the ship bottom 3, and are configured to be able to supply and drain water between the outside of the hull and the accommodating part 6.

  The ship 1 </ b> B further includes a transport device 10 that moves the underwater vehicle 20 between the inside and the outside of the housing unit 6. The transport apparatus 10 according to this embodiment is configured to move the underwater vehicle 20 between the inside of the housing unit 6 and the storage unit 11. The transport device 10 includes a guide portion 10a formed of rails, a movable portion 10b that moves along the guide portion 10a, and an extendable portion 10c connected to the movable portion 10b. The expansion / contraction part 10c is a rod-shaped component having an expandable / contractible mechanism.

  The guide part 10a is installed in the vicinity of the ceilings of the storage part 6 and the hold 11 so as to pass through the two communication parts 12 and continuously connect the storage part 6 and the storage part 11. The guide portion 10a is provided with a plurality of movable portions 10b, and the upper ends of the extendable portions 10c are connected to the respective movable portions 10b. A fixing device 9 is detachably connected to the lower end of the extendable portion 10c. That is, when the movable part 10b moves along the guide part 10a, the telescopic part 10c and the fixing device 9 connected so as to be suspended from the movable part 10b move between the storage part 6 and the storage part 11. It has a structure that can be done. Moreover, it is the structure which can change the up-down position of the fixing device 9 because the expansion-contraction part 10c expands-contracts to an up-down direction.

  Next, a method for starting and collecting the underwater vehicle 20 using the ship 1B will be described. In the following description, the procedure from the state during navigation shown in FIG. 8 to the start and recovery of the underwater vehicle 20 will be shown.

  First, as shown in FIG. 8, the underwater vehicle 20 to be started is connected to each fixing device 9. And in the state which closed the door 5, the water W is poured into the inside of the accommodating part 6 by the water injection mechanism 8 (water injection part 8a), and as shown in FIG. 9, the inside of the accommodating part 6 is made into a flooded state. . The water immersion depth H <b> 3 of the storage portion 6 is higher than the upper end portion of the opening 4, and is at a height position where the water W does not enter the storage portion 11.

  Then, the ship 1B is sunk, and the ship 1B is sunk until the water level inside the accommodating portion 6 and the water level outside the hull become substantially the same water level. That is, in this embodiment, the ship 1B is sunk to a position where the upper end of the opening 4 is below the water surface outside the hull.

  Next, as shown in FIG. 10, in a state where the water level inside the container 6 and the water level outside the hull are substantially the same, the opening / closing door 5 is opened to open the opening 4, and the container 6 And the outside of the hull are in communication with each other through a water channel. Then, in a state where the housing portion 6 communicates with the outside of the hull through a water channel, the connection between the fixing device 9 and the underwater vehicle 20 is released, and the underwater vehicle 20 itself is submerged in the state where the underwater vehicle 20 is submerged. The underwater vehicle 20 is advanced from the opening 4 to the outside of the hull by starting with the thrust.

  In this embodiment, the fixing device 9 that starts at any time from the underwater vehicle 20 closest to the opening 4 and is separated from the underwater vehicle 20 is moved from the storage unit 6 to the storage unit 11 by the transfer device 10 at any time. Move. In the storage unit 11, a new underwater vehicle 20 is connected to the fixing device 9. The fixing device 9 to which the new underwater vehicle 20 is connected is moved again from the storage unit 11 to the storage unit 6 by the transfer device 10.

  When starting the underwater vehicle 20 behind (stern side) earlier than the underwater vehicle 20 closest to the opening 4, the telescopic unit 10 b is expanded and contracted, and the forward underwater vehicle 20 is obstructed. The underwater vehicle 20 is moved to a position where it will not become, and then started.

  When the underwater vehicle 20 is collected, the opening / closing door 5 is opened and the housing 6 and the outside of the hull are in communication with each other through the water channel in the same manner as when the underwater vehicle 20 is started. Is immersed in a state where the underwater vehicle 20 can be submerged. Then, the underwater vehicle 20 is moved from the hull outside through the opening 4 to the accommodation unit 6 by the thrust of the underwater vehicle 20 itself, and the underwater vehicle 20 is connected to the fixing device 9. The underwater vehicle 20 fixed to the fixing device 9 is moved from the storage unit 6 to the storage unit 11 by the transfer device 10 as needed. When maintenance or repair of the underwater vehicle 20 is necessary, the storage unit 11 releases the connection between the fixing device 9 and the telescopic unit 10c.

  After the start and recovery of the underwater vehicle 20 are completed, the open / close door 5 is closed, and then the water W inside the storage unit 6 is drained to the outside of the hull by the drainage unit 8b. It is not in a state.

  As described above, since this ship 1B includes the transport device 10, the container 6 and the underwater vehicle 20 mounted in the storage unit 11 (another storage / maintenance place) in the ship are connected to the storage unit 6. It is possible to move to. Therefore, it becomes possible to start and collect more underwater vehicles 20.

  Further, the underwater vehicle 20 to be started and the underwater vehicle 20 that is not started immediately can be separately mounted in the storage unit 6 and the storage unit 11 provided at a location different from the storage unit 6. Therefore, it is not necessary to submerge the underwater vehicle 20 that does not need to be started. Further, since the underwater vehicle 20 can be moved between the storage unit 6 and the storage unit 11 even when the storage unit 6 is submerged by the transport device 10, When moving the running body 20 to the storage unit 11, it is not necessary to drain the storage unit 6 one by one. Therefore, for example, the underwater vehicle 20 that needs repair can be moved to the storage unit 11 while starting and collecting another underwater vehicle 20.

  Moreover, in this embodiment, since the expansion / contraction part 10c is provided in the conveying apparatus 10 and the fixing device 9 is detachably connected to the expansion / contraction part 10c, the vertical position of the fixing device 9 can be changed. It is possible to prevent the other underwater vehicle 20 and the fixing device 9 from being obstructed when the middle vehicle 20 starts or is recovered. Therefore, it is possible to smoothly start and collect a large number of underwater vehicles 20 in a short time. Moreover, the operation | work which removes the underwater vehicle 20 and the fixing device 9 from the conveying apparatus 10 also becomes easy.

  In this embodiment, the upper end of the opening 4 is formed so as to be positioned below the ceiling of the housing 6, and the upper end of the opening 4 is the water surface outside the hull when the housing 6 is immersed. Since the underwater vehicle 20 is submerged from the opening 4 while being submerged, it is difficult for waves to enter directly into the housing 6. Therefore, even when the waves are rough, the underwater vehicle 20 can be started and recovered more safely.

  The structure for opening and closing the open / close door 5 is not limited to the above-described embodiment. For example, the open / close door 5 is composed of a plurality of doors and is slid vertically or horizontally. A structure that opens and closes may be used, or a structure that opens and closes like a hinged door may be used. Moreover, the opening part 4 and the opening / closing door 5 can also be set as the structure provided in the ship side, and can also be set as the structure provided in the stern.

DESCRIPTION OF SYMBOLS 1, 1A, 1B Ship 2 Bow 3 Ship bottom 4 Opening part 5 Opening / closing door 5a Hinge part 6 Storage part 7 Ballast tank 8 Water injection mechanism 8a Water injection part 8b Water discharge part 9 Fixing device 10 Conveying device 10a Guide part 10b Movable part 10c Extendable part 11 Storage unit 12 Communication unit 20 Underwater vehicle WL (outside the hull) Water surface position W Water BW Ballast water

Claims (9)

A method for launching and collecting an underwater vehicle in a ship equipped with an underwater vehicle and starting the water vehicle from outside the hull and collecting it from outside the hull,
While disposing the underwater vehicle in an accommodating portion of the underwater vehicle having an opening communicating with the outside of the hull and an opening / closing door that opens and closes the opening,
When the underwater vehicle is started, the underwater door is opened and the housing portion is in communication with the outside of the hull through a water channel. Start the middle cruising body, let it pass through the opening and advance outside the hull,
At the time of collecting the underwater vehicle, the opening / closing door is opened and the housing portion is in communication with the outside of the hull through a water channel so that the housing portion is in a submerged state where the underwater vehicle can be submerged or floated. A method for starting and collecting an underwater vehicle, wherein a middle vehicle is passed through the opening from the outside of the hull to enter the housing portion, and the underwater vehicle is collected in the housing portion.   When the underwater vehicle is started, the underwater vehicle is started by the thrust of the underwater vehicle, and when the underwater vehicle is recovered, the underwater vehicle is moved to the housing portion of the underwater vehicle. In the state where the underwater vehicle is moved by the thrust of the underwater vehicle, the underwater vehicle is settled and settled, or the water level of the housing portion is lowered to settle the underwater vehicle. The method for starting and recovering an underwater vehicle according to claim 1.   Injecting water into the housing part to submerge the interior of the housing part to sink the ship and open the opening / closing door in a state where a part or all of the opening is located below the water surface, The method for starting and collecting an underwater vehicle according to claim 1 or 2, wherein the housing portion and the outside of the hull are communicated with each other through a water channel.   The method of starting and collecting an underwater vehicle according to claim 1 or 2, wherein the ship is subsidized by increasing a water injection amount of a ballast tank included in the ship.   The said accommodating part is formed in the recessed part by which the upper side was open | released, The said opening part and the said opening-and-closing door are provided in the front of this recessed part, The any one of Claims 1-4 characterized by the above-mentioned. How to start and collect underwater vehicles. It is a ship that is equipped with an underwater vehicle, starts off the ship and collects it from the outside of the ship,
Accommodating the underwater vehicle having an opening communicating with the outside of the hull and an opening / closing door that opens and closes the opening, and accommodating the underwater navigation with a water channel when the opening / closing door is opened in a flooded state And a water injection mechanism for bringing the housing portion into a flooded state.   The ship according to claim 6, wherein the accommodating portion is formed by a concave portion whose upper side is opened.   The ship according to claim 6 or 7, wherein the opening and the door are provided in front of the housing part.   The ship according to claim 6 or 7, wherein the opening is provided on a ship bottom, and the opening / closing door is provided between the accommodating part and the opening.

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