JP2019038543A - Underwater sailing body lifting system - Google Patents

Abstract

To provide an underwater sailing body lifting system reducing work load of an operator or not requiring any operator and capable of speedily lifting an underwater sailing body to a mother ship.SOLUTION: An underwater sailing body lifting system for lifting an underwater sailing body capable of sailing underwater to a mother ship includes: a guide rope connected to the underwater sailing body; a buoy or an anchor capable applying tension having a vertical direction component to the guide rope in a state of having the underwater sailing body sailing underwater; a capture device for capturing the guide rope; at least one piece of suspension cable for suspending the capture device from the mother ship; and a hoisting device installed in the mother ship for hoisting the at least one piece of suspension cable. The capture device includes a guide mechanism for guiding the guide rope to a prescribed position.SELECTED DRAWING: Figure 1

Description

  The present disclosure relates to an underwater vehicle collection system.

  2. Description of the Related Art Conventionally, an underwater vehicle that travels underwater has been developed for the purpose of, for example, surveying the seabed topography or surveying marine resources. Underwater vehicles may need to be repatriated to the mother ship for the purpose of supplying energy, exchanging data, or returning to the mother ship upon completion of the mission.

  Patent Document 1 discloses an underwater vehicle that inputs a remote control vehicle having a manipulator into the sea, captures the underwater vehicle, and collects it in the mother vessel in order to quickly collect the underwater vehicle to the mother ship. A harvesting system is disclosed.

  In addition, Patent Document 2 is not a device for picking up an underwater vehicle to a mother ship, but aims to perform energy replenishment, data exchange, etc. in the underwater vehicle without any assistance from the mother ship. An underwater docking device is disclosed. This underwater docking device is configured to dock the underwater vehicle on the underwater station by hooking a capture arm provided on the underwater vehicle on a V-shaped supplementary member provided on the underwater station.

JP 2012-206602 A Japanese Patent No. 3404217

  In the underwater vehicle collection system described in Patent Document 1, an operator operates a remote control vehicle to approach the underwater vehicle and captures a ring-shaped holding hardware provided on the underwater vehicle with a manipulator. Therefore, high operating accuracy is required for the operator, and the work load tends to increase.

  Moreover, since the underwater docking device described in Patent Document 2 needs to install a relatively large underwater station in the sea area of the underwater vehicle, it is difficult to quickly deploy it in an arbitrary sea area. . In addition, since it is not a device for picking up an underwater vehicle to a mother ship, knowledge for rapidly collecting an underwater vehicle to a mother ship is not disclosed.

  The present invention has been made in view of the above-described conventional problems. The object of the present invention is to reduce the workload of an operator or eliminate the need for an operator, and to quickly move a mother ship to an underwater vehicle. It is an object of the present invention to provide an underwater vehicle lifting system that can be lifted.

  (1) An underwater vehicle collection system according to at least one embodiment of the present invention is an underwater vehicle collection system for collecting an underwater vehicle capable of navigating in water on a mother ship, A guide rope connected to the underwater vehicle, a buoy or weight capable of imparting a tension having a vertical component to the guide rope in a state where the underwater vehicle is underwater, and the guide rope A catching device for catching the catcher, at least one suspension cable for suspending the capture device from the mother ship, and a hoisting device installed on the mother ship for winding up the at least one suspension cable The capture device includes a guide mechanism for guiding the guide rope to a predetermined position.

According to the underwater vehicle lifting system described in (1) above, tension having a vertical component is applied to the guide rope by a buoy or weight, and the guide rope is vertically upward or vertically downward from the underwater vehicle. It will be in the state extended toward (a tension state). In order to capture the guide rope extending in the vertical direction from the underwater vehicle in this way, the system described in Patent Document 1 (system for capturing ring-shaped holding hardware with a manipulator) and patent Compared to the system described in Document 2 (a system that hooks a V-shaped supplementary member provided in the underwater station on a capture arm provided in the underwater vehicle), the vertical direction (depth direction) required for capture The tolerance of position control is increased, and the depth of the capture device is not easily affected by a deviation from a predetermined value or temporally fluctuating due to waves or the like, so that the reliability of docking is increased. Furthermore, since the capture device is suspended from the mother ship by a suspension cable, it is not necessary to install a relatively large underwater station as described in Patent Document 2 in the sea area of the underwater vehicle, It can be deployed quickly in any sea area to capture and unload the underwater vehicle.
In addition, the underwater vehicle is docked with the capture device by autonomous control, and an operator only has to tow the capture device at an approximately constant speed to maintain a predetermined depth and a predetermined posture. Compared with a manipulator system like this, the operator's workload is reduced.
In addition, if the underwater vehicle performs approximate navigation control toward the guide mechanism, the guide rope is guided to the guide mechanism, and thus the docking between the underwater vehicle and the capture device is facilitated.

  (2) In some embodiments, in the underwater vehicle lifting system described in (1) above, a fixing mechanism for fixing the buoy or the weight to the surface or inside of the underwater vehicle is further provided. The fixing mechanism is configured to be able to release a state in which the buoy or the weight is fixed to the surface or the inside of the underwater vehicle.

  According to the underwater vehicle collection system described in (2) above, the guide cable by the capture device is provided by providing a fixing mechanism capable of releasing the state where the buoy or weight is fixed to the surface or inside of the underwater vehicle. Since the guide rope and buoy or weight can be released and deployed into the sea only when catching (when the underwater vehicle and the capture device are docked), the guide rope and buoy or weight are not It can be made so as not to hinder navigation.

  (3) In some embodiments, in the underwater vehicle collection system described in (1) or (2) above, the underwater vehicle is perpendicular to the guide rope in a state where the underwater vehicle is traveling underwater. The buoy can be provided with a tension having a directional component.

  According to the underwater vehicle recovery system described in (3) above, a tension having a vertical component is applied to the guide rope by the buoy, and the guide rope extends vertically upward from the underwater vehicle. (Tensioned state). In this way, to capture the guide rope in a state extending vertically upward from the underwater vehicle, the tolerance for position control in the vertical direction (depth direction) required for capture can be increased. The operator of the capture device can be dispensed with or the workload of the operator of the capture device can be reduced. In addition, since the capture device is suspended from the mother ship by a suspension cable, it is not necessary to install a relatively large underwater station as described in Patent Document 2 in the sea area of the underwater vehicle, It can be deployed quickly in any sea area to capture and unload the underwater vehicle. In addition, since the guide rope extends vertically upward from the underwater vehicle, the underwater vehicle can pass under the capture device and suppresses interference between the underwater vehicle and the capture device. can do.

  (4) In some embodiments, in the underwater vehicle collection system according to (1) or (2) above, the underwater vehicle is perpendicular to the guide rope in a state of traveling underwater. The weight capable of applying a tension having a directional component is provided.

  According to the underwater vehicle recovery system described in (4) above, a tension having a vertical component is applied to the guide cable by the weight, and the guide cable extends vertically downward from the underwater vehicle. (Tensioned state). As described above, since the guide rope extending in the vertically downward direction from the underwater vehicle is captured by the capture device, as described above, there is an allowable deviation in position control in the vertical direction (depth direction) required for capture. It becomes large and the operator of a capture device becomes unnecessary, or the workload of the operator of a capture device can be reduced. In addition, since the capture device is suspended from the mother ship by a suspension cable, it is not necessary to install a relatively large underwater station as described in Patent Document 2 in the sea area of the underwater vehicle, It can be deployed quickly in any sea area to capture and unload the underwater vehicle.

  In general, the buoyancy of the underwater vehicle is designed to be slightly on the positive buoyancy side of the neutral buoyancy so that the buoyancy of the underwater vehicle naturally floats on the sea surface even in case of an emergency such as loss of power. In the case of the buoy type described in (3) above, if the guide cable is cut, the buoyancy component of the buoy may be completely lost and the buoyancy of the underwater vehicle may become negative buoyancy. In the case of the weight type described in the above (4), even if the guide cable is cut, there is an advantage that the buoyancy of the underwater vehicle can maintain the positive buoyancy.

  (5) In some embodiments, in the underwater vehicle landing system according to (4), the at least one suspension cable is spaced from each other so as not to interfere with the underwater vehicle. Each including a first suspension cable and a second suspension cable.

  When tension is applied to the guide cable by the weight as described in (4) above, the guide cable extends vertically downward from the underwater vehicle so that the suspended cable is connected to the underwater vehicle. A device that does not interfere is required. In this regard, in the underwater vehicle collection system described in (5) above, the first suspension cable and the second suspension cable that extend at an interval from each other so as not to interfere with the underwater vehicle are described above. Since at least one suspension cable is included, interference between the suspension cable and the underwater vehicle can be easily avoided.

  (6) In some embodiments, in the underwater vehicle lifting system according to any one of (1) to (5), the capture device is for stabilizing the posture of the capture device. Including at least one stabilizer wing.

  According to the underwater vehicle recovery system described in (6) above, by stabilizing the posture of the capture device by the stabilizing wings, it becomes easier to capture the guide rope extending in the vertical direction by the capture device.

  (7) In some embodiments, in the underwater vehicle lifting system according to any one of (1) to (6), the capture device is guided by the guide mechanism. Is further included in the holding mechanism.

  According to the underwater vehicle landing system described in (7) above, when the underwater vehicle performs approximate cruise control toward the guide mechanism, the guide rope is guided by the guide mechanism and held by the holding mechanism. Therefore, the underwater vehicle and the capture device can be docked easily.

  (8) In some embodiments, in the underwater vehicle collection system according to (6) or (7), the holding mechanism is configured to prevent the guide rope from slipping out of the predetermined position. A retaining portion having a rigidity against a force in an intrusion direction of the guide rope from the guide mechanism side to the predetermined position side; and the guide rope from the predetermined position side to the guide mechanism side. It is smaller than the rigidity against the force in the exit direction.

  According to the underwater vehicle lifting system described in (8) above, the guide rope is automatically set to a predetermined position with a simple configuration by appropriately setting the balance between the tension of the guide rope and the rigidity of the retaining portion. (Without requiring any special operation by the operator).

(9) In some embodiments, in the underwater vehicle recovery system according to (6) or (7), the holding mechanism includes:
A retaining portion for preventing the guide rope from slipping out from the predetermined position; and an allowable position for allowing the guide rope guided by the guide mechanism to enter the predetermined position. An actuator for moving the guide cable from the predetermined position to a prohibition position for prohibiting the guide rope from slipping out.

  According to the underwater vehicle lifting system described in (9) above, the structure of the holding mechanism is complicated as compared with the underwater vehicle lifting system described in (8) above. There is no need to set the balance of rigidity of the retaining portion, and the guide rope can be reliably held at a predetermined position.

  (10) In some embodiments, in the underwater vehicle lifting system according to any one of (7) to (9), the capturing device is an underwater camera for photographing the predetermined position. including.

  According to the underwater vehicle collection system described in (10) above, since the remote operator can grasp from the photographing content of the underwater camera whether or not the guide rope is securely held at the predetermined position by the holding mechanism, The suspension cable can be wound up by the winding device after confirming that it is securely held. Further, since the remote operator can grasp from the photographing content of the underwater camera that the guide rope has reached the predetermined position, the timing for moving the retaining portion described in (9) from the allowable position to the prohibited position is remotely controlled. The operator can judge.

  (11) In some embodiments, in the underwater vehicle recovery system according to any one of (7) to (10), the guide mechanism includes a first guide unit and the first guide. And a second guide part arranged at a distance from each other, and a distance between the first guide part and the second guide part decreases as the position approaches the predetermined position.

  According to the underwater vehicle lifting system described in (11) above, the guide rope moves along the first guide portion or the second guide portion of the guide mechanism, reaches a predetermined position, and is held by the holding mechanism. Is done. For this reason, if the underwater vehicle performs approximate navigation control toward the guide mechanism, the guide rope is guided by the guide mechanism and guided to a predetermined position held by the holding mechanism. Docking with the device is facilitated.

  (12) In some embodiments, in the underwater vehicle lifting system according to any one of (7) to (11), the capture device includes a first structure and the first structure. A structure assembly having the second structure arranged in parallel to the object at a distance; and a third structure for connecting the first structure and the second structure; The guide part and the second guide part are respectively disposed between the first structure and the second structure, and the predetermined position exists between the first structure and the second structure. The first guide part and the second guide part are respectively provided on the opposite side to the third structure with respect to the predetermined position.

  According to the underwater vehicle landing system described in (12) above, it is necessary to withdraw the underwater vehicle without disturbing the guide guide to the predetermined position by the first guide unit and the second guide unit. The rigidity of the capture device can be ensured by the structure assembly.

  (13) In some embodiments, in the underwater vehicle lifting system according to (12), the at least one suspension cable is located on the first structure side of the structure from the predetermined position. A first suspension cable connected to the object assembly; and a second suspension cable connected to the structure assembly closer to the second structure than the predetermined position.

  According to the underwater vehicle lifting system described in (13) above, the posture of the capture device can be further stabilized. Further, when the weight is used to apply a vertical tension to the guide rope, the first suspension cable and the second suspension cable can be separated by sufficiently separating the first suspension cable and the second suspension cable. 2. Interference between the suspended cable and the underwater vehicle can be avoided.

  (14) In some embodiments, in the underwater vehicle collection system according to (12) or (13), the first structure and the second structure stabilize the posture of the capture device. Each having at least one stabilizing blade.

  According to the underwater vehicle collection system described in (14) above, for example, when a vertical wing is used as a stable wing, the traveling direction of the capture device can be easily stabilized in a state where the capture device is towed by the mother ship. be able to. In addition, when a horizontal wing is used as a stable wing, the depth of the capture device is stabilized in a state where the weight in water acting on the capture device, resistance at a predetermined ship speed (towing speed force), lift, and suspension cable tension are balanced. be able to.

  (15) In some embodiments, in the underwater vehicle lifting system according to any one of (12) to (14), the first structure and the second structure are the capture unit. Each has a flap for adjusting the lift acting on the device.

  According to the underwater vehicle lifting system described in (15) above, the depth of the capture device can be adjusted with a simple configuration.

  (16) In some embodiments, in the underwater vehicle landing system according to any one of (7) to (15), a sonar provided in the underwater vehicle, and the underwater vehicle A traveling control unit provided on the traveling body and configured to perform traveling control of the underwater traveling body, and the sonar determines a relative position of the capturing device while transmitting a question signal. An active determination mode is configured to be executable, and the capture device includes an acoustic device configured to emit a response signal when detecting the interrogation signal from the sonar, the sonar in the active determination mode, The relative position of the capture device is determined based on the transmission timing of the interrogation signal, the arrival timing of the response signal from the acoustic device, and the arrival direction of the response signal And the navigation control unit controls the navigation of the underwater vehicle so as to guide the guide rope to the predetermined position of the capture device based on the relative position of the capture device determined by the sonar. Configured to do.

  In the underwater vehicle acquisition system described in (16) above, based on the relative position of the capture device determined by the sonar in the active determination mode, the underwater vehicle is guided so as to guide the guide rope to the predetermined position. A cruise control unit is configured to perform cruise control. For this reason, compared with the system described in Patent Document 1 (a system for remotely manipulating a manipulator to capture a ring-shaped holding hardware in an underwater vehicle), the operator of the capture device is unnecessary or the capture device. The workload of remote operators can be reduced.

  (17) In some embodiments, in the underwater vehicle acquisition system according to (16), the frequency band of the response signal transmitted by the acoustic device is the question signal transmitted by the sonar. Different from the frequency band.

  While the active judgment mode is being executed, the sonar transmission sound (question signal) backscattered by the sea surface and other surrounding structures (such as the hull of the mother ship) is also received by the sonar, so the transmission sound of the acoustic device When the (response signal) is detected by a sonar, the backscattered wave tends to be an obstacle.

  Therefore, in the underwater vehicle lifting system described in (17) above, the frequency band of the response signal transmitted by the acoustic device is different from the frequency band of the interrogation signal transmitted by the sonar. Thereby, the risk that the backscattered wave becomes an obstacle is reduced.

  (18) In some embodiments, an underwater acoustic positioning system provided in the mother ship and capable of measuring a relative distance of the underwater vehicle in the underwater vehicle collection system according to (16) or (17). The underwater acoustic positioning device is configured to transmit information indicating the relative distance to the acoustic device, and the acoustic device is in the information indicating the relative distance transmitted from the underwater acoustic positioning device. When the relative distance is equal to or greater than the reference distance, the pinger signal is transmitted at a time interval corresponding to the relative distance, and the sonar is configured so that the relative distance corresponding to the time interval of the pinger signal is A passive determination mode for determining the relative position of the capture device based on the time interval of the Pinger signal and the arrival direction of the Pinger signal when the distance is equal to or greater than a reference distance. The sonar is configured to execute the active determination mode instead of the passive determination mode when the relative distance corresponding to the time interval of the Pinger signal is less than the reference distance. Is done.

  During the execution of the active judgment mode, the acoustic device needs to detect the interrogation signal from the sonar in a high noise environment near the stern of the mother ship, so it is assumed that the relative distance between the underwater vehicle and the capture device is If the active determination mode is to be executed when the distance is larger (for example, when the relative distance is larger than the reference distance), design constraints such as increasing the transmission level of the question signal by the sonar become stricter. On the other hand, in the passive determination mode, the acoustic device only needs to unilaterally transmit a pinger sound, and does not need to detect a question signal from the sonar in a high noise environment near the stern of the mother ship.

  For this reason, as described in (18) above, when the relative distance of the underwater vehicle measured by the underwater acoustic positioning device is equal to or greater than the reference distance, the passive determination mode is executed, and the relative distance falls below the reference distance. By executing the active determination mode, the specifications of the acoustic device and the specifications of the sonar can be simplified. Also, it is possible to smoothly switch between the initial guidance of the underwater vehicle when there is an underwater vehicle far from the mother ship and the terminal guidance of the underwater vehicle when the underwater vehicle 2 approaches the mother ship. be able to.

  According to at least one embodiment of the present invention, an underwater vehicle capable of quickly picking up a mother ship to the underwater vehicle without reducing or requiring the operator's work. A pick-up system is provided.

It is a figure showing roughly the whole composition of the underwater vehicle collection system concerning one embodiment. It is a figure which shows the state which the fixing mechanism has fixed the buoy on the surface or the inside of an underwater vehicle so that a guide rope and a buoy may not interfere with navigation. It is a figure which shows the state by which the state which fixed the buoy to the surface or the inside of an underwater vehicle is cancelled | released, and the buoy was discharge | released in the sea. It is a figure which shows the state which the capture device captured the guide rope of the state extended toward the vertically upward direction from the underwater vehicle. It is a figure showing roughly the whole composition of the underwater vehicle collection system concerning one embodiment. It is a figure which shows the state which the fixing mechanism has fixed the weight to the surface or the inside of an underwater vehicle so that a guide rope and a weight may not obstruct navigation. It is a figure which shows the state by which the state which fixed the weight to the surface or the inside of the underwater vehicle is released, and the weight is released into the sea. It is a figure which shows the state which the capture device captured the guide rope of the state extended toward the perpendicular downward direction from the underwater vehicle. It is a top view which shows typically the capture device which concerns on one Embodiment. FIG. 6 is a side view of the capturing device shown in FIG. 5. It is a rear view of the capture device shown in FIG. It is a top view which shows typically the capture device which concerns on one Embodiment. It is a side view of the capturing device shown in FIG. It is a rear view of the capturing device shown in FIG. It is a top view which shows typically the holding mechanism which concerns on one Embodiment, and is a figure which shows the state in which the guide rope is guided by the guide mechanism. FIG. 11B is a diagram showing a state immediately before the guide rope reaches a predetermined position held by the holding mechanism in the holding mechanism shown in FIG. 11A. It is a figure which shows the state by which the guide rope is hold | maintained in the predetermined position with the holding mechanism about the holding mechanism shown to FIG. 11A. It is a top view which shows typically the holding mechanism which concerns on one Embodiment, and is a figure which shows the state in which the guide rope is guided by the guide mechanism. It is a figure which shows the state which reached | attained the predetermined position where a guide rope was hold | maintained with a holding mechanism about the holding mechanism shown to FIG. 12A. It is a figure which shows the state in which the guide rope is hold | maintained in the predetermined position with the holding mechanism about the holding mechanism shown to FIG. 12A. It is a figure for demonstrating the determination method of the relative position of the capture device in active determination mode. It is a figure for demonstrating the determination method of the relative position of the capture device in passive determination mode. It is a top view which shows typically the capture device which concerns on one Embodiment. It is a top view which shows typically the capture device which concerns on one Embodiment.

Hereinafter, some embodiments of the present invention will be described with reference to the accompanying drawings. However, the dimensions, materials, shapes, relative arrangements, etc. of the components described in the embodiments or shown in the drawings are not intended to limit the scope of the present invention, but are merely illustrative examples. Absent.
For example, expressions expressing relative or absolute arrangements such as “in a certain direction”, “along a certain direction”, “parallel”, “orthogonal”, “center”, “concentric” or “coaxial” are strictly In addition to such an arrangement, it is also possible to represent a state of relative displacement with an angle or a distance such that tolerance or the same function can be obtained.
For example, an expression indicating that things such as “identical”, “equal”, and “homogeneous” are in an equal state not only represents an exactly equal state, but also has a tolerance or a difference that can provide the same function. It also represents the existing state.
For example, expressions representing shapes such as quadrangular shapes and cylindrical shapes represent not only geometrically strict shapes such as quadrangular shapes and cylindrical shapes, but also irregularities and chamfers as long as the same effects can be obtained. A shape including a part or the like is also expressed.
On the other hand, the expressions “comprising”, “comprising”, “comprising”, “including”, or “having” one constituent element are not exclusive expressions for excluding the existence of the other constituent elements.

  FIG. 1 is a diagram schematically showing an overall configuration of an underwater vehicle lifting system 100 (100A) according to an embodiment. The underwater vehicle landing system 100 (100A) is a system for collecting the underwater vehicle 2 capable of navigating in the water to the mother ship 14, and includes the underwater vehicle 2, guide rope 4, buoy 6, A capture device 8, at least one suspension cable 10, a winding device 12 and a mother ship 14 are provided.

  The underwater vehicle 2 is, for example, a small autonomous unmanned underwater vehicle (AUV: Autonomous Underwater Vehicle).

  The guide cable 4 is connected to the underwater vehicle 2. A buoy 6 is attached to the upper end of the guide rope 4, and the buoy 6 has a tension having a vertical component (depth component) on the guide rope 4 when the underwater vehicle 2 is traveling underwater. It is configured to be grantable. The buoy 6 is made of a material having buoyancy, lift and drag that guide wire 4 is stretched in the vertical direction at the traveling speed when the underwater vehicle 2 is traveling to dock with the capture device 8. Shape.

  The capture device 8 is towed by the mother ship 14 via the suspension cable 10 in a state of being suspended from the mother ship 14 by at least one suspension cable 10. The capture device 8 is configured to capture the underwater vehicle 2 by capturing the guide rope 4 while being towed by the mother ship 14. As will be described in detail later, in the underwater vehicle collection system 100, the underwater vehicle 2 is not a method of capturing the device 8 by actively moving the capture device 8 toward the underwater vehicle 2. A method of autonomously guiding the rope 4 to the capture device 8 is adopted.

  The hoisting device 12 is configured to be able to wind up the suspension cable 10, and after the capturing of the underwater vehicle 2 by the capturing device 8 is completed, the hoisting cable 10 is rolled up to bring the underwater vehicle 2 into the mother ship 14. Confiscate. The hoisting device 12 may be a crane, a winch or a hoist, for example. The underwater vehicle 2 may be lifted to the mother ship 14 by lifting the guide rope 4 captured by the capture device 8 to the deck of the mother ship 14, or the strength of the guide rope 4 is insufficient. If it is, the guide rope 4 captured by the capture device 8 is pulled up to the vicinity of the water surface, and then a higher strength lifting rope (not shown) connected to the underwater vehicle 2 is connected. It may be used and pulled up to the deck of the mother ship 14.

  According to the underwater vehicle landing system 100 (100A), a tension having a vertical component is applied to the guide cable 4 by the buoy 6 and the guide cable 4 extends vertically upward from the underwater vehicle 2. It becomes a state (a stretched state). Thus, in order to capture the guide rope 4 extending vertically upward from the underwater vehicle 2 by the capture device 8, the system described in Patent Document 1 (manipulator is operated remotely to perform underwater navigation) A system that captures a ring-shaped holding hardware in the body) and a system described in Patent Document 2 (a system that hooks a V-shaped supplementary member provided in an underwater station on a capture arm provided in an underwater vehicle); In comparison, the vertical deviation (depth direction) tolerance required for capture increases, and the depth of the capture device 8 is less likely to be deviated from a predetermined value or subject to temporal fluctuations due to waves or the like. The certainty increases. Furthermore, since the capture device 8 is suspended from the mother ship 14 by the suspension cable 10, a relatively large underwater station as described in Patent Document 2 is installed in the traveling area of the underwater vehicle 2. There is no need, and the underwater vehicle 2 can be captured and lifted quickly by deploying in any sea area.

  In addition, the underwater vehicle 2 is docked with the capture device 8 by autonomous control, and the operator only has to tow the capture device 8 at an approximately constant speed to maintain a predetermined depth and a predetermined posture. Compared with the manipulator system as disclosed in Patent Document 1, the workload of the operator is reduced.

  In the exemplary embodiment shown in FIG. 1, the guide rope 4 is branched and connected to the underwater vehicle 2 at a plurality of locations below the branch position. In one embodiment, the guide rope 4 may be connected to one side and the other side with respect to the center of gravity in the longitudinal direction j of the underwater vehicle 2. Thereby, the underwater vehicle can be withdrawn in a state where the posture of the underwater vehicle 2 is stabilized.

  2A to 2C, as the underwater vehicle 2 approaches the capture device 8, the buoy 6 shown in FIG. 1 is released from the surface or inside of the underwater vehicle 2 into the sea (the underwater vehicle 2). It is a figure which shows a mode that it isolate | separates from the surface.

  In one embodiment, as shown in FIGS. 2A to 2C, the underwater vehicle collection system 100 (100 </ b> A) includes a fixing mechanism 16 for fixing the buoy 6 to the surface or inside of the underwater vehicle 2. In addition. As shown in FIG. 2A, in a normal sailing state in which the underwater vehicle 2 is sailing at a position relatively distant from the capture device 8, the fixing mechanism 16 includes all or part of the guide rope 4 and The buoy 6 is configured to be fixed to the surface or the inside of the underwater vehicle 2 so as not to hinder navigation. As shown in FIG. 2B, the fixing mechanism 16 fixes the buoy 6 to the surface or inside of the underwater vehicle 2 when the underwater vehicle 2 approaches the capture device 8 and the docking timing with the capture device 8 approaches. Release the state and release the buoy 6 into the sea. Thereby, the tension | tensile_strength which has a vertical direction component is provided to the guide rope 4 by the buoy 6, and the guide rope 4 will be in the state (stretched state) extended toward the perpendicular upper direction. Then, as shown in FIG. 2C, the guide rope 4 in a state extending vertically upward from the underwater vehicle 2 is captured by the capture device 8.

  In this way, by providing the fixing mechanism 16 capable of releasing the state where the buoy is fixed to the surface or inside of the underwater vehicle, when the guide rope 4 is captured by the capture device 8 (the underwater vehicle 2 and the capture device 8). The guide rope 4 and the buoy 6 can be released into the sea and deployed only when docked with the vehicle, so that the guide rope 4 and the buoy 6 do not interfere with the navigation during normal sailing. it can.

  FIG. 3 is a diagram schematically showing an overall configuration of the underwater vehicle lifting system 100 (100B) according to the embodiment. Among the configurations included in the underwater vehicle collection system 100 (100B), the same components as those included in the underwater vehicle collection system 100 (100A) illustrated in FIG. Description is omitted. In the underwater vehicle collection system 100 (100B) shown in FIG. 3, the means for applying a tension having a vertical component to the guide rope 4 is the same as the underwater vehicle collection system 100 (100A) shown in FIG. Different. That is, the underwater vehicle lifting system 100 (100A) shown in FIG. 1 includes the buoy 6 that can apply a tension having a vertical component to the guide rope 4, but the underwater vehicle lifting system shown in FIG. The collecting system 100 (100B) includes a weight 7 that can apply a tension having a vertical component to the guide rope 4 instead of the buoy 6.

  According to the underwater vehicle landing system 100 (100B), a tension having a vertical component (depth component) is applied to the guide cable 4 by the weight 7, and the guide cable 4 is moved vertically downward from the underwater vehicle 2. It will be in the state extended toward (a tension state). And in order to capture the guide rope 4 in a state extending vertically downward from the underwater vehicle 2 by the capture device 8, a system described in Patent Document 1 (a system for capturing a ring-shaped holding hardware with a manipulator) ) And the system described in Patent Document 2 (a system in which a catching arm provided on the underwater vehicle is hooked with a V-shaped supplementary member provided on the underwater station) An allowable deviation of control can be increased, so that an operator of the capturing device 8 is not required or a work load of the operator of the capturing device 8 can be reduced.

  Further, since the capture device 8 is suspended from the mother ship 14 by the suspension cable 10, a relatively large underwater station as described in Patent Document 2 is installed in the sea area of the underwater vehicle 2. There is no need, and the underwater vehicle 2 can be captured and lifted quickly by deploying in any sea area. Further, since the underwater vehicle 2 does not require a manipulator or the like for docking with the capture device 8, the device configuration of the underwater vehicle 2 can be simplified and the underwater vehicle 2 can be downsized. . Moreover, since docking with the underwater vehicle 2 and the capture device 8 can be performed in the sea instead of the sea surface, the influence of waves and the like are reduced, and docking is easy.

  Note that, in the underwater vehicle body collection system 100 (100B), the guide rope 4 extends from the underwater vehicle 2 vertically downward, so that the capture device 8 or the suspension cable 10 travels underwater. A device that does not interfere with the body 2 is required. For this reason, for example, as will be described in detail later, the suspension cable 10 includes a first suspension cable and a second suspension cable that extend at intervals from each other so as not to interfere with the underwater vehicle 2. May be included.

  4A to 4C, as the underwater vehicle 2 approaches the capture device 8, the weight 7 shown in FIG. 3 is released from the surface or inside of the underwater vehicle 2 into the sea (the underwater vehicle 2). It is a figure which shows a mode that it isolate | separates from the surface.

  In one embodiment, as shown in FIGS. 4A to 4C, the underwater vehicle collection system 100 (100B) includes a fixing mechanism 16 for fixing the weight 7 to the surface or inside of the underwater vehicle 2. In addition. As shown in FIG. 4A, in a normal sailing state in which the underwater vehicle 2 is sailing at a position relatively distant from the capture device 8, the fixing mechanism 16 includes all or part of the guide rope 4 and The weight 7 is configured to be fixed to the surface (bottom surface) or the inside of the underwater vehicle 2 so as not to hinder navigation. As shown in FIG. 4B, the fixing mechanism 16 fixes the weight 7 to the surface or inside of the underwater vehicle 2 when the underwater vehicle 2 approaches the capture device 8 and the docking timing with the capture device 8 approaches. The released state is released and the weight 7 is released into the sea. Thereby, the tension | tensile_strength which has a vertical downward direction component is provided to the guide rope 4 by the weight 7, and it will be in the state (stretched state) which the guide rope 4 was extended toward the perpendicular downward direction. And the guide rope 4 of the state extended toward the perpendicular downward direction from the underwater vehicle 2 is captured by the capture device 8 as shown in FIG. 4C.

  Thus, by providing the fixing mechanism 16 that can release the state in which the weight 7 is fixed to the surface or inside of the underwater vehicle, when the guide rope 4 is captured by the capture device 8 (the underwater vehicle 2 and the capture device). The guide cable 4 and the weight 7 can be released into the sea only when docking with the vehicle 8, so that the guide cable 4 and the weight 7 can be prevented from obstructing the traveling during normal traveling. .

Next, several embodiments of the specific configuration example of the capturing device 8 in FIGS. 1 to 4C will be described with reference to FIGS.
FIG. 5 is a top view schematically showing the capture device 8 (8A) according to one embodiment. FIG. 6 is a side view of the capturing device 8 (8A) shown in FIG. FIG. 7 is a rear view of the capturing device 8 (8A) shown in FIG. FIG. 8 is a top view schematically showing the capture device 8 (8B) according to one embodiment. FIG. 9 is a side view of the capture device 8 (8B) shown in FIG. FIG. 10 is a rear view of the capturing device 8 (8B) shown in FIG. The capture device 8 (8A) may be adopted as the capture device 8 in the underwater vehicle collection system 100 (100A) shown in FIGS. 1 to 2C, or the water shown in FIGS. 3 to 4C. You may employ | adopt as the capture apparatus 8 in the middle traveling body collection system 100 (100B). Moreover, the capture device 8 (8B) may be employed as the capture device 8 in the underwater vehicle collection system 100 (100A) shown in FIGS. 1 to 2C, or the water shown in FIGS. 3 to 4C. You may employ | adopt as the capture apparatus 8 in the middle traveling body collection system 100 (100B).

  In some embodiments, for example, as shown in FIGS. 5 and 8, the capturing device 8 (8 </ b> A, 8 </ b> B) is guided by the guide mechanism 18 for guiding the guide rope 4 to the predetermined position P, and the guide mechanism 18. And a holding mechanism 20 (latch mechanism) for holding (latching) the guide cable 4 in a predetermined position P. The guide mechanism 18 includes a first guide portion 22 and a second guide portion 24 that is spaced from the first guide portion 22. The distance between the first guide portion 22 and the second guide portion 24 is as follows. As the position approaches the predetermined position P, it becomes smaller. For this reason, the guide rope 4 moves along the first guide part 22 or the second guide part 24 of the guide mechanism 18, reaches the predetermined position P, and is held by the holding mechanism 20.

  Thus, when the underwater vehicle 2 performs approximate navigation control toward the guide mechanism 18, the guide rope 4 is guided to the guide mechanism 18 and guided to the predetermined position P held by the holding mechanism 20. Docking between the underwater vehicle 2 and the capture device 8 (8A, 8B) is facilitated.

  In some embodiments, for example, as shown in FIGS. 5 and 8, the capture device 8 (8 </ b> A, 8 </ b> B) is juxtaposed with the first structure 26 and spaced apart from the first structure 26. The structure assembly 32 includes a second structure 28 and a third structure 30 connecting the first structure 26 and the second structure 28. In this case, the first guide portion 22 and the second guide portion 24 described above are disposed between the first structure 26 and the second structure 28, respectively. Further, the predetermined position P exists between the first structure 26 and the second structure 28, and the first guide portion 22 and the second guide portion 24 are respectively in the third structure 30 with respect to the predetermined position P. It is provided on the opposite side.

  Thereby, the rigidity of the capture device 8 (8A, 8B) required for the lifting and lowering of the underwater vehicle 2 without hindering the guide rope 4 from being guided to the predetermined position P by the first guide portion 22 and the second guide portion 24. Can be secured by the structure assembly 32.

  In some embodiments shown in FIGS. 5 and 8, the guide mechanism 18 includes a first guide plate 23 and a second guide plate 25. The first guide plate 23 and the second guide plate 25 are plate-like members each having a vertical direction as a thickness direction in a state where the capture device 8 is towed by the mother ship 14. The 1st guide plate 23 and the 2nd guide plate 25 are arrange | positioned so that the predetermined position P exists between each other. The first guide plate 23 is connected to the third structure 30 on the front side in the traveling direction d1 of the capture device 8, and the first structure on the side opposite to the predetermined position P in the horizontal direction d2 orthogonal to the traveling direction d1. 26. The first guide portion 22 is provided at the rear end of the first guide plate 23 in the traveling direction d1 of the capture device 8. The second guide plate 25 is connected to the third structure 30 on the front side in the traveling direction d1 of the capture device 8, and the second structure on the opposite side to the predetermined position P in the horizontal direction d2 orthogonal to the traveling direction d1. 28. The second guide portion 24 is provided at the rear end of the second guide plate 25 in the traveling direction d1 of the capture device 8. In the illustrated embodiment, the first guide plate 23 and the second guide plate 25 are exemplified as a specific configuration of the guide mechanism 18; however, the guide mechanism 18 is not limited to a plate-like member, and may be a beam-like member. .

  In some embodiments, for example, as shown in FIGS. 5 and 8, the suspension cable 10 is connected to the structure assembly 32 on the first structure 26 side from the predetermined position P. 46 and a second suspension cable 48 connected to the structure assembly 32 on the second structure 28 side of the predetermined position P. Thereby, the attitude | position of the capture apparatus 8 (8A, 8B) can be stabilized more.

  In addition, when employ | adopting capture apparatus 8 (8A, 8B) for the underwater vehicle body collection system 100 (100B) mentioned above, the 1st suspension cable 46 and the 2nd suspension cable 48 are the underwater vehicle body. It is desirable to connect to the structure assembly 32 so as to extend apart from each other so as not to interfere with each other. Thereby, even if it is a case where the weight for giving the tension | tensile_strength of a perpendicular direction to the guide rope 4 is used, the suspension cable 10 (the 1st suspension cable 46 and the 2nd suspension cable 48) and the underwater vehicle 2 Can be avoided.

  In addition, at least one of the suspension cables 10 (the first suspension cable 46 and the second suspension cable 48) is a power line and signal of an electrical component (for example, an acoustic device 56 described later) installed in the capture device 8. It may also serve as a line. That is, at least one of the suspended cables 10 may be configured from the power supply line and the signal line itself, or may be configured to include the power supply line and the signal line as a part thereof.

  In one embodiment, for example, as shown in FIGS. 5 to 7, each of the first structure 26 and the second structure 28 is a cylindrical structure having an axis along the traveling direction d <b> 1 of the capture device 8. is there. The third structure 30 is a plate-like structure extending in the horizontal direction d2 orthogonal to the axis. The thickness D3 in the vertical direction of the plate-like third structure 30 is smaller than the outer diameter E1 of the first structure 26 at the connection position between the first structure 26 and the third structure, and the second structure 28 It is smaller than the outer diameter E2 of the second structure at the connection position with the third structure 30.

  In one embodiment, for example, as shown in FIGS. 5 to 7, each of the first structure 26 and the second structure 28 has at least one stabilizing blade 34 for stabilizing the posture of the capturing device 8. When the vertical wing 36 (for example, vertical tail) is used as the stabilizing wing 34, the traveling direction of the capture device 8 can be easily stabilized in a state where the capture device 8 is towed by the mother ship 14. Further, when the horizontal wing 38 is provided as the stabilizing wing 34, the underwater weight acting on the capture device 8 and the resistance, lift, and suspension cable tension at a predetermined ship speed (towing speed force) are balanced. The depth can be stabilized. In the illustrated embodiment, the horizontal blade 38 is provided outside the first structure 26 and the second structure 28 (on the side opposite to the connection position with the third structure 30).

  In one embodiment, at least one of the vertical wing 36 and the horizontal wing 38 is a steering wing, and the steering wing is controlled based on the output of a depth sensor and an attitude sensor (not shown) provided in the capturing device 8. Depth control for maintaining a proper depth and yaw, pitch, and roll attitude control for further stabilizing the attitude may be performed. That is, at least one blade angle of the vertical blades 36 and the horizontal blades 38 may be configured to be variable by an actuator (not shown), and the actuator may be controlled based on the outputs of the depth sensor and the attitude sensor. This complicates the device configuration, but even if the sea surface is rough due to bad weather and the hull of the mother ship 14 is shaken, the depth of the capture device 8 is stabilized and the shake is suppressed to some extent, so the reliability of docking is improved. improves.

  In one embodiment, for example, as shown in FIGS. 8 to 10, each of the first structure 26 and the second structure 28 has a horizontal direction perpendicular to the traveling direction, with the traveling direction d1 of the capture device 8 being the longitudinal direction. It is a plate-like structure in which d2 is the short direction and the vertical direction is the thickness direction. The third structure 30 is a columnar structure extending in a horizontal direction orthogonal to the traveling direction. The vertical thickness D3 of the columnar third structure 30 is larger than the vertical thickness D1 of the plate-like first structure 26 and larger than the vertical thickness D2 of the plate-like second structure 28.

  In one embodiment, for example, as shown in FIGS. 8 to 10, the rear end of the first structure 26 and the rear end of the second structure 28 in the traveling direction d <b> 1 of the capture device 8 act on the capture device 8. A flap 44 for adjusting the lift is provided. In the illustrated embodiment, the flap 44 is configured so that the flap 44 can rotate in the vertical direction (thickness direction in the plate-like first structure 26 and the second structure 28) and the rear end of the first structure 26. The two structures 28 are connected to the rear end. Thereby, the depth of the capture device 8 can be adjusted with a simple configuration.

  11A to 11C are top views schematically showing a holding mechanism 20 (20A), which is a specific configuration example of the holding mechanism 20 shown in FIGS. 5 and 8, and FIG. 11B shows a state in which the cable 4 is guided, and FIG. 11B shows a state immediately before the guide cable 4 reaches a predetermined position P held by the holding mechanism 20 (20A), and FIG. 11C shows a guide. The state in which the cord 4 is held at a predetermined position P by the holding mechanism 20 (20A) is shown.

  In one embodiment, for example, as illustrated in FIGS. 11A to 11C, the holding mechanism 20 (20 </ b> A) includes a retaining portion 21 (21 </ b> A) for preventing the guide rope 4 from slipping out from the predetermined position P. Here, the retaining portion 21 (21A) has a rigidity against the force in the approach direction I of the guide rope 4 from the guide mechanism 18 side to the predetermined position P side, and the guide rope 4 from the predetermined position P side to the guide mechanism 18 side. It is smaller than the rigidity against the force in the exit direction O. That is, the retaining portion 21 (21A) is easily bent in the entry direction I of the guide rope 4 from the guide mechanism 18 side to the predetermined position P side, and the guide rope 4 is pulled out from the predetermined position P side to the guide mechanism 18 side. Hard to bend to O. In the illustrated embodiment, the retaining portion 21 (21A) is composed of a pair of tapered portions provided so as to protrude from each of the first guide plate 23 and the second guide plate 25 to face each other. . For this reason, by appropriately setting the balance between the tension of the guide rope 4 and the rigidity of the retaining portion 21 (21A), the guide rope 4 is automatically set to a predetermined position P with a simple configuration (a special operation by the operator). Can be held). In the embodiment shown in FIGS. 11A to 11C, the holding mechanism 20 (20A) is configured by the third structure 30, the first guide plate 23, the second guide plate 25, and the retaining portion 21 (21A). In addition, although the example in which one retaining portion 21 (21A) is provided on each of the first guide plate 23 and the second guide plate 25 is shown, any one of the first guide plate 23 and the second guide plate 25 is shown. You may provide only in either.

  12A to 12C are top views schematically showing a holding mechanism 20 (20B), which is a specific configuration example of the holding mechanism 20 shown in FIGS. 5 and 8, and FIG. FIG. 12B shows a state in which the cable 4 is guided, FIG. 12B shows a state in which the guide cable 4 has reached a predetermined position P held by the holding mechanism 20 (20B), and FIG. Is shown being held at a predetermined position P by the holding mechanism 20 (20B).

  In one embodiment, for example, as shown in FIGS. 12A to 12C, the holding mechanism 20 (20 </ b> B) includes a retaining portion 21 (21 </ b> B) for preventing the guide rope 4 from coming out of a predetermined position, an actuator 33, and the like. Have The actuator 33 allows the retaining portion 21 (21B) to be allowed to enter the predetermined position P of the guide rope 4 guided by the guide mechanism 18 (the position of the retaining portion 21 in FIG. 12A) and the predetermined position. And an actuator 33 for moving to a prohibition position (position of the retaining portion 21 in FIG. 12C) that prohibits the guide rope 4 from coming out of P. In the illustrated embodiment, the retaining portion 21 (21B) is provided in the first guide member 25, and moves to the prohibited position by moving in the direction of the second guide member 23 from the allowable position. The retaining portion 21 (21B) may extend from the first guide member 25 to the second guide member 25 when in the prohibited position. In the embodiment shown in FIGS. 11A to 11C, the holding mechanism 20 (20B) is configured by the third structure 30, the first guide plate 23, the second guide plate 25, and the retaining portion 21 (21B).

  According to the holding mechanism 20 (20B), the structure is complicated as compared with the holding mechanism 20 (20A), but it is not necessary to set the balance between the tension of the guide rope 4 and the rigidity of the retaining portion 21, and the guide rope 4 Can be reliably held at the predetermined position P.

  In some embodiments, for example, as shown in FIGS. 5, 7, 8 and 10, the capture device 8 (8 </ b> A, 8 </ b> B) includes an underwater camera 50 for photographing a predetermined position P.

  Thereby, since the remote operator can grasp from the photographing content of the underwater camera 50 whether or not the guide rope 4 is securely held at the predetermined position P by the holding mechanism 20 (20A, 20B), the guide rope 4 is securely held. After confirming this, the suspension cable 10 can be wound up by the winding device 12. Further, in the holding mechanism 20 (20B), since the remote operator can grasp from the photographing content of the underwater camera 50 that the guide rope 4 has reached the predetermined position P, the retaining portion 21 (21B) is moved from the allowable position. The remote operator can determine when to move to the prohibited position. However, a sensor (not shown) that detects that the guide cable 4 has reached the predetermined position P is provided in the holding mechanism 20 (20A, 20B), and the sensor detects that the guide cable 4 has reached the predetermined position P. In this case, the retaining portion 21 (21B) may be automatically moved from the allowable position to the prohibited position.

  Next, the configuration of the above-described underwater vehicle collection system 100 (100A, 100B) for autonomously guiding the guide rope 4 to the capture device 8 by the underwater vehicle 2 will be described.

  In some embodiments, for example, as shown in FIGS. 1 and 3, the underwater vehicle landing system 100 (100A, 100B) includes a sonar 52 provided in the underwater vehicle 2 and an underwater vehicle. 2, a cruise control unit 54 configured to perform cruise control of the underwater vehicle 2 and an acoustic device 56 provided in the capture device 8 are further provided. The cruise control unit 54 travels the underwater vehicle 2 so as to guide the guide rope 4 to the predetermined position P based on the relative position (relative distance and relative orientation) of the capture device 8 determined by the sonar 52. It is configured to perform control. The cruise control unit 54 performs cruise control so that the capture device 8 is tracked from the rear of the mother ship 14 at a speed exceeding the speed of the mother ship 14 in a state where the capture apparatus 8 is located in front of the traveling direction of the underwater vehicle 2. The cruise control may be performed so as to face the mother ship 14 and approach each other. In the case where the underwater navigation body 2 performs the navigation control so as to face the mother ship 14 and approach each other, as shown in FIGS. 15 and 16, the front-rear direction of the third structure 30 and the guide mechanism 18. The capturing device 8 (8A, 8B) may be configured so that the positional relationship is opposite to the positional relationship in FIGS. That is, in the traveling direction of the capture device 8 (8A, 8B), the entrance side of the guide mechanism 18 faces forward (the direction in which the suspension cables 46 and 48 extend and the entrance direction of the guide mechanism 18 are the same direction). ), The guide mechanism 18 may be provided in front of the third structure 30.

  The sonar 52 shown in FIGS. 1 and 3 is disposed in front of the underwater vehicle 2 and is configured to be able to execute an active determination mode in which the relative position of the capture device 8 is determined while transmitting a question signal. . The acoustic device 56 is configured to transmit a response signal when an interrogation signal from the sonar 52 is detected. In the active determination mode, the sonar 52 determines the relative position (relative) of the capture device 8 based on the transmission timing of the interrogation signal, the arrival timing of the response signal from the acoustic device 56, and the arrival direction (horizontal orientation and vertical orientation) of the response signal. Distance and relative orientation). Note that the acoustic device 56 may be provided at the center of the third structure 30 in the horizontal direction d2 orthogonal to the traveling direction of the underwater vehicle 2 as shown in FIGS. 7 and 10, for example. Thereby, the guidance of the underwater vehicle 2 to the predetermined position P can be performed accurately.

  Here, the determination method of the relative position of the capture device 8 in the active determination mode will be described in more detail with reference to FIG.

  In FIG. 13, when the sonar 52 of the underwater vehicle 2 transmits the question signal Sq (pulse) at the timing t1, the acoustic device 56 of the capturing device 8 receives the question signal Sq at the timing t2. When the acoustic device 56 receives the question signal Sq at the timing t2, the acoustic device 56 transmits a response signal Sa (pulse) at the timing t3 after the response delay τ inherent to the acoustic device 56 has elapsed. Then, the sonar 52 receives the response signal Sa at the timing t4.

Here, the time from the timing t1 at which the sonar 52 transmits the interrogation signal Sq to the timing t4 at which the sonar 52 receives the response signal Sa to the interrogation signal Sq is T (= t4−t1), and the sound speed in water is c. Then, since the response delay τ inherent to the acoustic device 56 is sufficiently small with respect to the time T, the relative distance R1 (the distance between the sonar 52 and the acoustic device 56) between the underwater vehicle 2 and the capture device 8 is It can be approximated by the following (Formula 1).
R1 = cT / 2 (Formula 1)

  Therefore, the sonar 52 substitutes the time T from when the interrogation signal Sq is transmitted until the response signal Sa to the interrogation signal Sq is received and the known underwater sound speed c into the above (formula 1), and the underwater navigation The relative distance R1 between the running body 2 and the capture device 8 can be calculated. The sonar 52 can determine the relative direction of the capturing device 8 based on the arrival direction of the response signal Sa.

  In some embodiments, when the underwater vehicle 2 has a forward obstacle detection sonar for autonomous obstacle avoidance, the forward obstacle detection sonar may be used as the sonar 52. . In addition, if the underwater vehicle 2 is an underwater vehicle with missions such as seafloor observation and seafloor search, a sonar that performs depth measurements in front and lower in order to follow the seabed undulation and maintain an appropriate seafloor altitude. Therefore, this front lower depth sonar may be used as the sonar 52. In this way, by using the sonar inherently provided in the underwater vehicle for autonomous navigation as the sonar 52 for detecting the acoustic device 56 of the capture device 8, the dedicated sonar for detecting the acoustic device 56 is used. Therefore, the configuration of the underwater vehicle 2 can be simplified.

  During the execution of the active determination mode, the sonar 52 also receives the sound waves back-scattered by the transmitted sound (question signal Sq) of the sonar 52 on the sea surface and other surrounding structures (the hull of the mother ship 14). When the transmission sound (response signal Sa) of the acoustic device 56 is detected by the sonar 52, the backscattered wave tends to be an obstacle.

  Therefore, the frequency band of the response signal Sa transmitted by the acoustic device 56 may be different from the frequency band of the question signal Sq transmitted by the sonar 52. For example, if the sonar 52 is the above-described forward obstacle detection sonar or forward / downward sounding sonar, the sonar 52 transmits an interrogation signal in a frequency band different from the normal frequency band used for forward obstacle detection or forward / downward sounding. And the acoustic device 56 may return a response signal in the normal frequency band. Alternatively, the sonar 52 may transmit a question signal in the normal frequency band, and the acoustic device 56 may return a response signal in a frequency band different from the normal frequency band.

  Thus, by making the frequency band of the response signal Sa transmitted by the acoustic device 56 different from the frequency band of the interrogation signal Sq transmitted by the sonar 52, the risk that the backscattered wave becomes an obstacle is reduced. The

  In some embodiments, for example, as shown in FIGS. 1 and 3, the underwater vehicle collection system 100 (100A, 100b) is provided in the mother ship 14 and has a relative position (relative distance R2). And an underwater acoustic positioning device 58 capable of measuring the relative orientation). The relative position of the water navigation vehicle 2 by the underwater acoustic positioning device 58 is measured by a known method such as an SSBL (Super Short Base Line) method.

  The underwater acoustic positioning device 58 is configured to transmit information indicating the relative distance R2 between the underwater acoustic positioning device 58 and the underwater vehicle 2 to the acoustic device 56. When the relative distance R2 in the information indicating the relative distance R2 transmitted from the underwater acoustic positioning device 58 is equal to or greater than the reference distance Rth, the acoustic device 56 corresponds (interlocks) with the relative distance R2 as illustrated in FIG. The pinger signal Sp is transmitted at a time interval Tp (pulse interval).

  The sonar 52 receives the Pinger signal Sp from the acoustic device 56 (when the relative distance R2 corresponding to the time interval Tp of the Pinger signal Sp received from the acoustic device 56 is equal to or larger than the reference distance Rth). It is configured to execute a passive determination mode in which the relative position (relative distance and relative direction) of the capture device 8 is determined based on the time interval Tp of Sp and the arrival direction of the pinger signal Sp. Here, the sonar 52 determines the relative distance of the capturing device 8 based on the time interval Tp of the Pinger signal Sp received from the acoustic device 56, and determines the relative distance of the capturing device 8 from the arrival direction of the Pinger signal Sp received from the acoustic device 56. Determine relative orientation.

  The sonar 52 enters the passive determination mode when the pinger signal Sp from the acoustic device 56 is not received by the sonar 52 (when the relative distance R2 corresponding to the time interval Tp of the pinger signal Sp falls below the reference distance Rth). Instead, the above-described active determination mode is executed. That is, when the relative distance R2 of the underwater vehicle 2 measured by the underwater acoustic positioning device 58 of the mother ship 14 is reduced to some extent, the acoustic device 56 automatically stops transmitting the pinger signal, and the underwater vehicle by the sonar 52 is used. The relative position determination of 2 is automatically switched from the passive determination mode to the active determination mode.

  During the execution of the active determination mode, the acoustic device 56 needs to detect the interrogation signal from the sonar 52 under a high noise environment near the stern of the mother ship 14. When the active determination mode is to be executed when the relative distance between the sonar 52 and the relative distance R2 is greater than the reference distance Rth, design constraints such as increasing the transmission level of the question signal by the sonar 52 are severe. Become. On the other hand, in the passive determination mode, the acoustic device 56 only needs to transmit a pinger sound unilaterally, and it is not necessary to detect the interrogation signal from the sonar 52 in a high noise environment near the stern of the mother ship 14.

  Therefore, as described above, when the relative distance R2 of the underwater vehicle 2 measured by the underwater acoustic positioning device 58 is equal to or greater than the reference distance Rth, the passive determination mode is executed, and the relative distance R2 falls below the reference distance Rth. By executing the active determination mode, the specification of the acoustic device 56 and the specification of the sonar 52 can be simplified. In addition, the initial guidance of the underwater vehicle 2 when the underwater vehicle 2 is far away from the mother ship 14 and the terminal guidance of the underwater vehicle 2 when the underwater vehicle 2 approaches the mother ship 14 are smooth. It can be realized by switching to.

  As described above, the cruise control unit 54 controls the guide rope 4 so as to guide the guide rope 4 to the predetermined position P based on the relative position of the capture device 8 determined by the sonar 52 in the active determination mode or the passive determination mode. The middle traveling body 2 is configured to perform cruise control. For this reason, compared with the system described in Patent Document 1 (system for remotely manipulating the manipulator and capturing the ring-shaped holding hardware in the underwater vehicle), the operator of the capturing device 8 is not required or captured. The work load on the remote operator of the device 8 can be reduced.

  The present invention is not limited to the above-described embodiments, and includes forms obtained by modifying the above-described embodiments and forms obtained by appropriately combining these forms.

2 Underwater vehicle 4 Guide rope 6 Buoy 7 Weight 8 Capture device 10 Suspension cable 12 Lifting device 14 Mother ship 16 Fixing mechanism 18 Guide mechanism 20 Holding mechanism 21 Retaining portion 22 First guide portion 23 First guide plate 24 Second Guide portion 25 Second guide plate 26 First structure 28 Second structure 30 Third structure 32 Structure assembly 33 Actuator 34 Stabilization blade 36 Vertical blade 38 Horizontal blade 44 Flap 46 First suspension cable 48 Second suspension Lower cable 50 Underwater camera 52 Sonar 54 Navigation control unit 56 Acoustic device 58 Underwater acoustic positioning device 100 Underwater vehicle acquisition system

Claims (18)

An underwater vehicle collection system for collecting an underwater vehicle capable of navigating in water to a mother ship,
A guide rope connected to the underwater vehicle,
A buoy or weight capable of imparting a tension having a vertical component to the guide rope in a state where the underwater vehicle is traveling underwater;
A capture device for capturing the guide rope;
At least one suspension cable for suspending the capture device from the mother ship;
A hoisting device installed on the mother ship and for hoisting the at least one suspension cable;
With
The capture device is an underwater vehicle lifting system including a guide mechanism for guiding the guide rope to a predetermined position. A fixing mechanism for fixing the buoy or the weight to the surface or inside of the underwater vehicle,
2. The underwater vehicle landing system according to claim 1, wherein the fixing mechanism is configured to be able to release a state in which the buoy or the weight is fixed to the surface or the inside of the underwater vehicle.   3. The underwater vehicle lifting system according to claim 1, comprising the buoy capable of applying a tension having a vertical component to the guide rope in a state where the underwater vehicle is traveling underwater.   3. The underwater vehicle landing system according to claim 1, further comprising the weight capable of imparting a tension having a vertical component to the guide rope in a state where the underwater vehicle is traveling underwater.   5. The underwater navigation according to claim 4, wherein the at least one suspension cable includes a first suspension cable and a second suspension cable that extend at a distance from each other so as not to interfere with the underwater vehicle. Run-up system.   The underwater vehicle lifting system according to any one of claims 1 to 5, wherein the capturing device includes at least one stabilizing wing for stabilizing the posture of the capturing device.   The underwater vehicle lifting system according to any one of claims 1 to 6, wherein the capture device further includes a holding mechanism for holding the guide rope guided by the guide mechanism at the predetermined position.   The holding mechanism has a retaining portion for preventing the guide rope from slipping out from the predetermined position, and the retaining portion is a direction in which the guide rope enters from the guide mechanism side to the predetermined position side. The underwater vehicle lifting system according to claim 6 or 7, wherein the rigidity with respect to the force of the underwater vehicle is smaller than the rigidity with respect to the force in the pull-out direction of the guide rope from the predetermined position side to the guide mechanism side. The holding mechanism is
A retaining portion for preventing the guide rope from slipping out of the predetermined position;
In order to move the retaining portion to an allowable position that allows the guide rope guided by the guide mechanism to enter the predetermined position, and a prohibited position that prohibits the guide rope from slipping out of the predetermined position. Actuators,
The underwater vehicle lifting system according to claim 6 or 7.   The underwater vehicle acquisition system according to any one of claims 7 to 9, wherein the capture device includes an underwater camera for photographing the predetermined position. The guide mechanism includes a first guide part and a second guide part that is spaced from the first guide part, and the distance between the first guide part and the second guide part is The underwater vehicle lifting system according to any one of claims 7 to 10, which decreases as the position approaches a predetermined position. The capture device includes a first structure, a second structure arranged in parallel to the first structure at a distance from each other, and a third structure that connects the first structure and the second structure. A structure assembly having an object,
The first guide part and the second guide part are respectively disposed between the first structure and the second structure,
The predetermined position exists between the first structure and the second structure,
The underwater vehicle according to any one of claims 7 to 11, wherein each of the first guide portion and the second guide portion is provided on a side opposite to the third structure with respect to the predetermined position. Lifting system.   The at least one suspension cable is connected to the structure assembly on the first structure side with respect to the predetermined position, and on the second structure side with respect to the predetermined position. The underwater vehicle landing system according to claim 12, further comprising a second suspension cable connected to the structure assembly.   The underwater vehicle lifting system according to claim 12 or 13, wherein each of the first structure and the second structure has at least one stabilizing wing for stabilizing the posture of the capturing device.   The underwater vehicle acquisition system according to any one of claims 12 to 14, wherein each of the first structure and the second structure has a flap for adjusting lift acting on the capture device. A sonar provided in the underwater vehicle, and a cruise control unit provided in the underwater vehicle and configured to perform cruise control of the underwater vehicle,
The sonar is configured to be able to execute an active determination mode for determining a relative position of the capture device while transmitting a question signal,
The capture device includes an acoustic device configured to emit a response signal when detecting the interrogation signal from the sonar;
The sonar is configured to determine a relative position of the capture device based on a transmission timing of the interrogation signal, an arrival timing of the response signal from the acoustic device, and an arrival direction of the response signal in the active determination mode. And
The cruise control unit performs cruise control of the underwater vehicle so as to guide the guide rope to the predetermined position of the capture device based on the relative position of the capture device determined by the sonar. The underwater vehicle lifting system according to any one of claims 7 to 15, which is configured.   The underwater vehicle lifting system according to claim 16, wherein a frequency band of the response signal transmitted by the acoustic device is different from a frequency band of the interrogation signal transmitted by the sonar. An underwater acoustic positioning device provided in the mother ship and capable of measuring a relative distance of the underwater vehicle;
The underwater acoustic positioning device is configured to transmit information indicating the relative distance to the acoustic device;
The acoustic device is configured to transmit a pinger signal at a time interval corresponding to the relative distance when the relative distance in the information indicating the relative distance transmitted from the underwater acoustic positioning device is equal to or greater than the reference distance. And
The sonar determines the relative position of the capture device based on the time interval of the Pinger signal and the arrival direction of the Pinger signal when the relative distance corresponding to the time interval of the Pinger signal is equal to or greater than the reference distance. Configured to perform a passive determination mode of determining,
The sonar is configured to execute the active determination mode instead of the passive determination mode when the relative distance corresponding to the time interval of the Pinger signal is less than the reference distance. The underwater vehicle lifting system described in 1.

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