JP2019179474A - Post impact response method, post impact response device, and post impact response program for underwater vehicle - Google Patents

Abstract

To provide a post impact response method, post impact response device, and post impact response program for underwater vehicle capable of determining whether an underwater vehicle that has impacted with an obstacle has autonomously escaped from a state in which normal navigation is obstructed by the obstacle and returned to normal navigation.SOLUTION: An impact of an underwater vehicle 2 with an obstacle 3 is detected by acceleration detection means installed on the underwater vehicle 2 and/or other acceleration detection means. Attempts are made to move the underwater vehicle 2 in the direction of a target waypoint WPby moving parallel the underwater vehicle 2 to a space including an upward or horizontal direction from a detected impact point for a prescribed distance X_min or a prescribed time t. Avoidance of the underwater vehicle 2 from the obstacle 3 is determined by whether the underwater vehicle 2 has moved from the impact point by a certain distance ΔX_min after a certain time Δt.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a post-collision response method, a post-collision response device, and a post-collision response program for an underwater vehicle that travels in water and performs investigation work and the like.

Underwater exploration using an underwater vehicle such as AUV (Autonomous Underwater Vehicle) that autonomously sails in the water has been conducted. In underwater exploration using underwater vehicles, the accuracy of the survey improves as the underwater vehicle approaches the bottom. In addition, the survey area expands as the underwater vehicle moves faster. However, if the underwater vehicle is moved at high speed at low altitude, the risk of the underwater vehicle colliding with the bottom of the water increases.
In order to avoid collision with the bottom of the sea, the underwater vehicle autonomously secures the distance to the bottom of the water autonomously based on information from the lower sonar, or secures the altitude from the bottom of the water at a certain depth with a constant depth. ing. The underwater vehicle is equipped with a forward obstacle avoidance system for autonomously avoiding obstacles. The forward obstacle avoidance system moves the underwater vehicle at a higher altitude than the obstacle when an obstacle is detected in the traveling direction of the underwater vehicle using the lower sonar, forward sonar, laser or camera. Avoiding obstacles.
However, it is difficult to confirm all directions by the front obstacle avoidance system, and there is a blind spot. In addition, the underwater vehicle does not always go straight forward, and an obstacle may appear while the underwater vehicle is turning. In addition, the lower sonar, the front sonar, the laser, and the camera have no detection sensitivity for an obstacle at a very short distance. Therefore, it is difficult to reduce the possibility that the underwater vehicle will collide with an obstacle.
Also, when the underwater vehicle collides with an obstacle, especially when the collision site is near the bottom of the water, sufficient information for estimating the optimum behavior for leaving the underwater vehicle can be obtained from the sensor mounted on the underwater vehicle. It may not be possible.

FIG. 7 is a diagram illustrating a first example in a state where the underwater vehicle collides with an obstacle such as a reef.
In the underwater vehicle 502, a waypoint list including information on the latitude, longitude, and altitude (or depth) of the target waypoint to be passed is input.
When an obstacle 503 is not detected by a sensor such as a forward sonar, the underwater vehicle 502 moves forward toward the next target waypoint. If the sensor cannot detect the obstacle 503 even if it collides with the obstacle 503, both the underwater vehicle 502 and the survey mother ship 501 recognize that the underwater vehicle 502 is obstructed by the obstacle 503. Since this is not possible, the underwater vehicle 502 will continue to push the obstacle 503.
FIG. 7 shows a situation where the underwater vehicle 502 is about to move from the _first target waypoint WP ₁ to the second target waypoint WP ₂ . If the underwater vehicle 502 does not reach the _second target waypoint WP2 within the set time limit, the underwater vehicle 502 determines that an emergency has occurred and drops the ballast to raise the emergency. The survey is interrupted for a long time.

FIG. 8 is a diagram illustrating a second example in a state where the underwater vehicle collides with an obstacle such as a reef.
When the obstacle 503 such as a reef has an overhanging shape as shown in FIG. 8, even if the underwater vehicle 502 that has determined that an emergency has occurred, the underwater vehicle 502 drops the ballast and tries to ascend to the emergency. It is not possible to surface by hitting the overhanging part of the top. In addition, since the underwater acoustic signal is obstructed by the obstacle 503, communication and positioning from the survey mother ship 501 to the underwater vehicle 502 cannot be performed.

FIG. 9 is a diagram illustrating a third example in a state where the underwater vehicle collides with an obstacle such as a reef.
When the obstacle 503 is a rope with one end fixed to the bottom as shown in FIG. 9, the underwater vehicle 502 with which the rope is entangled continues to pull the rope at a constant power, and an emergency situation occurs when the time limit is reached. Judging that it occurred, he dropped the ballast and tried to ascend urgently. However, if the rope remains tangled, it will not be possible to ascend urgently.

Here, Patent Document 1 discloses that an autonomously controlled underwater vehicle that circulates each waypoint provided along a patrol route specifies the location of a waypoint in the order of following from one location to the target location. When an obstacle on the route is detected by the obstacle detection sonar equipped on the underwater vehicle, an emergency avoidance operation is performed to move the underwater vehicle in a direction without an obstacle. By adding a new waypoint to the underwater vehicle at the end of the lap after the next lap of the patrol route, underwater cruising An autonomous control method is disclosed in which a body is circulated without going over an obstacle by way of an added waypoint.
Further, Patent Document 2 relates to an automatic traveling toy, when the toy approaches or collides with an obstacle, regardless of the steering direction, after retreating a predetermined distance, the scheduled operation and steering again. An obstacle avoidance device for continuing is disclosed.
Japanese Patent Laid-Open No. 2004-133867 discloses necessary driving torque command element calculating means for calculating each element of the required driving torque command from at least one of a position command, a speed command, and an acceleration command, and among the position, speed, and acceleration. Required drive torque calculation means for calculating the required drive torque using at least one of at least one and each element of the required drive torque command, and threshold calculation for calculating the upper threshold value and the lower threshold value In a robot control device comprising: a means for determining a collision based on a required drive torque, an upper threshold value, a lower threshold value, and a current of a motor that drives each axis of the robot; It is disclosed that the upper threshold value and the lower threshold value are changed according to the jerk command, and that the robot is stopped or retracted from the collision object after the collision is determined.

JP 2011-34518 A JP-A-63-189189 JP 2003-25272 A

Patent Document 1 attempts to reduce the emergency avoidance operation of the underwater vehicle, and does not describe any avoidance behavior after the underwater vehicle collides with an obstacle.
In addition, since Patent Document 2 avoids an obstacle by retreating a certain distance in a predetermined direction when approaching or colliding with an obstacle, there is an obstacle behind and the object can be retreated a certain distance. If you can't, you can't avoid obstacles. Moreover, it aims at the collision avoidance at the time of land driving | running | working, and there is no description regarding the avoidance action after the collision underwater.
Patent Document 3 is intended to reduce the amount of calculation for collision discrimination for a working robot and perform collision discrimination with high accuracy, and there is no description regarding avoidance behavior after a collision in water.

  Therefore, the present invention can determine whether an underwater vehicle that has collided with an obstacle autonomously escapes from a state in which normal traveling is hindered by the obstacle, and returns to normal traveling. It is an object of the present invention to provide a post-collision response method, a post-collision response device, and a post-collision response program.

The after-collision response method for an underwater vehicle corresponding to claim 1 is a response method after a collision with an obstacle of an underwater vehicle traveling in water, and is mounted on the underwater vehicle. The detected acceleration detection means and / or jerk detection means detects the collision of the underwater vehicle with the obstacle, and the underwater vehicle is parallel to the space including the upward or horizontal direction from the collision point for a predetermined distance or predetermined time. It is made to move, it tries to move to the direction of a target waypoint, and avoidance from an obstruction is judged by whether or not it progressed more than a fixed distance after progress for a fixed time.
According to the first aspect of the present invention, the underwater vehicle can move upward or horizontally from the collision point to try to avoid the obstacle and move whether or not the avoidance is successful. It can be judged by the distance. Thereby, the underwater vehicle that has collided with the obstacle can autonomously escape from the state in which the normal navigation is hindered by the obstacle, and can return to the normal navigation.

According to the second aspect of the present invention, when it is determined that avoidance from the obstacle has been impossible, the predetermined distance or the predetermined time is changed, and the movement toward the target waypoint is attempted. The predetermined distance or the predetermined time is further changed until it is determined that it has been determined, and the attempt to move in the direction toward the target waypoint is repeated.
According to the present invention as set forth in claim 2, the underwater vehicle increases the possibility of leaving because the underwater vehicle tries to avoid repeatedly by changing the avoidance behavior when the obstacle cannot be avoided by some avoidance behavior. Can do.

The present invention according to claim 3 is characterized in that a random value is used as the predetermined distance or the predetermined time to be changed.
According to the third aspect of the present invention, since chance can be attempted by taking randomness into the avoidance behavior of the underwater vehicle, it is possible to effectively increase the possibility of leaving.

The present invention according to claim 4 is characterized in that after retreating from the collision point, it is translated for a predetermined distance or for a predetermined time.
According to the present invention as set forth in claim 4, by retreating once in the original direction that has been sailing until now, the underwater vehicle is first moved away from the obstacle to the rear, so that it is separated by parallel movement. The possibility can be increased.

The underwater collision vehicle post-collision response method according to claim 5 is a response method after an underwater vehicle traveling in the water collides with an obstacle, and is mounted on the underwater vehicle. The detected acceleration detection means and / or jerk detection means detects a collision of the underwater vehicle with an obstacle, turns the underwater vehicle at a predetermined angle, and tries to move in the direction of the target waypoint. It is characterized in that avoidance from an obstacle is determined based on whether or not the vehicle travels a certain distance or more after a certain time has elapsed.
According to the fifth aspect of the present invention, the underwater vehicle can turn around at the collision point to try to avoid the obstacle, and determine whether or not the avoidance is successful based on the moving distance. it can. Thereby, the underwater vehicle that has collided with the obstacle can autonomously escape from the state in which the normal navigation is hindered by the obstacle, and can return to the normal navigation.

According to the sixth aspect of the present invention, when it is determined that the obstacle cannot be avoided, the predetermined angle is changed, the movement to the target waypoint is attempted, and it is determined that the avoidance has been performed thereafter. The predetermined angle is further changed until an attempt to move in the direction toward the target waypoint is repeated.
According to the present invention described in claim 6, the underwater vehicle increases the possibility of leaving because the avoidance behavior is changed differently when the obstacle cannot be avoided depending on a certain avoidance behavior. Can do.

The present invention according to claim 7 is characterized in that a random value is used as the predetermined angle to be changed.
According to the seventh aspect of the present invention, since randomness can be taken into the avoidance behavior of the underwater vehicle and accidental departure can be attempted, the possibility of leaving can be effectively increased.

The present invention according to claim 8 is characterized in that the head is turned by a predetermined angle after retreating from the collision point.
According to the present invention as set forth in claim 8, it is possible to leave the underwater vehicle by moving backward from the obstacle first by retreating in the original direction where it has traveled so far. Can increase the sex.

The present invention according to claim 9 is provided when the underwater collision object handling method according to any one of claims 1 to 4 cannot be avoided from an obstacle even if the after-crash handling method is performed. The method according to any one of claims 5 to 8 is performed after the collision of the underwater vehicle and / or the thrust of the underwater vehicle is increased.
According to the present invention as set forth in claim 9, when the underwater vehicle is unable to avoid an obstacle by parallel movement, it tries to avoid again by performing at least one of turning and thrust increase. The possibility of withdrawal can be increased.

An after-collision response device for an underwater vehicle corresponding to claim 10 is a response device after a collision with an obstacle of an underwater vehicle traveling in water, the underwater navigation to an obstacle The acceleration detection means and / or jerk detection means mounted on the underwater vehicle that detects the collision of the runner and the underwater vehicle in parallel to the space including the upward or horizontal direction from the collision point for a predetermined distance or a predetermined time. Parallel movement means for moving, movement control means for trying to move in the direction toward the target waypoint, and avoidance determination means for determining avoidance from an obstacle based on whether or not the vehicle has traveled a certain distance after a certain time has elapsed It is characterized by that.
According to the present invention as set forth in claim 10, the underwater vehicle can move upward or horizontally from the collision point to try to avoid the obstacle and move whether or not the avoidance is successful. It can be judged by the distance. Thereby, the underwater vehicle that has collided with the obstacle can autonomously escape from the state in which the normal navigation is hindered by the obstacle, and can return to the normal navigation.

The present invention according to claim 11 is provided with a turning means for turning the underwater vehicle at a collision point by a predetermined angle, and attempts to move in the direction of the target waypoint, and whether or not a certain distance has elapsed after a certain time has passed. The avoidance determination means determines avoidance from an obstacle.
According to the present invention described in claim 11, the underwater vehicle can turn around at the collision point and try to avoid the obstacle.

The present invention according to claim 12 attempts to move in the direction toward the target waypoint by changing the predetermined distance, the predetermined time, or the predetermined angle when it is determined that the obstacle cannot be avoided. Until it is determined that a predetermined distance, a predetermined time, or a predetermined angle is further changed, and a repeating unit that repeats an attempt to move in the direction toward the target waypoint is provided.
According to the present invention as set forth in claim 12, since the underwater vehicle makes repeated avoidance actions by changing the avoidance action when an obstacle cannot be avoided by some avoidance action, the possibility of leaving is increased. Can do.

According to a thirteenth aspect of the present invention, there is provided random value generation means for generating a random value of a predetermined distance or a predetermined time to be changed or a predetermined angle.
According to the present invention as set forth in claim 13, since randomness can be taken into the avoidance behavior of the underwater vehicle and accidental departure can be attempted, the possibility of leaving can be effectively increased.

The present invention according to claim 14 is characterized by comprising a retreat means for temporarily retreating from the collision point.
According to the present invention as set forth in claim 14, by moving backward in the original direction which has been sailing until now, first moving the underwater vehicle backward from the obstacle, The possibility of withdrawal due to can be increased.

The invention described in claim 15 is characterized in that the acceleration detection means and / or the jerk detection means share a navigation sensor used for navigation of the underwater vehicle.
According to the present invention described in claim 15, since it is possible to detect the collision of the underwater vehicle with the obstacle using the navigation sensor, it is necessary to separately provide acceleration detection means and jerk detection means. No.

The present invention described in claim 16 is characterized in that the navigation sensor is an inertial navigation device or a Doppler sonar.
According to the sixteenth aspect of the present invention, it is possible to detect a collision of an underwater vehicle with an obstacle using an inertial navigation device or a Doppler sonar.

A post-collision response program for an underwater vehicle corresponding to the description in claim 17 is a response program after a collision with an obstacle of an underwater vehicle that travels in water. A collision detection step for receiving a signal of acceleration detection means and / or jerk detection means mounted on the underwater vehicle for detecting a collision of the underwater vehicle and underwater navigation in a space including the upward or horizontal direction from the collision point A translation step that translates the body for a predetermined distance or a predetermined time, a movement control step that attempts to move in the direction to the target waypoint, and avoidance from obstacles depending on whether or not the vehicle has traveled a certain distance after a certain time. An avoidance determination step for determining is executed.
According to the present invention as set forth in claim 17, the underwater vehicle can move upward or horizontally from the collision point to try to avoid the obstacle and move whether or not the avoidance is successful. It can be judged by the distance. Thereby, the underwater vehicle that has collided with the obstacle can autonomously escape from the state in which the normal navigation is hindered by the obstacle, and can return to the normal navigation.

The present invention according to claim 18 further includes a turning step of turning the underwater vehicle at a collision point by a predetermined angle, and attempts to move in the direction of the target waypoint, and whether or not the vehicle has traveled a certain distance or more after a certain time has passed. Thus, avoidance from an obstacle is determined in an avoidance determination step.
According to the present invention as set forth in claim 18, the underwater vehicle can turn around at the collision point and attempt to avoid the obstacle.

The present invention according to claim 19 attempts to move in a direction toward the target waypoint by changing a predetermined distance or a predetermined time or a predetermined angle when avoidance from an obstacle is denied in the avoidance determination step. It is further characterized by further comprising a step of repeating the trial of moving in the direction toward the target waypoint by further changing the predetermined distance, the predetermined time, or the predetermined angle until it is determined that the avoidance has been performed.
According to the present invention as set forth in claim 19, since the underwater vehicle makes repeated avoidance by changing the avoidance behavior when the obstacle cannot be avoided by some avoidance behavior, the possibility of leaving is increased. Can do.

The present invention according to claim 20 further comprises a random value generating step for generating a random value of a predetermined distance or a predetermined time to be changed or a predetermined angle.
According to the present invention as set forth in claim 20, since randomness can be taken into the avoidance behavior of the underwater vehicle and accidental departure can be attempted, the possibility of leaving can be effectively increased.

  According to the post-collision handling method of the underwater vehicle of the present invention, the underwater vehicle can move upward or horizontally from the collision point and attempt to avoid the obstacle, and has the avoidance been successful? Whether or not can be determined by the moving distance. Thereby, the underwater vehicle that has collided with the obstacle can autonomously escape from the state in which the normal navigation is hindered by the obstacle, and can return to the normal navigation.

  In addition, when it is determined that avoidance from the obstacle has been impossible, the predetermined distance or the predetermined time is changed, the movement toward the target waypoint is attempted, and thereafter, until it is determined that the avoidance is performed, If the distance or the predetermined time is further changed and the attempt to move in the direction toward the target waypoint is repeated, the underwater vehicle will change its avoidance behavior if an obstacle cannot be avoided by some avoidance behavior. Therefore, it is possible to increase the possibility of withdrawal because repeated avoidance is attempted.

  In addition, when using a random value as the predetermined distance or time to be changed, it is possible to attempt random departure by incorporating randomness into the underwater vehicle avoidance behavior, thus effectively increasing the possibility of departure. Can do.

  In addition, when moving backward from the collision point and then moving in parallel for a predetermined distance or time, first move backward from the obstacle in the original direction, so that the underwater vehicle first moves from the obstacle. By separating the rearward, the possibility of separation by parallel movement can be increased.

  In addition, according to the post-collision handling method of the underwater vehicle of the present invention, the underwater vehicle can turn around at the collision point and try to avoid the obstacle, and move whether the avoidance is successful or not. It can be judged by the distance. Thereby, the underwater vehicle that has collided with the obstacle can autonomously escape from the state in which the normal navigation is hindered by the obstacle, and can return to the normal navigation.

  Further, when it is determined that avoidance from the obstacle has been impossible, the predetermined angle is changed and the movement to the direction of the target waypoint is attempted. Thereafter, the predetermined angle is further increased until it is determined that the avoidance has been performed. If you change and repeat attempts to move in the direction of the target waypoint, the underwater vehicle will try to avoid it by changing the avoidance behavior if some obstacles cannot be avoided. Therefore, the possibility of detachment can be increased.

  Further, when a random value is used as the predetermined angle to be changed, randomness can be taken into the avoidance behavior of the underwater vehicle, and accidental departure can be attempted, so the possibility of leaving can be effectively increased.

  Also, when turning the vehicle at a predetermined angle after retreating from the collision point, first move the underwater vehicle away from the obstacles by retreating in the original direction that has been sailing until now. Thus, the possibility of withdrawal due to the turn can be increased.

  Further, according to the post-collision response method of the underwater vehicle of the present invention, the underwater vehicle performs at least one of turning and thrust increase when obstacles cannot be avoided by parallel movement. Since evasion is attempted again, the possibility of withdrawal can be increased.

  Further, according to the post-collision response device for an underwater vehicle of the present invention, the underwater vehicle can move upward or horizontally from the collision point and attempt to avoid the obstacle, and the avoidance is successful. It can be determined from the distance traveled. Thereby, the underwater vehicle that has collided with the obstacle can autonomously escape from the state in which the normal navigation is hindered by the obstacle, and can return to the normal navigation.

  In addition, it is equipped with a turning means to turn the underwater vehicle at a predetermined angle at the collision point, trying to move in the direction of the target waypoint, and avoiding obstacles depending on whether or not it has traveled a certain distance after a certain time When judging by the judging means, the underwater vehicle can turn around at the collision point and try to avoid the obstacle.

  In addition, when it is determined that avoidance from the obstacle cannot be made, the predetermined distance, the predetermined time, or the predetermined angle is changed, the movement toward the target waypoint is attempted, and thereafter it is determined that the avoidance has been performed. Until a predetermined distance, a predetermined time, or a predetermined angle is further changed, and an underwater vehicle is provided with an obstacle depending on a certain avoidance action, if it is provided with repeated means for repeatedly trying to move in the direction toward the target waypoint. When it is not possible to avoid the situation, the avoidance action is varied and repeated avoidance is attempted, so that the possibility of withdrawal can be increased.

  In addition, if a random value generating means for generating a random value of a predetermined distance or a predetermined time or a predetermined angle to be changed is provided, random departure can be taken into the avoidance behavior of the underwater vehicle and an accidental departure can be attempted. Therefore, the possibility of detachment can be effectively increased.

  In addition, if the vehicle is equipped with a retraction means for retreating once from the collision point, it is possible to first move the underwater vehicle away from the obstacles by retreating in the original direction where it has traveled until now. The possibility of detachment due to parallel movement or turning can be increased.

  When the acceleration detection means and / or the jerk detection means share a navigation sensor used for navigation of the underwater vehicle, the underwater vehicle collides with an obstacle using the navigation sensor. Therefore, it is not necessary to separately provide acceleration detection means and jerk detection means.

  Further, when the navigation sensor is an inertial navigation device or a Doppler sonar, it is possible to detect a collision of the underwater vehicle with an obstacle using the inertial navigation device or the Doppler sonar.

  In addition, according to the post-collision response program for an underwater vehicle of the present invention, the underwater vehicle can move upward or horizontally from the collision point and attempt to avoid an obstacle, and the avoidance is successful. It can be determined from the distance traveled. Thereby, the underwater vehicle that has collided with the obstacle can autonomously escape from the state in which the normal navigation is hindered by the obstacle, and can return to the normal navigation.

  It also has a turning step that turns the underwater vehicle at a predetermined angle at the collision point, attempts to move in the direction of the target waypoint, and avoids obstacles depending on whether it has traveled a certain distance after a certain time. When determining in the avoidance determination step, the underwater vehicle can turn around at the collision point and try to avoid the obstacle.

  In addition, when avoidance from an obstacle is denied in the avoidance determination step, the predetermined distance, the predetermined time, or the predetermined angle is changed, an attempt is made to move in the direction toward the target waypoint, and it is determined that the avoidance has been performed thereafter. Until a predetermined distance, a predetermined time, or a predetermined angle is further changed, and the step of repeating the movement in the direction toward the target waypoint is further included, the underwater vehicle may When the obstacle cannot be avoided, the avoidance action is varied and repeated avoidance is attempted, so that the possibility of withdrawal can be increased.

  In addition, if it is further provided with a random value generation step for generating a random value for a predetermined distance or a predetermined time or a predetermined angle to be changed, random departure may be taken into the avoidance behavior of the underwater vehicle and accidental departure may be attempted. Therefore, the possibility of withdrawal can be effectively increased.

Schematic showing underwater exploration using an underwater vehicle according to an embodiment of the present invention. Configuration diagram of the after-collision device for the underwater vehicle Flow diagram of how to handle the underwater vehicle after a collision The block diagram of the after-collision response apparatus of the underwater vehicle according to another embodiment of the present invention Flow diagram of how to handle the underwater vehicle after a collision Flow diagram of how to handle the underwater vehicle after a collision The figure which shows the 1st example of the state where the underwater vehicle collides with obstacles such as reefs The figure which shows the 2nd example of the state where the underwater vehicle collides with obstacles such as reefs The figure which shows the 3rd example of the state where the underwater vehicle collides with obstacles such as reefs

Hereinafter, an after-collision response method, an after-collision response device, and an after-collision response program for an underwater vehicle according to an embodiment of the present invention will be described.
FIG. 1 is a schematic diagram illustrating underwater exploration using an underwater vehicle according to an embodiment of the present invention.
FIG. 1 shows a state in which an underwater vehicle 2 is introduced from a survey mother ship 1 into a survey water area in the ocean, a lake, or the like, and survey work such as mineral resources and energy resources at the bottom of the water is performed. The underwater vehicle 2 is loaded on the survey mother ship 1 and transported to the survey water area. The underwater vehicle 2 may be singular or plural.
In the underwater vehicle 2, a waypoint list including information on the latitude, longitude, and altitude (or depth) of the target waypoint to be passed by the operator before being input from the survey mother ship 1 is input.
The survey mother ship 1 controls the underwater vehicle 2 that conducts survey work and the like underwater. The survey mother ship 1 is provided with mother ship side communication means 11 used for two-way communication with acoustic signals with the underwater vehicle 2 and acoustic positioning means 12 that emits signals toward the underwater vehicle 2.
The underwater vehicle 2 is a robot that autonomously travels unattended and searchlessly. The underwater vehicle 2 responds to signals transmitted from the navigation vehicle side communication means 21 used for two-way communication with the mother ship side communication means 11 of the survey mother ship 1 and the acoustic positioning means 12 of the survey mother ship 1. An acoustic transponder 22 that responds, a navigation sensor 23 that is used to measure the position of the aircraft, a forward sonar 24 directed forward, a downward sonar 25 directed downward, and a mass to the underwater vehicle 2 A ballast 26 to be added and an after-collision response device 30 for controlling the underwater vehicle 2 that has collided with the obstacle 3 to be separated from the obstacle 3 are provided.
The underwater vehicle 2 enters the survey mother ship 1 and then submerses (descends) autonomously toward the first target waypoint WP ₁ . When the underwater vehicle 2 is submerged, radio waves between the survey mother ship 1 and the underwater vehicle 2 are blocked by water. For this reason, information communication between the survey mother ship 1 and the underwater vehicle 2 is performed by underwater acoustic communication when the underwater vehicle 2 is underwater. Communication may not be established depending on the noise situation around the survey mother ship 1 and the underwater vehicle 2. When the underwater vehicle 2 moves underwater, the positioning of the underwater vehicle 2 is switched from the GPS measurement to the navigation sensor 23 positioning. The navigation sensor 23 is an inertial navigation device (hereinafter referred to as “INS”) that performs positioning and the like based on the measurement results of various underwater sensors such as an accelerometer and a gyro.
From the survey mother ship 1, the underwater position of the underwater vehicle 2 on which the acoustic transponder 22 is mounted can be determined by underwater acoustic USBL positioning by the acoustic positioning means 12. Moreover, the positioning result can be transmitted to the underwater vehicle 2 or a simple command can be transmitted by underwater acoustic communication using the underwater acoustic communication device 11. Note that positioning and communication may not be established depending on the positional relationship between the survey mother ship 1 and the underwater vehicle 2 or the noise conditions around the survey mother boat 1 and the underwater vehicle 2.

Underwater vehicle 2 reaches the first target waypoint WP _1, moving towards the second target waypoint WP _2, performs water bottom surveys sensor. Underwater vehicle 2, the second to reach the target waypoint WP _2, while similarly sailing beyond the third target waypoint (not shown), performs water bottom surveys along the planned survey line. After passing through all target waypoints, the underwater vehicle 2 drops the ballast 26 and ascends toward the water surface.

The underwater vehicle 2 autonomously secures a constant distance to the bottom of the water based on distance information from the lower sonar 25 to the bottom of the water in order to avoid collision with the bottom of the water. In addition, the depth from the bottom of the water can be secured at a certain level by keeping the depth of the underwater vehicle 2 constant. Further, when the underwater vehicle 2 detects the obstacle 3 in the traveling direction by the forward sonar 24, the underwater vehicle 2 autonomously moves to a higher altitude than the obstacle 3 to avoid the obstacle 3.
When the underwater vehicle 2 determines that the emergency cannot be resolved autonomously or receives an emergency ascent command from the survey mother ship 1 through underwater acoustic communication, the underwater vehicle 2 stops the thruster and turns the ballast 26 on. Can be dropped and emerged urgently.

  FIG. 2 is a configuration diagram of the after-collision response device for an underwater vehicle according to the present embodiment. FIG. 3 is a flowchart of the after-collision handling method for the underwater vehicle according to the present embodiment.

The post-collision response device 30 causes the underwater vehicle 2 to perform a separation action from the obstacle 3 when the underwater vehicle 2 collides with the obstacle 3.
The after-collision response device 30 includes a collision determination unit 40, a predetermined value determination unit 50, a parallel movement unit 60, a turning unit 70, a movement control unit 80, an avoidance determination unit 90, a repetition unit 100, a random value. The generator 110, the retracting unit 120, and the thrust changing unit 130 are provided.

The collision determination unit 40 acquires the acceleration α of the underwater vehicle 2 from the acceleration detection unit 41, and acquires the jerk j of the underwater vehicle 2 from the jerk detection unit 42. The acceleration detecting means 41 and the jerk detecting means 42 share the navigation sensor 23 used for navigation of the underwater vehicle 2. For this reason, it is not necessary to provide the acceleration detection means 40 and the jerk detection means 41 separately.
Although the navigation sensor 23 in the present embodiment is an INS, a Doppler sonar can be used instead of the INS.
The collision determination means 40 monitors the acceleration α of the underwater vehicle 2 detected by the acceleration detection means 41 and the jerk j of the underwater vehicle 2 detected by the jerk detection means 42, and detects the acceleration α or acceleration. When the acceleration j exceeds a threshold value (particularly a negative threshold value), it is determined that the underwater vehicle 2 has collided with some obstacle 3.

The predetermined value determining means 50 determines a predetermined value as a moving target when the underwater vehicle 2 that collides with the obstacle 3 is avoided from the obstacle 3. The predetermined value determining unit 50 includes a predetermined distance determining unit 51, a predetermined time determining unit 52, and a predetermined angle determining unit 53.
The predetermined distance determining unit 51 determines a predetermined distance X_min that is a target distance when the underwater vehicle 2 is moved upward or horizontally from the collision point where the underwater vehicle 2 collides with the obstacle 3.
The predetermined time determination unit 52 determines a predetermined time t that is a target time when the underwater vehicle 2 is moved upward or horizontally from the collision point.
The predetermined angle determination unit 53 determines a predetermined angle Δθ that is a target angle when the underwater vehicle 2 is turned from the collision point.

The parallel moving means 60 includes a horizontal moving unit 61 that moves the underwater vehicle 2 in the horizontal direction and a vertical moving unit 62 that moves the underwater vehicle 2 in the vertical direction. By using the horizontal moving unit 61 and the vertical moving unit 62 at the same time, the underwater vehicle 2 can be moved in an oblique direction.
In accordance with the predetermined value determined by the predetermined value determining unit 50, the parallel moving unit 60 moves the underwater vehicle 2 from the collision point to a space including an upward direction or a horizontal direction for a predetermined distance X_min or a predetermined time t, and the underwater vehicle 2 Translate without changing the orientation of.

  The turning means 70 turns the underwater vehicle 2 by a predetermined angle Δθ at the collision point according to the predetermined value determined by the predetermined value determining means 50.

The movement control means 80 moves the underwater vehicle 2 that has been translated from the collision point upward or horizontally by a predetermined distance X_min or a predetermined time t, or the underwater vehicle 2 that has turned a predetermined angle Δθ at the collision point to the next target. It attempts to move in the direction of the waypoint WP _n.

Avoidance determining unit 90 checks the displacement ΔX from the movement start position before X by INS, underwater vehicle 2 after a predetermined time Δt has elapsed from the start of the movement attempt in the direction of the next target waypoint WP _n The avoidance from the obstacle 3 is determined based on whether or not the underwater vehicle 2 has traveled a certain distance ΔX_min or more. Thereby, the success or failure of avoidance can be determined by the movement distance.
An object of the present invention is that the underwater vehicle 2 that has collided with the obstacle 3 autonomously leaves the collision site and returns to normal traveling. For this reason, the position X is used as a parameter for determination of departure, not the speed v, acceleration α, and jerk j of the underwater vehicle 2.

The repeating unit 100 includes a predetermined distance changing unit 101, a predetermined time changing unit 102, a predetermined angle changing unit 103, and a predetermined value change number setting unit 104.
The predetermined distance changing unit 101 changes the predetermined distance X_min. The predetermined time changing unit 102 changes the predetermined time t. The predetermined angle changing unit 103 changes the predetermined angle Δθ. The predetermined value change count setting unit 104 performs the change count for each of the predetermined distance X_min changed by the predetermined distance change unit 101, the predetermined time t changed by the predetermined time change unit 102, and the predetermined angle Δθ changed by the predetermined angle change unit 103. Set the upper limit of.
When the avoidance determination unit 90 determines that the avoidance from the obstacle 3 has not been avoided, the repetition unit 100 changes the predetermined distance X_min, the predetermined time t, or the predetermined angle Δθ, and the next target waypoint WP _The predetermined distance X_min, the predetermined time t, or the predetermined angle Δθ is further changed until it is determined that the avoidance has been performed, and the movement in the direction of the next target waypoint WP _n is performed. Repeat the attempt.

  The random value generator 110 generates random values for each of the predetermined distance X_min changed by the predetermined distance changing unit 101, the predetermined time t changed by the predetermined time changing unit 102, and the predetermined angle Δθ changed by the predetermined angle changing unit 103. To do.

The reverse means 120 has traveled the underwater vehicle 2 from the collision point until the underwater vehicle 2 moves in parallel from the collision point or before the underwater vehicle 2 turns around at the collision point. Retract once in the original direction. It should be noted that the original direction that has traveled so far may be a direction within 45 degrees on one side that can be regarded as the same direction, even if it is not exactly the same direction.
The thrust changing means 130 increases or decreases the thrust of the underwater vehicle 2.

  The post-collision response device 30 is controlled by a program executed by a computer (not shown). The flow after the collision will be described with reference to FIG.

The collision determination unit 40 receives the signal from the acceleration detection unit 41 that detects the acceleration α of the underwater vehicle 2 and the signal from the jerk detection unit 42 that detects the jerk j of the underwater vehicle 2, and accelerates the acceleration. If α or jerk j exceeds a threshold value (particularly a negative threshold value), it is determined that the underwater vehicle 2 has collided with some obstacle 3 (collision detection step S1).
The underwater vehicle 2 informs the survey mother ship 1 by acoustic communication that a collision with the obstacle 3 has been detected, and waits for a command from the survey mother ship 1 for a certain period of time. If there is a command from the survey mother ship 1, it will follow the command.
If there is no command from the survey mother ship 1 within a certain time, or if a command to try to leave the collision site autonomously is received from the survey mother ship 1, the underwater vehicle 2 performs the following steps: Try to leave the collision site by executing. If the departure is successful, return to normal sailing and conduct a bottom survey along the planned line.

After the collision detection step S1, the retreat means 120 temporarily retracts the underwater vehicle 2 from the collision point (retreat step S2 before parallel movement).
Before the parallel movement, the underwater vehicle 2 may be moved backward from the obstacle 3 by retreating it in the original direction, and may be disengaged by the subsequent avoidance action. Can be increased.

  After the reverse step 2, the predetermined value determining means 50 determines the predetermined distance X_min by the predetermined distance determining unit 51 or the predetermined time t by the predetermined time determining unit 52 (predetermined value determining step S3 for parallel movement). .

After the predetermined value determining step S3, the parallel moving means 60 translates the underwater vehicle 2 upward or horizontally from the collision point without changing the orientation of the underwater vehicle 2 for a predetermined distance X_min or a predetermined time t. (Translation step S4).
By moving the underwater vehicle 2 upward or horizontally from the collision point, it is possible to avoid the obstacle 3.
In addition, the direction (upward direction or horizontal direction) to which the underwater vehicle 2 is translated can be arbitrarily set.

After translation step S4, movement control means 80 attempts to move in the direction to the next target waypoint WP _n (movement control step S5 after translation).

After the movement control step S5, avoidance judging means 90 checks the displacement ΔX from the movement start position before X by INS, underwater vehicle 2 starts moving attempt in the direction of the next target waypoint WP _n After a certain time Δt has elapsed, the avoidance from the obstacle 3 is determined based on whether or not the vehicle has traveled a certain distance ΔX_min or more (avoidance determination step S6 after translation).

In the avoidance determination step S6, the avoidance determination means 90 affirms avoidance from the obstacle 3 when it is determined that the underwater vehicle 2 has traveled a certain distance ΔX_min or more.
If the avoidance from the obstacle 3 is affirmed, the underwater vehicle 2 finishes the response after the collision and returns to normal traveling.

In the avoidance determination step S6, the avoidance determination unit 90 denies avoidance from the obstacle 3 when it is determined that the underwater vehicle 2 has not traveled the predetermined distance ΔX_min or more.
When the avoidance from the obstacle 3 is denied, the repeating unit 100 determines whether or not the number of times the predetermined distance X_min or the predetermined time t is changed reaches the upper limit set in the predetermined value change number setting unit 104. Is determined (step S7 for determining the number of changes such as the predetermined distance).

  When it is determined in the change count determination step S7 that the change count has not reached the upper limit, the random value generating means 110 generates a random value for a predetermined distance X_min or a predetermined time t (random value generation such as a predetermined distance). Step S8).

After the random value generation step S8, the predetermined distance changing unit 101 or the predetermined time changing unit 102 of the repeating unit 100 changes the predetermined distance X_min or the predetermined time t using the random value generated by the random value generating unit 110, and the parallel value is changed. Return to move step S4. Then underwater vehicle 2 moves in parallel upward or horizontally in accordance with a predetermined distance X_min or a predetermined time t after the change (translation step S4), and attempts to move in the direction to the next target waypoint WP _n ( Movement control step S5), avoidance determination is performed (avoidance determination step S6). Thereafter, the predetermined distance X_min or the predetermined time t is further changed until the avoidance is affirmed in the avoidance determination step S6 or the change count is determined to have reached the upper limit in the change count determination step S7. The process is repeated (repeated step S9).
In this way, the underwater vehicle 2 repeats an attempt to move in the direction of the next target waypoint WP _n while changing the avoidance behavior when the obstacle 3 cannot be avoided by some avoidance behavior. The possibility of withdrawal can be increased.
Further, the predetermined distance X_min or the predetermined time t changed by the repeating unit 100 can be changed at a constant rate, but is changed using a random value generated by the random value generating unit 110 as in the present embodiment. Is preferred. When only one action pattern is set for the underwater vehicle 2 to try to leave the collision object 3, the same action is repeated if the underwater vehicle 2 does not succeed in the action pattern, and the underwater vehicle 2 collides. The navigation remains blocked by the object 3. When many action patterns that attempt to leave are set, it is possible to increase the possibility of leaving, but it takes a lot of trouble to set many action patterns in advance. Therefore, in the present embodiment, randomness is incorporated into the avoidance behavior of the underwater vehicle 2 by using a random value when changing the predetermined distance X_min or the predetermined time t. As a result, the underwater vehicle 2 can perform accidental departures every time the predetermined distance X_min or the predetermined time t is changed, thereby making it possible to effectively increase the possibility of leaving.

If it is determined in the change count determination step S7 that the change count has reached the upper limit, the process proceeds to a phase in which the underwater vehicle 2 is turned. If it is not possible to leave even after a predetermined number of parallel movements, the possibility of leaving can be increased by trying other actions.
The retreat means 120 temporarily retracts the underwater vehicle 2 (retreat step S10 before turning).
Before the underwater vehicle 2 is turned around, the underwater vehicle 2 is moved backward from the obstacle 3 by moving the underwater vehicle 2 backward in the original direction where it has been sailed. It is possible to increase the possibility of withdrawal due to avoidance behavior.

  After the reverse step S10, the predetermined value determining means 50 determines the predetermined angle Δθ by the predetermined angle determining unit 53 (the predetermined value determining step S11 for turning).

After the predetermined value determining step S11, the turning means 70 turns the underwater vehicle 2 by a predetermined angle Δθ (turning step S12).
By turning the underwater vehicle 2 around, it is possible to avoid the obstacle 3.

After turning round step S12, the movement control unit 80 attempts to move in the direction to the next target waypoint WP _n (movement control step S13 after stem turning).

After the movement control step S13, the avoidance judging section 90 checks the displacement ΔX from the movement start position before X by INS, underwater vehicle 2 starts moving attempt in the direction of the next target waypoint WP _n After a certain time Δt has elapsed, the avoidance from the obstacle 3 is determined based on whether or not the vehicle has traveled by a certain distance ΔX_min or more (avoidance determination step S14 after the turn).

In the avoidance determination step S14, the avoidance determination means 90 affirms avoidance from the obstacle 3 when it is determined that the underwater vehicle 2 has traveled a certain distance ΔX_min or more.
If the avoidance from the obstacle 3 is affirmed, the underwater vehicle 2 finishes the response after the collision and returns to normal traveling.

In the avoidance determination step S14, the avoidance determination unit 90 denies avoidance from the obstacle 3 when it is determined that the underwater vehicle 2 has not traveled the predetermined distance ΔX_min or more.
When avoidance from the obstacle 3 is denied, the thrust change means 130 increases the thrust of the underwater vehicle 2 (thrust increase step S15).
By increasing the thrust of the underwater vehicle 2, it is possible to try to avoid the obstacle 3 forcibly a little and increase the possibility of leaving. For example, when the obstacle 3 is a rope entangled with the underwater vehicle 2, there is a possibility that the rope can be torn off by increasing the thrust. Of course, there is a high possibility that the underwater vehicle 2 can be separated by parallel movement to a space including the horizontal direction, turning at a predetermined angle, and once retreating from the collision point.

After thrust increase step S15, the avoidance judging section 90 checks the displacement ΔX from the movement start position before X by INS, underwater vehicle 2 starts moving attempt in the direction of the next target waypoint WP _n After a certain time Δt elapses, the avoidance from the obstacle 3 is determined based on whether or not the vehicle has traveled by a certain distance ΔX_min or more (avoidance determination step S16 after thrust increase).

In the avoidance determination step S16, the avoidance determination means 90 affirms avoidance from the obstacle 3 when it is determined that the underwater vehicle 2 has traveled a certain distance ΔX_min or more.
If the avoidance from the obstacle 3 is affirmed, the underwater vehicle 2 finishes the response after the collision and returns to normal traveling.

In the avoidance determination step S16, the avoidance determination unit 90 denies avoidance from the obstacle 3 when it is determined that the underwater vehicle 2 has not traveled the predetermined distance ΔX_min or more.
When avoidance from the obstacle 3 is denied, the thrust change means 130 returns the thrust of the underwater vehicle 2 to the level before the increase in the thrust increase step S15 (thrust suppression step S17).

  After the thrust suppression step S17, the repetition unit 100 determines whether or not the number of times of changing the predetermined angle Δθ has reached the upper limit set in the predetermined value change number setting unit 104 (determination of the number of changes of the predetermined angle). Step S18).

  If it is determined in the change count determination step S18 that the change count has not reached the upper limit, the random value generation means 110 generates a random value of the predetermined angle Δθ (random value generation step S19 of the predetermined angle).

After the random value generating step S19, the predetermined angle changing unit 103 of the repeating unit 100 changes the predetermined angle Δθ using the random value generated by the random value generating unit 110, and returns to the turning step S12. Then, the underwater vehicle 2 turns according to the changed predetermined angle Δθ, and executes the movement control step S13, the avoidance determination step S14, the thrust increase step S15, the avoidance determination step S16, the thrust suppression step S17, and the change count determination step S18. To do. Thereafter, the predetermined angle Δθ is further changed and returned to the turning step S12 until the avoidance is affirmed in the avoidance determination steps S14 and S16 or until it is determined that the number of changes has reached the upper limit in the change number determination step S18. Is repeated (repetition step S20).
By thus repeating the attempt of the movement in the direction of the next target waypoint WP _n, the underwater vehicle 2 can increase the disengagement possibility from colliding object 3 that has collided.
In addition, the predetermined angle Δθ changed by the repeating unit 100 can be changed at a constant rate, but it is preferable to change the predetermined angle Δθ using a random value generated by the random value generating unit 110 as in the present embodiment. By using a random value when changing the predetermined angle Δθ, the underwater vehicle 2 can try a chance to leave by performing different avoidance actions each time the predetermined angle Δθ is changed. Can be effectively increased.

  When it is determined in the change count determination step S18 that the change count has reached the upper limit, the process proceeds again to the phase in which the underwater vehicle 2 moves in parallel, and the reverse step S2 is executed. If it is not possible to leave even after a predetermined number of turns, the possibility of withdrawal can be increased by trying other actions.

Next, another embodiment of the present invention will be described.
FIG. 4 is a configuration diagram of an after-collision response device for an underwater vehicle according to another embodiment of the present invention. 5 and 6 are flowcharts of a post-collision handling method for an underwater vehicle according to another embodiment of the present invention. In addition, about the same functional member as above-mentioned embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  The post-collision handling device 330 includes a collision determination unit 340, a target value determination unit 350, a parallel movement unit 360, an avoidance determination unit 370, a repetition unit 380, a turning unit 390, a random value generation unit 400, a thrust Changing means 410 is provided.

The collision determination unit 340 monitors the acceleration α of the underwater vehicle 2 detected by the acceleration detection unit 341 and the jerk j of the underwater vehicle 2 detected by the jerk detection unit 42, and detects the acceleration α or acceleration. When the acceleration j exceeds a threshold value (particularly a negative threshold value), it is determined that the underwater vehicle 2 has collided with some obstacle 3.
The acceleration detection means 341 and the jerk detection means 342 share the navigation sensor 23 used for navigation of the underwater vehicle 2. For this reason, it is not necessary to provide the acceleration detection means 341 and the jerk detection means 342 separately.

The target value determining means 350 determines a target value to be a movement target when the underwater vehicle 2 that collides with the obstacle 3 is avoided from the obstacle 3. The target value determining unit 350 includes a target direction determining unit 351 and a target altitude determining unit 352.
The target direction determination unit 351 determines the target direction of the underwater vehicle 2. The target altitude determining unit 352 determines the target altitude of the underwater vehicle 2.

The parallel moving unit 360 includes a horizontal moving unit 361 that moves the underwater vehicle 2 in the horizontal direction and a vertical moving unit 362 that moves the underwater vehicle 2 in the vertical direction. By using the horizontal moving unit 361 and the vertical moving unit 362 at the same time, the underwater vehicle 2 can be moved in an oblique direction.
The parallel moving unit 360 moves the underwater vehicle 2 in the target direction or the target altitude in accordance with the target value determined by the target value determining unit 350.

  The avoidance determination unit 370 confirms the displacement ΔX from the position X before the start of movement by INS, and determines avoidance from the obstacle 3 based on whether or not the underwater vehicle 2 has traveled a certain distance ΔX_min or more after a predetermined time Δt. .

The repeater 380 includes a target direction changing unit 381, a target altitude changing unit 382, and a target value change count setting unit 383.
The target direction changing unit 381 changes the target direction θ by Δθ. The target altitude changing unit 382 changes the target altitude h by Δh. Here, the target direction θ is the direction of the next target waypoint WP _n as viewed from the collision point, and the target altitude h is the altitude at the collision point.
The target value change count setting unit 383 sets an upper limit of the number of changes by the target direction change unit 381 and the target altitude change unit 382.
The repeater 380 changes the target direction to θ + Δθ or changes the target altitude to h + Δh when it is determined in the avoidance determination by the avoidance determination unit 370 that the avoidance from the obstacle 3 cannot be made. The target direction θ + Δθ or the target altitude h + Δh is repeatedly changed until it is determined that the change has been made or the number of changes reaches the upper limit.

  The turning means 390 turns the underwater vehicle 2 in the θ + Δθ direction according to the target direction θ + Δθ changed by the target direction changing unit 381.

  The random value generating means 400 generates a random value for each of Δθ when the target direction changing unit 381 changes the target direction and Δh when the target altitude changing unit 382 changes the target altitude.

  The thrust changing means 410 increases or decreases the thrust of the underwater vehicle 2.

  The post-collision handling device 330 is controlled by a program executed by a computer (not shown). The flow after the collision will be described with reference to FIGS.

When the acceleration α or jerk j exceeds a threshold value (particularly a negative threshold value), the collision determination unit 340 determines that the underwater vehicle 2 has collided with some obstacle 3 (collision detection step S101).
The underwater vehicle 2 informs the survey mother ship 1 by acoustic communication that a collision with the obstacle 3 has been detected, and waits for a command from the survey mother ship 1 for a certain period of time. If there is a command from the survey mother ship 1, it will follow the command.
If there is no command from the survey mother ship 1 within a certain time, or if a command to try to leave the collision site autonomously is received from the survey mother ship 1, the underwater vehicle 2 performs the following steps: Try to leave the collision site by executing. If the departure is successful, return to normal sailing and conduct a bottom survey along the planned line.

After the collision detection step S101, the horizontal moving unit 361, in accordance with the target direction θ set by the target direction determination unit 351, the altitude h in θ direction is the direction of the next target waypoint WP _n underwater without changing The traveling body 2 is moved forward (step S102 in the target direction).
After the collision with the obstacle 3, it may be possible to sail in the direction of the next target waypoint WP _n for some reason. It can be confirmed whether or not the object 3 is avoided.

  After the forward step S102, the avoidance determining means 370 confirms the displacement ΔX from the position X before starting movement by INS, and after a certain time Δt has elapsed since the underwater vehicle 2 started moving forward, a certain distance in the θ direction. The avoidance from the obstacle 3 is determined based on whether or not the vehicle has advanced by Δx_min or more (target direction avoidance determination step S103).

In the avoidance determination step S103, the avoidance determination means 370 affirms avoidance from the obstacle 3 when it determines that the underwater vehicle 2 has advanced from the collision point by a certain distance ΔX_min or more.
If the avoidance from the obstacle 3 is affirmed, the underwater vehicle 2 finishes the response after the collision and returns to normal traveling.

In the avoidance determination step S103, the avoidance determination means 370 denies avoidance from the obstacle 3 when it is determined that the underwater vehicle 2 has not advanced from the collision point by a certain distance ΔX_min or more.
When the avoidance from the obstacle 3 is denied, the random value generation means 400 generates a random value of Δθ for changing the target direction (random value generation step S104 in the target direction).

  After the random value generating step S104, the target direction changing unit 381 of the repeating unit 380 changes the target direction to θ + Δθ using the random value generated by the random value generating unit 400 (target direction changing step S105).

  After the change step S105, the repeater 380 determines whether or not the number of times the target direction has been changed has reached the upper limit set in the target value change number setting unit 383 (target direction change number determination step S106). ).

  If it is determined in the change count determination step S106 that the change count has not reached the upper limit, the horizontal movement unit 361 follows the target direction θ + Δθ changed by the target direction change unit 381 in the direction of θ + Δθ. Are translated (moving step S107). After the movement step S107, the process returns to the avoidance determination step S103.

If it is determined in the change count determination step S106 that the change count has reached the upper limit, the process proceeds to a phase in which the underwater vehicle 2 is turned.
In accordance with the target direction θ + Δθ changed by the target direction changing unit 381, the turning means 390 turns the underwater vehicle 2 in the θ + Δθ direction and moves forward (turning step S108).

  After the turning step S108, the avoidance judging means 370 confirms the displacement ΔX from the position X before the movement start by INS, and in the θ + Δθ direction after a certain time Δt has elapsed since the underwater vehicle 2 started moving forward after turning. The avoidance from the obstacle 3 is determined based on whether or not the vehicle has traveled by a certain distance Δx_min or more (turning avoidance determination step S109).

  In the avoidance determination step S109, when avoidance from the obstacle 3 is affirmed by the avoidance determination means 370, the underwater vehicle 2 finishes the response after the collision and returns to normal traveling.

  In the avoidance determination step S109, when avoidance from the obstacle 3 is denied by the avoidance determination means 370, the thrust change means 410 advances while increasing the thrust of the underwater vehicle 2 (thrust increase step S110).

  After the thrust increase step S110, the avoidance determination unit 370 confirms the displacement ΔX from the position X before the movement start by INS, and θ + Δθ after a certain time Δt has elapsed since the underwater vehicle 2 started moving forward after the thrust increase. The avoidance from the obstacle 3 is determined based on whether or not the vehicle has traveled a certain distance Δx_min or more in the direction (avoidance determination step S111 after thrust increase).

  In the avoidance determination step S111, when avoidance from the obstacle 3 is affirmed by the avoidance determination means 370, the underwater vehicle 2 finishes the response after the collision and returns to normal traveling.

  In the avoidance determination step S111, when avoidance from the obstacle 3 is denied by the avoidance determination means 370, the thrust change means 410 returns the thrust of the underwater vehicle 2 to the level before the increase in the thrust increase step S110 ( Thrust suppression step S112).

  After the thrust suppression step S112, the repetition unit 380 determines whether or not the number of times the target direction θ + Δθ has been changed in the turn phase has reached the upper limit set in the target value change number setting unit 383 (change of turn). Number determination step S113).

  When it is determined in the change count determination step S113 that the change count has not reached the upper limit, the random value generating means 400 generates a random value of Δθ for changing the target direction (the random value generation step of the turn) S114).

  After the random value generating step S114, the target direction changing unit 381 of the repeating unit 380 changes the target direction to θ + Δθ using the random value generated by the random value generating unit 400 (turning target direction changing step S115), and turning. It returns to step S108.

If it is determined in the change count determination step S113 that the change count has reached the upper limit, the process proceeds to a phase in which the target altitude of the underwater vehicle 2 is changed.
The random value generating means 400 generates a random value of Δh for changing the target altitude (target altitude random value generating step S116).

  After the random value generation step S116, the target altitude changing unit 382 of the repeating unit 380 changes the target altitude to h + Δh using the random value generated by the random value generating unit 400 (target altitude changing step S117).

  After the target altitude changing step S117, the vertical moving means 362 moves vertically to h + Δh according to the target altitude h + Δh changed by the target altitude changing unit 382 (vertical moving step S118).

  After the vertical movement step S118, the avoidance determination means 370 confirms the displacement Δh from the altitude h before the movement start by INS or the lower sonar 25, and after a certain time Δt has elapsed since the underwater vehicle 2 started moving, The avoidance from the obstacle 3 is determined based on whether or not the vehicle has advanced by a certain altitude difference Δh_min or more (avoidance determination step S119 after vertical movement).

  In the avoidance determination step S119, when avoidance from the obstacle 3 is affirmed by the avoidance determination means 370, the underwater vehicle 2 finishes the response after the collision and returns to normal traveling.

  In the avoidance determination step S119, when avoidance from the obstacle 3 is denied by the avoidance determination unit 370, the repetition unit 380 determines that the number of times the target altitude has been changed is the upper limit set in the target value change number setting unit 383. Is determined (step S120 for determining the target altitude change count).

  If it is determined in the change count determination step S120 that the change count has reached the upper limit, the post-collision response is terminated.

  If it is determined in the change count determination step S120 that the change count has not reached the upper limit, the repeater 380 returns to the random value generation step S116 and then further changes the target altitude h + Δh in the target altitude change step S117. Thereafter, the process returns to the random value generation step S116 after the avoidance is affirmed in the avoidance determination step S119 or until it is determined in the change count determination step S120 that the change count has reached the upper limit. Repeat changing the altitude h + Δh.

Thus, the possibility of detachment from the collision object 3 can be increased by repeating the avoidance attempt.
Further, Δθ and Δh when the repetition unit 380 is changed can be changed at a constant rate, but it is preferable to change using a random value generated by the random value generation unit 400 as in the present embodiment. . By using random values for Δθ and Δh, the underwater vehicle 2 can try to avoid accidents by performing different avoidance actions every time the target direction or target altitude is changed. Can be increased.

  2 and the post-collision device 30 in the embodiment shown in FIG. 2 and the post-collision device 330 in another embodiment shown in FIG. The post-collision handling method in the embodiment and the post-collision handling method in the other embodiments shown in FIGS. 5 and 6 are arbitrarily combined, and the underwater vehicle 2 is attempted to leave the obstacle 3 that has collided. It can also be made.

  The after-collision response method, the after-collision response device, and the after-collision response program of the present invention are applied to an underwater vehicle that performs bottom surveys, etc. Even when the body cannot grasp the detailed situation of the surroundings with an external sensor, it can be made to attempt to leave the collision site autonomously.

2 Underwater vehicle 3 Obstacle 23 Navigation sensor 30 Post-collision response device 41 Acceleration detection means 42 Jerk detection means 60 Parallel movement means 70 Turning means 80 Movement control means 90 Avoidance determination means 100 Repetition means 110 Random value generation means 120 Backward means WP _n Target waypoint S1 Collision detection step S4 Parallel movement step S5 Movement control steps S6, S14, S16 Avoidance determination steps S8, S19 Random value generation steps S9, S20 Repeat step S12 Rounding step

Claims (20)

  A method for responding to an obstacle in an underwater vehicle traveling in water after collision with an obstacle, the acceleration detecting means and / or jerk detecting means mounted on the underwater vehicle being Detects a collision of the underwater vehicle, moves the underwater vehicle parallel to the space including the upward or horizontal direction from the collision point for a predetermined distance or predetermined time, and tries to move in the direction toward the target waypoint. An after-collision response method for an underwater vehicle, wherein avoidance from the obstacle is determined based on whether or not the vehicle has traveled over a certain distance after a lapse of time.   When it is determined that the obstacle could not be avoided, the predetermined distance or the predetermined time is changed, and the movement to the target waypoint is attempted. Thereafter, until it is determined that the avoidance is performed. 2. The post-collision response method for an underwater vehicle according to claim 1, wherein the predetermined distance or the predetermined time is further changed, and an attempt to move in the direction toward the target waypoint is repeated.   The method according to claim 2, wherein a random value is used as the predetermined distance or the predetermined time to be changed.   The after-collision response method for an underwater vehicle according to any one of claims 1 to 3, wherein the vehicle is moved backward from the collision point and then translated for the predetermined distance or the predetermined time.   A method for responding to an obstacle in an underwater vehicle traveling in water after collision with an obstacle, the acceleration detecting means and / or jerk detecting means mounted on the underwater vehicle being Detects a collision of an underwater vehicle, turns the underwater vehicle at a collision angle by a predetermined angle, attempts to move in the direction of the target waypoint, and determines whether or not the obstacle An after-collision method for an underwater vehicle characterized by determining avoidance from an object.   When it is determined that the obstacle cannot be avoided, the predetermined angle is changed, the movement to the direction of the target waypoint is attempted, and thereafter, the predetermined angle is determined until the avoidance is determined. The method of responding to a post-collision of an underwater vehicle according to claim 5, further changing and further repeating an attempt to move in the direction toward the target waypoint.   The method according to claim 6, wherein a random value is used as the predetermined angle to be changed.   The after-collision method for an underwater vehicle according to any one of claims 5 to 7, wherein the vehicle is turned by the predetermined angle after retreating from the collision point.   If any of the obstacles cannot be avoided even after performing the after-collision handling method for an underwater vehicle according to any one of claims 1 to 4, any of claims 5 to 8 An after-collision response method for an underwater vehicle according to claim 1, wherein the after-collision response method for an underwater vehicle is performed and / or the thrust of the underwater vehicle is increased.   Acceleration detection device mounted on the underwater vehicle for detecting a collision of the underwater vehicle with the obstacle after the collision with the obstacle of the underwater vehicle running in the water Means and / or jerk detection means, parallel movement means for translating the underwater vehicle for a predetermined distance or a predetermined time from a collision point to a space including an upward direction or a horizontal direction, and movement in a direction toward a target waypoint And an after-collision response device for an underwater vehicle, comprising: a movement control means that attempts to avoid the obstacle according to whether or not the vehicle has traveled over a certain distance after a certain time has passed. .   A turning means for turning the underwater vehicle at a predetermined angle at the collision point, trying to move in the direction of the target waypoint, and avoiding from the obstacle depending on whether or not the vehicle has traveled a certain distance after a certain time The after-collision response device for an underwater vehicle according to claim 10, wherein the avoidance judging means judges the situation.   If it is determined that the obstacle could not be avoided, the predetermined distance or the predetermined time or the predetermined angle is changed, and the movement to the target waypoint is attempted. 11. The apparatus according to claim 10, further comprising a repeating unit that further changes the predetermined distance, the predetermined time, or the predetermined angle until the determination is made, and repeats an attempt to move in the direction toward the target waypoint. Item 12. The after-collision device for an underwater vehicle according to Item 11.   The post-collision response device for an underwater vehicle according to claim 12, further comprising random value generating means for generating a random value of the predetermined distance or the predetermined time or the predetermined angle to be changed.   The after-collision response apparatus for an underwater vehicle according to any one of claims 10 to 13, further comprising a retraction means for temporarily retreating from the collision point.   The said acceleration detection means and / or the said jerk detection means share the navigation sensor used for the navigation of the said underwater vehicle, The any one of Claims 10-14 characterized by the above-mentioned. Device for handling underwater vehicles after a collision.   The after-collision device for an underwater vehicle according to claim 15, wherein the navigation sensor is an inertial navigation device or a Doppler sonar. A response program after a collision with an obstacle in an underwater vehicle that sails in water,
On the computer,
A collision detection step of receiving a signal of acceleration detection means and / or jerk detection means mounted on the underwater vehicle for detecting a collision of the underwater vehicle with the obstacle;
A translation step of translating the underwater vehicle for a predetermined distance or a predetermined time from a collision point to a space including an upward direction or a horizontal direction;
A movement control step that attempts to move in the direction to the target waypoint;
An after-collision response program for an underwater vehicle, which executes an avoidance determination step of determining avoidance from the obstacle based on whether or not the vehicle travels a certain distance after a predetermined time has elapsed.   It further comprises a turning step of turning the underwater vehicle at a predetermined angle at the collision point, trying to move in the direction of the target waypoint, and depending on whether or not it has traveled more than a certain distance after a certain time has passed, 18. The post-collision response program for an underwater vehicle according to claim 17, wherein avoidance is determined in the avoidance determination step.   When avoidance from the obstacle is denied in the avoidance determination step, the predetermined distance, the predetermined time, or the predetermined angle is changed, and the movement toward the target waypoint is attempted, and then the avoidance is performed. The method further comprises a step of repeatedly changing the predetermined distance, the predetermined time, or the predetermined angle and repeating an attempt to move in the direction toward the target waypoint until it is determined that the predetermined distance has been determined. The post-collision response program for an underwater vehicle according to claim 17 or claim 18. 20. The post-collision response program for an underwater vehicle according to claim 19, further comprising a random value generation step of generating a random value of the predetermined distance or the predetermined time or the predetermined angle to be changed.