JP2909271B2 - Submersible descent guidance method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for lowering a submersible vehicle into the sea, and more particularly to a method for lowering the submersible vehicle along a predetermined reference curve by adjusting the descent speed of the submersible vehicle. It relates to a method of descending to the right.

[0002]

2. Description of the Related Art As a conventional submersible descent method, only a method of approaching a descent target point in the sea by human operation is known, and the above-mentioned target is automatically set by pulling out a cable or cable or thruster thrust control. There is no good descent method to get the submersible to the point.

[0003]

However, in the above-mentioned conventional method of lowering a submersible vehicle by human operation, not only a lot of trouble is required but also the submersible vehicle cannot always be surely reached a target point. There is a problem that there is no. Therefore, the development of an automatic descent means for a submersible is desired, but it is difficult to realize it because an appropriate submersible descent guidance method has not been developed.

The present invention seeks to solve such a problem, and adjusts the descent speed of a submersible vehicle while connecting a target point on the seabed to a descent start reference point on the sea surface. It is an object of the present invention to provide a submersible descent guidance method in which a submersible vehicle is accurately guided and lowered to the target point according to a reference curve.

[0005]

In order to achieve the above object, a submersible descent guidance method according to the present invention provides a method for lowering a submersible vehicle from a mother ship via a cable to the sea and reaching a target point on the seabed. From the actual measured value of the speed of the submersible vehicle and the predetermined descent speed of the submersible vehicle to reach the target point. Set as a reference point,
After setting a reference curve from the reference point to the target point so as to be closer to the descending curve on the upstream side of the tide than the submersible standard descending curve, when the submersible vehicle descends from the reference point, In order to guide the submersible vehicle along the reference curve, the lowering speed of the submersible vehicle causes the submersible vehicle to deviate upstream from the reference curve with the lowering of the submersible vehicle. sequentially modifying, while the same submarine are sequentially returned to a plurality of positions on the reference curve, it is characterized by directing the submarine to the target point.

[0006]

According to the submersible descent guidance method of the present invention described above, the submersible vehicle standard descent curve determined from the actual measured value of the speed of the tidal current and the predetermined descent speed of the submersible to reach the target point on the seabed is at sea level. A position slightly upstream of the tidal current from the position is set as a descent start reference point, and the reference curve from the reference point to the target point is set to the descent curve upstream of the submersible descent curve from the descent curve. After being set to be close to each other, when the submersible vehicle descends from the reference point, the submarine vehicle is guided along the reference curve so as to be guided upstream along the reference curve with the descending of the submarine. the submarine is to try to excursions, your the system Ru reduces the lowering speed of the submersible
By successively performing the operations , the submersible vehicle is sequentially corrected by the action of the tide, and the submarine vehicle is sequentially returned to a plurality of positions on the reference curve.

[0007]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view showing a submersible descent guidance method according to an embodiment of the present invention; FIG.
FIG. 5 is a flowchart showing the algorithm of the control, and FIG. 6 is a block diagram of the device for the control.

FIGS. 1 and 6 show an apparatus configuration for performing the submersible vehicle descent guidance method according to the present embodiment. That is, the submersible 3 is connected to the distal end of the cable 2 drawn out from the cable handling device 6 provided on the mother ship 1. A plurality of thrusters 4 are provided on the submersible 3, and the sonar receiver 8d is also connected to the submersible 3. It is provided for In addition, the mother ship 1 has a tide meter 7 capable of measuring the sea surface tide on its bottom and a transponder 8a for transmitting sonar.
With Position measurement sensor 8 of submersible 3 shown in FIG. 6, the transponder and the transponder 8c installed at the target point T ₀ of the transponder 8a and seabed, the target point T ₀ which is provided on another suitable location 8b and a sonar receiver 8d in the submersible 3.

The present apparatus also provides a signal of the actual measured value P of the submersible vehicle from the sensor 8 and a set position R obtained in the computer 11.
And an arithmetic operation unit 9 which can calculate the positional deviation amount ΔX by comparing the data with the data of the above. In response to the positional deviation amount ΔX from the arithmetic operation unit 9, it outputs a command signal to the thruster 4 and the cable handling device 6. Control command calculator
It has ten.

In the submersible descent guidance method of the present embodiment based on the above-described apparatus configuration, first, as shown in FIG. 1, the actual measured value of the tide and the cable feeding speed from the mother ship 1 (in the present embodiment, From the predetermined descent speed of the submersible 3 determined by the maximum speed Vmax) and the position of the tidal current from the position on the sea surface (standard descent start point S ₁ ) of the submersible descent standard curve C ₁ required to reach the target point T on the seabed. slightly away upstream set as lowering starting reference point S _2. Therewith connected by smooth curves greater than the slope alpha ₁ of the curve C ₁ in a tilt-alpha ₂ what depth from the vertical line from the falling start reference point S ₂ to the target point T _0, expect this curve descending curve (reference curve) is set as C _2. That is, the curve C ₂ is intended to be set to be close to the curve C ₁ in the upstream side of the power flow than the curve C _1.

In this embodiment, in particular, the expected descending curve C ₂
Is directly obtained by performing off-line calculation from the predetermined descent speed of the submersible vehicle 3 and a tidal current value set to be larger than the measured value of the sea surface tidal current actually measured by the tidal current meter 7 (therefore, the descent starting reference). Point S ₂ is the curve C ₂
There is a position at sea level the curve C ₂ when passing through the target point T _0), but this can be said to be only one means among means for obtaining the above-described curve. Next, move the mother ship 1 in the lowered starting reference point S _2. (See FIG. 2) and, after that according to the algorithm shown in FIG. 5, submersible 3 is brought induced along the expected descending curve C ₂ is lowered. That is, first, as shown in FIG. 3, the cable 2 is fed out at the maximum speed Vmax (for example, Vmax = 75 m / min), and the submarine 3
At the maximum descent speed.

Then, the submersible craft 3 descends along the curve C ₁ ′ having the same slope as the standard descending curve C _1, and reaches the position P ₁ (actually measured position) on the curve C ₁ ′ after a lapse of T minutes. I do. Incidentally, the position P ₁ is in a position offset on the upstream side of the trend predicted lowered position of the curve C ₂ on the same depth (setting position) deviation amount with respect to R ₁ (horizontal distance difference) by [Delta] X _1, this Deviation ΔX ₁
Greater than the set value is, reduce the lowering speed of the submersible 3 by reducing the feeding speed of the cable 2, the position of the expected descending curve submersible 3 by the action of the tide C ₂ (return position) to move up to the Q _1.

[0013] Thus, lowering trajectory of the submersible 3 is of being allowed to return corrected on the original expectations descending curve C _2. Note that the quick upward movement expected descending curve C ₂ of submersible 3 under the control of the thruster 4 in this embodiment when the submersible 3 of trajectory correction.

[0014] In this way, the submersible 3 positions predicted lowered curve C again when reaching the position to Q ₁ on ₂ cable 2
At the maximum speed Vmax.

[0015] Hereinafter, as shown in FIG. 4 in the sequentially same T
While correcting the position of the submarine 3 repeatedly every minute,
Each position Q ₁ , Q ₂ , ... On the expected descending curve (reference curve) C _2.
By sequentially passing through Q _i , the expected descending curve C _{2 is} almost reached.
The submersible 3 until the target point T ₀ is reached
It is Ru can.

In this embodiment, a method is adopted in which the magnitude of the deviation ΔX is determined every predetermined time T, and if the deviation is large, the position of the submersible 3 is corrected, but the deviation ΔX is always checked. However, it is also possible to adopt a method of automatically correcting the trajectory of the submersible boat 3 when ΔX exceeds a certain level.

As described above, according to the submersible descent guidance method of this embodiment, the submersible 3 is automatically moved to the target point in the sea by adjusting the feeding speed of the cable 2 and controlling the thrust of the thruster 4 of the submersible 3. The effect that it becomes possible to reach T ₀ is obtained.

[0018]

As described above in detail, according to the submersible descent guidance method of the present invention, by adjusting the descent speed of the submersible, the submersible is made to follow the predetermined reference curve using the tidal current. However, it is possible to accurately descend to the target point on the seabed, and it is also possible to realize automatic descent guidance means for the submersible.

[Brief description of the drawings]

FIG. 1 is a schematic view of an apparatus for a submersible descent guidance method as one embodiment of the present invention.

FIG. 2 is a first operation view of the submersible descent guidance method shown in FIG. 1;

FIG. 3 is a second operation diagram showing an operation state different from that of FIG. 2;

FIG. 4 is an overall operational view of the submersible descent guidance method of FIG. 1;

FIG. 5 is a flowchart showing an algorithm of the submersible descent guidance method of FIG. 1;

FIG. 6 is an apparatus configuration diagram for the submersible descent guidance method of FIG. 1;

[Explanation of symbols]

1 mother ship 2 cable 3 submersible 4 (submersible) thrusters 5 subsea 6 cable handling device 7 tidal eight sensors 8a, 8b, 8c transponder 8d sonar receiver 9 and subtraction unit 10 a control command calculator 11 computer C ₁ submersible standard descending curve C ₁ 'curve C ₁ and curve C ₂ reference curve P position measured value R set position Q return position ΔX displacement amount S ₁ standard falling start point S ₂ starts lowering reference point T ₀ target point of the same inclination

Continuation of the front page (58) Field surveyed (Int.Cl. ⁶ , DB name) B63C 11/48 B63B 35/40 B63C 11/00

Claims (1)

(57) [Claims] When a submarine is lowered from a mother ship through a cable to the sea and reaches a target point on the seabed, the submarine reaches the target point based on an actually measured value of a tidal current speed and a predetermined descent speed of the submarine. Is set as a descent start reference point at a position slightly upstream of the tidal current from the position of the standard descent curve on the sea surface, and the reference curve from the datum point to the target point is the dive vehicle standard descent curve. The dive vehicle is set so as to be closer to the descending curve upstream of the descending current than the descending curve, and then, when the submersible vehicle descends from the reference point, the diving vehicle is guided along the reference curve. the submarine on the upstream side of the reference curve with the drop of the boat trying to deflection, are sequentially <br/> modified by reduction of the lowering speed of the submarine, the reference curve of the same submarine Order multiple positions above
A submersible descent guidance method, wherein the submersible is guided to the target point while returning to the next position .