JP4721568B2 - Submarine exploration method and equipment using autonomous unmanned vehicle - Google Patents

Submarine exploration method and equipment using autonomous unmanned vehicle Download PDF

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Publication number
JP4721568B2
JP4721568B2 JP2001208751A JP2001208751A JP4721568B2 JP 4721568 B2 JP4721568 B2 JP 4721568B2 JP 2001208751 A JP2001208751 A JP 2001208751A JP 2001208751 A JP2001208751 A JP 2001208751A JP 4721568 B2 JP4721568 B2 JP 4721568B2
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Prior art keywords
underwater station
vehicle
autonomous
autonomous unmanned
transponder
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JP2003026090A (en
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之郎 門元
泰憲 西田
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Mitsui Engineering and Shipbuilding Co Ltd
Mitsui E&S Co Ltd
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Mitsui Engineering and Shipbuilding Co Ltd
Mitsui E&S Holdings Co Ltd
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Description

【０００１】
【発明の属する技術分野】
本発明は、比較的大深度の海域において、海底の地層などの探査を行う場合に良好な自律型無人航走体を用いた海底探査方式及びこの方式を実施するための海底探査装置に関する。
【０００２】
【従来の技術】
自律型無人航走体は、予め、所定の探査域に設置した音響トランスポンダの信号を受けて自航すると共に、自航中に、海底に向けて音波を発信し、その反射波を受信して、例えば、海中の観測や地層探査などを行い、それが終了すると、母船に揚収されていた。
【０００３】
しかし、自律型無人航走体は、母船との間のケーブルを持たないために、電力などの動力源に制約があり、長時間航行することができなかった。このため、母船に頻繁に揚収して動力を補給する必要があった。
【０００４】
ところが、探査する海域が１０００ｍを超える大深度の場合、動力補給のために母船まで戻ると、その間に要する時間と、余分な動力が必要になり、作業効率が著しく悪化する。
【０００５】
このような問題を解決するため、水中ステーションを海中に配置して無索式無人潜水艇に動力を供給する案が提案されている（特開平３−２６６７９４号公報）。
【０００６】
すなわち、この水中ステーションは、母船からランチャーを介して海中に下ろされ、複数の推進器によって移動可能になっていると共に、無索式無人潜水艇を収容して電力などの動力を補給できるようになっている。
【０００７】
【発明が解決しようとする課題】
しかし、従来の水中ステーションは、ランチャーの移動などにより、その位置が変化し易いため、無索式無人潜水艇の収容に多くの時間を要するという問題がある。
【０００８】
特に、従来の水中ステーションは、その一方の側面のみに入り口が設けられているため、無索式無人潜水艇が入り口の反対側にいる場合には、水中ステーションの回りを１８０度旋回しなければならないことがあり、収容が難しくなると共に、収容時間が更に長くなる。
【０００９】
本発明は、このような従来の問題を解決するためになされたものであって、その目的とするところは、自律型無人航走体が容易に出入りできる水中ステーションを用いた海底探査方式及びその装置を提供することにある。
【００１０】
【課題を解決するための手段】
上記の課題を解決するため、本発明は、次のように構成されている。
【００１１】
１）母船から海中に吊り下げられた水中ステーションと、第３トランスポンダ及び第３受波器を有する自律型無人航走体と、前記自律型航走体及び前記水中ステーションに信号を送信する構成を有し、且つ海底に設置された第２トランスポンダとから成り、前記水中ステーションが、自律型無人航走体を収納する収納部と、動力源を格納する動力源格納部と、自律型無人航走体の収容のための信号を発信する第１トランスポンダと、第１及び第２の受波器と、水中ステーションを定点保持させる複数のスラスターとを備えており、前記水中ステーションに設置した前記第1トランスポンダの信号で、前記自律型無人航走体の航走を制御し、前記海底に設置された第２トランスポンダの信号で、自律型航走体の航走及び前記水中ステーションの定点保持の制御を行う自律型無人航走体を用いた海底探査方式において、前記自律型無人航走体を前記水中ステーション内に収容する際に、前記水中ステーションが、前記自律型航走体の第３トランスポンダの信号を水中ステーションの第２受波器で受信し、収納部の入口を自律型無人航走体の船首と対向するように前記複数のスラスターを制御することを特徴とする自律型無人航走体を用いた海底探査方式である。
【００１２】
２）母船から海中に吊り下げられた水中ステーションと、第３トランスポンダ及び第３受波器を有する自律型無人航走体と、前記自律型航走体及び前記水中ステーションに信号を送信する構成を有し、且つ海底に設置された第２トランスポンダとから成り、前記水中ステーションが、自律型無人航走体を収納する収納部と、動力源を格納する動力源格納部と、自律型無人航走体の収容のための信号を発信する第１トランスポンダと、第１及び第２の受波器と、水中ステーションを定点保持させる複数のスラスターとを備えており、前記水中ステーションに設置した前記第1トランスポンダの信号で、前記自律型無人航走体の航走を制御し、前記海底に設置された第２トランスポンダの信号で、自律型航走体の航走及び前記水中ステーションの定点保持の制御を行う自律型無人航走体を用いた海底探査装置において、前記自律型無人航走体を前記水中ステーション内に収容する際に、前記水中ステーションが、前記自律型航走体の第３トランスポンダの信号を水中ステーションの第２受波器で受信し、収納部の入口を自律型無人航走体の船首と対向するように前記複数のスラスターを制御するように構成したことを特徴とする自律型無人航走体を用いた海底探査装置である。
【００１３】
【発明の実施の形態】
以下、本発明の実施の形態を図面を用いて説明する。
【００１４】
図１において、１は、母船であり、母船１から海中に水中ステーション３が吊り下げられている。水中ステーション３は、図２に示すように、その内部に自律型無人航走体４を収納する収納部５と、電池などの動力源を格納する動力格納部６とを備えている。
【００１５】
また、この水中ステーション３は、その下部に第１，第２の二つの受波器７，８を備えると共に、その上部に第１トランスポンダ９を備えている。更に、水中ステーション３は、前進及び後進用の２台のスラスター１０ａと、横行用スラスター１０ｂと、昇降用の２台のスラスター１０ｃとを備えている。
【００１６】
また、図１に戻って説明すると、自律型無人航走体４は、その下部に圧電素子（ＰＺＴ）などの振動源１１を有し、更に、船体上面に第３トランスポンダ１２を有すると共に、船首部に第３受波器１３を備えている。また、海底１５には、第２トランスポンダ１４が設置されている。
【００１７】
上記水中ステーション３及び自律型無人航走体４は、母船１によって所定の探査海域に運搬された後、海中に下ろされる。海中の水中ステーション３は、第２トランスポンダ１４の信号Ｐ1 を第１受波器７によって受信し、その信号を制御装置（図示せず）に入力してスラスター１０ａ〜１０ｄを制御し、水中ステーション３の定点保持を図る。
【００１８】
一方、自律型無人航走体４は、第３受波器１３によって第２トランスポンダ１４の信号Ｐ1 を受信して自由に自航する。自航中に、例えば、振動源１１から振動波Ｐ2 を発し、その反射波を、例えば、母船１に搭載した受信器（図示せず）、海底１５に敷設したハイドロホン内装海底ケーブル（図示せず）、あるいは自律型無人航走体４により曳航されるストリーマーケーブル（図示せず）によって受信して地層を探査する。
【００１９】
しかして、自律型無人航走体４の動力が所定量まで経過すると、自律型無人航走体４に設けた第３受波器１３によって水中ステーション３に設置した第１トランスポンダ９の信号Ｐ3 を受信し、自律型無人航走体４を水中ステーション３に向けて航走させる。と同時に、自律型無人航走体４の第３トランスポンダ１２からの信号Ｐ4 を水中ステーション３の第２受波器８により受信し、これを制御装置（図示せず）に入力して２台のスラスター１０ａを制御する。
【００２０】
すなわち、図３に示すように、自律型無人航走体４が矢印Ａの方向を向いている場合には、前進及び後進用の２台のスラスター１０ａを制御して水中ステーション３を実線で示す方向から二点破線で示す方向に９０度旋回させ、収納部５の入り口５ａが自律型無人航走体４の船首と対向するようにする。
【００２１】
しかる後に、自律型無人航走体４を、そのまま矢印Ａ方向に前進させると、自律型無人航走体４が水中ステーション３の収納部５に収容される。
【００２２】
【発明の効果】
上記のように、本発明によれば、母船から海中に吊り下げられた水中ステーションの定点保持が可能になると共に、自律型無人航走体の動力を補給する場合には、水中ステーションに収容する自律型無人航走体の方位に対して収納部の入り口が対向するように水中ステーションを旋回させることができる。
【００２３】
従って、自動無人航走体の早期収容が可能となり、動力補給に要するトータル時間を短縮することができ、以て、探査期間の短縮を計ることが可能となる。
【図面の簡単な説明】
【図１】本発明に係る海底探査方式の概略図である。
【図２】水中ステーションの断面図である。
【図３】水中ステーションの旋回説明図である。
【符号の説明】
１ 母船
２ ランチャー
３ 水中ステーション
４ 自律型航走体
５ 収納部
６ 動力源格納部
７ 第１受波器
８ 第２受波器
９ 第１トランスポンダ
１０ａ〜１０ｂ スラスター
１１ 駆動源
１２ 第３トランスポンダ
１３ 第３受波器
１４ 第２トランスポンダ
１５ 海底[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a submarine exploration method using an autonomous unmanned vehicle and a submarine exploration device for carrying out this method when exploring the seabed in a relatively deep sea area.
[0002]
[Prior art]
Autonomous unmanned aerial vehicles self-travel in response to signals from acoustic transponders installed in a predetermined exploration area in advance, transmit sound waves toward the seabed during self-navigation, and receive the reflected waves For example, underwater observation and geological exploration were conducted, and when it was completed, it was taken up by the mother ship.
[0003]
However, since the autonomous unmanned aerial vehicle does not have a cable with the mother ship, the power source such as electric power is limited, and it has not been able to navigate for a long time. For this reason, it was necessary to recapture the mother ship frequently to replenish the power.
[0004]
However, in the case where the sea area to be explored is deeper than 1000 m, when returning to the mother ship for power replenishment, the time required during that time and extra power are required, and work efficiency is significantly deteriorated.
[0005]
In order to solve such problems, a proposal has been proposed in which an underwater station is placed in the sea to supply power to an unmanned unmanned submersible (Japanese Patent Laid-Open No. 3-266794).
[0006]
In other words, this underwater station is lowered from the mother ship into the sea via a launcher and can be moved by a plurality of propulsion devices, and can accommodate an unmanned unmanned submersible and supply power such as electric power. It has become.
[0007]
[Problems to be solved by the invention]
However, since the position of the conventional underwater station is likely to change due to the movement of the launcher or the like, there is a problem that it takes a lot of time to accommodate the unmanned unmanned submersible.
[0008]
In particular, since a conventional underwater station has an entrance on only one side, if the unmanned unmanned submersible is on the opposite side of the entrance, it must turn 180 degrees around the underwater station. In some cases, the accommodation becomes difficult and the accommodation time becomes longer.
[0009]
The present invention has been made in order to solve such a conventional problem, and an object of the present invention is to search for a seabed using an underwater station where an autonomous unmanned vehicle can easily enter and exit, and To provide an apparatus.
[0010]
[Means for Solving the Problems]
In order to solve the above problems, the present invention is configured as follows.
[0011]
1) An underwater station suspended from the mother ship in the sea, an autonomous unmanned vehicle having a third transponder and a third receiver, and a configuration for transmitting a signal to the autonomous vehicle and the underwater station. The underwater station includes a storage unit that stores an autonomous unmanned vehicle, a power source storage unit that stores a power source, and autonomous unmanned navigation. A first transponder for transmitting a signal for accommodating the body, first and second receivers, and a plurality of thrusters for holding the underwater station at a fixed point. The transponder signal controls the traveling of the autonomous unmanned vehicle, and the second transponder signal installed on the seabed controls the autonomous vehicle and the underwater station. In the submarine exploration method using an autonomous unmanned vehicle that performs point holding control, when the autonomous unmanned vehicle is accommodated in the underwater station, the underwater station An autonomous type characterized in that a signal from a third transponder is received by a second receiver of an underwater station, and the plurality of thrusters are controlled so that the entrance of the storage unit faces the bow of the autonomous unmanned aerial vehicle This is a seafloor exploration method using an unmanned vehicle .
[0012]
2) An underwater station suspended from the mother ship in the sea, an autonomous unmanned vehicle having a third transponder and a third receiver, and a configuration for transmitting a signal to the autonomous vehicle and the underwater station. The underwater station includes a storage unit that stores an autonomous unmanned vehicle, a power source storage unit that stores a power source, and autonomous unmanned navigation. A first transponder for transmitting a signal for accommodating the body, first and second receivers, and a plurality of thrusters for holding the underwater station at a fixed point. The transponder signal controls the traveling of the autonomous unmanned vehicle, and the second transponder signal installed on the seabed controls the autonomous vehicle and the underwater station. In the submarine exploration device using an autonomous unmanned vehicle that performs point holding control, when the autonomous unmanned vehicle is accommodated in the underwater station, the underwater station is connected to the autonomous vehicle. The third transponder signal is received by the second receiver of the underwater station, and the plurality of thrusters are controlled so that the entrance of the storage unit faces the bow of the autonomous unmanned aerial vehicle. It is a seafloor exploration device using an autonomous unmanned vehicle .
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0014]
In FIG. 1, reference numeral 1 denotes a mother ship, and an underwater station 3 is suspended from the mother ship 1 into the sea. As shown in FIG. 2, the underwater station 3 includes a storage unit 5 that stores the autonomous unmanned vehicle 4 and a power storage unit 6 that stores a power source such as a battery.
[0015]
The underwater station 3 includes first and second receivers 7 and 8 at a lower portion thereof and a first transponder 9 at an upper portion thereof. Furthermore, the underwater station 3 includes two thrusters 10a for forward and backward movement, a thruster 10b for traversing, and two thrusters 10c for lifting and lowering.
[0016]
Returning to FIG. 1, the autonomous unmanned aerial vehicle 4 has a vibration source 11 such as a piezoelectric element (PZT) in the lower part thereof, a third transponder 12 on the upper surface of the hull, and a bow. A third receiver 13 is provided in the part. A second transponder 14 is installed on the seabed 15.
[0017]
The underwater station 3 and the autonomous unmanned vehicle 4 are transported to a predetermined exploration area by the mother ship 1 and then lowered into the sea. The underwater station 3 in the sea receives the signal P 1 of the second transponder 14 by the first receiver 7 and inputs the signal to a control device (not shown) to control the thrusters 10a to 10d. 3. Maintain a fixed point of 3.
[0018]
On the other hand, the autonomous unmanned vehicle 4 receives the signal P 1 of the second transponder 14 by the third receiver 13 and freely navigates freely. During self-propulsion, for example, a vibration wave P 2 is emitted from the vibration source 11, and the reflected wave is transmitted to, for example, a receiver (not shown) mounted on the mother ship 1, and a hydrophone-incorporated submarine cable (see FIG. (Not shown) or a streamer cable (not shown) towed by the autonomous unmanned vehicle 4 to explore the formation.
[0019]
When the power of the autonomous unmanned aerial vehicle 4 elapses to a predetermined amount, the signal P 3 of the first transponder 9 installed in the underwater station 3 by the third receiver 13 provided in the autonomous unmanned aerial vehicle 4. And the autonomous unmanned vehicle 4 is made to travel toward the underwater station 3. At the same time, the signal P 4 from the third transponder 12 of the autonomous unmanned aerial vehicle 4 is received by the second receiver 8 of the underwater station 3, and this is input to the control device (not shown) and the two units. The thruster 10a is controlled.
[0020]
That is, as shown in FIG. 3, when the autonomous unmanned aerial vehicle 4 faces the direction of arrow A, the two thrusters 10a for forward and reverse are controlled to indicate the underwater station 3 by a solid line. It is turned 90 degrees in the direction shown by the two-dot broken line from the direction so that the entrance 5a of the storage unit 5 faces the bow of the autonomous unmanned aerial vehicle 4.
[0021]
After that, when the autonomous unmanned aerial vehicle 4 is advanced in the direction of arrow A as it is, the autonomous unmanned aerial vehicle 4 is accommodated in the storage unit 5 of the underwater station 3.
[0022]
【The invention's effect】
As described above, according to the present invention, it is possible to hold a fixed point of the underwater station suspended from the mother ship in the sea, and when replenishing the power of the autonomous unmanned vehicle, the underwater station is accommodated in the underwater station. The underwater station can be turned so that the entrance of the storage unit faces the direction of the autonomous unmanned aerial vehicle.
[0023]
Accordingly, the automatic unmanned vehicle can be accommodated at an early stage, the total time required for power supply can be shortened, and the exploration period can be shortened.
[Brief description of the drawings]
FIG. 1 is a schematic view of a seabed exploration system according to the present invention.
FIG. 2 is a cross-sectional view of an underwater station.
FIG. 3 is an explanatory view of turning of the underwater station.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Mother ship 2 Launcher 3 Underwater station 4 Autonomous traveling body 5 Storage part 6 Power source storage part 7 1st receiver 8 2nd receiver 9 1st transponder 10a-10b Thruster 11 Drive source 12 3rd transponder 13 1st 3 receivers 14 second transponder 15 seabed

Claims (2)

母船から海中に吊り下げられた水中ステーションと、第３トランスポンダ及び第３受波器を有する自律型無人航走体と、前記自律型航走体及び前記水中ステーションに信号を送信する構成を有し、且つ海底に設置された第２トランスポンダとから成り、  An underwater station suspended from the mother ship in the sea, an autonomous unmanned aerial vehicle having a third transponder and a third receiver, and a configuration for transmitting signals to the autonomous navigator and the underwater station And a second transponder installed on the sea floor,
前記水中ステーションが、自律型無人航走体を収納する収納部と、動力源を格納する動力源格納部と、自律型無人航走体の収容のための信号を発信する第１トランスポンダと、第１及び第２の受波器と、水中ステーションを定点保持させる複数のスラスターとを備えており、  The underwater station includes a storage unit that stores an autonomous unmanned vehicle, a power source storage unit that stores a power source, a first transponder that transmits a signal for storing the autonomous unmanned vehicle, The first and second receivers, and a plurality of thrusters for holding the underwater station at a fixed point;
前記水中ステーションに設置した前記第1トランスポンダの信号で、前記自律型無人航  The autonomous unmanned aerial vehicle with the signal from the first transponder installed at the underwater station
走体の航走を制御し、前記海底に設置された第２トランスポンダの信号で、自律型航走体の航走及び前記水中ステーションの定点保持の制御を行う自律型無人航走体を用いた海底探査方式において、An autonomous unmanned vehicle that controls the traveling of the vehicle and controls the navigation of the autonomous vehicle and the fixed point maintenance of the underwater station using the signal from the second transponder installed on the seabed. In the seafloor exploration method,
前記自律型無人航走体を前記水中ステーション内に収容する際に、前記水中ステーションが、前記自律型航走体の第３トランスポンダの信号を水中ステーションの第２受波器で受信し、収納部の入口を自律型無人航走体の船首と対向するように前記複数のスラスターを制御することを特徴とする自律型無人航走体を用いた海底探査方式。  When the autonomous unmanned aerial vehicle is accommodated in the underwater station, the underwater station receives a signal from the third transponder of the autonomous aerial vehicle at the second receiver of the underwater station, and a storage unit A submarine exploration method using an autonomous unmanned aerial vehicle, wherein the plurality of thrusters are controlled so that the entrance of the vehicle faces the bow of the autonomous unmanned aerial vehicle. 母船から海中に吊り下げられた水中ステーションと、第３トランスポンダ及び第３受波器を有する自律型無人航走体と、前記自律型航走体及び前記水中ステーションに信号を送信する構成を有し、且つ海底に設置された第２トランスポンダとから成り、  An underwater station suspended from the mother ship in the sea, an autonomous unmanned aerial vehicle having a third transponder and a third receiver, and a configuration for transmitting signals to the autonomous navigator and the underwater station And a second transponder installed on the sea floor,
前記水中ステーションが、自律型無人航走体を収納する収納部と、動力源を格納する動力源格納部と、自律型無人航走体の収容のための信号を発信する第１トランスポンダと、第１及び第２の受波器と、水中ステーションを定点保持させる複数のスラスターとを備えており、  The underwater station includes a storage unit that stores an autonomous unmanned vehicle, a power source storage unit that stores a power source, a first transponder that transmits a signal for storing the autonomous unmanned vehicle, The first and second receivers, and a plurality of thrusters for holding the underwater station at a fixed point;
前記水中ステーションに設置した前記第1トランスポンダの信号で、前記自律型無人航  The autonomous unmanned aerial vehicle with the signal from the first transponder installed at the underwater station
走体の航走を制御し、前記海底に設置された第２トランスポンダの信号で、自律型航走体の航走及び前記水中ステーションの定点保持の制御を行う自律型無人航走体を用いた海底探査装置において、An autonomous unmanned vehicle that controls the traveling of the vehicle and controls the navigation of the autonomous vehicle and the fixed point maintenance of the underwater station using the signal from the second transponder installed on the seabed. In submarine exploration equipment,
前記自律型無人航走体を前記水中ステーション内に収容する際に、前記水中ステーションが、前記自律型航走体の第３トランスポンダの信号を水中ステーションの第２受波器で受信し、収納部の入口を自律型無人航走体の船首と対向するように前記複数のスラスター  When the autonomous unmanned aerial vehicle is accommodated in the underwater station, the underwater station receives a signal from the third transponder of the autonomous aerial vehicle at the second receiver of the underwater station, and a storage unit The plurality of thrusters so that the entrance of the vehicle faces the bow of the autonomous unmanned aerial vehicle
を制御するように構成したことを特徴とする自律型無人航走体を用いた海底探査装置。A submarine exploration device using an autonomous unmanned aerial vehicle, characterized by controlling the vehicle
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