JP6242975B1 - Navigation body recovery device and navigation body recovery method - Google Patents

Abstract

A vehicle capable of navigating in water or on water can be recovered to a mother ship safely and without being affected by water surface conditions by a simple and inexpensive configuration. A traveling body recovery device includes a winding device for a mother ship, a recovery cable that is pulled out of the winding device and towed, and a terminal line of the recovery cable. The end float 14 having an outer diameter d2 larger than the diameter d1 and a catch hook 15A provided on the traveling body 2A and capable of catching the recovery cord 13 are provided. The diameter d3 of the catch hook 15A is It is set to be larger than the wire diameter d1 and smaller than the outer diameter d2 of the end float 14. [Selection] Figure 7

Description

  The present invention relates to a traveling body collection apparatus and a traveling body collection method used when a traveling body used on or in water is collected on a mother ship using a winding device such as a winch of a mother ship or a crane.

  Conventionally, as an apparatus and method for throwing an underwater vehicle into the water or recovering it from the water, for example, as disclosed in Patent Document 1, the underwater vehicle is thrown in and out by a crane provided in the mother ship. There are known input / lift devices for collecting underwater vehicles. According to the apparatus and method of Patent Document 1, a crane is disposed on the bow, side or stern of the mother ship, and the tip of the rope and the underwater vehicle that are fed out from the crane arm projecting outward. The underwater vehicle is lifted by connecting to the bracket.

  However, in the apparatus and method of Patent Document 1, since the connection work between the recovery line drawn from the crane and the underwater vehicle is performed on the water, it is easily affected by waves. Therefore, when the sea surface is rough, there are inconveniences that work becomes very difficult and the underwater vehicle cannot be collected.

  For example, as disclosed in Patent Document 2, an underwater station where an underwater vehicle can easily enter and exit is suspended in water using a crane of a mother ship, or as disclosed in Patent Document 3, The launch and recovery device that allows the body to easily enter and exit is towed underwater using the tow cable of the mother ship, and the underwater vehicle is allowed to enter and exit from the underwater station and launch and recovery device. Some have been made easier to lift.

Japanese Patent Laid-Open No. 2007-1565 JP 2003-26090 A JP 2009-208511 A

  However, in order to suspend an underwater station or launch / recovery device such as in Patent Documents 2 and 3 from the mother ship or tow underwater, a position as far as possible from the mother ship is required to prevent collision and contact with the mother ship. For this reason, a large crane is required, and there is a disadvantage that a large ship of several hundred tons or more that can mount this large crane is required.

  The present invention has been made in view of such circumstances, and with a simple and inexpensive configuration, the navigation system can be easily and safely recovered without being affected by water surface conditions. It is an object of the present invention to provide a running body collection device and a traveling body collection method.

  The traveling body recovery device according to the first aspect of the present invention recovers a traveling body capable of traveling underwater or on the water to the mother ship using a winding apparatus of the mother ship, and the winding apparatus A recovery line that is pulled out from the winding device and towed, an end float that is provided at a terminal portion of the recovery line and has an outer diameter larger than a wire diameter of the recovery line, and provided in the traveling body And a catch hook that can catch the recovery line, and the diameter of the catch hook is larger than the wire diameter of the recovery line and smaller than the outer diameter of the end float.

The traveling body recovery apparatus configured as described above is used as follows.
First, a recovery rope is pulled out from a winding device such as a winch or a crane of the mother ship for a predetermined length, and the mother ship is sailed at a low speed in this state. Since the end of the recovery line has an end float that floats on the water surface, the recovery line is towed in a straight line extending backward from the mother ship, and a predetermined tension is applied. Thus, the middle part of the recovery line is kept near the water surface.

  Next, the traveling body is made to travel across the middle part of the recovery line. As described above, since the intermediate portion of the recovery cable is kept near the water surface, the recovery cable is caught by the acquisition hook provided on the traveling body and captured. When the recovery line is thus captured by the capture hook, winding of the recovery line is started. As a result, the recovery cable passes through the catching hook and is taken up by the take-up device. However, the outer diameter of the end float provided at the end of the recovery cable is equal to the diameter of the catching hook (inside the part holding the recovery cable). The end float cannot slip through the catch hook. Therefore, the traveling body can be pulled toward the mother ship side and recovered while the end float is prevented from coming off from the catch hook.

  This navigation body recovery device is provided with an end float at the end of the recovery line extended from a winding device such as a winch or a crane that is always installed in the mother ship, and a catch hook that can capture the recovery line is provided on the navigation body. This is a simple configuration. In addition, since it is not necessary to lift the traveling body above the surface of the water by the recovery line, it is not necessary to use a large crane or the like, and the recovery operation can be performed with a small mother ship. Moreover, there is no need for any work for connecting the vehicle to the recovery line on the water. Therefore, with a simple and inexpensive configuration, it is possible to easily collect the traveling body safely and without being affected by the water surface condition.

  In the traveling body collection apparatus having the above-described configuration, the navigation apparatus may further include a position information acquisition unit that acquires positional information of the traveling body with respect to the mother ship, and a remote operation unit that remotely operates the traveling body. .

  In such a configuration, the navigation body can be remotely controlled while confirming the position of the navigation body with respect to the mother ship, so that the navigation body travels across the middle part of the recovery line and is recovered. When the cable is captured by the capture hook, the recovery cable can be efficiently captured in a short time and the traveling body can be recovered. In addition, by making it possible to confirm the position of the end float with respect to the mother ship, the navigation body can be collected more efficiently.

The navigation body collection device having the above-described configuration may further include a position display unit that indicates a position of the navigation body with respect to the mother ship based on the position information acquired by the position information acquisition unit.
Thus, by displaying the position of the traveling body relative to the mother ship on the position display unit, the traveling body can be collected more efficiently. If not only the navigation body but also the relative position of the end float is indicated, the navigation body can be collected more efficiently.

  In the traveling body recovery apparatus having the above configuration, it is preferable that the recovery line is formed so as to float on the water surface. As a result, the recovery line does not sink even when the towing speed of the mother ship is low or when the waves are rough, etc., making it easy to capture the recovery line with the catching hook of the traveling body and increasing the efficiency of the recovery work be able to.

  In the traveling body collecting apparatus having the above-described configuration, the catch hook projects from the surface of the sailing body and opens toward the traveling direction of the sailing body and catches the retrieval line towed by the mother ship. It is good also as a structure provided with the main body and the retaining latch which prevents detachment | leave of the said collection | recovery line caught by the said hook main body.

  By configuring the catch hook as described above, the recovery cable captured by the hook body is prevented from detaching from the hook body by the retaining latch, so that the once-captured recovery line is held by the capture hook without being detached. As described above, it is possible to reliably perform the work of drawing the traveling body to the mother ship side while preventing the end float from coming off.

  In the traveling body collecting apparatus having the above-described configuration, the traveling body travels underwater, and the catch hook may be provided so as to be able to appear and disappear outward from the surface of the traveling body. This makes it possible to keep the catch hook under the surface of the navigation body except during the recovery work of the navigation body, eliminating the increase in water flow resistance due to the protrusion of the capture hook, and improving the original performance of the navigation body. Can keep good.

  In the above-described configuration, the traveling body travels underwater, and the catching hook protrudes upward from the upper surface of the traveling body and has a rearward tilted pole shape, and a tip portion thereof is a front lower part It is good also as a structure which becomes the hook shape bent toward the direction.

  In this way, by forming the catch hook in a pole shape that protrudes upward and tilts backward, the range in which the recovery line can be captured is increased by the length of the capture hook, so the capture rate of the recovery line is increased. Can do.

  In the above configuration, the traveling body travels underwater, and the catch hook floats on the water surface while being connected to the traveling body via a connection cable, and the recovery rope towed by the mother ship It is good also as a structure provided with the hook main body to capture | acquire, and the latching latch which prevents the separation | extraction of the said collection | recovery line captured by the said hook main body.

  With this configuration, the catch hook provided at the tip of the connecting cable extending from the traveling body is towed by the traveling body in a state where it floats on the water surface, so the hook body of the catch hook is towed near the water surface. It is possible to easily capture the collected retrieval cable. Since the captured recovery line is prevented from being detached from the hook main body by the retaining latch, the recovery operation of pulling the traveling body toward the mother ship side can be performed reliably while retaining the end float.

In the above configuration, the traveling body travels underwater, and the catch hook is connected to a distal end portion of the traveling body and a central connection point that coincides with a central axis of the traveling body. It is good also as a structure.
According to this configuration, when the catching hook catches the recovery line and the traveling body is towed by the recovery line, the pulling tension acts along the center axis of the traveling body. For this reason, the moment that acts in the direction of shaking the center axis of the navigation body is minimized, and the swinging operation when the navigation body is towed by the recovery line is minimized, thereby facilitating the recovery operation of the navigation body. Can do.

  In the above configuration, the catch hook is provided at a position away from the center connection point via a separation portion, and is connected to the center connection point via a connection cable. You may make it isolate | separate the said catch hook from the said navigation body by receiving the traction tension | tensile_strength from this recovery line after catching a recovery line.

  As described above, when the catching hook is connected to the tip of the traveling body and the central connection point that coincides with the central axis of the traveling body, it becomes difficult to capture the recovery line. For this reason, the catch hook is installed on the upper surface of the traveling body that easily catches the recovery line via a separation part, and the catch hook and the central connection point are connected by a connecting cable.

  The catching hook catches the recovery line and receives the traction tension from the recovery line, so that the separation unit separates the capture hook from the traveling body. Since the catch hook separated from the navigation body is connected to the center connection point of the navigation body via the connection cable, the traction tension from the recovery line acts along the center axis of the navigation body via the connection cable. Thus, the generation of moments acting in the direction of shaking the central axis of the navigation body is suppressed.

  In this way, a catch hook is installed at a position where it is easy to catch the recovery line to increase the capture rate of the recovery line, and after the recovery line is captured, the swinging of the traveling body due to traction tension is suppressed as much as possible. It is possible to facilitate the work of drawing the navigation body to the mother ship side and collecting it.

The said structure WHEREIN: The said navigating body sails on the water, and the said catch hook is good also as a structure provided in the height which becomes just under the waterline in the bow stem part of the said navigating body.
In the case of this configuration, when the bow stem portion (航) of the traveling body rides on the recovery line being towed near the water surface, the recovery line can be captured by the capture hook provided here. Therefore, the recovery line can be easily captured and the recovery efficiency of the navigation body can be increased.

  In the above-described configuration, the traveling body travels on water, and the catch hook sinks into water while being connected to a bow portion of the traveling body via a connection cable, and is towed by the mother ship. It is good also as a structure provided with the hook main body which capture | acquires a collection | recovery line, and the latching latch which prevents separation | leave of the said collection | recovery line captured by the said hook main body.

  If comprised in this way, since the catch hook provided at the tip of the connecting cable extending downward from the bow of the sailing body is towed to the sailing body in a state where it is submerged in water, the hook body of the catch hook The recovery line towed near the water surface can be easily captured. Since the captured recovery line is prevented from being detached from the hook main body by the retaining latch, the recovery operation of pulling the traveling body toward the mother ship side can be performed reliably while retaining the end float.

  The recovery method of the navigation body according to the second aspect of the present invention is a recovery line provided with an end float that is pulled out of the winding device of the mother ship and towed by the mother ship, and floats on the water surface at the end thereof. After navigating across a traveling body capable of traveling on or under water, the recovery line is captured by a capturing hook provided on the traveling body, and then the recovery line is wound by the winding device. Thus, the traveling body is drawn to the mother ship side and collected while the end float is prevented from coming off from the catch hook.

  In this navigation body recovery method, first, a recovery rope is pulled out by a predetermined length from a winding device such as a winch or a crane of the mother ship, and the mother ship is sailed at a low speed in this state. Since the end of the recovery line has an end float that floats on the water surface, the recovery line is towed in a straight line extending backward from the mother ship, and a predetermined tension is applied. Thus, the middle part of the recovery line is kept near the water surface.

  Next, the traveling body is made to travel across the middle part of the recovery line. As described above, since the intermediate portion of the recovery cable is kept near the water surface, the recovery cable is caught by the acquisition hook provided on the traveling body and captured. When the recovery line is thus captured by the capture hook, winding of the recovery line is started. As a result, the recovery cable passes through the catching hook and is taken up by the take-up device, but the end float provided at the end of the recovery cable is caught without being able to pass through the catching hook. Become. By further winding the recovery cable from here, the navigation body can be drawn to the mother ship side and recovered.

  According to this collection method, while using a winding device such as a winch or a crane that is always installed in the mother ship, the catching hook is provided on the traveling body, and it is safe and affects the water surface condition. The traveling body can be easily collected without being carried out.

  In the above recovery method, the recovery line is pulled out from the winding device of the mother ship by a predetermined length and deployed on the water surface, and the recovery line is deployed towing the recovery line, the towing step, the mother ship and the end A position information acquisition step of acquiring position information of each of the float and the traveling body, and a traveling route that sets a traveling route so as to pass between the mother ship and the end float with respect to the traveling body A setting step; a traveling step for causing the traveling body to travel along the traveling route; and a capturing determination step for determining whether a capturing hook provided on the traveling body has captured the recovery line. And when the catch hook can catch the recovery line, the winding step of operating the winding device to wind up the recovery line, and the recovery step of recovering the traveling body in the mother ship, Even if There.

  In this case, first, in the position information acquisition step, the position information of the mother ship, the end float, and the traveling body is acquired by a radar system, GPS, etc., and then, in the navigation route setting step, the traveling body is converted into the mother ship, the end float, and The traveling route of the traveling body is set so as to pass between the two, and then the traveling is performed in the traveling step. When the navigation body navigates between the mother ship and the end float, the recovery hook towed by the mother ship is captured by the catch hook provided on the navigation body.

  In the capture determination step, it is determined whether or not the recovery line is captured by the capture hook. This determination is performed using, for example, whether or not the capture detection switch provided on the capture hook is turned on by capturing the recovery line.

  When the catching hook of the navigation body can catch the recovery line, the process proceeds to the winding step, and the recovery line is wound up by the winding device of the mother ship. As a result, the recovery cable passes through the catching hook and is taken up by the take-up device, and when the end float provided at the end of the recovery cable comes into contact with the catching hook, the end of the float is prevented from coming off. The runner can be pulled to the mother ship and collected.

  When the navigation body is drawn to the mother ship, the process proceeds to a recovery step, where the navigation body is pulled up from a lifting swash plate (tilt base) equipped on the stern of the mother ship and collected in the mother ship. As described above, the navigation body can be reliably and easily recovered by performing the recovery operation of the navigation body by taking steps.

  In the above recovery method, when the capture hook fails to capture the recovery line, the traveling route is reset so that the traveling body passes again between the mother ship and the end float. It may be further provided with a navigation route resetting step and a restarting step of restarting the traveling body along the reset navigation route.

  In this case, if the catch hook fails to catch the recovered line during the first run, the procedure shifts to the run route reset step, and the runner sails again to pass between the mother ship and the end float. The route is reset, and then the vehicle re-runs along the re-set travel route in the re-run step. As a result, it is possible to increase the recovery efficiency of the traveling body by automatically repeating the navigation until the recovery line can be captured.

  As described above, according to the traveling body recovery apparatus and the traveling body recovery method of the present invention, the navigation body can be recovered safely and without being affected by the water surface condition by a simple and inexpensive configuration. It can be done easily.

It is a whole perspective view before collection | recovery line | wire acquisition which shows 1st Embodiment of this invention. It is a whole perspective view after collection | recovery rope capture | acquisition in 1st Embodiment. It is a whole perspective view at the time of collection | recovery rope winding-up in 1st Embodiment. It is a whole perspective view at the time of the navigation body collection | recovery in 1st Embodiment. It is a whole perspective view after the completion of the navigation body collection in a 1st embodiment. It is a side view of the navigation body in a 1st embodiment. It is a side view of the catch hook in a 1st embodiment. It is a side view of the navigation body before collection | recovery rope capture | acquisition in 1st Embodiment. It is a side view of the traveling body after collection | recovery rope capture | acquisition in 1st Embodiment. It is a figure which shows an example of a position display part. It is a whole side view at the time of collection | recovery rope winding-up in 1st Embodiment. It is a figure which shows the collection method of a navigation body with a flowchart. It is a side view of the navigation body which shows 2nd Embodiment of this invention. It is a side view of the traveling body which shows 3rd Embodiment of this invention. It is a side view of the catch hook in a 3rd embodiment. It is a side view of the navigation body before collection | recovery rope capture | acquisition in 3rd Embodiment. It is a side view of the navigation body after collection | recovery rope capture | acquisition in 3rd Embodiment. It is a side view of the navigation body which shows 4th Embodiment of this invention. It is a side view of the catch hook in a 4th embodiment. It is a side view of the navigation body before collection | recovery rope capture | acquisition in 4th Embodiment. It is a side view of the navigation body after collection | recovery rope capture | acquisition in 4th Embodiment. It is a side view of the navigation body which shows 5th Embodiment of this invention. It is the side view and top view of the catch hook in 5th Embodiment. It is a side view of the navigation body before collection | recovery rope capture | acquisition in 5th Embodiment. It is a side view of the navigation body after collection | recovery rope capture | acquisition in 5th Embodiment. It is a side view of the navigation body which shows 6th Embodiment of this invention. It is a side view of the navigation body before collection | recovery rope capture | acquisition in 6th Embodiment. It is a side view of the navigation body after collection | recovery rope capture | acquisition in 6th Embodiment. It is a whole perspective view before collection | recovery line | wire acquisition which shows 7th Embodiment of this invention. It is a whole perspective view after collection rope catching in a 7th embodiment. It is a whole perspective view at the time of collection | recovery rope winding-up in 7th Embodiment. It is a whole perspective view at the time of the navigation body collection | recovery in 7th Embodiment. It is a whole perspective view after the completion of the recovery of the traveling body in the seventh embodiment. It is a side view of the traveling body which shows 7th Embodiment of this invention. It is a side view of the navigation body before collection | recovery rope collection | recovery which shows 8th Embodiment of this invention. It is a side view of the navigation body after collection | recovery rope capture | acquisition in 8th Embodiment. It is a side view of the navigation body before collection | recovery rope collection | recovery which shows 9th Embodiment of this invention. It is a side view of the navigation body after collection | recovery rope capture | acquisition in 9th Embodiment. It is a side view of the navigation body before collection | recovery rope collection | recovery which shows 10th Embodiment of this invention. It is the side view and bottom view of the catch hook in 10th Embodiment. It is a side view of the navigation body after collection | recovery rope capture | acquisition in 10th Embodiment.

Hereinafter, a plurality of embodiments of a traveling body collection device 7 and a traveling body collection method according to the present invention will be described with reference to the drawings.
[First Embodiment]
1 to 5 are general perspective views showing a flow of operations for collecting the traveling body 2A by the mother ship 1. FIG. Explaining the configuration of each part, the mother ship 1 is provided with, for example, a swash plate (tilt base) 3 at its stern part, and a winding device 4 such as a winch or a crane is provided at the top of the slope. The lifting / lowering swash plate 3 can be lifted onto the rear deck 5 of the mother ship 1 as shown in FIG.

  The navigation body recovery device 7 recovers the navigation body 2 </ b> A to the mother ship 1 using the winding device 4. The traveling body 2A shown in the present embodiment travels underwater. Specifically, an unmanned underwater (undersea) spacecraft or the like can be exemplified, but as shown in a later embodiment, the navigation body 2A travels on the water. It may run (see FIGS. 29 to 41). It is preferable that the navigation body 2A can be remotely controlled by the signal radio wave SW. However, for example, a vehicle that autonomously moves so as to reciprocate in a certain area after ascending is conceivable.

  As shown in FIG. 6, a propeller screw propeller 10 and a vertical and horizontal rudder 11 for controlling the attitude are provided at the tail of the traveling body 2A. The screw propeller 10 is driven to rotate by a driving motor (not shown) built in the traveling body 2A to propel the traveling body 2A. The vertical and horizontal rudder 11 is moved by a servo motor (not shown) built in the traveling body 2A. Further, a power source battery for a drive motor and a servo motor is accommodated in the traveling body 2A. The navigation body 2A can inject by injecting ballast water into the internal tank or can float by discharging the ballast water. These operations are generally performed by remote control from the mother ship 1, but it is also possible to autonomously submerge and rise.

  The traveling body recovery device 7 is provided at the winding device 4, the lifting / lowering swash plate 3, the recovery cord 13 that is pulled out from the winding device 4 and towed to the mother ship 1, and the end portion of the recovery cord 13. End float 14, as shown in FIGS. 6 to 9 and 11, a catch hook 15 </ b> A provided on the navigation body 2 </ b> A, and a position display screen 16 (position display unit) provided inside the mother ship 1. The remote control unit 17 for remotely operating the traveling body 2A, the mother ship control unit 18, and the navigation body control unit 19 are provided. The mother ship control unit 18 performs various controls of the navigation body collection device 7 and also functions as a position information acquisition unit that acquires position information of the navigation body 2A with respect to the mother ship 1 as described later.

  The recovery line 13 may be a general metal wire (metal cable) for a winch, but may be a non-metal such as a resin cable or a rope as long as it can sufficiently withstand the tension when the navigation body 2A is drawn to the mother ship 1. It may be formed of a material. In particular, those formed so as to float on the water surface are preferable. If it is tough, such as polyamide fiber or aramid fiber (trade name Kevlar), but it is made of a material with a specific gravity greater than that of water, it can be formed into, for example, a pipe or a fiber with a specific gravity smaller than that of water. It can be considered that the recovery cable 13 floats on water by combining or processing so as to include bubbles.

  The end float 14 provided at the end of the recovery line 13 can float on the water, and has a hollow structure having an outer diameter d2 larger than the wire diameter d1 of the recovery line 13 as shown in FIG. . For example, the wire diameter d1 of the recovery cable 13 may be about 10 mm to 20 mm, and the outer diameter d2 of the end float 14 may be about 200 mm to 500 mm. As the material of the end float 14, a resin is suitable. However, as will be described later, the end float 14 serves as a stopper for the recovery line 13 that passes through the catch hook 15A provided in the traveling body 2A, and the tow of the traveling body 2A. And since it is a member which receives the tension accompanying recovery, it must have strength sufficient to withstand this tension.

  As shown in an enlarged view in FIG. 7, the catch hook 15 </ b> A provided on the traveling body 2 </ b> A includes a hook body 21 projecting upward from an upper surface near the frontal portion of the traveling body 2 </ b> A, and the hook body. 21 is provided with a lever-like retaining latch 23 pivotally attached to a hinge 22. The hook main body 21 is formed, for example, so that a tall outer hook 21a and a short inner hook 21b are opposed to each other to form a substantially G shape in a side view, and is directed toward the traveling direction of the traveling body 2A. Open. From this substantially G-shaped opening, a recovery line 13 towed to the mother ship 1 is captured as described later.

  As shown in FIG. 7, the hinge 22 of the retaining latch 23 is provided in the middle portion of the outer hook 21a, and the free end of the retaining latch 23 is spring-biased and abutted against the tip of the inner hook 21b from below. ing. For this reason, the recovery cord 13 pushes open the retaining latch 23 from the opening between the outer hook 21a and the inner hook 21b and is captured inside the inner hook 21b. 23 is prevented from leaving outside.

  The retaining latch 23 is provided with a capture detection switch 24. When the retaining latch 23 is pushed open by the recovery cable 13, the capture detection switch 24 is turned on, and the information is sent to the vehicle control unit 19. The fact that the retrieval line 13 is captured and stored is converted into data, and the data is transferred to the mother ship control unit 18. Instead of providing the capture detection switch 24, for example, it is conceivable that a small underwater camera is arranged and the operator visually confirms the capture of the recovery line 13. However, the present invention is not limited to these configurations. In short, it is only necessary to determine whether or not the recovery rope 13 has been captured by the capture hook 15A.

  As shown in FIG. 7, the diameter d3 of the catching hook 15A, that is, the height dimension and the longitudinal dimension of the portion where the recovery rope 13 is held by being surrounded by the outer hook 21a, the inner hook 21b and the retaining latch 23 are as follows. It is set to be larger than the wire diameter d1 of the recovery cable 13 and smaller than the outer diameter d2 of the end float 14. For example, if the wire diameter d1 of the recovery cable 13 is about 10 mm to 20 mm and the outer diameter d2 of the end float 14 is about 200 mm to 500 mm, the diameter d3 of the catch hook 15A is set to about 30 mm to 100 mm.

As described above, the mother ship control unit 18 that also functions as position information acquisition means acquires position information of the navigation body 2A and the end float 14 with respect to the mother ship 1 using a radar system, GPS (satellite positioning system), and the like. The position information LI is output to the position display screen 16 (see FIG. 1).
The position display screen 16 shows the relative positions of the traveling body 2A and the end float 14 with respect to the mother ship 1 as shown in FIGS. 1 and 10 based on the position information LI. For example, the mother ship 1 is displayed at the center of the position display screen 16, and the traveling body 2A and the end float 14 are displayed around it.
When the position information LI is acquired using a radar system, a radio wave reflector (reflector) is provided on the surface of the navigation body 2A or the end float 14 in order to easily reflect the detection radio wave transmitted from the mother ship 1. Or conversely, it may be possible to easily detect the position by transmitting radio waves from the traveling body 2A or the end float 14.

  By the way, since the end float 14 is towed to the mother ship 1 through the recovery line 13, as long as the mother ship 1 goes straight, the end float 14 is located at a position behind the mother ship 1 and by the length of the recovery line 13. It can be estimated that For this reason, even if the end float 14 is not displayed in the position display screen 16, the recovery operation of the traveling body 2A can be performed. Alternatively, the estimated position of the end float 14 may be displayed in the position display screen 16.

  The remote control unit 17 for remotely operating the traveling body 2A includes a mother ship control unit 18 of the mother ship 1, a transmission antenna 27 provided outside the mother ship 1, a traveling body control unit 19 of the traveling body 2A, The receiving antenna 28 is provided outside the runner 2A. When the signal radio wave SW transmitted from the transmitting antenna 27 of the mother ship 1 is received by the receiving antenna 28 of the traveling body 2A, the traveling body 2A is remotely controlled.

Refer to each step of the flowcharts shown in FIGS. 1 to 9, 11 and 12 for a method of recovering the traveling body 2A to the mother ship 1 using the traveling body recovery apparatus 7 configured as described above. While explaining.
When the recovery operation of the navigation body 2A is started, first, as shown in FIG. 1, the recovery rope 13 is pulled out from the winding device 4 of the mother ship 1 by a predetermined length and is deployed on the water surface. The recovery rope 13 is towed at low speed (recovery rope deployment, towing step S1). Since an end float 14 that floats on the water is provided at the end of the recovery line 13, the recovery line 13 is towed in a state of linearly extending backward from the mother ship 1 by the drag of the end float 14, As a result of this tension, the intermediate portion of the recovery cable 13 is kept near the water surface.

  Next, the mother ship control unit 18 acquires position information of the navigation body 2A and the end float 14 with respect to the mother ship 1 (position information acquisition step S2). Specifically, the position information of the navigation body 2A and the end float 14 with respect to the mother ship 1 is acquired using a radar system, GPS, etc., and this position information is output to the position display screen 16 as shown in FIG. . The operator can visually confirm the relative positional relationship among the mother ship 1, the traveling body 2 </ b> A, and the end float 14 displayed on the position display screen 16.

  Next, a traveling route is set in which the traveling body 2A crosses the middle portion of the recovery line 13 (cruising route setting step S3). Specifically, the mother ship 1 is operated or the navigation body 2A is operated remotely (both may be performed), and the navigation body 2A is located on the side of the recovery line 13 as shown in FIGS. Adjust the position so that it is positioned. This setting may be performed automatically. In some cases, the position information of the traveling body 2A is acquired first, and the navigation route, the navigation speed, the withdrawal length of the recovery rope 13, etc. of the mother ship 1 are determined based on the position information.

  Next, the traveling body 2A is caused to travel along the set traveling route so as to cross the intermediate portion of the recovery line 13 (cruising step S4). As shown in FIG. 8, since the intermediate portion of the recovery line 13 is maintained near the water surface WS, the recovery hook 13 is recovered by the catch hook 15A provided at the frontal portion of the traveling body 2A as shown in FIGS. The cord 13 can be hooked and captured. However, the catch hook 15 </ b> A cannot always catch the recovery line 13 in the first cruise due to the influence of waves or the like.

Therefore, it is determined whether or not the recovery cord 13 is captured by the capture hook 15A based on whether or not the capture detection switch 24 provided on the capture hook 15A is turned on (capture determination step S5). When the recovery line 13 is not captured (S5 → NO), it is determined whether or not the traveling body 2A has completed the traveling route (traveling route completion determination step S6).
When the traveling body 2A has not completed the traveling route (S6 → NO), the capture determination of the recovery line 13 (capture determination step S5) and the completion determination of the navigation route (travel route completion determination step S6) Is repeated to become a waiting routine.
When the traveling body 2A has completed the traveling route (S6 → YES), the recovery route 13 is reset because the recovery hook 13A is not expected to be captured by the capturing hook 15A even if waiting further. In the running route reset step S3 '), the traveling body is caused to rerun along the reset running route (rerun step (S4'). Thereafter, the routine from step S3 'to step S6 is repeated. Is done.

  When it is determined that the recovery line 13 has been captured by the capture hook 15A (S5 → YES), winding of the recovery line 13 by the winding device 4 of the mother ship 1 is started as shown in FIGS. Taking step S7). Since the catch hook 15A catches the intermediate portion of the recovery cord 13, by winding the recovery cord 13, the recovery cord 13 passes through the catch hook 15A and is taken up by the winding device 4. FIG. As shown, since the outer diameter d2 of the end float 14 provided at the end of the recovery cable 13 is larger than the diameter d3 of the catch hook 15A, the end float 14 cannot pass through the catch hook 15A. It contacts the catching hook 15A (see FIGS. 9 and 11).

  Therefore, the recovery line 13 can be wound up and the traveling body 2A can be drawn toward the mother ship 1 side while the end float 14 is prevented from coming off from the catch hook 15A. In addition, by making the mother ship 1 move forward at a very low speed during the winding operation, the traveling body 2A can be prevented from colliding with the hull of the mother ship 1 even when the water surface is rough. Next, as shown in FIG. 4, the traveling body 2A is lifted on the lifting swash plate 3, and finally, the traveling body 2A together with the lifting swash plate 3 is placed on the rear deck 5 as shown in FIG. Pulling up (recovery step S8), the recovery operation of the traveling body 2A is completed.

The navigation body recovery device 7 is provided with an end float 14 at the end of a recovery line 13 extended from a winding device 4 such as a winch or a crane that is always provided in the mother ship 1 and can capture the recovery line 13. This is a simple configuration in which the catch hook 15A is provided on the traveling body 2A.
In addition, since it is not necessary to lift the traveling body 2A above the surface of the water with the recovery rope 13, it is not necessary to use a large crane or the like, and the recovery operation can be performed with the small mother ship 1.
Further, there is no need to connect the traveling body 2A to the recovery line 13 on the water. Therefore, with the simple and inexpensive configuration, the traveling body 2A can be easily recovered safely and without being affected by the water surface condition.

  Furthermore, this navigation body collection | recovery apparatus 7 is provided with the position display screen 16 which shows the relative position of the end float 14 and the navigation body 2A with respect to the mother ship 1, and the remote control part 17 which operates the navigation body 2A remotely. Therefore, the traveling body 2A can be remotely operated while confirming the relative positions of the end float 14 and the traveling body 2A with respect to the mother ship 1. Therefore, when the traveling body 2A sails across the middle portion of the recovery line 13 and the recovery line 13 is captured by the capture hook 15A, the recovery line 13 is captured efficiently in a short time. It can be recovered.

  In addition, since the movement of the traveling body 2A and the end float 14 can be grasped from the position display screen 16, for example, when the catching hook 15A of the traveling body 2A captures the recovery line 13, the speed of the traveling body 2A increases rapidly. It is possible to confirm the completion of the capture of the recovery line 13 also from a specific movement such that the end float 14 is pulled toward the mother ship 1 side. Accordingly, it is not essential to provide the capture detection switch 24 in the retaining latch 23 of the capture hook 15A or to confirm the capture of the recovery cable 13 with a small underwater camera. It can be simplified.

  By forming the recovery cable 13 so as to float on the water surface, the recovery cable 13 is less likely to sink below the water surface even when the towing speed of the mother ship 1 is low or when the waves are rough. 13 can be easily captured, and the recovery efficiency of the traveling body 2A can be increased.

  By the way, the catching hook 15A protrudes from the surface of the traveling body 2A, opens toward the traveling direction of the traveling body 2A, and catches the recovery line 13 towed by the mother ship 1, and the hook body 21. And a retaining latch 23 that prevents the recovery cable 13 that is captured by the member from being detached. Therefore, the recovery cable 13 captured by the hook body 21 is prevented from being detached from the hook body 21 by the retaining latch 23. Accordingly, the once-captured recovery line 13 can be kept on the catch hook 15A without being detached, and the work of pulling the traveling body 2A toward the mother ship 1 side with the end float 14 being prevented from coming off as described above is ensured. It can be carried out.

[Second Embodiment]
FIG. 13 is a side view of a traveling body 2B showing a second embodiment of the present invention. This traveling body 2B also travels underwater like the traveling body 2A of the first embodiment. This traveling body 2B is provided with a catching hook 15B having the same shape as the catching hook 15A of the first embodiment. The catching hook 15B is provided so as to be able to protrude outward (upward) from the surface of the traveling body 2B. In this respect, it differs from the traveling body 2A of the first embodiment, and the other configurations are the same.

  Here, for example, a hinge 32 is provided at the rear end portion of the pedestal portion 31 of the catch hook 15B, and the catch hook 15B can be accommodated inside the traveling body 2B together with the pedestal portion 31 with the hinge 32 as a fulcrum. It rotates between the housing position 15Ba housed inside and the projecting position 15Bb projecting outside, and is locked at each position 15Ba, 15Bb.

  Examples of the drive source that causes the catch hook 15B to project from the housing position 15Ba to the projecting position 15Bb include a biasing member such as a spring, a motor, and hydraulic pressure. The protruding operation from the housing position 15Ba to the protruding position 15Bb must be performed by remote control. For example, when the catching hook 15B is projected from the housing position 15Ba to the projecting position 15Bb by a spring biasing force, an engagement member (not shown) is provided to hold the catching hook 15B at the housing position 15Ba against the spring biasing force. In addition, it is conceivable to use a so-called pop-out mechanism in which the engagement is released by sliding the engagement member with a solenoid or the like and the catching hook 15B protrudes to the protruding position 15Bb. It should be noted that the internal mechanism can be simplified if the accommodating operation from the protruding position 15Bb to the accommodating position 15Ba is performed manually without using power.

  By providing the catch hook 15B so as to be able to appear and retract, the water flow caused by the protrusion of the catch hook 15B can be obtained by immersing the catch hook 15B below the surface of the sailing body 2B except during the recovery operation of the traveling body 2B. The increase in resistance can be eliminated and the original performance of the traveling body 2B can be kept good. And at the time of collection | recovery of the navigation body 2B, the capture hook 15B can be protruded from the accommodation position 15Ba to the protrusion position 15Bb by remote operation, and the collection | recovery line 13 can be captured.

[Third Embodiment]
14 to 17 are side views of the traveling body 2C and the catching hook 15C showing the third embodiment of the present invention. The traveling body 2C also travels underwater, and its basic configuration is the same as that of the traveling body 2A of the first embodiment.

  The catching hook 15C of the traveling body 2C is provided so as to be able to protrude upward and downward from the surface of the traveling body 2C, similarly to the catching hook 15B of the second embodiment. For example, a groove-like hook receiving recess 35 along the traveling direction is provided on the upper surface of the frontal head of the traveling body 2C, and a pole is formed around the hinge 36 provided at the rear end of the hook receiving recess 35. 15C-shaped catch hooks 15C are pivotally mounted, and fall between the hinges 36 forward and rotate between an accommodation position 15Ca accommodated in the hook accommodation recess 35 and a projecting position 15Cb projecting to the outside. . At the protruding position 15Cb, the catching hook 15C is inclined slightly rearward (for example, about 10 ° to 20 ° backward with the vertical being 0 °).

  The mechanism for projecting the catching hook 15C from the accommodation position 15Ca to the projecting position 15Cb is preferably a jumping mechanism using an urging member such as a spring and a release member such as a solenoid, which is suitable for good remote control. In this case, the catching hook 15C is maintained in a posture protruding to the protruding position 15Cb by the urging force. However, when a force pulling the catching hook 15C forward acts, the catching hook 15C resists the urging force as shown in FIG. Then, it falls forward and follows the surface of the traveling body 2C. The projecting operation from the housing position 15Ca to the projecting position 15Cb must be performed by remote operation, but conversely, the housing operation may be performed manually.

  A hook body 37 that bends forward and downward at the protruding position 15Cb is formed at the tip of the catch hook 15C. As shown in an enlarged view in FIG. A lever-shaped retaining latch 39 is provided. The retaining latch 39 is spring-biased, and its free end is in contact with the vicinity of the tip of the hook body 37 from the inside. The diameter d3 of the hook body 37 inside the retaining latch 39 is set larger than the wire diameter d1 of the recovery cable 13 and smaller than the outer diameter d2 of the end float 14.

  In the traveling body 2C configured as described above, the recovery line 13 towed in the vicinity of the water surface WS as shown in FIG. 16 is located near the base of the catch hook 15C or in the middle as shown in FIG. After coming into contact with the catch hook 15 </ b> C, which is moving forward in the rearward tilted projecting position 15 </ b> Cb, it slides upward along the front edge of the catch hook 15 </ b> C, pushes the retaining latch 39 open, and is caught inside the hook body 37. The recovery cable 13 once captured is prevented from being detached from the hook body 37 by a retaining latch 39.

  When the winding of the recovery cord 13 is started after the catching hook 15C catches the recovery cord 13, the recovery cord 13 passes through the hook body 37 of the catching hook 15C and is taken up by the winding device 4. Since the outer diameter d2 of the end float 14 provided at the end of the cord 13 is larger than the diameter d3 of the hook body 37, the end float 14 does not slip through the hook body 37, and the end float 14 contacts the hook body 37. It comes into contact with it and prevents it from coming off, and it becomes possible to tow the traveling body 2C by means of the recovery cable 13. At the time of towing by the recovery rope 13, the catch hook 15C is rotated forward and the hook body 37 is close to the upper surface of the traveling body 2C as shown in FIG. The swinging of the traveling body 2C during towing can be reduced.

  As in the present embodiment, the catch hook 15C projects upward at the projecting position 15Cb and is formed in a pole shape that tilts backward, so that the recovery line 13 can be captured by the length of the catch hook 15C. Therefore, the capture rate of the recovery cord 13 can be increased. For example, the recovery line 13 can be captured by the capture hook 15C even if the traveling body 2C has not completely floated on the water surface WS. Further, since the catching hook 15C is housed in the hook housing recess 35 and does not protrude from the surface of the traveling body 2C at the housing position 15Ca, an increase in water flow resistance due to the protrusion of the catching hook 15C can be eliminated.

[Fourth Embodiment]
18 to 21 are side views of the traveling body 2D and the catching hook 15D showing the fourth embodiment of the present invention. This traveling body 2D also travels underwater, and its basic configuration is the same as that of the traveling body 2A of the first embodiment.

  The catching hook 15D of the traveling body 2D has a pole shape that is tilted backward while standing upward from the upper surface of the frontal head of the traveling body 2D, similarly to the catching hook 15C of the third embodiment. As shown, a hook body 37 and a retaining latch 39 are provided at the tip of the hook body 37.

  A groove-like hook receiving recess 35 along the traveling direction is provided on the upper surface of the frontal head of the navigation body 2D, and the catching hook 15D pivots on a hinge 36 provided at the rear end of the hook receiving recess 35. In addition, it is configured to rotate between a housing position 15Da that falls forward and is housed in the hook housing recess 35, and a projecting position 15Db that projects outward. The posture at the protruding position 15Db is inclined backward as in the third embodiment.

A mechanism for causing the catching hook 15D to project from the housing position 15Da to the projecting position 15Db may be the same as that of the third embodiment. The difference from the third embodiment is that the capture hook 15D is locked so as not to rotate forward at the protruding position 15Db, and a separation portion 42 is provided between the capture hook 15D and the hinge 36. It is.
Further, a cable housing groove 43 extending from the front end portion of the hook housing recess 35 to the tip end portion of the traveling body 2D and the central connection point P coinciding with the central axis C of the traveling body 2D is formed. And the catch hook 15 </ b> D are connected by a connecting cable 44. The connecting cable 44 is housed in the cable housing groove 43.
As described above, the catch hook 15 </ b> D is provided at a position away from the center connection point P via the separation portion 42, and is connected to the center connection point P via the connection cable 44. The separation unit 42 separates the capture hook 15D from the hinge 36 when the capture hook 15D is pulled with an external force equal to or greater than a predetermined value.

  In the traveling body 2D configured as described above, the recovery line 13 that floats near the water surface as shown in FIG. 20 is contacted with the vicinity of the root or the middle part of the catch hook 15D as shown in FIG. It slides upward along the front edge of the catching hook 15 </ b> D that is moving forward in the posture of the projecting position 15 </ b> Db tilted backward, and the retaining latch 39 is pushed open to be caught inside the hook body 37. The recovery cable 13 once captured is prevented from being detached from the hook body 37 by a retaining latch 39.

  When the collection hook 13 starts to be wound after the catch hook 15D catches the collection line 13, the end float 14 of the collection line 13 comes into contact with the hook main body 37 to prevent the collection line 13 like the third embodiment. The traveling body 2D is drawn toward the mother ship 1 side by the recovery line 13. Due to the traction tension at this time, as shown in FIG. 21, the separation portion 42 separates the catch hook 15D from the hinge 36, that is, the traveling body 2D. Accordingly, the catch hook 15D is connected to the distal end portion of the traveling body 2D and the central connection point P coinciding with the central axis C of the traveling body 2D via the connection cable 44.

  Thereby, since the traction tension of the recovery line 13 acts along the central axis C of the traveling body 2D, the moment acting in the direction of shaking the central axis C of the traveling body 2D is minimized, and the recovery body 2D is recovered. The swinging operation when towing the vehicle 13 can be minimized, and the recovery operation of the traveling body 2D can be facilitated.

  For example, if it is assumed that the catch hook 15D is provided at the center connection point P of the traveling body 2D from the beginning, the shape of the catch hook 15D is determined in view of the shape of the traveling body 2D that travels underwater. Also, it becomes difficult to capture the recovery cord 13. In the present embodiment, the initial position of the catching hook 15D is set to a position via the separation part 42 on the upper surface of the traveling body 2D that easily catches the recovery line 13, and between the catching hook 15D and the central connection point P. Were connected by a connecting cable 44. As a result, the catch hook 15D is installed at a position where it is easy to catch the recovery cord 13 to increase the capture rate of the recovery cord 13, and after the recovery cord 13 is captured, the catch hook 15D is separated and connected to the central connection point P. The swinging of the traveling body 2D due to the pulling tension of the recovery rope 13 is suppressed as much as possible, and the operation of drawing the traveling body 2D toward the mother ship 1 side and collecting it can be facilitated.

  Although not shown in the drawings, as a modification, for example, a groove-like slide rail is provided between the hinge 36 and the connection point P without providing the separation portion 42, and the hinge 36 can be slid along the slide rail. When the pulling tension from the recovery cable 13 is applied to the catching hook 15D, the hinge 36 may be slid along the slide rail together with the catching hook 15D to move to the connection point P.

[Fifth Embodiment]
22 to 25 are side views of the traveling body 2E and the catching hook 15E showing the fifth embodiment of the present invention. The traveling body 2E also travels underwater, and its basic configuration is the same as that of the traveling body 2A of the first embodiment.

  As shown in FIG. 22, the catch hook 15 </ b> E is connected to the forehead of the traveling body 2 </ b> E via a connecting cable 47, and a floating float 48 is connected between the catch hook 15 </ b> E and the connecting cable 47. As shown in an enlarged view in FIG. 23, the catch hook 15E has, for example, four hook-shaped hook bodies 50 arranged in a cross shape in a top view, and a lever having a hinge 51 as an axis at the base of each hook body 50 A retaining latch 52 is provided. The retaining latch 52 is spring-biased, and its free end is in contact with the vicinity of the tip of each hook body 50 from the inside. The diameter d3 of each hook body 50 inside the retaining latch 52 is set larger than the wire diameter d1 of the recovery cable 13 and smaller than the outer diameter d2 of the end float 14. The function of the retaining latch 52 is the same as in the previous embodiments.

  A hook accommodating hole 54 extending in the vertical direction, for example, is formed in the frontal portion of the traveling body 2E, and a hook body 50, a floating float 48, and a connecting cable 47 constituting the catch hook 15E are formed therein. It is housed together so that it does not become underwater resistance. One end of the connecting cable 47 is connected near the upper opening of the hook receiving hole 54. Although this upper opening is not particularly blocked, it is not a large resistance because it is a small hole. It is conceivable that the upper opening is closed with a lid member if necessary.

  With this configuration, as shown in FIG. 24, the catch hook 15E provided at the tip of the connecting cable 47 extending from the traveling body 2E is crushed in a state where it floats on the water surface due to the buoyancy of the float 48 for levitation. Towed by body 2E. For this reason, the hook main body 50 of the catching hook 15E can easily catch the recovery line 13 being towed near the water surface WS. Since the captured recovery line 13 is prevented from being detached from the hook body 50 by the retaining latch 52, as shown in FIG. 25, the traveling body 2E is pulled toward the mother ship 1 side while the end float 14 is retained. Work can be performed reliably.

[Sixth Embodiment]
FIGS. 26 to 28 are side views of the traveling body 2F and the catching hook 15F showing the sixth embodiment of the present invention. The basic structure of the navigation body 2F, the catching hook 15F, and the receiving portion of the catching hook 15F is the same as that of the fifth embodiment.

  The difference from the fifth embodiment is that, as shown in FIG. 26, the connecting cable 56 that connects the catch hook 15F to the traveling body 2F is the tip of the traveling body 2F and the central axis C of the traveling body 2F. And a cable housing groove 57 for housing the connecting cable 56 in the frontal portion of the traveling body 2F.

  With this configuration, as shown in FIG. 27, the catch hook 15F (hook body 50) provided at the tip of the connecting cable 56 extending from the traveling body 2F floats on the water surface by the buoyancy of the float 48. In this state, it is towed to the 2nd floor. For this reason, it is possible to easily capture the recovery line 13 towed near the water surface by the capture hook 15F.

  When the traveling body 2F is towed by the captured recovery line 13, as shown in FIG. 28, the capturing hook 15F is connected to the distal end of the traveling body 2F via the connecting cable 56 and the central axis of the traveling body 2F. It is in a state of being connected to a central connection point P coinciding with C. Therefore, the traction tension of the recovery line 13 is applied along the central axis C of the traveling body 2F, the moment acting in the direction of shaking the central axis C of the navigation body 2F is minimized, and the traveling body 2F is recovered. The swinging operation when towing the vehicle can be minimized, and the recovery operation of the traveling body 2F can be facilitated.

[Seventh Embodiment]
FIGS. 29 to 33 are overall perspective views showing a flow of operations for collecting the traveling body 2G by the mother ship 1. FIG. In this embodiment, except that the traveling body 2G travels on the water, the configuration and the collection procedure shown in FIGS. 1 to 5 are the same as those in FIG. Description of etc. is omitted.

  The navigation body 2G is, for example, a surface boat. As shown in FIG. 34, the navigation body control unit 19 mounted on the navigation body 2G performs both the operation by the operator and the remote operation from the mother ship 1. Is possible. In addition, a receiving antenna 61 that receives a signal radio wave SW transmitted from the transmitting antenna 27 of the mother ship 1 during remote operation and outputs the signal radio wave SW to the traveling body control unit 19, a radar device 62 that acquires position information, and the like are mounted. . An outboard motor 64 including a propeller screw propeller 63 is provided at the tail of the traveling body 2G.

  In the navigation body 2G, a catch hook 15G that captures the recovery line 13 is provided at a position slightly lower than the water line at the bow stem portion (舳) 65 of the navigation body 2G. Specifically, the catching hook 15G is installed so as to be located immediately below the water surface WS when the traveling body 2G stops or travels at a low speed (generally 10 knots or less). The catching hook 15G has the same configuration as the catching hook 15A (see FIG. 7) in the first embodiment, and is installed so that the opening faces frontward and upward.

  When configured in this way, when the bow stem portion 65 of the traveling body 2G rides on the recovery line 13 towed near the water surface WS, the recovery line 13 is captured by the capture hook 15G provided here. can do. Therefore, it is possible to facilitate the collection of the collection line 13 and increase the collection work efficiency of the collection hook 15G.

[Eighth Embodiment]
35 and 36 are side views of the traveling body 2H showing the eighth embodiment of the present invention. The basic structure of this traveling body 2H is the same as that of the traveling body 2G of the seventh embodiment. In the present embodiment, a plurality of (for example, two) catch hooks 15Ha and 15Hb similar to those of the seventh embodiment are installed vertically on the bow stem portion (船) 65 of the traveling body 2H. Both of these catching hooks 15Ha and 15Hb have their openings facing forward and upward.

The upper catch hook 15Ha is installed so as to be located immediately below the water surface WS at a position slightly lower than the water line, that is, when the traveling body 2H is stopped or when traveling at a low speed (approximately 10 knots or less).
Also, as shown in FIG. 36, the lower catch hook 15Hb is relatively large when the bow stem is lifted when the traveling body 2H travels at high speed (approximately 20 knots or more) or when the traveling body 2H is relatively large. It is installed at a position where it is not exposed on the water surface WS even when the bow stem portion is swung up and down greatly in response to waves.

  In such a case, when the water surface WS is relatively gentle, the recovery cable 13 can be captured by the upper capture hook 15Ha, and there is a large wave on the water surface WS, and the bow stem portion of the traveling body 2H swings up and down greatly. When doing so, the recovery cord 13 can be captured by either the upper or lower capture hooks 15Ha, 15Hb. Therefore, the capture rate of the recovery cord 13 can be increased.

[Ninth Embodiment]
37 and 38 are side views of the traveling body 2I showing the ninth embodiment of the present invention. The basic structure of this traveling body 2I is the same as that of the traveling bodies 2G and 2H of the seventh and eighth embodiments.
In the present embodiment, a pole-shaped capture hook 15I similar to the capture hook 15C shown in the third embodiment is provided on the bow stem portion 65 of the navigation body 2I. This catching hook 15I is suspended from a hinge 69 provided at a position sufficiently higher than the draft line in the bow stem portion 65, and is installed so as to be able to swing back and forth and to the left and right. The hook body 70 faces forward. is open. Since the structure of the hook body 70 is the same as that of the hook body 37 of the catch hook 15C of the third embodiment, the description thereof is omitted.

  The length of the catch hook 15I is such that when the traveling body 2I is stopped or when traveling at a low speed (approximately 10 knots or less), the hook body 70 is submerged below the surface of the water and when the traveling body 2I is traveling at high speed ( The hook main body 70 is exposed on the water surface when the bow stem portion 65 is lifted at about 20 knots or more, or when the navigation body 2I receives a relatively large wave and the bow stem portion 65 swings up and down largely. Is set to the length of

  In this configuration, as shown in FIG. 37, the recovery cable 13 towed in the vicinity of the water surface WS is brought into contact with the intermediate portion of the catch hook 15I from the front, and then advances in a posture inclined backward about the hinge 69 as an axis. It slides downward along the front edge of the catching hook 15I and pushes open the retaining latch 71 to be caught inside the hook body 70. The recovery cable 13 once captured is prevented from being detached from the hook body 70 by a retaining latch 71.

  When the winding of the recovery cable 13 is started after the capture hook 15I captures the recovery cable 13, the recovery cable 13 passes through the hook body 70 of the capture hook 15I and is wound around the winding device 4. Since the outer diameter of the end float 14 provided at the end of the cord 13 is larger than the diameter of the hook main body 70, the end float 14 does not slip through the hook main body 70, and the end float 14 abuts on the hook main body 70. The recovery body 13 can be pulled by the recovery rope 13.

  According to this configuration, since the catch hook 15I extends long in the vertical direction so as to cover the range in which the recovery rope 13 towed near the water surface WS moves up and down, the capture rate of the recovery rope 13 is increased. Can be increased.

[Tenth embodiment]
39 to 41 are side views of the traveling body 2J showing the tenth embodiment of the present invention. The basic structure of the traveling body 2J is the same as the traveling bodies 2G to 2I of the seventh to ninth embodiments.
In the present embodiment, the catch hook 15J is connected to the cable eye 74 provided at the bow of the traveling body 2J via the connecting cable 75, and the weight 77 is connected between the catch hook 15J and the connecting cable 75. ing. It is assumed that the weight 77 can surely sink the catch hook 15J in water.

  As shown in an enlarged view in FIG. 40, the catching hook 15J has, for example, four hook-shaped hook bodies 78 arranged in a cross shape in a bottom view, and a lever having a hinge 79 as an axis at the base of each hook body 78 A retaining latch 80 is provided. The retaining latch 80 is spring-biased, and its free end is in contact with the vicinity of the tip of each hook body 78 from the inside. The diameter d3 of each hook body 78 inside the retaining latch 80 is set larger than the wire diameter d1 of the recovery cable 13 and smaller than the outer diameter d2 of the end float 14. The function of the retaining latch 80 is the same as in the previous embodiments.

  With this configuration, as shown in FIG. 39, the catch hook 15J provided at the tip of the connecting cable 75 extending downward from the bow of the navigation body 2J is submerged in the water due to the weight of the weight 77. Since the towed body 2J is towed, the recovery line 13 being towed in the vicinity of the water surface WS can be easily captured by the hook body 78 of the capture hook 15J. Since the captured retrieval line 13 is prevented from being detached from the hook main body 78 by the retaining latch 80, the retrieval operation for reliably pulling the traveling body 2J toward the mother ship 1 side is performed while the end float 14 is retained. Can do. In addition, it is desirable to raise the catch hook 15J on the boat except when the navigation body 2J is being collected.

  As described above, according to the traveling body collection device and the traveling body collection method according to the present embodiment, the traveling body can be safely and without being affected by the water surface condition by a simple and inexpensive configuration. Can be easily recovered.

  It should be noted that the present invention is not limited to the configuration of each of the embodiments described above, and modifications and improvements can be added as appropriate. Embodiments with such modifications and improvements are also included in the scope of the rights of the present invention. Shall be. For example, the shape of the mother ship and the traveling body are not necessarily those of the above-described embodiment. Moreover, you may combine said each embodiment.

DESCRIPTION OF SYMBOLS 1 Mother ship 2A-2J Navigation body 4 Winding device 7 Navigation body collection | recovery apparatus 13 Recovery rope 14 End float 15A-15J Capture hook 16 Position display screen (position display part)
17 Remote control unit 18 Mother ship control unit (location information acquisition means)
19 Navigation body control part 21, 37, 50, 70, 78 Hook body 23, 39, 52, 71, 80 Retaining latch 42 Separating part 44, 47, 56, 75 Connecting cable 65 Bow stem part d1 Line of recovery cable Diameter d2 End float outer diameter d3 Capture hook diameter C Navigation body center axis LI Position information P Center connection point S1 Retrieval line deployment, towing step S2 Position information acquisition step S3 Travel route setting step S3 ' Setting step S4 Sailing step S4 'Re-running step S5 Capture determination step S7 Winding step S8 Recovery step SW Signal radio wave

Claims (11)

A traveling body recovery device for recovering a traveling body capable of traveling in water or on water to the mother ship using a winding device of the mother ship,
The winding device;
A recovery line drawn out of the winding device and towed;
An end float provided at an end of the recovery line, and having an outer diameter larger than a wire diameter of the recovery line;
A catch hook provided on the navigation body and capable of catching the recovery line;
The diameter of the catching hook is greater than the wire diameter of the recovery rope, rather smaller than the outer diameter of the end float,
A traveling body recovery apparatus towed in a state where the recovery line extends linearly from the mother ship by the drag of the end float . A traveling body recovery device for recovering a traveling body capable of traveling in water to the mother ship using a winding device of the mother ship,
The winding device;
A recovery line drawn out of the winding device and towed;
An end float provided at an end of the recovery line, and having an outer diameter larger than a wire diameter of the recovery line;
A catch hook provided on the navigation body and capable of catching the recovery line;
The diameter of the catch hook is larger than the wire diameter of the recovery cable and smaller than the outer diameter of the end float,
The catch hook floats on the water surface while being connected to the navigation body via a connecting cable,
A hook body for capturing the recovery line towed by the mother ship;
A retaining latch that prevents the recovery cable captured by the hook body from being detached,
A vehicle recovery device configured to include a vehicle. A traveling body recovery device for recovering a traveling body capable of traveling in water to the mother ship using a winding device of the mother ship,
The winding device;
A recovery line drawn out of the winding device and towed;
An end float provided at an end of the recovery line, and having an outer diameter larger than a wire diameter of the recovery line;
A catch hook provided on the navigation body and capable of catching the recovery line;
The diameter of the catch hook is larger than the wire diameter of the recovery cable and smaller than the outer diameter of the end float,
The catch hook is provided at a position away from a distal end portion of the traveling body via a separation portion and a central coupling point that coincides with a central axis of the traveling body, and the central coupling point via a coupling cable. Connected to
The separation unit is a traveling body recovery device that separates the capture hook from the traveling body by receiving a pulling tension from the recovery line after the capture hook captures the recovery line. A traveling body recovery device for recovering a traveling body capable of traveling on water to the mother ship using a winding device of the mother ship,
The winding device;
A recovery line drawn out of the winding device and towed;
An end float provided at an end of the recovery line, and having an outer diameter larger than a wire diameter of the recovery line;
A catch hook provided on the navigation body and capable of catching the recovery line;
The diameter of the catch hook is larger than the wire diameter of the recovery cable and smaller than the outer diameter of the end float,
The catching hook is a navigation body recovery device provided at a height directly below a water line in a bow stem portion of the navigation body. A traveling body recovery device for recovering a traveling body capable of traveling on water to the mother ship using a winding device of the mother ship,
The winding device;
A recovery line drawn out of the winding device and towed;
An end float provided at an end of the recovery line, and having an outer diameter larger than a wire diameter of the recovery line;
A catch hook provided on the navigation body and capable of catching the recovery line;
The diameter of the catch hook is larger than the wire diameter of the recovery cable and smaller than the outer diameter of the end float,
The catch hook sinks into the water while being connected to the bow of the navigation body via a connecting cable,
A hook body for capturing the recovery line towed by the mother ship;
A retaining latch that prevents the recovery cable captured by the hook body from being detached,
A vehicle recovery device configured to include a vehicle. A traveling body recovery device for recovering a traveling body capable of traveling in water or on water to the mother ship using a winding device of the mother ship,
The winding device;
A recovery line drawn out of the winding device and towed;
An end float provided at an end of the recovery line, and having an outer diameter larger than a wire diameter of the recovery line;
A catch hook provided on the navigation body and capable of catching the recovery line;
A capture detector provided on the navigation body for detecting capture of the recovery line;
With
The diameter of the catch hook is larger than the wire diameter of the recovery cable and smaller than the outer diameter of the end float,
A traveling body recovery apparatus that determines whether or not the capture hook has captured the recovery line based on a detection result of the capture detection unit . Position information acquisition means for acquiring position information of the traveling body with respect to the mother ship;
A remote control unit for remotely controlling the vehicle,
The traveling body recovery apparatus according to any one of claims 1 to 6 , further comprising: The navigation body collection apparatus according to claim 7 , further comprising a position display unit that indicates a position of the navigation body with respect to the mother ship based on the position information acquired by the position information acquisition unit. A recovery line that is pulled out from the winding device of the mother ship and towed by the mother ship, and has an end float that floats on the water surface at the end thereof, and extends linearly from the mother ship by the drag of the end float The recovery line in a state is crushed so as to cross a traveling body capable of traveling on or under water, and the recovery line is captured by a capture hook provided on the traveling body, and then the recovery line A recovery method of the traveling body that pulls the traveling body to the mother ship side and collects it while keeping the end float from coming off from the catch hook by winding the vehicle with the winding device. From the winding device of the mother ship, a recovery line provided with an end float that floats the water surface at the end thereof is drawn out to a predetermined length and deployed on the water surface, and the recovery line tow the recovery line, a towing step,
A position information acquisition step of acquiring position information of each of the mother ship, the end float, and the traveling body;
A traveling route setting step for setting a traveling route so as to pass between the mother ship and the end float for a traveling body capable of traveling on or under water ;
A traveling step of traveling the traveling body along the traveling route;
The detection step provided in the navigation body, the detection step of detecting the capture of the recovery line,
Based on the detection result of the capture detection unit, a capture determination step for determining whether a capture hook provided on the traveling body has captured the recovery line; and
When the catch hook can catch the recovery line, a winding step of winding the recovery line by operating the winding device;
A recovery step of pulling the traveling body to the mother ship side while recovering the traveling body into the mother ship while keeping the end float from the catch hook ;
A method for recovering a navigation vehicle equipped with A navigation route resetting step for resetting the navigation route so that the navigation vehicle passes again between the mother ship and the end float when the capture hook cannot capture the recovery line. When,
A re-running step for re-running the vehicle along the re-set travel route;
The method according to claim 10 , further comprising:

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