JP6287573B2 - Method and apparatus for selecting floating position of underwater vehicle - Google Patents

Description

  The present invention relates to a method and an apparatus for selecting an ascent position of an underwater vehicle used for allowing an underwater vehicle that autonomously travels to select an ascent position suitable for ascent.

  In recent years, as an apparatus for underwater investigations in relatively deep areas and wide areas in the sea and lakes, the autonomous navigation type unmanned autonomous vehicle called UUV (Unmanned Underwater Vehicle) or AUV (Autonomous Underwater Vehicle) Underwater vehicles (autonomous underwater robots) have come to be used.

  The autonomous traveling type underwater vehicle is roughly divided into a hovering type underwater vehicle that remains in a narrow range based on the survey target point or the point and investigates the surrounding situation, and There is a cruising type (cruising type) underwater vehicle that investigates surrounding conditions while moving (cruising) at a predetermined speed in the water.

  These underwater vehicles usually start submerging by autonomous navigation from a state where they are thrown into the water surface from a support ship (mother ship), and perform underwater navigation. The objective is achieved, or after a certain period of time, the water surface rises.

  As described above, when the underwater vehicle is levitated to the surface of the water, if there is a floating object such as a ship in the expected ascent position, the ascending underwater vehicle may come into contact with the floating object. Arise.

  Therefore, it is necessary for the underwater vehicle to detect whether or not a floating object exists at the planned ascent position before ascent and confirm that the ascent position is suitable for ascent.

  By the way, the underwater vehicle is usually equipped with a sonar for detecting an underwater obstacle in order to avoid contact with the obstacle during underwater navigation.

  The detection principle of the obstacle by the sonar is that a search wave (ultrasonic wave) having directivity converged in a beam shape is transmitted, and a certain detection distance in the direction in which the search wave is transmitted based on the presence or absence of the reflected wave. The existence of obstacles is investigated. Furthermore, when the presence of an obstacle is detected by the investigation, the direction in which the obstacle exists is detected from the direction (direction) at which the exploration wave was transmitted at that time, and the transmission of the exploration wave Based on the elapsed time until reception of the reflected wave, the distance to the obstacle is obtained, and thereby the position of the obstacle is detected as a relative position with respect to the underwater vehicle equipped with the sonar. is there.

  However, in the sonar, when an exploration wave is transmitted from underwater to the water surface, the exploration wave is reflected on the water surface. Therefore, according to the above-described principle of detecting an obstacle by the normal sonar, the water surface itself is detected as an obstacle. It will be. Furthermore, since the water surface detected as an obstacle has irregularities (change in water surface depth) due to waves, even if there are floating objects on the water surface, in the sonar, Since it is difficult to identify the reflected wave separately from the reflected wave from the water surface, it is difficult to directly detect the suspended matter.

  For this reason, conventionally, when an underwater vehicle is levitated on the surface of the water, an underwater vehicle that detects the position of the underwater vehicle by means of acoustic communication or acoustic positioning is used by an underwater vehicle such as radar or laser radar (rider). At the planned ascent position, the presence or absence of suspended matter that may hinder the ascent of the underwater vehicle is confirmed. As a result, when the suspended matter is not detected at the planned ascent position, the support vessel gives an instruction to ascend to the planned ascent position to the underwater vehicle. On the other hand, when the presence of the suspended matter is detected at the planned ascent position, the support ship instructs the underwater vehicle to stop ascent or change the ascent position.

  In addition, as a technique for enabling detection of a surface ship that is a floating object using a sonar, the following techniques have been conventionally proposed.

  This is because a sonar transmits an exploration wave (sound signal), receives the reflected wave (reflected signal), and generates two-dimensional image data based on the received signal. Is used, and the principle that the exploration wave does not reach and a shadow region without a reflected wave is formed behind is formed. Therefore, in such a method, even if an image of a reflected wave on the water surface is formed in the two-dimensional image data, the detection is performed by detecting an area having a low reflected wave level in the two-dimensional image data as the shadow area. Assuming that a surface ship is present on the front side of the shadow area, the position of the surface ship can be detected (see, for example, Patent Document 1).

JP 2010-256162 A

  A conventional method for confirming the presence or absence of suspended matter with respect to the planned ascent position of the underwater vehicle, and causing the underwater vehicle to give the predetermined instruction from the support vessel based on the result. Is effective in selecting the floating position of the underwater vehicle.

  However, when an underwater vehicle that operates autonomously is in operation, a support vessel is not necessarily near the planned ascent position of the underwater vehicle, and a command should be sent from the support vessel to the underwater vehicle. It is also conceivable that there will be situations where it is impossible to measure the position of the underwater vehicle from the support vessel.

  Therefore, it is desirable that the detection of the presence or absence of suspended matter at the planned ascent position of the underwater vehicle and the selection of the ascent position based on the result be autonomously performed by the underwater vehicle. No method has been proposed in the past.

  Note that the method disclosed in Patent Document 1 is based on the detection principle, and the floating object to be detected is surely and certain to have an area where the exploration wave does not reach behind the shadow area when exploring with a sonar. It is necessary to have a draft and size that can be formed in a wide range.

  Therefore, even if the technique disclosed in Patent Document 1 is effective for detecting a relatively large ship such as a surface ship that always has a draft larger than a change in water surface depth due to waves, It is difficult to detect floating objects such as small ships and floating bodies that have a small draft so that there is not much difference from changes in depth.

  However, since the underwater vehicle has a total length of about several meters to several tens of meters, the floating object such as a small ship or a floating body having a small draft as described above is an obstacle when the underwater vehicle is ascending. Therefore, detection of these floating substances is also desired.

  Therefore, the present invention can preliminarily investigate the presence or absence of a floating object at a planned ascent position when an underwater vehicle that autonomously travels ascends, and can select a planned ascent position where no floating object is detected as an actual ascent position. An object of the present invention is to provide a method and an apparatus for selecting a floating position of an underwater vehicle.

  In order to solve the above-mentioned problem, the present invention, corresponding to claim 1, uses a sonar provided in the underwater vehicle, so that the surface of the underwater vehicle is expected to rise, and the surrounding area of the expected ascending location. The water surface is scanned, and ascending position selection processing by the ascending position controller is performed based on the information on the position and attitude of the underwater vehicle based on the detection results of the surface of the ascented position and the water surface in the surrounding area. To the water surface depth of the planned ascent position and the water surface depth of the surrounding area, and then, for the water surface depth of the planned ascent position and the water surface depth of the surrounding area, time average processing and plane space average Process, and then the condition that the result of the average processing of the water surface depth of the peripheral region is larger than a certain threshold value set in advance on the plus side of the depth, the result of the average processing of the water surface depth of the planned ascent position But The result of the average process of the water surface depth of the surrounding area is subtracted from the condition that the value is greater than another certain threshold set on the plus side of the depth and the result of the average process of the water surface depth of the planned ascent position. In the case where the value of the underwater vehicle does not satisfy any of the conditions that the value is larger than a predetermined threshold value set in advance, the planned ascent position is selected as the actual ascent position of the underwater vehicle. Use ascending position selection method.

  According to claim 2, in the configuration corresponding to claim 1, a plurality of planned ascent positions are set in advance in the ascent position setting storage unit together with their priorities, and the ascent position controller is The ascending position selection process is performed on the ascending priority position set in the expected ascending position setting storage unit, and the result of the average process of the water surface depth in the surrounding area is determined in advance as a positive side of the depth. A condition that it is greater than a certain threshold set in the above, a condition that the result of the average processing of the water surface depth of the planned ascent position is greater than another certain threshold set in advance on the plus side of the depth, or One of the conditions that the value obtained by subtracting the result of the average processing of the water surface depth of the surrounding area from the result of the average processing of the water surface depth of the planned ascent position is larger than a certain other predetermined threshold value. Is satisfied, It is determined that the planned ascent position of the priority order is ineligible as the actual ascent position of the underwater vehicle, and thereafter, the subordinate ascent position is sequentially set in accordance with the priority order set in the planned ascent position setting storage unit. Called to perform the ascent position selection process.

Further, in accordance with claim 3, the underwater vehicle having a sonar for scanning the water surface is provided with a rising position controller, and the ascending position controller of the underwater vehicle by scanning with the sonar . Based on the information on the position and attitude of the underwater vehicle, the detection result of the water surface at the planned ascent position and the surrounding area at the planned ascent position, The function of converting to the water surface depth, the water surface depth of the planned ascent position, and the water surface depth of the peripheral area, the function of performing the time average process and the planar space average process, and the result of the average process of the water surface depth of the peripheral area Is larger than a certain threshold value set in advance on the plus side of the depth, and the result of the average processing of the water surface depth at the planned ascent position is larger than another threshold value set in advance on the plus side of the depth. When it grows up The value obtained by subtracting the result of the average process of the water surface depth of the surrounding area from the result of the average process of the water surface depth at the estimated floating position and the predetermined surface height is larger than a predetermined threshold value. In the case where none of the above conditions is satisfied, the ascending position selection device for an underwater vehicle having a function of selecting the planned ascent position as an actual ascent position of the underwater vehicle.

According to the present invention, the following excellent effects are exhibited.
(1) In the method for selecting the ascent position of an underwater vehicle having the structure described in claim 1, when the underwater vehicle is levitated, the presence or absence of the floating material is investigated in advance at the planned ascent position, The planned ascent position that is not detected can be selected as the actual ascent position of the underwater vehicle.
(2) Therefore, the underwater vehicle can autonomously select a suitable ascent position where there is no risk of contact with the suspended matter, and can ascend to the water surface.
(3) In the underwater vehicle flying position selection device having the configuration described in claim 3, the same effects as in the above (1) and (2) can be obtained.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 shows an embodiment of a method and an apparatus for selecting a floating position of an underwater vehicle according to the present invention, where (a) is a schematic side view, and (b) is a view as seen from above the water surface. It is a flowchart which shows the procedure of the floating position selection process in the floating position determination device of the apparatus of FIG. It is a flowchart which shows another process sequence of a floating position selection process as other form of implementation of this invention.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.

  1 (a), 1 (b), and 2 show an embodiment of the method and apparatus for selecting a floating position of an underwater vehicle according to the present invention.

  First, the configuration of a cruising type underwater vehicle 1 will be outlined as an example of an underwater vehicle to which the present invention is applied.

  As shown in FIGS. 1A and 1B, the underwater vehicle 1 is provided with a main thruster 3 for propulsion at a rear end portion of a substantially cylindrical airframe (fuselage) 2. A vertical rudder 4 and a horizontal rudder (elevator) 5 are provided at the rear part of the machine body 2.

  Inside the airframe 2, although not shown, a power source such as a battery, a power device such as an electric motor that receives power supplied from the power source and drives the main thruster 3, and power from the power source The inertial navigation device (Inertial) which can detect the roll, pitch, and yaw attitude of the underwater vehicle 1 itself, and the steering device that operates the vertical rudder 4 and the horizontal rudder 5 in response to the supply of Navigation system), depth meter and altimeter.

  Further, as shown in FIG. 1A, the underwater vehicle 1 is instructed to a power unit and a steering device (not shown) in response to inputs from the inertial navigation device (not shown), a depth meter, and an altimeter. A cruise control device 6 is provided.

  Thereby, in the underwater vehicle 1, the main thruster 3 is driven by the power unit to generate a thrust based on a command from the navigation control device 6, and the rudder 4 and By operating 5 as appropriate, the underwater vehicle 1 is allowed to travel, and the traveling speed, traveling direction, and depth can be freely changed.

  In addition, the underwater vehicle 1 has a configuration in which a sonar 7 for detecting an obstacle existing ahead in the traveling direction is provided at the front of the airframe 2 as shown in FIGS. 1 (a) and 1 (b). is there. In the underwater vehicle 1, the sonar 7 always scans a wave having a directivity that has been converged in the form of a beam in a relatively short time, and detects it. It is assumed that the existence of obstacles within the distance is investigated.

  The underwater vehicle flying position selection device 8 of the present invention (hereinafter simply referred to as the floating position selection device 8 of the present invention) applied to the underwater vehicle 1 configured as described above is shown in FIG. Thus, it is set as the structure provided with the ascent position controller 9 and the expected ascent position setting memory | storage part 10. FIG.

  The planned ascent position setting storage unit 10 can store in advance a plurality of candidate position information (latitude and longitude) for a planned ascent position 11 for ascending the underwater vehicle 1 to the surface of the water. In addition, priorities set in advance for the respective candidates of the expected ascending positions 11 can be stored together.

  Hereinafter, the method for selecting the floating position of the underwater vehicle according to the present invention will be described in accordance with the description of the function of the floating position controller 9.

  When the underwater vehicle 1 in the state of traveling underwater is levitated to the surface of the water, the ascent position controller 9 of the ascent position selection device 8 of the present invention uses the ascent position controller 9 to store the expected ascent position setting storage unit 10. The position information of the ascending planned position 11 with the first priority stored in advance is called and given to the navigation control device 6 as the position information of the target point. As a result, the underwater vehicle 1 is controlled by the navigation control device 6 and travels toward the planned ascending position 11 having the predetermined priority.

  As described above, the underwater vehicle 1 that sails toward the ascending scheduled position 11 having a predetermined priority level approaches the water surface to some extent, and the distance from the underwater vehicle 1 to the water surface (the underwater vehicle 1 When the distance in the pitch angle direction becomes shorter than the detection distance of the sonar 7, the sonar 7 scans the water surface by the exploration wave, so that the water surface is detected as an obstacle. Become. Therefore, the sonar 7 sequentially outputs the distance to the water surface detected as the obstacle.

  Next, the ascent position controller 9 determines that the underwater vehicle 1 is based on the position information (latitude, longitude, depth) of the underwater vehicle 1 obtained from the navigation control device 6. When it is detected that a position within the detection distance of the sonar 7 has been approached to the priority ascending position 11 of the priority order, the ascent position selection process shown in FIG. 2 is started.

  That is, in the ascent position selection process shown in FIG. 2, first, the ascent position controller 9 causes the sonar 7 to detect the water surface of the predetermined ascent position 11 within the detection distance and the surrounding area 12. The water surface of the area (hatched area in FIG. 1B) is scanned (scanning) (step S1). At this time, as shown in FIG. 1 (b), the peripheral area 12 is a range that surrounds the surroundings of the planned ascending position 11 with a front-rear width and a left-right width corresponding to the expected ascending position 11, that is, the ascending schedule. It is preferable to set a range of an area 8 times the position 11. Since the planned ascent position 11 is an area for ascending the underwater vehicle 1, it naturally has a larger plane size than the planar shape of the underwater vehicle 1, FIG. In (b), for the convenience of illustration, the underwater vehicle 1 is illustrated in an enlarged manner as compared with the scales of the planned ascent position 11 and the peripheral region 12.

  Next, the ascent position controller 9 uses the sonar 7 scan to detect the relative position detection results for the water surface of the predetermined ascending position 11 of the predetermined priority and the water surface of the peripheral area 12. Based on the position information (latitude, longitude, depth) of the own aircraft of the underwater vehicle 1 obtained from the running control device 6 and information on the attitude (roll, pitch, yaw) of the underwater vehicle 1 It converts into the water surface depth of the expected rising surface position 11 and the water surface depth of the surrounding area 12 (step S2).

  Next, the levitation position controller 9 performs time averaging processing for each of the water surface depth of the predetermined levitation position 11 and the water surface depth of the peripheral region 12 obtained as described above, Planar space averaging processing is performed (step S3).

  Thereby, if there is no suspended matter on the water surface for each of the predetermined ascending position 11 of the predetermined priority and the peripheral region 12, the amount of fluctuation in the water surface due to waves is averaged in the processing in step S3. Therefore, the result of the average processing of each water surface depth is almost zero.

  On the other hand, for example, as shown by the two-dot chain line in FIGS. 1A and 1B, when the suspended matter 13 is present on the surface of the ascending expected position 11 having the predetermined priority order, it is obtained in the step S2. The value of the portion of the suspended matter 13 that is submerged below the surface of the draft with a draft larger than the vertical fluctuation of the surface of water is included in the surface depth of the planned ascending position 11. Therefore, in this case, in the process of step S3, the result of averaging the water surface depth of the predetermined ascending position 11 of the predetermined priority is not zero, and the depth is biased to the plus side.

  In addition, although not shown in figure, when the suspended | floating matter 13 which exists in the said levitation plan position 11 is a big suspended matter which straddles the water surface of the said periphery area | region 12, this periphery calculated | required by the said step S2 The value of the portion of the region 12 submerged under the water surface is included in the water surface depth of the region 12. For this reason, in this case, in the process of step S3, the result of averaging the water surface depth of the peripheral region 12 does not become zero, and the depth is biased to the plus side.

  In view of the above points, the flying position controller 9 proceeds to step S4 after step S3, and determines whether any of the following three conditions A, B, and C is satisfied. It is like that.

  First, the condition A is a condition that the result of the average processing of the water surface depth of the peripheral region 12 obtained in step S3 is larger than a certain threshold value a set in advance so as to be a positive value. is there. Therefore, when this condition A is satisfied, the water surface depth of the peripheral region 12 is clearly biased to the positive side from the expected ascending position 11 of the predetermined priority, so that the suspended matter 13 exists in the peripheral region 12. It is estimated that.

  Next, the condition B is based on a certain threshold value b set in advance so that the result of the average process of the water surface depth of the scheduled ascent position 11 of the predetermined priority obtained in step S3 becomes a positive value. It is a condition that also becomes large. The threshold value b is set as threshold value b ≧ threshold value a. Therefore, when this condition B is satisfied, the water surface depth of the predetermined ascending position 11 of the predetermined priority is clearly biased to the plus side, so that it is estimated that the suspended matter 13 exists at the ascending position 11. The

  Further, the condition C is that the value obtained by subtracting the result of the average processing of the water surface depth of the peripheral region 12 from the result of the average processing of the water surface depth at the planned ascent position of the predetermined priority is greater than the threshold c. It is a condition. The threshold value c is set as threshold value c ≧ (dispersion of water depth in the peripheral region 12) × 2. When this condition C is satisfied, even when the conditions A and B are not satisfied, the water surface depth of the predetermined ascending position 11 of the predetermined priority is clearly a positive side than the water surface depth of the peripheral region 12. Is biased to Therefore, when this condition C is satisfied, it is estimated that there is a floating substance at the planned ascending position 11 having the predetermined priority.

  If any one of the conditions A, B, C is satisfied in step S4, the ascent position controller 9 proceeds to step S5, and the ascending position 11 having the predetermined priority is It is determined that it is unsuitable for the actual floating position of the mid-running vehicle 1.

  Thereafter, the ascent position controller 9 proceeds to step S6 and calls the next ascending position 11 with the priority set in advance in the ascending position setting storage unit 10 so that the underwater vehicle 1 can The running control device 6 is provided.

  Therefore, in this case, the movement of the underwater vehicle 1 is started toward the next scheduled ascending position 11, and the underwater vehicle 1 is scheduled to rise with the predetermined priority. As soon as the position 11 approaches within the detection distance of the sonar 7, the flying position controller 9 starts the flying position selection process shown in FIG.

  Also in this flying position selection process, when any of the conditions A, B, and C is satisfied in step S4, the flying position controller 9 is preset in the planned flying position setting storage unit 10. The lower ascending position 11 is sequentially called in accordance with the priority, and the movement to the ascending position 11 having the predetermined priority and the ascending position selection process shown in FIG. Like that.

  On the other hand, if it is determined in step S4 of the ascent position selection process of FIG. 2 that none of the conditions A, B, and C is satisfied, the ascent position that is selected at that time and has a predetermined priority order. 11, it is estimated that there is no suspended matter. Therefore, the ascent position controller 9 proceeds to step S7, selects the expected ascent position 11 as an actual ascent position, and instructs the navigation control device 6 of the underwater vehicle 1 to ascend to the ascent position. To give.

  Thereby, the underwater vehicle 1 is in a state in which the possibility of contacting the floating object is prevented at the ascending position autonomously selected by the underwater vehicle 1 itself by the ascent position selection process of FIG. Surfaces on the water.

  As described above, according to the method and apparatus for selecting the ascent position of the underwater vehicle according to the present invention, when the underwater vehicle 1 that autonomously travels is levitated, the presence or absence of the suspended matter 13 is previously investigated at the expected ascent position 11. Then, the expected ascending position 11 where the suspended matter 13 is not detected can be selected as the actual ascending position.

  Therefore, the underwater vehicle 1 can autonomously select a suitable ascent position where there is no possibility of coming into contact with the suspended matter 13 and can ascend to the water surface.

  Note that all the planned ascent positions 11 previously set in the planned ascent position setting storage unit 10 are set as the actual ascent positions of the underwater vehicle 1 by the ascent position selection process shown in FIG. If it is determined to be unqualified, the ascent position controller 9 causes the cruise control device 6 to issue a command from a support vessel (not shown) in a state where the underwater vehicle 1 makes a round trip at a certain depth. You can make them wait.

  Next, FIG. 3 shows another embodiment of the present invention. As an application example of the ascent position selection process shown in FIG. It is shown.

  That is, in the case of stormy weather, since the wave height on the water surface becomes high, in the ascent position controller 9, the surface of the ascending expected position 11 with a predetermined priority by scanning of the sonar 7, as in step S <b> 2 of FIG. 2, And if the detection result of the relative position with respect to the water surface of the peripheral region 12 is converted into the water surface depth, the dispersion of the water surface depth obtained increases as compared to the time of non-stormy weather (at the time of calm).

  Therefore, similarly to step S3 in FIG. 2, when the time average process and the plane space average process are performed on the water surface depths of the ascending expected position 11 and the peripheral area 12 respectively, Even if it is equal to the result obtained at the time, it will contain more parts with a greater water surface depth.

  Therefore, in the flying position selection process shown in FIG. 3, in the same processing procedure as shown in FIG. 2, step S8 is provided after step S3 to determine whether or not the following condition D is satisfied. It is.

  The condition D is a condition that the dispersion of the water surface depth of the peripheral area 12 obtained in step S2 is larger than a predetermined threshold value d. The threshold value d may be set based on the dispersion of the water surface depth when the water surface of the peripheral region 12 is slightly rough.

  As a result, when the condition D is not satisfied, it can be determined that the weather is not stormy, so the process proceeds to step S4 similar to that shown in FIG.

  On the other hand, when the condition D is satisfied in the step S8, it can be determined that the weather is stormy. Therefore, in this case, the flying position controller 9 proceeds to step S9 and performs processing for correcting the threshold values a, b, and c used in the conditions A, B, and C in step S4 to larger values, respectively. This is performed in advance, and then the process proceeds to step S4.

  Other processes are the same as those shown in FIG.

  According to the present embodiment having the above configuration, the same effects as those of the embodiments of FIGS. 1A and 1B and FIG. 2 can be obtained.

  In addition, this invention is not limited only to the said embodiment, As for the planned ascent position setting storage unit 10, a plurality of planned ascent positions 11 for ascending the underwater vehicle 1 to the surface of the water in advance. The candidate position information (latitude, longitude) is assumed to be stored together with the priority order, but the planned ascent position setting storage unit 10 is the position information of the first (first) ascent position 11 If it is determined in step S5 in FIGS. 2 and 3 that the expected ascent position 11 is not eligible as the actual ascent position, the position determined as not qualifying is used. Further, a function of sequentially setting a position moved in parallel by a preset direction and distance as the next scheduled ascent position 11 may be provided.

  The sonar 7 for detecting the water surface can be obtained by using (also serving as) the sonar 7 for detecting obstacles ahead of the traveling direction provided at the front of the aircraft of the cruising type underwater vehicle 1. It is preferable from the viewpoint of reducing the number of one device. However, it goes without saying that a sonar 7 for scanning the water surface above the airframe may be provided on the upper part of the underwater vehicle 1 separately from the obstacle detection sonar 7.

  The method for selecting the ascent position of the underwater vehicle according to the present invention may be applied not only to the cruising type underwater vehicle 1 but also to a hovering type underwater vehicle.

  The ascent position controller 9 and the expected ascent position setting storage unit 10 in the ascent position selection device 8 of the present invention may be incorporated as functions in an electronic computer constituting the cruise control device 6 of the underwater vehicle 1.

  Of course, various modifications can be made without departing from the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Underwater vehicle, 7 Sonar, 8 Ascent position selection device, 9 Ascent position controller, 10 Ascent position setting memory, 11 Ascent position, 12 Peripheral area

Claims (3)

Using the sonar provided on the underwater vehicle, the surface of the underwater vehicle and the surrounding surface of the planned surface are scanned.
As the ascent position selection process by the ascent position controller,
Based on the information on the position and posture of the underwater vehicle, the surface depth of the planned ascent position and the surrounding area Convert to water depth,
Next, with respect to the water surface depth of the planned ascent position and the water surface depth of the surrounding area, time average processing and plane space average processing are performed,
Next, the condition that the result of the average processing of the water surface depth in the peripheral area is larger than a certain threshold value set in advance on the plus side of the depth, and the result of the average processing of the water surface depth at the planned ascent position is the depth in advance. A value obtained by subtracting the result of the average processing of the water surface depth of the surrounding area from the condition that the threshold value is greater than another certain threshold set on the plus side and the result of the average processing of the water surface depth of the planned ascent position Is selected as the actual ascending position of the underwater vehicle, when none of the predetermined conditions is satisfied. A method for selecting the floating position of the mid-running vehicle. In the ascent position setting storage unit, a plurality of ascent positions are set in advance along with their priorities,
The ascent position controller performs ascent position selection processing for the ascent priority position set in the estimated ascent position setting storage unit, and the result of the average processing of the water surface depth of the surrounding area is as follows: The condition that the value is larger than a certain threshold value set in advance on the plus side of the depth, and the result of the average processing of the water surface depth at the planned ascent position is larger than another certain threshold value set in advance on the plus side of the depth. Or a value obtained by subtracting the result of the average processing of the water surface depth of the surrounding area from the result of the average processing of the water surface depth of the planned ascent position is larger than a certain other predetermined threshold value. If any one of the conditions is satisfied, it is determined that the ascending scheduled position of the predetermined priority is ineligible as the actual ascending position of the underwater vehicle,
2. The method for selecting the ascent position of an underwater vehicle according to claim 1, wherein the ascending position selection process is performed by sequentially calling a lower ascent position according to the priority set in the ascent position setting storage unit. . An underwater vehicle with a sonar for scanning the water surface, equipped with a rising position controller,
The flying position controller is
Water surface floating predetermined position of the underwater vehicle by scanning said sonar, and the water level of the detection result of the peripheral region of該浮on the predetermined position, based on information of the position and orientation of the underwater vehicle, said floating scheduled A function of converting the water depth of the position and the water depth of the surrounding area;
A function of performing a time average process and a plane space average process on the water surface depth of the planned ascent position and the water surface depth of the surrounding area,
The condition that the result of the average processing of the water surface depth in the peripheral area is larger than a certain threshold value set in advance on the plus side of the depth, and the result of the average processing of the water surface depth at the planned ascent position is a positive value of the depth in advance. A condition that is greater than another certain threshold set on the side, and the result of the average process of the water surface depth of the planned ascent position, a value obtained by subtracting the result of the average process of the water surface depth of the surrounding area, A configuration that includes a function of selecting the planned ascent position as the actual ascent position of the underwater vehicle when none of the conditions that the threshold value is greater than another predetermined threshold is satisfied. An apparatus for selecting a floating position of an underwater vehicle, characterized by comprising:

Images