JP6577814B2 - 自律型無人潜水機の水中ドッキングシステム - Google Patents
自律型無人潜水機の水中ドッキングシステム Download PDFInfo
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- JP6577814B2 JP6577814B2 JP2015198608A JP2015198608A JP6577814B2 JP 6577814 B2 JP6577814 B2 JP 6577814B2 JP 2015198608 A JP2015198608 A JP 2015198608A JP 2015198608 A JP2015198608 A JP 2015198608A JP 6577814 B2 JP6577814 B2 JP 6577814B2
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- JP
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- Prior art keywords
- auv
- underwater
- autonomous unmanned
- unmanned submersible
- frame body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/48—Means for searching for underwater objects
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/70—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using electromagnetic waves other than radio waves
- G01S1/703—Details
- G01S1/7032—Transmitters
- G01S1/7034—Mounting or deployment thereof
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/28—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/008—Docking stations for unmanned underwater vessels, or the like
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S2201/00—Indexing scheme relating to beacons or beacon systems transmitting signals capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters
- G01S2201/01—Indexing scheme relating to beacons or beacon systems transmitting signals capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters adapted for specific applications or environments
- G01S2201/08—Marine or water borne applications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J2310/00—The network for supplying or distributing electric power characterised by its spatial reach or by the load
- H02J2310/40—The network being an on-board power network, i.e. within a vehicle
- H02J2310/42—The network being an on-board power network, i.e. within a vehicle for ships or vessels
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Computer Networks & Wireless Communication (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Power Engineering (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Description
10 水中ステーション
11 基台
12 枠体
12c 枠体の後方側部分
12d 枠体の前方側部分
21 非接触給電部
23 投光部
24 トランスポンダ
30 AUV(自律型無人潜水機)
31 潜水機本体
32 推進装置
33 制御装置
35 非接触受電部
36 音響測位装置
37 光検出装置
40a,40b 捕捉アーム
43 係合フック
47 係止機構
D 航走方向
Claims (7)
- 海底に固定された基台および前記基台に支持された水平面と平行な円形状の枠体を有する水中ステーションと、
前記枠体の上方を通過するように航走しながら前記水中ステーションにドッキングする自律型無人潜水機と、を備え、
前記自律型無人潜水機は、
潜水機本体と、
前記潜水機本体の下部に設けられた少なくとも1つの捕捉アームであって、その一端が前記潜水機本体に前後方向に回動可能に連結されており、その他端に前記枠体と係合する係合フックが設けられた捕捉アームと、
前記潜水機本体の下部に設けられており、前記自律型無人潜水機の航走方向における前記枠体の後方側部分に前記係合フックが係合して、前記捕捉アームが後方に回動しながら前記潜水機本体が前記枠体に近づいたときに、前記航走方向における前記枠体の前方側部分に係止する係止機構と、を有する、自律型無人潜水機の水中ドッキングシステム。 - 前記係止機構は、電気信号により前記枠体に係止した状態を解除できるように構成されている、請求項1に記載の自律型無人潜水機の水中ドッキングシステム。
- 前記水中ステーションは、前記枠体の中心軸上に設けられた、光を放つ投光部を有し、前記自律型無人潜水機は、前記投光部から放たれる光を検出する光検出装置を有する、請求項1または2に記載の自律型無人潜水機の水中ドッキングシステム。
- 前記光検出装置は、前記投光部から放たれる光を撮像する機能を有しており、
前記自律型無人潜水機は、推進装置と、前記光検出装置により撮像されたデータに基づいて前記推進装置を制御する制御装置と、を有する、請求項3に記載の自律型無人潜水機の水中ドッキングシステム。 - 前記水中ステーションには、音響信号を発信するトランスポンダが設けられており、前記自律型無人潜水機には、前記トランスポンダからの音響信号に基づいて、前記トランスポンダに対する位置を計測する音響測位装置が設けられており、
前記制御装置は、前記水中ステーションから前記自律型無人潜水機までの距離が所定の距離より大きい場合には、前記音響測位装置により取得した位置データに基づき前記推進装置を制御し、前記水中ステーションから前記自律型無人潜水機までの距離が所定の距離以下である場合には、前記光検出装置により取得した撮像データに基づき前記推進装置を制御する、請求項4に記載の自律型無人潜水機の水中ドッキングシステム。 - 前記枠体の中央には、非接触給電部が設けられており、前記潜水機本体の下部には、前記非接触給電部から給電を受ける非接触受電部が設けられている、請求項1〜5のいずれか一項に記載の自律型無人潜水機の水中ドッキングシステム。
- 前記少なくとも1つの捕捉アームは、左右方向に互いに離間して設けられた2本の捕捉アームである、請求項1〜6のいずれか一項に記載の自律型無人潜水機の水中ドッキングシステム。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015198608A JP6577814B2 (ja) | 2015-10-06 | 2015-10-06 | 自律型無人潜水機の水中ドッキングシステム |
EP16853581.3A EP3360775B1 (en) | 2015-10-06 | 2016-10-04 | Underwater docking system for autonomous unmanned submarine |
US15/766,429 US10279878B2 (en) | 2015-10-06 | 2016-10-04 | Underwater docking system for autonomous underwater vehicle |
AU2016334659A AU2016334659B2 (en) | 2015-10-06 | 2016-10-04 | Underwater docking system for autonomous underwater vehicle |
PCT/JP2016/079492 WO2017061427A1 (ja) | 2015-10-06 | 2016-10-04 | 自律型無人潜水機の水中ドッキングシステム |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015198608A JP6577814B2 (ja) | 2015-10-06 | 2015-10-06 | 自律型無人潜水機の水中ドッキングシステム |
Publications (2)
Publication Number | Publication Date |
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JP2017071266A JP2017071266A (ja) | 2017-04-13 |
JP6577814B2 true JP6577814B2 (ja) | 2019-09-18 |
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JP2015198608A Active JP6577814B2 (ja) | 2015-10-06 | 2015-10-06 | 自律型無人潜水機の水中ドッキングシステム |
Country Status (5)
Country | Link |
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US (1) | US10279878B2 (ja) |
EP (1) | EP3360775B1 (ja) |
JP (1) | JP6577814B2 (ja) |
AU (1) | AU2016334659B2 (ja) |
WO (1) | WO2017061427A1 (ja) |
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GB2557933B (en) * | 2016-12-16 | 2020-01-08 | Subsea 7 Ltd | Subsea garages for unmanned underwater vehicles |
JP6990708B2 (ja) * | 2017-09-04 | 2022-01-12 | 川崎重工業株式会社 | 自律型無人潜水機用の充電システムおよび自律型無人潜水機の揚収方法 |
CN107500106A (zh) * | 2017-09-12 | 2017-12-22 | 浙江海洋大学 | 一种智能化控制的海底吊物设备 |
KR101931291B1 (ko) * | 2017-11-22 | 2018-12-20 | 한국해양대학교 산학협력단 | 자율 무인 잠수정 수중 도킹을 위한 광통신 기반 자세 제어 장치 및 방법 |
EP3560814A4 (en) * | 2017-12-26 | 2020-05-27 | Tianjin Deepfar Ocean Technology Co., Ltd. | REMOTE CONTROLLED UNDERWATER VEHICLE AND ITS CONTROL METHOD |
US10569423B1 (en) * | 2018-11-28 | 2020-02-25 | United States Of America As Represented By Secretary Of The Navy | Spiral curve self-aligning docking device |
CN109774886B (zh) * | 2019-01-25 | 2020-05-19 | 华中科技大学 | 一种水下航行器柔性对接回收装置 |
CN110294091A (zh) * | 2019-06-14 | 2019-10-01 | 哈尔滨工程大学 | 一种水下运载器间的搭载对接装置 |
CN110901826A (zh) * | 2019-11-19 | 2020-03-24 | 博雅工道(北京)机器人科技有限公司 | 一种导流罩以及水下机器人 |
CN112918643A (zh) * | 2019-12-06 | 2021-06-08 | 中国科学院沈阳自动化研究所 | 一种水下悬浮对接装置 |
GB2607235B (en) * | 2019-12-27 | 2023-05-24 | Kawasaki Heavy Ind Ltd | Underwater docking system, underwater vehicle and underwater station |
CN111085984B (zh) * | 2019-12-31 | 2023-01-17 | 大连海事大学 | 一种智能水下捕捞机械手及其工作方法 |
CN111824374A (zh) * | 2020-07-22 | 2020-10-27 | 交通运输部天津水运工程科学研究所 | 一种auv水下回收系统 |
CN112421804B (zh) * | 2020-12-10 | 2021-12-17 | 哈尔滨工业大学 | 一种自主式无人潜航器水下无线充电及智能对位引导方法 |
CN112960086B (zh) * | 2021-02-03 | 2022-03-22 | 吉林大学 | 一种坐落式auv水下对接平台 |
CN113247215A (zh) * | 2021-06-09 | 2021-08-13 | 西北工业大学 | 一种船挂式auv回收对接平台 |
CN113443109B (zh) * | 2021-07-15 | 2022-04-19 | 哈尔滨工程大学 | 一种海底声呐机器人的驱动装置 |
CN113772061B (zh) * | 2021-10-11 | 2022-06-24 | 中国船舶科学研究中心 | 一种水下无人航行器回收装置及操作方法 |
CN113911304B (zh) * | 2021-11-15 | 2022-09-13 | 中国船舶科学研究中心 | 一种水下无人航行器航姿转换机构及操作方法 |
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CN114394215B (zh) * | 2022-03-04 | 2023-03-21 | 上海交通大学 | 主动捕获水下潜航器对接机构及其工作方法 |
CN114735172B (zh) * | 2022-05-09 | 2023-03-14 | 中国船舶科学研究中心 | 一种auv水下进出对接平台用锁止释放机构 |
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-
2015
- 2015-10-06 JP JP2015198608A patent/JP6577814B2/ja active Active
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2016
- 2016-10-04 EP EP16853581.3A patent/EP3360775B1/en active Active
- 2016-10-04 WO PCT/JP2016/079492 patent/WO2017061427A1/ja active Application Filing
- 2016-10-04 AU AU2016334659A patent/AU2016334659B2/en active Active
- 2016-10-04 US US15/766,429 patent/US10279878B2/en active Active
Also Published As
Publication number | Publication date |
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JP2017071266A (ja) | 2017-04-13 |
EP3360775A4 (en) | 2019-05-29 |
US20180319473A1 (en) | 2018-11-08 |
EP3360775A1 (en) | 2018-08-15 |
AU2016334659A1 (en) | 2018-05-10 |
US10279878B2 (en) | 2019-05-07 |
EP3360775B1 (en) | 2020-04-15 |
WO2017061427A1 (ja) | 2017-04-13 |
AU2016334659B2 (en) | 2019-09-26 |
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