JP6593771B2 - Underwater drone recovery device and recovery method - Google Patents

Description

  The present invention relates to an underwater drone recovery apparatus and recovery method, and more particularly to an underwater drone recovery apparatus and recovery method suitable for recovering an underwater drone connected to a buoy that can float on the water surface.

  In recent years, there are increasing opportunities to use unmanned submersibles and explorers to conduct exploration, surveying, surveying, photographing, and the like in the water and bottom of oceans, rivers, dams, and reservoirs. These unmanned aerial vehicles are generally called underwater unmanned aerial vehicles (UUVs), and self-supporting AUVs (Autonomous Underwater Vehicles) and remotely operated ROVs (Remotely Operated Vehicles) are known.

  In such an underwater drone recovery method, for example, a buoy is released from the underwater drone into the water, and an operator on the mother ship hooks a rope connecting the underwater drone and the buoy. A method has already been proposed that draws it to the hand and recovers it to the mother ship using an onboard crane (see Patent Document 1, FIGS. 15 to 18).

JP 2003-291888 A

  In the recovery method described in Patent Document 1, it is necessary to bring the mother ship close to a position where the hook reaches the buoy. To avoid a collision between the mother ship and the underwater drone, the mother ship is moved from the buoy at a certain distance (for example, several It is necessary to keep it about 10m apart. Therefore, it is difficult to throw the hook into the vicinity of the buoy with only human power. In reality, the hook is thrown using an injection device such as an air gun.

  At this time, the hook will be thrown in with the buoy floating on the water surface as a mark, but it is difficult to accurately grasp the position of the rope connected to the buoy, and the position aimed using the injection device Since it is difficult to insert a hook into the hook, it is not uncommon for the hook to swing away. When the hook is swung, it is necessary to repeat the work of collecting the hook, setting the hook to the injection device, and inserting the hook, and it takes time to collect the underwater drone. There was a problem.

  The present invention was devised in view of the above-described problems, and an object of the present invention is to provide an underwater drone recovery device and recovery method that can improve the work efficiency of the recovery operation of the underwater drone. To do.

According to the present invention, in an underwater drone recovery device that recovers an underwater drone connected to a buoy that can float on the water surface to a mother ship, the hook that can be locked to the buoy or the rope, A recovery line connected to the hook; and a flying body capable of transporting the hook and the recovery line, wherein the flying body is configured to be remotely operable from the mother ship, and the flying body is connected to the buoy. The underwater drone recovery device is provided in which the hook is inserted into the water surface at a position that can be locked to the buoy or the cable body.

The flying object, but it may also comprise an imaging camera capable of water.

  The mother ship may be provided with a reel for feeding and winding the recovery line, and the flying body may carry the hook while feeding the recovery line from the reel.

  The flying body may be provided with a reel for feeding and winding the recovery rope, and after dropping the hook onto the water surface, the flying body may move to the mother ship while feeding the recovery rope.

Further, according to the present invention, in the underwater drone recovery method for recovering an underwater drone connected to a buoy that can float on the water surface by a rope , using a flying object that can be remotely operated from the mother ship. A transporting step of transporting the hook to a place where the buoy floats, a locking step of locking the hook to the buoy or the rope by remotely operating the flying body, and pulling at least the hook. An underwater drone recovery method comprising: an approach step of bringing the underwater drone closer to the mother ship; and a recovery step of recovering the underwater drone to the mother ship.

  According to the underwater drone collection device and the collection method according to the present invention, since the buoy or the rope connected to the underwater drone is locked using the flying object, the lock of the buoy or the rope is used. Even if it fails, it is possible to easily try again and again by turning the flying object and returning the course, and the work efficiency of the recovery operation of the underwater drone can be improved.

It is a side view which shows the collection | recovery apparatus of the underwater drone which concerns on 1st embodiment. It is a top view which shows the collection | recovery apparatus of the underwater drone which concerns on 1st embodiment. It is a side view which shows the collection | recovery apparatus of the underwater drone which concerns on 2nd embodiment, (a) has shown the conveyance process, (b) has shown the latching process. It is a side view which shows the collection | recovery apparatus of the underwater drone which concerns on 2nd embodiment, (a) has shown the approach process, (b) has shown the collection process. It is a side view which shows the collection | recovery apparatus of the underwater drone which concerns on 3rd embodiment, (a) has shown the conveyance process, (b) has shown a part of latching process. It is a side view which shows the collection | recovery apparatus of the underwater drone which concerns on 3rd embodiment, (a) has shown a part of latching process, (b) has shown a part of approach process. It is a side view which shows the collection | recovery apparatus of the underwater drone which concerns on 3rd embodiment, (a) is a part of approach process, (b) has shown the collection process.

  Hereinafter, embodiments of the present invention will be described with reference to FIGS. Here, FIG. 1 is a side view showing the recovery device for the underwater drone according to the first embodiment. FIG. 2 is a plan view showing the recovery device for the underwater drone according to the first embodiment. In addition, in FIG. 2, the part which is sinking in water is shown by the dotted line.

  A recovery device for an underwater drone 1 according to the first embodiment is a device that recovers an underwater drone 1 connected to a buoy 11 floatable on a water surface by a rope 12 to a mother ship (not shown). 11 or a hook 2 that can be locked to the rope 12, a recovery rope 3 connected to the hook 2, and a flying body 4 that can carry the hook 2 and the recovery rope 3. It is moved to a floating place, and the hook 2 is thrown into the water surface at a position where it can be locked to the buoy 11 or the rope 12.

  The underwater drone 1 is, for example, a searchless UUV, and may be an autonomous AUV or a remote operation type ROV. The underwater drone 1 is thrown into the water from the mother ship, performs tasks such as exploration, surveying, surveying, and photographing, and is finally collected by the mother ship. The buoy 11 and the cable body 12 are accommodated in the underwater drone 1 at the time of work. After the work is completed, the underwater drone 1 moves to a predetermined depth and releases the buoy 11 and the rope 12 into the water. The buoy 11 has a lighter specific gravity than water (for example, seawater) in the released water area, and is configured to naturally float on the water surface. Here, although the cylindrical buoy 11 is illustrated, it is not limited to such a shape, and may be a spherical shape, for example. The length of the cable body 12 is set longer than the water depth where the underwater drone 1 stays.

  The flying object 4 is a concept that includes all flying objects that can be operated or steered, such as a remotely operable drone, a radio controller type helicopter or airplane, and a helicopter or airplane that a person can board and control. In the present embodiment, for convenience of explanation, the flying object 4 is illustrated as a remotely operable drone, but is not limited to the illustrated configuration.

  The flying body 4 includes, for example, a plurality of propelling devices 41 and a main body 42, and a camera 43 capable of imaging the water surface is disposed on the lower surface of the main body 42. Thus, by arranging the camera 43 on the flying object 4, the position of the buoy 11 can be accurately grasped. Moreover, although not shown in figure, the flying body 4 is comprised so that remote control is possible from a mother ship, for example. By adopting the flying object 4 that can be remotely operated from the mother ship, the flying object 4 can be reduced in size and weight, and the amount of energy (fuel and electricity) required for one flight can be suppressed. it can.

  In addition, one end of the recovery cable 3 is connected to the lower surface of the main body 42, and the hook 2 is connected to the other end of the recovery cable 3. The hook 2 is, for example, a trident or quadruple hook-shaped metal fitting, but is not limited to these shapes, and may be any shape that can be locked to the buoy 11 or the cable body 12. Further, a barb may be formed at the tip of the hook 2, or a barb may not be formed. The recovery cable 3 has such a length that the hook 2 can be kept submerged when the flying object 4 flies low on the water surface.

  The above-mentioned flying object 4 flies off from the mother ship while suspending the hook 2 and the recovery cable 3 and moves to a place where the buoy 11 is floating. At this time, the operator of the flying object 4 remotely operates the flying object 4 while confirming the image of the camera 43. Then, after confirming the positions of the buoy 11 and the rope 12, the course of the flying object 4 is determined, and after turning, the flying object 4 is caused to fly low, as shown in FIGS. 1 and 2. 2 is put into water.

  The flying body 4 is moved forward toward the buoy 11 and the cable body 12 as it is, so that the hook 2 is locked to the buoy 11 or the cable body 12 when passing through the buoy 11 and the cable body 12. When the hook 2 fails to be locked, the flying body 4 is raised, the hook 2 is pulled out into the air, and is swung again to return to a predetermined course. Normally, the hook 2 is locked to the cord body 12, and the flying body 4 is advanced or raised, so that the hook 2 moves along the cord body 12 and is finally locked to the buoy 11.

  After the hook 2 is locked to the buoy 11 or the rope 12, the flying body 4 is remotely operated so as to return to the mother ship. At this time, the flying object 4 flies by pulling the underwater drone 1 connected by the recovery cable 3, the hook 2, the buoy 11 and the cable body 12 while being submerged in water. After the flying object 4 returns to the mother ship, the worker collects the buoy 11 and the cable body 12 and pulls the cable body 12 by human power or a winding device. Finally, the underwater drone 1 is collected on the mother ship from, for example, an onboard crane, a hatch or a bridge dropped on the water surface.

  By using the recovery device of the underwater drone 1 using the flying body 4 described above, a transporting process for transporting the hook 2 by the flying body 4 to a place where the buoy 11 floats, and the hook 2 is connected to the buoy 11 or the rope body 12. Of the underwater drone 1 including: a locking step for locking the underwater drone 1 via the hook 2; an approach step for pulling the underwater drone 1 closer to the mother ship; and a recovery step for collecting the underwater drone 1 to the mother ship. The recovery method can be carried out easily.

  Moreover, according to the collection | recovery apparatus of the underwater drone 1 which concerns on this embodiment mentioned above, since the buoy 11 connected to the underwater drone 1 using the flying body 4 or the rope body 12 was latched, Even if the locking of the buoy 11 or the cable body 12 fails, the flying object 4 can be swung to return to the course, so that it can be tried many times easily. Efficiency can be improved.

  Next, the recovery device of the underwater drone 1 according to the second embodiment will be described with reference to FIGS. 3 (a) to 4 (b). Here, FIG. 3 is a side view showing a recovery device for an underwater drone according to the second embodiment, where (a) shows a conveying step and (b) shows a locking step. FIG. 4: is a side view which shows the collection | recovery apparatus of the underwater drone which concerns on 2nd embodiment, (a) has shown the approach process, (b) has shown the collection process. In addition, about the component which is common in the collection | recovery apparatus of the underwater drone 1 which concerns on 1st embodiment mentioned above, the same code | symbol is attached | subjected and the overlapping description is abbreviate | omitted.

  The recovery device of the underwater drone 1 according to the second embodiment includes a reel 51 in which the mother ship 5 feeds and winds the recovery rope 3, and the flying body 4 conveys the hook 2 while feeding the recovery rope 3 from the reel 51. It is what you do.

  That is, the recovery device for the underwater drone 1 according to the second embodiment is a device for recovering the underwater drone 1 connected to the buoy 11 that can float on the water surface by the rope body 12 to the mother ship 5. The hook 2 that can be locked to the cable body 12, the recovery cable 3 connected to the hook 2, the flying body 4 that can carry the hook 2 and the recovery cable 3, and the unwinding and winding of the recovery cable 3 arranged in the mother ship 5 And a reel 51 for picking up, moving the flying body 4 to a place where the buoy 11 floats while unwinding the recovery line 3 from the reel 51, and hook the hook 2 at a position where it can be locked to the buoy 11 or the rope body 12. It is intended to be put in.

  For example, as shown in FIG. 3A, the mother ship 5 has an onboard crane 52 that can collect the underwater drone 1 in addition to the reel 51. The flying object 4 is remotely operated by an operator (not shown) by the remote controller 53 from the mother ship 5, for example. The flying body 4 includes a suspension device 44 that can hold and detach a part of the hook 2 or the recovery cable 3. The suspension device 44 has, for example, a configuration like a lock having a slidable hook or a configuration like a robot hand.

  FIG. 3A shows a transporting process in which the hook 2 is transported by the flying body 4 to a place where the buoy 11 is floated. Specifically, the hook 2 is gripped by the suspension device 44, and the flying object 4 is taken off from the mother ship 5 by remote control, and the hook 2 is transported to a place where the buoy 11 floats. At this time, the recovery cord 3 is unwound from the reel 51 as the flying object 4 moves.

  FIG. 3B shows a locking process for locking the hook 2 to the buoy 11 or the cable body 12. Specifically, the worker confirms the position of the buoy 11 by the image of the camera 43 transferred from the flying object 4, and the suspension object 44 is moved to the position where the flying object 4 flying from the mother ship 5 has passed the buoy 11. Release the lock and drop the hook 2 onto the water surface. In this state, by winding the recovery cable 3 with the reel 51, the hook 2 can be moved toward the mother ship 5, and the hook 2 is locked to the buoy 11 and the cable body 12 floating in the middle of the hook 2. Can do. Usually, the hook 2 is locked to the cable body 12, and the hook 2 moves along the cable body 12 by winding the recovery cable 3 and is locked to the buoy 11.

  FIG. 3C shows an approach process in which the underwater drone 1 is pulled through the hook 2 to approach the mother ship 5. Specifically, the underwater drone 1 is brought close to the mother ship 5 by winding the collection cable 3 with the reel 51 while the hook 2 is locked to the buoy 11.

  FIG. 3D shows a recovery process for recovering the underwater drone 1 to the mother ship 5. Specifically, after the recovery cable 3 is wound up by the reel 51 and the hook 2 is recovered on the mother ship 5, the cable body 12 is moved near to the vicinity of the mother ship 5 and is picked up by the onboard crane 52. At this time, the rope 12 may be drawn by an operator, may be wound by the reel 51, or may be wound by being connected to another winding device (not shown).

  In addition, as for the sling of the underwater drone 1 to be connected to the onboard crane 52, a diver may work underwater as in the conventional case, or may be operated from above the mother ship 5 using a jig or the like. . Moreover, although not shown in figure, you may make it collect | recover on the mother ship 5 as it is, taking down a bridge and a hatch to the water surface, and winding up.

  According to the collection device for the underwater drone 1 according to the second embodiment described above, the flying object 4 only needs to transport the hook 2 to the place where the buoy 11 floats, and the work for making the underwater drone 1 approach the mother ship 5. Can be processed by the reel 51 on the mother ship 5. Therefore, the flying object 4 does not need to pull the underwater drone 1 submerged in the water, and the flying object 4 can be reduced in size, weight, and energy saving.

  Further, by remotely operating while viewing the image from the flying object 4, the position of the buoy 11 can be accurately grasped, and the buoy 11 or the cable body 12 can be more reliably locked, and the locking work can be performed. Can be reduced.

  If the buoy 11 or the cable body 12 fails to be locked after the hook 2 is dropped, the flying object 4 is returned and the hook 2 is recovered, and the hook 2 is gripped by the flying object 4 and re-applied. You may make it challenge. Alternatively, the recovery cable 3 may be disconnected from the reel 51, another recovery cable 3 and the hook 2 may be connected to the reel 51, and the new hook 2 may be re-challenged with the flying body 4. At this time, the separated old retrieval cable 3 and hook 2 are separately collected by the mother ship 5.

  Next, the recovery device for the underwater drone 1 according to the third embodiment will be described with reference to FIGS. 5 (a) to 7 (b). Here, FIG. 5 is a side view showing the underwater drone recovery device according to the third embodiment, where (a) shows the transport step and (b) shows a part of the locking step. FIG. 6: is a side view which shows the collection | recovery apparatus of the underwater drone which concerns on 3rd embodiment, (a) has shown a part of latching process, (b) has shown a part of approach process. FIG. 7: is a side view which shows the collection | recovery apparatus of the underwater drone which concerns on 3rd embodiment, (a) has shown a part of approach process, (b) has shown the collection process. In addition, about the component which is common in the collection | recovery apparatus of the underwater drone 1 which concerns on 1st embodiment mentioned above, the same code | symbol is attached | subjected and the overlapping description is abbreviate | omitted.

  The recovery device of the underwater drone 1 according to the third embodiment includes a reel 45 in which the flying body 4 feeds and winds the recovery rope 3, and after dropping the hook 2 onto the water surface, It is intended to move to 5.

  That is, the recovery device of the underwater drone 1 according to the third embodiment is a device that recovers the underwater drone 1 connected to the buoy 11 that can float on the water surface by the rope body 12 to the mother ship 5. A hook 2 that can be locked to the cable body 12, a recovery cable 3 connected to the hook 2, a flying object 4 that can carry the hook 2 and the recovery cable 3, and an extension of the recovery cable 3 disposed on the flying object 4 and And a reel 45 for winding, and the flying object 4 is moved to a place where the buoy 11 floats, and the hook 2 is dropped on the water surface at a position where it can be locked to the buoy 11 or the cable body 12, and then the recovery cable 3 The flying object 4 is moved to the mother ship 5 while unwinding.

  For example, as shown in FIG. 5A, the flying body 4 is provided with a reel 45 on the lower surface of the main body portion 42 that can feed and take up the recovery cable 3. The reel 45 is configured to be operable by a remote controller 53 that is operated by an operator (not shown) on the mother ship 5, and the retrieval and winding of the recovery line 3 are remotely operated by the remote controller 53. Although not shown, the flying body 4 may have legs that hold the flying body 4 so that the reel 45 does not contact the ground or the floor when landing.

  FIG. 5A shows a transporting process in which the hook 2 is transported by the flying body 4 to a place where the buoy 11 is floated. Specifically, the flying object 4 having the reel 45 is made to fly from the mother ship 5 by remote control, and the hook 2 is transported to a place where the buoy 11 floats. At this time, the recovery cable 3 is held in a wound state as shown in the figure.

  FIG. 5 (b) shows a part (first half) of the locking step for locking the hook 2 to the buoy 11 or the cord body 12. Specifically, the worker confirms the position of the buoy 11 by the image of the camera 43 transferred from the flying object 4, and operates the reel 45 at a position where the flying object 4 flying from the mother ship 5 has passed the buoy 11. Then, the recovery line 3 is fed out and the hook 2 is dropped on the water surface.

  FIG. 6A shows a part (second half) of the locking step for locking the hook 2 to the buoy 11 or the rope body 12. Specifically, as shown in FIG. 5 (b), after the hook 2 sinks in the water, the hook 2 is connected to the buoy 11 and the rope body by remotely controlling the flying body 4 to return to the mother ship 5. 12, and is locked to the buoy 11 or the cord body 12. Normally, the hook 2 is locked to the cord body 12, and further, the hook 2 moves along the cord body 12 by moving the flying body 4 and is locked to the buoy 11.

  FIG. 6B shows a part (first half) of the approaching step of pulling the underwater drone 1 via the hook 2 and approaching the mother ship 5, and FIG. 7A shows a part of the same approaching step ( The second half). Specifically, as shown in FIG. 6B, after returning the flying object 4 to the mother ship 5 while feeding the recovery line 3 by the reel 45, as shown in FIG. The underwater drone 1 is brought close to the mother ship 5 by winding 3 on the mother ship 5. The reel 45 may be used as it is for winding the recovery cord 3, or another reel (for example, the reel 51 shown in FIG. 3A) disposed on the mother ship 5 may be used. .

  FIG. 7B shows a recovery process for recovering the underwater drone 1 to the mother ship 5. Specifically, after the hook 2 is collected on the mother ship 5, the rope body 12 is moved to the vicinity of the mother ship 5 by hand-drawing, and is picked up by the onboard crane 52. At this time, the cord 12 may be handed by an operator, may be wound by the reel 45, or may be wound by being connected to another winding device (not shown).

  In addition, as for the sling of the underwater drone 1 to be connected to the onboard crane 52, a diver may work underwater as in the conventional case, or may be operated from above the mother ship 5 using a jig or the like. . Moreover, although not shown in figure, you may make it collect | recover on the mother ship 5 as it is, taking down a bridge and a hatch to the water surface, and winding up.

  According to the recovery device of the underwater drone 1 according to the third embodiment described above, the flying object 4 only needs to transport the reel 45 including the hook 2 and the recovery rope 3 to the place where the buoy 11 floats, The operation of making the drone 1 approach the mother ship 5 can be processed from the mother ship 5. Therefore, the flying object 4 does not need to pull the underwater drone 1 submerged in the water, and the flying object 4 can be reduced in size, weight, and energy saving.

  Further, by remotely operating while viewing the image from the flying object 4, the position of the buoy 11 can be accurately grasped, and the buoy 11 or the cable body 12 can be more reliably locked, and the locking work can be performed. Can be reduced. If the buoy 11 or the cable body 12 fails to be locked after the hook 2 is dropped, the recovery cable 3 is wound up by the reel 45 and the flying object 4 is turned to resume the hook 2 locking operation. Try to challenge.

  The present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 1 Underwater drone 2 Hook 3 Recovery rope 4 Flying body 5 Mother ship 11 Buoy 12 Cable body 41 Propeller 42 Main part 43 Camera 44 Suspension device 45 Reel 51 Reel 52 Ship crane 53 Remote controller

Claims (5)

In the underwater drone recovery device, which recovers the underwater drone connected to the buoy that can float on the water surface to the mother ship,
A hook that can be locked to the buoy or the cord;
A recovery line connected to the hook;
A flying object capable of transporting the hook and the recovery cable,
The flying object is configured to be remotely operable from the mother ship,
The flying object is moved to a place where the buoy floats, and the hook is thrown into the water surface at a position that can be locked to the buoy or the cable body.
An underwater drone recovery device characterized by the above.   The underwater drone recovery device according to claim 1, wherein the flying body includes a camera capable of imaging a water surface.   2. The underwater according to claim 1, wherein the mother ship includes a reel that feeds and winds the recovery line, and the flying body conveys the hook while feeding the recovery line from the reel. A drone recovery device.   The said flying body is provided with a reel for feeding and winding the recovery line, and after dropping the hook onto the water surface, moves to the mother ship while feeding the recovery line. Underwater drone recovery device. In the recovery method for underwater drones, the underwater drone connected to the buoy that can float on the surface of the water with a cable body is recovered to the mother ship.
Using a flying object that can be remotely operated from the mother ship, a conveying step for conveying the hook to a place where the buoy floats ;
A locking step of locking the hook to the buoy or the cord body by remotely operating the flying body ;
An approaching step of pulling at least the hook and causing the underwater drone to approach the mother ship;
A recovery step of recovering the underwater drone into the mother ship;
A method for collecting an underwater drone characterized by comprising: