JP6631828B2 - Underwater drone accommodation device and accommodation method - Google Patents

Description

  The present invention relates to an underwater unmanned aerial vehicle accommodating device and an accommodating method, and more particularly, to an underwater unmanned aerial vehicle accommodating device and an accommodating method suitable for accommodating an underwater unmanned aerial vehicle in water with little influence of waves.

  2. Description of the Related Art In recent years, the use of unmanned submersibles and spacecraft to perform exploration, survey, surveying, photographing, and the like in the sea, rivers, dams, reservoirs, and the like in water and on the water floor has increased. These drones are generally called unmanned underwater vehicles (UUVs), and autonomous underwater vehicles (AUVs) and remotely operated ROVs (Remotely Operated Vehicles) are known.

  Such a method of recovering an underwater unmanned aerial vehicle includes, for example, a method in which a diver captures the underwater unmanned aerial vehicle by a discharge net and lifts the underwater unmanned aerial vehicle from a swash plate installed on the mother ship (see Patent Document 1), After launching and towing the underwater unmanned aerial vehicle and storing the recovered basket in the mother ship (see Patent Document 2), a net-shaped unloading device is thrown into the water from the mother ship and towed, and the underwater unmanned aerial vehicle is A method has been proposed in which, after being housed, the lifting device is lifted to the mother ship by a crane (see Patent Document 3).

JP-A-11-291891 JP 2009-208511 A JP 2013-184525 A

  However, the recovery method in which a diver works underwater has a problem that it is easily affected by waves and involves danger. In addition, the recovery method using a recovery basket or a retrieval device has a problem in that the position and orientation must be controlled with high accuracy in order to accommodate an underwater unmanned aerial vehicle in the recovery basket or the recovery device underwater. Was. Further, when a net or net-shaped unloading device is used, there is a problem that a part of the underwater drone is caught by the net or the net and is damaged. Furthermore, the above-mentioned conventional recovery method requires that a swash plate and a storage mechanism be installed on the mother ship, and that a dedicated ship must be constructed or an existing ship must be remodeled, which is costly. There were also problems.

  The present invention has been made in view of the above-described problems, and a device and a housing for an underwater drone that can safely and easily house the underwater drone while suppressing damage to the underwater drone. The aim is to provide a method.

According to the present invention, in a receiving device for an underwater unmanned aerial vehicle that houses an underwater unmanned aerial vehicle in the water and is recovered by the mother ship, a float that is separated from the mother ship and floats on the water surface, and descends and rises in the water with respect to the float A cradle arranged so as to be capable of, wherein the cradle includes a housing for accommodating the underwater drone, a thruster for adjusting the orientation of the housing, and a photographing unit for photographing a situation near an entrance of the housing. The accommodation device of the underwater drone, wherein the accommodation device adjusts the direction of the entrance of the housing in accordance with the position of the underwater drone, and accommodates the underwater drone in the housing while monitoring the underwater drone. Provided.

  The cradle may include an acoustic positioning / communication device capable of communicating with the underwater drone and measuring the position. The cradle may include a restraining means for restraining the underwater drone accommodated in the housing. The float has a first connection portion having an uneven shape formed on a lower surface, and the cradle has a second connection portion having an uneven shape formed on an upper surface of the housing and capable of fitting with the first connection portion. May be provided. The cradle may be configured to be able to charge the underwater drone accommodated in the housing.

Further, according to the present invention, there is provided a method for accommodating an underwater unmanned aerial vehicle using an accommodation device including a float floating on the water surface and a cradle arranged to be able to descend and ascend with respect to the float, A loading step in which the accommodation device is mounted on the mother ship and transported to a place for accommodating the underwater unmanned aerial vehicle, and an introduction step of throwing the accommodation device into the water separated from the mother ship, and lowering the cradle from the float to a predetermined depth. A descending step of causing the underwater drone to approach the cradle; an attitude control step of controlling the attitude of the cradle in accordance with the position of the underwater drone; and seen including a housing step, the to be accommodated in, after the receiving step has a connecting step of contacting the float is raised the cradle, it and characterized How to accommodate underwater drone is provided that.

Before the approaching step, a positioning step of measuring the position of the underwater drone may be provided . After the previous SL connecting step may include a recovery step of recovering the accommodating device to the mother ship. After the accommodation step, a charging step of charging the underwater unmanned aerial vehicle may be provided.

  ADVANTAGE OF THE INVENTION According to the accommodation apparatus and accommodation method of the underwater drone according to the present invention, the float is floated on the water surface separated from the mother ship, the cradle is controlled in a state in which the cradle is suspended from the float, and the underwater is viewed while watching the image. Because the drone is housed in the cradle, the underwater drone can be housed in the cradle and protected underwater where the influence of waves is small, and the position and orientation of the underwater drone can be precisely controlled. There is no need for control and no divers need to dive. Therefore, according to the present invention, the underwater unmanned aerial vehicle can be stored safely and easily while suppressing damage to the underwater unmanned aerial vehicle.

  Further, since the underwater drone can be accommodated in the cradle by remote control at a location away from the mother ship, the underwater drone can be collected even in stormy weather. In addition, the float can be easily collected by using a shipboard crane, and the construction and modification of a dedicated ship is unnecessary regardless of the form of the mother ship.

1 is an overall configuration diagram illustrating an underwater unmanned aerial vehicle accommodation device according to an embodiment of the present invention. It is a flow figure showing the example of use of the storing method of the underwater drone concerning a first embodiment of the present invention. It is explanatory drawing of the flow shown in FIG. 2, (a) has shown the injection | pouring process and (b) has shown the down process. FIG. 3 is an explanatory diagram showing a positioning step of the flow shown in FIG. 2. FIG. 3 is an explanatory diagram of the flow shown in FIG. 2, (a) showing an approaching process, and (b) showing a posture control process. It is explanatory drawing of the flow shown in FIG. 2, (a) has shown the accommodation process and (b) has shown the connection process. FIG. 3 is an explanatory diagram illustrating a collecting step of the flow illustrated in FIG. 2. It is a flow figure showing the example of use of the accommodation method of the underwater drone concerning a second embodiment of the present invention.

  Hereinafter, embodiments of the present invention will be described with reference to FIGS. Here, FIG. 1 is an overall configuration diagram showing a storage device for an underwater drone according to an embodiment of the present invention.

  An accommodation device 1 for an underwater drone V according to an embodiment of the present invention is an accommodation device for accommodating an underwater drone V underwater. The cradle 3 is provided so as to be able to ascend, and the cradle 3 captures an image of a housing 31 for accommodating the underwater drone V, a thruster 32 for adjusting the orientation of the housing 31, and a state near an entrance 31a of the housing 31. And a photographing means 33 for adjusting the orientation of the entrance 31a of the housing 31 in accordance with the position of the underwater drone V so that the underwater drone V is housed in the housing 31 while monitoring.

  The underwater drone V is a cordless UUV, and may be an autonomous AUV or a remote control ROV. The underwater unmanned aerial vehicle V is put into the water from the mother ship, performs tasks such as exploration, investigation, surveying, and photographing, and is finally collected by the mother ship. The storage device 1 according to the present embodiment can be used when loading and collecting the underwater drone V.

  The float 2 has, for example, a main body 21 that is submerged in water and a column 22 that is exposed to a draft surface. The main body 21 is configured to give an appropriate buoyancy to float the float 2 on the water surface. A reel 24 supporting the cable 23 connected to the cradle 3 so that the cable 23 can be wound and unwound, a float 2, a storage battery 25 for supplying power to the electronic components constituting the cradle 3, a float 2 And a control device 26 for controlling devices of the cradle 3 and the like.

  Further, the main body 21 may have a first connection portion 27 having an uneven shape formed on the lower surface. The first connection portion 27 is, for example, a concave portion formed on the lower surface of the float 2 (the main body portion 21). The illustrated shape and configuration of the main body 21 are merely examples, and the present invention is not limited thereto.

  The support portion 22 is connected to the upper surface of the main body portion 21 and extends upward. The strut portion 22 has a circular cross section in order to reduce water resistance on the draft surface, and is preferably formed in an elongated frustoconical shape or a cylindrical shape. An antenna 28 for communicating with an external organization such as a mother ship, a ground station, or an artificial satellite is connected to a tip of the support portion 22. Further, a ring-shaped metal fitting 29 for engaging a hook of a shipboard crane may be connected to a side surface of the column portion 22.

  The cradle 3 is a container for accommodating the underwater drone V, and is connected to the float 2 by a cable 23. The housing 31 has a substantially cylindrical shape with both ends opened. One end of the housing 31 has an enlarged diameter and forms an entrance 31a of the underwater drone V. A thruster 34 for adjusting the axial position of the cradle 3 in the horizontal plane may be arranged on the other end of the housing 31. The thruster 34 can be omitted if necessary.

  Further, on the upper surface of the housing 31, a second connection portion 35 having an uneven shape that can be fitted to the first connection portion 27 may be formed. The second connecting portion 35 is, for example, a convex portion formed at a root portion of the connecting portion of the cable 23. Note that the first connection portion 27 may be a convex portion, and the second connection portion 35 may be a concave portion.

  By forming the first connection portion 27 and the second connection portion 35, when the cradle 3 is brought into contact with the lower surface of the float 2, the unevenness is engaged and the connected state can be stabilized. Of course, the first connection portion 27 and the second connection portion 35 can be omitted as necessary.

  Further, a leg 36 for placing the housing 31 on the floor may be arranged on the lower surface of the housing 31. The thruster 32 for adjusting the direction of the housing 31 (cradle 3) is disposed, for example, between the lower surface of the housing 31 and the lower end of the leg 36. The thruster 32 includes, for example, a tube extending in a direction perpendicular to the axial direction of the housing 31 and a screw disposed inside the tube.

  Since the thrusters 32 are for adjusting the horizontal direction (azimuth) of the cradle 3, it is preferable that one thruster 32 is disposed at each of both ends in the axial direction of the housing 31. According to such a thruster 32, by operating both thrusters 32 in the same direction, the cradle 3 can be translated in a horizontal plane, and both thrusters 32 can be operated in opposite directions, or only one thruster 32 can be operated. Or the like, the direction of the inlet 31a in the horizontal plane of the cradle 3 can be changed.

  Further, by adjusting the length of the cable 23 for suspending the cradle 3 with the reel 24, the water depth (position in the vertical direction) of the cradle 3 can be changed. Therefore, by using the thrusters 23, the thrusters 34, and the reels 24, the posture (including at least the position and the azimuth) of the cradle 3 can be easily controlled.

  The photographing unit 33 is, for example, a video camera that can be used underwater. The photographing unit 33 is arranged, for example, on a side surface of the housing 31 near the entrance 31a of the cradle 3 so as to photograph a situation near the entrance 31a.

  In addition, the cradle 3 may include an acoustic positioning / communication device 37 that can communicate with the underwater drone V and measure the position. The acoustic positioning / communication device 37 may be an integrated type capable of performing both acoustic positioning and acoustic communication, or may be one in which the functions of acoustic positioning and acoustic communication are separated. In the present embodiment, an integrated acoustic positioning / communication device 37 is illustrated.

  Here, “acoustic positioning” means that a pulse signal is transmitted toward the underwater drone V, and the underwater drone V that has received the pulse signal transmits a pulse signal toward the cradle 3 and the signal is received by the cradle 3. This means measuring the relative position and orientation of the underwater drone V. The “acoustic communication” here means that a signal for controlling the behavior (starting, stopping, moving direction, etc.) of the underwater drone V is transmitted to the underwater drone V.

  In the present embodiment, the case where the acoustic positioning and the acoustic communication are performed between the cradle 3 and the underwater drone V has been described, but the acoustic positioning and the acoustic communication may be performed via the float 2 or the mother ship. For example, when passing through the mother ship, the positioning of the underwater drone V may be measured by the mother ship, and the positioning data may be transmitted to the cradle 3 via the float 2, or the behavior of the underwater drone V may be controlled from the mother ship. A signal may be transmitted. In this case, the acoustic positioning / communication device 37 arranged in the cradle 3 can be omitted.

  Further, the cradle 3 may have a restraining means 38 for restraining the underwater drone V accommodated in the housing 31. As shown by a dotted line in the drawing, the underwater drone V that has entered the housing 31 is positioned so that it will not fall out of the cradle 3 or be damaged by contact with the inner surface of the housing 31 in the subsequent processing. It is preferable to keep it. The restraining means 38 has, for example, a plurality of gripping arms configured to be able to expand and contract from the inner surface of the housing 31 toward the center, and is configured to grip the side surface of the underwater drone V by the gripping arms. Note that the restricting means 38 is not limited to the illustrated configuration.

  Further, the cradle 3 may be configured to be able to charge the underwater drone V accommodated in the housing 31. For example, when the underwater drone V is restrained by the restraining means 38, a power supply terminal (not shown) is connected to the underwater drone V, and the storage battery 25 and the underwater drone V are electrically connected via the cable 23 or the like. Connect and charge underwater drone V. After the underwater drone V is accommodated in the cradle 3, the underwater drone V may be charged by non-contact power supply using a magnetic field or radio waves.

  By adding the charging function to the cradle 3 in this way, the float 2 and the cradle 3 can be used as a relay station for charging the underwater drone V, and the work can be continued for a wider area and for a longer time. Can be.

  Next, a method for accommodating the underwater drone V using the accommodation device 1 described above will be described with reference to FIGS. Here, FIG. 2 is a flowchart showing an example of use of the method for accommodating an underwater drone according to the first embodiment of the present invention. 3A and 3B are explanatory diagrams of the flow shown in FIG. 2, wherein FIG. 3A illustrates a charging step and FIG. 3B illustrates a descending step. FIG. 4 is an explanatory diagram showing a positioning step of the flow shown in FIG. 5A and 5B are explanatory diagrams of the flow shown in FIG. 2, wherein FIG. 5A illustrates an approaching step, and FIG. 5B illustrates an attitude control step. 6A and 6B are explanatory diagrams of the flow shown in FIG. 2, wherein FIG. 6A illustrates an accommodation step, and FIG. 6B illustrates a connection step. FIG. 7 is an explanatory diagram showing a collecting step of the flow shown in FIG.

  The usage example of the method for accommodating the underwater unmanned aerial vehicle V according to the first embodiment of the present invention includes a charging step Step1 for charging the storage device 1 on water, and a descent step Step2 for lowering the cradle 3 from the float 2 to a predetermined water depth. A positioning step Step3 for measuring the position of the underwater drone V, an approaching step Step4 for bringing the underwater drone V close to the cradle 3, and a posture control step Step5 for controlling the posture of the cradle 3 in accordance with the position of the underwater drone V. And a storage step Step 6 for moving the underwater drone V into the cradle 3 to accommodate the cradle 3, a connection step Step 7 for raising the cradle 3 to make contact with the float 2, and a recovery step Step 8 for collecting the storage apparatus 1 to the mother ship. Contains.

  The charging step Step1 is a step of charging the storage device 1 onto water, as shown in FIG. At this time, the cradle 3 is brought into contact with the lower surface of the float 2 so as to be integrated, so that the loading operation of the storage device 1 can be easily performed. Specifically, in the charging step Step1, the accommodation device 1 is mounted on a mother ship (not shown), transported to or near the accommodation position of the underwater unmanned aerial vehicle V, and the accommodation device 1 is placed on the water using a shipboard crane. Transfer.

  The lowering step Step2 is a step of lowering the cradle 3 into water as shown in FIG. Specifically, in the descending step Step 2, the descending start instruction and the descending depth are transmitted from the mother ship to the storage device 1, the reel 24 (see FIG. 1) of the float 2 is operated, and the cable 23 is paid out into the water, and the cradle 3 is moved to the cradle 3. When the measured value of the arranged depth gauge (not shown) reaches a predetermined water depth, the reel 24 is stopped.

  The positioning step Step3 is a step of measuring the relative position of the underwater drone V with respect to the cradle 3, as shown in FIG. Specifically, in the positioning step Step3, a pulse signal is transmitted from the acoustic positioning / communication device 37 of the cradle 3 into the water, and the underwater drone V receiving the signal returns the pulse signal to the cradle 3, whereby the underwater unmanned The relative position and orientation of the machine V are measured. When the cradle 3 does not have the acoustic positioning / communication device 37, the positioning step Step3 may be performed via the mother ship. The acoustic positioning / communication device 37 has a power supply or is configured to obtain power via the cable 25 from the storage battery 25.

  The approaching step Step 4 is a step of moving the underwater unmanned aerial vehicle V to a position visible by the photographing means 33 of the cradle 3, as shown in FIG. Specifically, in the approaching step Step4, based on the relative position of the underwater drone V measured in the positioning step Step3, data on the azimuth and the moving distance is transmitted to the underwater drone V, and the underwater unmanned The machine V is moved. If the coordinates of the cradle 3 and the underwater drone V are known, the movement target position of the underwater drone V may be indicated by the coordinates.

  The posture control step Step5 is a step of adjusting the position and orientation of the cradle 3 to the underwater drone V as shown in FIG. Specifically, in the attitude control step Step5, the thruster 32 is operated to control the attitude of the cradle 3 so that the entrance 31a of the housing 31 faces in the direction in which the underwater drone V is stopped.

  At this time, it is preferable that the traveling direction (axial direction) of the underwater drone V coincides with the axial direction of the housing 31 while photographing the underwater drone V using the photographing means 33. If the water depths of the cradle 3 and the underwater drone V are shifted, the length of the cable 23 may be adjusted by the reel 24. Note that the photographing unit 33 has a power supply or is configured to obtain power via a cable 25 from the storage battery 25.

  The accommodation step Step 6 is a step of accommodating the unmanned underwater vehicle V in the housing 31 of the cradle 3, as shown in FIG. Since the posture (position and orientation) of the cradle 3 is controlled in accordance with the position of the underwater drone V in the posture control process Step 5, in the housing process Step 6, the underwater drone V is moved straight into the housing 31. The underwater drone V can enter.

  At this time, stop-and-go of the underwater drone V may be repeated while finely adjusting the attitude of the cradle 3 using the photographing means 33, the thrusters 32, the thrusters 34, the reels 24, and the like. After the underwater drone V is accommodated in the cradle 3, the underwater drone V is restrained by the restraining means 38.

  The connection step Step7 is a step of raising the cradle 3 and integrating it with the float 2, as shown in FIG. Specifically, in the connecting step Step7, the cable 23 is wound up by the reel 24, thereby raising the cradle 3 to approach the float 2, and pressing the upper surface of the housing 31 against the lower surface of the float 2 to integrate them. . By such processing, the relative movement of the cradle 3 with respect to the float 2 can be suppressed, and the accommodation device 1 can be easily handled in the subsequent steps.

  As shown in FIG. 7, the recovery step Step 8 is a step of bringing the mother ship 4 close to the floating position of the storage device 1 and recovering (harvesting) the ship. Specifically, in the collection step 8, the hook 42 of the onboard crane 41 of the mother ship 4 is engaged with the metal fittings 29 of the float 2 to lift the storage device 1 and transfer it to the mother ship. Here, the case where the hook 42 is engaged with the metal fitting 29 has been described. However, the present invention is not limited to this. For example, the float 2 is gripped by a robot hand that is connected to the tip of a shipboard crane 41 so as to be able to move up and down. Alternatively, the storage device 1 may be captured by a net connected to the tip of the onboard crane 41 so as to be able to cast.

  According to the accommodation device 1 and the accommodation method of the underwater drone V according to the above-described embodiment, the float 2 is separated from the mother ship 4 so that the float 2 floats on the water surface, and the cradle 3 is suspended from the float 2. The underwater drone V is housed in the cradle 3 while watching the images, so that the underwater drone V is housed in the cradle 3 in the water where the influence of the waves is small to protect the underwater drone V. It is not necessary to control the position and orientation of the underwater drone V with high precision, and it is not necessary for a diver to dive. Therefore, the underwater drone V can be safely and easily controlled while preventing damage to the underwater drone V. Can be accommodated.

  Further, since the underwater drone V can be housed in the cradle 3 by remote control at a place away from the mother ship 4, the underwater drone V can be collected even in stormy weather. In addition, the float 2 can be easily collected using the on-board crane 41, and the construction and modification of a dedicated ship is unnecessary regardless of the form of the mother ship 4.

  Next, a usage example of the method of accommodating the underwater drone V according to the second embodiment of the present invention will be described with reference to FIG. Here, FIG. 8 is a flowchart showing a usage example of the method for accommodating the underwater unmanned aerial vehicle according to the second embodiment of the present invention. In addition, about the same component as the accommodation apparatus 1 in the above-mentioned embodiment, the same code | symbol is attached | subjected and the overlapping description is abbreviate | omitted.

  The storage method according to the second embodiment shown in FIG. 8 includes a charging step Step1 for charging the storage device 1 on water, a lowering step Step2 for lowering the cradle 3 from the float 2 to a predetermined water depth, and A positioning step Step3 for measuring the position, an approaching step Step4 for bringing the underwater drone V closer to the cradle 3, an attitude control step Step5 for controlling the attitude of the cradle 3 in accordance with the position of the underwater drone V, and an underwater drone V And a charging step Step 9 for charging the underwater unmanned aerial vehicle V, and a detachment step Step 10 for releasing the underwater unmanned aerial vehicle V from the cradle 3 are included.

  Here, the steps from the charging step Step 1 to the storing step Step 6 are the same as the usage example of the storing method according to the above-described first embodiment, and thus detailed description is omitted here.

  The charging step Step9 is a step of charging the underwater drone V using the storage battery 25 (see FIG. 1). Specifically, for example, when the underwater drone V is accommodated in the cradle 3 and restrained, the storage battery 25 and the underwater drone V are electrically connected and charged via the cable 23. In the case of non-contact power supply, the storage battery 25 and the underwater drone V may be electromagnetically connected to perform non-contact charging when housed in the cradle 3 and restrained.

  The detachment step Step 10 is a step of releasing the underwater drone V from the cradle 3 into water. Specifically, in the detachment process Step10, after releasing the restraining means 38 of the cradle 3, the underwater drone V is released into the water by retracting the underwater drone V or advancing the cradle 3 by the thruster 34. To separate from the storage device 1.

  As described above, by charging the underwater drone V using the cradle 3, the accommodation device 1 can be used as a relay station for charging the underwater drone V, and a wider range and longer working hours can be continued. can do. Further, in the charging step Step 9, the data accumulated by the underwater drone V in the work up to that time may be transmitted to an external engine such as the mother ship 4 via the storage device 1.

  Although not shown, when the underwater unmanned aerial vehicle V is thrown into the water at the start of the operation, the underwater unmanned aerial vehicle V is housed and restrained in the housing 31 of the cradle 3, and the loading process Step1, the descending process Step2, and the detaching process are performed. What is necessary is just to perform Step10.

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

REFERENCE SIGNS LIST 1 accommodation device 2 float 3 cradle 4 mother ship 21 main body 22 support 23 cable 24 reel 25 storage battery 26 control device 27 first connection portion 28 antenna 29 metal fittings 31 housing 31a entrance 32 thruster 33 photographing means 34 thruster 35 second connection portion 36 Leg 37 Acoustic positioning / communication device 38 Restraining means 41 Onboard crane 42 Hook Step 1 Injection step Step 2 Descending step Step 3 Positioning step Step 4 Approaching step Step 5 Attitude control step Step 6 Storing step Step 7 Connecting step Step 8 Recovery step Step 9 Charging step Step 10 Disconnecting step

Claims (9)

In the underwater unmanned aerial vehicle accommodation device that houses the underwater unmanned aerial vehicle in the water and is collected by the mother ship
A float separated from the mother ship and floating on the water surface,
A cradle arranged to be able to descend and ascend in water with respect to the float,
The cradle includes a housing that accommodates the underwater drone, a thruster that adjusts the orientation of the housing, and a photographing unit that photographs a situation near an entrance of the housing,
The orientation of the entrance of the housing was adjusted in accordance with the position of the underwater drone, so as to be accommodated in the housing while monitoring the underwater drone,
A storage device for an underwater drone characterized by the following.   The underwater drone accommodation device according to claim 1, wherein the cradle includes an acoustic positioning / communication device capable of communicating with the underwater drone and performing positioning measurement.   The accommodating device for an underwater drone according to claim 1, wherein the cradle includes a restraining means for restraining the underwater drone accommodated in the housing.   The float has a first connection portion having an uneven shape formed on a lower surface, and the cradle has a second connection portion having an uneven shape formed on an upper surface of the housing and capable of fitting with the first connection portion. The underwater unmanned aerial vehicle accommodation device according to claim 1, comprising:   The underwater drone accommodation device according to claim 1, wherein the cradle is configured to be able to charge the underwater drone accommodated in the housing. A float floating on the water surface, and a cradle arranged to be able to descend and rise with respect to the float, a method for accommodating an underwater drone using an accommodation device including:
A loading step in which the accommodation device is mounted on a mother ship and transported to a place for accommodating the underwater unmanned aerial vehicle, and the accommodation device is placed on water in a state separated from the mother ship,
A lowering step of lowering the cradle from the float to a predetermined water depth,
An approaching step of approaching the underwater drone to the cradle;
An attitude control step of controlling the attitude of the cradle in accordance with the position of the underwater drone,
See containing and a housing step of housing the cradle is allowed to proceed to the underwater drone,
After the storing step, the method further includes a connecting step of raising the cradle and contacting the float.
A method for accommodating an underwater unmanned aerial vehicle.   The method according to claim 6, further comprising a positioning step of measuring a position of the underwater drone before the approaching step. The method for accommodating an underwater unmanned aerial vehicle according to claim 6 , further comprising a collecting step of collecting the accommodating device to the mother ship after the connecting step. The method for accommodating an underwater drone according to claim 6, further comprising a charging step of charging the underwater drone after the accommodation step.