JP6973735B2 - Retention and release device for released material and underwater vehicle equipped with it - Google Patents

Description

The present invention relates to a holding and releasing device for an object to be released from an underwater vehicle used for investigation of the sea, the seabed, etc., and an underwater vehicle including the device.

Conventionally, in order to carry out various surveys in the sea, on the seabed, etc., an unmanned underwater vehicle equipped with equipment necessary for the survey has been self-propelled to a predetermined place for the survey. There are two types of unmanned underwater vehicles: roped type (ROV) and unsearched type (AUV). The roped underwater vehicle is connected to the mother ship by a cable, and is configured to be able to be remotely controlled by receiving power from the mother ship. On the other hand, the non-search type underwater vehicle is not connected to the mother ship and is equipped with a battery or the like, and is configured to enable autonomous navigation based on, for example, pre-programmed contents.

In such an underwater vehicle, for example, a non-claw type underwater vehicle, after the investigation is completed, a buoy connected to the underwater vehicle by a rope is released from the underwater vehicle to work on, for example, a mother ship. Members are trying to catch buoys floating on the surface of the sea and collect underwater vehicles.

Patent Documents 1 and 2 disclose a configuration for releasing a buoy, although it is not a buoy for recovering an underwater vehicle.

In the configuration of Patent Document 1, a buoy is housed in a recess provided on the outer surface of the underwater vehicle, and the buoy is placed on a buoy cradle urged upward by a spring to urge the spring. A recessed closure plate is provided to hold the buoy in the recessed against it. This recess closing plate is fixed by an explosion bolt, and when the explosion bolt is cut by the explosion, the recess closing plate is opened by the urging force of the spring, and the buoy is discharged. The buoy is equipped with a satellite navigation receiver and the like, and is used as a position confirmation device for confirming the position of the underwater vehicle during navigation.

Further, in the configuration of Patent Document 2, a buoy and a lid that can move up and down under the buoy are housed in a vertical circular hole provided in the underwater vehicle, and the lid penetrates the bottom surface of the buoy. Bolts are attached. A mechanism for holding the lower end portion of the bolt and releasing the holding thereof (hereinafter referred to as "holding release mechanism") is provided. Further, the lid under the buoy is urged upward by a spring, and the buoy is housed in the vertical circular hole by holding the lower end portion of the bolt by the holding release mechanism. When the holding by the holding release mechanism is released, the lid is raised by the urging force of the spring, and the buoy on the lid is discharged from the vertical circular hole. A cartridge containing an electric detonator or the like is used for the above-mentioned holding release mechanism, and the holding of the lower end portion of the bolt is released when the electric detonator operates and the cartridge explodes. .. The buoy is equipped with a satellite navigation system and is used as a position confirmation device for confirming the position where the underwater vehicle is navigating.

Japanese Unexamined Patent Publication No. 1-2949590 Japanese Unexamined Patent Publication No. 5-131978

In the case of the above-mentioned configurations of Patent Documents 1 and 2, the configuration for holding and releasing the buoy is complicated. In an underwater vehicle, a safe and low power consumption method is desired, which facilitates a configuration for holding and releasing an object to be released such as a buoy.

The present invention has been made to solve the above-mentioned problems, and is an underwater navigation device equipped with a holding and releasing device for an object to be released, which can hold and release an object to be released such as a buoy with a simple configuration. The purpose is to provide a running body.

In order to achieve the above object, the holding and releasing device of the released material according to an aspect of the present invention holds the released material housed and held in the recess of the outer wall of the main body of the underwater vehicle to the outside of the main body. A permanent magnet fixed to a surface opposite to the surface exposed to the outside of the object to be released contained in the recess, and a permanent magnet facing the permanent magnet in the recess. The electromagnet is provided with an electromagnet that is attracted to the permanent magnet in a non-energized state, and the electromagnet is energized so as to generate a magnetic force that repels the permanent magnet. It is configured to release objects.

According to this configuration, by keeping the electromagnet in a non-energized state, the permanent magnet fixed to the object to be released is attracted to the electromagnet fixed in the recess, and the object to be released is accommodated in the recess. It is held in a state of being. When the ejected object is emitted, the electromagnet is energized so that the electromagnet and the permanent magnet repel each other, and the emitted object is emitted to the outside of the main body together with the permanent magnet. Therefore, since the configuration for holding and releasing the object to be released is composed of a permanent magnet and an electromagnet, the configuration can be simplified.

The released object may be a buoy whose one end is connected to the other end of the rope connected to the main body.

According to this configuration, the underwater vehicle floats on the water surface when the underwater vehicle is recovered by releasing the buoy during or after the underwater vehicle is ascending from deep water (underwater) to the water surface (sea surface). The buoy serves as a marker to indicate the position of the underwater vehicle.

The released object may be a device that is discharged downward from the main body and becomes a target.

According to this configuration, while the underwater vehicle is navigating underwater (underwater), it releases a target device toward a predetermined place on the bottom of the water (underwater), so that it is at a predetermined place on the bottom of the water. It becomes a mark or an observation point indicating.

Further, the underwater vehicle according to an aspect of the present invention is provided with the above-mentioned holding and releasing device for an object to be released.

The present invention provides a holding and releasing device for a released material having the above-described configuration and capable of holding and releasing a released material such as a buoy by a simple structure, and an underwater vehicle provided with the holding and releasing device. It has the effect of being able to do it.

FIG. 1 (A) is a schematic view of an example of the underwater vehicle of the present embodiment as viewed from above, and FIG. 1 (B) is a schematic view of the underwater vehicle as viewed from the side. FIG. 2 is a vertical cross-sectional view showing an outline of a front portion of the underwater vehicle shown in FIGS. 1 (A) and 1 (B). FIGS. 3A and 3B are diagrams showing an example of specific configurations of a permanent magnet and an electromagnet, respectively.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. In the following, the same or corresponding elements are designated by the same reference numerals throughout all the drawings, and the overlapping description thereof will be omitted. Further, the present invention is not limited to the following embodiments.

(Embodiment)
FIG. 1 (A) is a schematic view of an example of the underwater vehicle of the present embodiment as viewed from above, and FIG. 1 (B) is a schematic view of the underwater vehicle as viewed from the side. Further, FIG. 2 is a vertical sectional view showing an outline of a front portion of the underwater vehicle.

As shown in FIG. 1, the underwater navigation body A includes a torpedo-shaped main body 1, a horizontal wing 2 having an elevator 3, a vertical wing 4, a propulsion device 5, and the like, and is underwater (underwater). ) Can be sailed. The main body 1 is composed of a buoyancy material serving as an outer wall thereof, a frame (not shown), and the like. The main body 1 is provided with lift eyes 41, 42, 43 at the upper portion thereof and at the tip of the bow. Inside the main body 1, an electric motor 6 for rotating and driving the propulsion device 5, a power source 7 including a secondary battery, a Doppler sonar 8, a depth meter 9, an azimuth meter 10, a control device 11, and the like are mounted. The power source 7 is a power source for the underwater vehicle A, and supplies electric power to each part of the underwater vehicle A such as the electric motor 6. The control device 11 includes a CPU, a memory, and the like, and controls each part of the underwater vehicle A. The cable for transmitting electric power and signals is not shown.

The underwater vehicle A can change the traveling direction by steering the elevator 3 and the vertical wing 4. This underwater sailing body A can autonomously navigate underwater (underwater). That is, the control device 11 inputs measured values such as the Doppler sonar 8, the depth meter 9, and the directional meter 10, and controls the elevator 3, the vertical blade 4, and the electric motor 6 based on a preset program. The underwater vehicle A is configured to navigate a preset course.

The configuration that realizes the navigation (navigation) function of the underwater navigation body A described above is an example, and is not limited to the above configuration.

A recovery buoy 21 that serves as a mark (target) indicating the position of the underwater vehicle A when the underwater vehicle A is collected is housed in the upper front portion of the underwater vehicle A. The buoy 21 is the first example of an object to be released. As shown in FIG. 2, the buoy 21 is formed of a buoyant body having a substantially cylindrical shape, and is housed in a recess H1 provided on the outer wall of the main body 1. The buoy 21 is connected to the other end of the rope 29 having one end connected to the main body 1 (lifting eye 42 in this example). One end of the rope 29 may be connected to the lift eye 43 at the tip of the bow, or a mounting bracket may be separately provided at an appropriate position of the main body 1 and connected to the mounting bracket. good. Inside the main body 1, a storage chamber 30 in which most of the rope 29 is stored is provided so as to communicate with the recess H1.

A permanent magnet 22 is fixed to the surface of the buoy 21 housed in the recess H1 opposite to the surface exposed to the outside. The permanent magnet 22 has an S pole (or N pole) on the side fixed to the buoy 21 and an N pole (or S pole) on the surface in contact with the electromagnet 24 on the opposite side.

Further, in the recess H1, an electromagnet device 23A having an electromagnet 24 facing the permanent magnet 22 is provided. In the electromagnet device 23A, the electromagnet 24 is arranged via the pressure equalizing oil 26 in the casing 25 attached to the main body 1, and an O-ring or the like is provided between the casing 25 and the electromagnet 24 in order to seal the pressure equalizing oil 26. A sealing material 27 is provided. In this way, the electromagnet 24 is fixed to the main body 1 at a predetermined position in the recess H1. The electromagnet 24 is arranged on the back side of the recess H1 with respect to the permanent magnet 22.

The control device 11 (FIG. 1) controls energization and de-energization of the electromagnet 24, and when the electromagnet 24 is energized, the electromagnet 24 is energized from the power source 7 (FIG. 1) via the underwater connector 28 or the like. At this time, the electromagnet 24 is configured to be energized so as to generate a magnetic force that repels the permanent magnet 22.

When the electromagnet 24 is not energized and is not energized, the permanent magnet 22 attracts the electromagnet 24, and as shown in FIG. 2, the buoy 21 fixed to the permanent magnet 22 has a recess H1 of the main body 1. It is kept in a state of being housed in. At this time, the buoy 21 is arranged in the recess H1 with the surface opposite to the permanent magnet 22 exposed to the outside. On the other hand, when the electromagnet 24 is energized, the buoy 21 is discharged from the main body 1 together with the permanent magnet 22 by the repulsive force (repulsive force).

As described above, a permanent magnet 22 and an electromagnet 24 are used to form a holding / discharging device for an object to be released (for example, a buoy 21 or a target device 31 described later).

The accommodation position of the buoy 21 is not limited to the front upper portion of the main body 1, and may be another position. For example, the tip portion of the front portion of the main body 1 may be used. An electromagnet device 23A is provided according to the accommodation position of the buoy 21.

3A and 3B are diagrams showing an example of specific configurations of the permanent magnet 22 and the electromagnet 24, respectively.

In the case of FIG. 3A, a ring-shaped permanent magnet 22A is used as the permanent magnet 22. Further, the electromagnet 24A is used as the electromagnet 24. The electromagnet 24A includes an iron core 24a, a coil 24b wound around the iron core 24a, and a yoke 24c fixed to the iron core 24a. The yoke 24c has a bottomed tubular shape having a cylindrical side wall and a bottom portion integrally formed by being connected to the side wall. In this case, when the electromagnet 24A is not energized, the permanent magnet 22A attracts the yoke 24c of the electromagnet 24A.

Further, in the case of FIG. 3B, a cylindrical permanent magnet 22B is used as the permanent magnet 22. Further, the electromagnet 24B is used as the electromagnet 24. The electromagnet 24B includes an iron core 24d and a coil 24e wound around the iron core 24d. In this case, when the electromagnet 24B is not energized, the permanent magnet 22B attracts the iron core 24d of the electromagnet 24B.

In both cases of FIGS. 3A and 3B, when the electromagnet 24 is not energized, the permanent magnet 22 attracts the electromagnet 24 and is fixed to the permanent magnet 22 by the attractive force. The buoy 21 is held in the recess H1.

In FIGS. 3A and 3B, as (N) and (S), the N pole and the S pole of the permanent magnet 22 and the N pole and the S pole when the electromagnet 24 is energized are used. However, although exemplified, the north pole and the south pole may be reversed, respectively.

Further, the configurations of the permanent magnet 22 and the electromagnet 24 are not limited to the configurations of FIGS. 3 (A) and 3 (B), and the permanent magnet 22 attracts the electromagnet 24 when the electromagnet 24 is not energized. However, when the electromagnet 24 is energized, a repulsive force (repulsive force) may be generated between the permanent magnet 22 and the electromagnet 24.

Further, as shown in FIG. 2, the underwater vehicle A is referred to as a target device 31 (hereinafter referred to as “target device 31”” below the underwater vehicle A, which is a target object for marking a predetermined position (location) on the seabed. To be described) is stored. The target device 31 is housed in a recess H2 provided on the outer wall of the main body 1 of the underwater vehicle A on the bottom surface side. The target device 31 is a second example of the released object, which is released downward from the main body 1 toward the seabed. As the target device 31, an acoustic transmitter (for example, a transponder) or a metal plate having a predetermined shape that can be detected by a sonar or the like by reflecting sound waves or the like can be used. Note that FIGS. 1 and 2 illustrate the shape when a metal plate is used as the target device 31.

As described above, the permanent magnet 22 is fixed to the surface opposite to the surface exposed to the outside of the target device 31 housed in the recess H2. The permanent magnet 22 has an S pole (or N pole) on the side fixed to the target device 31, and an N pole (or S pole) on the surface in contact with the electromagnet 24 on the opposite side.

Further, in the recess H2, an electromagnet device 23B having an electromagnet 24 facing the permanent magnet 22 is provided. The electromagnet device 23B can be configured in the same manner as the above-mentioned electromagnet device 23A.

The target device 31 is, for example, a mark indicating a survey location in a survey conducted after the survey by the underwater vehicle A. Since it is assumed that the target device 31 is emitted under high pressure in a deep place near the seabed, the permanent magnet 22 and the electromagnet 24 are combined by making the surface of the electromagnet 24 in contact with the permanent magnet 22 a rough surface. Seawater is likely to enter in between, and the target device 31 is likely to be released.

This underwater vehicle A is used for various investigations such as underwater and the seabed. In the investigation using this underwater vehicle A, the underwater vehicle A is unloaded from the mother ship and then sails underwater on a preset course, for example, any sonar mounted (not shown). ) Is used to investigate the seabed. Then, when the control device 11 detects a predetermined specific information from the output of the sonar, the electromagnet 24 of the electromagnet device 23B is energized and the target device 31 is discharged downward. The target device 31 serves as a marker for a detection point of specific information. Then, when the investigation is completed and, for example, the electromagnet 24 of the electromagnet device 23A is energized and the buoy 21 is discharged onto the sea surface, for example, when the electromagnet 24 rises to 10 meters below the sea surface or above the sea surface. After that, the navigation of the underwater vehicle A is stopped at a predetermined timing.

After that, the underwater vehicle A is recovered. As an example of this recovery method, after approaching the buoy 21 floating on the sea surface with the mother ship, for example, a worker of the mother ship catches the buoy 21 and the rope 29 with a predetermined tool and sets the underwater vehicle A as the mother ship. The underwater vehicle A is pulled up to the mother ship and recovered. When the underwater vehicle A is recovered in this way, the buoy 21 floating on the sea surface serves as a mark indicating the position of the underwater vehicle A.

The target device 31 released to the seabed during navigation can be found, for example, by a sonar mounted on the mother ship, and can be used as a mark for the next survey location.

As described above, the recovery buoy 21 and the target device 31 discharged downward are objects (target objects) that serve as markers after the release.

In the present embodiment, the configuration for holding and releasing the object to be released (buoy 21, target device 31, etc.) is composed of the permanent magnet 22 and the electromagnet 24, so that the configuration can be simplified. In addition, it is preferable in terms of safety because it does not use explosives or the like. Further, since the electromagnet 24 needs to be energized only when the emitted object is discharged, less power consumption is required.

Further, in the present embodiment, the permanent magnet 22 and the electromagnet 24 may be used as a configuration for holding and discharging only one of the buoy 21 and the target device 31.

In the present embodiment, the buoy 21 is used for collecting the underwater vehicle A. For example, as in Patent Document 2 described above, the buoy 21 is used as a position confirmation device for the underwater vehicle A. It may be configured to be used. In this case, the rope 29 connecting the buoy 21 and the main body 1 is unnecessary, and the buoy 21 is equipped with a position information acquisition device and a sound wave transmission device by GPS or the like, and the acquired position information is transmitted to the underwater vehicle A by underwater sound waves. It is configured to transmit and receive it by the underwater vehicle A. Then, during the navigation of the underwater vehicle A (during the investigation), the buoy 21 is released, and the position information acquired by the buoy 21 floating on the sea surface is transmitted to the underwater vehicle A and the underwater vehicle In A, it is configured to correct the trajectory based on the position information and navigate.

Further, in the present embodiment, one set of permanent magnets 22 and electromagnets 24 corresponding to each other is provided for one object to be released (for example, buoy 21 and target device 31), but a plurality of sets are provided. It may be provided. Further, one permanent magnet 22 and a plurality of electromagnets 24 corresponding to the permanent magnet 22 may be provided for one object to be released. Further, a plurality of permanent magnets 22 and one electromagnet 24 corresponding to the plurality of permanent magnets 22 may be provided for one object to be released. Therefore, one or more permanent magnets 22 and one or more electromagnets 24 can be provided for one object to be released.

In the present embodiment, the unlined underwater vehicle A has been described, but even in the roped underwater vehicle remotely controlled from the mother ship, other than the recovery buoy 21 to which the rope 29 is connected. It is possible to apply the configuration in which the object to be released (for example, the target device 31 or the like) is held and released.

From the above description, many improvements and other embodiments of the present invention will be apparent to those skilled in the art. Therefore, the above description should be construed as an example only and is provided for the purpose of teaching those skilled in the art the best aspects of carrying out the present invention. The details of its structure and / or function can be substantially changed without departing from the spirit of the present invention.

INDUSTRIAL APPLICABILITY The present invention is useful as a holding and releasing device for an object to be released, which can hold and release an object to be released such as a buoy, and an underwater vehicle equipped with the device.

A Underwater vehicle H1, H2 Recess 1 Main body of the underwater vehicle 21 Buoy 22 Permanent magnet 24 Electromagnet 29 Rope 31 Target device (target device)

Claims (4)

A holding / discharging device that discharges an object to be released, which is housed and held in a recess on the outer wall of the main body of the underwater vehicle, to the outside of the main body.
A permanent magnet fixed to the surface opposite to the surface exposed to the outside of the object to be released, which is housed in the recess.
An electromagnet provided in the recess so as to face the permanent magnet and attracted to the permanent magnet in a non-energized state is provided.
The object to be released is held in the recess only by attracting the permanent magnet to the electromagnet in a non-energized state.
It is configured to release the object to be released only by energizing the electromagnet so as to generate a magnetic force repulsive to the permanent magnet in the electromagnet.
Retention and release device for the released material. The released object is a buoy whose one end is connected to the other end of the rope connected to the main body.
The holding and releasing device for an object to be released according to claim 1. The released object is a device that is discharged downward from the main body and becomes a target.
The holding and releasing device for an object to be released according to claim 1. An underwater vehicle provided with the holding / releasing device for an object to be released according to any one of claims 1 to 3.

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