JP7006900B2 - Input / collection system for multiple underwater vehicles - Google Patents

Description

The present invention relates to a system for inputting and unloading a plurality of underwater vehicles for conducting survey work such as bottom exploration.

When conducting survey work such as bottom exploration by throwing an underwater vehicle into the survey water area in the ocean or lake, a ship located on the water or a device placed underwater controls the underwater vehicle. ..
For example, in Patent Document 1, an underwater station cable-connected to the mother ship is arranged in the sea, an acoustic transponder is arranged on the seabed near the exploration point, and a plurality of unsearched unmanned submersibles are superposed with the underwater station and the acoustic transponder. Disclosed is a technique for guiding by communicating using a sonic signal and, if necessary, docking an unsearched unmanned submersible to an underwater station for charging or battery replacement and sucking up exploration data.
Further, in Patent Document 2, an underwater station equipped with a first transponder, a first receiver and a second receiver is suspended from the mother ship into the sea, and a second transponder is installed on the seabed, which is an autonomous type for exploration. The unmanned underwater vehicle is provided with a third transponder and a third receiver, and the underwater station tries to maintain a fixed point by receiving the signal of the second transponder at the first receiver, and the autonomous underwater vehicle explores. The inside sails toward the underwater station by receiving the signal of the 2nd transponder at the 3rd receiver and sailing toward the underwater station by receiving the signal of the 1st transponder at the 3rd receiver when the power decreases. , The underwater station discloses a technique of performing attitude control for accommodating autonomous unmanned navigation by receiving a signal of a third transponder by a second receiver.
Further, in Patent Document 3, a transmitter is provided on the mother ship located on the water, a receiver is provided on the unmanned submersible for exploration, and a pixel signal is used in underwater acoustic communication in which a control signal is sent from the mother ship to the unmanned submersible. A technique for correcting a transmission error by utilizing the Hough transform of the above is disclosed.
Further, in Patent Document 4, a self-propelled repeater that relays communication between the mother ship and the underwater vehicle is arranged near the water surface in the observation area, and communication between the self-propelled repeater and the mother ship is radio wave communication. Disclosed is a technique for improving the communication range in the horizontal direction by performing communication between the self-propelled repeater and the underwater vehicle by acoustic communication.

Japanese Unexamined Patent Publication No. 3-266794 Japanese Unexamined Patent Publication No. 2003-26090 Japanese Unexamined Patent Publication No. 5-147583 Japanese Unexamined Patent Publication No. 2001-308766

By the way, since the speed of the underwater vehicle is slow, it takes time to investigate a wide water area with only one unit, but there is a limit to increasing the speed of the underwater vehicle from the viewpoint of energy consumption. Therefore, it is conceivable to introduce a plurality of underwater vehicles in order to efficiently investigate a wide water area. However, when conducting a survey using a plurality of underwater vehicles, it takes more time for loading and unloading work than when conducting a survey using one underwater vehicle. In addition, the loading and unloading work of the underwater vehicle is generally performed using a dedicated ship equipped with dedicated equipment, and it is necessary to wait for the schedule of the dedicated ship to become available. There is a problem that the plan does not go as desired.
The invention described in Patent Document 1 does not disclose efficient and safe loading and unloading work of an underwater station or a plurality of uncrewed unmanned submersibles. In addition, since the mother ship and the underwater station are connected by a cable, the movement of the mother ship and the underwater station is restricted.
The invention described in Patent Document 2 does not disclose efficient and safe loading / unloading work of an underwater station or a plurality of autonomous unmanned underwater vehicles. In addition, since the underwater station is suspended from the mother ship, the movement of the mother ship and the underwater station is restricted.
The invention described in Patent Document 3 considers that underwater acoustic communication is easily affected by the reflected sound of the water surface and the seabed, and estimates the correct control signal even if it includes a transmission error, so that the unmanned submersible is in an uncontrolled state. It is an attempt to prevent falling into. However, it does not disclose how to efficiently and safely carry out the loading and unloading work of multiple unmanned submersibles.
In the invention described in Patent Document 4, the self-propelled repeater determines whether or not horizontal movement is necessary based on its own current position information and the current position information of the underwater vehicle, and maintains a communication state with the underwater vehicle. It is stated that it should be done. In addition, there is a description that multiple underwater vehicles can be introduced. However, it does not disclose how to efficiently and safely carry out the loading and unloading work of self-propelled repeaters and underwater vehicles.

Therefore, according to the present invention, when deploying and operating a plurality of underwater vehicles to carry out investigation work such as underwater bottom exploration, the present invention can efficiently and safely perform the loading and unloading work of the underwater vehicles. The purpose is to provide an input / collection system for underwater vehicles .

The input / collection system for a plurality of underwater vehicles according to claim 1 is an input / collection system for an underwater vehicle mounted on a mother ship, and includes a plurality of input / collection facilities. A mounting table for water control means that mounts water control means that can move near the surface of the water that controls the underwater vehicle, a mounting table for underwater navigation that mounts multiple underwater navigation bodies, and water control. It is characterized by being equipped with a replacement means for exchanging the positional relationship between the mounting table for means and the loading / unloading equipment for the underwater vehicle.
According to the first aspect of the present invention, the surface control means and the plurality of underwater vehicles can be stably placed, replaced, loaded and collected smoothly.

The present invention according to claim 2 is further provided with a setting means for setting the exploration depth of a plurality of underwater vehicles.
According to the second aspect of the present invention, the exploration depth of a plurality of underwater vehicles can be set by an operator or a setting means.

The present invention according to claim 3 is further provided with a display means for displaying the input order and / or the collection order of a plurality of set underwater vehicles.
According to the third aspect of the present invention, it is possible to prevent an error in the input order or the unloading order of a plurality of underwater vehicles. This improves work efficiency and safety.

The present invention according to claim 4 is characterized in that the loading / unloading equipment has a function of launching / unloading water control means.
According to the fourth aspect of the present invention, the underwater vehicle and the surface control means can be launched, loaded and unloaded using the same equipment.

The present invention according to claim 5 is characterized in that the mother ship is a general ship and the loading / unloading facility is a facility including a crane equipped on the general ship.
According to the fifth aspect of the present invention, since it is possible to perform water bottom exploration by an underwater vehicle using not only a dedicated ship but also a general ship as the mother ship, the water bottom exploration is not affected by the schedule of the dedicated ship. Can be done .

According to the loading / unloading system for a plurality of underwater vehicles of the present invention, the surface control means and the plurality of underwater vehicles can be stably placed, replaced, loaded and unloaded smoothly. ..

Further, when the setting means for setting the exploration depth of the plurality of underwater vehicles is further provided, the exploration depths of the plurality of underwater vehicles can be set by the operator or the setting means.

Further, when a display means for displaying the input order and / or the unloading order of the plurality of set underwater vehicles is further provided, it is possible to prevent an error in the input order or the unloading order of the plurality of underwater vehicles. can. This improves work efficiency and safety.

If the loading / unloading equipment has the function of launching / unloading the water control means, the underwater vehicle and the water control means can be launched, loaded and unloaded using the same equipment. can do.

In addition, if the mother ship is a general ship and the loading and unloading equipment is equipment including a crane equipped on the general ship, not only the dedicated ship but also the general ship is used as the mother ship and the bottom of the water is operated by the underwater vehicle. Since it is possible to carry out exploration, it is possible to carry out underwater exploration without being influenced by the schedule of the dedicated ship.

Schematic configuration diagram of the operation system of a plurality of underwater vehicles according to the embodiment of the present invention. External perspective view of the underwater vehicle The figure which shows the mounting state of the same surface control means and a plurality of underwater vehicles. The figure which shows the collection work of the underwater vehicle Schematic configuration diagram of the input / collection system Control block diagram of the underwater vehicle Control flow diagram of the underwater vehicle Control block diagram of the water control means Control flow diagram of the water control means

Hereinafter, a method for loading and unloading a plurality of underwater vehicles and a system for loading and unloading a plurality of underwater vehicles according to the embodiment of the present invention will be described.

FIG. 1 is a schematic configuration diagram of an operation system of a plurality of underwater vehicles, and FIG. 2 is an external perspective view of the underwater vehicle.
In FIG. 1, in the ocean, lakes and marshes, one surface control means 20 is launched in the survey water area, a plurality of underwater vehicles 30 are introduced, and the bottom of the water is explored to investigate mineral resources and energy resources. Shows the state in which work is performed. The surface control means 20 and the underwater vehicle 30 are loaded on the mother ship (support ship) 10 and transported to the survey water area.
The surface control means 20 and the underwater vehicle 30 are robots that autonomously navigate unmanned and unsearched, and the surface control means 20 arranged near the surface of the water conducts investigation work in water where radio waves do not reach. Control using an acoustic signal is performed on the middle navigation body 30.

An offshore repeater (ASV: Autonomy Surface Vehicle) is used as the water control means 20. The water control means 20 includes a tubular main body 20a having a hemispherical end and a vertical wing 20b extending on the upper surface of the main body 20a. The surface control means 20 launched from the mother ship 10 into the survey water area is used in a semi-submersible state in which the main body 20a is submerged in water and the upper portion of the vertical wing 20b protrudes above the water surface. A self-position grasping means 21 such as GPS and a maritime communication means 22 such as a satellite communication antenna and a wireless LAN antenna are mounted on the upper portion of the vertical wing 20b. The surface control means 20 can grasp its own position by receiving the GNSS signal from the GNSS (Global Navigation Satellite System) satellite 1 by using the self-position grasping means 21. Further, it is possible to communicate with the mother ship 10 by using the maritime communication means 22.
Further, a moving means 23 having a rudder and a propeller is provided at the rear portion of the main body 20a, and the moving means 23 can move in the vicinity of the water surface.
Further, an acoustic positioning means 24 and a communication means 25 are provided on the lower surface of the main body 20a. The communication means 25 has a transmitter for transmitting sound waves and a receiver for receiving sound waves. The water control means 20 measures the position of the underwater vehicle 30 by using the acoustic positioning means 24, and also performs bidirectional communication with the underwater vehicle 30 by the acoustic signal using the communication means 25, and the underwater vehicle. It controls 30. Since the acoustic signal transmitted from the water control means 20 toward the water is easily reachable in a substantially conical range with the water control means 20 as the apex, the water control means 20 covers this substantially conical range. The control area X to be controlled is set.

The underwater vehicle 30 uses an autonomous underwater vehicle (AUV: Autonomous Underwater Vehicle) that autonomously navigates underwater without using a cable to connect to the water control means 20. Since the water control means 20 controls a plurality of underwater vehicles 30 using acoustic signals, it is not necessary to provide equipment for cables in the water control means 20, and the cables are entangled or the water control means 20 is controlled by the cables. Movement is not restricted.
FIG. 1 shows a case where a plurality of underwater vehicles 30 are a first underwater vehicle 30A and two second underwater vehicles 30B. The first underwater navigation body 30A and the second underwater navigation body 30B are provided with navigation means (diving means) 31 such as a rudder, a propulsion device, and a ballast (weight), and the navigation means 31 provides underwater. Can sail and dive. Further, the underwater vehicle 30 includes a self-positioning means 32 used for measuring the position of the own machine, a communication means 33 used for bidirectional communication by an acoustic signal with the water control means 20, and an acoustic of the water control means 20. An acoustic transponder (not shown) that responds to a signal emitted from the positioning means 24 is provided. The communication means 33 has a transmitter for transmitting sound waves and a receiver for receiving sound waves. The underwater vehicle 30 can be urgently levitated and collected by the mother ship 10 when the positioning by the water control means 20 fails a predetermined number of times or when the communication with the water control means 20 fails a predetermined number of times.
The hovering type first underwater vehicle 30A can have a slower speed than the second underwater vehicle 30B. In addition, it has a vertical thruster and a horizontal thruster, has a higher degree of freedom of movement than the second underwater vehicle 30B, and can maintain its position even in places where there is a water flow, etc., so it is mainly precise near the bottom of the water. Responsible for various research work. The first underwater vehicle 30A is provided with an image pickup means 41 for taking an image of the bottom of the water. The image pickup means 41 is, for example, a camera equipped with lighting.
FIG. 2A is an upward perspective view of the second underwater vehicle 30B, and FIG. 2B is a downward perspective view of the second underwater vehicle 30B. Since the navigation-type second underwater vehicle 30B can move more quickly and at a higher speed than the first underwater vehicle 30A, it is mainly responsible for survey work in a wider range at a position away from the bottom of the water. The second underwater vehicle 30B is provided with a topographic survey means 42 for surveying the topography of the bottom of the water and a geological survey means 43 for surveying the geological layer below the bottom of the water. The topographical survey means 42 and the geological survey means 43 are, for example, sonar. Further, the second underwater navigation body 30B is provided with a propulsion device 31A at the rear and a ballast (weight) 31B at the lower part as the navigation means (diving means) 31. The ballast 31B is detachably attached to the second underwater vehicle 30B.

Next, the loading / unloading system of the water control means 20 and the plurality of underwater vehicles 30 will be described with reference to FIGS. 3 to 5.

FIG. 3 is a diagram showing a mounting state of the water control means 20 and a plurality of underwater vehicles 30, and FIG. 4 is a diagram showing a collection operation of the underwater vehicle 30.
The loading / unloading system of this embodiment is mounted on the mother ship 10. The mother ship 10 is not a dedicated ship provided with dedicated equipment for loading and unloading the underwater vehicle 30, but a general ship.
As shown in FIG. 3, the loading / unloading system includes a mounting table 50 for water controlling means on which the water controlling means 20 is mounted, and a mounting table 60 for an underwater vehicle on which the underwater navigation 30 is mounted. A replacement means 51 is provided at the lower part of the mounting table 50 for water control means, and a replacement means 61 is provided at the lower part of the mounting table 60 for the underwater vehicle.
Further, as shown in FIG. 4, the loading / unloading system includes a loading / unloading facility 70. The loading / unloading equipment 70 is a facility including a crane that can be equipped or mounted on a general ship, and has a function of launching and unloading the surface control means 20 and a function of launching and unloading the underwater vehicle 30. is doing. As a result, the water control means 20 and the underwater vehicle 30 can be launched, loaded and unloaded using the same equipment. Further, since a general ship can be used as the mother ship 10, the bottom of the water can be explored without being influenced by the schedule of the dedicated ship.
In this embodiment, the replacement means 51 and 61 are casters. According to the loading / unloading order of the water control means 20 and the underwater vehicle 30, the replacement means 51 and 61 are used to connect the mounting table 50 for the water control means and the loading / unloading equipment 70 for the underwater vehicle 60. The positional relationship can be exchanged. As a result, the water control means 20 and the plurality of underwater vehicles 30 can be stably placed, replaced, loaded and collected smoothly. FIG. 4 shows a state in which the underwater vehicle mounting table 60 is arranged at a predetermined position on the mother ship 10 when the second underwater vehicle 30B is collected.
Even if the replacement means 51 and 61 are robot arms, conveyors, or the like that move the mounting table 50 for water control means and the mounting table 60 for underwater vehicles to replace the positional relationship with the loading / unloading equipment 70. good.

FIG. 5 is a schematic configuration diagram of a loading / unloading system.
The loading / unloading system includes a display means 80. The display means 80 displays the input order or the pick-up order of the underwater vehicle 30, and is, for example, an electric bulletin board, a screen of a personal computer, a number assigned to the underwater vehicle 30, and the like. In the present embodiment, the display means 80 is an electric bulletin board 81 provided at a position visible to the work commander performing the loading / unloading work, and an identification number 82 attached to each underwater vehicle 30. By providing the display means 80, it is possible to prevent an error in the loading order or the pick-up order of the plurality of underwater vehicles 30 and improve the efficiency and safety of the work.

When the plurality of underwater vehicles 30 are launched from the mother ship 10, the water control means 20 is launched before the plurality of underwater vehicles 30 are launched from the mother ship 10. By launching the underwater vehicle 30 after launching the water control means 20, the control of the underwater vehicle 30 by the water control means 20 can be started immediately after the underwater vehicle 30 is introduced. .. Further, by launching the surface control means 20 having a size larger than that of the underwater vehicle 30 first, it is possible to secure a wide work space on the mother ship 10 of the plurality of underwater vehicles 30. This improves the efficiency and safety of the loading work.
After launching, the surface control means 20, which is larger in size than the previously launched underwater vehicle 30, moves away from the mother ship 10 by a predetermined distance H. The predetermined distance H can control a plurality of underwater vehicles 30 to be introduced later without colliding with the underwater vehicle 30 to be introduced later or interfering with the loading operation. Within the range that can be done. This further improves the efficiency and safety of the loading operation. The predetermined distance H may be set as a predetermined distance H1 from the loading position of the underwater vehicle 30 or as a predetermined distance H2 from the side surface of the ship.

It is preferable that the order of loading the plurality of underwater vehicles 30 is determined in consideration of at least one of the subsidence speed and the dive speed of the underwater vehicles 30.
For example, by introducing the first underwater vehicle 30A, which has a slower settling speed and dive speed than the second underwater vehicle 30B and a large exploration depth, the time until the start of exploration can be shortened, and the entire exploration work can be completed. Efficiency can be improved. Further, by setting the loading order in consideration of the difference in the settling speed and the diving speed between the submersible running bodies 30, it is possible to prevent the thrown underwater running bodies 30 from colliding with each other, and the safety is improved.

Further, it is preferable to set the exploration depth of the plurality of underwater vehicles 30 on the mother ship 10 to the underwater vehicle 30 and input the exploration depth set to the underwater vehicle 30 to the water control means 20. As a result, at a preset exploration depth, the plurality of underwater vehicles 30 can perform exploration work while being controlled by the water control means 20. In addition, the exploration depth can be input on the mother ship 10 which can take a large work space without touching water.
In addition to the exploration depth, it is also possible to set the exploration conditions by inputting information necessary for exploration such as the exploration mission, exploration area, and navigation route.

In unloading the plurality of underwater vehicles 30 to the mother ship 10, the surface control means 20 is evacuated after the plurality of underwater vehicles 30 are sequentially evacuated from the water. Finally, by collecting the water control means 20, the position and communication state of the underwater vehicle 30 can be collected while being grasped by the water control means 20. This improves the efficiency and safety of the collection work.
The surface control means 20 stands by at a position separated from the mother ship 10 by a predetermined distance H while the plurality of underwater vehicles 30 are being picked up. The predetermined distance H does not cause the floating underwater vehicle 30 to collide or interfere with the collection work of the underwater vehicle 30, and the control of the underwater vehicle 30 that has not been collected. To the extent that can be performed. This further improves the efficiency and safety of the unloading work. The predetermined distance H may be set as a predetermined distance H1 from the lift position of the underwater vehicle 30, or may be set as a predetermined distance H2 from the side surface of the ship.

The order of withdrawal of the plurality of underwater vehicles 30 is preferably the order of ascending. By collecting the water in the order of ascending, it is possible to prevent the underwater vehicle 30 that has surfaced earlier from colliding with the underwater vehicle 30 that has surfaced earlier. In addition, it is possible to prevent the surfaced underwater vehicle 30 from being washed away by water and being lost.

Further, it is preferable that the water control means 20 controls the underwater vehicle 30 at a position separated from the mother ship 10 by a predetermined distance H until the collection of the plurality of underwater vehicles 30 is completed. By continuing the control of the underwater vehicle 30 by the surface control means 20 until all the underwater vehicles 30 are collected, the efficiency and safety of the collection work are improved.

Next, the control of the underwater vehicle 30 will be described with reference to FIGS. 6 and 7.
FIG. 6 is a control block diagram of the underwater vehicle 30, and FIG. 7 is a control flow diagram of the underwater vehicle 30.
The underwater navigation body 30 includes a navigation means 31, a self-positioning means 32, a communication means 33, a setting means 34, a depth meter 35, an exploration mission execution means 36, a transmission means 37, a recording means 38, and a cruising speed setting unit 39. A navigation control unit 40, an image pickup means 41, a topographic survey means 42, and a geological survey means 43 are provided.
The exploration mission executing means 36 includes a depth control unit 36A, a dive control unit 36B, a position estimation unit 36C, a time management unit 36D, and a mission control unit 36E.
The navigation control unit 40 has a control area determination unit 40A.

The operator aboard the mother ship 10 uses the setting means 34 to search for the underwater vehicle 30 with respect to the underwater vehicle 30 before the underwater vehicle 30 is introduced into the exploration water area from the mother ship 10. Exploration conditions are set by inputting information necessary for exploration such as mission, exploration depth, exploration area, and navigation route, and the navigation speed setting unit 39 is used to navigate the underwater vehicle 30. Set the running speed (step 1). The exploration mission, exploration depth, exploration area, and navigation route are set differently for each underwater vehicle 30.
The set exploration conditions such as the exploration depth and the cruising speed are input to the surface control means 20 as described later.
The exploration area is preferably set so that the plurality of underwater vehicles 30 have each exploration area at each set exploration depth. This makes it possible to carry out exploration more efficiently.
Further, as the navigation route, it is preferable to set the navigation route so that the navigation loci of the underwater vehicle 30 traveling in each exploration area do not overlap at the same time. As a result, it is possible to prevent collisions between the underwater vehicles 30 having close exploration depths and improve safety. Further, by preventing the underwater vehicle 30 from overlapping vertically, it is possible to reduce the possibility that the underwater vehicle 30 causes erroneous observation or becomes unobservable.
Further, the exploration depths set differently for each underwater vehicle 30 are preferably a low altitude exploration depth whose exploration depth is close to the bottom of the water and a high altitude exploration depth whose exploration depth is far from the bottom of the water. It is more preferable that the altitude (distance) from the bottom of the water is 1 m or more and less than 50 m, and the altitude (distance) from the bottom of the water is 10 m or more and less than 200 m. This makes it possible to efficiently explore a region near the bottom of the water and a region far from the bottom of the water. In the present embodiment, the hovering type first underwater vehicle 30A is responsible for exploration in a low altitude exploration depth region, and the navigation type second underwater vehicle 30B is responsible for exploration in a high altitude exploration depth region. There is. Since the traveling speed of the first underwater vehicle 30A is slower than the traveling speed of the second underwater vehicle 30B, the exploration near the bottom of the water can be made more precise.

After step 1, the plurality of underwater vehicles 30 are loaded into the water according to the loading order (step 2).
The surface control means 20 launched earlier starts control of the introduced underwater vehicle 30.

After step 2, the plurality of underwater vehicles 30 initiate diving and subsidence (step 3).
The dive is performed using the propulsion device 31A and the ballast 31B, and the subsidence is performed by stopping the propulsion device 31 and using only the weight of the ballast 31B.
For diving and subsidence, each of the plurality of underwater vehicles 30 measures the depth and position of its own aircraft using the depth meter 35 and its own positioning means 32, and measures the depth and position of its own aircraft, and the depth control unit 36A, the dive control unit 36B, and the position estimation unit. The exploration mission executing means 36 having the 36C controls the navigation control unit 40 according to the exploration depth set in step 1. The navigation control unit 40 controls the navigation means 31 according to the control by the exploration mission execution means 36 and the navigation speed set by the navigation speed setting unit 39.
The measurement of the position of the own machine by the own machine positioning means 32 is performed by, for example, mounting a speed sensor and a gyro sensor and detecting and calculating the speed and acceleration of the own machine.

After step 3, the underwater vehicle 30 that has reached the set exploration depth starts sailing (step 4).
Each underwater vehicle 30 that has started cruising at the set exploration depth measures the position of its own aircraft using its own positioning means 32 and transmits it to the exploration mission execution means 36. The exploration mission execution means 36 having the position estimation unit 36C controls the navigation control unit 40 so that the underwater vehicle 30 navigates in the exploration region set in step 1. The navigation control unit 40 controls the navigation means 31 according to the control by the exploration mission execution means 36 and the navigation speed set by the navigation speed setting unit 39. As a result, the underwater vehicle 30 navigates the exploration region (step 5).
The exploration mission execution means 36 having the time management unit 36D that manages the time controls the navigation so that the navigation trajectory does not overlap with the other underwater vehicle 30 according to the navigation route set in step 1. The unit 40 is controlled.

The navigation control unit 40 navigates within the control area X of the water control means 20 based on the estimated position, depth, and communication state with the water control means 20 of the own aircraft received from the exploration mission execution means 36 (step). 6). The communication state is grasped by, for example, a signal / noise ratio (S / N ratio).
Further, the navigation control unit 40 has a control area determination unit 40A, and determines whether or not the own machine is located in the control area X based on the estimated position of the own machine and the communication state with the water control means 20. Make a judgment on a regular basis (step 7).

If it is determined in step 7 that the aircraft is within the control area X, an exploration mission is executed (step 8).
By controlling the image pickup means 41 provided in the first underwater vehicle 30A, the mission control unit 36E of the exploration mission execution means 36 can take an image of the bottom of the water. Further, the mission control unit 36E can obtain information on the topography of the bottom of the water and the stratum below the bottom of the water by controlling the topography survey means 42 and the geological survey means 43 provided in the second underwater vehicle 30B.
The results of the exploration mission, such as the obtained captured images, the topography of the bottom of the water, and the information of the strata below the bottom of the water, are recorded in a recording means 38 such as a hard disk or a magnetic tape. Further, after the transmission means 37 performs processing such as coding, the transmission means is transmitted to the water control means 20 using the communication means 33 (step 9).

After step 9, if it is determined that the exploration mission execution means 36 has completed the set exploration mission, the exploration mission is completed (step 10) and the aircraft is surfaced (step 11).

If it is determined in step 7 that the aircraft is not within the control area X, the exploration mission execution means determines that the exploration cannot be continued and levitates the aircraft (step 11).
Before ascending, the position estimation unit 36C estimated the position of the own machine based on the positioning result of the own machine positioning means 32, determined whether or not the aircraft could return to the control area X, and determined that the position could not be returned. It may be surfaced in some cases.

Next, the control of the water control means 20 will be described with reference to FIGS. 8 and 9.
FIG. 8 is a control block diagram of the water control means 20, and FIG. 9 is a control flow diagram of the water control means 20.
The water control means 20 includes a self-position grasping means 21, a maritime communication means 22, a moving means 23, an acoustic positioning means 24, a communication means 25, a control setting unit 26, and a movement control means 27.
The movement control means 27 has a number management unit 27A, a standby control unit 27B, a position estimation unit 27C, a cruising recording unit 27D, and a control determination unit 27E.

Before the water control means 20 is launched from the mother ship 10 into the survey water area, the operator aboard the mother ship 10 uses the control setting unit 26 to move the water control means 20 with respect to the water control means 20. , The control setting is performed by inputting information necessary for control such as the number, performance, and depth of the underwater navigation bodies 30 to be controlled (step 11).
After step 11, the surface control means 20 launched into the survey water area starts control of the underwater vehicle 30 introduced later. First, the positions of the plurality of underwater vehicles 30 are measured by using the acoustic positioning means 24, and the positioning result is transmitted to the movement control means 27 (step 12).
After step 12, the communication state with each of the plurality of underwater vehicles 30 is measured by using the communication means 25, and the measurement result is transmitted to the movement control means 27 (step 13). The communication state is grasped by, for example, a signal / noise ratio (S / N ratio).
The movement control means 27 records the respective navigation routes of the plurality of underwater vehicles 30 together with the time in the navigation recording unit 27D based on the received positioning result in step 12 and the measurement result in step 13 (step 14). ).

After step 14, the number management unit 27A compares the number of underwater vehicles 30 input in the control setting in step 11 with the number of underwater vehicles 30 for which the navigation route is recorded in step 14. , It is determined whether or not all of the underwater vehicles 30 to be controlled are located in the control area X (step 15).
In step 15, when it is determined that the number of underwater vehicles 30 to be controlled and the number of underwater vehicles 30 in which the navigation route is recorded are the same or larger, that is, the total number of underwater vehicles 30 to be controlled is If it is determined that it is located within the control area X, the result is transmitted to the control determination unit 27E.
In this case, the movement control means 27 predicts the behavior of the plurality of underwater vehicles 30 based on the navigation route and the like recorded in the navigation recording unit 27D, and the underwater vehicle 30 is based on the prediction result. May be controlled to move the surface control means 20 so as not to deviate from the control area X. As a result, it is possible to prevent the underwater vehicle 30 from coming out of the control area X.
When moving the water control means 20, it is preferable to move within a range in which the number of the plurality of underwater vehicles 30 located in the control area X at the start of the movement does not decrease. This makes it possible to prevent the number of underwater vehicles 30 located in the control area X from decreasing.

In step 15, when it is determined that the number of underwater vehicles 30 in which the navigation route is recorded is smaller than the number of underwater vehicles 30 to be controlled, that is, a part of the underwater vehicle 30 to be controlled or If it is determined that all of them are out of the control area X, the position estimation unit 27C will use the underwater navigation outside the control area X based on the navigation path of the underwater vehicle 30 recorded in the navigation recording unit 27D. The direction in which the running body 30 exists is estimated (step 16).
After step 16, the standby control unit 27B determines whether or not a predetermined time has elapsed from the time when it was first detected that the underwater vehicle 30 has deviated from the control region X in step 15 (step 17).
If it is determined in step 17 that the predetermined time has not elapsed, the process returns to step 15 and it is determined again whether or not all of the underwater vehicles 30 to be controlled are within the control area X.
If it is determined in step 17 that the predetermined time has elapsed, the standby control unit 27B transmits the determination result of step 15 to the control determination unit 27E and instructs the water control means 20 to start moving (the movement of the water control means 20 is started). Step 18). As a result, the moving means 23 operates and the water control means 20 moves.
Even if it is determined that a part or all of the underwater vehicles 30 to be controlled are out of the control area X, the underwater vehicles 30 outside the control area X can return to the control area X by themselves. Since there is a possibility that it is erroneously detected that it is out of the control area X due to a temporary positioning / communication failure although it is actually located in the control area X, it may be detected on the water as in the present embodiment. When moving the control means 20, the water control means 20 waits for a predetermined time after detecting that the underwater vehicle 30 has deviated from the control area X, and repeats the determination in step 5 a predetermined number of times during that time. Unnecessary movement can be reduced. As a result, it is possible to prevent the energy of the surface control means 20 from being wasted and the underwater vehicle 30 located in the control area X from being deviated from the control area X.
Further, the position estimation unit 27C estimates the direction in which the underwater vehicle 30 outside the control area X exists based on the navigation route of the underwater vehicle 30 recorded in the navigation recording unit 27D, and moves. By controlling the moving means 23 based on the estimation result, the control means 27 improves the control accuracy and the movement efficiency of the water control means 20, and the underwater vehicle 30 outside the control area X is moved into the control area X. You can get it back quickly.

When the water control means 20 is moved, the movement control means 27 preferably controls the movement means 23 so that the water control means 20 moves to a position where all of the plurality of underwater vehicles 30 can be controlled. As a result, all the underwater vehicles 30 can be placed under the control of the surface control means 20, so that underwater exploration can be performed more safely and efficiently.
If the total number of the plurality of underwater vehicles 30 cannot be controlled, the movement control means 27 moves the water control means 20 so that the water control means 20 moves to a position where the maximum number of the plurality of underwater vehicles 30 can be controlled. It is preferable to control. As a result, the number of underwater vehicles 30 outside the control area X can be minimized. In this case, the maximum number is a control including any one of the underwater vehicle 30 deviating from the control area X from the number of the plurality of underwater vehicles 30, the failed underwater vehicle 30, and the surfaced underwater vehicle 30. The number is preferably the number obtained by subtracting the impossible number. As a result, it is possible to continue the underwater exploration by locating a plurality of explorable underwater vehicles 30 within the control region X.

The control determination unit 27E determines whether or not to change the control setting based on the determination result transmitted from the number management unit 27A or the standby control unit 27B (step 19).
In step 19, when the determination result is received from the number management unit 27A and the number of the underwater navigation bodies 30 to be controlled and the number of the underwater navigation bodies 30 in which the navigation route is recorded are the same, Step 12 is performed without changing the control setting.
Further, when the determination result is received from the number management unit 27A and the number of the underwater navigation bodies 30 in which the navigation route is recorded is larger than the number of the underwater navigation bodies 30 to be controlled, the step. At 11, the control setting unit 26 changes to the control setting including the underwater vehicle 30 that has returned to the control area X. As a result, the control can be continued including the underwater vehicle 30 that has returned to the control area X.
Further, when the determination result is received from the standby control unit 27B, that is, when the determination result that there is an underwater vehicle 30 outside the control area X is received, step 11 occurs, and the control setting unit 26 controls. Change to the control setting excluding the underwater vehicle 30 outside the area X. As a result, the control can be continued except for the underwater vehicle 30 outside the control area X.

As described above, the water control means 20 has the number management unit 27A that manages the number of the plurality of underwater vehicles 30, so that the movement of the water control means 20 is controlled based on the number of the underwater vehicles 30. be able to.
Further, since the water control means 20 moves to a position where the plurality of underwater vehicles 30 can be positioned, it is possible to position the plurality of underwater vehicles 30 within the control area X and continue the investigation work.
Further, by moving the water control means 20 to a position where communication with the plurality of underwater vehicles 30 is possible, the investigation work can be performed more safely and efficiently.
As a result, it is possible to safely and efficiently investigate a wide water area without losing sight of the plurality of underwater vehicles 30.
As for the exploration conditions such as the exploration depth set by the setting means 34 of the plurality of underwater vehicles 30, in addition to the exploration condition setting in the mother ship 10, the instruction from the mother ship 10 is given via the water control means 20 or. It is also possible to update automatically based on the schedule programmed in the water control means 20.

[Additional Notes]
(Appendix 1)
When introducing multiple underwater vehicles for exploring the bottom of the water from the mother ship, a water control means that can move near the water surface that controls the multiple underwater vehicles is first launched, and then. , A method for throwing a plurality of underwater vehicles into the water, wherein the plurality of the underwater vehicles are sequentially thrown into the water.
According to this, since the water control means is launched first, the control of the underwater vehicle by the water control means can be started immediately after the underwater vehicle is introduced. This improves the efficiency and safety of the loading work.
It should be noted that exploration includes all actions performed by the underwater vehicle at the bottom of the water, such as observation, search, collection, rescue, and transportation.
(Appendix 2)
The method for throwing in a plurality of underwater vehicles according to Appendix 1, wherein the water control means previously launched moves away from the mother ship by a predetermined distance after the launch.
According to this, the surface control means can control a plurality of the introduced underwater vehicles without colliding with the underwater vehicles to be introduced later or interfering with the injection work. .. This further improves the efficiency and safety of the loading operation.
(Appendix 3)
The plurality of underwater vehicles according to Appendix 1 or 2, wherein the order of input of the plurality of underwater vehicles is determined in consideration of the settling speed and / or the dive speed of the underwater vehicles. How to put in.
According to this, for example, the time until the start of exploration can be shortened and the efficiency of the entire exploration work can be improved by first introducing an underwater vehicle having a slower sedimentation speed or dive speed than others. In addition, by setting the loading order in consideration of the difference in sedimentation speed and diving speed between the loaded underwater vehicles, it is possible to prevent collisions between the loaded underwater vehicles and improve safety.
(Appendix 4)
Of Appendix 1 to Appendix 3, characterized in that the exploration depths of a plurality of the underwater vehicles are set to the underwater vehicles on the mother ship and the exploration depths are input to the water control means. The method for throwing in a plurality of underwater vehicles according to item 1.
According to this, it is possible to have a plurality of underwater vehicles perform exploration work at a preset exploration depth while being controlled by water control means. In addition, the exploration depth can be entered on the mother ship, which has a large work space, without touching the water.
(Appendix 5)
When a plurality of underwater vehicles for exploring the bottom of the water are withdrawn from the water on the mother ship, after the plurality of the underwater vehicles are sequentially removed from the water, the surface of the water controlling the plurality of the underwater vehicles is controlled. A method for unloading a plurality of underwater vehicles, which comprises unloading a surface control means that can move in the vicinity.
According to this, it is possible to collect the underwater vehicle while grasping the position and communication state of the underwater vehicle by the water control means. This improves the efficiency and safety of the collection work.
(Appendix 6)
2. How to collect underwater vehicles.
According to this, the surface control means does not collide with the floating underwater vehicle or interfere with the unloading work, and controls a plurality of underwater vehicles waiting for unloading to the end. be able to. This further improves the efficiency and safety of the unloading work.
(Appendix 7)
The method for collecting a plurality of underwater vehicles according to Supplementary Note 5 or 6, wherein the order of collection of the plurality of underwater vehicles is the order of ascending.
According to this, it is possible to prevent the underwater vehicle that has surfaced earlier from colliding with the underwater vehicle that has surfaced earlier. In addition, it is possible to prevent the surfaced underwater vehicle from being washed away by water and being lost.
(Appendix 8)
Requisition of the plurality of underwater vehicles according to item 1 of Appendix 5 to Appendix 7, wherein the surface control means performs control until the collection of the plurality of underwater vehicles is completed. Method.
According to this, the control of the underwater vehicle by the surface control means is continued until all the underwater vehicles are unloaded, so that the efficiency and safety of the unloading work are improved.

In the method of loading and unloading a plurality of underwater vehicles and the system for loading and unloading a plurality of underwater vehicles of the present invention, a plurality of underwater vehicles are deployed and operated for investigation work such as underwater exploration. It is possible to efficiently and safely carry out the loading and unloading work of the underwater vehicle.

10 Mothership 20 Water control means 30 Underwater vehicle 34 Setting means 50 Water control means mounting table 51 Replacement means 60 Underwater vehicle mounting table 61 Replacement means 70 Input / collection equipment 80 Display means H Predetermined distance

Claims (5)

It is a system for loading and unloading underwater vehicles mounted on the mother ship, and is equipped with loading and unloading equipment and water control means that can move near the water surface that controls multiple underwater vehicles. A mounting table for control means, a mounting table for an underwater vehicle on which a plurality of underwater vehicles are mounted, a mounting table for water control means, and a loading / unloading facility for the mounting table for an underwater vehicle. A system for loading and unloading multiple underwater vehicles, which is characterized by being equipped with a replacement means for swapping the positional relationship between the two. The input / collection system for a plurality of underwater vehicles according to claim 1 , further comprising a setting means for setting the exploration depth of the plurality of the underwater vehicles. The plurality of underwater vehicles according to claim 1 or 2 , further comprising a display means for displaying the input order and / or the collection order of the plurality of set underwater vehicles. Input / collection system. The plurality of underwater navigation according to claim 1 to claim 3 , wherein the loading / unloading facility has a function of launching / unloading the surface control means. Body input / collection system. The plurality of items according to claim 1 to claim 4 , wherein the mother ship is a general ship, and the loading / unloading facility is a facility including a crane equipped on the general ship. Underwater vehicle input / collection system.

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