JP7133196B2 - Underwater equipment recovery method and underwater equipment recovery system - Google Patents

Description

TECHNICAL FIELD The present invention relates to an underwater device recovery method and an underwater device recovery system for recovering underwater devices that are submerged in water for underwater exploration.

2. Description of the Related Art In oceans and the like, underwater exploration using unmanned underwater equipment is being carried out.
In particular, when multiple unmanned underwater devices are submerged at the same time to improve the efficiency of the survey, the survey range of the underwater devices expands. important to prevent loss of

Here, in Patent Document 1, when a mobile body that moves in the sea surfaced on the sea, a DGPS receiver provided in the mobile body receives GPS radio waves and beacon waves from a DGPS station to determine the position of the mobile body. A moving object floating position transmission device has been disclosed which grasps and transmits the grasped position of a moving object using radio waves from an antenna provided on the moving object and receives it by receiving means arranged on land or sea.
In addition, in Patent Document 2, a receiving antenna that receives radio waves transmitted from GPS satellites and a GPS receiver that calculates the position of the own aircraft from the received radio waves are provided. Disclosed is a transmitting device with a GPS receiver that transmits a .
In addition, in Patent Document 3, when managing the diving state of a diver based on parameters corresponding to breathing gas used for diving, data transmission and reception is performed using ultrasonic waves underwater, and data transmission and reception is performed using radio waves on land (in the air). A parameter sensing device is disclosed for performing

JP 2006-242626 A JP-A-8-86854 JP-A-2001-278192

In Patent Document 1, a receiving means for receiving radio waves emitted from a moving body and a means for calculating the DGPS position of the moving body must be arranged on land or sea.
Further, Patent Document 2 relates to a transmitting device that transmits the position of a GPS receiver, and does not specifically describe the receiving device side.
Moreover, Patent Document 3 does not relate to collision avoidance of underwater equipment.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide an underwater equipment recovery method and an underwater equipment recovery system that quickly recovers underwater equipment that has surfaced to prevent loss of the underwater equipment.

A method for recovering underwater equipment corresponding to claim 1 is a method for recovering underwater equipment for exploring underwater by submerged underwater equipment, wherein the automatic position information transmission means provided in the underwater equipment rises to the surface of the water. Detects and measures its own position, automatically transmits the position information of the underwater equipment using radio, and the underwater equipment recovery float receives the automatically transmitted position information of the underwater equipment and uses it to recover the underwater equipment. When using it , the recovery float receives position information using the automatic identification system (AIS), and the underwater equipment uses the automatic identification system search and rescue position indication transmitter (AIS-SART) as an automatic position information transmission means. and a search and rescue positioning transmitter (AIS-SART) of an automatic ship identification system automatically transmits position information using a test signal .
According to the first aspect of the present invention, since the underwater equipment can be searched for using the position information transmitted from the underwater equipment that has surfaced, the time required to recover the underwater equipment can be shortened. loss can be prevented. In addition, the recovery float can quickly detect the position of the underwater equipment even if it is located about 10 miles away, thereby further preventing the loss of the underwater equipment. be able to. In addition, in the case of a recovery float that is required to be equipped with an automatic identification system (AIS), there is no need to install a separate device for receiving position information transmitted from underwater equipment using AIS-SART. .

According to the second aspect of the present invention, there are a plurality of underwater devices, and the position information includes information for identifying each underwater device.
According to the second aspect of the present invention, the recovery floating body can identify each underwater device and determine the order of recovery, etc., so that the underwater devices can be recovered efficiently. In addition, collection can be performed by excluding transmission of similar position information from others .

The present invention according to claim 3 is characterized in that the information of the automatic identification system (AIS) is satellite AIS information.
According to the third aspect of the present invention, it is possible to widen the detection range of the floating position of the underwater equipment by the recovery float, so that the loss of the underwater equipment can be further prevented.

According to a fourth aspect of the present invention, the recovery floating body displays the received positional information of the underwater device on an electronic chart that displays chart information.
According to the fourth aspect of the present invention, it becomes easier to recognize the position of the underwater device that has surfaced, thereby improving the efficiency of the recovery work.

The present invention according to claim 5 is characterized in that the automatic transmission using radio is stopped after the underwater equipment is recovered.
According to the fifth aspect of the present invention, a crew member or the like who is away from the recovery site can know that the underwater device has been recovered when transmission from the underwater device stops. In addition, since the underwater device continues transmitting until it is recovered, it is possible to prevent loss even if the underwater device is drifting.

The sixth aspect of the present invention is characterized in that the automatic positional information transmission means provided in the underwater equipment prepares for the positioning of its own position and the automatic transmission using radio before surfacing to the surface of the water.
According to the sixth aspect of the present invention, it is possible to shorten the time until the underwater equipment transmits the position information after surfacing, so that the recovery floating body can quickly arrive at the position of the surfaced underwater equipment. can. In addition, it is possible to prevent malfunction due to fluctuations in the water surface.

In the underwater equipment recovery system corresponding to claim 7 , the underwater equipment recovery system is for submerging in water to explore the water, wherein the position information provided in the underwater equipment is automatically transmitted by radio. Position information transmitting means and receiving means for receiving automatically transmitted position information of the underwater equipment provided on the underwater equipment recovery float, and the recovery float uses an automatic identification system (AIS) as the receiving means. The position information is received, and the automatic position information transmission means of the underwater device transmits position information including surfacing detection means for detecting surfacing to the water surface, positioning means for positioning the own position, and positioning results of the positioning means. It has a transmission means and a start means for acquiring position information according to the detection result of the surfacing detection means and starting means for transmitting the position information by the transmission means, and searching for the automatic ship identification device as the positioning means and transmission means of the automatic position information transmission means. It is characterized by using a rescue position indication transmitter (AIS-SART) and automatically transmitting position information using a test signal by the search and rescue position indication transmitter (AIS-SART) of the automatic ship identification device. .
According to the seventh aspect of the present invention, the underwater equipment can be searched for using the positional information transmitted from the underwater equipment that has surfaced. loss can be prevented. In addition, the recovery float can quickly detect the position of the underwater equipment even if it is located about 10 miles away, thereby further preventing the loss of the underwater equipment. be able to. In addition, in the case of a recovery float that is required to be equipped with an automatic identification system (AIS), there is no need to install a separate device for receiving position information transmitted from underwater equipment using AIS-SART. .

An eighth aspect of the present invention is characterized in that the automatic positional information transmitting means has an identification information adding means for adding information for identifying the underwater equipment to the positional information.
According to the eighth aspect of the present invention, when there are a plurality of underwater devices, each underwater device can be identified and the recovery order and the like can be determined. Therefore, the underwater devices can be efficiently recovered. be able to. In addition, collection can be performed by excluding transmission of similar position information from others .

The present invention according to claim 9 is characterized in that the information of the automatic identification system (AIS) is satellite AIS information.
According to the ninth aspect of the present invention, it is possible to widen the detection range of the floating position of the underwater equipment by the recovery float, so that the loss of the underwater equipment can be further prevented.

A tenth aspect of the present invention is characterized in that the recovery floating body has an electronic chart for displaying the received positional information of the underwater equipment.
According to the tenth aspect of the present invention, it becomes easier to recognize the position of the underwater device that has surfaced, so the efficiency of the recovery work is improved.

An eleventh aspect of the present invention is characterized by comprising transmission stop means for stopping automatic transmission of position information.
According to the eleventh aspect of the present invention, a crew member or the like who is away from the recovery site can know that the underwater device has been recovered when transmission from the underwater device stops. In addition, since the underwater device continues transmitting until it is recovered, it is possible to prevent loss even if the underwater device is drifting.

A twelfth aspect of the present invention is characterized in that the set threshold value of the surfacing detection means is set below the water surface by a predetermined distance.
According to the twelfth aspect of the present invention, since the underwater device starts acquiring the position information by the positioning means before surfacing to the water surface, the time until the underwater device transmits the position information after surfacing can be shortened. can. As a result, the recovery floating body can quickly reach the position of the surfaced underwater equipment. In addition, it is possible to prevent malfunction due to fluctuations in the water surface.

The present invention described in Claim 13 is characterized in that the levitation detecting means and the starting means have the same function.
According to the present invention described in Claim 13 , it is possible to perform the detection of surfacing to the surface of the water, the acquisition of position information, and the instruction to start transmission by the same means.

According to the underwater device recovery method of the present invention, since the underwater device can be searched for using the position information transmitted from the underwater device that has surfaced, the time required to recover the underwater device can be shortened and the loss of the underwater device can be prevented. can be prevented. In addition, the recovery float can quickly detect the position of the underwater equipment even if it is located about 10 miles away, thereby further preventing the loss of the underwater equipment. be able to. In addition, in the case of a recovery float that is required to be equipped with an automatic identification system (AIS), there is no need to install a separate device for receiving position information transmitted from underwater equipment using AIS-SART. .

In addition, if there are multiple underwater devices and the location information includes information that can identify each underwater device, the recovery float should identify each underwater device and determine the order of recovery, etc. Therefore, the underwater equipment can be recovered efficiently. In addition, collection can be performed by excluding transmission of similar position information from others .

In addition , when the information of the automatic identification system (AIS) is satellite AIS information, it is possible to expand the detection range of the floating position of the underwater equipment by the recovery float, thereby further preventing the loss of the underwater equipment. can be done.

In addition, if the recovery float displays the received positional information of the underwater device on an electronic chart that displays the nautical chart information, it becomes easier to recognize the position of the underwater device that has surfaced, thus improving the efficiency of the recovery work. .

In addition, when the automatic transmission using radio is stopped after the underwater equipment is recovered, the crew members who are away from the collection site will know that the underwater equipment has been recovered when the transmission from the underwater equipment has stopped. can know. In addition, since the underwater device continues transmitting until it is recovered, it is possible to prevent loss even if the underwater device is drifting.

In addition, if the automatic positional information transmission means installed in the underwater equipment surfaced before the underwater equipment surfaced to the surface of the water, and if preparations were made for automatic transmission using radio, the position information should be transmitted after the underwater equipment surfaced. can be shortened, the recovery floating body can reach the position of the surfaced underwater equipment early. In addition, it is possible to prevent malfunction due to fluctuations in the water surface.

According to the underwater equipment recovery system of the present invention, the underwater equipment can be searched for using the positional information transmitted from the underwater equipment that has surfaced. can be prevented. In addition, the recovery float can quickly detect the position of the underwater equipment even if it is located about 10 miles away, thereby further preventing the loss of the underwater equipment. be able to. In addition, in the case of a recovery float that is required to be equipped with an automatic identification system (AIS), there is no need to install a separate device for receiving position information transmitted from underwater equipment using AIS-SART. .

Further, when the automatic location information transmission means has an identification information adding means for adding information that enables identification of underwater equipment to the location information, when there are a plurality of underwater equipment, each underwater equipment can be identified. Since the collection order and the like can be determined by using the data, the underwater equipment can be collected efficiently. In addition, collection can be performed by excluding transmission of similar position information from others .

In addition , when the information of the automatic identification system (AIS) is satellite AIS information, the detection range of the floating position of the underwater equipment by the recovery float can be expanded, so the loss of the underwater equipment can be further prevented. be able to.

In addition, if the recovery floating body has an electronic chart that displays the received position information of the underwater equipment, it becomes easier to recognize the position of the underwater equipment that has surfaced, thereby improving the efficiency of the recovery work.

In addition, if a transmission stop means for stopping the automatic transmission of position information is provided, crew members, etc., who are away from the collection site, will know that the underwater equipment has been recovered when transmission from the underwater equipment has stopped. can know. In addition, since the underwater device continues transmitting until it is recovered, it is possible to prevent loss even if the underwater device is drifting.

Further, when the set threshold value of the surfacing detection means is set at a predetermined distance below the water surface, the underwater device starts acquiring position information by the positioning means before surfacing to the water surface. It is possible to shorten the time until the position information is transmitted after surfacing. As a result, the recovery floating body can quickly reach the position of the surfaced underwater equipment. In addition, it is possible to prevent malfunction due to fluctuations in the water surface.

Further, when the surfacing detection means and the starting means have the same function, the detection of surfacing to the surface of the water and the instruction to start acquisition and transmission of position information can be performed by the same means.

1 is a schematic diagram showing an underwater equipment recovery system according to an embodiment of the present invention; FIG.

Below, an underwater equipment recovery method and an underwater equipment recovery system according to embodiments of the present invention will be described.
FIG. 1 is a schematic diagram showing an underwater equipment recovery system according to an embodiment of the present invention.
FIG. 1 shows a state in which an underwater device 1 is thrown from a recovery floating body 2 into an investigation water area in the ocean, lakes, or the like, and investigation work such as mineral resources and energy resources on the bottom of the water is performed.
The underwater device 1 was loaded on the recovery floating body 2 and transported to the survey water area. Note that the investigation work and the like include not only the investigation work itself but also all of the work actions performed by the underwater device 1 in the water, such as collection work, rescue work, transportation work, observation work, and search work.
The recovery floating body 2 controls the underwater equipment 1 . In this embodiment, the recovery floating body 2 is used as a support mother ship.

In this embodiment, the underwater device 1 is an autonomous underwater vehicle (AUV) that autonomously navigates underwater without using a cable for connection with the recovery floating body 2 .
Before the underwater equipment 1 is thrown from the recovery floating body 2 , navigation conditions such as underwater investigation range and investigation target are set by crew members of the recovery floating body 2 . The underwater device 1 introduced into the survey water area starts diving and sailing according to the set sailing conditions.
When the underwater device 1 submerges, the radio waves between the recovery floating body 2 and the underwater device 1 are blocked by water. Therefore, information communication between the recovery floating body 2 and the underwater equipment 1 is performed by underwater acoustic communication when the underwater equipment 1 is underwater.
Further, the underwater device 1 performs self-positioning using a navigation sensor during underwater navigation. The navigation sensor can be, for example, an inertial navigation system (INS) that performs positioning based on the measurement results of various underwater sensors such as accelerometers and gyros.
From the recovery floating body 2, the underwater position of the underwater device 1 on which the acoustic transponder is mounted can be determined by underwater acoustic positioning. Also, from the recovery floating body 2, it is possible to transmit the positioning result to the underwater device 1 and send a simple command by underwater acoustic communication.
When the underwater device 1 determines that there is an emergency or receives an emergency surfacing command from the recovery floating body 2 through underwater acoustic communication, the underwater device 1 can stop the thrusters, drop the ballast, and perform an emergency surfacing.

The underwater equipment recovery system according to this embodiment comprises an automatic position information transmitting means 10 provided in the underwater equipment 1 and a receiving means 20 provided in the recovery floating body 2 . Note that although one underwater device 1 is shown in FIG. 1, a plurality of underwater devices 1 can be introduced.

The automatic positional information transmitting means 10 automatically transmits the positional information of the underwater device 1 by radio when the underwater device 1 rises to the surface of the water.
The automatic position information transmission means 10 includes a surfacing detection means 11 that detects surfacing to the surface of the water, a positioning means 12 that measures its own position, a transmission means 13 that transmits position information including the positioning result of the positioning means 12, a start means 14 for starting acquisition of position information and transmission of the position information by the transmission means 13 according to the detection result of the surfacing detection means 11; , has transmission stop means 16 for stopping automatic transmission of position information.

The surfacing detection means 11 detects that the underwater device 1 has surfaced to the surface of the water. For example, when the water pressure obtained by the water pressure sensor exceeds a preset threshold based on the water surface, or when the depth obtained by the depth sensor exceeds a preset threshold based on the water surface , it is determined that the underwater device 1 has surfaced to the water surface.
The surfacing detection means 11 sends a detection signal to the starting means 14 when it detects that it has surfaced to the surface of the water.

Upon receiving the detection signal from the levitation detection means 11 , the start means 14 transmits a start signal to the positioning means 12 and the transmission means 13 .

The positioning means 12 measures its own position upon receiving the activation signal from the starting means 14 . In this embodiment, the positioning means 12 performs positioning using a search and rescue positioning transmitter (AIS-SART) of an automatic ship identification system. The positioning means 12 transmits the positioning result of its own position to the transmission means 13 .
Since the search and rescue positioning transmitter (AIS-SART) of the automatic ship identification system has a GPS (Global Positioning System) function, positioning by the positioning means 12 can be made highly accurate.
In addition, since the detection distance limit of the search and rescue positioning transmitter (AIS-SART) of the automatic ship identification system is about 5 to 10 miles, the surfaced underwater equipment 1 is positioned about 10 miles away from the recovery float 2. The position of the underwater device 1 can be detected quickly even if it exists in the water. As a result, loss of the underwater device 1 can be prevented.

When receiving the positioning result from the positioning means 12 after receiving the activation signal from the starting means 14, the transmitting means 13 generates the position information of the underwater device 1 including the positioning result, and assigns the generated position information to the identification information. Send to means 15 .
The identification information adding means 15 adds identification information of the underwater device 1 to the position information received from the transmitting means 13 . The identification information is assigned to each underwater device 1, and serves as information for individually identifying each underwater device 1 when a plurality of underwater devices 1 are present. The identification information provision means 15 transmits the provided identification information to the transmission means 13 .
The transmission means 13 transmits the generated position information and the identification information received from the identification information provision means 15 to the outside of the underwater device 1 using radio. In the present embodiment, the transmitting means 13 uses the search and rescue position indicating transmitter (AIS-SART) of the automatic ship identification system when transmitting to the outside.
In addition, a test signal is used for the transmission by the search and rescue positioning transmitter (AIS-SART) of the automatic identification system. This can prevent crew members of other ships who have received the signal transmitted from the underwater device 1 from misunderstanding that the rescue signal is being transmitted from the position of the underwater device 1 .

The receiving means 20 provided in the recovery floating body 2 receives the position information and identification information of the underwater equipment 1 transmitted from the transmitting means 13 .
The receiving means 20 in the present embodiment is an automatic identification system (AIS) corresponding to the search and rescue positioning transmitter (AIS-SART) of the automatic identification system used by the transmission means 13 . An automatic ship identification system (AIS) is required to be installed on a predetermined ship. There is no need to separately provide a receiver for receiving the position information and identification information transmitted using the search and rescue location indicating transmitter (AIS-SART) of the device.
In addition, when the information of the automatic identification system (AIS) is satellite AIS information, the detection range of the floating position of the underwater equipment 1 by the recovery float 2 can be widened. can be prevented.

The crew of the recovery floating body 2 can search for the underwater device 1 using the received positional information of the underwater device 1 and head for recovery. Loss of the device 1 can be prevented.
In addition, when there are a plurality of underwater devices 1, each underwater device 1 can be identified based on the received identification information of the underwater device 1, and the order of collection and the like can be determined. can be recovered.
In addition, since the underwater device 1 to be recovered can be specified by the identification information adding means 15, targets transmitted using the same position indicating transmitter for search and rescue (AIS-SART) from other than the underwater device 1 can be excluded. can be collected.

The recovery floating body 2 also has an electronic chart 21 that displays the received position information of the underwater device 1 . By displaying the position of the surfaced underwater device 1 on the electronic chart 21, it becomes easier for the crew of the recovery floating body 2 to recognize the position of the underwater device 1, thereby improving the efficiency of the recovery work. Since the receiving means 20 of the recovery floating body 2 has an AIS function, it is possible to know the exact position of the recovery floating body 2 itself and the exact position of the underwater equipment 1 and display them accurately.
The received position information of the underwater device 1 can also be displayed on a dedicated or general-purpose computer in the recovery floating body 1 .

After recovering the underwater equipment 1 , the crew member or the like stops transmission of the position information and identification information from the recovery floating body 2 by the transmission stop means 16 .
A crew member or the like who is away from the recovery site can know that the underwater device 1 has been recovered when the transmission from the underwater device 1 stops. Further, since the underwater device 1 continues transmitting until it is recovered, it can be prevented from being lost even when the underwater device 1 is drifting.

The set threshold value set in the levitation detecting means 11 can also be set at a predetermined distance (for example, 10 m) below the water surface. In surfacing detection, the automatic position information transmitting means 20 uses a set threshold that is set based on a position that is a predetermined distance below the water surface instead of a set threshold that is set based on the water surface. Before 1 rises to the surface of the water, it can measure its own position and prepare for automatic transmission using radio.
As a result, it is possible to shorten the time until the underwater device 1 transmits the position information after surfacing, so that the recovery floating body 2 can quickly reach the position of the surfaced underwater device 1 .
Moreover, using a set threshold value that is set based on a position that is a predetermined distance below the water surface is useful for preventing malfunction. For example, since the sea surface repeats rising and falling due to waves, if the threshold is set to the same level as the atmospheric pressure, depending on the configuration of the starting means 14, the on/off will be repeated. As a result, the positioning means 12 and the transmitting means 13 are also interlocked and repeatedly turned on and off, and the position information may not be transmitted correctly. , this malfunction can be eliminated.

Further, the levitation detecting means 11 and the starting means 14 can be levitation detecting/starting means having the functions of both. In this case, for example, the levitation detecting and starting means has an expansion/contraction body that expands or contracts according to changes in water pressure, and when the underwater device 1 approaches the water surface and the water pressure decreases, the expansion/contraction body expands. A start signal is transmitted to the positioning means 12 and the transmission means 13 by detecting the levitation and turning on the switch by the inflated expansion/contraction body touching the switch as a trigger.
As a result, detection of surfacing to the surface of the water, acquisition of position information, and an instruction to start transmission can be performed by the same means.

Further, although the recovery floating body 2 is a support mother ship in the present embodiment, it may be a boat or the like exclusively used for recovering the underwater equipment 1 .
Further, although the underwater equipment 1 is an unmanned autonomous unmanned vehicle, it may be a seismometer or a camera installed on the bottom of the water.

By applying the underwater equipment recovery method and the underwater equipment recovery system of the present invention, it is possible to quickly recover the underwater equipment that has surfaced without losing sight of it. This can prevent loss of underwater equipment.

1 Underwater equipment 2 Recovery float 10 Automatic position information transmission means 11 Surface detection means 12 Positioning means (AIS-SART)
13 Transmission means (AIS-SART)
14 Starting means 15 Identification information providing means 16 Transmission stopping means 20 Receiving means (AIS)
21 Electronic charts

Claims (13)

A method for recovering an underwater device that explores the water by submerging it in water, wherein automatic position information transmission means provided in the underwater device detects that it has surfaced to the surface of the water, measures its own position, and measures the position of the underwater device. When the position information of the underwater device is automatically transmitted by radio, and the position information of the underwater device automatically transmitted by the recovery floating body of the underwater device is received and used for recovery of the underwater device, the recovery The floating body receives the position information using an automatic ship identification system (AIS), and the underwater equipment uses a search and rescue position indication transmitter (AIS-SART) of the automatic ship identification system as the automatic position information transmitting means, A method for recovering underwater equipment, characterized in that the search and rescue position indicating transmitter (AIS-SART) of the automatic ship identification system automatically transmits the position information using a test signal . 2. The underwater equipment recovery method according to claim 1, wherein said underwater equipment is plural, and said position information includes information for identifying each underwater equipment. 3. The underwater equipment recovery method according to claim 1 , wherein the information of the automatic identification system (AIS) is satellite AIS information. 4. The underwater equipment recovery according to any one of claims 1 to 3 , wherein the recovery floating body displays the received position information of the underwater equipment on an electronic chart displaying chart information. Method. 5. The method for recovering underwater equipment according to claim 1 , wherein the automatic transmission using the radio is stopped after the underwater equipment is recovered. 1 to 4, wherein the automatic positional information transmission means provided in the underwater equipment prepares for positioning of the self position and automatic transmission using the radio before surfacing to the surface of the water. 6. The underwater equipment recovery method according to any one of 5 . An underwater device recovery system for submerged in water for underwater exploration, comprising automatic position information transmission means for automatically transmitting position information provided in the underwater device using radio, and a floating body for recovering the underwater device. receiving means for receiving the position information of the underwater equipment automatically transmitted, wherein the recovery floating body receives the position information using an automatic identification system (AIS) as the receiving means, The automatic position information transmission means of the underwater equipment includes surfacing detection means for detecting surfacing to the surface of the water, positioning means for measuring its own position, and transmission means for transmitting the position information including the positioning result of the positioning means. and a start means for starting acquisition of the position information and transmission of the position information by the transmission means according to the detection result of the levitation detection means , wherein the positioning means of the automatic position information transmission means and the transmission means automatically Using the search and rescue position indicating transmitter (AIS-SART) of the ship identification device, and the search and rescue position indicating transmitter (AIS-SART) of the automatic ship identification device uses the test signal to automatically transmit the position information An underwater device recovery system characterized by transmitting . 8. The underwater equipment recovery system according to claim 7 , wherein said automatic location information transmitting means has identification information adding means for adding information that enables identification of said underwater equipment to said location information. 9. The underwater equipment recovery system according to claim 7 or 8 , wherein the information of the automatic identification system (AIS) is satellite AIS information. 10. The underwater equipment recovery system according to any one of claims 7 to 9 , wherein the recovery floating body has an electronic chart for displaying the received position information of the underwater equipment. 11. The underwater equipment recovery system according to any one of claims 7 to 10 , further comprising transmission stop means for stopping automatic transmission of said position information. 12. The underwater equipment recovery system according to any one of claims 7 to 11 , wherein a set threshold value of said surfacing detection means is set at a predetermined distance below said water surface. 13. The underwater equipment recovery system according to any one of claims 7 to 12 , wherein the surfacing detecting means and the starting means have a function.

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