JP7195582B2 - Method for lifting and recovering a plurality of underwater vehicles, and system for lifting and recovering a plurality of underwater vehicles - Google Patents

Description

TECHNICAL FIELD The present invention relates to a method and system for lifting and recovering a plurality of underwater vehicles that perform survey work such as underwater exploration.

In the ocean, lakes, etc., when an underwater vehicle is put into a survey water area to perform survey work such as underwater exploration, the underwater vehicle is controlled by a ship located on the water or a device placed in the water. .
For example, in Patent Document 1, an underwater station cable-connected to a mother ship is arranged in the sea, an acoustic transponder is arranged on the seabed near a survey point, and a plurality of unmanned unmanned submersibles are installed together with the underwater station and acoustic transponder. A technology is disclosed in which communication is performed using sound waves to guide the unmanned submersible, and if necessary, the unmanned underwater vehicle is docked to an underwater station for charging or battery replacement and exploration data retrieval.
Further, in Patent Document 2, an underwater station equipped with a first transponder, a first wave receiver and a second wave receiver is suspended in the sea from a mother ship, a second transponder is installed on the seabed, and an autonomous type for exploration The unmanned vehicle is equipped with a third transponder and a third wave receiver, and the underwater station attempts to maintain a fixed point by receiving the signal of the second transponder with the first wave receiver. In the middle, self-propelled by receiving the signal of the second transponder with the third receiver, and when the power decreases, it sails towards the underwater station by receiving the signal of the first transponder with the third receiver. , discloses a technique in which an underwater station performs attitude control for accommodating autonomous unmanned navigation by receiving a signal from a third transponder with a second receiver.
Further, Patent Document 3 discloses underwater acoustic communication in which a mother ship located on the water is provided with a transmitter, an unmanned submersible for exploration is provided with a receiver, and a control signal is sent from the mother ship to the unmanned submersible. A technique for correcting transmission errors using the Hough transform of is disclosed.
Further, in Patent Document 4, a self-propelled repeater that relays communication between a mother ship and an underwater vehicle is arranged near the water surface of an observation area, and communication between the self-propelled repeater and the mother ship is radio communication. , and communication between the self-propelled repeater and the underwater vehicle is performed by acoustic communication, thereby improving the communicable distance in the horizontal direction.

JP-A-3-266794 Japanese Patent Application Laid-Open No. 2003-26090 JP-A-5-147583 Japanese Patent Application Laid-Open No. 2001-308766

By the way, since the speed of the underwater vehicle is slow, it takes time to survey a wide water area with only one vehicle, but there is a limit to increasing the speed of the underwater vehicle in terms of energy consumption. Therefore, it is conceivable to deploy a plurality of underwater vehicles in order to efficiently survey a wide area of water. However, when conducting surveys using a plurality of underwater vehicles, the pick-up work takes longer than when surveys are carried out using one underwater vehicle.
Patent Literature 1 does not disclose how to efficiently and safely lift and retrieve an underwater station or a plurality of unmanned unmanned submersibles. In addition, since the mothership and the underwater station are connected by cables, movement of the mothership and the underwater station is restricted.
Patent Literature 2 does not disclose how to efficiently and safely pick up and retrieve an underwater station or a plurality of autonomous unmanned vehicles. Also, since the underwater station is suspended from the mothership, movement of the mothership and the underwater station is restricted.
Patent Document 3 considers that underwater acoustic communication is susceptible to the effects of reflected sounds from the water surface and the seabed. is intended to prevent However, it does not disclose how to efficiently and safely lift and store a plurality of unmanned submersibles.
In Patent Document 4, a self-propelled repeater determines whether horizontal movement is necessary based on its own current position information and the current position information of an underwater vehicle, and maintains a communication state with the underwater vehicle. is described. Also, there is a description that a plurality of underwater vehicles can be introduced. However, it does not disclose how the self-propelled repeater or underwater vehicle can be lifted up and recovered efficiently and safely.

Accordingly, the present invention provides a plurality of underwater cruising vehicles capable of safely and efficiently lifting and recovering underwater vehicles when performing survey work such as underwater exploration by deploying and operating a plurality of underwater vehicles. It is an object of the present invention to provide a method for lifting and recovering a body and a system for lifting and recovering a plurality of underwater vehicles.

In the method for lifting and recovering a plurality of underwater vehicles corresponding to claim 1, when the plurality of underwater vehicles for exploring the bottom of the water are lifted from the water by the recovery ship, the working time of the recovery ship is In accordance with the lifting capacity aggregated and set in the 2nd floor and the lifting time schedule created based on the lifting capacity , each underwater vehicle should be different so that the lifting times of multiple underwater vehicles do not overlap. According to the surfacing time determined by combining the submersible vehicles, the submersible vehicles are successively surfaced and recovered, and the unnecessary communication functions and/or observation functions of the underwater vehicles are stopped, and the necessary communication functions and / Or it is characterized by activating the observation function .
ADVANTAGE OF THE INVENTION According to this invention of Claim 1, the lifting operation|work of an underwater vehicle can be performed safely and efficiently. Also, by activating or deactivating the communication function and the observation function as necessary, the power consumption of the underwater vehicle can be reduced. Exploration includes all actions such as observation, search, collection, rescue, transportation, etc. performed by an underwater vehicle on the bottom of the water. In addition, the lifting capacity includes at least the performance of the lifting and recovering vessel in lifting and recovering the underwater vehicle, which is finally integrated into the work time.

The present invention according to claim 2 is characterized in that the plurality of underwater vehicles are on standby underwater while they are on standby for recovery by the recovery ship.
According to the second aspect of the present invention, underwater is less affected by the drifting force of waves than on water, so the underwater vehicle can be prevented from drifting during standby.

According to a third aspect of the present invention, the underwater vehicle circulates in the water and stands by.
According to the third aspect of the present invention, it becomes easy to make the underwater vehicle, which is difficult to stay in one place, stand by within a predetermined range.

According to a fourth aspect of the present invention, a water control system capable of moving in the vicinity of the water surface controlling a plurality of underwater vehicles is lifted up after all of the plurality of underwater vehicles are lifted up. .
According to the fourth aspect of the present invention, all underwater vehicles to be lifted can be lifted and recovered while their positions and communication states are grasped by the water control system. improve sexuality.

The present invention according to claim 5 is characterized in that the plurality of underwater vehicles wait while avoiding the position where the recovery ship exists.
According to the fifth aspect of the present invention, it is possible to prevent the underwater vehicle on standby from colliding with the recovery ship.

The sixth aspect of the present invention is characterized in that the plurality of underwater vehicles wait while avoiding a position where a water control system exists.
According to the sixth aspect of the present invention, it is possible to prevent the underwater vehicle on standby from colliding with the water control system.

The present invention according to claim 7 is characterized in that the cruising function of the underwater vehicle surfacing to the surface of the water is stopped before surfacing to the surface of the water.
According to the seventh aspect of the present invention, it is possible to prevent floating matter, seaweed, etc. existing on the surface of the water from entangling or damaging the propeller, thruster, etc. of the underwater vehicle .

According to the eighth aspect of the present invention, when a plurality of underwater vehicles are lifted up from the water surface and lifted up, the lift-down time schedule takes into account the weather and sea conditions and/or the sunshine. Therefore , it is characterized by lifting and collecting.
According to the eighth aspect of the present invention, the underwater vehicle can be lifted and recovered more safely and efficiently.

A system for lifting and recovering a plurality of underwater vehicles corresponding to claim 9 comprises: a lifting and recovering ship having lifting means; In accordance with the lifting capacity aggregated and set in the 2nd floor and the lifting time schedule created based on the lifting capacity , each underwater vehicle should be different so that the lifting times of multiple underwater vehicles do not overlap. a lifting setting means for setting the underwater vehicle to be lifted up and recovered from the water surface in accordance with the surfacing time determined by setting the submersible vehicle to the surface; and surfacing control means for stopping unnecessary communication and/or observation functions of the underwater vehicle and activating necessary communication and/or observation functions when the underwater vehicle rises to the surface of the water . It is characterized by
According to the ninth aspect of the present invention, the underwater vehicle can be safely and efficiently lifted and recovered. Also, by activating or deactivating the communication function and the observation function as necessary, the power consumption of the underwater vehicle can be reduced.

The present invention according to claim 10 is characterized in that the plurality of underwater vehicles have a standby mode in which they wait underwater while waiting to be picked up by a pick-up boat.
According to the tenth aspect of the present invention, underwater is less affected by the drifting force of waves than on water, so it is possible to prevent the underwater vehicle from drifting during standby.

An eleventh aspect of the present invention is characterized by further comprising a water control system capable of moving in the water near the water surface for controlling the plurality of underwater vehicles.
According to the eleventh aspect of the present invention, the underwater vehicle can be controlled by the water control alone or by both the recovery ship and the water control. It is possible to carry out the work of lifting and collecting the body. In addition, the standby position of the underwater vehicle waiting to be picked up can be further separated from the pick-up ship.

According to a twelfth aspect of the present invention, the lifting setting means has a function of setting a procedure for lifting the water control system to the lifting ship after all the plurality of underwater vehicles are lifted. do.
According to the twelfth aspect of the present invention, all underwater vehicles to be lifted can be lifted and recovered while their positions and communication states are grasped by the water control system, so the efficiency and safety of the lifting work. improve sexuality.

A thirteenth aspect of the present invention is characterized in that the lifting/receiving setting means has a function of setting the plurality of underwater vehicles to wait while avoiding the position where the lifting/recovery ship exists.
According to the thirteenth aspect of the present invention, it is possible to prevent the underwater vehicle on standby from colliding with the recovery ship.

A fourteenth aspect of the present invention is characterized in that the lifting setting means has a function of setting the plurality of underwater vehicles to wait while avoiding a position where a water control system exists.
According to the fourteenth aspect of the present invention, it is possible to prevent the underwater vehicle on standby from colliding with the water control system.

According to a fifteenth aspect of the present invention, the surfacing control means is characterized in that the cruising function of the underwater vehicle surfacing to the surface of the water is stopped before surfacing to the surface of the water.
According to the fifteenth aspect of the present invention, it is possible to prevent floating matter, seaweed, etc. existing on the water surface from entangling or damaging propellers, thrusters, etc. of an underwater vehicle .

According to the sixteenth aspect of the present invention, the underwater vehicle is provided with meteorological/oceanographic weather acquiring means and/or sunshine acquiring means for picking up and recovering the underwater vehicle in accordance with the picking-up ability and/or the sunshine-considering pick-up time schedule. It is characterized by having
According to the sixteenth aspect of the present invention, the underwater vehicle can be lifted and recovered more safely and efficiently.

According to the method for lifting and recovering a plurality of underwater vehicles of the present invention, the operation of lifting and recovering underwater vehicles can be performed safely and efficiently. Also, by activating or deactivating the communication function and the observation function as necessary, the power consumption of the underwater vehicle can be reduced.

In addition, when a plurality of underwater vehicles are waiting for pick-up by a pick-up vessel, they are less affected by the drifting force of waves underwater than on the water surface. It is possible to prevent the medium cruising body from drifting.

In addition, when the underwater vehicle waits while circling in the water, the underwater vehicle, which is difficult to stay in one place, can be easily made to wait within a predetermined range.

In addition, when a water control system capable of moving in the vicinity of the water surface that controls multiple underwater vehicles is to be lifted after all of the multiple underwater vehicles have been lifted, Since the body can be lifted and recovered while the position and communication status are grasped by the water control system, the efficiency and safety of the lift and recovery work are improved.

In addition, when the plurality of underwater vehicles are on standby avoiding the position where the recovery vessel exists, it is possible to prevent the underwater vehicle on standby from colliding with the recovery vessel .

In addition, when the plurality of underwater vehicles wait while avoiding the position where the water control exists, it is possible to prevent the underwater vehicles on standby from colliding with the water control.

In addition, when stopping the cruising function of an underwater vehicle that rises to the surface of the water before surfacing to the water surface, floating matter, seaweed, etc. on the water surface may become entangled with the propellers, thrusters, etc. of the underwater vehicle. Damage can be prevented .

In addition , when lifting and recovering multiple underwater vehicles from underwater to the surface of the water, when lifting according to the lifting capacity considering the weather and sea conditions and / or the lifting time schedule considering the sunshine can lift and recover an underwater vehicle more safely and efficiently.

Further, according to the system for lifting and recovering a plurality of underwater vehicles of the present invention, the operation of lifting and recovering underwater vehicles can be performed safely and efficiently. Also, by activating or deactivating the communication function and the observation function as necessary, the power consumption of the underwater vehicle can be reduced.

In addition, when a plurality of underwater vehicles have a standby mode in which they wait in the water while waiting to be picked up by the recovery ship, underwater is less susceptible to the drifting force of waves than on the surface. It is possible to prevent the underwater vehicle from drifting during standby.

In addition, when a water control system capable of moving in the water near the surface of the water is further provided to control a plurality of underwater vehicles, the water control system alone or both the unloading ship and the water control system may be used for underwater navigation. Since the vehicle can be controlled, the underwater vehicle can be lifted and recovered more safely and efficiently. In addition, the standby position of the underwater vehicle waiting to be picked up can be further separated from the pick-up ship.

Further, if the lifting setting means has a function of setting a procedure for lifting the water control system to the lifting ship after all the underwater vehicles are lifted, all the underwater vehicles to be lifted Since the running body can be lifted and recovered while the position and communication status are grasped by the water control system, the efficiency and safety of the lifting and recovering work are improved.

Further, when the lifting setting means has a function of setting a plurality of underwater vehicles to wait while avoiding the position where the recovery ship exists, the waiting underwater vehicle may can be prevented from colliding with

Further, when the lifting setting means has a function to set a plurality of underwater vehicles to wait while avoiding a position where a water control system exists, the underwater vehicle in standby may can be prevented from colliding with

In addition, when the surfacing control means stops the cruising function of the underwater vehicle that floats to the surface of the water before surfacing to the water surface, floating matter, seaweed, etc. existing on the water surface may interfere with the propeller of the underwater vehicle. It is possible to prevent entanglement or damage to the thruster or the like .

In addition, if the underwater vehicle is equipped with meteorological/oceanographic acquisition means and/or sunshine acquisition means for picking up and recovering the underwater vehicle according to the pick-up ability and/or sunshine-acceptable pick-up time schedule, The underwater vehicle can be lifted and recovered safely and efficiently.

1 is a schematic configuration front view of a system for lifting and recovering a plurality of underwater vehicles according to an embodiment of the present invention; FIG. Schematic configuration plan view of the lifting and recovering system for the same plurality of underwater vehicles A diagram showing a configuration example of the lifting and collecting setting means Diagram showing a state in which a water control system and a plurality of underwater vehicles are placed on the lift-and-recovery vessel Diagram showing the work of lifting and recovering the underwater vehicle Schematic configuration diagram of an operation system using the same system Appearance perspective view showing an example of the underwater vehicle Control block diagram of the underwater vehicle Control flow diagram of the underwater vehicle Control block diagram of the water control system

A method for lifting and recovering a plurality of underwater vehicles and a system for lifting and recovering a plurality of underwater vehicles according to embodiments of the present invention will be described below.

FIG. 1 is a schematic configuration front view of a system for lifting and recovering a plurality of underwater vehicles, and FIG. 2 is a schematic configuration plan view of the system for lifting and recovering a plurality of underwater vehicles.
The system for picking up and recovering a plurality of underwater vehicles according to the present embodiment includes a pick-up vessel (mother ship) 10, a plurality of underwater vehicles 20 for exploring the bottom of the water, and can move in the water near the surface of the water. A water control system 30 for controlling an underwater vehicle 20; a lifting setting means 40 for setting the underwater vehicle 20 to be lifted up on the surface of the water based on the lifting capacity of the lifting vessel 10; surfacing control means 201 for controlling surfacing of the underwater vehicle 20 to the water surface based on settings made by the means 40; weather/ocean weather acquisition means 50 for raising and recovering the underwater vehicle 20 in consideration of weather/ocean conditions; A sunshine acquisition means 60 is provided for lifting and recovering the underwater vehicle 20 in consideration of sunshine.
The lifting setting means 40 , the meteorological/oceanographic obtaining means 50 , and the sunshine obtaining means 60 are provided in the lifting/recovering vessel 10 , and the surfacing control means 201 is provided in the underwater vehicle 20 . It should be noted that the pick-up setting means 40 can also be provided other than the pick-up vessel 10, such as being provided in the water control system 30. FIG. Also, the recovery ship (mother ship) 10 can be configured by separately setting up a recovery ship and a mother ship.
FIG. 1 shows a plurality of underwater vehicles 20 (first underwater vehicle 20A, second underwater vehicle 20B, third underwater vehicle 20C) that have completed survey (exploration) work in the ocean, lakes, and marshes. , and a state in which one water control system 30 is unloaded onto the unloading vessel 10. FIG. The underwater vehicle 20 and the water control system 30 were loaded on the recovery vessel 10, transported to the survey water area, and thrown into the survey water area.
The underwater vehicle 20 and the water control system 30 are unmanned, untethered and autonomously cruising robots.
Acoustic positioning means 304 and communication means 305 are provided on the underside of the water control system 30 placed near the water surface. The water control system 30 uses the acoustic positioning means 304 to measure the position of the underwater vehicle 20, and uses the communication means 305 to perform two-way communication with the underwater vehicle 20 using acoustic signals. A plurality of underwater vehicles 20 in the water are controlled using acoustic signals. Note that the dotted line extending from the lower portion of the water control system 30 in FIG. 1 indicates the spread of the acoustic signal transmitted from the water control system 30 toward the water.

The pick-up ship 10 is provided with pick-up means (input/pick-up equipment) 70 . The lifting means 70 is equipment including a crane that can be equipped or mounted on a general ship, and has a function of loading and unloading the underwater vehicle 20 and the water control system 30 . As a result, the underwater vehicle 20 and the water control system 30 can be launched and recovered using the same equipment.
Note that the pick-up vessel 10 may be a dedicated ship with the pick-up means 70 permanently installed, or a non-dedicated ship with the pick-up means 70 temporarily installed.
Further, communication means 101 is provided on the lower surface of the recovery boat 10 . The pick-up vessel 10 can perform two-way communication with the underwater vehicle 20 using the communication means 101 by using acoustic signals. It is used as a preliminary role and for underwater communication with the underwater vehicle 20 that has surfaced near the surface of the water. A dotted line extending from the bottom of the recovery vessel 10 in FIG. 1 indicates the spread of the acoustic signal transmitted from the recovery vessel 10 toward the water.

For the underwater vehicle 20, a rising time to start surfacing to be picked up by the pick-up vessel 10 is set using the pick-up setting means 40 before being thrown into the water. The surfacing control means 201 provided in each underwater vehicle 20 starts surfacing of itself when the surfacing time is reached.
The surfacing time is in accordance with the pick-up time schedule created by considering the time required for picking up each underwater vehicle 20 from the pick-up capacity of the pick-up vessel 10, and the pick-up times of the underwater craft 20 do not overlap. are determined differently for each underwater vehicle 20 as follows. As a result, the submersible vehicle 20 that has reached the surfacing time can be floated in order, and can be hoisted to the hoisting vessel 10 using the hoisting means 70 .
In this way, when the underwater vehicle 20 is lifted from the water, the underwater vehicle 20 is lifted to the surface of the water in sequence based on the lifting capacity of the lifting vessel 10, thereby safely and efficiently. The underwater vehicle 20 can be lifted and recovered.

The meteorological/oceanographic information acquiring means 50 provided in the salvage/recovery vessel 10 acquires the meteorological/seascape information of the time period during which the underwater vehicle 20 is scheduled to be salvaged. As a result, for example, using the acquired meteorological and oceanographic information, the significant wave height etc. at the time of lifting is predicted, and if the wave is expected to be higher than usual, the lifting of the underwater vehicle 20 per unit The influence of meteorological and sea conditions can be reflected in setting of the rising time of each underwater vehicle 20, such as setting the pick-up time schedule longer than usual.
Also, the sunshine acquisition means 60 provided in the salvage-and-recovery vessel 10 acquires the sunshine information during the time zone when the underwater vehicle 20 is scheduled to be salvaged. Although it is preferable that the sunshine information also takes into account the influence of the weather and the like, it may be estimated only based on the time zone. Also, the sunshine information may be corrected using weather forecasts and radar information such as rain clouds acquired by the meteorological/oceanographic acquisition means 50 . Moreover, when directly instructing to float, the sunshine acquisition means 60 may measure the sunshine and use it as the sunshine information. As a result, for example, by using the acquired sunshine information, the brightness of the external environment at the time of picking up and picking up is predicted, and when work in dim light is expected, the expected picking up time of the underwater vehicle 20 per unit is set longer than usual, the effect of sunshine can be reflected in setting the rising time of each underwater vehicle 20 for lifting.
In this way, when a plurality of underwater vehicles are lifted from the water to the water surface and picked up, the underwater vehicles 20 can be safely and efficiently lifted by considering at least one of the weather/sea conditions and the sunshine. It is possible to carry out the lifting and collection work of
In this embodiment, the meteorological/oceanographic acquisition means 50 and the sunshine acquisition means 60 are provided in the ship 10 , but they can also be provided in other than the ship 10 , such as in the water control system 30 .

The underwater vehicle 20 has a standby mode in which it waits underwater while it waits for the salvage vessel 10 to salvage it.
Since underwater is less affected by the drifting force of waves than on water, the underwater vehicle 20 can be prevented from drifting during standby by making the underwater vehicle 20 stand by in the water. It should be noted that the degree of influence of waves decreases as the depth increases.
The underwater vehicle 20 waiting underwater basically has a standby position near the bottom of the water, which is less susceptible to the drifting force of waves. It can also be a position.

Further, the underwater vehicle 20 can be made to stand by while migrating in a predetermined migratory area X in the water. As a result, the underwater vehicle 20 that is difficult to stay in one place, such as the cruising type underwater vehicle 20, can be easily made to stand by within a predetermined range. In addition, excursion includes turning and continuous or discontinuous movement.
In FIG. 1, the second underwater vehicle 20B and the third underwater vehicle 20C wait while migrating in the migration area X set near the bottom of the water, and the second underwater vehicle 20B and the third underwater vehicle 20C leave the migration area X due to the arrival of the surfacing time. The first underwater vehicle 20A is shown rising towards the position.
The excursion area X is basically set near the bottom of the water, but can be arbitrarily set according to the topography, the performance of the underwater vehicle 20, and the like. Also, the migration area X may be set differently for each underwater vehicle 20 .

The pick-up setting means 40 has a function of setting the underwater vehicle 20 to wait while avoiding the position where at least one of the pick-up vessel 10 and the water control system 30 exists.
This prevents the underwater vehicle 20 on standby from colliding with the recovery vessel 10 or the water control system 30 .

In addition, the surfacing control means 201 stops the cruising function of the underwater vehicle 20 rising to the surface of the water before the underwater vehicle 20 rises to the surface of the water.
The underwater vehicle 20 often turns on the cruising function to drive the propellers, thrusters, etc. in order to increase the ascent speed when surfacing. is turned off, it is possible to prevent the propellers, thrusters, etc. of the underwater vehicle 20 from being entangled or damaged by floating matter, seaweed, etc. on the surface of the water.

When the underwater vehicle 20 rises to the water surface, the surfacing control means 201 stops unnecessary communication functions and observation functions of the underwater vehicle 10 and activates necessary communication functions and observation functions.
When the underwater vehicle 20 floats up for recovery, an observation function for underwater exploration such as an observation sonar is not required. In addition, since the acoustic communication function cannot function after surfacing to the water surface, it is unnecessary. Therefore, power consumption of the underwater vehicle 20 can be reduced by stopping the observation function and the acoustic communication function when they become unnecessary. Observation sonar, in particular, consumes a large amount of power, so stopping the observation function is effective in reducing power consumption.
Further, the underwater vehicle 20 floating on the surface of the water activates an antenna having a radio wave transmission/reception function to activate a communication function, thereby enabling radio wave communication with the recovery ship 10 and the water control system 30 . Even if the acoustic communication function and the radio wave communication function are always turned on, they naturally start and stop as the underwater vehicle 20 rises or dives. can be turned on and off to further reduce power consumption.

As shown in FIG. 2, the recovery vessel 10 is provided with display means 701 . The display means 701 displays the order of picking up and recovering the underwater vehicle 20, such as an electronic bulletin board, a computer monitor, or a number given to the underwater vehicle 20. FIG. Note that the display means 701 may also display the input order. By providing the display means 701, it is possible to prevent mistakes in the lifting and recovering order of the plurality of underwater vehicles 20, thereby improving work efficiency and safety.

Further, the water control system 30 waits at a position a predetermined distance H away from the salvage-and-recovery vessel 10 while the plurality of underwater vehicles 20 are being salvaged. The predetermined distance H is such that the underwater vehicle 20 that has not been lifted up does not collide with the underwater vehicle 20 that is surfacing and does not interfere with the lifting operation of the underwater vehicle 20. within the range where the control can be performed. This further improves the efficiency and safety of the lifting operation. In addition, the predetermined distance H may be set as a predetermined distance H1 from the lifting position of the underwater vehicle 20, or may be set as a predetermined distance H2 from the side of the ship.

FIG. 3 is a diagram showing a configuration example of the lift-and-collect setting means.
The lifting conditions for the underwater vehicle 20 are set by selecting an icon displayed on the monitor screen 80 of the lifting setting means 40 or the like.
FIG. 3 shows an underwater vehicle selection icon 801 used for selecting the underwater vehicle 20 to be set, a water control system selection icon 802 used for selecting the water control system 30, A lifting capacity setting icon 803 used for setting the lifting capacity, etc., a lifting order setting icon 804 used for setting the lifting order of the underwater vehicle 20, and an exploration icon 804 used for setting the exploration area of the underwater vehicle 20. A region setting icon 805, a surfacing instruction icon 806 used for direct surfacing instruction to the underwater vehicle 20, a display icon 807 for displaying the operation status of the lifting setting means 40, warnings, etc., and for initializing settings, etc. It shows a state in which a reset icon 808 to be used is displayed.

When the lifting capacity setting icon 803 is touched, another screen opens and the lifting capacity can be set. The pick-up capacity is the ability of the pick-up vessel 10 to pick up the underwater vehicle 20, and includes the operating time of the pick-up means 70, the time required to catch the underwater vehicle 20, and the capacity of the pick-up vessel 10. Based on the performance of the pick-up vessel 10 such as moving speed, the number of personnel involved in the pick-up, the weather and sea conditions, etc., the work time is aggregated and set. Alternatively, movement speed, number of personnel, weather and sea conditions, etc., other than the operation time and the time required for capturing, are aggregated into the work time using the time conversion function held in advance in the pick-up setting means 40 and set.
After setting the lifting capacity, the time required for lifting after surfacing of each underwater vehicle 20 is derived based on the lifting capacity, and the lifting order and rising time of each underwater vehicle 20 are assigned. A collection time schedule is created. According to the created lifting time schedule, the lifting order and surfacing time are set for each underwater vehicle 20 .
It is also possible to arbitrarily set the lifting order of the underwater vehicle 20 using the lifting order setting icon 804 .

Underwater vehicle selection icon 801 corresponds to the number of underwater vehicles 20 to be thrown into the survey water area. It consists of a second underwater vehicle selection icon 801B for selecting the second underwater vehicle 20B and a third underwater vehicle selection icon 801C for selecting the third underwater vehicle 20C.
When one of the underwater vehicle selection icons 801 is touched, the search area setting icon 805 becomes functional, and a plurality of waypoints (depth and position) are set as the search area setting for the selected underwater vehicle 20. Settings (including setting waypoints to pass in standby mode) are possible. Waypoints can be set by manual input or by collective reading via the reading means.
Further, the exploration area of another underwater vehicle 20 to be set next is set so that the time does not overlap with the waypoint of the underwater vehicle 20 whose exploration area has been previously set, and even if it approaches, it is set at a predetermined distance. Waypoints and times are set with a range so that the time can be maintained. If a dangerous waypoint is set manually, a warning is displayed on the display icon 807 (similarly in the standby mode).
The exploration area of the underwater vehicle 20 can also be set using the exploration condition setting means 206, which will be described later. Also, the predetermined distance is determined based on the respective cruising speed, dimensions, etc. of the underwater vehicle 20 .

Since the water control system 30 plays a role of controlling the underwater vehicle 20, the loading order is automatically set first and the pick-up order is automatically set last.
In this way, the lifting setting means 40 has the function of setting the procedure for lifting the water control system 30 after all of the plurality of underwater vehicles 20 have been lifted. Since the medium-sized running body 20 can be lifted while grasping the position and the communication state by the water control system 30, the efficiency and safety of the lifting work are improved.

For the underwater vehicle 20, after setting the waypoints including the standby mode, it is possible to instruct the underwater vehicle 20 to automatically surface by setting the surface time. By operating the instruction icon 806, it is also possible to directly instruct any underwater vehicle 20 to surface.
However, even if a surfacing command is directly given to an arbitrary underwater vehicle 20, the rising time of the next underwater vehicle 20 is set to the lifting capacity setting icon in the same manner as in the case of automatically sequentially instructing surfacing. It is determined based on the lifting capacity set using 803.

Also, if a setting is partially incorrect due to erroneous input or the like, the reset icon 808 can be operated to correct and re-input. By long-pressing the reset icon 808, all settings can be reset.

FIG. 4 is a diagram showing a state in which a water control system and a plurality of underwater vehicles are placed on a recovery ship, and FIG. 5 is a diagram showing the operation of recovering the underwater vehicles.
The ship 10 includes an underwater vehicle mounting base 702 on which the underwater vehicle 20 is mounted, and a water control system mounting base 703 on which the water control system 30 is mounted. A replacement means 704 is provided under the mounting base 702 for the underwater vehicle, and a replacement means 705 is provided under the mounting base 703 for the water control system.
In this embodiment, the replacement means 704 and 705 are casters. According to the order of lifting and recovering the underwater vehicle 20 and the water control system 30, the positional relationship of the underwater vehicle mounting base 702 and the water control control mounting base 703 with respect to the lifting means 70 is changed by the switching means 704 and 705. be able to. As a result, the plurality of underwater vehicles 20 and water control bodies 30 can be stably placed and replaced, and the lifting operation can be performed smoothly. FIG. 5 shows a state in which an underwater vehicle mounting base 702 is arranged at a predetermined position on the salvaging vessel 10 when the second underwater vehicle 20B is to be lifted and recovered.
The exchange means 704 and 705 may be a robot arm, a conveyor, or the like that moves the underwater vehicle mounting base 702 and the water control system mounting base 703 to change the positional relationship with respect to the lifting/storage means 70 .

FIG. 6 is a schematic configuration diagram of an operation system using a lifting system, and FIG. 7 is an external perspective view showing an example of an underwater vehicle.
In FIG. 6 , one water control system 30 is launched into a survey water area in the ocean, lakes, etc., and a plurality of underwater vehicles 20 are launched to explore the bottom of the water to find mineral resources, energy resources, and hot water. It shows the state of conducting survey work on deposits, etc.

For the water control system 30, an offshore repeater (ASV: Autonomous Surface Vehicle) is used. The water control system 30 includes a cylindrical main body 30a with a hemispherical end, and vertical wings 30b extending from the upper surface of the main body 30a. The water control system 30 launched from the salvage and recovery vessel 10 to the survey water area is used in a state where the body 30a is submerged and the upper part of the vertical wing 30b protrudes above the water surface. Self-positioning means 301 such as GPS and maritime communication means 302 such as a satellite communication antenna and a wireless LAN antenna are mounted on the upper portion of the vertical wing 30b. The water control system 30 can grasp its own position by receiving GNSS signals from the GNSS (global navigation satellite system) satellites 1 using the self-positioning means 301 . Also, communication with the recovery vessel 10 can be performed using the maritime communication means 302 .
A moving means 303 having a rudder and a propeller is provided at the rear portion of the main body 30a, and the water control system 30 can move near the surface of the water by the moving means 303. FIG.
Further, acoustic positioning means 304 and communication means 305 are provided on the lower surface of the main body 30a. The communication means 305 has a wave transmitter that transmits sound waves and a wave receiver that receives sound waves. The water control system 30 uses the acoustic positioning means 304 to measure the position of the underwater vehicle 20, and uses the communication means 305 to perform two-way communication with the underwater vehicle 20 using acoustic signals. 20 are controlled. Acoustic signals transmitted underwater from the water control system 30 can easily reach a substantially conical range with the water control system 30 as the apex. A control area Y is controlled.
Although the recovery ship 10 can control the underwater vehicle 20, by using the water control system 30, the water control system 30 alone or both the recovery ship 10 and the water control system 30 can control underwater navigation. Since the vehicle 20 can be controlled, the underwater vehicle 20 can be lifted and recovered safely and efficiently. In addition, the standby position of the underwater vehicle 20 waiting to be unloaded can be further separated from the unloading vessel 10. - 特許庁

The underwater vehicle 20 is an autonomous underwater vehicle (AUV) that autonomously navigates underwater without using a cable for connection with the water control system 30 . Since the water control system 30 controls a plurality of underwater vehicles 20 by using acoustic signals, there is no need to provide equipment for cables in the water control system 30, and the cables are not entangled and the water control system is controlled by the cables. Movement of the body 30 is not restricted.
The underwater vehicle 20 includes navigation means 202 such as a rudder and a propeller, and ballast (weight) 203, and can navigate and dive underwater.
The underwater vehicle 20 includes self-positioning means 204 used to measure its own position, communication means 205 for two-way communication with the recovery ship 10 or the water control system 30 using acoustic signals or radio signals, Acoustic transponders (not shown) are provided to respond to signals emitted by the acoustic positioning means 304 of the water control system 30 . The communication means 205 has a sound wave transmitter/receiver and a radio wave transmitter/receiver (antenna).
When the underwater vehicle 20 fails in positioning by the water control system 30 a predetermined number of times or when communication with the water control system 30 fails a predetermined number of times, the underwater vehicle 20 can be urgently surfaced and recovered by the recovery vessel 10. can.
The first underwater vehicle 20A is of a hovering type and can travel at a slower speed than the second underwater vehicle 20B and the third underwater vehicle 20C. In addition, the first underwater vehicle 20A has a vertical thruster and a horizontal thruster, and has a higher degree of freedom of movement than the second underwater vehicle 20B and the third underwater vehicle 20C. Because it can hold its position, it is mainly responsible for precise survey work near the bottom of the water. The first underwater vehicle 20A is provided with an imaging means 213A as an observation means 213 for taking an image of the bottom of the water. 213 A of imaging means are cameras provided with illumination, for example.
FIG. 7(a) is an upper perspective view of the second underwater vehicle 20B, and FIG. 7(b) is a lower perspective view of the second underwater vehicle 20B. The second underwater vehicle 20B is a cruising type and can move more agilely and at high speed than the first underwater vehicle 20A.
The second underwater vehicle 20B is provided with, as the observation means 213, topography survey means 213B for surveying the topography of the water bottom and stratum survey means 213C for surveying the strata under the water bottom. The topography survey means 213B and stratum survey means 213C are, for example, sonar.
In addition, the second underwater vehicle 20B has a navigation means 202 such as a rudder and a propeller, and a ballast 203 . The ballast 203 is detachably attached to the second underwater vehicle 20B.
The third underwater vehicle 20C basically has the same configuration as the second underwater vehicle 20B.

Next, control of the underwater vehicle 20 will be described with reference to FIGS. 8 and 9. FIG.
FIG. 8 is a control block diagram of the underwater vehicle, and FIG. 9 is a control flow chart of the underwater vehicle.
The underwater vehicle 20 includes surfacing control means 201, navigation means 202, ballast 203, self-positioning means 204, communication means 205, exploration condition setting means 206, depth gauge 207, exploration mission execution means 208, transmission means 209, A recording means 210 , a cruising speed setting section 211 , a cruising control section 212 , an observation means 213 , a lifting condition storage section 214 , and a excursion area determination section 215 are provided.
The communication means 205 has a sonic wave transmitter/receiver 205A for acoustic communication and a radio wave transmitter/receiver (antenna) 205B for radio wave communication.
The exploration mission execution means 208 has a depth control section 208A, a diving control section 208B, a position estimation section 208C, a time management section 208D, and a mission control section 208E.
The cruise control unit 212 has a control area determination unit 212A.

Before the operator on board the salvage-and-recovery ship 10 puts the underwater vehicle 20 into the exploration water area from the salvage-and-recovery ship 10, the underwater vehicle 20 rises to the surface using the salvage setting means 40. By entering the time and the order of pick-up and pick-up, the pick-up and pick-up conditions are set. The speed setting unit 211 is used to set the speed of the underwater vehicle 20 (step 1). The set lifting conditions are stored in the lifting conditions storage unit 214 .
It is also possible to use the search condition setting means 206 provided in the underwater vehicle 20 to input information necessary for setting search conditions. In addition, the lifting conditions set for the plurality of underwater vehicles 20 using the lifting setting means 40 or the exploration condition setting means 206 can be set by receiving instructions from the lifting ship 10 via the water control system 20. , or automatically based on a schedule programmed into the water control system 20 .

After step 1, a plurality of underwater vehicles 20 are thrown into the water according to the order of throwing in using lifting means (throwing/lifting equipment) 70 (step 2).
The water control system 30 that has been launched prior to the launch of the underwater vehicle 20 starts controlling the launched underwater vehicle 20 .

After step 2, the underwater vehicle 20 that has been thrown dives to the depth of the exploration area set in step 1 (step 3).
The cruising is performed using the cruising means 202 and the ballast 203. If the cruising means 202 is stopped and the vessel is submerged only by the weight of the ballast 203, fuel can be saved.
Each underwater vehicle 20 measures the depth and position of its own vehicle using the depth gauge 207 and the own vehicle positioning means 204 for diving, and performs an exploration mission having a depth control section 208A, a diving control section 208B, and a position estimation section 208C. The execution means 208 controls the cruise control section 212 according to the set depth of the exploration area and the like. The cruising control unit 212 controls the cruising means 202 according to the control by the exploration mission accomplishing means 208 and the cruising speed set by the cruising speed setting unit 211 .
The self-machine position measurement by the self-machine positioning means 204 is performed by, for example, installing a speed sensor and a gyro sensor, and detecting and calculating the speed and acceleration of the self-machine.

After step 3, the underwater vehicle 20 that has reached the set exploration depth starts sailing (step 4).
Each underwater vehicle 20 that has started cruising at the set exploration depth measures its position using its own positioning means 204 and transmits it to the exploration mission accomplishing means 208 . The exploration mission accomplishing means 208 controls the navigation controller 212 so that the underwater vehicle 20 navigates the exploration area set in step 1 . The cruising control unit 212 controls the cruising means 202 according to the control by the exploration mission accomplishing means 208 and the cruising speed set by the cruising speed setting unit 211 . Thereby, the underwater vehicle 20 navigates the investigation area (step 5).
The exploration mission execution means 208 having a time management unit 208D that manages time follows the navigation route set in step 1 and performs navigation control so that the navigation trajectory does not overlap with another underwater vehicle 20 at the same time. 212.

The navigation control unit 212 controls the navigation unit 202 based on the estimated position and depth of the aircraft received from the exploration mission execution unit 208 and the state of communication with the water control system 30 to control the control area of the water control system 30. The underwater vehicle 20 is caused to sail within Y (step 6). As for the communication state, the communication state with the water control system 30 is measured using the communication means 205, the measurement result is transmitted to the exploration mission execution means 208, and the exploration mission execution means 208 measures the signal/noise ratio (S/N ratio ).
Further, the cruise control unit 212 has a control area determination unit 212A, and determines whether or not the own aircraft is located within the control area Y based on the estimated position of the own aircraft and the state of communication with the water control system 30. Periodically judge (step 7).

If it is determined in step 7 that the aircraft is within the control area Y, the exploration mission is carried out (step 8).
In step 8, the mission control section 208E of the exploration mission accomplishing means 208 controls the imaging means 213A provided on the first underwater vehicle 20A, so that an image of the bottom of the water can be photographed. Also, the mission control unit 208E can obtain information on the topography of the water bottom and the strata below the water bottom by controlling the topography survey means 213B and the stratum survey means 213C provided in the second underwater vehicle 20B.
The results of the exploration mission, such as the obtained photographed images, the topography of the water bottom, and the information on the strata below the water bottom, are recorded in a recording means 210 such as a hard disk or magnetic tape. Also, after processing such as encoding is performed by the transmission means 209, it is transmitted to the water control system 30 using the communication means 205 (step 9).

After step 9, when the search mission accomplishing means 208 determines that the set search mission has been completed, it ends the search mission (step 10).

After step 10, the ascent control means 201 determines whether or not the set ascent time has been reached (step 11).

In step 11, when it is determined that the rising time has come, the rising control means 201 makes the aircraft rise (step 12).
When the underwater vehicle 20 rises to the water surface, the levitation control means 201 stops the observation function of the observation means 213 and the communication function of the sonic wave transmitter/receiver 205A, and activates the communication function of the radio wave transmitter/receiver 205B.

If it is determined in step 11 that the rising time has not yet been reached, the rising control means 201 shifts to a standby mode in which the aircraft waits underwater (step 13).

After step 13, the levitation control means 201 moves the aircraft to the preset excursion area X, and according to the determination of the excursion area determination unit 217 that determines whether or not the aircraft exists within the excursion area X. It is caused to migrate within the migration area X (step 14). In addition, when the own machine exists in the excursion area X set in advance, it shifts to excursion.
In addition, the cruise control unit 212 controls the cruise means 202 based on the estimated position and depth of the aircraft received from the exploration mission execution means 208 and the state of communication with the water control system 30, and cruises within the excursion area X. The underwater vehicle 20 is caused to sail within the control area Y of the water control system 30 (step 15).

Further, in step 7, if it is determined that the aircraft is not within the control area Y, the exploration mission accomplishing means 208 continues not to be within the control area Y even after the predetermined waiting time has passed. , it is determined that exploration cannot be continued, and the process proceeds to step 12 to surface the own aircraft.
Before floating, the position of the aircraft is estimated by the position estimator 208C based on the positioning results of the aircraft positioning means 204, etc., and it is determined whether or not it is possible to return to the control area Y, and it is determined that it is not possible to return. You may make it float in case.
Further, after step 10, even if the rising time has not yet been reached, if a rising instruction is given using the rising instruction icon 806 of the lifting setting means 40, the process proceeds to step 12 to start the aircraft. levitate.

FIG. 10 is a control block diagram of the water control.
The water control system 30 includes self-localization means 301 , maritime communication means 302 , movement means 303 , acoustic positioning means 304 , communication means 305 , control setting section 306 and movement control means 307 .
The movement control means 307 has a number management section 307A, a standby control section 307B, a position estimation section 307C, a cruising recording section 307D, and a control determination section 307E.

Before launching the water control system 30 from the ship 10 to the survey water area, the operator on board the ship 10 uses the control setting unit 306 to set the water control system 30 to the water control system. 30 movement range, the number and performance of the underwater vehicle 20 to be controlled, the depth, and other information necessary for control are entered to set the control.
The water control system 30 launched into the survey water area starts control over the underwater vehicle 20 that is launched later. First, the acoustic positioning means 304 is used to measure the position of each of the plurality of underwater vehicles 20 , and the positioning results are transmitted to the movement control means 307 .
Also, the communication state with each of the plurality of underwater vehicles 20 is measured using the communication means 305 and the measurement results are transmitted to the movement control means 307 . The communication state is grasped, for example, by a signal/noise ratio (S/N ratio).
The movement control means 307 records the respective cruising routes of the plurality of underwater vehicles 20 along with the time in the cruising recording section 307D based on the received positioning results and measurement results of the communication state.

The number management unit 307A compares the number of underwater vehicles 20 input in the control settings with the number of underwater vehicles 20 whose navigation routes are recorded, and determines the total number of underwater vehicles 20 to be controlled. is located within the control area Y.
When it is determined that the number of underwater vehicles 20 to be controlled and the number of underwater vehicles 20 whose cruising routes are recorded are the same or greater, that is, all the underwater vehicles 20 to be controlled are within the control area Y. , the result is transmitted to the control determination unit 307E.

On the other hand, when the number management unit 307A determines that the number of underwater vehicles 20 whose cruising routes are recorded is smaller than the number of underwater vehicles 20 to be controlled, that is, when the number of underwater vehicles 20 to be controlled 20 is out of the control area Y, the position estimation unit 307C determines the control area Y Estimate the direction in which the underwater vehicle 20 is located outside the .
Further, the standby control unit 307B determines whether or not a predetermined time has passed since it was first detected that the underwater vehicle 20 left the control area Y.
If it is determined that the predetermined time has not elapsed, it is determined again whether or not all the underwater vehicles 20 to be controlled are within the control area Y.
Further, when determining that the predetermined time has passed, the standby control unit 307B transmits the determination result to the control determination unit 307E and instructs the water control unit 30 to start moving. As a result, the moving means 303 operates and the water control system 30 moves.
Even if it is determined that some or all of the underwater vehicles 20 to be controlled have left the control area Y, the underwater vehicles 20 that have left the control area Y may return to the control area Y by themselves. There is also a possibility that it is erroneously detected as being outside the control area Y due to a temporary positioning/communication failure, although it is actually located within the control area Y. In moving the control body 30, the water control body 30 moves unnecessarily by waiting for a predetermined time after detecting that the underwater vehicle 20 has left the control area Y, and repeating the judgment for a predetermined number of times during that time. can be reduced. As a result, waste of energy of the water control system 30 and deviation of the underwater vehicle 20 located within the control area Y can be prevented.
Further, the position estimating unit 307C estimates the direction in which the underwater vehicle 20 that is outside the control area Y exists based on the cruising route of the underwater vehicle 20 recorded in the cruising recording unit 307D. The control means 307 controls the movement means 303 based on this estimation result, thereby improving the control accuracy and movement efficiency of the water control system 30, and moving the underwater vehicle 20 out of the control area Y into the control area Y. can be returned quickly.

The control determination unit 307E determines whether or not to change the control setting based on the determination result sent from the number management unit 307A or the standby control unit 307B.
At this time, when the determination result is received from the number management unit 307A and the number of underwater vehicles 20 to be controlled and the number of underwater vehicles 20 whose navigation routes are recorded are the same, the control Do not change settings.
Further, when the determination result is received from the number management unit 307A, and when the number of underwater vehicles 20 whose navigation routes are recorded is greater than the number of underwater vehicles 20 to be controlled, control The setting unit 306 changes the control setting to include the underwater vehicle 20 that has returned to the control area Y. FIG. As a result, control can be continued including the underwater vehicle 20 that has returned to the control area Y.
Further, when receiving the determination result from the standby control unit 307B, that is, when receiving the determination result that there is an underwater vehicle 20 that has left the control area Y, the control setting unit 306 moves out of the control area Y. The control setting is changed to exclude the underwater vehicle 20. As a result, the control can be continued except for the underwater vehicle 20 that has left the control area Y.

The method for lifting up a plurality of underwater vehicles and the system for lifting up a plurality of underwater vehicles according to the present invention safely lift and recover the underwater vehicles in underwater exploration using a plurality of underwater vehicles. and efficiently.

10 Lifting and recovering ship 20 Underwater vehicle 201 Floating control means 30 Water control system 40 Lifting and recovering setting means 50 Meteorological and oceanographic acquisition means 60 Sunshine acquiring means 70 Lifting and recovering means (input/lifting equipment)

Claims (16)

When a plurality of underwater vehicles for exploring the bottom of the sea are lifted from the water by a lifting and recovering ship, based on the lifting capacity set collectively for the work time of the lifting and recovering ship, and the lifting and recovering capacity In accordance with the created lifting time schedule, the plurality of underwater vehicles are lifted according to surfacing times determined by varying the lifting times for each of the underwater vehicles so that the lifting and recovering times of the plurality of underwater vehicles do not overlap. It is characterized by successively surfacing and recovering from the surface of the water , stopping unnecessary communication functions and/or observation functions of the underwater vehicle, and activating the necessary communication functions and/or observation functions . A method for lifting and recovering a plurality of underwater vehicles. 2. The method for lifting and recovering a plurality of underwater vehicles according to claim 1, wherein the plurality of underwater vehicles are on standby in the water while waiting to be picked up by the recovery ship. 3. The method for lifting and recovering a plurality of underwater vehicles according to claim 2, wherein the underwater vehicles circulate in the water and stand by. A water control system capable of moving in the vicinity of the water surface for controlling the plurality of underwater vehicles is lifted up after all the plurality of underwater vehicles are lifted up. 4. The method for lifting and recovering a plurality of underwater vehicles according to any one of 3. Any one of claim 2, claim 3, or claim 4 citing claim 2, wherein the plurality of underwater vehicles waits avoiding the position where the recovery ship exists. 2. The method for lifting and recovering a plurality of underwater vehicles described in . 5. The method for lifting and recovering a plurality of underwater vehicles according to claim 4, wherein the plurality of underwater vehicles wait while avoiding the position where the water control system exists. 7. A plurality of underwater cruising objects according to any one of claims 1 to 6 , wherein the cruising function of the underwater vehicle that floats on the water surface is stopped before surfacing to the water surface. body lifting method. In raising and recovering a plurality of underwater vehicles from the water to the surface of the water, lifting and recovering according to the lifting capacity considering the weather and sea conditions and/or the lifting time schedule considering the sunshine. A method for lifting and recovering a plurality of underwater vehicles according to any one of claims 1 to 7. A pick-up vessel having a pick-up means, a plurality of underwater vehicles for exploring the bottom of the water, a pick-up capacity aggregated to work hours of the pick-up ship, and based on the pick-up capacity In accordance with the lifting time schedule created by the method, according to the surfacing time determined by varying each of the underwater vehicles so that the lifting times of the plurality of underwater vehicles do not overlap. lifting setting means for setting the underwater vehicle; and control of the floating of the underwater vehicle to the water surface based on the setting by the lifting setting means, and the floating of the underwater vehicle to the water surface. and levitation control means for stopping unnecessary communication functions and/or observation functions of the underwater vehicle and activating necessary communication functions and/or observation functions . An underwater vehicle lift-and-recovery system. 10. The system for picking up and recovering a plurality of underwater vehicles according to claim 9, wherein the plurality of underwater vehicles have a standby mode in which they wait underwater while they wait for being picked up by the recovery ship. . 11. The hoisting of a plurality of underwater vehicles according to claim 9 or 10, further comprising a water control system capable of moving in the water near the water surface for controlling the plurality of underwater vehicles. collection system. 12. The method according to claim 11, wherein said lifting setting means has a function of setting a procedure for lifting said water control system to said lifting vessel after all said underwater vehicles are lifted. A system for lifting and recovering a plurality of underwater vehicles as described. Claim 10, Claim 11, or wherein said lifting and recovery setting means has a function of setting a plurality of said underwater vehicles to wait while avoiding a position where said recovery and recovery boat exists. A system for lifting and recovering a plurality of underwater vehicles according to any one of claims 12 citing claim 10 . Claim 11 citing claim 10, wherein the lifting and recovering setting means has a function of setting the plurality of underwater vehicles to wait while avoiding the position where the water control system exists. A system for lifting and recovering a plurality of underwater vehicles according to . 15. The surfacing control means according to any one of claims 9 to 14 , characterized in that the cruising function of the underwater vehicle surfacing to the surface of the water is stopped before surfacing to the surface of the water. multiple underwater vehicle lift and recovery systems. Meteorological/oceanographic information obtaining means and/or sunshine obtaining means for lifting and recovering the underwater vehicle according to the picking-up/storage capacity considering meteorological/oceanic conditions and/or the pick-up/storage time schedule considering sunshine. A system for lifting and recovering a plurality of underwater vehicles according to any one of claims 9 to 15.

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