JPH04349093A - Submergible unmanned running boat - Google Patents
Submergible unmanned running boatInfo
- Publication number
- JPH04349093A JPH04349093A JP3014460A JP1446091A JPH04349093A JP H04349093 A JPH04349093 A JP H04349093A JP 3014460 A JP3014460 A JP 3014460A JP 1446091 A JP1446091 A JP 1446091A JP H04349093 A JPH04349093 A JP H04349093A
- Authority
- JP
- Japan
- Prior art keywords
- umbilical cable
- underwater
- teardrop
- sail
- floating body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000002485 combustion reaction Methods 0.000 claims abstract description 7
- 238000004804 winding Methods 0.000 claims abstract description 5
- 230000001141 propulsive effect Effects 0.000 abstract 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 9
- 230000009189 diving Effects 0.000 description 2
- 238000011835 investigation Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- CCEKAJIANROZEO-UHFFFAOYSA-N sulfluramid Chemical group CCNS(=O)(=O)C(F)(F)C(F)(F)C(F)(F)C(F)(F)C(F)(F)C(F)(F)C(F)(F)C(F)(F)F CCEKAJIANROZEO-UHFFFAOYSA-N 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【０００１】0001
【産業上の利用分野】本発明は、水中観測作業等に使用
され、特にその機動性に優れた水中観測用の可潜式無人
航走体に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a submersible unmanned vehicle for underwater observation which is used for underwater observation work and has particularly excellent maneuverability.
【０００２】0002
【従来の技術】水中観測作業などに従事する無人水中航
走体としては、内外において数多くのものが知られてい
る。しかし、これら従来の無人水中航走体は、有索航走
体と無索自律航走体の２種類に大別できる。すなわち、
有索航走体は、母船あるいは陸上などのコントロール装
置からアンビリカルケーブルを介して制御信号を水中航
走体に送り、水中航走体の操作を制御するものである。
この場合、動力はアンビリカルケーブルを介して送られ
る電気によるものが一般的である。また、無索自律航走
体は、予めプログラムされた走行パターンに従って航走
するもので、水中では給気が不可能なため、バッテリー
駆動のものが一般的である。2. Description of the Related Art Many unmanned underwater vehicles used for underwater observation work are known both domestically and internationally. However, these conventional unmanned underwater vehicles can be roughly divided into two types: cabled and autonomous underwater vehicles. That is,
A cabled cruising vehicle sends a control signal to the underwater vehicle from a control device such as a mother ship or land via an umbilical cable to control the operation of the underwater vehicle. In this case, the power is generally electricity sent via an umbilical cable. In addition, untethered autonomous vehicles navigate according to pre-programmed travel patterns, and because they cannot be supplied with air underwater, they are generally battery-powered.
【０００３】そこで、有索航走体の場合、アンビリカル
ケーブルの長さの制約から使用海域に母船が行き、そこ
から無人航走体を操縦する必要がある。母船は航走速度
が遅いため、無人航走体が目的海域での調査、観測など
の作業を開始するまでにはかなりの時間を要し、迅速な
展開が不可能であるという問題があった。また、例えば
、海底火山の噴火現場の水中調査のような作業の場合、
母船がそのような調査海域に停まることは危険が多く、
有索無人航走体の使用は安全性の上で困難である。[0003] Therefore, in the case of a cabled cruising vehicle, due to restrictions on the length of the umbilical cable, it is necessary for a mother ship to go to the sea area where it will be used and to operate the unmanned cruising vehicle from there. Because the mother ship's cruising speed is slow, it takes a considerable amount of time for the unmanned vehicle to begin investigations and observations in the destination area, making rapid deployment impossible. . In addition, for example, in the case of work such as underwater investigation of the eruption site of an undersea volcano,
It is very dangerous for a mother ship to stop in such a survey area.
The use of cabled unmanned vehicles is difficult from a safety standpoint.
【０００４】一方、無索自律航走体の場合、潜水航走す
れば高速化を図ることは可能であるが、水中での給気が
不可能なためバッテリー駆動となり、その航続時間は極
めて短かく、遠距離での使用は困難であるという問題が
あった。また、海中のため、自己位置の同定が難かしく
、予めプログラムされた目標位置からに偏差の修正が困
難であるという問題があった。On the other hand, in the case of untethered autonomous vehicles, it is possible to increase the speed by submerging, but since it is impossible to supply air underwater, they are powered by batteries, and their cruising time is extremely short. Therefore, there was a problem that it was difficult to use it at a long distance. In addition, since it is underwater, it is difficult to identify its own position, and it is difficult to correct deviations from a pre-programmed target position.
【０００５】[0005]
【発明が解決しようとする課題】本発明の目的は、調査
、観測などの作業海域までの距離が長くても迅速な航走
速度で到達でき、しかも母船または陸上などからの遠隔
操作により安全に無人航走体の操縦が行なえ、さらにそ
の無人航走体の位置の把握を容易に行ないうる可潜式無
人航走体を提供することにある。[Problems to be Solved by the Invention] An object of the present invention is to be able to reach work areas such as surveys and observations at a fast cruising speed even if the distance is long, and to be able to reach them safely by remote control from a mother ship or land. To provide a submersible unmanned vehicle capable of controlling the unmanned vehicle and easily determining the position of the unmanned vehicle.
【０００６】[0006]
【課題を解決するための手段】すなわち、本発明の可潜
式無人航走体は、内燃機関及びバッテリーを動力源とし
た推進装置を内設する涙滴型船体の上部に突出したセイ
ル上に、遠隔操縦自在の送受信装置及びアンビリカルケ
ーブル巻取ウインチを内蔵した浮体を、アンビリカルケ
ーブルで相互接続しながら切離し可能に取付けることに
より構成され、涙滴型船体を水中に没してセイルの上部
のみを水上に出した状態で水上航走することで、水の抵
抗が少ない高速航走ができ、しかもこの状態でセイルを
介して取入れた空気で内燃機関を動力とした推進による
航続距離の長い航走ができ、さらに浮体内の送受信装置
が水上の浮体にあるので、母船または陸上などからの遠
隔操縦が容易に行なえる。[Means for Solving the Problems] That is, the submersible unmanned vehicle of the present invention has a sail protruding from the top of a teardrop-shaped hull in which a propulsion device powered by an internal combustion engine and a battery is installed. , a floating body with a built-in remotely controllable transmitting/receiving device and an umbilical cable winding winch is interconnected with an umbilical cable and detachably attached.The teardrop-shaped hull is immersed in water and only the upper part of the sail is removed. By sailing on the water while it is out on the water, it is possible to sail at high speed with less water resistance, and in this state, the air taken in through the sail is used for propulsion powered by an internal combustion engine, allowing for long cruising distance. Furthermore, since the transmitting and receiving device inside the floating body is located on the floating body above the water, remote control from the mother ship or land can be easily performed.
【０００７】また、目標海域ではアンビリカルケーブル
を繰り出し、浮体だけを海面上に残し、セイルを含む涙
滴型船体が潜水航行し、この状態では無人の涙滴型船体
の操縦は、母船または陸上からの無線信号を浮体内の送
受信装置で受け、アンビリカルケーブルを介して水中航
走する涙滴型船体に送ることにより行い、この水中航走
中はバッテリーを駆動源とした推進装置を使用する。[0007] Furthermore, in the target area, the umbilical cable is let out, leaving only the floating body on the sea surface, and the teardrop-shaped hull including the sail sails submerged. In this state, the unmanned teardrop-shaped hull can be operated from the mother ship or land. The radio signal is received by a transmitter/receiver inside the floating body and sent via an umbilical cable to the teardrop-shaped hull that navigates underwater. During underwater navigation, a propulsion device powered by batteries is used.
【０００８】[0008]
【実施例】以下、図面を参照して本発明の実施例を説明
する。この可潜式無人航走体は、図１及び図２に示すご
とく内燃機関及びバッテリーを駆動源とした推進装置３
を内部に設け、しかもその上部に突出したセイル２を有
する涙滴型船体１と、そのセイル２の頂部に切離し可能
に取付けられる浮体４とから構成されている。Embodiments Hereinafter, embodiments of the present invention will be described with reference to the drawings. As shown in Figures 1 and 2, this submersible unmanned vehicle has a propulsion device 3 powered by an internal combustion engine and a battery.
The boat is comprised of a teardrop-shaped hull 1 having a sail 2 protruding from the top thereof, and a floating body 4 detachably attached to the top of the sail 2.
【０００９】この浮体４の内部には、遠隔操縦自在の送
受信装置５及び浮体４と涙滴型船体１とをたえず相互に
接続しているアンビリカルケーブル７の巻取ウインチ６
が内蔵されている。次に、図３に示すごとく、上記の構
成からなる可潜式無人航走体は、母船８または陸上など
から発信される無線信号Ｍを海面Ｗ上にある浮体４内の
送受信装置５で受け、目標海域まで無線による遠隔操縦
により誘導される。Inside the floating body 4, there is a remotely controllable transmitting/receiving device 5 and a winding winch 6 for the umbilical cable 7 that constantly interconnects the floating body 4 and the teardrop-shaped hull 1.
is built-in. Next, as shown in FIG. 3, the submersible unmanned vehicle having the above-described configuration receives a radio signal M transmitted from the mother ship 8 or land using the transmitting/receiving device 5 in the floating body 4 on the sea surface W. , guided by remote control via radio to the target area.
【００１０】図３に示す水上航走中における涙滴型船体
１の本体は海面Ｗ下に完全没水し、セイル２もその頂部
を除き没水しているが、この間はセイル２を介して空気
取入れができるので、内燃機関を動力とした推進装置３
による航続距離の長い高速航走ができる。次に、目標海
域に到達すると、母船８等からの無線信号Ｍで、涙滴型
船体１は第４図のごとく潜水を開始するが、この際、浮
体４が海面Ｗに達すると、浮体４はセイル２の頂部から
自動的に切離され、アンビリカルケーブル７が繰り出さ
れ、両者はアンビリカルケーブル７のみで接続されてい
る。During water cruising as shown in FIG. Since air can be taken in, the propulsion device 3 is powered by an internal combustion engine.
This enables high-speed cruising with a long cruising range. Next, upon reaching the target sea area, the teardrop-shaped hull 1 starts diving as shown in FIG. is automatically separated from the top of the sail 2, the umbilical cable 7 is let out, and the two are connected only by the umbilical cable 7.
【００１１】涙滴型船体１が没水した後は、バッテリー
を駆動源とした推進装置３に切り替えられて潜水航走を
行なうが、没水後の涙滴型船体１の操縦は、母船８など
からの無線信号Ｍを浮体４内の送受信装置５で受け、こ
れをアンビリカルケーブル７を介して涙滴型船体１に送
ることで遠隔操縦で行なう。なお、涙滴型船体１にはテ
レビカメラを始めとするセンサーを搭載しており、これ
らで得られた情報はアンビリカルケーブル７を介して浮
体４内の送受信装置５に送られ、ここから母船８などに
その情報を無線信号Ｍで転送する。After the teardrop-shaped hull 1 is submerged in water, the propulsion device 3 is switched to the propulsion device 3 using batteries as a driving source to carry out submerged navigation. A transmitting/receiving device 5 in the floating body 4 receives a radio signal M from a floating body 4, and transmits it to the teardrop-shaped hull 1 via an umbilical cable 7, thereby performing remote control. The teardrop-shaped hull 1 is equipped with sensors such as a television camera, and the information obtained by these sensors is sent via the umbilical cable 7 to the transmitting/receiving device 5 inside the floating body 4, from where it is transmitted to the mother ship 8. The information is transferred to other devices using a wireless signal M.
【００１２】涙滴型船体１が潜水した後の船体位置は、
浮体４の位置を検知することにより容易に行なうことが
でき、また、涙滴型船体１の母船８などへの揚収は、上
記とは逆の手順により行なう。なお、上記の実施例では
、涙滴型船体１の操縦は無線信号Ｍによって行なってい
るが、あらかじめプログラムされた航走パターンによる
自律航走とすることも可能である。The hull position after the teardrop-shaped hull 1 dives is as follows:
This can be easily done by detecting the position of the floating body 4, and lifting and retrieving the teardrop-shaped hull 1 to the mother ship 8 or the like is performed by the reverse procedure to the above. In the above embodiment, the teardrop-shaped hull 1 is operated by the radio signal M, but it is also possible to autonomously travel according to a preprogrammed travel pattern.
【００１３】[0013]
【発明の効果】上記のように、本発明の可潜式無人航走
体によれば、その目標海域から離れた母船や陸上その他
からの展開が容易に行なわれ、母船などから複数基を展
開することにより広範囲海域を迅速、かつ安全に調査す
ることができるという効果がある。[Effects of the Invention] As described above, the submersible unmanned vehicle of the present invention can be easily deployed from a mother ship, land, or other location away from the target area, and multiple units can be deployed from the mother ship or the like. This has the effect of allowing a wide range of sea areas to be surveyed quickly and safely.
【００１４】また、涙滴型船体が母船などから遠距離の
位置で潜水している場合でも、その位置の把握が容易で
あるという効果がある。さらに、推進装置に、水上航走
用の内燃機関と潜水航走用のバッテリーとの２種の駆動
源を有しているので、水上航走時には迅速で航続距離の
長い航走ができ、機動性に優れた能率良い作業ができる
という利点がある。[0014] Furthermore, even when the teardrop-shaped hull is diving at a position far away from the mother ship, the position can be easily determined. In addition, the propulsion system has two types of drive sources: an internal combustion engine for surface navigation and a battery for underwater navigation, so it is possible to travel quickly and with a long range when traveling on water, and is highly maneuverable. It has the advantage of being able to work efficiently and efficiently.
【図１】本発明にかかる可潜式無人航走体の側面図であ
る。FIG. 1 is a side view of a submersible unmanned vehicle according to the present invention.
【図２】本発明にかかる可潜式無人航走体の平面図であ
る。FIG. 2 is a plan view of the submersible unmanned vehicle according to the present invention.
【図３】本発明にかかる可潜式無人航走体の水上航走状
態を示す側面図である。FIG. 3 is a side view showing a state in which the submersible unmanned vehicle according to the present invention is traveling on water.
【図４】本発明にかかる航走体の潜水航走状態を示す側
面図である。FIG. 4 is a side view of the vehicle according to the present invention in a submerged traveling state.
１ 涙滴型船体
２ セイル
３ 推進装置
４ 浮体
５ 送受信装置
６ アンビリカルケーブル巻取ウインチ７ アンビ
リカルケーブル
Ｍ 無線信号1 Teardrop-shaped hull 2 Sail 3 Propulsion device 4 Floating body 5 Transmission/reception device 6 Umbilical cable winding winch 7 Umbilical cable M Radio signal
Claims (1)
た推進装置を内設する涙滴型船体の上部に突出したセイ
ル上に、遠隔操縦自在の送受信装置及びアンビリカルケ
ーブル巻取ウインチを内蔵した浮体を、アンビリカルケ
ーブルで相互接続しながら切離し可能に取付けた可潜式
無人航走体。Claim 1: A floating body equipped with a remotely controllable transmitting/receiving device and an umbilical cable winding winch on a sail protruding from the top of the teardrop-shaped hull, which is equipped with a propulsion device powered by an internal combustion engine and a battery. , a submersible unmanned vehicle that is interconnected with an umbilical cable and detachably attached.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3014460A JPH04349093A (en) | 1991-02-05 | 1991-02-05 | Submergible unmanned running boat |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3014460A JPH04349093A (en) | 1991-02-05 | 1991-02-05 | Submergible unmanned running boat |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH04349093A true JPH04349093A (en) | 1992-12-03 |
Family
ID=11861662
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3014460A Pending JPH04349093A (en) | 1991-02-05 | 1991-02-05 | Submergible unmanned running boat |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH04349093A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101224893B1 (en) * | 2012-03-20 | 2013-01-22 | 한국해양과학기술원 | Emergency module device for autonomous underwater vehicle |
| JP2020059414A (en) * | 2018-10-11 | 2020-04-16 | 三井Ｅ＆Ｓ造船株式会社 | Underwater vehicle, expansion recovery system for underwater vehicle, and expansion recovery method for underwater vehicle |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6214842A (en) * | 1985-07-11 | 1987-01-23 | アプライド・パワ−・インコ−ポレ−テツド | Movable truck supporting load at constant position |
-
1991
- 1991-02-05 JP JP3014460A patent/JPH04349093A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6214842A (en) * | 1985-07-11 | 1987-01-23 | アプライド・パワ−・インコ−ポレ−テツド | Movable truck supporting load at constant position |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101224893B1 (en) * | 2012-03-20 | 2013-01-22 | 한국해양과학기술원 | Emergency module device for autonomous underwater vehicle |
| JP2020059414A (en) * | 2018-10-11 | 2020-04-16 | 三井Ｅ＆Ｓ造船株式会社 | Underwater vehicle, expansion recovery system for underwater vehicle, and expansion recovery method for underwater vehicle |
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Legal Events
| Date | Code | Title | Description |
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| A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 19960402 |