JPH05297101A - Underwater float guide system - Google Patents

Abstract

PURPOSE:To provide a high precision guiding system for an underwater float by receiving the running sound of an underwater traveling body using a plurality of wave reception parts arranged on a cable, calculating the distance from and direction to the traveling body, and separating the float from a weight to allow it to move toward the body if the results from calculations indicate that the traveling body is situated within the extent in which the float can approach the body under guidance. CONSTITUTION:Wave reception parts 11-1 to 11-n are connected with a signal processor 6-2 through a cable 12, and if any one of the reception signals therefrom exceeds a threshold, judgement is passed that the running sound 3 of an underwater traveling body 2 is heard, and the signal processor 6-2 calculates the distance from and direction to the body 2 on the basis of the reception signals. If the results from calculations lead to a judgement that the body 5 is situated within the extent in which an underwater float 5 provided can approach the body under guidance, the processor 6-2 controls a separation device 6-1 to separate the float from a weight 7. The float 5 comes up near the water surface, emits an ultrasonic signal from its wave transmitter/receiver 5-1, receives therewith an echo given back from the body 2, and measures the direction of the body 2 by a signal transmitter/receiver 5-2. A steering device 5-3 steers the float 5 so that it is directed toward the traveling body 2.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underwater levitation body which receives a reflection echo of an underwater moving object and a traveling sound of the underwater moving object in water to guide the underwater vehicle to the underwater moving object. It relates to a guidance system.

[0002]

2. Description of the Related Art An example of a conventional underwater floating body guidance system will be described with reference to FIG. In FIG. 2, 21 is the water surface, 22 is the underwater moving object, and 23 is this underwater moving object 22.
No. 24 is a running sound, 24 is an underwater floating body, 26 is a weight, 25 is a disconnecting device that connects the underwater floating body 24 and the weight 26 and controls the separation of the two, and 27 is a water bottom. In FIG. 2, a guidance system (not shown) is arranged at an appropriate location on the bottom 27 of the water, and when the running sound 23 of the underwater moving object 22 is detected, the separating device 25 operates to activate the underwater floating body 24 and the weight 26. Disconnect. The separated underwater floating body 24 uses its own buoyancy as a propulsive force, transmits a sound wave, receives the reflected sound of the underwater moving object 22, measures the direction of this underwater moving object 22, and steers underwater. Attempts to approach the moving object 22.

[0003]

In the above-mentioned conventional underwater floating body guidance system, when the traveling sound of the underwater moving object is detected, the separating device operates to separate the underwater floating body from the weight. The separated underwater floating body uses its own buoyancy as propulsive force, transmits sound waves, receives the reflected sound of the underwater moving object, measures the direction of the underwater moving object, and steers while approaching the underwater moving object. Try to induce. For this reason, if a conventional system is installed at a deep depth, the distance between the underwater moving object and the floating body on the water will be large for a shallow moving object in the water, and the information obtained by the transducer of the underwater floating body will not be sufficient. However, there is a problem that it is difficult to measure the position of an underwater moving object. Further, the conventional underwater floating body guidance system has a problem that there is a limit to the depth at which the underwater floating body can be installed.

[0004]

The underwater floating body guidance system according to the present invention provides an underwater vehicle with an underwater moving object by acoustically detected reflected sound from the underwater moving object and running sound of the underwater moving object. In an underwater buoyancy guide system that attempts to guide the vehicle closer, an underwater levitation body including a transmitter / receiver, a transceiver, and a steering device, a weight, and the underwater levitation body and the weight are connected to each other to control the disconnection of the two. A separation unit composed of a separation device and a signal processor, a float, a plurality of wave reception units composed of a wave receiver and a receiver, and the plurality of wave reception units arranged at regular intervals to provide the float and the above. It is provided with a cable connecting the disconnecting portions.

[0005]

In the present invention, the underwater floating body guidance system is installed at a deep depth, and when the traveling sound of the underwater moving object is detected by the plurality of wave receiving sections arranged on the cable, The distance from the received sound to the underwater moving object and its direction are calculated, and if it is determined that the approachable range of the underwater floating body is determined, the disconnecting device works to separate the underwater floating body from the weight. The separated underwater levitating body levitates and approaches the underwater moving object.

[0006]

1 is a block diagram showing an embodiment of an underwater floating body guidance system according to the present invention. In FIG. 1, 1 is the water surface, 2 is the underwater moving object, 3-1 and 3-2 ...
-3-n is the running sound of this underwater moving object 2, and 3 is the bottom of the water. Reference numeral 5 denotes an underwater floating body, which includes a transmitter / receiver 5-1 and a transceiver 5-
2 and steering device 5-3. 7 is a weight,
Reference numeral 6 denotes a disconnecting portion including a disconnecting device 6-1 for connecting the underwater floating body 5 and the weight 7 and controlling the disconnection of the both, and a signal processor 6-2, 8 is floating, and 11-1 is a wave receiver 9 -1 and receiver 10-
1 is a wave receiver, 11-2 is a wave receiver 9-2 and a receiver 1
Reference numeral 11-n denotes a wave receiving unit including 0-2, and 11-n denotes a wave receiving unit including a wave receiver 9-n and a receiver 10-n.
11-n are arranged at regular intervals, and are connected to the float 8 and the separating portion 6 by the cable 12.

The underwater floating body 5 is installed on the bottom 4 of the water together with the weight 7. The underwater levitation body 5 and the weight 7 are connected by a separating portion 6. The separating unit 6 is composed of a separating device 6-1 and a signal processor 6-2. The underwater floating body 5 is composed of a wave transmitter / receiver 5-1, a transceiver 5-2, and a steering device 5-3. On the other hand, float 8
Is floating at an appropriate position in water and is connected to the signal processor 6-2 by a cable 12. A plurality of wave receiving units 11-1 to 11-n are arranged on the cable 12 between the float 8 and the signal processor 6-2 at regular intervals. These wave receivers 11-1 to 11-n are cables 12
It is possible to communicate with the signal processor 6-2 through the electric signal.
The wave receivers 11-1 to 11-n are connected to the wave receivers 9-1 to 9- 9, respectively.
-N and receivers 10-1 to 10-n,
Always receiving underwater sound.

Next, the operation of the embodiment shown in FIG. 1 will be described. First, when the reception signal level of even one of the reception signals of the plurality of wave receiving units 11-1 to 11-n exceeds the threshold value, it is determined that the running sound 3 of the underwater moving object 2 is received, The signal processor 6-2 calculates the distance and the direction to the underwater moving object 2 from the plurality of received signals sent from the plurality of wave receiving units 11-1 to 11-n. When it is determined that the calculation result is within the approachable range of the underwater floating body 5, the signal processor 6-2 sends a control signal to the separating device 6-1. When the separating device 6-1 receives the control signal, the separating device 6-1 separates the underwater floating body 5 from the weight 7. Next, the separated underwater floating body 5 floats by its own buoyancy or the propulsive force of the engine or the like. The underwater floating body 5 transmits an ultrasonic signal in water from a transducer 5-1 and receives an echo reflected from the underwater moving object 2 by the transducer 5-1 to transmit / receive a transceiver 5-2.
The direction of the underwater moving object 2 is measured by. The steering device 5-3 steers the underwater floating body 5 so that the underwater floating body 5 floats toward the underwater moving object 2.

[0009]

As described above, according to the present invention, the underwater floating body guidance system is installed at a deep depth, and when a plurality of wave receiving sections arranged on the cable detect the traveling sound of the underwater moving object, a plurality of underwater floating objects are detected. The distance and the direction to the moving object in the water are calculated from the sound received at the wave receiving part of the, and when it is judged that the approachable range of the underwater floating body is determined, the disconnecting device works to separate the underwater floating body and the weight, and the The submerged levitation body levitates and guides the approach to the underwater moving object.Therefore, even in the underwater moving object at a deep depth, sufficient information on the distance and direction can be obtained even for an underwater moving object at a shallow depth. To be
There is an effect that it is possible to detect an underwater moving object of a minute sound source, which cannot be detected by the conventional system. Further, since the information on the position and direction of the underwater object is also more accurate, there is an effect that the accuracy of the system can be improved.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of an underwater floating body guidance system according to the present invention.

FIG. 2 is a block diagram showing an example of a conventional underwater floating body guidance system.

[Explanation of symbols]

 2 Underwater moving object 5 Underwater levitator 5-1 Handset 5-2 Transmitter / receiver 5-3 Steering device 6 Separation part 6-1 Separation device 6-2 Signal processor 7 Weight 8 Float 9-1 to 9-n Wave receiver 10-1 to 10-n Receiver 11-1 to 11-n Wave receiver 12 Cable

Claims (1)

[Claims] 1. A guidance system for an underwater floating body which attempts to guide an underwater vehicle closer to the underwater moving object by acoustically reflected sound from the underwater moving object and running sound of the underwater moving object, An underwater levitation body consisting of a transmitter / receiver, a transceiver and a steering device, a weight, and a disconnecting section consisting of a disconnecting device for connecting the underwater levitation body and the weight and controlling the disconnection of the both, and a disconnecting section comprising a signal processor, A float, a plurality of wave-receiving parts including a wave receiver and a receiver, and a cable connecting the float and the disconnecting part with the plurality of wave-receiving parts arranged at regular intervals. The underwater floating body guidance system.