JPH07228293A - Depth setting device for submerged robot - Google Patents
Depth setting device for submerged robotInfo
- Publication number
- JPH07228293A JPH07228293A JP6020929A JP2092994A JPH07228293A JP H07228293 A JPH07228293 A JP H07228293A JP 6020929 A JP6020929 A JP 6020929A JP 2092994 A JP2092994 A JP 2092994A JP H07228293 A JPH07228293 A JP H07228293A
- Authority
- JP
- Japan
- Prior art keywords
- depth
- underwater robot
- search
- target
- sea area
- 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.)
- Granted
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 14
- 241000251468 Actinopterygii Species 0.000 abstract description 6
- 238000000034 method Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、移動中の目標物（魚群
など）に向けて発進させ、その目標物を捜索・検知する
ための水中ロボットの目標物捜索深度の自動設定装置に
関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for automatically setting a target search depth of an underwater robot for starting and moving a moving target (such as a school of fish) to search and detect the target.
【０００２】[0002]
【従来の技術】移動中の目標物（魚群など）を捜索する
水中ロボットの深度、方位、速力等の捜索条件は、従来
は操作者が任意に設定し、通信装置を介して水中ロボッ
トに伝達して、そのまま水中ロボットを発進させて目標
物を捜索させていた。2. Description of the Related Art Conventionally, an operator arbitrarily sets search conditions such as depth, direction, speed, etc. of an underwater robot that searches for a moving target (a school of fish, etc.) and transmits it to the underwater robot via a communication device. Then, the underwater robot was started as it was, and the target object was searched.
【０００３】しかし、水中ロボットの深度は、水深・水
温・音速・塩分濃度等の捜索海域の特性を考慮した捜索
に最適な深度でなかったために、目標物を検出できない
状況がしばしば生じていた。However, the depth of the underwater robot is not the optimum depth for the search in consideration of the characteristics of the search sea area such as water depth, water temperature, speed of sound, salinity, etc., so that the target object often cannot be detected.
【０００４】[0004]
【発明が解決しようとする課題】移動中の目標物（魚群
など）を捜索する場合、水中ロボットの捜索深度・方位
・速力等の捜索条件は、従来は母機上で操作者が経験に
基づいて任意に設定し、通信装置を介して水中ロボット
に伝達して、そのまま水中ロボットを発進させて目標物
の捜索を行っていた。しかし、捜索深度を設定する際に
は、水深・水温・音速・塩分濃度等の捜索海域の特性が
考慮されていなかったため、捜索する海域によっては、
設定された深度で目標物を捜索しても、目標物を検出で
きない状況がしばしば生じていた。本発明はこれらの問
題を解決することができる水中ロボットの目標物捜索深
度自動設定装置を提供することを目的とする。When searching for a moving target object (such as a school of fish), the search conditions such as the search depth, direction, and speed of an underwater robot are conventionally based on the experience of the operator on the mother machine. It was set arbitrarily, transmitted to an underwater robot via a communication device, and the underwater robot was started as it was to search for a target. However, when setting the search depth, the characteristics of the search area such as water depth, water temperature, speed of sound, and salinity were not taken into consideration, so depending on the search area,
Even if the target object was searched at the set depth, there were often situations where the target object could not be detected. It is an object of the present invention to provide a target object search depth automatic setting device for an underwater robot that can solve these problems.
【０００５】[0005]
（第１の手段）本発明に係る水中ロボットの深度設定装
置は、水中ロボット側に、水中ロボット目標物認識装置
１と制御装置２と水中ロボットの駆動装置３と捜索深度
設定装置４と水中ロボット用通信装置７を具備するとと
もに、母機側に、母機用通信装置８と海域特性計測装置
９と母機用目標物認識装置１０を具備し、前記母機用通
信装置８は、母機用目標物認識装置１０により得られた
目標物情報及び海域特性計測装置９により得られた海域
情報を水中ロボット用通信装置７に伝達し、前記捜索深
度設定装置４は、通信装置７，８を介して伝達された目
標物情報及び海域情報に基づき、目標物を捜索するため
に必要な自己の航走写度を決定し、前記制御装置２は、
捜索深度設定装置４と水中ロボット用目標物認識装置１
からの信号を入力し、母機から発進後の水中ロボットを
捜索深度設定装置４で決定された深度で航走させ、目標
物を捜索・検知するための制御信号を水中ロボットの駆
動装置３に出力することを特徴とする。(First Means) A depth setting device for an underwater robot according to the present invention includes an underwater robot target recognition device 1, a control device 2, an underwater robot drive device 3, a search depth setting device 4, and an underwater robot on the underwater robot side. The communication device 7 for a mother machine is provided, and the communication device 8 for a mother machine, the sea area characteristic measuring device 9, and the target object recognition device 10 for a mother machine are provided on the mother machine side. The target object information obtained by 10 and the sea area information obtained by the sea area characteristic measuring device 9 are transmitted to the underwater robot communication device 7, and the search depth setting device 4 is transmitted through the communication devices 7 and 8. Based on the target information and the sea area information, it determines the traveling image of itself necessary for searching the target, and the control device 2
Search depth setting device 4 and target recognition device 1 for underwater robot
From the mother machine to drive the underwater robot after starting at the depth determined by the search depth setting device 4, and output the control signal for searching and detecting the target to the driving device 3 of the underwater robot. It is characterized by doing.
【０００６】（第２の手段）本発明の係る水中ロボット
の深度設定装置は、第１の手段において、水中ロボット
の捜索深度設定装置４は、捜索深度計算回路５と捜索深
度決定回路６を具備し、前記捜索深度計算回路５は、任
意の捜索深度に対し目標物を連結して検出可能な時間を
計算し、前記捜索深度決定回路６は、捜索深度計算回路
で算出された計算結果を比較し、検索可能な時間が最も
長くなるような捜索深度すなわち母機からの目標物情報
及び海域情報により捜索に最適な深度を決定する機能を
有することを特徴とする。(Second Means) In the depth setting apparatus for an underwater robot according to the present invention, in the first means, the search depth setting apparatus 4 for the underwater robot comprises a search depth calculation circuit 5 and a search depth determination circuit 6. Then, the search depth calculation circuit 5 calculates a detectable time by connecting a target to an arbitrary search depth, and the search depth determination circuit 6 compares the calculation results calculated by the search depth calculation circuit. However, it is characterized in that it has a function of determining the optimum search depth based on the search depth that maximizes the searchable time, that is, target information and sea area information from the mother machine.
【０００７】（第３の手段）本発明に係る水中ロボット
の深度設定装置は第１の手段において、水中ロボットの
制御装置２は、水中ロボットに内蔵された捜索深度設定
装置４からの最適深度決定情報と、水中ロボット用目標
物認識装置１からの水中移動目標物情報に基づき、水中
ロボットの駆動制御を行う機能を有することを特徴とす
る。(Third Means) The depth setting device for an underwater robot according to the present invention is the first means, and the control device 2 for the underwater robot determines the optimum depth from the search depth setting device 4 built in the underwater robot. It is characterized by having a function of controlling the drive of the underwater robot based on the information and the underwater moving target information from the underwater robot target recognizing device 1.
【０００８】前述のように本発明装置においては水中ロ
ボット内に、移動中の目標物を捜索し検知するために必
要な自己の航走深度を計算し決定する捜索深度設定装置
を設ける。As described above, in the device of the present invention, the underwater robot is provided with the search depth setting device for calculating and determining the own traveling depth necessary for searching and detecting the moving target.
【０００９】母機には、目標物の位置・針路・速力・音
響特性等の目標物情報を収集する目標物認識装置を設け
る。また、捜索海域の水深・水温・音速・塩分濃度等の
海域情報を収集する海域特性計測装置を設けるととも
に、これらの目標物情報及び海領情報を水中ロボットに
伝達する通信装置を設ける。The mother machine is provided with a target object recognizing device for collecting target object information such as position, course, speed, and acoustic characteristics of the target object. In addition, a sea area characteristic measuring device that collects sea area information such as water depth, water temperature, sound velocity, and salinity of the search sea area will be installed, and a communication device that transmits these target information and sea area information to the underwater robot will be installed.
【００１０】さらに、水中ロボットの捜索深度設定装置
には、任意の捜索写度に対し目標物を連続して検出可能
な時間（距離）を計算する捜索深度計算回路、ならびに
捜索深度計算回路の計算結果を比較し検出可能時間（距
離）が最も長くなるような捜索深度を決定する捜索深度
決定回路を設ける。Further, in the search depth setting device of the underwater robot, the search depth calculation circuit for calculating the time (distance) at which the target can be continuously detected for any search image quality, and the calculation of the search depth calculation circuit. A search depth determination circuit is provided for comparing the results and determining the search depth such that the detectable time (distance) becomes the longest.
【００１１】[0011]
【作用】母機に組込まれた目標物認識装置により、移動
中の目標物（魚群など）の位置・針路・速力・音響特性
等の目標物情報が収集される。また、母機に組込まれた
海域特性計測装置により、捜索海域の水深・水温・音速
・塩分濃度等の海域情報が収集される。これらの情報
は、母機から水中ロボットに対する通信装置を介して、
水中ロボットに伝達される。水中ロボットでは、伝達さ
れた目標物情報及び海域情報を用いて、移動中の目標物
を捜索し検知するために必要な自己の捜索航走深度を、
水中ロボット内部の捜索深度設定装置により決定する。
決定された捜索航走深度は、制御装置を介して駆動装置
に指令される。水中ロボットは、発進後、指令された深
度で航走し、組み込まれている目標物認識装置を作動さ
せて目標物を捜索することにより、目標物を早く発見
し、その後継続して検知することができる。The target object recognition device incorporated in the mother machine collects target object information such as the position, course, speed, and acoustic characteristics of the moving target object (such as a school of fish). In addition, sea area information such as water depth, water temperature, speed of sound, and salinity of the searched sea area is collected by the sea area characteristic measuring device incorporated in the mother machine. This information is sent from the mother machine via the communication device to the underwater robot,
It is transmitted to the underwater robot. The underwater robot uses the transmitted target information and sea area information to determine its own search and navigation depth required to search for and detect a moving target.
It is determined by the search depth setting device inside the underwater robot.
The determined search and navigation depth is instructed to the drive device via the control device. After starting, the underwater robot sails at the instructed depth, operates the built-in target recognition device to search for the target, and quickly finds the target, and then continuously detects it. You can
【００１２】[0012]
【実施例】本発明の実施例を図１及び図２に示す。図１
は、移動中の目標物（魚群など）に対し、水中ロボット
が目標物を捜索・検知できるように、本発明装置を水中
ロボット及び母機に実施した例を示す。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention is shown in FIGS. Figure 1
Shows an example in which the device of the present invention is applied to an underwater robot and a mother machine so that an underwater robot can search for and detect a moving target (such as a school of fish).
【００１３】図１において、１及び１０は目標物認識装
置を示す。この装置１，１０には、例えばソーナー、水
中カメラ、磁気探知器のように、目標物の位置、針路、
速力、音響、光学・磁気等の特性を認識する装置が用い
られる。２は制御装置で、水中ロボットの運動を管制す
る装置である。７は水中ロボットの通信装置、８は母機
の通信装置であり、電波、水中音、通信ケーブル、光ケ
ーブル等が用いられる。９は海域特性計測装置であり、
測深器、潮流計、水中音速計のように、海域の水深、水
温、音速、塩分濃度等の海域情報を収集する装置が用い
られる。In FIG. 1, reference numerals 1 and 10 denote target recognition devices. The devices 1 and 10 include, for example, a sonar, an underwater camera, a magnetic detector, a position of a target object, a course,
A device that recognizes characteristics such as speed, sound, optics and magnetism is used. Reference numeral 2 is a control device, which is a device for controlling the motion of the underwater robot. Reference numeral 7 is a communication device for an underwater robot, and 8 is a communication device for a mother machine, and radio waves, underwater sounds, communication cables, optical cables and the like are used. 9 is a sea area characteristic measuring device,
A device for collecting sea area information such as water depth, water temperature, sound speed, and salinity concentration is used, such as a sounding instrument, a tidal current meter, and an underwater sonic meter.
【００１４】水中ロボットの母機は、ある海域におい
て、目標物認識装置１０が移動中の目標物を認識する
と、ただちに海域特性計測装置９により、その海域の水
深、水温、音速、塩分濃度等の海域情報を収集する。そ
して、目標物認識装置１０で収集した目標物の位置進
路、速力、音響特性等の目標物情報と、海域特性計測装
置９で収集した海域情報は、通信装置７及び８を介して
水中ロボット内の捜索深度設定装置４に伝達される。When the target object recognition device 10 recognizes a moving target object in a certain sea area, the mother machine of the underwater robot immediately uses the sea area characteristic measurement device 9 to determine the water depth, water temperature, sound velocity, salinity concentration, etc. of the sea area. Collect information. Then, the target object information such as the position course, speed, and acoustic characteristics of the target object collected by the target object recognition device 10 and the sea area information collected by the sea area characteristic measuring device 9 are stored in the underwater robot via the communication devices 7 and 8. Is transmitted to the search depth setting device 4.
【００１５】捜索深度設定装置４は、捜索深度計算回路
５及び捜索深度決定回路６から成る。捜索深度計算回路
５では、目標物情報及び海域情報を用いて、任意の深度
Ｚ1，Ｚ2 ，Ｚ3 ，…Ｚn に対し、目標物を連続して検
出可能な時間Ｔ1 ，Ｔ2 ，Ｔ3 ，…Ｔn を計算する。捜
索深度決定回路６では、捜索深度計算回路５の計算結果
（Ｚ1 ，Ｔ1 ），（Ｚ2 ，Ｔ2 ），（Ｚ3 ，Ｔ3 ），…
（Ｚn ，Ｔn ）に対し、最大の検出時間Ｔを与える深度
Ｚを比較決定し、この深度を制御装置２に伝達する。こ
の方式の一例を図２に示す。水中ロボットは、母機から
発進後、捜索深度決定回路６で決定された深度Ｚを制御
装置２を介して水中ロボットの駆動装置３に伝達してこ
れを作動させ、目標物認識装置１を作動状態にして目標
物の捜索を開始する。これにより、水中ロボットは移動
中の目標物を可能な限り早く発見し、継続して検知する
ことが可能となる。水中ロボットの捜索範囲は、図２に
示すように目標物情報及び海域情報によって決まる。そ
して捜索範囲の大きさは、深度により異なる。The search depth setting device 4 comprises a search depth calculation circuit 5 and a search depth determination circuit 6. In search depth calculation circuit 5, using the target information and the waters information, any depth Z 1, Z 2, Z 3 , ... Z n to, detectable time in succession target T 1, T 2 , T 3 , ... T n are calculated. In the search depth determination circuit 6, the calculation results (Z 1 , T 1 ), (Z 2 , T 2 ), (Z 3 , T 3 ), ...
The depth Z that gives the maximum detection time T is compared and determined with respect to (Z n , T n ), and this depth is transmitted to the control device 2. An example of this method is shown in FIG. After starting from the mother machine, the underwater robot transmits the depth Z determined by the search depth determination circuit 6 to the driving device 3 of the underwater robot via the control device 2 to operate it and activate the target object recognition device 1. Then, the search for the target is started. As a result, the underwater robot can detect the moving target as soon as possible and continuously detect the target. The search range of the underwater robot is determined by the target information and the sea area information as shown in FIG. The size of the search range depends on the depth.
【００１６】[0016]
【発明の効果】本発明は前述のように構成されているの
で、以下に記載するような効果を奏する。 （１）本発明により、母機の目標物認識装置１０で得ら
れた目標物情報と、海域特性計測装置９で得られた海域
情報を用いて、水中ロボットの捜索深度設定装置４によ
り、水中ロボットが移動中の目標物を可能な限り継続し
て検知するために必要な捜索航走深度を決定し、その信
号を制御装置２に伝達して、駆動装置３を作動させるこ
とができる。Since the present invention is constructed as described above, it has the following effects. (1) According to the present invention, the underwater robot is searched by the search depth setting device 4 of the underwater robot using the target object information obtained by the target object recognition device 10 of the mother machine and the sea area information obtained by the sea area characteristic measuring device 9. Can determine the search and navigation depth necessary for continuously detecting the moving target as much as possible, and transmit the signal to the control device 2 to operate the drive device 3.
【００１７】（２）本発明により、捜索する目標物及び
海域の違いに応じて、水中ロボットに対し目標物を捜索
する最適な深度を設定することが可能となる。その結
果、早く目標物を発見し、継続して目標物を検出し、そ
の目標物に対し水中ロボットを追従させることができ
る。(2) According to the present invention, it is possible to set the optimum depth for searching a target object for the underwater robot according to the difference between the target object to be searched and the sea area. As a result, the target object can be found quickly, the target object can be continuously detected, and the underwater robot can be made to follow the target object.
【図１】本発明の実施例を示す図。FIG. 1 is a diagram showing an embodiment of the present invention.
【図２】本発明装置により水中ロボットの捜索深度を設
定する方法の説明図。FIG. 2 is an explanatory view of a method of setting a search depth of an underwater robot by the device of the present invention.
１…目標物認識装置（水中ロボット例） ２…制御装置 ３…水中ロボットの駆動装置 ４…捜索深度設定装置 ５…捜索深度計算回路 ６…捜索深度決定回路 ７…通信装置（水中ロボット例） ８…通信装置（母機側） ９…海域特性計測装置 １０…目標物認識装置（母機側） DESCRIPTION OF SYMBOLS 1 ... Target recognition device (underwater robot example) 2 ... Control device 3 ... Underwater robot drive device 4 ... Search depth setting device 5 ... Search depth calculation circuit 6 ... Search depth determination circuit 7 ... Communication device (underwater robot example) 8 ... Communication device (mother unit side) 9 ... Sea area characteristic measuring device 10 ... Target recognition device (mother unit side)
Claims (3)
物認識装置（１）と制御装置（２）と水中ロボットの駆
動装置（３）と捜索深度設定装置（４）と水中ロボット
用通信装置（７）を具備するとともに母機側に、母機用
通信装置（８）と海域特性計測装置（９）と母機用目標
物認識装置（１０）を具備し、 前記母機用通信装置（８）は、母機用目標物認識装置
（１０）により得られた目標物情報及び海域特性計測装
置（９）により得られた海域情報を水中ロボット用通信
装置（７）に伝達し、 前記捜索深度設定装置（４）は、通信装置（７，８）を
介して伝達された目標物情報及び海域情報に基づき、目
標物を捜索するために必要な自己の航走深度を決定し、 前記制御装置（２）は、捜索深度設定装置（４）と水中
ロボット用目標物認識装置（１）からの信号を入力し、
母機から発進後の水中ロボットを捜索深度設定装置
（４）で決定された深度で航走させ、目標物を捜索・検
知するための制御信号を水中ロボットの駆動装置（３）
に出力することを特徴とする水中ロボットの深度設定装
置。1. An underwater robot target recognition device (1), a control device (2), an underwater robot drive device (3), a search depth setting device (4), and an underwater robot communication device (1) on the underwater robot side. 7) and a mother machine communication device (8), a sea area characteristic measuring device (9), and a mother machine target object recognition device (10) on the mother machine side, and the mother machine communication device (8) is a mother machine. The target depth information obtained by the target recognition device (10) and the sea area information obtained by the sea area characteristic measuring device (9) are transmitted to the underwater robot communication device (7), and the search depth setting device (4) is provided. Determines, based on the target information and the sea area information transmitted via the communication device (7, 8), its own traveling depth required for searching for the target, and the control device (2), Search depth setting device (4) and target recognition for underwater robots Input the signal from the device (1),
The underwater robot drive device (3) sends a control signal for searching and detecting a target by running the underwater robot after starting from the mother aircraft at the depth determined by the search depth setting device (4).
Depth setting device for underwater robots, which outputs to.
は、捜索深度計算回路（５）と捜索深度決定回路（６）
を具備し、 前記捜索深度計算回路（５）は、任意の捜索深度に対し
目標物を連結して検出可能な時間を計算し、 前記捜索深度決定回路（６）は、捜索深度計算回路で算
出された計算結果を比較し、検索可能な時間が最も長く
なるような捜索深度すなわち母機からの目標物情報及び
海域情報により捜索に最適な深度を決定する機能を有す
ることを特徴とする請求項１記載の水中ロボットの深度
設定装置。2. A search depth setting device (4) for an underwater robot
Is a search depth calculation circuit (5) and a search depth determination circuit (6)
The search depth calculation circuit (5) calculates a detectable time by connecting a target to an arbitrary search depth, and the search depth determination circuit (6) is calculated by the search depth calculation circuit. 2. A function of comparing the calculated results and determining the optimum depth for the search based on the search depth that maximizes the searchable time, that is, target information and sea area information from the mother machine. Depth setting device for the underwater robot described.
ロボットに内蔵された捜索深度設定装置（４）からの最
適深度決定情報と、水中ロボット用目標物認識装置
（１）からの水中移動目標物情報に基づき、水中ロボッ
トの駆動制御を行う機能を有することを特徴とする請求
項１記載の水中ロボットの深度設定装置。3. An underwater robot control device (2) includes optimum depth determination information from a search depth setting device (4) built into the underwater robot and underwater movement from an underwater robot target recognition device (1). The depth setting device for an underwater robot according to claim 1, wherein the depth setting device has a function of performing drive control of the underwater robot based on the target object information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP02092994A JP3197141B2 (en) | 1994-02-18 | 1994-02-18 | Underwater robot depth setting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP02092994A JP3197141B2 (en) | 1994-02-18 | 1994-02-18 | Underwater robot depth setting device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH07228293A true JPH07228293A (en) | 1995-08-29 |
| JP3197141B2 JP3197141B2 (en) | 2001-08-13 |
Family
ID=12040911
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP02092994A Expired - Lifetime JP3197141B2 (en) | 1994-02-18 | 1994-02-18 | Underwater robot depth setting device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3197141B2 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1307497C (en) * | 2003-01-06 | 2007-03-28 | 广东工业大学 | Location coordinate system for ocean work rising and sinking compensation and its location method |
| US7836633B2 (en) | 2008-01-31 | 2010-11-23 | Brian And Cynthia Wilcox Trust | Method and apparatus for robotic ocean farming for food and energy |
| CN106043636A (en) * | 2016-05-19 | 2016-10-26 | 武汉理工大学 | Air bag type intelligent floating assisting rescue submersible vehicle |
| CN107856824A (en) * | 2017-12-11 | 2018-03-30 | 大连海事大学 | A kind of cooperative system and method for the machine shoal of fish and unmanned boat for catching subsea production |
-
1994
- 1994-02-18 JP JP02092994A patent/JP3197141B2/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1307497C (en) * | 2003-01-06 | 2007-03-28 | 广东工业大学 | Location coordinate system for ocean work rising and sinking compensation and its location method |
| US7836633B2 (en) | 2008-01-31 | 2010-11-23 | Brian And Cynthia Wilcox Trust | Method and apparatus for robotic ocean farming for food and energy |
| CN106043636A (en) * | 2016-05-19 | 2016-10-26 | 武汉理工大学 | Air bag type intelligent floating assisting rescue submersible vehicle |
| CN107856824A (en) * | 2017-12-11 | 2018-03-30 | 大连海事大学 | A kind of cooperative system and method for the machine shoal of fish and unmanned boat for catching subsea production |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3197141B2 (en) | 2001-08-13 |
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