JPS63184594A - Method for operating unmanned underwater machine - Google Patents
Method for operating unmanned underwater machineInfo
- Publication number
- JPS63184594A JPS63184594A JP1414887A JP1414887A JPS63184594A JP S63184594 A JPS63184594 A JP S63184594A JP 1414887 A JP1414887 A JP 1414887A JP 1414887 A JP1414887 A JP 1414887A JP S63184594 A JPS63184594 A JP S63184594A
- Authority
- JP
- Japan
- Prior art keywords
- unmanned underwater
- buoy
- mother ship
- cable
- antenna
- 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
- 238000000034 method Methods 0.000 title claims description 8
- 238000004891 communication Methods 0.000 claims abstract description 6
- 238000011084 recovery Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract description 3
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
Abstract
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は無人潜水機の操作方法に関するものである。特
に無人潜水機側と母船側とを無線化した無人潜水機の操
作方法に関するものである。DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a method of operating an unmanned underwater vehicle. In particular, it relates to a method of operating an unmanned underwater vehicle in which the unmanned underwater vehicle side and the mother ship side are wireless.
（従来技術とその問題点）
無人潜水機と、制御装置を装備する母船との間を索で結
んで交信するようにしたものは知られているが１次のよ
うな問題がある。(Prior Art and its Problems) It is known that an unmanned underwater vehicle communicates with a mother ship equipped with a control device by connecting it with a cable, but it has the following problems.
１）無人潜水機がその任務を遂行中に、母船が潮流や風
の影響により流されることがある。この時、適切な場所
への移動のために母船を操船しなければならない。母船
の操船は位置保持装置等を装備した特殊な専用支援母船
以外では一般に難かしく最悪の場合索を切断することと
なる。1) While the unmanned underwater vehicle is carrying out its mission, the mother ship may be swept away by the influence of currents or winds. At this time, the mother ship must be maneuvered to move to the appropriate location. Maneuvering the mother ship is generally difficult unless it is a special dedicated support mother ship equipped with a position-holding device, etc., and in the worst case scenario, the cable may be severed.
２）制御用の索が母船の動揺の影響を受け、索に過大な
力が加わり、無人潜水機の水中行動範囲が制限される。2) The control cable is affected by the movement of the mother ship, and excessive force is applied to the cable, limiting the underwater range of the unmanned underwater vehicle.
３）無人潜水機潜降の際に潮流及び母船の動揺の影響を
受けると無人潜水機が目標場所へ到達するまでに必要と
する索の繰出量が大となる。3) If the unmanned underwater vehicle is affected by the current and the movement of the mother ship when descending, the amount of cable that is required to be drawn out before the unmanned underwater vehicle reaches its target location will increase.
４）無人潜水機着水潜降前に索が船底若しくは船体にか
らまる恐れがある。4) There is a risk that the cable may get tangled with the bottom or hull of the ship before the unmanned underwater vehicle lands and descends.
（発明の解決しようとする問題点及び目的）従来型操作
システムの問題点を解決するため。(Problems and Objectives to be Solved by the Invention) To solve the problems of conventional operating systems.
無人潜水機と制御部を装備した母船との間を無索化し、
母船ならびに無人潜水機共にその自由度を向上させよう
とするものである。Eliminates the need for a rope between the unmanned submarine and the mother ship equipped with a control unit.
The aim is to improve the freedom of both motherships and unmanned underwater vehicles.
（発明による解決手段）
着水揚収装置と、制御装置及びアンテナを装備した母船
と、アンテナと送受信器とバッテリーを装備したブイと
、該ブイと索で連結された海底作業用の無人潜水機とで
構成され、前記母船とブイとの送受信を無線交信で行う
ようにした。(Solution by invention) A mother ship equipped with a landing and recovery device, a control device and an antenna, a buoy equipped with an antenna, a transceiver and a battery, and an unmanned submarine for submarine work connected to the buoy with a cable. The buoy was configured to transmit and receive data between the mother ship and the buoy by radio communication.
（実施例）
図に基いて説明する。１は母船である。該母船１には送
受信器を備えた制御装置２、着水揚収装置３及びアンテ
ナ４が装備されている。(Example) This will be explained based on the drawings. 1 is the mother ship. The mother ship 1 is equipped with a control device 2 equipped with a transceiver, a landing and recovery device 3, and an antenna 4.
５はブイで該ブイと無人潜水機６とは索７で連結されて
いる。ブイ５には累月リール８．送受信器９、バッテリ
ー１０及びアンテナ４′が装備されている。5 is a buoy, and the buoy and the unmanned underwater vehicle 6 are connected by a cable 7. Buoy 5 has monthly reel 8. It is equipped with a transceiver 9, a battery 10 and an antenna 4'.
無人潜水機６は動力源（図示せず）及び累月リール８′
を装備している。The unmanned underwater vehicle 6 has a power source (not shown) and a monthly reel 8'.
Equipped with
なお、以上の実施例においては制御装置を母船に装備し
、ブイに装備した送受信器を介し無人潜水機を制御する
ようにしたが１．これをさらに発展させると、次に示す
如き極めて広い応用が可能となる。In the above embodiments, the control device was installed on the mother ship and the unmanned underwater vehicle was controlled via the transmitter/receiver installed on the buoy.1. If this is further developed, an extremely wide range of applications will become possible as shown below.
１）制御装置を陸上に置けば、無人潜水機からの情報を
例えば陸上の研究室にいながらにしてリアルタイムで観
察でき、かつ制御することも可能である。さらに、ブイ
の信号を人工衛屋を介しておこなうようにすれば、利用
範囲を広めることができる。1) If the control device is placed on land, it is possible to observe and control information from the unmanned underwater vehicle in real time, for example, from a research laboratory on land. Furthermore, if the signal from the buoy is transmitted through an artificial guard house, the range of use can be expanded.
２）ブイに推進装置をつければ、さらに無人潜水機の運
用性が高まる。2) Attaching a propulsion device to the buoy will further improve the operability of unmanned underwater vehicles.
３）通常の電源を船上から送る形式の無人潜水機に対し
ては、ブイに無人潜水機用駆動用バッテリーを装備する
ことによりこの方式を適用できる６４）さらに、ブイに
発電装置（太陽電池、波力発電）及び充電装置を装備す
れば、バッテリーの交換を必要とせず、長期にわたり海
中作業を遂行できる。また、このようにすれば作業の度
毎にシステムを発進揚収しなくて済むこととなる。3) This method can be applied to unmanned underwater vehicles that receive normal power from the ship by equipping the buoy with a battery for driving the unmanned underwater vehicle64) Additionally, the buoy can be equipped with a power generator (solar battery, If equipped with wave power generation) and a charging device, underwater work can be carried out for long periods of time without the need to replace batteries. In addition, in this way, it is not necessary to launch, lift, and retrieve the system every time work is performed.
５）本発明は無人潜水機のみならず有人潜水艇等に適用
し、艇で得た情報をリアルタイムで母船等へ伝達するこ
とができ、またその逆も出来る。5) The present invention is applicable not only to unmanned submarines but also to manned submersibles, etc., and information obtained by the boat can be transmitted in real time to a mother ship, etc., and vice versa.
（作用）
母船上の無人潜水機６を着水揚収装置３で着水させたの
ち、ブイ５を母船から着水させる。着水後、無人潜水機
６は着水揚収装Ｍ３との係合を解かれ、母船上の制御装
置２からの制御信号により無人潜水機６を潜降させ、海
中での作業を行う。(Function) After the unmanned underwater vehicle 6 on the mother ship lands on the water using the landing and recovery device 3, the buoy 5 is landed on the water from the mother ship. After landing on the water, the unmanned underwater vehicle 6 is disengaged from the landing lifting and retrieving device M3, and the unmanned underwater vehicle 6 descends in response to a control signal from the control device 2 on the mother ship to perform underwater work.
無人潜水機６への制御信号は、制御装［１２のアンテナ
４からブイ側のアンテナ４′→索７→無人潜水機６の経
路で伝送される。この時ブイ５と制御装置２との間はア
ンテナ４−４′間で無線交信する。A control signal to the unmanned underwater vehicle 6 is transmitted from the antenna 4 of the control device [12] to the antenna 4' on the buoy side → the cable 7 → the unmanned underwater vehicle 6. At this time, the buoy 5 and the control device 2 communicate by radio between the antennas 4 and 4'.
又無人潜水機６からの情報信号たとえばＴＶ信号や各種
センサー信号等は無人潜水機６→索７→アンテナ４′→
母船側アンテナ４→制御装置２の順で伝送される。Information signals such as TV signals and various sensor signals from the unmanned underwater vehicle 6 are sent from the unmanned underwater vehicle 6 → cable 7 → antenna 4' →
It is transmitted in the order of mother ship antenna 4 → control device 2.
（効果）
１）母船と無人潜水機の間が索等で連結されず、ブイを
介しての無線方式にしたので、母船の操船が非常に楽に
なった。(Effects) 1) Since the mother ship and the unmanned underwater vehicle are not connected by cables, etc., but instead use a wireless system via a buoy, maneuvering the mother ship has become much easier.
２）母船から直接索を繰出さない方式としたから、索７
の切断や絡み事故が減少した。2) Since we adopted a method that does not let out the cable directly from the mother ship, cable 7
Cutting and entanglement accidents have decreased.
３）母船から直接索を繰出す方式と較べ、索の繰出し量
が少なくなり、その結果無人潜水機の行動範囲が一段と
増大した。3) Compared to a method in which the cable is paid out directly from the mother ship, the amount of cable paid out is smaller, and as a result, the range of action of the unmanned underwater vehicle is further increased.
図は本発明の無人潜水機の操作方法の一例を示す。
図において；
１ 母船 ２ 制御装置
３ 着水揚収装置 ４，４′ アンテナ５ ブイ
６ 無人潜水機７ 索 ８，
８′ 累月リール９ 送受信器 １０ バッテ
リー以上The figure shows an example of the method of operating the unmanned underwater vehicle of the present invention. In the figure: 1 Mother ship 2 Control device 3 Landing and recovery device 4, 4' Antenna 5 Buoy
6 Unmanned underwater vehicle 7 Cable 8,
8' Monthly reel 9 Transmitter/receiver 10 Battery or more
Claims (1)
装備し、アンテナと送受信器とバッテリーを装備したブ
イに、海中作業用の無人潜水機を索で連結し、前記母船
とブイとの送受信を無線交信で行うようにしたことを特
徴とする無人潜水機操作方法。A mother ship with a landing and recovery device is equipped with a control device and an antenna, and an unmanned underwater vehicle for underwater work is connected with a cable to a buoy equipped with an antenna, a transceiver, and a battery, and transmission and reception between the mother ship and the buoy is carried out. A method for operating an unmanned underwater vehicle, characterized in that the operations are performed by radio communication.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1414887A JPS63184594A (en) | 1987-01-26 | 1987-01-26 | Method for operating unmanned underwater machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1414887A JPS63184594A (en) | 1987-01-26 | 1987-01-26 | Method for operating unmanned underwater machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS63184594A true JPS63184594A (en) | 1988-07-30 |
Family
ID=11853064
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1414887A Pending JPS63184594A (en) | 1987-01-26 | 1987-01-26 | Method for operating unmanned underwater machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS63184594A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02182701A (en) * | 1988-11-08 | 1990-07-17 | Mead Corp:The | Photosensitive composition containing transition metal coodination complex cation and borate anion, and photosensitive material made by using it |
| JP2011031635A (en) * | 2009-07-29 | 2011-02-17 | Kowa Kk | Diving machine system |
| JP2019089422A (en) * | 2017-11-14 | 2019-06-13 | リュル キム，ドン | Seabed survey system using underwater drone |
-
1987
- 1987-01-26 JP JP1414887A patent/JPS63184594A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02182701A (en) * | 1988-11-08 | 1990-07-17 | Mead Corp:The | Photosensitive composition containing transition metal coodination complex cation and borate anion, and photosensitive material made by using it |
| JP2011031635A (en) * | 2009-07-29 | 2011-02-17 | Kowa Kk | Diving machine system |
| JP2019089422A (en) * | 2017-11-14 | 2019-06-13 | リュル キム，ドン | Seabed survey system using underwater drone |
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