Energy underwater transfer system

Abstract

To provide an energy underwater transfer system with high degree of freedom and capable of realizing stable energy transfer.SOLUTION: An energy underwater transfer system 1 has an installation control part 410 and a navigation control part 420. The installation control part 410 includes an empty tank installation part to make the empty tank STe provided at a second position 200 P install on an underwater navigation body 300, and a charging tank installation part to make the empty tank STe from the underwater navigation body 300 release and to make the charging tank STf on the underwater navigation body 300 install when the underwater navigation body 300 reaches the first position 100 P. The navigation body control part 420 includes a first navigation part to make the underwater navigation body 300 with the empty tank STe mounted navigate to the first position 100 P and a second navigation part to make the underwater navigation body 300 with the charge tank STf mounted navigate to the second position 200 P.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an energy transfer system that transfers electrical energy generated by utilizing renewable energy. [Background technology]

[0002] A known method for transferring energy underwater involves connecting an energy supplier and a demander with an oil transfer hose underwater and transferring oil through the oil transfer hose (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 10-278874 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the above-mentioned transfer method has various technical problems, such as a low degree of freedom in the positional relationship between the energy supplier and the energy consumer because the oil supply hose restricts it, and the method is not designed to transfer energy in the form of a heavy solid, such as a hydrogen storage alloy that stores hydrogen.

[0005] An object of the present invention is to provide an underwater energy transfer system that has a high degree of freedom and realizes stable energy transfer. [Means for solving the problem]

[0006] One form of the present invention is an underwater energy transfer system that moves a filled storage tank, which is a storage tank filled with a predetermined amount of energy, between a first position where the filled storage tank awaits retrieval and a second position where the filled storage tank is to be retrieved, using an underwater vehicle equipped with a tank mounting unit to which the storage tank can be detached.The system includes an attachment control unit that controls the operation of the tank mounting unit, and a navigation control unit that navigates the underwater vehicle underwater.The attachment control unit includes an empty tank mounting unit that attaches an empty storage tank, which is the storage tank before it is filled with the energy and is prepared at the second position, to the tank mounting unit, and a filled tank mounting unit that releases the empty storage tank from the tank mounting unit and attaches the filled storage tank to the tank mounting unit when the underwater vehicle arrives at the first position.The navigation control unit includes a first navigation unit that navigates the underwater vehicle with the empty storage tank attached to the first position, and a second navigation unit that navigates the underwater vehicle with the filled storage tank attached to the second position. [Effects of the Invention]

[0007] In one embodiment of the underwater energy transfer system of the present invention, a first navigation unit can navigate an underwater vehicle equipped with an empty storage tank to a first location where a full storage tank awaits retrieval. At the first location, a full storage tank can be attached to the underwater vehicle in place of the empty storage tank using a full tank attachment unit. Furthermore, a second navigation unit can navigate the underwater vehicle equipped with the full storage tank to a second location where the full storage tank is to be retrieved using a full tank attachment unit. In this manner, in the underwater energy transfer system, the storage tank is carried by the underwater vehicle navigating underwater. Therefore, there is a high degree of freedom in setting the distance between the first location where the full storage tank is to be retrieved and the second location where the full storage tank is to be retrieved, as well as in setting each location. Furthermore, the storage tank is carried underwater. Therefore, buoyancy can be utilized, and stable energy transfer can be achieved without being affected by the environment above the water surface (e.g., wind and waves). Therefore, the present invention can provide an underwater energy transfer system that achieves high flexibility and stable energy transfer. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a schematic diagram of an example of an underwater energy transfer system. [Figure 2] FIG. 2 is a schematic diagram of an example of the power-generating float shown in FIG. 1. [Figure 3] FIG. 2 is a schematic configuration diagram of an example of the transport ship shown in FIG. 1. [Figure 4A] FIG. 2 is a diagram showing an example of the shape of the underwater vehicle shown in FIG. 1. [Figure 4B] 2 is a diagram showing another example of the shape of the underwater vehicle shown in FIG. 1. [Figure 5] FIG. 2 is a schematic configuration diagram of an example of the underwater vehicle shown in FIG. 1. [Figure 6] 10 is a flowchart showing an example of a tank transfer process. [Figure 7] FIG. 10 is an explanatory diagram illustrating a tank replacement process in the tank transfer process. [Figure 8A] FIG. 10 is a side view of the underwater vehicle according to the second embodiment. [Figure 8B] FIG. 10 is a top view of the underwater vehicle according to the second embodiment. [Figure 9] FIG. 10 is a schematic configuration diagram of an example of a power-generating float according to a second embodiment. [Figure 10A] FIG. 10 illustrates an underwater vehicle approaching a withdrawal joint. [Figure 10B] FIG. 10 is a diagram showing the state in which the withdrawal joint and the underwater vehicle are connected. [Figure 11A] 1 illustrates an underwater vehicle being raised by a withdrawal joint. [Figure 11B] A diagram showing an underwater vehicle being raised onto a power-generating float. DETAILED DESCRIPTION OF THE INVENTION

[0009] 1. First embodiment First, an overview of an underwater energy transfer system 1 according to the present invention will be described using FIG. 1. The underwater energy transfer system 1 is configured to move a storage tank ST underwater between a first underwater position 100P and a second underwater position 200P using an underwater vehicle 300. The storage tank ST may be a tank filled with a predetermined energy in a predetermined manner. The type of energy to be filled may be any type, such as electrical energy, chemical energy, or light energy. The manner of energy to be filled may be appropriately adopted depending on the application and demand. Hereinafter, a storage tank ST filled with energy will be referred to as a "filled tank STf." Note that the energy filling rate of the filled tank STf may be a predetermined filling rate to be recovered. Furthermore, a storage tank ST before being filled with energy, i.e., when empty, will be referred to as an "empty tank STe." In FIG. 1, the filled tank STf is the storage tank ST indicated by diagonal lines. Hereinafter, when there is no need to distinguish between a "filled tank STf" and an "empty tank STe," they will be referred to as a "storage tank ST."

[0010] The storage tank ST may be filled in a predetermined manner with, for example, electrical energy generated by a float 100 floating on water. The float 100 may generate electricity using, for example, renewable energy. Hereinafter, the float 100 in this embodiment will be referred to as the "power-generating float 100." The first position 100P may be a position corresponding to the power-generating float 100. For example, the first position 100P may be below the power-generating float 100 that waits to retrieve the filling tank STf. The second position 200P may be a position corresponding to the transport ship 200 that functions as a destination for the filling tank STf. The second position 200P may be, for example, a position from which the transport ship 200 can retrieve the filling tank STf. The transport ship 200 may be, for example, a ship that transports the retrieved filling tank STf to a predetermined demand area.

[0011] The underwater vehicle 300 may have a tank mounting unit 310 to which a storage tank ST can be detachably attached. The underwater vehicle 300 is configured to be able to navigate underwater with the storage tank ST attached to the tank mounting unit 310. For example, in the transport ship 200, the underwater vehicle 300 may mount an empty tank STe stored in a tank room TC of the transport ship 200 to the tank mounting unit 310. The empty tank STe may be transported by the underwater vehicle 300 from the second position 200P to the first position 100P. When the underwater vehicle 300 with the empty tank STe attached arrives at the first position 100P, the underwater vehicle 300 may attach a full tank STf to the tank mounting unit 310 in place of the empty tank STe.

[0012] The empty tank STe released from the underwater vehicle 300 may be held in the power-generating float 100 as a storage tank ST to be filled with electrical energy, replacing the filled tank STf. In this way, in the energy underwater transfer system 1, the filled tank STf held by the power-generating float 100 may be replaced with the empty tank STe by the underwater vehicle 300. The filled tank STf may be transported by the underwater vehicle 300 from the first position 100P to the second position 200P. When the underwater vehicle 300 equipped with the filled tank STf arrives at the second position 200P, for example, the filled tank STf may be released from the underwater vehicle 300 and stored in a tank room TC of the transport ship 200.

[0013] The above operations of the underwater vehicle 300 may be controlled by a vehicle control mechanism 400 . The vehicle control mechanism 400 may have, for example, an attachment control unit 410 and a navigation control unit 420. The attachment control unit 410 may control the operation of the tank attachment unit 310 of the underwater vehicle 300. The navigation control unit 420 may control the underwater navigation of the underwater vehicle 300. The vehicle control mechanism 400 may be provided, for example, in the power-generating float 100, the transport ship 200, or other facilities. The vehicle control mechanism 400 may be provided, for example, in a distributed manner in the power-generating float 100, the transport ship 200, and other facilities. The vehicle control mechanism 400 may be realized by so-called cloud computing. In this embodiment, a case where the vehicle control mechanism 400 is provided in the underwater vehicle 300 will be described.

[0014] (Configuration of the power-generating float 100) First, the configuration of the power-generating float 100 will be described with reference to Figure 2. The power-generating float 100 may be, for example, a sailing-type float that can navigate rivers, lakes, oceans, etc. In this embodiment, the power-generating float 100 will be described as a sailing-type float that generates power at sea using wind power. In the present invention, the generated electrical energy may be stored in any manner. In this embodiment, a manner in which electrical energy is converted into a hydrogen carrier and stored will be described.

[0015] As an example, the power-generating float 100 has a hull 101 floating on the water surface, as shown in Figure 2, and may further have, for example, a power generation unit 110, a navigation unit 120, a hydrogen carrier generation unit 130, a tank holding unit 140, a float communication unit 150, and a float control unit 160.

[0016] The power generating unit 110 may include multiple elements used for wind power generation. For example, the power generating unit 110 may be configured to generate wind power using kites 111 connected to the hull 101 via tethers 112. As shown in FIG. 2 , the power generating unit 110 may include a winch 113 and a generator 114 in addition to the tethers 112 and kites 111. The winch 113 has a rotating shaft 113a as a rotation axis, and the rotating shaft 113a is connected to the rotating shaft of the generator 114. The tether 112 is wound around the rotating shaft 113a. When the kites 111 rise, the tether 112 is unwound from the winch 113 in conjunction with this rise. This unwinding action of the tether 112 rotates the rotating shaft 113a. The rotation of the kites 111 as they rise causes the rotating shaft of the generator 114 to rotate in conjunction with this, thereby generating power. Furthermore, when the rotating shaft 113a rotates in a direction to reel in the tether 112, the tether 112 is retrieved and the kite 111 descends. When the tether 112 is retrieved, the generator 114 may rotate the rotating shaft 113a based on a command from the float control unit 160.

[0017] The navigation unit 120 may include multiple elements for sailing the power-generating float 100 on the sea. The power-generating float 100 may be configured to be able to navigate (i.e., sail) on the sea using wind energy received by a sail 121 as a power source. In addition to the sail 121, the navigation unit 120 may be provided with, for example, a centerboard 123 that generates lateral force, a rudder (not shown) that determines the direction of the hull 101, and the like. Furthermore, the power-generating float 100 may include, as the navigation unit 120, for example, a thruster 125 and a motor 124 as a power source so that it can be moved by electricity in addition to movement by wind power. For example, the power generated by the power generation unit 110 may be used to drive the motor 124. Furthermore, the navigation unit 120 may include sensors necessary for navigation on the sea. The sensors may include, for example, a wind direction and speed sensor, a wind volume sensor, an acceleration sensor, an angular velocity sensor, and a speed sensor. For example, the navigation unit 120 may be controlled by a control command from the float control unit 160 based on a predetermined route so that the power-generating float 100 sails along the predetermined route.

[0018] The hydrogen carrier generation unit 130 may include multiple elements for converting the electrical energy obtained by the power generation unit 110 into hydrogen carriers. For example, hydrogen gas may be used as the hydrogen carrier. The hydrogen carrier obtained by the hydrogen carrier generation unit 130 is not limited to hydrogen gas. The hydrogen carrier obtained by the hydrogen carrier generation unit 130 may be, for example, liquefied hydrogen, ammonia, methylcyclohexane, or the like.

[0019] The tank holding unit 140 may include multiple elements for holding the storage tank ST underwater. The storage tank ST may be a hydrogen tank having a configuration suitable for storing the hydrogen carrier employed. In this embodiment, the storage tank ST may be, for example, a hydrogen storage alloy tank containing a hydrogen storage alloy. The tank holding unit 140 may be provided at the bottom of the hull 101, as shown in FIG. 2. The tank holding unit 140 may be configured, for example, to hold at least two storage tanks ST in a row in the longitudinal direction L of the ship. FIG. 2 shows two storage tanks ST held in a row in the longitudinal direction L. Note that in this embodiment, a substantially rectangular parallelepiped storage tank ST is illustrated as an example, but the shape of the storage tank ST is not limited to a substantially rectangular parallelepiped. The storage tank ST may have an appropriate shape depending on the type of energy to be stored.

[0020] The tank holding unit 140 may have, for example, a hydrogen conduit so that hydrogen is supplied from the hydrogen carrier generation unit 130 to the held storage tank ST. The method for holding the storage tank ST in the tank holding unit 140 may be an electromagnetic method, a physical method, or any other appropriate method depending on the hydrogen tank employed. The storage tank ST may also be a battery tank having a battery that is charged with electricity generated by the generator 114. In this case, the hydrogen carrier generation unit 130 may be omitted.

[0021] The float communication unit 150 may be configured to be capable of wireless communication with other elements. The float communication unit 150 may be configured to be capable of wireless communication of information transmitted from other elements to the power-generating float 100 and information (including control instructions) transmitted from the power-generating float 100 to other elements. The "other elements" may include, for example, the transport ship 200 and the underwater vehicle 300, as appropriate. The float communication unit 150 may be configured to be capable of acquiring various types of position information from a GNNS (Global Navigation Satellite System) device, a GPS (Global Positioning System) device, or the like, in order to obtain its own position information.

[0022] The floating body control unit 160 may be configured as a control unit including, for example, a CPU (Central Processing Unit), and a storage device and an input / output interface required for the operation of the CPU. The storage device may include, for example, a ROM (Read Only Memory), a RAM (Random Access Memory), and a data storage. The floating body control unit 160 may be connected to each unit 110-150 by, for example, a data bus via the input / output interface. The floating body control unit 160 may output control instructions to each unit 110-150 to control various operations.

[0023] The storage device may store various types of information necessary for each process performed by the power-generating float 100. The storage device may store, for example, a float ID for identifying each power-generating float 100. For example, various types of information (including control instructions) output from the power-generating float 100 may include a float ID to indicate the source of the output.

[0024] The ROM may store, for example, a computer program for realizing processing in the float control unit 160. The float control unit 160 may read a computer program stored in the ROM or data storage. Alternatively, the float control unit 160 may acquire (i.e., download) a computer program from a device (not shown) arranged outside the power-generating float 100 via the float communication unit 150, and read the acquired computer program. The float control unit 160 executes the read computer program. As a result, logical function blocks for controlling the operation of the power-generating float 100 are realized within the float control unit 160.

[0025] (Composition of transport ships) The configuration of the transport ship 200 will be explained using Figure 3. The transport ship 200 may have, for example, a transport ship navigation mechanism 210, a tank room mechanism 220, a transport ship communication mechanism 230, and a transport ship control mechanism 240. The transport ship 200 may further be provided with an operation mechanism (not shown) that accepts various operations by the crew.

[0026] The transport ship navigation mechanism 210 may include multiple elements for navigating the transport ship 200 on the sea. The transport ship navigation mechanism 210 may include, for example, a steering mechanism including a steering device, a propulsion mechanism including thrusters, and a drive mechanism including an engine. The tank room mechanism 220 may include multiple elements for storing the storage tanks ST in the tank room TC. The tank room mechanism 220 may include, for example, a temperature sensor, a humidity sensor, and a movement device such as a robot for moving the storage tanks ST. The tank room TC may be located either inside or outside the transport ship 200. The transport ship communication mechanism 230 may be configured to be capable of wireless communication with other elements. The transport ship communication mechanism 230 may be configured to be capable of wireless communication of information transmitted from other elements to the transport ship 200 and information (including control instructions) transmitted from the transport ship 200 to other elements. Examples of "other elements" may include, as appropriate, the power-generating float 100, the underwater vehicle 300, etc.

[0027] The transport ship control mechanism 240 may be configured as a control unit including, for example, a CPU (Central Processing Unit) and a storage device and an input / output interface required for the CPU's operation. The storage device may include, for example, a ROM (Read Only Memory), a RAM (Random Access Memory), and data storage. The transport ship control mechanism 240 may be connected to each mechanism 210-230 via, for example, an input / output interface and a data bus. The transport ship control mechanism 240 may output control instructions to each mechanism 210-230 to control various operations.

[0028] The storage device may store various information necessary for each process performed by the transport ship 200. The ROM may store, for example, a computer program for implementing the processes in the transport ship 200. The transport ship control mechanism 240 may load a computer program stored in the ROM or data storage. Alternatively, the transport ship control mechanism 240 may acquire (i.e., download) a computer program from a device (not shown) located outside the transport ship 200 via the transport ship communication mechanism 230, and load the acquired computer program. The transport ship control mechanism 240 executes the loaded computer program. As a result, logical functional blocks for controlling the operation of the transport ship 200 are realized within the transport ship control mechanism 240.

[0029] (Configuration of underwater vehicles) The configuration of the underwater vehicle 300 will be described using Figures 4A, 4B, and 5. First, examples of the shape of the underwater vehicle 300 will be described using Figures 4A and 4B. Figures 4A and 4B show a side view of the underwater vehicle 300 with a storage tank ST attached to a tank mounting portion 310. As an example, the underwater vehicle 300 may have a main body 300a and a thruster 300b as a propulsion device in addition to the tank mounting portion 310 described above. The underwater vehicle 300 may be configured to move forward in direction F by propulsion by the thruster 300b.

[0030] The tank mounting unit 310 may be configured appropriately depending on the shape of the storage tank ST so that the storage tank ST can be detachably attached to it. For example, as shown in FIG. 4A, the tank mounting unit 310 may be a belt-type unit having a belt 310a that can wrap around the storage tank ST. The storage tank ST may be attached to or detached from the tank mounting unit 310 by tightening or loosening the belt 310a. For example, as shown in FIG. 4B, the tank mounting unit 310 may be a rear-end-mounted unit having a mounting surface 310b that can detachably attach to the rear end surface of the storage tank ST. Any mounting method, such as electromagnetic mounting or physical mounting, may be used for mounting to the mounting surface 310b. Furthermore, the tank mounting unit 310 may be a clamping type unit having arms that can clamp the storage tank ST. Although FIGS. 4A and 4B show an example in which the storage tank ST is mounted to the upper part of the main body 300a, the tank mounting unit 310 may be configured so that the storage tank ST is mounted to the lower part of the main body 300a.

[0031] As shown in Figure 5, in addition to the tank mounting section 310 described above, the underwater vehicle 300 may have, for example, a sensor section 320, a propulsion section 330, a buoyancy adjustment section 340, a vehicle communication section 350, and a vehicle control section 360.

[0032] The sensor unit 320 may include, for example, sensors necessary for autonomous navigation underwater. The sensor unit 320 may include, for example, various sonars, cameras, etc. The sensor unit 320 may include sensors necessary depending on the autonomous navigation method adopted by the underwater vehicle 300. The autonomous navigation method adopted by the underwater vehicle 300 is not particularly limited. The sensor unit 320 may include, for example, an inertial navigation system, a Doppler current meter, etc. necessary for inertial navigation. The sensor unit 320 may further include sensors for monitoring its own status. The sensors for monitoring its own status may include, for example, sensors for detecting temperature, pressure, water leakage, voltage, etc. inside the underwater vehicle 300.

[0033] The propulsion unit 330 may include multiple elements necessary for propelling the underwater vehicle 300 underwater. The propulsion unit 330 may include, for example, the thruster 300b described above, a motor, a battery as a power source, and the like. In addition to or instead of the battery, for example, a fuel cell may be used. When a fuel cell is used, hydrogen may be supplied from a storage tank ST attached to the tank mounting unit 310, for example. The buoyancy adjustment unit 340 may include multiple elements necessary for adjusting the buoyancy of the underwater vehicle 300. The buoyancy adjustment unit 340 may include, for example, an air chamber with a variable volume. For example, the buoyancy adjustment unit 340 may be configured so that the buoyancy of the underwater vehicle 300 is adjusted by changing the volume of the air chamber under control of the vehicle control unit 360.

[0034] The vehicle communication unit 350 may be configured to be capable of underwater wireless communication (e.g., underwater acoustic communication) with other elements. The vehicle communication unit 350 may be configured to be capable of wireless communication of information transmitted from other elements to the underwater vehicle 300 and information (including control instructions) transmitted from the underwater vehicle 300 to other elements. "Other elements" may include, for example, the power-generating float 100, the transport ship 200, etc., as appropriate.

[0035] The vehicle control unit 360 may be configured as a control unit including, for example, a central processing unit (CPU) and a storage device and an input / output interface required for the CPU's operation. The storage device may include, for example, a read-only memory (ROM), a random access memory (RAM), and data storage. The vehicle control unit 360 may be connected to each of the units 310-350 via a data bus, for example, via the input / output interface. The vehicle control unit 360 may output control instructions to each of the units 310-350 to control various operations.

[0036] The storage device may store various types of information necessary for each process performed by the underwater vehicle 300. The ROM may store, for example, a computer program for implementing the processes in the vehicle control unit 360. The vehicle control unit 360 may load a computer program stored in the ROM or data storage. Alternatively, the vehicle control unit 360 may acquire (i.e., download) a computer program from a device (not shown) located outside the underwater vehicle 300 via the vehicle communication unit 350, and load the acquired computer program. The vehicle control unit 360 executes the loaded computer program. As a result, logical functional blocks for controlling the operation of the underwater vehicle 300 are implemented within the vehicle control unit 360.

[0037] 5 shows, as an example of functional blocks, a state in which the navigation vehicle control mechanism 400 is implemented within the navigation vehicle control unit 360. As described above, the navigation vehicle control mechanism 400 may include the attachment control unit 410 and the navigation control unit 420. The attachment control unit 410 may exercise control over the tank mounting unit 310 regarding the attachment and detachment of the storage tank ST. In other words, the attachment control unit 410 may control the operation of the tank mounting unit 310 so that the storage tank ST is attached to the tank mounting unit 310. The attachment control unit 410 may also control the operation of the tank mounting unit 310 so that the storage tank ST is released from the tank mounting unit 310.

[0038] The mounting control unit 410 may have, for example, an empty tank mounting unit 411 and a full tank mounting unit 412. The empty tank mounting unit 411 may, for example, perform control related to the mounting of the empty tank STe. The full tank mounting unit 412 may, for example, perform control to release the empty tank STe from the tank mounting unit 310 and mount a full tank STf to the tank mounting unit 310 in place of the empty tank STe. The mounting control unit 410 may, for example, control the tank mounting unit 310 without receiving support from other elements (e.g., the power-generating float 100 and / or the transport ship 200). Alternatively, the mounting control unit 410 may, for example, control the tank mounting unit 310 while receiving support from other elements as appropriate.

[0039] The navigation control unit 420 may control the underwater navigation (i.e., movement through water) of the underwater vehicle 300. The navigation control unit 420 may have, for example, a first navigation unit 421 and a second navigation unit 422. The first navigation unit 421 may, for example, perform control to navigate the underwater vehicle 300 equipped with an empty tank STe to the first position 100P. The second navigation unit 422 may, for example, perform control to navigate the underwater vehicle 300 equipped with a full tank STf to the second position 200P. The navigation control unit 420 may, for example, cause the underwater vehicle 300 to navigate autonomously without receiving support from other elements (e.g., the power-generating float 100 and / or the transport ship 200). Alternatively, the navigation control unit 420 may, for example, cause the underwater vehicle 300 to navigate while receiving support from other elements as appropriate.

[0040] In the energy underwater transfer system 1, as described above, the storage tank ST held by the power-generating float 100 may be replaced by the underwater vehicle 300. The tank transfer process performed in the energy underwater transfer system 1 for this replacement will be described using FIG. 6. The process by the power-generating float 100 may be performed by the float control unit 160. The process by the transport ship 200 may be performed by the transport ship control mechanism 240. The process by the underwater vehicle 300 may be performed by the vehicle control mechanism 400 (in this embodiment, the vehicle control unit 360). Below, the tank transfer process will be described mainly with reference to the process performed by the vehicle control mechanism 400 provided in the underwater vehicle 300.

[0041] In the energy underwater transfer system 1, first, an empty tank mounting process may be performed (step S10). The empty tank mounting process may be performed, for example, at predetermined time intervals. The empty tank mounting process may be performed, for example, when a tank replacement signal transmitted from the power-generating float 100 is received by the transport ship 200. In the empty tank mounting process, for example, an empty tank STe held in the tank room TC may be mounted to the tank mounting unit 310. For example, the empty tank STe in the tank room TC may be placed at a predetermined position outside the tank room TC by a moving device such as a robot controlled by the transport ship control mechanism 240. The empty tank mounting unit 411 may control the tank mounting unit 310 alone or in cooperation with the moving device so that the empty tank STe placed at the predetermined position is mounted to the tank mounting unit 310.

[0042] Once the empty tank STe is attached to the underwater vehicle 300, a first navigation process may be performed (step S12). In the first navigation process, for example, the first navigation unit 421 may autonomously navigate the underwater vehicle 300 toward the first position 100P. The first navigation unit 421 may estimate its current position and heading based on, for example, an inertial navigation system and a Doppler current meter. For example, when at least one landmark (such as a transponder or an acoustic beacon) is installed underwater or on the seabed, the first navigation unit 421 may estimate its current position and heading based on the distance to the landmark. Autonomous navigation by the first navigation unit 421 may be performed with support from other elements (for example, the power-generating float 100 and / or the transport ship 200). Alternatively, autonomous navigation by the first navigation unit 421 may be performed without support from other elements.

[0043] When the underwater vehicle 300 arrives at the first position 100P, a tank replacement process may be performed (step S14). In the tank replacement process, the storage tank ST held by the power-generating float 100 may be replaced from a filled tank STf to an empty tank STe. A specific example of the tank replacement process will be described with reference to FIG. 7. As described above, the tank holding unit 140 of the power-generating float 100 may extend in the longitudinal direction L and be provided at the bottom of the hull 101. Hereinafter, with respect to the longitudinal direction L, one end side of the tank holding unit 140 will be referred to as "end Ea" and the other end side will be referred to as "end Eb." In the example shown in FIG. 7, the filled tank STf is held on the end Eb side of the tank holding unit 140.

[0044] The movement of the underwater vehicle 300 during the tank replacement process may be controlled by the navigation control unit 420. The navigation control unit 420 may move the underwater vehicle 300 while receiving external support from the power-generating float 100 or the like. Alternatively, the navigation control unit 420 may move the underwater vehicle 300 independently based on sonar information, camera image information, and the like. The underwater vehicle 300 equipped with the empty tank STe may, for example, proceed in the longitudinal direction L from the end Ea side opposite to the end Eb and move to the release position P1 of the empty tank STe. The underwater vehicle 300 equipped with the empty tank STe may, for example, rise from below the tank holding unit 140 so as to be positioned at the release position P1.

[0045] When the underwater vehicle 300 reaches the release position P1, the filling tank mounting unit 412 may control the tank mounting unit 310 to release the empty tank STe from the tank mounting unit 310. After releasing the empty tank STe, the underwater vehicle 300 may proceed in the vessel longitudinal direction L to a mounting position P2 for the filling tank STf. That is, when the empty tank STe is released from the tank mounting unit 310, the underwater vehicle 300 may move to the filling tank STf. For example, the underwater vehicle 300 may move to the mounting position P2 where the filling tank STf is mounted. When the underwater vehicle 300 reaches the mounting position P2, the filling tank mounting unit 412 may control the tank mounting unit 310 to mount the filling tank STf to the tank mounting unit 310. The tank holding unit 140 may be provided with at least one rail extending in the vessel longitudinal direction L, for example. In this case, the underwater vehicle 300 may be guided by the rails to move to the release position P1 and the attachment position P2.

[0046] Returning to Figure 6, the processing performed after the tank replacement processing will be described. When the filling tank STf is attached to the underwater vehicle 300, a second navigation processing may be performed (step S16). In the second navigation processing, for example, the second navigation unit 422 may autonomously navigate the underwater vehicle 300 equipped with the filling tank STf from the power-generating float 100 toward the second position 200P. The navigation mode in the second navigation processing may be the same as the navigation mode in the first navigation processing (step S12). When the underwater vehicle 300 equipped with the filling tank STf arrives at the second position 200P, a filled tank storage processing may be performed (step S18).

[0047] In the filled tank storage process, for example, the attachment control unit 410 may control the tank attachment unit 310 to release the filling tank STf from the tank attachment unit 310. The release of the filling tank STf may be performed, for example, at the second position 200P. Alternatively, the underwater vehicle 300 may further move to a predetermined position, thereby releasing the filling tank STf at the predetermined position. Subsequently, for example, the transport vessel control mechanism 240 may control the above-mentioned moving device to store the filling tank STf released from the underwater vehicle 300 in the tank chamber TC. In the filled tank storage process, for example, the attachment control unit 410 and the transport vessel control mechanism 240 may work together to transfer the released filling tank STf to the moving device.

[0048] This may be the end of the tank transfer process. According to the tank transfer process, the filled tank STf held by the power-generating float 100 is recovered by the transport ship 200, and the storage tank ST held by the power-generating float 100 is replaced from the filled tank STf to an empty tank STe. The power-generating float 100 can now store electrical energy (hydrogen in this embodiment) in the new empty tank STe.

[0049] 2. Second embodiment The underwater energy transfer system 1 according to the present invention may employ an underwater vehicle 300 having a configuration different from that described above, and a power-generating float 100 having a configuration different from that described above. An embodiment employing an underwater vehicle 300 having a configuration different from that of the first embodiment, and a power-generating float 100 having a configuration different from that of the first embodiment, will be described as a second embodiment. Below, parts that differ from the first embodiment will be described, and parts that may be the same as those in the first embodiment will be omitted as appropriate. In the following description, parts corresponding to those in the first embodiment will be designated by the same reference numerals as in the first embodiment.

[0050] The underwater vehicle 300 according to the second embodiment will be described using Figures 8A and 8B. Figure 8A shows a side view of the underwater vehicle 300 according to the second embodiment. Figure 8B shows a top view of the underwater vehicle 300 according to the second embodiment. As shown in Figures 8A and 8B, the underwater vehicle 300 has a torpedo shape and may be configured to move forward in direction F by thrusters 300b.

[0051] The main body 300a of the underwater vehicle 300 may be composed of three parts in the longitudinal direction: a front body 300af, a center body 300ac, and a rear body 300ar. The tank mounting unit 310 may be provided, for example, on the center body 300ac. For example, the tank mounting unit 310 may be configured so that the storage tank ST is fitted between three surfaces: the rear surface 300afr of the front body 300af, the front surface 300arf of the rear body 300ar, and the upper surface 300acu of the center body 300ac. Any mounting method, such as electromagnetic mounting or physical mounting, may be used to mount the storage tank ST to the three surfaces of the tank mounting unit 310. Note that although FIGS. 8A and 8B show an example in which the storage tank ST is mounted on the upper part of the center body 300ac, the tank mounting unit 310 may be configured so that the storage tank ST is mounted on the lower part of the center body 300ac. The front main body 300af may be provided with, for example, a sensor unit 320, a buoyancy adjustment unit 340, and the like.

[0052] A docking unit 300c that connects to the lifting joint 171 (described later) may be provided on the front surface 300aff of the front body 300af, i.e., on the front surface of the underwater vehicle 300. The docking unit 300c may be provided with a configuration appropriate for the connection mode. For example, the docking unit 300c may be provided with an automatic opening / closing hook for physical connection. Alternatively, the docking unit 300c may be provided with a magnet mechanism for electromagnetic connection. For example, the connection state of the docking unit 300c may be switched under the control of the vehicle control unit 360. For example, if the docking unit 300c is provided with an automatic opening / closing hook, the vehicle control unit 360 may control the opening and closing of the automatic opening / closing hook. For example, if the docking unit 300c is provided with a magnet mechanism, the vehicle control unit 360 may control the generation of magnetic force in the magnet mechanism.

[0053] The rear body 300ar may be provided with, for example, a power unit (e.g., a motor and a battery) of the propulsion unit 330, a buoyancy adjustment unit 340, and a navigation vehicle communication unit 350. A fuel cell may be used for the power unit in addition to or instead of a battery. If a fuel cell is used, hydrogen may be supplied from a storage tank ST attached to the tank mounting unit 310, for example. The navigation vehicle control unit 360 may be provided in any of the front body 300af, the center body 300ac, and the rear body 300af. The navigation vehicle control unit 360 may be provided in three locations, for example, the front body 300af, the center body 300ac, and the rear body 300af. For example, the navigation vehicle control unit 360 may be configured so that each control unit corresponding to a control object is appropriately positioned according to the control object.

[0054] As shown in FIG. 9, the power-generating float 100 of the second embodiment has a lifting unit 170 in addition to the configuration of the first embodiment. The lifting unit 170 may have multiple elements for lifting the underwater vehicle 300, which is in the sea, onto the power-generating float 100. The lifting unit 170 may have, as an example, a lifting joint 171 shown in FIG. 9. The lifting joint 171 may have, for example, a flexible arm 171a extending from the bottom of the power-generating float 100 into the sea, and a vehicle connection part 171b provided at the tip of the flexible arm 171a. The flexible arm 171a may extend downward from a lifting port 101a provided at the bottom of the hull 101, for example. The lifting port 101a may function as an entrance and exit for the underwater vehicle 300 to and from the power-generating float 100.

[0055] The flexible arm 171a may be configured to be extendable and retractable in the longitudinal direction LL, for example, under the control of the lifting control unit 161, which will be described later. The flexible arm 171a may be elastic so that it can sway in response to waves and ocean currents in the sea. The navigation vehicle connecting unit 171b may be configured to be connectable to the docking unit 300c of the underwater vehicle 300. The navigation vehicle connecting unit 171b may be configured to be connectable according to the connection mode adopted for the docking unit 300c. The navigation vehicle connecting unit 171b may be provided with, for example, an eyebolt that can be connected to the automatic opening and closing hook of the docking unit 300c. The navigation vehicle connecting unit 171b may be provided with, for example, a metal part that can be magnetically connected to the magnet mechanism of the docking unit 300c.

[0056] The first position 100P in the second embodiment may be, for example, a position near the navigation body connection part 171b as a position corresponding to the power-generating float 100. Furthermore, the lifting unit 170 may include, for example, a moving device such as a robot that moves the storage tank ST.

[0057] The tank holding unit 140 in the second embodiment may have, for example, a tank holding section 141 provided in the power-generating float 100. The tank holding section 141 may hold, for example, a storage tank ST to which hydrogen is supplied from the hydrogen carrier generation unit 130. The tank holding section 141 may hold, for example, a filled tank STf that has reached the filling rate to be recovered. The tank holding section 141 may be provided with an entrance / exit through which the storage tank ST is inserted and removed. Furthermore, the tank holding unit 140 may include, for example, a moving device such as a robot that moves the storage tank ST.

[0058] In the floating body control unit 160, for example, a lifting control unit 161 may be realized as a functional block. The lifting control unit 161 may control the operation of each element in the lifting unit 170. For example, the lifting control unit 161 may control the operation of the flexible arm 171a to extend and retract in the longitudinal direction LL. Other configurations of the power-generating float 100 may be the same as those in the first embodiment.

[0059] In the tank transfer process (FIG. 6) in the second embodiment, the storage tank ST held in the power-generating float 100 may be replaced from a filled tank STf to an empty tank STe, as in the first embodiment. In the tank transfer process in the second embodiment, the same processes as in the first embodiment may be performed except for the tank replacement process (step S14). The tank replacement process in the second embodiment will be explained using FIGS. 10A to 11B. In the tank replacement process, as shown in FIGS. 10A to 11B, the float control unit 160 of the power-generating float 100 may control the navigation unit 120 to move the power-generating float 100 in the direction FF to ensure stability.

[0060] The tank replacement process may be performed when the underwater vehicle 300 equipped with the empty tank STe arrives at the first position 100P. The lifting control unit 161 of the power-generating float 100 may wait for the underwater vehicle 300 to arrive at the first position 100P, with the lifting joint 171 extended downward from the lifting port 101a. Alternatively, after the underwater vehicle 300 arrives at the first position 100P, the lifting control unit 161 may extend the lifting joint 171 downward from the lifting port 101a. For example, the lifting control unit 161 may recognize that the underwater vehicle 300 has arrived at the first position 100P based on sensor information or camera image information provided on the power-generating float 100. Alternatively, the lifting control unit 161 may recognize that the underwater vehicle 300 has arrived at the first position 100P based on an arrival notification transmitted from the underwater vehicle 300.

[0061] When the underwater vehicle 300 equipped with the empty tank STe arrives at the first position 100P, first, as shown in Fig. 10A, the underwater vehicle 300 may approach the lifting joint 171 so that the docking unit 300c is connected to the vehicle connecting unit 171b. That is, the navigation control unit 420 may cause the underwater vehicle 300 to approach the lifting joint 171 so that the docking unit 300c of the underwater vehicle 300 is connected to the vehicle connecting unit 171b. The navigation control unit 420 may recognize the position of the vehicle connecting unit 171b based on, for example, image information from a camera and / or sonar information.

[0062] Alternatively, the navigation control unit 420 may receive support from the power-generating float 100 and move the underwater vehicle 300 closer to the lifting joint 171. For example, a transmitter that emits sound waves of a predetermined frequency may be provided in the vehicle connecting unit 171b. The lifting control unit 161 of the power-generating float 100 may cause the transmitter in the vehicle connecting unit 171b to emit sound waves. The navigation control unit 420 may move the docking unit 300c closer to the vehicle connecting unit 171b based on the sound waves. When the sound waves are emitted from the vehicle connecting unit 171b, the range (i.e., zone) within which the sound waves reach may be determined as the first position 100P in the energy underwater transfer system 1.

[0063] For example, when the vehicle connection portion 171b of the lifting joint 171 comes into contact with the docking portion 300c of the underwater vehicle 300, the vehicle control unit 360 may connect the docking portion 300c to the vehicle connection portion 171b. FIG. 10B shows a state in which the vehicle connection portion 171b of the lifting joint 171 and the docking portion 300c of the underwater vehicle 300 are connected. For example, the vehicle control unit 360 may connect the docking portion 300c to the eyebolt of the vehicle connection portion 171b by controlling the opening and closing of an automatic opening and closing hook of the docking portion 300c. For example, the vehicle control unit 360 may connect the docking portion 300c to the metal portion of the vehicle connection portion 171b using the magnetic force of a magnet mechanism of the docking portion 300c. When the vehicle connecting unit 171b and the docking unit 300c are connected, the lifting control unit 161 may retract the flexible arm 171a in the longitudinal direction LL, thereby lifting the underwater vehicle 300 connected to the vehicle connecting unit 171b toward the power-generating float 100, as shown in FIG.

[0064] The underwater vehicle 300 with the empty tank STe attached thereto may be finally pulled up into the power-generating float 100 by the lifting joint 171, as shown in FIG. 11B . When the underwater vehicle 300 is pulled up onto the power-generating float 100, for example, the filled tank mounting section 412 may release the empty tank STe from the tank mounting section 310. The released empty tank STe may be carried to the tank holding section 141 by, for example, a moving device provided on the tank holding unit 140 and / or the lifting unit 170. Furthermore, the filled tank STf held in the tank holding section 141 may be placed in the tank mounting section 310 of the underwater vehicle 300 by the moving device. When the filled tank STf is placed in the tank mounting section 310, the filled tank mounting section 412 may mount the placed filled tank STf.

[0065] For example, even after the underwater vehicle 300 is pulled up onto the power-generating float 100, the docking unit 300c may remain connected to the vehicle connecting unit 171b of the lifting joint 171. After the filling tank STf is attached to the underwater vehicle 300, the lifting control unit 161 may, for example, extend the lifting joint 171 from the lifting port 101a into the sea while the underwater vehicle 300 is still connected. This allows the underwater vehicle 300 with the attached filling tank STf to be discharged overboard. Once the underwater vehicle 300 is discharged overboard, the vehicle control unit 360 may control the docking unit 300c to release the connection with the vehicle connecting unit 171b. For example, the vehicle control unit 360 may open the automatic opening and closing hook of the docking unit 300c to release the connection. To cancel the underwater vehicle control, for example, the vehicle control unit 360 may stop generating magnetic force in the magnet mechanism of the docking unit 300c. This allows the underwater vehicle 300 to start navigating to the second position 200P. That is, the second navigation unit 422 can start the second navigation process (FIG. 6: step S16).

[0066] The location where the underwater vehicle 300 is finally raised by the lifting joint 171 is not limited to inside the power-generating float 100. The location where the underwater vehicle 300 is finally raised may be outside the power-generating float 100 (for example, the bottom of the ship, etc.). In this case, for example, an arm or the like of a moving device provided on the lifting unit 170 may extend to the outside of the underwater vehicle 300 and carry the storage tank ST.

[0067] The flexible arm 171a may be provided with a vibration isolator that prevents shaking due to, for example, waves, ocean currents, etc. The vibration isolator may be an active type vibration isolator that includes an actuator that can be controlled by the lifting control unit 161. The vibration isolator may be provided with a vibration sensor that detects shaking due to, for example, waves, ocean currents, etc. The lifting control unit 161 may control the actuator of the vibration isolator based on sensor information from the vibration sensor so that shaking of the flexible arm 171a is suppressed.

[0068] Furthermore, the lifting control unit 161 may stop vibration isolation by the vibration isolator, for example, by stopping the control instruction to the actuator of the vibration isolator. The lifting control unit 161 may stop the control instruction to the actuator, for example, after the underwater vehicle 300 is connected to the lifting joint 171 (FIGS. 10B and 11A). This allows the lifting joint 171 to lift the underwater vehicle 300 after it is connected without resisting external forces generated by waves, ocean currents, and the like.

[0069] In addition to or instead of the power-generating float 100, the lifting unit 170 may be provided on the transport ship 200. In this case, a control unit corresponding to the lifting control unit 161 may be realized as a functional block in the transport ship control mechanism 240.

[0070] Additional notes The following additional notes are provided regarding the above-described embodiment.

[0071] [Appendix 1] The underwater energy transfer system described in Appendix 1 is an energy underwater transfer system that moves a filled storage tank, which is a storage tank filled with a predetermined energy, between a first position where the filled storage tank awaits retrieval and a second position where the filled storage tank is to be retrieved, by an underwater vehicle equipped with a tank mounting part to which the storage tank can be detached, and includes a mounting control part that controls the operation of the tank mounting part, and a navigation control part that navigates the underwater vehicle underwater, wherein the mounting control part includes an empty tank mounting part that mounts an empty storage tank, which is the storage tank before being filled with the energy and is prepared at the second position, to the tank mounting part, and a filled tank mounting part that releases the empty storage tank from the tank mounting part and mounts the filled storage tank on the tank mounting part when the underwater vehicle arrives at the first position, and the navigation control part includes a first navigation part that navigates the underwater vehicle with the empty storage tank mounted to the first position, and a second navigation part that navigates the underwater vehicle with the filled storage tank mounted to the second position.

[0072] According to the underwater energy transfer system described in Appendix 1, the storage tank is transported by an underwater vehicle traveling underwater. Therefore, there is a high degree of freedom in setting the distance between the first location of the filled storage tank to be retrieved and the second location to which the filled storage tank is retrieved, as well as in setting each location. Furthermore, the storage tank is transported underwater. Therefore, according to this underwater energy transfer system, by utilizing buoyancy, the burden associated with the transfer is reduced even when transferring a heavy storage tank. Furthermore, stable energy transfer is achieved that is not affected by the environment above the water surface (e.g., wind and waves). Furthermore, according to this underwater energy transfer system, when a filled storage tank held at the first location is retrieved, the filled storage tank held at the first location can be replaced with an empty storage tank. For example, this underwater energy transfer system is particularly effective when energy is filled into the storage tank at the first location.

[0073] The first position and the second position are not merely single positions but are concepts that encompass a reasonable range. The energy filling rate in the filled storage tank does not need to be 100%. For example, it is sufficient if the energy to be recovered is filled to a predetermined filling rate.

[0074] [Appendix 2] The underwater energy transfer system described in Appendix 2 is the underwater energy transfer system described in Appendix 1, wherein the first location corresponds to a float that floats on the water surface, obtains electrical energy based on wind power, and fills the storage tank with the electrical energy in a predetermined manner, and the second location corresponds to a transport ship that transports the storage tank.

[0075] According to the underwater energy transfer system described in Appendix 2, a storage tank filled with electrical energy generated by a floating body can be transferred underwater to a transport ship. Even when power is generated offshore, the filled storage tank is transferred underwater from the floating body to the transport ship, providing a stable transfer of electrical energy.

[0076] [Appendix 3] The energy underwater transfer system described in Appendix 3 is the energy underwater transfer system described in Appendix 2, in which at least one of the floating body and the transport vessel is equipped with a lifting joint that extends underwater and lifts the underwater vehicle, the lifting joint having a vehicle connection portion to which the underwater vehicle is connected, and a lifting control portion that lifts the underwater vehicle when the underwater vehicle is connected to the vehicle connection portion of the lifting joint.

[0077] According to the energy underwater transfer system described in Appendix 3, an underwater vehicle can be connected to a lifting joint extending into the water and lifted to a predetermined position on or under the water. The lifting control unit may be provided, for example, on the floating body and / or the transport vessel equipped with the lifting joint.

[0078] [Appendix 4] The energy underwater transfer system described in Appendix 4 is an energy underwater transfer system described in Appendix 2 or 3, in which the underwater vehicle further has a communication unit capable of underwater wireless communication with at least one of the transport ship and the floating body, and the navigation control unit navigates the underwater vehicle based on information received by the communication unit.

[0079] According to the underwater energy transfer system described in Appendix 4, the underwater vehicle can navigate underwater based on information from outside via underwater wireless communication. Therefore, the underwater vehicle can navigate underwater while receiving support from outside. Therefore, more stable underwater navigation is realized.

[0080] [Appendix 5] The underwater energy transfer system described in Appendix 5 is the underwater energy transfer system described in Appendix 4, in which the navigation control unit moves the underwater vehicle from the empty storage tank to the filled storage tank based on information received by the communication unit when the empty storage tank is released from the tank mounting unit.

[0081] According to the underwater energy transfer system described in Appendix 5, after an empty storage tank is released from a tank mounting part, the underwater vehicle can move to a filled storage tank based on external information. Therefore, the underwater vehicle can replace the storage tank mounted on the tank mounting part while receiving external support.

[0082] The present invention can be modified as appropriate within the scope that does not deviate from the gist or concept of the invention that can be read from the claims and the entire specification, and the underwater energy transfer system with such modifications is also included in the technical concept of the present invention. [Explanation of symbols]

[0083] 1. Underwater energy transfer system 100 Power-generating float (float) 200 Transport Ships 300 Underwater Vehicle 310 Tank mounting part 360 Vehicle Control Unit 400 Vehicle Control Mechanism 410 Wearing control unit 420 Navigation Control Unit 100P 1st position 200P 2nd position ST Storage Tank STe Empty Tank (Empty Storage Tank) STf Filling Tank (Filling Storage Tank)

Claims

1. 1. An underwater energy transfer system for moving a storage tank, which is a storage tank filled with a predetermined amount of energy, between a first position where the filled storage tank is waiting to be retrieved and a second position where the filled storage tank is to be retrieved, by an underwater vehicle having a tank mounting part to which the storage tank can be detached, a mounting control unit that controls the operation of the tank mounting unit; a navigation control unit that causes the underwater vehicle to navigate underwater, the attachment control unit includes an empty tank attachment unit that attaches an empty storage tank, which is the storage tank before being filled with the energy and is prepared at the second position, to the tank attachment unit, and a filled tank attachment unit that releases the empty storage tank from the tank attachment unit and attaches the filled storage tank to the tank attachment unit when the underwater vehicle arrives at the first position, the navigation control unit includes a first navigation unit that navigates the underwater vehicle equipped with the empty storage tank to the first position, and a second navigation unit that navigates the underwater vehicle equipped with the full storage tank to the second position. Energy underwater transfer system.

2. the first position corresponds to a floating body that floats on the water surface, obtains electric energy based on wind power, and stores the electric energy in the storage tank in a predetermined manner; The energy underwater transfer system according to claim 1 , wherein the second location corresponds to a transport ship that transports the storage tank.

3. At least one of the floating body and the transport vessel includes a lifting joint extending into the water to lift the underwater vehicle; the lifting joint has a vehicle connection portion to which the underwater vehicle is connected; a lifting control unit that lifts the underwater vehicle when the underwater vehicle is connected to the vehicle connection portion of the lifting joint; The underwater energy transfer system according to claim 2 .

4. 4. The underwater energy transfer system according to claim 2 or 3, wherein the underwater vehicle further has a communication unit capable of underwater wireless communication with at least one of the transport ship and the floating body, and the navigation control unit navigates the underwater vehicle based on information received by the communication unit.

5. 5. The underwater energy transfer system of claim 4, wherein the navigation control unit moves the underwater vehicle from the empty storage tank to the filled storage tank based on information received by the communication unit when the empty storage tank is released from the tank mounting unit.

Images