Navigation control device, navigation control system, navigation control method, and computer program

Abstract

The present invention provides a navigation control device, a navigation control system, a navigation control method, and a computer program for controlling the navigation of an underwater vehicle toward an area where an aerial vehicle is thought to be flying. [Solution] The navigation control device 10 detects the arrival of sound waves from an object 60 suspended in the water from the flying body 50, inputs direction information indicating the direction of the sound wave's arrival and distance information indicating the distance between the underwater navigating body 30 on which the device is mounted and the object 60, and uses the direction information and distance information to control the navigation of the underwater navigating body 30 toward a target position set below the flying body 50.

Description

Technical Field

[0001] The present disclosure relates to a navigation control device, a navigation control system, a navigation control method, and a computer program.

Background Art

[0002] When an accident occurs to a ship or an aircraft at sea or a submarine sinks, rescue operations may be carried out using a helicopter. Also, underwater, a sonar may be used to search for a sunken vehicle.

[0003] Note that the acoustic homing device for an underwater vehicle described in Patent Document 1 uses an active method at a different frequency even when using the passive method, and performs precise guidance of the underwater vehicle.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] ]> When a manned or unmanned ship, aircraft, or submarine sinks into the sea due to an accident, it is very difficult to discover its sinking position early. Therefore, in order to discover it early, it is conceivable to search for the sunken vehicle using a suspended sonar suspended from a helicopter during the search. Also, for the purpose of saving lives, it is conceivable to eject an underwater vehicle having functions such as an escape pod from the sunken vehicle. Even if this underwater vehicle can move autonomously, since it is not known from where the rescue helicopter comes, it is not known in which direction the underwater vehicle should head, and it is assumed that it waits to be rescued.

[0006] As mentioned above, the acoustic homing device for underwater vehicles described in Patent Document 1 is intended for use in situations where the approximate target location is known. Therefore, even if an acoustic homing device for underwater vehicles is mounted on an underwater vehicle, it is thought that rescue will take time because the underwater vehicle will not know where to go. To facilitate rapid rescue, there is a need for a technology that can identify the area where a search helicopter is thought to be flying and control the underwater vehicle's trajectory toward that area, thereby enabling faster rescue.

[0007] This disclosure aims to provide a navigation control device, a navigation control system, a navigation control method, and a computer program for controlling the navigation of an underwater vehicle toward an area where an airborne vehicle is believed to be flying. [Means for solving the problem]

[0008] In achieving the above objective, a navigation control device according to one embodiment includes: detection means for detecting the arrival of sound waves from an object suspended in water from an aircraft; input means for inputting direction information indicating the direction of arrival of the sound waves and distance information indicating the distance between the underwater vehicle on which the device is mounted and the object; and navigation control means for controlling the navigation of the underwater vehicle toward a target position set below the aircraft using the direction information and distance information.

[0009] In other findings that achieve the above objective, a navigation control system according to one embodiment comprises a navigation control device according to one embodiment as described above, and a sonar that outputs direction information and distance information.

[0010] Furthermore, in yet another finding to achieve the above objective, a navigation control method according to one embodiment involves a computer detecting the arrival of sound waves from an object suspended in the water from an aircraft, inputting directional information indicating the direction of the sound wave's arrival and distance information indicating the distance between the underwater vehicle on which the device is mounted and the object, and using the directional information and distance information to control the navigation of the underwater vehicle toward a target position set below the aircraft.

[0011] Furthermore, in yet another finding to achieve the above objective, a computer program according to one embodiment causes the computer to perform the following: a process of detecting the arrival of sound waves from an object suspended in water from an aircraft; a process of inputting direction information indicating the direction of arrival of the sound waves and distance information indicating the distance between the underwater vehicle on which the device is mounted and the object; and a process of controlling the navigation of the underwater vehicle toward a target position set below the aircraft using the direction information and distance information. [Effects of the Invention]

[0012] This disclosure provides a navigation control device, a navigation control system, a navigation control method, and a computer program that control the navigation of an underwater vehicle in a way that makes it easier for an underwater vehicle to be detected by an aircraft flying in the air. [Brief explanation of the drawing]

[0013] [Figure 1] This is a schematic diagram illustrating an example of the navigation control system 1000 described herein. [Figure 2] This is a schematic diagram showing an example of the configuration of the underwater vehicle 30 according to this disclosure. [Figure 3] This is a schematic diagram showing an example of the configuration of sonar 1 according to this disclosure. [Figure 4] This block diagram shows an example of the configuration of the navigation control device 10 according to this disclosure. [Figure 5] This flowchart shows an example of the processing operation of the navigation control device 10 according to this disclosure. [Figure 6] This block diagram shows an example of the configuration of the navigation control device 10 according to this disclosure. [Figure 7] This figure shows an example of the track of an underwater vehicle 30 controlled by the navigation control device 10 according to this disclosure. [Figure 8] This figure shows an example of the track of an underwater vehicle 30 controlled by the navigation control device 10 according to this disclosure. [Figure 9] This flowchart shows an example of the processing operation of the navigation control device 10 according to this disclosure. [Figure 10] It is a block diagram showing an example of the configuration of the navigation control device 10 according to the present disclosure. [Figure 11] It is a flowchart showing an example of the processing operation of the navigation control device 10 according to the present disclosure. [Figure 12] It is a block diagram showing an example of the configuration of the navigation control device 10 according to the present disclosure. [Figure 13] It is a flowchart showing an example of the processing operation of the navigation control device 10 according to the present disclosure. [Figure 14] It is a block diagram showing an example of the configuration of the navigation control device 600 according to the present disclosure. [Figure 15] It is a flowchart showing an example of the processing operation of the navigation control device 600 according to the present disclosure. [Figure 16] It is a diagram showing an example of the hardware configuration of the navigation control device.

Embodiments for Carrying Out the Invention

[0014] Embodiments of the present disclosure will be described with reference to the drawings. Note that the reference numerals attached to the drawings are for convenience of each element as an example to assist understanding, and are not intended to limit the present disclosure to the illustrated embodiments.

[0015] <First Embodiment>" <Configuration in the First Embodiment> As shown in FIG. 1, the navigation control system 1000 in the first embodiment includes a sonar 1 and a navigation control device 10. The navigation control system 1000 is provided in the underwater vehicle 30. The underwater vehicle 30 is, for example, an underwater drone. Further, the underwater vehicle 30 is provided in the main underwater vehicle 40. The main underwater vehicle 40 is, for example, a manned or unmanned submarine or a large ship having a function of detecting an object 60.

[0016] As shown in FIG. 2, the underwater vehicle 30 in the first embodiment includes a sonar 1, a cargo room 2, a battery 3, a motor 4, a steering control device 5, a screw propeller 6, a rudder 7, a navigation control device 10, and a depth gauge 20.

[0017] Sonar 1 detects the direction and distance of an object relative to the underwater vehicle 30 by transmitting sonar waves and receiving reflected sound waves that occur when the sonar waves are reflected by an object. In the first embodiment, sonar 1 comprises a plurality of electrostrictive transducers 8 and a circuit 9, as shown in Figure 3. The plurality of electrostrictive transducers 8 are arranged in an array. The circuit 9 assigns directionality to the sonar waves transmitted by sonar 1, detects the direction of arrival of the received reflected sound waves by directional synthesis processing, and calculates the distance by signal detection processing. In other words, sonar 1 calculates the calculated distance indicating the distance between the underwater vehicle 30 and the object 60, and the direction of arrival of the sound waves.

[0018] Furthermore, in the first embodiment, the sonar 1 receives sound waves such as navigation sounds or sonar sounds when the object to be detected is emitting them, and detects the direction from which the sound waves are coming. In other words, the sonar 1 is configured to receive sound waves in a frequency band that includes the expected frequency of the sound waves from the object to be detected.

[0019] The cargo compartment 2 shown in Figure 2 is a space for accommodating goods, personnel, and equipment according to the intended use of the underwater vehicle 30. The battery 3 is the power source for the motor 4. The motor 4 is the prime mover that rotates the screw propeller 6 to propel the underwater vehicle 30. If an engine is used instead of the motor 4, fuel and oxygen are installed instead of the battery 3. The steering control device 5 is a mechanism that drives the rudder 7. The steering control device 5 operates the rudder 7 using information output from, for example, an attitude sensor or a sensitive navigation system (not shown). The screw propeller 6 is a propeller connected to a rotating shaft rotated by the motor 4 or engine, and generates thrust to propel the underwater vehicle 30. The screw propeller 6 is, for example, a contra-rotating propeller. The rudder 7 is operated by the steering control device 5 to control the direction in which the underwater vehicle 30 moves forward, and includes a horizontal rudder and a vertical rudder. The depth gauge 20, for example, is equipped with a water pressure sensor, and calculates the diving depth of the underwater vehicle 30 by dividing the water pressure detected by the water pressure sensor by the specific gravity of seawater. The calculated diving depth is transmitted as depth information to the navigation control device 10.

[0020] The flying object 50 shown in Figure 1 is, for example, a drone or helicopter that flies in the air. For example, when the flying object 50 is suspended from an object 60, it is performing hovering flight at an altitude of about 20 to 30 meters.

[0021] Object 60 is a device that generates sound waves. Object 60 is, for example, a suspended sonar or a sound wave generator. For example, if object 60 is a suspended sonar, the detection results from the suspended sonar are transmitted from object 60 to the aircraft 50.

[0022] As shown in Figure 4, the navigation control device 10 includes a detection unit 110, an input unit 120, and a navigation control unit 130.

[0023] The detection unit 110 (corresponding to, for example, a detection means) detects the arrival of sound waves from object 60. The detection unit 110 receives a signal from the sonar 1 that detects the sound waves and detects the arrival of sound waves from object 60. The sound waves from object 60 are sound waves emitted from object 60, or reverberant sound waves that are produced when sonar waves emitted from the sonar 1 of the underwater vehicle 30 are reflected off object 60.

[0024] The input unit 120 (corresponding to, for example, an input means) receives direction information indicating the direction from which sound waves are arriving from object 60, and distance information indicating the calculated distance between the underwater vehicle 30 on which the device is mounted and object 60, from the sonar 1. The input unit 120 outputs the input direction information and distance information to the navigation control unit 130.

[0025] The navigation control unit 130 (corresponding to, for example, a navigation control means) uses direction information and distance information to control the underwater vehicle 30's navigation toward a target position set below the flying vehicle 50. For example, the target position is an object target position indicating the location of an object 60. The navigation control unit 130 controls the underwater vehicle 30's navigation toward the object target position.

[0026] The target position is a position set according to the purpose of the underwater vehicle 30's navigation. Depending on the purpose of navigation, it may also be an aircraft target position. The aircraft target position is a position set as a target position between the position of object 60 and the water surface below aircraft 50, based on the position of aircraft 50. The navigation control unit 130 controls the navigation of the underwater vehicle 30 toward the aircraft target position. The aircraft target position is, for example, a position 5m below the water surface below aircraft 50. Note that the aircraft target position is set assuming that aircraft 50 is above object 60.

[0027] <Example of operation in the first embodiment> Below, an example of the processing operation of the navigation control device 10 in the first embodiment will be explained using Figure 5. Figure 5 is a flowchart illustrating an example of the processing operation of the navigation control device 10. It can also be said that Figure 5 illustrates the navigation control method by the navigation control device 10.

[0028] First, the detection unit 110 determines whether the arrival of sound waves from object 60 has been detected by the sonar 1 (step S101). If sound waves from object 60 are not detected (No in step S101), the detection unit 110 repeatedly determines whether or not they have been detected until sound waves from object 60 are detected. If sound waves from object 60 are detected (Yes in step S101), the process moves to the input unit 120, which receives direction information indicating the direction from which the sound waves from object 60 are coming, and distance information indicating the distance between the underwater vehicle 30 and object 60 from the sonar 1 (step S102). Then, the navigation control unit 130 uses the direction information and distance information to control the navigation of the underwater vehicle 30 toward a target position set below the aircraft 50 (step S103).

[0029] <Effects of the First Embodiment> The navigation control device 10 of this embodiment includes a detection unit 110, an input unit 120, and a navigation control unit 130. As a result, the navigation control device 10 is configured to control the navigation of the underwater vehicle 30 toward a target position set below the aircraft 50, so that the navigation of the underwater vehicle can be controlled toward the area where the aircraft 50 is thought to be flying. If an abnormality occurs in the main underwater vehicle 40 and the underwater vehicle 30 needs to be recovered or rescued, rapid recovery or rescue can be expected.

[0030] <Second Embodiment> A second embodiment is described below. The second embodiment adds a determination unit 140 to the first embodiment. The second embodiment will be described mainly for its configurations that differ from the first embodiment, and the same components as in the first embodiment will be denoted by the same reference numerals and their descriptions will be omitted. The differences from the first embodiment will be briefly described below. In the second embodiment, the navigation control device 10 further includes a configuration that sets a target position according to the determination result of whether the calculated distance is greater than a predetermined distance and controls the navigation of the underwater vehicle 30. The second embodiment will be described below with reference to the drawings.

[0031] <Example configuration in the second embodiment> As shown in Figure 6, the navigation control device 10 in the second embodiment includes a determination unit 140 (corresponding to, for example, a determination means) in addition to the configuration of the first embodiment.

[0032] The determination unit 140 uses distance information from the sonar 1 to determine whether the calculated distance is greater than a predetermined distance. For example, the predetermined distance is determined using the aircraft target position set based on the position of the aircraft 50, the angle suitable for the underwater vehicle 30 to surface, which has been determined in advance through experimentation, and the water depth at which the underwater vehicle 30 is assumed to be navigating. For example, the predetermined distance is 100m. The determination unit 140 transmits the result of its determination to the navigation control unit 130.

[0033] The navigation control unit 130 controls the navigation of the underwater vehicle 30 according to the result of the determination by the determination unit 140. If it is determined that the calculated distance is greater than a predetermined distance, the navigation control unit 130 controls the navigation of the underwater vehicle 30 toward the object target position as described in the first embodiment, as shown in Figure 7.

[0034] Furthermore, if the calculated distance is determined to be less than or equal to a predetermined distance, the navigation control unit 130 controls the navigation of the underwater vehicle 30 toward the aircraft target position as described in the first embodiment, as shown in Figure 8.

[0035] The navigation control unit 130 uses the following angle when the depth of the set target position of the aircraft and the depth of the underwater vehicle 30 are different. For the sake of convenience in explaining this embodiment, assuming that the depth B of the underwater vehicle 30 is the same as that of the object 60, the navigation control unit 130 uses the calculated distance A calculated by the sonar 1 and the depth C of the target position of the aircraft to calculate the ascending navigation angle θ of the underwater vehicle 30 using the following equation (1).

[0036]

number

[0037] As the underwater vehicle 30 moves forward towards the target position, the calculated distance changes. For example, at the beginning of the journey, if the judgment unit 140 determines that the calculated distance is greater than a predetermined distance, the navigation control unit 130 controls the underwater vehicle 30 to move toward the object target position. Subsequently, as the underwater vehicle 30 moves, the calculated distance decreases. If the judgment unit 140 determines that the calculated distance is less than or equal to the predetermined distance, the navigation control unit 130 switches the target position from the object target position to the aircraft target position and controls the underwater vehicle 30 to move toward the aircraft target position.

[0038] <Example of operation in the second embodiment> Below, an example of the processing operation of the navigation control device 10 in the second embodiment will be explained using Figure 9. Figure 9 is a flowchart illustrating an example of the processing operation of the navigation control device 10. It can also be said that Figure 9 illustrates the navigation control method by the navigation control device 10. In the flowchart shown in Figure 9, steps S101 to S102 perform the same processing as steps S101 to S102 in the first embodiment shown in Figure 5.

[0039] The determination unit 140 compares the calculated distance input from the input unit 120 with a predetermined distance and determines whether the calculated distance is greater than the predetermined distance (step S201). If the calculated distance is greater than the predetermined distance (Yes in step S201), the navigation control unit 130 controls the navigation of the underwater vehicle 30 toward the target object position (step S202). The detection unit 110 then determines whether it has detected the arrival of sound waves from the object 60 (step S204). If the detection unit 110 has detected the arrival of sound waves from the object 60 (Yes in step S204), the navigation control device 10 repeats the processing from step S102 onwards. If the calculated distance is less than or equal to the predetermined distance (No in step S201), the navigation control unit 130 controls the navigation of the underwater vehicle 30 toward the target aircraft position (step S203). The detection unit 110 then determines whether or not it has detected the arrival of sound waves from object 60 (step S204). If the detection unit 110 has not detected the arrival of sound waves from object 60 (No. in step S204), the navigation control unit 130 terminates control of the navigation of the underwater vehicle 30.

[0040] <Effects of the second embodiment> The navigation control device 10 of this embodiment has the same configuration as the first embodiment and therefore achieves the same effects as the first embodiment. The navigation control device 10 of this embodiment further includes a determination unit 140. According to this embodiment, the determination unit 140 determines whether the calculated distance is greater than a predetermined distance, and the navigation control unit 130 sets a target position according to the determination result and controls the navigation of the underwater vehicle 30 toward the set target position. With this configuration, the navigation control device 10 of this embodiment can variably set the target position according to the calculated distance. By being able to variably set the target position according to the calculated distance in this way, for example, if it is determined that the calculated distance has become less than or equal to a predetermined distance, the target position can be changed to be closer to the water surface. This suppresses the effects of waves caused by navigating near the water surface for a long time, and the underwater vehicle 30 can navigate stably.

[0041] <Third Embodiment> A third embodiment is described below. The third embodiment adds a countermeasure unit 150 to the second embodiment. The third embodiment will be described mainly for its configurations that differ from the second embodiment, and components that are the same as those in the second embodiment will be denoted by the same reference numerals and their descriptions will be omitted. The differences from the second embodiment described above will be briefly stated. In the third embodiment, the flight control device 10 is further equipped with a configuration that performs a predetermined countermeasure for an aircraft at the aircraft target position. The third embodiment will be described below with reference to the drawings.

[0042] <Example configuration in the third embodiment> As shown in Figure 10, the navigation control device 10 in the third embodiment includes, in addition to the configuration of the second embodiment, a countermeasure unit 150 (corresponding to, for example, countermeasure means).

[0043] In the third embodiment, the target position of the aircraft is the water surface below the aircraft 50, or a position set below the water surface using depth information set in relation to countermeasures against the aircraft. Countermeasures against the aircraft, in the third embodiment, are measures taken to make it easier for the aircraft 50 to find the underwater vehicle 30. A specific example of countermeasures against the aircraft is to create a water column at the target position of the aircraft using explosives mounted on the underwater vehicle 30. The water column is easy to observe visually even in bad weather with rough waves, and a water column higher than the wave height can be detected by the radar mounted on the aircraft 50. In the following description, we will assume that a water column is created as a countermeasure against the aircraft.

[0044] The navigation control unit 130 sets the target position of the aircraft using information on the depth required to create a water column, which has been determined in advance through experiments or other means. The depth information is determined appropriately based on the amount of explosives carried on the underwater vehicle 30.

[0045] In addition to the configuration described in the second embodiment, the determination unit 140 uses distance information, direction information, and depth information of the underwater vehicle 30 to determine whether the underwater vehicle 30 has reached the aircraft target position. Specifically, the determination of whether or not the aircraft target position has been reached is made by the following method. For example, the underwater vehicle 30 travels in the ascent direction at an ascent angle θ to the aircraft target position calculated based on the distance information and direction information. Therefore, for example, when the depth information becomes a value corresponding to the aircraft target position, it is determined that the aircraft target position has been reached. Note that the method for determining whether or not the aircraft target position has been reached is not limited to the above, and other methods may be used.

[0046] When the underwater vehicle 30 reaches the target position of the aircraft, the response unit 150 performs a predetermined response targeting the aircraft at the target position.

[0047] <Example of operation in the third embodiment> Below, an example of the processing operation of the navigation control device 10 in the third embodiment will be explained using Figure 11. Figure 11 is a flowchart illustrating an example of the processing operation of the navigation control device 10. It can also be said that Figure 11 illustrates the navigation control method by the navigation control device 10. In the flowchart shown in Figure 11, in addition to the processing operations (steps S101-S204) described in the second embodiment, the processing operations of steps S301 and S302 are added in the third embodiment. Here, the added processing operations of steps S301 and S302 will be explained, and the explanation of the processing operations described in the second embodiment will be omitted.

[0048] The determination unit 140 uses distance information, direction information, and depth information to determine whether the underwater vehicle 30 has reached the aircraft target position (step S301). If the underwater vehicle 30 has not reached the aircraft target position (No in step S301), the navigation control device 10 performs the processing from step S204 onward, which determines whether the arrival of sound waves from object 60 has been detected. If the underwater vehicle 30 has reached the aircraft target position (Yes in step S301), the response unit 150 raises a water column at the aircraft target position as a response to the aircraft (step S302).

[0049] <Effects of the third embodiment> The navigation control device 10 of this embodiment has the same configuration as the second embodiment and therefore achieves the same effects as the second embodiment. The navigation control device 10 of this embodiment further includes a response unit 150. According to this embodiment, when the underwater vehicle 30 reaches the target position of the aircraft, it is configured to raise a water column. With this configuration, the navigation control device 10 of this embodiment can improve the visibility of the underwater vehicle 30 to the aircraft 50 and the probability of detection by radar, and further shorten the time required for the aircraft 50 to find the underwater vehicle 30.

[0050] <Fourth Embodiment> In the fourth embodiment, as shown in Figure 12, the navigation control device 10 includes a receiving unit 160 (for example, corresponding to a receiving means) in addition to the configuration of the first embodiment. The fourth embodiment will be described mainly for its configuration that differs from the first embodiment, and the same components as in the first embodiment will be denoted by the same reference numerals and their description will be omitted. The differences from the first embodiment described above will be briefly stated. In the fourth embodiment, the receiving unit 160 of the navigation control device 10 is configured to receive position information of an object 60, or position information and navigation instruction information, from the main underwater vehicle 40. In the following fourth embodiment, when the underwater vehicle 30 is mounted on the main underwater vehicle 40, the underwater vehicle 30 is connected to the main underwater vehicle 40 by a wired cable such as an optical fiber. Furthermore, even if the underwater vehicle 30 is ejected from the main underwater vehicle 40, the underwater vehicle 30 remains connected to the main underwater vehicle 40 by a wired cable such as an optical fiber until predetermined disconnection conditions are met. The connection termination condition refers to the condition for terminating the wired cable connection between the underwater vehicle 30 and the main underwater vehicle 40. Since this condition is not limited, a detailed explanation is omitted. The fourth embodiment will be described below with reference to the drawings.

[0051] <Example configuration in the fourth embodiment> The navigation control device 10 in the fourth embodiment has the same configuration as in the first embodiment, as shown in Figure 4. In addition, the main underwater vehicle 40 in the fourth embodiment has a reverse detection sonar and has the function of receiving sound waves from object 60 and calculating the distance and direction of arrival between the main underwater vehicle 40 and object 60. The main underwater vehicle 40 generates navigation instruction information. Specifically, the navigation instruction information is an instruction to control the navigation of the underwater vehicle 30 from the time the underwater vehicle 30 leaves the main underwater vehicle 40 until a predetermined timing (switching timing). The switching timing is set as appropriate by the designer. For example, the switching timing is the timing when the cable connection between the main underwater vehicle 40 and the underwater vehicle 30 is terminated. Alternatively, the switching timing may be the timing when the distance between the main underwater vehicle 40 and the underwater vehicle 30 is greater than or equal to a threshold (e.g., 500m), regardless of whether the main underwater vehicle 40 and the underwater vehicle 30 are connected by a cable or not. The threshold may also be set based on the longest cable distance.

[0052] The main underwater vehicle 40, for example, determines whether the calculated distance is greater than a predetermined distance and sets the target position of the underwater vehicle 30 according to the determination result. In other words, if the main underwater vehicle 40 determines that the calculated distance is greater than a predetermined distance, it generates navigation instruction information that instructs the underwater vehicle 30 to navigate toward the target object position. Also, if the main underwater vehicle 40 determines that the calculated distance is less than or equal to the predetermined distance, it generates navigation instruction information that instructs the underwater vehicle 30 to navigate toward the target aircraft position.

[0053] The receiving unit 160 of the navigation control device 10 receives position information of the object 60 from the main underwater vehicle 40 via a wired cable such as an optical fiber. The main underwater vehicle 40 starts transmitting position information and navigation instruction information to the underwater vehicle 30, for example, when it is decided to launch the underwater vehicle 30, and the receiving unit 160 receives the position information. Specifically, the position information is information indicating the distance and direction of arrival between the main underwater vehicle 40 and the object 60, and is used to set the target position of the object and the target position of the aircraft. The receiving unit 160 also receives navigation instruction information from the main underwater vehicle 40 via a wired cable. The receiving unit 160 transmits the received information to the navigation control unit 130.

[0054] The information used by the navigation control unit 130 for navigation control is the position information and navigation instruction information received by the receiving unit 160 during the period from when the underwater vehicle 30 is launched from the main underwater vehicle 40 until the switching timing. In other words, the navigation control unit 130 sets the target position using the position information and navigation instruction information received from the main underwater vehicle 40 and controls the navigation of the underwater vehicle 30 until a predetermined timing (switching). After the switching timing has passed, the navigation control unit 130 controls the navigation of the underwater vehicle 30 in the same manner as in the first to third embodiments.

[0055] <Example of operation in the fourth embodiment> Below, an example of the processing operation of the navigation control device 10 in the fourth embodiment will be explained using Figure 13. Figure 13 is a flowchart illustrating an example of the processing operation of the navigation control device 10. It can also be said that Figure 13 illustrates the navigation control method by the navigation control device 10.

[0056] The receiving unit 160 receives the position information and navigation instruction information of object 60 from the main underwater vehicle 40 via a wired cable when the main underwater vehicle 40 begins transmitting position information and navigation instruction information to the underwater vehicle 30 (step S401). The navigation control unit 130 then uses the position information and navigation instruction information to control navigation until a predetermined timing (switching timing) (step S402). If the detection unit 110 of the underwater vehicle 30 detects the arrival of sound waves from object 60 (Yes in step S101), the processes in steps S102 and S103 are performed. The processes in steps S102 and S103 are the same as those in steps S102 and S103 of the first embodiment.

[0057] <Effects of the fourth embodiment> The navigation control device 10 of this embodiment has the same configuration as the first embodiment and therefore has the same effects as the first embodiment. According to this embodiment, the receiving unit 160 receives position information and navigation instruction information from the main underwater vehicle 40, and the navigation control unit 130 controls the navigation of the underwater vehicle 30 from the time it leaves the main underwater vehicle 40 until a predetermined time. With this configuration, the navigation control device 10 of this embodiment allows the underwater vehicle 30 to approach the aircraft 50 without getting lost by performing the navigation as instructed from the time it leaves the main underwater vehicle 40 until a predetermined time.

[0058] <Fifth Embodiment> A fifth embodiment of this disclosure will be described with reference to the drawings.

[0059] <Configuration in the fifth embodiment> As shown in Figure 14, the navigation control device 600 includes a detection means 610, an input means 620, and a navigation control means 630. The detection unit 110, input unit 120, and navigation control unit 130 of the first embodiment are examples of the detection means 610, input means 620, and navigation control means 630.

[0060] The detection means 610 detects the arrival of sound waves from an object suspended in the water from the flying object.

[0061] The input means 620 receives directional information indicating the direction from which the sound wave is coming, and distance information indicating the distance between the underwater vehicle on which the device is mounted and the object.

[0062] The navigation control means 630 uses direction information and distance information to control the navigation of the underwater vehicle toward a target position set below the aircraft.

[0063] <Example of operation in the fifth embodiment> An example of the processing operation of the navigation control device 600 in the fifth embodiment will be explained using Figure 15. Figure 15 is a flowchart illustrating an example of the processing operation of the navigation control device 600. It can also be said that Figure 15 illustrates the navigation control method by the navigation control device 600.

[0064] First, the detection means 610 detects the arrival of sound waves from an object emitting sound waves suspended in the water from the aircraft (step S601). Then, the input means 620 receives direction information indicating the direction from which the sound waves are coming and distance information indicating the distance between the underwater vehicle on which the device is mounted and the object (step S602). Then, the navigation control means 630 uses the direction information and distance information to control the navigation of the underwater vehicle toward a target position set below the aircraft 50 (step S603).

[0065] <Effects of the Fifth Embodiment> The navigation control device 600 of this embodiment includes a detection means 610, an input means 620, and a navigation control means 630. As a result, the navigation control device 600 is configured to control the navigation of the underwater vehicle toward a target position set below the aircraft, so that the navigation of the underwater vehicle can be controlled toward the area where the aircraft is thought to be flying.

[0066] <Variation> Depending on the intended use and purpose of the underwater vehicle 30, the target position may be, for example, a position 1m above object 60, calculated based on the position of object 60 shown in Figure 7, or it may be within a radius of 1m when object 60 is centered.

[0067] Furthermore, the target position of the aircraft can be any underwater location that represents the area in which the aircraft 50 is thought to be flying overhead, and is not limited to directly below the aircraft 50.

[0068] In addition, the target position of the aircraft shown in the third embodiment may be determined based on a position from which the aircraft 50 can visually perceive the underwater vehicle 30.

[0069] Furthermore, the countermeasure unit 150 shown in the third embodiment may, as a countermeasure against an aircraft, emit a smoke signal from a smoke generator at the aircraft target location, spray colored ink, or emit radio waves to the helicopter when the underwater vehicle 30 surfaces.

[0070] In the first to fourth embodiments, the navigation control unit 130 controlled the navigation of the underwater vehicle 30 toward the target position of the aircraft when the calculated distance was less than or equal to a predetermined distance. However, the designer may decide to control the navigation of the underwater vehicle 30 toward the target position of the object even when the calculated distance is less than or equal to a predetermined distance. In this case, when the underwater vehicle 30 reaches the target position of the object, the response unit 150 may perform a predetermined response to the aircraft. A specific response is to cause a water column to rise on the water surface directly below the aircraft 50. The depth of the underwater vehicle 30 is assumed to be a depth at which a water column can be caused by the explosion of the onboard explosives.

[0071] Furthermore, there are multiple types of underwater vehicles 30 to suit various purposes such as life-saving, rescue, underwater surveys, and material transport, and the types of underwater vehicles 30 to which the navigation control device described in this disclosure is applied are not limited.

[0072] The input method may also be the cable connecting the sonar 1 and the navigation control device 10.

[0073] <Example Hardware Configuration> Next, the hardware of each device constituting the navigation control system according to this disclosure will be described. Figure 16 shows an example of the hardware configuration of the navigation control system. The navigation control system consists of navigation control system 10 and navigation control system 600.

[0074] The navigation control system can be configured using an information processing device (a so-called computer), and has the configuration illustrated in Figure 16. For example, the navigation control system 900 includes a processor 911, a memory 912, and a communication interface 913, etc. The components of the processor 911, etc., are connected by an internal bus or the like and are configured to communicate with each other.

[0075] However, the configuration shown in Figure 16 is not intended to limit the hardware configuration of the navigation control device. The navigation control device may include hardware not shown. Also, the number of processors 911, etc., included in the navigation control device is not intended to be limited to the example in Figure 16; for example, multiple processors 911 may be included in the navigation control device.

[0076] The processor 911 is a programmable device such as a CPU (Central Processing Unit), MPU (Micro Processing Unit), or DSP (Digital Signal Processor). Alternatively, the processor 911 may be a device such as an FPGA (Field Programmable Gate Array) or ASIC (Application Specific Integrated Circuit). The processor 911 executes various programs, including an operating system (OS).

[0077] Memory 912 includes RAM (Random Access Memory), ROM (Read Only Memory), HDD (Hard Disk Drive), SSD (Solid State Drive), etc. Memory 912 stores the OS program, application programs, and various data.

[0078] The communication interface 913 is a circuit, module, etc., that communicates with other devices. For example, the communication interface 913 includes a wireless communication circuit or a NIC (Network Interface Card), etc.

[0079] The functions of the navigation control system are realized by various processing modules. These processing modules are realized, for example, by the execution of a program stored in memory 912 by the processor 911. The program can also be recorded on a computer-readable storage medium. The storage medium can be a non-transitory medium such as semiconductor memory, hard disk, magnetic recording medium, or optical recording medium. In other words, this disclosure can also be embodied as a computer program product. Furthermore, the program can be downloaded via a network or updated using the storage medium on which the program is stored. Moreover, the processing module may be realized by a semiconductor chip.

[0080] The navigation control system is equipped with a computer, and its functions are realized by having the computer execute a program. Furthermore, the navigation control system executes its control method based on this program.

[0081] Some or all of the above embodiments may also be described as follows, but are not limited to the following:

[0082] [Note 1] A detection means for detecting the arrival of sound waves from an object suspended in water from an aircraft, An input means for inputting direction information indicating the direction of arrival of the sound wave and distance information indicating the distance between the underwater vehicle on which the device is mounted and the object, A navigation control means that controls the navigation of the underwater vehicle toward a target position set below the aircraft using the directional information and the distance information, A navigation control device characterized by comprising the following:

[0083] [Note 2] The aforementioned target position is an object target position indicating the position of the object, The navigation control means controls the navigation of the underwater vehicle toward the target position of the object. The navigation control device according to Appendix 1, characterized in that it is a navigation control device.

[0084] [Note 3] The aforementioned target position is a target position for the aircraft, which is set based on the position of the aircraft and is located between the position of the object and the water surface below the aircraft. The navigation control means controls the navigation of the underwater vehicle toward the target position of the aircraft. The navigation control device according to Appendix 1, characterized in that it is a navigation control device.

[0085] [Note 4] Furthermore, the system includes a determination means for determining whether the value of the distance is greater than a predetermined value of distance. The navigation control means, based on the determination made by the determination means, If the value of the distance is greater than the value of the predetermined distance, the navigation of the underwater vehicle is controlled toward the object target position, which indicates the position of the object set as the target position. If the value of the aforementioned distance is less than or equal to the value of the predetermined distance, the navigation of the underwater vehicle is controlled to move toward the target position of the vehicle, which is the position set as the target position between the position of the object and the water surface below the vehicle, based on the position of the vehicle. The navigation control device according to Appendix 1, characterized in that it is a navigation control device.

[0086] [Note 5] Furthermore, the system is equipped with countermeasures to perform predetermined countermeasures against the aircraft when it is determined that the aircraft has reached the target position. The aforementioned target position is the water surface below the aircraft, or a position set below the water surface using depth information set in relation to countermeasures against the aircraft. The navigation control device according to Appendix 1, characterized in that it is a navigation control device.

[0087] [Note 6] The aforementioned underwater vehicle is mounted on a main underwater vehicle that has the function of detecting the position of the object. The system further comprises a receiving means for receiving positional information corresponding to the position of the aforementioned object from the main underwater vehicle, The navigation control means controls the navigation of the underwater vehicle using the position information received from the main underwater vehicle until a predetermined time after the underwater vehicle has separated from the main underwater vehicle. The navigation control device according to Appendix 1, characterized in that it is a navigation control device.

[0088] [Note 7] The receiving means further receives navigation instruction information from the main underwater vehicle regarding the navigation of the underwater vehicle, corresponding to the distance between the object and the main underwater vehicle. The navigation control means uses the navigation instruction information in addition to the position information to control the navigation of the underwater vehicle up to the specified timing. The navigation control device according to Appendix 6, characterized in that it is a navigation control device.

[0089] [Note 8] The navigation control device described in Appendix 1, A sonar that outputs the directional information and the distance information, A navigation control system equipped with the following features.

[0090] [Note 9] By computer, The aircraft detects the arrival of sound waves from an object suspended in the water, The device inputs directional information indicating the direction of arrival of the sound wave and distance information indicating the distance between the underwater vehicle on which the device is mounted and the object. A navigation control method for controlling the navigation of an underwater vehicle toward a target position set below the aircraft, using the directional information and the distance information.

[0091] [Note 10] On the computer, A process to detect the arrival of sound waves from an object suspended in water from an aircraft, A process for inputting directional information indicating the direction of arrival of the sound wave and distance information indicating the distance between the underwater vehicle on which the device is mounted and the object, A process to control the navigation of the underwater vehicle toward a target position set below the aircraft using the aforementioned direction information and distance information, A computer program designed to execute something.

[0092] While embodiments of the present disclosure have been described above, the present disclosure is not limited to these embodiments. It will be understood by those skilled in the art that these embodiments are merely illustrative and that various modifications are possible without departing from the scope and spirit of the present disclosure. That is, the present disclosure includes the entire disclosure, including the claims, and of course, various modifications and alterations that a person skilled in the art could make in accordance with the technical idea.

[0093] Furthermore, some or all of the configurations described in Appendices 2 to 7, which are subordinate to Appendice 1 above, may also be subordinate to Appendices 8, 9, and 10 in the same way as those described in Appendices 2 to 7. Moreover, not limited to Appendices 1, 8, 9, and 10, some or all of the configurations described as appendices may also be subordinate to various hardware, software, various recording means for recording software, or systems, without departing from the embodiments described above. [Explanation of symbols]

[0094] 1. Sonar 2 cargo hold 8. Electrostrictive oscillator 9 circuits 10 Navigation control device 20 Depth gauge 30 Underwater vehicle 40 Main underwater vehicle 50 flying objects 60 Object 110 Detection unit 120 Input section 130 Navigation Control Unit 140 Judgment Department 150 Response Unit 160 Receiver 600 Navigation control device 610 Detection means 620 Input means 630 Navigation control means 911 Processor 912 memory 913 Communication Interface 1000 Navigation Control System

Claims

1. A detection means for detecting the arrival of sound waves from an object suspended in water from an aircraft, An input means for inputting direction information indicating the direction of arrival of the sound wave and distance information indicating the distance between the underwater vehicle on which the device is mounted and the object, A navigation control means that controls the navigation of the underwater vehicle toward a target position set below the aircraft using the directional information and the distance information, A navigation control device characterized by comprising the following:

2. The aforementioned target position is an object target position indicating the position of the object, The navigation control means controls the navigation of the underwater vehicle toward the target position of the object. The navigation control device according to feature 1.

3. The aforementioned target position is a target position for the aircraft, which is set based on the position of the aircraft and is located between the position of the object and the water surface below the aircraft. The navigation control means controls the navigation of the underwater vehicle toward the target position of the aircraft. The navigation control device according to feature 1.

4. Furthermore, the system includes a determination means for determining whether the value of the distance is greater than a predetermined value of distance. The navigation control means, based on the determination made by the determination means, If the value of the distance is greater than the value of the predetermined distance, the navigation of the underwater vehicle is controlled toward the object target position, which indicates the position of the object set as the target position. If the value of the aforementioned distance is less than or equal to the value of the predetermined distance, the navigation of the underwater vehicle is controlled to move toward the target position of the vehicle, which is the position set as the target position between the position of the object and the water surface below the vehicle, based on the position of the vehicle. The navigation control device according to feature 1.

5. Furthermore, the system is equipped with countermeasures to perform predetermined countermeasures against the aircraft when it is determined that the aircraft has reached the target position. The aforementioned target position is the water surface below the aircraft, or a position set below the water surface using depth information set in relation to countermeasures against the aircraft. The navigation control device according to feature 1.

6. The aforementioned underwater vehicle is mounted on a main underwater vehicle that has the function of detecting the position of the object. The system further comprises a receiving means for receiving positional information corresponding to the position of the aforementioned object from the main underwater vehicle, The navigation control means controls the navigation of the underwater vehicle using the position information received from the main underwater vehicle until a predetermined time after the underwater vehicle has separated from the main underwater vehicle. The navigation control device according to feature 1.

7. The receiving means further receives navigation instruction information from the main underwater vehicle regarding the navigation of the underwater vehicle, corresponding to the distance between the object and the main underwater vehicle. The navigation control means uses the navigation instruction information in addition to the position information to control the navigation of the underwater vehicle up to the specified timing. The navigation control device according to feature 6.

8. A navigation control device according to any one of claims 1 to 7, A sonar that outputs the directional information and the distance information, A navigation control system equipped with the following features.

9. By computer, The aircraft detects the arrival of sound waves from an object suspended in the water, The device inputs directional information indicating the direction of arrival of the sound wave and distance information indicating the distance between the underwater vehicle on which the device is mounted and the object. A navigation control method for controlling the navigation of an underwater vehicle toward a target position set below the aircraft, using the directional information and the distance information.

10. On the computer, A process to detect the arrival of sound waves from an object suspended in water from an aircraft, A process for inputting directional information indicating the direction of arrival of the sound wave and distance information indicating the distance between the underwater vehicle on which the device is mounted and the object, A process to control the navigation of the underwater vehicle toward a target position set below the aircraft using the aforementioned direction information and distance information, A computer program designed to execute something.

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