Recovery device for unmanned underwater vehicles

Abstract

To provide a recovery device of an unmanned underwater vehicle which can easily capture an unmanned underwater vehicle even if a position of the unmanned underwater vehicle changes.SOLUTION: A recovery device 1 of an unmanned underwater vehicle includes: at least one unmanned aircraft 10 which can rest in air; a capture device 20 which includes a capture member 21 formed in a lattice-like shape and hung from the unmanned aircraft 10 through a rope 40; and an imaging device 30 which captures an image of a target area 22 of an unmanned underwater vehicle 3 set by the capture member 21 and is mounted on the unmanned aircraft 10.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present disclosure relates to a recovery device for an unmanned underwater vehicle. [Background technology]

[0002] Unmanned vehicles that navigate on or underwater are called unmanned underwater vehicles (UUVs) and are used for exploration, investigation, surveying, photography, etc. Unmanned underwater vehicles are further classified into autonomous underwater vehicles (AUVs) and remotely operated unmanned underwater vehicles (ROVs).

[0003] When a UUV that has completed an exploration or other activity is to be retrieved by a mother ship, if the UUV is directly approached to the side of the mother ship, there is a risk of unexpected contact between the UUV and the mother ship. Therefore, Patent Document 1 discloses a recovery system using an unmanned aerial vehicle. The unmanned aerial vehicle of Patent Document 1 is equipped with a capture device, and the capture device is connected to a towing cable drawn from the mother ship. When retrieving a UUV, the unmanned aerial vehicle approaches the UUV and engages the capture device with the UUV that is stopped far from the mother ship. By maintaining this state and winding up the towing cable, the UUV is towed to the mother ship. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-34651 A Summary of the Invention [Problem to be solved by the invention]

[0005] When a recovery device independent of a mother ship captures a UUV, such as the unmanned aerial vehicle described above, the UUV slows down or stops at a location tens to hundreds of meters away from the mother ship. In addition, a slowed down or stopped UUV is easily affected by wind, waves, water currents, etc. and easily carried away. Therefore, the position of the UUV is likely to fluctuate, making it difficult for the recovery device to capture the UUV.

[0006] The present disclosure has been made in consideration of the above circumstances, and aims to provide a recovery device for an unmanned underwater vehicle that can easily capture the unmanned underwater vehicle even if the position of the unmanned underwater vehicle changes. [Means for solving the problem]

[0007] A recovery device for an unmanned underwater vehicle according to one embodiment of the present disclosure comprises at least one unmanned aerial vehicle capable of stationary in the air, a capture device including a capture member formed in a lattice shape and suspended from the unmanned aerial vehicle via a rope, a rope connecting the unmanned aerial vehicle and the capture device, and an imaging device mounted on the unmanned aerial vehicle that photographs a target area of ​​the unmanned underwater vehicle set on the capture member.

[0008] The unmanned aerial vehicle is an autonomous unmanned aerial vehicle, and based on the image acquired by the photographing device, the capture device is moved so that the unmanned underwater vehicle moves toward the target area, and when capture of the unmanned underwater vehicle by the capture device is confirmed, the unmanned aerial vehicle may be moved to a predetermined location together with the capture device.

[0009] The capture member may be disposed horizontally. The capture device may include a frame having a plurality of legs extending toward the capture member and connected to the cord. The plurality of legs may support the capture member in a deployed state. The frame may be configured to be foldable.

[0010] The at least one unmanned aerial vehicle may be comprised of a plurality of unmanned aerial vehicles, the plurality of unmanned aerial vehicles may be connected to different portions of the capture device via corresponding tethers, and the capture device may include a weight suspended from the target area of ​​the capture member.

[0011] The capture member may be disposed vertically. The capture device may include a support member that supports the capture member in a deployed state and is connected to the cord. The support member may be configured to be foldable. The capture device may include a weight that is suspended from a lower edge of the capture member in the vertical direction. Effect of the Invention

[0012] According to the present disclosure, it is possible to provide a recovery device for an unmanned underwater vehicle that can easily capture the unmanned underwater vehicle even if the position of the unmanned underwater vehicle changes. [Brief description of the drawings]

[0013] [Figure 1] 1 is a diagram showing an outline of a recovery operation performed by a recovery device according to the present embodiment; [Diagram 2] FIG. 2 is a functional block diagram showing an example of a collection system including a collection device. [Diagram 3] FIG. 2 is a functional block diagram showing an example of an unmanned aerial vehicle according to the present embodiment. [Figure 4] FIG. 2 is a side view showing an example of a configuration of a recovery device. [Diagram 5] FIG. 2 is a perspective view showing an example of a capture device according to the present embodiment. [Figure 6A] FIG. 13 is a perspective view showing a modified example of the capture device. [Figure 6B] FIG. 13 is a perspective view showing a modified example of the capture device. [Figure 6C] FIG. 13 is a perspective view showing a modified example of the capture device. [Figure 7] 13 is a flowchart showing an example of a collection operation of a collection device. [Figure 8A]FIG. 13 is a diagram showing one step of the recovery operation. [Figure 8B] FIG. 13 is a diagram showing one step of the recovery operation. [Figure 8C] FIG. 13 is a diagram showing one step of the recovery operation. [Figure 8D] FIG. 13 is a diagram showing one step of the recovery operation. [Figure 8E] FIG. 13 is a diagram showing one step of the recovery operation. [Figure 8F] FIG. 13 is a diagram showing one step of the recovery operation. [Figure 9] FIG. 13 is a diagram showing a modified example of the return operation of an unmanned aerial vehicle. [Figure 10A] FIG. 2 is a diagram showing an example of an image captured by a photographing device. [Figure 10B] FIG. 2 is a diagram showing an example of an image captured by a photographing device. [Figure 11] FIG. 13 is a perspective view of a capture device according to a modified example. [Figure 12] 13A and 13B are diagrams for explaining a recovery operation using a capture device according to a modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, several embodiments of the present disclosure will be described with reference to the accompanying drawings. In addition, common parts in each drawing are given the same reference numerals, and duplicated explanations will be omitted. For convenience of explanation, an unmanned underwater vehicle will be referred to as a UUV (Unmanned Underwater Vehicle).

[0015] The recovery device 1 uses an unmanned aerial vehicle (UAV) 10 to recover a UUV 3 underwater or on the water that has reached a recovery area 4. The UUV 3 may be an autonomous underwater vehicle (AUV) or a remotely operated unmanned underwater vehicle (ROV). The UUV 3 is launched into the water from a mother ship 2 and performs activities such as exploration, investigation, surveying, and photography.

[0016] 1 is a diagram showing an overview of the recovery operation by the recovery device 1 according to this embodiment. As shown in this figure, the unmanned aerial vehicle 10 carries the capture device 20 up to the sky above the recovery area 4 and throws the capture device 20 into the water. A UUV 3 is waiting in the recovery area 4, and the unmanned aerial vehicle 10 moves the capture device 20 to the position of the UUV 3. The capture device 20 is equipped with a capture member 21, and the UUV 3 is captured by the capture member 21 as the capture device 20 moves.

[0017] When the capture device 20 captures the UUV 3, the unmanned aerial vehicle 10 carries the capture device 20 to the mother ship 2 while the UUV 3 remains held by the capture device 20. At this time, the capture device 20 may be carried directly onto the deck of the mother ship 2, or may be carried temporarily near the mother ship 2 (such as the stern or side of the ship). In the latter case, the UUV 3 is lifted up to the mother ship 2 by a lifting machine (not shown) mounted on the mother ship 2.

[0018] The base from which the unmanned aerial vehicle 10 takes off and lands is not limited to a ship equipped with self-propelled equipment. The base of the unmanned aerial vehicle 10 may be a barge or the like that does not have self-propelled equipment, or may be a port facility such as a quay.

[0019] The unmanned aerial vehicle 10 according to this embodiment will now be described. Fig. 2 is a functional block diagram showing an example of a recovery system including the recovery device 1. Fig. 3 is a functional block diagram showing an example of an unmanned aerial vehicle 10 according to this embodiment. As shown in Fig. 2, the recovery device 1 includes at least one unmanned aerial vehicle 10, a capture device 20 connected to the unmanned aerial vehicle 10 via a cord 40, and an image capture device 30 that captures an image of an area including a capture member 21 of the capture device 20.

[0020] The unmanned aerial vehicle 10 is a flying object capable of stationary in the air (i.e., hovering), such as a rotorcraft, and has at least the lift capacity to carry the capture device 20 and the UUV 3. The unmanned aerial vehicle 10 is remotely controlled by wireless or wired communication with the mother ship 2, and carries the capture device 20 to the recovery area 4 of the UUV 3 by its own movement. Below, an example in which a rotorcraft is used as the unmanned aerial vehicle 10 will be described.

[0021] As shown in FIG. 3, unmanned aerial vehicle 10 includes rotor 11, motor 12, motor drive unit 13, positioning unit 14, sensor unit 15, communication unit 16, input / output unit (I / O) 17, and control unit 18.

[0022] The motor 12 is mounted, for example, on the fuselage 19 of the unmanned aerial vehicle 10 or on an arm 19a extending from the fuselage 19. The rotor 11 is attached to the output shaft of the motor 12 and generates lift by rotating together with the output shaft. The motor drive unit 13 is a drive circuit for the motor 12 and supplies the motor 12 with the power required to rotate the output shaft. The rotation speed of the output shaft is controlled by the control unit 18.

[0023] The positioning unit 14 includes a satellite navigation system such as the Global Positioning System or the Quasi-Zenith Satellite System, and measures the horizontal position (latitude and longitude). The positioning unit 14 also includes an altimeter (not shown), and measures the vertical position (i.e., altitude). The measurement results by the positioning unit 14 are input to the control unit 18.

[0024] The sensor unit 15 includes sensors necessary for flight control of the unmanned aerial vehicle 10. The sensor unit 15 is composed of at least an acceleration sensor and a gyro sensor, which are used for attitude control and orientation control of the unmanned aerial vehicle 10. The sensor unit 15 may include any sensor, such as an acoustic sensor, a temperature sensor, or an air pressure sensor, depending on the usage environment.

[0025] The communication unit 16 communicates with the mother ship 2 via a network established between the mother ship 2. This communication may be either wireless or wired communication. For example, wireless communication may be performed using microwaves in the 2.4 GHz band used in wireless LANs (Local Area Networks). The input / output unit (I / O) 17 is a general-purpose input / output port for data, control signals, power, etc., and is connected to external devices such as the imaging device 30 described below.

[0026] The control unit 18 is composed of a central processing unit (CPU), a memory, an auxiliary storage device, etc. The control unit 18 executes various processes based on programs and data stored in the memory or the auxiliary storage device, and controls the operations of the motor drive unit 13, the positioning unit 14, the communication unit 16, the input / output unit (I / O) 17, etc. For example, the control unit 18 controls the motor drive unit 13 based on commands received from the mother ship 2 via the communication unit 16, and executes the movement and stopping of the unmanned aerial vehicle 10. As described later, the control unit 18 according to this embodiment detects the capture of the UUV 3 by the capture device 20.

[0027] The capturing device 20 according to this embodiment will be described. FIG. 4 is a side view showing an example of the configuration of the recovery device 1 equipped with the capture device 20. The capture device 20 is a device for capturing the UUV 3, and is suspended from the unmanned aerial vehicle 10 via a cable 40. The capture device 20 includes a capture member 21. The capture member 21 is a net or a cage formed in a lattice shape, and is arranged horizontally (horizontally) as shown in FIG. 4, for example. When the capture member 21 is a cage, the cage is arranged horizontally so that the upper part is open. There is no restriction on the material of the capture member 21 as long as it has sufficient mechanical strength. However, in order to suppress damage due to contact with the UUV 3, it is desirable for the capture member 21 to have moderate flexibility. A target area 22, which is an area where the UUV 3 is captured, is set in the capture member 21.

[0028] Note that "horizontal" here is not limited to the strict meaning, but includes "substantially horizontal." In other words, "horizontal" in this disclosure also includes a state in which the horizontal is inclined or curved with respect to the strict meaning due to a water current or the towing of the unmanned aerial vehicle 10.

[0029] FIG. 5 is a perspective view showing an example of the capture device 20 according to this embodiment. As shown in this figure, the capture device 20 may have a frame body 23 connected to a cord body 40. The frame body 23 is composed of a plurality of rod-shaped members and has a plurality of legs 24 extending toward the capture member 21. The plurality of legs 24 have a length that allows the UUV 3 to enter the frame body 23 when the frame body 23 is dropped into water, and support the capture member 21 in the deployed state. The edges of the capture member 21 are fastened to the ends of the respective legs 24, for example. In this way, the frame body 23 maintains the deployed state of the capture member 21.

[0030] 5, the legs 24 extend vertically at intervals. In this case, the capture device 20 is suspended from a rope 40 and has a base 25 that supports the legs 24. The base 25 is disposed horizontally, for example, and the legs 24 are connected to its ends (edges). For example, when four legs 24 are supported by the base 25, the frame 23 has a rectangular parallelepiped shape (outer shape).

[0031] 6A to 6C are diagrams showing some modified examples of the capture device 20. As shown in Fig. 6A, the frame body 23 may be composed of multiple legs 24. In this case, one end of each of the multiple legs 24 is connected to one another by a connecting portion 27, and the frame body 23 has a cone shape (outer shape). In addition, the height from the capture member 21 to the connecting portion 27 has a value that allows the UUV 3 to enter the frame body 23 when the frame body 23 is dropped into water.

[0032] The frame body 23 may be configured to be foldable. In this case, as shown in Fig. 5 and Fig. 6A, the rod-shaped members that configure the frame body 23 are connected by a joint 26 or the like that can maintain a desired mounting angle. By configuring the frame body 23 to be foldable, it is possible to reduce the area occupied by the recovery device 1 on the mother ship 2 or the like that has a limited area of ​​a working area such as a deck.

[0033] As shown in Fig. 6B, the capture device 20 may be composed of only the capture member 21. In this case, the recovery device 1 includes a plurality of unmanned aerial vehicles 10. The plurality of unmanned aerial vehicles 10 are connected to different positions of the capture device 20 via corresponding cords 40. Such positions are, for example, corners 21a of the capture member 21. The plurality of unmanned aerial vehicles 10 fly while maintaining the capture members 21 in a deployed state.

[0034] As shown in Fig. 6C, the capture device 20 may include a weight 28. In this case, the weight 28 is suspended from the target area 22 of the capture member 21. By suspending the weight 28, the target area 22 (i.e., the center of the capture member 21) becomes the lowest, and this state can be stably maintained against water currents and waves. In addition, the captured UUV 3 is more likely to remain in the target area 22.

[0035] The rope 40 connects the unmanned aerial vehicle 10 and the capture device 20. The rope 40 is suspended from the unmanned aerial vehicle 10 and connected to a predetermined portion of the capture device 20. The rope 40 may be pulled out from a reel (not shown) attached to the unmanned aerial vehicle 10.

[0036] The imaging device 30 according to this embodiment will be described. The photographing device 30 is mounted on the unmanned aerial vehicle 10. For example, as shown in Fig. 2, the photographing device 30 is attached to the bottom surface 19b of the fuselage 19 of the unmanned aerial vehicle 10. The photographing device 30 photographs the capture member 21 and sends data of the image 31 (see Figs. 10A and 10B) to the control unit 18 via the input / output unit (I / O) 17. The control unit 18 controls the position of the unmanned aerial vehicle 10 based on the data of the image 31.

[0037] The image 31 includes a target area 22 for the UUV 3 set on the capture member 21 (see FIGS. 10A and 10B). The target area 22 is the reachable area of ​​the UUV 3 upon capture, and is set at the center of the capture member 21. The unmanned aerial vehicle 10 positions the capture device 20 so that the UUV 3 is located within the target area 22.

[0038] Next, the recovery operation of the UUV 3 using the recovery device 1 will be described. Fig. 7 is a flow chart showing an example of the recovery operation of the recovery device 1. Figs. 8A to 8F are diagrams showing an example of the recovery operation in time series. Fig. 9 is a diagram showing a modified example of the return operation of the unmanned aerial vehicle 10. Figs. 10A and 10B are diagrams showing examples of images 31 captured by the photographing device 30. Note that before the recovery operation, the unmanned aerial vehicle 10 and the capture device 20 are connected via a cord 40.

[0039] As shown in Fig. 8A, unmanned aerial vehicle 10 takes off from mother ship 2 (see Fig. 1) and moves to recovery area 4 (step S10). The movement of unmanned aerial vehicle 10 may be performed by remote control from mother ship 2, or may be performed by automatic control based on position data of recovery area 4 input in advance. UUV 3 is waiting in recovery area 4, and imaging device 30 simultaneously images UUV 3 and capture member 21 of capture device 20.

[0040] The unmanned aerial vehicle 10 hovers so that the imaging device 30 keeps photographing the UUV 3, and waits in the sky until it receives a recovery command from the mother ship 2 (step S20, NO in step S30). When it subsequently receives a recovery command from the mother ship 2 (YES in step S30), the unmanned aerial vehicle 10 moves the capture device 20 so that the UUV 3 moves toward the target area 22 based on the image 31 (see FIG. 10A) acquired by the imaging device 30 (steps S40 to S60). Specifically, the unmanned aerial vehicle 10 lowers the capture device 20 by its own descent or by letting out the rope 40 by rotating the reel (not shown) described above, and throws it into the water (step S40). The descent of the capture device 20 continues until the capture member 21 reaches a position deeper than the UUV 3.

[0041] Next, as shown in Fig. 8B, the unmanned aerial vehicle 10 moves laterally to adjust the relative position of the capture device 20 with respect to the UUV 3 (step S50). In adjusting the position of the capture device 20, feedback control is performed using the image 31. For example, as shown in Fig. 10A, if the UUV 3 in the image 31 is located to the lower right of the target area 22 (NO in step S60), the unmanned aerial vehicle 10 moves laterally in the lower right direction to continue adjusting the position of the capture device 20. On the other hand, if the UUV 3 is located within the target area 22 (YES in step S60), the unmanned aerial vehicle 10 stops moving laterally.

[0042] Next, when the capture of the UUV 3 by the capture device 20 is confirmed, the unmanned aerial vehicle 10 moves to a predetermined location together with the capture device 20 (steps S70 to S90). Here, the predetermined location is the deck, side, or stern of the mother ship 2, or a port facility. First, the capture device 20 performs a capture operation of the UUV 3 (step S70). That is, as shown in FIG. 8C, the capture device 20 is raised while the UUV 3 is located within the target area 22. The rise of the capture device 20 is performed by raising the unmanned aerial vehicle 10 or by winding up the rope body 40 with a reel (not shown). As the capture device 20 rises, the capture member 21 rises and scoops up the UUV 3 (see FIG. 8D).

[0043] While the capture device 20 is ascending, the control unit 18 of the unmanned aerial vehicle 10 determines whether the UUV 3 has been captured by the capture member 21 (step S80). When the capture device 20 captures the UUV 3, the impact (vibration) is transmitted to the unmanned aerial vehicle 10. The control unit 18 detects the shaking of the unmanned aerial vehicle 10 caused by the impact using an acceleration sensor or gyro sensor in the sensor unit 15. Alternatively, the capture of the UUV 3 may be detected from a change in the output or output setting value of the motor drive unit 13 that maintains the ascent of the unmanned aerial vehicle 10. In either case, it is possible to confirm the capture of the UUV 3 by the capture device 20.

[0044] Next, as shown in FIG. 8E, the unmanned aerial vehicle 10 returns to a predetermined location (step S90). Specifically, the unmanned aerial vehicle 10 moves together with the capture device 20 to the vicinity of the mother ship 2. The unmanned aerial vehicle 10 then ascends and places the capture device 20 on a deck or the like (FIG. 8F). This completes the recovery operation. Note that, as shown in FIG. 9, after the capture device 20 captures the UUV 3, the unmanned aerial vehicle 10 may maintain the ascent until the capture device 20 is pulled up into the air, and then carry the capture device 20 to the deck or the like.

[0045] According to this embodiment, when capturing the UUV 3, the capture device 20 moves laterally according to the position of the UUV 3. That is, even if the UUV 3 is in a state where it is easily swept away by the influence of wind, waves, or water currents, the unmanned aerial vehicle 10 and the capture device 20 follow the UUV 3 based on the image of the UUV 3. In addition, since the capture member 21 scoops up the UUV 3 as the capture device 20 rises, the UUV 3 can be reliably captured even if there is a positional deviation between the capture member 21 and the UUV 3 in the vertical direction. That is, it is sufficient for the capture member 21 to be located deep relative to the UUV 3, and the accuracy of positioning in the vertical direction is relaxed. Therefore, even if the position of the UUV 3 changes, it is possible to easily capture the UUV 3.

[0046] The operations from step S40 to step 90 are controlled by the control unit 18 of the unmanned aerial vehicle 10. Therefore, the operator in the mother ship 2 can recover the UUV 3 simply by sending the unmanned aerial vehicle 10 to the recovery area 4 and sending a recovery command. However, among these operations, all except for the capture confirmation operation in step S80 may be controlled by remote operation from the mother ship 2. In this case, the capture confirmation in step S80 is notified to the mother ship 2 via the communication unit 16.

[0047] Next, a modified example of the capture device 20 and the capture of the UUV 3 by the capture device 20A relating to the modified example will be described. Fig. 11 is a perspective view of the capture device 20A according to this modified example. As shown in this figure, the capture device 20A includes a capture member 21A. Like the capture member 21, the capture member 21A is a net. However, the capture member 21A is arranged vertically (longitudinal direction). Note that "vertical" here is not limited to the strict meaning, but includes "substantially vertical". In other words, "vertical" in this disclosure also includes a state in which the capture device is inclined or curved with respect to the strict vertical due to a water current or the towing of the unmanned aerial vehicle 10, etc.

[0048] The capture device 20 may include a weight 28 suspended from a lower edge 21Aa of the capture member 21A in the vertical direction. For example, the weight 28 is suspended from each of a left end and a right end of the edge 21Aa. By suspending the weight 28, deformation of the capture member 21A caused by a water flow relative to the capture member 21A is suppressed, and capture of the UUV 3 is facilitated.

[0049] The capturing device 20A includes a support member 29 connected to a cord 40. The support member 29 supports the capturing member 21A when the capturing member 21A is deployed. The support member 29 is provided along the edge of the net that is the capturing member 21A, and is connected to an edge 21Aa of the capturing member 21A by using a connecting thread or the like.

[0050] Like the frame 23, the support member 29 may be configured to be foldable. In this case, the rod-shaped members that configure the support member 29 are connected by a joint 26 or the like that can maintain a desired mounting angle. By configuring the support member 29 to be foldable, the area occupied by the recovery device 1 can be reduced.

[0051] FIG. 12 is a diagram for explaining the recovery operation of a UUV 3 using a capture device 20A according to a modified example. When recovering a UUV 3 using the capture device 20A, the UUV 3 is provided with an engagement member 5 such as a hook that can be hooked onto the capture member 21A. The engagement member 5 is provided at a location on the housing of the UUV 3 that does not interfere with navigation or activity. The engagement member 5 may be configured to be retractable into the housing of the UUV 3. In this case, the engagement member 5 is stored in the housing of the UUV 3 at times other than recovery.

[0052] In the recovery operation of the UUV 3 using the capture device 20A, although the image acquired by the imaging device 30 shows the capture member 21A and the target area 22 in a substantially straight line, the capture device is moved laterally to bring the target area closer to the UUV and capture it with the capture member, which is similar to the recovery operation using the capture device 20. However, depending on the weight of the UUV 3, it may be difficult to lift the UUV 3. In that case, the recovery device 1 carries the UUV 3 to the side or stern of the mother ship 2, and ends the recovery operation. The UUV 3 is then lifted to the mother ship 2 using a lifting machine or the like.

[0053] In the above-mentioned modified example, easy capture is possible regardless of the change in the position of the UUV 3. Furthermore, the target area 22 set in the capture member 21A extends not only in the horizontal direction but also in the vertical direction. Therefore, even if there is a positional deviation between the capture member 21 and the UUV 3 in the vertical direction, the UUV 3 can be reliably captured.

[0054] The present disclosure is not limited to the above-described embodiment, but is defined by the claims, and includes all modifications within the meaning and scope equivalent to the claims. [Explanation of symbols]

[0055] 1...recovery device, 2...mother ship, 3...UUV (unmanned underwater vehicle), 4...recovery area, 5...engagement member, 10...unmanned aerial vehicle, 11...rotor, 12...motor, 13...motor drive unit, 14...positioning unit, 15...sensor unit, 16...communication unit, 17...input / output unit (I / O), 18...control unit, 19...fuselage, 19a...arm, 19b...bottom, 20...capturing device, 20A...capturing device, 21...capturing member, 21a...corner, 21A...capturing member, 21Aa...edge, 22...target area, 23...frame, 24...leg, 25...base, 26...joint, 27...connecting portion, 28...weight, 29...support member, 30...imaging device, 31...image, 40...rope

Claims

1. At least one unmanned aerial vehicle capable of hovering in the air; A capture device including a capture member formed in a lattice shape and suspended from the unmanned aerial vehicle via a rope; an imaging device mounted on the unmanned aerial vehicle for imaging a target area of ​​the unmanned underwater vehicle set on the capture member; A recovery device for an unmanned underwater vehicle comprising:

2. The unmanned aerial vehicle includes: moving the capture device so that the unmanned underwater vehicle moves toward the target area based on the image acquired by the imaging device; When the capture of the unmanned underwater vehicle by the capture device is confirmed, the unmanned underwater vehicle moves to a predetermined location together with the capture device.

2. The recovery device for an unmanned underwater vehicle according to claim 1.

3. The capture member is disposed horizontally.

3. A recovery device for an unmanned underwater vehicle according to claim 1 or 2.

4. The capture device includes a frame having a plurality of legs extending toward the capture member and connected to the cord, The plurality of legs support the capture member in a deployed state.

4. The recovery device for an unmanned underwater vehicle according to claim 3.

5. The frame body is configured to be foldable.

5. The recovery device for an unmanned underwater vehicle according to claim 4.

6. the at least one unmanned aerial vehicle comprises a plurality of unmanned aerial vehicles; The plurality of unmanned aerial vehicles are connected to different locations of the capture device via corresponding ropes.

4. The recovery device for an unmanned underwater vehicle according to claim 3.

7. The capture device includes a weight suspended from the target area of ​​the capture member. The recovery device according to claim 6.

8. The capture member is disposed vertically.

3. A recovery device for an unmanned underwater vehicle according to claim 1 or 2.

9. The capture device includes a support member that supports the capture member when the capture member is deployed and is connected to the cord. The recovery device for an unmanned underwater vehicle according to claim 8.

10. The support member is configured to be foldable. The recovery device for an unmanned underwater vehicle according to claim 9.

11. The capture device includes a weight suspended from a lower edge of the capture member in a vertical direction. A recovery device according to any one of claims 8 to 10.

Images