Retrieval system
The recovery system facilitates the compact storage and retrieval of underwater vehicles on smaller carriers by using a lifting rope, support part, and guidance systems, addressing space constraints and equipment complexity in existing methods.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- JAPAN AGENCY FOR MARINE-EARTH SCIENCE AND TECHNOLOGY
- Filing Date
- 2022-05-18
- Publication Date
- 2026-07-22
AI Technical Summary
Existing methods for winching underwater vehicles require large spaces on mother ships and are difficult to apply to smaller carriers like aircraft, necessitating complex equipment such as deck cranes.
A recovery system for underwater vehicles that includes a lifting rope, lifting means, support part, and driving means, allowing the vehicle to be stored in a compact storage compartment on smaller carriers like aircraft, with guidance via emitting units and sound waves for precise positioning.
Enables reliable and efficient recovery of underwater vehicles on smaller carriers without requiring large spaces, reducing the need for complex equipment and minimizing space requirements.
Smart Images
Figure 0007893461000001 
Figure 0007893461000002 
Figure 0007893461000003
Abstract
Description
Technical Field
[0001] The present invention relates to a winching system for winching an underwater vehicle from underwater.
Background Art
[0002] As a method for winching an underwater vehicle such as an AUV (Autonomous Underwater Vehicle) or UUV (Unmanned Undersea Vehicle) onto a ship, Patent Document 1 discloses a method of dropping a winching cable into the water, fixing the underwater vehicle to the cable, and pulling it up. In Patent Document 1, the underwater vehicle is winched using a slope provided on the mother ship that slopes towards the water surface. <>
Prior Art Documents
Patent Documents
[0003]
Patent Document 1
Summary of the Invention
Problems to be Solved by the Invention
[0004] In the winching method shown in Patent Document 1, it is necessary to provide a slope on the mother ship in order to winch the underwater vehicle. In addition, separately from the mechanism for winching, it is necessary to provide a storage section on the mother ship for storing the winched underwater vehicle. Therefore, in the winching method shown in Patent Document 1, a large winching space is required on the mother ship for winching the underwater vehicle. Further, as another method for winching an underwater vehicle, there is a method of lifting the underwater vehicle from the water using equipment such as a deck crane. However, this method also requires the mother ship to be a large ship, etc. Therefore, for example, when winching an underwater vehicle by an aircraft, it is difficult to apply these methods.
[0005] The present invention has been made in view of the above, and aims to provide a recovery system that can appropriately recover an underwater vehicle even when recovering it onto a small carrier such as an aircraft. [Means for solving the problem]
[0006] To achieve the above objective, the recovery system according to the present invention is provided on a mother ship equipped with a storage compartment for storing an underwater vehicle, and is a recovery system for recovering an underwater vehicle from underwater, comprising: a lifting rope for fixing the underwater vehicle and pulling it up from underwater; a lifting means for lifting the lifting rope; a support part for supporting the underwater vehicle that has been lifted up together with the lifting rope by the lifting means in the water, and rotating and moving while supporting the underwater vehicle to become part of the storage compartment in which the underwater vehicle is stored; and a driving means for rotating and moving the support part.
[0007] In the recovery system according to the present invention, the support section supports the underwater vehicle in the water and rotates while supporting it to become part of the storage section where the underwater vehicle is stored. Therefore, the underwater vehicle can be properly stored in the mother ship. Furthermore, since the mechanism for recovery and the configuration for storing the recovered underwater vehicle are partially common, the mother ship does not require the large space required in the conventional method described above. Therefore, according to the recovery system according to the present invention, the underwater vehicle can be properly recovered even when recovering it to a small mother ship such as an aircraft.
[0008] The recovery system can be fixed to at least a portion of the underwater vehicle that has been lifted up together with the lifting rope by the lifting means, and may further include a position adjustment unit that is movable itself so that the fixed underwater vehicle can be moved to a position where it is supported by the support unit. With this configuration, the underwater vehicle can be supported by the support unit more appropriately and reliably, and as a result, the underwater vehicle can be recovered more appropriately and reliably.
[0009] The position adjustment section may be shaped to fit over the tip of the underwater vehicle and may also have a hole through which a hoisting rope passes. With this configuration, the position adjustment section can be constructed appropriately and reliably, and the present invention can be implemented appropriately and reliably.
[0010] The support structure may be composed of a combination of rod-shaped members. This configuration reduces water resistance to the support structure, and as a result, the underwater vehicle can be recovered more appropriately and reliably.
[0011] The hoisting rope may have multiple emitters at intervals along its length that emit guiding light to guide the underwater vehicle. In this configuration, the guiding light emitted from the recovery system allows the underwater vehicle to detect the position of the hoisting rope with high precision underwater. Therefore, with this configuration, the underwater vehicle can be guided to the hoisting rope with high precision, and the underwater vehicle can be recovered appropriately and reliably.
[0012] The emission units, located at different positions, may emit guiding light of different wavelengths. This configuration allows for more precise guidance of the underwater vehicle to the hoisting rope, enabling more appropriate and reliable recovery of the underwater vehicle. [Effects of the Invention]
[0013] According to the present invention, even when recovering an underwater vehicle onto a small carrier such as an aircraft, the underwater vehicle can be recovered appropriately. [Brief explanation of the drawing]
[0014] [Figure 1] This figure shows a recovery system and an AUV (Autonomous Underwater Vehicle) according to an embodiment of the present invention. [Figure 2] This figure shows the recovery system and the AUV during recovery. [Figure 3] This is a block diagram of the aircraft, recovery system, and AUV. [Figure 4] This diagram shows the lifting rope and the AUV when the AUV is secured to the lifting rope. [Figure 5] This is a diagram showing the support section of the hoisting system. [Figure 6] This diagram shows the recovery system and the AUV when it is deployed into the water. [Modes for carrying out the invention]
[0015] The embodiments of the hoisting system according to the present invention will be described in detail below with reference to the drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant explanations are omitted. Also, the dimensional ratios in the drawings do not necessarily match those in the description.
[0016] Figures 1 and 2 show the recovery system 10 according to this embodiment, and the AUV 20, which is the underwater vehicle according to this embodiment and is the target of recovery by the recovery system 10. Figure 3 shows configurations not shown in Figures 1 and 2. In this embodiment, "up" and "down" are based on the state shown in Figures 1 and 2. The AUV 20 is, for example, an autonomous, unmanned underwater vehicle that navigates underwater to conduct underwater surveys. The AUV 20 is also called a UUV. For example, the AUV 20 conducts underwater surveys. Note that the underwater vehicle may be something other than the AUV 20. For example, the underwater vehicle may be user-operable or a manned vehicle with a person on board. Furthermore, the underwater vehicle may be used for purposes other than underwater surveys. The AUV 20 may have the same configuration as a conventional AUV, except for the configuration described below.
[0017] The AUV 20 is stored (mounted) in the mother ship, moved to the area to navigate (for example, the survey target sea area), and then launched from the mother ship into the water (for example, the sea). As shown in FIGS. 1 and 2, the mother ship carrying the AUV 20 is an aircraft 30 having a configuration capable of taking off and landing. The aircraft 30 is, for example, an autonomous unmanned aerial vehicle (UAV (Unmanned Aerial Vehicle), drone). Also, the aircraft 30 may be operable by a user or a manned aircraft in which people board. As shown in FIG. 3, the aircraft 30 includes a storage section 31 for storing the AUV 20. The hoisting system 10 is a system (device) provided in the aircraft 30 for hoisting the underwater AUV 20, which is the hoisting target, into the aircraft 30.
[0018] By using an unmanned aircraft as the mother ship, compared with the case of using a ship, the cost and the number of required personnel for surveying the sea with the AUV 20 can be reduced, and the period can be shortened. However, the mother ship does not necessarily have to be an aircraft and may be a ship. For example, the mother ship may be an USV (Unmanned Surface Vehicle) or an ASV (Autonomous Surface Vehicle).
[0019] Subsequently, the configurations of the hoisting system 10, the AUV 20, and the aircraft 30 according to the present embodiment will be described. The hoisting of the AUV 20 is performed by fixing the AUV 20 to the hoisting cable in the water and hoisting it to be accommodated in the aircraft 30. First, the configuration for the process of fixing the AUV 20 to the hoisting cable will be described, and then the configuration for the process of accommodating the AUV 20 fixed to the hoisting cable in the storage section 31 of the aircraft 30 will be described.
[0020] The aircraft 30 includes a storage section 31 having a space for storing the AUV 20 in the fuselage. In the fuselage of the aircraft 30, a portion for taking in and out the AUV 20 from the storage section 31 is provided on the bottom surface that comes into contact with water when landing (details will be described later). A door 32 that forms a part of the bottom surface of the aircraft 30 is provided at this portion. The storage section 31 is provided inside the door 32 in the fuselage of the aircraft 30. The door 32 is opened during hoisting of the AUV 20, etc. For example, the door 32 is automatically slid horizontally (i.e., in the direction along the bottom surface of the aircraft 30) and opened. The hoisting of the AUV 20 is performed by housing the AUV 20 in water from the bottom surface of the fuselage of the aircraft 30 into the storage section 31 of the aircraft 30.
[0021] As shown in FIG. 1, the hoisting system 10 includes a hoisting cable (rope, lifting cable) 11, an emitting section 12 (a general term for emitting sections 12a, 12b, 12c, 12d), and a sound wave generating device 13. The hoisting cable 11 is a member for fixing the AUV 20 and lifting it from underwater. The hoisting cable 11 may be realized by a conventional hoisting cable. As the hoisting cable 11, one having a strength and length capable of lifting the AUV 20 in water is used. One end of the hoisting cable 11 is suspended underwater and submerged.
[0022] The other end of the hoisting cable 11 is held by the aircraft 30. Also, the length of the portion of the hoisting cable 11 submerged in water can be adjusted. As shown in FIG. 3, the hoisting system 10 includes a winch 14 provided on the aircraft 30. The hoisting cable 11 is held in a state of being wound around the winch 14, and the length of the portion submerged in water is adjusted by the winch 14. The longitudinal direction of the portion of the hoisting cable 11 submerged in water is generally in the vertical direction. This is due to the self-weight of the portion of the hoisting cable 11 submerged in water and the weight of the sound wave generating device 13. Also, the hoisting cable 11 is arranged on the aircraft 30 so as to hang down from the portion for taking in and out the AUV 20 from the storage section 31 on the bottom surface of the aircraft 30.
[0023] Each emission unit 12 is a device that emits guiding light to guide the AUV 20 to the hoisting rope 11 in water. Each emission unit 12 can be realized by a conventional light source that can be used in water, such as an LED (light-emitting diode). The hoisting rope 11 has multiple emission units 12 at intervals along the length of the portion submerged in water. Each emission unit 12 is fixedly installed at the above-mentioned position on the hoisting rope 11. The guiding light emitted by each emission unit 12 allows the AUV 20 to appropriately detect the position of the emission unit 12, i.e., the position of the source of the guiding light emission.
[0024] The emission units 12, which are located at different positions, may emit guiding light of different wavelengths. For example, as shown in Figure 1, emission units 12a and 12c that emit green guiding light and emission units 12b and 12d that emit red guiding light may be provided alternately. The distance (length) between each emission unit 12 is such that the AUV 20 can appropriately detect the position of the hoisting rope 11 by the method described later. For example, the distance is 0.5 m. Alternatively, the distance between emission units 12 that emit guiding light of the same wavelength may be kept constant. This allows the AUV 20 to recognize the inclination of the hoisting rope 11. By using the guiding light in the manner described above, it is possible to respond to changes in visibility due to weather and sea conditions.
[0025] Furthermore, the types of wavelengths of the induced light may be three or more, rather than just two as described above. Also, as described above, it is sufficient that some of the multiple emission units 12 emit induced light of different wavelengths, and some of the multiple emission units 12 emit induced light of the same wavelength.
[0026] The sound wave generator 13 is a device that outputs guiding sound waves (acoustics) to guide the AUV 20 to the hoisting rope 11 in water. The sound wave generator 13 can be implemented, for example, by a conventional sound wave generator that can be used in water. As shown in Figure 1, the sound wave generator 13 is fixed to the end of the hoisting rope 11 that is submerged in water.
[0027] Furthermore, the hoisting rope 11 may be equipped with an optical communication device that communicates by flashing. This may allow the hoisting system 10 to control the AUV 20 at close range. Optical communication is performed by flashing lights.
[0028] As shown in Figure 1, the AUV 20 comprises a main body 21 and a fixing member 22. The main body 21 is, for example, torpedo-shaped as shown in Figure 1. However, the shape of the main body 21 does not have to be torpedo-shaped, and may be any shape that can be used for an AUV. The main body 21 has the functions of the AUV 20, such as functions related to underwater navigation and surveying. The main body 21 may have the same configuration as a conventional AUV, except for the functions according to this embodiment which will be described later.
[0029] The fixing member 22 is a member for fixing the AUV 20 to the hoisting rope 11 of the recovery system 10. For example, the fixing member 22 is two antenna-like (rod-like) members that can grip the hoisting rope 11. The fixing member 22 is provided at a predetermined position on the main body 21, for example, at the tip of the torpedo-shaped structure as shown in Figure 1.
[0030] The two fixing members 22 are provided on the main body 21 so that they can move. As shown in Figure 4(a), the two fixing members 22 are in an open state, and the lifting rope 11 is positioned between the two fixing members 22, and the fixing members 22 move to sandwich the lifting rope 11. The movement of the fixing members 22 is controlled as described later. Note that the configuration for fixing the AUV 20 to the lifting rope 11 does not necessarily have to be the above configuration; any configuration is acceptable as long as the AUV 20 can be fixed to the lifting rope 11.
[0031] As shown in Figure 3, the AUV 20 includes a camera 23 and a control device 24 in addition to the above. The camera 23 and the control device 24 are mounted on the main body 21. The camera 23 is a device that captures the guided light emitted from the emission unit 12 to obtain an image for detecting the position of the hoisting rope 11. For example, the camera 23 is mounted near the fixing member 22 so as to be able to capture the area in front of the tip of the AUV 20. The camera 23 can be implemented using a conventional optical camera or the like that capable of capturing images underwater. The camera 23 outputs the captured image to the control device 24.
[0032] The control device 24 is a device that controls the recovery of the AUV 20. The control device 24 is configured to control the underwater navigation function of the main body 21 and the movement of the fixing members 22. The control device 24 may also control the operation of other components of the AUV 20. The control device 24 can be implemented, for example, by a control device such as a computer used in conventional AUVs.
[0033] As shown in Figure 3, the control device 24 has a functional configuration comprising a detection unit 241, a moving unit 242, and a fixed unit 243. The detection unit 241 is a detection means that detects the position of the hoisting rope 11 by detecting the guidance light emitted from the hoisting rope 11 provided in the hoisting system 10. The detection unit 241 receives an image from the camera 23. The detection unit 241 detects the guidance light from the input image and detects the position of the hoisting rope 11 in the water based on the detected guidance light.
[0034] As described above, the hoisting rope 11 extends vertically underwater, so the emission points 12, which are the emission positions of the guiding light, are aligned vertically. The detection unit 241 detects the relative position of the vertically extending hoisting rope 11 with respect to the AUV 20 underwater based on the guiding light detected from the image. The detection unit 241 may also recognize the state of the hoisting rope 11 (e.g., inclination and linearity). Detection of the position of the hoisting rope 11 based on the image can be performed using conventional image recognition technology such as AI (artificial intelligence). The detection unit 241 outputs information indicating the detected position of the hoisting rope 11 to the movement unit 242.
[0035] Furthermore, the AUV 20 may be equipped with a device such as an underwater microphone to detect the underwater guidance sound waves output from the sound wave generator 13 fixed to the hoisting rope 11. The detection unit 241 may also detect the position of the hoisting rope 11 based on the detected guidance sound waves. For example, the detection unit 241 may detect the position of the hoisting rope 11 based on both the detected guidance sound waves and the image input from the camera 23. Alternatively, the detection unit 241 may detect the position of the hoisting rope 11 based on the detected guidance sound waves until an image showing the guidance light is captured. The detection of the position of the hoisting rope 11 based on the detected guidance sound waves may be performed by conventional techniques.
[0036] The moving unit 242 is a means of moving the AUV 20 based on the position of the hoisting rope 11 detected by the detection unit 241. The moving unit 242 receives information from the detection unit 241 indicating the position of the hoisting rope 11. Based on the input information, the moving unit 242 moves the AUV 20 closer to the hoisting rope 11. The moving unit 242 also moves the AUV 20 to a position where the fixing member 22 can grip the hoisting rope 11. The movement of the AUV 20 by the moving unit 242 is controlled by controlling functions related to underwater navigation, such as the thrusters equipped on the AUV 20.
[0037] The fixing part 243 is a fixing means that fixes itself (AUV20) to the lifting rope 11 in response to movement by the moving part 242. As shown in Figure 4(a), when the AUV20 moves to a position where the fixing member 22 can grip the lifting rope 11 under control by the moving part 242, the fixing part 243 moves the fixing member 22 to grip the lifting rope 11, as shown in Figure 4(b). For example, a sensor may be provided at the tip of the AUV20, and when the sensor detects contact with the lifting rope 11, the fixing part 243 may perform the fixing described above. The AUV20 is fixed to the lifting rope 11 by being gripped by the fixing member 22. In other words, the fixing member 22 captures the lifting rope 11.
[0038] Furthermore, the hoisting rope 11 to the AUV 20 only needs to be fixed in a direction perpendicular to the longitudinal direction (vertical direction) of the hoisting rope 11. That is, the AUV 20 may be movable in the longitudinal direction (vertical direction) relative to the hoisting rope 11. In that case, when the hoisting rope 11 is pulled up, the AUV 20 will get caught on the sound wave generator 13 and be pulled up together with the sound wave generator 13.
[0039] The configuration for fixing the lifting rope 11 to the AUV20, and the configuration for lifting the AUV20 together with the lifting rope 11, do not have to be the configuration described above, and any configuration can be used. The above is the configuration for the process of fixing the AUV20 to the lifting rope 11.
[0040] Next, the configuration for the process of housing the AUV 20, which is fixed to the hoisting cable 11, into the hangar 31 of the aircraft 30 will be described. The winch 14 of the recovery system 10 is a means for hoisting up the hoisting cable 11 to which the AUV 20 is fixed. Note that the configuration for holding and hoisting the hoisting cable 11 in the aircraft 30 may be other than the winch 14.
[0041] As shown in Figure 2, the recovery system 10 comprises a support section 15 and a position adjustment section 16. The support section 15 supports the AUV 20, which has been lifted up together with the hoisting rope 11 by the winch 14, in the water, and rotates while supporting the AUV 20 to become part of the storage section 31 in which the AUV 20 is stored (a frame, a base). As shown in Figure 2(a), when recovering the AUV 20, the support section 15 is positioned in the water so as to protrude from the underside of the aircraft 30 that has landed on the water. As shown in Figures 2(b) and 2(c), for example, the support section 15 supports the longitudinal side of the AUV 20 with the longitudinal direction being approximately vertical. As shown in Figure 2(c), while supporting the AUV 20, the support section 15 rotates so that the AUV 20 becomes horizontal and moves toward the storage section 31 of the aircraft 30. That is, the support section 15 lifts the AUV 20. Once the rotation of the support section 15 is complete, the AUV 20 is stored in the hangar 31 of the aircraft 30. In this state, the support section 15 supports the AUV 20 from below within the hangar 31. In this way, the support section 15 acts like a bed for the AUV 20.
[0042] Figure 5(a) shows the support portion 15, which supports the AUV 20, viewed from the side. Figure 5(b) shows the support portion 15, which supports the AUV 20, viewed from the front. Figure 5(c) shows the support portion 15, which protrudes from the aircraft 30 and is positioned in the water. As described above, the storage section 31 is shaped and strong enough to support the AUV 20 in the water and to accommodate the AUV 20 in the storage section 31.
[0043] For example, as shown in Figures 2 and 5, the shape of the support portion 15 is thin, with a portion slightly larger than the longitudinal side of the AUV 20, so that it can support the longitudinal side of the AUV 20. Specifically, as shown in Figure 5, the support portion 15 is constructed by combining rod-shaped members made of metal or the like. For example, the support portion 15 may be constructed in a mesh-like shape by combining an elliptical rod-shaped member and a member that contacts the AUV 20. The portion of the support portion 15 that contacts and supports the AUV 20 may be provided with a recess that matches the shape of the AUV 20 to better support the AUV 20. By being constructed of rod-shaped members with gaps, the water resistance against the support portion 15 can be reduced when the support portion 15 is submerged in water. In particular, the support portion 15 may adopt a shape with a small projected area with respect to the direction of movement when rotating as described above.
[0044] The support section 15 is fixed to the aircraft 30 so that it can be positioned and rotated as described above when retrieving the AUV 20. For example, when the support section 15 forms the storage section 31, the part that supports the AUV 20 faces upward, and when retrieving the AUV 20, the part that supports the AUV 20 is positioned in the water so that it can support the AUV 20. The support section 15 is fixed to the aircraft 30 so that it can rotate around one end as the axis of rotation. The rotation only needs to be between the position when the support section 15 forms the storage section 31 and the position in the water where the support section 15 can support the AUV 20. For example, it is sufficient if the support section 15 can rotate about 120 to 150 degrees relative to the position when the support section 15 forms the storage section 31.
[0045] As shown in Figure 3, the recovery system 10 includes a drive unit 17 provided on the aircraft 30. The drive unit 17 is a device that is a driving means for rotating the support unit 15. The drive unit 17 can be implemented, for example, by a conventional actuator. The rotation of the support unit 15 by the drive unit 17 is triggered by, for example, the detection that the support unit 15 is supporting the AUV 20 underwater.
[0046] In the storage compartment 31 of the aircraft 30, in order to prevent damage to the AUV 20 during recovery and to ensure secure and proper holding of the AUV 20, the recovery system 10 may be provided with a low-rebound member 18 located inside the storage compartment 31, as shown in Figure 2(c). The low-rebound member 18 is fixed in the storage compartment 31 at a position facing the support portion 15 that constitutes the storage compartment 31. When the support portion 15 rotates and the AUV 20 is stored in the storage compartment 31, the low-rebound member 18 deforms by contacting the side of the AUV 20 opposite to the side supported by the support portion 15, thereby absorbing or dispersing pressure from the AUV 20. When the AUV 20 is held in the storage compartment 31, the AUV 20 is sandwiched between the support portion 15 and the low-rebound member 18, preventing the AUV 20 from moving within the storage compartment 31. The material and shape of the low-rebound member 18 can be any one that can achieve the above.
[0047] The position adjustment section 16 can be fixed to at least a portion of the AUV 20 that has been lifted together with the lifting rope 11 by the winch 14, and is the part that moves the fixed AUV 20 to a position where it is supported by the support section 15. The position adjustment section 16 is provided near the support section 15 so as to be movable itself. The position adjustment section 16 may be shaped to fit over the tip of the AUV 20 and may have a hole through which the lifting rope 11 passes.
[0048] As shown in Figures 2(a) and 2(b), even when the AUV 20 is raised close to the aircraft 30 by the hoisting rope 11, simply raising it does not necessarily mean that the AUV 20 will be in a position where it can be properly supported by the support section 15. The position adjustment section 16 is used to adjust the position of the raised AUV 20 to a position where it can be properly supported by the support section 15.
[0049] The position adjustment section 16 has a shape that matches the tip of the AUV 20 being lifted. For example, as shown in Figure 2, if the tip of the AUV 20's body is round and spherical, the position adjustment section 16 has a helmet-like shape that fits over the spherical shape. The position adjustment section 16 is provided near the rotation axis of the support section 15 so that it can be fitted over and fixed to the tip of the lifted AUV 20. For example, the tip of the AUV 20 is positioned so that it enters the helmet-shaped position adjustment section 16 and the AUV 20 is fixed to the position adjustment section 16. The position adjustment section 16 may also be fixed to the support section 15.
[0050] To ensure secure fixation between the position adjustment unit 16 and the AUV 20, the position adjustment unit 16 may have a hole through which the hoisting rope 11 passes. The hole may be provided, for example, to pass through the apex of a helmet-like shape. When the hoisting rope 11 passing through the hole is pulled up, the tip of the AUV 20 can be securely inserted into the position adjustment unit 16.
[0051] The position adjustment unit 16 is provided so as to be movable for adjusting the position of the AUV 20. When the AUV 20 is lifted and fixed to the position adjustment unit 16, the position adjustment unit 16 is positioned so that the AUV 20 is fixed to the AUV 20 without contacting the support unit 15. Once the position adjustment unit 16 and the AUV 20 are fixed together, the position adjustment unit 16 is moved so that the AUV 20 is supported by the support unit 15. The movement of the position adjustment unit 16 may be rotational. The movement of the position adjustment unit 16 may be performed, for example, by a drive unit such as a conventional actuator provided on the aircraft 30.
[0052] The operation of each of the above-mentioned components in the recovery system 10 may be controlled by a control device such as a computer provided in the recovery system 10. The control of the operation may be performed autonomously or by external operation. The above is the configuration for the process of housing the AUV 20, which is fixed to the hoisting rope 11, into the hangar 31 of the aircraft 30.
[0053] Next, using Figures 1, 2, and 4, the operation of the recovery system 10 and the AUV 20 according to this embodiment when recovering the AUV 20 from the water into the hangar 31 of the aircraft 30 will be explained. As shown in Figure 1, the aircraft 30 first lands in the vicinity of the AUV 20. Subsequently, the door 32 on the bottom of the aircraft 30 is opened. Next, the hoisting cable 11 is suspended from the aircraft 30 and submerged in the water. The underwater emitter 12 provided on the hoisting cable 11 emits guiding light. In addition, the underwater sound wave generator 13 provided on the hoisting cable 11 outputs guiding sound waves.
[0054] The AUV20 detects the guiding light and guiding sound waves from the recovery system 10 to locate the hoisting rope 11 and moves toward it. The movement based on the detection of the guiding light is performed as follows: The underwater environment is imaged by the camera 23 of the AUV20. Subsequently, the guiding light is detected by the detection unit 241 from the captured image, and the position of the hoisting rope 11 is detected. Subsequently, based on the detected position of the hoisting rope 11, the movement unit 242 moves the AUV20 toward the hoisting rope 11.
[0055] As shown in Figure 4(a), when the AUV 20 is moved to a position where the fixing member 22 of the AUV 20 can grip the lifting rope 11, as shown in Figure 4(b), the fixing part 243 controls the fixing member 22 to grip the lifting rope 11, thereby fixing the AUV 20 to the lifting rope 11.
[0056] Next, as shown in Figure 2(a), the support section 15 rotates and moves underwater. Note that the rotation of the support section 15 underwater as shown in Figure 2(a) may be performed before the hoisting rope 11 is suspended from the aircraft 30 underwater. Next, as shown in Figure 2(b), the hoisting rope 11 is lifted underwater together with the AUV 20 which is fixed to the hoisting rope 11. The AUV 20, lifted underwater, is fixed to the position adjustment section 16 underwater. Next, the position adjustment section 16 moves to a position where the AUV 20 is supported by the support section 15. Next, the support section 15 underwater rotates and moves toward the storage section 31 while supporting the AUV 20, and the AUV 20 is housed in the storage section 31. Once the AUV 20 is housed in the storage section 31, the door 32 on the bottom of the aircraft 30 is closed. The above describes the operation of the recovery system 10 and the AUV 20 according to this embodiment when recovering the AUV 20 into the hangar 31 of the aircraft 30.
[0057] Next, using Figure 6, the operation of the recovery system 10 and the AUV 20 according to this embodiment when the AUV 20 according to this embodiment is deployed into the water from the hangar 31 of the aircraft 30 will be explained. As shown in Figure 6(a), the aircraft 30 lands on the water area where the AUV 20 will be deployed. Subsequently, the door 32 on the bottom of the aircraft 30 is opened. Subsequently, as shown in Figure 6(b), in the hangar 31, the support part 15 supporting the AUV 20 rotates and moves toward the water. At this time, the AUV 20 may be fixed to the support part 15 in advance. That is, the AUV 20 may be locked to the support part 15 in advance. For example, the AUV 20 is tied to the support part 15 with a string-like member 19. Note that at this time, the orientation of the AUV 20 may be the opposite of when it is recovered. That is, the tip of the AUV 20 to which the fixing member 22 is provided may be facing downwards instead of upwards.
[0058] Next, as shown in Figure 6(c), the AUV 20 is released from its attachment to the support 15. That is, the lock on the AUV 20 is released. For example, the string-like member 19 is cut. Conventional string-like member 19 and cutting mechanism may be used. Subsequently, as shown in Figure 6(d), the AUV 20 separates from the support 15 and sinks in the water due to its own weight. The above describes the operation of the recovery system 10 and the AUV 20 according to this embodiment when the AUV 20 is lowered into the water from the hangar 31 of the aircraft 30.
[0059] In this embodiment, the AUV 20 can detect the position of the hoisting rope with high precision underwater by the guidance light emitted from the emission section 12 of the hoisting system 10. Furthermore, in the AUV 20, which is an underwater vehicle according to this embodiment, the position of the hoisting rope 11 can be detected with high precision underwater by detecting the guidance light. Therefore, according to this embodiment, the AUV 20 can be guided to the hoisting rope 11 with high precision, and the AUV 20 can be hoisted appropriately and reliably.
[0060] Furthermore, as in this embodiment, the emission units 12 provided at different positions may emit guiding light of different wavelengths. This configuration allows the AUV 20 to be guided to the hoisting cable 11 with even greater precision, and the AUV 20 can be retrieved more appropriately and reliably. However, it is not necessary for the multiple emission units 12 to emit guiding light of different wavelengths; they may all emit guiding light of the same wavelength.
[0061] Furthermore, in this embodiment, the support section 15 supports the AUV 20 underwater and rotates while supporting it to become part of the storage section 31 in which the AUV 20 is stored. Therefore, the AUV 20 can be properly stored in the aircraft 30, which is the mother ship. In addition, since the mechanism for recovery and the configuration for storing the recovered AUV 20 are partially common, the aircraft 30, which is the mother ship, does not require a large space.
[0062] Furthermore, by capturing the AUV 20 underwater as in this embodiment, the influence of sea conditions can be reduced. For example, damage to the AUV 20 or the aircraft 30 acting as the mother ship due to collisions caused by waves can be prevented. Also, since there is no need to lift it onto the deck of a ship, a sway brace is unnecessary. Therefore, according to this embodiment, the AUV 20 can be properly recovered even when it is being recovered onto a small mother ship such as the aircraft 30.
[0063] Furthermore, as in this embodiment, when the support portion 15 is located underwater, the support portion 15 itself becomes a source of resistance in the water. Therefore, it can reduce the resistance of the aircraft 30 by functioning similarly to the keel of a ship.
[0064] Furthermore, by recovering the AUV20 directly from underwater, the recovery system 10 can be made smaller and lighter. Typically, the weight of the AUV20 underwater (underwater weight) is designed to be almost zero. Therefore, the force (tension) when pulling the AUV20 in using the winch 14 can be ignored. For this reason, a lightweight hoisting rope 11 can be used, and a small and lightweight winch 14 can be used. Also, if the support section 15 becomes heavy, the drive unit 17 that moves the support section 15 will also become larger, so the structure of the support section 15 is separated from the aircraft 30 and is a pedestal specifically designed to store the AUV20.
[0065] Furthermore, as in this embodiment, the hoisting system 10 may further include a position adjustment unit 16. With this configuration, the AUV 20 can be supported by the support unit 15 more appropriately and reliably, and as a result, the AUV 20 can be hoisted more appropriately and reliably. In addition, if the AUV 20 were to come into direct contact with the support unit 15, there is a risk that the AUV 20 would be damaged due to strong contact with the support unit 15, but this possibility can be reduced by using the position adjustment unit 16 to position the AUV 20 on the support unit 15.
[0066] Furthermore, the position adjustment section 16 may be shaped to fit over the tip of the AUV 20 and may have a hole through which the hoisting rope 11 passes. With this configuration, the position adjustment section 16 can be constructed appropriately and reliably, and the hoisting system 10 according to this embodiment can be implemented appropriately and reliably. However, the position adjustment section 16 may have a configuration other than the above, as long as it can adjust the position of the AUV 20 relative to the support section 15. Also, the hoisting system 10 may have a configuration that does not include the position adjustment section 16.
[0067] Furthermore, as in this embodiment, the support section 15 may be constructed by combining rod-shaped members. This configuration reduces water resistance to the support section 15, and as a result, the underwater vehicle can be recovered more appropriately and reliably. However, the support section 15 does not have to be constructed as described above; any configuration other than the above is acceptable as long as it can support and recover the AUV 20.
[0068] Furthermore, the recovery system 10 only needs to be equipped with a hoisting rope for securing the AUV and lifting it out of the water. The configuration of the recovery system 10, AUV 20, and aircraft 30 described above, which relates to the process of securing the AUV to the hoisting rope, does not necessarily have to be the configuration described above, as long as it is capable of securing the AUV to the hoisting rope.
[0069] Furthermore, by using the recovery system 10 of this embodiment and using an autonomous unmanned aerial vehicle (UAV) as the mother aircraft 30, it becomes possible to land and recover the AUV 20 unmanned.
[0070] The retrieval system described herein has the following configuration: [1] A recovery system provided on a mother ship equipped with a storage compartment for storing an underwater vehicle, and for lifting an underwater vehicle from the water, A hoisting rope for securing an underwater vehicle and lifting it out of the water, A lifting means for lifting the aforementioned lifting rope, The support portion supports the underwater vehicle, which has been lifted up together with the lifting rope by the lifting means, in the water, and rotates while supporting the underwater vehicle to become part of the storage section in which the underwater vehicle is stored, A driving means for rotating the support portion, A recovery system equipped with a recovery system. [2] The lifting system according to [1], further comprising a position adjustment unit which is movable so as to be able to move the fixed underwater vehicle to a position supported by the support unit, and which can be fixed to at least a portion of the underwater vehicle lifted together with the lifting rope by the lifting means. [3] The lifting system according to [2], wherein the position adjustment section is shaped to fit over the tip of the underwater vehicle and has a hole through which the lifting rope passes. [4] The support portion is composed of a combination of rod-shaped members. The lifting system according to any one of [1] to [3]. [5] The lifting rope has multiple emitting sections at intervals along its length for emitting guiding light for guiding an underwater vehicle, as described in any of [1] to [4]. [6] The retrieval system according to [5], wherein the emission units located at different positions emit induced light of different wavelengths from each other. [Explanation of symbols]
[0071] 10... Lifting system, 11... Lifting rope, 12 (12a, 12b, 12c, 12d)... Discharge unit, 13... Sound wave generator, 14... Winch, 15... Support unit, 16... Position adjustment unit, 17... Drive unit, 18... Low-rebound member, 19... String-like member, 20... AUV, 21... Main body, 22... Fixing member, 23... Camera, 24... Control device, 241... Detection unit, 242... Moving unit, 243... Fixing unit, 30... Aircraft, 31... Storage unit, 32... Door.
Claims
1. A recovery system provided on a mother ship equipped with a storage compartment for storing underwater vehicles, for lifting underwater vehicles from the water, A hoisting rope for securing an underwater vehicle and lifting it out of the water, A lifting means for lifting the aforementioned lifting rope, The underwater vehicle, lifted up together with the lifting rope by the lifting means, is supported in the water, and while supporting the underwater vehicle, the support part rotates and moves from the bottom side of the mother ship that is in contact with the water to house the underwater vehicle in the storage compartment, becoming part of the storage compartment in which the underwater vehicle is housed. A driving means for rotating the support portion, A recovery system equipped with a recovery system.
2. The hoisting system according to claim 1, further comprising a position adjustment unit that is movable so as to be able to fix to at least a portion of the underwater vehicle lifted together with the hoisting rope by the hoisting means, and to move the fixed underwater vehicle to a position supported by the support unit.
3. The lifting system according to claim 2, wherein the position adjustment section is shaped to fit over the tip of the underwater vehicle and has a hole through which the lifting rope passes.
4. The lifting system according to claim 1 or 2, wherein the support portion is composed of a combination of rod-shaped members.
5. The lifting system according to claim 1 or 2, wherein the lifting rope has multiple emitters that emit guiding light for guiding an underwater vehicle at intervals along its length.
6. The retrieval system according to claim 5, wherein the emission units provided at different positions emit induced light of different wavelengths from each other.