JP2005069660A - Unmanned tow target system - Google Patents

Unmanned tow target system Download PDF

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Publication number
JP2005069660A
JP2005069660A JP2003304156A JP2003304156A JP2005069660A JP 2005069660 A JP2005069660 A JP 2005069660A JP 2003304156 A JP2003304156 A JP 2003304156A JP 2003304156 A JP2003304156 A JP 2003304156A JP 2005069660 A JP2005069660 A JP 2005069660A
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unmanned
towed
target
craft
towing
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Yoshitaka Sato
嘉孝 佐藤
Kiyohiko Iwasaki
清彦 岩崎
Kazuyuki Yamane
和之 山根
Tomohito Wataya
智史 綿谷
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NISHIEFU KK
Adachi Co Ltd
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NISHIEFU KK
Adachi Co Ltd
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Priority to JP2003304156A priority Critical patent/JP2005069660A/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
    • F41J9/00—Moving targets, i.e. moving when fired at
    • F41J9/04—Seagoing targets
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
    • F41J9/00—Moving targets, i.e. moving when fired at
    • F41J9/04—Seagoing targets
    • F41J9/06—Seagoing targets towed

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  • General Engineering & Computer Science (AREA)
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Abstract

<P>PROBLEM TO BE SOLVED: To provide an unmanned tow target system for reliable drop-down/lift-up of an unmanned craft, which can remain unchanged as a target in posture and outer shape even if the target is fallen down by shooting or ocean waves, and prevent a lashing part of a float of the unmanned craft from being loosened due to temperature change. <P>SOLUTION: The unmanned craft 1 comprises a towed device 1f fixed to the unmanned craft and for being lifted by a drop-down/lift-up system 3. The drop-down/lift-up system 3 comprises a towing rope 3a for dropping/lifting the unmanned craft, a towing device 3b mounted on the tip of the towing rope 3a, and removably coupled with the towed device 1f of the unmanned craft 1, and a guiding device 3c for guiding the towing device 3b to the towed device 1f of the unmanned craft 1. The towing device 3b is removably coupled to the towed device 1f by magnetic power. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

本発明は、遠隔操作により水上を無人で航行する無人舟艇と、この無人舟艇により曳航される標的とを備えた無人曳航標的システムに関するものである。   The present invention relates to an unmanned towing target system including an unmanned craft that unmanned sails on the water by remote control and a target towed by the unmanned craft.

一般に、遠隔操作により水上を無人で航行する無人舟艇と、この無人舟艇により曳航される標的とを備えた無人曳航標的システムとして、無人舟艇を降下揚収する降下揚収装置を備えたものが知られている。   In general, as an unmanned towed target system that includes an unmanned craft that unmanned navigating on the water by remote control and a target that is towed by this unmanned craft, a system that includes a descending and lifting device that descends and unloads unmanned craft is known. It has been.

このような、無人曳航標的システムにおいては、無人舟艇は、降下揚収装置により吊り上げられる被牽引具を有し、降下揚収装置は、無人舟艇を降下揚収する牽引索と、牽引索の先端に取り付けられ、無人舟艇の被牽引具と着脱自在に接続される牽引具とを有している。   In such an unmanned towing target system, the unmanned boat has a towed tool that is lifted by the descending and lifting device, and the descending and lifting device includes a towline that descends and unloads the unmanned boat and the tip of the towline. And a tow tool that is detachably connected to the tow tool of the unmanned craft.

例えば、特許文献１は、ラジコンにより遠隔操作される自走式の標的艇に関するものであるが、標的艇を収容する収容船側のデッキクレーンから伸びるロープ（牽引索）先端に取り付けられた嵌合部材（牽引具）に嵌め合う受け部材（被牽引具）と、ロープ先端に取り付けられた嵌合部材を標的艇の受け部材へ案内する案内手段の技術が開示されている。   For example, Patent Document 1 relates to a self-propelled target boat that is remotely operated by a radio control, but a fitting member attached to the tip of a rope (tow rope) extending from a deck crane on the side of a containment vessel that accommodates the target boat. There is disclosed a technique of a receiving member (towed device) fitted to (towing tool) and guide means for guiding a fitting member attached to the tip of a rope to a receiving member of a target boat.

また、一般に、無人舟艇により曳航される標的としては、水上に浮上するフロートを有し、このフロートの上に立設した平面的な架構にターゲット面を設けたものが知られている。   In general, as a target towed by an unmanned craft, there is known a target having a float that floats on the water and a target surface provided on a flat frame standing on the float.

例えば、特許文献２は、メインフロートと、サイドフロートと、メインフロートの上部に着脱可能に立設された標的とを備えた多目的曳航標的船の技術が開示されている。
特開平９−２４０５７４ 特開平１３−０８２８９９ For example, Patent Document 2 discloses a technique of a multipurpose towing target ship including a main float, a side float, and a target detachably installed on an upper portion of the main float.
JP-A-9-240574 JP-A-13-082899

しかしながら、上述の特許文献１に開示された標的艇では、案内手段によりロープ先端に取り付けられた嵌合部材を標的艇の受け部材へ案内することはできても、嵌合部材と受け部材とを嵌め合わせる段階で、標的艇の姿勢によっては受け部材から嵌合部材が離脱してしまうことが予想され、標的艇を確実に降下揚収するものとは言いがたい。   However, in the target boat disclosed in Patent Document 1 described above, the fitting member and the receiving member can be connected to each other even though the fitting member attached to the tip of the rope can be guided to the receiving member of the target boat by the guiding means. Depending on the attitude of the target boat, the fitting member is expected to be detached from the receiving member at the fitting stage, and it is difficult to say that the target boat is surely lowered and lifted.

また、上述の特許文献２に開示された多目的曳航標的船では、標的が着弾や波浪のために転倒すると、水上に浮かんだ標的としての姿勢と外形が変化してしまい、その都度標的の姿勢を修正しなければならないという問題があった。   Moreover, in the multipurpose towed target ship disclosed in Patent Document 2 described above, when the target falls due to landing or waves, the posture and the outer shape of the target floating on the water change, and the target posture is changed each time. There was a problem that had to be corrected.

さらに、無人舟艇の両側部に空気充填式のフロート部が設けられている場合、この空気充填式フロート部を、本船もしくは陸上の固縛部に固縛して無人舟艇を本船もしくは陸上に収容すると、気温の変化などでフロートの体積が変化したり、フロートの固縛部に対する固縛が緩んだりするという問題があった。   In addition, if there are air-filled floats on both sides of the unmanned craft, the air-filled float can be secured to the ship or the land lashing section to accommodate the unmanned craft on the ship or the land. However, there is a problem that the volume of the float changes due to a change in temperature, or that the lashing of the lashing portion of the float is loosened.

本発明は上記不具合に鑑みてなされたものであり、確実に無人舟艇を降下揚収することができる無人曳航標的システムを提供する。さらに、標的が着弾や波浪のために転倒しても、水上に浮かんだ標的としての姿勢と外形とに変化がなく、また、気温の変化などにより無人舟艇のフロートの固縛部に対する固縛が緩んだりすることがないようにすることもできる無人曳航標的システムを提供することを課題としている。   The present invention has been made in view of the above problems, and provides an unmanned towing target system that can reliably unload and unload an unmanned craft. In addition, even if the target falls due to landing or waves, there is no change in the posture and shape of the target floating on the water. It is an object to provide an unmanned towing target system that can be prevented from loosening.

上記課題を解決するための本発明は、遠隔操作により水上を無人で航行する無人舟艇と、上記無人舟艇により曳航される標的と、上記無人舟艇を降下揚収する降下揚収装置とを備えた無人曳航標的システムであって、上記無人舟艇は、この無人舟艇に固設されて降下揚収装置により吊り上げられる被牽引具を有し、上記降下揚収装置は、無人舟艇を降下揚収する牽引索と、牽引索の先端に取り付けられ、無人舟艇の被牽引具と着脱自在に接続される牽引具と、牽引具を無人舟艇の被牽引具に案内する案内具とを有し、上記牽引具は、この牽引具に設けられ、電磁石からなる牽引部と、無人舟艇の被牽引具に設けられ、電磁石もしくは強磁性体からなる被牽引部とが、磁力で吸着されることにより被牽引具に着脱自在に接続されることを特徴とする無人曳航標的システムである。   The present invention for solving the above-described problems includes an unmanned boat that unmanned sails on the water by remote control, a target towed by the unmanned boat, and a lowering and lifting device that lowers and lifts the unmanned boat. An unmanned towing target system, wherein the unmanned craft has a towed device fixed to the unmanned craft and lifted by a lowering / lifting device, and the lowering / lifting device includes a tow for lowering and unloading the unmanned craft. A tow tool attached to the tip of the tow rope and detachably connected to the tow tool of the unmanned craft; and a guide tool for guiding the tow tool to the tow tool of the unmanned craft; Is provided on this towing tool, and the towed part made of an electromagnet and the towed part made of an unmanned craft, and the towed part made of an electromagnet or a ferromagnetic material is attracted to the towed tool by a magnetic force. It is characterized by being detachably connected That is an unmanned towed target system.

本発明によれば、電磁石からなる牽引部と、電磁石もしくは強磁性体からなる被牽引部とが、磁力により、降下揚収装置の牽引具が、無人舟艇に固設された被牽引具に着脱自在に接続されるので、確実に無人舟艇を降下揚収することができる。   According to the present invention, the towing unit made of an electromagnet and the towed unit made of an electromagnet or a ferromagnetic material are attached to and detached from the towed device fixed to the unmanned craft by the magnetic force. Since they are connected freely, unmanned boats can be descended and withdrawn reliably.

また、降下揚収装置に設けられた案内具が、降下揚収装置の牽引具を無人舟艇の被牽引具に案内するので、水上の無人舟艇を円滑に揚収することができる。   Moreover, since the guide tool provided in the descent / lifting device guides the traction tool of the descent / lifting device to the towed device of the unmanned craft, the unmanned craft on the water can be smoothly collected.

上記降下揚収装置の案内具は、傘状に形成され、その内面に沿わせるようにして無人舟艇の被牽引具を、傘状の案内具の頂部内側に収納された上記牽引具に対して案内するものであることが好ましい。   The guide device of the descending and lifting device is formed in an umbrella shape, and the towed device of the unmanned boat is placed along the inner surface of the guide device with respect to the tow device stored inside the top of the umbrella-shaped guide device. It is preferable to guide.

この好ましい態様によれば、傘状に形成された案内具が、その内面に沿わせるようにして無人舟艇の被牽引具を、牽引具に対して案内するので、降下揚収装置の牽引具と無人舟艇の被牽引具とを円滑に接続することができる。   According to this preferable aspect, the guide tool formed in an umbrella shape guides the towed tool of the unmanned boat with respect to the tow tool so as to be along the inner surface thereof. It is possible to smoothly connect the towed device of the unmanned craft.

上記降下揚収装置の牽引具は、牽引部の近傍にフックを有し、上記無人舟艇の被牽引具は、上記フックに着脱自在に係合する係合部を有し、牽引具の牽引部と被牽引具の被牽引部とが磁力で吸着される際に、フックと係合部とが係合されるものであることが好ましい。   The traction tool of the lowering and lifting device has a hook in the vicinity of the traction part, and the towed tool of the unmanned craft has an engaging part that is detachably engaged with the hook, and the traction part of the traction tool It is preferable that the hook and the engaging portion are engaged when the towed portion of the towed tool is attracted by the magnetic force.

この好ましい態様によれば、牽引具の牽引部と被牽引具の被牽引部とが磁力で吸着される際に、牽引部の近傍に設けられたフックと無人舟艇の被牽引具に設けられた係合部とが係合されるので、万一電磁石への電流の供給が途切れた場合でも、無人舟艇が、降下揚収装置から離脱することがなく安全である。   According to this preferable aspect, when the towing part of the towing tool and the towed part of the towed tool are attracted by magnetic force, the hook provided in the vicinity of the towing part and the towed tool of the unmanned craft are provided. Since the engaging portion is engaged, even if the supply of current to the electromagnet is interrupted, the unmanned boat is safe without being detached from the descending and lifting device.

上記標的は、外形が概ね正３角柱状に形成された架構を有し、この架構の３つの側面にそれぞれターゲット面を設けたものであることが好ましい。   It is preferable that the target has a frame whose outer shape is formed in a substantially triangular prism shape, and a target surface is provided on each of three side surfaces of the frame.

この好ましい態様によれば、外形が概ね正３角柱状に形成された架構の３つの側面にそれぞれターゲット面を設けたので、標的が着弾や波浪のために転倒しても標的としての外形に変化がなく、そのまま訓練を続行することができるという利点がある。   According to this preferred embodiment, since the target surface is provided on each of the three side surfaces of the frame whose outer shape is generally formed in a regular triangular prism shape, the target shape changes to the target shape even if the target falls due to landing or waves. There is an advantage that the training can be continued as it is.

上記標的は、外形が概ね正３角柱状に形成された上記架構の３つの側線のそれぞれに、標的を水面に浮かべるためのフロートを設けたものであることが好ましい。   It is preferable that the target is provided with a float for floating the target on the water surface on each of the three side lines of the frame whose outer shape is formed in a substantially triangular prism shape.

この好ましい態様によれば、外形が概ね正３角柱状に形成された上記架構の３つの側線のそれぞれに、標的を水面に浮かべるためのフロートを設けたものであるので、標的が着弾や波浪のために転倒しても、浮力を与えるフロートが入れ替わるだけである結果、水上に浮かんだ標的としての姿勢に変化がなく、そのまま訓練を続行することができるという利点がある。   According to this preferable aspect, since the float for floating the target on the water surface is provided on each of the three side lines of the frame having an outer shape formed in a substantially triangular prism shape, Therefore, even if it falls, the float that gives buoyancy is simply replaced. As a result, there is an advantage that the posture as a target floating on the water does not change and the training can be continued as it is.

上記無人舟艇は、その両側部に固形フロート部を有し、この固形フロート部は、無人舟艇が本船もしくは陸上に収容された状態において、本船もしくは陸上の固縛部に固縛されるものであることが好ましい。   The unmanned craft has solid float portions on both sides thereof, and the solid float portions are to be secured to the ship or the land lashing portion when the unmanned craft is accommodated on the ship or the land. It is preferable.

この好ましい態様によれば、無人舟艇が本船もしくは陸上に収容された状態において、無人舟艇の両側部に設けられた固形フロート部が、本船もしくは陸上の固縛部に固縛されるので、空気充填式のフロート部の場合と異なり、気温の変化などでフロートの体積が変化して固縛部に対するフロートの固縛が緩んだりすることがない。   According to this preferred embodiment, in the state where the unmanned craft is housed on the ship or the land, the solid float portions provided on both sides of the unmanned craft are secured to the ship or the land lashing portion, Unlike the case of the float portion of the equation, the float volume does not change due to a change in temperature, etc., so that the float lock on the lock portion does not loosen.

以上説明したように、本発明によれば、確実に無人舟艇を降下揚収することができるという顕著な効果を奏する。   As described above, according to the present invention, there is a remarkable effect that the unmanned craft can be surely lowered and lifted.

以下、添付図面を参照しながら本発明の好ましい実施の一形態について詳述する。図１は本発明の実施の形態に係る無人曳航標的システム１０の構成を示す概念図である。   Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings. FIG. 1 is a conceptual diagram showing a configuration of an unmanned towing target system 10 according to an embodiment of the present invention.

図１に示すように、本発明の実施の形態に係る無人曳航標的システム１０は、無人舟艇１と、無人舟艇１により曳航索１ｊを介して曳航される標的２と、本船５に設けられ、無人舟艇１を降下揚収する降下揚収装置３とを備えている。   As shown in FIG. 1, an unmanned tow target system 10 according to an embodiment of the present invention is provided on an unmanned craft 1, a target 2 towed by an unmanned craft 1 via a towline 1j, and a main ship 5. And a descent / lifting device 3 for descent / lifting the unmanned craft 1.

次に、図２は本発明の実施の形態に係る無人曳航標的システム１０の無人舟艇１の構成を示す外形図であり、（ａ）は、無人舟艇１の側面図、（ｂ）は、無人舟艇１の平面図、（ｃ）は、無人舟艇１の断面図をそれぞれ示している。   Next, FIG. 2 is an outline view showing the configuration of the unmanned craft 1 of the unmanned towing target system 10 according to the embodiment of the present invention, (a) is a side view of the unmanned craft 1 and (b) is an unmanned craft. A plan view of the boat 1, (c) shows a cross-sectional view of the unmanned boat 1.

上記無人舟艇１は、無線による遠隔操作により水面４の上を無人で航行することができるモーターボートなどの小型の船舶であり、図２に示すように、船体１ａの両側に設けた浮体部１ｂにより浮力を得るとともに、詳細は図示しないが、無線で遠隔操作される内燃機関で推進プロペラを回転させて水面４の上を推進する。また、内燃機関と同様に無線で遠隔操作されるラダー１ｃにより推進する方向を変更することができるように構成されている。   The unmanned craft 1 is a small boat such as a motor boat that can sail unmannedly on the water surface 4 by wireless remote control. As shown in FIG. 2, floating boats 1b provided on both sides of the hull 1a are used. While obtaining buoyancy, although not shown in detail, the propeller is rotated on the water surface 4 by rotating the propeller with an internal combustion engine that is remotely operated by radio. Moreover, it is comprised so that the direction propelled by the ladder 1c remotely operated similarly to an internal combustion engine can be changed.

この無人舟艇１の浮体部１ｂは、無人舟艇１の両側部が、発泡ウレタンなどの固形樹脂からなる固形フロート部１ｄで構成され、前方と後方とが、空気充填式フロート部１ｅで構成されている。そして、この固形フロート部１ｄは、無人舟艇１が本船５もしくは陸上に収容された状態において、本船５もしくは陸上の図略の固縛部に固縛されるようになっている。   The floating body portion 1b of the unmanned craft 1 includes both sides of the unmanned craft 1 constituted by a solid float portion 1d made of a solid resin such as urethane foam, and the front and rear portions are constituted by an air-filled float portion 1e. Yes. The solid float portion 1d is secured to the main vessel 5 or an unillustrated lashing portion on the land in a state where the unmanned craft 1 is accommodated on the main vessel 5 or on land.

この無人舟艇１には、また降下揚収装置３により吊り上げられる被牽引具１ｆが架台１ｇとワイヤー１ｈを介して固設されている。   In this unmanned craft 1, a towed tool 1 f that is lifted by the descending and lifting device 3 is fixedly installed via a gantry 1 g and a wire 1 h.

なお、本実施形態においては、無人舟艇１は、有人での運転も選択することができるように操縦席１ｎが設けられている。   In this embodiment, the unmanned boat 1 is provided with a cockpit 1n so that manned driving can be selected.

また、図３は本発明の実施の形態に係る無人曳航標的システム１０の標的２の構成を示す外形図であり、（ａ）は、標的２の側面図、（ｂ）は、標的２の前面図をそれぞれ示している。   3 is an outline view showing the configuration of the target 2 of the unmanned towing target system 10 according to the embodiment of the present invention, where (a) is a side view of the target 2 and (b) is a front view of the target 2. Each figure is shown.

上記標的２は、図３（ａ）、（ｂ）に示すように、コーティングしたアルミ型材を組み合わせることにより外形が概ね正３角柱状に形成された架構２ａを有しており、この架構２ａに取り付けられる曳航金具２ｂに曳航索１ｊ（図１）の一端が締結されて無人舟艇１に曳航される。そして、この架構２ａの３つの側面には、それぞれＦＲＰ板からなるターゲット面２ｃが設けられている。   As shown in FIGS. 3 (a) and 3 (b), the target 2 has a frame 2a whose outer shape is formed in a substantially triangular prism shape by combining coated aluminum molds. One end of the tow rope 1j (FIG. 1) is fastened to the towed metal fitting 2b to be attached and towed by the unmanned craft 1. And the target surface 2c which consists of a FRP board is provided in the three side surfaces of this frame 2a, respectively.

また、この標的２には、標的２を水面に浮かべるために、外形が概ね正３角柱状に形成された上記架構２ａの３つの側線のそれぞれに、発泡ウレタンなどからなるフロート２ｄが設けられている。   Further, in order to float the target 2 on the water surface, the target 2 is provided with a float 2d made of urethane foam or the like on each of the three side lines of the frame 2a whose outer shape is formed in a substantially triangular prism shape. Yes.

さらに、図４は本発明の実施の形態に係る無人曳航標的システム１０の降下揚収装置３の構成を示す説明図である。   Furthermore, FIG. 4 is explanatory drawing which shows the structure of the descent | lifting / lifting apparatus 3 of the unmanned towing target system 10 which concerns on embodiment of this invention.

図４に示すように、上記降下揚収装置３は、無人舟艇１を降下揚収する牽引索３ａと、牽引索３ａの先端に取り付けられ、無人舟艇１の被牽引具１ｆと着脱自在に接続される牽引具３ｂと、牽引具３ｂを無人舟艇１の被牽引具１ｆに案内する案内具３ｃとを有している。   As shown in FIG. 4, the descending and lifting device 3 is attached to the tow rope 3 a for lowering and lifting the unmanned craft 1 and the tip of the towing rope 3 a and is detachably connected to the towed tool 1 f of the unmanned craft 1. And a guide 3c for guiding the traction tool 3b to the towed tool 1f of the unmanned craft 1.

上記牽引索３ａは、ロープもしくは鎖で構成されるものであり、降下揚収装置３に設けられた巻回装置３ｄにより、降下揚収装置３の先端から水上の無人舟艇１に対して繰り出される。   The tow rope 3a is composed of a rope or a chain, and is unwound from the tip of the lowering / lifting device 3 to the unmanned craft 1 on the water by a winding device 3d provided in the lowering / lifting device 3. .

図５は降下揚収装置３の牽引具３ｂと、被牽引具１ｆと、案内具３ｃとの詳細な構成を示す斜視図である。   FIG. 5 is a perspective view showing a detailed configuration of the traction tool 3b, the towed tool 1f, and the guide tool 3c of the descent / lifting device 3.

上記牽引具３ｂは、図５に示すように、電磁石からなる牽引部３ｅと、電磁石もしくは強磁性体からなる被牽引部１ｋとが、磁力で吸着されることにより被牽引具１ｆに着脱自在に接続されるようになっている。   As shown in FIG. 5, the traction tool 3b is detachably attached to the towed tool 1f by attracting the towed part 3e made of an electromagnet and the towed part 1k made of an electromagnet or a ferromagnetic material by a magnetic force. Connected.

この牽引具３ｂは、また牽引部３ｅの近傍に一対のフック３ｆを軸３ｐを中心に回動可能に有しており、無人舟艇１の被牽引具１ｆは、この回動可能なフック３ｆに着脱自在に係合する一対の棒状の係合部１ｍを有している。そして、牽引具３ｂの牽引部３ｅと被牽引具１ｆの被牽引部１ｋとが磁力で吸着される際に、フック３ｆが外側に回動して係合部１ｍを受け入れることによりフック３ｆと係合部１ｍとが係合可能になっている。   The traction tool 3b has a pair of hooks 3f that are rotatable around a shaft 3p in the vicinity of the traction part 3e. The towed tool 1f of the unmanned craft 1 is connected to the rotatable hook 3f. It has a pair of rod-shaped engaging portions 1m that are detachably engaged. When the traction part 3e of the traction tool 3b and the to-be-towed part 1k of the towed tool 1f are attracted by a magnetic force, the hook 3f rotates outwardly and receives the engaging part 1m, thereby engaging with the hook 3f. The mating portion 1m can be engaged.

上記案内具３ｃは、コーティングした鋼板を傘状に形成して牽引索３ａに取り付け、その頂部内側に牽引具３ｂを収納するようにしたものであり、その内面に沿わせるようにして、無人舟艇１の被牽引具１ｆを牽引具３ｂに対して案内するように構成されている。   The guide tool 3c is a coated steel plate formed in an umbrella shape and attached to the tow rope 3a, and the tow tool 3b is housed inside the top of the guide tool 3c. One towed tool 1f is configured to be guided with respect to the towing tool 3b.

次に図６を参照して、本発明の実施の形態に係る無人曳航標的システム１０の作用について説明する。   Next, with reference to FIG. 6, the operation of the unmanned towing target system 10 according to the embodiment of the present invention will be described.

図６は無人舟艇１を降下揚収装置３により本船５に揚収する手順を示す説明図である。   FIG. 6 is an explanatory view showing a procedure for unloading the unmanned craft 1 to the main ship 5 by the descending and lifting device 3.

（ａ）は、降下揚収装置３の先端から水上の無人舟艇１に対して牽引索３ａが繰り出されつつある状態を示しており、この時、無人舟艇１の被牽引具１ｆが、案内具３ｃの内面に沿うようにして牽引具３ｂに対して案内される。   (A) has shown the state in which the tow rope 3a is being drawn | fed out from the front-end | tip of the descent | lifting / lifting apparatus 3 with respect to the unmanned craft 1 on the water, At this time, the towed tool 1f of the unmanned craft 1 is a guide tool. It is guided with respect to the traction tool 3b along the inner surface of 3c.

（ｂ）は、牽引具３ｂの牽引部３ｅと被牽引具１ｆの被牽引部１ｋとが磁力で吸着され、フック３ｆと係合部１ｍとが係合された後、降下揚収装置３の巻回装置３ｄにより、牽引索３ａが巻回されて無人舟艇１が水上から引き揚げられた状態を示している。   (B) shows that the traction part 3e of the traction tool 3b and the towed part 1k of the towed tool 1f are attracted by magnetic force, and the hook 3f and the engaging part 1m are engaged, The tow rope 3a is wound by the winding device 3d and the unmanned craft 1 is pulled up from the water.

（ｃ）は、降下揚収装置３が軸３ｇを中心に傾倒して、無人舟艇１を本船５に揚収した状態をそれぞれ示している。この時、詳しくは図示しないが、固形フロート部１ｄが、固縛部３ｈに固縛されるようになっている。   (C) shows a state in which the descending and lifting device 3 is tilted about the shaft 3g and the unmanned craft 1 is collected on the vessel 5. At this time, although not shown in detail, the solid float part 1d is secured to the securing part 3h.

以上説明したように、本発明の実施の形態に係る無人曳航標的システム１０によれば、電磁石からなる牽引部３ｅと、電磁石もしくは強磁性体からなる被牽引部１ｋとが、磁力により吸着されることで降下揚収装置３の牽引具３ｂが、無人舟艇１に固設された被牽引具１ｆに着脱自在に接続されるので、確実に無人舟艇１を降下揚収することができる。   As described above, according to the unmanned towing target system 10 according to the embodiment of the present invention, the towed portion 3e made of an electromagnet and the towed portion 1k made of an electromagnet or a ferromagnetic material are adsorbed by a magnetic force. Thus, since the towing tool 3b of the descending and lifting device 3 is detachably connected to the towed tool 1f fixed to the unmanned craft 1, the unmanned craft 1 can be surely lowered and collected.

また、降下揚収装置３に設けられた案内具３ｃが、降下揚収装置３の牽引具３ｂを無人舟艇１の被牽引具１ｆに案内するので、水面４の上の無人舟艇１を円滑に揚収することができる。   Moreover, since the guide tool 3c provided in the descending and lifting apparatus 3 guides the towing tool 3b of the descending and lifting apparatus 3 to the towed tool 1f of the unmanned boat 1, the unmanned boat 1 on the water surface 4 can be smoothly moved. Can be confiscated.

次に、傘状に形成された案内具３ｃが、その内面に沿わせるようにして無人舟艇１の被牽引具１ｆを、牽引具３ｂに対して案内するので、降下揚収装置３の牽引具３ｂと無人舟艇１の被牽引具１ｆとを円滑に接続することができる。   Next, since the guide tool 3c formed in an umbrella shape guides the towed tool 1f of the unmanned craft 1 to the towing tool 3b so as to be along the inner surface thereof, the towing tool of the lowering and lifting device 3 is provided. 3b and the towed tool 1f of the unmanned craft 1 can be smoothly connected.

さらに、牽引具３ｂの牽引部３ｅと被牽引具１ｆの被牽引部１ｋとが磁力で吸着される際に、牽引部３ｅの近傍に設けられたフック３ｆと無人舟艇１の被牽引具１ｆに設けられた係合部１ｍとが係合されるので、万一電磁石への電流の供給が途切れた場合でも、無人舟艇１が、降下揚収装置３から離脱することがなく安全である。   Furthermore, when the towed part 3e of the towed tool 3b and the towed part 1k of the towed tool 1f are attracted by magnetic force, the hook 3f provided in the vicinity of the towed part 3e and the towed tool 1f of the unmanned craft 1 are attached. Since the provided engaging portion 1m is engaged, the unmanned craft 1 is safe without being detached from the descending and lifting device 3 even if the supply of current to the electromagnet is interrupted.

そして、外形が概ね正３角柱状に形成された架構２ａの３つの側面にそれぞれターゲット面２ｃを設けたので、標的２が着弾や波浪のために転倒しても標的２としての外形に変化がなく、そのまま訓練を続行することができるという利点がある。   Since the target surface 2c is provided on each of the three side surfaces of the frame 2a whose outer shape is formed in a substantially triangular prism shape, the outer shape as the target 2 is changed even if the target 2 falls due to landing or wave. There is an advantage that training can be continued as it is.

また、外形が概ね正３角柱状に形成された上記架構２ａの３つの側線のそれぞれに、標的２を水面に浮かべるためのフロート２ｄを設けたものであるので、標的２が着弾や波浪のために転倒しても、浮力を与えるフロート２ｄが入れ替わるだけである結果、水面４の上に浮かんだ標的２としての姿勢に変化がなく、そのまま訓練を続行することができるという利点がある。   Further, since the float 2d for floating the target 2 on the water surface is provided on each of the three side lines of the frame 2a whose outer shape is formed in a substantially triangular prism shape, the target 2 is caused by landing and waves. As a result of the fact that the float 2d that gives buoyancy is simply replaced even if it falls down, there is an advantage that the posture as the target 2 floating on the water surface 4 does not change and the training can be continued as it is.

また、無人舟艇１が本船もしくは陸上に収容された状態において、無人舟艇１の両側部に設けられた固形フロート部１ｄが、本船もしくは陸上の固縛部に固縛されるので、空気充填式のフロート２ｄ部の場合と異なり、気温の変化などでフロート２ｄの体積が変化したり、フロート２ｄの固縛部に対する固縛が緩んだりすることがない。   In addition, in the state where the unmanned craft 1 is housed on the ship or the land, the solid float portions 1d provided on both sides of the unmanned craft 1 are secured to the ship or the land lashing portion. Unlike the case of the float 2d portion, the volume of the float 2d does not change due to a change in temperature or the like, and the binding of the float 2d to the binding portion does not loosen.

上述した実施の形態は本発明の好ましい具体例を例示したものに過ぎず、本発明は上述した実施の形態に限定されない。   The above-described embodiment is merely a preferred specific example of the present invention, and the present invention is not limited to the above-described embodiment.

例えば、無人舟艇１は、本実施形態においては、有人での運転も選択することができるように操縦席１ｎが設けられているが、操縦席１ｎはあっても無くてもよい。   For example, in the present embodiment, the unmanned boat 1 is provided with the cockpit 1n so that the operation with manned can also be selected, but the cockpit 1n may or may not be provided.

また、無人舟艇１は、必ずしも図示のような形状のモーターボートに限定されない。無線による遠隔操作により無人で航行することができるものであれば、水中を航行するものであってもよいなど、種々の設計変更が可能である。   The unmanned craft 1 is not necessarily limited to a motor boat having a shape as illustrated. Various design changes are possible as long as the vehicle can be navigated unattended by wireless remote control, such as traveling underwater.

また、標的２の架構２ａ、ターゲット面２ｃ、フロート２ｄの材質も、例えば架構２ａの材質がコーティングしたアルミ型材の代わりに耐蝕性があり、軽量で剛性のある材料であればどのような材料でも採用可能であるなど、それぞれ必ずしも上述のものに限定されず、種々の設計変更が可能である。   Further, the material of the frame 2a, the target surface 2c, and the float 2d of the target 2 may be any material as long as the material is corrosion-resistant instead of an aluminum mold coated with the material of the frame 2a, and is lightweight and rigid. The design is not necessarily limited to the above-described ones, and various design changes can be made.

その他、本発明の特許請求の範囲内で種々の設計変更が可能であることはいうまでもない。   In addition, it goes without saying that various design changes are possible within the scope of the claims of the present invention.

本発明の実施の形態に係る無人曳航標的システムの構成を示す概念図である。It is a conceptual diagram which shows the structure of the unmanned towing target system which concerns on embodiment of this invention. 本発明の実施の形態に係る無人曳航標的システムの標的の構成を示す外形図であり、（ａ）は、標的の側面図を、（ｂ）は、標的の前面図を、それぞれ示している。It is the external view which shows the structure of the target of the unmanned towing target system which concerns on embodiment of this invention, (a) has shown the side view of the target, (b) has shown the front view of the target, respectively. 本発明の実施の形態に係る無人曳航標的システムの無人舟艇の構成を示す外形図であり、（ａ）は、無人舟艇の側面図、（ｂ）は、無人舟艇の平面図、（ｃ）は、無人舟艇の背面図をそれぞれ示している。BRIEF DESCRIPTION OF THE DRAWINGS It is an external view which shows the structure of the unmanned boat of the unmanned tow target system which concerns on embodiment of this invention, (a) is a side view of an unmanned boat, (b) is a top view of an unmanned boat, (c) is Each shows a rear view of an unmanned craft. 本発明の実施の形態に係る無人曳航標的システムの降下揚収装置の構成を示す説明図である。It is explanatory drawing which shows the structure of the descent | lifting / lifting apparatus of the unmanned towing target system which concerns on embodiment of this invention. 降下揚収装置の牽引具と、被牽引具と、案内具との詳細な構成を示す斜視図である。It is a perspective view which shows the detailed structure of the traction tool, towed tool, and guide tool of a descent | lifting / lifting apparatus. 無人舟艇を降下揚収装置により本船に揚収する手順を示す説明図であり、（ａ）は、降下揚収装置の先端から水上の無人舟艇に対して牽引索が繰り出されつつある状態、（ｂ）は、牽引索が巻回されて無人舟艇が水上から引き揚げられた状態、（ｃ）は、降下揚収装置が軸を中心に傾倒して、無人舟艇を本船に揚収した状態をそれぞれ示している。It is explanatory drawing which shows the procedure which unloads unmanned boats to a ship by a descending / lifting apparatus, (a) is the state in which the towing line is being extended with respect to the unmanned boats on the water from the front-end | tip of a descending / lifting apparatus, (b) is a state where the tow rope is wound and the unmanned craft is lifted from the surface of the water. (c) is a state where the lowering and lifting device tilts around the axis and the unmanned craft is unloaded on the ship. Show.

符号の説明Explanation of symbols

１ 無人舟艇
１ｄ 固形フロート部
１ｆ 被牽引具
１ｋ 被牽引部
１ｍ 係合部
２ 標的
２ａ 架構
２ｃ ターゲット面
２ｄ フロート
３ 降下揚収装置
３ａ 牽引索
３ｂ 牽引具
３ｃ 案内具
３ｅ 牽引部
３ｆ フック
３ｈ 固縛部
５ 本船
１０ 無人曳航標的システム DESCRIPTION OF SYMBOLS 1 Unmanned craft 1d Solid float part 1f Towed tool 1k Towed part 1m Engagement part 2 Target 2a Frame 2c Target surface 2d Float 3 Lowering and lifting device 3a Towing line 3b Towing tool 3c Guide tool 3e Towing part 3f Hook 3h Tightening Part 5 Vessel 10 Unmanned towing target system

Claims (6)

遠隔操作により水上を無人で航行する無人舟艇と、
上記無人舟艇により曳航される標的と、
上記無人舟艇を降下揚収する降下揚収装置とを備えた無人曳航標的システムであって、
上記無人舟艇は、この無人舟艇に固設されて降下揚収装置により吊り上げられる被牽引具を有し、
上記降下揚収装置は、無人舟艇を降下揚収する牽引索と、牽引索の先端に取り付けられ、無人舟艇の被牽引具と着脱自在に接続される牽引具と、牽引具を無人舟艇の被牽引具に案内する案内具とを有し、
上記牽引具は、この牽引具に設けられ、電磁石からなる牽引部と、無人舟艇の被牽引具に設けられ、電磁石もしくは強磁性体からなる被牽引部とが、磁力で吸着されることにより被牽引具に着脱自在に接続されることを特徴とする無人曳航標的システム。 An unmanned boat that sails unmanned over the water by remote control;
A target towed by the unmanned craft,
An unmanned towing target system comprising a lowering and lifting device for lowering and lifting the unmanned craft,
The unmanned craft has a towed device that is fixed to the unmanned craft and is lifted by a descending and lifting device.
The above-mentioned descending and lifting device includes a towing line for descending and collecting an unmanned craft, a towing tool attached to the tip of the towing line and detachably connected to the towed equipment of the unmanned craft, A guide for guiding the traction tool,
The traction tool is provided on the traction tool, and the traction portion made of an electromagnet and the towed portion made of an electromagnet or a ferromagnetic material are attached to a towed device of an unmanned craft and are covered by a magnetic force. An unmanned towing target system characterized by being detachably connected to a traction tool. 上記降下揚収装置の案内具は、傘状に形成され、その内面に沿わせるようにして無人舟艇の被牽引具を、傘状の案内具の頂部内側に収納された上記牽引具に対して案内するものであることを特徴とする請求項１に記載の無人曳航標的システム。 The guide device of the descending and lifting device is formed in an umbrella shape, and the towed device of the unmanned boat is placed along the inner surface of the guide device with respect to the tow device stored inside the top of the umbrella-shaped guide device. The unmanned towing target system according to claim 1, wherein the unmanned towing target system is a guide. 上記降下揚収装置の牽引具は、牽引部の近傍にフックを有し、
上記無人舟艇の被牽引具は、上記フックに着脱自在に係合する係合部を有し、
牽引具の牽引部と被牽引具の被牽引部とが磁力で吸着される際に、フックと係合部とが係合されるものであることを特徴とする請求項１または請求項２のいずれかに記載の無人曳航標的システム。 The traction tool of the lowering and lifting device has a hook in the vicinity of the traction part,
The towed tool of the unmanned craft has an engaging portion that is detachably engaged with the hook,
The hook and the engaging portion are engaged when the traction portion of the traction tool and the towed portion of the towed device are attracted by a magnetic force. An unmanned towing target system according to any one of the above. 上記標的は、外形が概ね正３角柱状に形成された架構を有し、この架構の３つの側面にそれぞれターゲット面を設けたことを特徴とする請求項１ないし請求項３のいずれかに記載の無人曳航標的システム。 4. The target according to any one of claims 1 to 3, wherein the target has a frame whose outer shape is generally formed in a regular triangular prism shape, and a target surface is provided on each of three side surfaces of the frame. Unmanned towing target system. 上記標的は、外形が概ね正３角柱状に形成された上記架構の３つの側線のそれぞれに、標的を水面に浮かべるためのフロートを設けたことを特徴とする請求項４に記載の無人曳航標的システム。 5. The unmanned towing target according to claim 4, wherein the target is provided with a float for floating the target on the water surface on each of the three side lines of the frame whose outer shape is formed in a substantially triangular prism shape. system. 上記無人舟艇は、その両側部に固形フロート部を有し、
この固形フロート部は、無人舟艇が本船もしくは陸上に収容された状態において、本船もしくは陸上の固縛部に固縛されるものであることを特徴とする請求項１ないし請求項５のいずれかに記載の無人曳航標的システム。 The unmanned craft has solid floats on both sides,
6. The solid float portion is secured to a main ship or a land lashing portion in a state where an unmanned craft is accommodated on the main ship or the land. The unmanned towing target system described.
JP2003304156A 2003-08-28 2003-08-28 Unmanned tow target system Pending JP2005069660A (en)

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KR101674877B1 (en) 2015-07-06 2016-11-14 한국해양과학기술원 Unmanned Boat Having Connecting Apparatus and Method Retrieving the Same
KR101739089B1 (en) 2016-03-29 2017-05-24 한국해양과학기술원 A Device for Coupling between a Crane Cable and an Unmanned Surface Vehicle for the Launch and Recovery of an Unmanned Surface Vehicle from a Host Ship
KR101759195B1 (en) 2016-03-29 2017-07-19 한국해양과학기술원 Coupling device for the recovery of unnanned surface vehicle and its usage
KR101759909B1 (en) 2016-03-23 2017-07-31 주식회사 테크플라워 Level wind of umbrical winch for remotely operated vehicle launch and recovery system
WO2017171273A1 (en) * 2016-03-29 2017-10-05 한국해양과학기술원 Coupling device for recovering unmanned ship and coupling control method using same
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KR102342960B1 (en) * 2020-10-12 2021-12-23 호원대학교산학협력단 A coupling device between a mother ship and an unmanned water boat
KR20220048386A (en) * 2020-10-12 2022-04-19 호원대학교산학협력단 A coupling device between a mother ship and an unmanned water boat
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KR101789775B1 (en) 2011-06-10 2017-10-26 대우조선해양 주식회사 Apparatus for operating ROV in submarines
CN107735314A (en) * 2015-07-06 2018-02-23 韩国海洋科学技术院 Unmanned boat and its recovery method equipped with attachment means
WO2017007158A1 (en) * 2015-07-06 2017-01-12 한국해양과학기술원 Unmanned vessel having coupling apparatus and recovery method therefor
JP2019511973A (en) * 2015-07-06 2019-05-09 コリア インスティチュート オブ オーシャン サイエンス アンド テクノロジー Unmanned ship equipped with coupling device and recovery method thereof
US10252779B2 (en) 2015-07-06 2019-04-09 Korea Institute Of Ocean Science & Technology Unmanned vessel having coupling apparatus and recovery method therefor
KR101674877B1 (en) 2015-07-06 2016-11-14 한국해양과학기술원 Unmanned Boat Having Connecting Apparatus and Method Retrieving the Same
KR101759909B1 (en) 2016-03-23 2017-07-31 주식회사 테크플라워 Level wind of umbrical winch for remotely operated vehicle launch and recovery system
CN107848613A (en) * 2016-03-29 2018-03-27 韩国海洋科学技术院 Unmanned boat recovery attachment means and use its connection control method
WO2017171273A1 (en) * 2016-03-29 2017-10-05 한국해양과학기술원 Coupling device for recovering unmanned ship and coupling control method using same
KR101759195B1 (en) 2016-03-29 2017-07-19 한국해양과학기술원 Coupling device for the recovery of unnanned surface vehicle and its usage
KR101739089B1 (en) 2016-03-29 2017-05-24 한국해양과학기술원 A Device for Coupling between a Crane Cable and an Unmanned Surface Vehicle for the Launch and Recovery of an Unmanned Surface Vehicle from a Host Ship
CN107848613B (en) * 2016-03-29 2020-01-17 韩国海洋科学技术院 Connecting device for recovering unmanned ship and connection control method using same
US10556644B2 (en) 2016-03-29 2020-02-11 Korea Institute Of Ocean Science & Technology Coupling device for recovering unmanned ship and coupling control method using same
CN109484573A (en) * 2018-10-29 2019-03-19 广州文冲船厂有限责任公司 A kind of mooring gear
KR102342959B1 (en) * 2020-10-12 2021-12-23 호원대학교산학협력단 A coupling device between a mother ship and an unmanned water boat
KR102342960B1 (en) * 2020-10-12 2021-12-23 호원대학교산학협력단 A coupling device between a mother ship and an unmanned water boat
KR20220048386A (en) * 2020-10-12 2022-04-19 호원대학교산학협력단 A coupling device between a mother ship and an unmanned water boat
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CN114954793A (en) * 2022-04-19 2022-08-30 江苏科技大学 System and method for high sea state deployment and recovery of unmanned ship

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