JP5438906B2 - Launch recovery system for underwater vehicle and ship equipped with this launch recovery system - Google Patents

Launch recovery system for underwater vehicle and ship equipped with this launch recovery system Download PDF

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JP5438906B2
JP5438906B2 JP2008051046A JP2008051046A JP5438906B2 JP 5438906 B2 JP5438906 B2 JP 5438906B2 JP 2008051046 A JP2008051046 A JP 2008051046A JP 2008051046 A JP2008051046 A JP 2008051046A JP 5438906 B2 JP5438906 B2 JP 5438906B2
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underwater vehicle
recovery
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recovery system
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JP2009208511A (en
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陽一郎 浅野
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Mitsubishi Heavy Industries Ltd
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Description

本発明は、水中航走体の発射回収システムおよびこの発射回収システムを備える船舶に関するものである。   The present invention relates to a launch recovery system for an underwater vehicle and a ship equipped with the launch recovery system.

従来、水中航走体を水中へ投入したり水中から回収したりする装置として、母船に備えられたクレーンにより水中航走体を投入・揚収する水中航走体の投入・揚収装置が知られている（例えば、特許文献１参照）。
特許文献１によれば、母船の船首部、舷側部あるいは船尾部にクレーンを配置し、外方へ張り出させたクレーンのアームから繰り出されるロープの先端部と水中航走体の金具とを接続することにより、水中航走体を吊り上げるようになっている。
特開２００７−１５６５号公報 Conventionally, an underwater vehicle loading / unloading device that loads and unloads an underwater vehicle using a crane provided in the mother ship is known as a device for throwing an underwater vehicle into the water and collecting it from the water. (For example, refer to Patent Document 1).
According to Patent Document 1, a crane is arranged at the bow, berth or stern of the mother ship, and the tip of the rope fed out from the crane arm that protrudes outward is connected to the metal fittings of the underwater vehicle. By doing so, the underwater vehicle is lifted.
Japanese Patent Laid-Open No. 2007-1565

しかしながら、特許文献１の装置では、クレーンのロープと水中航走体との接続作業が海上で行われるため、波浪の影響を受け易い。そのため、海面が荒れると作業が非常に困難となったり、水中航走体を回収できなかったりするという不都合がある。また、水中航走体と母船との衝突を防ぐために、母船からできるだけ離れた位置で水中航走体を吊り上げる必要があるが、アームを長く大型にするには、クレーン自体を大型にすることになる。そのため、大型クレーンを搭載できるだけの数１００トン以上の大きな船舶が要求されるという不都合がある。   However, in the apparatus of Patent Document 1, since the connection work between the rope of the crane and the underwater vehicle is performed at sea, it is easily affected by waves. Therefore, when the sea surface is rough, there are inconveniences that work becomes very difficult and the underwater vehicle cannot be collected. In order to prevent collision between the underwater vehicle and the mother ship, it is necessary to lift the underwater vehicle at a position as far as possible from the mother ship. To make the arm longer and larger, the crane itself must be made larger. Become. Therefore, there is an inconvenience that a large ship of several hundred tons or more capable of mounting a large crane is required.

本発明は、このような事情に鑑みてなされたものであって、小型船舶で安全に水中航走体の発射回収を行うことができる水中航走体の発射回収システムおよびこの発射回収システムを備える船舶を提供することを目的とする。   The present invention has been made in view of such circumstances, and includes an underwater vehicle launch and recovery system that can safely perform launch and recovery of an underwater vehicle in a small vessel, and the launch and recovery system. The purpose is to provide a ship.

上記課題を解決するために、本発明は以下の手段を採用する。
本発明は、水中を航走可能な水中航走体と、複数のパイプが互いに間隔をあけて組み合わされて形成され、前記水中航走体に対して長手方向の一端が開放され他端が閉塞された略筒形状を有し、前記水中航走体を水中で発射または収容する発射回収装置と、該発射回収装置に配置され、前記水中航走体を誘導する誘導信号としての音を発する複数の誘導装置とを備え、前記水中航走体には、前記誘導装置から発せられた音を受信する受信装置と、該受信装置からの信号に基づいて前記発射回収装置の位置および姿勢を計測する位置姿勢計測部と、該位置姿勢計測部により計測された前記発射回収装置の姿勢に合わせて前記水中航走体の姿勢を制御する姿勢制御部とが設けられており、少なくとも３以上の前記誘導装置が、前記発射回収装置の開放された前記一端の開口の周囲に間隔をあけて配置され、他のいずれかの前記誘導装置が、前記発射回収装置の閉塞された前記他端の略中央に配置され、前記発射回収装置が、船舶により曳航されながら前記水中航走体を回収する水中航走体の発射回収システムを提供する。 In order to solve the above problems, the present invention employs the following means.
The present invention is formed by combining an underwater vehicle capable of traveling underwater and a plurality of pipes spaced apart from each other , with one end in the longitudinal direction open to the underwater vehicle and the other end closed. A launch and recovery device that launches or accommodates the underwater vehicle in water, and a plurality of sounds that are arranged in the launch and recovery device and that emit sound as a guidance signal for guiding the underwater vehicle. The underwater vehicle has a receiving device that receives sound emitted from the guiding device, and measures the position and orientation of the launch collection device based on a signal from the receiving device. A position / orientation measurement unit, and an attitude control unit that controls the attitude of the underwater vehicle according to the attitude of the launch and recovery device measured by the position / orientation measurement unit; A device for the launch and recovery device; Are spaced around the opening of the one end is released, any other of the induction device is disposed substantially at the center of the occluded the other end of the firing recovery device, the firing recovery device An underwater vehicle launch recovery system for recovering the underwater vehicle while being towed by a ship is provided.

本発明によれば、位置姿勢計測部により、発射回収装置と水中航走体との相対的な位置関係および姿勢が把握され、姿勢制御部により、水中航走体の姿勢が発射回収装置の姿勢に合うように制御されるので、水中で発射回収装置に水中航走体を収容させることできる。また、水中で水中航走体を発射させることができる。   According to the present invention, the position and orientation measurement unit grasps the relative positional relationship and posture between the launch collection device and the underwater vehicle, and the posture control unit determines the posture of the launch collection device. Therefore, the underwater vehicle can be accommodated in the launch / recovery device underwater. Moreover, an underwater vehicle can be launched underwater.

したがって、波浪等の影響を受け易い海上での作業に比べて、安全に水中航走体の発射・回収を行うことができる。また、大型のクレーン等が不要であり、本システムを小型の船舶に取り付けることができる。   Therefore, it is possible to safely launch and collect the underwater vehicle as compared to the work at sea which is easily affected by waves and the like. Moreover, a large crane etc. are unnecessary and this system can be attached to a small ship.

また、本発明は、本発明に係る水中航走体の発射回収システムと、前記発射回収装置を曳航する曳航部とを備える船舶を提供する。   Moreover, this invention provides the ship provided with the launch collection system of the underwater vehicle which concerns on this invention, and the towing part which tows the said launch collection apparatus.

本発明によれば、水中での発射回収装置の姿勢が安定し易く、水中航走体を収容し易くすることができる。また、船舶により、水中航走体を航走させる領域まで発射回収装置に水中航走体を収容した状態で搬送したり、その領域から水中航走体を発射回収装置に収容した状態で引き揚げたりすることができる。
また、本発明は、上記の水中航走体の発射回収システムと、前記発射回収装置を曳航する曳航部を有する船舶本体部と、該船舶本体部に固定され、前記発射回収装置を格納可能なポッドとを備え、前記曳航部が、前記船舶本体部と前記発射回収装置とを接続するケーブルと、該ケーブルにより前記ポッドと水中との間で前記発射回収装置を上げ下ろしするウィンチとを備える船舶を提供する。 ADVANTAGE OF THE INVENTION According to this invention, the attitude | position of the launch collection | recovery apparatus in water can be stabilized easily, and it can make it easy to accommodate an underwater vehicle. Also, depending on the ship, the underwater vehicle can be transported to the area where the underwater vehicle is sailed, and the underwater vehicle can be lifted from that area while the underwater vehicle is housed in the launch collection device. can do.
Further, the present invention includes a firing recovery system of the above underwater vehicle, a ship body having a towing unit towing the launching and recovery device, is fixed to the ship body portion, stores available-the firing recovery device a a port head, said towing unit, and a cable for connecting the ship body portion and the firing recovery device, and a winch for raising and lowering the launch recovery device between the pod and the water by the cable Provide a ship equipped.

本発明によれば、小型船舶で安全に水中航走体の発射回収を行うことができるという効果を奏する。   According to the present invention, there is an effect that it is possible to safely perform launch recovery of an underwater vehicle in a small ship.

［第１の実施形態］
以下、本発明の第１の実施形態に係る水中航走体の発射回収システムおよびこの発射回収システムを備える船舶について、図面を参照して説明する。
本実施形態に係る船舶１は、図１および図２に示すように、発射回収カゴ（発射回収装置）３と、水中を航走可能な水中航走体５とからなる水中航走体の発射回収システム１０と、発射回収カゴ３を曳航する曳航部７とを備えている。 [First Embodiment]
Hereinafter, an underwater vehicle launch recovery system and a ship including the launch recovery system according to a first embodiment of the present invention will be described with reference to the drawings.
As shown in FIG. 1 and FIG. 2, the ship 1 according to the present embodiment launches an underwater vehicle that includes a launch / recovery basket (launch / recovery device) 3 and an underwater vehicle 5 that can travel underwater. A recovery system 10 and a towing unit 7 for towing the launch / recovery basket 3 are provided.

発射回収カゴ３は、水中航走体５を水中で発射または収容するものである。発射回収カゴ３は、図３（ａ），（ｂ），（ｃ），（ｄ）に示すように、パイプ等が組み合わされて円筒状に構成されており、周囲の水がどの方向からも発射回収カゴ３に出入り可能となっている。具体的には、発射回収カゴ３は、軸方向の両端に配置されたリング状パイプ４と、両端のリング状パイプ４を繋ぐように周方向に間隔をあけて配置された複数の棒状パイプ６とを備えている。   The launch / recovery basket 3 launches or houses the underwater vehicle 5 underwater. As shown in FIGS. 3 (a), (b), (c), and (d), the launch / recovery basket 3 is configured in a cylindrical shape by combining pipes and the like, and the surrounding water can be seen from any direction. It is possible to enter and exit the launch collection basket 3. Specifically, the launch and recovery basket 3 includes a ring-shaped pipe 4 disposed at both ends in the axial direction and a plurality of rod-shaped pipes 6 disposed at intervals in the circumferential direction so as to connect the ring-shaped pipes 4 at both ends. And.

この発射回収カゴ３の軸方向の一端は、図３（ｂ）に示すように、水中航走体５の出入りが可能なように水中航走体５に対して開放されている（以下、水中航走体５に対して開放された発射回収カゴ３の一端を「開口端部」という。）。また、発射回収カゴ３の軸方向の他端は、図３（ｃ）に示すように、径方向に伸びる十字状の支持部材８によってリング状パイプ４に支持された小径リング状パイプ１２により、水中航走体５に対して閉塞されている（以下、水中航走体５に対して閉塞された発射回収カゴ３の他端を「閉塞端部」という。）。   As shown in FIG. 3B, one end in the axial direction of the launch / recovery basket 3 is open to the underwater vehicle 5 so that the underwater vehicle 5 can enter and exit (hereinafter referred to as water). One end of the launch / recovery basket 3 that is open to the middle traveling body 5 is referred to as an “open end”. Further, the other end in the axial direction of the launch / recovery basket 3 is, as shown in FIG. 3C, by a small-diameter ring-shaped pipe 12 supported by the ring-shaped pipe 4 by a cross-shaped support member 8 extending in the radial direction. The underwater vehicle 5 is closed (hereinafter, the other end of the launch / recovery basket 3 closed with respect to the underwater vehicle 5 is referred to as a “closed end”).

また、発射回収カゴ３は、図４（ａ），（ｂ）に示すように、発音体である４つのピンガ（誘導装置）Ｐ１、Ｐ２，Ｐ３，Ｐ４を備えている。これらピンガＰ１、Ｐ２，Ｐ３，Ｐ４は、１つが閉塞端部の支持部材８の略中央に配置され（以下、このピンガを「ピンガＰ１」という。）、残りの３つが発射回収カゴ３の開口端部のリング状パイプ４に周方向に沿って等間隔に配置されている（以下、これらを「ピンガＰ２，Ｐ３，Ｐ４」という。）。   Further, as shown in FIGS. 4A and 4B, the launch / recovery basket 3 includes four pinga (guidance devices) P1, P2, P3, and P4 that are sounding bodies. One of these pingers P1, P2, P3, P4 is disposed at the approximate center of the support member 8 at the closed end (hereinafter, this pinger is referred to as “pinger P1”), and the remaining three are the openings of the firing and recovery basket 3. The ring-shaped pipes 4 at the ends are arranged at equal intervals along the circumferential direction (hereinafter referred to as “pingers P2, P3, P4”).

発射回収カゴ３の内部には、図５に示すように、収容した水中航走体５を支持する水中航走体ガイド１１が各棒状パイプ６の内側に沿って設けられている。水中航走体ガイド１１は、開口付近が長手方向内方に向かってテーパ状に形成されている。また、この開口付近には、棒状パイプ６から半径方向内方に向かって延びる一対の固定切り離し装置１５が設けられている。   As shown in FIG. 5, an underwater vehicle guide 11 that supports the accommodated underwater vehicle 5 is provided along the inside of each rod-like pipe 6 inside the launch collection basket 3. The underwater vehicle guide 11 is formed such that the vicinity of the opening is tapered inward in the longitudinal direction. Further, a pair of fixed separating devices 15 extending from the rod-shaped pipe 6 toward the radially inward direction are provided in the vicinity of the opening.

固定切り離し装置１５は、回転支点１７を有するヒンジ構造によって棒状パイプ６に取付けられている。この固定切り離し装置１５は、水中航走体５の収容時には、回転支点１７を軸として互いに半径方向内方に回動し、一方、水中航走体５の切り離し時には、回転支点１７を軸として互いに開口方向に回動するようになっている。なお、発射回収カゴ３には、曳航時の動揺安定性を高めるためのフェアリング（図示略）が設けられている。   The fixed separation device 15 is attached to the rod-shaped pipe 6 by a hinge structure having a rotation fulcrum 17. When the underwater vehicle 5 is housed, the fixed separation device 15 rotates radially inward with respect to the rotation fulcrum 17. On the other hand, when the underwater vehicle 5 is disconnected, the fixed separation device 15 rotates around the rotation fulcrum 17. It is designed to rotate in the opening direction. The launch / recovery basket 3 is provided with a fairing (not shown) for improving the stability of the shake during towing.

水中航走体５は、図６（ａ），（ｂ）に示すように、例えば、略円柱形状の自律航行型の無人潜航艇である。水中航走体５の進行方向後方には、舵１９と推進器２１とが設けられている。また、水中航走体５は、発射回収カゴ３のピンガＰ１、Ｐ２，Ｐ３，Ｐ４から発せられるピンガ音を受信する４つのハイドロフォン（受信装置）２３と、水中航走体５の航走を制御する制御装置（図示略）とを備えている。   As shown in FIGS. 6A and 6B, the underwater vehicle 5 is, for example, a substantially columnar autonomous navigation type unmanned submarine. A rudder 19 and a propulsion device 21 are provided behind the underwater vehicle 5 in the traveling direction. The underwater vehicle 5 also has four hydrophones (receivers) 23 that receive the pinger sounds emitted from the pingers P1, P2, P3, and P4 of the launch / recovery basket 3, and the underwater vehicle 5 And a control device (not shown) for controlling.

ハイドロフォン２３は、水中航走体５の進行方向の先端部に設けられており、内壁の周方向に沿って等間隔に配置されている。
制御装置には、ハイドロフォン２３によって受信されたピンガ音に基づいて各ピンガＰ１、Ｐ２，Ｐ３，Ｐ４の位置を測位し、ピンガＰ１、Ｐ２，Ｐ３，Ｐ４の位置関係から発射回収カゴ３の位置および姿勢を計測する位置姿勢計測部（図示略）と、位置姿勢計測部により計測された発射回収カゴ３の姿勢に合わせて水中航走体５の姿勢を制御する姿勢制御部とが設けられている。 The hydrophones 23 are provided at the front ends of the underwater vehicle 5 in the traveling direction, and are arranged at equal intervals along the circumferential direction of the inner wall.
The control device measures the position of each of the pingers P1, P2, P3, P4 based on the pinger sound received by the hydrophone 23, and determines the position of the launch / recovery basket 3 from the positional relationship of the pingers P1, P2, P3, P4. And a position / orientation measurement unit (not shown) for measuring the attitude, and an attitude control unit for controlling the attitude of the underwater vehicle 5 in accordance with the attitude of the launch / recovery basket 3 measured by the position / orientation measurement unit. Yes.

曳航部７は、船舶１と発射回収カゴ３とを繋ぐものであり、船舶１に配置されるウィンチ（図示略）と、ウィンチから送り出され、発射回収カゴ３の閉塞端部に接続されるケーブル２５とを備えている。   The towing unit 7 connects the ship 1 and the launch / recovery basket 3, a winch (not shown) disposed on the ship 1, and a cable that is fed from the winch and connected to the closed end of the launch / recovery basket 3. 25.

このように構成された本実施形態に係る水中航走体の発射回収システム１０およびこの発射回収システム１０を備える船舶１の作用について説明する。
まず、水中航走体５を水中に投入する場合には、船舶１により、水中航走体５を収容した発射回収カゴ３が、海底調査等が行われる目的領域まで曳航される。目的領域では、発射回収カゴ３の固定切り離し装置１５が回転支点１７を軸として開口方向に回動することにより、水中航走体５が切り離されて水中に投入される。 The action of the launch and recovery system 10 of the underwater vehicle according to the present embodiment configured as described above and the ship 1 including the launch and recovery system 10 will be described.
First, when the underwater vehicle 5 is thrown into the water, the ship 1 is towed to the target area where the seabed survey or the like is performed. In the target area, the undercarriage 5 is separated and thrown into the water by the fixed separating device 15 of the launch / recovery basket 3 rotating in the opening direction around the rotation fulcrum 17.

次に、水中航走体５の回収時には、船舶１は、発射回収カゴ３を曳航しながら低速で航走し、水中航走体５は、事前に設定された回収位置付近を周回しながら待機する。船舶１が水中航走体５の待機場所に近づくと、発射回収カゴ３に設けられているピンガＰ１、Ｐ２，Ｐ３，Ｐ４により水中航走体５が誘導される。   Next, at the time of recovery of the underwater vehicle 5, the vessel 1 sails at a low speed while towing the launch collection basket 3, and the underwater vehicle 5 waits while circling around a preset recovery position. To do. When the ship 1 approaches the standby position of the underwater vehicle 5, the underwater vehicle 5 is guided by the pingers P1, P2, P3, and P4 provided in the launch collection basket 3.

具体的には、発射回収カゴ３のピンガＰ１、Ｐ２，Ｐ３，Ｐ４から発信されたピンガ音が、水中航走体５のハイドロフォン２３により受信される。そして、制御装置の位置姿勢計測部により、各ピンガＰ１、Ｐ２，Ｐ３，Ｐ４の位置が測位され、ピンガＰ１、Ｐ２，Ｐ３，Ｐ４の位置関係から発射回収カゴ３の位置および姿勢が計測される。   Specifically, the pinger sound transmitted from the pingers P 1, P 2, P 3, P 4 of the launch collection basket 3 is received by the hydrophone 23 of the underwater vehicle 5. Then, the position and orientation measuring unit of the control device measures the position of each of the pingers P1, P2, P3, and P4, and measures the position and orientation of the launch and recovery basket 3 from the positional relationship of the pingers P1, P2, P3, and P4. .

水中航走体５は、発射回収カゴ３を後方から追跡するように近づき、姿勢制御部により、位置姿勢計測部によって計測された発射回収カゴ３の姿勢に合わせて自らの姿勢が制御される。   The underwater vehicle 5 approaches so as to track the launch / recovery basket 3 from the rear, and its posture is controlled by the posture control unit in accordance with the posture of the launch / recovery cage 3 measured by the position / orientation measurement unit.

具体的には、図７に示すように、姿勢制御部により、発射回収カゴ３の中心位置が計測されて、発射回収カゴ３のピンガＰ２，Ｐ３，Ｐ４の中心にピンガＰ１が位置するように、発射回収カゴ３の開口の正面に水中航走体５が移動させられる。そして、水中航走体５は、発射回収カゴ３の姿勢に合わせて自らの姿勢を微調整されながら、発射回収カゴ３の内部へと進入する。   Specifically, as shown in FIG. 7, the attitude control unit measures the center position of the launch collection basket 3 so that the pinga P1 is positioned at the center of the pins P2, P3, P4 of the launch collection basket 3. The underwater vehicle 5 is moved to the front of the opening of the launch collection basket 3. Then, the underwater vehicle 5 enters the inside of the launch / recovery basket 3 while its own attitude is finely adjusted according to the attitude of the launch / recovery basket 3.

この場合に、発射回収カゴ３は曳航されているので、発射回収カゴ３の姿勢が進行方向に沿って安定し易い。また、水中航走体５は、発射回収カゴ３を追従するので、水中航走体５との軸線が合わせ易い。したがって、水中航走体５を発射回収カゴ３に進入させ易くすることができる。また、船舶１が移動しながら水中航走体５の回収作業を行うので、例えば、船舶１が他の船舶の航路上に位置していて、船舶１が回避行動に移った場合であっても、水中航走体５が発射回収カゴ３に追従するので、回収作業を行うことができる。   In this case, since the launch / recovery basket 3 is towed, the posture of the launch / recovery basket 3 is easily stabilized along the traveling direction. Moreover, since the underwater vehicle 5 follows the launch / recovery basket 3, the axis of the underwater vehicle 5 can be easily aligned. Therefore, the underwater vehicle 5 can be easily made to enter the launch collection basket 3. In addition, since the underwater vehicle 5 is collected while the vessel 1 is moving, for example, even when the vessel 1 is positioned on the route of another vessel and the vessel 1 moves to an avoidance action. Since the underwater vehicle 5 follows the launch / recovery basket 3, the recovery operation can be performed.

水中航走体５が発射回収カゴ３に収容されたことが確認されると、船上のウィンチによりケーブル２５が巻き上げられ、発射回収カゴ３および水中航走体５が船舶１に回収される。   When it is confirmed that the underwater vehicle 5 is accommodated in the launch / recovery car 3, the cable 25 is wound up by the winch on the ship, and the launch / recovery car 3 and the underwater vehicle 5 are recovered by the ship 1.

以上説明したように、本実施形態に係る水中航走体の発射回収システム１０およびこの発射回収システム１０を備える船舶１によれば、水中航走体５を水中で発射回収カゴ３から発射させたり、水中で発射回収カゴ３に収容したりすることできる。したがって、波浪等の影響を受け易い海上での作業に比べて、安全に水中航走体５の発射回収を行うことができる。また、大型のクレーン等が不要であり、船舶１を小型化することができる。   As described above, according to the underwater vehicle launch recovery system 10 and the ship 1 including this launch recovery system 10 according to the present embodiment, the underwater vehicle 5 is fired from the launch recovery basket 3 underwater. Or can be housed in the launch and recovery basket 3 in water. Therefore, the underwater vehicle 5 can be safely fired and collected as compared with work at sea that is easily affected by waves and the like. Moreover, a large crane etc. are unnecessary and the ship 1 can be reduced in size.

また、船舶１によって曳航される発射回収カゴ３に対して水中航走体５を追従させながら回収作業を行うので、水中航走体５を回収し易くすることができる。
なお、本実施形態においては、船舶１が発射回収カゴ３を曳航しながら水中航走体５を回収することとしたが、例えば、発射回収カゴ３を水中で停止させた状態で水中航走体５を発射回収することとしてもよい。 Further, since the recovery operation is performed while the underwater vehicle 5 follows the launch / recovery basket 3 towed by the ship 1, the underwater vehicle 5 can be easily recovered.
In the present embodiment, the ship 1 collects the underwater vehicle 5 while towing the launch / recovery basket 3. However, for example, the underwater vehicle with the launch / recovery cage 3 stopped underwater. 5 may be fired and collected.

本実施形態は以下に示すように変形することができる。
例えば、図８に示すように、発射回収カゴ３および水中航走体５が、それぞれ音響通信装置２５，２７をさらに備えることとしてもよい。この場合、発射回収カゴ３には、音響通信装置２５を閉塞端部の支持部材８やリ小径ング状パイプ１２等の内側に配置することとし、水中航走体５には、音響通信装置２７を外壁面に配置することとすればよい。このようにすることで、水中航走体５の音響通信装置２７から発射回収カゴ３の音響通信装置２５を経由して船舶１にステータス等を伝送したりすることができる。
さらに、水中航走体５をモニタするためのＣＣＤカメラを閉塞端部の支持部材８や小径リング状パイプ１２等の内側に配置することとし、音響通信装置２５，２７およびＣＣＤカメラを介して、人が水中航走体５の進入タイミングを指示することとしてもよい。このようにすることで、水中航走体５の回収作業をより迅速かつ確実に行うことができる。 This embodiment can be modified as shown below.
For example, as shown in FIG. 8, the launch and recovery basket 3 and the underwater vehicle 5 may further include acoustic communication devices 25 and 27, respectively. In this case, the acoustic communication device 25 is disposed inside the closed end support member 8, the small-diameter ring-shaped pipe 12, and the like in the launch collection basket 3, and the underwater vehicle 5 has the acoustic communication device 27. May be arranged on the outer wall surface. In this way, status or the like can be transmitted from the acoustic communication device 27 of the underwater vehicle 5 to the ship 1 via the acoustic communication device 25 of the launch / recovery basket 3.
Further, a CCD camera for monitoring the underwater vehicle 5 is arranged inside the support member 8 at the closed end, the small-diameter ring-shaped pipe 12 and the like, and via the acoustic communication devices 25 and 27 and the CCD camera, A person may instruct the approach timing of the underwater vehicle 5. By doing in this way, the collection | recovery operation | work of the underwater vehicle 5 can be performed more rapidly and reliably.

［第２の実施形態］
次に、本発明の第２の実施形態に係る水中航走体の発射回収システム１１０およびこの発射回収システム１１０を備える船舶１０１について、図面を参照して説明する。
本実施形態に係る船舶１０１は、図９（ａ）に示すように、発射回収カゴ３を格納するためのポッド１３１を備えている点で第１の実施形態と異なる。以下、第１の実施形態に係る水中航走体の発射回収システム１０およびこのシステムを備える船舶１と構成を共通する箇所には、同一符号を付して説明を省略する。 [Second Embodiment]
Next, an underwater vehicle launch / recovery system 110 and a ship 101 including the launch / recovery system 110 according to a second embodiment of the present invention will be described with reference to the drawings.
As shown in FIG. 9A, the ship 101 according to the present embodiment is different from the first embodiment in that the ship 101 includes a pod 131 for storing the launch collection basket 3. Hereinafter, the same reference numerals are given to the underwater vehicle launch recovery system 10 according to the first embodiment and the parts having the same configuration as the ship 1 including this system, and the description thereof will be omitted.

ポッド１３１は、図９（ｂ）に示すように、略流線型状の中空円筒部材であり、船舶１０１の両舷側に固定されている。ポッド１３１の進行方向前方には、発射回収カゴ３を接続するケーブル１２５を有する電動ウィンチ１３３と、海水取入口（図示略）とが設けられている。 The pod 131 is a substantially streamlined hollow cylindrical member as shown in FIG. 9B, and is fixed to both sides of the ship 101 . An electric winch 133 having a cable 125 for connecting the launch collection basket 3 and a seawater intake (not shown) are provided in front of the pod 131 in the traveling direction.

また、図９（ｃ）に示すように、ポッド１３１の進行方向後方には、発射回収カゴ３の出し入れ口１３５が設けられている。このポッド１３１では、電動ウィンチ１３３の作動により、出し入れ口１３５から発射回収カゴ３の出し入れが行われるようになっている。   Further, as shown in FIG. 9C, a loading / unloading port 135 for the launch collection basket 3 is provided at the rear of the pod 131 in the traveling direction. In this pod 131, the operation of the electric winch 133 allows the launch / recovery basket 3 to be taken in and out from the taking in / out opening 135.

このように構成された本実施形態に係る水中航走体の発射回収システム１１０およびこの発射回収システム１１０を備える船舶１０１の作用について説明する。
まず、水中航走体５を水中に投入する場合には、図１０に示すように、ポッド１３１に発射回収カゴ３が格納された状態で、発射回収カゴ３の固定切り離し装置１５が回転支点１７を軸として開口方向に回動することにより、水中航走体５が切り離されて水中に投入される。 The action of the launch and recovery system 110 for the underwater vehicle according to the present embodiment configured as described above and the ship 101 including the launch and recovery system 110 will be described.
First, when the underwater vehicle 5 is thrown into the water, as shown in FIG. 10, the fixed release device 15 for the launch / recovery basket 3 is rotated at the rotation fulcrum 17 with the launch / recovery basket 3 stored in the pod 131. Is rotated in the opening direction about the axis, whereby the underwater vehicle 5 is separated and put into the water.

次に、水中航走体５の回収時には、図１１に示すように、電動ウィンチ１３３からケーブル１２５が送り出されて、ポッド１３１の出し入れ口１３５から発射回収カゴ３が離脱させられる。この状態で、船舶１０１により発射回収カゴ３が曳航されながら、水中航走体５の回収が行われる。水中航走体５が発射回収カゴ３に収容されたことが確認されると、電動ウィンチ１３３によりケーブル１２５が巻き上げられ、ポッド１３１の出し入れ口１３５から発射回収カゴ３が格納される。 Next, when collecting the underwater vehicle 5, as shown in FIG. 11, the cable 125 is sent out from the electric winch 133, and the launch / recovery basket 3 is detached from the loading / unloading port 135 of the pod 131. In this state, the underwater vehicle 5 is collected while the launch collection basket 3 is towed by the ship 101. When it is confirmed that the underwater vehicle 5 is accommodated in the launch / recovery basket 3, the cable 125 is wound up by the electric winch 133, and the launch / recovery basket 3 is stored from the entrance / exit 135 of the pod 131.

以上説明したように、本実施形態に係る水中航走体の発射回収システム１１０およびこの発射回収システム１１０を備える船舶１０１によれば、船舶１０１が備えるポッド１３１に発射回収カゴ３および水中航走体５を格納するので、船舶１０１自体を航走し易くすることができる。   As described above, according to the underwater vehicle launch recovery system 110 and the ship 101 including the launch recovery system 110 according to the present embodiment, the launch recovery basket 3 and the underwater vehicle in the pod 131 provided in the ship 101. Since 5 is stored, the ship 101 itself can be easily navigated.

なお、本実施形態においては、船舶１０１がポッド１３１を両舷側に備えることとしたが、これに代えて、例えば、図１２（ａ），（ｂ）に示すように、船舶２０１が、複数（例えば、４つ）のポッド２３１が筏状に固定されたポッドユニット２３７を曳航することとしてもよい。このようにすることで、ポッド２３１を効率よく増設することができる。   In this embodiment, the ship 101 is provided with the pods 131 on both sides, but instead, for example, as shown in FIGS. 12A and 12B, a plurality of ships 201 ( For example, four pods 231 may be towed through a pod unit 237 fixed in a bowl shape. By doing in this way, the pod 231 can be expanded efficiently.

以上、本発明の実施形態について図面を参照して詳述してきたが、具体的な構成はこの実施形態に限られるものではなく、本発明の要旨を逸脱しない範囲の設計変更等も含まれる。
例えば、上記各実施形態においては、発射回収カゴ３が４つのピンガＰ１、Ｐ２，Ｐ３，Ｐ４を備え、水中航走体５が４つのハイドロフォン２３を備えることとしたが、ピンガＰ１、Ｐ２，Ｐ３，Ｐ４およびハイドロフォン２３の数はこれに限定されるものではない。また、上記各実施形態の船舶１，１０１，２０１をさらに大型の船舶等により回収することとしてもよい。また、例えば、発射回収カゴ３が、水中において、魚雷、機雷、海中に敷設するセンサ類等を発射させることとしてもよい。 As mentioned above, although embodiment of this invention was explained in full detail with reference to drawings, the specific structure is not restricted to this embodiment, The design change etc. of the range which does not deviate from the summary of this invention are included.
For example, in each of the above embodiments, the launch / recovery basket 3 includes the four pinga P1, P2, P3, and P4, and the underwater vehicle 5 includes the four hydrophones 23. The number of P3, P4 and hydrophone 23 is not limited to this. Moreover, it is good also as collect | recovering the ships 1,101,201 of said each embodiment by a larger sized ship. Further, for example, the launch / recovery basket 3 may launch torpedoes, mines, sensors laid in the sea, and the like in the water.

本発明の第１の実施形態に係る水中航走体の発射回収システムおよびこれを備える船舶の船舶および発射回収カゴを示す概略図である。It is the schematic which shows the launch recovery system of the underwater vehicle which concerns on the 1st Embodiment of this invention, the ship of a ship provided with this, and a launch recovery basket. 本発明の第１の実施形態に係る水中航走体の回収時の待機ならびに発射回収カゴへの接近行動についての概略図である。It is the schematic about the standby at the time of collection | recovery of the underwater vehicle which concerns on the 1st Embodiment of this invention, and the approaching action to a launch collection basket. （ａ）は図１の発射回収カゴを横から見た概略図であり、（ｂ）は（ａ）の発射回収カゴを進行方向前方から見た概略図であり、（ｃ）は（ａ）の発射回収カゴを進行方向後方から見た概略図であり、（ｄ）は（ａ）の発射回収カゴのＡ−Ａ断面図である。(A) is the schematic which looked at the launch collection basket of FIG. 1 from the side, (b) is the schematic which looked at the launch collection basket of (a) from the advancing direction front, (c) is (a) It is the schematic which looked at the launch collection basket of No. 2 from the back of the direction of travel, and (d) is an AA sectional view of the launch collection basket of (a). （ａ）は図１の発射回収カゴが備えるピンガの位置関係を示した図であり、（ｂ）はピンガの位置関係を別の角度から示した図である。(A) is the figure which showed the positional relationship of the pinga with which the launch collection | recovery basket of FIG. 1 was equipped, (b) is the figure which showed the positional relationship of the pinga from another angle. 図２の水中航走体を収容した発射回収カゴの横断面図である。FIG. 3 is a cross-sectional view of a launch / recovery basket containing the underwater vehicle of FIG. 2. （ａ）は図２の水中航走体を横から見た概略図であり、（ｂ）は水中航走体を進行方向前方から見た概略図である。(A) is the schematic which looked at the underwater vehicle of FIG. 2 from the side, (b) is the schematic which looked at the underwater vehicle from the advancing direction front. 水中航走体のハイドロフォンが発射回収カゴのピンガの位置関係を計測する様子を示す図である。It is a figure which shows a mode that the hydrophone of an underwater vehicle measures the positional relationship of the pinga of a launch collection basket. 本発明の第１の実施形態の変形例に係る水中航走体の発射回収システムおよびこれを備える船舶の発射回収カゴおよび水中航走体を示す概略図である。It is the schematic which shows the launch recovery system of the underwater vehicle which concerns on the modification of the 1st Embodiment of this invention, the launch collection basket of a ship provided with the same, and an underwater vehicle. （ａ）は本発明の第２の実施形態に係る水中航走体の発射回収システムおよびこれを備える船舶の船舶を進行方向前方から見た概略図であり、（ｂ）は（ａ）の船舶が備えるポッドの横断面図であり、（ｃ）は（ｂ）のポッドを進行方向後方から見た概略図である。(A) is the schematic which looked at the launch recovery system of the underwater vehicle which concerns on the 2nd Embodiment of this invention, and the ship of a ship provided with this from the advancing direction front, (b) is a ship of (a) FIG. 2C is a schematic cross-sectional view of the pod of FIG. 3B when the pod of FIG. 図９（ａ)のポッドから水中航走体が水中に投入される様子を横から見た図である。It is the figure which looked at a mode that the underwater vehicle was thrown into water from the pod of Fig.9 (a) from the side. 図９（ａ)のポッドに水中航走体が収容される様子を横から見た図である。It is the figure which looked at a mode that the underwater vehicle was stored in the pod of Fig.9 (a) from the side. （ａ）は本発明の第２の実施形態の変形例に係る水中航走体の発射回収システムおよびこれを備える船舶を横から見た概略図であり、（ｂ）は（ａ）の水中航走体の発射回収システムが備えるポッドユニットを進行方向後方から見た概略図である。(A) is the schematic which looked at the launch recovery system of the underwater vehicle which concerns on the modification of the 2nd Embodiment of this invention, and the ship provided with this from the side, (b) is underwater navigation of (a) It is the schematic which looked at the pod unit with which the launching collection system of a runner is provided from the back of the direction of movement.

符号の説明Explanation of symbols

１，１０１，２０１ 船舶
３ 発射回収カゴ（発射回収装置）
５ 水中航走体（水中航走体）
７ 曳航部
１０，１１０ 発射回収システム
２３ ハイドロフォン（受信装置）
Ｐ１、Ｐ２，Ｐ３，Ｐ４ ピンガ（誘導装置） 1,101,201 Ship 3 Launch collection basket (Launch collection device)
5 Underwater vehicle (underwater vehicle)
7 Towing unit 10,110 Launch collection system 23 Hydrophone (receiver)
P1, P2, P3, P4 Pinga (guidance device)

Claims (3)

水中を航走可能な水中航走体と、
複数のパイプが互いに間隔をあけて組み合わされて形成され、前記水中航走体に対して長手方向の一端が開放され他端が閉塞された略筒形状を有し、前記水中航走体を水中で発射または収容する発射回収装置と、
該発射回収装置に配置され、前記水中航走体を誘導する誘導信号としての音を発する複数の誘導装置とを備え、
前記水中航走体には、前記誘導装置から発せられた音を受信する受信装置と、該受信装置からの信号に基づいて前記発射回収装置の位置および姿勢を計測する位置姿勢計測部と、該位置姿勢計測部により計測された前記発射回収装置の姿勢に合わせて前記水中航走体の姿勢を制御する姿勢制御部とが設けられており、
少なくとも３以上の前記誘導装置が、前記発射回収装置の開放された前記一端の開口の周囲に間隔をあけて配置され、他のいずれかの前記誘導装置が、前記発射回収装置の閉塞された前記他端の略中央に配置され、
前記発射回収装置が、船舶により曳航されながら前記水中航走体を回収する水中航走体の発射回収システム。 An underwater vehicle capable of traveling underwater,
A plurality of pipes are formed to be spaced apart from each other , have a substantially cylindrical shape in which one end in the longitudinal direction is opened and the other end is closed with respect to the underwater vehicle. A launch collection device that launches or houses at
A plurality of guidance devices that are arranged in the launch and recovery device and emit sound as guidance signals for guiding the underwater vehicle,
The underwater vehicle includes a receiving device that receives sound emitted from the guidance device, a position and orientation measurement unit that measures the position and orientation of the launch collection device based on a signal from the receiving device, and An attitude control unit that controls the attitude of the underwater vehicle in accordance with the attitude of the launch and recovery device measured by the position and orientation measurement unit;
At least three or more of the guidance devices are arranged around the opening of the opened one end of the launch collection device, and any other guidance device is closed in the launch collection device. Placed at the approximate center of the other end ,
An underwater vehicle launch recovery system , wherein the launch recovery device collects the underwater vehicle while being towed by a ship . 請求項１に記載の前記水中航走体の発射回収システムと、
前記発射回収装置を曳航する曳航部とを備える船舶。 The underwater vehicle launch and recovery system according to claim 1;
A ship provided with a towing part towing the launch collection device. 請求項１に記載の水中航走体の発射回収システムと、
前記発射回収装置を曳航する曳航部を有する船舶本体部と、
該船舶本体部に固定され、前記発射回収装置を格納可能なポッドとを備え、
前記曳航部が、前記船舶本体部と前記発射回収装置とを接続するケーブルと、該ケーブルにより前記ポッドと水中との間で前記発射回収装置を上げ下ろしするウィンチとを備える船舶。 The underwater vehicle launch recovery system according to claim 1 ;
A ship body having a towing part for towing the launch collection device;
It is fixed to the ship body portion, and a storage available-for pop-de the firing collecting device,
The ship provided with the cable which connects the said ship main-body part and the said launch collection | recovery apparatus, and the winch which raises and lowers the said launch collection apparatus between the said pod and underwater with this cable.
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