WO2023248740A1 - Underwater towing system - Google Patents

Underwater towing system Download PDF

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Publication number
WO2023248740A1
WO2023248740A1 PCT/JP2023/020222 JP2023020222W WO2023248740A1 WO 2023248740 A1 WO2023248740 A1 WO 2023248740A1 JP 2023020222 W JP2023020222 W JP 2023020222W WO 2023248740 A1 WO2023248740 A1 WO 2023248740A1
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underwater
towing
control device
light emitting
underwater working
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PCT/JP2023/020222
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French (fr)
Japanese (ja)
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紀幸 岡矢
厚市 福井
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川崎重工業株式会社
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Publication of WO2023248740A1 publication Critical patent/WO2023248740A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/48—Means for searching for underwater objects

Definitions

  • Patent Document 1 describes dropping a plurality of AUVs into water from a support ship in order to investigate a wide water area.
  • the present disclosure provides a towing machine including a control device that travels on or in water, a towing rope hanging down from the towing machine into the water, and at least one light emitting device attached to the towing rope and controlled by the control device. and a plurality of underwater working machines towed by the towing rope, each of the plurality of underwater working machines including a light receiving device capable of receiving an optical signal from the at least one light emitting device,
  • the underwater towing system provides an underwater towing system in which the control device causes the at least one light emitting device to transmit a detachment signal to the underwater working machine, and when the light receiving device receives the detachment signal, the underwater working machine detaches from the towing rope.
  • an underwater towing system that can install a plurality of underwater working machines at a target location.
  • FIG. 1 is a schematic configuration diagram of an underwater towing system according to an embodiment. It is a schematic block diagram of the underwater towing system of a modification. It is a schematic block diagram of the underwater towing system of another modification.
  • FIG. 1 shows an underwater towing system 1 according to one embodiment.
  • This underwater towing system 1 includes a towing machine 2 and a plurality of underwater working machines 5.
  • the towing machine 2 is a support ship 2A that sails on water.
  • At least one light emitting device 4 is attached to the towing rope 3.
  • the light emitting device 4 is, for example, an LED.
  • the same number of light emitting devices 4 as underwater working machines 5 are attached to the main line 31 of the towing rope 3.
  • the number of light emitting devices 4 does not necessarily have to be the same as the number of underwater working machines 5, and may be smaller or larger than the number of underwater working machines 5.
  • the light emitting device 4 may be attached to the branch line 32 of the towing rope 3 instead of the main line 31, or may be attached to both the main line 31 and the branch line 32.
  • the functionality of the elements disclosed herein may include general purpose processors, special purpose processors, integrated circuits, ASICs, etc. configured or programmed to perform the disclosed functions.
  • Application Specific Integrated Circuits Application Specific Integrated Circuits
  • Processors are considered processing circuits or circuits because they include transistors and other circuits.
  • a circuit, unit, or means is hardware that performs the recited functions or is hardware that is programmed to perform the recited functions.
  • the hardware may be the hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. If the hardware is a processor, which is considered a type of circuit, the circuit, means or unit is a combination of hardware and software, and the software is used to configure the hardware and/or the processor.
  • each underwater working machine 5 is an AUV.
  • each underwater working machine 5 that is an AUV includes a main body 51 having a streamlined shape and a propulsion device 52 provided in the main body 51.
  • the propulsion device 52 is capable of applying thrust to the main body 51 in the front-rear direction, left-right direction, and up-down direction of the main body 51, as well as in the yaw direction around the vertical axis of the main body 51 and the pitch around the left-right axis of the main body 51. It is possible to apply a turning force in the direction.
  • the propulsion device 52 may include a plurality of thrusters having mutually different directions, or may be a single swing-type thruster.
  • the inertial navigation device 57 includes an accelerometer that detects acceleration in the direction in which each of three axes that are orthogonal to each other extends, and a gyro sensor that detects angular velocity around each of the three axes, and includes an The moving direction and moving distance of the main body 51 are calculated, and the current posture of the main body 51 is calculated.
  • the second control device 56 controls the propulsion device 52 based on the calculation result of the inertial navigation device 57 after the underwater working machine 5 leaves the towing rope 3 .
  • the first control device 21 causes the light emitting device 4 to transmit a detachment signal for the underwater working machine 5 to be installed when the towing machine 2 reaches the destination location for each underwater working machine 5.
  • the destination location may be the same for all underwater working machines 5 or may be different for all underwater working machines 5.
  • the plurality of underwater working machines 5 are towed by the towing rope 3 that hangs down from the towing machine 2 into the water.
  • the machine 5 can be transported to the destination location. Further, when each underwater work machine 5 is transported to the destination location, if the first control device 21 causes the light emitting device 4 to send a detachment signal for the underwater work machine 5, the underwater work machine 5 is transported to the destination location. Detach from towing rope 3. Therefore, a plurality of underwater working machines 5 can be installed at the target location.
  • each underwater working machine 5 may include a light emitting device, and a plurality of light receiving devices corresponding to the light emitting devices may be attached to the towing rope 3 and electrically connected to the first control device 21.
  • information can be output from each underwater working machine 5 to the first control device 21.
  • the light emitting devices of all underwater working machines 5 emit light in the same color
  • the light emitting devices of each underwater working machine 5 emit light according to a light emission permission command from the first control device 21 of the towing machine 2 for the underwater working machine 5. Desirably controlled.
  • the towing machine 2 may be an AUV 2B that travels underwater.
  • the AUV 2B includes a larger battery than the AUV that is the underwater working device 5, and can travel underwater for a long time.
  • the AUV 2B includes a main body 22 having a streamlined shape and a propulsion device 23 provided in the main body 22, and the main body 22 is provided with a first control device 21 and an inertial navigation device 24.
  • each underwater working machine 5 does not need to include the engagement mechanism 54 and the actuator 55, as in the modified underwater towing system 1B shown in FIG.
  • each underwater working machine 5 which is an AUV, is guided by the optical signal from the light emitting device 4 and navigated to be towed by the towing rope 3.
  • the number of light emitting devices 4 and the number of underwater working machines 5 may be the same or different.
  • each underwater working machine 5 can be indirectly towed by the towing rope 3 without being connected to the towing rope 3.
  • each underwater working machine 5 includes the engagement mechanism 54 and the actuator 55 as in the embodiment, when each underwater working machine 5 is towed by the towing rope 3, each underwater working machine 5 can be mechanically connected to the towing rope 3 (direct towing).
  • each underwater working device 5 does not necessarily have to be an AUV, and may be an underwater observation device.
  • the underwater observation device may or may not include a propulsion device.
  • the present disclosure provides a towing machine including a control device that travels on or under water, a towing rope that hangs down from the towing machine into the water, and a towing machine that is attached to the towing rope and that is controlled by the control device. and a plurality of underwater working machines towed by the towing rope, each of the plurality of underwater working machines being capable of receiving an optical signal from the at least one light emitting device.
  • An underwater towing system including a light receiving device, wherein the control device causes the at least one light emitting device to send a detachment signal to the underwater working machine, and when the light receiving device receives the detachment signal, the underwater towing system detaches from the towing rope. I will provide a.
  • the underwater working machines since the plurality of underwater working machines are towed by the towing rope hanging down from the towing machine into the water, the underwater working machines can be transported to the destination by the cruising of the towing machine. Further, when each underwater working machine is transported to the destination location, if the control device causes the light emitting device to send a detachment signal for the underwater working machine, the underwater working machine will detach from the towing rope at the destination location. Therefore, a plurality of underwater working machines can be installed at the target location.
  • the control device is a first control device
  • each of the plurality of underwater working machines includes an engagement mechanism connectable to the towing rope, and an engagement mechanism connectable to the towing rope.
  • the apparatus includes an actuator to be operated and a second control device that controls the actuator, and when the light receiving device receives the detachment signal, the second control device releases the connection between the towing rope and the engagement mechanism.
  • the actuator may be driven so as to According to this configuration, when each underwater working machine is towed by the towing rope, each underwater working machine can be mechanically connected to the towing rope.
  • each of the plurality of underwater working machines may be an autonomous submersible, for example.
  • each of the plurality of underwater working machines is an autonomous diving machine including a propulsion device, and navigates while being guided by a light signal from the at least one light emitting device. In this way, it may be indirectly towed by the towing rope. According to this configuration, each underwater working machine can be towed by the towing rope without being connected to the towing rope.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

An underwater towing system (1) according to an embodiment comprises: a pulling machine (2) that travels on or in water; a towing rope (3) that hangs down into water from the pulling machine (2); and a plurality of underwater work machines (5) that are pulled by the towing rope (3). At least one light emitting device (4) is attached to the towing rope (3). The light emitting device (4) is controlled by a control device (21) which is included in the pulling machine (2). Each of the underwater work machines (5) includes a light reception device (53) capable of receiving an optical signal from the light emitting device (4). The control device (21) causes the light emitting device (4) to emit a separation signal for the underwater work machine (5). The underwater work machine (5) separates from the towing rope (3) when the separation signal is received by the light reception device (53).

Description

水中曳航システムUnderwater towing system
　本開示は、複数の水中作業機を水中で曳航する水中曳航システムに関する。 The present disclosure relates to an underwater towing system that tows a plurality of underwater working machines underwater.
　　従来から、自律型潜水機（ＡＵＶ（Autonomous Underwater Vehicle）、無人潜水機（ＵＵＶ（Unmanned Underwater Vehicle））と呼ばれることもある）や水中観測装置などの水中作業機が知られている。例えば、特許文献１には、広い水域を調査するために、支援船から複数のＡＵＶを水中に投下することが記載されている。 Underwater working machines such as autonomous underwater vehicles (AUVs (Autonomous Underwater Vehicles) or unmanned underwater vehicles (UUVs) (Unmanned Underwater Vehicles)) and underwater observation devices have been known for some time. For example, Patent Document 1 describes dropping a plurality of AUVs into water from a support ship in order to investigate a wide water area.
特開２０１８－１７２０５６号公報Japanese Patent Application Publication No. 2018-172056
　しかしながら、風や波などの影響で支援船の揺れが激しい場合には、支援船から水中作業機を投下することは困難である。 However, if the support ship is shaking violently due to wind or waves, it is difficult to drop the underwater work equipment from the support ship.
　そこで、本開示は、複数の水中作業機を目的場所に設置することができる水中曳航システムを提供することを目的とする。 Therefore, an object of the present disclosure is to provide an underwater towing system that can install a plurality of underwater working machines at a target location.
　本開示は、水上または水中を航走する、制御装置を含む牽引機と、前記牽引機から水中に垂れ下がる曳航ロープと、前記曳航ロープに取り付けられた、前記制御装置により制御される少なくとも１つの発光装置と、前記曳航ロープに牽引される複数の水中作業機と、を備え、前記複数の水中作業機のそれぞれは、前記少なくとも１つの発光装置からの光信号を受信可能な受光装置を含み、当該水中作業機に対する離脱信号を前記制御装置が前記少なくとも１つの発光装置に発信させ、その離脱信号を前記受光装置が受信したときに、前記曳航ロープから離脱する、水中曳航システムを提供する。 The present disclosure provides a towing machine including a control device that travels on or in water, a towing rope hanging down from the towing machine into the water, and at least one light emitting device attached to the towing rope and controlled by the control device. and a plurality of underwater working machines towed by the towing rope, each of the plurality of underwater working machines including a light receiving device capable of receiving an optical signal from the at least one light emitting device, The underwater towing system provides an underwater towing system in which the control device causes the at least one light emitting device to transmit a detachment signal to the underwater working machine, and when the light receiving device receives the detachment signal, the underwater working machine detaches from the towing rope.
　本開示によれば、複数の水中作業機を目的場所に設置することができる水中曳航システムが提供される。 According to the present disclosure, an underwater towing system that can install a plurality of underwater working machines at a target location is provided.
一実施形態に係る水中曳航システムの概略構成図である。1 is a schematic configuration diagram of an underwater towing system according to an embodiment. 変形例の水中曳航システムの概略構成図である。It is a schematic block diagram of the underwater towing system of a modification. 別の変形例の水中曳航システムの概略構成図である。It is a schematic block diagram of the underwater towing system of another modification.
　図１に、一実施形態に係る水中曳航システム１を示す。この水中曳航システム１は、牽引機２と複数の水中作業機５を含む。本実施形態では、牽引機２が水上を航走する支援船２Ａである。 FIG. 1 shows an underwater towing system 1 according to one embodiment. This underwater towing system 1 includes a towing machine 2 and a plurality of underwater working machines 5. In this embodiment, the towing machine 2 is a support ship 2A that sails on water.
　牽引機２からは曳航ロープ３が水中に垂れ下がっている。水中作業機５は、曳航ロープ３に牽引される。本実施形態では、曳航ロープ３が、牽引機２と接続された本線３１と、本線３１から分岐する、水中作業機５との接続用の複数の支線３２を含む。ただし、支線３２は必ずしも必要ではなく、水中作業機５が本線３１に直接的に接続されてもよい。 A towing rope 3 is hanging down from the towing machine 2 into the water. The underwater working machine 5 is towed by the towing rope 3. In this embodiment, the towing rope 3 includes a main line 31 connected to the towing machine 2 and a plurality of branch lines 32 branching from the main line 31 for connection to the underwater working machine 5. However, the branch line 32 is not necessarily necessary, and the underwater working machine 5 may be directly connected to the main line 31.
　曳航ロープ３には、少なくとも１つの発光装置４が取り付けられている。発光装置４は、例えばＬＥＤである。本実施形態では、水中作業機５と同数の発光装置４が曳航ロープ３の本線３１に取り付けられている。ただし、発光装置４の数は必ずしも水中作業機５の数と同じである必要はなく、水中作業機５の数よりも少なくても多くてもよい。また、発光装置４は曳航ロープ３の本線３１ではなく支線３２に取り付けられてもよいし、本線３１と支線３２の双方に取り付けられてもよい。 At least one light emitting device 4 is attached to the towing rope 3. The light emitting device 4 is, for example, an LED. In this embodiment, the same number of light emitting devices 4 as underwater working machines 5 are attached to the main line 31 of the towing rope 3. However, the number of light emitting devices 4 does not necessarily have to be the same as the number of underwater working machines 5, and may be smaller or larger than the number of underwater working machines 5. Further, the light emitting device 4 may be attached to the branch line 32 of the towing rope 3 instead of the main line 31, or may be attached to both the main line 31 and the branch line 32.
　牽引機２には、発光装置４を制御する第１制御装置２１が設けられている。つまり、第１制御装置２１は、全ての発光装置４と電気的に接続されている。本実施形態では、全ての発光装置４が同期して点滅するように、第１制御装置２１が全ての発光装置４に同じ点滅パターンの光信号を発信させる。すなわち、その点滅パターンに、どの水中作業機５に対する指令であるかと、その指令内容が含まれる。 The traction machine 2 is provided with a first control device 21 that controls the light emitting device 4. That is, the first control device 21 is electrically connected to all the light emitting devices 4. In this embodiment, the first control device 21 causes all the light emitting devices 4 to emit optical signals with the same blinking pattern so that all the light emitting devices 4 blink in synchronization. That is, the blinking pattern includes which underwater working machine 5 the command is directed to and the contents of the command.
　第１制御装置２１および後述する第２制御装置５６に関し、本明細書で開示する要素の機能は、開示された機能を実行するよう構成またはプログラムされた汎用プロセッサ、専用プロセッサ、集積回路、ASIC（Application Specific Integrated Circuits）、従来の回路、および/または、それらの組み合わせ、を含む回路または処理回路を使用して実行できる。プロセッサは、トランジスタやその他の回路を含むため、処理回路または回路と見なされる。本開示において、回路、ユニット、または手段は、列挙された機能を実行するハードウエアであるか、または、列挙された機能を実行するようにプログラムされたハードウエアである。ハードウエアは、本明細書に開示されているハードウエアであってもよいし、あるいは、列挙された機能を実行するようにプログラムまたは構成されているその他の既知のハードウエアであってもよい。ハードウエアが回路の一種と考えられるプロセッサである場合、回路、手段、またはユニットはハードウエアとソフトウエアの組み合わせであり、ソフトウエアはハードウエアおよび/またはプロセッサの構成に使用される。 With respect to the first controller 21 and the second controller 56 described below, the functionality of the elements disclosed herein may include general purpose processors, special purpose processors, integrated circuits, ASICs, etc. configured or programmed to perform the disclosed functions. Application Specific Integrated Circuits), conventional circuits, and/or combinations thereof. Processors are considered processing circuits or circuits because they include transistors and other circuits. In this disclosure, a circuit, unit, or means is hardware that performs the recited functions or is hardware that is programmed to perform the recited functions. The hardware may be the hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. If the hardware is a processor, which is considered a type of circuit, the circuit, means or unit is a combination of hardware and software, and the software is used to configure the hardware and/or the processor.
　水中作業機５の数は、図例では４つであるが、２つまたは３つであってもよいし、５つ以上であってもよい。本実施形態では、各水中作業機５がＡＵＶである。具体的に、ＡＵＶである各水中作業機５は、流線形の形状を有する本体５１と、本体５１に設けられた推進装置５２を含む。 Although the number of underwater working machines 5 is four in the illustrated example, it may be two or three, or five or more. In this embodiment, each underwater working machine 5 is an AUV. Specifically, each underwater working machine 5 that is an AUV includes a main body 51 having a streamlined shape and a propulsion device 52 provided in the main body 51.
　推進装置５２は、本体５１に対して、本体５１の前後方向、左右方向および上下方向への推力を付与可能であるとともに、本体５１の上下軸回りのヨー方向および本体５１の左右軸回りのピッチ方向への旋回力を付与可能である。例えば、推進装置５２は、互いに向きが異なる複数のスラスターを含んでもよいし、首振り式の単一のスラスターであってもよい。 The propulsion device 52 is capable of applying thrust to the main body 51 in the front-rear direction, left-right direction, and up-down direction of the main body 51, as well as in the yaw direction around the vertical axis of the main body 51 and the pitch around the left-right axis of the main body 51. It is possible to apply a turning force in the direction. For example, the propulsion device 52 may include a plurality of thrusters having mutually different directions, or may be a single swing-type thruster.
　本体５１の前部には、発光装置４からの光信号を受信可能な受光装置５３と、曳航ロープ３の支線３２に接続可能な係合機構５４と、係合機構５４を操作するアクチュエータ５５が設けられている。また、本体５１には、第２制御装置５６および慣性航法装置５７（ＩＮＳ：Inertial Navigation System）が設けられている。 The front part of the main body 51 includes a light receiving device 53 capable of receiving an optical signal from the light emitting device 4, an engagement mechanism 54 connectable to the branch line 32 of the towing rope 3, and an actuator 55 for operating the engagement mechanism 54. It is provided. Further, the main body 51 is provided with a second control device 56 and an inertial navigation system (INS).
　第２制御装置５６は、受光装置５３、アクチュエータ５５および慣性航法装置５７と電気的に接続されている。第２制御装置５６は、発光装置４からの光信号に当該第２制御装置５６が搭載された水中作業機５に対する指令が含まれる場合に、その光信号を受光装置５３が受信することで、第１制御装置２１からの指令を読み込む。 The second control device 56 is electrically connected to the light receiving device 53, the actuator 55, and the inertial navigation device 57. The second control device 56 is configured such that when the light signal from the light emitting device 4 includes a command to the underwater working machine 5 on which the second control device 56 is mounted, the light receiving device 53 receives the light signal. A command from the first control device 21 is read.
　係合機構５４は、例えば、揺動可能なフックを含む。この場合、アクチュエータ５５はそのフックを揺動させる。アクチュエータ５５は、第２制御装置５６により制御される。 The engagement mechanism 54 includes, for example, a swingable hook. In this case, the actuator 55 swings the hook. Actuator 55 is controlled by second control device 56 .
　慣性航法装置５７は、互いに直交する三軸の各軸が延びる方向への加速度を検出する加速度計と、前記三軸の各軸回りの角速度を検出するジャイロセンサを含み、本体５１の基準位置からの移動方向および移動距離を算出するとともに、本体５１の現在の姿勢を算出する。第２制御装置５６は、水中作業機５が曳航ロープ３から離脱した後に、慣性航法装置５７の算出結果に基づいて推進装置５２を制御する。 The inertial navigation device 57 includes an accelerometer that detects acceleration in the direction in which each of three axes that are orthogonal to each other extends, and a gyro sensor that detects angular velocity around each of the three axes, and includes an The moving direction and moving distance of the main body 51 are calculated, and the current posture of the main body 51 is calculated. The second control device 56 controls the propulsion device 52 based on the calculation result of the inertial navigation device 57 after the underwater working machine 5 leaves the towing rope 3 .
　次に、第１制御装置２１および第２制御装置５６が行う制御について詳細に説明する。 Next, the control performed by the first control device 21 and the second control device 56 will be described in detail.
　第１制御装置２１は、牽引機２が水中作業機５ごとの目的場所に到達したときに、設置すべき水中作業機５に対する離脱信号を発光装置４に発信させる。なお、目的場所は、全ての水中作業機５で同じであってもよいし、全ての水中作業機５で異なってもよい。 The first control device 21 causes the light emitting device 4 to transmit a detachment signal for the underwater working machine 5 to be installed when the towing machine 2 reaches the destination location for each underwater working machine 5. Note that the destination location may be the same for all underwater working machines 5 or may be different for all underwater working machines 5.
　各水中作業機５の第２制御装置５６は、受光装置５３が受信した光信号の点滅パターンに基づいて、その光信号が当該水中作業機５に対する離脱信号であるか否かを判定する。各水中作業機５の受光装置５３が当該水中作業機５に対する離脱信号を受信すると、第２制御装置５６は、曳航ロープ３と係合機構５４との接続が解除されるようにアクチュエータ５５を駆動する。これにより、水中作業機５が曳航ロープ３から離脱する。 The second control device 56 of each underwater working machine 5 determines whether the optical signal is a departure signal for the underwater working machine 5 based on the blinking pattern of the optical signal received by the light receiving device 53. When the light receiving device 53 of each underwater working machine 5 receives a detachment signal for the underwater working machine 5, the second control device 56 drives the actuator 55 so that the connection between the towing rope 3 and the engagement mechanism 54 is released. do. As a result, the underwater working machine 5 separates from the towing rope 3.
　以上説明したように、本実施形態の水中曳航システム１では、複数の水中作業機５が牽引機２から水中に垂れ下がる曳航ロープ３に牽引されるので、牽引機２の航走によってそれらの水中作業機５を目的場所まで搬送することができる。また、各水中作業機５が目的場所まで搬送されたときに、第１制御装置２１がその水中作業機５に対する離脱信号を発光装置４に発信させれば、その水中作業機５が目的場所で曳航ロープ３から離脱する。このため、複数の水中作業機５を目的場所に設置することができる。 As explained above, in the underwater towing system 1 of the present embodiment, the plurality of underwater working machines 5 are towed by the towing rope 3 that hangs down from the towing machine 2 into the water. The machine 5 can be transported to the destination location. Further, when each underwater work machine 5 is transported to the destination location, if the first control device 21 causes the light emitting device 4 to send a detachment signal for the underwater work machine 5, the underwater work machine 5 is transported to the destination location. Detach from towing rope 3. Therefore, a plurality of underwater working machines 5 can be installed at the target location.
　（変形例）
　本開示は上述した実施形態に限定されるものではなく、本開示の要旨を逸脱しない範囲で種々の変形が可能である。 (Modified example)
The present disclosure is not limited to the embodiments described above, and various modifications can be made without departing from the gist of the present disclosure.
　例えば、各水中作業機５が発光装置を含み、それらの発光装置に対応する複数の受光装置が曳航ロープ３に取り付けられるとともに第１制御装置２１と電気的に接続されてもよい。この構成であれば、各水中作業機５から第１制御装置２１へ情報を出力することができる。この場合、曳航ロープ３の発光装置４が発信する光信号の色と水中作業機５の発光装置が発信する光信号の色とを異ならせることが望ましい。全ての水中作業機５の発光装置が同じ色で発光する場合、各水中作業機５の発光装置の発光は、当該水中作業機５に対する牽引機２の第１制御装置２１からの発光許可指令によって制御されることが望ましい。 For example, each underwater working machine 5 may include a light emitting device, and a plurality of light receiving devices corresponding to the light emitting devices may be attached to the towing rope 3 and electrically connected to the first control device 21. With this configuration, information can be output from each underwater working machine 5 to the first control device 21. In this case, it is desirable to make the color of the light signal emitted by the light emitting device 4 of the towing rope 3 different from the color of the light signal emitted by the light emitting device of the underwater working machine 5. When the light emitting devices of all underwater working machines 5 emit light in the same color, the light emitting devices of each underwater working machine 5 emit light according to a light emission permission command from the first control device 21 of the towing machine 2 for the underwater working machine 5. Desirably controlled.
　さらに、図２に示す変形例の水中曳航システム１Ａのように、牽引機２は水中を航走するＡＵＶ２Ｂであってもよい。ＡＵＶ２Ｂは、水中作業機５であるＡＵＶよりも大型のバッテリを含み、長時間に亘って水中を航走可能である。また、ＡＵＶ２Ｂは、流線形の形状を有する本体２２と、本体２２に設けられた推進装置２３を含み、本体２２に第１制御装置２１および慣性航法装置２４が設けられる。 Furthermore, like the modified underwater towing system 1A shown in FIG. 2, the towing machine 2 may be an AUV 2B that travels underwater. The AUV 2B includes a larger battery than the AUV that is the underwater working device 5, and can travel underwater for a long time. Further, the AUV 2B includes a main body 22 having a streamlined shape and a propulsion device 23 provided in the main body 22, and the main body 22 is provided with a first control device 21 and an inertial navigation device 24.
　また、図３に示す変形例の水中曳航システム１Ｂのように、各水中作業機５は係合機構５４およびアクチュエータ５５を含まなくてもよい。この場合、ＡＵＶである各水中作業機５が、発光装置４からの光信号に誘導されて航走することで曳航ロープ３に牽引される。各水中作業機５が発光装置４からの光信号に誘導される場合も、発光装置４の数と水中作業機５の数は同じであっても異なってもよい。 Moreover, each underwater working machine 5 does not need to include the engagement mechanism 54 and the actuator 55, as in the modified underwater towing system 1B shown in FIG. In this case, each underwater working machine 5, which is an AUV, is guided by the optical signal from the light emitting device 4 and navigated to be towed by the towing rope 3. Even when each underwater working machine 5 is guided by a light signal from the light emitting device 4, the number of light emitting devices 4 and the number of underwater working machines 5 may be the same or different.
　この構成であれば、各水中作業機５を曳航ロープ３に接続することなく曳航ロープ３で間接的に牽引することができる。これに対し、前記実施形態のように各水中作業機５が係合機構５４およびアクチュエータ５５を含む構成であれば、各水中作業機５を曳航ロープ３で牽引する際は、各水中作業機５を機械的に曳航ロープ３に接続することができる（直接的牽引）。 With this configuration, each underwater working machine 5 can be indirectly towed by the towing rope 3 without being connected to the towing rope 3. On the other hand, if each underwater working machine 5 includes the engagement mechanism 54 and the actuator 55 as in the embodiment, when each underwater working machine 5 is towed by the towing rope 3, each underwater working machine 5 can be mechanically connected to the towing rope 3 (direct towing).
　なお、図３に示す水中曳航システム１Ｂでは、各水中作業機５の受光装置５３が当該水中作業機５に対する離脱信号を発光装置４から受信したときに、第２制御装置５６が発光装置４に追従して航走する追従モードから、水中作業を行う作業モードに移行する。これにより、水中作業機５が曳航ロープ３から離脱する。 Note that in the underwater towing system 1B shown in FIG. Shifts from follow-up mode, in which the vessel follows and navigates, to work mode, in which it performs underwater work. As a result, the underwater working machine 5 separates from the towing rope 3.
　また、各水中作業機５は必ずしもＡＵＶである必要はなく、水中観測装置であってもよい。水中観測装置は推進装置を含んでもよいし推進装置を含まなくてもよい。 Further, each underwater working device 5 does not necessarily have to be an AUV, and may be an underwater observation device. The underwater observation device may or may not include a propulsion device.
　（まとめ）
　第１の態様として、本開示は、水上または水中を航走する、制御装置を含む牽引機と、前記牽引機から水中に垂れ下がる曳航ロープと、前記曳航ロープに取り付けられた、前記制御装置により制御される少なくとも１つの発光装置と、前記曳航ロープに牽引される複数の水中作業機と、を備え、前記複数の水中作業機のそれぞれは、前記少なくとも１つの発光装置からの光信号を受信可能な受光装置を含み、当該水中作業機に対する離脱信号を前記制御装置が前記少なくとも１つの発光装置に発信させ、その離脱信号を前記受光装置が受信したときに、前記曳航ロープから離脱する、水中曳航システムを提供する。 (summary)
As a first aspect, the present disclosure provides a towing machine including a control device that travels on or under water, a towing rope that hangs down from the towing machine into the water, and a towing machine that is attached to the towing rope and that is controlled by the control device. and a plurality of underwater working machines towed by the towing rope, each of the plurality of underwater working machines being capable of receiving an optical signal from the at least one light emitting device. An underwater towing system including a light receiving device, wherein the control device causes the at least one light emitting device to send a detachment signal to the underwater working machine, and when the light receiving device receives the detachment signal, the underwater towing system detaches from the towing rope. I will provide a.
　上記の構成によれば、複数の水中作業機が牽引機から水中に垂れ下がる曳航ロープに牽引されるので、牽引機の航走によってそれらの水中作業機を目的場所まで搬送することができる。また、各水中作業機が目的場所まで搬送されたときに、制御装置がその水中作業機に対する離脱信号を発光装置に発信させれば、その水中作業機が目的場所で曳航ロープから離脱する。このため、複数の水中作業機を目的場所に設置することができる。 According to the above configuration, since the plurality of underwater working machines are towed by the towing rope hanging down from the towing machine into the water, the underwater working machines can be transported to the destination by the cruising of the towing machine. Further, when each underwater working machine is transported to the destination location, if the control device causes the light emitting device to send a detachment signal for the underwater working machine, the underwater working machine will detach from the towing rope at the destination location. Therefore, a plurality of underwater working machines can be installed at the target location.
　第２の態様として、第１の態様において、前記制御装置は第１制御装置であり、前記複数の水中作業機のそれぞれは、前記曳航ロープと接続可能な係合機構と、前記係合機構を操作するアクチュエータと、前記アクチュエータを制御する第２制御装置を含み、前記受光装置が前記離脱信号を受信したときに、前記第２制御装置が前記曳航ロープと前記係合機構との接続が解除されるように前記アクチュエータを駆動してもよい。この構成によれば、各水中作業機を曳航ロープで牽引する際は、各水中作業機を機械的に曳航ロープに接続することができる。 As a second aspect, in the first aspect, the control device is a first control device, and each of the plurality of underwater working machines includes an engagement mechanism connectable to the towing rope, and an engagement mechanism connectable to the towing rope. The apparatus includes an actuator to be operated and a second control device that controls the actuator, and when the light receiving device receives the detachment signal, the second control device releases the connection between the towing rope and the engagement mechanism. The actuator may be driven so as to According to this configuration, when each underwater working machine is towed by the towing rope, each underwater working machine can be mechanically connected to the towing rope.
　第３の態様として、第１または第２の態様において、例えば、前記複数の水中作業機のそれぞれは、自律型潜水機であってもよい。 As a third aspect, in the first or second aspect, each of the plurality of underwater working machines may be an autonomous submersible, for example.
　第４の態様として、第１の態様において、前記複数の水中作業機のそれぞれは、推進装置を含む自律型潜水機であり、前記少なくとも１つの発光装置からの光信号に誘導されて航走することで前記曳航ロープに間接的に牽引されてもよい。この構成によれば、各水中作業機を曳航ロープに接続することなく曳航ロープで牽引することができる。
  As a fourth aspect, in the first aspect, each of the plurality of underwater working machines is an autonomous diving machine including a propulsion device, and navigates while being guided by a light signal from the at least one light emitting device. In this way, it may be indirectly towed by the towing rope. According to this configuration, each underwater working machine can be towed by the towing rope without being connected to the towing rope.

Claims (4)

  1. 　水上または水中を航走する、制御装置を含む牽引機と、
    　前記牽引機から水中に垂れ下がる曳航ロープと、
    　前記曳航ロープに取り付けられた、前記制御装置により制御される少なくとも１つの発光装置と、
    　前記曳航ロープに牽引される複数の水中作業機と、を備え、
    　前記複数の水中作業機のそれぞれは、前記少なくとも１つの発光装置からの光信号を受信可能な受光装置を含み、当該水中作業機に対する離脱信号を前記制御装置が前記少なくとも１つの発光装置に発信させ、その離脱信号を前記受光装置が受信したときに、前記曳航ロープから離脱する、水中曳航システム。     A towing machine including a control device that travels on or under water;
    a towing rope hanging down into the water from the towing machine;
    at least one light emitting device attached to the towing rope and controlled by the control device;
    a plurality of underwater working machines towed by the towing rope,
    Each of the plurality of underwater working machines includes a light receiving device capable of receiving an optical signal from the at least one light emitting device, and the control device causes the at least one light emitting device to transmit a withdrawal signal for the underwater working machine. , an underwater towing system that detaches from the towing rope when the light receiving device receives the detachment signal.
  2. 　前記制御装置は第１制御装置であり、
    　前記複数の水中作業機のそれぞれは、前記曳航ロープと接続可能な係合機構と、前記係合機構を操作するアクチュエータと、前記アクチュエータを制御する第２制御装置を含み、前記受光装置が前記離脱信号を受信したときに、前記第２制御装置が前記曳航ロープと前記係合機構との接続が解除されるように前記アクチュエータを駆動する、請求項１に記載の水中曳航システム。     The control device is a first control device,
    Each of the plurality of underwater working machines includes an engagement mechanism connectable to the towing rope, an actuator that operates the engagement mechanism, and a second control device that controls the actuator, and the light receiving device The underwater towing system according to claim 1, wherein the second controller drives the actuator so that the tow rope and the engagement mechanism are disconnected when a signal is received.
  3. 　前記複数の水中作業機のそれぞれは、自律型潜水機である、請求項１または２に記載の水中曳航システム。 The underwater towing system according to claim 1 or 2, wherein each of the plurality of underwater working machines is an autonomous submersible.
  4. 　前記複数の水中作業機のそれぞれは、推進装置を含む自律型潜水機であり、前記少なくとも１つの発光装置からの光信号に誘導されて航走することで前記曳航ロープに間接的に牽引される、請求項１に記載の水中曳航システム。
          Each of the plurality of underwater working machines is an autonomous submersible including a propulsion device, and is indirectly towed by the towing rope by traveling guided by a light signal from the at least one light emitting device. , the underwater towing system according to claim 1.
PCT/JP2023/020222 2022-06-21 2023-05-31 Underwater towing system WO2023248740A1 (en)

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