TUIT

US 20210109517A1

IN( 19 ) United States( 12 ) KIM
PatentApplication Publication ((4310)) Pub
Pub.. Date
No .: :US 2021/0109517
A1
et al .
Apr. 15, 2021

( 54 ) CONTROL METHOD OF UNDERWATER

Publication Classification

VEHICLE , INTRODUCING METHOD OF(51 ) Int. Ci .

UNDERWATER VEHICLE , RECOVERINGMETHOD OF UNDERWATER VEHICLE ,CONTROL SYSTEM OF UNDERWATER

G05D 1/02

VEHICLE , INTRODUCING /RECOVERINGEQUIPMENT OF CONTROL SYSTEM OF( 71 ) Applicant: National Institute of Maritime , Portand Aviation Technology, Tokyo (JP)( 72 ) Inventors: Kangsoo KIM , Tokyo (JP ) ; Hiroyuki
YAMATO , Tokyo (JP )( 73 ) Assignee : National Institute of Maritime , Portand Aviation Technology , Tokyo (JP)( 21 ) Appl . No .:16 /498,981( 22 ) PCT Filed :Mar. 30 , 2018
PCT / JP2018 / 013772( 86 ) PCT No .:$ 371 ( c ) ( 1 ) ,Sep. 27, 2019( 2 ) Date:

Foreign Application Priority Data
2017-071896
2017-072283

Mar. 31 , 2017 (JP)Mar. 31 , 2017 ( JP )
1

25 24

(2006.01 )(2006.01 )G05D 1/04
B63C 7/02
B63G 8/00

UNDERWATER VEHICLE( 30 )( 2006.01 )( 2006.01 )G05D 1/00
B63B 79/40(2006.01 )(2006.01 )(52) U.S. CI.
CPC

G05D 1/0038 (2013.01 ) ; B63B 79/40(2020.01 ) ; G05D 1/0206 ( 2013.01 ) ; B63G
2008/005 (2013.01 ) ; B63C 7702 ( 2013.01 ) ;B63G 8/001 (2013.01 ) ; G05D 1/048 (2013.01 )( 57 )

ABSTRACT

When on -water control means 20 having moving means andcapable of moving near a water surface controls a multiple
underwater vehicles 30 which cruise in water, the moving

means 23 controls movement of the on -water control means

20 such that the multiple underwater vehicles 30 are locatedin a control region X where the on - water control means 20
can position the multiple underwater vehicles 30 utilizing
acoustic positioning means 24 provided in the on -water
control means 20. According to this, it is possible to deploy
and operate the multiple underwater vehicles in water andsafely and efficiently carry out survey operation and the likesuch as water bottom exploration .
23

308 ( 30)

AR

Patent Application Publication Apr. 15 , 2021 Sheet lof 11

US 2021010951741

22

(
X
3AS
??

318314A

Patent Application Publication Apr. 15 , 2021 Sheet 2 of 11

US 2021/0109517 A1

31A (31)
31A ( 31 )

33

31A (31)

Patent Application Publication Apr. 15 , 2021 Sheet 3 of 11

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22

contro setting
26

Cole

Moving276

Control determining

Patent Application Publication Apr. 15, 2021 Sheet 4 of 11

US 2021/0109517 A1

is control setting
Measure position of multiple
S3

Yes

$5

control region ?

SZPatent Application Publication Apr. 15 , 2021 Sheet 5 of 11

20

30A (30 )

308 ( 30 )US 2021/0109517 A1

Patent Application Publication Apr. 15 , 2021 Sheet 6 of 1130B ( 30 )-22

US 2021/0109517 A1

Patent Application Publication Apr. 15 , 2021 Sheet 7 of 11

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81 (80)82( 80 )20 (launch , recoverposition )H2 (H )

Patent Application Publication Apr. 15, 2021 Sheet 8 of 11

US 2021/0109517 A1

Cruising setting

353
31
306

35 €

Patent Application Publication Apr. 15, 2021 Sheet 9 of 11

Set cruising condition

submergence cruising$ 13

position of own vehicle
Measure communication

state
Record cruising path
S16

in control region ?
Estimate position and selectpath foreturn control region$ 18

Underwater vehicle reversely
returns cruising path orincrease depth

US 2021/0109517 A1

Patent Application Publication Apr. 15, 2021 Sheet 10 of 11

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Underwater vehicle 3039
30 section

Submerging
32

Patent Application Publication Apr. 15, 2021 Sheet 11 of 11

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S22
$ 23

submergence, settling
Cruise at set depth
525

Cruise in exploration region
$ 26

$ 31

in control region ?

Yes
Execute exploration mission$29
Record / transmtexecutionresult of$ 30

exploration mission
Terminate exploration mission

Apr. 15 , 2021

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1
CONTROL METHOD OF UNDERWATERVEHICLE , INTRODUCING METHOD OF
UNDERWATER VEHICLE , RECOVERINGMETHOD OF UNDERWATER VEHICLE ,CONTROL SYSTEM OF UNDERWATER

between the self -propelled repeater and the underwater
vehicle is carried out by acoustic communication , thereby
enhancing a communication -possible distance in a horizon
tal direction.

VEHICLE , INTRODUCING /RECOVERINGPRIOR ART DOCUMENTS

UNDERWATER VEHICLE

Patent Documents

TECHNICAL FIELD[ 0007 ] [ Patent Document 1 ] Japanese Patent Application
Laid - open No. H3-266794

EQUIPMENT OF CONTROL SYSTEM OF[ 0001 ] The present invention relates to a control method ,an introducing method, a recovering method, a control
system of an underwater vehicle for conducting survey
operation such as water bottom exploration , and an intro
ducing /recovering equipment of the control system .
BACKGROUND TECHNIQUE[ 0002 ] When an underwater vehicle is introduced into a
research water area to conduct survey operation such as
water bottom exploration in marine and lake, a ship locatedon water or a device placed in water controls the underwater
vehicle .

[ 0003 ] For example, patent document 1 discloses a technique in which an underwater station connected to a mothership through a cable is placed in seawater, an acoustic
transponder is placed undersea in the vicinity of an explo
ration position point, a multiple no - cable type unmanned

submersible vessels are induced by introducing them into

communication with the underwater station and the acoustic

transponder using an ultrasonic wave signal, the no - cable
type unmanned submersible vessels are docked to the underwater station if necessary, battery is charged or battery is
exchanged and exploration data is retrieved .
[ 0004 ] Patent document 2 discloses a technique in which
an underwater station having a first transponder, a first wave
receiver and a second wave receiver is suspended in sea

water from a mother ship , a second transponder is placed
undersea, an autonomous unmanned vehicle for exploration
is provided with a third transponder and a third wave
receiver, the underwater station holds a fixed point byreceiving a signal of the second transponder by means of thefirst wave receiver, the autonomous unmanned vehicle self
navigates by receiving a signal of the second transponder bymeans of the third wave receiver during exploration , and if
power is reduced, the autonomous unmanned vehicle cruises
toward the underwater station by receiving a signal of thefirst transponder by means of the third wave receiver, and theunderwater station controls attitude for storing autonomous
unmanned cruising by receiving a signal of the third tran
sponder by means of the second wave receiver.
[ 0005 ] Patent document 3 discloses a technique in which

a mother ship located on the water is provided with atransmitter, an unmanned submersible for exploration isprovided with a wave receiver, and in underwater acoustic
communication for sending a control signal from the mothership to the unmanned submersible , transmission errors arecorrected utilizing Hough transform of a pixel signal.
[ 0006 ] Patent document 4 discloses a technique in which
a self -propelled repeater which relays communication
between a mother ship and an underwater vehicle is placedin the vicinity of a water surface of an observation region ,communication between the self - propelled repeater and themother ship is carried out by waving, and communication[ 0008 ] [ Patent Document 2 ] Japanese Patent Application
Laid - open No. 2003-26090[ 0009 ] [Patent Document 3 ] Japanese Patent Application
Laid - open No. H5-147583[ 0010 ) [ Patent Document 4 ] Japanese Patent Application
Laid - open No. 2001-308766
SUMMARY OF THE INVENTION

Problem to be Solved by the Invention[ 0011 ] Meanwhile , since speed of the underwater vehicle
is slow , if the number of the underwater vehicles is only one ,it takes time to research a wide water area , but from the
aspect of energy consumption, there is a limit to increase thespeed of the underwater vehicle. Hence , to efficiently
research a wide water area , it can be considered to introduce
a multiple underwater vehicles. However, if the multiple
underwater vehicles are introduced in , if the underwater
vehicles are not strictly controlled , there is fear that theunderwater vehicle disappears, the underwater vehicles collide against each other, or the underwater vehicle collides
against a rough water bottom land form or the like . Further,when research is carried out using a multiple underwater
vehicles, it takes time for the introducing and recovering
operations as compared with a case where the research iscarried out using one underwater vehicle. It is general thatthe introducing and recovering operations of the underwater
vehicle are carried out using a special or dedicated ship
having a special or dedicated equipment, and it is necessary
to wait until schedule of the dedicated ship is opened.
Therefore, there is a problem that schedule of the researchdoes not proceed as desired .
[ 0012 ] According to an invention described in patentdocument 1 , the acoustic transponder for inducing the nocable type unmanned submersible is fixed to the undersea or
the underwater station and the mother ship are connected toeach other through a cable . Therefore, it is difficult to freely
move the acoustic transponder and the underwater station inaccordance with positions of the multiple no - cable typeunmanned submersibles , and change a control region .
Therefore, if the no - cable type unmanned submersible

moves away from a region where it can be induced, apossibility that sight of the no - cable type unmanned sub

mersible is lost as it is is high. Further, patent document 1
does not disclose that the introducing / recovering operationof the underwater station and the multiple no - cable typeunmanned submersibles is efficiently and safely carried out.
[ 0013 ] According to an invention described in patentdocument 2 , since the second transponder is fixed to theundersea and the underwater station is suspended from themother ship, it is difficult, to freely move the second
transponder and the underwater station in accordance with aposition of the autonomous unmanned vehicle and change
the control region . Therefore , if the autonomous unmanned

Apr. 15 , 2021

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2

vehicle moves away from a region where it can be induced ,a possibility that sight of the autonomous unmanned vehicle
is lost as it is is high . Further, patent document 2 does notdisclose that the introducing/ recovering operation of theunderwater station and the multiple autonomous unmanned

vehicles is efficiently and safely carried out .
[ 0014 ] According to an invention described in patentdocument 3 , the fact that underwater acoustic communica

tion is subject to effects of reflection sound of a water
surface and sea bottom is taken into consideration ,unmanned submersible is prevented from being introduced
into an uncontrolled state by estimating a correct control
signal even if transmission errors are included therein .
However, if the unmanned submersible exceeds a substan
tially conical underwater acoustic communication -possible
region having the mother ship as its apex , the communica
tion is interrupted. Further, patent document 3 does notdisclose the control when a multiple unmanned submersibles
are introduced in . Further, patent document 3 does notdisclose that the introducing/ recovering operation of themultiple unmanned submersibles is efficiently and safely
carried out.
[ 0015 ] Patent document 4 describes an invention that aself -propelled repeater determines whether there is horizon
tal movement based on current position information of theself-propelled repeater and current position information ofan underwater vehicle , and a communication state withrespect to the underwater vehicle is maintained . It is also
described that a multiple underwater vehicles can be intro
duced. However, if the multiple underwater vehicles are
introduced , patent document 4 does not described at all as to
how to control the movement of the self -propelled repeater,
and as to whether control of the multiple underwater
vehicles should be maintained . Further, in patent document
4 , the self -propelled repeater maintains a communication
state with respect to the underwater vehicle , and does not
move based on positioning. Patent document 4 does notdisclose that introducing/ recovering operation of the self
propelled repeater and the underwater vehicle is carried out
efficiently and safely.
[ 0016 ] Hence , it is an object of the present invention toprovide a control method of an underwater vehicle, anintroducing method of the underwater vehicle, a recovering
method of the underwater vehicle, a control system of theunderwater vehicle, and an introducing/ recovering equip
ment of the control system of the underwater vehicle capableof safely and efficiently carrying out a survey operation suchas water bottom exploration by deploying and operating a
multiple underwater vehicles under water.
Means for Solving the Problem[ 0017] In a control method of an underwater vehicle
corresponding to description claim 1 , when on -water control
means having moving means and capable of moving near awater surface controls a multiple underwater vehicles whichcruise underwater, the moving means controls movement of
the on- water control means such that the multiple underwa
ter vehicles are located in a control region where theon -water control means can carry out positioning the mul
tiple underwater vehicles utilizing acoustic positioning
means provided in the on -water control means .
[ 0018 ] According to the invention described in claim 1 ,since the on - water control means moves to a position where
the multiple underwater vehicles can be positioned, it ispossible to position the multiple underwater vehicles in thecontrol region and continue a survey operation and the like .

Further, an underwater vehicle which deviates from thecontrol region can be returned within the control region .
According to this, a multiple underwater vehicles can be
deployed and operated and a survey operation such as waterbottom exploration can safely and efficiently be carried out.
[ 0019 ] The survey operation and the like include ail ofoperation actions carried out by the underwater vehicle inwater bottom such as a collecting operation , a rescue opera
tion a transport operation, an observing operation , and asearching operation in addition to the survey operation itself.
[ 0020 ] In the present invention described in claim 2 , themoving means controls movement of the on - water control
means utilizing communication means which are respec
tively provided in the on -water control means and themultiple underwater vehicles.
[ 0021 ] According to the invent ion described in claim 2 ,by moving the on -water control means to a position where
it is possible to communicate with a multiple underwater
vehicles, a survey operation and the like can safely andefficiently be carried out .
[ 0022 ] In the present invention described in claim 3 , theon - water control means is moved to a position where theon -water control means can control all of the multiple
underwater vehicles .

[ 0023 ] According to the invention described in claim 3 ,since all of the underwater vehicles are placed under controlof the on -water control means, a survey operation and thelike can safely and efficiently be carried out.
[ 0024 ] In the present invention described in claim 4 , theon - water control means is moved to a position where theon -water control means can control maximum number of themultiple underwater vehicles .
[ 0025 ] According to the invention described in claim 4 ,the number of underwater vehicles which deviate from thecontrol region can be minimized .
[ 0026 ] In the present invention described in claim 5 , themaximum number is a number obtained by subtracting, fromthe number of the multiple underwater vehicles, the numberof uncontrollable underwater vehicles including any of: theunderwater vehicle which deviates from the control region ;the damaged underwater vehicle; and the emergency sur
faced underwater vehicle .
[ 0027] According to the invention described in claim 5 ,the multiple underwater vehicles which can be researched

are located in the control region , and the survey operation[ 0028 ] In the present invention described in claim 6 , when
the on -water control means is moved , the on- water control
means is moved in a range where the number of the multiple
and the like can be continued .

underwater vehicles located in the control region when the[ 0029 ] According to the invention described in claim 6 , itis possible to prevent the number of the underwater vehicles
located in the control region from being reduced .
[ 0030 ] In the present invention described in claim 7 ,movement is started is not reduced .

before the on -water control means is moved, if it is detectedthat the underwater vehicle deviates from the control region ,the on -water control means keeps on standby for predeter

mined time and then , the on -water control means starts

moving.

[ 0031 ] According to the invention described in claim 7 ,there are a possibility that an underwater vehicle whichApr. 15 , 2021

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3
deviates from the control region returns into the control
underwater vehicle actually located in the control region
deviates from the control region by temporal positioning
failure or communication failure . Therefore, it is possible toregion by itself, and a possibility that it is detected anlower a possibility that the on -water control means unnec
essarily moves by making the on- water control means keepon standby. According to this , it is possible to prevent wasteof energy of the on -water control means and prevent anunderwater vehicle located in the control region from devi
ating from the control region .

[ 0032 ] In the present invention described in claim 9 , theof the multiple underwater vehicles in the on - water control
means .
[ 0033 ] According to the invention described in claim 9 ,control precision and moving efficiency of the on -wateron -water control means is moved based on cruising record

control means can be enhanced .

[ 0034 ] In the present invention described in claim 9 , theon -water control means is moved in a direction in which itis estimated that the underwater vehicle which deviates fromthe control region exists based on the cruising record of theunderwater vehicle which deviates from the control region
among the multiple underwater vehicles .
[ 0035 ] According to the invention described in claim 9 , itis possible to enhance the moving efficiency of the on -water
control means , and return the underwater vehicle which

deviates from the control region into the control region
faster.
[ 0036 ] In the present invention described in claim 10 ,when the underwater vehicle detects that it deviates from thecontrol region , the underwater vehicle reversely returns apath through which the underwater vehicle cruises hereto
fore or the underwater vehicle cruises in a direction in which
a depth in the underwater is increased .

[ 0037] According to the invention described in claim 10 ,the underwater vehicle can return into the control region by

itself.

[ 0038 ] In an introducing method of an underwater vehicle
underwater vehicles are introduced into underwater, theon -water control means is first launched and then , themultiple underwater vehicles are sequentially introduced

corresponding to description of claim 11 , when the multiple
into underwater.

[ 0039 ] According to the invention described in claim 11 ,the underwater vehicle can swiftly be started by the on -water
control means after the underwater vehicle is introduced .
According to this, efficiency and safety of the introducing
operation are enhanced .
[ 0040] In the present invention described in claim 12 , thesince the on- water control means first launches, control offirst launched on -water control means moves such that it

separates from the mother ship by a predetermined distanceafter the on -water control means launches.

[0041] According to the invention described in claim 12 ,collide against the on- water control means , the introducing

an underwater vehicle which is introduced later does notoperation is not hindered , and it is possible to control amultiple introduced underwater vehicles . According to this,efficiency and safety of the introducing operation are further
enhanced .

[ 0042 ] In the present invention described in claim 13 ,introducing order of the multiple underwater vehicles isdetermined while taking settling speed and / or submerging
speed of the underwater vehicles into account.
[ 0043 ] According to the invention described in claim 13 ,an underwater vehicle having slower settling speed andslower submerging speed than other underwater vehicle isfirst introduced for example . According to this, it is possible
to shorten time elapsed before the survey operation isstarted , and enhance the efficiency of the entire survey
operation. Further, by arranging the introducing order while
taking , into account, a difference of settling speed andsubmerging speed between the underwater vehicles , it ispossible to prevent the introduced underwater vehicles fromcolliding against each other, and safety is enhanced .
[ 0044 ] In the present invention described in claim 14 ,exploration depths of the multiple underwater vehicles are
set in the underwater vehicles on the mother ship , and the
exploration depths are input to the on- water control means .
[ 0045 ] According to the invention described in claim 14 ,at preset exploration depth , a multiple underwater vehicles
can be made to carry out the survey operation while receiv
ing control of the on -water control means. Further, without
touching water, exploration depth can be input on the mothership where a wide operation space can be secured .
[ 0046 ] In a recovering method of an underwater vehicle

corresponding to description of claim 15 , when the multiple

underwater vehicles are recovered from underwater, after

the multiple underwater vehicles are sequentially recoveredfrom the underwater, the on -water control means is recov
ered .
[ 0047 ] According to the invention described in claim 15 ,it is possible to recover an underwater vehicle while grasp
ing a position and a communication state of the underwater
vehicle by the on -water control means . According to this ,efficiency and safety of the recovering operation areenhanced .

[ 0048 ] In the present invention described in claim 16 , thelater recovered on - water control means keeps on standby ata position separated from the mother ship by a predeter
mined distance while the multiple underwater vehicles arerecovered[ 0049 ] According to the invention described in claim 16 ,a surfacing underwater vehicle does not collide against theon -water control means , the recovering operation is nothindered, and control of a multiple underwater vehicles
which wait for recovering can be carried out through tocompletion . According to this , efficiency and safety of therecovering operation are further enhanced .
[ 0050 ] In the present invention described in claim 17 ,recovering order of the multiple underwater vehicles issurfaced order.
[ 0051 ] According to the invention described in claim 17 ,it is possible to prevent a later surfaced underwater vehicle
from colliding against a faster surfaced underwater vehicle.
It is possible to prevent a case where water washes asurfaced underwater vehicle away and sight thereof is lost .
[ 0052 ] In the present invention described in claim 18 , theon -water control means controls until a recovering operationof the multiple underwater vehicles is completed .

[ 0053 ] According to the invention described in claim 18 ,control of the underwater vehicles by the on -water control
means is continued until all of the underwater vehicles arerecovered . Therefore, efficiency and safety of the recovering

operation are enhanced .

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4[ 0054 ] In a control system of an underwater vehicle cor
responding to description of claim 19 , the control system
includes on -water control means having moving means andcapable of cruising near a water surface , the multiple underwater vehicles which cruises in water, and acoustic posi
tioning means provided in the on- water control means ,wherein the on -water control means includes a movement

control means which controls movement of the on -water

control means by the moving means such that the multiple
underwater vehicles are located in a control region where theon -water control means can carry out positioning the mul
tiple underwater vehicles by the acoustic positioning means .

[ 0055 ] According to the invention described in claim 19 ,since the on - water control means moves to a position wherea multiple underwater vehicles can be positioned, the mul
tiple underwater vehicles can be located in the control
region , and the survey operation and the like can be continued . Further, the on -water control means which deviatesfrom the control region can be returned into the control
region . According to this, a wide water area can beresearched safely and efficiently without losing the sight ofthe multiple underwater vehicles .
[ 0056 ] In the present invention described in claim 20 , theon -water control means and the multiple underwater

which instructs such that when it is detected that the underwater vehicle deviates from the control region , the on -water
control means is kept on standby for predetermined time andthen , the on -water control means starts moving.

[ 0065 ] According to the invention described in claim 24 ,there are a possibility that an underwater vehicle which
deviates from the control region returns into the control
region by itself, and a possibility that it is detected anunderwater vehicle which is actually located in the control
region deviates from the control region by temporary mea
suring or communication failure . Therefore , by making theon -water control means keep on standby, it is possible tolower a possibility that the on -water control means unnec
essarily moves . According to this, it is possible to prevent
waste of energy of the on -water control means and prevents
an underwater vehicle located in the control region fromdeviating from the control region .
[ 0066 ] In the present invention described in claim 25 , themovement -control means includes a cruising - recording sec
tion which records cruising of the multiple underwater

vehicles.

[ 0067] According to the invention described in claim 25 ,control precision and moving efficiency of the on -water

vehicles further respectively include communication means ,control means can be enhanced .

the multiple underwater vehicles are located in the control
region where the multiple underwater vehicles and thecommunication means can communicate with each other.
[ 0057] According to the invention described in claim 20 ,by moving the on - water control means to a position where
the on -water control means is allowed to communicate witha multiple underwater vehicles , the survey operation and thelike can be carried out more safely and efficiently.
[ 0058 ] In the present invention described in claim 21 , themovement- control means includes a number -managing sec
tion which manages the number of the multiple underwater
vehicles.
[ 0059 ] According to the invention described in claim 21 ,movement-control means controls the on- water control

the movement-control means controls movement such thatmovement of the on -water control means can be controlled
based on the number of the underwater vehicles .

[ 0060 ] In the present invention described in claim 22 , thenumber -managing section manages the number of the underwater vehicles while taking, into account, the number of
uncontrollable underwater vehicles including any of: theunderwater vehicle which deviates from the control region ;the damaged underwater vehicle ; and the emergency sur
faced underwater vehicle .
[ 0061 ] According to the invention described in claim 22 ,a multiple underwater vehicles which can research arelocated in the control region , and the survey operation andthe like can be continued .

[ 0062 ] In the present invention described in claim 23 ,when the movement -control means moves the on -water
control means , the movement-control means controls suchthat the on -water control means moves within a range where
the number of the multiple underwater vehicles located in
the control region when the movement is started is not
reduced .
[ 0063 ] According to the invention described in claim 23 ,it is possible to prevent the number of underwater vehicles
located in the control region from being reduced .
[ 0064 ] In the present invention described in claim 24 , themovement - control means includes a standby - control section[ 0068 ] In the present invention described in claim 26 , themeans to move in a direction in which it is estimated that theunderwater vehicle which deviates from the control region
exists based on the cruising record of the multiple underwater vehicles in the cruising -recording section .

[ 0069 ] According to the invention described in claim 26 ,moving efficiency of the on -water control means can beenhanced, and an underwater vehicle which deviates fromthe control region can be returned into the control region
faster.

[ 0070 ] In the present invention described in claim 27 , eachof the underwater vehicles includes cruising -control meansand own vehicle positioning means , when the cruisingfrom the control region, the cruising - control means estimates a position of the own vehicle by the own vehicle
positioning means , and the cruising - control means makes
the underwater vehicle return a path through which thecontrol means detects that the underwater vehicle deviates

underwater vehicle cruises heretofore or makes the underwater vehicle cruise in a direction in which a depth in theunderwater is increased .

[ 0071 ] According to the invention described in claim 27 ,an underwater vehicle can return into the control region by
itself .

[ 0072 ] In an introducing / recovering equipment of a con
trol system of an underwater vehicle corresponding todescription of claim 28 , the introducing/ recovering equip
ment includes an introducing/recovering equipment, an onwater control means - pedestal on which the on -water control
means is placed , underwater vehicle -pedestals on which a
multiple underwater vehicles are placed , and interchanging
means for interchanging a position of the on -water control
means -pedestal and a position of the underwater vehicle
pedestals with respect to the introducing /recovering equip
ment .

[ 0073 ] According to the invention described in claim 28 ,an on -water control means and a multiple underwaterApr. 15 , 2021

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5vehicles can stably be placed and interchanged . Therefore ,the introducing and recovering operations can smoothly be
carried out .
[ 0074 ] In the present invention described in claim 29 , theintroducing / recovering equipment further includes settingmeans for setting exploration depths of the multiple underwater vehicles .

[ 0075 ] According to the invention described in claim 29 ,exploration depth of a multiple underwater vehicles can be
set by an operator or setting means .
[ 0076 ] In the present invention described in claim 30 , theintroducing /recovering equipment further includes display
means for displaying set introducing order and / or set recov
ering order of the multiple underwater vehicles .
[ 0077] According to the invention described in claim 30 ,it is possible to prevent the introducing order error or therecovering order error of a multiple underwater vehicles.
According to this , efficiency and safety of operation are[ 0085 ] When the on - water control means is moved to a
position where the on -water control means can control
maximum number of the multiple underwater vehicles, thenumber of underwater vehicles which deviate from thecontrol region can be minimized .
[ 0086 ] When the maximum number is a number obtainedby subtracting, from the number of the multiple underwater
vehicles, the number of uncontrollable underwater vehicles
including any of the underwater vehicle which deviatesfrom the control region ; the damaged underwater vehicle ;and the emergency surfaced underwater vehicle , the mul
tiple underwater vehicles which can be researched arelocated in the control region , and the survey operation andthe like can be continued .

since the survey operation can be carried out for the mothership by an underwater vehicle using not only a dedicatedship but also a general ship . Therefore, the survey operationand the like can be carried without being swayed by sched[ 0087] When the on -water control means is moved , if theon - water control means is moved in a range where thenumber of the multiple underwater vehicles located in thecontrol region when the movement is started is not reduced ,it is possible to prevent the number of the underwater
vehicles located in the control region from being reduced .
[ 0088 ] Before the on -water control means is moved, if it
is detected that the underwater vehicle deviates from thecontrol region , the on -water control means keeps on standby
for predetermined time and then , the on -water control means
starts moving, it is possible to lower a possibility that theon -water control means unnecessarily moves by making theon -water control means keep on standby. According to this ,it is possible to prevent waste of energy of the on -water
control means and prevent an underwater vehicle located in
the control region from deviating from the control region .
[ 0089 ] When the on -water control means is moved basedon cruising record of the multiple underwater vehicles in theon -water control means , control precision and moving effi
ciency of the on -water control means can be enhanced .
[ 0090 ] When the on -water control means is moved in a

Effect Of The Invention

which deviates from the control region exists based on theenhanced .

[ 0078 ] In the present invention described in claim 31 , theintroducing/recovering equipment includes a function tolaunch and recover the on -water control means .

[ 0079 ] According to the invention described in claim 31 ,launched , introduced and recovered using the same equipment.
[ 0080 ] In the present invention described in claim 32 , themother ship is a general ship , and the introducing / recovering
equipment includes a crane which is mounted in the general
ship .
[ 0081 ] According to the invention described in claim 32 ,an underwater vehicle and an on- water control means can beule of the dedicated ship .

[ 0082 ] According to a control method of an underwater
vehicle of the present invention , since the on -water control
means moves to a position where a multiple underwater
vehicles can be positioned , it is possible to position themultiple underwater vehicles in the control region andcontinue a survey operation and the like . Further, an underwater vehicle which deviates from the control region can be
returned within the control region . According to this, amultiple underwater vehicles can be deployed and operated
and a survey operation such as water bottom exploration cansafely and efi ntly be carried out.

[ 0083 ] When the moving means controls movement of theon -water control means utilizing communication means
which are respectively provided in the on -water control
means and the multiple underwater vehicles , by moving theon -water control means to a position where it is possible tocommunicate with a multiple underwater vehicles, a survey
operation and the like can safely and efficiently be carriedout .
[ 0084 ] When the on- water control means is moved to a
position where the on -water control means can control all of
the multiple underwater vehicles, since all of the underwater
vehicles are placed under control of the on -water control
means, a survey operation and the like can safely andefficiently be carried out .

direction in which it is estimated that the underwater vehicle

cruising record of the underwater vehicle which deviatesfrom the control region among the multiple underwater

vehicles , it is possible to enhance the moving efficiency ofthe on -water control means , and return the underwater
vehicle which deviates from the control region into thecontrol region faster.
[ 0091 ] When the underwater vehicle detects that it devi
ates from the control region , if the underwater vehicle
reversely returns a path through which the underwater
vehicle cruises heretofore or if the underwater vehicle
cruises in a direction in which a depth in the underwater isincreased , the underwater vehicle can return into the control
region by itself.

[ 0092 ] According to the introducing method of the underwater vehicle of the present invention , since the on -water
control means first launches, control of the underwater
vehicle can swiftly be started by the on -water control means
after the underwater vehicle is introduced . According to this ,efficiency and safety of the introducing operation areenhanced .

[ 0093 ] When the first launched on - water control means
moves such that it separates from the mother ship by apredetermined distance after the on -water control means
launches, an underwater vehicle which is introduced later
does not collide against the on -water control means , theintroducing operation is not hindered , and it is possible toApr. 15 , 2021

US 2021/0109517 A1
6

control a multiple introduced underwater vehicles . Accord
ing to this , efficiency and safety of the introducing operation

are further enhanced .

[ 0094] When introducing order of the multiple underwater

vehicles is determined while taking settling speed and / orsubmerging speed of the underwater vehicles into account,an underwater vehicle having slower settling speed andslower submerging speed than other underwater vehicle isfirst introduced for example. According to this , it is possible
to shorten time elapsed before the survey operation isstarted , and enhance the efficiency of the entire survey

operation. Further, by arranging the introducing order while

taking , into account, a difference of settling speed andsubmerging speed between the underwater vehicles, it ispossible to prevent the introduced underwater vehicles fromcolliding against each other, and safety is enhanced .

[ 0095 ] When exploration depths of the multiple underwa

ter vehicles are set in the underwater vehicles on the mothership , and the exploration depths are input to the on -water
control means, at preset exploration depth , a multiple underwater vehicles can be made to carry out the survey operation
while receiving control of the on -water control means .
Further, without touching water, exploration depth can be
input on the mother ship where a wide operation space canbe secured .
[ 0096 ] According to the recovering method of the underwater vehicle of the invention, it is possible to recover anunderwater vehicle while grasping a position and a commu
nication state of the underwater vehicle by the on -water
control means . According to this , efficiency and safety of therecovering operation are enhanced .
[ 0097] The later recovered on - water control means keeps
on standby at a position separated from the mother ship by
a predetermined distance while the multiple underwater
vehicles are recovered , a surfacing underwater vehicle does
not collide against the on -water control means , the recov
ering operation is not hindered, and control of a multiple
underwater vehicles which wait for recovering can be carried out through to completion. According to this , efficiency
and safety of the recovering operation are further enhanced .
[ 0098 ] If recovering order of the multiple underwater
vehicles is surfaced order, it is possible to prevent a later

surfaced underwater vehicle from colliding against a fastersurfaced underwater vehicle. It is possible to prevent a casewhere water washes a surfaced underwater vehicle away andsight thereof is lost .
[ 0099 ] When the on - water control means controls until arecovering operation of the multiple underwater vehicles iscompleted, control of the underwater vehicles by the onwater control means is continued until all of the underwater
vehicles are recovered . Therefore, efficiency and safety of
the recovering operation are enhanced .
[ 0100 ] According to the control system of an underwater
vehicle of the invention , since the on -water control means
moves to position where a multiple underwater vehicles
can be positioned , the multiple underwater vehicles can belocated in the control region, and the survey operation andthe like can be continued . Further, the on -water control
means which deviates from the control region can be
returned into the control region . According to this, a wide
water area can be researched safely and efficiently without
losing the sight of the multiple underwater vehicles .
[ 0101 ] When the on -water control means and the multiple
underwater vehicles further respectively include communi

cation means , the movement- control means controls move

ment such that the multiple underwater vehicles are locatedin the control region where the multiple underwater vehicles
and the communication means can communicate with eachother, by moving the on -water control means to a position
where the on -water control means is allowed to communi
cate with a multiple underwater vehicles , the survey opera
tion and the like can be carried out more safely and effi
ciently.
[ 0102 ] When the movement - control means includes anumber -managing section which manages the number of themultiple underwater vehicles, movement of the on -water
control means can be controlled based on the number of theunderwater vehicles .
[ 0103 ] When the number -managing section manages thenumber of the underwater vehicles while taking, into
account, the number of uncontrollable underwater vehicles
including any of: the underwater vehicle which deviatesfrom the control region ; the damaged underwater vehicle ;and the emergency surfaced underwater vehicle , a multiple
underwater vehicles which can research are located in thecontrol region , and the survey operation and the like can becontinued .

[ 0104 ] When the movement - control means moves theon -water control means , if the movement - control means
controls such that the on -water control means moves withina range where the number of the multiple underwater

vehicles located in the control region when the movement isstarted is not reduced , it is possible to prevent the number ofunderwater vehicles located in the control region from being
reduced .

[ 0105 ] When the movement - control means includes a
standby -control section which instructs such that when it isdetected that the underwater vehicle deviates from thecontrol region , the on -water control means is kept on
standby for predetermined time and then , the on -water
control means starts moving , there are a possibility that, an
underwater vehicle which deviates from the control region
returns into the control region by itself, and a possibility that
it is detected an underwater vehicle which is actually locatedin the control region deviates from the control region bytemporary measuring or communication failure. Therefore ,by making the on -water control means keep on standby, it ispossible to lower a possibility that the on - water control
means unnecessarily moves . According to this, it is possible
to prevent waste of energy of the on -water control meansand prevents an underwater vehicle located in the control
region from deviating from the control region.
[ 0106 ] When the movement - control means includes a
cruising - recording section which records cruising of themultiple underwater vehicles , control precision and moving
efficiency of the on -water control means can be enhanced .
[ 0107] When the movement- control means controls theon -water control means to move in a direction in which it isestimated that the underwater vehicle which deviates fromthe control region exists based on the cruising record of thetion , moving efficiency of the on- water control means can beenhanced, and an underwater vehicle which deviates fromthe control region can be returned into the control region
faster.
[ 0108 ] Each of the underwater vehicles includes cruising
control means and own vehicle positioning means, when thecruising -control means detects that the underwater vehicle

multiple underwater vehicles in the cruising - recording sec

Apr. 15 , 2021

US 2021/0109517 A1
7
deviates from the control region, the cruising -control means
estimates a position of the own vehicle by the own vehicle
positioning means , and the cruising -control means makes
the underwater vehicle return a path through which theunderwater vehicle cruises heretofore or makes the underwater vehicle cruise in a direction

which a depth in theunderwater is increased , an underwater vehicle can return
into the control region by itself.
[ 0109 ] According to the introducing /recovering equip
ment of the control system of the underwater vehicle of theinvention , an on -water control means and a multiple underwater vehicles can stably be placed and interchanged . Therefore, the introducing and recovering operations cansmoothly be carried out.
[ 0110 ] When the introducing/recovering equipment fur
ther includes setting means for setting exploration depths ofthe multiple underwater vehicles, exploration depths of amultiple underwater vehicles can be set by an operator orsetting means .
[ 0111 ] When the introducing / recovering equipment fur
ther includes display means for displaying set introducing

order and / or set recovering order of the multiple underwater
vehicles, it is possible to prevent the introducing order error
or the recovering order error of a multiple underwater
vehicles. According to this , efficiency and safety of opera

tion are enhanced .

[ 0112] When the introducing / recovering equipment
includes a function to launch and recover the on -water
control means, an underwater vehicle and an on -water

control means can be launched , introduced and recovered

using the same equipment.

[ 0113 ] When the mother ship is a general ship , and themounted in the general ship , since the survey operation canbe carried out for the mother ship by an underwater vehicle
using not only a dedicated ship but also the general ship .
Therefore, the survey operation and the like can be carried
without being swayed by schedule of the dedicated ship .

introducing/ recovering equipment includes a crane which is

BRIEF DESCRIPTION OF THE DRAWINGS[ 0114 ] FIG . 1 is a schematic configuration diagram of acontrol system of an underwater vehicle according to anembodiment of the present invention ;[ 0115 ] FIG . 2 are perspective views of an outward appear

MODE FOR CARRYING OUT THE INVENTION[ 0125 ] A control method of an underwater vehicle, anmethod of the underwater vehicle , a control system of theintroducing method of the underwater vehicle, a recovering

underwater vehicle, and an introducing/ recovering equip

ment of the control system of the underwater vehicle accord
ing to an embodiment of the present invention will be
described below .

[ 0126 ] FIG . 1 is a schematic configuration diagram of thecontrol system of the underwater vehicle according to theembodiment of the invention , and FIG . 2 are perspective
views of an outward appearance of the underwater vehicle .

[ 0127] FIG . 1 shows a state in which one on -water control
marine or lake, and a multiple underwater vehicles 30 are
introduced, and a water bottom is explored , thereby carryingout a survey operation and the like of mineral resource ,energy resource and the like of the water bottom . The
on -water control means 20 and the underwater vehicles 30
are loaded in a mother ship ( support ship ), and they aretransported to the research water area .
[ 0128 ] The on -water control means 20 and the underwater
vehicles 30 are no - cable type unmanned autonomous cruis
ing robots . Since radio waves are not transmitted in water,
the on -water control means 20 which is placed in the vicinity
means 20 is made to launch in a research water area inof a water surface controls, utilizing acoustic signals, themultiple underwater vehicles 30 which carry out the survey
operation and the like in water.
[ 0129 ] An offshore repeater (ASV: Autonomous Surface

Vehicle) is used as the on -water control means 20. The
on - water control means 20 includes a cylindrical main body
20a having a hemisphere end, and a vertical blade 20b
extending from an upper surface of the main body 20a . The
on -water control means 20 which is launched from themother ship 10 into the research water area is used in asemi- submersible state where the main body 20a is sub
merged underwater and an upper portion of the verticalblade 20b projects from a water surface. Own position
grasping means 21 such as GPS and maritime communica
tion means 22 such as a satellite communication antenna anda wireless LAN antenna are placed on the upper portion of
the vertical blade 20b. The on -water control means 20 canance of the underwater vehicle ;grasp own position by receiving GNSS signals from a GNSS
(global navigation satellite system) satellite 1 using own
position grasping means 21. Communication with the[ 0116 ] FIG . 3 is a control block diagram of on -watermother ship 10 can be established using the maritime
communication means 22 .

[ 0117] FIG . 4 is a control flow chart of the on -water
control means ;[ 0118 ] FIG . 5 is a diagram showing a placed state of theon -water control means and a multiple underwater vehicles;[ 0119 ] FIG . 6 is a diagram showing a recovering operationof the underwater vehicle ;[ 0120 ] FIG . 7 is a schematic configuration diagram of an
introducing / recovering equipment;[ 0121 ] FIG . 8 is a control block diagram of the underwater
vehicle;[ 0122 ] FIG . 9 is a control flow chart of the underwater
vehicle ;[ 0123 ] FIG . 10 is a control block diagram of anotherexample of the underwater vehicle; and[ 0124 ] FIG . 11 is a control flow chart of the other example[ 0130 ] A rear portion of the main body 20a is provided
with moving means 23 having a rudder and a propeller, andthe main body 20a can move in the vicinity of a water
surface by the moving means 23 .

control means ;of the underwater vehicle .

[ 0131 ] A lower surface of the main body 20a is provided
with acoustic positioning means 2'1 and communicationmeans 25. The communication means 25 includes a transmitter which sends acoustic wave and a wave receiver which

receives acoustic wave . The on -water control means 20

measures a position of the underwater vehicle 30 using theacoustic positioning means 24 , and bidirectionally commu

nicates with the underwater vehicle 30 by acoustic signals
using the communication means 25 , and controls the underwater vehicle 30. The acoustic signals sent from the onwater control means 20 toward underwater easily reach
within a substantially conical range having the on -water
control means 20 as an apex . Therefore , this substantiallyApr. 15 , 2021

US 2021/0109517 A1
8conical range controlled by the on -water control means 20 isdetermined as a control region X.

[ 0132 ] A no - cable autonomous unmanned type vehicle(AUV: Autonomous Underwater Vehicle) which autono
mously cruises in water without using a cable for connectingwith the on -water control means 20 is used as the underwater
vehicle 30. The on -water control means 20 controls amultiple underwater vehicles 30 using acoustic signals.
[ 0133 ] Therefore, it is unnecessary to provide the on -water
control means 20 with a equipment for cable , a cable is notentangled or movement of the on -water control means 20 is
not limited by the cable .
[ 0134 ] FIG . 1 shews a case where the multiple underwater

vehicles 30 are one first underwater vehicle 30A and two
second underwater vehicles 30B . Each of the first underwa
ter vehicle 30A and the second underwater vehicles 30B is

provided with cruising means ( submerging means ) 31 suchas a rudder, a propulsion unit and a ballast (weight), and by
the cruising means 31 , the underwater vehicle can cruise
underwater and can be submerged. The underwater vehicle
30 is provided with own vehicle positioning means 32 used
for measuring a position of an own vehicle, communicationmeans 33 used for bidirectional communication with theon -water control means 20 by acoustic signals, and an

acoustic transponder (not shown) for responding a signaltransmitted from the acoustic positioning means 24 of theon -water control means 20. The communication means 33
includes a transmitter for sending acoustic wave , and a wave
receiver for receiving acoustic wave . The underwater
vehicle 30 can emergency surface and can be collected by
the mother ship 10 when positioning of the on -water control
means 20 fails predetermined times or when communication
with the on -water control means 20 fails predetermined
times .
[ 0135 ] Cruising speed of the hovering type first underwa
ter vehicle 30A can be made slower than those of the second
underwater vehicles 30B . The first underwater vehicle 30A

includes a vertical thruster and a horizontal thruster, a freedegree of movement of the first underwater vehicle 30A is
higher than the second underwater vehicles 30B , andposition of the first underwater vehicle 30A can be held evenin a place having water flow or the like . Therefore , the firstunderwater vehicle 30A mainly carries out a precise survey
operation and the like near a water bottom . The first underwater vehicle 30A is provided with imaging means 41 fortaking an image of a water bottom . The imaging means 41
is a camera including lighting for example.
[ 0136 ] FIG . 2 ( a ) is a perspective view of the second
underwater vehicles 30B as viewed from a diagonally
upward direction, and FIG . 2 (b ) perspective view of thesecond underwater vehicles 30B as viewed from a diago
nally downward direction . The cruising type second underwater vehicles 30B can move agilely at high speed ascompared with the first underwater vehicle 30A . Therefore ,the second underwater vehicles 30B mainly carry out asurvey operation and the like in a position separated awayfrom a water bottom and in a wider range. Each of thesecond underwater vehicles 30B is provided with a land
form researching means 42 for researching a land form of awater bottom and a geological layer researching means 43

for researching geological layer of water bottom . The land
form researching means 42 and the geological layer
researching means 43 are sonars for example. The second
underwater vehicle 30B is provided at its rear portion withthe propulsion unit 31A and at its lower portion with theballast (weight) 31B as cruising means ( submerging means)

31. The ballast 31B is mounted such that it can be separated
away from the second underwater vehicle 30B .
[ 0137] Next, control of the on- water control means 20 will
be described using FIGS . 3 and 4 .
[ 0138 ] FIG . 3 is a control block diagram of the on -water
control means 20 , and FIG . 4 is a control flow chart of theon -water control means 20 .

[ 0139 ] The on- water control means 20 includes the own
position grasping means 21 , the maritime communicationmeans 22 , the moving means 23 , the acoustic positioning
means 24 , the communication means 25 , control setting
section 26 and movement -control means 27 .

[ 0140 ] The movement-control means 27 includes a num
ber -managing section 27a , a standby -control section 27b, a
position -estimating section 27c, a cruising - recording section
27D and a control - determining section 27E .
[ 0141 ] An operator who embarks on the mother ship 10
sets control by inputting, into the on -water control means 20 ,information which is necessary for the control such as amoving range of the on -water control means 20 , the number,
performance and depths of the underwater vehicles 30 whichshould be controlled using the control setting section 26
before the on -water control means 20 is made to launch intoa research water area from the mother ship 10 ( step 1 ) .

[ 0142 ] After step 1 , the on -water control means 20 which

launched into the research water area starts the control of theunderwater vehicle 30 which is introduced later in accor

dance with the control setting which was set in step 1. First ,positions of the multiple underwater vehicles 30 are mea
sured using the acoustic positioning means 24 , and a mea
surement result is sent to the movement- control means 27( step 2 ) .

[ 0143 ] After step 2 , communication states with the respec
tive multiple underwater vehicles 30 are measured using thecommunication means 25 , and the measurement result issent to the movement - control means 27 ( step 3 ) . The com
munication state is grasped by a signal/noise ratio ( S / N
ratio ) for example.
[ 0144 ] The movement - control means 27 records, in thecruising -recording section 27D , cruising paths of the mul
tiple underwater vehicles 30 together with time based on thereceived measurement result in step 2 and the received
measurement result in step 3 ( step 4 ) .
[ 0145 ] After step 4 , the number -managing section 27A
compares, with each other, the number of underwater
vehicles 30 which are input in the control setting in step 1
and the number of underwater vehicle 30 in which thecruising paths are recorded in step 4 , and the number
managing section 27A determines whether all of the underwater vehicles 30 which should be controlled are located in
the control region X ( step 5 ) .
[014 ] In step 5 , when it is determined that the number ofthe underwater vehicles 30 in which the cruising paths arerecorded is equal to or larger than the number of theunderwater vehicles 30 which should be controlled , i.e. ,when it is determined that all of the underwater vehicles 30

which should be controlled are located in the control region
X , this result is sent to the control-determining section 27E .
[ 0147] In this case , the movement- control means 27 predicts behaviors of the multiple underwater vehicles 30 basedon the cruising paths recorded in the cruising -recording
section 27D , and based on this prediction result, control may

Apr. 15 , 2021

US 2021/0109517 A1
9be performed to move the on -water control means 20 suchcontrol region X. According to this , it is possible to preventthe underwater vehicles 30 from deviating from the control
region X[ 0148 ] When moving the on -water control means 20 , it ispreferable that the on -water control means 20 is moved in arange where the number of the multiple underwater vehicles
30 located in the control region X when the movement isstarted is not reduced . According to this, it is possible toprevent the number of the underwater vehicles 30 located in
the control region X from being reduced .
[ 0149 ] In step 5 , when it is determined that the number ofthe underwater vehicles 30 in which the cruising paths arethat the underwater vehicles 30 do not deviate from therecorded is smaller than the number of the underwater

vehicles 30 which should be controlled, i.e. , when it isdetermined that one or some or all of the underwater

vehicles 30 which should be controlled deviate from thecontrol region X , the position- estimating section 27C estimates a direction in which an underwater vehicle 30 which

deviates from the control region X exists based on thecruising paths of the underwater vehicles 30 recorded in thecruising- recording section 27D ( step 6 ) .
[ 0150 ] After step 6 , the standby -control section 27B deter
mines whether predetermined time is elapsed after it is firstdetected that an underwater vehicle 30 deviates from thecontrol region X in step 5 ( step 7) .
[ 0151 ] When it is determined in step 7 that the predeter
mined time is not elapsed, the procedure returns to step 5 ,and it is again determined whether all of the underwater
vehicles 30 which should be controlled are located in thecontrol region X.
[ 0152 ] If it is determined in step 7 that the predetermined
time is elapsed, the standby - control section 27B sends a

determination result of step 5 to the control-determining
section 27E , and instructs to start moving the on -water
control means 20 ( step 8 ) . According to this, the moving

means 23 operates and the on -water control means 20 is
moved .

[ 0153 ] Even when it is determined that one or some or all
deviate from the control region X , there are a possibility thatof the underwater vehicles 30 which should be controlled

an underwater vehicle 30 which deviates from the control

region X returns into the control region X by itself and apossibility that although an underwater vehicle is actually
located in the control region X , it is erroneously detectedthat the underwater vehicle deviates from the control region
X by temporal positioning or communication failure . Therefore, it is possible to lower a possibility that the on -water
control means 20 unnecessarily moves by keeping , before
moving the on -water control means 20 , the on -water control
means 20 on standby for predetermined time after it isdetected that the underwater vehicle 30 deviates from thecontrol region X , and by repeating the determination of step
5 predetermined times during that time as in this embodi
ment. According to this, it is possible to prevent consump
tion of energy of the on - water control means 20 and preventthe underwater vehicle 30 located in the control region X
from deviating from the control region X.
[ 0154 ] The position - estimating section 27C estimates adirection in which an underwater vehicle 30 which deviatesfrom the control region X exists based on the cruising pathsof the underwater vehicles 30 recorded in the cruising
recording section 27D , and the movement - control means 27

controls the moving means 23 based on this estimation
result . According to this, it is possible to enhance the control
precision and moving efficiency of the on -water control

means 20 , and an underwater vehicle 30 which deviatesfrom the control region X can be returned to the control

region X faster.

[ 0155 ] When the movement - control means 27 moves theon - water control means 20 , it is preferable to control themoving means 23 such that the on -water control means 20
is moved to a position where all of the multiple underwater
vehicles 30 can be controlled. According to this , since all of
the underwater vehicles 30 can be placed under control of
the on- water control means 20 , the survey operation and thelike can be carried out more safely and efficiently.
[ 0156 ] When all of the multiple underwater vehicles 30
cannot be controlled , it is preferable that the movement
control means 27 controls the moving means 23 such that theon -water control means 20 moves to a position where themaximum number of the multiple underwater vehicles 30

can be controlled . According to this, the number of underwater vehicles 30 which deviate from the control region X

can be minimized . In this case , it is preferable that the
maximum number is obtained by subtracting, from thenumber of multiple underwater vehicles 30 , the number of
uncontrollable underwater vehicles 30 including any of anunderwater vehicle 30 which deviates from the control
region X , a damaged underwater vehicle 30 , and a surfaced
underwater vehicle 30. According to this, a multiple underwater vehicles 30 which can research can be located in thecontrol region X and the survey operation and the like canbe continued .

[ 0157] There is a tendency that if frequency is high ,acoustic signals are concentrated , and if frequency is low,
acoustic signals are enlarged. Therefore , it is possible tochange the control region X by changing acoustic frequencyof the acoustic positioning means 24 or the communicationmeans 25. It is also possible to change the control region X
by changing a transmitting direction of acoustic signals. It ispreferable that frequency bands of the acoustic positioning
means 24 and the communication means 25 are changed to
avoid interference of acoustic frequencies thereof.
[ 0158 ] When the on -water control means 20 controls amultiple underwater vehicles 30 such that they are located in
the control region X , it is possible to control the movementof the on - water control means 20 by the moving means 23 .
In addition to this, it is also possible to change the acoustic
frequency or change the transmitting direction to control thecontrol region X. It is also possible to control variablefrequency to continuously change the acoustic frequency ,and widen the control region X , and precisely carryout
acoustic positioning and communication . When deviation of
the underwater vehicle 30 from the control region X is veryslight, it is also possible to cope with the deviation by thesemethods.

[ 0159 ] The control -determining section 27E determines

whether control setting should be changed based on adetermination result sent from the number -managing section
27A or the standby -control section 27B ( step 9 ) .
[ 0160 ] In step 9 , when the determination result is received
from the number -managing section 27A and when the num

ber of the underwater vehicles 30 which should be controlled and the number of the underwater vehicles 30 inApr. 15 , 2021

US 2021/0109517 A1
10which the cruising paths thereof are recorded are the same,the control setting is not changed and the procedure pro

ceeds to step 2 .
[ 0161 ] Further, when the determination result is received

from the number -managing section 27A and when the num
ber of the underwater vehicles 30 in which the cruising paths

means 51 , and lower portions of the underwater vehicle

pedestals 60 are provided with interchanging means 61 .
[ 0172 ] As shown in FIG . 6 , the introducing/ recovering

equipment also includes an introducing / recovering equip

ment 70. The introducing/ recovering equipment 70 is aequipment including a crane which can be mounted or

thereof are recorded is larger than the number of the underwater vehicles 30 which should be controlled , the procedure

placed on a general ship . The introducing / recovering equip

to this, control can be continued including the underwaterto launch , introduce and recover the on -water control means
20 and the underwater vehicles 30 using the same equip

proceeds to step 1 , and the control setting section 26 changes
the control setting to setting including the underwater
vehicle 30 which returns to the control region X. According
vehicle 30 which returns to the control region X.
[ 0162 ] When the determination result is received from thestandby -control section 27B , i.e. , when a determination
result indicating that there is an underwater vehicle 30 which
deviates from the control region X is received, the procedure
proceeds to step 1 , and the control setting section 26 changes
the control setting to setting excluding the underwater
vehicle 30 which deviates from the control region X.
According to this , control can be continued excluding theunderwater vehicle 30 which deviates from the control
region X.
[ 0163 ] As described above, according to the embodiment,
by including the number -managing section 27A which manages the number of the multiple underwater vehicles 30 , itis possible to control the movement of the on -water control
means 20 based on the number of the underwater vehicles
30 .

( 0164 ] Since the on -water control means 20 moves themultiple underwater vehicles 30 to positions where they canbe positioned, it is possible to locate the multiple underwater
vehicles 30 in the control region X and continue the survey
operation and the like .

[ 0165 ] By moving the on -water control means 20 to a
position where communication with the multiple underwater
vehicles 30 can be established, it is possible to carry out thesurvey operation and the like more safely and efficiently .
[ 0166 ] According to these, it is possible to research a wide
water area safely and efficiently without losing sight of amultiple underwater vehicles 30 .
[ 0167] In control of the underwater vehicles 30 , themother ship 10 can include the function of the on -water
control means 20 , and the mother ship 10 can perform thefunction of the on- water control means 20 .

[ 0168 ] Next , the introducing/recovering equipment of thecontrol system of the underwater vehicle 30 will be
described using FIGS . 5 to 7 .
[ 0169 ] FIG . 5 is a diagram showing a placed state of theon -water control means 20 and a multiple underwater
vehicles 30 , and FIG . 6 is a diagram showing a recovering
operation of the underwater vehicle 30 .
[ 0170 ] The introducing/recovering equipment of theembodiment is placed on the mother ship 10. The mothership 10 is not a dedicated ship provided with a dedicatedequipment for the introducing/ recovering operation of thecontrol system of the underwater vehicle 30 , but the mothership 10 is a general ship .

[ 0171 ] As shown in FIG . 5 , the introducing / recovering

equipment includes an on - water control means -pedestal 50
on which the on -water control means 20 is placed , andunderwater vehicle -pedestals 60 on which underwater
vehicles 30 are placed . A lower portion of the on -water
control means - pedestal 50 is provided with interchanging

ment 70 has a function to launch and recover the on -water
control means 20 , and a function to introduce and recover

the underwater vehicles 30. According to this, it is possible

ment. Since a general ship can be used as the mother ship 10 ,the survey operation and the like can be carried out without
being swayed by schedule of the dedicated ship.
[ 0173 ] In this embodiment, the interchanging means 51
and 61 are casters . A position of the on - water control
means -pedestal 50 and a position of the underwater vehicle
pedestals 60 with respect to the introducing /recovering
equipment 70 can be interchanged by the interchanging

means 51 and 61 in accordance with introducing / recoveringorder of the on -water control means 20 and the underwater

vehicles 30. According to this, the on -water control means
20 and the multiple underwater vehicles 30 can stably beplaced and interchanged . Therefore, the introducing andrecovering operations can smoothly be carried out.

[ 0174 ] FIG . 6 shows a state where the underwater vehicle
pedestals 60 are placed at a predetermined position on themother ship 10 when the recovering operation of the second
underwater vehicle 30B is carried out .

[ 0175 ] The interchanging means 51 and the 61 may be

robot arms, conveyers or the like which move the on -water

control means - pedestal 50 and the underwater vehicle - pedestals 60 and interchange the positional relation with respect
to the introducing/ recovering equipment 70 .
[ 0176 ] FIG . 7 is a schematic configuration diagram of theintroducing/recovering equipment.

[ 0177] The introducing/ recovering equipment includes
display means 80. The display means 80 display introducing
order or recovering order of the underwater vehicles 30. The
display means 80 are an electric scoreboard, a screen of apersonal computer or numbers allocated to the underwater
vehicles 30. In this embodiment, the display means 80 are anelectric scoreboard 81 provided at a position which canvisually be identified by an operation commander which
carries out the introducing/recovering operation , and identification numbers 82 allocated to the underwater vehicles
30. By including the display means 80 , it is possible toprevent an error of the introducing order or the recoveringorder of the multiple underwater vehicles 30 , and enhancethe efficiency and safety of the operation.
[ 0178 ] When the multiple underwater vehicles 30 are
introduced from the mother ship 10 , the on -water control

means 20 is made to launch before the multiple underwater
vehicles 30 are introduced from the mother ship 10. By

introducing the underwater vehicles 30 after the on-water

control means 20 is made to launch , it is possible to swiftly
start the control of the underwater vehicles 30 by theon -water control means 20 after the underwater vehicles 30
are introduced . Further, by first launching the on -water
control means 20 which is larger than the underwater
vehicles 30 in size , it is possible to widely secure operation
spaces of the multiple underwater vehicles 30 on the motherApr. 15 , 2021

US 2021/0109517 A1
11ship 10. According to this, efficiency and safety of theintroducing operation are enhanced .
[ 0179 ] The on -water control means 20 which launches
first and which is larger, in size , than the underwater vehicle

30 moves such that the on- water control means 20 separates
from the mother ship 10 by a predetermined distance H after
the on -water control means 20 launches. The predetermined

distance H is within a range where an underwater vehicle 30
ing operation is not hindered and a multiple underwater
vehicles 30 which are introduced later can be controlled .
According to this , efficiency and safety of the introducing
operation are further enhanced . The predetermined distance
H may be set as a predetermined distance H1 from an
introduced position of the underwater vehicle 30 or may beset
as a predetermined distance H2 from a side surface of theship[ 0180 ] It is preferable that the introducing order of themultiple underwater vehicles 30 is determined while taking,into account, at least one of settling speed and submerging
speed of the underwater vehicle 30 .
[ 0181 ] For example , by first introducing the first underwater vehicle 30A having the settling speed and the sub
merging speed which are slower than those of the second
underwater vehicle 30B and having larger exploration depth
than that of the second underwater vehicle 30B , time elapsed
until the research is started can be shortened , and efficiencyof the entire survey operation can be enhanced . Further, bysetting the introducing order while taking , into account, adifference of the settling speed and the submerging speed
between the underwater vehicles 30 , it is possible to preventthe introduced underwater vehicles 30 from colliding against
each other, and the safety is enhanced .
[ 0182 ] It is preferable that exploration depths of a multiple
underwater vehicles 30 are set in the underwater vehicles 30
on the mother ship 10 , and the exploration depths set in theunderwater vehicles 30 are input to the on -water control
means 20. According to this, in the preset exploration
depths, the multiple underwater vehicles 30 can carry out thesurvey operation and the like while receiving control of theon -water control means 20. Further, the exploration depths
can be input on the mother ship 10 where a wide operation
space can be secured without touching water.
[ 0183 ] Other than the exploration depths, it is also pos
sible to set as an exploration condition by inputting infor
mation which is necessary for the exploration such as
exploration mission , an exploration region and a cruisingwhich is introduced later does not collide and the introduc

path .

[ 0184 ] When a multiple underwater vehicles 30 are recov
ered in the mother ship 10 , the on -water control means 20 isrecovered after the multiple underwater vehicles 30 are
sequentially recovered from water. Lastly, by recovering theon -water control means 20 , the recovering operation can be
carried out while grasping positions of the underwater
vehicles 30 and the communication state by the on -water
control means 20. According to this, efficiency and safety of
the recovering operation are enhanced .
[ 0185 ] While the on -water control means 20 recovers themultiple underwater vehicles 30 , the on -water control means

20 is kept on standby at a position separated from the mothership 10 by the predetermined distance H. The predetermined
distance H is within a range where a surfacing underwater
vehicle 30 does not collide and the recovering operation of
the underwater vehicles 30 is not hindered and an underwater vehicle 30 which is not recovered can be controlled .

According to this , efficiency and safety of the recovering
operation are further enhanced . The predetermined distance
H may be set as a predetermined distance H1 from a
recovered position of the underwater vehicle 30 or may be
set as a predetermined distance H2 from a side surface of theship .
[ 0186 ] It is preferable that the recovering order of themultiple underwater vehicles 30 is the surfaced order. By
recovering in the surfaced order, it is possible to prevent alater surfaced underwater vehicle 30 from colliding against
a faster surfaced underwater vehicle 30. Further, it is pos

sible to prevent a surfaced underwater vehicle 30 from being

carried away by water and prevent sight thereof from being

lost .

[ 0187] It is preferable that the on -water control means 20
controls the multiple underwater vehicles 30 at a position
separated away from the mother ship 10 by the predeter
mined distance H until the recovering operation of theunderwater vehicles 30 is completed . By continuing thecontrol of the underwater vehicles 30 by the on -water
control means 20 until all of the underwater vehicles 30 arerecovered , efficiency and safety of the recovering operation

are enhanced .

[ 0188 ] Next, control of the underwater vehicles 30 will be
described using FIGS . 8 and 9 .
[ 0189 ] FIG . 8 is a control block diagram of the underwater

vehicle 30 , and FIG . 9 is a control flow chart of theunderwater vehicle 30 .

[ 0190 ] The underwater vehicle 30 includes the cruisingmeans 31 , the own vehicle positioning means 32 , the com
munication means 33 , a depth meter 34 , cruising -control
means 35 and a cruising -setting section 36 .
[ 0191 ] The cruising -control means 35 includes a depth
control section 35A , an emergency control section 353 , aposition -estimating section 35C , a path - recording section
35D , a control region - determining section 35E .
[ 0192 ] An operator who embarks on the mother ship 10
sets cruising conditions by inputting, into the underwater
vehicles 30 , information which is necessary for the researchsuch as a researching range, a researching target and the likeof the underwater vehicles 30 using the cruising -setting
section 36 before the underwater vehicles 30 are introduced
from the mother ship 10 into the research water area ( step11 ) .
[ 0193 ] After step 11 , the multiple underwater vehicles 30

which are introduced into the research water area start

submergence and cruising in accordance with the cruisingconditions which are set in step 11 ( step 12 ) .
[ 0194 ] After step 12 , the underwater vehicles 30 measurepositions of the own vehicles using the own vehicle posi
tioning means 32 , and send the positions to the cruising
control means 35 ( step 13 ) . The positions of the own

vehicles are measured by placing a speed sensor and agyroscope sensor, and detecting and calculating speed andacceleration of the own vehicles.

[ 0195 ] After step 13 , the communication state with respect
to the on -water control means 20 is measured using thecommunication means 33 , and a measurement result sent

to the cruising - control means 35 ( step 14 ) . The communi
cation state is grasped by a signal/noise ratio ( S / N ratio ) for
example.
[ 0196 ] The cruising -control means 35 records the cruising
path of the own vehicle together with time in the path

Apr. 15 , 2021

US 2021/0109517 A1
12recording section 35D based on the received measurement
result in step 13 and the received measurement result in step
14 ( step 15 ) .
[ 0197] The underwater vehicle 30 communicates with theon -water control means 20 using the communication means
33 , passes a position of the own vehicle measured in step 13
to the on - water control means 20 , and the on -water control

means 20 complementarily puts a position obtained by theunderwater vehicle 30 to use for positional estimation ,control determination or movement control in the move
[ 0198 ] After step 15 , the control region -determining sec

ment - control means 27 .

tion 35E determines whether the own vehicle is in thecontrol region X based on the cruising path which is[ 0199 ] If it is determined in step 16 that the own vehicle
is in the control region X , the procedure returns to step 13 .
[ 0200 ] If it is determined in step 16 that the own vehicle
is not in the control region X , the position -estimating section
35C estimates a position of the own vehicle based on ameasurement result made by the own vehicle positioning
means 32 , a measurement result made by the depth meter 34
and the cruising path recorded in the path -recording section
35D , and the position -estimating section 35C selects a path
to return to the control region X ( step 17 ) .
[ 0201 ] In step 17 , if the underwater vehicle 30 reversely
cruises the recorded cruising path and selects the path toreturn to the control region X , the emergency control section

recorded in the path - recording section 35D ( step 16 ) .

35B controls the cruising means 31 such that the cruisingmeans 31 reversely returns the path through which theunderwater vehicle cruised heretofore. Since the control
region X spreads in the form of an umbrella , if the depth isincreased and the path to return to the control region X is
selected , the depth control section 35A controls the cruisingmeans 31 such that the depth of the own vehicle is increased( step 18 ) . According to this, the underwater vehicle 30 can
returns to the control region X by itself, and the operation
can be continued while again receiving the control of theon -water control means 20 .
[ 0202 ] Next , another example of the control of the underwater vehicle 30 will be described using FIGS . 10 and 11 .
[ 0203 ] FIG . 10 is a control block diagram of anotherexample of the underwater vehicle 30 , and FIG . 11 is acontrol flow chart of the other example of the underwater[ 0204 ] The underwater vehicle 30 includes the cruisingmeans 31 , the own vehicle positioning means 32 , the com
munication means 33 , the depth meter 34 , transmission
means 37 , recording means 38 , a cruising speed setting
section 39 , a cruising - control section 40 , imaging means 41 ,land form researching means 42 , the geological layer
researching means 43 , setting means 44 arid exploration
mission executing means 45 .
[ 0205 ] The exploration mission executing means 45
includes a depth control section 45A , a submerging -control
section 45B , a position -estimating section 45C , a time
managing section 45D , a mission- control section 45E .
[ 0206 ] The cruising - control section 40 includes a control
region -determining section 40A .
[ 0207] An operator who embarks on the mother ship 10
inputs , to the underwater vehicle 30 , information which isnecessary for exploration such as an exploration mission , an
exploration depth, an exploration region and a cruising pathof the underwater vehicle 30 using the setting means 44
vehicle 30 .

before the underwater vehicle 30 is introduced into an

exploration water area from the mother ship 10 , thereby
setting exploration conditions, and cruising speed is set for
the underwater vehicle 30 using the cruising speed setting
section 39 ( step 21 ) . The exploration missions , the explo
ration depths, the exploration regions and the cruising paths
are set differently between the underwater vehicles 30 .
[ 0208 ] The exploration condition such as the set exploration depth and the cruising speed are input to the on -water
control means 20 .
[ 0209 ] In the set respective exploration depths, it is pref
erable that the exploration region is set such that the multiple
underwater vehicles 30 have respect exploration regions.
According to this, it is possible to carry out the exploration

more efficiently.
[ 0210 ] It is preferable that the cruising path is set such thatthe cruising loca of the underwater vehicles 30 which cruise
respective exploration regions are not superposed on eachother simultaneously. According to this, it is possible toprevent underwater vehicles 30 having close exploration
depths from colliding against each other, and safety can beenhanced . Further, since the underwater vehicles 30 are notvertically superposed on each other, it is possible to lower apossibility that the underwater vehicle 30 erroneously
observes and a possibility the underwater vehicle 30 cannot

observe.

[ 0211 ] Further, it is preferable that the exploration depths

which are set differently between the underwater vehicles 30
include deep exploration depths which are close to the waterbottom and shallow exploration depths which are far fromthe water bottom , the deep exploration depths have height(distance ) from the water bottom in a range of 1 m or more
and less than 50 m , and the shallow exploration depths haveheight (distance ) from the water bottom in a range of 10 m
or more and less than 200 m . According to this, it is possible
to efficiently explore a region close to the water bottom anda region far from the water bottom . In this embodiment, thehovering type first underwater vehicle 30A explores a deep
exploration depth region, and the cruising type second
underwater vehicle 30B explores a shallow exploration
depth region . Since the cruising speed of the first underwater
vehicle 30A is slower than that of the second underwater
vehicle 30B , it is possible to explore more precisely near thewater bottom .
[ 0212 ] After step 21 , the multiple underwater vehicles 30
are introduced into underwater in accordance with theintroducing order ( step 22 ) .
[ 0213 ] The on -water control means 20 which is launchedfirst starts control of the introduced underwater vehicle 30 .
[ 0214 ] After step 22 , the multiple underwater vehicles 30
starts the submergence and settling ( step 23 ) .

[ 0215 ] The submergence is carried out using the propul
out only by weight of the ballast 31B while stopping the
propulsion unit 31A .
sion unit 31A and the ballast 31B , and the settling is carried[ 0216 ] When the submergence and settling are carried out,
the multiple underwater vehicles 30 measure depths andpositions of the own vehicles using the depth meter 34 andthe own vehicle positioning means 32 , and the exploration
mission executing means 45 having the depth control section
45A , the submerging -control section 45B and the position
estimating section 45C controls the cruising -control section
40 in accordance with the exploration depth which is set instep 21. The cruising - control section 40 controls the cruisingApr. 15 , 2021

US 2021/0109517 A1
13means 31 in accordance with the control performed by the
exploration mission executing means 45 and the cruising
speed which is set by the cruising speed setting section 39 .
[ 0217] The measurement of the position of the own
vehicle carried out by the own vehicle positioning means 32
is carried out by mounting the speed sensor and the gyro
scope sensor for example, and detecting and calculating the
speed and the acceleration of the own vehicle.
[ 0218 ] After step 23 , the underwater vehicle 30 whichreaches the set exploration depth starts cruising ( step 24 ) .
[ 0219 ] The respective underwater vehicles 30 which start
cruising at the set exploration depths measure positions of
the own vehicles using the own vehicle positioning means
32 , and send measurement results to the exploration mission
executing means 45. The exploration mission executing

means 45 which includes the position - estimating section
45C controls the cruising -control section 40 such that theunderwater vehicle 30 cruises in the exploration region
which is set in step 21. The cruising - control section 40

controls the cruising means 31 in accordance with thecontrol carried out by the exploration mission executing
means 45 and the cruising speed which is set by the cruising
speed setting section 39. According to this, the underwater
vehicle 30 cruises in the exploration region ( step 25 ) .
[ 0220 ] The exploration mission executing means 45 hav
ing the time -managing section 45D which manages time
controls the cruising - control section 40 in accordance withthe cruising path which is set in step 1 such that the cruisingloca of the underwater vehicles 30 are not superposed oneach other simultaneously.
[ 0221 ] The cruising - control section 40 cruises in the control region X of the on -water control means 20 based on an
estimated position of the own vehicle received from the
exploration mission executing means 45 , a depth and acommunication state with respect to the on -water control
means 20 ( step 26 ) . The communication state is grasped by

the signal/noise ratio ( S / N ratio ) for example.
[ 0222 ] The cruising - control section 40 includes the control region - determining section 40A , and periodically deter
mines whether the own vehicle is located in the control

region X ( step 27 ) based on the estimated position of theown vehicle and the communication state with the on -water

control means 20 .

[ 0223 ] If it is determined in step 27 that the own vehicle
is located in the control region X , the exploration mission is
executed (step 26 ) .
[ 0224 ] If the mission - control section 45E of the exploration mission executing means 45 controls the imaging means
41 provided in the first underwater vehicle 30A , it is possible

to take an image of the water bottom . If the mission - control
section 45E controls the land form researching means 42 andthe geological layer researching means 43 provided in thesecond underwater vehicle 30B , it is possible to obtain
information of the land form of the water bottom and thegeological layer under the water bottom .
[ 0225 ] Exploration mission execution results such as
information of the obtained taken images , a land form of thewater bottom and the geological layer under the waterbottom are recorded in the recording means 38 such as a
hard disk and a magnetic tape . After the results are subjected
to processing such as encoding by the transmission means
37 , the results are sent to the on -water control means 20
using the communication means 33 ( step 29 ) .

[ 0226 ] After step 29 , if the exploration mission executing
means 45 determines that the set exploration mission iscompleted , the exploration mission is terminated ( step 30 ) ,and the own vehicle is made to surface ( step 31 ) .
[ 0227] If it is determined in step 27 that the own vehicle
is not located in the control region X , the exploration
mission executing means determines that exploration cannot
be continued, and the own vehicle is made to surface ( step31 ) .

[ 0228 ] Before the own vehicle is made to surface, aposition of the own vehicle is estimated by the position
estimating section 45C based on measurement results madeby the own vehicle positioning means 32 , it is determined

whether the own vehicle can return to the control region X ,and if it is determined that the own vehicle cannot return tothe control region X , the own vehicle may be made tosurface .
[ 0229 ] The exploration conditions such as the exploration
depth which is set by the setting means 44 of the multiple
underwater vehicles 30 are setting of the exploration con
ditions in the mother ship 10 and except this, instructions
from the mother ship 10 can also be renewed automaticallythrough the on -water control means 20 or based on aschedule which is programed in the on -water control means
20 .

INDUSTRIAL APPLICABILITY[ 0230 ] The control method of the underwater vehicle , theintroducing method of the underwater vehicle, the recovering method of the underwater vehicle, the control system of

the underwater vehicle , and the introducing / recovering
equipment of the control system of the underwater vehicleaccording to the present invention can deploy and operate
the multiple underwater vehicles in the research water area ,and the survey operation and the like such as the waterbottom exploration can safely and efficiently be carried out.
EXPLANATION OF SYMBOLS[ 0231 ][ 0232 ][ 0233 ][ 0234 ][ 0235 ]10 mother ship
20 on -water control means
23 moving means
24 acoustic positioning means
25 communication means[ 0236 ] 27 movement-control means[ 0237] 27A number -managing section[ 0239 ] 27D cruising -recording section[ 0238 ] 27B standby -control section[ 0240 ] 30 underwater vehicle[ 0241 ][ 0242 ][ 0243 ][ 0244 ][ 0245 ]33 communication means
35 cruising -control means
44 setting means
50 on -water control means -pedestal
51 interchanging means[ 0246 ] 60 underwater vehicle -pedestal[ 0248 ] 70 introducing/ recovering equipment[ 0247 ] 61 interchanging means[ 0249 ] 80 display means[ 0250 ] H predetermined distance[ 0251 ] X control region

1 : A control method of underwater vehicle wherein whenon -water control means having moving means and capableof moving near a water surface controls a multiple underwater vehicles which cruise underwater, the moving meansApr. 15 , 2021

US 2021/0109517 A1
14controls movement of the on -water control means such thatthe multiple underwater vehicles are located in a control
region where the on - water control means can carry out
positioning the multiple underwater vehicles utilizing acous

tic
positioning means provided in the on -water control
means .
2 : The control method of the underwater vehicle accord

ing to claim 1 , wherein the moving means controls move
ment of the on -water control means utilizing communicationmeans which are respectively provided in the on -water
control means and the multiple underwater vehicles.
3 : The control method of the underwater vehicle accord

ing to claim 1 , wherein the on -water control means is moved
to a position where the on -water control means can control
all of the multiple underwater vehicles .
4 : The control method of the underwater vehicle accord

ing to claim 1 , wherein the on -water control means is moved
to a position where the on -water control means can control
maximum number of the multiple underwater vehicles .
5 : The control method of the underwater vehicle accord

ing to claim 4 , wherein the maximum number is a number

obtained by subtracting, from the number of the multiple

underwater vehicles, number of uncontrollable underwater

vehicles including any of: the underwater vehicle which
deviates from the control region ; the damaged underwater

vehicle ; and the emergency surfaced underwater vehicle .

6 : The control method of the under water vehicle accord

ing to claim 1 , wherein when the on - water control means is

moved , the on -water control means is moved in a range
where the number of the multiple underwater vehicles
located in the control region when the movement is started
is not reduced .

7 : The control method of the underwater vehicle accord

ing to claim 1 , wherein before the on -water control means is

moved , if it is detected that the underwater vehicle deviatesfrom the control region , the on -water control means keeps
control means starts moving .

on standby for predetermined time and then , the on -water
8 : The control method of the underwater vehicle accord

ing to claim 1 , wherein the on -water control means is moved

based on cruising record of the multiple underwater vehicles
in the on - water control means .

9 : The control method of the underwater vehicle accord

ing to claim 8 , wherein the on - water control means is moved
in a direction in which it is estimated that the underwater
vehicle which deviates from the control region exists basedon the cruising record of the underwater vehicle which
deviates from the control region among the multiple underwater vehicles .
10 : The control method of the underwater vehicle accord

ing to claim 1 , wherein when the underwater vehicle detectsthat it deviates from the control region, the underwater

vehicle reversely returns a path through which the underwater vehicle cruises heretofore or the underwater vehicle
cruises in a direction in which a depth in the underwater isincreased .
11 : An introducing method of underwater vehicle used forthe control method of the underwater vehicle according toclaim 1 , wherein when the multiple underwater vehicles are
introduced into underwater, the on - water control means is
first launched and then , the multiple underwater vehicles aresequentially introduced into underwater.
12 : The introducing method of the underwater vehicleaccording to claim 11 , wherein the first launched on -water

control means moves such that it separates from the mothership by a predetermined distance after the on -water control
13 : The introducing method of the underwater vehicleaccording to claim 11 , wherein introducing order of themultiple underwater vehicles is determined while taking
settling speed and / or submerging speed of the underwater
vehicles into account.
14 : The introducing method of the underwater vehicleaccording to claim 11 , wherein exploration depths of themultiple underwater vehicles are set in the underwatermeans launches.

vehicles on the mother ship , and the exploration depths are
input to the on- water control means .
15 : A recovering method of underwater vehicle used forthe control method of the underwater vehicles according toclaim 1 , wherein when the multiple underwater vehicles arerecovered from underwater, after the multiple underwater
vehicles are sequentially recovered from the underwater, theon - water control means is recovered .
16 : The recovering method of the underwater vehicleaccording to claim 15 , wherein the later recovered on -water
control means keeps on standby at a position separated fromthe mother ship by a predetermined distance while themultiple underwater vehicles are recovered .

17 : The recovering method of the underwater vehicleaccording to claim 15 , wherein recovering order of themultiple underwater vehicles is surfaced order.
18 : The recovering method of the underwater vehicleaccording to claim 15 , wherein the on -water control means
controls until a recovering operation of the multiple underwater vehicles is completed.
19 : A control system of underwater vehicle comprisingon -water control means having moving means and capableof cruising near a water surface , a multiple underwater
vehicles which cruise in water, and acoustic positioning
means provided in the on -water control means , wherein theon -water control means includes a movement - control means

which controls movement of the on -water control means by

the moving means such that the multiple underwater
vehicles are located in a control region where the on -water
control means can carry out positioning the multiple underwater vehicles by the acoustic positioning means .
20 : The control system of the underwater vehicle accord
ing to claim 19 , wherein the on -water control means and themultiple underwater vehicles further respectively include

communication means, the movement- control means con
trols movement such that the multiple underwater vehicles
are located in the control region where the multiple underwater vehicles and the communication means can commu
nicate with each other .

21 : The control system of the underwater vehicle accord
ing to claim 19 , wherein the movement - control means
includes a number -managing section which manages num
ber of the multiple underwater vehicles .
22 : The control system of the underwater vehicle accord
ing to claim 21 , wherein the number -managing section
manages number of the underwater vehicles while taking,into account, the number of uncontrollable underwater
vehicles including any of: the underwater vehicle which
deviates from the control region ; the damaged underwater

vehicle; and the emergency surfaced underwater vehicle.
23 : The control system of the underwater vehicle accord
ing to claim 21 , wherein when the movement - control means
moves the on - water control means , the movement- control

Apr. 15 , 2021

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15means controls such that the on -water control means moves

within a range where the number of the multiple underwater
vehicles located in the control region when the movement isstarted is not reduced .
24 : The control system of the underwater vehicle accord
ing to claim 19 , wherein the movement - control means
includes a standby - control section which instructs such thatwhen it is detected that the underwater vehicle deviates fromthe control region, the on -water control means is kept on
standby for predetermined time and then , the on -water
control means starts moving .
25 : The control system of the underwater vehicle accord
ing to claim 19 , wherein the movement - control means
includes a cruising -recording section which records cruisingof the multiple underwater vehicles.
26 : The control system of the underwater vehicle accord
ing to claim 25 , wherein the movement - control means
controls the on- water control means to move in a directionin which it is estimated that the underwater vehicle which

deviates from the control region exists based on the cruising
record of the multiple underwater vehicles in the cruising
recording section .
27 : The control system of the underwater vehicle accord
ing to claim 19 , wherein each of the underwater vehicles
includes cruising -control means and own vehicle position
ing means , when the cruising - control means detects that theunderwater vehicle deviates from the control region , thecruising - control means estimates a position of the own
vehicle by the own vehicle positioning means , and thecruising -control means makes the underwater vehicle return
a path through which the underwater vehicle cruises here

tofore or makes the underwater vehicle cruise in a directionin which a depth in the underwater is increased .
28 : An introducing/ recovering equipment of the control
system of the underwater vehicle according to claim 19 ,comprising an introducing /recovering equipment, an onwater control means - pedestal on which the on - water control
means is placed , underwater vehicle -pedestals on which a
multiple underwater vehicles are placed , and interchanging
means for interchanging a position of the on -water control
means-pedestal and a position of the underwater vehicle
pedestals with respect to the introducing /recovering equipment.

29 : The introducing / recovering equipment of the control

system of the underwater vehicle according to claim 28 ,further comprising setting means for setting exploration
depths of the multiple underwater vehicles.
30 : The introducing/recovering equipment of the control
system of the underwater vehicle according to claim 28 ,further comprising display means for displaying set intro
ducing order and / or set recovering order of the multiple
underwater vehicles .
31 : The introducing/ recovering equipment of the control
system of the underwater vehicle according to claim 28 ,wherein the introducing / recovering equipment includes afunction to launch and recover the on- water control means .
32 : The introducing /recovering equipment of the control
system of the underwater vehicle according to claim 28 ,wherein the mother ship is a general ship , and the introduc
ing/recovering equipment includes a crane which is mounted
in the general ship .