US011511835B2( 12 ) Kim
UnitedStates Patent
et al .

( 10 ) Patent No .: US 11,511,835 B2(45 ) Date of Patent :Nov. 29 , 2022
( 52 ) U.S. Ci .

( 54 ) OPERATING METHOD OF MULTIPLE

CPC

UNDERWATER VEHICLES AND

B63G 87001 (2013.01 ) ; G05D 1/0206( 2013.01 ) ; G05D 1/10 ( 2013.01 ) ; B636
2008/004 (2013.01 ) ; GOIS 15/88 (2013.01 )OPERATING SYSTEM OF MULTIPLE
UNDERWATER VEHICLES( 58 ) Field of Classification Search
CPC . B63G 8/00 ; B63G 8/001 ; B63G 8/14 ; G05D
1/00 ; G05D 1/0206 ; G05D 1/10 ;(Continued )References Cited( 56 )( 71 ) Applicant: National Institute of Maritime , Portand Aviation Technology, Tokyo (JP)( 72 ) Inventors : Kangsoo Kim , Tokyo (JP) ; Hiroyuki
Yamato , Tokyo (JP )U.S. PATENT DOCUMENTS( 73 ) Assignee : NATIONAL INSTITUTE OF
MARITIME , PORT AND AVIATIONTECHNOLOGY, Tokyo (JP)4/1999 Schmidt
5,894,450 A
7,796,809 B1 * 9/2010 Carder( Continued )Subject to any disclaimer, the term of thispatent is extended or adjusted under 35
U.S.C. 154 ( b ) by 414 days .

( * ) Notice:

FOREIGN PATENT DOCUMENTS
JP(21 ) Appl. No .:16 /499,054(22) PCT Filed :Mar. 30 , 2018(86) PCT No .:$ 371 ( c )( 1 ),( 2 ) Date :PCT / JP2018 /013774

G06K 9/2018
382/154

JP

H03-266794 A

11/1991

H05-147583 A

6/1993(Continued )OTHER PUBLICATIONS

Notification of Transmittal of Copies of Translation of the Interna

tional Preliminary Report on Patentability tor International Application No. PCT/ JP2018 /013774 dated Oct. 3 , 2019 ( 1 sheet) .

Dec. 9 , 2019

( 87 ) PCT Pub . No .: WO2018 /181959(65 )PCT Pub . Date : Oct. 4 , 2018

Primary Examiner

Prior Publication Data
US 2020/0385095 A1
Dec. 10 , 2020

Hanson, LLP(74 ) Attorney, Agent, or Firm — Kratz, Quintos &Mar. 31 , 2017

The present invention provides an operating method and an

JP2017-071965(JP)( 51 ) Int . Ci .
B63G 8/00
G05D 1/02

ABSTRACT( 57 )

Foreign Application Priority Data

( 30)

(Continued )Lars A Olson( 2006.01 )( 2020.01 )operating system of a multiple underwater vehicles 30 ,wherein exploration missions and exploration depths of themultiple underwater vehicles 30 are differently set in theunderwater vehicles 30 for exploring a water bottom , themultiple underwater vehicles 30 are submerged to therespective set exploration depths, the multiple underwater
vehicles 30 are made to cruise at the respective set explo(Continued )( Continued )Underwater vetricle 30

Cruisingspeed

D210n Condition
setting me

ng sect

Exploration dission executing
35

cars 36

Cruising control

36A

Depih meter32

Deathcontro

submerging
Lectia360

Owovencelcositionnels

368

Position366

tiaative Xatau

360

Communication
means

ime -m2281.e
secton .

Missic - ritrat
section4A

Recording

tieas

Tens

Caks

determining

magi: 8 :16 : 03
bond tot

41
2

Gresearching in

G2GOTI ?! Sye !

37

Cruising

Control region

Tresearcwabeans.

Taasi0131

section43

US 11,511,835 B2Page 2

ration depths to execute the exploration missions , andexecution results of the exploration missions are recorded
and / or transmitted . According to this , it is possible to deploy
and operate the multiple underwater vehicles and safely andefficiently explore the water bottom .
12 Claims , 6 Drawing SheetsJPJP(51 ) Int. Ci.

JP
KR

G05D 1/10
GOIS 15/88

2016/0355247 Al

USPC

114/312

See application file for complete search history.
References Cited

U.S. PATENT DOCUMENTS
GOIV 1/3843
9,321,514 B2 * 4/2016 Lelaurin

9,417,351 B2 * 8/2016 Brizard

GOIV 1/3843

B63G 8/14

9/2016 Celikkol
12/2016 Ibn Seddik

FOREIGN PATENT DOCUMENTS
JP
JP
JP

2001-308766 A
2002-145187 A
2003-026090 A
2004-184268 A
2009-227086 A
2010-139270 A
10-2016-0055609 A(2006.01 )( 2006.01 )( 58 ) Field of Classification Search
CPC . GO1S 15/88 ; GOIV 1/00 ; GO1V 1/04 ; GOLV
1/38 ; GOIV 1/3808 ; GOIV 1/3843( 56 )

10,281,929 B2 * 5/2019 Ibn Seddik

2016/0253906 A1

11/2001
5/2002
1/20037/2004
10/2009
6/20105/2016OTHER PUBLICATIONSInternational Preliminary Report on Patentability for International

Application No. PCT /JP2018 /013774 dated Oct. 3 , 2019 ( 5 sheets ).
Supplementary European Search Report for corresponding European Patent Application No. 18774884.3 dated Nov. 27 , 2020 ( 9sheets ) .

International Search Report for International Application No. PCT/
JP2018 /013774 dated Jun . 19 , 2018 ( 3 sheets , 1 sheet translation ).
Written Opinion of the International Searching Authority for International Application No. PCT/ JP2018 /013774 dated Jun . 19 , 2018
(4 sheets ) .

* cited by examiner

U.S. PatentNov. 29 , 2022

US 11.511,835 B2

Sheet 1 of 6

FIG . 1
20
21 .

23

20b 203A3
32

300 ( 30 )X

31A ( 31 )33A { 31

36A30

?

3

30B ( 30 )41

33

U.S. PatentNov. 29 , 2022

US 11,511,835 B2

Sheet 2 of 6

FIG . 230B ( 30 )

31A ( 31 )

31A ( 31 )
32
36

34

(a )

31B ( 31 )
33

42
43

30B (30 )(b)
31A( 31 )
31A (31)

U.S. PatentNov. 29 , 2022

US 11,511,835 B2

Sheet 3 of 6

FIG . 3
Underwater vehicle 30
39

Exploration condition
setting preans

Exploration mission executing
35

means 36

32

Cruising - control

36A

368

Depth control

subyerning
control sectio :Dept meter
Section)360

cositioning geus .

Position

estimating sectioe
360
Comunication

Tine-managing

means

section40A

31

sectionCraising

Controi region
determining

means

section365

Mission - control
sectionraging : rieans
andform

researching means .
G20ogical layer
researching means

38
Transmission

Cruising speed
setting section

Recording

41

42
43

U.S. Patent

Sheet 4 of 6

Nov. 29 , 2022

US 11,511,835 B2

FIG . 4

S1

Set exploration condition?exploration mission ,exploration depth , exploration region)
S2

submergence
S3

T
Cruise at set depth

54

Cruise in exploration region
S5

S10

I

Underwater vehicle

reversely returns cruising
path or increase depth

Cruise in control region

99

S6
Is underwater vehicle

in control region ?
S7

Yes

Execute exploration mission
S8

Record / transmit execution result of

exploration mission

No

Estimate position andselect path to return

control region

U.S. Patent

US 11,511,835 B2

Sheet 5 of 6

Nov. 29 , 2022

FIG.5
::

On - water control ineens 20

Own position graspins
23
Mantinecommunication means

22

contro setting
section26

Movement- control means 27

278

27A
24

Number -managing

Standoy control
23

Sectionposition means::::::

Cominunication

270

270

25 .

Positionestiinating

Cruising.recording

SECTIONsectionMovinginers

276

Control determining::::::::::

U.S. Patent

US 11,511,835 B2

Sheet 6 of 6

Nov. 29 , 2022

FIG . 6
S11

Yes
Set control

No
12

Measure position of multiple
underwater vaticies
Measure connunication
siate

S14

Record cruising
SIS

is underwater vehicle incontrol region ?
$ 16

Estimate position
No

$ 17

Is oredetermined time

elapsed ?
Control moving meansls control settingchanged ?

US 11,511,835 B2
2

1
OPERATING METHOD OF MULTIPLE
UNDERWATER VEHICLES AND
OPERATING SYSTEM OF MULTIPLE

UNDERWATER VEHICLESTECHNICAL FIELD[Patent Document 2 ] Japanese Patent Application Laidopen No. 2003-26090[ Patent. Document 3 ] Japanese Patent Application Laidopen No. H5-147583
5[ Patent Document 4 ] Japanese Patent Application Laidopen . No. 2001-308766

The present invention relates to an operating method of amultiple underwater vehicles and to operating system of themultiple underwater vehicles which carry out water bottom 10
exploration .

SUMMARY OF THE INVENTION

Problem to be Solved by the Invention

Meanwhile , since speed of the underwater vehicle is slow,
if the number of the underwater vehicles is only one , it takes
BACKGROUND TECHNIQUE
time to research a wide water area , but from the aspect ofWhen an underwater vehicle is introduced into a research energy consumption , there is a limit to increase the speed ofwater area to conduct water bottom exploration in marine 15 the underwater vehicle. Hence, to efficiently research a wideand lake, a ship located on water or a device placed in water water area , it can be considered to introduced a multiple

underwater vehicles. However, if a multiple underwater
For example, patent document 1 discloses a technique in vehicles are introduced , since control becomes complicated,which an underwater station connected to a mother ship there are problems in terms of researching efficiency andthrough a cable is placed in seawater, an acoustic transpon- 20 safety.
der is placed undersea in the vicinity of an exploration
An invention described in patent document 1 does not
position point, a multiple cable type unmanned submersible disclose the control which enhances researching efficiency
vessels are induced by introducing them into communication and safety while taking, into account, exploration mission
with the underwater station and the acoustic transponder and the like of a multiple no - cable type unmanned submers
using an ultrasonic wave signal, the no - cable type unmanned
controls the underwater vehicle .

submersible vessels are docked to the underwater station if 25 ibles . Further, since the mother ship and the underwater

station are connected to each other through a cable , movenecessary , battery is charged or battery is exchanged and mentsof the mother ship and the underwater station are
exploration data is retrieved .
.
Patent document 2 discloses a technique in which an limitedAn
invention
described in patent document 2 does notunderwater station having a first transponder, a first wave disclose the control
which enhances researching efficiency
receiver and a second wave receiver is suspended in sea 30 andsafety while taking, into account, exploration mission
water from a mother ship , a second transponder is placed
undersea, an autonomous unmanned vehicle for an explo and the like of the multiple autonomous unmanned vehicles.
ration is provided with aa third transponder and aa third wave Further, since the underwater station is suspended from thereceiver, the underwater station holds a fixed point by mother ship , movements of the mother ship and the underreceiving a signal of the second transponder by means of the 35 water station are limited .

first wave receiver, the autonomous unmanned vehicle selfnavigates 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

According to an invention described in patent document
3 , the fact that underwater acoustic communication is sub
ject to effects of reflection sound of a water surface and sea
bottom is taken into consideration, unmanned submersible istowardthe underwater station by receiving a signal of the 40 prevented from being introduced into an uncontrolled state
first transponder by means of the third wave receiver, and theby estimating a correct control signal even if transmission
underwater station controls attitude for storing autonomous errors are included therein . However, patent document 3
unmanned cruising by receiving a signal of the third tran does not disclose the control which enhances researchingsponder by means of the second wave receiver.
efficiency and safety while taking, into account, exploration
Patent document 3 discloses a technique in which a 45 mission
and the like of the multiple unmanned submersibles .
mother ship located on the water is provided with a transPatent document 4 describes an invention that a selfmitter, an unmanned submersible for exploration is provided propelled
repeater determines whether there is horizontal
with a wave receiver , and in underwater acoustic commu
based on current position information of thenication for sending a control signal from the mother ship to movement
self
propelled
and current position information of
the unmanned submersible, transmission errors are corrected 50 an underwaterrepeater
vehicle , and a communication state withutilizing Hough transform of a pixel signal .
Patent document 4 discloses a technique in which a respect to the underwater vehicle is maintained . It is also
self -propelled repeater which relays communication described that a multiple underwater vehicles can be intro
between a mother ship and an underwater vehicle is placed duced. However, if the multiple underwater vehicles arein the vicinity of a water surface of an observation region , introduced, patent document 4 does not disclose the control
communication between the self -propelled repeater and the 55 which enhances researching efficiency and safety whilemother ship is carried out by waving, and communication taking , into account, exploration mission and the like .
between the self- propelled repeater and the underwater
Thereupon, it is an object of the present invention tovehicle is carried out by acoustic communication, thereby provide an operating method of a multiple underwater
enhancing a communication -possible distance in aa horizon- vehicles and to an operating system of the multiple under
60 water vehicles capable of deploying and operating thetal direction .
multiple underwater vehicles and capable safely and effi
PRIOR ART DOCUMENTS
ciently carrying out exploration of water bottom .
Patent Documents
Means for Solving the Problem
65
In an operating method of a multiple underwater vehicles,[Patent Document 1 ] Japanese Patent Application Laidopen . No. H3-266794
wherein in order to explore a water bottom , exploration

US 11,511,835 B2
3

4

missions and exploration depths of the multiple underwater
In the present invention , research of a land form of thevehicles which cruise at an exploration depth close to a water bottom and / or research of a geological layer underwater bottom are previously differently set n the underwater water is included in the exploration mission of the undervehicles, the multiple underwater vehicles are submerged to water vehicle having the shallow exploration depth .
the respective set exploration depths, the multiple underwa- 5 According to the invention , at least one of a land form andter vehicles are made to cruise at the respective set explo a geological layer of the water bottom can be included in theration depths to execute the exploration missions under exploration result.
control of the on - water control means placed near a water
In the present invention , positions of the multiple undersurface, and execution results of the exploration missions

are recorded and / or transmitted .

According to the invention , since the multiple underwater

vehicles execute exploration missions respectively allocatedto different exploration depths, exploration can be carriedout efficiently.

10

water vehicles are measured by acoustic positioning means
provided in the on -water control means having moving
means and capable of cruising near a water surface and /orcommunication is performed utilizing communicationmeans which are respectively provided in the underwater

Here, the exploration includes all of operation actions 15 vehicles
and the on -water control means, and the exploration
mission is executed .

carried out by the underwater vehicles in water bottom suchas an observing operation, a searching operation, a collecting operation, a rescue operation and a transport operation.
In the present invention , the multiple underwater vehicles

According to the invention , since the on -water control

means can grasp at least one of positions and communica
tion states of the multiple underwater vehicles , the multiple
includeexploration
regionsattherespective
set
exploration
20
underwater
vehicles can more safely and efficiently carry out
depths.
the exploration operation under control of the on -water
According to the invention , the exploration regions can control means .
further efficiently be explored .
In an operating system of a multiple underwater vehicles
In the present invention described, cruising paths of the corresponding , the operating system including the multiple
underwater vehicles are set such that cruising loca of the 25 uncle vehicles which cruise at an exploration depths close tounderwater vehicles which cruise in the respective explora- a water bottom , exploration condition setting means whichtion regions are not vertically superposed on each other previously differently sets exploration missions and explo
simultaneously
ration depths provided in the multiple underwater vehicles ,According to the invention, it is possible to prevent thesubmerging means for submerging the multiple underwater
control means placed near a water surface, exploration
measurement and control , and it is possible to enhance the mission
executing means for cruising the multiple undersafety. Further, since the underwater vehicles are not verti water vehicles
at the respective set exploration depths tocally superposed on each other, it is possible to reduce
generation of troubles in the underwater vehicles related to 35 execute the exploration missions under control of the on
exploration such as erroneous observation and observation water control means, and recording means and / or transmis

underwater
vehicles having close exploration depths from 30 vehicles to the respective set exploration depths, on-watercolliding against each other due to errors and the like insion means for recording and / or transmitting an execution
inability.
In the present invention , the exploration depths which are result of the exploration mission .
According to the invention , since the multiple underwater
differently set in the underwater vehicles include a deep
exploration depth which is close to the water bottom and a 40 vehicles execute exploration missions allocated to different
shallow exploration depth which is far from the water exploration depths, exploration can efficiently , be carriedbottom .
out.
According to the invention described , it is possible toIn the present invention, the exploration condition setting
efficiently explore a region close to the water bottom and a means sets exploration regions of the multiple underwater
45 vehicles at the respective set exploration depths .
region far from the water bottom .
In the present invention, cruising speed of the underwater
According to the invention , it is possible to explore thevehicle having the deep exploration depth is slower than respective exploration regions more efficiently .
cruising speed of the underwater vehicle having the shallow
In the present invention , the exploration regions are set
exploration depth .
such that cruising paths of the cruising underwater vehicles

According to the invention , the underwater vehicle which 50 are not vertically superposed on each other simultaneously .

carries out the exploration at deep exploration depths can
According to the invention , it is possible to prevent thecarry out exploration more precisely.
underwater vehicles having close exploration depths fromIn the present invention, a height from the water bottom colliding against each other due to errors and the like inon which the underwater vehicle at the deep exploration measurement and control, and it is possible to enhance thedepth can cruise is 1 m or more and less than 50 m , and a 55 safety. Further, since the underwater vehicles are not verti

height from the water bottom on which the underwater
vehicle at the shallow exploration depth can cruise is 10 m

cally superposed on each other, it is possible to reduce

generation of troubles in the underwater vehicles related to

exploration such as erroneous observation and observation
According to the invention , it is possible to efficiently inability.
explore a region at a height of 1 m or more and less than 50 60 In the present invention , the exploration depths which areor more and less than 200 m .

m from , the water bottom and a region at a height of 10 m differently set by the exploration condition setting meansor more and less than 200 m .
include a deep exploration depth which is close to the water
In the present invention , an image taking operation of the bottom and aa shallow exploration depth which is far from thewater bottom is included in the exploration mission of the water bottom .
underwater vehicle having the deep exploration depth . 65 According to the invention , it is possible to efficiently
According to the invention , an image of the water bottom explore a region close to the water bottom and a region far
from the water bottom .
can be included in an exploration result .

US 11,511,835 B2
5

6

In the present invention, cruising speed of the underwater underwater vehicle having the shallow exploration depth ,vehicle having the deep exploration depth is set slower than the underwater vehicle which carries out the exploration at
cruising speed of the underwater vehicle having the shallow deep exploration depths can carry out exploration more
exploration depth .
precisely.
According to the invention , the underwater vehicle which 5 If a height from the water bottom on which the underwater
explores at a deep exploration depth can carry out the vehicle at the deep exploration depth can cruise is 1 m or
exploration more precisely.
more and less than 50 m and a height from the water bottom
In the present invention, the underwater vehicle which on which the underwater vehicle at the shallow exploration
explores the deep exploration depth includes imaging means depth can cruise is 10 m or more and less than 200 m , at is10
for taking an image of the water bottom .
to efficiently explore a region at a height of 1 m or
According to the invention , an image of the water bottom possible
moreandless than 50 m from the water bottom and a region
can be included in the exploration result .
ataheightof 10 m or more and less than 200 m .
In the present invention , the underwater vehicle which
If
an
image
operation of the water bottom is
explores the shallow exploration depth includes land form included in thetaking
exploration
mission of the underwater
researching means which researches a land form of the water 15 vehicle having the deep exploration
depth , an image of thebottom and / or a geological layer researching means whichwaterbottomcanbeincludedintheexploration result .
researches a geological layer under the water bottom .
Ifresearch
of
a
land
form
of
the
water bottom and /orAccording to the invention , at least one of a land form anda geological layer of the water bottom can be included in the research of a geological layer underwater is included in the
20 exploration mission of the underwater vehicle having the
exploration result.
In the present invention the operating system of the shallow exploration depth , at least one of the land form andmultiple underwater vehicles further on -water control means the geological layer of the water bottom can be included inincludes acoustic positioning means and / or communication the exploration result .
means and capable of cruising near a water surface , Wherein
If positions of the multiple underwater vehicles are mea
the
on
water
controlmeans
measurespositions
of
the
mul25
sured
by acoustic positioning means provided in the on
tiple underwater vehicles by the acoustic positioning means water control means having moving means and capable ofand / or the on -water control means performs communication cruising near a water surface and / or if communication iswith the communication means possessed by the multiple performed utilizing communication means which are
underwater vehicles , and the operating system executes the respectively provided in the underwater vehicles and the
30 on - water control means, and if the exploration mission is
exploration mission .
According to the invention , since the on - water control executed , the on -water control means can grasp at least onemeans can . grasp at least one of positions and communica- of positions and communication states of the multiple undertion states of the multiple underwater vehicles , the multiple water vehicles. Therefore , the multiple underwater vehicles
underwater vehicles can more safely and efficiently carry out can more safely and efficiently carry out the exploration
the exploration operation under control of the on -control 35 operation under control of the on -water control means .
means .
Further, according to the operating system of the multiple
underwater vehicles of the invention , since the multiple
Effect of the Invention
underwater vehicles execute the exploration missions allocated to different exploration depths , exploration can effi
According to the operating method of the multiple under- 40 ciently be carried out .
water vehicles of the present invention , since the multiple
If the exploration condition setting means sets exploration
underwater vehicles execute the exploration missions regions of the multiple underwater vehicles at the respective
respectively allocated to different exploration depths , the set exploration depths, it is possible to explore the respective
exploration regions more efficiently .
exploration can be carried out efficiently.
If the multiple underwater vehicles include exploration 45 If the exploration regions are set such that cruising paths
regions at the respective set exploration depths, the respec- of the cruising underwater vehicles are not vertically supertive exploration regions can further efficiently be explored . posed on each other simultaneously, it is possible to prevent
If cruising paths of the underwater vehicles are set such the underwater vehicles having close exploration depths
that cruising loca of the underwater vehicles which cruise in from colliding against each other due to errors and the likethe respective exploration regions are not vertically super- 50 in measurement and control, and it is possible to enhance theposed on each other simultaneously, it is possible to prevent safety. Further, since the underwater vehicles are not verti
the underwater vehicles having close exploration depths cally superposed on each other, it is possible to reducefrom colliding against each other due to errors and the like generation of troubles in the underwater vehicles related toin measurement and control, and it is possible to enhance the exploration such as erroneous observation and observation
safety. Further, since the underwater vehicles are not verti- 55 inability .
cally superposed on each other, it is possible to reduce
If the exploration depths which are differently set by thegeneration of troubles in the underwater vehicles related to exploration condition setting means include a deep explo
exploration such as erroneous observation and observation ration depth which is close to the water bottom and aa shallow
inability.
exploration depth which is far from the water bottom , it isIf the exploration depths which are differently set in the 60 possible to efficiently explore a region close to the water
underwater vehicles include a deep exploration depth which bottom and a region far from the water bottom .
is close to the water bottom and a shallow exploration depth
If cruising speed of the underwater vehicle having thewhich is far from the water bottom , it is possible to effi- deep exploration depth is set slower than cruising speed ofciently explore a region close to the water bottom and a the underwater vehicle having the shallow exploration
region far from the water bottom .
65 depth , the underwater vehicle which explores at the deepIf cruising speed of the underwater vehicle having the exploration depth can carry out the exploration more predeep exploration depth is slower than cruising speed of the cisely.

US 11,511,835 B2
7

8

If the underwater vehicle which explores the deep exploAn offshore repeater (ASV : Autonomous Surface Vehicle)
is used as the on -water control means 20. The on -water
the water bottom , an image of the water bottom can be control means 20 includes a cylindrical main body 20a
having a hemisphere end, and aa vertical blade 20b extending
included in the exploration result.
If the underwater vehicle which explores the shallow 5 from an upper surface of the main body 20a . The on -water
exploration depth includes land form . researching means control means 20 which is launched from the support ship 10
which researches a land form of the water bottom and / or a into the research water area is used in a semi-submersible
geological layer researching means which researches a geo- state where the main body 20a is submerged underwater andlogical layer under the water bottom , at least one of the land 10 an upper portion of the vertical blade 20b projects from aform and the geological layer of the water bottom can be water surface . Own position grasping means 21 such as GPS
included in the exploration result.
and maritime communication means 22 such as a satellite
If the operating system of the multiple underwater communication antenna and a wireless LAN antenna areration depth includes imaging means for taking an image ofvehicles further on -water control means includes acoustic

placed on the upper portion of the vertical blade 206. Thetion mission , since the on -water control means can grasp atleast one of the positions and the communication states ofthe multiple underwater vehicles, the multiple underwater

main body 20a can move in the vicinity of a water surface
by the moving means 23 .
A lower surface of the main body 20a is provided withpositioning means and / or communication means and 15 on -water control means 20 can grasp own position bycapable of cruising near a water surface, and if the on -water receiving GNSS signals from a GNSS ( global navigation
control means measures positions of the multiple underwater satellite system) satellite 1 using own position graspingvehicles by the acoustic positioning means and / or the on- means 21. Communication with the support ship 10 can bewater control means performs communication with the established using the maritime communication means 22 .
communication means possessed by the multiple underwater 20 A rear portion of the main body 20a is provided withvehicles, and if the operating system executes the explora- moving means 23 having a rudder and a propeller, and thevehicles can more safely and efficiently, carry out the 25 acoustic positioning means 24 and communication means
exploration operation under control of the on - water control

means .

BRIEF DESCRIPTION OF THE DRAWINGS

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 the
30 acoustic positioning means 24 , and bidirectionally commu

FIG . 1 is a schematic configuration diagram of an oper- nicates with the underwater vehicle 30 by acoustic signals
ating system of a multiple underwater vehicles according to using the communication means 25 , and controls the underwater vehicle 30. The acoustic signals sent from the on
an embodiment of the present invention ;FIG . 2 are perspective outward appearance diagrams of water control means 20 toward underwater easily reach
35 within a substantially conical range having the on-water
the underwater vehicle ;FIG . 3 is a control block diagram of the underwater control means 20 as an apex . Therefore, this substantiallyconical range controlled by the on - water control means 20 isdetermined as a control region X.
FIG . 5 is a control block diagram of on - water control
A no - cable autonomous unmanned type vehicle (AUV:
40 Autonomous Underwater Vehicle) which autonomouslymeans ; andFIG . 6 is a control flow chart of the on -water control cruises in water without using a cable for connecting withmeans .
the on -water control means 20 is used as the underwater
vehicle 30. The on -water control means 20 controls a
MODE FOR CARRYING OUT THE INVENTION
multiple underwater vehicles 30 using acoustic signals.
vehicle;FIG . 4 is a control flowchart of the underwater vehicle ;45 Therefore, it is unnecessary to provide the on -water control
means 20 with a facility for cable , a cable is not entangled
multiple underwater vehicles according to an embodiment of or movement of the on -water control means 20 is not limitedby the cable.
the present invention will be described below .
FIG . 1 is a schematic configuration diagram of an operFIG . 1 shows a case where the multiple underwater
ating system of a multiple underwater vehicles according to 50 vehicles 30 are one first underwater vehicle 30A and two
the embodiment, and FIG . 2 .are perspective outward appear second underwater vehicles 30B . Each of the first underwa
ter vehicle 30A and the second underwater vehicles 30B isance diagrams of the underwater vehicle .
FIG . 1 shows a state in which one on -water control means provided with cruising means ( submerging means ) 31 such
20 is made to launch in aa research water area in marine or as a rudder, a propulsion unite, and aa ballast (weight), and bylake , and a multiple underwater vehicles 30 are introduced , 55 the cruising means 31 , the underwater vehicle can cruiseand a water bottom is explored, thereby carrying out explo- underwater and underwater navigate . The underwater
ration of mineral resource , energy resource and the like of vehicle 30 is provided with own vehicle positioning means
the water bottom . The on -water control means 20 and the 32 used for measuring a position of an own vehicle , com
underwater vehicles 30 are loaded in a support ship 10 , and munication means 33 used for bidirectional communication
they are transported to the research water area .
60 with the on -water control means 20 by acoustic signals , andThe on -water control means 20 and the underwater an acoustic transponder ( not shown ) for responding a signal
vehicles 30 are no - cable type unmanned autonomous cruis- transmitted from the acoustic positioning means 24 of theing robots . Since radio waves are not transmitted in water, on -water control means 20. The communication means 33
the on -water control means 20 which is placed in the vicinity includes a transmitter for sending acoustic wave , and a wave
of a water surface controls, utilizing acoustic signals, the 65 receiver for receiving acoustic wave . The underwater
multiple underwater vehicles 30 which carry out the survey vehicle 30 can emergency surface and can be collected byoperation in water .
the support ship 10 when measurement of the on -water

An operating method and an operating system of aUS 11,511,835 B2
10
9control means 20 fails predetermined times or when com- regions, and the cruising paths are differently set for themunication with the on -water control means 20 fails prede- respective underwater vehicles 30 .
termined times .
It is preferable that the multiple underwater vehicles 30
Cruising speed of the hovering type first underwater have exploration regions in the set respective exploration
vehicle 30A can be made slower than those of the second 5 depths. According to this , it is possible to more efficiently
underwater vehicles 30B . The first underwater vehicle 30A explore the exploration regions.
It is preferable that the cruising paths are set such that
includes a vertical thruster and a horizontal thruster, a freecruising
loca of the underwater vehicles 30 which cruise indegree of movement of the first underwater vehicle 30A is the respective
exploration regions are not superposed simul
higher than the second underwater vehicles 30B , and a 10 taneously. According
to this, it is possible to prevent theposition of the first underwater vehicle 30A can be held even underwater vehicles 30
close exploration depths
in a place having water flow or the like . Therefore, the first from colliding against eachhaving
otherto errors and the likeunderwater vehicle 30A mainly carries out a precise explo in measurement and control, and it due
ispossibleto enhance theration near a water bottom . The first underwater vehicle 30A
safety.
Asthemeasurement
errors,there
are
an error fromis provided with imaging means 41 for taking an image of 15 initial stage of the own vehicle positioning means
32 , thea water bottom . The imaging means 41 is a camera including depth meter 35 and the like , and an error caused by aging
lighting for example .
degradation. As control errors , there are variation in a
FIG . 2 (a ) is a perspective view of the second underwater control
part of the cruising - control section 40 , an error of avehicles 30B as viewed from a diagonally upward direction , driving system of the cruising means 31 and an error caused
and FIG . 2 ( b ) perspective view of the second underwater 20 by the aging degradation.
vehicles 30B as viewed from a diagonally downward direcThe cruising loca of the underwater vehicles 30 are nottion . The cruising type second underwater vehicles 30B can superposed on each other simultaneously. In view of themove agilely at high speed as compared with the first above -described errors, when the underwater vehicles 30 are
underwater vehicle 30A . Therefore, the second underwater viewed from above , it is preferable that at least two times ,vehicles 30B mainly carry out exploration in a position 25 preferably five times of the maximum value of a plane size
separated away from a water bottom and in a wider range . of the underwater vehicle 30 is secured between the cruising
Each of the second underwater vehicles 30B is provided loca as planar view. As vertical view also , it is preferable thatwith aa land form researchingmeans 42 for researching a land at least two times , preferably five times of the maximum
form of a water bottom and a geological layer researching value of a vertical size of the underwater vehicle 30 ismeans 43 for researching geological layer of water bottom . 30 secured between the cruising loca .
a

The land form researching means 42 and the geologicalSince the underwater vehicles 30 are not vertically superlayer researching means 43 are sonars for example. The posed on each other, it is possible to lower a possibility of
second underwater vehicle 30B is provided at its rear portion erroneous observation and observation inability of thewith the propulsion unit 31A and at its lower portion with the underwater vehicle 30 .
ballast ( weight) 31B as cruising means ( submerging means ) 35 To prevent the multiple underwater vehicles 30 from
31. The ballast 31B is mounted such that it can be separated being vertically superposed on each other to prevent theerroneous observation and observation inability, it is prefaway from the second underwater vehicle 30B .
Next, control of the underwater vehicle 30 will be erable to keep the distance between cruising loca which are
not superposed on each other simultaneously when at least
described using FIGS . 3 and 4 .

FIG . 3 is a control block diagram of the underwater 40 the above - described collision is prevented although thisvehicle 30 , and FIG . 4 is a control flow chart of the situation may differ depending upon the observing direction
underwater vehicle 30 .
and a kind of the observing device of the multiple theEach of the underwater vehicles 30 includes cruising underwater vehicles 30 .
means 31 , own vehicle positioning means 32 , communicaEspecially, to make the multiple underwater vehicles 30
tion means 33 , exploration condition setting means 34 , depth 45 reliably execute the exploration mission, it is important notmeter 35 , exploration mission executing means 36 , trans- to superpose the multiple underwater vehicles 30 on eachmission means 37 , recording means 38 , cruising speed other vertically .
setting section 39 , cruising -control section 40 , imaging
It is preferable that the exploration depths which aremeans 41 , land form researching means 42 and geological differently set for the respective underwater vehicles 30
layer researching means 43 .
50 include deep exploration depths which are close to the water
The exploration mission executing means 36 includes a bottom and shallow exploration depths which are far from
depth control section 36A, a submerging -control section the water bottom . It is more preferable that the deep explo
36B , a position- estimating section 36C , a time-managing ration depth has a height (distance ) of 1 m or more and lesssection 36D and a mission -control section 36E .
than 50 m from the water bottom , and the shallow explo
The cruising -control section 40 includes aa control region- 55 ration depth has a height (distance ) of 10 m or more and lessdetermining section 40A .
than 200 m from the water bottom . It is further preferable
An operator who embarks on the support ship 10 sets that the deep exploration depth has the height (distance ) of
exploration conditions by inputting, to the underwater 2 m or more and less than 20 m from the water bottom , andvehicle 30 , information which is necessary for the explora- the shallow exploration depth has the height (distance ) of 20
tion such as an exploration mission , an exploration depth , an 60 m or more and less than 50 m .
exploration region and a cruising path of the underwater
The deep exploration depth is mainly utilized for explo
vehicle 30 using the exploration condition setting means 34 ration using the imaging means 41 , and the shallow explo
before the underwater vehicle 30 is introduced from the ration depth is mainly utilized for exploration using the land
support ship 10 into the exploration water area , and the form researching means 42 and the geological layer
operator sets cruising speed for the underwater vehicle 30 65 researching means 43. When minerals or living things on theusing the cruising speed setting section 39 ( step 1 ) . The water bottom are collected , there is a case where a deep
2

exploration missions , the exploration depths, the exploration

exploration depth which is more close to the water bottomUS 11,511,835 B2
11

12

is set in some cases . Depending upon a situation of a land a cruising path which is set in step 1 such that cruising loca
form of the water bottom , there is a case where the deep of this underwater vehicle 30 and the other underwater
exploration depth or the shallow exploration depth is set vehicle 30 are not superposed on each other simultaneously.
higher than the above - described numerals.
The cruising -control section 40 cruises in the control
According to this, it is possible to efficiently explore a 5 region X of the on -water control means 20 based on anregion close to the water bottom and a region far from the estimated position of the own vehicle received from thewater bottom . In this embodiment, the hovering type first exploration mission executing means 36 , a depth of the own
underwater vehicle 30A explores a region of the deep vehicle and a communication state with the on -water control
exploration depth , and the cruising type second underwater means 20 ( step 5 ) . The communication state with the on
vehicle30B explores a region of the shallow exploration 10 water control means 20 is measured using the communica
depth . Since the cruising speed of the first underwater tion means 33 , its measurement result is sent, to the explo
vehicle 30A is slower than that of the second underwater
ration mission executing means 36 , and the exploration
vehicle 30B , the first underwater vehicle 30A can more mission
executing means 36 grasps the communication state
precisely explore a region close to the water bottom . Whena land form of the water bottom is complicated, it is possible 15 by The
a signal/noise ratio ( S / N ratio) for example.
cruising - control section 40 includes the control
to lower a risk of collision of the first underwater vehicle
30A against the water bottom . It is possible to eliminate or region -determining section 40A . The cruising -control sec
reduce a damage of the first underwater vehicle 30A when tion 40 periodically determines whether the own vehicle isit collides against the water bottom . For example , when thelocated in the control region X based on the estimatedcruising speed of the first underwater vehicle 30A is set to 20 position of the own vehicle and the communication state

0.5 to 2 km /h , it is possible to eliminate or reduce a damage with the on -water control means 20 ( step 6 ) .
of the first underwater vehicle 30A when it collides against
If it is determined in step 6 that the own vehicle is locatedthe water bottom . In this case , it is preferable that the in the control region X , the exploration mission is executed
cruising speed of the second underwater vehicle 30B is set ( step 7 ) .
25
to 2.5 to 10 km / h .
The mission -control section 36E of the exploration mis
After step 1 , the multiple underwater vehicles 30 which sion executing means 36 controls the imaging means 41
2

are introduced into the exploration water area start submerg provided in the first underwater vehicle 30A . According to
ing ( step 2 ) .
this, it is possible to take an image of the water bottom . If
The underwater vehicles 30 submerge using the propul themission - control section 36E controls the land formsion unit 31A and the ballast 31B , but if the propulsion unit 30 researching means 42 and the geological layer researching
31A is stopped and the underwater vehicles 30 submerge means 43 provided in the second underwater vehicle 30B ,only by the weight of the ballast 31B , fuel can be saved .
of a land form of the water bottom and a
When the underwater vehicles 30 submerge, each of the information
geologicallayer
under the water bottom can be obtained .
underwater vehicles 30 measures a depth and a position of
Exploration
missionexecuting results such as information
the own vehicle using the depth meter 35 and the own 35of the obtained shot image , the land form of the water
vehicle positioning means 32 , and the exploration mission bottom
and the geological layer under the water bottom are
executing means 36 having the depth control section 36A ,the submerging - control section 36B and the position -esti recorded in the recording means 38 such as a hard disk andmating section 36C controls the cruising -control section 40 a magnetic tape . After the results are subjected to processingin accordance with the exploration depth which is set in step 40 such as encoding by the transmission means 37 , the results
1. The cruising - control section 40 controls the cruising are sent to the on -water control means 20 using the com
means 31 in accordance with the control performed by the munication means 33 ( step 8 ) .
exploration mission executing means 36 and the cruising
If it is determined in step 6 that the own vehicle is not
speed which is set by the cruising speed setting section 39 . located in the control region X , the position -estimating-

The own vehicle positioning means 32 measures the 45 section 36C estimates the position of the own vehicle based
position of the own vehicle by placing a speed . sensor and on the measurement result obtained by the own vehiclea gyroscope sensor, and detecting and calculating speed and positioning means 32 and the measurement result obtained
acceleration of the own vehicle for example.
by the depth meter 35 , and selects a path to return to theAfter step 2 , the underwater vehicle 30 which reaches the control region X ( step 9 ) .
50
set exploration depth starts cruising ( step 3 ) .
In step 9 , if the underwater vehicle reversely cruises theEach of the underwater vehicles 30 which starts cruising recorded cruising path and the path to return to the control
at the set exploration depth measures the position of the own region X is selected , the cruising - control section 40 controls
vehicle using the own vehicle positioning means 32 , and the cruising means 31 to reversely return the path throughsends a result thereof to the exploration mission executing which the underwater vehicle cruised heretofore . If the depthmeans 36. The exploration mission executing means 36 55 is increased and the path to return to the control region X is
having the position -estimating section 36C controls the selected in step 9 , the cruising -control section 40 controls
cruising -control section 40 such that the underwater vehicle the cruising means 31 such that the depth of the own vehicle
30 s cruises in the exploration region which is set in step 1 . is increased ( step 10 ) . According to this, the underwater
The cruising -control section 40 controls the cruising means vehicle 30 can return to the control region X by itself and the
31 in accordance with the control performed by the explo- 60 operation can be continued while again receiving control ofration mission executing means 36 and the cruising speed the on -water control means 20. The underwater vehicle 30
which is set by the cruising speed setting section 39 . can return to the control region X by increasing the depth .
According to this , the underwater vehicle 30 cruises in the This is because that the control region X is in the form of an
exploration region ( step 4 ) .
umbrella as shown in FIG . 1 , and the larger the depth is , the9The exploration mission executing means 36 having the 65 wider the region in the horizontal direction becomes .

time cruising -managing section 36D which manages time

controls the cruising- control section 40 in accordance with

Next , the control of the on -water control means 20 will be

described using FIGS . 5 and 6 .

US 11,511,835 B2
13

14
FIG . 5 is a control block diagram of the on -water control prevent the number of the underwater vehicles 30 located inmeans 20 , and FIG . 6 is a control flow chart of the on -water the control region X from being reduced .
control means 20 .
In step 15 , when it is determined that the number of the
The on -water control means 20 includes the own position underwater vehicles 30 in which the cruising paths are
grasping means 21 , the maritime communication means 22 , 5 recorded is smaller than the number of the underwater
30 which should be controlled, i.e. , when it is
the moving means 23 , the acoustic positioning means 24 , the vehicles
determined that one or some or all of the underwatercommunication means 25 , a control setting section 26 and vehicles
30 which should be controlled deviate from the2

9movement- control means 27 .

The movement -control means 27 includes a number

control region X , the position -estimating section 27C esti

Before the on- water control means 20 launches from thecruising -recording section 27D ( step 16 ) .

a direction in which an underwater vehicle 30 which
managing section 27A , a standby - control section 27B , a 10 matesdeviatesfrom the control region X exists based on theposition - estimating section 27C , a cruising - recording sec cruising pathsof the underwater vehicles 30 recorded in thetion 27D and a control- determining section 27E .

After step 16 , the standby -control section 27B determines

support ship 10 into the research water area, an operator who 15 whether predetermined time is elapsed after it is firstembarks on the support ship 10 inputs , to the on -water detected that an underwater vehicle 30 deviates from thecontrol means 20 , information which is necessary for the control region X in step 15 ( step 17 ) .
control such as a moving range of the on -water control
When it is determined in step 17 that the predeterminedmeans 20 , the number and performance of the underwater time is not elapsed , the procedure returns to step 15 , and it
vehicles 30 which will be controlled using the control setting 20 is again determined whether all of the underwater vehicles
section 26 , thereby setting the control ( step 11 ) .
30 which should be controlled are located in the control
After step 11 , the on - water control means 20 which region X.
launches into the research water area starts controlling the
If it is determined in step 17 that the predetermined time
underwater vehicle 30 in accordance with the control setting is elapsed , the standby -control section 27B sends a deter
which is set in step 11. First , positions of the multiple 25 mination result of step 15 to the control -determining section
underwater vehicles 30 are measured using the acoustic 27E , and instructs to start moving the on - water control
positioning means 24 , and measurement results are sent to means 20 ( step 18 ) . According to this, the moving means 23
the movement- control means 27 ( step 12 ) .

After step 12 , communication states of the multiple under-

operates and the on - water control means 20 is moved .
Even when it is determined that one or some or all of thewater vehicles 30 are measured using the communication 30 underwater vehicles 30 which should be controlled deviate

means 25 , and measurement results are sent to the move- from the control region X , there are a possibility that anment - control means 27 ( step 13 ) . The communication states underwater vehicle 30 which deviates from the control
are grasped by the signal/noise ratio ( S/N ratio ) for example. region X returns into the control region X by itself and a
Based on the measurement results received in step 12 and possibility that although an underwater vehicle is actually
the measurement results in step 13 , the movement - control 35 located in the control region X , it is erroneously detectedmeans 27 records cruising paths of the respective underwa- that the underwater vehicle deviates from the control region
ter vehicles 30 together with time in the cruising- recording X by temporal positioning or communication failure . There
fore , it is possible to lower a possibility that the on -watersection 27D (step 14 ) .
After step 14 , the number -managing section 27A com- control means 20 unnecessarily moves by keeping , before
pares, with each other, the number of underwater vehicles 30 40 moving the on- water control means 20 , the on -water control
which are input in the control setting in step 11 and the means 20 on standby for predetermined time after it isnumber of underwater vehicle 30 in which the cruising paths detected that the underwater vehicle 30 deviates from theare recorded in step 14 , and the number-managing section
27A determines whether all of the underwater vehicles 30

control region X , and by repeating the determination of step
15 predetermined times during that time as in this embodi

X ( step 15 ) .

In step 15 , when it is determined that the number of theunderwater vehicles 30 in which the cruising paths arerecorded is equal to or larger than the number of thetion 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.
The position -estimating section 27C estimates aa direction

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 .
In this case , the movement- control means 27 predicts

control region X exists based on the cruising paths of theunderwater 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.

the cruising paths recorded in the cruising -recording section
27D , and based on this prediction result , control may be

precision and moving efficiency of the on -water control
means 20 , and an underwater vehicle 30 which deviates

which should be controlled are located in the control region 45 ment. According to this, it is possible to prevent consump
underwater vehicles 30 which should be controlled , i.e. , 50 in which an underwater vehicle 30 which deviates from thebehaviors of the multiple underwater vehicles 30 based on 55 According to this, it is possible to enhance the control

performed to move the on - water control means 20 such that from the control region X can be returned to the control
the underwater vehicles 30 do not deviate from the control region X faster.
region X. According to this, it is possible to prevent the 60 When the movement- control means 27 moves the onunderwater vehicles 30 from deviating from the control water control means 20 , it is preferable to control theregion X.
moving means 23 such that the on -water control means 20
When moving the on -water control means 20 , it is pref- is moved to a position where all of the multiple underwater
erable that the on -water control means 20 is moved in a vehicles 30 can be controlled . According to this , since all of
range where the number of the multiple underwater vehicles 65 the underwater vehicles 30 can be placed under control of
30 located in the control region X when the movement is the on- water control means 20 , the underwater exploration
started is not reduced . According to this, it is possible to can be carried out more safely and efficiently.

US 11,511,835 B2
16

15

When all of the multiple underwater vehicles 30 cannot be support ship 10 and except this, instructions from thecontrolled, it is preferable that the movement - control means support ship 10 can also be renewed automatically through27 controls the moving means 23 such that the on -water the on -water control means 20 or based on a schedule which
control means 20 moves to a position where the maximum is programed in the on -water control means 20 .
number of the multiple underwater vehicles 30 can be 5
INDUSTRIAL APPLICABILITY
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
The operating method of the multiple underwater vehicles
number is obtained by subtracting, from the number of and the operating system of the multiple underwater vehicles
multiple underwater vehicles 30 , the number of uncontrol- 10 according to the present invention can deploy and operate
lable underwater vehicles 30 including any of an underwater the multiple underwater vehicles in the research water area ,vehicle 30 which deviates from the control region X , a and the exploration of a water bottom can safely anddamaged underwater vehicle 30 , and a surfaced underwater efficiently be carried out .
vehicle 30. According to this, a multiple underwater vehicles
EXPLANATION OF SYMBOLS
30 which can explore can be located in the control region X 15
and the underwater exploration can be continued .
The control -determining section 27E determines whether 20 on -water control means
control setting should be changed based on a determination 24 acoustic positioning means
communication means
result sent from the number -managing section 27A or the 25
20 30 underwater vehicle
standby -control section 27B ( step 19 ) .
In step 19 , when the determination result is received from 31 cruising means ( submerging means )the number -managing section 27A and when the number of 33 communication means
the underwater vehicles 30 which should be controlled and 34 exploration condition setting means2

the number of the underwater vehicles 30 in which the

36 exploration mission executing means

setting is not changed and the procedure proceeds to step 12 .

38 recording means
41 imaging means

cruising paths thereof are recorded are the same, the control 25 37 transmission means
Further, when the determination result is received fromthe number -managing section 27A and when the number of

42 land form researching means

the underwater vehicles 30 in which the cruising paths 43 geological layer researching means
thereof are recorded is larger than the number of the under- 30
water vehicles 30 which should be controlled, the procedure
The invention claimed is :proceeds to step 11 , and the control setting section 26
1. An operating method of a multiple underwater vehicles ,changes the control setting to setting including a underwater wherein in order to explore a waterm , exploration

vehicle 30 which returns to the control region X. According missions and exploration depths of the multiple underwater
to this, control can be continued including the underwater 35 vehicles which cruise at an exploration depth close to avehicle 30 which returns to the control region X.
water bottom are previously differently set in the underwater
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

vehicles, the multiple underwater vehicles are submerged to
the respective set exploration depths , the multiple underwa
ter vehicles are made to cruise at the respective set explo

deviates from the control region X is received , the procedure 40 ration depths to execute the exploration missions underproceeds to step 11 , and the control setting section 26 control of a on -water control means placed near a waterchanges the control setting to setting excluding the under-

water 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 45
region X.
As described above , the on - water control means 20
includes the number -managing section 27A which manages
the number of the multiple underwater vehicles 30. According to this , it is possible to control the movement of the 50

surface, and execution results of the exploration missions

are recorded and /or transmitted ,wherein the exploration depths which are differently set in

the underwater vehicles include a deep exploration
depth which is close to the water bottom and aa shallow
exploration depth which is far from the water bottom ,wherein a height from the water bottom on which theunderwater vehicle at the deep exploration depth cancruise is 1 m or more and less than 50 m , and a heightfrom the water bottom on which the underwater vehicle
on -water control means 20 based on the number of theunderwater vehicles 30 .
at the shallow exploration depth can cruise is 10 m or
Since the on -water control means 20 moves the multiple
more and less than 200 m , andunderwater vehicles 30 to positions where they can bewherein cruising speed of the underwater vehicle having
positioned , it is possible to locate the multiple underwater 55
the deep exploration depth is slower than cruisingvehicles 30 in the control region X and continue the explospeed of the underwater vehicle having the shallow
exploration depth .
ration .
By moving the on -water control means 20 to a position
2. The operating method of the multiple underwaterwhere communication with the multiple underwater vehicles vehicles according to claim 1 , wherein the multiple under
30 can be established , it is possible to carry out the explo- 60 water vehicles include exploration regions at the respective
set exploration depths.
ration more safely and efficiently.

According to these , it is possible to research a wide waterarea safely and efficiently without losing sight of a multiple

underwater vehicles 30 .

3. The operating method of the multiple underwater
vehicles according to claim 2 , wherein cruising paths of theunderwater vehicles are set such that cruising local of thevehicles 30 are setting of the exploration conditions in thesimultaneously.

The exploration conditions which are set by the explora- 65 underwater vehicles which cruise in the respective exploration condition setting means 34 of the multiple underwater tion regions are not vertically superposed on each otherUS 11,511,835 B2
17
4. The operating method of the multiple underwater

18
from the water bottom on which the underwater vehicle

vehicles according to claim 1 , wherein an image taking
at the shallow exploration depth can cruise is 10 m oroperation of the water bottom is included in the exploration
more and less than 200 m , andmission of the underwater vehicle having the deep explora
wherein cruising speed of the underwater vehicle having
5
tion depth.
the deep exploration depth is set slower than cruising
5. The operating method of the multiple underwater
speed of the underwater vehicle having the shallow
vehicles according to claim 1 , wherein research of a land
exploration depth .
form of the water bottom and / or research of a geologicallayer underwater is included in the exploration mission of
8. The operating system of the multiple underwater
the underwater vehicle having the shallow exploration 10 vehicles according to claim 7 , wherein the exploration
depth .
condition setting means sets exploration regions of the6. The operating method of the multiple underwater multiple underwater vehicles at the respective set explora
vehicles according to claim 1 , wherein positions of the tion depths.
multiple underwater vehicles are measured by acoustic
9. The operating system of the multiple underwater
positioning means provided in the on -water control means 15 vehicles
to claim 8 , wherein the exploration
having moving means and capable of cruising near a water regions areaccordingset
suchpaths of the cruising
surface and / or communication is performed utilizing com underwater vehicles arethatnotcruisingverticallysuperposed on eachmunication means which are respectively provided in the other simultaneously .
underwater vehicles and the on -water control means , and the20
exploration mission is executed .
10. The operating system of the multiple underwater
7. An operating system of a multiple underwater vehicles vehicles according to claim 7 , wherein the underwatercomprising the multiple underwater vehicles which cruise at vehicle which explores the deep exploration depth includes
an exploration depth close to a water bottom , exploration imaging means for taking an image of the water bottom .
condition setting means which previously differently sets
11. The operating system of the multiple underwater
exploration
missions
andexploration
depthsprovidedinthe25
vehiclesaccording to claim 7 , wherein the underwater
multiple underwater vehicles, submerging means for sub vehicle which explores the shallow exploration depth
merging the multiple underwater vehicles to the respective includes land form researching means which researches a
set exploration depths, on -water control means placed near land form of the water bottom and / or a geological layera water surface, exploration mission executing means for researching means which researches a geological layer
cruising the multiple underwater vehicles at the respective 30 under the water bottom .
set exploration depths to execute the exploration missions
12. The operating system of the multiple underwater
under control of the on -water control means , and recording vehicles
according to claim 7 , further comprising the onmeans and / or transmission means for recording and / or trans water control
means having acoustic positioning means
mitting an execution result of the exploration mission ,wherein the exploration depths which are differently set 35 and/orcommunicationmeans and capable of cruising near awater surface, wherein the on - water control means measuresby the exploration condition setting means include a positionsof the multiple underwater vehicles by the acoustic
deep exploration depth which is close to the watermeans and / or the on - water control means perbottom and a shallow exploration depth which is far positioning
forms communication with the communication means pos
from the water bottom ,wherein a height from the water bottom on which the 40 ing
sessedby the multiple underwater vehicles, and the operatsystem executes the exploration mission .
underwater vehicle at the deep exploration depth cancruise is 1 m or more and less than 50 m , and a height***