JP5453992B2 - Autonomous control method for underwater vehicle and autonomous underwater vehicle - Google Patents

Description

  The present invention relates to an underwater vehicle autonomous control method used for autonomously controlling an underwater vehicle using a waypoint method, and an autonomous control type underwater vehicle used to implement the autonomous control method.

  2. Description of the Related Art Conventionally, a remotely operated underwater vehicle called a so-called ROV (remotely operated vehicle) has been used as one of devices for performing various observations and collection operations in water. In recent years, in view of the fact that the ROV is connected to a cable and its movement is restricted, and equipment for handling a long cable is required, it has been a relatively deep region in the sea or lakes in recent years. In addition, an autonomous underwater vehicle (autonomous underwater robot) called a so-called AUV (autonomous underwater vehicle) has come to be used as a device for performing underwater investigation work in a wide area.

  This type of autonomous navigation type underwater vehicle includes a propulsion unit and a rudder at a required portion of the fuselage, for example, at the rear end side of the fuselage, and a power source such as a battery inside the fuselage. A power device such as an electric motor that receives the supply of electric power or the like to drive the propulsion device and a steering device that operates by receiving the supply of electric power or the like from the power source, and the steering device drives the rudder. This makes it possible to change the attitude, navigation direction and depth of the navigation body itself, and further, the navigation state is controlled by the navigation control device installed inside the fuselage, so It is configured to be able to run (see, for example, Patent Document 1).

  By the way, in order to investigate and search the sea and lakes, etc., when you want to monitor (observe) a required area such as the sea and lakes with a certain type of sensor, Since the effective range naturally has a limit, when the monitoring target area is wider than the effective range of the sensor, a technique for monitoring the entire monitoring target area is to include a plurality of sensors in the monitoring target area. It is possible to arrange them so that they overlap each other.

  However, when the monitoring target area is significantly wider than the effective range of the sensor, the number of sensors becomes large, and a large number of devices that perform signal processing according to the number of sensors are required. This makes it difficult to achieve the problem because it requires a lot of labor for installation and maintenance.

  Therefore, as a technique for enabling monitoring of the entire monitoring target area with a small number of sensors, a sensor is mounted on the traveling body, and the traveling body is made to travel according to a course set (specified) in the monitoring target area in advance. Thus, there has been considered a method of performing monitoring by scanning the entire region to be monitored with one sensor mounted on the traveling body. At this time, the traveling course of the traveling body is set to zigzag (reciprocating movement while shifting the position), and at this time, the sensor mounted on the traveling body as the traveling body travels. As the effective range moves, the data detection area (scanning area) by the sensor, which is formed in a planar view continuous in the traveling direction of the traveling body, overlaps the traveling course by the required amount in the width direction. If set, it is considered that monitoring of the entire area can be achieved even if the route along which the traveling body moves is slightly deviated from the original setting course.

  Waypoint control is known as one of the control methods for autonomously navigating a traveling body according to a predetermined course as described above.

  The waypoint control changes the traveling direction of the vehicle on several intermediate points, for example, on the route, along the route that the vehicle should follow to the area where the vehicle is desired to travel. For each intermediate point such as a power place, a waypoint that defines the place and the order of tracing is set, and the traveling body stores the data of the order of tracing the location of each waypoint. Then, according to the order in which the above-mentioned traveling body is set for each waypoint, first, the location of the first waypoint to be traced is set as a target location and moved in that direction. When the destination is reached, the location of the waypoint in the order to be traced next is set as the target location, and the location is moved toward the location of the waypoint newly set as the target location. Then, in the same way as above, when a vehicle that moves toward the location of one waypoint set as the target location reaches that location, it resets the target location to the location of the next waypoint, The operation (processing) to move toward the place set as the new target point is sequentially repeated until the location of the waypoint to be traced last is set as the target point and the vehicle arrives there. In this way, the vehicle can be made to travel sequentially through the place of each waypoint according to the order of tracing set for each waypoint ( For example, refer nonpatent literature 1).

  In order to perform the waypoint control, a means for acquiring a position is required, and in general, the position is often acquired by GPS. On the other hand, as a means for the underwater vehicle to acquire its own position, a method is known in which acceleration or velocity is acquired by a sensor and integrated (for example, see Patent Document 2).

  In the waypoint control of the traveling body as described above, the traveling body is scheduled to be moved so that obstacles are provided in the traveling body, and the locations of the respective waypoints are sequentially connected in the order of tracing. If an obstacle is detected (discovered) on the route, stop the vehicle in front of the obstacle and set the vehicle to the target position at that time as an emergency avoidance operation. The vehicle is moved in a direction different from the original travel direction toward the location of a certain waypoint and moved in a direction different from the original travel direction in the required angle, and the way set to the above target position. When the obstacle comes off from the line connecting the point location, it is determined that the obstacle has been avoided, and the vehicle is moving toward the waypoint location set as the target point at that time. Resume It is common practice to so.

  In view of the above points, the present inventor monitors not only the surface of the water such as the sea and lakes but also the required area of the water and the bottom of the water, and monitors (observes) the monitoring target area with a certain sensor. ) A predetermined sensor is mounted on the above-mentioned autonomous navigation type underwater vehicle, and a plurality of ways set for the underwater vehicle or in the vicinity of the bottom of the water in the area to be monitored. By setting waypoints that repeatedly determine the order of tracing the same place of the plurality of waypoints so as to go around the same place of the points many times, and performing waypoint control, It is planned to repeat the scanning by a predetermined sensor mounted on the underwater vehicle while patroling the underwater vehicle so that the monitoring target area can be continuously monitored for a required period.

JP 2001-180587 A Japanese Patent Laid-Open No. 5-118799

Masakazu Komatsu, 3 others, “Autonomous Solar Robot Boat and its Navigation”, Dynamics and Design Conference 2000: CD-ROM Proceedings of Mechanical Mechanics and Measurement Control, September 2000

  However, as the waypoint control of the underwater vehicle in the monitoring target area, for example, as shown in FIG. 10, the order of following four parentheses A, B, C, and D as shown in parentheses. When the waypoint control is performed by setting a waypoint in which the above is repeated, the underwater vehicle 1 moves the four locations A, B, C, and D to A (1) within the monitored area. → B (2) → C (3) → D (4) → A (5) → B (6) → C (7) → D (8) → A (9) → ... (in parentheses) Numbers indicate the order in which each place is traced). At this time, a required part on the route traveled by the traveling body, for example, as shown in FIG. Each waypoint is initially set on the planned movement path of the underwater vehicle 1 connected to the target location If there is an obstacle 2 that does not change the position that was not supposed to be present, or if the obstacle 2 is newly generated and its position does not change, The underwater vehicle 1 that sequentially visits four locations A, B, C, and D travels from the location D to the location A, which is the target location, at the same location on the same route. Since the obstacle 2 is discovered (detected) and the temporary stop and the emergency avoidance operation are performed before the obstacle 2, the actual situation is that the number of times of emergency avoidance increases. In addition, when the emergency avoidance operation is performed, the underwater vehicle 1 consumes extra power compared to normal traveling by a power device, a steering device, a traveling control device, or the like that drives the propulsion device. As a result, there is a concern that the sustainable traveling time of the underwater vehicle 1 may be shortened.

  In view of this, the present invention is to circulate an underwater vehicle equipped with a required sensor by waypoint control in the monitoring target area and repeatedly scan the monitoring target area with the required sensor mounted on the underwater vehicle. When the monitoring target area is continuously monitored for a required period of time, even if there are obstacles that do not move on the planned moving path of the navigation body that connects the locations of a plurality of waypoints according to the order of tracing, An autonomous control method for an underwater vehicle capable of reducing the number of times of emergency avoidance of the underwater vehicle and suppressing the influence of the underwater vehicle on the sustainable travel time, and the It is intended to provide an autonomously controlled underwater vehicle for use in the implementation of the method.

In order to solve the above-mentioned problem, the present invention, corresponding to claim 1, is arranged in such a manner that the respective locations are repeatedly traced to a plurality of intermediate points along a required patrol route where the underwater vehicle is desired to patrol. set the waypoint that defines, among the waypoint, first to set the location of the waypoint to the target point to follow is cruising the underwater vehicle, and then, the water in the ocean-going Hashikarada is, and the goal point When the location of the selected waypoint is reached, the location of the next waypoint to be traced is set as a target point, and the waypoint control is performed by sequentially repeating the underwater vehicle to the target point. Sometimes, when an obstacle is detected on a route that travels from the location of one waypoint on the patrol route to the location of the next waypoint as a target point, the underwater vehicle is urgently avoided. Do the action And, if the obstacle is an obstacle which does not move, the avoidance end position of underwater vehicle, in addition as a new waypoint, when circulating the patrol route in the next lap later The autonomous control method for the underwater vehicle allows the vehicle to circulate on the route toward the next waypoint via the position newly added as a waypoint.

Further, in the above configuration, when the obstacle on the moving path detected by the obstacle detecting means mounted on the underwater vehicle is an obstacle that does not move , the underwater vehicle can be avoided on both sides thereof. In the case of an obstacle, the underwater vehicle alternately performs emergency avoidance operations on both sides of the obstacle on the first odd-numbered lap and the first even-numbered lap of the patrol route where the obstacle is detected. At the same time, when traveling around the above-mentioned patrol route on the odd-numbered lap after the next lap, it will pass to the position at the end of avoidance of the underwater vehicle on the first odd-numbered lap and the first even-numbered lap. a waypoint order is set to the waypoint order is set so that through which the orbits in the next lap after the even-th revolution, the so add respectively.

Corresponding to claim 3, a propulsion means, a direction change means, an obstacle detection means, a travel control device, and a position acquisition means are provided, and the travel control device is provided with a plurality of intermediate points along a required patrol route. The waypoints determined in order to repeatedly follow each location to the location are stored, and the location of the first waypoint to be traced among each waypoint is set as the target location and directed to the set target location a function of controlling the propulsion means and turning means to cruising Te reaches the location of the waypoint, which is the goal point, then follows the location of the waypoint again sequentially sets the target location, the A function of controlling the propulsion means and the direction changing means so as to sail toward the set target point, and the destination way point from the place of one waypoint on the patrol route An obstacle on the path is detected by the obstacle detection means, a function of controlling the propulsion means and turning means so as to urgently avoid the obstacle, if the obstacle is an obstacle which does not move is characterized in that the avoidance end position of the obstacle, and the ability to add new waypoints to through which circulates the patrol route in the next lap later, and includes comprising configure An autonomously controlled underwater vehicle.

Further, in the above configuration, the marine vessel running controlling device, the obstacle from one waypoint location on the path to run domestic locations next waypoint as the target point of the cyclic path is detected by the obstacle detection means When the obstacle is an obstacle that does not move and it is detected that the obstacle is an obstacle that can be avoided on both sides, A function for controlling the propulsion means and the direction changing means to alternately perform emergency avoidance operations on both sides of the obstacle on the first even lap, and the first odd lap and the first even lap of the patrol route. At the end of avoidance of the underwater vehicle at the end of avoidance, a new waypoint to go through the above-mentioned patrol route on the odd lap after the next lap and the lap on the even lap after the next lap When you go through To the ability to add and separate the new waypoint, and provided comprising configure.

According to the present invention, the following excellent effects are exhibited.
(1) At each of a plurality of intermediate points along the required patrol route where the underwater vehicle is desired to travel, a waypoint that determines the order to repeatedly follow each place is set, and the first one of the waypoints is traced. Sets the location of the waypoint to the target point by cruising the underwater vehicle and, then, the water in the ocean-going Hashikarada reaches the location of the waypoint, which is the goal point, then follow the location of the waypoint When the waypoint control is performed by sequentially setting the target point and moving the underwater vehicle to the target point in order, the next way is changed from the location of one waypoint on the above-mentioned patrol route. When an obstacle is detected on the route that travels with the point as the target point, the underwater vehicle performs an emergency avoidance operation of the obstacle , and the obstacle does not move. If The avoidance end position of underwater vehicle, in addition as a new waypoint, the next via the newly added waypoints position when circling the patrol route in the next lap later Because it is an autonomous control method for the underwater vehicle that makes it circulate on the route toward the waypoint, the underwater vehicle is not suitable for laps after an obstacle is found on the circuit route of the underwater vehicle. After the emergency avoidance operation on the circuit where the obstacle was found on the patrol route, if the obstacle is an obstacle that does not move, a new way added to the position of the underwater vehicle Because it is possible to navigate via the point, and even if the obstacle is in the same location, the underwater vehicle can be circulated by waypoint control without reaching the location of the obstacle. ,Emergency avoidance Number of times can be greatly reduced.
(2) In addition, by reducing the number of times of underwater vehicle emergency avoidance, underwater vehicles will consume less power than normal navigation for emergency avoidance. It is possible to suppress the influence of the underwater vehicle on the sustainable travel time.
(3) When the obstacle on the moving path detected by the obstacle detection means mounted on the underwater vehicle is an obstacle that does not move, it is an obstacle that the underwater vehicle can avoid on both sides. In some cases, the underwater vehicle alternately performs emergency avoidance operations on both sides of the obstacle on the first odd-numbered lap and the first even-numbered lap of the patrol path where the obstacle is detected, and The order is set so that the above route is routed on the odd number of laps after the next lap at the position at the end of avoidance of the underwater vehicle on the first odd number of laps and the first even number of laps. By adding the added waypoints and the waypoints that are ordered in order to go around in the even number of laps after the next lap, obstacles present on the patrol route can be added. Position and size that can be avoided on both sides If, in the first odd-th revolution and the first even circumferential subsequent laps the obstacle is found, consisting of underwater vehicles to be able to pass on both sides of the obstacle.
(4) Therefore, when a sensor is mounted on the underwater vehicle and scanning is performed along the traveling trajectory of the underwater vehicle by the sensor, the scanning area of the sensor is an avoidance direction of the underwater vehicle with respect to the obstacle. The possibility of not reaching the opposite side can be prevented in advance, and the possibility of forming an unscanned region by the sensor can be eliminated.
(5) A propulsion means, a direction change means, an obstacle detection means, a travel control device, and a position acquisition means are provided, and the travel control device is repeated at a plurality of intermediate points along a required patrol route. The waypoints determined in order to be traced are memorized, the location of the first waypoint to be traced is set as the target point, and the above-mentioned propulsion is carried out so as to sail toward the set target point. a function of controlling the unit and turning means, upon reaching the location of the waypoint, which is the goal point, then follows the location of the waypoint again sequentially sets the target location, towards the set target point a function of controlling the propulsion means and turning means to cruising Te, obstruction from one waypoint location on the path to run domestic locations next waypoint as the target point of the patrol route is When detected by serial obstacle detection unit, a function of controlling the propulsion means and turning means so as to urgently avoid the obstacle, if the obstacle is an obstacle which does not move, the obstacle avoided at the end position, the autonomous control type underwater vehicle to the patrol route and the ability to add new waypoints to through which circulates in the next lap later, and includes comprising configure Thus, the device configuration capable of obtaining the effects (1) and (2) can be easily realized.
(6) or running controller, the obstacle from one waypoint location on the path to run domestic locations next waypoint as the target point of the cyclic path is detected by the obstacle detection means, the fault If the obstacle is a non-moving obstacle, and it is detected that the obstacle is an obstacle that can be avoided on both sides, the first odd number of laps and the first even number of the patrol path where the obstacle is detected The function of controlling the propulsion means and the direction changing means to alternately perform emergency avoidance operations on both sides of the obstacle on the lap, and underwater navigation on the first odd lap and the first even lap of the patrol route At the end of avoidance of the runner, a new waypoint for passing through the above route on the odd lap after the next lap, and on the even lap after the next lap Another new way to go through And ability to add a point, by the provided comprising constituting, it is possible to realize the above-mentioned (3) and (4) effects capable device configured to obtain the.

It is a cutting | disconnection schematic side view which shows one Embodiment of the autonomous control type underwater vehicle used for implementation of the autonomous control method of the underwater vehicle of this invention. It is a flowchart which shows the process sequence for performing waypoint control in the cruise control apparatus of the autonomous control type underwater vehicle of FIG. Outline of the obstacle avoidance operation of the autonomously controlled underwater vehicle in the lap when the obstacle is found on the circuit route of the autonomously controlled underwater vehicle in the case of performing waypoint control by the cruise control device of FIG. FIG. Navigation of the autonomously controlled underwater vehicle in the lap after the lap where the obstacle was found on the patrol route of the autonomously controlled underwater vehicle in the case of performing waypoint control by the cruise control device of FIG. It is a top view which shows the outline | summary of a state. It is a flowchart which shows the application example of the process sequence for performing waypoint control in the navigation control apparatus of an autonomous underwater vehicle as another form of implementation of this invention. It is a top view which shows the outline | summary of the traveling state of the autonomous control type underwater vehicle by which waypoint control is performed when there is no obstruction on a patrol route by the traveling control apparatus of FIG. Autonomous underwater vehicle obstacles in the first odd number of laps when obstacles are found on the patrol route of autonomous underwater vehicles when waypoint control is performed by the cruise control device of FIG. It is a top view which shows the outline | summary of the avoidance operation | movement of an object. Autonomous underwater vehicle obstacles in the first even lap when an obstacle is found on the patrol route of the autonomous underwater vehicle in the case of performing waypoint control by the cruise control device of FIG. It is a top view which shows the outline | summary of the avoidance operation | movement of an object. Navigation state of autonomously controlled underwater vehicle in the lap after the first odd lap and the first even lap where obstacles were found when waypoint control is performed by the navigation control device of FIG. It is a top view which shows the outline | summary. It is a top view which shows the outline | summary of the waypoint control of the underwater vehicle which patrolls four places of A, B, C, and D. FIG. When performing an underwater vehicle traveling around four locations A, B, C, and D, when an obstacle exists on the course of the underwater vehicle traveling, It is a top view which shows the outline | summary of the emergency avoidance operation | movement which takes.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.

  1 to 4 show an embodiment of the autonomous control method and autonomous control type underwater vehicle of the present invention, which are as follows.

  That is, the autonomously controlled underwater vehicle of the present invention used for carrying out the autonomous control method of the underwater vehicle of the present invention has propulsion means on the rear end side of the cylindrical fuselage 4 as indicated by reference numeral 3 in FIG. A thruster (propulsion unit) 5 for propulsion and a rudder (only the vertical rudder is shown in the figure) 6 comprising a vertical rudder and a horizontal rudder as direction changing means are provided, and a battery is provided inside the fuselage 4. A power source 7 such as the above, a power device 8 such as an electric motor that receives the supply of electric power from the power source 7 and drives the thruster 5, and a steering device that operates by receiving the supply of electric power from the power source 7. 9, the steering device 9 drives each of the rudder 6 so that the posture, traveling azimuth, and depth of the underwater vehicle itself can be freely changed. In addition, as the position acquisition means, for example, a position acquisition device 14 including an accelerometer, a gyroscope, and an integrator is provided so as to acquire its own position. Although not shown in the figure, it is assumed that a sensor corresponding to a required monitoring target that is desired to be monitored in the monitoring target area is mounted at a required portion of the body 4.

  Further, an obstacle detection sonar 10 as an obstacle detection means is provided at the front part of the fuselage 4, and further, a cruise control device 11 such as a computer is provided inside the fuselage 4, An obstacle detection signal from the obstacle detection sonar 10 can be input to the cruise control device 11, and the cruise control device 11 controls the driving of the thruster 5 by the power unit 8. By controlling the driving of each rudder 6 by the steering device 9, the traveling state of the underwater vehicle can be controlled.

  Furthermore, the navigation control apparatus 11 performs waypoint control according to the processing procedure as shown in the flow in FIG.

  That is, a waypoint that defines the location and the order of tracing for each intermediate point along the patrol route that should be traced so that the autonomously controlled underwater vehicle 3 of the present invention circulates within the required monitoring target area. Is set, and the navigation control device 11 stores the data of the order of tracing the location of each waypoint (step 1: S1).

  When the data of the order of tracing with the location of each waypoint is given in step 1 (S1), the cruise control apparatus 11 sets the location of the waypoint to be traced first as a target point (step 2: S2).

  Next, the navigation controller 11 constantly monitors the input of the obstacle detection signal from the obstacle detection sonar 10 (see FIG. 1), and the present location of the autonomously controlled underwater vehicle 3 of the present invention. And whether or not there is an obstacle on the planned movement route connecting the location of the waypoint set as the target point (step 3: S3), and an obstacle is found (detected) on the planned movement route If not, the target point set in step 2 (S2), that is, first, is controlled by controlling the driving of the thruster 5 by the power unit 8 and the driving of each rudder 6 by the steering unit 9 (see FIG. 1). The autonomously controlled underwater vehicle 3 of the present invention is moved toward the location of the waypoint to be traced (step 4: S4).

  Next, the cruise control device 11 is, for example, the autonomous control type underwater vehicle of the present invention every time the required time elapses or the autonomous control type underwater vehicle 3 of the present invention travels a required distance. 3 determines whether or not the target point set in Step 2 (S2) has been reached (Step 5: S5). If the target point has not been reached, the process returns to Step 3 (S3). While the obstacle detection sonar 10 (see FIG. 1) monitors the input of the obstacle detection signal to determine again whether there is an obstacle on the planned movement path, the obstacle is not detected (detected). Each time the autonomously controlled underwater vehicle of the present invention moves to the set target point in step 4 (S4) and the required time in step 5 (S5) elapses or the required distance travels. , Autonomously controlled underwater navigation of the present invention Body 3 are to perform sequentially repeating the process of determining whether or not reached the target point.

  Thereafter, in the above step 5 (S5), when it is determined that the autonomously controlled underwater vehicle 3 of the present invention has reached the set target point, the target point corresponds to the last waypoint to be traced. It is determined whether or not the target point has been set (step 6: S6). If it is not the target point set according to the last waypoint, the location of the waypoint in the order to be traced is determined as the new target point. Is set again (step 7: S7).

  When a new target point is set in step 7 (S7) as described above, the cruise control apparatus 11 returns to step 3 (S3) and starts from the obstacle detection sonar 10 (see FIG. 1). On the planned movement path connecting the current location of the autonomously controlled underwater vehicle 3 of the present invention and the location of the waypoint newly set as the target location in step 7 (S7) by monitoring the input of the obstacle detection signal After determining whether or not there is an obstacle, the autonomous control type of the present invention according to step 3 (S3) and step 4 (S4) is performed as described above while no obstacle is found (detected). The autonomously controlled water of the present invention every time the underwater vehicle 3 moves toward the target point newly set in step 7 (S7) and the required time elapses or the required distance advances in step 5 (S5). Medium cruiser 3 reaches the target point In step 5 (S5), it is determined that the autonomously controlled underwater vehicle 3 of the present invention has reached the target point newly set in step 7 (S7). Repeat sequentially until it becomes.

  Thereafter, whenever it is determined in step 5 (S5) that the autonomously controlled underwater vehicle 3 of the present invention has reached the set target point, the routine proceeds to step 6 (S6). ) Until it is determined that the set target point is the target point corresponding to the last waypoint, the location of the waypoint in the order followed in step 7 (S7) is newly set. By repeating the process of returning to step 3 (S3) after setting the target point again, step 3 (S3) is repeated until all the waypoints are set according to the order in which the locations of all waypoints follow. From step 4 (S4) and step 5 (S5), the process returns to step 3 (S3). After step 5 (S5), step 6 (S6) and step 7 (S ) Through the are to repeat the process returns to step 3 (S3) above.

  Thereafter, in step 7 (S7), step 3 (S3), which is performed after the location of the last waypoint to be traced, is set as the target point, step 4 (S4) and step 5 (S5) are followed by step 3 above. When the process of returning to (S3) is repeated, if it is determined in step 5 (S5) that the autonomously controlled underwater vehicle 3 of the present invention has reached the target point, the process proceeds to step 6 (S6). Since it is determined that the target point is set corresponding to the last waypoint, in this case, the process proceeds to step 8 (S8) to end the process.

  Furthermore, in the navigation control device 11, when performing the above waypoint control for the autonomously controlled underwater vehicle 3 of the present invention along the patrol route set in the required monitoring target area, At a certain point in time while the autonomously controlled underwater vehicle 3 of the present invention is traveling on the patrol route, in step 3 (S3), the obstacle detection sonar 10 (see FIG. 1) Based on the input of the obstacle detection signal, on the planned movement path of the autonomously controlled underwater vehicle 3 of the present invention connecting the current location of the autonomously controlled underwater vehicle 3 of the present invention and the target point at that time If an obstacle is found (detected), the autonomously controlled underwater vehicle 3 of the present invention is temporarily stopped (not shown in the flow of FIG. 2) as in the conventional waypoint control. The same applies to FIGS. 5 and 6) and emergency avoidance operation (step 9: S9, scan) 10: In addition to S10), at the end of the emergency avoidance operation, the position of the autonomously controlled underwater vehicle 3 of the present invention at the end of the emergency avoidance operation is routed to the patrol route from the next lap. A function of performing a process of adding (inserting) as a new waypoint (step 11: S11) is provided.

  More specifically, for example, as shown in FIG. 3, for four locations A, B, C, and D, waypoints in which the order of tracing is repeated as shown in parentheses are set, and the autonomous The controlled underwater vehicle 3 is changed from A (1) → B (2) → C (3) → D (4) → A (5) → B (6) → C (7) → D (8) → A (9) → B (10) →... (Note that the numbers in parentheses indicate the order in which each place is traced.) After the autonomously controlled underwater vehicle 3 of the present invention reaches the place D set as the fourth target point, the next (fifth) target is designated as the place of the next waypoint to be followed. As shown in FIG. 3, when the autonomously controlled underwater vehicle 3 of the present invention is traveling toward the target point, the point is set again. The obstacle 2 exists on the planned movement path of the autonomously controlled underwater vehicle 3 of the present invention that connects the current location of the autonomously controlled underwater vehicle 3 of the present invention and the location A as the target point. 2 is detected (detected) based on the input of the obstacle detection signal from the obstacle detection sonar 10 (see FIG. 1). In 3 (S3), it is determined that there is an obstacle on the planned travel route, and the traveling of the autonomously controlled underwater vehicle 3 of the present invention is temporarily stopped.

  Next, the cruise control device 11 controls the driving of the thruster 5 by the power unit 8 and the driving of each rudder 6 by the steering device 9 (see FIG. 1) as an emergency avoidance operation, and the autonomous control type of the present invention. The required angle of the underwater vehicle 3 in the direction in which there is no obstacle detected by the obstacle detection sonar 10, for example, the original moving direction toward the location A set as the target position at that time The movement is started in a different direction (the direction shifted by the required angle to the right side in the figure) (step 9: S9). After the movement starts, the required time elapses or the autonomously controlled underwater vehicle 3 of the present invention Every time the required distance travels, the obstacle 2 is removed from the line connecting the position of the autonomously controlled underwater vehicle 3 of the present invention and the location A as the target point, and the avoidance is completed. (Step 10: S1) ) If the obstacle 2 is not removed from the line and the avoidance has not been completed, the process returns to the step 9 (S9) and the original moving direction of the autonomously controlled underwater vehicle 3 of the present invention. Continue moving in a different direction.

  Thereafter, the autonomously controlled underwater vehicle 3 of the present invention moves to a position shown by a two-dot chain line in FIG. 3, and the autonomously controlled underwater vehicle 3 of the present invention is in step 10 (S10). When the obstacle 2 comes off from the line connecting the position of A and the location of the target point A and it is determined that the avoidance has ended, the cruise control device 11 performs the above-described operation as shown in FIG. A new waypoint is placed at the location E corresponding to the position of the autonomously controlled underwater vehicle 3 of the present invention at the end of avoidance of the obstacle 2, and the location of D and A The autonomously controlled underwater vehicle 3 of the present invention, which travels on the above-mentioned patrol route by setting the order so as to be the order between the places, is set in the patrol route after the next lap. When it reaches the location D, the waypoint at the location E is set as the target location. And cruising, upon reaching the location waypoint of the E, so as to run Kou set a waypoint location of the A to the target point (step 11: S11).

  As described above, the emergency avoidance operation of the obstacle 2 on the patrol route of the autonomously controlled underwater vehicle 3 of the present invention in step 9 (S9) and step 10 (S10) is completed, and step 11 (S11). After the new waypoint addition process is performed, the cruise control apparatus 11 proceeds to step 4 (S4) in FIG. 2, and the main location A is set as the target point at that time. The autonomously controlled underwater vehicle 3 of the invention is caused to move. Thereafter, as described above, the process of returning from step 5 (S5) to step 3 (S3), and step 5 ( After proceeding from step S5) to step 6 (S6), through step 7 (S7) and then returning to step 3 (S3) as appropriate, the waypoint that the target point traces last in step 6 (S6) above In If it is determined that the one set by response, are to be terminated willing to step 8 (S8).

  Using the autonomous control type underwater vehicle 3 of the present invention having the above-described configuration, the autonomous control type of the present invention is used while sailing along a patrol route set by waypoints in the monitored region. As shown in FIG. 3, initially, as shown in FIG. 3, when A, B, C, and D are scanned by the required sensor mounted on the underwater vehicle 3. Assuming that each waypoint is initially set between a location D and a location A, which are halfway positions on the cyclic route where the waypoints are set so that the order of tracing is sequentially repeated for each of the four locations. If there is an obstacle 2 that does not change its position, or if the obstacle 2 is newly generated and its position does not change, it will be moved to the location A from the location D above. Heading When the autonomously controlled underwater vehicle 3 of the present invention first finds (detects) the obstacle 2 with the obstacle detection sonar 10 installed, the autonomously controlled underwater vehicle 3 of the present invention The suspension before the obstacle 2 and the emergency avoidance operation are performed. When the avoidance operation of the obstacle 2 of the autonomously controlled underwater vehicle 3 of the present invention is completed, FIG. As shown in FIG. 2, the autonomously controlled underwater vehicle 3 of the present invention is placed at the position E corresponding to the avoidance end position of the autonomously controlled underwater vehicle 3 of the present invention at the time at the next round of the circuit route. A new waypoint for passing between the location D and the location A is additionally set and stored in the cruise control device 11.

  Accordingly, the autonomously controlled underwater vehicle 3 of the present invention moves the above-mentioned patrol route from A (1) → B (2) → C (3) → D (4) → A (5) → B (6). → C (7) → D (8) → E (9) → A (10) → ... → D (13) → E (14) → A (15) → ... (numbers in parentheses Indicates the order in which each place is traced), and in the lap after the lap in which the obstacle 2 is found on the planned movement route from the D place to the A place, the present invention The autonomously controlled underwater vehicle 3 is controlled by waypoints so that it travels from the location D to the location E and then travels from the location E to the location A. Thus, the navigation is automatically performed while avoiding the obstacle 2 existing on the line connecting the location D and the location A.

  Thus, according to the autonomous control method and autonomous control type underwater vehicle of the present invention, the autonomously controlled underwater vehicle 3 of the present invention is scheduled to move while traveling on the patrol route. Even if there is an obstacle on the top, in the lap after the lap where the obstacle was discovered and the emergency avoidance operation was performed, even if there is an obstacle 2 in the same place, the obstacle 2 Since the autonomously controlled underwater vehicle 3 of the present invention can be circulated by waypoint control without approaching, the number of times of emergency avoidance can be greatly reduced.

  Moreover, by reducing the number of emergency avoidances of the underwater vehicle, the autonomously controlled underwater vehicle 3 of the present invention can be used with the power unit 8, the steering device 9, the cruise control device 11, etc. that drive the thruster 5, Since it is less likely to consume extra power than during normal voyage for emergency avoidance, it is possible to suppress the influence of the underwater vehicle on the sustainable cruising time.

  Next, FIG. 5 to FIG. 9 show application examples of the embodiment of FIG. 1 to FIG. 4 as other embodiments of the present invention. In the same configuration as shown in FIG. 11 is a cruise control device 11 that performs waypoint control according to the processing procedure shown in FIG. 5, instead of the configuration that performs waypoint control according to the processing procedure shown in the flowchart of FIG. is there.

  More specifically, as shown in FIG. 5, the navigation control apparatus 11 includes the same step 1 (S1) to step 8 (S8) as shown in FIG. 2, and the autonomously controlled underwater vehicle of the present invention. If an obstacle is not found on the planned movement route 3, the process is performed in the same procedure as shown in FIG.

  In addition, at a certain point in time when the autonomously controlled underwater vehicle 3 of the present invention is traveling on a patrol route, in step 3 (S3), obstacle detection from the obstacle detection sonar 10 (see FIG. 1). Based on the input of the signal, the obstacle on the planned movement path of the autonomously controlled underwater vehicle 3 of the present invention connecting the current location of the autonomously controlled underwater vehicle 3 of the present invention and the target point at that time. Is detected (detected), the cruise control device 11 first stops the autonomously controlled underwater vehicle 3 of the present invention in front of the obstacle, and then first, the autonomous control of the present invention. It is determined whether or not an obstacle found (detected) on the planned movement path of the underwater vehicle 3 can be avoided in either of the left and right sides (step 12: S12). .

  In step 12 (S12), it is determined from the position, size, etc. of the obstacle that it is appropriate to avoid the obstacle in either the left or right direction, but not in the left or right direction. If it is, the navigation control device 11 uses the obstacle detection sonar 10 of the autonomously controlled underwater vehicle 3 of the present invention as an emergency avoidance operation similar to step 9 (S9) of FIG. The process of moving in the direction without the detected obstacle, and the same time as in step 10 (S10) of FIG. 2, the required time elapses, or every time the autonomously controlled underwater vehicle 3 of the present invention travels the required distance. Whether or not the obstacle 2 is removed from the line connecting the position of the autonomously controlled underwater vehicle 3 of the present invention at the time and the location of the waypoint set as the target point at that time, and the avoidance is finished Avoid the process of determining whether Repeatedly carried out until the end. Thereafter, when it is determined in step 10 (S10) that the obstacle avoidance of the autonomously controlled underwater vehicle 3 of the present invention has been completed, as in step 11 (S11) of FIG. A new waypoint is added to the place corresponding to the position of the autonomously controlled underwater vehicle 3 of the present invention at the time of avoidance, and added (inserted) in a predetermined order so as to pass after the next round of the circuit route. Then, the process proceeds to step 4 (S4).

  Furthermore, in the navigation control apparatus 11, in step 12 (S12), obstacles found (detected) on the planned movement path of the autonomously controlled underwater vehicle 3 of the present invention are detected on either of the left and right sides. If it is determined that it can be avoided in the direction of the vehicle, the process proceeds to step 13 (S13), and the lap when the obstacle is found (detected) on the planned movement route is the autonomously controlled underwater vehicle of the present invention. After determining whether the number of laps on the third route is an odd or even lap, an emergency avoidance operation is performed in different directions on the left and right according to the odd and even laps (step 14: S14 and step 14). 15: S15, Step 17: S17 and Step 18: S18), at the end of each emergency avoidance operation, the position of the autonomously controlled underwater vehicle 3 of the present invention at the end of the emergency avoidance operation Odd number of Each added as a new waypoint to through which the times and the even circulation (insert) for processing (step 16: S16, step 19: S19) are as a function of performing.

More specifically, for example, as shown in FIG. 6, each way of E, F, G, H, I, J,... A point is set, and a patrol route for patroling the autonomously controlled underwater vehicle 3 of the present invention is set, whereby a required route (not shown) mounted on the autonomously controlled underwater vehicle 3 of the present invention is set. The sensor's effective range 12 moves with the traveling of the autonomously controlled underwater vehicle 3 of the present invention, so that the data detection region (see FIG. In a state in which the required monitoring target area 13 as shown by a one-dot chain line in FIG. 6 can be scanned by the scanning area 12a (for convenience of illustration, the autonomous control of the present invention when located at each waypoint location) Type underwater vehicle 3 are all solid lines In addition, the effective range 12 of the sensor mounted on the autonomously controlled underwater vehicle 3 of the present invention at the location of each waypoint is a broken line, and the data detection area 12a is another broken line. (The same applies to FIGS. 7, 8, and 9 to be described later.) After the autonomously controlled underwater vehicle 3 of the present invention arrives at the location G on the patrol route, When the location H of the waypoint location is set as the next target point and the autonomously controlled underwater vehicle 3 of the present invention is traveling toward the target point, it is shown in FIG. As described above, there is an obstacle 2 on the planned movement path of the autonomously controlled underwater vehicle 3 of the present invention that connects the current location of the autonomously controlled underwater vehicle 3 of the present invention and the location H as the target point. The obstacle detection signal from the obstacle detection sonar 10 (see FIG. 1). Since the obstacle 2 is found (detected) based on the force, the navigation control apparatus 11 determines that the obstacle 2 is on the planned movement route in step 3 (S3) of FIG. The process proceeds to step 12 (S12).

  Further, in step 12 (S12) of FIG. 5, the obstacle 2 found (detected) is detected based on the input of the obstacle detection signal from the obstacle detection sonar 10 (see FIG. 1). If it is determined that it can be avoided from the right and left sides from the size, the cruise control device 11 proceeds to step 13 (S13) and travels around the patrol route according to the present invention. It is determined whether the current number of laps of the underwater vehicle 3 is an odd or even lap.

  If it is determined in step 13 (S13) that the number of laps in the patrol route of the autonomously controlled underwater vehicle 3 of the present invention is an odd number, the cruise control device 11 is shown in FIG. As described above, as an emergency avoidance operation for avoiding the autonomously controlled underwater vehicle 3 of the present invention to the right side with respect to the obstacle 2 discovered (detected) on the planned movement route, the autonomously controlled water of the present invention is used. The middle traveling body 3 is moved in the direction shifted to the right by the required angle from the original moving direction toward the location H set as the target position at that time (step 14: S14). Whenever time passes or the autonomously controlled underwater vehicle 3 of the present invention travels a required distance, the position of the autonomously controlled underwater vehicle 3 of the present invention at that time and the target point are The above obstacle 2 is outside from the line connecting the location of H It is then determined whether or not the avoidance has been completed (step 15: S15), and the processes in steps 14 (S14) and 15 (S15) are performed until the obstacle 2 is removed from the line and the avoidance is completed. Repeat sequentially.

  Thereafter, when the emergency avoidance operation to the right side of the obstacle 2 of the autonomously controlled underwater vehicle 3 of the present invention is completed as described above, the navigation control device 11 performs step 11 (S11) in FIG. In the same manner as above, a new waypoint is placed at a location K as shown by a two-dot chain line in FIG. 7 corresponding to the position of the autonomously controlled underwater vehicle 3 of the present invention at the end of avoiding the obstacle 2. The order is determined and added (inserted) to the odd-numbered turns after the next odd-numbered turn of the cyclic route so that the order is between the G and H places (step 16: S16). As a result, when the autonomously controlled underwater vehicle 3 of the present invention that travels on the patrol route reaches the location G in each odd lap after the next odd lap on the patrol route, FIG. As indicated by the dotted line, the vehicle is sailing with the waypoint at the K location set as the target point, and when it reaches the waypoint at the K location, the waypoint at the H location is reset to the target location. To sail.

  Step 16 (S16) is followed by step 4 (S4).

  On the other hand, when it is determined in step 13 (S13) that the number of laps in the patrol route of the autonomously controlled underwater vehicle 3 of the present invention is an even number of laps, the cruising control device 11 is shown in FIG. As shown in FIG. 4, the autonomous control of the present invention is performed as an emergency avoidance operation for avoiding the autonomously controlled underwater vehicle 3 of the present invention to the left side with respect to the obstacle 2 found (detected) on the planned travel route. The type underwater vehicle 3 is moved in a direction shifted to the left by a required angle from the original moving direction toward the location H set as the target position at that time (step 17: S17). Each time the required time elapses or the autonomously controlled underwater vehicle 3 of the present invention travels a required distance, the position of the autonomously controlled underwater vehicle 3 of the present invention at that time and the target point The above obstacle from the line connecting the location of H It is determined whether or not avoidance is finished (step 18: S18), and the above steps 17 (S17) and 18 (S18) are continued until the obstacle 2 is removed from the line and the avoidance is finished. Repeat the process sequentially.

  After that, when the emergency avoidance operation to the left side of the obstacle 2 of the autonomously controlled underwater vehicle 3 of the present invention is completed as described above, the cruise control device 11 performs step 11 (S11) in FIG. In the same manner as described above, a new waypoint is placed at a position L corresponding to the position of the autonomously controlled underwater vehicle 3 of the present invention at the time when the avoidance of the obstacle 2 is ended, after the next even number of laps of the patrol route. The order is determined and added (inserted) to the even number of turns so as to be the order between the place of G and the place of H (step 19: S19). As a result, when the autonomously controlled underwater vehicle 3 of the present invention that travels on the patrol route reaches the location G in each of the even-numbered laps after the next even-numbered lap, FIG. As indicated by the dotted line, the vehicle is sailing with the waypoint at the location L set as the target point, and when the waypoint at the location L is reached, the waypoint at the location H is set as the target location again. To sail.

After step 1 9 (S1 9 ), the process proceeds to step 4 (S4).

  Other processing procedures in the cruise control apparatus 11 are the same as those shown in FIG. 2, and the same components are denoted by the same reference numerals.

When the autonomously controlled underwater vehicle 3 of the present invention provided with the cruise control device 11 of the present embodiment having the above configuration is used, E, F, G, H, I , J as shown in FIG. There is an obstacle that does not change the position that was not originally assumed when setting each waypoint between the location of G and the location of H on the cyclic route that passes through each location of Or, if the obstacle 2 is newly generated and its position does not change, and the obstacle can be avoided only on one side due to the position and size of the obstacle, As in the embodiment of FIGS. 1 to 4, the autonomously controlled underwater vehicle 3 of the present invention performs an emergency avoidance operation in the lap when the obstacle is found (detected). After the next lap of, an additional setting is made between the G and H locations. The waypoint is controlled so that it travels via the i-point, so that the navigation that automatically avoids obstacles that exist on the line connecting the G and H locations is performed. Become.

  Further, as shown in FIGS. 7 and 8, when the obstacle 2 existing between the location G and the location H on the patrol route has a position and size that can be avoided on both the left and right sides. When the obstacle 2 is detected by the obstacle detection sonar 10 (see FIG. 1) on the odd number of laps of the autonomously controlled underwater vehicle 3 of the present invention that patrolls the patrol route, Then, an emergency avoidance operation for avoiding the obstacle 2 to the right side is performed, and a waypoint at a location K corresponding to the avoidance end position is added for the following odd-numbered rounds, and then In the even-numbered lap that is the next lap of the patrol route, an emergency avoidance operation for avoiding the obstacle 2 to the left side is performed, and the waypoint at the location L corresponding to the avoidance end position is It is added for the following even-numbered tours.

  Therefore, after that, as shown by a one-dot chain line in FIG. 9, when the autonomously controlled underwater vehicle 3 of the present invention reaches the waypoint at the location G, the obstacle 2 The waypoint of the place of K added to the right side of the boat is sailed as a target point, and when the place of the K is reached, the target point is set again at the place of H as the next waypoint so that the ship will run At the same time, as shown by a two-dot chain line in FIG. 9, when the autonomously controlled underwater vehicle 3 of the present invention reaches the waypoint at the location G, the obstacle 2 It sails with the waypoint of the place of L added on the left side as the target point, and when it reaches the place of L, it sets the target point to the place of H which is the next waypoint and starts to sail. .

  It should be noted that the obstacle 2 that can be avoided on both the left and right sides between the location G and the location H on the patrol route travels the patrol route evenly around the autonomously controlled underwater vehicle 3 of the present invention. Even if it is the first discovery (detection) on the lap of the eye, an emergency avoidance operation for avoiding the obstacle 2 to the left side is performed in the lap, and the location of L corresponding to the avoidance end position This waypoint is added for the subsequent round of the even number of laps, and then the emergency evasion operation for avoiding the obstacle 2 to the right side is performed on the lap of the odd number of laps that is the next lap of the cyclic route. Since the waypoint at the location of K corresponding to the avoidance end position is added for the subsequent round of odd-numbered rounds, is the number of rounds of the rounding route thereafter even? Or depending on whether it is an odd number, Via the location of Tokoro or K so Kou run toward the location of H is performed.

  Therefore, also in this case, there is an obstacle 2 on the originally planned movement route between the K place and the H place while the autonomously controlled underwater vehicle 3 of the present invention travels on the patrol route. Even if there is an obstacle 2 at the same place on the first odd-numbered lap and the lap after the first even-numbered lap when the emergency avoidance operation is performed after the obstacle 2 is found, the place of G And the navigation that automatically avoids the obstacle 2 existing on the line connecting the locations of H and H will be performed.

  Therefore, also according to the present embodiment, the number of times of emergency avoidance can be greatly reduced even when the obstacle 2 exists on the patrol route, as in the embodiment of FIGS.

  Furthermore, when the obstacle 2 existing on the patrol route is at a position and size that can be avoided on both the left and right sides, the first odd-numbered round and the first even-numbered round after the obstacle 2 is found (detected) In the lap, the autonomously controlled underwater vehicle 3 of the present invention can be alternately passed through the right side and the left side of the obstacle 2 on the odd and even laps. The data detection area (scanning area) 12a of the sensor (not shown) mounted on the autonomously controlled underwater vehicle 3 of the present invention in accordance with the route change for avoidance is the autonomously controlled underwater navigation of the present invention with respect to the obstacle 2. It is possible to prevent the possibility that the body 3 will not reach the opposite side of the avoidance direction, and to eliminate the possibility that an unscanned area by the sensor is formed in the monitoring target area 13.

  The present invention is not limited to the above-described embodiment, and any type of sensor may be used as the sensor mounted on the autonomously controlled underwater vehicle 3 of the present invention depending on the monitoring target in the monitoring target area. It may be. A plurality of sensors may be mounted.

  The monitoring target area by the sensor mounted on the autonomously controlled underwater vehicle 3 of the present invention may be a monitoring target area that extends in the vertical direction. Therefore, the patrol route of the autonomously controlled underwater vehicle 3 of the present invention may include a route that moves in the vertical direction. Furthermore, the emergency avoidance operation of the autonomously controlled underwater vehicle 3 of the present invention when an obstacle is found (detected) at a required location on the patrol route may be performed in the vertical direction. The position of the newly added waypoint may be set to a height position different from the height positions of other waypoints that are initially set. In the embodiment shown in FIGS. 5 to 9, the autonomously controlled underwater vehicle 3 according to the present invention is made to travel while avoiding the obstacle 2 alternately on the right and left sides on the odd and even laps. As shown in the figure, when the obstacle 2 extends horizontally on the moving route, the autonomously controlled underwater vehicle 3 of the present invention is connected to the obstacle 2 on the odd and even laps. It is good also as what is made to sail avoiding alternately up and down.

  In addition, the autonomously controlled underwater vehicle 3 of the present invention autonomously travels the route for reciprocating from the base or mother ship of the autonomously controlled underwater vehicle 3 of the present invention to the circular route in addition to the circular route. You can do it.

  The autonomously controlled underwater vehicle 3 of the present invention can be freely changed in posture, traveling direction and depth, and the shape of the fuselage 4 as long as it can autonomously travel with a desired sensor mounted. The size, the size and the mounting position of the thruster 5, the shape and the size and the mounting position of the rudder, the arrangement and the shape of the power unit 8, the power source 7, and the steering unit 9 in the body 4 may be appropriately changed. As a direction change means, it is good also as a structure provided with the thruster of an up-down direction or a left-right direction instead of the rudder 6. FIG.

  In addition to the front part of the trunk | drum 4, you may make it provide the obstacle detection sonar 10 used for an obstacle detection in the side part. Further, as the obstacle detection means, an imaging device such as a camera may be used instead of the sonar.

  In addition, if the position of the autonomous control type underwater vehicle 3 of the present invention can be acquired, the position acquisition means can be configured to collate an image of the seabed with an image pickup device and a previously stored seabed map, Other than the position acquisition device 14 including an accelerometer, a gyroscope, and an integrator, such as a format that acquires and integrates the speed of its own device with an acoustic velocity measuring device, or a format that acquires a relative position based on a mother ship or an acoustic lighthouse. A form of position acquisition means may be used, and further, the position acquisition device 14 may be used in combination with a plurality of the above-described types of position acquisition means.

  Of course, various modifications can be made without departing from the scope of the present invention.

2 Obstacles 3 Autonomous underwater vehicle (underwater vehicle)
5 Thruster (propulsion means)
6 Rudder (direction change means)
10 Obstacle detection sonar (obstacle detection means)
11 navigation control device 14 position acquisition device (position acquisition means)

Claims (4)

Set waypoints in order to repeat each place at multiple intermediate points along the required patrol route where the underwater vehicle wants to patrol, and the first waypoint to follow among the waypoints location is cruising the underwater vehicle is set to the target point, and then, the water in the ocean-going Hashikarada reaches the location of the waypoint, which is the goal point, the target point then follow the location of the waypoint When the waypoint control is performed by sequentially repeating the underwater vehicle traveling toward the target point, the location of one waypoint from the location of the above-mentioned patrol route to the location of the next waypoint When an obstacle is detected on the route that travels with the target point as the target point, the underwater vehicle performs an emergency avoidance operation of the obstacle , and the obstacle is an obstacle that does not move. is, water The position at the end of avoidance of the vehicle is added as a new waypoint, and the next waypoint is routed through the position added as the new waypoint when the above route is circulated in the next or subsequent lap. A method for autonomous control of an underwater vehicle, characterized in that the vehicle travels along a route toward the water. When the obstacle on the moving path detected by the obstacle detection means mounted on the underwater vehicle is an obstacle that does not move, and the underwater vehicle is an obstacle that can be avoided on both sides of the obstacle The underwater vehicle alternately performs emergency avoidance operations on both sides of the obstacle on the first odd-numbered lap and the first even-numbered lap of the patrol path where the obstacle is detected, and Ways in which the order is set so as to pass through the patrol route on the odd lap after the next lap at the position at the end of avoidance of the underwater vehicle on the first odd lap and the first even lap. The autonomous control method for an underwater vehicle according to claim 1, wherein a point and a waypoint set in order to pass when the vehicle circulates in even-numbered laps after the next lap are added. A propulsion means, a direction changing means, an obstacle detection means, a travel control device, and a position acquisition means, and the travel control device is configured to repeatedly follow each location to a plurality of intermediate points along a required patrol route. Memorize the waypoints in which the order is determined, set the location of the first waypoint to be traced among the respective waypoints as the target point, and proceed with the propulsion means and the direction so as to travel toward the set target point. a function of controlling the conversion means, upon reaching the location of the waypoint, which is the goal point, then follows the location of the waypoint again sequentially sets the target location, cruising toward the set target point a function of controlling the propulsion means and turning means so as to, obstruction from one waypoint location on the path to run domestic locations next waypoint as the target point of the patrol route is impaired above When detected by the object detection unit, a function of controlling the propulsion means and turning means so as to urgently avoid the obstacle, if the obstacle is an obstacle which does not move, avoiding the end of the obstacle the position of the time, characterized by the patrol route and the ability to add new waypoints to through which circulates in the next lap later, and includes comprising constituting the autonomous controlled underwater run body. An obstacle is detected by the obstacle detection means on the route that travels from the location of one waypoint on the patrol route to the location of the next waypoint as a target point, and the obstacle moves. If it is detected that the obstacle is an obstacle that can be avoided on both sides, the obstacle is detected on the first odd number of laps and the first even number of laps where the obstacle is detected. The function of controlling the propulsion means and the direction changing means to alternately perform emergency avoidance operations on both sides of the obstacle, and the underwater vehicle on the first odd lap and the first even lap of the patrol route A new waypoint for passing through the above-mentioned patrol route at the odd-numbered lap after the next lap and a route at the even-numbered lap after the next lap at the position at the end of avoidance Another new waypoi Autonomous controlled underwater vehicle according to claim 3, wherein the ability to add and bets, and provided comprising configure the.

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