JPS6315527B2

JPS6315527B2 -

Info

Publication number: JPS6315527B2
Application number: JP55082535A
Authority: JP
Inventors: Koichi Sato
Original assignee: Hitachi Shipbuilding and Engineering Co Ltd
Current assignee: Kanadevia Corp
Priority date: 1980-06-17
Filing date: 1980-06-17
Publication date: 1988-04-05
Also published as: JPS577511A

Description

[Detailed description of the invention]

この発明は、深い海深の海中あるいは海底の観
測機器を回収船に回収する方法に関するものであ
る。従来、海中あるいは海底に設置した水中観測機
器を回収するときは、観測機器に接続し海面に浮
いている標識ブイに回収船が接近するか、あるい
は回収船に装備した水中探知機により観測機器を
見つけ出し接近するか、いずれかの方法により観
測機器の直上に近接しなければならなかつた。ま
た回収にあたつては、潜水夫の作業、あるいは巻
上げ機の使用により行ない、回収時間が多大にな
る欠点があつた。この発明は、前記の実情に鑑みてなされたもの
であり、海中あるいは海底の観測機器が、回収船
の接近に伴なつて自動的にかつ回収船の極く近傍
に浮上し、回収時間の大幅な短縮を可能とし、忘
失の機会を無くするものである。つぎにこの発明を図により具体的に説明する。
第１図に機器の配置図を示す。第１図において、
観測機器１の頂部の送受波器２から送波された周
波数f₁なる音は、回収船３のトランスポンダ４で
受波されたのち、周波数をf₂に変換して送り返さ
れる。回収船３から送り返された音は、観測機器
１の数個の受波器５と送受波器２で受波される。
この送波から受波迄の時間間隔を、信号処理器６
で計算し、観測機器１に対する回収船３の相対位
置、速度、進行方向、未来位置、浮上角度、浮上
開始時間を算出する。以下、それらの計算方法を説明する。第２図に
おいて、観測機器の送受波器２と第１の受波器５
ａを結ぶ線をｚ軸、第１の受波器４と第２の受波
器５ｂを結ぶ線をｘ軸、第１の受波器５ａと第３
の受波器５ｃを結ぶ線をｙ軸とする。これらの送
受波器２と受波器は互いに直角にある一定間隔で
配置され、送受波器２と第１の受波器５ａの間隔
をａ、第１の受波器５ａと第２、第３の受波器５
ｂ，５ｃの間隔をｂとする。今、トランスポンダ
４の２点をP₁，P₂とする。点P₁，P₂と送受波器
２、各受波器５間の測距信号から、観測機器１に
対する点P₁，P₂の相対位置は次の式で求まる。 P₁の相対位置は第２図より θ₁＝cos^-1（a²＋R₁ ²）−R₃ ²／2aR₁ ……(1) z₀＝R₁cosθ₁＝（a²＋R₁ ²）−R₃ ²／2a ……(2) θ₂＝cos^-1R₂ ²−（b²＋R₁ ²）／2bR₁ ……(3) x₀＝R₁cosθ₂＝R₂ ²−（b²＋R₁ ²）／2b ……(4) θ₃＝cos^-1R₄ ²−（b²＋R₁ ²）／2bR₁ ……(5) y₀＝R₁cosθ₃＝R₄ ²−（b²＋R₁ ²）／2b ……(6) (2)、(4)、(6)式で求めた座標の極性（象限）は、
第３図より次式で求める。第２図、第３図にて次の関係が成立する。 ₁′＝R₁sinθ₁ ……(7) ₁＝√₂ ²−₀ ² ……(8) ₁＝√₄ ²−₀ ² ……(9) 第３図より △OCP₁′にて次式が成立する。＝cos^-1b²＋R₁ ²sin²θ₁−（R₄ ²−z₀ ²）／2bR₁sinθ₁
……(10) △OBP₁′にて次式が成立する。 ψ＝cos^-1b²＋R₁ ²sin²θ₁−（R₂ ²−z₀ ²）／2bR₁sinθ₁
……(11) (10)、(11)式の、ψの値からP₁の象限を定め、
ｘ、ｙの極性を決定する。それを次表に示す。 The present invention relates to a method for recovering deep-sea underwater or seabed observation equipment on a recovery ship. Conventionally, when recovering underwater observation equipment installed in the sea or on the seabed, a recovery vessel approaches a marker buoy connected to the observation equipment and floating on the sea surface, or an underwater detector equipped on the recovery vessel detects the observation equipment. They had to either find it and approach it, or get close to it directly above the observation equipment. In addition, the recovery process was carried out by divers or by using a hoisting machine, which had the disadvantage of requiring a long recovery time. This invention was made in view of the above-mentioned circumstances, and the underwater or seabed observation equipment automatically surfaces very close to the recovery ship as the recovery ship approaches, thereby significantly shortening the recovery time. This enables shortening of information and eliminates the chance of forgetting information. Next, this invention will be specifically explained with reference to the drawings.
Figure 1 shows the equipment layout. In Figure 1,
The sound of frequency f ₁ transmitted from the transducer 2 on the top of the observation equipment 1 is received by the transponder 4 of the recovery ship 3, and then converted to frequency f ₂ and sent back. The sound sent back from the recovery ship 3 is received by several receivers 5 and a transducer 2 of the observation equipment 1.
The time interval from this wave transmission to wave reception is determined by the signal processor 6.
The relative position, speed, traveling direction, future position, ascent angle, and ascent start time of the recovery ship 3 with respect to the observation equipment 1 are calculated. The method of calculating them will be explained below. In FIG. 2, a transducer 2 and a first receiver 5 of the observation equipment are shown.
The line connecting a is the z-axis, the line connecting the first receiver 4 and the second receiver 5b is the x-axis, and the line connecting the first receiver 5a and the third receiver 5b is the x-axis.
The line connecting the receivers 5c is defined as the y-axis. These transducers 2 and receivers are arranged at regular intervals at right angles to each other. 3 receiver 5
Let b be the interval between b and 5c. Now, assume that the two points of the transponder 4 are P ₁ and P ₂ . From the distance measurement signals between the points P ₁ and P ₂ and the transducer 2 and each receiver 5, the relative positions of the points P ₁ and P ₂ with respect to the observation equipment 1 can be determined by the following equation. The relative position of P ₁ is from Figure 2: θ ₁ = cos ^-1 (a ² + R ₁ ² ) - R ₃ ² /2aR ₁ ...(1) z ₀ = R ₁ cos θ ₁ = (a ² + R ₁ ² ) −R ₃ ² /2a ...(2) θ ₂ = cos ^-1 R ₂ ² −(b ² +R ₁ ² )/2bR ₁ ...(3) x ₀ = R ₁ cosθ ₂ = R ₂ ² −(b ² + R ₁ ² ) / 2b ... (4) θ ₃ = cos ^-1 R ₄ ² - (b ² + R ₁ ² ) / 2bR ₁ ... (5) y ₀ = R ₁ cos θ ₃ = R ₄ ² - ( b ² + R ₁ ² )/2b ...(6) The polarity (quadrant) of the coordinates found using equations (2), (4), and (6) is
From Figure 3, it is calculated using the following formula. The following relationship holds true in FIGS. 2 and 3. ₁ ′=R ₁ sinθ ₁ ……(7) ₁ =√ ₂ ² − ₀ ² ……(8) ₁ =√ ₄ ² − ₀ ² ……(9) From Figure 3, at △OCP ₁ ′, the following formula holds true. = cos ^-1 b ² + R ₁ ² sin ² θ ₁ − (R ₄ ² −z ₀ ² )/2bR ₁ sin θ ₁
...(10) The following formula holds true at △OBP ₁ ′. ψ＝cos ^-1 b ² +R ₁ ² sin ² θ ₁ −(R ₂ ² −z ₀ ² )/2bR ₁ sin θ ₁
...(11) Determine the quadrant of P ₁ from the value of ψ in equations (10) and (11),
Determine the polarity of x and y. This is shown in the table below.

【表】 P₂の相対位置は第２図より θ₁′＝cos^-1（a²＋R′₁ ²）−R′₃ ²／2aR₁′ ……(12) z₀′＝R₁′cosθ₁′＝（a²＋R₁′²）−R₃′²／2a……（
13） θ₂′＝cos^-1R₂′²−（b²＋R₁′₂）／2bR₁′……（14） x₀′＝R₁′cosθ₂′＝R₂′²−（b²＋R₁′²）／2b……（
15） θ₃′＝cos^-1R′₄ ²−（b²＋R₁′²）／2bR₁′……（16） y₀′＝R₁′cosθ₃′＝R′₄ ²−（b²＋R₁′²）／2b……（
17）前記で求めた(2)、(4)、(6)、（13）、（15）、（17
）
式で、P₁、P₂点の座標が求まり、観測機器に対
する回収船の相対位置が定まる。x₀′、y₀′の極性
は前表に同じである。つぎに回収船の未来位置について説明する。回収船の未来位置を第３図から求める。すなわ
ち、未来位置は回収船の航走方向の直線と、半径
OP₂′の円との交点から求める。回収船の航走方
向の直線はP₁、P₂の座標より次式で求まる。ｙ−y₀′＝（ｘ−x₀′）（y₀−y₀′）／（x₀−x₀′）
……（18） P₂′を通り、Ｏを原点とする円は次式で求まる。 x²＋y²＝R₁′²sin²θ₁′ ……（19）未来位置をPxとすると、Pxの座標は（18）、
（19）式から求めた次式の根となる。未来位置の
座標はこの根のうち、x₀′、y₀′と異なる根で求め
られる。（１＋c²）x²＋2cdx＋c²−R₀ ²＝Ｏ ……（20）ｘ＝−2cd±〔4c²d²−４（１＋c²）（c²−R₀ ²）〕^1/2／
２（１＋c²） ……（21）ｙ＝ｃ｛−2cd±〔4c²d²−４（１＋c²）（c²−R₀ ²）〕^1
/2／２（１＋c²）＋ｄ……（22）ｚ＝R₁′cosθ₁′ ……（23）ここにｃ＝（y₀−y₀′）／（x₀−x₀′）、ｄ＝y₀′−y₀−y₀′／x₀−x₀′×x₀′、R₀＝R₁′sinθ₁′ である。 Pxの位置を第４図に示す角長で表わすと、
（21）〜（23）式より次式で求まる。 θx＝tan^-1z／ｙ ……（24） θy＝tan^-1z／ｘ ……（25） θz＝θ₁′ ……（26）（20）式が根を２個有することが未来位置Px
を求める条件となることから、次式を判別式とす
る。Ｄ＝c₂d₂−（１＋c²）（c²−R₀ ²）＞Ｏ ……（27）浮上開始時間は、つぎのとおりである。観測機器の浮上速度をＵ（一定）とする。第４
図において、観測機器が原点ＯからPxに至る迄
の時間t₁は次式で求まる。 t₁＝R₁′／Ｕ ……（28）回収船がP₂からPxに至る迄の時間t₂は、船速
をＶとすると次式で求まる。Ｌ＝〔（x₀′−ｘ）²＋（y₀′−ｙ）²〕^1/2 ……（29） t₂＝Ｌ／Ｖ ……（30）Ｖ＝〔（x₀−x₀′）²＋（y₀−y₀′）²〕^1/2／t₀……（3
1）ただし、t₀：計測値、ｚ＝z₀′ （28）、（30）式から、回収船と観測機器がPx
に同時に到達するための時間遅れ、すなわち、浮
上開始時間Ｔは次式で求まる。Ｔ＝t₂−t₁＝〔（x₀′−ｘ）²＋（y₀′−ｙ）²〕^1/2／
Ｖ−^R ₁′／Ｕ……（32）なお、第２図において、送受波器２を省き、第
１の受波器５ａを送受波器とすることによつて
も、本発明は成立し、また、トランスポンダ４の
代りに、回収船３からのエコーを受波し、ドツプ
ラー・シフトにより海面反射波との区別（回収船
の速度計測）を行なうことによつても、本発明は
成立する。[Table] From Figure 2, the relative position of P ₂ is θ ₁ ′=cos ^-1 (a ² +R′ ₁ ² )−R′ ₃ ² ／2aR ₁ ′ ……(12) z ₀ ′=R ₁ ′cosθ ₁ ′=(a ² +R ₁ ′ ² )−R ₃ ′ ² /2a……(
13) θ ₂ ′=cos ^-1 R ₂ ′ ² −(b ² +R ₁ ′ ₂ )／2bR ₁ ′...(14) x ₀ ′=R ₁ ′cosθ ₂ ′=R ₂ ′ ² −(b ² +R ₁ ′ ² )/2b……(
15) θ ₃ ′=cos ^-1 R′ ₄ ² −(b ² +R ₁ ′ ² )／2bR ₁ ′……(16) y ₀ ′=R ₁ ′cosθ ₃ ′=R′ ₄ ² −(b ² +R ₁ ′ ² )/2b……(
17) (2), (4), (6), (13), (15), (17) obtained above
)
Using the formula, the coordinates of points P ₁ and P ₂ are determined, and the relative position of the recovery ship with respect to the observation equipment is determined. The polarities of x ₀ ′ and y ₀ ′ are the same as in the previous table. Next, we will explain the future location of the recovery ship. Find the future position of the recovery ship from Figure 3. In other words, the future position is a straight line in the traveling direction of the recovery ship and a radius.
Obtained from the intersection of OP ₂ ′ with the circle. The straight line in the traveling direction of the recovery ship is determined from the coordinates of P ₁ and P ₂ using the following formula. y−y ₀ ′=(x−x ₀ ′)(y ₀ −y ₀ ′)/(x ₀ −x ₀ ′)
...(18) A circle that passes through P ₂ ' and has O as its origin can be found using the following formula. x ² + y ² = R ₁ ′ ² sin ² θ ₁ ′ ... (19) If the future position is Px, the coordinates of Px are (18),
This is the root of the following equation obtained from equation (19). The coordinates of the future position can be found from among these roots, which are different from x ₀ ′ and y ₀ ′. (1+c ² )x ² +2cdx+c ² −R ₀ ² =O …(20) x=−2cd±[4c ² d ² −4(1+c ² )(c ² −R ₀ ² )] ^1/2 /
2 (1 + c ² ) ... (21) y = c {-2cd± [4c ² d ² -4 (1 + c ² ) (c ² -R ₀ ² )] ^{1
/2} /2(1+c ² )+d……(22) z=R ₁ ′cosθ ₁ ′……(23) Here c=(y ₀ −y ₀ ′)/(x ₀ −x ₀ ′), d =y ₀ ′−y ₀ −y ₀ ′／x ₀ −x ₀ ′×x ₀ ′, R ₀ =R ₁ ′sinθ ₁ ′. If the position of Px is expressed by the angle length shown in Figure 4,
From equations (21) to (23), it is determined by the following equation. θx=tan ^-1 z/y...(24) θy=tan ^-1 z/x...(25) θz=θ ₁ '...(26) The future position is that equation (20) has two roots. Px
Since this is the condition for finding , the following equation is used as the discriminant. D=c ₂ d ₂ −(1+c ² )(c ² −R ₀ ² )>O (27) The levitation start time is as follows. Let the ascent speed of the observation equipment be U (constant). Fourth
In the figure, the time t ₁ required for the observation equipment to reach Px from the origin O is determined by the following equation. t ₁ = R ₁ ′/U (28) The time t ₂ it takes for the recovery ship to reach Px from P ₂ is determined by the following equation, where V is the ship speed. L = [(x ₀ ′-x) ² + (y ₀ ′-y) ² ] ^1/2 ... (29) t ₂ = L / V ... (30) V = [(x ₀ - x ₀ ' ) ² + (y ₀ −y ₀ ′) ² 〕 ^1/2 /t ₀ ……(3
1) However, t ₀ : measured value, z = z ₀ ′ From equations (28) and (30), it is clear that the recovery ship and observation equipment are at Px
The time delay required for the two to arrive at the same time, that is, the ascent start time T, is determined by the following equation. T=t ₂ −t ₁ = [(x ₀ ′−x) ² +(y ₀ ′−y) ² ] ^1/2 /
V- ^R ₁ '/U... (32) Note that the present invention can also be achieved by omitting the transducer 2 in FIG. 2 and using the first receiver 5a as the transducer. The present invention can also be achieved by receiving the echo from the recovery ship 3 instead of the transponder 4 and distinguishing it from the sea surface reflected waves by Doppler shift (measuring the speed of the recovery vessel). .

[Brief explanation of the drawing]

図面は、この発明の水中観測機器の回収方法の
実施例を示し、第１図は全体の構成図、第２図は
斜視図、第３図は平面図、第４図は浮上時の斜視
図である。１……観測機器、２……送受波器、３……回収
船、４……トランスポンダ、５……受波器、６…
…信号処理器。 The drawings show an embodiment of the underwater observation equipment recovery method of the present invention, in which Fig. 1 is an overall configuration diagram, Fig. 2 is a perspective view, Fig. 3 is a plan view, and Fig. 4 is a perspective view when floating. It is. 1... Observation equipment, 2... Transmitter/receiver, 3... Recovery ship, 4... Transponder, 5... Wave receiver, 6...
...Signal processor.

Claims

[Claims]

1 Observation equipment installed underwater or on the seabed,
A transducer and several receivers are arranged at predetermined intervals, and the sound transmitted from the transducer and returned from two points in the navigation of the recovery ship is transmitted to the transducer and the receiver. It receives waves, calculates the recovery ship's relative position with respect to the observation equipment, the recovery ship's speed, traveling direction, and future position, and sets the surfacing angle and surfacing start time necessary for surfacing near the recovery ship. How to recover underwater observation equipment.