The present invention is provided with: an overwater relay (200) having a relay propulsion means (38) and a relay position measurement means (40); an underwater navigation body (100) having a navigation body position estimation means (20); an information transmission line (24) that connects the overwater relay device (200) and the underwater vehicle (100) and transmits acquisition information including image information obtained by the underwater vehicle (100); a position setting means (54) for setting a target latitude and a target longitude for the overwater relay device (200) and the underwater vehicle (100); and control means (12, 32) for controlling the overwater relay device (200) and the underwater vehicle (100), the control means (12, 32) being configured so as to drive the relay device propulsion means (38) on the basis of the set target latitude and target longitude and the overwater position measured by the relay device position measurement means (40), and to control the position of the overwater relay device (200) by means of the control means (12, 32). The position of the underwater vehicle (100) is controlled by control means (12, 32) on the basis of the set target latitude and target longitude and the underwater position estimated by the vehicle position estimation means (20), so that the underwater vehicle (100) and the overwater relay device (200) are parallel to the target latitude and target longitude while maintaining the vertical positional relationship between the water surface and the water.

    具备:水上中继机200,具有中继机推进单元38和中继机位置计测单元40;水中航行体100,具有航行体位置推定单元20;信息传送线24,将水上中继机200和水中航行体100连接,进行包含通过水中航行体100得到的图像信息在内的取得信息的传送;位置设定单元54,对水上中继机200和水中航行体100设定目标纬度及目标经度;以及控制单元12、32,控制水上中继机200和水中航行体100,配置为,基于所设定的目标纬度及目标经度和通过中继机位置计测单元40计测到的水上位置驱动中继机推进单元38、并通过控制单元12、32控制水上中继机200的位置,并且基于所设定的目标纬度及目标经度和通过航行体位置推定单元20推定出的水中位置通过控制单元12、32控制水中航行体100的位置,从而水中航行体100和水上中继机200一边保持在水面和水中的铅垂位置关系一边并行至目标纬度及目标经度。


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    Title :

    Connection system of overwater relay device and underwater navigation body, and method for operating connection system of overwater relay device and underwater navigation body


    Additional title:

    水上中继机与水中航行体的连结系统及其运用方法


    Contributors:

    Publication date :

    2023-11-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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