[M-IS20] 南大洋・南極氷床が駆動する全球気候変動

[MIS20-P10] 海中AUV捕獲ロボット“ANCO”

*吉田 弘¹、山縣 広和²、巻 俊宏²、藤井 昌和³、野木 義史³ (1.国立研究開発法人海洋研究開発機構、2.東京大学、3.国立極地研究所)

キーワード：水中ドローン、捕獲

The underwater drone named ANtarctic Capture Object (ANCO) is specially designed for underwater capturing and recovering of the AUV, “MONACA”. ANCO is 0.7 m in hight, 24 kg in weight. The drone consists of a BlueROV2 based electronics (6 thrusters, a depth sensor, a TV camera, and a semiconductor based inertial measurement unit) and a HDTV camera. It has male and female docking devices on the top and the bottom of the body, respectivelly. It can manually capture the AUV which is hovering near a support vessel. MONACA captured by the drone is then pulled up with the tether cable of the dorone from the vessel. A main cable with a male docking device is deployed from the vessel and is mated to the female docking deveice of the drone. Two vehicle are winched up and are then on-board.
In the conference we report the test results of some docking operetion with ANC and MONACA. The detail operetion idea in the Antatrctic is also described. This development is supported by JSPS Grant-in-Aid for Scientific Research on Innovative Areas No.4902, to observe the sea ice/ice shelf and seafloor for research of ice sheet-ocean interaction.