JP2015141164A - position measuring system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a position measuring system capable of more accurately measuring the position of a robot which can move in water.SOLUTION: A position measuring system 10 according to one embodiment comprises: a position measuring device 16 located between a robot 12 which can move in water and a water surface, and measuring the position of the robot; a connection line 14 connecting the robot and the position measuring device; a first positioning member 24 fixed to the bottom of water; and a first position adjustment line 32 connecting the position measuring device and the first positioning member. The position measuring device adjusts the amount of delivery of the first position adjustment line so as to keep the tension of the first position adjustment line constant, and calculates the position of the robot on the basis of the amount of delivery of the first position adjustment line.

Description

  The present invention relates to a position measurement system, and more particularly to a position measurement system for a robot that moves in water.

  Known robots that work in water (hereinafter referred to as underwater robots) include a robot that searches underwater and a robot that excavates the bottom of the water to mine resources (such as rare metal or methane hydrate). Patent Document 1 discloses a robot that excavates the seabed and mine methane hydrate as an example of such an underwater robot.

JP 2006-161531 A

  It is necessary to grasp the position of the underwater robot for the operation of the underwater robot or for checking the work area. On the ground, the use of GPS is known as a tool for grasping position information. However, since the underwater robot is located below the surface of the water, it cannot receive GPS satellite radio waves. In addition, when the underwater robot moves, for example, at a depth of 1000 m or more, it is difficult to grasp the position of the robot by communicating with the mother ship.

  Therefore, an object of the present invention is to provide a position measurement system that can more accurately calculate the position of a robot that can move in water.

  A position measurement system according to an aspect of the present invention is a position measurement device that measures a position of a robot that is positioned between a robot that can move in water and a water surface, and a connection line that connects the robot and the position measurement device. A first positioning member disposed on the bottom of the water, and a first position adjustment line connecting the position measuring device and the first positioning member, the position measuring device comprising: The feed amount of the first position adjustment line is adjusted so as to maintain the tension constant, and the position of the robot is calculated based on the feed amount of the first position adjustment line.

  In the above configuration, since the position measuring device and the robot are connected via the connection line, when the robot moves, the first position adjustment that connects the first positioning member fixed to the water bottom and the position measuring device. Line tension changes. As described above, the position measuring device adjusts the feed amount of the first position adjustment line so that the tension of the first position adjustment line is constant, so that the position measuring device can follow the movement of the robot. . Therefore, the position of the robot can be measured even underwater based on the feed amount of the first position adjustment line.

  In one embodiment, the position measuring device measures the tension of the inclination measuring unit that measures the inclination of the connection line with respect to the vertical direction, the tension of the first position adjustment line, and adjusts the feeding amount of the first position adjustment line. A first feed amount adjustment unit, and a control unit that controls the first feed amount adjustment unit so that the measurement result of the tension in the first feed amount adjustment unit is constant. The robot position may be calculated from the feed amount of the first position adjustment line and the measurement result of the tilt measurement unit.

  In the above configuration, the tension of the first position adjustment line is measured by the first feed amount adjustment unit. Based on the measurement result, the control unit controls the first feed amount adjustment unit so that the tension becomes constant. Therefore, the position measuring device can follow the robot. Then, the control unit calculates the robot position by using the measurement result of the inclination measurement unit in addition to the feed amount of the first position adjustment line, so that the position measurement device is located almost directly above the robot. Without it, the position of the robot can be calculated.

  In one embodiment, the apparatus further comprises at least one second positioning member disposed on the bottom of the water, and a second position adjustment line that connects the at least one second positioning member and the position measuring device. The apparatus measures an inclination of the connection line with respect to the vertical direction, and measures a tension of the first position adjustment line and adjusts a feed amount of the first position adjustment line. And at least one second feed amount adjustment unit provided for at least one second position adjustment line, wherein the feed amount of at least one second position adjustment line is adjusted. One second feed amount adjustment unit, and a control unit that controls the first feed amount adjustment unit so that the measurement result of the tension in the first feed amount adjustment unit is constant. And, the control unit has a first alignment line and at least one second alignment lines each feed amount may be calculated the position of the robot and a measurement result of the inclination measuring unit.

  In this case, the tension of the first position adjustment line is measured by the first feeding amount adjustment unit. Based on the measurement result, the control unit controls the first feed amount adjustment unit so that the tension becomes constant. Therefore, the position measuring device can follow the robot. Then, the position measuring device determines the relative position of the position measuring device with respect to the first positioning member and the at least one second positioning member by the amount of feeding of the first position adjusting line and the at least one second position adjusting line. Can be calculated. Furthermore, by using the measurement result of the inclination measuring unit, the position of the robot can be specified even if the position measuring device is not located almost directly above the robot.

  In one embodiment, the apparatus further comprises at least one second positioning member disposed on the bottom of the water, and a second position adjustment line that connects the at least one second positioning member and the position measuring device. The apparatus measures an inclination of the connection line with respect to the vertical direction, and measures a tension of the first position adjustment line and adjusts a feed amount of the first position adjustment line. And at least one second feed amount adjustment unit provided for at least one second position adjustment line, wherein the feed amount of at least one second position adjustment line is adjusted. One second feed amount adjustment unit, and a control unit that controls the first feed amount adjustment unit so that the measurement result of the tension in the first feed amount adjustment unit is constant. The control unit controls at least one second feed amount adjustment unit so that the measurement result of the inclination measurement unit is within a predetermined range including 0, and the control unit includes the first position adjustment line and The position of the robot may be calculated from the feed amount of each of the at least one second position adjustment line.

  In this case, the tension of the first position adjustment line is measured by the first feeding amount adjustment unit. Based on the measurement result, the control unit controls the first feed amount adjustment unit so that the tension becomes constant. Therefore, the position measuring device can follow the robot. Then, the position measuring device can calculate the relative position of the position measuring device with respect to the first and second positioning members based on the feed amount of the first and second position adjustment lines. In accordance with the measurement result of the tilt measurement unit, the control unit adjusts the amount of feeding of the second positioning line so that the measurement result falls within the predetermined range, so that the position measurement device is positioned almost directly above the robot. To do. Therefore, if the relative position is known, the position of the robot can be specified.

  ADVANTAGE OF THE INVENTION According to this invention, the position measurement system which can measure the position of the robot which can move underwater more correctly can be provided.

FIG. 1 is a schematic diagram of a position measurement system according to an embodiment. FIG. 2 is a schematic diagram illustrating an example of a work area of the robot as viewed from the sea surface (water surface). FIG. 3 is a block diagram showing a schematic configuration of the position measuring apparatus.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same reference numerals are used for the same elements, and redundant descriptions are omitted.

  FIG. 1 is a schematic diagram of a position measurement system according to an embodiment. The position measurement system 10 is a system that measures the position of the robot 12 that operates while moving in the sea. Underwater meaning includes the seabed. The robot 12 is not particularly limited as long as it is a robot 12 having a function of performing a predetermined work in the sea. Examples of predetermined operations include undersea exploration, undersea drilling and resource mining (eg, methane hydrate and rare metal ores). Examples of the robot 12 that performs these predetermined operations include an undersea exploration robot, a seabed excavation robot, and a resource mining robot. In FIG. 1, as an example, a robot 12 that works while moving on the seabed having a water depth D of 1000 m or more is schematically shown. Such a robot 12 includes a moving device such as a caterpillar so as to be able to move on the seabed, a mechanism for performing a predetermined work, and a control device for controlling each element of the robot.

  The position measurement system 10 includes a position measurement device 16 connected to a robot 12 by a cable (connection line) 14. The position measuring device 16 is arranged between the robot 12 and the sea surface by a floating ball 18 as a buoyancy generator. The floating ball 18 may be directly attached to the upper surface of the position measuring device 16, or the floating ball 18 may be connected to the position measuring device 16 by a wire.

  The position measuring device 16 is away from the seabed. An example of the distance d between the position measuring device 16 and the seabed is 50 to 100 m. This can be achieved by adjusting the length of the cable 14. In one embodiment, the position measuring device 16 may be connected to the mother ship 20 on the sea surface by a cable 22. In one embodiment, the cables 14, 22 may be a single continuous cable. In the following description, a cable includes, for example, a necessary number of at least one of a communication line and a power line, which are covered with a protective member, and a wire is a fixed wire such as an iron cable or a steel cable. It means a metal wire that ensures strength.

  A strut (first positioning member) 24, a strut (second positioning member) 26, and a strut (second positioning member) 28 are arranged on the seabed around the position measuring device 16. The positions of the three struts 24, 26, and 28 are not particularly limited as long as they are arranged at predetermined positions on the seabed. In one embodiment, the struts 24, 26, 28 are located on the periphery of the intended work area 30 of the robot 12. FIG. 2 is a schematic diagram illustrating an example of a work area of the robot. In FIG. 2, an area surrounded by a broken line is a work area of the robot 12. FIG. 2 schematically shows the work area 30 viewed from the sea surface. In the example of FIG. 2, the work area 30 has a quadrangular shape. In such a work area 30, the columns 24, 26, and 28 may be disposed at any three of the four corners 30a, 30b, 30c, and 30d of the work area 30, for example.

  Again, the columns 24, 26, and 28 will be described with reference to FIG. The support columns 24, 26, and 28 have a base portion that contacts the seabed and a columnar portion that extends from the base portion. The column 24 is connected to the position measuring device 16 by a wire (first position adjustment line) 32. Similarly, the column 26 is connected to the position measuring device 16 by a wire (second position adjustment line) 34. Similarly, the column 28 is connected to the position measuring device 16 by a wire (second position adjustment line) 36. The struts 24, 26, and 28 have a weight such that their positions do not move due to ocean currents or the like and pulling by the wires 32, 34 and 36. The struts 24, 26, and 28 may be made of a material that can withstand water pressure and that is not easily deformed by a tensile force such as wires 32, 34, and 36 described later.

  The position measuring device 16 will be described in detail with reference to FIG. FIG. 3 is a block diagram showing a schematic configuration of the position measuring apparatus. The position measuring device 16 includes a position adjusting unit 38, a tilt measuring device (tilt measuring unit) 40, a control device (control unit) 42, and a communication device 44.

  The position adjustment unit 38 adjusts the position of the position measurement device 16 by adjusting the feed amount of the wires 32, 34, and 36. The feeding amount of the wires 32, 34, 36 corresponds to the distance between the position measuring device 16 and the corresponding struts 24, 26, 28. The position adjustment unit 38 includes three feed amount adjustment units 46, 48, and 50 provided corresponding to the wires 32, 34, and 36, respectively.

  The feed amount adjustment unit (first feed amount adjustment unit) 46 includes a reel mechanism 46 a that is a device that winds and feeds the wire 32, and a tension measurement sensor 46 b that measures the tension of the wire 32. The reel mechanism 46 a adjusts the feed amount of the wire 32 based on the control of the control device 42. The reel mechanism 46 a inputs information related to the feed amount to the control device 42. The tension measurement sensor 46b may be provided so as to be able to measure the tension of the wire 32. In FIG. 3, for convenience, the reel mechanism 46a and the tension measurement sensor 46b are shown separately. For example, the tension measurement sensor 46b may be attached to or built in the reel mechanism 46a. The tension measurement sensor 46 b inputs a measurement result to the control device 42. The feeding amount adjusting unit 46 may have a mechanism that can swing the feeding direction of the wire 32, that is, a mechanism that can change the linear direction connecting the position measuring device 16 and the support column 24. Thereby, the freedom degree of the movement range of the robot 12 improves.

  Similarly, the feed amount adjustment unit (second feed amount adjustment unit) 48 includes a reel mechanism 48 a that winds and feeds the wire 34, and a tension measurement sensor 48 b that measures the tension of the wire 34. The reel mechanism 48 a adjusts the feed amount of the wire 34 based on the control of the control device 42. The reel mechanism 48 a inputs information related to the feed amount to the control device 42. The tension measurement sensor 48b may be provided so as to be able to measure the tension of the wire 34. In FIG. 3, for convenience, the reel mechanism 48a and the tension measurement sensor 48b are shown separately. For example, the tension measurement sensor 48b may be attached to or built in the reel mechanism 48a. The tension measurement sensor 48 b inputs the measurement result to the control device 42. The feeding amount adjusting unit 48 may have a mechanism that can swing the feeding direction of the wire 34, that is, a mechanism that can change the linear direction that connects the position measuring device 16 and the column 24. Thereby, the freedom degree of the movement range of the robot 12 improves.

  Similarly, the feed amount adjusting unit (second feed amount adjusting unit) 50 includes a reel mechanism 50 a that winds and feeds the wire 36, and a tension measurement sensor 50 b that measures the tension of the wire 36. The reel mechanism 50 a adjusts the feed amount of the wire 36 based on the control of the control device 42. The reel mechanism 50a inputs information related to the feed amount to the control device 42. The tension measurement sensor 50b may be provided so as to be able to measure the tension of the wire 36. In FIG. 3, for convenience, the reel mechanism 50a and the tension measurement sensor 50b are shown separately. For example, the tension measurement sensor 50b may be attached to or built in the reel mechanism 50a. The tension measurement sensor 50 b inputs a measurement result to the control device 42. The feeding amount adjusting unit 50 may have a mechanism that can swing the feeding direction of the wire 36, that is, a mechanism that can change the linear direction that connects the position measuring device 16 and the column 24. Thereby, the freedom degree of the movement range of the robot 12 improves.

  The inclination measuring device 40 is a sensor that measures the inclination of the cable 14 from the vertical direction. The tilt posture measuring device 41 is a tilt sensor that measures the tilt of the position measuring device 16 with respect to the vertical direction (gravity direction). An example of the tilt posture measuring device 41 is an acceleration sensor.

  The control device 42 controls the components of the position measuring device 16, such as the position adjusting unit 38, the tilt measuring device 40, the tilt posture measuring device 41, the communication device 44, and the like. Based on the information input from the position adjustment unit 38 and the information input from the tilt measurement device 40, the position of the position adjustment unit 38 is adjusted in accordance with the movement of the robot 12, and the input information is used. The position of the robot 12 is calculated.

  The communication device 44 sends the position of the robot 12 obtained by the position measurement device 16 to the mother ship 20. Communication between the mother ship 20 and the communication device 44 may be performed using the cable 22 or may be performed using wireless communication.

  The position measuring device 16 supplies power to the components of the position measuring device 16, such as the position adjusting unit 38, the tilt measuring device 40, the tilt posture measuring device 41, the control device 42, and the communication device 44 described above. In addition, a power device such as a storage battery may be provided. Each of the position adjustment unit 38, the inclination measurement device 40, the inclination posture measurement device 41, the control device 42, and the communication device 44 may include a power supply unit such as a battery. Alternatively, the power supply to the components of the position measurement device 16 may be performed from the robot 12 via the cable 14, for example.

  In the position measurement system 10 configured as described above, based on the measurement result of the tilt posture measurement device 41, the control device 42 determines whether or not the position measurement device 16 is inclined with respect to the vertical direction, that is, the position measurement device 16 is horizontal. It is determined whether the state can be maintained. When the position measuring device 16 is not horizontal, the control device 42 controls the reel mechanisms 46a, 48a, and 50a to adjust the feed amounts of the wires 32, 34, and 36 so that the position measuring device 16 is horizontal. In this way, the position measuring device 16 maintains a horizontal state.

  When the robot 12 moves, the tension of the wire 32 changes. Therefore, based on the measurement result from the tension measurement sensor 46b, the control device 42 controls the reel mechanism 46a so that the tension of the wire 32 becomes constant. The wire 32 is let out or taken up by 46a. It is preferable that the tension of the wire 32 is constant, but it is preferable that the tension of the wire 32 is a certain value. However, the tension may be within a predetermined allowable range for the certain value.

  When the position measuring device 16 is displaced laterally from directly above the robot 12 due to the movement of the robot 12 or due to a sea current or the like, that is, if the measurement result of the tilt measuring device 40 exceeds a predetermined range, the control device 42. Controls the reel mechanisms 48 a and 50 a to feed or wind the wires 34 and 36, thereby maintaining the position measuring device 16 almost directly above the robot 12. The predetermined range of the inclination angle measured by the inclination measuring device 40 may be determined in advance corresponding to the allowable range of the inclination angle of the cable 14 in the sea. An example of the predetermined range is ± 20 degrees, preferably ± 10 degrees.

  In a state where the position measuring device 16 is almost directly above the robot 12, the control device 42 determines the known struts 24, 26, and 26 based on the feed amounts of the wires 32, 34, and 36 from the reel mechanisms 46a, 48a, and 50a. The position of the robot 12 is calculated by calculating the relative position of the position measuring device 16 with respect to the 28 position. In the calculation of the position of the robot 12, the measurement result of the inclination measurement device 40 is within the predetermined range (the position measurement device 16 is almost directly above the robot 12), so the measurement result of the inclination measurement device 40 is used. Although not necessary, the measurement result of the inclination measuring device 40 may be further used. The positions of the columns 24, 26, and 28 may be input to the control device 42 in advance.

  When the feed amount adjusting units 46, 48, 50 have a mechanism capable of swinging the feed direction of the wires 32, 34, 36, the control device 42 calculates the position of the robot 12 by using the wires 32, 34 with respect to the reference angle. 36, that is, the azimuth angle of each of the columns 24, 26, 28 with respect to the position measuring device 16 may also be used.

  According to the position measurement system 10, the position measurement device 16 and the robot 12 are connected by the cable 14. Then, the feeding amount of the wire 32 is adjusted so that the tension of the wire 32 becomes constant. Thereby, the position measuring device 16 follows the robot 12 even if the robot 12 moves. Therefore, the position measuring device 16 can maintain the positional relationship with the robot 12. The position measuring device 16 measures the position of the robot 12 in the water based on the feed amounts of the wires 32, 34, and 36 while following the robot 12 as described above. Therefore, according to the position measurement system 10, the position of the robot 12 can be measured more accurately even underwater where GPS satellite radio waves cannot be received.

  By sending the position of the robot 12 measured by the position measuring device 16 to the mother ship 20, the work area where the robot 12 has actually worked can be grasped. Since the mother ship 20 can grasp the position of the robot 12, the position of the robot 12 can be corrected when the position of the robot 12 deviates from the work area 30. For example, an instruction signal for correcting the position of the robot 12 may be sent from the mother ship 20 to the robot 12 via the cables 14 and 22, or the robot 12 itself may be renewed in the predetermined work area 30. It may be rearranged. As a result, the robot 12 can work in the work area 30 appropriately.

  When the robot 12 works on the seabed with a water depth D of 1000 m or more, for example, it is conceivable to connect the mother ship 20 and the robot 12 with a wire or a cable to grasp the position of the robot 12. However, in this case, since it is difficult to grasp the state of the wire or cable due to the ocean current or the like, it is difficult to measure the position of the robot 12, and the error also increases.

  On the other hand, in the position measurement system 10, since the position of the robot 12 is measured above a predetermined distance d (for example, 50 m to 100 m) from the robot 12, the position of the robot 12 can be measured more accurately.

  When the robot 12 is a robot that excavates the seabed and mine resources such as methane hydrate and rare metal ore, the surroundings of the robot 12 are likely to be suspended due to the rolling of the seabed mud and sand by the mining device provided in the robot 12. Alternatively, when the robot 12 explores the vicinity of the submarine volcano, the surroundings of the robot 12 are likely to be suspended. Even in such a case, in the position measurement system 10, since the position measurement device 16 is arranged away from the robot 12, the position of the robot 12 can be measured while avoiding the influence of the suspension state. As a result, the position of the robot 12 can be identified more accurately.

  As mentioned above, although various embodiment of this invention was described, this invention is not limited to the said embodiment, A various deformation | transformation is possible in the range which does not deviate from the meaning of this invention.

  For example, the configuration of each of the feed amount adjusting units 46, 48, 50 is not limited to the same configuration, that is, a configuration having reel mechanisms 46a, 48a, 50a and tension measuring sensors 46b, 48b, 50b. When only the result of the tension measurement sensor 46b is used, the second and feed amount adjustment units 48 and 50 may not have the tension measurement sensors 48b and 50b. However, the position measuring device 16 can be easily manufactured by using the same configuration of the feeding amount adjusting units 46, 48, and 50. Further, since the configuration of the feeding amount adjusting units 46, 48, and 50 is the same, the range of selection of which tension measurement sensor is used is expanded.

  When winding and unwinding the wires 34 and 36 by the reel mechanisms 48a and 50a, the control device 42 controls the reel mechanisms 48a and 50a so that the measurement results by the tension measurement sensors 48b and 50b are constant. Also good. Thereby, since the slack of the wires 34 and 36 can be reduced, the position of the robot 12 can be specified more accurately.

  The position measuring device 16 may not have the tilt measuring device 40. In this case, for example, the position of the robot 12 may be calculated based on the feed amounts of the wires 32, 34, and 36 from the reel mechanisms 46a, 48a, and 50a. Further, the position measuring device 16 is not limited to a form including the tilt posture measuring device 41.

  The position measurement device 16 does not have to calculate the position of the robot 12 only when the measurement result of the inclination measurement device 40 is within a predetermined range. For example, the position of the robot 12 may be calculated from the feed amounts of the wires 32, 34, and 36 from the reel mechanisms 46a, 48a, and 50a and the measurement result of the tilt measuring device 40. In this case, the control device 42 does not control the reel mechanisms 48a and 50a so that the tilt measurement result 40 is within a predetermined range, and the wire 34, The feeding amount of 36 may be adjusted. The feeding amount of the wires 34 and 36 is determined by controlling the reel mechanisms 48a and 50a.

  Alternatively, the position measurement device 16 may continue to measure the position of the robot 12 until the measurement result of the inclination measurement device 40 falls within a predetermined range. In this case, until the measurement result of the inclination measuring device 40 falls within a predetermined range, for example, as described above, the amount of the wires 32, 34, and 36 fed from the reel mechanisms 46a, 48a, and 50a and the inclination measurement. The position of the robot 12 may be calculated from the measurement result of the device 40. If the measurement result of the tilt measuring device 40 falls within a predetermined range, the position of the robot 12 may be specified by the amount of wire 32, 34, 36 that is fed from the reel mechanisms 46a, 48a, 50a.

  Although various embodiments of the position measuring device 16 have been described, the configuration of the position measuring device 16 adjusts the feeding amount of the wire so as to keep the tension of the wire connected to one support column constant, There is no particular limitation as long as the position of the robot 12 is calculated based on the wire feed amount.

  The lines connecting the columns 24, 26, 28 and the position measuring device 16 have been described as wires. However, the columns 24, 26, 28 and the position measuring device 16 can be connected and do not depart from the spirit of the present invention. If it is, the line which connects support | pillar 24,26,28 and the position measuring device 16 is not limited to a wire. Similarly, the line connecting the robot 12 and the position measuring device 16 is not limited to a cable, and may be a wire, for example. The positioning member disposed on the seabed is not limited to the support, and may be a weight (anchor) that can be disposed on the seabed.

  In the description so far, the robot that works in the sea has been described. However, the robot is not limited to the sea and may be a robot that works in the water. Therefore, for example, the position measurement system can be applied to a robot that works in a lake or a river.

  The position of the robot 12 measured by the position measuring device 16 may be transmitted to the robot 12 via the cable 14 or by wireless communication instead of or in addition to transmission to the mother ship 20. In such a form, for example, if the control device (or control system) included in the robot 12 has a function of controlling the movement of the robot 12 in accordance with the position of the robot 12 that is input, the robot 12 is more capable. The work can be performed accurately in the predetermined work area 30.

  Although an example in which the position of the robot 12 measured by the position measuring device 16 is transmitted to at least one of the mother ship 20 and the robot 12 is illustrated, for example, a storage device that records the position of the robot 12 appropriately measured by the position measuring device 16 is provided. You may have. In this case, the work area of the robot 12 can be grasped by referring to the data of the recording device after the work of the robot 12 is completed.

  The positions of the columns 24, 26, 28 are not limited to the periphery of the work area 30 as long as they are designated in advance. The number of struts 24, 26, and 28 as positioning members is not limited to three, but may be one or two, or four or more. In order to obtain the position of the robot 12 more accurately, the number of columns of the positioning member is preferably 2 or more, and more preferably 3 or more. The number of feeding amount adjusting units included in the position measuring device 16 may be any number corresponding to the number of support columns.

  Although the robot 12 and the position measuring device 16 are illustrated as being connected by the cable 14 including the conducting wire for communication, the connection line connecting the robot 12 and the position measuring device 16 may be a wire.

  Although the position measuring device 16 has been described as having one control device 42 based on the form shown in FIG. 3, for example, the feeding amount adjusting units 46, 48, 50, the tilt measuring device 40, the tilt posture measuring device 41, etc. There may be provided a control device for controlling each of the above. In this case, the control device 42 shown in FIG. 3 collectively shows these control functions.

  Further, the position measuring device 16 may further include an inertial sensor (for example, a gyroscope or an acceleration sensor) and a geomagnetic sensor. In this case, based on the data from the inertial sensor and the geomagnetic sensor, the control device 42 controls the position adjusting unit 38 to control the posture of the position measuring device 16, and the data for measuring the position of the robot 12 is also used. Can be used for interpolation. As a result, the position of the robot 12 can be measured more accurately.

  Various illustrated embodiments and the like can be combined as appropriate without departing from the spirit of the present invention.

  The present invention can be used to measure the position of a robot that works in water (including the bottom of the water), for example, an underwater exploration robot, a bottom excavation robot, a resource exploration robot, or a resource excavation robot. This is particularly effective for a robot working at a depth of 1000 m or more.

  DESCRIPTION OF SYMBOLS 10 ... Position measuring system, 12 ... Robot, 14 ... Cable (connection line), 16 ... Position measuring device, 24 ... Column (first positioning member), 26 ... Column (second positioning member), 28 ... Column ( (Second positioning member), 32 ... wire (first position adjustment line), 34 ... wire (second position adjustment line), 36 ... wire (second position adjustment line), 40 ... tilt measuring device (tilt) Measurement unit), 42 ... control device (control unit), 46 ... feed amount adjustment unit (first feed amount adjustment unit), 48 ... feed amount adjustment unit (second feed amount adjustment unit), 50 ... feed amount adjustment Part (second feed amount adjustment part).

Claims (4)

A position measuring device that is located between a water-movable robot and a water surface, and that measures the position of the robot;
A connection line connecting the robot and the position measuring device;
A first positioning member disposed on the bottom of the water;
A first position adjustment line connecting the position measuring device and the first positioning member;
With
The position measuring device adjusts a feed amount of the first position adjustment line so as to maintain a constant tension of the first position adjustment line, and based on the feed amount of the first position adjustment line. Calculating the position of the robot,
Position measurement system. The position measuring device is
An inclination measuring unit for measuring an inclination of the connection line with respect to a vertical direction;
A first feed amount adjustment unit that measures the tension of the first position adjustment line and adjusts the feed amount of the first position adjustment line;
A control unit that controls the first feed amount adjustment unit so that the measurement result of the tension in the first feed amount adjustment unit is constant;
Have
The control unit calculates the position of the robot from the amount of feeding of the first position adjustment line and a measurement result of the tilt measurement unit.
The position measurement system according to claim 1. At least one second positioning member disposed on the bottom of the water;
A second position adjustment line connecting the at least one second positioning member and the position measuring device;
Further comprising
The position measuring device is
An inclination measuring unit for measuring an inclination of the connection line with respect to a vertical direction;
A first feed amount adjustment unit that measures the tension of the first position adjustment line and adjusts the feed amount of the first position adjustment line;
At least one second feed amount adjustment unit provided for the at least one second position adjustment line, wherein the at least one second position adjustment line adjusts a feed amount. One second feed amount adjustment unit;
A control unit that controls the first feed amount adjustment unit so that the measurement result of the tension in the first feed amount adjustment unit is constant;
Have
The control unit calculates the position of the robot from the feed amount of each of the first position adjustment line and the at least one second position adjustment line and a measurement result of the tilt measurement unit.
The position measurement system according to claim 2. At least one second positioning member disposed on the bottom of the water;
A second position adjustment line connecting the at least one second positioning member and the position measuring device;
Further comprising
The position measuring device is
An inclination measuring unit for measuring an inclination of the connection line with respect to a vertical direction;
A first feed amount adjustment unit that measures the tension of the first position adjustment line and adjusts the feed amount of the first position adjustment line;
At least one second feed amount adjustment unit provided for the at least one second position adjustment line, wherein the at least one second position adjustment line adjusts a feed amount. One second feed amount adjustment unit;
A control unit that controls the first feed amount adjustment unit so that the measurement result of the tension in the first feed amount adjustment unit is constant;
Have
The control unit controls the at least one second feed amount adjustment unit so that a measurement result of the inclination measurement unit is within a predetermined range including 0;
The controller calculates the position of the robot from the feed amount of each of the first position adjustment line and the at least one second position adjustment line;
The position measurement system according to claim 1.

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