JP2017193284A - Oscillation correction device for acoustic device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mechanical oscillation correction device for an acoustic device.SOLUTION: An attitude sensor 4 detects each of an angle, an angular speed, or an angular acceleration in a pitch operation direction, an angle, an angular speed, or an angular acceleration in a roll operation direction, and a speed or an acceleration in a heave operation direction, of an acoustic device 9. When a control part 8 controls a pitch driving mechanism 5 and a roll driving mechanism 6, the acoustic device 9 is corrected to face in an initially-set direction. When the control part 8 controls a heave driving mechanism 7, the acoustic device 9 is corrected so that the speed in the heave operation direction of the acoustic device 9 gets equal to or less than a predetermined value.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an acoustic device fluctuation correcting device that corrects the vibration of an acoustic device in order to suppress the acoustic device attached to the ship from being shaken as the boat shakes.

  As shown in FIG. 10, transmission / reception of data between the marine vessel 10 and the underwater vehicle 90 is generally performed by the same acoustic device 9 attached to each. FIG. 10 shows a state in which sound waves are transmitted from the acoustic device 9 attached to the bottom of the ship 10. In FIG. 10, the ship 10 is not affected by the waves, that is, is in a stationary state, and the acoustic device 9 on the bottom 101 is facing directly below, so that the sound wave transmitted from the acoustic device 9 is not transmitted. The propagation region W is also directed downward.

  By the way, as shown in FIG. 11, when the ship 10 is affected by the waves, the ship 10 is swung in the roll operation direction A around the X axis, the pitch operation direction B around the Y axis, and the heave operation direction C around the Z axis. To do. When the ship 10 is shaken, the sound device 9 fixed to the ship bottom is similarly shaken.

  For example, when the ship 10, that is, the acoustic device 9 is shaken in the pitch operation direction, as shown in FIG. 12, the propagation region W of the sound wave transmitted from the acoustic device 9 is directed in a direction shifted from right below. The reception probability at the vehicle 90 decreases. The same applies when the ship 10 is shaken in the roll operation direction. Further, when the ship 10 is shaken in the heave operation direction, the sound speed is changed by the Doppler effect, and the frequency is also changed, so that the reception probability at the vehicle 90 is also lowered.

  In order to avoid such a decrease in communication probability, a technique for correcting the fluctuation of the acoustic device 9 by a program as in Patent Document 1 has been proposed.

Japanese Patent Laid-Open No. 5-134031 JP-A-10-185570 JP 2005-300222 A JP 2012-215390 A JP 2014-46750 A

  However, on the other hand, a technique for mechanically correcting the vibration of the acoustic device 9 is also desired. This is because mechanical correction can be easily applied to all kinds of ships.

  An object of the present invention is to provide a mechanical acoustic device fluctuation correcting device.

  The present invention is an acoustic device fluctuation correction device that corrects the vibration of the acoustic device in order to prevent the acoustic device attached to the ship from being shaken with the vibration of the ship, and is fixed to the ship. A first frame body, a second frame body supported by the first frame body, and a third frame body supported by the second frame body, wherein the third frame body includes the sound An angle or angular velocity or angular acceleration in the pitch motion direction, an angle or angular velocity or angular acceleration in the roll motion direction, and a velocity or acceleration in the heave motion direction of the acoustic device when the ship is shaken while supporting the device Detecting a posture sensor, and a pitch driving mechanism for causing the acoustic device to perform a pitch operation with respect to the third frame body, and the third frame body together with the acoustic device. A roll driving mechanism for performing a roll operation on the frame body, a heave driving mechanism for causing the second frame body to perform a heave operation on the first frame body together with the third frame body and the acoustic device, and the pitch. A control unit that controls the drive mechanism, the roll drive mechanism, and the heave drive mechanism, wherein the control unit is configured so that the acoustic device is in an initial setting direction based on a detection value of the attitude sensor. The pitch drive mechanism and the roll drive mechanism are controlled so as to face, and the heave drive mechanism is controlled so that the speed of the sound device in the heave operation direction is a predetermined value or less. It is said.

  The “initial setting direction” of the acoustic device is a direction in which the acoustic device is facing when propagation of sound waves from the acoustic device to an object can be best performed in plain water. For example, when the acoustic device is attached to the ship bottom, the initial setting direction is “just below”.

The present invention preferably further adopts the following configuration arbitrarily.
(A) The pitch drive mechanism includes a pitch operation shaft for the third frame body to support the acoustic device so as to perform a pitch operation, a pitch motor fixed to the acoustic device, and the pitch motor. A transmission mechanism for transmitting the rotation to the pitch operation axis, and the control unit controls the rotation of the pitch motor.

(B) The roll driving mechanism includes a roll operating shaft for the second frame body to support the third frame body so as to be able to perform a roll operation, a roll electric motor fixed to the second frame body, A roll transmission mechanism that transmits the rotation of the roll motor to the roll operation shaft, and the control unit controls the rotation of the roll motor.

(C) The heave drive mechanism includes a heave guide shaft for supporting the second frame body so that the first frame body can perform a heave operation, a heave motor fixed to the first frame body, A heave transmission mechanism that converts the rotation of the heave motor into a heave operation and transmits it to the second frame body, and the control unit controls the rotation of the heave motor. .

  In the present invention, when the acoustic device tries to shake as the ship shakes, the pitch drive mechanism and the roll drive mechanism can be controlled so that the acoustic device can be directed in the initial setting direction and the heave drive mechanism can be controlled. Thus, the speed of the sound device in the heave operation direction can be suppressed to a predetermined value or less. Therefore, it is possible to prevent the propagation region of the sound wave transmitted from the acoustic device from being shifted from the initial setting direction, and to suppress the change in the frequency of the sound wave due to the Doppler effect. Therefore, according to this invention, it can prevent that the communication probability of an audio equipment falls by ship's shaking.

It is a front view of the acoustic apparatus shake correction apparatus of one Embodiment of this invention. It is an II arrow directional view of FIG. FIG. 3 is a view taken in the direction of arrow III in FIG. It is IV arrow line view of FIG. It is VV sectional drawing of FIG. It is VI-VI sectional drawing of FIG. It is a block diagram of a control mechanism. It is a front view which shows a mode that an audio equipment is correct | amended by the pitch operation direction. It is a left view which shows a mode that an audio equipment is correct | amended by the roll operation direction. 4 is a schematic diagram illustrating the operation of the acoustic device when the ship is stationary. It is a perspective view explaining the operation | movement direction regarding a ship's shaking. It is the schematic which shows the action | operation of the conventional acoustic apparatus when a ship shakes in a pitch action direction.

  1 is a front view of an acoustic device fluctuation correcting device 100 according to an embodiment of the present invention, FIG. 2 is a view taken along the line II in FIG. 1, FIG. 3 is a view taken along the line III in FIG. FIG. 5 is a sectional view taken along line IV in FIG. 1, FIG. 5 is a sectional view taken along line VV in FIG. 1, and FIG. 6 is a sectional view taken along line VI-VI in FIG. FIG. 7 is a block diagram of the control mechanism.

  The device 100 is used by being attached to the ship bottom 101 while supporting the acoustic device 9, and corrects the shaking of the acoustic device 9 in order to suppress the acoustic device 9 from shaking as the boat 10 shakes. The acoustic device 9 is supported by the device 100 in a state in which it faces the initial setting direction. Here, since the device 100 is attached to the ship bottom 101, the acoustic device 9 is supported by the device 100 in a state in which it is directed downward. Has been. The apparatus 100 includes a first frame body 1, a second frame body 2, a third frame body 3, an attitude sensor 4, a pitch driving mechanism 5, a roll driving mechanism 6, a heave driving mechanism 7, and a control unit 8. . The acoustic device 9 is supported by the third frame body 3. Note that the front of the apparatus 100 faces the side of the ship 10.

[First frame body]
The first frame body 1 has a rectangular parallelepiped shape in plan view. The first frame body 1 includes a top plate 11, a right side plate 12, a left side plate 13, a front plate 14, a back plate 15, and a bottom plate 16. Each of the right side plate 12, the left side plate 13, the front plate 14, the back plate 15 and the bottom plate 16 has a large opening 121, 131, 141, 151, 161 at the center. That is, each plate 12, 13, 14, 15, 16 other than the top plate 11 is substantially constituted by a peripheral frame. The first frame body 1 is fixed to the ship bottom 101 so as to be perpendicular to the ship bottom 101 at the top.

[Second frame body]
The second frame body 2 is disposed inside the first frame body 1. The second frame body 2 includes a top plate 21, a right side plate 22, and a left side plate 23. That is, the second frame body 2 is opened in the front-rear direction.

[Third frame body]
The third frame body 3 is disposed inside the second frame body 2. The third frame body 3 is a frame body arranged so as to constitute the bottom plate of the second frame body 2. That is, the third frame body 3 includes a front frame 31, a back frame 32, a right frame 33, and a left frame 34.

[Pitch drive mechanism]
The pitch drive mechanism 5 includes a pitch operation shaft 51, a pitch motor 52, and a pitch transmission mechanism 53.

  As shown in FIG. 6, the pitch operation shaft 51 supports the acoustic device 9 with respect to the third frame body 3 so that the pitch operation is possible. The pitch operation shaft 51 extends horizontally, and includes a front shaft portion 511 that is inserted into the front frame 31 so as to be capable of pitch operation, and a rear shaft portion 512 that is inserted into the back frame 32 so as to be capable of pitch operation. ing. The front shaft portion 511 and the rear shaft portion 512 are fixed to the central portion in the longitudinal direction of the acoustic device 9.

  The pitch motor 52 is a servo motor and is fixed on the top surface 91 of the acoustic device 9.

  The pitch transmission mechanism 53 is hung on the first sprocket 531 fixed to the rotation shaft of the pitch motor 52, the second sprocket 532 fixed to the front shaft portion 511 of the pitch operation shaft 51, and both sprockets 531, 532. And a passed toothed belt 533.

  Accordingly, when the pitch motor 52 is operated, the pitch operation shaft 51 rotates via the first sprocket 531, the toothed belt 533, and the second sprocket 532, and accordingly, the acoustic device 9 is connected to the third frame body. 3 is pitch-operated.

[Roll drive mechanism]
The roll drive mechanism 6 has a roll operating shaft 61, a roll electric motor 62, and a roll transmission mechanism 63. The roll operation shaft 61 extends perpendicularly and horizontally to the pitch operation shaft 51 in the same plane, and is inserted into the right side plate 22 of the second frame body 2 so as to be capable of roll operation. The left shaft portion 612 is inserted into the left side plate 23 of the second frame body 2 so as to be able to roll. The right shaft portion 611 and the left shaft portion 612 are fixed to the center portions in the front-rear direction of the right frame 33 and the left frame 34 of the third frame body 3, respectively.

  The roll motor 62 is a servo motor and is fixed on the top plate 21 of the second frame body 2.

  The roll transmission mechanism 63 is hung on the first sprocket 631 fixed to the rotation shaft of the roll motor 62, the second sprocket 632 fixed to the left shaft portion 612 of the roll operating shaft 62, and both sprockets 631, 632. A passed toothed belt 633. The second sprocket 632 is located outside the second frame body 2 and inside the first frame body 1.

  As a result, when the roll motor 62 operates, the roll operation shaft 61 rotates via the first sprocket 631, the toothed belt 633, and the second sprocket 632, and accordingly, the third frame body 3 Along with the device 9, a roll operation is performed on the second frame body 2.

[Heave drive mechanism]
The heave drive mechanism 7 includes a heave guide shaft 71, a heave motor 72, and a heave transmission mechanism 73. The heave guide shaft 71 extends in the up-down direction and is fixed to the center in the front-rear direction of the right side plate 12 of the first frame body 1, and the front-rear direction of the left side plate 13 of the first frame body 1. A left guide shaft 712 is fixed to the central portion so as to extend in the vertical direction. The right guide shaft 711 and the left guide shaft 712 are disposed at positions facing each other in plan view. The second frame body 2 is slidably supported on the guide shafts 711 and 712 via the arms 241, 242, 243 and 244. That is, the second frame body 2 can perform a heave operation along the heave guide shaft 71 with respect to the first frame body 1. The arms 241 and 242 are provided at positions above and below the right side plate 22 of the second frame body 2, respectively, and the arms 243 and 244 are respectively above and below the left side plate 23 of the second frame body 2. In position.

  The heave motor 72 is a servo motor, and is fixed on the top plate 11 of the first frame body 1.

  The transmission mechanism 73 for the heave includes a first sprocket 731, a transmission shaft 732, a second sprocket 733, a first toothed belt 734, a third sprocket 735, a fourth sprocket 736, a fifth sprocket 737, a sixth sprocket 738, and a second sprocket 738. A toothed belt 739 and a third toothed belt 740 are provided. The first sprocket 731 is fixed to the rotating shaft of the heave motor 72. The transmission shaft 732 is fixed to the top plate 11 of the first frame body 1 so as to be rotatable and extend in the left-right direction. The second sprocket 733 is fixed to the transmission shaft 732 so as to face the first sprocket 731 in the front-rear direction. The first toothed belt 734 is stretched between the first sprocket 731 and the second sprocket 733. The third sprocket 735 and the fourth sprocket 736 are fixed to the right end and the left end of the transmission shaft 732, respectively. The fifth sprocket 737 is rotatably fixed to the lower end of the right side plate 12 or the right end surface of the bottom plate 16 so as to face the third sprocket 735 in the vertical direction. The sixth sprocket 738 is rotatably fixed to the lower end of the left side plate 13 or the left end surface of the bottom plate 16 so as to face the fourth sprocket 736 in the vertical direction. The second toothed belt 739 is stretched between the third sprocket 735 and the fifth sprocket 737. The third toothed belt 740 is stretched between the fourth sprocket 736 and the sixth sprocket 738. The arms 241 and 242 are fixed to the second toothed belt 739, and the arms 243 and 244 are fixed to the third toothed belt 740.

  As a result, when the heave motor 72 is activated, the second toothed teeth are transmitted via the first sprocket 731, the first toothed belt 734, the second sprocket 733, the transmission shaft 732, the third sprocket 735, and the fourth sprocket 736. The belt 739 and the third toothed belt 740 rotate and move, and accordingly, the second frame body 2 performs a heave operation together with the acoustic device 9 and the third frame body 3.

[Attitude sensor]
The attitude sensor 4 is fixed to the top surface 91 of the acoustic device 9. The attitude sensor 4 includes an angle or angular velocity or angular acceleration in the pitch motion direction, an angle or angular velocity or angular acceleration in the roll motion direction, and a speed or acceleration in the heave motion direction when the ship 10 is shaken. , Are detected respectively.

[Control unit]
As shown in FIG. 7, the control unit 8 controls the pitch driving mechanism 5 and the roll driving mechanism 6 so that the acoustic device 9 faces directly below based on the detection value of the attitude sensor 4, and the heave of the acoustic device 9. The heave drive mechanism 7 is controlled so that the speed in the operation direction is a predetermined value V or less. Specifically, the control unit 8 servo-controls the pitch motor 52, the roll motor 62, and the heave motor 72. The “predetermined value V” in the control of the heave drive mechanism 7 is a speed at which the acoustic device 9 cannot eliminate the influence of the Doppler effect when the speed is exceeded. The control unit 8 is realized by a CPU, a ROM, a RAM, and the like.

[Operation]
Next, the operation of the apparatus 100 having the above configuration will be described.

  The apparatus 100 is used by being fixed to the ship bottom 101 so as to be perpendicular to the ship bottom 101 at the upper part of the first frame body 1. And in the apparatus 100 fixed to the ship bottom 101, the acoustic apparatus 9 supported by the apparatus 100 faces directly below when the ship 10 is not affected by the waves.

  When the ship 10 is shaken under the influence of waves, the device 100 operates as follows.

  First, the attitude sensor 4 determines the angle or angular velocity or angular acceleration in the pitch motion direction B, the angle or angular velocity or angular acceleration in the roll motion direction A, and the velocity or acceleration in the heave motion direction C of the acoustic device 9, respectively. Detect (see FIG. 11).

  Next, the control unit 8 servo-controls the pitch motor 52, the roll motor 62, and the heave motor 72 based on the detection value of the attitude sensor 4. Specifically, it is as follows.

(A) The pitch change amount calculation unit 811 obtains an angle change amount in the pitch operation direction B of the acoustic device 9 based on the detected value in the pitch operation direction B. Next, the pitch correction amount calculation unit 812 obtains an angle correction amount necessary to turn the acoustic device 9 downward in the pitch operation direction B. Next, the pitch correction instruction unit 813 controls the pitch motor 52 to execute the correction amount.

  Then, when the pitch motor 52 is rotated by the control by the control unit 8, the pitch operation shaft 51 rotates through the first sprocket 531, the toothed belt 533, and the second sprocket 532 as shown in FIG. 8. Thereby, the acoustic device 9 is shaken in the pitch operation direction B. This amount of swaying is an amount by which the acoustic device 9 that is about to sway in the pitch motion direction B as the ship 10 sways turns downward in the pitch motion direction.

(B) The roll change amount calculation unit 821 obtains an angle change amount in the roll operation direction C of the acoustic device 9 based on the detected value in the roll operation direction A. Next, the roll correction amount calculation unit 822 calculates an angle correction amount necessary to turn the acoustic device 9 downward in the roll operation direction A. Next, the roll correction instruction unit 823 controls the roll motor 62 so as to execute the correction amount.

  Then, when the roll motor 62 is rotated by the control by the control unit 8, the roll operation shaft 61 is rotated through the first sprocket 631, the toothed belt 633, and the second sprocket 632 as shown in FIG. 9. Thereby, the acoustic device 9 is shaken in the roll operation direction A. This amount of swaying is an amount by which the acoustic device 9 that is about to sway in the roll operation direction as the ship 10 sways turns downward in the roll operation direction.

(C) The heave change amount calculation unit 831 obtains the speed change amount in the heave operation direction C of the acoustic device 9 based on the detection value in the heave operation direction C. Next, the heave correction amount calculation unit 832 obtains a correction amount of a speed necessary for the speed in the heave operation direction C of the acoustic device 9 to be equal to or less than a predetermined value V. The “predetermined value V or less” is a value that can suppress a change in the frequency of the sound wave due to the Doppler effect. Then, the heave correction instruction unit 833 controls the heave motor 72 so as to execute the correction amount.

  Then, when the heave motor 72 is rotated by the control by the control unit 8, the transmission shaft 732 is rotated via the first sprocket 731, the first toothed belt 734, and the second sprocket 733, whereby the third The sprocket 735, the second toothed belt 739, and the fifth sprocket 737 rotate, and the fourth sprocket 736, the third toothed belt 740, and the sixth sprocket 738 rotate. As a result, the second toothed belt 739 and the third toothed belt 740 move in the heave operation direction C, and accordingly, the second frame body 2 together with the acoustic device 9 and the third frame body 3 It moves in the heave operation direction C with respect to the body 1. The speed of movement of the second frame body 2 at this time is controlled to a value such that the speed of the acoustic device 9 attempting to shake in the heave operation direction C as the ship 10 shakes is equal to or less than a predetermined value V. Yes.

[effect]
According to the apparatus 100 having the above-described configuration, when the acoustic device 9 tries to shake as the ship 10 shakes, the pitch drive mechanism 5 and the roll drive mechanism 6 are controlled so that the acoustic device 9 is directly below, that is, in the initial setting direction. In addition, the speed of the sound device 9 in the heave operation direction C can be suppressed to a predetermined value V or less by controlling the heave drive mechanism 7. Therefore, it is possible to prevent the propagation region W of the sound wave transmitted from the acoustic device 9 from being directed in the direction shifted from directly below, and to suppress the change in the frequency of the sound wave due to the Doppler effect. Therefore, according to the apparatus 100 of the said structure, it can prevent that the communication probability of the acoustic apparatus 9 falls by the shake of the ship 10. FIG.

  Moreover, the heave drive mechanism 6 does not correct the position but controls the speed in the heave operation direction C to be equal to or less than the predetermined value V. Therefore, according to the apparatus 100 configured as described above, the heave drive mechanism 6 can be downsized.

[Modification]
(1) In the heave transmission mechanism 73, the rotation of the heave motor 72 may be converted into a heave operation using a trapezoidal screw or a ball screw.
(2) The apparatus 100 is not limited to the ship bottom but may be attached to the ship side.

  The acoustic apparatus fluctuation correcting apparatus of the present invention can prevent the communication probability of the acoustic apparatus from being lowered due to the fluctuation of the ship, and thus has great industrial utility value.

DESCRIPTION OF SYMBOLS 10 Ship 101 Ship bottom 100 Acoustic apparatus shake correction apparatus 1 1st frame body 2 2nd frame body 3 3rd frame body 4 Attitude sensor 5 Pitch drive mechanism 51 Pitch operation shaft 52 Pitch motor 53 Pitch transmission mechanism 6 Roll drive mechanism 61 Roll operation shaft 62 Roll motor 63 Roll transmission mechanism 7 Heave drive mechanism 71 Heave guide shaft 72 Heave motor 73 Heave transmission mechanism 8 Control unit 9 Sound device

Claims (4)

An acoustic device fluctuation correction device that corrects the vibration of the acoustic device in order to suppress the acoustic device attached to the ship from being shaken as the boat shakes,
A first frame body fixed to the ship;
A second frame body supported by the first frame body;
A third frame body supported by the second frame body;
With
The third frame body supports the acoustic device,
Detecting the angle or angular velocity or angular acceleration in the pitch motion direction, the angle or angular velocity or angular acceleration in the roll motion direction, and the velocity or acceleration in the heave motion direction of the acoustic device when the ship shakes, An attitude sensor;
A pitch driving mechanism for causing the acoustic device to perform a pitch operation with respect to the third frame body;
A roll driving mechanism for causing the third frame body to roll together with the acoustic device with respect to the second frame body;
A heave drive mechanism for causing the second frame body to perform a heave operation on the first frame body together with the third frame body and the acoustic device;
A control unit for controlling the pitch driving mechanism, the roll driving mechanism, and the heave driving mechanism;
Is further provided,
The control unit controls the pitch driving mechanism and the roll driving mechanism so that the acoustic device faces an initial setting direction based on a detection value of the posture sensor, and a speed in a heave operation direction of the acoustic device is predetermined. The heave drive mechanism is controlled to be less than or equal to the value,
An acoustic apparatus shake correction apparatus characterized by that. The pitch drive mechanism is
A pitch motion axis for the third frame body to support the acoustic device in a pitch motionable manner;
A pitch motor fixed to the acoustic device;
A pitch transmission mechanism for transmitting rotation of the pitch motor to the pitch operation axis;
With
The control unit is adapted to control rotation of the pitch motor.
The acoustic device fluctuation correcting device according to claim 1. The roll drive mechanism is
A roll operating shaft for the second frame body to support the third frame body in a rollable manner;
A roll electric motor fixed to the second frame body;
A transmission mechanism for a roll for transmitting rotation of the electric motor for the roll to the roll operation axis;
With
The control unit is adapted to control rotation of the roll motor.
The acoustic device fluctuation correcting device according to claim 1 or 2. The heave drive mechanism is
A heave guide shaft for the first frame body to support the second frame body so that heave operation is possible;
A heave motor fixed to the first frame body;
A transmission mechanism for the heave that converts the rotation of the electric motor for the heave into a heave operation and transmits it to the second frame body;
With
The control unit is adapted to control the rotation of the heave motor.
The acoustic device fluctuation correcting device according to any one of claims 1 to 3.

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