JP2019189059A - Posture control system for ocean movable body and buoy having the posture control system - Google Patents

Abstract

To provide an autonomous buoy not needing mooring capable of staying in an intended sea area without interfering with vessel navigation or fishing.SOLUTION: A movable body includes a system for calculating a relative relationship among an underwater transverse flow prevention plate, a mechanism for generating a lift force by receiving wind on water surface, a GNSS antenna for specifying a position on ground by receiving a signal from a satellite, and an own machine position with respect to target position information of instructed longitude and latitude. The movable body is provided with means for acquiring a wind direction and means for acquiring angles with respect to the wind directions of the moving body and/or the transverse flow prevention plate, wherein the angles of the movable body and/or the transverse flow prevention plate are adjusted with respect to the change in the wind direction so that the angle in the advancing direction of the movable body is not smaller than 45 degrees on both sides toward the wind direction by adjusting the angles with respect to the wind directions of the moving body and/or the transverse flow prevention plate, and a lift force generating mechanism.SELECTED DRAWING: Figure 1

Description

The present invention relates to a posture control system for a wind direction of a moving body that travels on the ocean using wind lift, and a buoy having the posture control system.

Because the ocean is vast and deep, data acquisition is performed in various ways.

Field surveys have been conducted in which inspectors board the ship and go to various locations in the ocean.

To obtain continuous data, moored or stationary buoys may be used offshore, and drifting buoys may be used offshore.

In order to obtain a wide range of information, research using artificial satellites is also being conducted.

It consists of a floating body that floats on the surface of the water, a glider that sinks in the water, and a cable that connects these parts. AOV (Autonomous Ocean Vehicle) is also used, which advances the glider part and navigates using natural energy. (See Non-Patent Document 1)

As a moving body that maintains the same position on the ocean, both the front and rear of the yacht hull should be symmetrical, with the sail rotated around the mast axis and the attitude changed by receiving wind alternately on the front and back of the sail. Japanese Patent Application No. 2015-27059 proposes a floating offshore wind power generation facility that keeps the same location by reciprocating without moving. (See Patent Document 1)

The satellite positioning system becomes highly accurate, and at least one of the three or more satellite positioning antennas is provided on the moving body, receives radio waves from a plurality of positioning satellites, and acquires the relative position between the antennas. Means have been proposed (see Patent Document 2).

JP2015-27059 Floating offshore wind power generation facility JP 2002-40124 Relative positioning device for carrier transfer

Wave Glider <http://www.hydro-sys.com/files/product/files/072.WaveGlider_Brochure2015.pdf> [Search April 10, 2018]

A manned survey using a ship requires a lot of labor and cost to adjust the use schedule of the ship. In addition, there is a risk of human life such as encountering bad weather.

Mooring or stationary buoys can only be measured at a fixed point and are expensive to install and maintain. Also, mooring lines can get entangled in ships and fishing nets. Drifting buoys are only introduced into the ocean, so the installation cost is not large, but the destination depends on the tide and wind, so there is a possibility that continuous data of the desired sea area cannot be obtained.

Surveys using artificial satellites can only obtain information above the surface of the water, and other than geostationary satellites, there are restrictions on the frequency of surveys that match the orbit of the earth.

AOVs that use ocean swells are difficult to survey at a fixed point because of their slow navigating speed and lack of a small turn, and solar power on a floating deck may not provide sufficient energy for the survey.

In Patent Document 1, the angle of the moving body and the lift generation mechanism with respect to the wind direction is unclear.
Patent Document 2 merely calculates the azimuth angle and attitude angle of a ship.

To provide an autonomous buoy that can stay in the intended sea area without interfering with vessel navigation and fishing, and that does not require mooring.

An underwater crossflow prevention plate, a mechanism that generates lift by receiving wind on the surface of the water, a GNSS antenna that receives a signal from an artificial satellite and identifies the position on the ground, and the target position information of the indicated latitude and longitude In a moving body having a system for calculating the relative relationship with the machine position,
A means for obtaining the wind direction and a means for obtaining the angle of the moving body and / or the crossflow prevention plate with respect to the wind direction are mounted.
Adjust the angle of the moving body and / or cross flow prevention plate and the lift generating mechanism to the wind direction so that the moving direction of the moving body does not become less than 45 degrees on both sides toward the wind direction.
The angle of the moving body and / or the cross flow prevention plate is adjusted with respect to the change in the wind direction.

Because it is not moored at the bottom of the sea, it will be unaffected by water depth and will realize a buoy that maintains the same position on the ocean.

FIG. 1 is a plan view showing an embodiment of the present invention. FIG. 2 is a front view showing an embodiment of the present invention. FIG. 3 is a plan view showing the lift 15 and the drag 16 generated in the sail 3 against the wind 2 in the embodiment of the present invention. FIG. 4 is a front view showing a drag force 16 generated in the sail 9 and a resistance force 17 caused by water generated in the transverse flow prevention plate 6 according to the embodiment of the present invention. FIG. 5 shows the lift 15 and the drag 16 generated in the sail 9 when the traveling direction of the hull 1 of the present invention is less than 45 degrees toward the wind 2, and the resistance forces 17 and 17 generated in the crossflow prevention plate 6. It is the top view which showed '. FIG. 6 is a plan view when the wind direction is changed to 2 'in the embodiment of the present invention. FIG. 7 is a front view showing a state where the resistance plate 11R on one side of the embodiment of the present invention is inserted into water. FIG. 8 is a plan view of an application example in which the lift generating mechanism of the present invention uses a cylinder 18 called a magna slater. FIG. 9 is a front view of an application example in which the lift generating mechanism of the present invention uses a cylinder 18 called a magna slater. FIG. 10 is a plan view of an application example in which a GNSS signal antenna 3 ′ is attached to the free end side of the boom 8 when the sail is used for the lift generating mechanism of the invention. FIG. 11 is a plan view of an application example in which ladders 19 and 19 'are used under the moving body underwater in the traveling direction adjusting mechanism of the present invention. FIG. 12 is a front view of an application example in which ladders 19 and 19 'are used under the moving body underwater in the traveling direction adjusting mechanism of the present invention. FIG. 13 is a plan view of an application example in which the sub sails 21 and 21 'are used on the moving body in the traveling direction adjusting mechanism of the present invention. FIG. 14 is a front view of an application example in which the sub sails 21 and 21 'are used on the moving body in the traveling direction adjusting mechanism of the present invention. FIG. 15 is a flowchart showing the control system of the embodiment.

An anemometer that acquires the direction in which the wind blows and a measurement system that acquires an angle around the vertical axis of the moving body with respect to the wind direction are mounted on the moving body. On the moving body, there is a mechanism that generates wind by receiving wind, and a crossflow prevention plate is provided in the water.

In the lift generating mechanism on the moving body, lift is generated on either the right or left side of the direction perpendicular to the wind direction.

When the flat flow side is directed to the wind direction, the lateral flow prevention plate is not easily pushed down by the wind because the resistance force due to water works when the moving body is washed away by the wind. On the other hand, in the direction perpendicular to the plane, water resistance is low and the progress is easy.

When the wind direction with respect to the moving body changes, the lift force is always generated in a direction perpendicular to the wind direction, so the balance of the lift force, drag force, water resistance force, etc. acting on the moving body changes, and the moving body cannot continue the same progress. Therefore, it is necessary to adjust the direction of the moving body and the lift generation mechanism according to the wind direction.

The posture of the moving body with respect to the wind direction is adjusted using the posture adjustment mechanism of the moving body.

The GNSS antenna may be attached to a position interlocked with a lateral flow prevention plate that can change an angle around an axis perpendicular to the moving body, separately from the moving body.

Examples of the present invention will be described.

As shown in FIGS. 1 and 2, a plurality of GNSS antennas 3 that can identify the position on the ground by receiving a signal from an artificial satellite on the hull 1 and where the positions on the hull 1 are known with the antennas separated. Is installed.

An anemometer 4 and an anemometer 5 are installed on the hull 1 and supplied with electric power from a storage battery 12 mounted on the hull 1 and connected to a microcomputer 13 to constantly measure the wind direction and the wind speed. .

A cross flow preventing plate 6 is attached under the water of the hull 1, and the plane side of the cross flow preventing plate 6 is in a positional relationship where the wind 2 is received in the front.

A mast 7 is erected on the hull 1, a boom 8 is attached to the mast 7, and a sail 9 is stretched between the mast 7 and the boom 8.

Mount the gantry 10 and the resistance plate 11 on the hull 1. Although the resistance plate 11 is always above the water surface, it can be operated up and down on each side of the hull 1 by operation and can be inserted into the water.

3 and 4 show the relationship between the forces generated in the states of FIGS. If the sail 9 receives the wind 2 and the wind does not flutter, the sail 9 has a lift 15 in the direction perpendicular to the wind direction on the side opposite to the direction in which the flow of the wind 2 changes, and in the leeward direction. A drag 16 is generated. The resistance 17 of the water which arises with respect to the crossflow prevention board 6 generate | occur | produces, and the hull 1 is hard to be flowed in the leeward direction.

The hull 1 travels by the lift 15 when the drag 16 generated by the sail 9 is substantially offset by the resistance 17 generated in the transverse flow prevention plate underwater.

FIG. 6 shows a state in which the hull 1 is moving upward in the drawing. Wind 2 'is blowing from the upper left side in the figure.

When the hull 1 is to be oriented at 90 degrees with respect to the wind 2 ', when the resistance plate 11R is inserted into the water as shown in FIG. 6, the traveling direction of the hull 1 changes clockwise. When 11F is inserted into the water instead of 11R, the traveling direction of the hull 1 changes counterclockwise and faces upwind.

As shown in FIG. 5, when the traveling direction of the hull 1 becomes smaller than 45 degrees toward the wind direction, the resistance force 17 'due to water acts against the lift force 15 generated by the lift generation mechanism. Further, since the resistance force 17 is smaller than the drag force 16, the moving body cannot continue to advance in the windward direction.

FIG. 14 is a flowchart of the posture control system.
Initially, the target position of the moving body is set by external input. Acquires location information from multiple GNSS antennas 3 installed. The wind direction on the moving object is acquired with the anemometer 5. The angle information of the mobile device and / or the lateral flow prevention plate 6 can be acquired from the position information. Depending on whether the target position is on the left or right with respect to the wind direction, the traveling direction is determined in the direction approaching the target position. An angle with respect to the wind direction from the own machine position to the target position is calculated from the own machine position, the target position, and the wind direction. When the angle to the target position is 45 degrees or more on both sides with respect to the wind direction, the moving body moves straight toward the target position. If the angle to the target position is less than 45 degrees on both sides with respect to the wind direction, the mobile body cannot move directly to the target position, so the moving body moves in the direction of 45 degrees with respect to the wind direction. The traveling direction and traveling angle are determined from the positional relationship between the aircraft and the aircraft.

After arriving at the target position, as long as the target position is not changed, the same position is maintained by repeating reciprocating movement over the target position.

As shown in FIGS. 8 and 9, a cylinder called a magna slater 18 may be used as the lift generating mechanism of the moving body. By rotating the cylinder in the wind, a difference in atmospheric pressure is generated on both sides of the cylinder with respect to the wind direction, and lift is generated on the side where the atmospheric pressure is low.

As shown in FIG. 10, the GNSS antenna 3 ′ may be attached to the free end of the boom 8, the relative position between the GNSSs may be calculated, and the sail opening angle may be calculated.

As shown in FIGS. 11 and 12, the orientations of the ladders 19 and 19 ′ attached to the bottom of the hull may be operated as the attitude adjustment mechanism of the hull 1.

As shown in FIGS. 13 and 14, the sub-sail mast 20, 20 ′ and the sub-sail 21, 21 ′ may be attached as the posture adjustment mechanism on the moving body, and the direction may be changed by manipulating the angle of the sub-sail.

The present invention is used for buoys used for environmental monitoring and monitoring.

1 hull
2 wind
3 GNSS antenna
4 Anemometer
5 Anemometer
6 Cross flow prevention plate
7 Mast
8 Boom
9 Sail
10 frame
11 Resistance plate
12 Storage battery
13 Microcomputer
14 Water surface
15 Lift
16 Drag
17 Resistance
18 Magna Slaughter
19 Ladder
20 Subsail mast
21 Subsail

Claims (9)

An underwater crossflow prevention plate, a mechanism that generates lift by receiving wind on the surface of the water, a GNSS antenna that receives a signal from an artificial satellite and identifies the position on the ground, and the target position information of the indicated latitude and longitude In a moving body having a system for calculating the relative relationship with the machine position,
A means for obtaining the wind direction and a means for obtaining the angle of the moving body and / or the crossflow prevention plate with respect to the wind direction are mounted.
Adjust the angle of the moving body and / or cross flow prevention plate and the lift generating mechanism to the wind direction so that the moving direction of the moving body does not become less than 45 degrees on both sides toward the wind direction.
A control system for adjusting the angle of the moving body and / or the cross flow prevention plate with respect to a change in wind direction, and a buoy having the control system. The position of the plurality of receiving antennas for obtaining the position information by a signal from an artificial satellite, the position of the mobile body and / or the crossflow prevention plate, the angle of the mobile body and / or the crossflow prevention plate with respect to the wind direction. Is a posture control system that is acquired by mounting on a known part, and a buoy having the control system. The control system according to claim 1, wherein the angle of the moving body and / or the cross flow preventing plate with respect to the wind direction is acquired by a gyroscope, and the buoy having the control system. 2. A posture control system and a buoy having the control system according to claim 1, wherein the lift by receiving wind is obtained by a sail erected on a moving body. 2. A posture control system for generating lift by receiving a wind by rotating a cylinder called a magna slater and a buoy having the control system. The attitude control system for adjusting the angle of the moving body with respect to the wind direction by using an underwater ladder and a buoy having the control system. 2. A posture control system for adjusting an angle of a moving body and / or a lateral flow preventing plate by inserting a resistance plate on the leeward side or the windward side of the moving body, and a buoy having the control system. The buoy having the attitude adjustment system for adjusting the attitude of the moving body by operating the auxiliary sail in front of or behind the moving body and receiving wind to adjust the attitude of the moving body. 2. A posture control system for adjusting a posture of a moving body by moving an underwater thruster and a buoy having the control system.