JP4744021B2 - Underwater travel device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a submarine traveling device that is equipped with an observation device and a measurement device for investigating the environment of a lake, a harbor, and the like, and moves on a bottom such as a water bottom and a seabed.
[0002]
[Prior art]
As a lake investigation device for investigating the environment of a lake and the like, there is a no-search autonomous underwater robot 6A as shown in FIG. 15 and FIG. This submersible type unsponsored autonomous underwater robot 6A is provided with a propulsion device in three directions of a horizontal thruster 62, a lateral thruster 63, and a vertical thruster 64 in the main body 61 in a state where buoyancy and weight are substantially equal. It is a device that can move in three dimensions in water so that the angle can be changed.
[0003]
And, using the AUV (Autonomous Underwater Vehicle) function, automatically measure the environment such as depth surveying and water quality measurement in the ascending state or underwater state along the survey line or the bottom of the lake specified without search. In addition, the ROV (Remotely Operated Vehicle) function can be used to observe and observe the dam body, gate, etc. of the lake dam by remote operation on the cable.
[0004]
In addition, as an apparatus for performing underwater work on the bottom of the sea or the sea floor, an apparatus for underwater work such as JP-A-9-236688 and JP-A-9-296477, a submersible device shown in FIG. There is a crawler traveling type water bottom traveling device 7 that travels on the water bottom and the sea bottom with such a crawler belt 71.
[0005]
[Problems to be solved by the invention]
However, the submersible type device 6 shown in FIG. 16 (a) is difficult to travel because the algae get involved with the propeller 65 in the algae field, and the sludge is rolled up by the water flow generated by the propeller 65 in the sludge field. Therefore, there is a problem that measurement may be difficult.
[0006]
Further, in the case of the submersible type device 6, since it is preferable to operate in a state where buoyancy and weight are balanced, the weight increases when a sample of soil or mud in the bottom is taken. If it becomes heavier to some extent, movement control becomes difficult, so there are problems that many samples cannot be collected and problems that it is difficult to stand still with respect to the bottom because it is easily washed away by water flow.
[0007]
In addition, because it can move three-dimensionally, underwater exploration is possible regardless of the water depth, but the sensors, the moving propulsion device, and the moving control device that are necessary for movement are complicated and expensive. There is also a problem.
[0008]
Further, in the crawler traveling type water bottom traveling device 7 shown in FIG. 16B, there is a problem that algae are easily entangled with the crawler belt 71 and the crawler belt 71 winds up the sludge in the sludge field. In addition, there is a problem that in an uneven place such as a rocky place, it is easy to fall when moving, and it is almost impossible to return to the original posture by itself once it falls.
[0009]
Further, a sled traveling type water bottom traveling device 8 shown in FIG. 16C, which can reduce the contact surface pressure and can travel even in a Herod field, is also conceivable. In this water bottom traveling device 8, the ground pressure can be lowered by the flat plate warp 81, and burial can be prevented.
[0010]
However, if a propeller 82 or water jet (jet pump) is used for the thrust generating device for movement, problems such as entanglement of algae and winding of sludge occur, and it is easy to overturn in places with irregularities such as rocky places. Then, there is a problem that it is almost impossible to return to the original posture by itself.
[0011]
The present invention has been made in order to solve the above-mentioned problems, and its purpose is to be able to operate while avoiding entanglement of algae even in an algae basin, and can run without falling even in uneven areas such as rocky terrain. In addition, it is an object of the present invention to provide a water bottom traveling apparatus that can be manufactured at a relatively low cost with a relatively simple movement mechanism and movement control.
[0012]
[Means for Solving the Problems]
A water-bottom traveling device for achieving the above object has the following characteristics.
[0013]
  1) UnderwaterUnderseaA submarine traveling device equipped with a ground moving means that is installed and moved on the bottom, and a buoyancy position is provided at a position higher than the position of the center of gravity to generate a restoring force against a fall by buoyancy so that the posture in the water isA buoyancy position moving means for maintaining the buoyancy position in the traveling direction and maintaining the buoyancy position;It is characterized by that.
[0014]
By maintaining the underwater posture by this buoyancy, even if it encounters irregularities on the bottom of the water or the sea, it can move without falling.
[0015]
In addition, even if samples are collected or objects are collected by moving to the bottom such as the bottom of the water, lake, sea, etc. it can. In addition, since the stop state with respect to the bottom can be easily realized and the self-sustaining state can be always maintained by buoyancy, the posture of the apparatus can be maintained even in the stop state.
[0016]
  In addition, since it moves in contact with the ground, there is no need for vertical movement means, and the mechanism and movement control of the apparatus are simplified. As a result, the cost of the apparatus is reduced.
  When the buoyancy position is fixed, if there is a relatively large inclined surface on the bottom such as the bottom of the water or the sea, the ground contact load of the front and rear traveling wheels will be different, and efficient traveling may not be possible. Arise. Therefore, the balance of the ground load on the front and rear traveling wheels is adjusted by moving the buoyancy position in the front-rear direction.
  The position adjustment of the buoyancy position in the front-rear direction can be performed by moving some buoyancy generators along the front-rear direction guide using a step motor and screw rod, or when mooring the float. The mooring point can be moved in the front-rear direction.
  The position adjustment of the buoyancy position may be performed automatically by setting in advance, or may be performed manually by the operator while viewing the observation equipment with a remote command. You may measure the inclination of the front-back direction, and respond | correspond automatically according to the measured value of this inclinometer.
  In addition, when it is preferable to intentionally tilt the bottom running device for sampling or other reasons, the buoyancy position is moved to move the buoyancy position in the left-right direction other than the front-rear direction (direction perpendicular to the running direction). Means can also be provided.
[0017]
2) In the above water bottom traveling apparatus, the ground moving means is configured to include a two-wheel traveling means.
[0018]
In the above water bottom traveling device, since the buoyant position is provided at a position higher than the center of gravity position and the posture in the water is maintained by buoyancy, the water bottom traveling device having various traveling means such as wheel traveling, crawler traveling, sled traveling, etc. Although it is applicable, since it is not necessary to use a water flow action such as a propeller or a water jet for the movement by using the wheel running, the disturbance of the water is reduced, and the adverse effect on the water quality measurement and the like can be reduced.
[0019]
Moreover, since the ground load can be selected by adjusting the weight and buoyancy and the vehicle can run with the ground load suitable for the condition of the land, an active area is expanded. In particular, by increasing the diameter of the wheel and decreasing the rotation speed, it is possible to prevent the algae and the like from being entangled with the wheel, so that the algae can easily move.
[0020]
And by carrying out two-wheel driving | running | working, the movement in a narrow place is attained and the part which touches a land, ie, a running trace, can be decreased. In addition, the structure of a motorcycle for land use can be applied, and the turning in the left-right direction can be performed by steering the traveling wheel, so that the structure and control are simple.
[0021]
3) In the above water bottom traveling device, at least a part of the buoyancy is configured to be obtained by attaching a floating body formed separately from the traveling device to the traveling device.
[0022]
In order to effectively secure the restoring force due to buoyancy in this submarine traveling device.
It is necessary to arrange a buoyancy generator (floating body) at a position higher than the position of the center of gravity. This buoyancy generator can also be formed integrally with the bottom running device, but considering the buoyancy adjustment for ground load adjustment and the adjustment of the buoyancy position for adjustment of the restoring force, it is formed separately, It can also be made the structure attached to a traveling apparatus.
[0023]
4) The above-described underwater travel device is configured to obtain at least a part of the buoyancy by mooring a floating body floating in water.
[0024]
When it is difficult to attach a large floating body due to buoyancy adjustment or placement problems, the floating body is moored with a wire or the like, and the attitude of the water-bottom traveling device is maintained using the buoyancy acting on the mooring wire. In the case of a floating body floating in water, the buoyancy is constant regardless of the water depth. However, it is affected by the water flow on the floating body.
[0025]
When using this floating body floating in water, a measuring device can be arranged in the middle of the floating body or the wire mooring the floating body so that the measurement in the depth direction can be performed.
[0026]
5) The above-mentioned water bottom traveling apparatus is configured to obtain a floating body levitating at least a part of the buoyancy by mooring with a tensile force within a predetermined range via a tension adjusting device.
[0027]
Moreover, the floating body which floated on the water surface or the sea surface can also be used instead of the floating body which floats in water. In this case, since the distance between the floating body and the bottom traveling device changes depending on the water depth, the mooring force changes. Therefore, the tensioning device is used so that the tensile force of the mooring wire is within a predetermined range. By extending or contracting, a substantially constant mooring force is obtained to maintain the attitude of the bottom traveling device.
[0028]
In this case, it is possible to use DGPS (Differential Global Positioning System), SS (Spread Spectrum) radio, etc. by providing an antenna on the floating body.
[0029]
6) In the above water bottom traveling device, in the two-wheel traveling means, at least one of the two traveling wheels is connected to the main body of the device through a bottom impact absorbing damper.
[0030]
By providing this shock absorbing damper at the time of landing, when the submarine traveling device is thrown into the water or the sea and landed on the bottom such as the water bottom or the seabed, or when moving on the uneven surface of the water bottom or the seabed The generated impact can be reduced, and the main body and the devices mounted on the main body can be protected from the impact.
[0031]
7) In the above water bottom traveling device, a sedimentation speed adjusting means for controlling the sedimentation speed in the underwater descent from underwater dropping to landing is provided.
[0032]
By providing a sedimentation speed adjusting means formed of a resistor such as a fin or a small parachute, the impact at the time of landing can be further alleviated.
[0038]
  8)The above-described water bottom traveling device is configured to include buoyancy adjusting means for changing the buoyancy.
[0039]
Since the state of the land may change during traveling, the buoyancy is changed in order to adjust the ground contact load according to the state of the land.
[0040]
  9)In the above water bottom traveling device, a sled is provided on at least a part of the front and rear or side of the traveling wheel.
[0041]
By providing this sled, it is possible to prevent the traveling wheels from being buried in the mud even in the bottom where sludge is accumulated, and to reduce the amount of sludge to be rolled up. Therefore, by providing this warp, the amount of sludge is small, and it becomes possible to travel in a place where the sludge portion is relatively shallow.
[0042]
  10)In the above-described water bottom traveling apparatus, a piggyback means is provided so that a person can ride on the water bottom traveling apparatus and move together.
[0043]
This piggyback means may be a seat that straddles like a two-wheeled vehicle on the ground, but it is sufficient that a person can move with the apparatus by using the movement of the underwater traveling apparatus. It may be a means such as. This piggyback means allows an observer to accompany and can also be used for underwater leisure.
[0044]
When this person is mounted, the vehicle may run by an operation by a person, or may run by a remote operation (ROV), a predetermined sequence operation, or the same automatic operation (AUV) as an autonomous robot.
[0045]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of a water bottom traveling apparatus according to the present invention will be described with reference to the drawings.
[0046]
As shown in FIGS. 1 to 4, the water bottom traveling device 1 includes a main body 10 and traveling wheels 21 and 22 for two-wheel traveling. The traveling wheels 21 and 22 are configured such that at least one (usually the rear side) is rotationally driven by a traveling mechanism such as a motor. Further, the front traveling wheel 21 is provided with a steering mechanism (steering mechanism) 23 so that the traveling direction can be changed and controlled.
[0047]
The main body 10 is equipped with an electronic device container 30, a battery container 41, a sedimentation ballast 42, an observation device 43, a measurement device, and the like, which are connected by a frame 11, and surrounded by a fairing cover 12. It arranges so that the flow in may be arranged. In addition, it is equipped with a hanging bracket 13 for hanging a wire for use in underwater charging or landing.
In addition, when mounting personnel equipped with underwater breathing devices for observation or leisure, a seat that straddles like a land motorcycle or a seat that lies down like an underwater scooter can be installed. Or, provide a handle or handrail that can be held by personnel.
[0048]
These traveling wheels 21 and 22 are formed of a disc wheel type without spokes so that algae do not get entangled, and tires 21a and 22a are mounted around like a mountain bike, and are rotated by motors 21b and 22b provided on an axle portion. To drive.
[0049]
Further, the tires 21a and 22a are fitted to the traveling wheels 21 and 22 to ensure elasticity and absorb the impact at the time of bottoming. Further, the axles of the traveling wheels 21 and 22 and the motors 21b and 22b are respectively bottomed. The main body 10 is connected via shock absorbing dampers 24 and 25.
[0050]
The shock absorbing dampers 24 and 25 at the time of landing can be configured by applying a shock absorber such as a plunger type, a telescopic type, a bottom link type, or a swing arm type used in land motorcycles. , The impact when the submarine traveling device 10 is thrown into the water or the sea and reaches the bottom such as the bottom of the water or the seabed is mitigated, and the main body 10 and the devices mounted on the main body 10 are protected from the impact. In addition, with this configuration, the impact generated when moving on the uneven surface of the bottom of the water or the sea bottom is also mitigated, and the effect of facilitating traveling can be obtained.
[0051]
The steering device 23 serving as a steering mechanism is a mechanism for changing the direction of the traveling wheel 21 on the front side, and rotates a frame that supports the shock absorbing damper 24 at the time of landing of the traveling wheel 21 by a step motor or a hydraulic motor. Configured as follows. In the case of providing a piggyback means for moving a person such as a diver together with the underwater travel device 1, a handle (not shown) is provided so that a person can manually operate underwater with this handle.
[0052]
In order to improve the steering performance, both the front and rear traveling wheels 21 and 22 can be driven, and a steering mechanism (steering mechanism) may be provided on both.
[0053]
The electronic device containers 30 and 30 are containers for storing each device such as a communication device, a travel control device, a control device for an observation device and a measurement device, a data processing device, and the like. It is arranged symmetrically in the upper center.
[0054]
The battery containers 41 and 41 are containers for storing a battery such as a lithium secondary battery that serves as a driving power source or a power source for each device, and are generally heavy and greatly affect the position of the center of gravity. To place. In the case where power is supplied and controlled from a wired (wired) rather than battery-driven, this battery container is unnecessary or downsized as an emergency power source.
[0055]
Moreover, the sedimentation ballast 42 is a weight for adjusting the ground contact load, and is separated at the time of ascent so that the underwater weight of the traveling device 10 can be made negative to ascend. For the sedimentation ballast 42, stones collected at a location close to the measurement location that does not affect the environment are selected. Further, since the water bottom traveling device 1 is often used at a shallow depth, the bottom traveling device 1 can be connected to the main body 10 with a lifting rope so that it can be recovered when the water bottom traveling device 1 is recovered.
[0056]
As the observation equipment, there are a TV camera 43a, an underwater illumination lamp 43b, a sonar, a Doppler sonar, etc. accommodated in the acrylic dome 43, and controlled or recorded by remote control based on data such as images obtained from these. Image analysis is performed after the traveling device is collected.
[0057]
Measurement equipment includes water quality measurement-related equipment for measuring water temperature, salinity, electrical conductivity, pH, chlorophyll, DO, turbidity, and the like, an underwater microscope, a water collection device, a mud collection device, and a depth measurement.
[0058]
As a control method, autonomous control (AUV) by a preset program, remote control (ROV) by wire or wireless (radio wave or ultrasonic underwater communication), or the like can be used. Further, in the case where a piggyback means is provided, it is configured to be controllable manually even by personnel.
[0059]
Next, holding | maintenance of the attitude | position in this water bottom traveling apparatus 1 is demonstrated, referring FIG.
[0060]
In order to return the water bottom traveling device 1 to the original posture when tilted in the water in the independent state, that is, in the traveling state and the stopped state, the buoyancy position B is disposed above the gravity center position G, and the buoyancy Ff The attitude of the water bottom traveling device 1 is maintained. That is, when the angle α is inclined with the ground contact point P of the traveling wheels 21 and 22 as a fulcrum, the restoring moment Mf due to the buoyancy Ff acting on the buoyancy B is greater than the overturning moment Mg due to the gravity Fg acting on the center of gravity G. Further, the buoyancy position B, the buoyancy Ff, the gravity center position G, and the gravity (air weight) Fg are adjusted, and the attitude of the submarine traveling device 1 is returned to the base by the restoring moment Mf exceeding the tipping moment Mg.
[0061]
That is, each moment lever has a distance Lf between the ground point P and the buoyancy B and a distance Lg between the ground point P and the center of gravity G, and therefore there is a relationship of Mf−Mg = Ff * Lf−Fg * Lg> 0. Return to the original posture.
[0062]
Therefore, after setting the ground contact load Fg−Ff to a value suitable for running on the land, in order to increase the restoring moment Mf, the buoyancy position B is increased and the gravity center position G is decreased.
[0063]
Next, other embodiments will be described.
[0064]
In the first embodiment, many parts of buoyancy are obtained by the electronic device container 30. However, as in the second embodiment shown in FIG. 6, a floating body 31 provided separately from the main body is provided. You may attach to the main body 10A. According to this structure, the buoyancy generator 31 (floating body) 31 can be arranged at a position higher than the center of gravity in consideration of buoyancy adjustment for ground contact adjustment and adjustment of the buoyancy position for adjustment of restoring force. It is easy to effectively secure the restoring force due to.
[0065]
Further, as in the third embodiment shown in FIG. 7, a floating body 32 that is submerged in water or in the sea may be moored to the main body 10B. According to this structure, even when it is difficult to attach a large floating body due to buoyancy adjustment or placement problems, the floating body 32 that floats in water where the buoyancy is constant regardless of the water depth is moored and acts on the mooring wire 32w. The attitude of the water bottom traveling device 1B can be maintained by using the buoyancy. In this case, a measuring device can be arranged in the middle of the floating body 32 or the wire 32w mooring the floating body 32 so that measurement in the depth direction can be performed.
[0066]
Furthermore, as in the fourth embodiment shown in FIG. 8, the floating body 33 that has floated on the water surface or the sea surface may be anchored to the main body 10C by being pulled with a tensile force within a predetermined range. .
[0067]
In this configuration, the mooring force changes due to a change in the distance between the floating body 33 and the bottom traveling device 1C depending on the water depth. Therefore, the mooring wire 33w is extended or contracted so that the tensile force of the mooring wire 33w is within a predetermined range. A substantially constant mooring force is obtained by a tension adjusting device (not shown), and the posture of the water bottom traveling device 1C is maintained.
[0068]
In this case, a DGPS (Differential Global Positioning System), SS (Spread Spectrum) radio, etc. can be used by providing the antenna 33a to the floating body 33 that has floated.
[0069]
Moreover, as shown in FIG. 9, you may provide the sled 14 in the back and front or the side of the driving | running | working wheels 21 and 22 of water bottom traveling apparatus 1D so that a sludge field can also drive | work. With this configuration, it is possible to prevent the traveling wheels 21 and 22 from being buried in the sludge even in the land where sludge is locally accumulated, and to reduce the amount of sludge to be rolled up. Therefore, by providing this sled 14, the amount of sludge is small, and it becomes possible to travel even in places where sludge portions are scattered.
[0070]
Furthermore, as shown in FIG. 10, in order to reduce the sedimentation speed V of the bottom traveling device 1E during the underwater descent from the underwater drop to the bottom, a sedimentation speed adjusting means 15 formed of a resistor such as a fin is provided. It may be provided to alleviate the impact at the time of landing.
[0071]
Further, as shown in FIG. 11, the angle of the fin may be changed so that it can be used as a sludge for preventing mud. In other words, a plate 16 serving as both a fin as a sedimentation speed adjusting means and a sludge for preventing mud is provided, and as shown in FIG. Then, it is used as a sedimentation speed adjusting fin, and as shown in FIG.
[0072]
FIG. 12 is an example of an embodiment provided with a buoyancy position moving means that enables the buoyancy position G to move in the traveling direction XX. In FIG. By using a step motor and a screw rod (not shown) to move along the front-rear direction guide, in FIG. 12B, the mooring point W for mooring the floating body 32H and the floating object 33H is moved in the front-rear direction. As a result, the position of the buoyancy position in the front-rear direction is adjusted.
[0073]
With this configuration, even when there is a relatively large inclined surface on the bottom such as the water bottom or the sea bottom, the buoyancy position B is changed from the state of FIG. 12C to the state of FIG. By moving to −X, the balance of the ground loads Fga and Fgb to the front and rear traveling wheels 21 and 22 can be optimally adjusted, and efficient traveling can be performed.
[0074]
The position adjustment of the buoyancy position may be performed automatically by setting in advance, or may be performed manually by the operator while viewing the observation equipment with a remote command. You may measure the inclination of the front-back direction, and may carry out according to this amount of inclination.
[0075]
Further, when it is preferable to incline the posture of the water-bottom traveling device for the convenience of sampling or the like, it is possible to provide buoyancy position moving means for moving the buoyancy position in the left-right direction (direction perpendicular to the traveling method).
[0076]
And FIG. 13 shows the example provided with the buoyancy adjustment means which changes a buoyancy. FIG. 13 (a) shows an example of a buoyancy generator 34A that pours and drains water in a tank using compressed air or the like, and FIG. 13 (b) uses compressed air or the like to inflate a balloon. An example of a buoyancy generator 34B that generates buoyancy is shown, and FIG. 13C shows an example of a buoyancy generator 34C that mechanically expands the volume by moving the upper lid 34b up and down (Z-Z) of the watertight chamber 34a. Show.
[0077]
With this configuration, even if the state of the land changes during traveling, it is possible to adjust the grounding load suitable for the state of the land by changing the buoyancy. Further, the buoyancy position in the front-rear direction may be adjusted by this buoyancy adjustment.
[0078]
FIG. 14 shows an example of a device other than the two-wheel traveling means, FIG. 14 (a) shows an example of three-wheel traveling, and FIG. 14 (b) shows an example of traveling by a single crawler.
[0079]
【The invention's effect】
As is clear from the above description, the water bottom traveling apparatus according to the present invention can provide the following effects.
[0080]
It is a submarine traveling device equipped with ground moving means that moves to ground while moving to the bottom such as the bottom of the sea or the sea. It will be easy. As a result, the cost of the apparatus is reduced.
[0081]
Moreover, even if a sample is collected and the weight of the apparatus is increased by moving to ground while moving to the bottom, movement and sample collection can be continued without any trouble.
[0082]
Since the buoyancy position is provided at a position higher than the position of the center of gravity and the restoring force against the fall is generated by the buoyancy and the posture in the water is maintained, it is possible to move without falling even if it encounters irregularities on the bottom of the water or the sea bottom. Moreover, since the stop state with respect to the bottom can be easily realized and the self-supporting state can always be maintained by buoyancy, the posture of the apparatus can be maintained even in the stop state.
[0083]
Furthermore, since the two-wheel traveling means is provided as the ground moving means, it is not necessary to use a water flow action such as a propeller or a water jet for the movement, so that the disturbance of the water is reduced and there is an adverse effect on water quality measurement and the like. Less.
[0084]
Moreover, since it is a two-wheeled driving | running | working, the movement in a narrow place is attained, the part which touches a land, ie, a running trace, can be decreased, and the influence on an environment can be decreased. In addition, the structure of a motorcycle for land use can be applied, and the turning in the left-right direction can be performed by steering the traveling wheel, so that the structure and control are simple.
[0085]
In addition, by adjusting the weight and buoyancy, the contact load can be selected and traveled with the contact load suitable for the condition of the land, so that the active area can be expanded. In particular, by increasing the diameter of the wheel and decreasing the rotation speed, it is possible to prevent the algae and the like from being entangled with the wheel, so that the algae can easily move.
[Brief description of the drawings]
FIG. 1 is a perspective view of a water bottom traveling apparatus according to a first embodiment of the present invention.
FIG. 2 is a side sectional view of the water bottom traveling apparatus of FIG.
FIG. 3 is a front view of the water bottom traveling device of FIG. 1;
4 is a cross-sectional view taken along the line AA of the water bottom traveling apparatus of FIG. 1;
FIGS. 5A and 5B are diagrams for explaining posture restoration of the water bottom traveling apparatus, in which FIG. 5A shows a ground load and FIG. 5B shows a restoring moment.
FIG. 6 is a view showing a water bottom traveling apparatus according to a second embodiment including a floating body provided separately from a main body.
FIG. 7 is a view showing a water bottom traveling apparatus according to a third embodiment for mooring a submerged floating body.
FIG. 8 is a view showing a water bottom traveling apparatus according to a fourth embodiment for mooring a floating body that has floated;
FIG. 9 is a view showing a water bottom traveling apparatus according to an embodiment provided with a warp before and after or on a side of a traveling wheel.
FIG. 10 is a view showing a water bottom traveling apparatus according to an embodiment provided with fins as settling speed adjusting means.
FIGS. 11A and 11B are diagrams showing a water bottom traveling apparatus according to an embodiment in which fins serving as settling speed adjusting means and sleds for preventing mud are combined, wherein FIG. Shown after bottoming.
FIG. 12 is an example of an embodiment provided with a buoyancy position moving means, (a) is an example of moving a floating body along a guide in the front-rear direction, and (b) is a drawing of a floating body or a floating object. It is an example which moves a mooring point to the front-back direction. Further, (c) is a diagram showing the contact load in a state where there is no buoyancy position movement, and (d) is a diagram showing the contact load in a state where the buoyancy position is moved.
13 is an example of an embodiment provided with a buoyancy adjustment means, (a) shows an example of a pouring method, (b) shows an example of a balloon method, and (c) shows a mechanical volume expansion method. An example of
FIG. 14 is an example of an embodiment other than two-wheel traveling means, where (a) shows an example of three-wheel traveling, and (b) shows an example of traveling by a single crawler.
FIGS. 15A and 15B are diagrams showing a conventional submersible type device, where FIG. 15A is a plan view, FIG. 15B is a side view, and FIG. 15C is a front view;
FIG. 16 is a diagram showing an example of a device for underwater work, (a) is a diagram of a submersible type device, (b) is a diagram of a crawler traveling type device, and (c) is a sled traveling type device. FIG.
[Explanation of symbols]
1 Underwater travel device
10 Body
14 Sled
15 Fin (Settling speed adjusting means)
21, 22 Traveling wheels
24, 25 Shock absorption damper at the bottom
23 Steering mechanism (steering mechanism)
30 Electronic equipment container (buoyancy generator)
32 Floating body
33 Floating body
41 Battery container
42 Ballast for sedimentation
43 Acrylic dome (observation equipment)
43a TV camera
43b Underwater lighting
P Grounding point
B Floating position
G Center of gravity position
Ff buoyancy
Fg due to gravity
Mf Restoring moment
Mg overturning moment

Claims (5)

A submarine traveling device equipped with ground moving means that is installed on the bottom of the seabed or seabed and moves, and a buoyancy position is provided at a position higher than the position of the center of gravity to generate a restoring force against a fall by buoyancy. A submarine travel device characterized by comprising a buoyancy position moving means for maintaining the posture and allowing the buoyancy position to move in the travel direction . The bottom traveling apparatus according to claim 1, wherein at least a part of the buoyancy is obtained by mooring a floating body that floats in water. The underwater travel device according to claim 1, wherein the floating body that floats at least a part of the buoyancy is obtained by mooring with a pulling force within a predetermined range via a tension adjusting device. The waterbed traveling device according to any one of claims 1 to 3 , wherein a sled is provided at least at a part of the front and rear or side of the traveling wheel . The bottom traveling device according to any one of claims 1 to 4, further comprising a piggybacking means so that a person can piggyback on the bottom traveling device and move together .

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