JP5477096B2 - Floating body - Google Patents

Description

  The present invention relates to a floating body that is dropped into the sea, sinks to a target depth, and can then float on the sea while observing ocean data such as sea temperature and salinity.

  To observe ocean data such as the temperature in the sea for ocean development, ocean environment survey, ocean surveillance, etc., as shown in Patent Document 1, mooring-type observation with various sensors attached to a mooring line launched from the sea floor Observation has been carried out with an apparatus, and as shown in Patent Document 2, observation has been carried out with an observation apparatus connected to a buoy floating on the sea surface via a suspended cable.

JP-A-62-288594 JP 09-156484 A

  However, in the sea area with a depth of more than several hundred meters, the mooring type equipment is large (heavy weight, lifting mechanism, etc.) and the cost is high.

  On the other hand, the floating type is small and lightweight and can be observed at low cost, but there is a problem that a specific sea area cannot be continuously observed because the buoy drifts due to the tidal current. In addition, since the sensor is light and small, the sensor suspension device is also small, and there is a problem that the sensor cannot be suspended to a deep depth.

  Accordingly, an object of the present invention is to solve the above-described problems and provide a floating body that can sink to a depth of a target arrival point and then float on the sea by itself when observing underwater data.

In order to achieve the above-mentioned object, the invention according to claim 1 transmits a floating body, a marine data observation sensor provided in the floating body, a depth meter provided in the floating body, and observation data and depth data thereof. In addition, in a floating body including a communication device for measuring positioning, a pressure-resistant shell formed on a part of the floating body and imparting buoyancy to the floating body, a pressure-resistant shell provided on the pressure-resistant shell, and provided so as to be able to protrude and retract from the pressure-resistant shell It was a浮量adjusting rod, and浮量adjusting mechanism for controlling the infested amount of浮量adjustment rod, and an inertial navigation system and a control device provided in the pressure-resistant shell, the ups and downs body vertically long cylindrical shape Formed, the pressure-resistant shell is formed at the center of the floating body, the floating body below the pressure shell is opened to the sea so that seawater is introduced, and the buoyancy adjustment rod is formed on the bottom surface of the pressure shell. From within its body A movable wing that adjusts the sinking position toward the target underwater arrival point and a sinking attitude control motor that adjusts the blade angle are provided outside the bottom of the main body. The control device receives the observation value of the observation sensor and the depth of the depth meter as well as the data of the inertial navigation device, the target undersea arrival point received by the communication device, and the current positioning A floating body that grasps a positional relationship between a position and an underwater arrival position, controls the buoyancy adjustment rod to start subsidence, and controls the attitude control motor to sink to a target underwater arrival point It is.

According to a second aspect of the present invention, the buoyancy adjustment rod is moved by a buoyancy adjustment mechanism provided in the pressure-resistant shell, and the buoyancy adjustment mechanism adjusts the amount of protrusion and depression of the buoyancy adjustment rod to settle and float. a sink-float body according to claim 1 for adjusting the speed.

The invention of claim 3, wherein the upper outer side of sink-float body is floating and sinking of claim 1 in which the fixed blades are provided.

The invention according to claim 4 is the communication device according to any one of claims 1 to 3 , wherein the communication device is provided on an upper part of a floating body, and the volume of the pressure-resistant shell is set so that the communication device is located on the sea at the time of ascent. It is a floating body.

  According to the present invention, since the main body itself can float and sink without being influenced by the tidal current, it can sink to the target depth without a suspension device, and then can self-float up to the sea surface while measuring ocean observation data. It has the excellent effect of being able to transmit observation data.

It is a figure which shows one embodiment of this invention. It is a control system block diagram of the floating body in FIG. In this invention, it is a figure explaining the sedimentation speed | rate of the pressure | voltage resistant shell by a buoyancy adjustment rod.

  A preferred embodiment of the present invention will be described below in detail with reference to the accompanying drawings.

  FIG. 1 shows an outline of a floating state of the floating body 10 according to the present invention and an outline of a floating state where it sinks and floats from the sea surface S.

  In FIG. 1A, a floating body 10 is composed of a vertically long cylindrical floating body 11, and is formed by providing a pressure-resistant shell 12 integrally with the floating body 11 at the upper and lower central portions thereof.

  For example, four fixed wings 13 are provided around the upper floating body 11a above the pressure shell 12, and a transmitter that transmits observation data by satellite communication, wireless LAN, or the like is provided above the upper floating body 11a. And a positioning device that measures the position of the floating body 10 on the sea surface S with GPS, and a protective cover 15 is provided around the communication device 14.

  The lower floating body 11b at the lower part of the pressure shell 12 is formed in a bottomed vertically long cylindrical shape, and 2 to 4 movable wings 16 for controlling the posture of the floating body 10 during settling are provided on the outer periphery thereof. A settling attitude control motor 17 that adjusts the blade angle of these movable blades 16 is provided in the main body 11b.

  The lower floatation body 11b is opened so that seawater can be introduced therein, and an observation sensor 18 for observing ocean data such as seawater temperature, salinity, electrical conductivity, and pH is provided in the lower floatation body 11b. And a depth meter 19 for measuring the depth is provided.

  The pressure-resistant shell 12 is formed with a thickness that can withstand a depth of several hundred to several thousand meters, and an inertial navigation device 20 including a gyro, a control device 21, and a battery 22 are housed therein. .

  The pressure-resistant shell 12 is provided with a buoyancy adjustment rod 23 that can be moved into and out of the main body 11b from the pressure-resistant shell 12. In the pressure-resistant shell 12, a buoyancy adjustment mechanism 24 that adjusts the amount of the buoyancy adjustment rod 23 is provided. The buoyancy adjustment mechanism 24 is a buoyancy adjustment motor that rotates the nut and the pinion while the buoyancy adjustment rod 23 is formed of a nut when the buoyancy adjustment rod 23 is formed of a ball screw, for example. Composed. In addition, the buoyancy adjustment rod 23 can be moved in and out through the pressure-resistant seal 25 so that seawater does not enter the pressure-resistant shell 12 when it appears and disappears from the pressure-resistant shell 12.

  The pressure shell 12 is formed in a volume that imparts buoyancy to the floating body 10 so that the communication device 14 of the floating body 10 is on the sea surface S, and the buoyancy center B is maintained so that the floating body 10 is kept vertical in the sea. Is formed above the floating body 11 so as to be above the center of gravity G of the floating body 10.

  FIG. 2 shows a control system configuration diagram of various devices mounted on the floating body 10.

The control device 21 is supplied with power from the battery 22 so that the movable blade 16 and the buoyancy adjusting mechanism 23 can be driven and controlled. The control device 21 receives the observation value of the observation sensor 18 and the depth of the depth meter 19 and the data of the inertial navigation device 20. The control device 21 receives the positioning data from the communication device 14 via the inertial navigation device 20 or directly, and the observation values and depths of the observation sensor 18 and the depth meter 19 are transmitted from the communication device 14 to the satellite communication or wireless LAN. It is possible to send by.

  Next, ocean observation by the floating body 10 will be described.

  First, as shown in FIG. 1A, at the time of ascent, the current position is measured by the communication device 14 by GPS.

  The control device 21 receives the target undersea arrival point received by the communication device 14, grasps the positional relationship between the current positioning position and the position of the underwater arrival point, and then starts subsidence.

  When starting the sedimentation, the control device 21 pulls up the buoyancy adjusting rod 23 into the pressure-resistant shell 12 via the buoyancy adjusting mechanism 24, whereby the buoyancy of the pressure-resistant shell 12 becomes small and the sedimentation starts. This sedimentation adjusts the buoyancy adjusting rod 23 so that the sedimentation speed is about 1.5 to 3.0 m / sec. Using this settling velocity, the control device 21 controls the movable blade 16 so that the floating body 10 can sink to the target underwater arrival point in FIG. 1C as shown in FIG. The posture of the floating body 10 is controlled to adjust the sinking position.

  At this time, by setting the subsidence speed to 1.5 to 3.0 m / sec, it is possible to subsidize both upstream and crossing against the tidal current. Can be allowed to settle.

  When the target depth and position shown in FIG. 1C are reached, the control device 21 decelerates by the movable blade 16 and stops sedimentation by adjusting the buoyancy of the buoyancy adjustment rod 23.

  Next, the control device 21 is in the normal flying height state, as shown in FIG. 1 (d), toward the directly underwater surface of the target underwater arrival point and based on the data detected by the inertial navigation device 20. Control and move up while keeping vertical. During the ascent, the control device 21 stores various scientific quantities in the sea according to the depth measured by the observation sensor 18 and the depth meter 19, and after ascending to the sea surface S as shown in FIG. The position is confirmed by, and the position information and the stored measurement result are transmitted by communication.

  From the results of the positioning positions in FIGS. 1 (a) and 1 (e), the direction and speed of the tidal current can be recognized, and the precise position of the target underwater arrival point due to the influence of the tidal current can be determined.

  After that, the floating body 10 is flowed to the tidal current as shown by the dotted arrows, and the position thereof is again measured, and the ocean observation is performed by repeating the subsidence and rising again autonomously as described above.

  This settling / floating is observed 4 to 5 times per day, for example, with 4 hours as one cycle.

  Control of the sinking speed of the floating body 10 is an important factor for reaching the target undersea arrival point. Therefore, the sedimentation speed u will be described.

As shown in FIG. 3, the mass of the floating body is M, the volume of the pressure-resistant shell is V, the cross-sectional area is A, the buoyancy of the floating body is B, the settling force is W, the drag force during settling is D, and the gravitational acceleration Is g,
The settling force W of the floating body is
W = Mg
In addition, the buoyancy B of the floating body is expressed as follows:
B = ρVg
Next, the drag D received by the floating body at the time of sedimentation is represented by a drag coefficient C _D and a sedimentation velocity u.
D = C _D × 1/2 × ρu ² A
It becomes.

  Therefore, the force balance F is given by the following equation (Equation 1).

It becomes.

  Now, when the settling force W is greater than the buoyancy B, the floated body sinks, but as the settling speed increases, a drag D (pressure resistance, etc.) is generated, and the settling speed converges at a constant level.

  At this time, the settling force, buoyancy, and drag are balanced, F = 0, and the value in parentheses is 0 in the above equation.

  The sedimentation velocity u at this time satisfies the following equation (Equation 2).

  Therefore, the sedimentation velocity u is obtained by the following equation (Equation 3).

From the above equation, the mass M, the cross-sectional area A of the pressure hull of the floating and sinking body 10 is constant, it is possible to also seawater density ρ regarded as substantially constant, pre-determined drag coefficient C _D based on the shape of the sink-float body 10 In this case, the sedimentation velocity u can be obtained by changing the volume V of the pressure-resistant shell.

Therefore, if the control device 21 inputs the change in the volume V in the pressure-resistant shell 10 due to the amount of protrusion and depression of the buoyancy adjustment rod 23 and measures the time from the sea level S to the target depth, the settling velocity u is determined. Thus, the drag coefficient C _D can also be determined.

  Therefore, the control device 21 can freely set the subsidence velocity u according to the tidal current and the target reaching depth, and adjust the movable blade 16 according to the ascending position and the position and depth of the target reaching point. Thus, the optimum sedimentation speed u that can settle to the target arrival point can also be determined.

  As described above, according to the present invention, since the floating body 10 can be floated and lowered by providing the floating amount adjusting mechanism 24, the observation sensor 18 can be moved to a deep depth without a suspension device. Moreover, although it is a floating type and is carried by the tide, the movable wing 16 is controlled, the settling velocity u at the time of settling is controlled, and the buoyancy body 10 is moved in the upstream direction of the tide using the ascent rate at the time of ascent. It is possible to make the floating body 10 reach the position of the target arrival point.

  In the above-described embodiment, the example of observing the ocean while reaching the target level and then ascending to the sea surface has been described. However, even if the ocean is observed during the subsidence, the observation is performed both at the subsidence and the ascent. You may do it.

DESCRIPTION OF SYMBOLS 10 Floating body 11 Floating body 12 Pressure-resistant shell 14 Communication apparatus 18 Observation sensor 19 Depth meter 23 Float adjustment rod 24 Float adjustment mechanism

Claims (4)

In a floating body including a floating body, an observation sensor for ocean data provided in the floating body, a depth meter provided in the floating body, and a communication device that transmits the observation data and depth data and measures the positioning A pressure-resistant shell that is formed on a part of the main body and that provides buoyancy to the main body, a buoyancy adjustment rod that is provided on the pressure-shell and can be moved in and out of the pressure shell, and the buoyancy of the buoyancy adjustment rod A buoyancy adjustment mechanism for controlling the amount, an inertial navigation device and a control device provided in the pressure-resistant shell ,
The floating body is formed in a vertically long cylindrical shape, the pressure shell is formed in the center of the floating body, and the floating body below the pressure shell is opened to the sea so that seawater is introduced, and the floating amount adjustment is performed. The rod is made to appear in the seawater in the floating body from the lower surface of the pressure shell,
A movable wing that adjusts the sinking position toward the target underwater arrival point during subsidence is provided on the lower outside of the main body, and a sinking attitude control motor that adjusts the blade angle is provided.
The control device receives the observation value of the observation sensor and the depth of the depth meter as well as the data of the inertial navigation device, the target undersea arrival point received by the communication device, and the current positioning position A floating body that grasps a positional relationship between the position and the underwater arrival position and controls the buoyancy adjustment rod to start subsidence, and also controls the attitude control motor to sink to a target underwater arrival point . The浮量adjustment rod is movable in浮量adjusting mechanism provided inside the pressure shell, its浮量adjustment mechanism, according to claim 1 for adjusting an adjustment to settle, flying speed haunt of浮量adjustment rod ups and downs body according to. The float / sink body according to claim 1, wherein a fixed wing is provided on an upper outer side of the float / sink main body. The float / sink body according to any one of claims 1 to 3 , wherein the communication device is provided on an upper portion of the float / sink main body, and a volume of the pressure-resistant shell is set so that the communication device is positioned on the sea when the float is lifted.

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