JP6036515B2 - Underwater vehicle - Google Patents

Underwater vehicle Download PDF

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JP6036515B2
JP6036515B2 JP2013088995A JP2013088995A JP6036515B2 JP 6036515 B2 JP6036515 B2 JP 6036515B2 JP 2013088995 A JP2013088995 A JP 2013088995A JP 2013088995 A JP2013088995 A JP 2013088995A JP 6036515 B2 JP6036515 B2 JP 6036515B2
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underwater vehicle
vector
auxiliary thrust
thrust
tidal current
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JP2014210551A (en
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鈴木 俊太郎
俊太郎 鈴木
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株式会社Ihi
株式会社Ihi
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Description

  The present invention relates to a self-propelled underwater vehicle.

  In recent years, as a device for performing underwater investigations in relatively deep areas and wide areas in the sea and lakes, the so-called UUV (Unmanned Underwater Vehicle) or AUV (Autonomous Underwater Vehicle) unmanned autonomous navigation type unmanned Underwater vehicles (autonomous underwater robots) have come to be used.

  The autonomous traveling type underwater vehicle is roughly divided into a hovering type underwater vehicle that remains in a narrow range based on the survey target point or the point and investigates the surrounding situation, and There is a cruising type (cruising type) underwater vehicle that investigates surrounding conditions while moving (cruising) at a predetermined speed in the water.

  Of these, the cruising-type underwater vehicle usually has a substantially cylindrical body (fuselage) so that the resistance of water is reduced during navigation, and a propulsion main thruster is provided at the rear end of the aircraft. (Screw). Furthermore, it is set as the structure provided with the vertical rudder (vertical rudder) and the horizontal rudder (horizontal rudder) in the rear part of the said body. A cruising-type underwater vehicle having such a configuration obtains a propulsive force for driving by driving the main thruster, and performs control (steering) of each rudder along a predetermined target route. This makes it suitable for the case where a wide area is to be investigated while moving underwater as described above at a predetermined traveling speed.

  By the way, the cruising type underwater vehicle requires a velocity component to the target route and a velocity component in the upstream direction of the tidal current in order to maintain the target route under conditions where the tidal current exists.

  In order to obtain the velocity component in the upstream direction of the tidal current in addition to the velocity component to the target route, the nose direction of the underwater vehicle is set closer to the upstream direction of the tidal current than the original target route. In general, so-called hitting steering is generally performed so that the sum of the traveling speed vector of the underwater vehicle and the tidal velocity vector becomes the target route vector.

  However, in the navigation with the batting rudder, the nose direction of the underwater vehicle at the time of traveling deviates from the target route, and the attitude of the aircraft is also inclined with respect to the target route. There is a problem that information detected by an observation device such as a front sensor installed at the nose of the aircraft and a side scan sonar installed at the left and right positions of the aircraft is distorted.

  Thus, conventionally, an underwater vehicle having a rudder provided at the front and rear of the airframe has been proposed.

  According to the underwater vehicle having such a configuration, the rudder of the front and rear of the fuselage can receive the tidal current in a balanced manner, so that the heading (orientation) of the nose can be maintained. By performing the course control by steering of the rudder simultaneously with the direction control, the course can be changed while maintaining the nose direction of the underwater vehicle, and the beam direction of the acoustic sonar deviates from the desired direction. This can be prevented (see, for example, Patent Document 1).

  In addition, as a method for measuring (estimating) the tidal current existing around the underwater vehicle, for example, the seabed of the underwater vehicle (measured by a Doppler velocimeter mounted on the underwater vehicle) ( A technique for measuring the direction and speed of the tidal current around the underwater vehicle based on the difference between the ground velocity with respect to the bottom of the water and the water velocity of the underwater vehicle is conventionally known (for example, a patent) Reference 2).

  Furthermore, as another method for measuring the tidal current around the underwater vehicle, the ship speed calculated from the position information of the vehicle detected by GPS or an inertial navigation device, or the ship speed and the underwater vehicle Around the underwater vehicle, based on the thruster motion model based on the thrust generated by the thruster, the tidal model that determines the tidal motion, and the hydrodynamic model that acts on the hull of the underwater vehicle. Various methods have been considered in the past, such as estimating the tidal current speed, azimuth angle, and force (see, for example, Patent Document 3).

JP 2005-239027 A Japanese Patent Laid-Open No. 2003-127893 JP 2005-172618 A

  However, in general, the effectiveness of the rudder largely depends on the traveling speed of the underwater vehicle. When the underwater vehicle has a small traveling speed (when the speed is low), the rudder is ineffective. turn into.

  Therefore, in the case of the underwater vehicle shown in Patent Document 1, in the situation where the traveling speed is small and the tidal current is larger than the traveling speed, the front and rear parts of the aircraft Even if the azimuth and orientation of the underwater vehicle can be maintained to some extent in the direction along the target route because the rudder receives the tidal current in a balanced manner, the underwater vehicle is associated with the ineffectiveness of each rudder. It is difficult to control the course.

  Therefore, the underwater vehicle shown in Patent Document 1 must maintain a high traveling speed in order to control the course as well as maintain the azimuth, and when the traveling speed is reduced, When the cruising speed is zero, it is impossible to prevent a position shift from the target route in the downstream direction of the tidal current.

  By the way, if the target of the underwater survey is a survey target that needs to use a sensor with a large time constant for detection, the underwater vehicle equipped with the sensor with a large time constant is fixed-point observation at the survey target point. In addition, it is necessary to perform an operation in which the observation target is kept in a narrow range with a low speed as a reference.

  However, as described above, the underwater vehicle shown in Patent Document 1 causes a displacement in the downstream direction of the tidal current from the target route when the traveling speed is reduced. In reality, it is difficult to observe a survey object that requires the use of a sensor having a large time constant as described above.

  The above-described hovering-type underwater vehicle can be operated at a fixed point at a survey target point or at a low speed within a narrow range based on the target survey point. . However, the hovering-type underwater vehicle cannot travel at a high speed for a long time because of its large resistance to water and energy consumption. Therefore, in the above-mentioned hovering-type underwater vehicle, when survey target points are scattered in a wide area, cruise to each survey target point and automatically observe each survey target point. Such operations are difficult.

  Therefore, the present invention is capable of cruising over a wide area, and maintains the azimuth and orientation of the aircraft along the target route even when there is a tidal current at the survey target point. However, the present invention intends to provide an underwater vehicle capable of performing hovering at a position along a target route and traveling at a low speed.

  In order to solve the above-mentioned problems, the present invention provides an underwater vehicle having a main thruster for forward and backward movement, a vertical rudder, and a horizontal rudder, the underwater vehicle corresponding to claim 1. At least one of the upper side or the lower side of the fuselage at the center of gravity position, or at least one of the upper side or the lower side of the fuselage at two positions symmetrical in the front-rear direction around the center of gravity position, a turning type auxiliary thrust generator is provided, Further, the function of estimating the tidal current vector acting on the underwater vehicle and the auxiliary thrust vector generated by the swivel type auxiliary thrust generator are made to coincide with the inverse vector of the estimated tidal current vector. In addition, the function of controlling the thrust generation direction and output by the turning type auxiliary thrust generating device, and the turning type auxiliary thrust generating device, the thrust generation direction of the auxiliary thrust is moved forward by the main thruster. The underwater vehicle having made an auxiliary propulsive force controller configuration and a function of driving in a state aligned in the thrust generating direction of use.

  Further, in accordance with claim 2, in the above configuration, when the auxiliary thrust controller cruises the underwater vehicle, the auxiliary thrust generator is configured to turn the auxiliary thrust generation direction, and the thrust generation direction of the auxiliary thrust is generated by the main thruster. The function to drive in the direction aligned is demonstrated, and when the underwater vehicle is hovering or traveling at a low speed where the tidal current exists, the vector of the tidal current acting on the underwater vehicle is estimated. Function and the direction and output of thrust generated by the swivel auxiliary thrust generator so that the vector of the auxiliary thrust generated by the swivel auxiliary thrust generator matches the inverse vector of the estimated tidal current vector. It is assumed that the control function is exhibited.

  Further, according to claim 3, in the configuration corresponding to claim 1 or 2, the ground speed vector measuring means and the water speed vector measuring means are mounted on the airframe, and the auxiliary thrust controller is provided. The underwater vehicle is calculated by the difference between the ground speed vector of the underwater vehicle itself measured by the ground speed vector measuring means and the water speed vector of the underwater vehicle itself measured by the water speed vector measuring means. The function is to have a function of estimating the vector of the tidal current acting on the

According to the underwater vehicle of the present invention, the following excellent effects are exhibited.
(1) When it is not necessary to align the azimuth and orientation of the aircraft with the target route, it is possible to travel forward by the resultant force of the main thrust by the main thruster and the auxiliary thrust by the turning type auxiliary thrust generator. Cruises can be performed and cruises can be made to survey target points in a wide range of survey areas. Therefore, it is possible to investigate a wide area.
(2) Further, the underwater vehicle of the present invention is an auxiliary that is generated by the turning type auxiliary thrust generator so that the reverse vector of the tidal current vector detected by the auxiliary thrust controller matches the auxiliary thrust vector. By controlling the direction and output of the thrust, it is possible to cancel the tidal current acting on the underwater vehicle. As a result, the underwater vehicle of the present invention is aligned with the target route and the orientation of the aircraft is aligned with the target route, even in locations where there is a large tidal current compared to the traveling speed. You can hover and run at low speed.
(3) Therefore, since the underwater vehicle of the present invention can stay at a survey target point where a tidal current exists for a long time, it becomes possible to carry out a priority survey of the survey target point, In addition, it is possible to observe the survey target point using a sensor with a large time constant.
(4) In addition, the underwater vehicle of the present invention can be placed at a position aligned with the target route when hovering or traveling at a low speed at the survey target point where the tidal current exists. Since the azimuth and orientation can be aligned with the target route, it is possible to eliminate the possibility of distortion that occurs when information is detected by the observation equipment installed on the aircraft and is used to deal with tidal currents using a steering wheel. . Therefore, the underwater vehicle of the present invention can obtain a more accurate observation result by observing the survey target point with the observation device.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 shows an embodiment of an underwater vehicle according to the present invention, wherein (a) is a schematic side view, (b) is a schematic plan view, and (c) is a schematic plane showing a use state where a tidal current exists. FIG. The other form of implementation of this invention is shown, (a) is a schematic side view, (b) is a schematic plan view, (c) is a schematic plan view which shows the use condition in the location where a tidal current exists. FIG. 4 shows still another embodiment of the present invention, in which FIG. 2A shows an example in which the swivel thruster in the embodiment of FIG. 1 is only the upper end portion of the aircraft, and FIG. It is a schematic side view which shows the example at the time of making only the upper end part of the airframe the turning type thruster in embodiment. The further another form of implementation of this invention is shown, (a) is a schematic side view, (b) is a schematic plan view. The further another form of implementation of this invention is shown, (a) is a schematic side view, (b) is a schematic plan view.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.

  1 (a), (b) and (c) show an embodiment of the underwater vehicle of the present invention.

  A main thruster 3 for propulsion is provided at the rear end portion of the substantially cylindrical body (fuselage) 2 constituting the underwater vehicle 1 of the present invention. A vertical rudder 4 and a horizontal rudder (elevator) 5 are provided at the rear part of the machine body 2.

  Inside the airframe 2, although not shown, a power source such as a battery, a power device such as an electric motor that receives power supplied from the power source and drives the main thruster 3, and power from the power source The inertial navigation device (Inertial) which can detect the roll, pitch, and yaw attitude of the underwater vehicle 1 itself, and the steering device that operates the vertical rudder 4 and the horizontal rudder 5 in response to the supply of Navigation system), depth meter and altimeter. Accordingly, the main thruster 3 is driven by the power unit to generate thrust (main thrust), and the rudder 4 and 5 are appropriately operated by the steering unit, thereby causing the underwater vehicle 1 to travel. At the same time, the traveling speed, traveling direction, and depth can be changed freely.

  In the underwater vehicle 1, an upper end portion of the airframe 2 above the center of gravity position G and a lower end portion of the airframe 2 below the center of gravity position G are turnable in a horizontal direction that characterizes the present invention. A swivel thruster 6 is provided as an auxiliary thrust generator. Each of the swivel thrusters 6 has a configuration in which a propeller 8 is mounted in a cylindrical duct 7 and, like the main thruster 3, is supplied with electric power and the like from a power source (not shown) mounted on the airframe 2. Thus, the propeller 8 can be driven to generate thrust (auxiliary thrust). Further, each of the swivel thrusters 6 includes a swivel mechanism (not shown), and the swirl mechanism (not shown) swivels in the horizontal plane to change the direction in which the auxiliary thrust is generated in the horizontal plane. It can be turned in the direction.

  Further, the airframe 2 includes a ground speed vector measuring means 9 for measuring a ground speed vector of the underwater vehicle 1 such as Doppler Velocity Log, and an underwater vehicle such as an anemometer. The water velocity vector measuring means 10 for measuring the water velocity vector of the body 1 itself, and the ground velocity vector and the water velocity vector are measured from the ground velocity vector measuring means 9 and the water velocity vector measuring means 10. An auxiliary thrust controller 11 for inputting a result and giving a command for turning and driving to the turning thruster 6 is mounted.

  The auxiliary thrust controller 11 receives, as a first function, measurement results of the ground speed vector and the water speed vector of the underwater vehicle 1 itself from the ground speed vector measuring means 9 and the water speed vector measuring means 10. Then, as a difference between the ground speed vector and the water speed vector, it has a function of estimating a tidal current vector Vc (see FIG. 1C) acting on the underwater vehicle 1.

  Further, as a second function, the auxiliary thrust controller 11 has a fuselage as a sum of thrusts generated by the swivel thrusters 6 on both the upper and lower sides of the fuselage 2 when the tidal current vector Vc is estimated as described above. Auxiliary thrust generation by the swivel thrusters 6 so that the auxiliary thrust vector Vt (see FIG. 1C) that acts on the two coincides with the inverse vector of the estimated tidal current vector Vc. It has a function of controlling the direction and the magnitude (output) of the auxiliary thrust to be generated.

  Further, as a third function, the auxiliary thrust controller 11 has a third function in which it is not necessary to make the azimuth / posture of the underwater vehicle 1 along the target route, as described later. Regardless of the estimation of the vector Vc, or regardless of the estimation result, each swivel thruster 6 is placed so that the direction of the auxiliary thrust is directed forward of the airframe 2. A function of driving the thruster 6 is provided.

  From the viewpoint of preventing the rolling and pitching of the fuselage 2 from being caused by the thrust generated on the upper and lower sides of the fuselage 2 by the pivotal thrusters 6, the pivotal thrusters 6 are respectively It is desirable that the direction and magnitude of the thrust generated by the swivel thrusters 6 on both the upper and lower sides are synchronously controlled by the auxiliary thrust controller 11.

  When the underwater vehicle 1 of the present invention having the above-described configuration is navigated in a state where the orientation of the airframe 2 does not have to be particularly along the target route, such as when heading to a preset survey target point. As shown in FIGS. 1A and 1B, the third function of the auxiliary thrust controller 11 causes the auxiliary thrust vector 6 to be generated by each of the turning thrusters 6 to be generated by each of the turning thrusters 6. It is arranged so as to face the front of the airframe 2. In this state, in the underwater vehicle 1, the main thruster 3 is driven, and the auxiliary thrust controller 11 drives the swivel thrusters 6 to generate auxiliary thrust.

  Thereby, in the underwater vehicle 1, the thrust (main thrust) obtained by driving the main thruster 3 and the auxiliary thrust generated by each turning thruster 6 are both directed to the front of the body 2. Therefore, the underwater vehicle 1 can travel forward at high speed by the resultant force of the main thrust and the auxiliary thrust. Therefore, the underwater vehicle 1 cruises at a high speed to the preset investigation target point by controlling each rudder 4 and 5 while performing forward traveling by the main thrust and auxiliary thrust. It can be moved.

  On the other hand, when the underwater vehicle 1 of the present invention is hovered at the survey target point or traveled at a low speed, the auxiliary thrust controller 11 first uses the first function to measure the ground speed vector measuring means 9. Based on the measurement results of the ground velocity vector and the water velocity vector of the underwater vehicle 1 input from the water velocity vector measuring means 10, the water vehicle 1 acts on the underwater vehicle 1 at the survey target point. Estimate the current vector.

  Next, the auxiliary thrust controller 11 arranges the swivel thrusters 6 on both the upper and lower sides of the airframe 2 in the direction facing the tidal vector Vc, as shown in FIG. And the driving (output) of each swivel thruster 6 is controlled so that the auxiliary thrust vector Vt generated by each swirl thruster 6 matches the inverse vector of the tidal current vector Vc. .

  Thereby, in the underwater vehicle 1, the influence of tidal currents acting on the underwater vehicle 1 at the target survey point is offset by the auxiliary thrust generated by each of the turning thrusters 6. . At this time, the swivel thrusters 6 are provided on both upper and lower sides of the center of gravity position G of the underwater vehicle 1, so that the orientation of the body 2 of the underwater vehicle 1 is affected by the tidal current. It is prevented from changing.

  Therefore, in this state, the underwater vehicle 1 of the present invention controls the main thrust by the main thruster 3 and the respective rudders 4 and 5, and once brings the azimuth and orientation of the fuselage 2 along the target route, When the underwater vehicle 1 is placed at a position along the target route, the hulling or low speed is controlled by controlling the main thrust of the main thruster 3 while maintaining the azimuth and position along the target route. You will be able to sail in.

  As described above, when the thrust force acting on the underwater vehicle 1 is offset by the auxiliary thrust generated by each turning thruster 6 in the underwater vehicle 1 of the present invention at the survey target point, While the tidal current vector Vc at the survey target point is kept constant, the underwater vehicle 1 inputted to the auxiliary thrust controller 11 from the ground speed vector measuring means 9 and the water speed vector measuring means 10 respectively. Its own ground speed vector and water speed vector become equal.

  Therefore, while the difference between the ground speed vector and the water speed vector input from the ground speed vector measuring means 9 and the water speed vector measuring means 10 is a zero vector, the auxiliary thrust controller 11 The auxiliary thrust vector Vt generated by each swivel thruster 6 is held constant. As described above, the auxiliary thrust vector Vt generated by each swivel thruster 6 can be maintained by moving along a curved target route as long as it is kept constant with respect to the geographic coordinate system. Even if the azimuth / posture of the airframe 2 of the middle-running vehicle 1 changes, the difference between the ground speed vector and the water speed vector becomes a zero vector.

  On the other hand, when a change occurs in the tidal current vector Vc acting on the underwater vehicle 1, the reverse thrust of the tidal current vector Vc after the change and the auxiliary thrust previously generated by the swivel thruster 6 are generated. Of the vectors Vt do not match.

  Therefore, in this case, the auxiliary thrust controller 11 determines the ground speed vector and the water speed vector of the underwater vehicle 1 input from the ground speed vector measuring means 9 and the water speed vector measuring means 10. A difference vector is newly detected. At this time, the newly detected difference vector between the ground speed vector and the water speed vector is equal to the difference between the tidal current vector Vc and the tidal current vector Vc before the change.

  Thus, when the difference vector between the ground speed vector and the water speed vector of the underwater vehicle 1 itself is newly detected as described above, the auxiliary thrust controller 11 determines the difference between the detected difference. The sum of the inverse vector of the vector and the previous auxiliary thrust vector Vt is set as the target of the new auxiliary thrust vector Vt so that it coincides with the target new auxiliary thrust vector Vt. The generation direction and output of the auxiliary thrust of the swivel thruster 6 are controlled.

  As a result, even if the direction and strength of the tidal current acting on the underwater vehicle 1 changes at the survey target point, the direction and output of the auxiliary thrust generated by the swivel thruster 6 following the change is controlled. Therefore, the tidal currents acting on the underwater vehicle 1 are always canceled by the auxiliary thrust generated by each of the swivel thrusters 6.

  As described above, in the underwater vehicle 1 of the present invention, when it is not necessary to align the azimuth and orientation of the airframe 2 to the target route, the forward movement is based on the resultant force of the main thrust by the main thruster 3 and the auxiliary thrust by the turning thruster 6. Since the cruise can be carried out, it is possible to cruise at a high speed, and it is possible to cruise to survey target points existing in a wide range of survey areas. Therefore, it is possible to realize a survey of survey target points scattered in a wide area as a survey target.

  Further, in the underwater vehicle 1 of the present invention, auxiliary thrust is applied from the swivel thruster 6 so that the auxiliary thrust vector Vt matches the inverse vector of the tidal current vector Vc detected by the auxiliary thrust controller 11. By making it generate | occur | produce, the tidal current which acts on this underwater vehicle 1 can be canceled. As a result, the underwater vehicle 1 of the present invention has the azimuth and orientation of the fuselage 2 at the position aligned with the target route, even in a place where a large tidal current exists compared to the traveling speed. Hovering and low-speed sailing can be carried out in the same state.

  Therefore, since the underwater vehicle 1 of the present invention can stay at the survey target point where the tidal current exists for a long time, it becomes possible to carry out a priority survey of the survey target point, It enables observation of the survey target point using a sensor with a large time constant.

  Moreover, when the underwater vehicle 1 of the present invention performs hovering or low speed navigation at the survey target point, the position of the underwater vehicle 1 itself may be arranged at a position aligned with the target route. In addition, since the azimuth and orientation of the airframe 2 can be aligned with the target route, an observation device (not shown) such as a front sensor installed at the nose of the airframe 2 and a side scan sonar installed at the left and right positions of the airframe 2 With respect to the information detected by the above, it is possible to eliminate the possibility of causing the distortion that occurs when the treadle is used to cope with the tidal current. Therefore, in the underwater vehicle 1 of the present invention, more accurate observation results can be obtained by observing the survey target point with an observation device (not shown).

  Next, FIGS. 2A, 2B, and 2C show another embodiment of the present invention.

  That is, the underwater vehicle according to the present embodiment is provided with the swivel thrusters 6 at the upper and lower sides of the center of gravity position G of the underwater vehicle 1 shown in FIGS. 1 (a), (b), and (c). Instead of the configuration, the turning type auxiliary thrust is applied to the two upper and lower sides of the underwater vehicle 1 in the longitudinal direction around the center of gravity G of the underwater vehicle 1, that is, the two locations that are equidistant from the center of gravity in the longitudinal direction. As the generator, a swirl thruster 6 similar to the swirl thruster 6 shown in FIGS. 1A, 1B, and 1C is provided.

  In the present embodiment, since the four turning thrusters 6 are configured as described above, the auxiliary thrust controller 11 synchronizes the direction and output of the four turning thrusters 6. Further, the auxiliary thrust vector Vt based on the sum of the thrusts generated by the four swivel thrusters 6 is controlled so as to coincide with the inverse vector of the tidal current vector Vc estimated at the survey target point. It has the function to do.

  Other configurations are the same as those shown in FIGS. 1A, 1B, and 1C, and the same components are denoted by the same reference numerals.

  The underwater vehicle 1 of the present embodiment can be used in the same manner as the underwater vehicle 1 of the embodiment shown in FIGS. 1A, 1B, and 1C to obtain the same effect.

  3 (a) and 3 (b) show yet another embodiment of the present invention.

  That is, FIG. 3A shows a swivel thruster only on the upper end portion of the airframe 2 above the gravity center position G of the underwater vehicle 1 in the embodiment of FIGS. 1A, 1B, and 1C. 6 is provided. In FIG. 3A, the swivel thruster 6 may be provided only at the lower end of the machine body 2 below the center of gravity position G.

  3 (b) is above two places that are symmetrical in the front-rear direction with the center of gravity G of the underwater vehicle 1 as the center in the embodiment of FIGS. 2 (a), 2 (b), and 2 (c). Only the upper end of the machine body 2 is provided with a swivel thruster 6. In FIG. 3B, a swivel thruster 6 may be provided only at the lower end of the machine body 2 below the two locations.

  Other configurations in FIGS. 3A and 3B are the same as those shown in FIGS. 1A, 1B, and 1C, and the same components are denoted by the same reference numerals.

  Even in the underwater vehicle 1 configured as shown in FIGS. 3 (a) and 3 (b), the auxiliary thrust for offsetting the tidal current can be generated by the swivel thruster 6 at the location where the tidal current exists. The same effects as those in the above embodiments can be obtained. At this time, in the underwater vehicle 1, a moment that causes an inclination in the rolling direction or the pitching direction acts on the airframe 2 as the auxiliary thrust is generated by the turning thruster 6. However, in this case, the vertical rudder 4 and the horizontal rudder 5 may be appropriately operated so that the moment is canceled by the force received by the vertical rudder 4 and the horizontal rudder 5 from the tidal current.

  Furthermore, in each of the above-described embodiments, the swivel thruster 6 is exemplified as the swivel auxiliary thrust generator provided in the airframe 2. However, the swivel auxiliary thrust generator determines the direction in which the auxiliary thrust is generated within the horizontal plane. If the vehicle can be turned, for example, as shown in FIGS. 4 (a) and 4 (b), the vehicle body 2 is mounted on both the upper and lower sides of the vehicle body 2 which are the upper and lower sides of the center of gravity position G of the underwater vehicle 1. It is good also as a structure which provided the swirl type injection nozzle 13 which is a nozzle for injecting the water jet generated with the water jet apparatus 12 currently mounted in the horizontal direction, and can be swung in a horizontal surface.

  4 (a) and 4 (b) show the configuration in which the swivel injection nozzles 13 are provided on both the upper and lower sides of the center of gravity position G of the underwater vehicle 1, but FIG. 1 (a) and FIG. Similar to the installation location of the swivel thruster 6 shown in each embodiment of FIG. 3 (a), FIG. 2 (a), and FIG. 3 (b), either above or below the gravity center position G of the underwater vehicle 1 The above-mentioned turning to either one of the upper and lower sides of the airframe 2 which is one of them, or the upper and lower sides or the upper and lower sides of the airframe 2 at two positions symmetrical about the center of gravity G of the underwater vehicle 1 Of course, it is good also as a structure which provided the type injection nozzle 13. FIG.

  Further, as shown in FIGS. 5A and 5B, a pod type propeller 14 that can be swung in the horizontal plane on both the upper and lower sides of the airframe 2 that is the upper and lower sides of the gravity center position G of the underwater vehicle 1. It is good also as a structure which provided.

  5 (a) and 5 (b) show the configuration when the swivelable pod type propellers 14 are provided on both the upper and lower sides of the center of gravity position G of the underwater vehicle 1, the underwater vehicle. The pod-type propeller 14 may be provided only in one of the upper and lower sides of the center of gravity position G of the one, and the pod type propeller 14 is symmetric about the center of gravity position G of the underwater vehicle 1 in the front-rear direction. Of course, it is good also as a structure provided in either the up-and-down both sides or the up-and-down side of the body 2 in FIG.

  Other configurations in FIGS. 4A, 4B and 5A, 5B are the same as those shown in FIGS. 1A, 1B, and 1C, and the same components have the same reference numerals. Is attached.

  The underwater vehicle 1 having any of the configurations shown in FIGS. 4 (a) and 4 (b) and FIGS. 5 (a) and 5 (b) is the same as the embodiment shown in FIGS. 1 (a), (b), and (c). The effect of can be obtained.

  The present invention is not limited only to the above-described embodiment, and the swivel type auxiliary thrust generator has the function of allowing the direction in which the auxiliary thrust is generated to be swung in a horizontal plane. Any type of swivel thrust generating device other than the swivel thruster 6, the swivel jet nozzle 13 of the water jet device 12, and the pod type propeller 14 may be adopted.

  You may change suitably the size and output of a turning type thrust generator according to the magnitude of the tidal current which arises in the investigation target point which desires use of the underwater vehicle 1 of this invention.

  The auxiliary thrust controller 11 includes a ground speed vector of the underwater vehicle 1 input from the ground speed vector measuring means 9 and a water speed of the underwater vehicle 1 itself input from the water speed vector measuring means 10. Although it has been shown that it has a function of estimating the tidal current vector Vc from the vector difference, if it has a function of estimating the tidal current vector Vc at the location where the underwater vehicle 1 exists, its estimation method May adopt any existing estimation method.

  2 (a), (b), and (c) and the embodiment of FIG. 3 (b), the installation location of the swivel thruster 6 as the swivel auxiliary thrust generator is determined from the center of gravity position G. The distance separated in the front-rear direction may be changed as appropriate according to the size of the underwater vehicle 1 and the like.

  A plurality of swivel thrusters 6 in the embodiment of FIGS. 1 (a), (b) and (c), the embodiments of FIGS. 2 (a), (b) and (c), and the embodiment of FIG. 3 (b). The plurality of pod type propellers 14 in the embodiment shown in FIGS. 5 (a) and 5 (b) may be individually provided with a power device for generating auxiliary thrust such as an electric motor or mounted on the airframe 2. It is good also as a structure driven through the power transmission means provided with the power transmission shaft and the bevel gear by the common power unit.

  Of course, various modifications can be made without departing from the scope of the present invention.

  DESCRIPTION OF SYMBOLS 1 Underwater vehicle, 2 body, 3 main thruster, 4 vertical rudder, 5 horizontal rudder, 6 turning type thruster (turning type auxiliary thrust generator), 9 ground speed vector measuring means, 10 to water speed vector measuring means, 11 Auxiliary thrust controller, 12 water jet device (swivel auxiliary thrust generator), 13 swivel injection nozzle (swivel auxiliary thrust generator), 14 pod type propeller (swivel auxiliary thrust generator), G center of gravity position, Vc tidal current vector, Vt auxiliary thrust vector

Claims (3)

  1. In an underwater vehicle with a main thruster for forward and backward movement, a vertical rudder and a horizontal rudder,
    Turn at least one of the upper side and the lower side of the aircraft at the center of gravity position of the underwater vehicle, or at least one of the upper side and the lower side of the aircraft at two positions symmetrical about the center of gravity. Provided with a thrust generator,
    Further, the function of estimating the tidal current vector acting on the underwater vehicle and the auxiliary thrust vector generated by the swivel type auxiliary thrust generator are made to coincide with the inverse vector of the estimated tidal current vector. And a function for controlling the thrust generation direction and output by the turning type auxiliary thrust generation device, and the turning type auxiliary thrust generation device, wherein the thrust generation direction of the auxiliary thrust is changed to the thrust generation direction for forward traveling by the main thruster. An underwater vehicle having a configuration including an auxiliary thrust controller having a function of driving in an aligned state.
  2.   The auxiliary thrust controller, when cruising the underwater vehicle, exhibits a function of driving the turning type auxiliary thrust generator in a state where the thrust generation direction of the auxiliary thrust is aligned with the thrust generation direction of the main thruster. When the underwater vehicle is hovering or traveling at a low speed where there is a tidal current, the function of estimating the tidal current vector acting on the underwater vehicle and the swiveling auxiliary thrust generator is generated. The function of controlling the thrust generation direction and output by the swivel type auxiliary thrust generator so that the auxiliary thrust vector matches the inverse vector of the estimated tidal current vector. Underwater vehicle.
  3. The aircraft is equipped with ground speed vector measurement means and water speed vector measurement means,
    And the auxiliary thrust controller includes a ground speed vector of the underwater vehicle measured by the ground speed vector measuring means and a water speed vector of the underwater vehicle measured by the water speed vector measuring means. The underwater vehicle according to claim 1 or 2, wherein the underwater vehicle has a function of estimating a tidal vector acting on the underwater vehicle due to the difference.
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WO2015129337A1 (en) * 2014-02-25 2015-09-03 古野電気株式会社 Surface current estimation device, surface current estimation system, ocean model estimation device, and risk determination device
CN105383653B (en) * 2015-12-24 2018-07-20 佛山市神风航空科技有限公司 A kind of underwater robot
JP2018052156A (en) * 2016-09-26 2018-04-05 川崎重工業株式会社 Underwater vessel and attitude control method of underwater vessel
CN108062023B (en) * 2016-11-08 2020-08-25 中国科学院沈阳自动化研究所 Gravity-center-based ROV thrust distribution method
CN108100192A (en) * 2017-11-24 2018-06-01 中国船舶科学研究中心(中国船舶重工集团公司第七0二研究所) A kind of submersible stern part structure
CN108321598B (en) * 2017-12-27 2019-06-11 中国船舶重工集团公司第七一0研究所 Autonomous aircraft under a kind of modular water
KR102115298B1 (en) * 2018-03-14 2020-05-27 한국로봇융합연구원 Moving apparatus in water
KR101968329B1 (en) * 2018-09-10 2019-04-11 엘아이지넥스원 주식회사 Sonar with 3-axis Gimbal and Control Method thereof
KR101981626B1 (en) * 2018-11-07 2019-05-23 엘아이지넥스원 주식회사 Driving direction control apparatus for underwater vehicle
CN109606583A (en) * 2019-02-02 2019-04-12 周安定 A kind of hydroplane boots

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JP4264369B2 (en) * 2004-02-27 2009-05-13 三菱重工業株式会社 Underwater vehicle and its control method

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