JPH09109634A - Operation control system for amphibious traveling body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an amphibious traveling body capable of being reliably and safely moved from the land into water regardless of the weather, and an operation control system for the amphibious traveling body, capable of reliably making an occupant escape in generating of a trouble in water, and suitably operating the amphibious traveling body while remarkably improving safety. SOLUTION: A traveling body side control system 51 for controlling the operating state of an amphibious traveling body is provided on the amphibious traveling body, and a host side control system 53 for issuing a command of the operation of the amphibious traveling body in relation to the traveling body side control system 51 is provided independent of the amphibious traveling body, and communication means 54, 55 for performing transmission of information between the traveling body side control system 51 and the host side control system 53 is provided.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operation control system for an underwater land vehicle, and more particularly to a safety control system for an underwater land vehicle which enables traveling between land and underwater along a traveling rail. The present invention relates to an operation control system for an underwater land vehicle that ensures secured driving.

[0002]

2. Description of the Related Art Conventionally, ships have been generally used to navigate people over the water such as the sea and lakes by carrying people and luggage, and can also see underwater. As a ship, a ship with a glass bottom and a submersible for underwater use are used.

However, in the above-mentioned ships and submersibles, it is impossible to operate in stormy weather, which often causes inconvenience, and there is a problem that tourists and the like cannot be sufficiently satisfied. ing. In addition, it is extremely inconvenient because it is necessary to move to a bridge or the like when getting on or off the ship or the like, and there is also a problem that there is a danger when getting on or off.

The present invention has been made in view of the above-mentioned points, and an underwater land vehicle which can reliably and safely move from land to water regardless of the weather, and further, a trouble occurs in water. Even if it does, it is possible to provide an operation control system for an underwater land vehicle that can properly drive the underwater land vehicle so that the passenger can be reliably escaped and the safety can be significantly improved. To aim.

[0005]

In order to achieve the above-mentioned object, an operation control system for an underwater vehicle according to the present invention according to claim 1 lays a pair of traveling rails from the land to the water, The undercarriage traveling body is provided with an emergency escape device that forms a traveling body main body with a traveling body capsule installed on the upper part so as to be movable along a traveling rail, and detaches the traveling body capsule from the traveling body main body in an emergency. An operation control system for an underwater vehicle which is operated along a rail,
The underwater land vehicle is provided with a traveling body side control system for controlling the operating state of the underwater land traveling body, and the host side control system for issuing a command for driving operation of the underwater land traveling body to the traveling body side control system is provided under the underwater land vehicle. It is characterized in that it is provided separately from the traveling body, and a communication means for transmitting information between the traveling body side control system and the host side control system is provided.

The operation control system for an underwater vehicle according to a second aspect of the present invention is the operation control system according to the first aspect, wherein the communication means of the vehicle-side control system includes various components mounted on the vehicle body and the vehicle capsule. Is connected to a control means for controlling the operation of the host side control system, and a host side control center for sending an operation command to the traveling body side control system is connected to the communication means of the host side control system.

The operation control system for an underwater vehicle according to a third aspect of the present invention is the operation control system according to the second aspect, wherein the control means of the vehicle control system is provided with a judgment executing means, a monitoring means and a storage means. The monitoring means is formed so as to constantly monitor the current states of the constituent parts mounted on the traveling body main body and the traveling body capsule, and output data to the judgment executing means. The operation contents of the control means such as the communication method with the control system, the judgment criteria and judgment method of each checklist, and the output method to each of the constituent parts are stored, and the judgment execution means,
When each command is received from the host-side control system or the traveling body side makes its own judgment based on the program in the storage means, each checklist is judged and the result is sent to the host-side control system through the communication means. In addition to the output, the operation command to each component according to the determination content is output when the command from the host side control system is received or by the traveling body's own judgment based on the program in the storage means. It is characterized by being.

Further, the operation control system for an underwater vehicle according to claim 4 is the operation control system according to claim 2, wherein the host-side control center is provided with a judgment execution means, a storage means, and an operation state display means. In the storage means,
It stores the communication method with the traveling body side control system, the judgment criteria and judgment method of each of the checklists, the operation command contents to each of the components based on the judgment result, the operation contents of the host side control center, and the judgment execution means. Is
When receiving various kinds of monitoring data by the monitoring means on the side of the traveling body side control system, the checklists are judged on the basis of the criteria stored in the storage means, and to the respective constituent parts according to the judgment result. Is formed so as to be output to the traveling body side control system, and the operation state display means outputs the information of the judgment result of the judgment execution means and the command contents and the monitoring result of the monitoring means as an image or a sound. It is characterized in that it is formed as follows.

The operation control system for an underwater land vehicle according to claim 5 is the operation control system for an underwater landing vehicle according to claim 1, wherein the emergency escape device holds the traveling body capsule and the traveling body together as an integral unit. A capsule holding mechanism is provided, the traveling body main body and the traveling body capsule are connected by a wire, and a resistance load device for limiting the amount of pulling out of the wire is arranged on the traveling body main body.

According to the operation control system for an underwater vehicle of the present invention, as described in detail in the following embodiments,
Regardless of the weather etc., it is possible to move safely and safely from land to water, and even in the case of trouble in the water, it is possible to make the passengers escape reliably and safely. The underwater vehicle can be appropriately operated so that the property can be remarkably enhanced.

[0011]

FIG. 1 is a block diagram showing an embodiment of the present invention.
Will be described with reference to FIG.

First, an underwater land vehicle to which the present invention is applied will be described.

FIGS. 1 to 5 show an embodiment of an underwater land vehicle equipped with an emergency escape device.
A traveling body capsule 2 is installed above a traveling body main body 1 made of a material such as FRP or acrylic resin. Inside the traveling body capsule 2, a boarding room 3 is provided in the present embodiment. ing. Behind the boarding room 3, an internal hatch 4 that partitions the inside and the outside of the boarding room 3 in an airtight manner is provided so as to be openable and closable, and is provided at the rear of the running body 1 and the running capsule 2. , External hatches 5 and 6 are respectively arranged so as to be openable and closable in a horizontal direction about one side. A step 7 is provided below the traveling body 1 and between the inside of the external hatches 5 and 6 and the internal hatch 4 of the traveling capsule 2 for a passenger to move when getting on and off. Have been.

In the inside of the boarding room 3, for example,
A plurality of seats 8 are arranged in two rows at the front and back, and a window 9 made of a transparent material such as glass having pressure resistance is integrally mounted on the upper part of the boarding room 3. The window 9 allows a passenger sitting on the seat 8 to visually recognize the front, the upper side, and the side from inside the passenger compartment 3.

Wing-shaped side covers 10 projecting laterally are integrally formed on the upper edge portions of both side surfaces of the traveling body 1, and the outer hatches 5, 6 of the traveling body 1 are integrally formed. A wing 11 extending in the lateral direction is attached to the lower end edge of the outer hatches 5 and 6 at a predetermined distance from the surface of the outer hatches 5 and 6.

Further, four main tires 12, 12, ... Are arranged on the lower side of the cover 10 on both sides of the traveling body 1 in the front and rear. In this embodiment,
Above each of the main tires 12, two small-diameter auxiliary tires 13 are rotatably disposed such that the peripheral surfaces thereof abut against the outer peripheral surface of the main tire 12. These auxiliary tires 13 are installed such that their upper heights are constant. Further, a guide arm 14 is mounted on both side surfaces of the traveling body 1 and between the front and rear main tires 12 so as to protrude to the side. , A guide tire 1 whose tip protrudes from the outer surface of the main tire 12
5 is rotatably mounted.

Further, in the present embodiment, as shown in FIGS. 6 to 8, the front and rear portions of the traveling body capsule 2 are
Retaining grooves 16, 16 as a capsule holding mechanism, respectively.
Are formed, and the number of the locking grooves 16 may be one or plural. At a position corresponding to the front locking groove 16 of the traveling body 1, a movable hook 17 that engages with the locking groove 16 is swingable back and forth around a support pin 19 of a base 18. Is located in
At a position corresponding to the locking groove 16 on the rear side of the traveling body 1, a fixed hook 20 that engages with the locking groove 16 is provided. Then, the traveling body capsule 2 can be detached from the traveling body main body 1 by swinging the movable hook 17 to release the engagement with the locking groove 16.

Further, a recess 21 is formed in the central portion of the lower surface of the traveling body capsule 2, and a fluid fin 22 is rotated at a position corresponding to the recess 21 on the upper surface of the traveling body main body 1. It is rotatably arranged around the shaft 23. Further, the rotating shaft 23 of the fluid fin 22
A rotary pulley 24 is coaxially attached to the upper end of the vehicle body 1, and a wire guide 25 is provided upright in the vicinity of the fluid fins 22 of the traveling body 1. A wire 26 having a predetermined length is connected to the front and rear positions of the inner surface of the concave portion 21 of the traveling body capsule 2.
Are connected to the rotary pulley 2 via the respective wire guides 25.
4 is wound in the same direction.

Further, the inside of the traveling body 1 is shown in FIG.
As shown in FIG. 5, a front drive shaft 28 to which the front main tire 12 is fixed at both ends and a rear drive shaft 29 to which the rear main tire 12 is fixed are rotatably supported by bearings 27, respectively. A front differential gear 30 is disposed in the middle of the front drive shaft 28 via a coupling 31, and a rear differential gear 30 is provided in the middle of the rear drive shaft 29. A gear 32 is arranged via the coupling 31. The differential gears 30 and 32 are connected by a drive shaft 33, and a center differential gear 34 is disposed in the middle of the drive shaft 33 via a coupling 31. Further, the transmission shaft 3 is provided on the center differential gear 34.
5 is connected, and a gear box 36 is arranged in the middle of the transmission shaft 35. A bevel gear box 37 for changing the direction of the transmission shaft 35 by 90 ° is connected to the gear box 36, and an output shaft of a drive motor 38 is connected to the bevel gear box 37. The rotation of the drive motor 38 causes the bevel gear box 37 and the gear box 3 to rotate.
6. The front drive shaft 28 and the rear drive shaft 29 are rotationally driven via the center differential gear 34, the front differential gear 30, and the rear differential gear 32, respectively, so that the main tires 12 can be rotationally driven. It has been done. Further, a plurality of batteries 39 for driving the driving motor 38 are arranged in a gap portion of the traveling driving mechanism inside the traveling body main body 1, and drive control of the driving motor 38 is performed. Drive control device 40 is provided. In addition, in the present embodiment, the traveling body 1 is automatically controlled by the operation control system of the present invention shown in FIGS. A traveling body side control system 51 is arranged inside the body body 1. Further, an actuator 42 for rotating the movable hook 17 is provided inside the traveling body 1 and an actuator battery 43 for operating the actuator 42 is provided. By operating, the movable hook 17 is swung to release the engagement of the movable hook 17 with the locking groove 16. The operation of the actuator 42 may be performed by remote control in the same manner as the traveling operation, or may be manually operated by the occupant from the inside of the occupant compartment of the traveling capsule 2. .

Further, in the present embodiment, a water injection port and a drain port (not shown) are respectively provided at the front and rear portions of the traveling body 1 so that the inside of the traveling body 1 can be protected from water when traveling in water. It is considered to be a flooded type traveling body that penetrates. Therefore, the traveling drive mechanism, the battery 39, and the like are waterproofed so as to withstand water intrusion.

FIG. 10 shows an embodiment of a traveling system for traveling the traveling body 1 constructed as described above. For example, a traveling rail from the land 44 to the underwater 45 such as the sea. As shown in FIG. 10, the traveling rail 46 may be made to reciprocate on the traveling rail 46 by one traveling rail 46, or the traveling rail 46 may be laid. It may be laid in an annular shape so as to circulate on the traveling rail 46.

As shown in FIG. 11, the traveling rail 46 has a U-shaped cross section, and the traveling rails 46 are laid in parallel so that their open surfaces face each other. Has been done. By positioning the main tire 12 and the auxiliary tire 13 inside each of the running rails 46, the running body 1
Are mounted on the traveling rails 46, and in this state, the guide tires 15 come into contact with the inner side surfaces of the traveling rails 46.

In this embodiment, the traveling rail 46 is formed to have a U-shaped cross section.
The traveling rail 46 may have a shape having at least an upper surface in the underwater 45 and at least a lower surface in the land 44, for example. Further, on the land 44, the vehicle may run on a road surface instead of the running rail 46.

Next, an operation control system for an underwater vehicle according to the present invention (hereinafter referred to as an operation control system) will be described with reference to FIGS. 12 to 14.

FIG. 12 schematically shows an embodiment of the operation control system. The operation control system of the present embodiment is a traveling body side control system 51 provided on the traveling body main body 1 side.
And a host-side control system 53 provided in a host-side station 52 that is a fixed station on the ground and a mobile station such as a ship, etc. Between the two control systems 51 and 53, communication means 54 and 55 including transmitters and receivers are provided for wirelessly transmitting information to each other. An underwater antenna 57 made of a leaky coaxial cable is connected to the communication means 55 on the host side via an adapter 56. Then, tags 58 for detecting passage of the underwater land vehicle are provided at predetermined positions of the underwater antenna 57 at predetermined intervals. An antenna 59 is connected to the communication means 54 also on the underwater vehicle side. A tag reader 60 for detecting the presence or absence of the tag 58 and detecting the position of the underwater land vehicle is connected to the antenna 59. Further, these communication means 54 and 55 are formed to transmit information required for operation control and also have functions of a voice telephone, a video telephone and the like. Therefore, the audio / video output means 6 is provided to both of the communication means 54 and 55.
1, 62 are connected. Further, the communication means 55 of the host-side control system 53 is connected to the NT via the ISDN 63.
It is formed so that it can be connected to a public line 64 such as T.

Communication means 54 of the traveling body side control system 51
A control means 65 for controlling the operations of the respective constituent parts mounted on the traveling body main body 1 and the traveling body capsule 2 is connected to the. The control means 65 is mainly provided with a judgment execution means 66, a monitoring means 67 and a storage means 68.

The monitoring means 67 constantly monitors the current state of each constituent part mounted on the traveling body 1 and the traveling body capsule 2 by using an appropriate sensor (not shown), and judges and executes the detected data. It is configured to output to the means 67. The monitoring items include those listed as a checklist before starting the traveling body 1, those that are listed as a checklist during operation, those that are listed as a light failure checklist, those that are listed as a heavy failure checklist, and those that are completed when traveling. Some are listed.

As the checklist before starting, for example, the communication state between the inside of the traveling body capsule 2 and the host side station 52, the open / closed state of the hatches 4, 5, and 6, the voltage state of both batteries 39 and 43, the drive motor. The load torque of 38, the energization current of the drive motor 38, the energization voltage, the oxygen concentration in the traveling body capsule 2, the carbon dioxide concentration, the room temperature, the room humidity, the operating condition of the air conditioner, and the like.

Examples of the checklist during operation include traveling speed, passage through designated places, stop and start at designated places, vehicle intervals, etc., in addition to the pre-startup checklist.

The light failure checklist includes contents that can be handled by the control capability unique to the underwater land vehicle,
For example, traveling speed, passing through a designated place, stopping operation at a designated place, a decrease in a call function, a decrease in indoor air conditioning, and the like are given.

The serious failure check list has contents that cannot be handled due to the control capability unique to the underwater land vehicle, and examples thereof include stop of the drive motor 38 and occurrence of a fire in the vehicle capsule 2.

The traveling completion checklist includes stoppage of the underwater traveling vehicle at a designated location (mainly the end point), indoor conditions inside the traveling vehicle capsule 2, open / close states of both hatches 4 and 5, and the like.

The storage means 68 includes a RAM, a ROM,
Various information is stored in a storage medium such as a CD-ROM. For example, all the operation contents of the control means 65 such as the communication method with the host station, the check criteria and judgment method of each checklist, the output method to each component of the drive motor 38, etc. are stored.

The judgment executing means 66 is composed of a CPU, etc., and each checklist is made when a command is received from the host side station 52 or by the traveling body's own judgment based on the program in the storage means 68. And outputs the result to the host side station 52 side via the communication means 54 and 55, and at the same time, the host side station 52 side issues an operation command to each component such as the drive motor 38 according to the determination content. When a command is received, or based on a program stored in the storage means 68, the traveling body outputs the information based on its own judgment. Information of the judgment result of the judgment executing means 66, the content of the command, and the monitoring result of the monitoring means 67 is formed so as to be sent to the audio / video output means 61 which also functions as a monitor and output as an image or sound.

Further, the control means 65 includes the drive motor 3
A driving state switcher 69 capable of switching between an automatic driving state in which an operation command is automatically output to each component such as 8 and a manual driving state in which an occupant in the traveling body capsule 2 manually outputs an operation command is connected. In addition, an operation content input device 70 such as an operation lever and a keyboard for inputting the content of manual operation is additionally provided.

In the present embodiment, the traveling-body-side control system 51 having the above-described configuration is entirely the traveling-body capsule 2
It is arranged in no. In addition, the traveling body side control system 5
It is possible to operate each component of the drive motor 38 and the like independently of the host side station 52 side for one reason.
This is to ensure safety by allowing the underwater vehicle to operate independently even if communication between them becomes impossible.

Furthermore, a host side control center 71 for sending an operation command to the traveling body side control system 51 is connected to the communication means 55 of the host side control system 53. The host-side control center 71 is mainly provided with a judgment execution means 72, a storage means 73 and an operation status display means 74.

The storage means 72 includes RAM, ROM,
Various information is stored in a storage medium such as a CD-ROM. For example, a communication method with the vehicle-side control system 51,
The judgment criteria and judgment method of each checklist, the operation command contents to the constituent parts of the drive motor 38 and the like based on the judgment results, and the operation contents of the host side control center 71 are all stored.

The judgment executing means 72 is composed of a CPU or the like, and when various kinds of monitoring data by the monitoring means 67 on the side of the traveling body side control system 51 are received, based on the standard stored in the storage means 72. The checklists are judged and the operation commands to the constituent parts such as the drive motor 38 according to the judgment result are outputted to the traveling body side control system 51. Information on the determination result of the determination executing means 72, the content of the command, and the monitoring result by the monitoring means 67 is transmitted to the operation state display means 74 and output as an image or a sound.

In both control systems 51 and 53,
If necessary, an appropriate converter (not shown) may be installed in order to arrange other components connected to both communication means 54, 55 and matching between the other components.

Next, the operation of this embodiment will be described with reference to FIG.

Before starting the underwater vehicle (left side in FIG. 13 (a)) In the present embodiment, first, the vehicle body 1 and the vehicle capsule are placed with the vehicle body 1 positioned on the land. The outer hatches 5 and 6 of 2 are opened, and after the passenger has boarded, the inner hatch 4 is closed and the outer hatches 5 and 6 are
Close. As a result, the inside of the passenger compartment 3 of the traveling body capsule 2 is kept airtight. In this case, although not shown, appropriate oxygen is always supplied to the inside of the boarding room 3 by an oxygen generator, and generated inside the boarding room 3 by a carbon dioxide removing device. To remove carbon dioxide.

Next, a check is performed according to the above-mentioned pre-start checklist.

That is, at the time T1 of FIG. 13A, the host side control system 53 of the host side station 52 is activated, and the judgment execution means 72 of the host side control center 71 is stored in the storage means 73. The start command of the pre-start checklist is output according to. This start command is input to the communication means 54 on the traveling body side via the communication means 55 and both antennas 57 and 59, and then the control means 6
It is input to the judgment executing means 66 of No. 5. The judgment executing means 66 receives the start command of the pre-start checklist,
According to the program stored in the storage means 68, the monitoring means 67 is instructed to detect each data of the contents of the pre-start checklist. The monitoring means 67 uses, as a checklist before starting, for example, a communication state between the inside of the traveling body capsule 2 and the host side station 52, open / close states of the hatches 4, 5, and 6, voltage states of both batteries 39 and 43, and the drive motor 3.
Whether or not the load torque of No. 8, the energizing current of the drive motor 38, the energizing voltage, the oxygen concentration in the traveling body capsule 2, the carbon dioxide concentration, the room temperature, the room humidity, the operating condition of the air conditioner, etc. are appropriate. To detect. At the time of T2 in FIG. 13 (a), this detection result is the reverse of the above, and is the communication means 54 on the traveling body side.
Is transmitted to the communication means 55 on the host side, input to the judgment execution means 72 of the host side control center 71, and compared with the reference stored in the storage means 73 to judge the suitability of the contents of each checklist. Rechecks are performed until all checklists are suitable (at T3), and if all checklists are suitable, pre-start checks are completed (T4).
Time). The detection data related to these checklists and the determination results thereof are displayed in real time by images and voices on the operation status display means 74 on the host side and on the audio / video output means 61 on the traveling body side, respectively.

Starting and running of the traveling body (FIG. 13 (a))
When the pre-start check is completed, the host side judgment execution means 72 confirms the start condition at T5, and a command for starting the underwater vehicle is issued at T6, and this command is executed by the travel body side judgment execution means. It is output by 66 to each component of the traveling body such as the drive motor 38, and the operation of the underwater traveling body is started.

That is, the drive control device 40 drives and controls the drive motor 38. And this drive motor 3
By the rotational drive of 8, the front drive shaft 28 via the bevel gear box 37, the gear box 36, the center differential gear 34, the front differential gear 30 and the rear differential gear 32, respectively.
And the rear drive shaft 29 is rotationally driven, whereby each of the main tires 12 is rotationally driven, and the traveling body 1 is traveled along the traveling rail 46.

In this case, on the land 44, gravity is applied to the main body 1 of the traveling body, so that the main tire 12 abuts against the inner lower surface of the traveling rail 46 as shown in FIG. It is moved along the traveling rail 46 by the rotational drive of 12.

The main body 1 of the traveling body is provided with the traveling rail 4
When it is moved along 6 and submerged in the water 45, water enters the interior of the traveling body 1 through the water injection port and the drain port, and due to the buoyancy of the traveling body 1 and the buoyancy of the air inside the boarding room 3, The traveling body 1 rises up inside the traveling rail 46, and the main tire 12 is separated from the lower inside surface of the traveling rail 46 as shown in FIG.
The auxiliary tire 13 comes into contact with the inner upper surface of the running rail 46. In this case, the auxiliary tire 13
Because it is in contact with the main tire 12, the main tire 1
2 rotates in the opposite direction with respect to 2,
The traveling body 1 is moved in the water 45 along the inner upper surface of the traveling rail 46 by the auxiliary tire 13 while keeping the rotation direction of the main tire 12 as it is.

When the driving is started in this way, the host side judgment execution means 72 issues a normal driving command after T7, and the traveling body side judgment execution means 66 determines each item in the running checklist. Always checked.
That is, the judgment executing means 66 receives the command for the running check and instructs the monitoring means 67 to detect each data of the contents of the running check list according to the program stored in the storage means 68. The monitoring means 67 detects, as a checklist during driving, for example, whether or not the driving conditions such as traveling speed, passage of a designated place, stop and start at a designated place, and vehicle interval are appropriate in addition to the checklist before starting. . In the present embodiment, the tags 5 of the underwater antenna 57 are used for the passage of the designated place, the stop and start of the designated place, the detection of the vehicle interval, and the like.
8 and the tag reader 60. The detection result is transmitted from the vehicle-side communication means 54 to the host-side communication means 55 in the same manner as in the pre-startup check, is input to the judgment execution means 72 of the host-side control center 71, and is stored in the storage means 73. The check criteria are compared with each other to determine the suitability of the contents of each checklist. Normally, all checklists are appropriate, so a command to continue driving is issued, and driving and checking during driving are continued. The detection data related to these checklists and the determination results thereof are displayed on the operation status display means 74 on the host side.
On the side of the running body, images and sounds are displayed in real time on the audio / video output means 61. Further, the passenger can talk to the outside through a videophone via both the voice image output means 61 and 62, or can make a call using an external public line 64 such as NTT via the ISDN 63.

Occurrence of minor failure and operation (Fig. 13 (b))
Left side) In this way, when the operation and the in-operation check are continued, for example, when a minor failure occurs at T8, the monitoring means 67 of the control means 65 on the traveling body side detects a change in the check item. The minor failure includes, for example, traveling speed, passing a designated place, stopping operation at a designated place,
A decrease in the communication function, a decrease in indoor air conditioning, etc. are detected, and the detection result is immediately output to the host side control center 71 in the same manner as described above, and the judgment execution means 66, 72 of both control systems 51, 53 detect the change. The degree is compared with the reference stored in both storage means 68 and 73. In the case of this minor failure, since the degree of the change can be dealt with by the control capability unique to the underwater / land vehicle, the judgment executing means 66 on the traveling body side judges that the traveling body side will independently cope. , A command is output to the drive motor 38 and the like so as to increase the performance of each item of the above-mentioned minor failure in which the driving performance is lowered. Then, the judgment execution means 72 on the host side also judges that there is a minor failure, and outputs a failure reset command to the traveling body side at T9. As a result, the state of the minor failure is restored, and the normal operation state is restored again. The detected data relating to these minor failures and the judgment results thereof are displayed in real time by images and voices on the operation status display means 74 on the host side and on the audio / video output means 61 on the traveling body side.

Occurrence of serious failure and operation (Fig. 13 (b))
Right side of) When the underwater traveling vehicle is continuously driven and checked during operation, for example, when a serious failure occurs at T10, the monitoring means 67 of the control means 65 on the traveling body side detects a change in the check item. . This serious failure is a content that cannot be handled due to the control capability unique to the underwater land vehicle, and examples thereof include stoppage of the drive motor 38 and occurrence of a fire in the vehicle capsule 2, and this state is detected, The detection result is immediately output to the host-side control center 71 in the same manner as described above, and the judgment execution means 66 and 72 of both control systems 51 and 53 store the reference for the degree of the change in both storage means 68 and 73. Compared to. In the case of this serious failure, the degree of the change cannot be dealt with due to the control capability unique to the underwater land vehicle,
The judgment executing means 66 on the traveling body side outputs an emergency escape command, and at the same time, the judgment executing means 72 on the host side also judges that there is a serious failure, and outputs a request for dispatching a lifeboat. In the event of some trouble that causes a serious failure while the traveling body 1 is underwater traveling, as shown in FIG. 7, the remote operation or the operation state switch 69 is used to switch to the manual operation state, and the emergency escape is performed. When the passenger operates the operation content input device 70 such as a button (not shown), the actuator 42 is operated and the movable hook 17 is swung to engage the movable hook 17 with the locking groove 16. To cancel the match. As a result, the front portion of the running body capsule 2 is inclined and lifted by the buoyancy of the running body capsule 2,
Due to the inclination of the traveling body capsule 2, the fixed hook 20 is provided.
The engagement with the engaging groove 16 is also released, and the traveling body capsule 2 is separated from the traveling body main body 1. In this case, the traveling body capsule 2 is connected to the traveling body main body 1 via a wire 26, and tension is applied to the wire 26 as the traveling body capsule 2 floats, whereby the wire 26 Is pulled out and this wire 26 is used to rotate the rotary pulley 2
4 is rotated. As a result, the fluid fin 22 is rotationally driven, and the rotation resistance of the fluid fin 22 in water limits the withdrawal of the wire 26 and limits the floating speed of the traveling body capsule 2. As a result, the traveling body capsule 2 on which the passenger is
Can be levitated at an appropriate speed, and the traveling body capsule 2 can be levitated safely without applying a shock to the occupant during the levitating operation. And the traveling body capsule 2
Is waiting for rescue while floating above the water. In this case, the traveling body capsule 2 and the traveling body main body 1 are connected by electric wiring in addition to the wires 26, so that, for example, the communication means 5 is in the rescue standby state.
4 and oxygen supply control can be continued. Of course, it is also possible to connect to an external public line 64 via the ISDN 63 and request rescue. Also, by mounting a self-propelled device such as a simple screw device on the traveling body capsule 2, the wire 26 is cut after the traveling body capsule 2 floats on the water, and the traveling body is driven by the self-propelled device. The body capsule 2 itself can move to land. Furthermore, the wings can be accommodated on both sides of the traveling body capsule 2 so that the wings are widened when the traveling body capsule 2 floats, so that the floating speed of the traveling body capsule 2 can be controlled. The detected data related to these serious failures and the determination results thereof are displayed in real time in the form of images and sounds on the operation status display means 74 on the host side and on the audio / video output means 61 on the traveling body side.

Completion of operation (right side of FIG. 13 (b)) When the operation is continued without a serious failure, the traveling body 1 approaches the end point, and the traveling body 1 moves underwater along the traveling rail 46. Since it is moved to the air from 45, buoyancy is lost and gravity is applied, the traveling body 1 descends,
The main tire 12 abuts on the inner lower surface of the running rail 46 and the running rail 46 is driven by the rotation of the main tire 12.
Will be moved along. Then, at time T11, the end point stop signal is output from the judgment executing means 72 of the host-side control center 71 to the traveling body side, and the judgment executing means 66 of the traveling body side control means 65 which receives the end signal is transmitted to the drive motor 3 by the judgment executing means 66.
A stop command is output to the drive system such as 8 to stop the underwater land vehicle at a predetermined position. Then, after confirming that the inside of the cabin 3 of the traveling body capsule 2 is normal, the inner hatch 4 and the outer hatches 5 and 6 are fully opened so that the occupant can get off the traveling body 1. This completes the operation (at T12). Thereafter, the traveling body 1 is moved to the starting point to prepare for the next boarding, starting, and the like.

The present invention is not limited to the above-mentioned embodiment, but various modifications can be made if necessary. For example, as shown in FIG. 14, a plurality of near-infrared ray transmitters / receivers 75, 75 are installed at predetermined intervals in place of the underwater antenna 57 having a tag 58 in the communication means, and near-infrared ray transmitters / receivers are set on the underwater land vehicle. The device 76 may be installed so that the host side and the underwater vehicle can communicate with each other using near infrared rays.

[0054]

As described above, the operation control system for an underwater land vehicle according to the present invention is configured and operates, so that regardless of the weather, etc.
In addition, it is possible to safely move underwater land vehicles, and even when trouble occurs underwater, it is possible to make sure that the passengers can escape, and it is possible to significantly enhance safety and to run underwater land. The effect of being able to drive the body properly is exhibited.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an embodiment of an underwater landing vehicle to which an operation control system for an underwater landing vehicle according to the present invention is applied.

FIG. 2 is a side view of the traveling body shown in FIG.

FIG. 3 is a plan view of the traveling body in FIG.

FIG. 4 is a front view of the traveling body in FIG.

FIG. 5 is a rear view of the traveling body of FIG.

FIG. 6 is a longitudinal sectional view showing an embodiment of an emergency escape device.

FIG. 7 is an explanatory view showing a released state of the movable hook of the emergency escape device.

FIG. 8 is an explanatory view showing a disengaged state of the traveling body capsule of the emergency escape device.

9 is a schematic configuration diagram showing the inside of the traveling body in FIG.

FIG. 10 is an explanatory diagram showing a traveling system of a traveling body.

FIG. 11 (a) is an explanatory diagram showing a traveling body during land traveling, and FIG. 11 (b) is an explanatory diagram showing a traveling body during underwater traveling.

FIG. 12 is a schematic configuration diagram showing an embodiment of an operation control system for an underwater vehicle according to the present invention.

FIG. 13 is an explanatory diagram showing a time chart of operation control by the operation control system for an underwater vehicle according to the present invention.

FIG. 14 is a schematic configuration diagram showing another embodiment of the communication means of the operation control system for the underwater vehicle according to the present invention.

[Explanation of symbols]

 1 Traveling Body Main Body 2 Traveling Body Capsule 3 Riding Room 12 Main Tire 13 Auxiliary Tire 15 Guide Tire 16 Locking Groove 17 Movable Hook 20 Fixed Hook 22 Fluid Fin 24 Rotating Pulley 26 Wire 38 Drive Motor 40 Drive Control Device 44 Land 45 Underwater 46 Traveling rail 51 Traveling body side control system 53 Host side control system 54,55 Communication means 65 Control means 66,72 Judgment executing means 67 Monitoring means 68,73 Storage means 71 Host side control center 74 Operation status display means

Claims (5)

[Claims] 1. A pair of running rails are laid from land to underwater, and a running body main body having a running body capsule installed on the top is formed so as to be movable along the running rail, and the running body main body is provided in an emergency. An underwater land vehicle operation control system for operating an underwater land vehicle equipped with an emergency escape device for detaching a vehicle capsule from the vehicle along the travel rail, the travel controlling an operating state of the underwater land vehicle. A body-side control system is provided on the underwater land vehicle, and a host-side control system that issues a command for driving operation of the underwater land vehicle to the vehicle-side control system is provided separately from the underwater land vehicle, and the vehicle body control system is provided. And an operation control system for an underwater vehicle, which is provided with communication means for transmitting information between the host side control system and the host side control system. 2. The communication means of the traveling body side control system is connected to a control means for controlling the operation of each constituent part mounted on the traveling body main body and the traveling body capsule.
The operation control system for an underwater vehicle according to claim 1, wherein a host-side control center that sends an operation command to the vehicle-side control system is connected to the communication means of the host-side control system. 3. The control means of the traveling body control system is provided with a judgment executing means, a monitoring means and a storage means, and the monitoring means is provided for each of the constituent parts mounted on the traveling body main body and the traveling body capsule. It is formed to constantly monitor the current situation and output data to the judgment executing means,
The storage means stores operation contents of the control means such as a communication method with the host-side control system, a judgment criterion and judgment method of each checklist, and an output method to each of the components, and the judgment execution means. Judges each of the checklists when a command is received from the host side control system or by the traveling body side's own judgment based on the program in the storage means, and the result is controlled by the host side via the communication means. In addition to outputting to the system, when the host side control system receives a command from the host-side control system, an operation command to each of the above-mentioned components according to the content of the judgment, or based on the program stored in the storage means, is output by the traveling body's own judgment. The driving control system for an underwater land vehicle according to claim 2, wherein 4. The host-side control center includes:
Judgment execution means, storage means, and operation status display means are provided, and the storage means includes a communication method with the traveling body side control system, judgment criteria and judgment methods of the checklists, and the above-mentioned constituent parts based on the judgment results. The operation command contents to the host side control center and the operation contents of the host side control center are stored, and when the judgment executing means receives various monitoring data by the monitoring means on the traveling body side control system side,
It is formed so as to judge each of the checklists based on the criteria stored in the storage means, and output an operation command to each of the constituent parts according to the judgment result to the traveling body side control system, The underwater land according to claim 2, wherein the operation state display means is formed so as to output information of the judgment result of the judgment execution means, the content of the command, and the monitoring result of the monitoring means as an image or a sound. Driving control system for running vehicles. 5. The emergency escape device is provided with a capsule holding mechanism that holds the traveling body capsule and the traveling body main body together and releases the holding in an emergency, and connects the traveling body main body and the traveling body capsule with a wire. 2. The operation control system for an underwater vehicle according to claim 1, further comprising: a resistance load device that limits the amount of pulling out the wire on the traveling body main body.