JPS61259119A - Apparatus for controlling depth of underwater measuring device - Google Patents

Abstract

PURPOSE:To make it possible to rapidly collect underwater information by allowing a submerged measuring device to easily reach an objective depth even from a ship during high speed sailing, by controlling the objective depth of the underwater measuring device by using the speed of the ship as a factor. CONSTITUTION:An operation circuit 4 operates the integrated under (n) of rotations of a towing cable winch 3 allowing an underwater measuring device 1 to reach an objective depth by inputting a ship speed v0, the free sedimentation speed v1 of the underwater measuring device 1 and a set measuring depth D. The integrated number (n) of rotations are inputted to an order circuit 5 and, after the underwater measuring device 1 thrown, the integrated number n' of rotations of the which 3 are simultaneously fed back to an order circuit 5. If the integrated number n' of rotations of the which 3 become equal to the integrated number (n) of rotations, the delivery rotation of the winch 3 is stopped by the order circuit 5 and a towing cable 2 begins to tension from this point of time. At this time, the underwater measuring device 1 has reached a predetermined depth and measurement is enabled.

Description

[Detailed Description of the Invention] <Industrial Application Field> The present invention relates to a depth control device for underwater measuring instruments, and more specifically, to a depth control device for underwater measuring instruments having hydrofoils and for quickly reaching a target depth. This invention relates to a device that performs sedimentation control.

<Prior Art> Conventionally, in order to obtain accurate water temperature information at a certain depth, an underwater measuring device with a built-in measurement sensor is lowered to a target depth.

These underwater measuring instruments are generally suspended by a towline and dropped into the water, but when the measurement depth reaches 100m to 700m or more, there is a problem that it becomes extremely difficult to operate the towline. there were.

<Conventional problems> For example, when the above-mentioned underwater measuring device is dropped into the water from a moving ship, when the tow line is stretched, the measuring device is pulled and floats, so the ship speed and the sinking speed of the underwater measuring device are On the other hand, if the towline is fed out too much, the excess towline will float on the water surface, and even if the towline is wound up to adjust the depth, this floating As a result, only the part of the tow rope that was attached to the tow rope had to be hoisted up, which could cause the underwater measuring instrument to sink beyond its pressure limit or be damaged by landing on the ground.

Taking these into consideration, there was a problem in that considerable skill and intuition were required to carry out the operation of letting out and hoisting up the towline, making the work extremely difficult.

However, the above-mentioned difficulty can be solved by stopping the ship at each observation point and lowering the tow line vertically at that position, but 1. It takes a considerable amount of time to suddenly move and stop the ship at each observation point, and multi-point observation is not possible. There is a noticeable lack of speed and there are practical problems.

In addition, underwater measuring instruments with hydrofoils are used to reach the target depth by balancing the sedimentation force generated by the hydrofoils with the tension of the towline, but the tension of the towline is extremely low due to the sedimentation force. This makes it extremely difficult to put it into practical use, as it requires the use of a fairly thick towline and a large winch, even for shallow depth observation.

<Problems to be Solved by the Invention> In view of the above-mentioned problems, the present invention provides a control for an underwater measuring instrument that allows the underwater measuring instrument to easily reach a target depth even from a ship during high-speed cruising, thereby quickly collecting underwater information. This was done for the purpose of providing equipment.

Technology that has solved the above problems> The depth control device for an underwater measuring instrument according to the present invention sets the rotational speed at which the tow line is drawn out based on a ship speed higher than the maximum ship speed so as not to disturb the natural settling of the underwater measuring instrument. An arithmetic circuit calculates the cumulative number of revolutions of the towing winch based on the determined towing winch, the input target depth and the actual ship speed, and the number of rotations of the towing winch is integrated and fed back.

It is characterized by comprising a command circuit that stops the rotation of the towing winch when it matches the cumulative number of revolutions calculated by the arithmetic circuit, and also commands the hoisting operation to the initial hoisting state. be.

<Example> Next, the present invention will be explained with reference to examples.

FIG. 1 is a block diagram of the configuration of an embodiment of the present invention, and FIG. 2 is an explanatory diagram of the operation of the underwater measuring instrument.

The depth control device A for an underwater measuring instrument according to the present invention is configured to adjust the rotational speed of the underwater measuring instrument 1 to the recovery vessel V so that when the underwater measuring instrument 1 is put into the water, it will not be pulled by the tow rope 2 and its natural sedimentation will not be hindered.
The towing winch 3 is determined based on the maximum ship speed or higher ship speed, the input target depth D (Fig. 2), and the actual ship speed vo (%'). An arithmetic circuit 4 that calculates the number of rotations n and the number of rotations n' at which the towing winch 3 is fed out are fed back by three counters provided on the winch 3.

It is comprised of a command circuit 5 which stops the feeding rotation of the towline winch 3 when it matches the cumulative rotational speed n (n=n') and instructs the hoisting operation to the initial hoisting state.

Note that 6 in the figure is a winch driving device.

Now, let the natural sedimentation rate of the underwater measuring device be v + (%), the set measurement depth D (m), the required length of the towline to be drawn out E (m), and the ship speed vo (n) i). Then, the underwater measuring instrument 1 sinks vertically after being thrown into the water, and on the other hand, due to the speed of the ship, the underwater measuring instrument 1
In order to avoid being pulled, at least the ship speed v
Since it is necessary to let out the towline 2 at a speed equal to o('X), the let-out length l (F?1) and the let-out time to
(seconds) between.

vlto+voLo': J,', t o=l/ (vo + v I)...
・・・・・・・・・・・・■ relationship is established, on the other hand,
Between the required time t to reach the target depth D (FFi) and the sinking velocity Vl of the underwater measuring instrument l.

D = vlt・・・・・・・・・・・・・・・
・・・・・・・・・Since there is a relationship of ■, substitute ■ into ■DQn)=vllIl/(vo+v1)・・・・・・・・・
...The relationship of ■ is obtained.

Next, the relationship between the cumulative number of revolutions n of the winch and the length l of the towline is determined by referring to FIGS. Assuming that the number of turns in the same stage nQ is m (1, lo=moeπ(r+Δ(+J了Δr(no l))
・U Φ (r Nidram radius, △r: radius in the cross section of the tow rope, f d △r: indicates the vertical distance from the center position of the tow rope in any step to the center position of the tow rope in the steps that do not step) Since the tow rope is wrapped around the drum in n1 stages, the length l of the tow rope 2 is.

l;ΣmQ @ ff [r+Δr+fiΔr(no
1) It can be expressed as l...■no = engineering.

Since there is the relationship ant"mo=n, from equation 0, 1 = nπ(r+Δr)+πJ了・Δran(n-m
o)/2m.

・・・・・・・・・・・・O If we transform the formula 0, we get 1 = (ff−△r”1d/2mo)n2+[(1
-V'T/2)Δr+rJπn ” ” ”°0H+1
0-″+++0006 ■■ In the formula, π, 8 #mo
Because it's all about wit.

If we set πΔr・J/2m 6 = a (1−, /T /2 )−Δr+r=b, then the formula ■ is 1 = an2+bn・・・−・・・・・・・・・・・・・
It can be placed as ・・・・・・・・・■.

Therefore, from formula 0 and formula 0.

an”+bn-D・(vo+vx)/vl=o+
++ + ++ Solving the formula, n=(1/2a)(-b+ b2+4a(vo+vt)
・D/vl)... ... 0 is obtained.

In the calculation circuit 4, by inputting VQ*VlaD into the above equation 0, n, that is, the cumulative number of revolutions at which the towing windlass 3 reaches the target depth is calculated.

This cumulative rotation speed n is inputted to the command circuit 5 as data, and at the same time, after the underwater measuring instrument 1 is turned on, the cumulative rotation speed n/ of the winch 3 is fed back to the command circuit 5.

At this time, the towline payout speed from winch 3 is considerably faster than the actual ship's speed Vt3, so h! ! As shown in Figure 12, the towline 2 (d) is sufficiently slack in the water.

As a result, the underwater measuring instrument 1 descends almost vertically.

Next, when the cumulative number of revolutions n/ of the winch 3 becomes equal to the cumulative number of revolutions n inputted as data, the command circuit 5 stops the rotation of the winch 3, and from this point on, the towline starts to be stretched.

However, at this time, the towline is let out at a faster speed than the actual speed of the ship, so even if the ship is sailing at high speed, when the towline 2 of the underwater measuring instrument 1 is stretched, , the specified depth has been reached.

It becomes possible to measure predetermined water temperature, salinity concentration, etc.

Next, the winch 3 is started to be hoisted by the command circuit 5, and the winch 3 is hoisted in the state shown by the single dotted line.

Then, when it reaches the initial winding state, it is unrolled again and the above-mentioned operation is repeated.

In addition, when repeating measurements, the underwater measuring instrument operates as shown in Figure 3, and if information is collected at each deepest position,
Multi-point observations at accurate water depths can be quickly performed even when a ship is sailing.

Effect> Since the present invention is configured as described above, in order to control the target depth of the underwater measuring instrument using the ship speed as a factor,
Depth adjustment can be performed accurately, and underwater observation can be performed accurately and easily by simply inputting the ship speed and target depth.In addition, the winch has a large payout amount, so the ship speed can be adjusted easily. When is small, the number of observations can be increased, as shown by the chain line in FIG. 3, which has an unexpected effect.

[Brief explanation of the drawing]

Fig. 1 is a block diagram of the configuration of the present invention, Fig. 2 is an explanatory diagram of the operation of the underwater measuring instrument, Fig. 3 is an explanatory diagram of repeated measurement, and Figs. 4 (a) and (b) are the winch drum and It is an explanatory view showing the relationship of the length of a winding towline. To Ijiwo O (Ayu Ishichi Malum 2〉 4 times (r))

Claims (1)

[Claims] (1) A towline winch that sets the rotation speed of the towline on the basis of a ship speed higher than the maximum ship speed so as not to disturb the natural settling of underwater measuring instruments, and an arithmetic circuit that calculates the cumulative number of rotations of the rope winch and the number of rotations the tow winch is fed out; and when the number of rotations the tow winch is fed back and matched with the cumulative number of rotations calculated by the arithmetic circuit, the feed-out of the tow winch is stopped; What is claimed is: 1. A depth control device for an underwater measuring instrument, comprising: a command circuit for instructing a hoisting operation to an initial hoisting state;