WO2013039222A1 - 水中通信システム - Google Patents
水中通信システム Download PDFInfo
- Publication number
- WO2013039222A1 WO2013039222A1 PCT/JP2012/073681 JP2012073681W WO2013039222A1 WO 2013039222 A1 WO2013039222 A1 WO 2013039222A1 JP 2012073681 W JP2012073681 W JP 2012073681W WO 2013039222 A1 WO2013039222 A1 WO 2013039222A1
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- WIPO (PCT)
- Prior art keywords
- transmission medium
- outer shell
- communication system
- sealed structure
- underwater
- Prior art date
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B13/00—Transmission systems characterised by the medium used for transmission, not provided for in groups H04B3/00 - H04B11/00
- H04B13/02—Transmission systems in which the medium consists of the earth or a large mass of water thereon, e.g. earth telegraphy
Definitions
- the present invention relates to an underwater communication system, and in particular, transmits a radio wave signal emitted from a transmitter in a sealed container to the outside by contacting a non-conductive transmission medium from the outside of the outer shell. It is related with the underwater communication system which can do.
- ultrasonic waves and light are not as attenuated in water as radio waves, the communication system and communication method using ultrasonic waves and light enable communication underwater.
- wired telecommunication cables are generally placed between communication devices in order to eliminate attenuation due to water.
- devices such as batteries, control devices, and cameras have the property of causing functional failures when they get wet (non-water resistance). All non-water-resistant equipment was housed inside (the ship's body), and the working arm and propulsion device protruded from the required location.
- This modularized underwater robot consists of single function modules such as work devices, power supply devices, and control devices as independent units as much as possible, and controls and controls the overall operation of the underwater robot by the control device. Met.
- each single function module is stored in a small pressure and water resistant case and placed where it is needed, and each pressure and water resistant case can communicate by connecting a cable to the connector provided in the pressure and water resistant case It was configured as follows. Each single-function module communicates with each other through a cable so that each independent unit operates in a functional manner.
- the underwater communication system and method using ultrasonic waves and optical communication are less likely to be attenuated by water, and can be said to be suitable for underwater communication.
- a method of forming an air passage in water and performing wireless communication through the air passage has been proposed, but it has been difficult to form an air passage in water.
- the problem to be solved by the present invention is that the information processing apparatus can communicate with the electrical signal as it is in water, and is easier to handle and has a simple structure compared to a wired telecommunication cable.
- the object is to provide an inexpensive underwater communication system.
- Another problem to be solved by the present invention is to realize transmission / reception with the sealed structure without impairing the structural strength of the sealed structure such as a ship operating in the deep sea.
- sealed structure here refers to equipment with a sealed structure that operates under the surface of the water, including deep-sea boats, submarines, and underwater work robots.
- the outer shell is not perforated as much as possible.
- the telecommunication cable is passed through the outer shell of the sealed structure to the communication device in the sealed structure. Even when connecting, it is necessary to make a hole in the outer shell of the sealed structure.
- the outer shell of a sealed structure that operates in the deep sea not be drilled as much as possible in order to withstand water pressure. It is clear that it is preferable not to make a hole in the outer shell as much as possible for a watertight structure even when no pressure is applied, not limited to the deep sea.
- Another problem to be solved by the present invention is to provide an underwater communication system that does not make a hole in the outer shell of a sealed structure that is intended to operate in water.
- the pressure-resistant and water-resistant cases are connected to each other by a cable via a connector provided in the pressure-resistant and waterproof case, but there are various problems in connection with the cable.
- providing a connector in a pressure-resistant waterproof case means that a hole must be made in the pressure-resistant waterproof case, which is an essential disadvantage for a pressure-resistant waterproof case that requires pressure resistance and water resistance.
- the pressure-resistant waterproof case has a structural seam, so it has been necessary to take measures to prevent the deterioration of the pressure-resistant performance and water-resistant performance.
- the structure of pressure and water resistance of the seam is complicated, and the work of those processes is also complicated.
- the underwater robot can perform various operations with one underwater robot.
- the “work” of the underwater robot referred to in this specification is not only the case of changing the state by exerting an external action on other things, but also the data without exerting an external action on other things. Including both collecting only.
- the power supply device since the power supply device is conventionally connected to each independent unit by a power cable, it is difficult to replace the power supply device.
- the power supply device It is relatively frequent that the power supply device is reloaded according to the underwater robot's underwater working time or reloaded for charging. For this reason, it is preferable that the power supply device can be easily replaced.
- the wiring of the power supply device is considered so that it can be easily replaced, but it is difficult to replace it because it dislikes moisture, and further improvement has been awaited.
- radio waves have the property of being significantly attenuated in water. According to experiments by the inventors, if a distance of about 30 mm is separated, wireless communication between modules becomes impossible.
- a further object of the present invention is to solve the above-mentioned problems of the conventional underwater robot and realize a wireless communication so that a completely independent unit without connection can be configured, and withstand pressure and water resistance. It is an object of the present invention to provide an underwater robot that is excellent and that allows easy replacement of each module.
- An underwater communication system includes: A sealed structure having a watertight outer shell and disposed in water; A transmitting means capable of wireless transmission disposed in the sealed structure; A non-conductive transmission medium having one end in contact with the outside of the outer shell, Receiving means for receiving an electrical signal transmitted by radio from the transmitting means and transmitted by the outer shell of the sealed structure and the transmission medium from the other end of the transmission medium distal to the outer shell; , Is provided.
- One end of the transmission medium may be fixed to the outer shell without opening a hole in the outer shell of the sealed structure.
- a suction cup may be integrally formed at one end of the transmission medium, and the transmission medium may be fixed to the outer shell body so that the suction cup is adsorbed from the outside.
- the transmission medium may be in close contact with the outer shell of the sealed structure over the entire end surface of the one end.
- the transmission medium may be flexible and may be deformed according to the outer shape of the outer shell so as to be in close contact with the outer shell.
- At least a portion of the outer shell of the sealed structure that contacts the transmission medium may be made of a non-conductive material.
- the non-conductive material may be made of synthetic resin, rubber, glass, or ceramic.
- the other end of the transmission medium that receives the electrical signal protrudes from the water surface
- the electrical signal transmitted from the transmission unit may be received by a reception unit capable of wireless reception provided near the other end of the transmission medium protruding from the water surface.
- the receiving means has a watertight outer shell and is stored in a second sealed structure disposed in water, The other end of the transmission medium may be in contact with the outside of the outer shell of the second sealed structure.
- the other end of the transmission medium may be fixed to the outer shell without opening a hole in the outer shell of the second sealed structure.
- a suction cup is integrally formed at the other end of the transmission medium, and the transmission medium is fixed to the outer shell of the second hermetic structure so as to adsorb the suction cup from the outside. You may do it.
- the transmission medium may be in close contact with the outer shell of the second sealed structure over the entire end surface of the other end.
- the transmission medium may be flexible and may be deformed according to the outer shape of the outer shell so as to be in close contact with the outer shell of the second sealed structure.
- At least a portion in contact with the transmission medium may be made of a non-conductive material.
- the transmission medium may be made of synthetic resin, rubber, glass, or ceramic.
- the underwater robot is: A plurality of independent units each storing at least a single function module including a work device and a control device in a pressure-resistant waterproof case; A chassis capable of detachably attaching the independent unit; A non-conductive transmission medium that connects a plurality of independent units by contact fixing to the outside of the pressure resistant waterproof case without opening a hole in the pressure resistant waterproof case of the independent unit;
- the independent unit includes communication means capable of transmitting and receiving, and a battery for supplying power to the single function module and the communication means.
- the other independent unit having the single function module includes a communication means capable of transmitting and receiving, a power transmission receiver, and a rechargeable battery, in addition to each single function module.
- the power supply device may generate a variable magnetic field, and the power transmission receiver of the independent unit may convert the variable magnetic field into electric power and supply power to each single function module directly or via the rechargeable battery.
- the power supply device may be configured in a plurality of units so as to be able to be stacked according to the working time and load of the underwater robot.
- the chassis itself may be made of a non-conductive material, and may also transmit an electric signal between the independent units also serving as the transmission medium.
- the chassis may be made of synthetic resin, rubber, glass or ceramic.
- the independent unit storing the control device can be replaced with another independent unit having a control program for a different work purpose, and other single function modules can be replaced according to the work purpose. Also good.
- the transmission medium or the chassis may include a relay unit that receives, amplifies, and transmits an electric signal.
- the transmission medium may be made of synthetic resin, rubber, glass, or ceramic.
- the transmission means is disposed inside the sealed structure, and the electrical signal is transmitted from the transmission means by radio to the outer shell and the transmission medium of the sealed structure. And received by the receiving means at the other end of the transmission medium.
- an electrical signal can be transmitted as it is, and there is no need to convert the electrical signal into an ultrasonic wave or an optical signal as compared with an ultrasonic wave or optical communication method, and a converter is omitted And a system with a simple structure can be realized.
- the underwater communication system of the present invention is capable of using a wireless communication network system that is widely used because the transmission means can wirelessly transmit electrical signals.
- the receiving means if an information processing device with built-in wireless LAN communication means is used, the electrical signal is received like a normal wireless LAN by being installed near the other end of the transmission medium. be able to. In other words, communication can be performed directly between computers with built-in wireless LANs.
- Another advantage of the underwater communication system of the present invention is that the transmission means in the sealed structure is brought into contact with one end of the transmission medium outside the outer shell without making a hole in the outer shell of the sealed structure. That is, it is possible to transmit an electric signal transmitted wirelessly from the outside.
- the telecommunications cable When this is compared with a general telecommunications cable, the telecommunications cable must be connected to a communication device attached to the outer shell at its end, or connected to the communication means in the sealed structure through the outer shell. is there.
- a structural seam is formed in a part of the outer shell body, which is not preferable in terms of maintaining a watertight state or maintaining pressure resistance.
- the present invention can also be applied to a shell body having a seam.
- the outer shell body may be made of a conductive material such as metal, a hole is formed in a part thereof, and a nonconductive member is fitted in the hole.
- it may be an outer shell in which a window is provided in a part of a metal container. Even with such an outer shell, according to the present invention, underwater communication can be performed by bringing a non-conductive transmission medium into contact with the window.
- Another advantage of the underwater communication system of the present invention is that communication can be performed using a transmission medium having elasticity and flexibility.
- a covering material or a core material such as a telecommunication cable there is no structure such as a covering material or a core material such as a telecommunication cable, and a transmission medium having a simple structure can be used.
- the transmission medium can be configured using a material having a certain water resistance, elasticity, and flexibility, a transmission medium that is extremely suitable for use in water can be obtained.
- each single function module is stored in a pressure-resistant waterproof case to form a plurality of independent units.
- Each independent unit is detachably attached to a common chassis.
- Each independent unit is connected to another independent unit by a non-conductive transmission medium fixed in contact with the outside of the pressure-proof waterproof case without making a hole in the wall of the pressure-proof waterproof case.
- the independent unit has a communication means and a battery capable of transmitting and receiving, and the control device communicates wirelessly with other single function modules by the communication means so as to operate as an underwater robot as a whole.
- each single function module can communicate with another single function module wirelessly by the transmission medium.
- the pressure-proof waterproof case for storing the single function module can realize communication between the single function modules wirelessly without forming a hole for the telecommunication cable.
- the pressure-resistant waterproof case does not require a structural seam for telecommunications cables. For this reason, according to the present invention, each independent unit can maintain high pressure resistance and water resistance. For an underwater robot designed to hold a non-water resistant device and operate under the surface of the water, suitable functions and characteristics can be obtained.
- the exchangeability of each independent unit is remarkably improved by performing wireless communication.
- each independent unit is not connected by an electric communication cable, when replacing each independent unit, there is no disconnection or reconnection of the cable, and the replacement of the independent unit becomes extremely easy.
- the underwater robot of this aspect has an independent unit storing a power supply device, and each independent unit incorporates a power transmission receiver and a rechargeable battery in addition to each single function module and communication means. .
- the power transmission receiver of another independent unit converts the fluctuating magnetic field into electric power, charges the battery, or directly supplies power to each single function module To do.
- the aspect of the present invention for supplying power wirelessly, it is easy to replace the independent unit because it is not connected by the power cable, and it is also very easy to replace the independent unit storing the power supply device. It is.
- the independent unit of the power supply device can be easily transposed according to the working time and work load of the underwater robot in water.
- the power supply device dislikes moisture, it is possible to obtain an underwater robot that is extremely easy to handle the power supply device by storing it in a completely sealed pressure-proof waterproof case.
- each independent unit can be easily replaced.
- the single function module can be replaced.
- one underwater robot can be used as an underwater robot for a completely different work purpose.
- the chassis can also serve as a transmission medium by configuring the chassis with a non-conductive material.
- the electric signal is not significantly attenuated by water, and the electric signal is exchanged between each single function module through the chassis, so that an underwater robot having a very simple structure can be obtained.
- the block diagram of the underwater communication system by one Embodiment of this invention Sectional drawing which shows an example of the connection method to the outer shell of the one end part of the transmission medium of this invention.
- the figure which shows the structural example of the underwater communication system by this invention Explanatory drawing which shows the experimental result by which the received radio wave intensity is improved underwater by the underwater communication system of the present invention.
- Explanatory drawing which shows the experimental result by which the received radio wave intensity is improved underwater by the underwater communication system of the present invention Explanatory drawing which shows the experimental result by which the received radio wave intensity is improved underwater by the underwater communication system of the present invention.
- Explanatory drawing which shows the experimental result by which the received radio wave intensity is improved underwater by the underwater communication system of the present invention Explanatory drawing which shows the experimental result by which the received radio wave intensity is improved underwater by the underwater communication system of the present invention.
- the block diagram of the underwater communication system by other embodiment of this invention The block diagram of the underwater communication system by further another embodiment of this invention.
- 1 is a perspective view of an underwater robot according to an embodiment of the present invention.
- disassembled and showed the underwater robot of FIG. 1 is a block diagram of an underwater robot according to an embodiment of the present invention. Explanatory drawing which showed the example of a connection of a transmission medium.
- the block block diagram of the underwater robot which has a power supply device which supplies electric power by radio
- FIG. 1 shows an underwater communication system according to an embodiment of the present invention.
- the underwater communication system 1 of the present embodiment has two sealed structures 2 and 3, and the sealed structure 2 and the sealed structure 3 are connected by a transmission medium 4.
- the transmission medium 4 is non-conductive and has one end in contact with the outside of the outer shell 5.
- the sealed structure 2 has an outer shell 5 having a watertight structure and is not an essential component, but has moving means 6 and working means 7.
- the sealed structure 2 is a device designed to work underwater and is placed underwater when in use.
- the sealed structure 2 is not limited to the following, but examples include a submersible craft, a deep sea exploration craft, and an underwater work robot.
- the sealed structures 2 and 3 may be modules arranged at close distances.
- the moving means 6 and the working means 7 differ depending on the purpose of use of the sealed structure 2 and can be omitted depending on circumstances. For example, in a sealed structure that is stationary for data collection, the moving means 6 and the working means 7 can be omitted.
- An information processing device 8 and transmission means 9 are stored in the outer shell 5.
- the information processing device 8 is an information processing device including a normal computer.
- the information processing device 8 processes the data collected by the working means 7, controls the entire sealed structure 2, and performs control for communicating with the outside.
- the transmission means 9 is means for inputting data and transmitting it wirelessly, and preferably means for transmitting data under the control of the information processing device 8.
- One sealed structure 3 has the same configuration as the sealed structure 2.
- the difference between the sealed structure 3 and the sealed structure 2 is that the sealed structure 2 has the transmitting means 9 whereas the sealed structure 3 has the receiving means 10.
- At least one of the transmission unit 9 and the reception unit 10 can be a communication unit of the information processing apparatus 8.
- the transmission means 9 and the reception means 10 may be integrated as a transmission / reception means.
- the transmission means 9 and the reception means 10 can be communication means for a wireless LAN of a computer.
- the information processing device, the transmission unit, and the reception unit can be configured as one device.
- FIG. 1 shows only the case of transmitting from the transmitting means 9 of the sealed structure 2 to the receiving means 10 of the sealed structure 3, this is a system that can transmit from the sealed structure 2 to the sealed structure 3 only in one direction. It is not meant to be configured as described above, but only the case of transmitting from the sealed structure 2 to the sealed structure 3 is described in order to explain the flow of transmission. Of course, when the transmitting means 9 and the receiving means 10 are communication means capable of transmitting and receiving, it is obvious that the transmission can be transmitted from the sealed structure 3 to the sealed structure 2.
- the transmission medium 4 is made of a non-conductive material, for example, synthetic resin, rubber, glass, or ceramic.
- polyvinyl chloride for example, polyvinyl chloride, polyethylene, polypropylene, acrylic, polyacetal, polycarbonate, bakelite, or polyester can be used.
- natural rubber or synthetic rubber for example, styrene butadiene rubber, acrylonitrile butadiene rubber, chlorobrene rubber, ethylene propylene rubber, or methyl vinyl silicone rubber
- styrene butadiene rubber for example, styrene butadiene rubber, acrylonitrile butadiene rubber, chlorobrene rubber, ethylene propylene rubber, or methyl vinyl silicone rubber
- styrene butadiene rubber for example, styrene butadiene rubber, acrylonitrile butadiene rubber, chlorobrene rubber, ethylene propylene rubber, or methyl vinyl silicone rubber
- epoxy glass can be used.
- a transmission medium can be formed by connecting a plurality of materials, or a part of the transmission medium. Depending on the shape, a plurality of materials may be combined using appropriate materials, or a plurality of materials may be combined in parallel.
- connection of the transmission medium 4 is such that one end of the outer shell body 5 is contacted and fixed to the outside of the outer shell body 5 without making a hole in the outer shell body 5.
- FIG. 2A shows an example of fixing the transmission medium 4.
- a suction cup 4a is integrally formed at one end of the transmission medium 4, and the transmission medium 4 is fixed to the outer shell 5 so that the suction cup 4a is adsorbed from the outside. .
- the outer shell body 5 is not pierced. That is, the outer shell 5 can be made to have no structural seam at the connection portion of the transmission medium 4.
- the fixing method of the transmission medium 4 is not limited to the above.
- the transmission medium 4 may be fixed to the outer shell 5 using an adhesive or the like.
- transmission means 9 may not be in contact with the outer shell 5 as shown in FIG. 2A.
- the other end of the transmission medium 4 is contacted and fixed to the outer side without making a hole in the outer shell 5 of the sealed structure 3 in the same manner as the one end.
- the transmission medium 4 only needs to be in contact with the outside of the outer shell at one end and the other end, and is not necessarily fixed to the outer shell 5.
- the transmission medium 4 may be simply placed on the upper surface of the substantially rectangular parallelepiped outer shell body 5.
- FIG. 2B shows a configuration example of the underwater communication system according to the present invention.
- the moving means 6 and the working means 7 are omitted.
- the sealed structures 2 and 3 have a substantially rectangular parallelepiped outer shell 5, and the transmission medium 4 is configured in an L shape. In this way, when the transmission medium 4 is provided with a bent portion, the received radio wave intensity is reduced. However, as shown by the broken line R in FIG. 2B (a), the reception medium 4 is received by dropping the corner of the transmission medium 4 to form a curved surface. The radio field intensity can be improved.
- the sealed structures 2 and 3 have a spherical outer shell 5, and the transmission medium 4 connects the two spherical outer shells 5.
- the outer shell 5 is a glass spherical shell, for example.
- the sealed structures 2 and 3 have a substantially rectangular parallelepiped outer shell body 5, and the transmission medium 4 is placed on the upper surface of the outer shell body 5.
- the transmission medium 4 is in close contact with the outer shell 5 over the entire end surface of the end.
- the outer shell 5 has a curved surface as in the configuration example shown in FIG. 2B (b)
- a material made of a flexible material as the transmission medium 4.
- the flexible transmission medium 4 is deformed according to the outer shape of the outer shell body 5, and the transmission medium 4 is in close contact with the outer shell body 5 over the entire end surface.
- the radio wave intensity received by the receiving means 10 can be improved.
- a portion in contact with the transmission medium 4 in the outer shell 5 is made of a non-conductive material (for example, synthetic resin, rubber, glass, or ceramic).
- synthetic resin for example, polyvinyl chloride, polyethylene, polypropylene, acrylic, polyacetal, polycarbonate, bakelite, or polyester can be used.
- rubber natural rubber or synthetic rubber (for example, styrene-butadiene rubber, acrylonitrile butadiene rubber, chlorobrene rubber, ethylene propylene rubber, or methyl vinyl silicone rubber) can be used. is there.
- the radio wave intensity received by the receiving means 10 can be improved by configuring the contact portion with a non-conductive material.
- communication can be performed with significantly less attenuation than attenuation by water.
- the underwater communication system 1 is disposed underwater as a whole, and an electrical signal is transmitted wirelessly from the transmission means 9 inside the sealed structure 2, and the electrical signal is transmitted to the outer shell 5 of the sealed structure 2. It is transmitted by the medium 4, transmitted to the outer shell 5 of the sealed structure 3, and wirelessly transmitted to the inside of the sealed structure 3. Inside the sealed structure 3, telecommunication can be intercepted by the receiving means 10.
- the attenuation of the radio wave intensity according to the present invention is compared with the attenuation of the radio wave intensity in water.
- FIGS. 3A to 3C show how much the radio wave intensity transmitted in seawater is attenuated by the transmission medium for each of various materials.
- FIG. 3A to FIG. 3C a schematic configuration of the underwater communication system used for each measurement is shown on a table showing experimental results.
- a small personal computer was used as the transmission source, and a waterproof case made of resin (polypropylene) was used as the outer shell of the watertight structure.
- the size of the waterproof case is 200 [mm] * 150 [mm] * 55 [mm].
- the wireless LAN communication means attached to the computer was used to transmit a certain intensity of radio waves, and the computer was stored in a waterproof case.
- the waterproof case (sealed structure) containing the computer is submerged 100mm below the surface of the water (80mm for bricks).
- the radio wave was transmitted from the communication means of the computer, and the received radio wave intensity was measured on the water surface.
- the table in FIG. 3A shows the measured received radio wave intensity for each material of the transmission medium.
- a plate-shaped medium having a size of 200 [mm] * 200 [mm] * 20 [mm] was used as the transmission medium other than brick.
- the contact area between the transmission medium and the sealed structure is 200 * 20 [mm 2 ].
- the contact area in the case of brick is 50 * 80 [mm 2 ].
- the transmission medium is natural rubber or synthetic rubber (styrene-butadiene rubber, acrylonitrile-butadiene rubber, chlorobrene rubber, ethylene-propylene rubber, methyl-vinyl-silicone rubber).
- the container and computer were submerged 100 [mm] below the surface of the water, the received radio wave intensity of about -60 [dB] could be measured.
- the received radio field intensity of about -77 [dB] could be measured.
- the received radio wave intensity of about -70 [dB] could be measured.
- FIG. 3B two sealed structures connected by a transmission medium having a length of 200 [mm] were submerged in seawater. Then, radio waves were transmitted to one sealed structure, and radio waves propagated through the transmission medium were received by the other sealed structure.
- the table of FIG. 3B shows the measured received radio wave intensity for each material of the transmission medium.
- the transmission medium is a plate having a size of 200 [mm] * 200 [mm] * 20 [mm].
- the contact area between the transmission medium and the sealed structure is 200 * 20 [mm 2 ].
- the transmission medium is either natural rubber or synthetic rubber (styrene butadiene rubber, acrylonitrile butadiene rubber, chlorobrene rubber, ethylene propylene rubber, methyl vinyl vinyl silicone rubber).
- synthetic rubber styrene butadiene rubber, acrylonitrile butadiene rubber, chlorobrene rubber, ethylene propylene rubber, methyl vinyl vinyl silicone rubber.
- the transmission medium was placed on the two sealed structures separated by a distance of 100 mm. Then, radio waves were transmitted to one sealed structure, and radio waves propagated through the transmission medium were received by the other sealed structure.
- the table in FIG. 3C shows the measured received radio wave intensity for each material of the transmission medium.
- a plate-shaped medium having a size of 200 [mm] * 200 [mm] * 8 [mm] was used.
- the contact area between the transmission medium and the sealed structure is 200 * 50 [mm 2 ].
- the received radio wave intensity of ⁇ 85 [dB] or more could be measured.
- the transmission medium was glass (epoxy glass)
- the received radio wave intensity of about -82.5 dB could be measured.
- the reception success rate exceeds 85% until the received radio wave intensity is about -88 [dB], and it has been confirmed by other experiments that it can withstand practical use. For this reason, it turns out that attenuation is remarkably reduced by using a nonelectroconductive transmission medium as mentioned above, and underwater communication is attained.
- FIG. 4 shows another embodiment of the present invention.
- FIG. 4 shows an underwater communication system that transmits information of the sealed structure 11 that is active in the water to the receiving means on the water surface, rather than communication between the sealed structures.
- FIG. 4 shows only the case of transmission from underwater to the water surface, but by providing a transmission / reception means, transmission from the water surface to underwater can be performed.
- This underwater communication system has a sealed structure 11 in water, a receiving base 12 on the surface of the water, and a transmission medium 13 between them.
- the sealed structure 11 includes an outer shell 5, a moving means 6 that is not an essential component, and a working means 7.
- an information processing device 8 and a transmission means 9 are stored.
- the receiving base 12 has a floating body 14 and receiving means 15.
- One end of the transmission medium 13 is in contact with the outside of the outer shell 5 without making a hole in the outer shell 5 of the sealed structure 11.
- the other end of the transmission medium 13 is supported by the floating body 14 so as to protrude from the water surface.
- the receiving means 15 is provided on the floating body 14 in the vicinity of the other end of the transmission medium 13.
- the information collected by the underwater sealed structure 11 is wirelessly transmitted by the transmission means 9, and the electric signal is transmitted from the other end of the floating body 14 on the water surface through the transmission medium 13. And can be received by the receiving means 15.
- FIG. 5 shows an underwater communication system according to another embodiment of the present invention that does not use the floating body 14.
- the airtight structure 16 is provided, and the transmission medium 17 is erected on the airtight structure 16. Since the structure of the sealed structure 16 is the same as that of the sealed structures 2 and 11, a duplicate description is omitted.
- the floating structure 14 is not used, and the sealed structure 16 navigates below the surface of the water at a low depth so that the transmission medium 17 protrudes above the surface of the water.
- the information collected by the sealing structure 16 is wirelessly transmitted from the transmission means 9, and this electrical signal is wirelessly transmitted to the air from the end of the transmission medium 17 projecting on the water surface through the transmission medium 17. Is done.
- FIG. 6 shows still another embodiment of the present invention.
- the embodiment of FIG. 6 differs from the underwater communication system of FIG. 4 in that the transmission medium 13 includes a relay unit 18 that receives and amplifies an electrical signal every predetermined length.
- a relay unit 19 is provided instead of the reception unit 15 on the reception base 12.
- the relay means 18 since the relay means 18 is provided in a portion of the transmission medium 13 at a certain length, an electric signal can be transmitted through the long-distance transmission medium 13.
- the relay means 19 on the receiving base 12 can transmit information to a receiving base at a long distance by using a relatively high output one.
- single-function modules such as work devices, power supply devices, and control devices are attached to a common chassis as independent units, and the non-waterproof part of each independent unit is stored in a pressure-resistant waterproof case.
- the communication is performed wirelessly, and the operation of each independent unit is controlled by a control device.
- FIG. 7 shows an underwater robot according to an embodiment of the present invention.
- the underwater robot 21 of the present embodiment includes an independent unit 22 for a working device, an independent unit 23 for a horizontal propulsion device, an independent unit 24 for a vertical propulsion device, and a chassis to which these independent units can be detachably attached. And have.
- the chassis is configured to be divided into a lower chassis 25 and an upper chassis 26.
- the “work” of the work device is to collect only data without affecting the other things, when changing the state by acting on other things. Including both cases.
- the independent unit 22 of the work apparatus is equipped with a camera for the purpose of obtaining visual images, for example, with various sensors for the purpose of acquiring specific data, and for the purpose of collecting things.
- a manipulator can be mounted.
- the independent unit 23 of the horizontal direction propulsion device has four units and is divided into left and right and up and down so that it can be propelled in the horizontal direction and propelled at an angle.
- the independent units 23 of the horizontal direction propulsion device are each formed in a columnar shape so that it can be fitted into a cylindrical portion at the rear of the lower chassis 25.
- the independent unit 24 of the vertical direction propulsion device includes a screw provided in a cylindrical casing and is formed so as to be fitted inside the cylindrical portion of the upper chassis 26.
- the propulsion device is included in the moving means of the superordinate concept, and the moving means may be a wheel, a caterpillar or the like instead of the screw as necessary, but may be omitted like a stationary underwater robot.
- FIG. 8 is an exploded view of the underwater robot 21 of FIG. In FIG. 8, the upper chassis 26 is shown to be disassembled and located above.
- the upper chassis 26 is partially connected to the independent unit 24 of the vertical propulsion device, but the lower chassis 25 is connected to all the independent units.
- the underwater robot 21 has an independent unit 27 of a control device inside.
- the independent unit 22 of the working device is formed in a cylindrical shape as a whole, and is detachably fitted in the ring 28 at the front portion of the lower chassis 25.
- the independent unit 27 of the control device is formed in a flat cylindrical shape as a whole, and is detachably fitted in the recess 29 in the central portion of the lower chassis 25.
- the above-described work device, propulsion device, and control device are component devices that exhibit specific functions and are grouped into one component, and are referred to as “single function module” in this specification.
- the single function module is housed in a pressure-resistant waterproof case and is configured as a physically independent unit.
- this physically independent unit is referred to as an “independent unit”.
- FIG. 9 shows a block configuration of the underwater robot 21.
- the independent units 23 and 24 of the propulsion device are shown as two blocks for conceptual illustration.
- the independent unit 22 of the work apparatus stores a communication means 22c capable of transmitting and receiving, and a battery 22d, in addition to the work apparatus 22b, in a pressure-resistant waterproof case 22a.
- the independent units 23 and 24 of the propulsion device store communication means 23c and 24c capable of transmitting and receiving, and batteries 23d and 24d, in addition to the propulsion devices 23b and 24b, in the pressure-proof waterproof cases 23a and 24a.
- the independent unit 27 of the control device stores the communication means 27c and the battery 27d in addition to the control device 27b in the pressure resistant waterproof case 27a.
- At least a portion in contact with the transmission medium 30 is preferably made of a non-conductive material (for example, synthetic resin, rubber, glass, or ceramic).
- a non-conductive material for example, synthetic resin, rubber, glass, or ceramic.
- synthetic resin for example, polyvinyl chloride, polyethylene, polypropylene, acrylic, polyacetal, polycarbonate, bakelite, or polyester can be used.
- rubber natural rubber or synthetic rubber (for example, styrene-butadiene rubber, acrylonitrile butadiene rubber, chlorobrene rubber, ethylene propylene rubber, or methyl vinyl silicone rubber) can be used. is there.
- the contact portion with a non-conductive material, the received radio wave intensity can be improved.
- the transmission medium 30 can be appropriately laid on the lower chassis 25 and the upper chassis 26.
- the transmission medium 30 is made of a non-conductive material, for example, synthetic resin, rubber, glass, or ceramic.
- polyvinyl chloride for example, polyvinyl chloride, polyethylene, polypropylene, acrylic, polyacetal, polycarbonate, bakelite, or polyester can be used.
- natural rubber or synthetic rubber for example, styrene butadiene rubber, acrylonitrile butadiene rubber, chlorobrene rubber, ethylene propylene rubber, or methyl vinyl silicone rubber
- styrene butadiene rubber for example, styrene butadiene rubber, acrylonitrile butadiene rubber, chlorobrene rubber, ethylene propylene rubber, or methyl vinyl silicone rubber
- glass for example, epoxy glass can be used.
- connection of the transmission medium 30 is fixed to the outside of the pressure-proof waterproof cases 22a, 23a, 24a, 27a without making holes in the pressure-proof waterproof cases 22a, 23a, 24a, 27a.
- FIG. 10 shows an example of fixing the transmission medium 30.
- one end portion of the transmission medium 30 is formed on the suction cup 30a, and the suction cup 30a is fixed to the pressure-proof and waterproof case 22a, 23a, 24a, 27a from the outside.
- the pressure-proof waterproof case 22a, 23a, 24a, 27a is not punched. That is, the pressure-proof waterproof cases 22a, 23a, 24a, and 27a can be made to have no structural seam at the connection portion of the transmission medium 30.
- the communication means 22c, 23c, 24c, and 27c may not be in contact with the pressure-proof waterproof cases 22a, 23a, 24a, and 27a as shown in FIG.
- the underwater robot 21 is disposed underwater as a whole, and electrical signals are transmitted and received wirelessly from the communication means 22c, 23c, 24c, and 27c inside the independent unit, and the electrical signals are pressure-resistant waterproof cases 22a, 23a, and 24a.
- 27a and the transmission medium 30 are transmitted to the pressure-resistant waterproof cases 22a, 23a, 24a, 27a of the other independent units and wirelessly transmitted to the inside, and are transmitted by the communication means 22c, 23c, 24c, 27c of the other independent units. Intercepted.
- the underwater robot 21 is configured such that the communication means 27c of the independent unit 27 of the control device and the communication means 22c, 23c, 24c of the other independent units 22, 23, 24 communicate with each other.
- the control device 27b can control the other single-function modules 22b, 23b, and 24b to control the overall operation of the underwater robot 21.
- each pressure-resistant waterproof case does not have a hole for the cable, and is excellent in pressure resistance and water resistance. Further, the suction cup 30a has an advantage that the transmission medium 30 can be easily attached and detached.
- each independent unit can be configured as completely independent. “Completely independent” means that there is no connection cable for the transmission medium and no power cable for supplying power.
- FIG. 11 shows a block diagram of an underwater robot in which each independent unit is completely independent.
- the chassis 25 and 26 are made of a non-conductive material, for example, synthetic resin, rubber, glass, or ceramic, instead of the connection cable for the transmission medium (the transmission medium 30 in FIG. 9).
- polyvinyl chloride for example, polyvinyl chloride, polyethylene, polypropylene, acrylic, polyacetal, polycarbonate, bakelite, or polyester can be used.
- natural rubber or synthetic rubber for example, styrene butadiene rubber, acrylonitrile butadiene rubber, chlorobrene rubber, ethylene propylene rubber, or methyl vinyl silicone rubber
- styrene butadiene rubber for example, styrene butadiene rubber, acrylonitrile butadiene rubber, chlorobrene rubber, ethylene propylene rubber, or methyl vinyl silicone rubber
- glass for example, epoxy glass can be used.
- the underwater robot 31 shown in FIG. 11 has a rechargeable battery in place of each independent unit, and an independent unit 32 of a power supply device that supplies power to the independent unit.
- the underwater robot 31 can operate for a long time by using a large-capacity power supply device and does not have a power cable for supplying power.
- the independent unit 32 of the power supply device stores a power supply device 32b, a communication means 32c, and a variable magnetic field generation means 32d that generates a variable magnetic field in the pressure-proof waterproof case 32a.
- the independent unit 22 of the work device has a rechargeable battery 22d 'and a power transmission receiver 22e.
- the independent units 23 and 24 of the propulsion device include rechargeable batteries 23d 'and 24d' and power transmission receivers 23e and 24e.
- the independent unit 27 of the control device has a rechargeable battery 27d 'and a power transmission receiver 27e.
- the electrical signals of the communication means 22c, 23c, 24c, 27c, 32c of each independent unit are exchanged via the chassis 25, 26 made of non-conductive material.
- the connection cable for the medium can be omitted.
- power can be supplied to each single function module without the need for a power cable as follows.
- the independent unit 32 of the power supply device generates a magnetic field that fluctuates by the fluctuating magnetic field generating means 32d according to a command from the control device 27b via the communication means 32c.
- the power transmission receivers 22e, 23e, 24e, and 27e of each independent unit convert the fluctuating magnetic field into electric power and supply electric power directly or indirectly to each single function module.
- the rechargeable batteries 22d ′, 23d ′, 24d ′, and 27d ′ are charged with the power acquired by the power transmission receiver, and the rechargeable batteries 22d ′, 23d ′, 24d ′, and 27d are charged. 'Is to supply power to each single function module.
- each independent unit can simply communicate with the chassis 25 and 26 and receive power supply.
- each independent unit is not connected by a telecommunication cable, a connection cable for a transmission medium, or a power cable, the independent unit may be simply replaced.
- the independent unit 32 of the power supply can be easily replaced.
- the independent unit 32 of the power supply device can be simply replaced according to the working time and work load in the water.
- the independent unit 32 of the power supply unit is a unit that can supply power for a certain period of time and a plurality of such power supply units are provided, the power supply units can be increased or decreased according to the working time and load of the underwater robot. can do.
- the underwater robot 31 of the present embodiment can replace the independent unit 27 of the control device for different work purposes.
- the independent unit 27 of the control device can be easily replaced with an independent unit of another control device equipped with a different control program.
- independent units of other single-function modules can be easily replaced according to the purpose of the work.
- FIG. 12 shows a modification of the underwater robot 31 of FIG.
- the relay means 33 has a function of receiving, amplifying and transmitting an electric signal.
- the communication function of each single function module becomes more reliable by providing the relay means 33 at places in the chassis.
- the relay means 33 is provided in the chassis 25 and 26.
- the relay means 33 may be provided at various locations of the transmission medium using connection cables for the transmission medium.
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Abstract
Description
水密構造の外殻体を有し、かつ水中に配置される密閉構造体と、
前記密閉構造体内に配置された無線送信可能な送信手段と、
前記外殻体の外側に一端部を接触させた非導電性の伝達媒体と、
前記送信手段から無線により送信され、前記密閉構造体の外殻体および前記伝達媒体によって伝達された電気信号を、前記外殻体から遠位の前記伝達媒体の他端部から受信する受信手段と、
を備える。
前記伝達媒体の一端部は、前記密閉構造体の外殻体に穴を開けることなく、前記外殻体に固定されていてもよい。
前記伝達媒体の一端部に吸盤が一体的に形成され、前記伝達媒体は、前記外殻体に対してその外側から前記吸盤を吸着させるようにして固定されていてもよい。
前記伝達媒体は、前記一端部の端面全体で前記密閉構造体の外殻体に密着していてもよい。
前記伝達媒体は、可撓性を有し、前記外殻体に密着するように前記外殻体の外側の形状に応じて変形していてもよい。
前記密閉構造体の外殻体のうち少なくとも前記伝達媒体と接触する部分は、非導電性の材料からなるようにしてもよい。
前記非導電性の材料は、合成樹脂、ゴム、ガラス、またはセラミックからなるようにしてもよい。
前記電気信号を受信するところの前記伝達媒体の他端部は、水面から突出し、
前記送信手段から送信された電気信号は、前記水面から突出した前記伝達媒体の他端部の近傍に設けられた無線受信可能な受信手段によって受信されるようにしてもよい。
前記受信手段は、水密構造の外殻体を有し、かつ水中に配置される第二の密閉構造体の内部に格納され、
前記伝達媒体の他端部は、前記第二の密閉構造体の外殻体の外側に接触しているようにしてもよい。
前記伝達媒体の他端部は、前記第二の密閉構造体の外殻体に穴を開けることなく、前記外殻体に固定されているようにしてもよい。
前記伝達媒体の他端部に吸盤が一体的に形成され、前記伝達媒体は、前記第二の密閉構造体の外殻体に対してその外側から前記吸盤を吸着させるようにして固定されているようにしてもよい。
前記伝達媒体は、前記他端部の端面全体で前記第二の密閉構造体の外殻体に密着しているようにしてもよい。
前記伝達媒体は、可撓性を有し、前記第二の密閉構造体の外殻体に密着するように前記外殻体の外側の形状に応じて変形しているようにしてもよい。
前記第二の密閉構造体の外殻体のうち少なくとも前記伝達媒体と接触する部分は、非導電性の材料からなるようにしてもよい。
前記伝達媒体は、合成樹脂、ゴム、ガラス、またはセラミックからなるようにしてもよい。
少なくとも作業装置と制御装置を含む単機能モジュールをそれぞれ耐圧防水ケースに格納した複数の独立ユニットと、
前記独立ユニットを着脱可能に取り付けることができるシャシーと、
前記独立ユニットの耐圧防水ケースに穴を開けることなく、前記耐圧防水ケースの外側に接触固定させることにより複数の独立ユニットを接続する非導電性の伝達媒体と、を有し、
前記独立ユニットは、それぞれの単機能モジュールの他に、送受信可能な通信手段と、前記単機能モジュールおよび前記通信手段に電力を供給する電池とを内蔵し、
前記制御装置を格納した独立ユニットの通信手段と、他の単機能モジュールを格納した独立ユニットの通信手段とを介して通信をすることにより、制御装置が他の単機能モジュールを制御して水中ロボットとしての全体の作動を制御する、ことを特徴とする。
電源装置を格納した独立ユニットを有し、
前記単機能モジュールを有する他の独立ユニットは、それぞれの単機能のモジュールの他に、送受信可能な通信手段と、電力伝達レシーバーと、充電可能な充電池とを内蔵し、
前記電源装置が変動磁界を生成し、前記独立ユニットの電力伝達レシーバーが前記変動磁界を電力に変換し、直接あるいは前記充電池を介して各単機能モジュールに電力を供給するようにしてもよい。
前記電源装置は、水中ロボットの作業時間や負荷に応じて積み増し可能に複数のユニットに構成されているようにしてもよい。
前記シャシー自体が非導電性材料からなり、前記伝達媒体の機能を兼ねて各独立ユニット間の電気信号を伝達するようにしてもよい。
前記シャシーは、合成樹脂、ゴム、ガラスまたはセラミックからなるようにしてもよい。
前記制御装置を格納した独立ユニットは、異なる作業目的のための制御プログラムを搭載した他の独立ユニットに交換可能であり、該作業目的に応じて他の単機能モジュールが交換可能であるようにしてもよい。
前記伝達媒体または前記シャシーは、電気信号を受信し増幅して送信する中継手段を有してもよい。
前記伝達媒体は、合成樹脂、ゴム、ガラスまたはセラミックからなるようにしてもよい。
2 密閉構造体
3 密閉構造体
4 伝達媒体
4a 吸盤
5 外殻体
6 移動手段
7 作業手段
8 情報処理装置
9 送信手段
10 受信手段
11 密閉構造体
12 受信基地
13 伝達媒体
14 浮遊体
15 受信手段
16 密閉構造体
17 伝達媒体
18 中継手段
19 中継手段
21 水中ロボット
22 作業装置の独立ユニット
22a 耐圧防水ケース
22b 作業装置
22c 通信手段
22d 電池
22d’ 充電池
22e 電力伝達レシーバー
23 水平方向推進装置の独立ユニット
23a 耐圧防水ケース
23b 推進装置
23c 通信手段
23d 電池
23d’ 充電池
23e 電力伝達レシーバー
24 垂直方向推進装置の独立ユニット
24a 耐圧防水ケース
24b 推進装置
24c 通信手段
24d 電池
24d’ 充電池
24e 電力伝達レシーバー
25 下部シャシー
26 上部シャシー
27 制御装置の独立ユニット
27a 耐圧防水ケース
27b 制御装置
27c 通信手段
27d 電池
27d’ 充電池
27e 電力伝達レシーバー
28 リング
29 凹部
30 伝達媒体
30a 吸盤
31 水中ロボット
32 電源装置の独立ユニット
32a 耐圧防水ケース
32b 電源装置
32c 通信手段
32d 変動磁界生成手段
33 中継手段
Claims (15)
- 水密構造の外殻体を有し、かつ水中に配置される密閉構造体と、
前記密閉構造体内に配置された無線送信可能な送信手段と、
前記外殻体の外側に一端部を接触させた非導電性の伝達媒体と、
前記送信手段から無線により送信され、前記密閉構造体の外殻体および前記伝達媒体によって伝達された電気信号を、前記外殻体から遠位の前記伝達媒体の他端部から受信する受信手段と、
を備える水中通信システム。 - 前記伝達媒体の一端部は、前記密閉構造体の外殻体に穴を開けることなく、前記外殻体に固定されている、請求項1記載の水中通信システム。
- 前記伝達媒体の一端部に吸盤が一体的に形成され、前記伝達媒体は、前記外殻体に対してその外側から前記吸盤を吸着させるようにして固定されている、請求項2記載の水中通信システム。
- 前記伝達媒体は、前記一端部の端面全体で前記密閉構造体の外殻体に密着している、請求項1記載の水中通信システム。
- 前記伝達媒体は、可撓性を有し、前記外殻体に密着するように前記外殻体の外側の形状に応じて変形している、請求項4記載の水中通信システム。
- 前記密閉構造体の外殻体のうち少なくとも前記伝達媒体と接触する部分は、非導電性の材料からなる、請求項1に記載の水中通信システム。
- 前記非導電性の材料は、合成樹脂、ゴム、ガラス、またはセラミックからなる、請求項6記載の水中通信システム。
- 前記電気信号を受信するところの前記伝達媒体の他端部は、水面から突出し、
前記送信手段から送信された電気信号は、前記水面から突出した前記伝達媒体の他端部の近傍に設けられた無線受信可能な受信手段によって受信される、請求項1記載の水中通信システム。 - 前記受信手段は、水密構造の外殻体を有し、かつ水中に配置される第二の密閉構造体の内部に格納され、
前記伝達媒体の他端部は、前記第二の密閉構造体の外殻体の外側に接触している、請求項1記載の水中通信システム。 - 前記伝達媒体の他端部は、前記第二の密閉構造体の外殻体に穴を開けることなく、前記外殻体に固定されている、請求項9記載の水中通信システム。
- 前記伝達媒体の他端部に吸盤が一体的に形成され、前記伝達媒体は、前記第二の密閉構造体の外殻体に対してその外側から前記吸盤を吸着させるようにして固定されている、請求項10記載の水中通信システム。
- 前記伝達媒体は、前記他端部の端面全体で前記第二の密閉構造体の外殻体に密着している、請求項9記載の水中通信システム。
- 前記伝達媒体は、可撓性を有し、前記第二の密閉構造体の外殻体に密着するように前記外殻体の外側の形状に応じて変形している、請求項12記載の水中通信システム。
- 前記第二の密閉構造体の外殻体のうち少なくとも前記伝達媒体と接触する部分は、非導電性の材料からなる、請求項9記載の水中通信システム。
- 前記伝達媒体は、合成樹脂、ゴム、ガラス、またはセラミックからなる、請求項1記載の水中通信システム。
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CA2852392A CA2852392C (en) | 2011-09-16 | 2012-09-14 | Underwater communication system |
US14/345,015 US9306677B2 (en) | 2011-09-16 | 2012-09-14 | Underwater communication system |
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Also Published As
Publication number | Publication date |
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US9306677B2 (en) | 2016-04-05 |
CN103814536B (zh) | 2015-07-15 |
EP2757710A4 (en) | 2015-06-10 |
US20140340995A1 (en) | 2014-11-20 |
EP2757710A1 (en) | 2014-07-23 |
CN103814536A (zh) | 2014-05-21 |
JP5761829B2 (ja) | 2015-08-12 |
EP2757710B1 (en) | 2019-07-03 |
CA2852392C (en) | 2020-08-04 |
CA2852392A1 (en) | 2013-03-21 |
JPWO2013039222A1 (ja) | 2015-03-26 |
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