Patent Grant
8683938
The present invention relates to an underwater posture stabilization system for stabilizing the underwater posture of various underwater equipment such as submersibles, underwater robots, and scuba diving equipment to be used for imaging and exploration in water and at the bottom of seas and oceans, rivers, lakes and marshes, dams, etc., ship bottom surveys, and the like and a diving apparatus equipped with the same.
Conventionally, diving apparatuses such as unmanned and manned submersibles and underwater robots that, for surveys of seas and oceans, rivers, lakes and marshes, dams, etc., and inspections of vessels such as shrouds of nuclear power plants, water tanks, and tanks, etc., and the like, perform information detection in water and at the bottom of a body of water and inspections, repair, and the like of target sites have been used. Moreover, scuba diving equipment equipped with an oxygen tank, regulator, and the like have been known as diving apparatuses which persons wear, wearing the diving apparatuses allow persons to dive, and the diving apparatuses have been used for performing imaging and exploration in water and at the bottom of a body of water and the like.
In order to prevent an image imaged by a camera, a video camera, or the like from blurring or shaking during low-speed traveling and during suspension in such diving apparatuses, and allow a fixed point observation using an environmental sensor, a variety of techniques for stably controlling posture have been developed.
As a conventional technique, there has been disclosed in (Patent Literature 1) “a method for stabilizing the posture of undersea equipment by jetting a fluid from a plurality of jet nozzles based on information from a sensor such as an inclinometer provided in undersea equipment to manipulate the posture of undersea equipment.”
There has been disclosed in (Patent Literature 2) “an apparatus for controlling the position and posture of an underwater vehicle including comparison means that compares the position and posture of an underwater vehicle with the position and posture detected by an inertial sensor, and thruster rotation amount control means that controls thrust by a thruster based on a comparison result by the comparison means.”
Patent Literature 1: Japanese Published Unexamined Patent Application No. H09-24895
Patent Literature 2: Japanese Published Unexamined Patent Application No. 2006-224863
However, the above-mentioned conventional techniques have had the following problems.
(1) Since the techniques disclosed in (Patent Literature 1) and (Patent Literature 2) are both for controlling the posture by jetting a fluid or rotating a thruster based on information of an inclinometer or an inertial sensor, there is a time lag after detecting position information or posture information until activating the thruster or the like to change the position or posture, and thus posture control has been difficult in the presence of complicated tidal currents and pulsating currents. Therefore, these techniques can be used only in lakes and marshes, dams, etc., with a small and gentle current, and there has been a problem of a lack of versatility.
(2) Since the undersea equipment and underwater vehicles have different shapes and positions of the center of gravity according to their purpose and the like, designing complex control systems individually has been necessary. Therefore, there has been a problem that designing control systems is troublesome and takes many man-hours.
(3) With the sophistication and downsizing of batteries to be mounted on submersibles, downsized submersibles have been designed and manufactured. Since the more the submersible is downsized, the more difficult it is to change the center of gravity or center of buoyancy position by a buoyancy control device built in the submersible, there has been a problem that the stability of the posture is reduced during low-speed traveling and during suspension. Moreover, due to high-definition underwater imagers such as cameras and video cameras that image the states in water, a large amount of information has come to be obtained, but since an image is blurred and a clear image with a high resolution cannot be obtained when shaking occurs during imaging, there has been a problem in reducing the amount of information that can be obtained. Therefore, it has been demanded to establish a technique that allows stably maintaining the posture during imaging.
(4) A submersible is generally mounted with an angle control device for raising and lowering the bow in water to keep its angle constant. As an angle control device, for example, one including a long lead screw arranged across the front and rear direction of the inside of a submersible body, a control weight provided therethrough with the lead screw and formed with a female screw screwed with the lead screw, and a motor for rotating the lead screw is used. The motor is driven to rotate the lead screw to thereby move the control weight back and forth, and raise and lower the bow, so that its angle can be kept constant. However, since the control weight must be mounted on the submersible body, this has been an obstacle in reducing the weight of the submersible, and has also been an obstacle in downsizing the submersible.
The present invention has been made for solving the conventional problems described above, and an object thereof is to provide an underwater posture stabilization system which, by being attached to various underwater equipment such as undersea equipment and underwater vehicles having different shapes and positions of the center of gravity according to their purpose and the like, allows simply and reliably setting their posture in water (basic posture), is excellent in versatility, is not only excellent in posture stability since, when the posture inclines under the effect and the like of tidal currents and pulsating currents, a moment to restore the posture to its original posture naturally acts, but is also capable of easily changing the posture as needed, and also is capable of stably controlling the posture even in the presence of complicated tidal currents and pulsating currents, and is excellent in reliability, stability, and certainty of posture control, and further provide a diving apparatus which, by including the underwater posture stabilization system, allows considerably reducing the man-hours regarding design for posture stabilization in stand-alone underwater equipment, allows downsizing and weight reduction of the body of the underwater equipment, and is excellent in stability of an underwater posture, and efficiency of a diving operation.
An underwater posture stabilization system and a diving apparatus equipped with the same of the present invention have the following configurations in order to solve the conventional problems described above.
An underwater posture stabilization system according to a first aspect of the present invention, which is an underwater posture stabilization system to be attached to various underwater equipment such as submersibles, underwater robots, and scuba diving equipment to be used for imaging and exploration in water and at the bottom of seas and oceans, rivers, lakes and marshes, dams, etc., ship bottom surveys, and the like, includes a frame to be attached to an apparatus body of the underwater equipment, a pair of sliding portions arranged so as to be freely movable back and forth on both side portions of the frame, a support member freely movable up and down which is fixed at a lower end portion thereof to each sliding portion, and arranged upward or obliquely upward, and a floating body arranged at a tip or longitudinally in the middle of each support member.
With this configuration, the following effects are obtained.
(1) By including the frame to be attached to the apparatus body of underwater equipment, the underwater posture stabilization system can be simply attached to the apparatus body of existing various underwater equipment without including posture control means to stabilize their underwater posture, and thus versatility is excellent.
(2) By including the pair of sliding portions arranged so as to be freely movable back and forth on both side portions of the frame, the support member freely movable up and down which is fixed at a lower end portion thereof to each sliding portion, and arranged upward or obliquely upward, and the floating body arranged at the tip or longitudinally in the middle of each support member, the underwater posture stabilization system, by moving the sliding portion back and forth and moving the support member up and down according to the position of the center of gravity of the apparatus body of the underwater equipment, can simply adjust the position in the back and forth direction and up and down direction of the floating body, is capable of setting the basic posture of the apparatus body before dropping into the water, and can adjust a restoring force when the posture in water is inclined under the effect and the like of waves based on the position of the floating body, and is thus excellent in versatility and usability.
(3) Since the support members on which the floating bodies are arranged are arranged upward or obliquely upward from the sliding portions on both side portions of the frame, by attaching the underwater posture stabilization system to the apparatus body of the diving apparatus or the like, the metacenter height can be freely adjusted to locate the center of buoyancy higher than the center of gravity so as to make the buoyancy act from above both sides of the apparatus body, and when the apparatus as a whole inclines under the effect and the like of tidal currents and pulsating currents, a moment (restoring force) for restoring the inclination largely acts, so that a stable posture of the apparatus body can always be maintained, and thus the posture stability is excellent.
(4) Since the underwater posture stabilization system is not for controlling the posture by jetting a fluid or rotating a thruster based on information of an inclinometer or an inertial sensor, a stable posture can be maintained even in the presence of complicated tidal currents and pulsating currents, and therefore, the underwater posture stabilization system can be used not only in lakes and marshes, dams, etc., with a small and gentle current, but also in seas and oceans, rivers, etc., and thus versatility is excellent.
(5) Regardless of the shape, size, etc., of the apparatus body of the underwater equipment, it suffices to carry out design and position setting of the floating body in consideration of the positional relationship between the center of gravity and center of buoyancy of the apparatus body, and since it is not necessary to consider the position of the center of gravity while designing apparatus bodies and complex posture control systems individually for each underwater equipment, the man-hours regarding design for posture stabilization in the underwater equipment can be considerably reduced to improve the freedom of design and mass productivity of the underwater equipment.
(6) Since the underwater posture stabilization system, when attached to a submersible, can keep the angle (posture) of the apparatus body in water constant due to the buoyancy and position of the floating body, it is not necessary for the apparatus body to be mounted with an angle control device or the like including a control weight, so that the apparatus body can be reduced in size and weight and multi-functionalized.
(7) By the floating bodies being arranged on both side portions of the frame, when the underwater posture stabilization system is attached to the apparatus body, the two left and right floating bodies and the apparatus body reach a state like a balancing toy turned upside down, and when the apparatus body shakes to deviate from the center, since the metacenter height can be set high, the apparatus body is drawn back to the center due to buoyancy applied to the floating bodies, so that a stable posture can be maintained. Particularly, when the support members are arranged obliquely upward, the floating bodies can be made to overhang at both lateral sides of the apparatus body, and shaking of the apparatus body slowly occurs, so that the posture stability can be increased.
(8) In an ordinary underwater equipment, it is necessary, when components such as a camera, a sensor, a thruster equipped on the apparatus body have been replaced, to perform balance adjustment by readjusting the center of gravity and center of buoyancy of the apparatus body, but since the floating body is arranged on the frame via the sliding portion that is freely movable back and forth and the support member that is freely movable up and down, the metacenter height can be freely adjusted only by adjusting the position in the back and forth direction and height direction of the floating body by moving the sliding portion back and forth and moving the support member up and down, the center of gravity and center of buoyancy can be changed to easily perform balance adjustment in terms of the front and rear and the left and right, and thus versatility and stability of posture control is excellent.
Here, as the apparatus body, a submersible, an underwater robot, scuba diving equipment, or the like is used.
As the submersible, either a tethered submersible connected to a mother ship or an untethered submersible capable of independently diving can be used. The tethered and untethered submersibles each include manned and unmanned types, either of which can be used. The submersible, an image of an underwater imager mounted on which can be observed while the submersible is remotely operated, includes a floating body, and can thus easily maintain horizontal balance to ease handling. Moreover, even when disturbances such as tidal currents act or a wrong operation is made, since the submersible includes a floating body, the submersible is less likely to spin around an axis in the forward direction so as to prevent an accident from occurring.
As the floating body, one formed so as to have a specific gravity of less than 1 is used. For example, a structure for which a gas such as air is filled inside of a pressure hull, a structure for which the inside of a pressure hull is depressurized to vacuum or the like, a structure for which a synthetic resin such as styrene foam or urethane foam having independent air bubbles or the like is filled or stored inside of a pressure hull, a structure for which hollow glass beads or synthetic resin beads are cured with a synthetic resin or the like and stored inside of a pressure hull, or the like can be used.
The floating body may be directly attached to a support member of a reinforcing bar, a steel bar, a steel material such as H-shaped steel, I-shaped steel, or L-shaped steel, a pipe material such as a stainless steel pipe, or the like, and can also be connected to the support member by a mooring member such as a steel wire such as a wire or a stainless steel wire, a chain, a rope, or the like. Moreover, the mooring member may be used as a support member so as to connect the sliding portion and the floating body therebetween. By attaching a frame around the apparatus body, the apparatus body and the floating body can be disposed separated from each other. The floating bodies are arranged at least one each on both side portions of the frame, but the number of floating bodies can be appropriately selected according to the shape, size, and the like of the diving apparatus. For example, a floating body can be added to a front side or a rear side of the middle of two left and right floating bodies, or a floating body can be added to a front side or a rear side of each of the two left and right floating bodies.
By arranging the support member in a manner projecting obliquely upward from the frame, the floating body can be arranged overhanging lateral to the apparatus body. When the floating body is moored by a mooring member such as a wire, by fixing a terminal end of the mooring member to the support member arranged so as to overhang from the apparatus body, buoyancy acts on the floating body in water to draw the mooring member upward, so that the floating body can be arranged above the apparatus body, and in a manner overhanging lateral to the apparatus body.
The frame as well as the support member can be formed of a reinforcing bar, a steel bar, a steel material such as H-shaped steel, I-shaped steel, or L-shaped steel, a pipe material such as a stainless steel pipe, or the like. A sliding portion which can be fixed by use of a fastening member such as a bolt capable of freely detachably fixing to a designated point of the frame, and particularly, is slidable along the longitudinal direction of the frame is suitably used. When the frame is formed of a columnar or cylindrical steel or pipe material, the sliding portion formed in a cylindrical shape may be inserted outside the frame, and fixed to a desired position by screwing or pin fitting. Moreover, a guide portion such as a projection or a recess may be formed along the longitudinal direction of the frame, and a fitting portion such as a recess or a projection may be formed on the sliding portion so as to be fitted to the guide portion of the frame. Alternatively, a freely extendable and retractable piston cylinder or the like may be arranged as a sliding portion on the frame, and a support member may be arranged at its tip (moving end) side. By the sliding portion itself extending and retracting, the support member supporting the floating body can be moved back and forth. In addition, an engaging portion that is engaged and fixed so as to be freely attachable and detachable with respect to underwater equipment or a submersible is provided on front and rear frames perpendicular to the longitudinal direction of the frame.
It suffices that the support member can move the floating body up and down, and for the attaching position of the floating body, not only the tip of the support member, but an arbitrary position longitudinally in the middle can also be selected. Moreover, the support member may be fixed by use of a fastening member such as a bolt capable of freely detachably fixing to a designated point of one member the other member and formed so as to be freely movable up and down, and the support member itself may be formed of a piston cylinder or linkage that is freely extendable and retractable in the longitudinal direction. In addition, when the floating body is moored at the tip or in the middle of the support member by use of a mooring member or when a mooring member is used as a support member for mooring the floating body to the sliding portion, a mechanism such as a reel device is used to thereby reel and unreel the mooring member so as to move the floating body up and down, allowing expanding the range of movement in the height direction of the floating body.
An invention according to a second aspect of the present invention is the underwater posture stabilization system according to the first aspect, including a forward/rearward movement drive section for moving each sliding portion back and forth and/or an up/down movement drive section for moving each support member up and down.
With this configuration, in addition to the effects obtained in the first aspect, the following effects are obtained.
(1) By including the forward/rearward movement drive section that moves each sliding portion back and forth and/or the up/down movement drive section that moves each support member up and down, the underwater posture stabilization system can freely adjust the position in the back and forth direction and the position in the height direction of the floating body even in water by an external operation to freely adjust the metacenter height, and can simply control the underwater posture by tilting in the back and forth direction or turning around the central axis the apparatus body together with the frame as needed, and is capable of making the imaging position and imaging direction by a camera, a video camera, or the like mounted on the apparatus body variable to conduct a detailed survey, and is thus excellent in versatility and operability of posture control and workability and reliability of a survey.
(2) During diving and during high-speed traveling, the underwater posture stabilization system can draw, by the up/down movement drive section, the floating body closer to the frame (apparatus body) so as to be less likely to become a resistance to perform quick movement, and during observation by imaging or the like, can select the position of the floating body, by the forward/rearward movement drive section or the up/down movement drive section, according to the center of gravity or the like of the apparatus body, to retain a desired posture, and is thus excellent in versatility and certainty of posture control in water.
Here, for the forward/rearward movement drive section and up/down movement drive section, according to the configuration of the foregoing sliding portion and support member, a drum cam, a belt drive, a rope drive, a chain drive, screws, a piston cylinder, various linkages, a motor, and the like may be used in combination. The drive sections may be ones that move the position of the sliding portion and support member, or may be ones that extend and retract the sliding portion and support member themselves.
An invention according to a third aspect of the present invention is the underwater posture stabilization system according to the first or second aspect, including a turning drive section for turning the sliding portion or the support member with respect to the frame.
With this configuration, in addition to the effects obtained in the first or second aspect, the following effects are obtained.
(1) Since the underwater posture stabilization system includes the turning drive section that turns the sliding portion or the support member with respect to the frame, the angle created by the left and right floating bodies can be freely adjusted even in water by an external operation, and the distance in the height direction between the apparatus body and the floating body and the space between the floating bodies can be changed to reduce the effect of tidal currents and pulsating currents and reduce the resistance during diving and during high-speed traveling, and the underwater posture stabilization system is thus excellent in versatility and operability of posture control and movement control.
(2) When there is provided the effect of tidal currents and pulsating currents even when the floating body is moved upward by the support member, the space (angle created) between the floating bodies can be expanded by the turning drive section to make the floating bodies overhang to the left and right so that shaking is suppressed, and when diving or high-speed traveling is performed, the space (angle created) between the floating bodies can be narrowed by the turning drive section to reduce resistance so that the moving speed is increased, and it is possible to perform further detailed posture control in combination with a forward/rearward movement by the sliding portion and/or an up/down movement by the support member, and the underwater posture stabilization system is thus excellent in versatility and stability of posture control.
Here, it suffices that the turning drive section can turn the sliding portion or the support member with respect to the frame. For example, one that turns a gear wheel by a motor to turn the sliding portion or the support member according to the amount of turn thereof, one that turns the support member around the frame by extension and retraction of the piston cylinder, and the like are suitably used. In terms of the range of movement of the sliding portion or the support member, one that can turn each floating body in a range from the horizontal direction outside the frame to the vertical direction above the frame is preferable.
An invention according to a fourth aspect of the present invention is the underwater posture stabilization system according to any one of the first to third aspects, in which a gyro stabilizer is provided inside of the floating body.
With this configuration, in addition to the effects obtained in any one of the first to third aspects, the following effects are obtained.
(1) Since a gyro stabilizer is provided inside of the floating body, a torque due to shaking occurs in the apparatus body, and also simultaneously acts on the gyro stabilizer provided inside of the floating body, and precession occurs to slowly tilt the angular momentum. At this time, the center of gravity of the gyro rotor moves in the opposite direction to restore the posture of the frame to a position in the horizontal direction by a torque due to gravity, so that the stability can further be increased. Particularly, when performing imaging by the apparatus body equipped with the underwater posture stabilization system during low-speed traveling and during suspension, slight shaking of the apparatus body and blurring can be suppressed, and a clear image with a high resolution can be obtained.
Here, as the gyro stabilizer, one for which a frame body is freely turnably fixed to a gyro support shaft fixed to a pressure hull of the floating body, and a gyro rotor is fixed to the frame body rotatably around a rotor shaft is used.
One to two gyro stabilizers can be provided inside per one floating body. When two gyro stabilizers are provided inside of one floating body, it is preferable to arrange the respective gyro support shafts in different directions. This is because fluctuations in the direction perpendicular to the respective gyro support shafts can be suppressed.
A diving apparatus according to a fifth aspect of the present invention includes an apparatus body and the underwater posture stabilization system according to any one of the first to fourth aspects attached to the apparatus body.
With this configuration, the following effects are obtained.
(1) By being equipped with the underwater posture stabilization system, the posture in water of the apparatus body can be stabilized, and the apparatus body can also be controlled as needed into a desired posture to perform high-speed diving, low-speed traveling, observation at the bottom of a body of water, ship bottom, and the like, imaging by a camera or a video camera, and the like, and the diving apparatus is thus excellent in stability, operability, and versatility of posture control in water and workability and reliability of a survey.
An invention according to a sixth aspect of the present invention is the diving apparatus according to the fifth aspect, including a flow direction detecting section arranged in an imaging range of an underwater imager of the apparatus body.
With this configuration, in addition to the effects obtained in the fifth aspect, the following effects are obtained.
(1) Since the direction in which the apparatus body travels, the direction of tidal currents, or the like can be detected by the flow direction detecting section to confirm this while viewing an image of the underwater imager, by handling the diving apparatus according to the flow direction of tidal currents while viewing an image of the underwater imager, controllability and posture stability can be improved.
Here, as the flow direction detecting section, an electromagnetic sensor may also be used, but a flag or the like which changes in direction depending on the flow direction is suitably used. This is because a flag allows simply visually recognizing the flow direction and has excellent durability.
As in the above, by the underwater posture stabilization system and the diving apparatus equipped with the same of the present invention, the following advantageous effects are obtained.
By the invention according to the first aspect,
(1) An underwater posture stabilization system excellent in versatility which can be simply attached to the apparatus body of existing various underwater equipment without including posture control means to stabilize their underwater posture can be provided.
(2) An underwater posture stabilization system excellent in versatility and usability which, by only moving the sliding portion back and forth and moving the support member up and down according to the position of the center of gravity of the apparatus body of the underwater equipment, can simply adjust the position in the back and forth direction and up and down direction of the floating body, allowing setting the basic posture of the apparatus body before dropping into the water can be provided.
(3) An underwater posture stabilization system excellent in posture stability which, by only being attached to the apparatus body of the diving apparatus or the like, can locate the center of buoyancy higher than the center of gravity of the apparatus body to make the buoyancy act from above both sides of the apparatus body, and when the apparatus body inclines under the effect and the like of tidal currents and pulsating currents, generates a moment for restoring the inclination to always maintain a stable posture of the apparatus body can be provided.
(4) An underwater posture stabilization system excellent in versatility which, since not being for controlling the posture by jetting a fluid or rotating a thruster based on information of an inclinometer or an inertial sensor, can maintain a stable posture even in the presence of complicated tidal currents and pulsating currents, and therefore can be used not only in lakes and marshes, dams, etc., with a small and gentle current, but also in seas and oceans, rivers, etc., can be provided.
(5) An underwater posture stabilization system excellent in mass productivity which, since it is not necessary to design complex control systems individually for each underwater equipment such as a diving apparatus, it suffices to design the floating body in consideration of the positional relationship between the center of gravity and center of buoyancy of the apparatus body regardless of the shape, size, etc., of the apparatus body, allows considerably reducing the man-hours regarding design for posture stabilization can be provided.
(6) An underwater posture stabilization system which, when attached to a submersible, can keep the angle (posture) of the apparatus body in water constant due to the buoyancy and position of the floating body, and thus allows eliminating an angle control device including a control weight from the apparatus body so as to reduce the apparatus body in size and weight can be provided.
(7) An underwater posture stabilization system for which, when this is attached to the apparatus body, the two left and right floating bodies and the apparatus body reach a state like a balancing toy turned upside down, and when the apparatus body shakes to deviate from the center, the apparatus body is drawn back to the center due to buoyancy applied to the floating bodies, so that a stable posture can be maintained, and particularly, by making the floating bodies overhang at both lateral sides of the apparatus body, shaking of the apparatus body slowly occurs, so that the posture stability can be increased can be provided.
(8) An underwater posture stabilization system excellent in versatility and stability of posture control which, even when components such as a camera, a sensor, a thruster equipped on the apparatus body have been replaced, by only adjusting the position of the floating body by use of the sliding portion and the support member, can change the center of gravity and center of buoyancy to easily perform balance adjustment in terms of the front and rear and the left and right can be provided.
By the invention according to the second aspect, in addition to the effects of the first aspect,
(1) An underwater posture stabilization system excellent in versatility and operability of posture control and workability and reliability of a survey which, by operating the forward/rearward movement drive section and the up/down movement drive section to move each sliding portion back and forth and move the support member up and down, can freely adjust the position in the back and forth direction and the position in the height direction of the floating body even in water, can simply control the underwater posture by tilting in the back and forth direction or turning around the central axis the apparatus body together with the frame as needed, and is capable of making the imaging position and imaging direction by a camera, a video camera, or the like mounted on the apparatus body variable to conduct a detailed survey can be provided.
(2) An underwater posture stabilization system excellent in versatility and certainty of posture control in water which, during diving and during high-speed traveling, by the up/down movement drive section, can draw the floating body closer to the frame (apparatus body) so as to be less likely to become a resistance to perform quick movement, and during observation by imaging or the like, by the forward/rearward movement drive section or the up/down movement drive section, can select the position of the floating body to retain a desired posture according to the center of gravity or the like of the apparatus body can be provided.
By the invention according to the third aspect, in addition to the effects of the first or second aspect,
(1) An underwater posture stabilization system excellent in versatility and operability of posture control and movement control which, by operating the turning drive section, can freely adjust the angle created by the left and right floating bodies even in water, and can change the distance in the height direction between the apparatus body and the floating body and the space between the floating bodies to reduce the effect of tidal currents and pulsating currents and reduce the resistance during diving and during high-speed traveling can be provided.
(2) An underwater posture stabilization system excellent in versatility and stability of posture control which is capable of performing further detailed posture control in combination of a forward/rearward movement of the floating body by the sliding portion and/or an up/down movement of the floating body by the support member and an angle adjustment between the floating bodies by the turning drive section can be provided.
By the invention according to the fourth aspect, in addition to the effects of any one of the first to third aspects,
(1) An underwater posture stabilization system which, since a torque due to shaking occurs in the apparatus body and also simultaneously acts on the gyro stabilizer provided inside of the floating body, and the center of gravity of the gyro rotor moves to thereby restore the posture of the apparatus body to a position in the horizontal direction, is further excellent in stability can be provided.
By the invention according to the fifth aspect,
(1) A diving apparatus excellent in stability, operability, and versatility of posture control in water and the workability and reliability of a survey which, by an underwater posture stabilization system, can simply set the basic posture in water of the apparatus body, is also less likely to receive the effect of tidal currents and pulsating currents, and can not only stabilize the posture, but can also control as needed the apparatus body into a designated posture to perform high-speed diving, low-speed traveling, observation at the bottom of a body of water, ship bottom, and the like, imaging by a camera or a video camera, and the like can be provided.
By the invention according to the sixth aspect, in addition to the effects of the fifth aspect,
(1) A diving apparatus excellent in controllability and posture stability can be provided, since the direction in which the apparatus body travels, the direction of tidal currents, or the like can be detected by the flow direction detecting section to confirm this while viewing an image of the underwater imager, by handling the diving apparatus according to the flow direction while viewing an image of the underwater imager.
Hereinafter, the best mode for carrying out the present invention will be described with reference to the drawings.
In
A diving apparatus equipped with the underwater posture stabilization system of Embodiment 1 configured as in the above will be described.
In
Next, the details of a floating body of the underwater posture stabilization system of Embodiment 1 will be described.
In
A method for using the diving apparatus equipped with the underwater posture stabilization system in Embodiment 1 of the present invention configured as in the above will be described in the following.
The diving apparatus 20 is mounted with ballast to lower (dive) into water, and when the diving apparatus 20 has lowered to a designated depth, the mounted ballast is dropped little by little to thereby obtain a neutral buoyancy. By using a buoyancy control device (not shown) mounted on the apparatus body 10, the buoyancy can be further controlled. Once a neutral buoyancy is obtained, by actuating the vertical thruster 10a and the horizontal thruster 10b while viewing an image imaged by the underwater imager 12 on the water, the diving apparatus 20 can be remotely operated so as to travel in water.
For observing in detail a designated place in water based on an image of the underwater imager 12 or conducting a water quality study or the like by an environmental sensor, the support member 7 is extended to make the floating body 8 largely overhang at both lateral sides of the apparatus body 10. Even when an external force to rotate the apparatus body 10 around the axis center acts under the effect of waves and the like, by keeping the space between the floating body 8 and the apparatus body 10 wide, a moment generated by the floating body 8 serves as a large restoring force for restoring the apparatus body 10 from inclination, and can attenuate shaking in a short time to make the apparatus body 10 statically determine, and the underwater posture stabilization system is thus excellent in posture stability. As a result, the diving apparatus 20 can be kept still to securely observe and survey the designated place in a short time.
Moreover, the sliding portion 6 can be moved to the rear of the side frame 4 of the frame 3 to lower the bow, and keep the apparatus body 10 inclined forward, for performing imaging. As needed, the gyro rotor 19 provided inside the floating body 8 is rotated at a high speed.
After the observation, survey, or the like ends, the support member 7 is retracted to draw the floating body 8 near the apparatus body 10, and the rotation of the gyro rotor 19 is also stopped. By dropping the remaining mounted ballast to the bottom of a body of water, the diving apparatus 20 is raised.
Since the underwater posture stabilization system in Embodiment 1 of the present invention and the diving apparatus equipped with the same have been configured as in the above, the following effects are obtained.
(1) By including the frame 3 to be attached to the apparatus body 10 of underwater equipment, the underwater posture stabilization system can be simply attached to the apparatus body 10 of existing various underwater equipment without including posture control means to stabilize their underwater posture, and is thus excellent in versatility.
(2) By including the pair of sliding portions 6 arranged so as to be freely movable back and forth on the side frames 4 on both side portions of the frame 3, the support member 7 freely movable up and down which is fixed at a lower end portion thereof to each sliding portion 6, and arranged obliquely upward, and the floating body 8 arranged at the tip of each support member 7, the underwater posture stabilization system, by moving the sliding portion 6 back and forth and moving the support member 7 up and down according to the position of the center of gravity of the apparatus body 10 of the underwater equipment, can simply adjust the position in the back and forth direction and up and down direction of the floating body 8, allowing setting the basic posture of the apparatus body 10 before dropping into the water, and is thus excellent in versatility and usability.
(3) Since the support members 7 on which the floating bodies 8 are arranged are arranged obliquely upward from the sliding portions 6 on both side portions of the frame 3, by attaching the underwater posture stabilization system to the apparatus body 10 of the diving apparatus or the like, the center of buoyancy can be located higher than the center of gravity to make the buoyancy act from above both sides of the apparatus body 10, and when the apparatus as a whole inclines under the effect and the like of tidal currents and pulsating currents, a moment for restoring the inclination acts, so that a stable posture of the apparatus body 10 can always be maintained, and the underwater posture stabilization system is thus excellent in posture stability.
(4) Since the underwater posture stabilization system is not for controlling the posture by jetting a fluid or rotating a thruster based on information of an inclinometer or an inertial sensor, a stable posture can be maintained even in the presence of complicated tidal currents and pulsating currents, and therefore, the underwater posture stabilization system can be used not only in lakes and marshes, dams, etc., with a small and gentle current, but also in seas and oceans, rivers, etc., and is thus excellent in versatility.
(5) Regardless of the shape, size, etc., of the apparatus body 10 of the underwater equipment, it suffices to carry out design and position setting of the floating body 8 in consideration of the positional relationship between the center of gravity and center of buoyancy of the apparatus body 10, and since it is not necessary to design complex postural control systems individually for each underwater equipment, the man-hours regarding design for posture stabilization in the underwater equipment can be considerably reduced.
(6) Since the underwater posture stabilization system, when attached to a submersible, can keep the angle (posture) of the apparatus body 10 in water constant due to the buoyancy and position of the floating body 8, it is not necessary for the apparatus body 10 to be mounted with an angle control device or the like including a control weight, so that the apparatus body 10 can be reduced in size and weight.
(7) By the floating bodies 8 being arranged on both side portions of the frame 3, when the underwater posture stabilization system is attached to the apparatus body 10, the two left and right floating bodies 8 and the apparatus body 10 reach a state like a balancing toy turned upside down, and when the apparatus body 10 shakes to deviate from the center, the apparatus body 10 is drawn back to the center due to buoyancy applied to the floating bodies 8, so that a stable posture can be maintained. Particularly, when the support members 7 are arranged obliquely upward, the floating bodies 8 can be made to largely overhang at both lateral sides of the apparatus body 10, and shaking of the apparatus body 10 slowly occurs, so that the posture stability can be increased.
(8) It has conventionally been necessary, when components such as a camera, a sensor, a thruster equipped on the apparatus body 10 have been replaced, to perform balance adjustment by readjusting the center of gravity and center of buoyancy of the apparatus body 10, but since the floating body 8 of the underwater posture stabilization system 1 is arranged on the frame 3 via the sliding portion 6 that is freely movable back and forth and the support member 7 that is freely movable up and down, by only adjusting the position in the back and forth direction and height direction of the floating body 8 by moving the sliding portion 6 back and forth and moving the support member 7 up and down, the center of gravity and center of buoyancy can be changed to easily perform balancing in terms of the front and rear and the left and right, and the underwater posture stabilization system is thus excellent in versatility and stability of posture control.
(9) Since the gyro stabilizer 15 is provided inside of the floating body 8, a torque due to shaking occurs in the apparatus body 10, and also simultaneously acts on the gyro stabilizer 15 provided inside of the floating body 8 to restore the posture of the apparatus body 10 to a position in the horizontal direction by a torque due to a shift in the center of gravity of the gyro rotor 19, so that the stability can further be increased. Particularly, when performing imaging by the apparatus body 10 equipped with the underwater posture stabilization system 1 during low-speed traveling and during suspension, slight shaking of the apparatus body 10 and blurring can be suppressed, so that a clear image with a high resolution can be obtained.
(10) Since the inside of the pressure hull 14 of the floating body 8 provided inside with the gyro stabilizer 15 has been depressurized, resistance resulting from a rotation of the gyro rotor 19 can be reduced, so that a drain of a battery to rotate the gyro rotor 19 can be reduced.
(11) By being equipped with the underwater posture stabilization system 1, the underwater posture of the apparatus body 10 can be stabilized, and the apparatus body 10 can also be controlled as needed into a desired posture to perform high-speed diving, low-speed traveling, observation at the bottom of a body of water, ship bottom, and the like, imaging by a camera or a video camera, and the like, and the diving apparatus is thus excellent in stability, operability, and versatility of posture control in water and workability and reliability of a survey.
(12) Even without mounting on an apparatus body a control weight of an angle control device that has been indispensable for a conventional submersible, since the angle of the apparatus body 10 in water can be kept stable by the buoyancy of the floating body 8, it is not necessary to mount an angle control device including a control weight on the apparatus body, so that the apparatus body 10 can be reduced in size and weight. As a result, a lightweight and small-sized apparatus body 10 that can be carried also as aircraft baggage can be manufactured. When the apparatus body 10 can be reduced in size and weight, the floating body 8 that is designed in consideration of the balance between the center of gravity and center of buoyancy of the diving apparatus 20 can also be reduced in size. Accordingly, not only can the diving apparatus 20 be disassembled into the underwater posture stabilization system 1 and the apparatus body 10, but it becomes also possible to disassemble the underwater posture stabilization system 1 into the frame 3, the floating body 8, etc., separate from the apparatus body 10 functional modules such as a vertical thruster 10a, a horizontal thruster 10b, and an underwater light 13, carry these as aircraft baggage or the like to a site by a plurality of persons, and assemble and use these on the site, so that the applicability is remarkably excellent.
(13) By attaching the underwater posture stabilization system 1 to the apparatus body 10, and adjusting the buoyancy based on the position of the floating body 8, the diving apparatus 20 as a whole can be balanced, and thus it is not necessary to consider the balance (position of the center of gravity) while designing the apparatus body 10, the design time can be shortened without being limited in size, mass, arrangement, etc., of components of the respective portions, so that the freedom of design and mass productivity of the apparatus body 10 can be considerably improved.
Here, in the present embodiment, description has been given by using the diving apparatus 20 serving as an unmanned submersible, but the present invention is not limited hereto, and the same effects are obtained also in the case of an underwater robot, scuba diving equipment, and the like.
Moreover, in the present embodiment, description has been given for the case where the underwater imager 12 is mounted on the apparatus body 10, and the vertical thruster 10a, the horizontal thruster 10b, and the underwater light 13 are arranged on the apparatus body 10, but there is also a case where these are attached to the frame 3. The same effects are obtained also in this case.
In the figure, reference sign 1A denotes an underwater posture stabilization system in Embodiment 2 of the present invention attached to an apparatus body 10 of a diving apparatus 20A, reference sign 3A denotes a frame of the underwater posture stabilization system 1A arranged on an upper surface of the apparatus body 10 of the diving apparatus 20A, reference sign 4A denotes a side guide frame of the frame 3A formed in a rail shape (projection) and arranged at both sides of the upper surface of the apparatus body 10 in parallel with the longitudinal direction of the apparatus body 10, reference sign 5A denotes a frame connecting portion formed in an arc shape along the outer periphery of the apparatus body 10, for connecting the left and right side guide frames 4A at the front and rear, reference sign 22 denotes a sliding portion arranged so as to be freely movable back and forth in the longitudinal direction of the side guide frame 4A of the frame 3A and having a built-in drive unit or the like of a support member 23 to be described later, reference sign 23 denotes a pantograph-type support member fixed at one end portion thereof to the sliding portion 22 and formed so as to be freely extendable and retractable to move a floating body 25 up and down, reference sign 24 denotes a fixing portion to which the other end portion of the support member 23 is fixed so as to be freely turnable, and reference sign 25 is a floating body formed of a hollow pressure hull and formed on a lower surface thereof with the fixing portion 24. The sliding port ion 22, the support member 23, the fixing portion 24, and the floating body 25 are provided also on the other side guide frame 4A. The apparatus body 10 is mounted with a liquefied gas cylinder (not shown) filled with high-pressure dimethylpropane, normal butane, or the like, and the liquefied gas cylinder is connected with the floating body 25 by piping (not shown). Reference sign 26 denotes a valve that opens and closes a pipe line (not shown) arranged on an upper surface of the floating body 25, reference sign 27 denotes a valve that opens and closes a pipe line (not shown) arranged at the bottom of the floating body 25, reference sign 28 denotes a detecting section support formed of a steel material, a rod material, or the like, fixed at one end portion thereof to a front portion of the apparatus body 10, and extended at a tip portion thereof to the front of a cover 11, reference sign 29 denotes a turnably fixed portion fixed to the tip portion of the detecting section support 28 so as to be freely turnable, and reference sign 30 denotes a flow direction detecting section formed of a flag fixed at a base portion thereof to the turnably fixed portion 29 and arranged in an imaging range of the underwater imager 12.
A method for using the diving apparatus in Embodiment 2 of the present invention configured as in the above will be described in the following.
The diving apparatus 20A is made to dive (lower) in water by mounting thereon ballast. By opening the valves 26, 27 in water, water is stored in the floating body 25. Since the buoyancy of the floating body 25 is accordingly reduced, diving (lowering) is smoothly performed. When the diving apparatus 21 has lowered to the vicinity of a designated depth, by introducing a vaporized gas from the liquefied gas cylinder into the floating body 25 with the valve 26 closed and the valve 27 open, the water in the floating body 25 is discharged from the valve 27. The valve 27 is closed when the water in the floating body 25 has been replaced with the vaporized gas. Accordingly, buoyancy is created in the floating body 25. Further, the buoyancy is controlled by dropping the ballast or using a buoyancy control device (not shown) to obtain a neutral buoyancy. Once a neutral buoyancy is obtained, by actuating the vertical thruster 10a and the horizontal thruster 10b while viewing an image imaged by the underwater imager 12 on the water, the diving apparatus 20A can be remotely operated so as to travel in water.
For observing in detail a designated place in water based on an image of the underwater imager 12 or conducting a water quality study or the like by an environmental sensor, the support member 23 is extended to locate the floating body 25 high above the apparatus body 10. Moreover, the sliding portion 22 can be moved to the rear of the apparatus body 10 along the side guide frame 4A of the frame 3A to lower the bow, and keep the apparatus body 10 inclined forward, for performing imaging.
After the observation, survey, or the like ends, the support member 23 is retracted to draw the floating body 25 near the apparatus body 10. By dropping the mounted ballast to the bottom of a body of water, the diving apparatus 20A is raised.
Since the underwater posture stabilization system in Embodiment 2 of the present invention and the diving apparatus equipped with the same have been configured as in the above, in addition to the effects described in Embodiment 1, the following effects are obtained.
(1) Since the liquefied gas cylinder connected with the floating body 25 is mounted on the apparatus body 10, and the valves 26, 27 are arranged on the upper surface and lower surface of the floating body 25, buoyancy can be created in the floating body 25 by introducing a vaporized gas from the liquefied gas cylinder into the floating body 25, to perform buoyancy control.
(2) Since the diving apparatus includes a flow direction detecting section 30 arranged in the imaging range of the underwater imager 12, the direction in which the apparatus body 10 travels, the direction of tidal currents, or the like can be detected by the flow direction detecting section 30 to handle the diving apparatus according to the flow direction while viewing an image of the underwater imager 12, and the diving apparatus is thus excellent in controllability and posture stability.
In the present embodiment, description has been given for the case where the flow direction detecting section 30 formed of a flag has been used, but there is also a case where a combination of a flag and a float is used. In this case, one end portion of the detecting section support 28 is fixed to a front lower side of the apparatus body 10 so that the flag can be visually recognized at a lower side of the imaging range.
In the figure, reference sign 1B denotes an underwater posture stabilization system in Embodiment 3 of the present invention attached to an apparatus body 10 of a diving apparatus 20B, reference sign 32 denotes a sliding portion arranged so as to be freely movable back and forth along an upper side portion of a side frame 4 at both side portions of a frame 3, for moving along the longitudinal direction of the apparatus body 10, reference sign 33 denotes a reel device fixed to the sliding portion 32, reference sign 34 denotes a mooring member serving as a support member using a wire or the like wound around the reel device 33, reference sign 35 denotes a fixing portion to which an end portion of the mooring member 34 is fixed, reference sign 36 denotes a floating body attached at substantially the center in the longitudinal direction thereof with the fixing portion 35, and arranged overhanging at both lateral sides of the apparatus body 10. The sliding portion 32, the reel device 33, the mooring member 34, the fixing portion 35, and the floating body 36 are provided also on the other side frame 4. The floating body 36 is formed of a structure for which a gas such as air is filled inside of a pressure hull, a structure for which the inside of a pressure hull is depressurized, a structure for which a synthetic resin such as styrene foam or urethane foam having independent air bubbles or the like is filled or stored inside of a pressure hull, a structure for which hollow glass beads or synthetic resin beads are cured with a synthetic resin or the like and stored inside of a pressure hull, or the like.
The diving apparatus in Embodiment 3 of the present invention configured as in the above, for observing in detail based on an image of the underwater imager 12 or conducting a water quality study or the like by an environmental sensor, actuates the reel device 33 to unreel the mooring member 34 and raise the floating body 36 to a high position, thereby allowing increasing the stability. After the observation, survey, or the like ends, the reel device 33 is actuated to reel the mooring member 34 so as to draw the floating body 36 near the apparatus body 10.
Since the diving apparatus in Embodiment 3 of the present invention has been configured as in the above, the same effects as those described in Embodiment 1 can be obtained.
In
By driving the forward/rearward movement drive section 4d, the sliding portion 6A can be moved back and forth, so that the position in the back and forth direction of the floating body 8 can be freely adjusted. Moreover, the support member 7, as in Embodiment 1, can be moved up and down by an up/down movement drive section (not shown), so that the position in the up and down direction of the floating body 8 can be freely adjusted.
Since the underwater posture stabilization system in Embodiment 4 of the present invention has been configured as in the above, in addition to the effects obtained by the underwater posture stabilization system in Embodiment 1, the following effects are obtained.
(1) By including the forward/rearward movement drive section 4d that moves each sliding portion 6A back and forth and the up/down movement drive section that moves each support member 7 up and down, the underwater posture stabilization system can freely adjust the position in the back and forth direction and the position in the height direction of the floating body 8 even in water by an external operation, and can simply control the underwater posture by tilting in the back and forth direction or turning around the central axis the apparatus body together with the frame 3 as needed, and is capable of making the imaging position and imaging direction by a camera, a video camera, or the like mounted on the apparatus body variable to conduct a detailed survey, and thus is excellent in versatility and operability of posture control and workability and reliability of a survey.
(2) During diving and during high-speed traveling, the underwater posture stabilization system can draw, by the up/down movement drive section, the floating body 8 closer to the frame 3 (apparatus body) so as to be less likely to become a resistance to perform quick movement, and during observation by imaging or the like, can select the position of the floating body 8, by the forward/rearward movement drive section 4d or the up/down movement drive section, according to the center of gravity or the like of the apparatus body, to retain a desired posture, and is thus excellent in versatility and certainty of posture control in water.
In
By driving the forward/rearward movement drive section 5d, not only can the sliding portion 6 be moved back and forth together with the sliding table portion 6a, but by driving the turning drive section 7a, the support member 7 can also be turned together with the sliding portion 6 around the upper side of the side frame 4 of the frame 3 so as to freely adjust the angle created by the left and right floating bodies 8, 8. In addition, the support member 7, as in Embodiments 1 and 4, can be moved up and down by an up/down movement drive section (not shown), so that the position in the up and down direction of the floating body 8 can be freely adjusted.
Since the underwater posture stabilization system in Embodiment 5 of the present invention has been configured as in the above, in addition to the effects obtained by the underwater posture stabilization systems in Embodiments 1 and 4, the following effects are obtained.
(1) Since the underwater posture stabilization system includes the turning drive section 7a that turns the sliding portion 6 or the support member 7 with respect to the frame 3, the angle created by the left and right floating bodies 8 can be freely adjusted even in water by an external operation, and the distance in the height direction between the apparatus body and the floating body 8 and the space between the floating bodies 8 can be changed to reduce the effect of tidal currents and pulsating currents and reduce the resistance during diving and during high-speed traveling, and the underwater posture stabilization system is thus excellent in versatility and operability of posture control and movement control.
(2) When there is provided the effect of tidal currents and pulsating currents even when the floating body 8 is moved upward by the support member 7, the space (angle created) between the floating bodies 8 can be expanded by the turning drive section 7a to make the floating bodies 8 overhang to the left and right so that shaking is suppressed, and when diving or high-speed traveling is performed, the space (angle created) between the floating bodies 8 can be narrowed by the turning drive section 7a to reduce resistance so that the moving speed is increased, and it is possible to perform further detailed posture control in combination with a forward/rearward movement by the sliding portion 6 or an up/down movement by the support member 7, and the underwater posture stabilization system is thus excellent in versatility and stability of posture control.
The present invention relates to an underwater posture stabilization system for stabilizing the underwater posture of various underwater equipment such as submersibles, underwater robots, and scuba diving equipment to be used for imaging and exploration in water and at the bottom of seas and oceans, rivers, lakes and marshes, dams, etc., ship bottom surveys, and the like and a diving apparatus equipped with the same, and can provide an underwater posture stabilization system which, by being attached to various underwater equipment such as undersea equipment and underwater vehicles having different shapes and positions of the center of gravity according to their purpose and the like, allows simply and reliably setting their posture in water (basic posture), is excellent in versatility, is not only excellent in posture stability since, when the posture inclines under the effect and the like of tidal currents and pulsating currents, a moment to restore the posture to its original posture naturally acts, but is also capable of easily changing the posture as needed, and also is capable of stably controlling the posture even in the presence of complicated tidal currents and pulsating currents, and is excellent in reliability, stability, and certainty of posture control, and further provide a diving apparatus which, by including the underwater posture stabilization system, allows remarkably reducing the man-hours regarding design for posture stabilization in stand-alone underwater equipment, allows downsizing and weight reduction of the body of the underwater equipment, and is excellent in stability of an underwater posture, and efficiency of a diving operation.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2008-162442 | Jun 2008 | JP | national |
| Filing Document | Filing Date | Country | Kind | 371c Date |
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| PCT/JP2009/002811 | 6/19/2009 | WO | 00 | 12/16/2010 |
| Publishing Document | Publishing Date | Country | Kind |
|---|---|---|---|
| WO2009/154006 | 12/23/2009 | WO | A |
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| Number | Date | Country | |
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| 20110094433 A1 | Apr 2011 | US |
