Title:
SAILING GUIDE DEVICE AND METHOD
Document Type and Number:
Japanese Patent JP2018008537
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To make an underwater sailing body sail such that an angular attitude of a machine body of the underwater sailing body conforms to a sailing target course.SOLUTION: Sonic waves of different frequencies are emitted from sound sources 4, 5, 6, 7 positioned on upper, lower, left, and right sides of an approach course C on a sound source arrangement plane P intersecting with the approach course C to a collection device 2. In an underwater sailing body 1, a first hydrophone 9 provided in a first part 8a of a machine body 8 and a second hydrophone 10 provided in a second part 8b detect sonic waves emitted from the sound sources 4, 5, 6, 7. For the results of detection, a deviation calculation unit 11 compares intensities of frequencies corresponding to the respective sound sources 4, 5, 6, 7, thereby detecting deviation of the first part 8a and second part 8b of the machine body 8 from the approach course C. Based on the information, a sailing control device 12 determines deviation of a position and an angular attitude of the machine body 8 relative to the approach course C, and gives a sailing direction for solving the deviation as a command value to a propulsion and steering device 13 for sailing.SELECTED DRAWING: Figure 1
Inventors:
TAKAHASHI TAKESHI
SHIOGATA DAISUKE
KOBAYASHI AKIRA
SHINKAI MASATOSHI
SHIOGATA DAISUKE
KOBAYASHI AKIRA
SHINKAI MASATOSHI
Application Number:
JP2016136540A
Publication Date:
January 18, 2018
Filing Date:
July 11, 2016
Export Citation:
Assignee:
IHI CORP
International Classes:
B63C11/00; B63G8/00; B63G8/39; G01S1/76; G05D1/00
Domestic Patent References:
| JP2014226963A | 2014-12-08 | |||
| JPH05319376A | 1993-12-03 | |||
| JPH1185267A | 1999-03-30 | |||
| JPS57185098U | 1982-11-24 | |||
| JP2006275920A | 2006-10-12 | |||
| JPS58111773A | 1983-07-02 |
Other References:
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YE LI, YANQING JIANG, JIAN CAO, BO WANG, YIMING LI: "“AUV docking experiments based on vision positioning using two cameras”", OCEAN ENGINEERING, vol. 110, JPN6020017245, 2015, pages 163 - 173, XP029309148, ISSN: 0004268777, DOI: 10.1016/j.oceaneng.2015.10.015
BEN ALLEN ET AL.: "“Autonomous Docking Demonstrations with Enhanced REMUS Technology”", OCEANS 2006, JPN6020017239, 2006, US, ISSN: 0004268773
JIAN GAO ET AL.: "“Backstepping Adaptive Docking Control for a Full-Actuated Autonomous Underwater Vehicle with Onboa", OCEANS 2014, JPN6020017241, 2014, US, ISSN: 0004268774
BRETT W. HOBSON, ROBERT S. MCEWEN, JON ERICKSON, THOMAS HOOVER, LANCE MCBRIDE, FARLEY SHANE AND JAME: "“The Development and Ocean Testing of an AUV Docking Station for a 21" AUV”", OCEANS 2007, JPN6020017242, 2007, US, ISSN: 0004268775
DE-JUN LI, YAN-HU CHEN, JIAN-GUANG SHI, CAN-JUN YANG: "“Autonomous underwater vehicle docking system for cabled ocean observatory network”", OCEAN ENGINEERING, vol. 109, JPN6020017244, 2015, pages 127 - 134, ISSN: 0004268776
Attorney, Agent or Firm:
Mitsuo Sakamoto
Hiroyuki Takao
Hiroyuki Takao