Title:
Underwater sailing object
Document Type and Number:
Japanese Patent JP6036515
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To sail to an investigation target spot, and to perform accurate observation even if a tidal current is present.SOLUTION: An underwater sailing body 1 includes, in a rear part of a machine body 2, a main thruster 3, vertical rudders 4 and horizontal rudders 5, and furthermore, is provided with revolving type thrusters 6 on both upper and lower sides of the machine body 2 in a vertical axis passing through a gravity center position G. The machine body 2 includes: ground speed vector measurement means 9; log speed vector measurement means 10; an auxiliary thrust controller 11 controlling directions and outputs of the revolving type thrusters 6. When sailing the underwater sailing body 1 to an investigation target spot, a direction of auxiliary thrust generated in the turning type thrusters 6 is aligned to a direction of a thrust by the main thruster 3 to allow high-speed cruising. On the other hand, when making the underwater sailing body 1 hover or sail at low speed in the investigation target spot, control such that a vector Vt of the auxiliary thrust coincides with an inverse vector of a vector Vc of a tidal current estimated as a difference between the ground and log speed vectors is performed to cancel the effect of the tidal current applied to the underwater sailing body 1.
Inventors:
Shuntaro Suzuki
Application Number:
JP2013088995A
Publication Date:
November 30, 2016
Filing Date:
April 22, 2013
Export Citation:
Assignee:
Ihi Co., Ltd.
International Classes:
B63C11/48; B63C11/00; B63G8/16; B63G8/18; B63H25/42; G05D1/00
Domestic Patent References:
| JP2005239027A | ||||
| JP2000272590A | ||||
| JP61109897U |
Attorney, Agent or Firm:
Mitsuo Sakamoto