PROBLEM TO BE SOLVED: To provide an on-water robot for underwater survey in which there is no affection of a thruster.SOLUTION: There is provided a position control system of an on-water robot comprising: at least one mooring device which is provided on a land side; a wire 1 which is fed from the mooring device and wound to the mooring device; an on-water robot which is coupled to a tip end of the wire; and at least one ladder 1, 2 provided on the on-water robot, in which a total number of the mooring device(s) and the ladder(s) is at least 3. The mooring device comprises: mooring device control means for controlling feeding and winding of the wire. The on-water robot comprises: a GPS/inertia measurement device for detecting a position and an attitude of the on-water robot; angle detection means for the ladder; and ladder control means for controlling driving of the ladder. The mooring device control means and the ladder control means comprise a communication system for mutually transmitting and receiving information on a control device provided on the respective means. The mooring device control means and the ladder control means controls the position of the on-water robot to a control target.SELECTED DRAWING: Figure 1

    【課題】スラスタの影響がない水中調査用水上ロボットを提供する。【解決手段】陸地側に設置された少なくとも1個の係留装置と、前記係留装置から繰出・巻取られるワイヤ1と、ワイヤ先端に結合された水上ロボットと、前記水上ロボットに設けた少なくとも1個のラダー1,2を有し、かつ、前記係留装置と前記ラダーを合わせて3つ以上備えてなる水上ロボットの位置制御システムであって、前記係留装置は、ワイヤの繰出・巻取を制御する係留装置制御手段を備え、前記水上ロボットは、水上ロボットの位置及び姿勢を検知するGPS・慣性計測装置と、前記ラダーの角度検知手段と、前記ラダーを駆動制御するラダー制御手段を備え、前記係留装置制御手段及び前記ラダー制御手段は、各々の制御装置の情報を相互に送受信する通信システムを備え、前記係留装置制御手段及び前記ラダー制御手段により水上ロボットの位置を制御目標に制御することを特徴とする。【選択図】図1


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    Titel :

    POSITION CONTROL SYSTEM AND POSITION CONTROL METHOD OF ON-WATER ROBOT


    Weitere Titelangaben:

    水上ロボットの位置制御システムおよび位置制御方法


    Beteiligte:
    ARISUMI HITOSHI (Autor:in) / KATO SUSUMU (Autor:in)

    Erscheinungsdatum :

    2017-08-03


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



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