To provide a post impact response method, post impact response device, and post impact response program for underwater vehicle capable of determining whether an underwater vehicle that has impacted with an obstacle has autonomously escaped from a state in which normal navigation is obstructed by the obstacle and returned to normal navigation.SOLUTION: An impact of an underwater vehicle 2 with an obstacle 3 is detected by acceleration detection means installed on the underwater vehicle 2 and/or other acceleration detection means. Attempts are made to move the underwater vehicle 2 in the direction of a target waypoint WPby moving parallel the underwater vehicle 2 to a space including an upward or horizontal direction from a detected impact point for a prescribed distance X_min or a prescribed time t. Avoidance of the underwater vehicle 2 from the obstacle 3 is determined by whether the underwater vehicle 2 has moved from the impact point by a certain distance ΔX_min after a certain time Δt.SELECTED DRAWING: Figure 1
【課題】障害物に衝突した水中航走体が当該障害物によって通常航走が妨げられている状態から自律的に脱し、通常航走に戻ったか否かを判断することができる、水中航走体の衝突後対応方法、衝突後対応装置、及び衝突後対応プログラムを提供する。【解決手段】水中航走体2に搭載した加速度検出手段及び/又は加速度検出手段で障害物3への水中航走体2の衝突を検知し、検知した衝突点から上方向又は水平方向を含む空間に水中航走体2を所定距離X_min又は所定時間t、平行移動させ、目標ウェイポイントWPnの方向に水中航走体2の移動を試み、水中航走体2が一定時間Δt経過後に衝突点から一定距離ΔX_min以上移動したか否かにより障害物3からの水中航走体2の回避を判断する。【選択図】図1
POST IMPACT RESPONSE METHOD, POST IMPACT RESPONSE DEVICE, AND POST IMPACT RESPONSE PROGRAM FOR UNDERWATER VEHICLE
水中航走体の衝突後対応方法、衝突後対応装置、及び衝突後対応プログラム
2019-10-17
Patent
Elektronische Ressource
Japanisch
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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 |
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