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

    【課題】 水中航走体の機体の角度姿勢を航走目標コースに合わせて航走させる。【解決手段】 回収装置2への進入コースCと交差する音源配置平面Pにて進入コースCの上下左右に配置された各音源4,5,6,7から互いに異なる周波数の音波を発射する。水中航走体1では、機体8の第1の部分8aに備えた第1のハイドロフォン9と、第2の部分8bに備えた第2のハイドロフォン10により、各音源4,5,6,7から発射された音波を検出する。その検出結果について、偏差計算部11で各音源4,5,6,7に対応する周波数の強度を比較することにより、機体8の第1の部分8aと第2の部分8bの進入コースCからのずれを検出する。その情報を基に、航走制御装置12では、機体8の進入コースCに対する位置と角度姿勢のずれを求めて、そのずれを解消するための航走方向を指令値として推進および操舵装置13へ指令を与えて航走する。【選択図】図1


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    Title :

    SAILING GUIDE DEVICE AND METHOD


    Additional title:

    航走誘導装置および航走誘導方法


    Contributors:

    Publication date :

    2018-01-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / G01S RADIO DIRECTION-FINDING , Funkpeilung / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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