JP2580520B2 - Towing robot for observation of dissolved substances in the sea - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a measuring instrument required for observing the ocean, which is mounted on an observing robot body, and the observing robot body is towed by an observing mother ship to dive in the sea. The present invention relates to a towed robot for observing dissolved substances in the sea that observes physical and chemical properties.

[0002]

2. Description of the Related Art The role of the ocean in the global environment is far greater than generally believed, for example, carbon dioxide, which has a significant effect on global warming, is currently trapping about 700 billion tons of carbon in the atmosphere. It is said that carbon dioxide produced by the dissolution of atmospheric carbon dioxide into the ocean is present at 34.5 trillion tons, and the amount of carbon dioxide in the ocean is overwhelming. Amount. Also, the carbon dioxide gas generated by humans burning oil and coal,
It is said to be 7 billion tons per year, but about half of it remains in the atmosphere and increases the concentration of carbon dioxide, and most of the rest is thought to be absorbed by the ocean.

[0003] Therefore, in making future countermeasures against global warming, long-term predictions of atmospheric concentrations of carbon dioxide and the like, which are the main causative agents of global warming, and long-term predictions of climate change require the use of substances, heat, and momentum. It is indispensable to accurately grasp the amount of fluctuations in the ocean, which is a huge storage area, especially in the ocean mixed layer, which is the main place of atmospheric-ocean interaction, and for this purpose, carbon dioxide is absorbed by the ocean It is important to know the speed and mechanism accurately. For this reason, it is necessary to first fully understand the dynamics of the ocean, and to know the exchange between the atmosphere and the ocean.

[0004] The role of this way ocean despite the very large, ocean compared to the atmosphere is often do not know well. This is because the oceans engage in ship operations and fisheries, whereas atmospheric phenomena have long attracted public attention as weather and meteorological changes, and more recently in connection with the issue of air pollution. In other words, although experts have been attracting attention, surveys and research have been conducted according to the needs of each, so from a global perspective such as global environmental issues, surveys are biased, and ocean measurement data is Is extremely insufficient compared to the atmosphere.

[0005] The cause of the lack of ocean measurement data is as follows.
As described above, in addition to the necessity in the past, there is also a problem that the measuring means is insufficient. In other words, the pressure difference between the space where humans live and the deep sea floor reaches several hundreds of atmospheres, and there is a handy that radio waves cannot be used as communication means in seawater. That's why, as is often said, ocean surveys are more difficult than space surveys.

[0006] By the way, the characteristics of the current global environmental problems are:
The point is that the scale is extremely large both in terms of time and space. For example, as seen in extreme weather and warming phenomena, it is a global problem in space, and measures must be taken in anticipation of at least several decades in time. It must be possible to forecast for years to come.

[0007] From the above, the present inventors consider that it is important to simultaneously measure the flow of the ocean and the substance. We are researching a system that can measure chemical substances. That is, in the ocean, there are fluid phenomena such as flows, waves, fronts, and vortices having various spatiotemporal scales as in the atmosphere. Due to these physical phenomena, water-soluble substances in the sea can be transported, diffused, and sometimes condensed.To study the movement of substances in the ocean and the process of exchange with the atmosphere,
It is necessary to measure not only marine materials but also physical phenomena such as flow.

[0008] Measurement of substances in the ocean has been performed conventionally. One of the conventional measurement methods is (a) stopping the observation mother ship, lowering the sampling bottle, pumping seawater and collecting it, and analyzing it in the laboratory on the observation mother ship, and other measurement methods are as follows: (B) A method was adopted in which seawater was pumped through the sampling hole of the observation mother ship and analyzed in the laboratory on the observation mother ship.

However, in both of the methods (a) and (b), there is a large difference in water pressure and water temperature between the place to be measured and the place to be analyzed. I am concerned. In the case of (a), it takes time to stop the mother ship and drop the water sampling bottle . Therefore, continuous observation cannot be performed spatiotemporally. In the case of (b), there is a problem that the measurement is limited to the measurement of the sea surface and the measurement value is affected by pollution or disturbance by a ship. Therefore, in the conventional method, it is extremely long time to continuously observe the water-soluble substances in the sea in association with physical phenomena and spatially, which is practically impossible.

[0010] For these reasons, the present inventors have continued their research with the aim of developing an advanced measurement system for acquiring data in the ocean, particularly in the sea, and in particular, in terms of time and space. We are researching a system capable of continuous measurement. In the course of such research, the inventors of the present invention have described,
No. 303993 ”, a towed ocean observation robot has been developed. The observation robot described in the above publication has a horizontal main wing and a horizontal tail, and controls the depth of the towing robot by controlling the elevation of the horizontal main wing, and separately controls the elevation of the left and right horizontal tails. It controls the lateral inclination of the towing robot. In addition, a drive source is required to control the horizontal wing and the tailplane.However, when power is sent from the observation mother ship through a towing cable, the cable diameter increases, so a propeller is installed at the end of the observation robot. The propeller rotates the hydraulic pump using the relative flow of seawater accompanying the towing of the robot, and uses the hydraulic energy generated by the hydraulic pump to drive the horizontal wing and the tailplane. It is intended to be used.

With such an observation robot, the depth change can be restricted to a range of only over 10 cm even when towed at a speed of 11 knots, and the roll can be kept within 1 degree. Since it has been confirmed that the posture of the observation robot main body is stabilized, measurement errors caused by a measuring instrument mounted on the observation robot are reduced, and measurement variations can be reduced.

[0012] From the above, it has become possible to mount an ultrasonic Doppler velocimeter (ADCP) on the observation robot and measure the relative flow velocity across the Kuroshio. The ultrasonic Doppler velocimeter was developed in the United States and is a device that can measure the three-dimensional flow velocity distribution of each layer instantly by decomposing 400 meters vertically into 128 layers and has excellent accuracy. . The global velocity system (GPS) using artificial satellites measures the flow velocity measured in this way.
The actual speed of the ocean current can be measured by correcting with the ground speed of the mother ship measured by the above and calculating the absolute flow velocity.

However, the ultrasonic Doppler current meter was originally developed for use by mooring a stationary buoy, and when it is mounted on a ship or the like to measure the ocean current, It has been reported that the measurement accuracy is reduced due to bubbles and swaying of the ship, and thus, it has been conventionally limited to the case of the fixed position buoy system. However, it was almost impossible to obtain a spatially continuous distribution of the velocity field using the fixed position buoy system.

On the other hand, if an ultrasonic Doppler type current meter is mounted on the towing type ocean observing robot described in the above-mentioned publication and used, the dive attitude of the robot is stable, so that the ultrasonic Doppler type The accuracy of the flow velocity measurement by the instrument has been improved, which enables continuous observation in time and space, and is considered to be a powerful measurement method for understanding the complicated currents such as the Kuroshio.

[0015]

However, the towing type ocean observation robot described in the above publication is limited to controlling the horizontal main wing and the horizontal tail and controlling the depth and the lateral inclination. May occur. When a vertical tilt occurs in the observation robot, the ultrasonic Doppler
An error occurs in the vertical decomposition layer by the flow velocity meter, and the measurement accuracy is greatly reduced. In addition, the analyzer used to measure dissolved substances in the sea, which the present inventors are researching, in particular, the dissolved carbon measuring apparatus for measuring the major dissolved carbon contained a standard solution and a reaction solution having a free surface. Since the vessel is equipped with a container, it tends to dislike using it in an inclined manner.Thus, if the observation robot body is vertically inclined, the installed ultrasonic Doppler current meter and the dissolved carbon measuring device in the sea may become inoperable or malfunction. Or the measurement accuracy is reduced.

The present invention has been made based on such circumstances, and an object of the present invention is to provide a towed underwater dissolved substance observation robot capable of continuously and temporally measuring dissolved substances in the sea in a wide sea area in real time. In particular, it is a measuring instrument that automatically controls the horizontal tilt and vertical tilt of the robot body even when it is towed at high speed, and dislikes the tilt, such as an ultrasonic current meter or a dissolved substance analyzer in the sea. An object of the present invention is to provide a towed underwater dissolved substance observation robot that can be mounted on a vehicle and that can improve measurement accuracy.

[0017]

SUMMARY OF THE INVENTION The present invention relates to an observation mother ship.
Observation robot body towed through towing cable
And the robot controller loaded on the observation mother ship,
Less necessary for seawater observation mounted on the observation robot itself
With ultrasonic current meter and inorganic carbon in seawater
Total carbon dioxide analyzer, for introducing seawater into this total carbon dioxide analyzer
Water sampling device, a cylinder that sends carrier gas to this water sampling device
And an observation robot that releases this carrier gas to the outside
Consists of a pressure control device that regulates pressure rise in the body
Measuring instrument including the analyzer for dissolved substances in the sea
Horizontal main wing provided on the robot body with adjustable elevation angle
And receives a command from the robot controller to
Control the wing and control the dive depth of the observation robot
Driving means and the
A pair of right and left extending each side with adjustable elevation angle
Horizontal tail and the tilt posture provided on the observation robot body
The tailplane is controlled according to the detection by the detection device, and
Control means for controlling the horizontal tilt and vertical tilt of the bot body;
It is characterized by having.

[0018]

According to the present invention, the depth of the observation robot main body can be submerged at a desired depth by adjusting the elevation angle of the horizontal wing, and the lateral inclination of the observation robot main body can be adjusted relative to the left and right horizontal tails. Can be controlled by the difference between the elevation angles of the left and right horizontal tails, and the vertical inclination of the observation robot body can be controlled by adjusting the sum of the elevation angles of the left and right horizontal tails with respect to the horizontal main wing. it can.
For this reason, the vertical inclination and the horizontal inclination of the observation robot main body are measured, and by controlling these to be always zero , the dive attitude of the observation robot can be stabilized. Therefore, if such an observation robot is equipped with an ultrasonic velocimeter and a dissolved carbon measuring device in the sea, the postures of the ultrasonic velocimeter and the dissolved carbon measuring device in the sea will be stable, and physical quantities such as flow velocity, dissolved carbon dioxide in the sea, etc. Can be measured continuously in time and space, and
Accurate observation becomes possible.

Further, according to the present invention, external seawater is
The pressure and temperature of the measurement target are substantially maintained by the water sampling device.
Because it can be guided to the analyzer as it is,
Changes in pressure and temperature at that location even in deep seas
Accurate measurement of dissolved carbon dioxide in seawater without
In addition, the carrier gas used for analysis can be automatically expelled out of the observation robot main body, so that the pressure inside the observation robot main body can be prevented, and continuous measurement can be performed for a long time. .

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in detail based on an embodiment shown in the drawings. FIG. 1 shows the overall configuration of a towing type ocean observation robot system, where 1 is an observation mother ship, 10
Reference numeral denotes a wing-controlled towing type ocean observation robot, and reference numeral 20 denotes a towing cable for towing the observation robot 10 and transmitting a signal. The observation mother ship 1 is loaded with an onboard robot control device 30 for instructing the dive depth of the observation robot 10 and an onboard monitor device 40 for processing measurement data from various measuring instruments.

As shown in FIGS. 2 to 4, the observation robot 10 includes an observation robot main body 11 having, for example, an elliptical shell-shaped body with reduced water resistance, and a horizontal wing 12,
It comprises a pair of left and right horizontal tails 13 a and 13 b, a vertical tail 14 and a pedestal 15. Incidentally, the observation robot body 11, the tow Ke - mounting bracket for mounting the table 20 (. Have such shown) is provided.

This observation robot 10 is used under the following conditions. The observation robot main body 11 constituting the body is composed of a pressure-resistant container 16 and a non-pressure-resistant portion 17.
6, an underwater dissolved carbon dioxide measuring device 50, a system control device 51, a power supply device 52, a telemeter device 53, and the like, which will be described later, are arranged. The non-withstand pressure section 17 has an ultrasonic Doppler current meter 60, which will be described later. , A multi-component water quality measuring device 61, a carrier gas cylinder 62, a buoyancy tank 63, and the like.

The pressure vessel 16 is about 1200 mm × 750 mm.
The front and rear ends are closed by end plates. Rubber 18 for collision relief is vulcanized and bonded to the front end plate. The pressure vessel 16 is designed to have a strength capable of withstanding a pressure at a depth of 200 m.
Classification material 36 km HT). The non-pressure-resistant portion 17 has a structure in which FRP is attached to a frame having a pipe structure as a strength member, and these are connected by tap bolts. It has a detachable structure so that it can be removed. The material used for these is based on corrosion-resistant aluminum (Al5052). In addition, the whole size of the observation robot main body 11,
The weight is as follows and shall have a positive buoyancy. The horizontal main wing 12 for controlling the dive depth is provided at the upper front end of the observation robot body 11. The cross-sectional shape of the horizontal main wing 12 is an airfoil as shown in FIG. 3, and the horizontal main wing 12 is supported by a support shaft 121 so as to be rotatable within a range of ± 15 ° from a horizontal plane.
A vertical drive shaft 122 is connected to the rear end of the horizontal main wing 12.
It is driven up and down by a drive device such as a bevel gear 124. The horizontal main wing 12 can change the elevation angle by the vertical movement of the lifting drive shaft 122.

At the rear end of the observation robot body 11, the horizontal tails 13a and 13 for controlling the horizontal and vertical inclinations are provided.
The horizontal tails 13a and 13b are connected to the rotating shafts 131a and 131b, respectively. These rotating shafts 131a and 131b are independently rotated by driving devices such as a motor 132a with a reduction gear for controlling the left horizontal tail and a motor 132a with a reduction gear for controlling the right horizontal tail and bevel gears 133 and 133, respectively. It is supposed to be. For this reason, the left and right horizontal tails 13a and 13b can also be symmetrically rotated in opposite directions, and their elevation angles can be freely changed.

At the rear end of the observation robot body 11, the vertical tail 14 extending vertically is provided. The vertical tail 14 is fixed to the observation robot main body 11. The pedestals 15, 15 are provided below the observation robot main body 11, and these pedestals 15 serve as supporting legs when the observation robot 10 is placed on the ground or on a ship, and serve as a guard during dive. I do.

The horizontal main wing 12 and the horizontal tail 13
A cushion rubber 19 is affixed to a, 13b, vertical tail 14 and pedestal 15. The observation robot 10 having such a configuration is coated with the outer surface of the whole being yellow-based, and has a pressure-resistant container 16, a non-pressure-resistant portion 17, and inner surfaces of the horizontal main wing 12 and the horizontal tail fins 13a and 13b. Is as a tar epoxy coating.

The robot main body 11 is provided with an inclination posture detecting device 70 (see FIGS. 1 and 4) for detecting the horizontal inclination and the vertical inclination of the main body 11. As shown in FIG. 4, the tilt posture detecting device 70 includes a roll angle sensor 71 and a pitch angle sensor 72. The roll angle sensor 71 and the pitch angle sensor 72 are mounted on the robot body 11. It is connected to the control device 75. The robot attitude control device 75 is connected to the onboard robot control device 30 of the observation mother ship 1 via the towing cable 20. The towing cable 20 is used for towing the observation robot 10 with the observation mother ship 1 and exchanging signals between the observation mother ship 1 and the observation robot 10.
Numeral 0 denotes a composite cable body composed of a tensile strength member that withstands the tension during towing, a large number of signal wires, and a plurality of electronic device power wires. It is desirable that the diameter of the tow cable 20 be as small as possible in order to reduce the resistance of the fluid.

The onboard robot control device 30 designates the dive depth of the observation robot 10. When the operator designates the dive depth of the onboard robot control device 30, the designation signal is transmitted to the robot body 11 via the towing cable 20.
Is transmitted to the robot attitude control device 75 mounted on the robot. The robot attitude control device 75 functions to automatically control the dive depth of the observation robot 10 and to automatically correct the lateral inclination and the vertical inclination to maintain a stable dive attitude. That is, as shown in FIG.
When the dive depth is instructed from the robot, the robot attitude control device 7
5 compares the actual dive depth obtained from the depth sensor 613 described later with the commanded depth, calculates the elevation angle of the horizontal main wing 12 according to the comparison, and sends a command signal to the motor controller 77 for driving the main wing. The main wing drive motor controller 77 operates the main wing control motor with a speed reducer 123 to move the horizontal main wing 12, that is, to change the elevation angle of the horizontal main wing 12, thereby causing the observation robot 10 to dive to the designated depth. Since the dive depth is monitored by the depth sensor 613, when the depth deviates from the target depth, the robot attitude control device 75 acts to maintain the target depth by changing the elevation angle of the main wing 12.

During such dive, the horizontal and vertical inclinations of the robot body 11 are monitored by the above-mentioned roll angle sensor 71 and pitch angle sensor 72.
Are tilted horizontally and vertically, respectively.
1 and the robot attitude control device 75 sends signals to the right tail wing drive motor controller 78 and the left tail wing drive motor controller 79 based on the detection data from the pitch angle sensor 72, and outputs the right tail wing drive motor 132b and the left tail wing drive. The motor 132a is operated.

In this case, the lateral inclination of the observation robot 10 is controlled so as to maintain the roll of the observation robot 10 at zero by the difference between the elevation angles of the left and right horizontal tails 13a and 13b. The vertical inclination is controlled automatically by adjusting the sum of the elevation angles of the left and right horizontal tails 13a and 13b and keeping the vertical inclination (pitching) of the observation robot 10 at zero in cooperation with the elevation angle of the horizontal main wing 12. I do.
This makes it possible to tow the observation robot 10 at a predetermined dive depth and in a horizontal posture. The robot attitude control device 75 is incorporated in a system control device 51 described later.

Next, various measuring instruments and other equipment mounted on the observation robot 10 will be described. 1. Equipment stored in the non-pressure-resistant part The non-pressure-resistant part 17 of the observation robot main body 11 includes the ultrasonic Doppler-type current meter 60 and the multi-component water quality measurement device 6 described above.
1, a carrier gas cylinder 62, a buoyancy tank 63 and the like are provided. These mounted products will be described.

1.1 Ultrasonic Doppler velocimeter (6
0) Ultrasonic Doppler velocimeter (Acoustic Doppler C)
The urrent profiler (ADCP) 60 measures the vertical distribution of the flow velocity in the sea.
The layer up to a depth of 00 m is decomposed into 128 layers, and the flow velocity of each layer can be measured instantaneously. In addition, the sea floor is in this measurement range (400
If it is within m), the absolute velocity of each layer can be measured by calculating the ground speed of the current meter. This ultrasonic Doppler
Of the observation robot main body 11
Are located on the center line of the camera and are arranged downward.

1.2 Multi-Component Water Quality Measuring Device (61) The multi-component water quality measuring device 61 is for measuring various kinds of water quality data.
Seven types of data are measured: depth, DO (dissolved oxygen), PH, turbidity, and chlorophyll (chlorophyll). These measurements are performed using a water temperature sensor 611 and a salt sensor 61 as shown in FIG.
2. Depth sensor 613, DO sensor 614, PH sensor 615, turbidity sensor 616, chlorophyll sensor 617
Measured by

The water temperature sensor 611 is made of a platinum resistance temperature sensor using a resistance change of the platinum resistance element, and can measure a temperature between -5 ° C. and 45 ° C. The salinity sensor 612 measures the salinity by converting the electric conductivity measured by the electromagnetic induction type electric conductivity sensor according to a practical salinity equation, and has a measurement function of 0 ° C to 40 ° C. Depth sensor 6
Reference numeral 13 uses a capacitance type water pressure sensor for measuring a change in capacitance due to pressure, and it is possible to measure a depth from 0 to 200 m by setting the position of this sensor to zero . The DO sensor 614 detects a change in current caused by a reduction reaction of oxygen that has reached the cathode after passing through the diaphragm and an oxidation reaction in the anode, using an electrochemical equation utilizing an oxidation-reduction reaction of oxygen. This is a capsule electrode type sensor which can measure the dissolved oxygen amount of 0 to 20 PPM. The PH sensor 615 is a composite glass electrode type sensor and detects PH in the range of 4 to 14. Turbidity sensor 61
Numeral 6 measures the received light intensity by receiving, with a receiver, scattered light due to suspended particles present in a zone where infrared pulse beams emitted from two transmitters intersect. It is an infrared backscattering sensor having a wavelength of 940 nm and can measure turbidity of 0 to 100 PPM. The chlorophyll sensor 617 is a fluorescence measuring sensor that measures by measuring the luminous intensity according to the fluorescence wavelength of chlorophyll, and has excitation light of 420 to 510 nm, fluorescence of 677 nm, and fluorescence of 677 nm.
A measurement of 60 μg / liter is possible.

Each of these sensors is a well-known sensor, and is disposed separately in the non-withstand voltage section 17 and is subjected to calculation and correction processing. These sensors themselves have a pressure-resistant structure and can withstand a pressure up to a depth of 200 m.

1.3 Carrier Gas Cylinder (62) The carrier gas cylinder 62 is a nitrogen gas cylinder required for a total carbon dioxide analyzer described later, and has a capacity of 1%.
For example, two cylinders filled with high-purity nitrogen gas of 0 L and a filling pressure of 150 kg / cm ² are used.

1.4 Buoyancy Tank (63) The buoyancy tank 63 is an air tank for giving buoyancy to the observation robot body 11, and is equipped with, for example, two buoyancy tanks. 2. Equipment Stored in Pressure-Resistant Container On the other hand, a pressure-resistant container 16 formed in the observation robot main body 11 includes a submerged dissolved carbon dioxide measuring device 50, a system control device 51 including the robot attitude control device 75, a power supply device 52,
A telemeter device 53, an abnormality monitoring device 54 and the like are arranged.

2.1 Ocean Dissolved Carbon Dioxide Measuring Device (50) The ocean dissolved carbon dioxide measuring device 50 is a device for decomposing sea water with an acid and analyzing gasified carbon dioxide gas by a non-dispersive infrared method to obtain the total amount of carbon dioxide. Is a device for measuring Since this is not possible to measure the carbon dioxide concentration CO ₂ in seawater directly calculated using a theoretical formula which will be described below from the measured values of the total carbonate concentration. Here, the carbon dioxide concentration is finally expressed by the value of the carbon dioxide partial pressure [P _CO2 ] in the air in contact with seawater. [Theoretical formula] In the seawater, all carbon substances (ΣCO ₂ ) contain molecular carbon dioxide (CO ₂ ), free carbon dioxide (H ₂ CO ₃ ), hydrogen carbonate ion (HCO ₃ ⁻ ), and carbonate ion (CO ₃ ^{−). -} ) Melted in form. That is, ΣCO ₂ = (CO ₂ ) + (H ₂ CO ₃ ) + (HCO ₃ ⁻ ) + (CO ₃ ⁻ ) (1) The mutual existence ratio is determined by the salt content, the water temperature, and the PH.

Since CO ₂ and H ₂ CO ₃ cannot be measured separately, if (CO ₂ ) + (H ₂ CO ₃ ) is displayed as [H ₂ CO ₃ ], ΔCO ₂ and [H ₂ CO ₃ ] C
O ₃ ], the following equation (2) is established. [H ₂ CO ₃ ] = {CO ₂ / {1+ [K ₁ / (H ⁺ )] + [K ₁ · K ₂ / (H ⁺ )] ² } (2) where K ₁ and K ₂ are seawater Of apparent carbonic acid in Japan
And the second dissociation constant, which is given by the following equation.

−log K ₁ = −13.7201 + 0.031334 · T + 323.76 · T + 1.300 × 10 ⁻⁵ ST · 0.1032 · S ^1/2 −log K ₂ = 5371.9645 + 1.6712221T + 0. 22913 · S + 18.3802 · log S-128375.28 · T −219.3055 · log T−8.0944 × 10 ⁻⁴ ST · 5617.11 · log S / T + 2.136S / T S and T T is salinity (0/00) and absolute temperature, respectively.

The CO ₂ equilibrium partial pressure of air in contact with seawater [P
And _CO2], the following equation (3) holds between the [H ₂ CO _3] in the sea water. _{P atm · [H 2 CO 3} ] = α · [P CO2] ... (3) l n = -58.0931 + 90.569 (100 / T) + 22.2940ln (T / 100) + S [0.027766-0. 024888 (T / 100) +0.0050578 (T / 100) ² ] Therefore, if ΣCO ₂ is measured, this results in [P
_CO2 ]. The total dissolved carbon dioxide (物質 CO ₂ ) in seawater is converted into carbon dioxide by adding a strong acid to seawater and is separated from the solution. Therefore, the amount of carbon dioxide may be measured. The amount of carbon dioxide thus measured [P
_CO2 ], water temperature, salinity, P of the multi-component water quality measuring device 61
Based on the data measured at H sensor, (3) total dissolved carbon material amount good to formula (ShigumaCO ₂₎ can be calculated, this results, the total dissolved carbon material content in the sea water (ShigumaCO ₂ )
Can be measured.

From the above principle, the dissolved carbon dioxide measuring device 50
Is a total carbonic acid analyzer (TOC-5000) as shown in FIG.
510, a water sampling device 520 for supplying seawater to the total carbon dioxide analyzer 510, a pressure control device 530 for discharging the carrier gas cylinder 62 and the used carrier gas from the pressure-resistant container 16 to the outside.

2.1.1 Total Carbon Dioxide Analyzer (510) As described above, the total amount of dissolved carbon dioxide in seawater (ΣCO ₂ )
If a strong acid is added to seawater, it becomes carbon dioxide and separates from the solution, so that the amount of carbon dioxide may be measured. Using this principle, a total carbon dioxide analyzer (TOC-5000) 510 is used.
Is designed to measure inorganic carbon (IC) in seawater. That is, as shown in FIG. 7, the total carbon dioxide analyzer 510 of this embodiment introduces seawater sampled from outside the robot main body 11 into the IC reactor 511, and the IC reactor 511
Phosphoric acid is added to generate carbon dioxide. This carbon dioxide is expelled by the carrier gas such as nitrogen supplied to the IC reactor 511 and sent to the dehumidification / gas processing unit 512, where it is processed and then sent to the non-dispersive infrared gas analyzer (NDIR) 513. . Infrared gas analyzer 51
In No. 3, the concentration of carbon dioxide can be measured by the infrared absorption effect. The amount of carbon dioxide [P _CO2 ] measured in this way is sent to the data processing unit 514, which uses the data measured by the water temperature, salinity, and PH sensors of the multi-component water quality measurement device 61. Then, (ΣCO ₂ ) is calculated based on the above equation (3), and this data is sent to the monitor device 40 on the ship.

2.1.2 Water sampling device (520) The water sampling device 520 is for supplying seawater to the total carbon dioxide analyzer 510. In the first place, total carbon dioxide analyzer (TOC)
The -5000) 510 is originally manufactured as a device for measuring at the atmospheric pressure in a laboratory, and therefore does not have a pressure-resistant specification. When seawater is sampled by a sample injector, it is released to the atmospheric pressure. In this case, CO ₂ gas dissolved in 200m of seawater is released to the atmosphere before analysis,
We can not accurately measure the CO ₂ concentration. For this reason, the method shown in FIG. 8 was adopted as a method of sampling seawater from underwater and injecting it into the total carbon dioxide analyzer 510.

That is, as shown in FIG. 8A, a seawater line is constituted by a three-port switching valve 521 and a six-port valve 523, and external seawater is sucked by a pump 522 to create a flow of water. . Sequencer 511 described later
When the 6-port valve 523 is switched by the command from
As shown in FIG. 8B, the seawater in the ring-shaped pipe 523a is changed by the carrier gas into the I
Water is injected into the C reactor 511 (see FIG. 7). In addition,
When the three-port valve 521 is switched to the standard solution line by a command from the kenser 511, the IC reaction solution 5 is replaced by seawater instead of seawater.
24 is supplied to the IC reactor 511 via the 6-port valve 523.

[0046] 2.1.3 pressure control device (530) total carbon analyzer 510, a carrier gas to carry the carbon dioxide (N ₂ gas 150～160Cc / min, 5Kg / cm ²⁾
When continuous measurement is performed, the pressure in the pressure-resistant container 16 increases, causing a measurement error of the analyzer 510.
For this reason, it is necessary to maintain the pressure in the pressure-resistant container 16 at atmospheric pressure, and this pressure control device 530 is used. The pressure control device 530 is also one type of abnormality monitoring device.

FIG. 9 shows the structure of the pressure control device 530.
The pressure in the pressure-resistant container 16 is monitored by the pressure sensor 531. If the pressure is equal to or higher than the atmospheric pressure, the three-way valves 532 and 533 are opened to open the seawater in the tank 534 as shown in FIG. By introducing the gas, the gas in the tank 534 is released. When this is completed, the seawater in the tank 534 is discharged by the pump 535 by switching the three-way valves 532 and 533 as shown in FIG. In this process, the gas in the pressure container 16 flows into the tank 534 again. If the pressure is equal to or lower than the atmospheric pressure, as shown in FIG.
3 is switched to discharge the external seawater directly through the pump 535. Note that the onboard monitor device 40 has the structure shown in FIG.
As shown in the figure, a lamp 410 for monitoring the pressure in the pressure-resistant container 16 and the operation state of the pressure control device 530 is provided.

2.2 System control unit (51) Transmission of signals and data between the onboard monitor unit 40 and the observation robot 10 is performed via a telemeter unit 53 in the pressure-resistant container 16, and each measurement is performed. As shown in FIG. 10, a sequencer 511 of the system controller 51 controls the apparatus, the sensor, the water sampling apparatus, and the pressure controller. As described above, the attitude control device 75 of the observation robot 10 shown in FIG. 4 is incorporated in the system control device 51.

2.3 Power supply device (52) Power is transmitted from the power generation device on the ship using the towing cable 20. On the ship, the voltage is increased to 300V and sent, and the voltage is reduced to 100V by the transformer in the observation robot 10. The system is supplied to each measuring device. When an ultrasonic Doppler current meter (ADCP) 60 emits an ultrasonic wave,
(00 to 200 msec) A voltage drop of about 50% occurs. Therefore, in order to stabilize the voltage, power is supplied to each measuring instrument, sensor, sequencer, and the like via a power supply unit 52 for uninterruptible power.
The supply current is about 10A.

2.4 Telemeter Device (53) The telemeter device 53 transmits measurement data and an alarm signal from each measurement to the monitor device 40 on the ship from the towing cable 20.
Is a device for transmitting to In addition, the onboard monitor 40
Is transmitted to the sequencer 511 of the observation robot 10 via the telemeter device 53.

2.5 Abnormality Monitoring Sensor (54) As the abnormality monitoring sensor 54, the pressure control device 530 of FIG. 9 described above and a water leak detector 541 are provided in addition thereto. As described above, the pressure control device 530 detects the pressure in the pressure-resistant container 16 and, when the pressure becomes abnormal, releases the pressure and keeps the inside of the robot body 11 at a constant pressure. On the other hand, in the water leak detector 541, a conductive wire is wired near the bottom surface of the pressure vessel 16, and if water accumulates by flooding, current flows through seawater. This current is detected to detect water leakage, and to monitor seawater infiltration into the pressure-resistant container 16.

For the observation robot 10 configured as described above, the monitoring device 40 provided on the observation mother ship 1 sends the signals detected by the above-mentioned measuring instruments via the sequencer 511 of the telemeter device 53. The analog data is displayed on a plasma display based on these signals. The data to be displayed are the total amount of carbon dioxide, carbon dioxide partial pressure, water temperature, DO, PH, salinity, turbidity, chlorophyll, depth, pressure, pitch, and roll.

With respect to the observation system having such a configuration,
The operation will be described. The observing robot 10 can maintain the dive depth and regulate the vertical sway by the wing angle of the horizontal main wing 12, and can also control the left and right horizontal tails 13a, 13
Rolling can be controlled by the difference in the elevation angle of b, and pitching can be controlled by the sum of the elevation angles of the left and right horizontal tails 13a and 13b. Observation robot 1
During the dive of 0, the posture of the observation robot 10 is stable. For example, even if the observation mother ship 1 is moving forward in the sea area with a wave height of 2 m, the movement of the observation robot 10 is within several cm up and down, and rolling and pitching are 1 Extremely stable performance within a degree.

Therefore, an ultrasonic Doppler-type current meter (ADCP) which is liable to cause a measurement error when used in an inclined state.
Even if the 60 or the total carbonic acid analyzer (TOC-5000) 510 is mounted, the inclination of the observation robot 10 is prevented, so that the ultrasonic Doppler type flow meter 60 and the total carbonic acid analyzer 51
0 functions normally, and highly accurate measurement becomes possible.

Since the total carbon dioxide analyzer 510 is originally manufactured as a device for measuring in an atmosphere at atmospheric pressure,
Not a breakdown voltage specification, an attempt to measure the CO ₂ gas dissolved in the seawater 200 meters, but is feared that not accurately measure the CO ₂ concentration too long and released into the atmosphere prior to analysis, In the present embodiment, the water sampling device 520 shown in FIG. 8 is used, and the system in which the seawater in the ring-shaped pipe 523 is introduced into the IC reactor 511 using a carrier gas made of nitrogen or the like is adopted. Can accurately measure the CO ₂ concentration.

In this case, two cylinders filled with high-purity nitrogen gas having a capacity of 10 liters and a filling pressure of 150 kg / cm ² are used as the carrier gas. Can be measured continuously.

When such continuous measurement is performed, the pressure in the pressure-resistant container 16 increases due to the carrier gas, which causes a measurement error of the analyzer 510. However, the pressure control device 530 shown in FIG. Therefore, when the pressure in the pressure-resistant container 16 becomes equal to or higher than the atmospheric pressure, the pressure sensor 531 detects the pressure, opens the three-way valves 532 and 533, and allows the seawater to flow into the tank 534, thereby causing the gas in the tank 534 to flow. And the pressure in the pressure-resistant container 16 is maintained at the atmospheric pressure. Therefore, continuous observation becomes possible. As a result, dissolved substances in the sea in a wide sea area can be continuously measured, temporal and spatial measurement can be performed, and highly accurate data can be obtained.

[0058]

As described above, according to the present invention, the horizontal inclination and the vertical inclination of the robot body are controlled by the horizontal main wing and the pair of left and right horizontal tails, so that the posture of the observation robot is stable even when towing at high speed. However, even if a measuring instrument such as an ultrasonic current meter or an apparatus for analyzing dissolved substances in the sea that does not tilt is mounted, the accuracy of these measurements is improved. As a result, dissolved substances in the sea in a wide sea area can be measured continuously in time and space, and high-quality data can be obtained.

[Brief description of the drawings]

FIG. 1 is a configuration diagram illustrating an embodiment of the present invention and schematically illustrating a system of a towed underwater dissolved substance observation robot.

FIG. 2 is a plan view of the observation robot in the embodiment.

FIG. 3 is a vertical sectional view of the observation robot in the embodiment.

FIG. 4 is a system diagram of a posture control device of the observation robot of the embodiment.

FIG. 5 is a cross-sectional view taken along a line AE in FIG. 2 of the embodiment.

FIG. 6 is a configuration diagram showing an inorganic carbonic acid analysis system of the embodiment.

FIG. 7 is a diagram illustrating the principle of a total carbon dioxide analyzer used in the inorganic carbon dioxide analysis system of the embodiment.

FIG. 8 is an explanatory diagram of a water sampling device used in the inorganic carbonic acid analysis system.

FIG. 9 is an explanatory diagram of a pressure control device used in the inorganic carbonic acid analysis system.

FIG. 10 is a control signal system diagram of the embodiment.

[Explanation of symbols]

1: Observation mother ship 10: Observation robot 11
… Observation robot body 12… Horizontal main wings 13 a, 13 b… Horizontal tail 20… Towing cable 30… Onboard robot control device 40… Monitor device 16… Pressure-resistant vessel 17… Non-pressure-resistant part 17 50… Underwater dissolved carbon dioxide measurement device 51… System control device 52 Power supply device 53 Telemeter device 54 Abnormality monitoring device 60 Ultrasonic Doppler current meter 61 Multi-component water quality measurement device 62 Carrier gas cylinder 63 Buoyancy tank 70 Slope attitude detection device 71 Rolling angle Sensor 72 Pitch angle sensor 75 Robot attitude control device 123 Horizontal wing drive motor 132a, 132b Horizontal tail drive motor 510 Total carbon dioxide analyzer (TOC-5000) 520 Water sampling device 530 Pressure control device 611 Water temperature sensor 612 ... Salt sensor 612 613 ... Depth sensor 614 ... D
O sensor 615 ... PH sensor 616 ... turbidity sensor 617 ... chlorophyll sensor

Claims (1)

(57) [Claims] (1)Towing by observation mother ship via towing cable
An observation robot to be navigated, A robot control device loaded on the observation mother ship, The small amount of water required for seawater observation
Ultrasonic anemometer and inorganic carbon in seawater at least
Total carbon dioxide analyzer, introducing seawater to this total carbon dioxide analyzer
Sampling device, and a pump for sending carrier gas to the sampling device
And release this carrier gas to the outside
Consists of a pressure control device that regulates pressure rise in the body
Measuring instrument including a dissolved substance analysis device in the sea, Water that can be adjusted for the elevation angle provided on the observation robot body
Flat wings, In response to a command from the robot controller, the horizontal wing
Drive to control the depth of the observation robot body
Means, Also set on the above observation robot body, each prone
A pair of left and right horizontal tails that extend left and right with adjustable angle
When, Detection of the tilt posture detector installed on the observation robot
The horizontal tail is controlled in accordance with
Control means for controlling the tilt and the vertical tilt, Robot for observing dissolved substances in the sea, characterized by having
To