JP6933357B2 - Underwater mobile and its internal equipment How to move - Google Patents

Description

The present invention relates to an underwater mobile body that can move between water such as fresh water and seawater and the water surface thereof, and a method for moving the internal equipment of the underwater mobile body that moves the internal equipment installed inside the underwater mobile body.

Conventionally, underwater mobiles that can be submerged in the ocean, ponds, lakes, rivers, etc. to conduct various surveys have been proposed. For example, Patent Document 1 describes an underwater mobile body having the following configuration. The underwater moving body is arranged in a main body portion provided with a data acquisition unit for acquiring information and a specific gravity adjusting unit for adjusting the position in water, and the information acquired while being arranged at the tail portion of the main body portion. It has an antenna unit including an antenna body for transmission, and the antenna unit is configured to rotatably hold the antenna body in the vertical direction. The underwater moving body is arranged so that the antenna body specifically faces the weight portion on the rotation shaft. Therefore, when the underwater mobile body floats on the sea surface and transmits data, the posture of the antenna body can be held in the vertical direction by the weight portion, and communication can be performed in a stable posture.

Japanese Unexamined Patent Publication No. 2014-240216

However, in the underwater moving body proposed in Patent Document 1, since the antenna main body is always located outside the main body portion, it is unavoidable that the underwater moving body becomes a fluid resistance when moving in water.

The embodiment of the present invention was devised in view of the above-mentioned problems. The target equipment is moved without the need for a new drive source, and the underwater movement is less likely to cause fluid resistance during the movement of the underwater moving body. An object of the present invention is to provide a method for moving the body and its internal equipment.

The underwater moving body according to the embodiment of the present invention in order to solve the above problems is an underwater moving body having a swim bladder for adjusting buoyancy between the water and the water surface and a plurality of facilities in the skeleton. At least one target equipment of the equipment that is arranged at a position in contact with the swim bladder and is a target to move due to the expansion of the swim bladder, and the target equipment provided in the skeleton so that the movement of the target equipment becomes a preset trajectory. The target equipment is an antenna device provided with a guide unit for guiding, and an antenna is provided on a separated wall surface that allows a part of the wall surface of the skeleton to be separated from another skeleton wall surface. Is provided along the guide portion so that at least a part of the target equipment is projected to the outside of the skeleton.

Further, in order to solve the above-mentioned problems, the method of moving the internal equipment of the underwater moving body according to the embodiment of the present invention includes a floating bladder for adjusting the position in water, a skeleton for accommodating the floating bag and a plurality of facilities, and the skeleton. A method of moving internal equipment of an underwater moving body including a drive mechanism for moving underwater and on the surface of the water, wherein the floating bladder is inflated and the floating bladder is provided at a position facing the floating bladder. The target equipment includes a step of moving at least one of the equipments as a target equipment to be moved via a guide portion and projecting at least a part of the target equipment from the surface of the skeleton, and the target equipment is a part of the skeleton. This is an antenna device in which an antenna is provided on a separated wall surface that allows the wall surface to be separated from other skeleton wall surfaces .

According to the underwater moving body according to the embodiment of the present invention, a new driving source is required in order to move the internal equipment housed in the skeleton such as an antenna by using the expansion and contraction of the swim bladder that gives buoyancy as the driving source. In addition, internal equipment such as an antenna is housed in the skeleton when moving in water, so there is no fluid resistance. Further, according to the internal equipment moving method according to the embodiment of the present invention, the internal equipment to be moved can be moved without using a new drive source.

It is a schematic diagram which shows typically the state which puts the underwater moving body which concerns on 1st Embodiment into water from a mother ship, performs a preset route and work, and floats on water. It is a perspective view which shows typically the whole underwater moving body which concerns on 1st Embodiment as the state which floated on the water. It is a perspective view which shows typically the state which the floating bladder is contracted by removing a part of the tip part of the underwater moving body which concerns on 1st Embodiment. It is a perspective view which shows typically the state which the floating bladder is inflated by removing a part of the tip part of the underwater moving body which concerns on 1st Embodiment. It is an exploded perspective view which shows typically by taking out the 1st engaging part and the 2nd engaging part in the guide part of the underwater moving body which concerns on 1st Embodiment. It is a side view which shows typically the state which the floating bladder is contracted by removing a part of the tip part of the underwater moving body which concerns on 1st Embodiment. It is a side view which shows typically the state which the floating bladder is inflated by removing a part of the tip part of the underwater moving body which concerns on 1st Embodiment. It is a side view which shows typically the state which the floating bladder is contracted by removing a part of the tip part of the underwater moving body which concerns on 2nd Embodiment. It is a side view which shows typically the state which the floating bladder is inflated by removing a part of the tip part of the underwater moving body which concerns on 2nd Embodiment. It is sectional drawing which shows typically the state before the 2nd engaging part in the moving part of the underwater moving body which concerns on 2nd Embodiment engages with the 1st engaging part, and the antenna device moves up. It is sectional drawing which shows typically the state after the 2nd engaging part in the moving part of the underwater moving body which concerns on 2nd Embodiment engages with 1st engaging part, and the antenna device moves up.

Hereinafter, the underwater moving body according to the embodiment will be described with reference to the drawings. Since the drawings referred to in the following description schematically show an embodiment, the scale, spacing, positional relationship, etc. of each member are exaggerated, or a part of the members is not shown. In some cases. Further, in the following description, members having the same or the same quality are shown in principle for the same name and reference numeral, and detailed description thereof will be omitted as appropriate. Furthermore, the directions shown in each figure indicate relative positions between the components and are not intended to indicate absolute positions.

As shown in FIGS. 1 and 2, for example, in the ocean Wa, the underwater mobile body 1 according to the first embodiment floats and sinks between the seabed Wb and the water by adjusting the buoyancy adjusting mechanism 30, and also rises and falls in the water or on the water. It can be moved by driving the drive mechanism 90 in the above. The underwater mobile body 1 houses a plurality of equipment inside the skeleton 50 so that it can be observed or physically measured in water and on water. The underwater mobile body 1 includes a skeleton 50, a plurality of equipment such as a swim bladder 31 installed in the skeleton 50, an antenna device 10 and a control device PC, and a guide unit 2 for moving the antenna device 10 (see FIG. 3). ) And a drive mechanism 90 for moving underwater and on the water. The underwater mobile body 1 is provided with a camera CA for photographing the outboard at a predetermined position of the skeleton 50 as an example here. Further, the underwater mobile bodies 1 and 1B are provided with movement control parts such as a sensor, a gyro, and a GPS, which are necessary for diving or navigating. The underwater mobile bodies 1 and 1B are provided with a drive source for energy (electricity or the like) required for self-propelling.

The skeleton 50 of the underwater mobile body 1 has a streamlined tip side so that it can easily navigate underwater and on water, and a body portion continuous with the streamlined tip side is formed in a cylindrical shape. Further, the skeleton 50 includes an open chamber 60 provided on the tip side and a closed chamber 70 provided adjacent to the open chamber 60. The skeleton 50 is provided with a drive chamber 80 for driving the drive mechanism 90 adjacent to the rear of the closed chamber 70. The skeleton 50 is formed of a resin such as metal or fiber, and the material is selected and used in advance depending on the water depth and the like used.

As shown in FIGS. 3 and 4, the open chamber 60 is formed by being separated from the closed chamber 70 by a partition wall 71 at a position at the tip of the skeleton 50 and being covered with an outer wall. Here, the open chamber 60 houses the swim bladder 31 of the buoyancy adjusting mechanism 30 and the antenna device 10 which is the target equipment of the equipment to be moved. Further, in the open chamber 60, a guide portion 20 for moving (moving up and down) the antenna device 10 is provided. The open chamber 60 is formed so that the separation wall surface 101 of the skeleton wall surface separates from the other skeleton wall surface and moves when the antenna device 10 is moved up and down. Further, since the separation wall surface 101, which is a partial wall surface, moves away from the other skeleton wall surface in the open chamber 60, water can enter the room. Therefore, the equipment and the like installed in the open room 60 have a waterproof structure. The opening chamber 60 is formed in a size capable of accommodating the swim bladder 31 in a state where the target equipment is moved to the moving end when the swim bladder 31 is expanded to the maximum. Horizontal rudders are installed symmetrically on the outer wall of the open chamber 60.

As shown in FIGS. 2 and 6, the closed chamber 70 is continuously formed in the open chamber 60 in a liquid-tight manner from the partition wall 71 and the outer wall. The closed chamber 70 is an underwater moving body 1 such as an oil tank 33 for expanding and contracting the swim bladder 31 of the buoyancy adjusting mechanism 30, a means for recording shooting data of the camera CA (not shown), navigation control, communication control, and the like. Equipment such as a control device PC is housed for operation. The closed chamber 70 is formed at a position corresponding to the cylindrical body of the skeleton 50. Further, in each facility installed in the open chamber 60, the closed chamber 70, or the drive chamber 80, the cables for transmitting information and driving control are not described in the drawings.

As shown in FIG. 2, the drive chamber 80 is continuously formed behind the closed chamber 70. The drive chamber 80 is provided with a space for accommodating a general drive device for rotating a propulsion device such as a screw propeller in the forward or reverse rotation. A horizontal rudder and a vertical rudder are installed on the outer wall of the drive chamber 80. Here, the camera CA is installed on the outer wall surface of the drive chamber 80. The data captured by the camera CA is stored in, for example, a storage means in the closed chamber 70, and is configured to be transmitted to the outside via the antenna 11 according to a preset instruction.
The drive mechanism 90 is installed behind the drive chamber 80. The drive mechanism 90 is, for example, a pair of screw propellers arranged symmetrically on the left and right sides, and the configuration is not limited as long as it is used for this type of hull.

As shown in FIGS. 6 and 7, the buoyancy adjusting mechanism 30 installed over the open chamber 60 and the closed chamber 70 is provided so as to penetrate the floating bag 31 installed in the open chamber 60 and the partition wall 71. It includes a distribution pipe 32 and an oil tank 33 installed in the closed chamber 70. The buoyancy adjusting mechanism 30 is configured such that the swim bladder 31 installed in the open chamber 60 is connected to the oil tank 33 installed in the closed chamber 70 via the distribution pipe 32, and fluid is taken in and out of the float 31. ing. Then, the buoyancy adjusting mechanism 30 moves the fluid (oil) in and out of the swim bladder 31 according to a preset program, and expands and contracts the swim bladder 31. Here, the buoyancy adjusting mechanism 30 changes the specific gravity by moving the oil stored in the oil tank 33 side, which is the closed chamber 70 side, into and out of the buoyancy bag 31 side to expand and contract, and the floating and sinking of the underwater moving body 1. Is to make adjustments. The swim bladder 31 is formed so as to have a preset shape, and here, it is formed so as to expand in a substantially columnar shape which is the internal space shape of the open chamber 60. The swim bladder 31 is located on the inner wall surface side on one side of the opening chamber 60 when contracted, and becomes substantially cylindrical so as to be close to the inner wall surface of the opening chamber 60 when expanded, thereby moving the target equipment. Is set to work as well.

The antenna device 10, which is an example of target maintenance, includes an antenna 11 and a main body 12 for receiving or transmitting from the antenna 11. The antenna 11 is fixed to the separation wall surface 101, and here, a microstrip antenna (patch antenna), which is a planar antenna formed in a planar shape, is used. The antenna 11 is connected to the main body 12 via the support 14. The support portion 14 connects the antenna 11 and the main body portion 12, and is internally wired to connect the antenna 11 and the main body portion 12. The outer periphery of the main body 12 is covered with a housing and is stored in a liquid-tight manner. The main body 12 is a device used for communication, and is provided here with a device capable of supporting satellite broadcasting. As an example, the housing covering the main body 12 is formed in a shape in which a cylindrical end face is joined from the front and back to a central rectangular parallelepiped-shaped portion. A second engaging portion 13 is formed in the center of the housing of the main body portion 12, as will be described later. Further, the main body portion 12 is formed so as to be equal to or smaller than the area of the separation wall surface 101 when the area of the separation wall surface 101 on which the antenna 11 is installed is compared with the area of the separation wall surface 101 in a plan view. There is. Therefore, when the main body portion 12 is moved, a part thereof can protrude from the surface of the skeleton 50 through the opening formed in the open chamber 60.

As shown in FIGS. 3 to 7, the guide portion 20 guides the main body portion 12 of the antenna device 10 along a preset trajectory. The guide portion 20 is a first engaging portion 21 installed on the inner wall surface of the open chamber 60, and a second engaging portion 13 that engages with the first engaging portion 21 to guide the movement of the main body portion 12. And have. The second engaging portion 13 is formed in the housing portion of the main body portion 12 of the antenna device 10.

Here, the first engaging portion 21 includes an engaging frame 21a supported on the inner wall surface of the opening chamber 60, and engaging convex portions 21b and 21b provided on the engaging frame 21a. The engaging frame 21a is formed to be wider than the width of the main body 12 of the antenna device 10 when viewed in a plan view, and has a rectangular shape (co-) with the frames on three sides orthogonal to each other so as to be located along the outer circumference of the main body 12. It is formed in a character shape). The engaging frame 21a is formed so that two sides orthogonal to each other from both ends of one central side exceed the central portion of the main body 12. Further, the engaging frame 21a is provided with engaging convex portions 21b and 21b facing positions facing the second engaging portion formed in the central portion of the housing of the main body portion 12. The engaging convex portions 21b and 21b are for guiding the main body portion 12 that engages with and moves with the second engaging portion 13. The engaging convex portions 21b and 21b are formed in a shape corresponding to the engaging portion of the second engaging portion 13, and here, a plate piece fixed via the boss is bent toward the inside of the engaging frame 21a. It is formed so as to protrude. The size, shape, or material of the engaging convex portions 21b and 21b is not particularly limited as long as they have a shape that allows them to engage with the second engaging portion 13.

Here, the second engaging portion 13 is formed on the side surface of the housing of the main body portion 12 on the engaging groove portions 13a and 13a, and on the one end side of each of the engaging groove portions 13a and 13a in the longitudinal direction. The stoppers 13b and 13b provided are provided.
The engaging groove portions 13a and 13a are formed in a concave shape at a position centered on the housing of the main body portion 12. The engaging groove portions 13a and 13a are formed to have a predetermined groove length in a direction in which the main body portion 12 can move along a preset trajectory. Further, the engaging groove portions 13a and 13a are formed in a groove shape capable of engaging with the engaging convex portions 21b and 21b.
The stoppers 13b and 13b abut on the engaging protrusions 21b and 21b or the lower end of the engaging frame 21a to regulate a preset range of the orbit. The stoppers 13b and 13b are not particularly limited in size and shape. Although the stopper 13b is provided separately from the engaging groove portion 13a here, the groove end portion of the engaging groove portion 13a may be used instead of the stopper 13b.

As shown in FIGS. 6 and 7, the antenna device 10 is a target equipment facing the side surface (body portion) of the swim bladder 31, and the main body portion 12 of the antenna device 10 is set in advance via the guide portion 20. It is installed so that it can be moved along. Then, the antenna device 10 moves with the main body 12 directly in contact with the floating bladder 31 and guided by the guide portion 20 due to the expansion and contraction of the floating bladder 31, and the antenna 11 also moves with the movement of the main body 12. When the main body 12 is pushed and moved by the expansion of the swim bladder 31, the antenna 11 and a part of the main body 12, which are at least a part of the antenna device 10, are made to protrude from the wall surface of the skeleton 50. Therefore, when the underwater moving body 1 floats on the water due to the expansion of the swim bladder 31, the antenna 11 rises to a place higher than the water surface, and the antenna 11 can be maintained at a position where it is difficult to be covered with water due to the influence of waves. The swim bladder 31 also moves the separation wall surface 101 on which the antenna 11 is installed by moving the main body 12. Further, even if water enters the open chamber 60 by moving the separation wall surface 101, the open chamber 60 has a waterproof structure so that water may enter in advance.

The underwater mobile body 1 configured as described above moves underwater or on water according to a preset command for observation and measurement. For example, the underwater mobile body 1 moves on a pre-programmed route, performs a desired work at a pre-programmed designated place, floats on the sea, and operates to send data to a mother ship. As an example, as shown in FIG. 1, it is mounted and carried on a mother ship SP such as a work ship. Then, the underwater mobile body 1 thrown into the sea from the mother ship SP in the target sea area moves and works along the programmed route R. The underwater mobile body 1 performs work such as taking a picture of the camera CA at the programmed position of the drift ice C, and when the work is completed, it rises to the sea and contacts the mother ship SP. Hereinafter, the operation of the underwater moving body 1 will be described more specifically.

First, when the underwater moving body 1 is thrown in, the underwater moving body 1 is in a state in which the floating bladder 31 of the buoyancy adjusting mechanism 30 is contracted. Therefore, the underwater mobile body 1 sinks and moves along a predetermined path R set in the program of the control device PC by driving the drive mechanism 90. When the underwater moving body 1 is contracting the swim bladder 31, the antenna 11 and the main body 12 of the antenna device 10 are located at the lower end of the movement, and the separation wall surface 101 to which the antenna 11 is attached comes into contact with another wall surface. It is in a state. Then, the underwater mobile body 1 operates the drive mechanism 90 under the control of the control device PC to move along the set path R, and takes an image of the lower surface of the drift ice C with an accessory equipment, for example, a camera CA. Do the work. Then, when the set work is completed and the underwater moving body 1 floats from the water to the water, the control device PC inflates the swim bladder 31 of the buoyancy adjusting mechanism 30 to ascend and drive the drive mechanism 90. Navigating.

That is, in the underwater moving body 1, as a method of moving the internal equipment, the buoyancy adjusting mechanism 30 injects oil from the oil tank 33 into the floating bag 31 through the distribution pipe 32 (expansion step) from the control device PC. Then, when the floating bag 31 is infused with oil and swells, the underwater moving body 1 has a large buoyancy due to its specific gravity and pushes up the main body 12 of the antenna device 10. By inflating the swim bladder 31, the main body 12 of the antenna device 10 follows a trajectory preset by the guide 20 in a state where the second engaging portion 13 is engaged with the first engaging portion 21. And move upwards. Further, as the main body 12 of the antenna device 10 moves, the antenna 11 also moves upward and projects (projects) from the surface of the skeleton 50 together with the separation wall surface 101.

It should be noted that the antenna 11 protrudes from the surface of the skeleton 50 only after the underwater moving body 1 floats on the water. That is, the underwater moving body 1 gradually rises when the swim bladder 31 begins to swell, navigates by the drive mechanism 90, and reaches the water until the swim bladder 31 completely expands. Further, even if the swim bladder 31 expands and the open chamber 60 is filled with water before the underwater moving body 1 floats on the water, the inside of the open chamber 60 has a waterproof structure and water may enter. Since it is a premise, there is no problem in navigating by the drive mechanism 90 while ascending. When the underwater moving body 1 is exposed to the water, the floating bladder 31 is in a state of being inflated by the maximum amount of oil being injected, and the main body 12 is pushed by the floating bladder 31 to guide the moving end of the orbit by the guide portion 20 (the moving end of the orbit). It is held in a state where it is located at the rising end). Therefore, the antenna 11 connected to the main body 12 via the support 14 is in a state of being projected to the maximum from the skeleton 50, and can maintain a high position that is less likely to be exposed to water due to the influence of waves. In the antenna device 10, the entire antenna 11 is projected from the surface of the skeleton due to the expansion of the swim bladder 31, but when the configuration of the antenna 11 is different, at least a part of the antenna 11 is projected from the surface of the skeleton. It doesn't matter.

When the underwater mobile body 1 comes out on the water, it transmits a signal to the mother ship SP and sends the data collected in the work to notify its own position. When the underwater mobile body 1 transmits a signal to the mother ship SP via the antenna 11, the lower half side of the skeleton 50 of the underwater mobile body 1 is underwater, and the upper half side is floating in a state of being exposed on the water. Therefore, when transmitting a signal via the antenna 11, it may be difficult to transmit the signal if the antenna 11 is covered with water by a wave. However, here, since the antenna 11 projects from the surface of the skeleton 50, it maintains a state in which it is less likely to be covered with water due to the influence of waves, so that it is easy to send a signal. Further, even if the antenna 11 is covered with water due to the influence of waves, the existing processing is applied so that the signal processing on the main body 12 side of the antenna device 10 can sufficiently compensate for the transmission and reception of the signal.

Then, when the underwater mobile body 1 is set to float on the water and transmit a signal by the antenna device 10, it either sails to the mother ship SP by remote control, or the mother ship SP sails close to it. Then, it will be collected by the mother ship SP. The data collected by the underwater mobile body 1 may be taken out from the data stored in a storage device such as a memory after being collected by the mother ship SP. As a method of moving the internal equipment, when the swim bladder 31 contracts, the antenna device 10 moves downward by its own weight as the swim bladder contracts. As described above, the underwater moving body 1 uses a new moving mechanism as a method of moving the internal equipment by using the movement of the expansion and contraction of the swim bladder 31 as the moving mechanism of the antenna device 10 which is the target equipment to be moved. The antenna 11 of the antenna device 10 can be moved (moved up and down) without any need. Further, the underwater mobile body 1 does not have any resistance when it is projected from the skeleton and propelled when diving or navigating, and the kinetic energy is not wasted during diving or navigating.
Further, the underwater moving body 1 can maintain a stable posture because the equipment such as the antenna 11 is not in a position where the equipment such as the antenna 11 acts as a resistance to water even if the moving body 1 moves on the water surface. Further, since the underwater mobile body 1 can move the internal equipment up and down inside and outside the skeleton by the operation of expansion and contraction of the swim bladder that adjusts the buoyancy without the need for a new drive source, the internal equipment can be reduced and the internal space can be reduced. The degree of freedom in design is great.

Further, the underwater moving body 1 has been described as a configuration in which the floating bladder 31 is brought into direct contact with the target equipment to be moved and moved. However, as shown in FIG. 8, the moving portion between the floating bag 31 and the target equipment. It may be configured to move via 40. Hereinafter, the configuration of the underwater mobile body 1B in which the moving unit 40 is installed will be described as a second embodiment. The configurations already described are designated by the same reference numerals, and the description thereof will be omitted as appropriate.
As shown in FIGS. 8 and 9, the underwater mobile body 1B according to the second embodiment further includes a moving unit 40 in the configuration already described. The moving portion 40 transmits the operating state due to the expansion of the swim bladder 31 to the main body portion 12, and intervenes to project the antenna 11 of the antenna device 10 from the surface of the skeleton 50 of the underwater moving body 1. As an example, the moving portion 40 is formed by bending a metal plate, and reliably transmits the moving distance of the target equipment to be moved and the force when expanded according to the state of the floating bladder 31 at the time of expansion and contraction. The shape can be adjusted for ease of use.

Since the shape and position of the moving portion 40 can be freely adjusted, the target equipment can be moved to the target position more reliably than the configuration in which the swim bladder is brought into direct contact with the target equipment, and the design is free. The degree goes up. The shape, size, material, and the like of the moving portion 40 can be formed according to the shape of the swim bladder 31 when expanded and contracted and the shape of the contact surface of the target equipment. Further, the moving portion 40 may be bent or a plurality of materials may be superposed to have strength. Here, the moving portion 40 includes a first connecting portion 41 connected to the back surface of the main body portion 12 of the antenna device 10 and a second connecting portion 42 connected to the floating bladder 31 side. The moving portion 40 is connected to the back surface of the main body 12 by the first connecting portion 41 and is connected to the side surface of the floating bladder 31 by the second connecting portion 42, so that the expansion and contraction of the floating bladder 31 is more reliably performed. Can be told to.

Further, as shown in FIGS. 10 and 11, the moving portion 40 may be configured to provide the second engaging portions 43, 43. The moving portion 40 includes columnar second engaging portions 43, 43 having concave groove-shaped portions that can be engaged with the engaging convex portions 21b, 21b of the first engaging portion 21, thereby providing the main body portion of the antenna device 10. No processing is required on the 12 side. The second engaging portions 43, 43 are formed at positions where the second engaging portions 43, 43 can protrude upward from the surface of the skeleton 50, similarly to the main body portion 12 of the antenna device 10, when the antenna device 10 moves upward. ing. Here, the second engaging portions 43, 43 are formed in a columnar shape upward from the positions of the left and right symmetrical side ends of the first connecting portion 41. Therefore, the guide portion 20B includes the first engaging portion 21 and the second engaging portion 43. The second engaging portions 43, 43 of the moving portion 40 close the ends of the concave groove-shaped portions on the moving portion 40 side so that the engaging convex portions 21b, 21b of the first engaging portion 21 do not come off. It is preferable to configure it as follows. Further, the second engaging portions 43 and 43 are preferably formed of the same material as the moving portion 40, for example, metal.

Therefore, as a method of moving the internal equipment, the underwater moving body 1B pushes up the moving portion 40 when the floating bladder 31 expands, and moves the antenna device 10 connected to the moving portion 40 upward. Then, when the moving portion 40 moves, the second engaging portion 21b, 21b of the first engaging portion 21 and the second engaging portions 43, 43 of the moving portion 40 are engaged with each other. The joint portions 43 and 43 move upward as the moving portion 40 moves. Further, as a method of moving the internal equipment, since the moving portion 40 moves downward due to the contraction of the swim bladder 31, the antenna device 10 also moves downward in a state of being guided by the guide portion 20B by the movement of the moving portion 40.

As described above, floating bag 31, together with the open chamber 60 it has been described as a structure in which the front side of the building frame 50, may be provided in the rear and central with open chamber. Further, the underwater mobile bodies 1 and 1B may be provided with not only the camera CA but also another measuring mechanism such as an ultrasonic sensor, a water quality inspection, or another measuring mechanism. Further, the skeleton 50 can be configured so that a part thereof is made of transparent resin or glass so that the state inside the skeleton can be confirmed from the outside.
Further, since the first engaging portion 21 and the second engaging portions 13, 13, 43, 43 enable smooth sliding when sliding in a state of being engaged with the first engaging portion 21. In addition, for example, a resin may be provided on the surface of the sliding portion.
Further, in the underwater mobile bodies 1, 1B and the method for moving internal equipment, oil has been described as an example of being injected into a swim bladder, but it is common when floating and sinking in this type of device such as gas, water or other liquids. It is not particularly limited as long as it is used for.
Further, by installing a plurality of target equipments at positions facing the swim bladder 31, it is possible to move the plurality of target equipments by expansion and contraction of the swim bladder 31. Further, by dividing the swim bladder 31 and providing it in the open chamber 60, it is possible to move a plurality of target equipments by changing the timing of injecting the fluid into the swim bladder 31.

The underwater mobile body according to the present invention can be used in seawater, freshwater, etc., and can be used in an environment such as the sea, rivers, lakes and marshes, which can be used by diving and navigating underwater or on water.

1 Underwater moving body 1B Underwater moving body 10 Antenna device 11 Antenna 12 Main body part 13 Second engaging part 13a Engaging groove part 13b Stopper 14 Support part 20 Guide part 20B Guide part 21 First engaging part 21a Engaging frame 21b Engaging Convex part 30 Buoyancy adjustment mechanism 31 Floating bag 32 Flow pipe 33 Oil tank 40 Moving part 41 First connection part 42 Second connection part 43 Second engagement part 50 Frame 60 Open room 70 Sealed room 71 Partition wall 80 Drive room 90 Drive mechanism 101 Separation wall surface C drift ice CA camera PC controller R route SP mother ship Wa ocean Wb seabed

Claims (9)

An underwater mobile body that has a swim bladder that adjusts buoyancy between the water and the surface of the water and a plurality of facilities in the skeleton.
At least one target equipment of the equipment that is arranged at a position in contact with the swim bladder and is a target to move due to the expansion of the swim bladder, and a trajectory that is provided in the skeleton and the movement of the target equipment is preset. Equipped with a guide section that guides you to
The target equipment is an antenna device in which an antenna is provided on a separated wall surface that allows a part of the wall surface of the skeleton to be separated from another skeleton wall surface.
An underwater mobile body that moves the target equipment along the guide portion by expansion of the swim bladder and causes at least a part of the target equipment to project out of the skeleton. An underwater mobile body that has a swim bladder that adjusts the buoyancy between the water and the surface of the water and a plurality of facilities in the skeleton.
A moving portion that is arranged at a position that abuts on the floating bladder and moves by expansion of the floating bladder, a guide portion that is provided in the skeleton and guides the movement of the moving portion on a preset trajectory, and at least one of the equipment. It is equipped with a target equipment, which is installed facing the moving portion with one as a moving target.
The target equipment is an antenna device in which an antenna is provided on a separated wall surface that allows a part of the wall surface of the skeleton to be separated from another skeleton wall surface.
An underwater moving body that moves the moving portion along the guide portion by expansion of the floating bladder and projects at least a part of the target equipment to the outside of the skeleton through the moving portion. The underwater moving body according to claim 1 or 2, wherein the target equipment moves to a position before movement along the guide portion due to contraction of the floating bladder by its own weight. The skeleton includes a closed chamber that is liquid-tightly sealed and an open chamber that is arranged adjacent to the closed chamber and the inside of the skeleton is released from liquid-tightness. The underwater mobile body according to claim 1, wherein the equipment is installed in the open chamber. The skeleton includes a closed chamber that is hermetically sealed and an open chamber that is arranged adjacent to the hermetically sealed chamber to open the inside of the skeleton from liquidtightness, and includes the swim bladder, the moving portion, and the guide. The underwater mobile body according to claim 2, wherein the unit and the target equipment are installed in the open room. The guide portion includes a first engaging portion mounted in the skeleton and a second engaging portion provided in the target facility and engaged with the first engaging portion to be guided along the track. The underwater mobile body according to any one of claims 1 and 3 to 5 , excluding claims that cite claim 2 having the same. Claim 1 quoting claim 1, wherein the guide portion has a first engaging portion that is attached to the skeleton and a second engaging portion that is provided in the moving portion and engages with the first engaging portion. The underwater mobile body according to any one of claims 2 to 5, excluding the item. The underwater moving body according to claim 4 or 5, wherein the swim bladder expands when oil is injected from an oil tank arranged on the closed chamber side, and contracts when the oil is returned to the oil tank. A method for moving internal equipment of an underwater mobile body, comprising a swim bladder for adjusting its position in water, a skeleton for accommodating the bladders and a plurality of facilities, and a drive mechanism for moving the skeleton in water and on the surface of the water. ,
The step of inflating the swim bladder and
A step of moving at least one of the equipment provided at a position facing the swim bladder as a target equipment to be moved via a guide portion and projecting at least a part of the target equipment from the surface of the skeleton. And, including
The target equipment is a method for moving internal equipment of an underwater mobile body, which is an antenna device in which an antenna is provided on a separated wall surface that allows a part of the wall surface of the skeleton to be separated from another skeleton wall surface.

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