JPH0367918B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention mainly relates to a control device for a submersible, such as a submersible that moves in a three-dimensional underwater space, or an underwater robot.

(Prior Art) Conventionally, submersibles such as submersibles have been constructed to navigate underwater using a combination of a propeller capable of forward and backward movement and horizontal and vertical rudders. The system is similar to that of an aircraft.

In recent years, in particular, submersibles called underwater robots are required not only to navigate underwater but also to be able to freely control their accurate position and attitude underwater.

FIG. 5 is an explanatory diagram of a method of operating a submersible when it moves in an underwater three-dimensional space.

As shown in the figure, the coordinate axis x is horizontal in the longitudinal direction of the ship, the coordinate axis y is horizontal in the width direction of the ship,
Given the coordinate axes x, y, and z that are perpendicular to each other and the coordinate axis z taken in the vertical direction at the center of the ship, the movement or displacement of the ship is the translational movement in each x, y, and z axis direction, and the x, y, and z 6 of rotational motion around an axis
Represented by elements.

Figures 6a, b, and c show an example of a propulsion system for a submersible that can freely realize the movement or displacement of these six elements.

This three-dimensional propulsion device 2a has two turning axes perpendicular to each other passing through the center of the propulsion device with equal output in a horizontal plane at symmetrical positions on the stern side and the bow side of each shoulder of the hull 1, 2b, 2c, 2
d in total.

Therefore, Figure a shows the movement by the three-dimensional propulsion device 2 in the longitudinal direction of the hull, that is, in the x-axis direction, Figure b shows the movement in the hull width direction, that is, in the y-axis direction, and Figure c shows the movement in the vertical direction, that is, in the z-axis direction. 3 illustrates translational motion.

Considering rotational motion, for example, regarding rotational motion around the z-axis, that is, turning the hull 1 in the horizontal direction,
The propulsors 2c and 2d on the stern side with respect to b may be made to work in opposite directions.

Rotational movement around the y-axis, that is, tilting of the hull 1 in the longitudinal direction of the hull, can be achieved by, for example, operating the stern propellers 2c and 2d in opposite directions to the bow propellers 2a and 2b in Figure c. realizable.

Regarding rotational movement around the x-axis, that is, inclination of the hull 1 in the hull width direction, for example, in Figure c, the starboard thrusters 2b and 2d are operated in opposite directions to the port thrusters 2a and 2c. This can be achieved by

(Problem to be solved by the invention) In any case, it is possible to realize the hull motion or displacement of the six elements described above using the four three-dimensional propulsion devices described above. There are many problems in how to input and realize complex ship motions or displacements.

This idea was made to appropriately respond to the above problem, and by adding a rotation function to each of the two first and second two-dimensional tilting levers, the output commands of the ultimate six elements of a submersible can be transmitted using this device. The two two-dimensional tilting levers can be controlled by a single driver, so that even if the driver forgets to give output commands for up to six elements, this will not lead to serious negligence. It is an object of the present invention to provide a convenient operating device that aims to reduce problems by placing the basics on position and attitude control rather than conventional navigation and turning commands.

(Technical Means for Solving the Problems) The gist of the present invention for achieving the above object is to provide a first and a second two-dimensional tilting lever having a rotation function, The x-axis and y-axis tilt angles of the two-dimensional tilting lever define the outputs for translation in the longitudinal and width directions of the hull, respectively, and the vertical translation is determined by the lever rotation angle. x of the second two-dimensional tilting lever
An output related to inclination in the width direction and longitudinal direction of the hull is defined by the inclination angle in the axis and y-axis directions, and an output related to rotation around the vertical axis at the center of the hull is defined by the lever rotation angle. It is located in the control device of a submersible that uses the same technology.

(Example) Hereinafter, an example of the present invention will be described based on the drawings.

FIG. 1 is an explanatory diagram of the application of this invention. In the figure, A is a mother ship, B is a submersible, C is a lifeline connecting mother ship A and submersible B, and D is an ultrasonic wave installed on mother ship A and submersible B. A position sensing system is shown. Mother ship A carries submersible B to the work site, and this submersible B
The mother ship A and submersible vessel B receive power, control signals, and power through lifeline C.
Information possessed by submarine B is transmitted and received. The ultrasonic position sensing system D uses the mother ship A as the origin of coordinates and measures the position of the submersible vessel B using ultrasonic waves using a triangulation method or the like. Furthermore, submarine B is unmanned.
Regardless of whether the submersible is manned or not, if the submersible B is self-propelled, it may not have a lifeline C, and if there is no lifeline C, the transmission and reception of information between the mother ship A and the submersible B will be based on the ultrasonic position. This is done using ultrasound through sensing system D.

FIG. 2 is a schematic perspective view of the control device. In the figure, 3 is an operation panel, 4 is a first two-dimensional tilting lever disposed on this operation panel 3, and 5 is the operation panel 3.
A second two-dimensional tilting lever disposed in the first and second two-dimensional tilting levers 4,
5 has the same configuration.

FIG. 3 is a detailed perspective view of the two-dimensional tilting lever. In the figure, 6 is an outer shaft protruding from the outer surface of the swing frame 7 and supports the swing frame 7 on a stationary part, and 8 is the outer shaft. A central cylindrical body 9 is provided within the swinging frame perpendicular to 6, an inner shaft supported by the swinging frame 7, and a rotating shaft 10 inserted through and supported by the central cylindrical body 9. , and the rotating shaft 10 are orthogonal to each other, and angle detectors 6a, 8a, and 10a such as potentiometers are connected to each shaft to convert the shaft rotation angle into electrical or optical signals. Convert and output.

In the above configuration, the outer shafts 6 constituting the first and second two-dimensional tilting levers 4 and 5 are arranged to coincide with, for example, the above-mentioned y-axis, and the inner shaft 8 is arranged to correspond to the above-mentioned x-axis.

In addition, in the figure, 11 is a handle attached to the upper end of the rotating shaft 10, 12 is a range adjustment knob provided on the operation panel 3,
Further, 6b, 8b, 10b are each angle detector 6, 8,
The lead wires 8b, 10b of the angle detectors 8, 10 connected to the angle detectors 10 are given slack in consideration of the movement of the angle detectors 8, 10 due to the swinging of the swing frame 7.

(Function) Next, the operation of the operation systems for the first and second two-dimensional tilting levers will be explained.

FIG. 4 is an explanatory diagram of the operation system, and the first two-dimensional tilting lever 4 is operated in the longitudinal direction, width direction, and direction of the hull 1.
and translation in the vertical axis direction, and the second two-dimensional tilting lever 5 is used to tilt the hull 1 in the longitudinal direction and width direction, and to rotate around the vertical axis.
In other words, it is related to posture control.

[B] First, to explain the operation system of the second two-dimensional tilting lever 5, this lever 5 controls the tilting of the hull 1 in the longitudinal direction and the width direction, and the rotation around the vertical axis, that is, each axis of the hull. Since it is related to rotation (turning) around the ship, unlike the case of normal navigation (translation), it is not necessary, for example, to integrally continue turning the ship indefinitely. What is required is, for example, a forward inclination of the hull of 30 degrees, that is, a rotational displacement of 30 degrees around the y-axis. To do this, for example, move lever 5 to
When the ship is tilted at an angle equivalent to 30 degrees in the axial direction, the rotation of the hull is controlled by the output from the angle detector 6a and the calibration with the gyro set around the y-axis. .

The rotational movement about the z-axis, which corresponds to the horizontal turn of a normal watercraft, is controlled by the calibration between the mothership's gyro and the submersible's gyro. Note that this movement may require a 180° turn or even more. In this case, if the second two-dimensional direction tilting lever 5 is rotated by a certain angle or more, the feedback circuit is cut off, and thereafter, the circuit configuration may be such that the rotation continues indefinitely in an integral type.

[B] Next, the system of the first two-dimensional tilting lever 4 will be explained. Since this lever 4 is related to translation of the ship in each axis direction, its movable range is centered on the mother ship and has a lifeline. Even if there is a difference between what is available and what is not, there are limits, and for underwater robots and similar submersibles, positioning plays an important role. For example, it approaches a fixed point underwater and exchanges information (including location information) or performs mechanical work with it.

For this purpose, the propulsion device may be controlled while calibrating with the signal from the position sensor of the submersible so that the tilting and rotating position of the first two-dimensional tilting lever 4 corresponds to the position of the submersible.

In this case, we need a scale that spans a kilometer, which relates to the reach limits of lifelines, and a scale that corresponds to fixed points underwater, which is meters or less (regarding the accuracy of position sensors). For this purpose, the entire stroke of the first two-dimensional tilting lever 4 may be switched as necessary by operating the range adjustment knob 12 shown in FIG. 2, for example. In addition, in the case of the maximum scale when changing the range mentioned above, the origin of the coordinates can be set to the mother ship, but as the scale becomes smaller, the origin can be freely moved to near the position of the submersible at the time of switching. is necessary.

Also, in the case of operating the first two-dimensional tilting lever, if the lever is tilted or rotated beyond a certain angle, the feedback circuit of the position sensor is cut off, so that normal navigation can be resumed. (translation) state, and can be made to continue moving in that direction.

In the above explanation, in the case of operating the first two-dimensional tilting lever, the relationship between the movement of the hull in the x-axis direction and the y-axis direction and the operation of the lever is intuitively understandable; There is some discomfort in the movement of the hull in the z-axis direction by rotating the lever. Therefore, if you consider rotating the lever around the z-axis in the same way as a right-hand screw, and make a promise that rotating the lever to the right will cause the hull to descend, rotating it to the left will cause it to rise, and so on. It becomes easier to understand the operation relationship of levers.

(Other Embodiments) In the above description, a submersible that can ultimately control six elements has been described, but not all submersibles are equipped with such ability.

FIG. 7 shows a submersible according to another embodiment.

The illustrated submarine is equipped with three-dimensional propulsors 2e and 2f at the center of both sides of the hull 1, respectively.

In this type of submersible, the number of propulsors has been reduced to two, but the only movement that cannot be performed among the six elements is rotation around the y-axis.

In this way, a submersible equipped with two propulsors 2e and 2f is designed to maintain self-balance around the y-axis by adjusting the weight, buoyancy, etc. of the hull. There must be.

In addition, when operating this type of submersible, the second
In the two-dimensional direction tilting lever 5, if the outer shaft 6 shown in FIG. 3 is fixed and made unrotatable, the lever will not tilt in the x-axis direction, and the driver will not be able to make this movement. This allows for flexible design responses.

(Effects) As explained above, the present invention includes first and second two-dimensional tilting levers having a rotation function, and tilts and rotates the first two-dimensional tilting lever to move the hull in each direction. The first and second The two-dimensional tilting lever is installed close to the control panel so that the driver can operate it with both hands, making it easier to operate a submersible that requires three-dimensional movement underwater. It can be simplified, has a simple structure, and is highly reliable, and can be applied to all kinds of submersibles, including underwater robots, and exhibits excellent performance.

[Brief explanation of drawings]

FIG. 1 is an explanatory diagram of the application of the present invention, FIG. 2 is a perspective view of the operation panel, FIG. 3 is a configuration diagram of the lever, FIG. 4 is a control diagram suitable for applying the present invention, and FIG.
The figure is a diagram explaining the coordinate axes and movement style of the submersible, No. 6
Figures a, b, and c are layout diagrams of a propulsion device for a submarine capable of six-element movements, and FIG. 7 is a layout diagram of a thruster for a submarine showing another embodiment. DESCRIPTION OF SYMBOLS 1...Hull, 2...Three-dimensional propulsion device, 3...Operation panel, 4, 5...Two-dimensional direction tilting lever, 6...Outer shaft, 7...Swivel frame, 8...Inner shaft, 9 ...Cylinder body, 1
0...Rotary axis, 11...Handle, 12...Range adjustment knob.

Claims (1)

[Claims] 1 Equipped with first and second two-dimensional tilting levers having a rotation function, the first two-dimensional tilting lever is tilted in the x-axis and y-axis directions in the longitudinal and width directions of the hull. and defining outputs related to translation in the vertical direction according to the rotation angle of the lever,
Further, the tilting angles of the second two-dimensional tilting lever in the x-axis and y-axis directions define outputs related to the tilting of the hull in the width direction and the longitudinal direction, and the lever rotation angle determines the tilting angle of the hull center vertical axis. A control device for a submersible, characterized in that an output related to surrounding rotation is specified.