JP2019112012A - Underwater device - Google Patents

Abstract

The present invention makes it possible to control depth while suppressing power consumption.
An underwater apparatus 1 includes a mooring cord 2, a main body 10 moored by a mooring cord 2 and floating in a water flow, and a mooring cord angle detection part for detecting an angle A between the main body 10 and the mooring cord 2. 21 and a posture adjustment unit 22 and a control unit 23 as a posture control unit that controls the posture of the main body unit 10 based on the angle A between the main body unit 10 and the mooring cable 2 detected by the mooring line angle detection unit 21 And.
[Selected figure] Figure 2

Description

  The present invention relates to underwater devices.

  DESCRIPTION OF RELATED ART Conventionally, the underwater apparatus moored by a mooring line and floating in a water flow is known. For example, in patent document 1, the structure which moors an underwater structure using the some mooring cord fixed to the sea bottom is shown.

Unexamined-Japanese-Patent No. 2015-21416

  In conventional underwater equipment, it is known to adjust the buoyancy by injecting and discharging a ballast tank provided inside. However, it is generally necessary to pump and drain the ballast tank, and adjusting the buoyancy may increase power consumption.

  This invention is made in view of the above, and an object of the present invention is to provide the underwater apparatus which can perform control of depth, controlling electric power consumption.

  In order to achieve the above object, an underwater apparatus according to an aspect of the present invention detects a mooring cord, a main body part which is moored by the mooring cord and floats in a water flow, and detects an angle between the main body part and the mooring cord And a posture control unit configured to control a posture of the main body portion based on an angle between the main body portion detected by the mooring wire angle detection portion and the mooring cord.

  According to the above-described underwater device, the posture of the main body is controlled based on the angle between the main body and the mooring cord. When the main body portion which is moored by the mooring line and floats in the water flow changes its attitude, the fluid force received by the main body changes the water flow, and the depth of the main body portion changes. Therefore, by controlling the depth of the main body using the change in depth due to the control of the posture of the main body, it is possible to control the depth while suppressing the power consumption.

  Further, when the angle between the main body portion detected by the mooring cord angle detection portion and the mooring cord is not included in a target angle, the posture control portion may perform the main body with respect to a rear portion of the main body portion. The posture may be adjusted so that the front of the unit is upward or downward.

  When the angle between the main body portion and the mooring cord detected by the mooring cord angle detection part is not included in the target angle, the position of the front part relative to the rear part of the main body part is changed upward or downward By controlling the posture, it is possible to control so that the angle between the main body and the mooring line is included in the target angle.

  Further, when the angle between the main body portion detected by the mooring cord angle detection portion and the mooring cord is larger than a target angle, the posture control portion may be configured to connect the rear portion of the main body portion. Adjust the posture so that the front part is downward, and when the angle between the main body portion detected by the mooring cord angle detection unit and the mooring cord is smaller than a target angle, with respect to the rear of the main body part The posture may be adjusted such that the front portion of the main body portion is upward.

  As described above, when the angle between the main body portion and the mooring cord is larger than the target angle, the depth of the main body portion is smaller than the target depth, that is, the main body portion is in a floating state. If the posture is adjusted so that the front part is lower with respect to the rear part of the part, the main body receiving the water flow can easily dive and the angle between the main part and the mooring cord can be suitably controlled so as to be the target angle. . When the angle between the main body and the mooring cord is smaller than the target angle, the depth of the main body is larger than the target depth, that is, the main body is in a state of being hidden, On the other hand, when the attitude is adjusted so that the front part is on the upper side, the main body receiving the water flow can easily rise, and the angle between the main body and the mooring cord can be suitably controlled so as to be the target angle.

  According to the present invention, there is provided an underwater device capable of performing depth control while suppressing power consumption.

It is a figure which shows the whole structure which concerns on the underwater apparatus which concerns on embodiment of this invention. It is a figure explaining a functional composition of an underwater apparatus. It is a figure explaining the example of a mooring line angle detection part. It is a figure explaining the diving of the underwater apparatus by adjustment of the attitude | position of an underwater apparatus. It is a figure explaining floating of an underwater apparatus by adjustment of a posture of an underwater apparatus. It is a flowchart explaining the depth control method of an underwater apparatus.

  Hereinafter, with reference to the accompanying drawings, modes for carrying out the present invention will be described in detail. In the description of the drawings, the same elements will be denoted by the same reference symbols, without redundant description.

  In the following description, the words "upstream" or "downstream" are used as a reference to the flow of water. Also, the word "front" means the upstream side of the flow of water, and the word "rear" means the downstream side of the flow of water. For example, if a downwind turbine is used, a blade is located on the rear side of the pod.

  An underwater apparatus 1 according to the present embodiment will be described with reference to FIGS. 1 and 2. As shown in FIG. 1, the underwater device 1 is a device that includes a main body 10 and a turbine blade 11 and is moored and floated to a fixed point in water such as in the sea via the mooring cord 2. The mooring cord 2 is fixed to the sinker 3 whose one end is fixed to the seabed and the other end is connected to the underwater apparatus 1. The underwater device 1 is a device that floats in water and performs some operation, for example, a floating power generation device (water floating floating current power generation device) that generates electric power using water flow such as ocean current, and collects information in water Is realized as an apparatus etc. The mooring cord 2 may be fixed to the seabed, for example, via an anchor or the like.

  In this embodiment, although the case where the underwater apparatus 1 is a so-called downwind type underwater floating power generator is described, it is not limited thereto. When the underwater device 1 is an underwater floating power generation device, the underwater device 1 has a function of converting the rotation of the turbine blade 11 generated by the water flow FL into electricity by a generator while floating in the water flow FL. The submersible device 1 receives the water flow FL, so that the submersible device 1 is subjected to fluid force by the substantially horizontal water flow FL in the same direction as the water flow FL. Further, in the underwater device 1, thrust (thrust force) in a substantially horizontal direction is generated by the rotation of the turbine blade 11. The fluid force and the thrust become substantially horizontal forces generated due to the water flow FL.

  In addition, the underwater apparatus 1 may have a ballast tank that accommodates water such as seawater in the main body 10. When the underwater device 1 has a ballast tank, the amount of water in the tank can be changed to adjust the force for floating the underwater device 1 when the weight of the underwater device 1 is changed. Even when the ballast tank is not provided, the weight of the underwater device 1 itself exerts buoyancy on the underwater device 1. As described above, in the underwater device 1, a substantially horizontal force derived from the water flow FL, buoyancy, gravity, and a cord tension from the mooring cord 2 work. The submersible device 1 floats in water at a position where these are balanced. Also, when these forces change, the underwater device 1 will move to a position where these forces are balanced.

  The underwater device 1 is a device that floats in water to perform a predetermined operation, and is required to float within a predetermined depth range. In the present embodiment, this predetermined depth range is referred to as a target depth range. The depth D of the underwater apparatus 1 is determined by taking into account the water flow FL, the weight of the main body 10 and the turbine blade 11, and the mooring cable so that the position where the force acting on the underwater apparatus 1 balances is included in the target depth range. The length, etc. are designed in advance.

  However, the water flow FL in the region where the underwater device 1 floats may change from the size at the time of design. When the water flow FL changes, the force acting on the underwater device 1 changes, so the position at which these are balanced changes. Specifically, when the water flow FL becomes large (fast), the fluid force acting on the underwater device 1 becomes large, and hence the rearward force received by the underwater device 1 becomes large. Therefore, the underwater device 1 dives in a state where the mooring cord 2 is stretched, and the depth D thereof increases. As a result, the angle A between the main body portion 10 of the underwater device 1 and the mooring cord 2 when the underwater device 1 is substantially horizontal is reduced. On the other hand, when the water flow FL becomes smaller (slower), the fluid force acting on the underwater device 1 becomes smaller, so the backward force applied to the underwater device 1 becomes smaller. Therefore, the underwater apparatus 1 floats up in a state in which the mooring cord 2 is stretched, and the depth D thereof decreases. As a result, an angle A between the main body portion 10 of the underwater device 1 and the mooring cord 2 when the underwater device 1 is substantially horizontal is increased. In addition, about the angle A which the main-body part 10 and the mooring cord 2 make, in FIG. 1 etc., although the angle which the bottom face of the main-body part 10 and the mooring cord 2 make is shown, This is the angle that the mooring line 2 makes. The main body portion 10 of the present embodiment is cylindrical, and the central axis of the main body portion 10 is parallel to the bottom surface, so the angle between the bottom surface and the mooring cord 2 is shown as an angle A.

  As described above, when the depth D of the underwater apparatus 1 changes due to the change of the water flow FL, conventionally, the weight of the underwater apparatus 1 is changed by performing pouring and drainage to the ballast tank, and the depth D of the underwater apparatus 1 Adjustment was made to be the target depth range. On the other hand, in the underwater device 1 according to the present embodiment, the depth D of the underwater device 1 is adjusted by controlling the posture of the underwater device 1 and changing the force received by the underwater device 1 from the water flow FL.

  Therefore, as shown in FIG. 2, the underwater device 1 includes a mooring line angle detection unit 21, a posture adjustment unit 22, and a control unit 23.

  The mooring cord angle detection unit 21 has a function of detecting the angle between the main body 10 and the mooring cord 2. The angle between the main body portion 10 and the mooring cord 2 corresponds to the above-mentioned angle A, and is the angle of the mooring cord 2 with respect to the central axis of the main body part 10. In addition, although the case where the mooring cord 2 is attached to the bottom face of the main-body part 10 is demonstrated, the attachment position of the mooring cord 2 is not limited to the bottom face of the main-body part 10. Information related to the angle between the main body 10 and the mooring cord 2 detected by the mooring cord angle detection unit 21 is sent to the control part 23 described later.

  An example of the mooring angle detection unit 21 is shown in FIG. FIG. 3A shows a state in which the rotary encoder 31 is attached at the attachment position of the mooring cord 2 to the main body 10. In this case, the rotary encoder 31 can be used as the mooring line angle detection unit 21. The rotary encoder 31 detects the rotation angle of the mooring cord 2 so that the angle of the mooring cord 2 relative to the main body 10 can be detected.

  FIG. 3B shows an example in which the angle of the mooring cord 2 is detected using a distance measuring device 32 that measures the distance between the main body 10 and the mooring cord 2. As a method for the distance measuring device 32 to measure the distance between the main body 10 and the mooring cord 2, for example, acoustic measurement using a sound wave, optical measurement using a laser beam, etc. may be mentioned, but it is limited thereto is not. Further, the distance measurement device 32 functioning as the mooring line angle detection unit 21 may be attached to the mooring line 2 side, for example.

  The posture adjustment unit 22 and the control unit 23 function as a posture control unit that controls the posture of the main body unit 10 based on the angle between the main body unit 10 and the mooring cable 2 detected by the mooring cable angle detection unit 21.

  The attitude adjustment unit 22 has a function of adjusting the attitude of the main body unit 10 based on an instruction of the control unit 23 described later. The posture adjustment unit 22 adjusts the posture such that the front of the main body 10 is upward or downward with respect to the rear of the main body 10 by moving the center of gravity of the main body 10 in the front-rear direction of the main body 10 Do. That is, the posture adjustment unit 22 has a function of adjusting the inclination (posture) of the main body unit 10 in the front-rear direction. The method of moving the center of gravity of the main body 10 in the front-rear direction is not particularly limited. For example, a path in which a fluid or a weight can move in the front-rear direction in the main body 10 is provided, and the movement of the fluid or the weight is controlled. There is a method of moving the center of gravity of the main body 10 in the front-rear direction.

  The control unit 23 has a function of controlling the adjustment of the attitude by the attitude adjustment unit 22 based on the information related to the angle between the main body 10 and the mooring line 2 detected by the mooring line angle detection unit 21.

  When the depth D of the underwater device 1 is in the target depth range, the angle A between the main portion 10 and the mooring cord 2 of a predetermined length fixed to the sinker 3 should be included in the predetermined range. A range that can be taken by the angle A when the depth D of the underwater apparatus 1 is within the target depth range is referred to as a target angle range. Here, the fact that the angle A between the main body 10 and the mooring cord 2 detected by the mooring cord angle detection unit 21 deviates from the target angular range means that the depth D of the underwater device 1 is out of the target depth range. Become. Therefore, the control unit 23 adjusts the attitude of the main body unit 10 to control the floating or the latent movement of the main body unit 10.

  With reference to FIGS. 4 and 5, floating and diving of the main body 10 by control of the attitude of the main body 10 will be described.

  In FIG. 4, the case where the water flow FL is smaller than the design time will be described. FIG. 4A shows the state of the underwater apparatus 1 when the water flow FL is small. The submersible device 1 is designed such that the main body portion 10 moored by the mooring cord 2 has a target depth range when the water flow FL is in a predetermined range. FIG. 4A shows, for simplicity, the case where the target depth range does not have a width, that is, the target depth range is the target depth D1. When the depth D of the main body 10 is the target depth D1 (included in the target depth range), the angle A between the main body 10 and the mooring cord 2 is the target angle α corresponding to the target depth D1. When the target depth range has a width, the target angle α also has a corresponding width.

  However, when the water flow FL becomes smaller, the fluid force received by the main body portion 10 becomes smaller, so the main body portion 10 floats up and the depth D becomes smaller than the target depth D1 as shown in FIG. 4 (A). In this state, the angle A between the main body portion 10 and the mooring cord 2 is larger than the target angle α. The mooring angle detection unit 21 detects this angle A and notifies the control unit 23 of it.

  When the angle A is larger than the target angle α, the control unit 23 causes the front of the main body 10 to be lower than the rear (so that the rear is higher than the front). Control the attitude. The posture adjustment unit 22 moves the center of gravity to the front of the main body unit 10 based on an instruction from the control unit 23. As a result, as shown in FIG. 4 (B), the front portion of the main body portion 10 is changed to be lower than the rear portion. Here, when the posture of the main body 10 changes, the fluid force that the main body 10 receives changes even if the water flow FL does not change. That is, as shown in FIG. 4 (B), since the front portion of the main body portion 10 sinks downward, the water flow FL is received at the tip end portion and the upper surface side (water surface side) of the main body portion 10 . As in the state where the main body 10 is substantially horizontal (the state shown in FIG. 4A), when only the tip of the main body 10 receives the water flow FL, the fluid force by the water flow FL substantially The force pushing backward backward was dominant. On the other hand, when the front portion of the main body portion 10 sinks downward, the upper surface side (the water surface side) of the main body portion 10 receives the water flow FL, so that the force pushing the main body portion 10 in the substantially horizontal direction The force to push the main body 10 downward acts on the main body 10 as a fluid force. As a result, as shown in FIG. 4 (B), in the state where the mooring cord 2 is stretched, a force F1 which causes the main body portion 10 to rotationally move downward acts, and the main body portion 10 dives.

  As a method of controlling the posture of the main body 10 so that the main body 10 dives to the target depth D1 when the angle A is larger than the target angle α, for example, until the angle A becomes the target angle α, the main body There is a method of tilting the front of 10 downward. That the angle A becomes the target angle α and the state can be maintained means that the main body 10 has moved to the target depth D1. In addition, after tilting the front portion of the main body 10 downward so that the angle A is initially larger than the target angle α, the posture of the main body 10 is measured while the angle A is measured by the mooring cord angle detection unit 21. You may use the method of adjusting etc. In either method, the angle A between the main body portion 10 and the mooring cord 2 becomes the target angle α, and the posture of the main body portion 10 is controlled until the state can be maintained.

  In FIG. 5, the case where the water flow FL is larger than the design time will be described. FIG. 5 (A) shows the state of the underwater apparatus 1 when the water flow FL is large. However, when the water flow FL becomes larger than at the time of design, the fluid force received by the main body portion 10 increases, so the main body portion 10 dives and the depth D is larger than the target depth D1 as shown in FIG. It becomes a state. In this state, the angle A between the main body 10 and the mooring cord 2 is smaller than the target angle α at the target depth D1. The mooring angle detection unit 21 detects this angle A and notifies the control unit 23 of it.

  When the angle A is smaller than the target angle α, the control unit 23 causes the front of the main body 10 to be higher than the rear (so that the rear is lower than the front). Control the attitude. The posture adjustment unit 22 moves the center of gravity to the rear of the main body unit 10 based on an instruction from the control unit 23. As a result, as shown in FIG. 5 (B), the front portion of the main body portion 10 is changed to be above the rear portion. Here, when the posture of the main body 10 changes, the fluid force that the main body 10 receives changes even if the water flow FL does not change. That is, as shown in FIG. 5 (B), the main body portion 10 receives the water flow FL at the tip end portion and the lower surface side (seafloor side) of the main body portion 10 since the front portion looks upward. . As in the state where the main body 10 is substantially horizontal (the state shown in FIG. 5A), the front of the main body 10 faces upward as compared to the case where only the tip of the main body 10 receives the water flow FL. In this state, the lower surface side (seafloor side) of the main body portion 10 receives the water flow FL, and therefore, a force for pushing the main body portion 10 backward in a substantially horizontal direction and a force for pushing the main body portion 10 upward are fluid forces. It will work on the main unit 10. As a result, as shown in FIG. 5 (B), a force F2 that causes the main body portion 10 to rotate upward works in a state where the mooring cord 2 is stretched, and the main body portion 10 floats up.

  When the angle A is smaller than the target angle α, the method of controlling the posture of the main body 10 so that the main body 10 floats up to the target depth D1 may be appropriately changed as in the case of diving the main body 10. Can. In either method, the angle A between the main body portion 10 and the mooring cord 2 becomes the target angle α, and the posture of the main body portion 10 is controlled until the state can be maintained.

  The depth control method of the underwater apparatus 1 will be described with reference to FIG. First, the underwater apparatus 1 detects an angle A between the main body 10 and the mooring cord 2 in the mooring cord angle detection unit 21 (S01). Next, the control unit 23 determines whether the angle A detected by the mooring line angle detection unit 21 is the target angle α (S02). When a predetermined range is set as the target depth, the target angle α has a predetermined numerical range. In this case, it is determined whether the angle A is included in the target angle α.

  As a result of the determination (S02), when the angle A is the target angle α (included in the target angle α) (S02-YES), it is determined whether or not the angle detection by the mooring line angle detection unit 21 is ended (S03) If it does not end (S03-NO), the detection (S01) of the angle A by the anchoring cord angle detection unit 21 and the determination (S02) by the control unit 23 are continued. By repeatedly performing detection (S01) of the angle A by the mooring cord angle detection unit 21 (S01) and determination (S02) by the control part 23 at predetermined intervals (for example, several minutes to several tens of minutes), the main body 10 and the mooring cord It can be continuously monitored whether the angle A with 2 is included in the target angle α.

  When the angle A is not the target angle α (not included in the target angle α) as a result of the determination (S02) by the control unit 23 (S02-NO), the main body portion according to the relationship between the angle A and the target angle α Adjust the posture of 10. First, it is determined whether the angle A is larger than the target angle α (S04). When the angle A is larger than the target angle α (S04-YES), the control unit 23 causes the posture adjustment unit 22 to incline the main body unit 10 so that the front portion is downward (S05). In addition, when the angle A is smaller than the target angle α (S04-NO), the control unit 23 causes the posture adjustment unit 22 to incline the main body unit 10 so that the front portion is upward (S06). Then, detection of the angle A (S01) is repeated, and adjustment of the posture is continued until the angle A becomes the target angle α (included in the target angle α).

  As described above, according to the underwater device 1 according to the present embodiment, the control unit 23 and the posture adjustment unit 22 control the posture of the main body 10 based on the angle A of the main body 10 and the mooring cord 2. . When the main body unit 10 moored by the mooring cord 2 floats in the water flow changes the posture, the fluid force that the main body unit 10 receives due to the water flow changes, and the depth of the main body unit 10 changes. Therefore, by controlling the depth of the main unit 10 using the change in depth due to the control of the attitude of the main unit 10 as in the underwater device 1, the control of the depth is suppressed while suppressing the power consumption. It can be carried out.

  Conventionally, when adjusting the depth of the main body of the underwater device, it has been common to adjust the buoyancy by changing the amount of water in the ballast tank to change the weight of the underwater device. In order to change the amount of water in the ballast tank, water injection using a pump is required. Therefore, electric power for driving the pump is required. In addition, if the water supply and discharge in the ballast tank is repeated, the gas in the tank may be gradually transferred to water, and the pressure in the tank may be reduced. If the pressure in the tank decreases, there is a possibility that the water supply and drainage for depth adjustment can not be performed, so it is necessary to devise measures not to repeat the water supply and drainage. In addition, when the air pressure in the tank decreases, it is necessary to take measures such as stopping the use.

  On the other hand, in the underwater device 1 according to the present embodiment, the depth of the main body portion 10 can be changed by controlling the posture of the main body portion 10. Therefore, compared with the case where the water quantity in a ballast tank is changed using a pump, the power consumption in the underwater apparatus 1 can be suppressed. In addition, in the case of controlling the depth without using the filling and draining in the ballast tank, it is not necessary to take into consideration the reduction in the pressure in the ballast tank.

  Further, in the underwater device 1, when the angle between the main body 10 and the mooring cord 2 detected by the mooring cord angle detection unit 21 is not included in the target angle α, the position of the front relative to the rear of the main body 10 It is configured to be changed upward or downward. As described above, by controlling the posture of the main body portion 10 in the front-rear direction, the angle between the main body portion 10 and the mooring cord 2 can be suitably controlled so as to be included in the target angle.

  As described above, the target angle α with respect to the angle A between the main body portion 10 and the mooring cord 2 in the underwater device 1 corresponds to the target depth D1 of the main body portion 10 of the underwater device 1. Therefore, the underwater device 1 monitors the depth of the body portion 10 by controlling the posture of the underwater device 1 so that the angle A between the body portion 10 and the mooring cord 2 is included in the target angle α. Even without this, it is possible to control the main body unit 10 to have a desired depth.

  Further, when the angle A between the main body portion 10 and the mooring cord 2 is larger than the target angle α, the depth of the main body portion 10 is smaller than the target depth, that is, the main body portion 10 is floating. Therefore, the posture is adjusted so that the front portion is lower than the rear portion of the main body portion 10. By adjusting the posture as described above, the main body 10 that has received the water flow can easily dive, and the angle A between the main body 10 and the mooring cord 2 can be suitably controlled so as to be the target angle α. Further, when the angle A between the main body portion 10 and the mooring cord 2 is smaller than the target angle α, the depth of the main body portion 10 is larger than the target depth, that is, the main body portion 10 is in the state of diving Therefore, the posture is adjusted so that the front portion is upward with respect to the rear portion of the main body portion 10. By adjusting the posture as described above, the main body 10 that has received the water flow can easily float, and the angle between the main body 10 and the mooring cord 2 can be suitably controlled so as to be the target angle α. Thus, by controlling the posture of the main body 10 based on the relationship between the angle A between the main body 10 and the mooring cord 2 and the target angle α, the main body 10 is preferably made to have a desired depth. Can be controlled.

  As mentioned above, although the underwater apparatus 1 which concerns on embodiment of this invention was demonstrated, this invention is not necessarily limited to embodiment mentioned above, A various change can be made in the range which does not deviate from the summary.

  For example, in the above embodiment, an example in which one main body portion 10 is connected to the mooring cord 2 has been described, but a configuration in which two main body portions 10 provided with the turbine blades 11 are connected to each other It may be In this case, each of the two main body parts 10 can be configured to be anchored to the same fixed point in water by the anchoring cords. Further, by setting the rotational directions of the turbine blades 11 of the two main body units 10 to be different from each other, the postures of the two main body units 10 can be stabilized.

  Moreover, although the case where the main-body part 10 has the turbine blade 11 was demonstrated in the said embodiment, the main-body part 10 does not need to have the turbine blade 11. FIG. Even in such a case, the depth of the main body 10 can be controlled by adjusting the posture of the main body 10 as described in the above embodiment. Further, by controlling the posture of the main body 10 so that the angle A between the main body 10 and the mooring cord 2 is included in the target angle α, the main body 10 is controlled to be included in the target depth range. be able to.

  In addition, the underwater device 1 may have a ballast tank in the main body portion 10. In this case, the depth adjustment of the main body portion 10 may be performed by combining the water supply and drainage of the ballast tank and the attitude control of the main body portion 10 described above.

  The underwater apparatus 1 described in the above embodiment has a device for measuring the depth of the main body 10, and the control unit 23 and the posture adjustment unit 22 control the posture of the main body 10 by combining the measurement results of the depth. It is good also as composition. In addition, a device (for example, a gyro sensor) for measuring the attitude of the main body unit 10 may be provided, and the control unit 23 and the attitude adjustment unit 22 may control the attitude of the main body unit 10 by combining measurement results of the attitude.

Reference Signs List 1 underwater apparatus 2 mooring cord 10 main body part 11 turbine blade 21 mooring cord angle detection part 22 attitude adjustment part 23 control part FL water flow

Claims (3)

Mooring lines,
A body which is moored by the mooring line and floats in the water flow;
A mooring angle detection unit that detects an angle between the main body portion and the mooring line;
A posture control unit that controls a posture of the main body based on an angle between the main body and the mooring cord detected by the mooring cord angle detection unit;
, Underwater equipment.   When the angle between the main body portion detected by the mooring cord angle detection part and the mooring cord is not included in a target angle, the posture control part may be configured to move the rear part of the main body part The underwater apparatus according to claim 1, wherein the posture is adjusted such that the front portion is upward or downward. The attitude control unit
When the angle between the main body portion detected by the mooring cord angle detection unit and the mooring cord is larger than a target angle, the front portion of the main body portion is lower than the rear portion of the main body portion Adjust the attitude,
When the angle between the main body portion detected by the mooring cord angle detection unit and the mooring cord is smaller than a target angle, the front portion of the main body portion is located above the rear portion of the main body portion The underwater apparatus according to claim 2, wherein the attitude is adjusted.

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