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WO2018173881A1 - Appareil mobile à flot et système de commande destiné à un appareil mobile à flot - Google Patents

Appareil mobile à flot et système de commande destiné à un appareil mobile à flot Download PDF

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Publication number
WO2018173881A1
WO2018173881A1 PCT/JP2018/009950 JP2018009950W WO2018173881A1 WO 2018173881 A1 WO2018173881 A1 WO 2018173881A1 JP 2018009950 W JP2018009950 W JP 2018009950W WO 2018173881 A1 WO2018173881 A1 WO 2018173881A1
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WIPO (PCT)
Prior art keywords
propulsive force
main body
moving device
force generating
water
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2018/009950
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English (en)
Japanese (ja)
Inventor
竜也 川村
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Furuno Electric Co Ltd
Original Assignee
Furuno Electric Co Ltd
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Filing date
Publication date
Application filed by Furuno Electric Co Ltd filed Critical Furuno Electric Co Ltd
Priority to CN201880018748.0A priority Critical patent/CN110505998B/zh
Publication of WO2018173881A1 publication Critical patent/WO2018173881A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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  • the present invention relates to a water moving device that moves accurately along a shortest path or an arbitrary moving path to a desired position on the water.
  • a ship is generally used as a means of moving on the water.
  • the ship includes a hull extending in the front-rear direction.
  • a screw and rudder are installed in the hull.
  • the screw gives propulsive force to the hull, and the rudder determines the moving direction of the hull.
  • the screw and rudder are generally installed at the stern and are placed in the water.
  • Patent Document 1 describes a propeller-propelled planing moving body such as a hydrofoil. This propeller-propelled planing moving body has a propeller installed on the hull.
  • the length between the bow and the stern is longer than the length between the port and starboard. For this reason, it is excellent in straight traveling performance, but when turning, it is necessary to take a route that turns greatly. Therefore, it is not possible to reach the desired position from the current position through the shortest path.
  • the propeller-propelled planing moving body described in Patent Document 1 is the same as a normal ship. Therefore, like a normal ship, it is not possible to reach the desired position from the current position by the shortest route.
  • an object of the present invention is to provide a water moving device that can accurately move to a desired position along the shortest path or an arbitrary moving path.
  • the water moving device of the present invention includes a main body, a first propulsive force generating unit, a second propulsive force generating unit, and a control unit.
  • the main body floats on the water surface, and the horizontal section of the submerged portion has a circular shape, a substantially circular shape, or a regular polygonal shape having five or more corners.
  • the first propulsive force generating part and the second propulsive force generating part are arranged on the upper surface side of the main body and at a position that is substantially symmetrical with respect to the center of gravity of the submerged part.
  • the control unit individually controls the propulsive force of the first propulsive force generating unit and the propulsive force of the second propulsive force generating unit.
  • the main body goes straight. Further, if the direction of the propulsive force of the first propulsive force generating unit and the direction of the propulsive force of the second propulsive force generating unit are the same and the sizes are different, the main body turns. Furthermore, if the direction of the propulsive force of the first propulsive force generating unit is different from the direction of the propulsive force of the second propulsive force generating unit, or if one propulsive force is stopped, the main body changes its direction at a substantially point position. .
  • the shape of the horizontal section of the submerged portion of the main body has a circular shape, a substantially circular shape, or a regular polygon shape having five or more corners, the resistance of water to the side surface of the main body is substantially equal in all directions.
  • the first propulsive force generation unit and the second propulsive force generation unit are arranged at positions that are substantially symmetrical with respect to the center of gravity of the submerged part, the vertical axis passing through the center of gravity of the submerged part is rotated. The direction can be changed at the position of the approximate point at the center.
  • the center of gravity of the submerged part may not be the center of gravity of the solid shape of the entire submerged part, but may be the center of gravity of the planar shape of the horizontal section of the submerged part. Thereby, the main body moves accurately along the shortest path or an arbitrary movement path to a desired position.
  • FIG. 1 is an external perspective view of a water moving device according to a first embodiment of the present invention. It is a top view of the water moving apparatus which concerns on the 1st Embodiment of this invention. It is a front view of the water moving apparatus which concerns on the 1st Embodiment of this invention. It is a rear view of the water moving apparatus which concerns on the 1st Embodiment of this invention. It is a side view of the water moving apparatus which concerns on the 1st Embodiment of this invention. It is a functional block diagram of the control system of the water moving apparatus which concerns on the 1st Embodiment of this invention. (A) is a front view of the remote controller which concerns on embodiment of this invention, (B) is a side view of this remote controller.
  • (A) is a top view which shows the external shape of the water moving apparatus at the time of going straight
  • (B) is a rear view
  • (C) is the side view.
  • (A) is a top view which shows the external shape of the water moving apparatus at the time of left direction change
  • (B) is a rear view
  • (C) is the side view.
  • (A) is a top view which shows the external shape of the water moving apparatus at the time of going straight and decelerating
  • (B) is a rear view
  • (C) is the side view. It is a top view which shows an example of the movement path
  • (A) is a side view which shows the external shape at the time of turning or direction change of the water moving apparatus which concerns on the 2nd Embodiment of this invention
  • (B) is the water movement which concerns on the 2nd Embodiment of this invention. It is a side view which shows the external shape at the time of rectilinear advance of an apparatus.
  • FIG. 1 is an external perspective view of a water moving apparatus according to a first embodiment of the present invention.
  • FIG. 2 is a plan view of the water moving device according to the first embodiment of the present invention.
  • FIG. 3 is a front view of the water moving device according to the first embodiment of the present invention.
  • FIG. 4 is a rear view of the water moving device according to the first embodiment of the present invention.
  • FIG. 5 is a side view of the water moving device according to the first embodiment of the present invention.
  • FIG. 6 is a functional block diagram of the control system for the water moving device according to the first embodiment of the present invention.
  • the water moving apparatus 10 includes a main body 100, propellers 211 and 221, motors 212 and 222, covers 231 and 232, a control unit 30, and a direction calculation unit 33.
  • the main body 100 has a disc shape and has an upper surface 100T, a lower surface 100B, and side surfaces.
  • the side surface is a surface connecting the circumferential portion of the upper surface 100T and the circumferential portion of the lower surface 100B.
  • the area of the upper surface 100T is larger than the area of the lower surface 100B.
  • the shape of the horizontal section of the submerged portion of the main body 100 may be circular, substantially circular, or a regular polygon having five or more corners.
  • the main body 100 is made of closed cells. By making the main body 100 into a closed cell body, sinking at the time of overturning can be prevented. Moreover, safety can be ensured by mitigating the impact at the time of collision between the main body 100 and other ships.
  • the whole main body 100 may be a closed cell body, and at least the side surface of the main body 100 may be a closed cell body.
  • the main body 100 has the lower surface 100B below the water surface WS when the water is still in a state where the propellers 211 and 221, the motors 212 and 222, the covers 231 and 232, the control unit 30, and the direction calculation unit 33 are mounted. Thus, the buoyancy is adjusted so that the upper surface 100T is above the water surface WS. A portion of the main body 100 that is below the water surface WS is a submerged portion of the main body 100.
  • an axis parallel to the moving direction of the main body 100 is an X axis
  • an axis perpendicular to the X axis and parallel to the upper surface 100T and the lower surface 100B is a Y axis
  • an axis perpendicular to the upper surface 100T and the lower surface 100B is a Z axis.
  • One of the intersections of the straight line passing through the center point PO in the main body 100 and parallel to the X axis and the end of the side surface of the main body 100 on the upper surface 100T side is the front end 101 of the main body 100, and the other is the rear end 102 of the main body 100. To do.
  • One of the intersections of a straight line passing through the center point PO in the main body 100 and parallel to the Y axis and the end on the upper surface 100T side of the side surface of the main body 100 is defined as a first side end (right end) 103 of the main body 100, and the other is A second side end (left end) 104 of the main body 100 is used.
  • the main body 100 includes a first portion 110 and a second portion 120.
  • the 1st part 110 and the 2nd part 120 consist of separate bodies, and are connected in terms of mechanism.
  • the first portion 110 has a shape that includes the front end 101, the first side end 103, and the second side end 104, and does not include the rear end 102.
  • the second portion 120 has a shape including the rear end 102.
  • the second portion 120 is a part near the rear end of the main body 100 and is smaller than the first portion 110.
  • the second portion 120 preferably has a line-symmetric shape with respect to a straight line passing through the center point PO and parallel to the X axis.
  • the propeller 211 is disposed on the upper surface 100T side of the main body 100.
  • the propeller 211 is fixed to the main body 100 so as to be rotatable.
  • the propeller 211 is disposed closer to the first side end 103 than the center point PO in the first portion 110 of the main body 100.
  • the propeller 211 is arranged so that the rotation surface is perpendicular to the X axis (parallel to the Y axis).
  • the motor 212 is disposed on the rear end 102 side of the propeller 211.
  • the rotation shaft of the motor 212 is connected to the shaft of the propeller 211.
  • the motor 212 is connected to the control unit 30 via a cable and is driven by the control of the operation control unit 31.
  • This propeller 211 corresponds to the “first propulsion generating portion” of the present invention. Further, the propulsive force with respect to the main body 100 is adjusted by the rotation speed and the rotation direction of the propeller 211.
  • the cover 231 has a shape surrounding the propeller 211 with the rotation surface of the propeller 211 opened.
  • the cover 231 can be omitted.
  • contact with the propeller 211 is suppressed, and safety is improved.
  • the shape of the cover 231 can be adjusted to improve the propulsive force by the propeller 211.
  • the propeller 221 is disposed on the upper surface 100T side of the main body 100.
  • the propeller 221 is fixed to the main body 100 so as to be rotatable.
  • the propeller 221 is disposed closer to the second side end 104 than the center point PO in the first portion 110 of the main body 100.
  • the propeller 221 is arranged so that the rotation surface is perpendicular to the X axis (parallel to the Y axis).
  • the propeller 221 and the propeller 211 are positioned symmetrically with respect to a straight line passing through the central point PO and parallel to the X axis, in other words, a straight line connecting the tip 101 and the rear end 102 when the main body 100 is viewed in plan. Has been placed. Furthermore, in other words, the propeller 221 and the propeller 211 are disposed at substantially symmetrical positions with respect to the center of gravity of the submerged portion of the main body 100.
  • the center-of-gravity point of the submerged part may be the center-of-gravity point of the solid shape of the entire submerged part or the center of gravity point of the planar shape of the horizontal section of the submerged part.
  • the rotating surface of the propeller 221 and the rotating surface of the propeller 211 are parallel to a straight line connecting the propeller 221 and the propeller 211.
  • the motor 222 is disposed on the rear end 102 side of the propeller 221.
  • the rotating shaft of the motor 222 is connected to the shaft of the propeller 221.
  • the motor 222 is connected to the control unit 30 via a cable and is driven by the control of the operation control unit 31.
  • This propeller 221 corresponds to the “second propulsion generator” of the present invention. Further, the propulsive force with respect to the main body 100 is adjusted by the rotation speed and rotation direction of the propeller 221.
  • the cover 232 has a shape surrounding the propeller 221 with the rotation surface of the propeller 221 opened.
  • the cover 232 can be omitted.
  • contact with the propeller 221 is suppressed, and safety is improved.
  • the shape of the cover 232 can be adjusted to improve the propulsive force by the propeller 221.
  • the propellers 211 and 221 are composed of two blades, but the number of blades is not limited to this. Further, the propeller 211 and the propeller 221 do not have to be arranged at strictly symmetric positions with respect to a straight line connecting the front end 101 and the rear end 102. In this case, the rotation control between the propeller 211 and the propeller 221 may be adjusted according to the amount of positional deviation. However, by arranging the propeller 211 and the propeller 221 at the above-described line-symmetrical positions, rotation control becomes easy, and it is effective for cruise control for an arbitrary route described later.
  • the control unit 30 includes hardware that implements the operation control unit 31 and the communication unit 32 shown in FIG.
  • the control unit 30 has a waterproof structure and is attached to the second portion 120.
  • the control unit 30 is preferably disposed on a straight line connecting the front end 101 and the rear end 102. As a result, the difference between the left and right balances of the main body 100 is reduced, and this is effective for cruise control for an arbitrary route described later.
  • the azimuth calculation unit 33 includes hardware that calculates the absolute azimuth of the main body 100.
  • the azimuth calculation unit 33 can be realized by an azimuth calculation device using a positioning signal or an azimuth calculation device using a geomagnetic sensor.
  • the bearing calculation unit 33 has a waterproof structure and is disposed on the upper surface 100T of the main body 100. As a more specific position, the bearing calculation unit 33 is disposed in the vicinity of the tip 101 in the first portion 110 of the main body 100.
  • the arrangement position of the azimuth calculation unit 33 is not limited to this position as long as it is not affected by the propulsion force generation units 21 and 22.
  • the direction calculation unit 33 is connected to the control unit 30 by a cable.
  • the rectilinear keel 411R and the rectilinear keel 411L are flat plates.
  • the rectilinear keel 411R and the rectilinear keel 411L are preferably the same shape and the same material, and are made of a highly rigid material.
  • the flat plate surfaces of the rectilinear keel 411R and the rectilinear keel 411L are parallel to the X axis (axis parallel to the moving direction).
  • the rectilinear keel 411R and the rectilinear keel 411L are arranged perpendicular to the straight line connecting the propeller 221 and the propeller 211.
  • the rectilinear keel 411R and the rectilinear keel 411L are disposed on the rear end 102 side of the center point PO in the main body 100.
  • the rectilinear keel 411R and the rectilinear keel 411L may be disposed on the rear end 102 side, such as the central portion of the main body 100 along the X axis.
  • the rectilinear keel 411R is disposed closer to the first side end 103 than the straight line connecting the front end 101 and the rear end 102 in the main body 100. More specifically, the rectilinear keel 411R is disposed closer to the first side end 103 than the straight line, and is disposed in a gap between the first portion 110 and the second portion 120 parallel to the straight line.
  • the rectilinear keel 411L is arranged on the second side end 104 side of the straight line connecting the front end 101 and the rear end 102 in the main body 100. More specifically, the rectilinear keel 411L is disposed on the second side end 104 side with respect to the straight line, and is disposed in a gap between the first portion 110 and the second portion 120 parallel to the straight line.
  • the rectilinear keel 411R and the rectilinear keel 411L are mounted so as to be movable with respect to the main body 100. Specifically, the rectilinear keel 411R and the rectilinear keel 411L are accommodated in the main body 100 as the first mode. Moreover, the rectilinear keel 411R and the rectilinear keel 411L protrude below the main body 100 as the second mode. The rectilinear keel 411R and the rectilinear keel 411L are used by switching between the first mode and the second mode.
  • the brake keel 412 is a flat plate.
  • the flat plate surface of the brake keel 412 is parallel to the Y axis (axis perpendicular to the moving direction).
  • the brake keel 412 is arranged in parallel to a straight line connecting the propeller 221 and the propeller 211.
  • the brake keel 412 is disposed closer to the rear end 102 than the center point PO in the main body 100.
  • the brake keel 412 may be disposed on the rear end 102 side, such as the center of the main body 100 along the X axis.
  • the brake keel 412 is disposed between the straight keel 411R and the straight keel 411L.
  • the brake keel 412 has an area of the brake keel 412 on the straight advance keel 411R side with respect to the straight line connecting the tip 101 and the rear end 102, and a brake keel 412 on the straight advance keel 411L side with respect to the straight line connecting the tip 101 and the rear end 102. It is preferable to arrange in a symmetrical shape so that the area is the same.
  • the brake keel 412 may be arranged in a bilaterally symmetric manner, not between the rectilinear keel 411R and the rectilinear keel 411L.
  • the brake keel 412 is made of a highly rigid material, for example, the same material as the straight advancing keels 411R and 411L.
  • the brake keel 412 is mounted so as to be movable with respect to the main body 100. Specifically, the brake keel 412 has a flat plate surface in contact with the lower surface 100B of the main body 100 as a third mode. Moreover, the brake keel 412 protrudes to the lower side of the main body 100 as a fourth aspect. The brake keel 412 is used by switching between the third mode and the fourth mode. Note that the brake keel 412 is preferably of a type that is housed in and protrudes from the main body 100 by the same mechanism as the straight-travel keels 411R and 411L.
  • the water movement apparatus 10 having such a configuration can be controlled to travel by a control system as shown in FIG.
  • the control system 1 for the water movement apparatus includes a water movement apparatus 10 and a remote controller 90.
  • the water moving device 10 includes propulsive force generating units 21 and 22, an operation control unit 31, a communication unit 32, an azimuth calculation unit 33, a straight traveling keel 411, a brake keel 412, and keel driving units 421 and 422.
  • the remote controller 90 includes a remote control unit 91, a communication unit 92, a stick type operation unit 931, and a button type operation unit 932.
  • the water moving apparatus 10 and the remote controller 90 are each provided with the power supply. Each power supply supplies power to each of the water moving device 10 and the remote controller 90.
  • the propulsion force generator 21 includes the propeller 211 and the motor 212 described above.
  • the propulsion force generator 22 includes the propeller 221 and the motor 222 described above.
  • the communication unit 32 performs wireless communication with the communication unit 92 of the remote controller 90.
  • the communication unit 32 receives operation data from the communication unit 92 and outputs the operation data to the operation control unit 31.
  • the azimuth calculating unit 33 calculates the absolute azimuth of the main body 100 and outputs the absolute azimuth to the operation control unit 31 as described above.
  • the operation control unit 31 controls the operations of the motors 212 and 222 and the keel driving units 421 and 422 based on the operation data acquired from the communication unit 32 and the direction of the main body 100 from the direction calculation unit 33.
  • the motor 212 rotates the propeller 211 according to this control
  • the motor 222 rotates the propeller 221 according to this control.
  • the keel drive unit 421 changes the straight keel 411 (the aforementioned straight keels 411R and 411L) to the first mode or the second mode according to this control, and the keel drive unit 422 sets the brake keel 412 according to this control.
  • the third aspect or the fourth aspect is adopted. The details of the cruise control will be described later and will be omitted here.
  • FIG. 7A is a front view of the remote controller according to the embodiment of the present invention
  • FIG. 7B is a side view of the remote controller.
  • the remote controller 90 includes a housing 900.
  • the stick type operation unit 931 and the button type operation unit 932 are installed on the surface of the housing 900.
  • the stick type operation unit 931 can be pushed down in all directions on the surface of the housing 900.
  • the remote control control unit 91 detects the direction in which the stick type operation unit 931 is pushed down as the moving direction of the water moving device 10. For example, if it pushes down in the direction of DR1 shown in FIG. 7A, the reference azimuth (for example, north) is detected as the movement azimuth of the water moving device 10. Moreover, if it pushes down in the direction of DR2 shown to FIG. 7 (A), the reverse azimuth
  • the right-hand direction (for example, east) of the reference direction is detected as the moving direction of the waterborne moving device 10.
  • the left-hand direction for example, west
  • DR1, DR2, DR3, and DR4 may detect the front, rear, right, and left directions of the main body 100 as moving directions, respectively.
  • the remote control control unit 91 detects the amount by which the stick type operation unit 931 is pushed down as the moving speed of the water moving device 10.
  • the remote control control unit 91 generates operation data including a moving direction and a moving speed.
  • the user can intuitively operate the water moving device 10 to move at a desired speed in a desired direction.
  • the water moving device 10 when moving to a desired position by the shortest path, by operating the stick type operation unit 931 in a state in which the water moving device 10 is stopped, the water moving device 10 is moved substantially in the designated direction. It is controlled to change direction and then go straight. In addition, by adjusting the push-down direction and the push-down amount while the stick-type operation unit 931 is being pushed down and operated, the water moving device 10 can be accurately swung in any direction with any turning radius. it can.
  • buttons type operation units 932 there are a plurality of button type operation units 932, and various functions are assigned to each.
  • the remote control unit 91 detects the pressed button type operation unit 932 to generate operation data including a function assigned to the button type operation unit 932.
  • the remote control control unit 91 outputs the generated operation data to the communication unit 92.
  • the communication unit 92 transmits the operation data to the communication unit 32 of the water moving apparatus 10 by wireless communication.
  • the user can control by remote operation so as to travel the water moving apparatus 10 through various arbitrary movement paths.
  • the embodiment as a drone is mainly described.
  • the communication unit of the water moving apparatus 10 and the remote controller 90 become unnecessary.
  • the main body 100 is provided with a boarding unit on which a person gets on, and the boarding unit has an operation unit.
  • the boarding part may have a roof or the like, the upper surface 100T of the main body 100 can be used as the boarding part by forming the main body 100 in a size that allows a person to board.
  • the operation unit only needs to include at least one of the stick-type operation unit 931 and the button-type operation unit 932 described above. In particular, by including the stick-type operation unit 931, an intuitive operation can be performed.
  • FIG. 8 (A) is a plan view showing the outer shape of the water moving device when traveling straight
  • FIG. 8 (B) is a rear view thereof
  • FIG. 8 (C) is a side view thereof
  • FIG. 9A is a plan view showing the outer shape of the water moving device when turning left
  • FIG. 9B is a rear view thereof
  • FIG. 9C is a side view thereof
  • FIG. 10 (A) is a plan view showing the outer shape of the water moving device during straight traveling and deceleration
  • FIG. 10 (B) is a rear view thereof
  • FIG. 10 (C) is a side view thereof.
  • the water moving device 10 causes the flat surface of the brake keel 412 to contact the lower surface 100B of the main body 100. That is, the third mode of the brake keel 412 is selected.
  • Water moving device 10 drives and controls motors 212 and 222 to rotate propellers 211 and 221. At this time, the rotation direction of the propeller 211 and the rotation direction of the propeller 221 are the same, and the rotation speed of the propeller 211 and the rotation speed of the propeller 221 are the same.
  • the water moving device 10 travels straight forward from the tip 101. .
  • the second portion 120 protrudes to the rear side of the first portion 110.
  • the distance between the front end 101 and the rear end 102 is longer than the distance between the first side end 103 and the second side end 104. Therefore, it becomes easier to receive the water resistance from the side than the water resistance from the front, and the straight traveling performance is further improved.
  • the water moving device 10 accommodates the straight keels 411R and 411L in the main body 100 when turning left. That is, the second mode of the straight traveling keels 411R and 411L is selected.
  • the water moving device 10 causes the flat surface of the brake keel 412 to contact the lower surface 100B of the main body 100. That is, the third mode of the brake keel 412 is selected.
  • the resistance of water during the direction change can be reduced, and a more accurate direction change can be achieved.
  • Water moving device 10 drives and controls motor 212 to rotate propeller 211.
  • the water moving device 10 stops the motor 222 and stops the propeller 221. Note that the case where the motor 222 is not energized is also included in the stop control of the present embodiment.
  • the water moving apparatus 10 is positioned at a substantially point where control is started. From the heading where the control is started, turn left by the specified angle.
  • the second portion 120 is accommodated in the concave portion of the first portion 110, and the main body 100 is circular in plan view.
  • the main body 100 has the same water resistance with respect to all directions of the water surface, and the direction can be easily changed. Thereby, the water moving apparatus 10 can change to the left without almost moving forward from the position where the direction changing control is started.
  • the propeller 221 may be controlled to rotate in the reverse direction to the propeller 211 without stopping. Thereby, the speed of the left direction change can be improved without increasing the rotational speed of the propeller 211.
  • the water movement device 10 projects the straight keels 411 ⁇ / b> R and 411 ⁇ / b> L to the lower side of the main body 100 at the time of linear deceleration. That is, the first mode of the straight keels 411R and 411L is selected.
  • the water moving device 10 causes the brake keel 412 to protrude below the main body 100. That is, the fourth mode of the brake keel 412 is selected.
  • Water moving device 10 stops motors 212 and 222 and stops propellers 211 and 221. Note that the case where the motors 212 and 222 are not energized or the case where the propellers 211 and 221 are reversely rotated are also included in the stop control of the present embodiment.
  • the water moving device 10 decelerates while traveling straight by selecting the mode of the straight keels 411R and 411L and the brake keel 412 and controlling the motors 212 and 222 and the propellers 211 and 221.
  • the second portion 120 protrudes to the rear side of the first portion 110.
  • the distance between the front end 101 and the rear end 102 is longer than the distance between the first side end 103 and the second side end 104. Therefore, it becomes easier to receive the resistance of water from the side than the resistance of water from the front, and the main body 100 can be prevented from turning unnecessarily during deceleration.
  • the speed of deceleration can be adjusted by adjusting the amount of protrusion of the brake keel 412.
  • the water moving device 10 can be stopped at a desired position with high accuracy.
  • FIG. 11 is a plan view illustrating an example of a movement route of the water moving device according to the embodiment of the present invention.
  • FIG. 11 shows the set movement path and the actual movement path of the water moving apparatus 10.
  • the water moving device 10 travels straight in the section of the distance LL1 from the position A to the position B, and decelerates immediately before the position B. , Stop at position B and turn left at 90 [°]. At this time, the position B does not move (overrun) in the direction opposite to the position A side, and starts moving leftward at the position B.
  • the water moving device 10 goes straight in the section of the distance LL2 from the position B to the position C, performs deceleration control (not shown), stops at the position C, and turns right to ⁇ [°]. At this time, at the position C, it does not move (overrun) in the direction opposite to the position B side, starts the direction change to the left at the position C, and after the direction change of ⁇ [°], Start moving.
  • the water moving device 10 can accurately move along the moving path even if parameters relating to the moving path such as the straight traveling distance and the direction change angle are set to arbitrary desired values.
  • the water moving device 10 accommodates the straight keels 411R and 411L in the main body 100. That is, the second mode of the straight traveling keels 411R and 411L is selected.
  • the water moving device 10 causes the flat surface of the brake keel 412 to contact the lower surface 100B of the main body 100. That is, the third mode of the brake keel 412 is selected.
  • Water moving device 10 drives and controls motors 212 and 222 to rotate propellers 211 and 221.
  • the rotation direction of the propeller 211 and the rotation direction of the propeller 221 are the same, and the rotation speed of the propeller 211 and the rotation speed of the propeller 221 are different.
  • the turning direction and the turning radius can be adjusted by adjusting the rotation speed.
  • the water moving device 10 can move in any direction ahead of the tip 101. Turn at any turning radius.
  • the second portion 120 is accommodated in the concave portion of the first portion 110, and the main body 100 is circular in plan view.
  • the main body 100 has the same water resistance with respect to all directions of the water surface, and can easily turn. Thereby, the water moving apparatus 10 can turn accurately with an arbitrary turning radius in an arbitrary direction.
  • FIG. 12 (A) is a side view showing the outer shape of the water moving device according to the second embodiment of the present invention when turning or turning
  • FIG. 12 (B) is the second embodiment of the present invention. It is a side view which shows the external shape at the time of the straight movement of the water moving apparatus which concerns on.
  • the water moving device 10A according to the second embodiment differs from the water moving device 10 according to the first embodiment in the shape of the straight keel.
  • the other configuration of the water moving device 10A is the same as that of the water moving device 10, and the description of the same parts is omitted.
  • the straight advancing keel 411LA is substantially the same length as the diameter of the main body 100. Although not shown, there is a straight keel that is paired with the straight keel 411LA as in the relationship of the straight keels 411R and 411L shown in the first embodiment. Made of the same material.
  • the water moving device 10A can accurately move to a desired position along the shortest path or an arbitrary moving route, like the water moving device 10.
  • the thrust of this embodiment is generated as long as it generates a force for propelling the main body along the linear direction (direction along the X axis) connecting the front end and the rear end of the main body and is not disposed in water. It can be used as a generator.
  • the water moving device that simply moves on the water is shown.
  • an ultrasonic sensor for underwater detection may be attached.
  • the above-described water moving device does not include a screw in the water. Accordingly, the ultrasonic sensor does not detect screw bubbles or the like, and the ultrasonic sensor can reliably detect a desired detection target such as a fish, a school of fish, or the seabed. Further, since the fish or the school of fish is not surprised, the ultrasonic detection can be performed by approaching the fish or the school of fish, and the detection accuracy of the fish or the school of fish can be improved.
  • the water movement device can set an arbitrary movement route, it can move from the current position to the desired position with the shortest distance.
  • the ultrasonic sensor can accurately and quickly detect a desired position. Further, since the water moving device can move accurately along a desired detection path, the ultrasonic sensor can accurately detect at a desired position on the detection path.
  • the water moving device does not overrun as described above, it is possible to move in a row while arranging a plurality of water moving devices at predetermined intervals. At this time, by not overrunning, even if the plurality of water moving devices are simultaneously turned or turned, the positional relationship of the plurality of water moving devices with respect to the absolute direction is not easily broken. As described above, since the plurality of water moving devices can move while maintaining the respective positional relationships, the detection results at the points by the plurality of water moving devices can be combined to realize the surface detection results.

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Abstract

Le problème décrit par la présente invention est de fournir un dispositif mobile à flot apte à se déplacer avec précision jusqu'à une position souhaitée le long d'un trajet le plus court ou d'un trajet de déplacement prévu. La solution, selon l'invention, porte sur un appareil mobile flottant (10) qui comprend un corps (100), une première unité de génération de force de propulsion ayant une hélice (211) et un moteur (212), une seconde unité de génération de force de propulsion ayant une hélice (221) et un moteur (222), et une unité de commande (30). Le corps (100) flotte sur l'eau, et la section transversale horizontale de la partie immergée du corps (100) prend une forme circulaire, une forme sensiblement circulaire, ou la forme d'un polygone régulier présentant au moins cinq angles. La première unité de génération de force de propulsion et la seconde unité de génération de force de propulsion sont agencées sur la surface supérieure du corps en des positions qui sont sensiblement symétriques par rapport au centre de gravité de la partie immergée. L'unité de commande (30) commande individuellement la force de propulsion de la première unité de génération de force de propulsion et la force de propulsion de la seconde unité de génération de force de propulsion.
PCT/JP2018/009950 2017-03-22 2018-03-14 Appareil mobile à flot et système de commande destiné à un appareil mobile à flot Ceased WO2018173881A1 (fr)

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JP2017055571A JP6339718B1 (ja) 2017-03-22 2017-03-22 水上移動装置、および、水上移動装置の制御システム

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CN112193377A (zh) * 2020-10-14 2021-01-08 长沙理工大学 一种小型四驱智能水面无人船平台及其控制方法

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CN110505998B (zh) 2022-06-21

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