JPS628895A - Radio-controlled submerged robot - Google Patents
Radio-controlled submerged robotInfo
- Publication number
- JPS628895A JPS628895A JP14795685A JP14795685A JPS628895A JP S628895 A JPS628895 A JP S628895A JP 14795685 A JP14795685 A JP 14795685A JP 14795685 A JP14795685 A JP 14795685A JP S628895 A JPS628895 A JP S628895A
- Authority
- JP
- Japan
- Prior art keywords
- radio
- controlled
- diving
- robot
- mother ship
- 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.)
- Pending
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
（１）産業上の利用分骨
本発明はラジオコントロール潜水ロボットに関するもの
である。DETAILED DESCRIPTION OF THE INVENTION (1) Industrial Application The present invention relates to a radio-controlled diving robot.
（２）従来の技術
海洋開発が進められ、海底や海中の調査観察等が本格化
するに従って、ＴＶ左カメラ投光器、マニピュレーター
、各種観測機器等を装備した水中テレビロヒ、ト（以下
潜水ロボットと云う）の必要性が高まりつつあり、最近
は各社で各種の潜水ロボットの開発が行なわれて居るが
、推進用の原動機（電動機）の電力の送電及び潜水口ざ
ットの諸動作の制御或いはＴＶ信号、各種テレメーター
信号の伝送等の基本的な問題点を解決する為には、何れ
にしても有線ケーブル方式が採用されている。(2) Conventional technology As marine development progresses and research and observation of the ocean floor and the sea becomes full-scale, underwater television robots (hereinafter referred to as diving robots) equipped with TV left camera projectors, manipulators, various observation devices, etc. Recently, various companies have been developing various types of diving robots. In order to solve basic problems such as transmission of various telemeter signals, a wired cable system is adopted in any case.
（３）発明が解決しようとする問題点
例えば模型のボート又は飛行機、或いはロボット等に於
て、遠隔操縦する制御方式は有線ケーブル方式より無線
方式（ラジコン等）の方が機動性が高く、より理想的な
制御方法である事は間違いないが、潜水ロボットの場合
は残念ながら水中（海中）の為に、電波の伝播は不可能
でありラジコン方式は使用されない。又現在水中伝播機
器に専ら使用されている超音波方式も動力用電力の送電
、或いはＴＶ信号の搬送等（周波数帯域中が狭く使用不
能）は本質的に不可能な状態である。(3) Problems that the invention aims to solve For example, when it comes to controlling model boats, airplanes, or robots, wireless systems (radio control, etc.) have higher maneuverability and are more efficient than wired cable systems. There is no doubt that this is an ideal control method, but unfortunately in the case of submersible robots, since they are underwater, radio wave propagation is impossible and radio control methods are not used. Furthermore, the ultrasonic method currently used exclusively for underwater propagation equipment is essentially impossible to transmit power for motive power or to transport TV signals (the frequency band is narrow and cannot be used).
（旬問題点を解決するための手段
本発明は潜水ロヒ、トの遠隔操縦をする為の制御方式と
して、有線方式と無線方式とを組合せた有線無線混合方
式を採用した事を特徴とするものである。即ち潜水ロボ
ットから海面に浮ぶ母船ブイ（ラジオ中継ブイ）までを
有線方式とし、次に母船ブイから基地局（陸上、又は船
舶等の遠隔制御装置（監視ＴＶモニター等も含む）の設
置位置）までを無線方式として組合せて使用し、上記動
力用電力の送電、ＴＶ信号或いは各種テレメーター信号
の伝送、ラジコン装置の制御等の諸問題をすべて解決す
る事が可能な潜水ロボットを提供するものである。(Means for Solving the Problems) The present invention is characterized in that a wired/wireless mixed method, which is a combination of a wired method and a wireless method, is adopted as a control method for remote control of a submarine. In other words, a wired system is used from the diving robot to the mother ship buoy (radio relay buoy) floating on the sea surface, and then a remote control device (including a surveillance TV monitor, etc.) is installed from the mother ship buoy to a base station (on land or on a ship, etc.). To provide a diving robot that can solve all of the problems such as power transmission for motive power, transmission of TV signals or various telemeter signals, control of radio-controlled equipment, etc. by using the wireless system in combination with It is something.
（５）実施例
本発明の実施例を図面について説明すると第１図は本発
明の概略を示す水中（海中）断面図、第２図はプ四、ク
ダイアダラムである。(5) Embodiment An embodiment of the present invention will be explained with reference to the drawings. Fig. 1 is an underwater sectional view showing the outline of the present invention, and Fig. 2 is a sectional view of Pu4, Kudaiadalam.
海上に浮かぶ基地局１ （船舶或いは陸地でも可）には
、潜水□ロボットの遠隔制御装置２（監視用ＴＶ装置、
監視用ソナー装置、各種テレメーター装置、及びラジコ
ン装置等を含む） 、ＴＶアンテナ６、テレメーターア
ンテナ４、ラジコンアンテナ５、双眼鏡６等を装備する
・海中にある潜水ロボット７には、推進器８、操舵装置
ぎ、水中テレビカメラ９、投光器１０、マニピューター
タ−１１、潜水タンク１２、或いは其の他の観測機器１
３（例えばソナー、水温計、塩分針、ジャイロコンパス
、ｅｔｃ）、配電盤１３′等を装備する。A base station 1 floating on the sea (can be on a ship or on land) is equipped with a remote control device 2 for a submersible robot (monitoring TV device,
The submersible robot 7 in the sea is equipped with a propulsion device 8 , a steering device, an underwater television camera 9, a floodlight 10, a manipulator 11, a diving tank 12, or other observation equipment 1.
3 (for example, sonar, water temperature gauge, salinity needle, gyro compass, etc.), a switchboard 13', etc.
海面に浮かぶ母船ブイ１４には、原動機となるエンジン
１５で駆動回転される発電機１６及、び配電盤１６′、
ラジコンアンテナ１７、ラジコン受信部１８（サーボア
ンプを含ム）、ＴＶアンテナ１９、テレメーターアンテ
ナ２０、ＴＶ送信機２１、テレメーター送信機２１、並
びにケーブルリール２２等を装備する該ケーブルリール
２２に巻かれた補強ワイヤー人の電線ケーブル２３の先
端は、上記潜水ｐボッドアの上背部に設けた接続筐２４
に接続し、且つケーブルリール２２は潜水ロボ。On the mother ship buoy 14 floating on the sea surface, there is a generator 16 driven and rotated by an engine 15 serving as a prime mover, a switchboard 16',
The cable reel 22 is equipped with a radio-controlled antenna 17, a radio-controlled receiver 18 (including a servo amplifier), a TV antenna 19, a telemeter antenna 20, a TV transmitter 21, a telemeter transmitter 21, a cable reel 22, etc. The tip of the reinforcing wire cable 23 is connected to the connecting casing 24 provided on the upper back of the submersible p-board door.
The cable reel 22 is connected to the diving robot.
ドアの深度により、電線ケーブル２３の必要な長さを遠
隔制御装置２からの指示通りに巻込み、繰延べ可能に設
けである。勿論、電源回路、制御回路、ＴＶ回路、各種
テレメーター回路、ラジコン回路１其の他必要な回路等
の電線は、母船ブイ１４と潜水ロボット７の間を電線ケ
ーブル２６を介して配線接続しである。今潜水ロボ、ド
ア及び母船ブイ１４の電源部スイッチ（図示省略）をＯ
Ｎにしてラジコン受信部１日を作動させて海面２５に投
下すると、母船ブイ１４は海ｍ２５に浮かび潜水ロボッ
ト７は徐々に海中２６に沈降し、最初に設定した電線ケ
ーブル２６の長さのところで止まる。次に遠隔制御装置
２を操作して、ラジコン電波（現有指定周波数帯短波）
矢ｍ＝により、母船ブイ１４のエンジン１５のスタータ
ー（図示省略）を作動させてエンジン１５を起動し、発
電機１６を回転させて発電すると、電線ケーブル２６を
介して潜水ロボ、ドアに送電が詔始され、且つ遠隔制御
装置２の指示により任意に推進器の発停のコントロール
、潜水タンクのフントレール、投光器の点滅、光量調節
、水中テレビの操作（旋回、俯仰、色調ｙｉ整、ズーム
調整等）及び−ＴＶ信号（電波）の伝送（送受信電波、
例えばＶＨＦ％、ｔＴＨＦ等、矢印ｂ）、各種テレメー
ター信号の伝送（矢印（１）、マニピュレーターの操作
並びにケーブルリールの巻込み繰延べ操作等を遠隔制御
可能に構成したものである。Depending on the depth of the door, the required length of the electric wire cable 23 can be wound in accordance with instructions from the remote control device 2 and can be postponed. Of course, the electric wires for the power supply circuit, control circuit, TV circuit, various telemeter circuits, radio control circuit 1, and other necessary circuits can be wired and connected between the mother ship buoy 14 and the diving robot 7 via the electric wire cable 26. be. Now turn on the power supply switches (not shown) for the diving robot, door, and mothership buoy 14.
When the radio-controlled receiver is turned on and dropped onto the sea surface 25, the mother ship buoy 14 floats on the sea m25 and the diving robot 7 gradually sinks into the sea 26, reaching the length of the electric wire cable 26 that was initially set. Stop. Next, operate the remote control device 2 to transmit radio-controlled radio waves (currently designated frequency band shortwave).
Arrow m = activates the starter (not shown) of the engine 15 of the mother ship buoy 14 to start the engine 15 and rotate the generator 16 to generate electricity, and power is transmitted to the diving robot and the door via the electric wire cable 26. When the command is started, and according to instructions from the remote control device 2, control of starting and stopping of the propulsion device, mounting rails of the diving tank, blinking of the floodlight, adjustment of light intensity, and operation of the underwater television (swivel, elevation, color adjustment, zoom adjustment) etc.) and - Transmission of TV signals (radio waves) (transmission and reception of radio waves,
For example, VHF%, tTHF, etc. (arrow b), transmission of various telemeter signals (arrow (1), manipulator operation, cable reel winding and postponement operation, etc.) can be remotely controlled.
上記により潜水口ＴＦｓ−）ドアは、電線ケープ／Ｉ／
２３の長さを限度とする任意の深さの潜水が可能であり
、深度が余り深くない時には電線ケーブルを伸ばした範
囲内の行動は非常に自由となる。或いは電線ケーブルの
範囲外、又は成る深度で電線ケーブルを巻張した状態、
及び短距離の位置の移動等の場合には潜水ロボ、ドアが
母船ブイ１４を曳航しながら移動を可能にするもので、
全て基地局からの指示により任意にコントロールされる
ものである。位置が移動して少々距離が遠くなった時に
は、双眼鏡６で母船ブイ１４を監視しながら遠隔制御に
よる潜水ロボットの操作をする事が出来るものである。Due to the above, the diving entrance TFs-) door is equipped with electric wire cape/I/
It is possible to dive to any depth up to a length of 23 mm, and when the depth is not very deep, movement within the extended range of the electric wire cable is very free. or a state in which the electric wire cable is wound outside the range of the electric wire cable or at a depth of
In the case of short-distance movement, the diving robot and door enable movement while towing the mothership buoy 14.
All are controlled arbitrarily by instructions from the base station. When the position is moved and the distance becomes a little farther, the diving robot can be operated by remote control while monitoring the mother ship buoy 14 with the binoculars 6.
第３図は実施態様を示す水中（海中）断面図、第４図は
プロ、クダイアダラムである。ケーブルリール２２の巻
揚げ装置は各種のものが考えられるが、以下に其の１例
を説明すると、水圧センサー−２７の信号をアンプ２日
、切換スイッチ２９を介して比較発振器３０に入力する
（ｓｌ）。FIG. 3 is an underwater (undersea) sectional view showing the embodiment, and FIG. 4 is a professional Kudaiadaram. Various types of hoisting devices are possible for the cable reel 22, and one example will be explained below.The signal from the water pressure sensor 27 is input to the comparator oscillator 30 via the changeover switch 29 on the amplifier 2nd. sl).
次にラジコン受信部１８の深度指示信号出力（矢印と）
をアンプ３１を介して上記の比較発振器３０に入力（Ｓ
２）すると、比較発振器３０の出力（Ｓ３）には（ト）
又は（へ）の差動信号出力が得られ、これを差動アンプ
３２に入力するとモーター６３が駆動して正又は逆回転
して、ケーブルリール２２を巻込み又は繰延ぺの方向へ
回転するものである。差動信号出力が０になると停止す
る。即ち第３図に示す様に遠隔制御装置１２の指示振度
がｈｌの時には、潜水ロボ、ドアの深度が上又は下（ｈ
２又はｈ３）にづれていると水圧センサー２７の信号と
指示深度の信号が比較発振器３０でチ、。Next, the depth indication signal output of the radio control receiver 18 (with arrow)
is input to the comparison oscillator 30 through the amplifier 31 (S
2) Then, the output (S3) of the comparison oscillator 30 has (G)
Or (to) differential signal output is obtained, and when this is input to the differential amplifier 32, the motor 63 is driven and rotates in the forward or reverse direction, causing the cable reel 22 to wind up or rotate in the deferred direction. It is. It stops when the differential signal output becomes 0. In other words, as shown in FIG.
2 or h3), the signal from the water pressure sensor 27 and the indicated depth signal are detected by the comparison oscillator 30.
りされ差動圧公文け（ト）又は（へ）に差動して常時指
示探度が保たれる。次に指示深度をｈ２又はｈ３に移動
させると移動差だけ差動圧が（へ）又は（ト）に発生し
て、ケーブルリール２２を回転して電線ケーブル２３を
巻込み又は繰延べて指示深度を保つ事となり、ケーブル
リールは常時巻張状態で使用する事が出来るものである
（第３図参照）。此の時には潜水タンク１２に完全注水
して潜水ロボット７の比重を大きくして置くとよい。即
ち潜水口ごット７は常時母船ブイ１４に懸吊された状態
（電線ケーブルの巻張側１で使用されるものである。The indicated probe level is maintained at all times by differential pressure. Next, when the indicated depth is moved to h2 or h3, a differential pressure is generated (to) or (g) by the difference in movement, and the cable reel 22 is rotated to reel in or postpone the electric wire cable 23 to reach the indicated depth. The cable reel can be used in a taut state at all times (see Figure 3). At this time, it is preferable to completely fill the diving tank 12 with water to increase the specific gravity of the diving robot 7. That is, the diving port 7 is always suspended from the mother ship buoy 14 (used on the winding side 1 of the electric wire cable).
次に遠隔制御装置２を操作してラジコン受信部１８のス
イッチ切換信号（矢印・）をサーごアンプ３４に入力す
ると、サーボ機構３５が作動して切換スイッチ２９がア
ンプ３６側に切換わり（矢印ｆ）、ケーブルリール２２
に付属する電線ケーブルの長さを表示するケーブルカウ
ンター３７の信号がアンプ３６とスイッチ２９を介して
比較発振器３０に入力（Ｓ４）されることになる。即ち
上記水圧センサー２７の信号入力（Ｓｌ）の替りにケー
ブルカウンター３７の信号入力（Ｓ４）と指示信号人力
（３２）との差動信号出力（Ｓ３）が得られ、遠隔制御
装置２の指示による深度に比例して繰延べ（又は巻揚げ
）られる。此の状態は、潜水ロボット７の深度には関係
なく指示長を保つ。即ち第１図に示す様に電線ケーブル
２３を伸ばした範囲内で潜水ロボ、ドアは自由に行動出
来るものである。此の時には、潜水タンク２１は半分位
排水して水（又は海水）とほぼ等しい比重にしてやると
理想的である。こ＼で潜水ロボ、ドアを浮上させる時に
は、潜水タンク１２を全部排水すればよい事になる。電
線ケーブル２６が緩んで潜水ロボ、ドアが自由に行動す
る時、任意の深度に移動する場合には潜水タンク１２の
制御は、非常に大事な要素となるものである。２３はＩ
電線ケーブル用補助ブイを示す。Next, when the remote control device 2 is operated to input the switch switching signal (arrow . f), cable reel 22
A signal from the cable counter 37 indicating the length of the electric wire cable attached to the cable is input to the comparison oscillator 30 via the amplifier 36 and the switch 29 (S4). That is, instead of the signal input (Sl) of the water pressure sensor 27, a differential signal output (S3) between the signal input (S4) of the cable counter 37 and the instruction signal human power (32) is obtained, and the output is controlled according to the instructions of the remote control device 2. It is deferred (or hoisted) in proportion to the depth. In this state, the indicated length is maintained regardless of the depth of the diving robot 7. That is, as shown in FIG. 1, the diving robot and the door can move freely within the range where the electric wire cable 23 is extended. At this time, it is ideal to drain about half of the diving tank 21 so that its specific gravity is approximately equal to that of water (or seawater). Now, when the diving robot and the door are brought to the surface, all the water needs to be drained from the diving tank 12. When the electric wire cable 26 is loosened and the diving robot and the door move freely, control of the diving tank 12 becomes a very important element when moving to an arbitrary depth. 23 is I
An auxiliary buoy for electric cables is shown.
次に第３図に示す基地局１、及び母船ブイ１４にはテレ
メーターアンテナが画かれていない。これは各種の観測
機器のテレメーター信号を、テレビカメラのＴＶ倍信号
多重変調させて乗せ、ＴＶ倍信号いっしょに伝送させた
ものである。この様にするとテレメーターの送信機〜受
信機及び双方のアンテナが不用となるものである。Next, no telemeter antenna is shown in the base station 1 and the mother ship buoy 14 shown in FIG. This is a system in which the telemeter signals from various observation instruments are multiplexed and modulated into the TV double signal of the television camera, and then transmitted together with the TV double signal. In this way, the telemeter transmitter to receiver and both antennas become unnecessary.
（６）発明の効果
本発明に示すように、ラジオコントロール潜水ロボット
の遠隔操縦を有線と無線を組合せた有線無線混合方式を
採用する事により、従来は有線ケーブルで制御を受けて
いた潜水ロボットの行動範囲が大きく拡がり、又無線で
のコントロールが可能なため機動性が高く行動が非常に
自由となり、海中、海底の調査観察がよりスムーズに行
なわれる効果を有するものである。(6) Effects of the Invention As shown in the present invention, by adopting a wired/wireless mixed method that combines wired and wireless remote control of a radio-controlled diving robot, the diving robot, which was conventionally controlled by a wired cable, can be operated remotely. The range of action is greatly expanded, and since it can be controlled by radio, it has high mobility and freedom of movement, and has the effect of making underwater and seabed research and observation more smooth.
第１図は本発明の概略を示す水中（海中）断面図。第２
図は、プロ、クダイアダラム。
第６図は実施態様を示す水中（海中）断面図。
第４図はブロックダイアダラム。
１− 基地局、２− 遠隔制御装置、３−−− Ｔ
Ｖアンテナ、４− テレメーターアンテナ、５−
ラジコンアンテナ、６−−−双眼鏡、７− 潜水党ポ
ット、８−推進器、９− 水中テレビカメラ、Ｉ Ｏ
−投光器、１１− マニピュレーター、１２− 潜
水タンク、１３−其の他の観測機器、１４− 母船ブ
イ、１５−ｍ−エンジン、１６− 発電機、１７−
ラジコンアンテナ、１８− ラジコン受信部、１９
−−−Ｔ Ｖ ７ ＞ ｆす、２０−−−テレメーター
アンテナ、２ｌ−−−ＴＶ送信機、２２− ケーブル
リール、２６− 電線ケーブル、２４− 接続筐、
２５− 海面、２６−−−海中、２７−−−水圧セン
サー、２８−一一アンプ、２９−−一切換スイッチ、３
〇−比較発振器、６１− アンプ、３２−−−差動ア
ンプ、！＋３−−−モーター、３４−−−サーボアンプ
ル３５−−−サーボ機構、６ローーアンプ、５７−−−
ケーブルカウンタ。FIG. 1 is an underwater (undersea) sectional view showing the outline of the present invention. Second
The figure is professional, Kudaiadalam. FIG. 6 is an underwater (undersea) sectional view showing the embodiment. Figure 4 is a block diagram. 1- base station, 2- remote control device, 3---T
V antenna, 4- Telemeter antenna, 5-
Radio-controlled antenna, 6-- binoculars, 7- diving pot, 8- propeller, 9- underwater television camera, IO
- Floodlight, 11 - Manipulator, 12 - Diving tank, 13 - Other observation equipment, 14 - Mother ship buoy, 15 - Engine, 16 - Generator, 17 -
Radio-controlled antenna, 18- Radio-controlled receiver, 19
---TV 7>f, 20--telemeter antenna, 2l--TV transmitter, 22- cable reel, 26- electric wire cable, 24- connection casing,
25- sea level, 26--undersea, 27--water pressure sensor, 28--11 amplifier, 29--all changeover switch, 3
〇-Comparison oscillator, 61- Amplifier, 32--Differential amplifier, ! +3---Motor, 34---Servo amplifier 35---Servo mechanism, 6 Low amplifier, 57---
cable counter.
Claims (4)
置並びに各種アンテナ、双眼鏡等を装備した基地局と、
海面に浮かび、且つ発電機及び各種アンテナ、ラジコン
受信機、ＴＶ送信機、テレメーター送信機、並びにケー
ブルリール等を装備した母船ブイと、主として海中に潜
航し、且つ推進器及び潜水タンク、水中テレビカメラ、
投光機、マニピュレーター並びに其の他の観測機器等を
装備した潜水ロボットを夫々設け、該潜水ロボットと母
船ブイの間を電線ケーブルで接続して有線方式とし、母
船ブイと基地局の間は電波を使用して無線方式とし、有
線無線混合方式で遠隔制御を可能に構成した事を特徴と
するラジオコントロール潜水ロボット。(1) A base station equipped with a remote control device for a diving robot, various monitoring devices, various antennas, binoculars, etc.
A mother ship buoy that floats on the sea surface and is equipped with a generator, various antennas, radio-controlled receivers, TV transmitters, telemeter transmitters, cable reels, etc., and a mother ship buoy that is submerged mainly in the sea and is equipped with a propulsion device, a diving tank, and an underwater television. camera,
Each submersible robot is equipped with a floodlight, manipulator, and other observation equipment, and the submersible robot and the mother ship buoy are connected using electric wire cables, and radio waves are transmitted between the mother ship buoy and the base station. A radio-controlled diving robot characterized in that it uses a wireless system and is configured to be remotely controlled using a mixed wired and wireless system.
線ケーブルを任意の長さに設定可能に設けた特許請求の
範囲第１項記載のラジオコントロール潜水ロボット。(2) The radio-controlled diving robot according to claim 1, wherein the electric wire cable of the cable reel can be set to any length according to instructions from a remote control device.
指示の長さに常時巻張し、潜水ロボットを母船ブイに懸
吊可能に設けた特許請求の範囲第１項記載のラジオコン
トロール潜水ロボット。(3) The radio-controlled diving robot according to claim 1, wherein the electric wire cable of the cable reel is always wound to the length specified by the remote control device so that the diving robot can be suspended from a mother ship buoy.
、いっしょに伝送可能に設けた特許請求の範囲第１項、
第２項または第３項記載のラジオコントロール潜水ロボ
ット。(4) Claim 1, in which various telemeter signals are multiplex modulated into TV signals and are provided so that they can be transmitted together.
The radio-controlled diving robot according to item 2 or 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14795685A JPS628895A (en) | 1985-07-06 | 1985-07-06 | Radio-controlled submerged robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14795685A JPS628895A (en) | 1985-07-06 | 1985-07-06 | Radio-controlled submerged robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS628895A true JPS628895A (en) | 1987-01-16 |
Family
ID=15441883
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP14795685A Pending JPS628895A (en) | 1985-07-06 | 1985-07-06 | Radio-controlled submerged robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS628895A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03169796A (en) * | 1989-11-29 | 1991-07-23 | Kansai Electric Power Co Inc:The | Robot device for water quality measurement |
| DE102010051491A1 (en) * | 2010-11-15 | 2012-05-16 | Atlas Elektronik Gmbh | Underwater vehicle and underwater system with an underwater vehicle |
| JP2012098412A (en) * | 2010-10-29 | 2012-05-24 | Si Co Ltd | Underwater camera photographing apparatus |
| DE102012006565A1 (en) | 2012-03-30 | 2013-10-02 | Atlas Elektronik Gmbh | Underwater work system and method of operating an underwater workstation |
| EP2708461A1 (en) * | 2012-09-13 | 2014-03-19 | Azorean - Aquatic Technologies, S.A. | System for automatic water exploration |
| JP2015200925A (en) * | 2014-04-04 | 2015-11-12 | 株式会社Ihi | Control system for autonomous sailing body |
| JP6262890B1 (en) * | 2017-01-13 | 2018-01-17 | 株式会社日本エスシーマネージメント | Viewing device, underwater space viewing system, and underwater space viewing method |
| CN108407977A (en) * | 2018-04-19 | 2018-08-17 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of emergent buoyage in multi-functional deep-sea |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57196309A (en) * | 1981-05-27 | 1982-12-02 | Tech Res & Dev Inst Of Japan Def Agency | Indirect controller of underwater travelling object |
-
1985
- 1985-07-06 JP JP14795685A patent/JPS628895A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57196309A (en) * | 1981-05-27 | 1982-12-02 | Tech Res & Dev Inst Of Japan Def Agency | Indirect controller of underwater travelling object |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03169796A (en) * | 1989-11-29 | 1991-07-23 | Kansai Electric Power Co Inc:The | Robot device for water quality measurement |
| JP2012098412A (en) * | 2010-10-29 | 2012-05-24 | Si Co Ltd | Underwater camera photographing apparatus |
| DE102010051491A1 (en) * | 2010-11-15 | 2012-05-16 | Atlas Elektronik Gmbh | Underwater vehicle and underwater system with an underwater vehicle |
| WO2012065875A1 (en) | 2010-11-15 | 2012-05-24 | Atlas Elektronik Gmbh | Underwater vehicle for uncovering submerged objects and underwater system with an underwater vehicle of this type |
| DE102012006565A1 (en) | 2012-03-30 | 2013-10-02 | Atlas Elektronik Gmbh | Underwater work system and method of operating an underwater workstation |
| AU2013242589B2 (en) * | 2012-03-30 | 2016-05-12 | Atlas Elektronik Gmbh | Underwater working system and method for operating an underwater working system |
| US9669912B2 (en) | 2012-03-30 | 2017-06-06 | Atlas Elektronik Gmbh | Underwater working system and method for operating an underwater working system |
| EP2708461A1 (en) * | 2012-09-13 | 2014-03-19 | Azorean - Aquatic Technologies, S.A. | System for automatic water exploration |
| JP2015200925A (en) * | 2014-04-04 | 2015-11-12 | 株式会社Ihi | Control system for autonomous sailing body |
| JP6262890B1 (en) * | 2017-01-13 | 2018-01-17 | 株式会社日本エスシーマネージメント | Viewing device, underwater space viewing system, and underwater space viewing method |
| JP2018113653A (en) * | 2017-01-13 | 2018-07-19 | 株式会社日本エスシーマネージメント | Viewing device, and underwater space viewing system and method for viewing the same |
| CN108407977A (en) * | 2018-04-19 | 2018-08-17 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of emergent buoyage in multi-functional deep-sea |
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