阅读说明：本技术 水上移动装置以及水上移动装置的控制系统 (The control system of Waterborne movable device and Waterborne movable device ) 是由 川村竜也 于 2018-03-14 设计创作，主要内容包括：本发明提供一种可沿着最短路径或任意的移动路径正确地移动至所期望的位置的水上移动装置。水上移动装置10包括：本体100、具有螺旋桨211与马达212的第一推进力产生部、具有螺旋桨221与马达222的第二推进力产生部、以及控制部30。本体100浮在水面,浸水部的水平剖面的形状具有圆形、大致圆形、或五角以上的正多角形的形状。第一推进力产生部与第二推进力产生部在本体的上表面侧,配置在相对于浸水部的重心点大致对称的位置。控制部30分别控制第一推进力产生部的推进力与第二推进力产生部的推进力。(The present invention provides a kind of Waterborne movable device that desired position can be correctly moved to along shortest path or arbitrary movement routine.Waterborne movable device 10 includes: ontology 100, the first propulsive force generating unit, the second propulsive force generating unit and control unit 30 with propeller 221 Yu motor 222 with propeller 211 Yu motor 212.Ontology 100 is kept afloat, and the shape of the horizontal profile of submerged portion has round, roughly circular or five jiaos or more of regular polygon shape.First propulsive force generating unit and the second propulsive force generating unit configure the position substantially symmetric in the focus point relative to submerged portion in the upper surface side of ontology.Control unit 30 controls the propulsive force of the first propulsive force generating unit and the propulsive force of the second propulsive force generating unit respectively.)

1. a kind of Waterborne movable device characterized by comprising

Ontology is kept afloat, and the shape of the horizontal profile of submerged portion has the shape of the regular polygon of circle or five jiaos or more；

First propulsive force generating unit and the second propulsive force generating unit are configured in the upper surface side of the ontology relative to described The substantially symmetric position of the focus point of submerged portion；And

Control unit,

The control unit is by making one of the first propulsive force generating unit and the second propulsive force generating unit generate propulsion Power makes another one stop or generate propulsive force in the opposite direction, and direction conversion, institute are carried out under the stopped state of the ontology The rotary motion that direction conversion is the ontology on the position substantially put is stated, it is described substantially to put to pass through the center of gravity of the ontology Vertical line as axis,

The control unit is by making both the first propulsive force generating unit and the second propulsive force generating unit towards identical side To the propulsive force for generating identical size, make the ontology straight ahead,

Alternatively, the control unit is by making the first propulsive force generating unit and the second propulsive force generating unit towards identical side To the propulsive force for generating different sizes, turn in the state that the ontology is moving, the turning is described heavy The track of the heart becomes the movement of curve.

2. Waterborne movable device according to claim 1, which is characterized in that including straight ahead keel, before the straight line It is vertically configured into keel relative to the straight line for linking the first propulsive force generating unit with the second propulsive force generating unit,

The straight ahead keel are controlled by the control unit, and

Be able to carry out the first form of the inside for being housed in the ontology with towards the downside of the ontology the second form outstanding Switching.

3. Waterborne movable device according to claim 2, which is characterized in that when the turning of the ontology or direction are converted For first form, and

It is second form in the straight ahead of the ontology.

4. Waterborne movable device according to any one of claim 1 to 3, which is characterized in that described including braking keel Braking keel are matched relative to the straight line parallel for linking the first propulsive force generating unit with the second propulsive force generating unit It sets,

The braking keel are controlled by the control unit, and

It is able to carry out the inside for being housed in the ontology or platen surface is connected to the third form of the ontology and towards described The switching of the downside of body the 4th form outstanding.

5. Waterborne movable device according to claim 4, which is characterized in that be described other than in the deceleration of the ontology Third form, and

It is the 4th form in the deceleration of the ontology.

6. Waterborne movable device according to any one of claim 1 to 5, which is characterized in that the ontology includes independent Air bladder.

7. Waterborne movable device according to any one of claim 1 to 6, which is characterized in that first propulsive force produces Life portion and the second propulsive force generating unit are that have relative to by the first propulsive force generating unit and second propulsive force The propeller of the surfaces of revolution of the straight line parallel of generating unit connection, and

The control unit controls revolving speed and the direction of rotation of the propeller as the propulsive force.

8. Waterborne movable device according to any one of claim 1 to 7, which is characterized in that the ontology has first Part and second part, the first part include the first propulsive force generating unit and the second propulsive force generating unit, institute The region for the rear end side that second part configured in the first part is stated,

In the straight ahead of the ontology, the second part configuration is outstanding towards the outside from the rear end of the first part Position, and

In the turning of the ontology or when direction is converted, the second part is housed in the recess portion of the first part.

9. Waterborne movable device according to any one of claim 1 to 8 characterized by comprising

Operation portion accepts the operation of the moving direction for the ontology；And

Portion is taken, there is the operation portion, and people takes；And

The control unit corresponds to the operation from the operation portion for taking portion, carries out the first propulsive force generating unit And the control of the second propulsive force generating unit.

10. a kind of control system of Waterborne movable device characterized by comprising

Waterborne movable device according to any one of claim 1 to 8；And

Remote controler has the operation portion for the operation for accepting the moving direction for the ontology, and the remote controler is relative to described Waterborne movable device is to be made of different parts；And

The control unit corresponds to the operation from the remote controler, and progress the first propulsive force generating unit and described second push away Into the control of power generating unit.

Technical field

The present invention relates to one kind be correctly moved to along shortest path or arbitrary movement routine on the water it is desired The Waterborne movable device of position.

Background technique

Previously, as carrying out mobile equipment, generally ship on the water.Ship includes extended hull to front-rear direction.And And hull is provided with spiral and rudder.Spiral provides propulsive force to hull, and rudder determines the moving direction of hull.Spiral and rudder one As be arranged on the quarter, and configure in water.

In addition, the thrust by airscrew sliding body such as recording a kind of hydrofoil in patent document 1.The spiral shell Rotation paddle push type sliding body is provided with propeller on hull.

[existing technical literature]

[patent document]

Patent document 1: Japanese Patent Laid-Open 2016-120906 bulletin

Summary of the invention

[problem to be solved by the invention]

But in previous general ship as described above, length between bow and stern than port and starboard it Between length it is long.It therefore, must be using around big curved path in the case where being turned although straight ahead is excellent. Therefore, it is impossible to reach desired position from current location with shortest path.

In addition, the hull for the thrust by airscrew sliding body recorded in patent document 1 is also identical as common ship.Cause This can not reach desired position from current location with shortest path in the same manner as common ship.

That is, previous in structure, even if there is setting movement routine (navigation path), also road can not be moved along described The situation that diameter correctly moves.

Therefore, the purpose of the present invention is to provide one kind correctly to move along shortest path or arbitrary movement routine To the Waterborne movable device of desired position.

[technical means to solve problem]

Waterborne movable device of the invention include: ontology, the first propulsive force generating unit, the second propulsive force generating unit and Control unit.Ontology is kept afloat, and the shape of the horizontal profile of submerged portion has round, roughly circular or five jiaos or more just more Angular shape.First propulsive force generating unit and the second propulsive force generating unit are configured in the upper surface side of ontology relative to leaching The substantially symmetric position of the focus point in water portion.Control unit controls the propulsive force and the second propulsive force of the first propulsive force generating unit respectively The propulsive force of generating unit.

In the structure, if the side of the propulsive force of the propulsive force of the first propulsive force generating unit and the second propulsive force generating unit It is identical to identical and size, then ontology straight ahead.In addition, if the propulsive force of the first propulsive force generating unit and the second propulsive force produce The direction of the propulsive force in life portion is identical and of different sizes, then ontology is turned.In turn, if the propulsion of the first propulsive force generating unit The direction of power is different from the direction of propulsive force of the second propulsive force generating unit or stops the propulsive force of one, then ontology is substantially The position of point carries out direction conversion.At this point, due to the submerged portion of ontology horizontal profile shape have it is round, roughly circular, Or the shape of five jiaos or more of regular polygon, therefore for the resistance of the water of the side of ontology comprehensive roughly equal.In addition, Since the first propulsive force generating unit and the second propulsive force generating unit configure the position substantially symmetric in the focus point relative to submerged portion It sets, therefore can turn in the enterprising line direction in position substantially put using the vertical axis for the focus point for passing through submerged portion as rotation center It changes.Even if being also possible to the water of submerged portion in addition, the focus point of submerged portion is not the focus point of the three-dimensional shape of submerged portion entirety The focus point of the flat shape of flat cutting faces.Ontology is correctly moved to institute along shortest path or arbitrary movement routine as a result, Desired position.

[The effect of invention]

According to the present invention, desired position can be correctly moved to along shortest path or arbitrary movement routine.

Detailed description of the invention

[Fig. 1] is the stereoscopic figure of the Waterborne movable device of first embodiment of the invention.

[Fig. 2] is the plan view of the Waterborne movable device of first embodiment of the invention.

[Fig. 3] is the front view of the Waterborne movable device of first embodiment of the invention.

[Fig. 4] is the rearview of the Waterborne movable device of first embodiment of the invention.

[Fig. 5] is the side view of the Waterborne movable device of first embodiment of the invention.

[Fig. 6] is the Function Block Diagram of the control system of the Waterborne movable device of first embodiment of the invention.

[Fig. 7] (A) is the front elevation of the remote controler of embodiments of the present invention, and (B) is the side view of the remote controler.

[Fig. 8] (A) is the plan view of the shape of Waterborne movable device when indicating straight ahead, and (B) is its rearview, It (C) is its side view.

[Fig. 9] (A) is the plan view of the shape of Waterborne movable device when indicating left direction conversion, and (B) is its rearview, It (C) is its side view.

The plan view of the shape of Waterborne movable device when [Figure 10] (A) is when indicating straight ahead and slows down, (B) are them Rearview, (C) are its side views.

[Figure 11] is the plan view for indicating an example of the movement routine of Waterborne movable device of embodiments of the present invention.

[Figure 12] (A) is indicated when the turning of the Waterborne movable device of second embodiment of the present invention or direction are converted The side view of shape, (B) are shapes when indicating the straight ahead of the Waterborne movable device of second embodiment of the present invention Side view.

Specific embodiment

It is illustrated referring to Waterborne movable device of the figure to first embodiment of the invention.Fig. 1 is of the invention first The stereoscopic figure of the Waterborne movable device of embodiment.Fig. 2 is the Waterborne movable device of first embodiment of the invention Plan view.Fig. 3 is the front view of the Waterborne movable device of first embodiment of the invention.Fig. 4 is the first implementation of the invention The rearview of the Waterborne movable device of mode.Fig. 5 is the side view of the Waterborne movable device of first embodiment of the invention.Figure 6 be the Function Block Diagram of the control system of the Waterborne movable device of first embodiment of the invention.

As shown in fig. 1~fig. 5, Waterborne movable device 10 includes: ontology 100, propeller 211, propeller 221, motor 212, motor 222, lid 231, lid 232, control unit 30 and orientation calculation section 33.

Ontology 100 is circular plate shape, has upper surface 100T, lower surface 100B and side.Side is by upper surface The face that the circumferential section of 100T is connect with the circumferential section of lower surface 100B.The face of the area ratio lower surface 100B of upper surface 100T Product is big.

As long as in addition, the shape of the horizontal profile of the submerged portion of ontology 100 have it is round, roughly circular or five jiaos with On regular polygon shape.

Ontology 100 includes independent air bubble body.By the way that ontology 100 is set as independent air bubble body, sinking when can prevent from toppling. In addition, impact when passing through the collision for mitigating ontology 100 and other ships etc., it can be ensured that safety.Alternatively, it is also possible to ontology 100 Generally independent air bubble body, as long as at least side of ontology 100 is independent air bubble body.Moreover, ontology 100 includes following Structure: being equipped with propeller 211, propeller 221, motor 212, motor 222, lid 231, lid 232, control unit 30, with And in the state of orientation calculation section 33, in hydrostatic lower surface 100B become than water surface WS more on the lower, upper surface 100T becomes Buoyancy is adjusted at the mode more closer to the top than water surface WS.Becoming for the ontology 100 is this than the part of water surface WS more on the lower The submerged portion of body 100.

Herein, the axis parallel with the moving direction of ontology 100 is set as X-axis, will it is vertical with X-axis and with upper surface 100T and Lower surface 100B parallel axis is set as Y-axis, and the axis vertical with upper surface 100T and lower surface 100B is set as Z axis.Pass through this The intersection point of the end of the upper surface side 100T of the side of central point PO in body 100 and the straight line and ontology 100 parallel with X-axis One side is set as the front end 101 of ontology 100, and another party is set as to the rear end 102 of ontology 100.Pass through the central point in ontology 100 One side of the intersection point of the end of the upper surface side 100T of the side of PO and the straight line parallel with Y-axis and ontology 100 is set as ontology 100 The first side (right-hand end) 103, another party is set as to the second side (left-hand end) 104 of ontology 100.

Ontology 100 includes first part 110 and second part 120.First part 110 includes different from second part 120 Part, and mechanically connect.First part 110 is comprising front end 101, the first side 103 and the second side 104, and not Shape comprising rear end 102.Second part 120 is the shape comprising rear end 102.Second part 120 includes the rear end of ontology 100 Neighbouring a part is smaller than first part 110.In addition, second part 120 is put down preferably with respect to across central point PO and with X-axis Capable straight line is symmetrical shape.

Propeller 211 is configured in the upper surface side 100T of ontology 100.Propeller 211 is relative to ontology 100, rotatably It is fixed.Propeller 211 configures the central point PO in the first part 110 than ontology 100 closer to the first side 103 Side.Propeller 211 by the surfaces of revolution become it is vertical with X-axis it is (parallel with Y-axis) in a manner of configure.

Motor 212 is configured in 102 side of the rear end of propeller 211.The rotary shaft of motor 212 and the axis connection of propeller 211. Motor 212 is connect via cable and with control unit 30, is driven by the control of operation control part 31.The propeller 211 is right It should be in " the first propulsive force generating unit " of the invention.In addition, being adjusted by the revolving speed and direction of rotation of the propeller 211 pair In the propulsive force of ontology 100.

Lid 231 is the shape that propeller 211 is surrounded in the state of making the surfaces of revolution of propeller 211 be open.Lid 231 Also it can be omitted.By including lid 231, and inhibit to contact with propeller 211, safety is promoted.In addition, by including lid 231, also the shape of adjustable lid 231 promotes the propulsive force as caused by propeller 211.

Propeller 221 is configured in the upper surface side 100T of ontology 100.Propeller 221 is relative to ontology 100, rotatably It is fixed.Propeller 221 configures the central point PO in the first part 110 than ontology 100 closer to the second side 104 Side.Propeller 221 by the surfaces of revolution become it is vertical with X-axis it is (parallel with Y-axis) in a manner of configure.

When overlooking ontology 100, propeller 221 and propeller 211 are relative to passing through central point PO and parallel with X-axis straight In other words line relative to the straight line for linking front end 101 and rear end 102, is configured in symmetrical position.In turn, in other words, Propeller 221 and propeller 211 configure the position substantially symmetric in the focus point of the submerged portion relative to ontology 100.Herein, it soaks The focus point in water portion can be the focus point of the three-dimensional shape of submerged portion entirety, be also possible to the plane of the horizontal profile of submerged portion The focus point of shape.In addition, the surfaces of revolution of the surfaces of revolution of propeller 221 and propeller 211 is relative to by propeller 221 and spiral The straight line parallel that paddle 211 links.

Motor 222 is configured in 102 side of the rear end of propeller 221.The rotary shaft of motor 222 and the axis connection of propeller 221. Motor 222 is connect via cable and with control unit 30, is driven by the control of operation control part 31.The propeller 221 is right It should be in " the second propulsive force generating unit " of the invention.In addition, being adjusted by the revolving speed and direction of rotation of the propeller 221 pair In the propulsive force of ontology 100.

Lid 232 is the shape that propeller 221 is surrounded in the state of making the surfaces of revolution of propeller 221 be open.Lid 232 Also it can be omitted.By including lid 232, and inhibit to contact with propeller 221, safety is promoted.In addition, by including lid 232, also the shape of adjustable lid 232 promotes the propulsive force as caused by propeller 221.

In addition, in the present embodiment, propeller 211, propeller 221 include two panels blade, but the piece number of blade is not It is defined in this.In addition, propeller 211 and propeller 221 can also be relative to the straight lines for linking front end 101 and rear end 102, no It strictly configures in symmetrical position.In the case, as long as corresponding to the bias of position to adjust propeller 211 and spiral shell Revolve the rotation control of paddle 221.But by configuring propeller 211 and propeller 221 in the symmetrical position, Rotation control becomes easy, in terms of the navigation control for aftermentioned arbitrary path effectively.

Control unit 30 includes the hardware for realizing operation control part 31 and communication unit 32 shown in Fig. 6.Control unit 30 is anti- Water-bound is mounted on second part 120.Control unit 30 is preferably configured on the straight line for linking front end 101 and rear end 102.By This, the difference of the balance of the left and right of ontology 100 becomes smaller, in terms of the navigation control for aftermentioned arbitrary path effectively.

Orientation calculation section 33 includes the hardware for calculating the absolute orientation of ontology 100.For example, orientation calculation section 33 can be by making It is realized with the orientation calculating apparatus of positioning signal or using the orientation calculating apparatus of geomagnetic sensor.Orientation calculation section 33 is Waterproof construction configures the upper surface 100T in ontology 100.As more specific position, orientation calculation section 33 is configured in ontology 100 First part 110 in front end 101 near.As long as not influenced by propulsive force generating unit 21, propulsive force generating unit 22, The allocation position of orientation calculation section 33 is not limited to the position.Orientation calculation section 33 is connected by cable and control unit 30 It connects.

As shown in Fig. 2~Fig. 5, straight ahead keel 411R and straight ahead keel 411L are plate.Straight ahead keel 411R and straight ahead keel 411L preferred mutually identical shape, identical material each other, and include the high material of rigidity.Straight line Advance keel 411R is parallel relative to X-axis (axis parallel with moving direction) with the platen surface of straight ahead keel 411L.Change speech It, straight ahead keel 411R and straight ahead keel 411L hangs down relative to the straight line for linking propeller 221 with propeller 211 Directly configure.Straight ahead keel 411R and straight ahead keel 411L configure than the central point PO in ontology 100 closer to 102 side of rear end.In addition, straight ahead keel 411R and straight ahead keel 411L also can be only fitted to the ontology 100 along X-axis 102 side of rear ends such as central portion.

Straight ahead keel 411R configuration is in the straight line than linking the front end 101 of ontology 100 and rear end 102 closer to the One side, 103 side.More specifically, straight ahead keel 411R, closer to 103 side of the first side, is configured and is existed than the straight line With the first part 110 of the straight line parallel and the gap of second part 120.

Straight ahead keel 411L configuration is in the straight line than linking the front end 101 of ontology 100 and rear end 102 closer to the Two sides, 104 side.More specifically, straight ahead keel 411L, closer to 104 side of the second side, is configured and is existed than the straight line With the first part 110 of the straight line parallel and the gap of second part 120.

Straight ahead keel 411R and straight ahead keel 411L by relative to ontology 100 it is moveable in a manner of install.Tool For body, as the first form, straight ahead keel 411R and straight ahead keel 411L are housed in ontology 100.In addition, making For the second form, straight ahead keel 411R and straight ahead keel 411L are prominent towards the downside of ontology 100.To first shape State and the second form switch over to utilize straight ahead keel 411R and straight ahead keel 411L.

As shown in Fig. 2~Fig. 5, braking keel 412 are plate.The platen surface of braking keel 412 is relative to Y-axis (with movement The vertical axis in direction) it is parallel.In other words, braking keel 412 are put down relative to the straight line for linking propeller 221 with propeller 211 It configures capablely.Brake the configuration of keel 412 than the central point PO in ontology 100 closer to 102 side of rear end.In addition, braking keel 412 also can be only fitted to along 102 side of the rear ends such as central portion of ontology 100 of X-axis.

The configuration of keel 412 is braked between straight ahead keel 411R and straight ahead keel 411L.It is excellent to brake keel 412 Choosing is configured in such a way with symmetrical shape, the mode be make it is than linking front end 101 with rear end 102 more straight Line closer to the side straight ahead keel 411R braking keel 412 area, with it is more straight than linking front end 101 with rear end 102 The area of line closer to the braking keel 412 of the side straight ahead keel 411L is identical.In addition, even if braking keel 412 are not straight Between line advance keel 411R and straight ahead keel 411L, as long as can also to configure with symmetrical shape.Brake keel 412 materials high comprising rigidity, material for example, identical with straight ahead keel 411R, straight ahead keel 411L.

Braking keel 412 by relative to ontology 100 it is moveable in a manner of install.Specifically, as third form, braking The platen surface of keel 412 is connected to the lower surface 100B of ontology 100.In addition, braking keel 412 towards ontology as the 4th form 100 downside is prominent.The third form and the 4th form are switched over to utilize braking keel 412.Additionally, it is preferred that braking Keel 412 are to be stored in a manner of mechanism identical with straight ahead keel 411R, straight ahead keel 411L, protrude from ontology 100。

Waterborne movable device 10 with such structure can carry out navigation control by control system as shown in FIG. 6.

As shown in fig. 6, functionally, the control system 1 of Waterborne movable device includes Waterborne movable device 10 and remote controler 90.Waterborne movable device 10 includes: propulsive force generating unit 21, propulsive force generating unit 22, operation control part 31, communication unit 32, side Position calculation section 33, straight ahead keel 411 brake keel 412 and keel driving portion 421, keel driving portion 422.Remote controler 90 include: remote control control portion 91, communication unit 92, stick type operation portion 931 and push button operation portion 932.In addition, though not Diagram, but Waterborne movable device 10 and remote controler 90 respectively include power supply.Each power supply is to Waterborne movable device 10 and remote controler 90 Power supply is carried out respectively.

Propulsive force generating unit 21 includes the propeller 211 and motor 212.Propulsive force generating unit 22 includes the propeller 221 and motor 222.

Communication unit 32 and the communication unit 92 of remote controler 90 carry out wireless communication.Communication unit 32 receives the behaviour from communication unit 92 Make data, and is exported towards operation control part 31.Orientation calculation section 33 is as described above, calculate the absolute orientation of ontology 100, and towards dynamic Make the output of control unit 31.

Operation control part 31 is according to the operation data and the ontology 100 from orientation calculation section 33 obtained from communication unit 32 Orientation controls the movement of motor 212, motor 222 and keel driving portion 421, keel driving portion 422.Motor 212 corresponds to described Control rotates propeller 211, and motor 222 corresponds to the control, rotates propeller 221.Keel driving portion 421 is corresponding In the control, straight ahead keel 411 (the straight ahead keel 411R, straight ahead keel 411L) is made to become the first shape State or the second form, keel driving portion 422 correspond to the control, and braking keel 412 is made to become third form or the 4th form. In addition, details will be described later for the navigation control, omit herein.

Fig. 7 (A) is the front elevation of the remote controler of embodiments of the present invention, and Fig. 7 (B) is the side view of the remote controler. Remote controler 90 includes framework 900.The surface of framework 900 is arranged in stick type operation portion 931 and push button operation portion 932.Bar type behaviour Making portion 931 can push over towards the comprehensive of the surface of framework 900.

Remote control control portion 91 comes in the direction of pushing in stick type operation portion 931 as the motion direction of Waterborne movable device 10 Detection.For example, detecting reference bearing (for example, north) as Waterborne movable if pushing over towards the direction of DR1 shown in Fig. 7 (A) The motion direction of device 10.In addition, detecting the phase negative side of reference bearing if pushing over towards the direction of DR2 shown in Fig. 7 (A) Motion direction of the position (for example, south) as Waterborne movable device 10.Similarly, if being pushed away towards the direction of DR3 shown in Fig. 7 (A) , then motion direction of the right hand direction (for example, east) of reference bearing as Waterborne movable device 10 is detected.If towards in Fig. 7 (A) Shown in the direction of DR4 push over, then detect movement of the left hand orientation (for example, west) of reference bearing as Waterborne movable device 10 Orientation.In addition, in the case where not needing absolute orientation, if DR1, DR2, DR3, DR4 respectively by the front of ontology 100, after Side, right direction, left direction are detected as motion direction.

In addition, mobile speed of the remote control control portion 91 by the amount of pushing in stick type operation portion 931 as Waterborne movable device 10 Degree is to detect.It includes motion direction, the operation data of movement speed that remote control control portion 91, which generates,.

By using such stick type operation portion 931, user can intuitively be operated, so that Waterborne movable device 10 It is mobile with desired speed in desired orientation.

In addition, when being moved to desired position with shortest path, on the water under the stopped state of mobile device 10, Stick type operation portion 931 is operated, thus Waterborne movable device 10 on the position substantially put towards specified direction into The mode of straight ahead is controlled after line direction conversion.In addition, pushing over stick type operation portion 931 state that is operated Under, adjustment push over direction and the amount of pushing over, thus can make Waterborne movable device 10 with arbitrary turning radius towards arbitrary direction just Really turn.

Push button operation portion 932 is respectively allocated various functions for example as Fig. 7 (A) show multiple.Remote control control portion The 91 push button operation portions 932 being pressed by detection, and operation data is generated, the operation data includes to be assigned to institute State the function of push button operation portion 932.

Remote control control portion 91 exports generated operation data to communication unit 92.Communication unit 92 by wireless communication and Operation data is sent to the communication unit 32 of Waterborne movable device 10.

By using such remote controler 90, user can be controlled by remotely operating, so that Waterborne movable device 10 are travelled with various arbitrary movement routines.

In addition, in the explanation, the main embodiment recorded as unmanned plane.But in the reality as manned machine It applies in mode, operation portion is made to be attached to Waterborne movable device 10, communication unit and remote control thus without Waterborne movable device 10 Device 90.In the case, portion is taken what the setting someone of ontology 100 was taken, the portion of taking has operation portion.Take portion It can have roof etc., can also be by the way that ontology 100 be formed the size that can be taken for people, and it can be by the upper surface of ontology 100 100T, which is used as, takes portion.Moreover, as operation portion, as long as extremely including the stick type operation portion 931 and push button operation portion 932 Few one can be operated intuitively particularly by including stick type operation portion 931.

Then, using Fig. 8, Fig. 9, Figure 10, when being moved to desired position to Waterborne movable device 10 with shortest path Each operational configuration under shape, navigation control carry out more specific description.Fig. 8 (A) is the shifting waterborne when indicating straight ahead The plan view of the shape of dynamic device, Fig. 8 (B) is its rearview, and Fig. 8 (C) is its side view.Fig. 9 (A) is to indicate that left direction is converted When Waterborne movable device shape plan view, Fig. 9 (B) is its rearview, and Fig. 9 (C) is its side view.Figure 10 (A) is table The plan view of the shape of Waterborne movable device when showing straight ahead and when slowing down, Figure 10 (B) is its rearview, and Figure 10 (C) is Its side view.

(when straight ahead)

As shown in Fig. 8 (A), Fig. 8 (B), Fig. 8 (C), in straight ahead, Waterborne movable device 10 makes straight ahead keel 411R, straight ahead keel 411L are prominent towards the downside of ontology 100.That is, selection straight ahead keel 411R, straight ahead keel The first form of 411L.

Waterborne movable device 10 makes the platen surface for braking keel 412 be connected to the lower surface 100B of ontology 100.That is, selection Brake the third form of keel 412.

Waterborne movable device 10 carries out drive control to motor 212, motor 222, revolves propeller 211, propeller 221 Turn.At this point, the direction of rotation of propeller 211 is identical as the direction of rotation of propeller 221, the rotation speed and spiral shell of propeller 211 The rotation speed for revolving paddle 221 is identical.

By the choosing for carrying out the form of such straight ahead keel 411R, straight ahead keel 411L and braking keel 412 It selects and the control of motor 212, motor 222 and propeller 211, propeller 221, Waterborne movable device 10 is facing forward from front end 101 The direction straight ahead of side.

At this point, the rear side of second part 120 towards first part 110 is prominent.Through this structure, front end 101 and rear end 102 Distance become the distance than the first side 103 and the second side 104.Therefore, compared with the resistance of the water from front, hold Vulnerable to the resistance of the water from side, straight ahead is further promoted.

In addition, so that the shift action of the second part 120 and straight ahead keel 411R, straight ahead keel 411L The prominent movement of the downside towards ontology 100 associated be advisable.As a result, without acting them respectively, shifting waterborne can be made Dynamic device 10 is promptly deformed into the shape of straight ahead.

(when direction is converted)

Herein, it is illustrated when being converted to left direction.As shown in Fig. 9 (A), Fig. 9 (B), Fig. 9 (C), converted in left direction When, Waterborne movable device 10 makes straight ahead keel 411R, straight ahead keel 411L be housed in the inside of ontology 100.That is, choosing Select the second form of straight ahead keel 411R, straight ahead keel 411L.

Waterborne movable device 10 makes the platen surface for braking keel 412 be connected to the lower surface 100B of ontology 100.That is, selection Brake the third form of keel 412.In this way, can be reduced by making braking keel 412 be connected to the lower surface 100B of ontology 100 The resistance of water when direction is converted is, it can be achieved that more accurate direction is converted.

Waterborne movable device 10 carries out drive control to motor 212, rotates propeller 211.Waterborne movable device 10 is right Motor 222 carries out stopping control, stops propeller 221.In addition, also comprising not to horse in the stopping control of present embodiment The case where being powered up to 222.

By the choosing for carrying out the form of such straight ahead keel 411R, straight ahead keel 411L and braking keel 412 It selects and the control of motor 212, motor 222 and propeller 211, propeller 221, Waterborne movable device 10 is starting control The position substantially put only carries out left direction conversion from the orientation for starting control with specified angle.

At this point, second part 120 is housed in the recess portion of first part 110, ontology 100 becomes round under vertical view.It is logical This structure is crossed, ontology 100 becomes identical relative to the comprehensive of the water surface, the resistance of water, and direction conversion becomes easy.Water as a result, Upper mobile device 10 can hardly move forward from the position for starting direction conversion and control, and carry out left direction conversion.

Alternatively, it is also possible to stop propeller 221, and propeller 221 is controlled and is oppositely revolved at propeller 211 Turn.The rotation speed of propeller 211 can not be increased as a result, and promote the speed of left direction conversion.

(when straight ahead is slowed down)

As shown in Figure 10 (A), Figure 10 (B), Figure 10 (C), when straight ahead is slowed down, before Waterborne movable device 10 makes straight line It is prominent towards the downside of ontology 100 into keel 411R, straight ahead keel 411L.That is, before selection straight ahead keel 411R, straight line Into the first form of keel 411L.

Waterborne movable device 10 keeps braking keel 412 prominent towards the downside of ontology 100.That is, the of selection braking keel 412 Four forms.

Waterborne movable device 10 carries out stopping control to motor 212, motor 222, stops propeller 211, propeller 221 Only.In addition, present embodiment stopping control in also include not to be powered to motor 212, motor 222 the case where or make The case where control that propeller 211, propeller 221 reversely rotate.

By the choosing for carrying out the form of such straight ahead keel 411R, straight ahead keel 411L and braking keel 412 It selects and the control of motor 212, motor 222 and propeller 211, propeller 221,10 one side straight ahead of Waterborne movable device Slow down on one side.

At this point, the rear side of second part 120 towards first part 110 is prominent.Through this structure, front end 101 and rear end 102 Distance become the distance than the first side 103 and the second side 104.Therefore, compared with the resistance of the water from front, hold It can inhibit ontology 100 when slowing down vulnerable to the resistance of the water from side and unnecessarily turn.

In addition, can adjust the speed slowed down by adjusting the overhang of braking keel 412.

By carrying out such deceleration control, Waterborne movable device 10 can be made accurately to stop at desired position.

Moreover, Waterborne movable device 10 can be with most by the way that the straight ahead, direction conversion, deceleration to be combined Short path is moved to desired position.Figure 11 is the movement routine for indicating the Waterborne movable device of embodiments of the present invention The plan view of an example.In Figure 11, the actual movement routine of setting movement routine and Waterborne movable device 10 is recorded.

As shown in figure 11, in setting movement routine, in the section of the distance LL1 until from position A to position B, make Waterborne movable device straight ahead makes Waterborne movable device convert 90 [°] towards left direction at the B of position.Then, from position B In the section of distance LL2 until the C of position, make Waterborne movable device straight ahead, at the C of position, make Waterborne movable device φ [°] is converted towards right direction.

In contrast, by include the structure and control, as shown in figure 11, Waterborne movable device 10 from position A to Straight ahead in the section of distance LL1 until the B of position is being to stop by the front reduction gear of in-position B, and at the B of position, so 90 [°] are converted towards left direction afterwards.At this point, at the B of position, it is not mobile (overrunning) towards the direction with the position side A opposite side, and Start to move towards left direction at the B of position.

Then, the straight ahead in the section of the distance LL2 until from position B to position C of Waterborne movable device 10 carries out Deceleration (not shown) controls and stops at the C of position, then converts φ [°] towards right direction.At this point, at the C of position, not towards and position The direction for setting the side B opposite side is mobile (overrunning), and starts to convert towards the direction of left direction at the C of position, in the direction of φ [°] Start to move after conversion.

In this way, even if Waterborne movable device 10 is relevant to movement routine by straight ahead distance, direction conversion angle etc. Parameter setting can also correctly be moved at arbitrary desired value along the movement routine.

Then, shape, navigation control when being turned with arbitrary turning radius towards arbitrary direction to Waterborne movable device 10 System is illustrated.

In turning, Waterborne movable device 10 makes straight ahead keel 411R, straight ahead keel 411L be housed in ontology 100 inside.That is, the second form of selection straight ahead keel 411R, straight ahead keel 411L.

Waterborne movable device 10 makes the platen surface for braking keel 412 be connected to the lower surface 100B of ontology 100.That is, selection Brake the third form of keel 412.

Waterborne movable device 10 carries out drive control to motor 212, motor 222, revolves propeller 211, propeller 221 Turn.At this point, the direction of rotation of propeller 211 is identical as the direction of rotation of propeller 221, the rotation speed and spiral shell of propeller 211 The rotation speed for revolving paddle 221 is different.Herein, by adjusting rotation speed, turn direction and turning radius be can adjust.

By the choosing for carrying out the form of such straight ahead keel 411R, straight ahead keel 411L and braking keel 412 It selects and the control of motor 212, motor 222 and propeller 211, propeller 221, Waterborne movable device 10 is arbitrarily to turn Radius is turned from the arbitrary direction of front end 101 forward.

At this point, second part 120 is housed in the recess portion of first part 110, ontology 100 becomes round under vertical view.It is logical This structure is crossed, ontology 100 becomes identical relative to the comprehensive of the water surface, the resistance of water, and turning becomes easy.Shifting waterborne as a result, Dynamic device 10 can be with arbitrary turning radius towards arbitrarily turning in the right directionly.

Then, it is illustrated referring to Waterborne movable device of the figure to second embodiment of the present invention.Figure 12 (A) is to indicate The side view of shape when the turning of the Waterborne movable device of second embodiment of the present invention or direction are converted, Figure 12 (B) are The side view of shape when the straight ahead of the Waterborne movable device of expression second embodiment of the present invention.

Relative to the Waterborne movable device 10 of first embodiment, the Waterborne movable device 10A of second embodiment is straight The vpg connection of line advance keel is different.The other structures of Waterborne movable device 10A are identical as Waterborne movable device 10, omit phase The explanation at same position.

The length of straight ahead keel 411LA is roughly the same with the diameter of ontology 100.In addition, though not shown, but with The relationship of straight ahead keel 411R, straight ahead keel 411L shown in one embodiment similarly, exist with before straight line The straight ahead keel pairs of into keel 411LA, the straight ahead keel include shape identical with straight ahead keel 411LA Shape, identical material.

Even such structure, Waterborne movable device 10A can also be in the same manner as Waterborne movable devices 10, along shortest path Diameter or arbitrary movement routine are correctly moved to desired position.

In addition, illustrating the form that propeller is used as to thrust generating unit in each embodiment.But as long as It is to generate the power of propulsion ontology along by the rectilinear direction (along the direction of X-axis) of the front and rear end connection of ontology, and do not match It sets in water, the thrust generating unit of present embodiment can be used as.

In addition, illustrating the form of two thrust generating units of configuration, but can also be further in each embodiment Auxiliarily add thrust generating unit.

In addition, illustrating that the number by straight ahead keel is set as two in each embodiment, keel will be braked Number be set as one form.But it's not limited to that for the number of the number of straight ahead keel, braking keel, can fit Preferably set number and configuration.

In addition, illustrating the Waterborne movable device only moved on the water in each embodiment.But it is also possible to The ultrasonic sensor found out in installation water.The Waterborne movable device does not include spiral in water.Therefore, supersonic sensing Device does not detect the bubble etc. of spiral, and ultrasonic sensor can certainly find out the desired of fish, the shoal of fish or seabed etc. and find out pair As.In addition, be close to right above fish or the shoal of fish and found out to carry out ultrasonic wave since fish or the shoal of fish will not be frightened, and Fish or the shoal of fish can be promoted finds out precision.

In addition, Waterborne movable device can set arbitrary movement routine, therefore can be moved with the shortest distance from current location It moves until desired position.Ultrasonic sensor can correctly and rapidly carry out finding out on desired position.In addition, Waterborne movable device can find out path and correctly move along desired, therefore ultrasonic sensor can be on finding out path It is correctly found out desired position.

In addition, Waterborne movable device will not overrun as described above, therefore can configure at predetermined intervals on one side multiple waterborne Mobile device forms queue on one side and is moved.At this point, due to that will not overrun, so even making multiple Waterborne movable devices Turning is carried out simultaneously or direction conversion, the positional relationship relative to absolute orientation of multiple Waterborne movable devices are also difficult to collapse. Moreover, multiple Waterborne movable devices can move while keeping respective positions relationship as described, it thus can will be by more Result synthesis is found out on each point obtained of a Waterborne movable device, and finds out result on realization face.

Drawing reference numeral explanation

1: the control system of Waterborne movable device

10,10A: Waterborne movable device

30: control unit

31: operation control part

32: communication unit

33: orientation calculation section

90: remote controler

91: remote control control portion

92: communication unit

100: ontology

100B: lower surface

100T: upper surface

101: front end

102: rear end

103: the first sides

104: the second sides

110: first part

120: second part

211,221: propeller

212,222: motor

231,232: lid

411,411L, 411R, 411LA: straight ahead keel

412: braking keel

421,422: keel driving portion

900: framework

931: stick type operation portion

932: push button operation portion

PO: central point

WS: the water surface