Although the situation that underwater unmanned plane is changed the direction of motion by steering gear has been said in above-mentioned example embodiment It is bright, but in the case of the robot for underwater operation, the direction of motion can be changed by crawler belt or other driving unit. Although the illustrative embodiments of the present invention have been described so far, the technical scope of the present invention is not limited to show Scope described in example property embodiment.According to the scope of claim it is readily apparent that by illustrative embodiments The embodiment for carrying out various modifications or improvement and obtaining is also included within the technical scope of the present invention. Then, the processing step performed by the underwater unmanned plane 1 of property embodiment according to the example will be described.Fig. On the other hand, when obtaining positive result in step 305,102 command fault sender unit of motion controller (not illustrating) sends fault-signal (step 306).Fault-signal is the one way signal sent from underwater unmanned plane 1, for example, letter Mark.Although after sending fault-signal herein, flow returns to step 301, can continue the transmission of fault-signal.
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It is 10km or longer and 100km or shorter that airwave communication device 15 in the illustrative embodiments, which uses wavelength, Radio wave, referred to as be used for communicate ultralow frequency radio wave.Ultralow frequency radio wave reaches the nearly water depth of 10m.Will It is noted that when wavelength is used for for 100km or longer and 1000km or shorter radio wave (being known as very low frequencies radio wave) During communication, radio wave reaches the nearly water depth of 100m.However, transmission range is performed according to communication in fresh water or seawater And change, and presence, the presence of turbidity and Water Temperature by the ripple on water surface. In above-mentioned example embodiment, the wireless communication between communicator 301 and underwater unmanned plane 1 is controlled by movement The function of device 102 processed maintains.However, in actual use, communication can be changed into impossible.Figure 13 is to be used to illustrate to become in communication Schematic diagram for the function of providing in the case of impossible.
Dolor Neuropático Central
According to the twelfth aspect of the invention, the situation phase of the function of control position relationship is not provided with relay Than can broaden the scope of work in the case where maintaining good communications status. The sixth aspect of the present invention provides the underwater moving body according to the 5th aspect, wherein, described control unit is based on Multiple testing results and communication path information, determine that in the multiple relay relay is communication objective Ground. In this way, communication is relayed by multiple buoys, and the working range of underwater unmanned plane 1 is not only extended to abysmal area Domain, also expands along in-plane.Although the distance between each communicator is restricted to close to 10m, via radio wave Communication realize the response than the communication higher via sound wave. First, motion controller 102 determines whether there is multiple communication candidate’s (steps 201).Motion controller 102 uses Identifier of partner destination for the communication being successfully established etc.
In the examples described above, the motion controller 102 installed on underwater unmanned plane 1 performs control, so that underwater unmanned plane 1 Movement is closer to positioned at the communication objective device being located in.However, motion controller 102 can be to the relaying as communications destination Device rather than underwater unmanned plane 1 send control signal, so that relay is moved closer to underwater unmanned plane 1.It is moreover, this Control allows the distance between the communication objective relay being located in and underwater unmanned plane 1 to shorten, and improves wireless communication State. When the motion control even performed via motion controller 102 does not also recover communication, motion controller 102 moves To desired depth or position, and control is performed, to attempt the communication carried out by airwave communication device 15.Figure 13 is exemplified with work For desired depth or the exemplary water surface 200 of position.Desired depth or position can be on the water surface or in water, as long as position is used for Re-establish communication.
Dolor Muscular Cadera
Although the processing for determining whether to perform motion control is held in the illustrative embodiments with predetermined execution interval OK, but execution interval can move the direction along underwater unmanned plane 1 away from ship 300 (communicator 301), according to underwater nothing Man-machine 1 speed changes.For example, when movement velocity is low, the change of communication distance and communication environment is small, it is possible thereby to increase Execution interval, and when movement velocity is big, the change of communication distance and communication environment is big, it is possible thereby to reduce execution interval. Here movement can be movement in the horizontal direction, or the movement along floating direction or descent direction.For example, work as Communicator as communications destination is installed on the bottom or when than the position of underwater unmanned plane depth, in order to shorten to underwater nothing Man-machine communication distance, can be such that underwater unmanned plane is moved along descent direction.Precalculated position is necessarily a position.
Communication state detector 101 detects the state of the wireless communication between underwater unmanned plane 1 and another communicator. Fig. Reflujo y dolor de espalda . 6 be for illustrate via buoy 501,502 under water between unmanned plane 1 and base station 400 trunking traffic it is another A exemplary schematic diagram.Fig. Fig. 5 is exemplified with the operation to be performed when underwater unmanned plane 1 moves far in the horizontal direction.Moreover, in this feelings Under condition, via the motion control of the execution of motion controller 102, the working range of underwater unmanned plane 1 is limited in from buoy 502 In the range of nearly 10m.The quantity of buoy to be mounted easily increases, and thus also easily expands the work of underwater unmanned plane 1 Scope. For example, motion controller 102 reads the motion path of underwater unmanned plane 1 from RAM 13, and make underwater unmanned plane 1 Along the movement path.Alternatively, for example, motion controller 102 reads the movement road of underwater unmanned plane 1 from RAM 13 Footpath, and underwater unmanned plane 1 is moved in the opposite direction along with read side.
Dolores Musculares Por Ansiedad
The present invention relates to underwater moving body and underwater communications system. According to the first aspect of the invention, with the position relationship between underwater relay and underwater moving body not Compared according to the state of wireless communication come situation about controlling, work can be expanded in the case where maintaining good communications status Scope. According to the fourth aspect of the invention, even if with failing to meet predetermined standard time, relay and water when testing result The situation that lower movable body does not also move close to each other is compared, can be to avoid the deterioration of communications status. The thirteenth aspect of the present invention provides the underwater communications system according to the tenth one side, wherein, second water At least one second underwater moving body in one or more of lower movable body the second underwater moving body is couple to wire communication Path.
According to the second aspect of the invention, even if with failing to meet predetermined standard time, relay and water when testing result The situation that lower movable body does not also move close to each other is compared, can be to avoid the deterioration of communications status. The first aspect of the present invention provides a kind of underwater moving body, which includes：Communication unit, the communication Unit performs underwater wireless with relay and communicates；Detection unit, the detection unit detect the relay with it is described underwater The state of wireless communication between movable body；And control unit, the control unit control the relay with it is described underwater Position relationship between movable body so that preassigned is met by the testing result of the detection unit.
The underwater moving body includes：Communication unit, one or more of relays are held with one or more of relays Row underwater wireless communicates；Detection unit, the detection unit detect one or more of relays and the underwater moving body Between wireless communication state；And control unit, the control unit control one or more of relays with it is described Position relationship between underwater moving body so that preassigned is met by the testing result of the detection unit.
In the illustrative embodiments, it has been described that performed under water via the communicator 301 installed on ship 300 The situation of communication between unmanned plane 1 and base station 400.However, trunking traffic by path be not limited to above-mentioned example.Below will There are specific example. For example, PTL 1 describes the wireless communication in a kind of air relayed using radio wave and the water using sound wave Under wireless communication relay.Relay solves the difference between the wireless communication in air and underwater wireless communication It is different. The sixteenth aspect of the present invention provides the underwater communications system according to the tenth aspect, wherein, it is one or more At least one relay in a relay is installed on the buoy installed on the water or under water. According to the fifth aspect of the invention, can be to avoid communication with continuing compared with the situation of predetermined relay device communications The deterioration of state.
Tipos De Dolor Crónico
The fourteenth aspect of the present invention provides the underwater communications system according to the tenth aspect, wherein, it is one or more At least one relay in a relay is installed on the bottom, and is couple to base station via wired communication path. Figure 14 is the exemplary flow chart of the processing step performed exemplified with motion controller for recovery communication. 2 is exemplified with control according to the first illustrative embodiments The block diagram of the functional configuration of device 10.Controller 10 has communication state detector 101 and motion controller 102.Communications status is examined The example that device 101 is detection unit is surveyed, and motion controller 102 is the example of control unit.
Then, the functional configuration of controller 10 will be described.Fig. Moreover, even if when underwater unmanned plane 1 at the bottom in use, cable 600 uses optical cable also to allow information to send at a high speed. Moreover, power cord is contained in cable 600.Thus, Fig. It should be noted that internal combustion engine may be used as power supply. 8, underwater moving body is underwater unmanned plane 1A.Underwater unmanned plane 1A have with it is above-mentioned it is underwater nobody Machine 1 constructs identical construction.However, the underwater unmanned plane 1A that Fig. In case of fig. On the other hand, when obtaining negative decision in step 201, i.e.