| 摘要 |
PROBLEM TO BE SOLVED: To provide an underwater traveling vehicle capable of ensuring balanced traveling while suppressing the projection of a traveling part from a body, as well as to provide a method of controlling the underwater traveling vehicle. SOLUTION: The underwater traveling vehicle 1 includes the body 10, flipper-type crawlers 30 (traveling parts) provided ahead of and behind the body, a moving means for oscillating the front and rear crawlers 30, and a calculation means for controlling the moving means. The calculation means determines whether a vehicle is balanced, based on moments exerted on the vehicle, i.e., a moment resulting from weight, a moment resulting from buoyancy, a moment resulting from fluid resistance associated with longitudinal movement, a moment resulting from propulsion, and a moment resulting from vertical drag receiving from a contact surface. When the calculation means determines that the vehicle is balanced, the storage positions of the front and rear crawlers 30 are maintained. The front crawler is half-rotated forward when the calculation means determines that it is highly possible for the vehicle 1 to fall over forward; the rear crawler 30 is half-rotated backward when the calculation means determines that it is highly possible for the vehicle 1 to fall over backward. COPYRIGHT: (C)2011,JPO&INPIT |
