UNDERWATER SAILING BODY, IN-PIPE INVESTIGATION SYSTEM, METHOD FOR CONTROLLING ASCENT-DESCENT OF UNDERWATER SAILING BODY, AND IN-PIPE INVESTIGATION METHOD

摘要

PROBLEM TO BE SOLVED: To provide an underwater sailing body, an in-pipe investigation system, a method for controlling ascent-descent of the underwater sailing body, and an in-pipe investigation method, in which it is possible to miniaturize the underwater sailing body which sails while towing an underwater cable and its support system or the like and to simplify the control of them.

SOLUTION: A connection point P of an underwater cable 42 is provided, with the distance H in the vertical direction from the axis C of a propulsion shaft of a propeller 22 for sailing. The sinking force Wt or the floating force Ft of the underwater weight is set so that the first moment M1 around the connection point P generated by the propulsion force T generated by the propeller 22 for sailing is equal to the second moment M2 around the connection point P generated by the sinking force Wt or the floating force Ft of the underwater weight of the underwater sailing body 20 when the propulsion force T is the preset propulsion force T0. The ascent or descent of the underwater sailing body 20 is controlled by the increase/decrease of the propulsion force T of the propeller 22 for sailing.

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