| 摘要 |
PURPOSE:To simplify maneuver so that an operator can maneuver with his both hands by so arranging that output for hull translation in each direction and outputs for both rotation about vertical axis and rolling of the hull are respectively determined with the first and the second 2-dimensional direction tilting levers to be tilted and rotated. CONSTITUTION:The second 2-dimensional direction tilting lever 5 is related to both longitudinal and lateral tilt and rotation about vertical axis of a hull 1. For example, if the lever 5 is tilted by an angle corresponding to 30 deg. toward the x-axis, output from an angle sensor 6a, calibrated with a gyro mounted about the y-axis, controls the rotation of the hull. As for the rotational movement about the z-axis, which corresponds to horizontal rotation of ordinary surface vessel, control is performed with calibration between gyros on mother vessel and submarine vessel. The first 2-dimensional direction tilting lever 4 is related to translation of the hull in the directions of each axis. For example, in order to approach a fixed underwater point for exchanging information or performing mechanical work between that point, the submarine vessel is propelled while tilting and rotation of the lever 4 are made to correspond to the position of the submarine vessel by means of calibration with sensor signals.
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