公开(公告)号：US09334031B2

公开(公告)日：2016-05-10

申请号：US14315993

申请日：2014-06-26

申请人： Hitachi-GE Nuclear Energy, Ltd.

发明人： Hayato Mori ,  Ryosuke Kobayashi ,  Satoshi Okada ,  Naoyuki Kono ,  Katsuhiko Hirano ,  Yosuke Takatori ,  Masahiro Tooma

IPC分类号： B63G8/14 ,  B63G8/00 ,  B65H75/44 ,  G21C17/013

CPC分类号： B63G8/001 ,  B63G8/14 ,  B63G2008/007 ,  B65H75/4484 ,  G21C17/013

摘要： A system for attitude control of an underwater vehicle 20 of the present invention includes an underwater vehicle 20 with a thruster 65, an assist device 10 that is coupled to the underwater vehicle 20 with a cable 1 and has cable handling equipment 2 and a thruster 58, a cable attachment-to-attachment distance detection unit 50 that detects distance between a cable attachment of the underwater vehicle 20 and a cable dispenser of the assist device 10, and a control unit 32 that previously stores the relationship between the attachment-to-attachment distance and cable length including a predetermined amount of slack and determines the amount of cable to be wound up or let out based on the cable length associated with the detected attachment-to-attachment distance.

摘要翻译： 本发明的水下航空器20的姿态控制系统包括具有推进器65的水下航行器20，辅助装置10，其利用缆线1联接到水下航行器20，并具有缆线处理设备2和推进器58 检测水下航空器20的电缆附件与辅助装置10的电缆分配器之间的距离的电缆附件到安装距离检测单元50，以及预先存储辅助装置10之间的关系的控制单元32， 附件距离和电缆长度包括预定量的松弛，并且基于与检测到的附件到附接距离相关联的电缆长度来确定要卷起或放出的电缆的量。

公开(公告)号：US10200577B2

公开(公告)日：2019-02-05

申请号：US14849867

申请日：2015-09-10

申请人： Hitachi-GE Nuclear Energy, Ltd.

发明人： Satoshi Okada ,  Ryousuke Kobayashi ,  Kouji Ishizawa ,  Takanori Satou ,  Yoshinori Takahashi

IPC分类号： H04N5/225 ,  G21C17/00 ,  G21C17/013 ,  G21C17/017 ,  H04N7/18 ,  F16L101/30

摘要： Since an investigation apparatus is connected through a cable and is remotely operated, the cable may be caught by an obstacle, thereby limiting a movement range of the investigation apparatus. An investigation system 15 includes an investigation apparatus 50 which moves to a position where an investigation target is investigated, by using a traveling section 51 and a support apparatus 30 which moves to a position where letting-off and winding of a cable 14 for an investigation apparatus which is connected to the investigation apparatus 50 are performed, by using a traveling section 31. The investigation apparatus 50 outputs an image of the investigation target which is captured by a camera section 53, to an investigation apparatus controller 40 via the cable 14 for an investigation apparatus.