Automatic navigation attitude correction device for non-powered boats and cable-like steering body used therefor

Abstract

To provide an automatic navigation attitude correcting device for a non-powered boat, which automatically corrects the navigation attitude of a non-powered boat that navigates without power using flowing water in a waterway and photographs and observes the route state of the waterway, and a rope-like steering body used therefor. [Solution] An automatic navigation attitude correction device (100) for a non-powered boat is provided, which comprises a non-powered boat (110) that navigates without power using the flowing water in a waterway (C) and photographs and observes the path condition of the waterway, and a rope-like steering body (120) that is attached to the non-powered boat (110) and automatically corrects the navigation attitude of the non-powered boat (110), the rope-like steering body (120) being composed of an attachment end (121) that connects to an attachment part (111) on the stern side of the non-powered boat (110), a rope-like submerged part (122) that is connected to the attachment end and curves in a catenary curve while hanging down towards the waterway bottom (CB) of the waterway, and a rope-like steering base end (123) that is continuous with the rope-like submerged part (122) and abuts against the waterway bottom (CB) of the waterway (C).

Description

[Technical Field]

[0001] The present invention relates to a non-powered boat that travels without power using the flowing water in a headrace tunnel to photograph and observe the path condition of the headrace tunnel, and more particularly to an automatic navigation attitude correcting device for a non-powered boat that automatically and reliably corrects any disturbance in the boat's navigation attitude while photographing and observing the path condition of a headrace tunnel that passes through a headrace tunnel, and to a rope-like steering element used therefor. [Background technology]

[0002] Conventionally, a floating device for photographing and observing the path condition of a water conduit passing through a water conduit tunnel has been known, which comprises a float that floats on the water surface of the water conduit, one or more sensor devices mounted on the float, and a tail connected to the float (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-002756 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the conventional floating device as described above, the float travels without power due to the flow of water in the water channel, and therefore the yaw (swaying of the bow) and swing (swaying from side to side) caused by the path conditions in the water channel cause the float's navigation posture to become extremely unstable, making it impossible to reliably photograph and observe the path conditions of the water channel. Furthermore, it is also described that in order to increase the resistance that the tail connected to the float experiences, a weight is attached to the tip of the tail and the entire tail is curved convexly toward the water surface with the tip slightly submerged. However, when the entire tail is curved convexly toward the water surface with the tip slightly submerged, the tail connected to the float is free from the bottom of the water channel, and so the tail undergoes controlled release within the water channel, resulting in the float falling into a Dutch roll and making it difficult to stabilize its sailing attitude.

[0005] Therefore, the present invention solves the above-mentioned problems of the prior art, that is, the object of the present invention is to provide a water pump that is powered by the flow of water in the water channel. Downstream To provide an automatic navigation attitude correcting device for a non-powered boat, which automatically corrects disturbances in the navigation attitude of a sailing non-powered boat caused by the route conditions in a waterway, and sequentially and reliably photographs and observes the route conditions in the waterway without the non-powered boat remaining in the waterway, and a rope-like steering body used therefor. [Means for solving the problem]

[0006] The invention of claim 1 is a non-powered water pump that is operated by the flow of water in the water channel. Downstream A non-powered boat that navigates and photographs the route condition of the waterway, and a Following the downstream movement of the non-powered boat This is an automatic navigation attitude correcting device for a non-powered boat, equipped with a rope-like steering body that automatically corrects the navigation attitude of the non-powered boat, wherein the rope-like steering body is composed of an attachment end that connects to the stern mounting part of the non-powered boat, a rope-like submerged part that is connected to the attachment end and curves in a catenary curve while hanging down toward the bottom of the waterway, and a rope-like steering base end that is continuous with the submerged rope-like part and abuts against the bottom of the waterway, thereby solving the above-mentioned problems.

[0007] The invention of claim 2 solves the above-mentioned problem by, in addition to the configuration of the invention of claim 1, having the non-powered boat equipped with an aerial camera and / or an underwater camera for photographing and observing the path condition of the waterway.

[0008] The invention of claim 3 solves the above-mentioned problem by having the same configuration as the invention of claim 1 or claim 2, in that the submerged cord-like portion of the cord-like steering body and the base end of the cord-like steering body are made of a single metal cord-like body having a specific gravity greater than that of the flowing water in the water channel.

[0009] The invention of claim 4 solves the above-mentioned problem by, in addition to the configuration of the invention of claim 1 or claim 2, configuring the submerged cord-like portion and the base end of the cord-like steering body with a cord-like body having a circular cross section.

[0010] The invention of claim 5 solves the above-mentioned problem by, in addition to the configuration of the invention of claim 1 or claim 2, connecting the mounting end of the cable-like steering body upward to the stern mounting portion of the non-powered boat.

[0011] The invention of claim 6 solves the above-mentioned problem by, in addition to the configuration of the invention of claim 1 or claim 2, configuring the submerged cord-like portion and / or the base end of the cord-like steering body so that the length can be freely changed depending on the condition of the bottom of the water channel.

[0012] The invention of claim 7 solves the above-mentioned problem by, in addition to the configuration of the invention of claim 1 or claim 2, having the boat length of the non-powered boat be three or more times the boat width of the non-powered boat.

[0013] The invention according to claim 8 solves the above-mentioned problems by, in addition to the configuration of the invention according to claim 1 or claim 2, constructing at least a part of the headrace as a headrace tunnel.

[0014] The invention according to claim 9 is a non-powered water pump that is operated by the flow of water in the water channel. Downstream It is attached to a non-powered boat that travels and photographs the route condition of the waterway. Following the downstream movement of the non-powered boatA rope-like steering body that automatically corrects the sailing attitude of the non-powered boat, the steering body comprising: an attachment end that is connected to a stern-side attachment part of the non-powered boat; a rope-like submerged part that is connected to the attachment end and curved in a catenary shape while hanging down toward the bottom of the waterway; With open ends The steering rope is configured to have a base end that abuts against the bottom of the waterway, and the mounting end is configured to be detachably connected to the stern mounting part of the non-powered boat, thereby solving the above-mentioned problems.

[0015] The invention of claim 10 solves the above-mentioned problem by, in addition to the configuration of the invention of claim 9, the attachment end portion being composed of a carabiner.

[0016] The invention of claim 11 solves the above-mentioned problem by, in addition to the configuration of the invention of claim 9 or claim 10, configuring the cord-like submerged portion and the cord-like steering base end portion from a single metal cord-like body having a specific gravity greater than that of the flowing water in the water channel.

[0017] The invention of claim 12 solves the above-mentioned problem by, in addition to the configuration of the invention of claim 9 or claim 10, the cord-like submerged portion and the cord-like steering base end portion being configured as a cord-like body having a circular cross section. [Effects of the Invention]

[0018] According to the automatic navigation attitude correction device for a non-powered boat according to the invention described in claim 1 of the present application, the non-powered boat is automatically adjusted by the flow of water in the waterway. Downstream A non-powered boat is used to photograph and observe the condition of the waterway route, and a Following the downstream movement of the non-powered boat By being equipped with a cable-like steering body that automatically corrects the sailing position of a non-powered boat, it is possible to use the flowing water in a waterway laid in a hydroelectric power plant, etc. Downstream Not only can the route state of the waterway be photographed and observed while navigating, but the following unique configuration according to the present invention can also produce effects unique to the present invention.

[0019] First, the cable-like steering body has an attachment end that connects to the stern side attachment part of the non-powered boat, a cable-like submerged part that is connected to this attachment end and curves in a catenary curve while hanging down towards the bottom of the waterway, and a cable-like submerged part that is continuous with this submerged part. With open ends The steering rope is connected to the attachment end of the non-powered boat at the stern, and the submerged part of the steering rope is connected to the attachment end of the non-powered boat at the stern, and the submerged part of the steering rope is bent in a catenary curve while hanging down towards the bottom of the waterway. Downstream The steering rope base, which is connected to the submerged section of the rope, flexibly follows the boat's movements, and the base end of the steering rope, which is connected to the submerged section of the rope, abuts the bottom of the waterway, creating a continuous sliding resistance. This, along with the flow of water in the waterway, automatically corrects any disturbances in the boat's movements caused by the yawing and swaying of the non-powered boat, which are caused by the conditions of the waterway. Downstream Not only can the route condition of the waterway be photographed and observed in a sequential and reliable manner without the non-powered boat remaining in the waterway, but also the non-powered boat can 、 The flow rate is than the roadside It allows smooth navigation through the center of the fast waterway.

[0020] According to the automatic navigation attitude correction device for a non-powered boat according to the invention described in claim 2 of the present application, in addition to the effect achieved by the invention described in claim 1, the non-powered boat is equipped with an aerial camera and / or an underwater camera for photographing and observing the condition of the waterway route. This makes it possible for the aerial camera to photograph and observe uneven cracks and defects on the inner wall, and the underwater camera to photograph and observe uneven cracks on the bottom of the waterway and obstacles such as rocks lodged inside the waterway, both unmanned, thereby enabling simple and accurate image recognition of the condition of the waterway route.

[0021] According to the automatic navigation attitude correction device for a non-powered boat according to the invention described in claim 3 of the present application, in addition to the effects achieved by the invention described in claim 1 or claim 2, the submerged cord-like portion of the cord-like steering body and the base end of the cord-like steering are composed of a single metal cord-like body that is heavier than the specific gravity of the water being conveyed in the headrace channel. Therefore, the base end of the cord-like steering body, via the submerged cord-like portion hanging down toward the bottom of the headrace channel, has a greater specific gravity than the flowing water in the headrace channel. Therefore, even if the navigation state in the headrace channel is accelerated by the force of the flowing water, it will not float up, and will reliably abut against the bottom of the headrace channel, continuously generating sliding resistance. This makes it possible to automatically correct any disturbance in the navigation attitude of the non-powered boat reliably, and as a result, the route state of the headrace channel can be photographed and observed more reliably and smoothly from the non-powered boat.

[0022] According to the automatic navigation attitude correcting device for a non-powered boat according to the invention described in claim 4 of the present application, in addition to the effects of the invention described in claim 1 or claim 2, the submerged cord portion of the steering body and the base end of the steering cord are made of cords with circular cross sections, so that even if they come into contact with an obstacle such as an uneven crack in the bottom of the waterway or a rock placed inside the waterway, the outer circumferential surface of the submerged cord portion and the base end of the steering cord can slip through without being caught inadvertently, and therefore the non-powered boat can be smoothly steered. Smooth downstream It can be navigated.

[0023] According to the automatic navigation attitude correction device for a non-powered boat according to the invention described in claim 5 of the present application, in addition to the effects achieved by the invention described in claim 1 or claim 2, the attachment end of the rope-like steering body is connected upward to the attachment part on the stern side of the non-powered boat, so that the submerged rope-like part connected to the attachment end can be made to hang down in a catenary curve, curving gently from the attachment part on the stern side of the non-powered boat towards the bottom of the waterway according to the flow conditions in the waterway, so that the non-powered boat can smoothly follow the flow of the waterway, suppressing pitching (vertical shaking) of the non-powered boat, and the non-powered boat can stably photograph and observe the path conditions of the waterway.

[0024] According to the automatic navigation attitude correction device for a non-powered boat according to the invention described in claim 6 of the present application, in addition to the effects achieved by the invention described in claim 1 or claim 2, the submerged cord-like portion of the cord-like steering body and / or the cord-like steering base end are configured so that their lengths can be freely changed according to the conditions of the bottom of the waterway, making it possible to abut the cord-like steering base end against the bottom of the waterway in a way that generates reliable and optimal sliding resistance, thereby automatically correcting any disturbance in the navigation attitude caused by yawing (swaying of the bow) of the non-powered boat.

[0025] According to the automatic navigation attitude correction device for a non-powered boat of the invention described in claim 7 of the present application, in addition to the effects achieved by the invention described in claim 1 or claim 2, since the boat length of the non-powered boat is at least three times its width, not only is it easier for the non-powered boat to follow the force of the flowing water in the waterway and yawing of the non-powered boat is suppressed, but also a turning moment sufficient to rotate the non-powered boat counterclockwise in the horizontal plane so as to restore it to its normal orientation when it starts to drift, is generated, so that disturbances in the navigation attitude of the non-powered boat can be reliably and automatically corrected.

[0026] According to the device for automatically correcting the sailing attitude of a non-powered boat according to the invention described in claim 8 of the present application, in addition to the effects achieved by the invention described in claim 1 or claim 2, at least a part of the water channel is constructed as a headrace tunnel, and therefore, by utilizing the sliding resistance generated at the base end of the rope-like steering wheel and the flowing water in the headrace, disturbances in the sailing attitude caused by yawing (swaying of the bow) or swaying (rolling from side to side) of the non-powered boat due to route conditions that occur in the headrace area that narrows towards the tunnel entrance leading to the headrace tunnel or in the headrace area inside the headrace tunnel that cannot be manually corrected can be automatically corrected. Therefore, even in the headrace area that narrows towards the tunnel entrance leading to the headrace tunnel or in the headrace area inside the headrace tunnel that cannot be manually corrected, the route conditions of the headrace canal can be photographed and observed sequentially and reliably without the non-powered boat having to remain in the headrace.

[0027] According to the invention described in claim 9 of the present application, the steering rope comprises an attachment end portion connected to the stern side attachment portion of the non-powered boat, a submerged rope portion connected to the attachment end portion and curved in a catenary shape while hanging down toward the bottom of the waterway, and a steering rope continuous to the submerged rope portion. With open ends The steering rope is configured to contact the bottom of the waterway, and the mounting end is configured to be detachably connected to the stern side mounting part of the non-powered boat, so that the submerged rope connected to the mounting end that connects to the stern side mounting part of the non-powered boat is bent in a catenary curve while hanging down towards the bottom of the waterway. Downstream The system flexibly follows the boat's movements, and the base end of the steering rope, which is connected to the submerged section of the rope, comes into contact with the bottom of the waterway, creating continuous sliding resistance, automatically correcting any disturbances in the boat's posture caused by yawing or swaying of the non-powered boat due to abnormalities in the waterway's path. Therefore, Not only can the non-powered boat reliably and smoothly photograph and observe the route of the waterway that passes through the headrace tunnel, but it can also ride the current of the flowing water while suppressing disturbances in the boat's navigational posture due to yawing (swaying of the bow) and swaying (swaying from side to side). 、 Non-powered boat 、 The flow rate is than the roadside The center of the fast waterway Smooth downstream Let it sail can The attachment end can be detachably connected to a wide variety of non-powered boats and water conduction conditions of the waterway.

[0028] According to the cable-like steering body of the invention described in claim 10 of the present application, in addition to the effect achieved by the invention described in claim 9, the attachment end is composed of a carabiner, so that the cable-like steering body can be instantly attached to the stern attachment part of the non-powered boat via the carabiner, and therefore the cable-like steering body can be easily connected to the stern attachment part of the non-powered boat.

[0029] According to the cord-like steering body of the invention described in claim 11 of the present application, in addition to the effects achieved by the inventions of claim 9 or claim 10, the submerged cord-like portion and the base end of the cord-like steering body are composed of a single metal cord-like body with a specific gravity greater than that of the flowing water in the waterway. Therefore, even if excessive force is generated in the flowing water state in the waterway, the cord-like steering body will not float up, and will firmly abut against the bottom of the waterway, continuously generating sliding resistance, so that disturbances in the sailing attitude of the non-powered boat can be reliably suppressed and automatically corrected.

[0030] According to the cable-like steering body of the invention described in claim 12 of the present application, in addition to the effects achieved by the invention of claim 9 or claim 10, the cable-like submerged portion and the cable-like steering base end are composed of cable-like bodies with circular cross sections, so that even if they come into contact with obstacles such as uneven cracks in the bottom of the water channel or rocks R placed inside the water channel, the outer surfaces of the cable-like submerged portion and the cable-like steering base end can slip through without accidentally getting caught.This not only prevents accidents in which non-powered boats become unable to escape inside the water channel tunnel, but also improves the durability of the cable-like steering body and prevents it from being damaged early. [Brief explanation of the drawings]

[0031] [Figure 1] FIG. 1 is a schematic diagram showing a state in which a non-powered boat used in the automatic navigation attitude correcting device of the present invention is traveling downstream in a headrace tunnel. [Figure 2] FIG. 2 is a plan view of the automatic navigation attitude correction device for the unpowered boat shown in FIG. 1. [Figure 3] 1 is a schematic diagram showing an embodiment of a cable-like steering body used in the present invention; [Figure 4] FIG. 10 is a plan view for schematically explaining the automatic correcting operation of the sailing attitude of the non-powered boat used in the present invention. [Figure 5] FIG. 5 is a side view for schematically explaining the automatic correcting operation of the navigation attitude shown in FIG. 4. [Figure 6] 10A and 10B are schematic diagrams illustrating an enlarged view of the operating state in the automatic correcting operation process G, in which (A) is a plan view and (B) is a side view. [Figure 7] 10A and 10B are enlarged views for explaining the operating state in the automatic correcting operation process H, in which (A) is a plan view and (B) is a side view. [Figure 8] 1A and 1B are enlarged views for explaining the operating state in the automatic correction operation process I, in which (A) is a plan view and (B) is a side view. DETAILED DESCRIPTION OF THE INVENTION

[0032] In the automatic navigation attitude correcting device for a non-powered boat according to the present invention, the steering rope is composed of an attachment end connected to the stern attachment of the non-powered boat, a submerged rope connected to the attachment end and curved in a catenary shape while hanging down towards the bottom of the waterway, and a base end of the steering rope that is continuous with the submerged rope and abuts against the bottom of the waterway, so that the non-powered boat can be automatically adjusted by the flowing water in the waterway. Downstream Any specific embodiment may be used as long as it can automatically correct any disturbance in the navigational attitude of a non-powered boat due to the condition of the route in the headrace channel, and can sequentially and reliably photograph and observe the condition of the route in the headrace channel without the non-powered boat becoming stuck in the channel.

[0033] For example, the attachment end of the cable-like steering body can be configured from a carabiner, a snap hook, a swivel hook, a swivel snap, a swivel hook, a trigger snap, a trigger hook, etc. In particular, if a swivel (swivel) structure such as a swivel snap, a swivel hook, a trigger snap, or a trigger hook is provided, even if the cable-like submerged portion rotates around its longitudinal axis for some reason, the rotational force caused by the rotation of the cable-like submerged portion is canceled out by the free rotation of the swivel (swivel) structure and is not transmitted to the non-powered boat, so that it does not cause the non-powered boat to roll and the non-powered boat can be maintained in a stable downstream state.

[0034] The submerged cable portion and the base end of the cable steering body can be made of a wire rope made of stranded wires of carbon steel or stainless steel. The wire rope may have a hemp core or may be coated with a resin such as nylon or polyvinyl chloride. Furthermore, when the cable-like submerged portion and cable-like steering base end portion of the cable-like steering body are each constructed from wire rope, it is preferable to use a wire rope that is not coated with resin and has a diameter of, for example, approximately 6 mm, or a wire rope that is coated with resin and has a diameter including the coated portion of, for example, approximately 12 mm.

[0035] The terminal end of the submerged rope that connects to the mounting end of the steering rope can be formed into a ring shape by ice splicing or compression. If this terminal end is formed into a connecting ring, there is a degree of freedom (play) in the relative positioning of the submerged rope and the mounting end at the connection point, so that rotation and deformation of the submerged rope are absorbed at the connection point and are not transmitted to the non-powered boat, allowing the non-powered boat to maintain a stable downstream movement.

[0036] When the base end of the steering rope of the steering rope body is made of a wire rope coated with resin, the end of the open side , i.e., the open end Since the metal material is exposed at the end, the end portion may be covered with resin or may be closed by wrapping a resin tape around it.

[0037] If the submerged cable portion and the base end of the cable steering body have a protruding shape on their surface, there is a concern that they may get caught on obstacles such as rocks at the bottom of the waterway. Therefore, it is preferable that the cross-sectional shape of the submerged cable portion and the base end of the cable steering body be substantially circular, and the diameter of the cross section is made almost constant over the entire length, or the end of the open side of the base end of the cable steering body be made substantially circular. , i.e., the open end It is preferable that the shape be tapered toward the center.

[0038] If the submerged cord portion of the cord-like steering body and the base end of the cord-like steering are constructed as a single unit using the same wire rope, there will be no unevenness at the connection between the submerged cord portion and the base end of the cord-like steering, which is advantageous as it is less likely to get caught on obstacles such as rocks at the bottom of the water channel.

[0039] When determining the lengths of the submerged cord-like portion and the base end of the cord-like steering body, it is difficult to determine a uniformly suitable length because the action and effect are comprehensively influenced by factors such as water depth, flow velocity, viscosity, the projected area of ​​the non-powered boat in the flowing water, the weight and buoyancy of the non-powered boat, the diameter (projected area) of the submerged cord-like portion and the base end of the cord-like steering, and the weight per unit length.However, for example, when implementing in a waterway where river water flows with a water depth of 70 cm and a flow velocity of 1 m / s, the submerged cord-like portion can be set to approximately 100 cm to 110 cm, and the base end of the cord-like steering can be set to approximately 10 cm to 20 cm.

[0040] The relationship between the length and width of a non-powered boat is such that the magnitude of the turning moment that rotates the boat in a horizontal plane to restore it to its normal orientation when it drifts depends on the product of the boat length and the sliding resistance force. Therefore, in order to obtain a turning moment sufficient for restoration, it is preferable that the boat length be at least three times the boat width.

[0041] The term "headrace" in this invention refers to an enclosed headrace tunnel structure such as a circular, horseshoe-shaped or rectangular cross section, but it goes without saying that the invention also applies to a headrace channel structure with an open upper section such as a semicircular or U-shaped cross section. In this specification, the term "headrace channel" primarily refers to a route that conveys river water from intake facilities installed near a river for hydroelectric power generation to the power plant building, and the tunnel through which this headrace channel passes is called a headrace tunnel. However, this is not limited to headrace channels used for hydroelectric power generation; it may also be a headrace channel used for supplying municipal water or draining inland water.

[0042] In the present invention, the "path condition of the headrace channel" photographed and observed by the non-powered boat does not only mean the path condition occurring in the headrace channel area where at least a part of the headrace channel is constructed by the headrace channel tunnel and narrows towards the tunnel entrance leading into the headrace channel tunnel, or in the headrace channel area inside the headrace tunnel that cannot be artificially corrected, but also means the presence or absence of damage such as uneven cracks occurring in the bottom of the headrace channel, the state of narrowing, and the presence or absence of accumulation of obstacles such as rocks placed inside the headrace channel.

[0043] It goes without saying that the non-powered boat of the present invention may be one that can photograph and observe the presence or absence of damage such as cracks on the inner wall surface of the headrace tunnel. [Example]

[0044] An automatic attitude correcting device and a cable-like steering element for a non-powered boat according to one embodiment of the present invention will be described below with reference to FIGS. Here, FIG. 1 shows a non-powered boat according to the present invention passing through the headrace in the headrace tunnel. Downstream FIG. 2 is a schematic diagram showing the state of sailing, FIG. 3 is a schematic diagram showing an embodiment of a cable-like steering body used in the present invention, and FIG. 4 is a plan view of the automatic sailing attitude correcting device for the non-powered boat shown in FIG. 1.

[0045] (Specific configuration of the automatic navigation attitude correction system) First, the configuration of the automatic navigation attitude correcting device 100 for a non-powered boat according to this embodiment will be described. As shown in Figures 1 and 2, the automatic navigation attitude correcting device 100 for a non-powered boat is composed of a non-powered boat 110 and a cable-like steering element 120.

[0046] 3, the non-powered boat 110 is provided with a stern-side mounting part 111 at the center of the stern in the left-right direction for mounting the cable-like steering body 120. More specifically, the stern-side mounting part 111 is a tongue-shaped part that is attached to the center of the bottom of the non-powered boat 110 in the left-right direction and protrudes rearward, and has a mounting hole 111a for mounting the cable-like steering body 120.

[0047] As shown in FIG. 1, the non-powered boat 110 of this embodiment is equipped with a light 112, an aerial camera 113, and an underwater camera 114 for photographing and observing the path condition of the headrace C passing through the headrace tunnel CT and / or the condition of the inner wall IW of the headrace tunnel CT.

[0048] As shown in Figure 3, the cable-like steering body 120 is composed of an attachment end 121, a cable-like submerged portion 122 connected to this attachment end 121, and a cable-like steering base end 123 continuous with this cable-like submerged portion 122.

[0049] In this embodiment, the attachment end 121 is made of a stainless steel carabiner.

[0050] The cord-like submerged portion 122 has a connecting ring 122a formed in a ring shape at the end portion that connects to the attachment end portion 121, and this connecting ring 122a is engaged with the attachment end portion 121 to connect it. In this embodiment, the cord-like submerged portion 122 is made of a stainless steel wire rope having a diameter of about 6 mm.

[0051] The cable-like steering base end portion 123 is provided on the extension of the cable-like submerged portion 122, and in this embodiment is made of a stainless steel wire rope with a diameter of about 6 mm.

[0052] In this embodiment, the cable-like submerged portion 122 and the cable-like steering base end portion 123 are formed as a single continuous piece, that is, from a single wire rope. This wire rope has a greater specific gravity than the flowing water W in the water conduit C and has a substantially circular cross section.

[0053] The lengths of the cord-like submerged portion 122 and the cord-like steering base end 123 are configured to be freely changeable depending on the conditions of the roadbed CB, but in this embodiment, assuming use in a water channel C where the depth of the flowing water W is approximately 70 cm and the flow velocity is approximately 1 m / sec, the total length of the cord-like submerged portion 122 and the cord-like steering base end 123 is set to approximately 120 cm, with the length of the cord-like submerged portion 122 being approximately 100 to 110 cm and the length of the cord-like steering base end 123 being 10 cm to 20 cm.

[0054] The mounting end 121 of the rope-like steering body 120, which is composed of a carabiner, is inserted into the mounting hole 111a of the stern mounting part 111 of the non-powered boat 110, and is connected upward to the stern mounting part 111, ensuring a high degree of freedom of movement and rotation.

[0055] As shown in Figs. 1 and 2, the non-powered boat 110 in this embodiment is used to photograph and observe the path condition of the headrace channel C passing through the headrace tunnel CT and / or the condition of the inner wall IW of the headrace tunnel CT using an aerial camera 113 and / or an underwater camera 114 while illuminating with a light 112.

[0056] In use, an operator floats the non-powered boat 110 on the flowing water W upstream of the headrace tunnel CT of the headrace C. The unpowered boat 110 floated on the flowing water W of the headrace C navigates without power due to the flow of the flowing water W, enters the headrace tunnel CT from the upstream entrance of the headrace tunnel CT, and travels through the headrace tunnel CT. Downstream While navigating, the robot automatically photographs the route conditions, such as narrowings and turbulence that may occur in the headrace channel C, and / or damage conditions, such as cracks in the inner wall IW of the headrace tunnel CT. The worker waits at the downstream exit of the headrace tunnel CT, retrieves the non-powered boat 110 when it emerges from the downstream exit of the headrace tunnel CT, and checks the photographed content.

[0057] When the non-powered boat 110 is floating on flowing water W, the non-powered boat 110 is subjected to a force Fa at its center of gravity by the flow of the flowing water W, which causes the boat to flow downstream, as shown in FIG. The magnitude of Fa depends on the flow velocity of the flowing water W in the water channel C, the shape, size, direction, etc. of the non-powered boat 110.

[0058] On the other hand, a rope-like steering body 120 is attached to the stern-side attachment part 111 located in the center of the left and right sides of the stern of the non-powered boat 110, and since the flow speed of water flowing in the water channel C is generally slower at the bottom of the water than near the water surface, a rope-like submerged part 122 of this rope-like steering body 120 curves in a downwardly convex catenary curve extending upstream and hangs down toward the bottom CB of the water channel C, and a rope-like steering base end part 123 connected to this rope-like submerged part 122 abuts against the bottom CB of the water channel C, generating an upstream sliding resistance force Fb when the boat is swept downstream. The magnitude of Fb depends on the downstream speed of the unpowered boat 110, the shape, material, and weight per unit length of the cable-like steering base end 123, the shape and material of the roadbed CB, and the presence or absence of obstacles such as rocks R.

[0059] The non-powered boat 110 travels without power using the flowing water in the waterway C, and if the force it receives from the flowing water W in the waterway C fluctuates or is uneven, the bow may sway left and right, causing its navigational posture to become unstable.

[0060] Even if the non-powered boat 110 floating on flowing water W and sailing downstream experiences a disturbance in its sailing attitude, as described above, it will receive a force of magnitude Fa from the flowing water W at its center of gravity, and the sliding resistance force Fb generated at the cable-like steering base end 123 will act in the opposite direction to the direction of travel (upstream direction) on the stern-side mounting part 111 located in the center of the left and right sides of the stern of the non-powered boat 110 via the cable-like submerged part 122 and the mounting end 121. At the same time, a force based on the weight of the cable-like steering body 120 will act downward, so the non-powered boat 110 will automatically correct its attitude and direction to a normal state and will sail stably. Downstream It can navigate.

[0061] (Automatic correction operation of the automatic attitude correction device) Next, the principle of how the automatic sailing attitude correcting device 100 for a non-powered boat according to this embodiment automatically corrects the sailing attitude of the non-powered boat 110 when the sailing attitude of the non-powered boat 110 becomes disturbed will be described. Here, Figure 4 is a plan view that schematically explains the automatic correction operation of the sailing attitude of the non-powered boat used in the present invention, Figure 5 is a side view that schematically explains the automatic correction operation of the sailing attitude shown in Figure 4, Figure 6 is a diagram that explains an enlarged view of the operating state during process G of the automatic correction operation, (A) is a plan view and (B) is a side view, Figure 7 is a diagram that explains an enlarged view of the operating state during process H of the automatic correction operation, (A) is a plan view and (B) is a side view, and Figure 8 is a diagram that explains an enlarged view of the operating state during process I of the automatic correction operation, (A) is a plan view and (B) is a side view.

[0062] 4 to 8 show an example of an operation process in which the unpowered boat 110 automatically corrects its posture to the normal position even when it hits the side wall of the water channel C at the narrowed section SC of the water channel C, causing it to turn and causing its bow and stern to reverse relative to the flow of the flowing water W. 4 and 5, devices such as the aerial camera 113 and underwater camera 114, the light 112, and the battery that are mounted on the non-powered boat 110 to photograph and observe the route state are omitted. The automatic correction operation will be explained below in order.

[0063] When the worker floats the non-powered boat 110 on the flowing water W of the waterway C and places it, there are cases where the worker is unable to place it in the center of the waterway C, or where the non-powered boat 110 deviates from the center of the waterway C due to the irregular flow of the flowing water W and ends up floating near the side wall. Downstream When sailing, the unpowered boat 110 approaches the side wall of the water channel C on the upstream side of the narrowed section SC of the water channel, as shown in process A in FIG.

[0064] Then, as shown in process B in Figure 4, the front port side of the non-powered boat 110 hits the side wall of the narrowed section SC of the flow path, and as shown in processes B, C, and D in Figure 4, the entire non-powered boat 110 turns counterclockwise, the bow and stern are reversed, and as shown in process E in Figure 4, the cable-like steering body 120 enters a relative positional relationship where it submerges under the non-powered boat 110.

[0065] Here, the flow velocity in the center of the water channel C is faster than the flow velocity near the side wall, as shown by the flowing water W in Figure 4, so the non-powered boat 110 moves to the center of the water channel C as shown in process F in Figure 4 while being carried downstream with its bow and stern in an inverted position.

[0066] At this time, the automatic corrective action process G shown in Figures 6 (A) and (B) passes through the automatic corrective action process H shown in Figures 7 (A) and (B) and then transitions to the automatic corrective action process I shown in Figures 8 (A) and (B). In other words, the entire non-powered boat 110 is subjected to a force Fa from the flowing water W that causes it to flow downstream relative to its center of gravity, while the rope-like steering base end 123 is subjected to a sliding resistance force Fb that flows upstream, and a force that pulls the stern mounting part 111 of the non-powered boat 110 back upstream acts on it via the rope-like submerged part 122 and the mounting end 121.

[0067] As a result, the unpowered boat 110 as a whole is subjected to a force of magnitude "Fa-Fb" at its center of gravity, and travels downstream.

[0068] At the same time, a turning moment Mr is generated that rotates the boat clockwise in the horizontal plane around the stern mounting part 111, so as to transition from automatic corrective operation process G shown in Figures 6(A) and (B) to automatic corrective operation process H shown in Figures 7(A) and (B) and then to automatic corrective operation process I shown in Figures 8(A) and (B), and acts to restore the non-powered boat 110 to its normal orientation.

[0069] The magnitude of this turning moment Mr depends on the boat length Lb of the unpowered boat 110 and the magnitude of the sliding resistance force Fb, and its maximum value is approximately "Lb×Fb / 2".

[0070] After passing through the above-mentioned process G to process I, as shown in process J in FIG. 6, the unpowered boat 110 automatically corrects its orientation and returns to the normal position at the center of the waterway C, and thereafter remains stable in the normal orientation and posture. Downstream While sailing, the route condition of Waterway C can be photographed and observed.

[0071] Depending on the direction and attitude of the unpowered boat 110, the flow velocity distribution of the flowing water W, etc., an automatic correction operation may occur due to a turning moment Mr that turns counterclockwise in a horizontal plane.

[0072] As described above, according to the automatic navigation attitude correcting device 100 for a non-powered boat of this embodiment, the flow of water in the waterway C Downstream A non-powered boat 110 is used to navigate and photograph the route of the waterway C, and a Following the downstream movement of the unpowered boat 110 The non-powered boat 110 is provided with a rope-like steering body 120 that automatically corrects the sailing attitude of the non-powered boat 110, and the rope-like steering body 120 has an attachment end 121 that is connected to the stern side attachment part 111 of the non-powered boat 110, a rope-like submerged part 122 that is connected to the attachment end 121 and curves in a catenary curve while hanging down toward the road bottom CB of the waterway C, and a rope-like submerged part 122 that is continuous with the submerged part 122. With open endsThe cable-like steering base end 123 abuts against the bottom CB of the waterway C, and the cable-like submerged part 122 connected to the attachment end 121 that is connected to the stern side attachment part 111 of the non-powered boat 110 is bent in a catenary curve while hanging down toward the bottom CB of the waterway C, and flexibly follows the non-powered boat 110, and the cable-like steering base end 123 that is continuous with the cable-like submerged part 122 abuts against the bottom CB of the waterway C, and the sliding resistance that is continuously generated prevents the yaw of the non-powered boat 110 caused by the path state occurring in the waterway C. As a result, not only can the non-powered boat 110 reliably and smoothly photograph and observe the path condition of the headrace C that passes through the headrace tunnel CT, but the cable-like steering body 120 can maintain a state in which disturbances in the boat's navigation posture due to yawing (swaying of the bow) and swaying (swinging from side to side) of the non-powered boat 110 are suppressed, and the non-powered boat 110 can navigate through the center of the headrace C where the flow velocity is fast.

[0073] In addition, the non-powered boat 110 is equipped with an aerial camera 113 and an underwater camera 114 for photographing and observing the path condition of the headrace C that passes through the headrace tunnel CT, so that the path condition of the headrace C that passes through the headrace tunnel CT can be easily and accurately recognized through images.

[0074] Furthermore, since the submerged cord-like portion 122 and the base end 123 of the cord-like steering body 120 are made of a single metallic cord-like body having a specific gravity greater than that of the flowing water W in the headrace C, the boat will not float up even if excessive momentum is generated in the navigation state in the headrace C, and it is possible to reliably suppress and automatically correct any disturbance in the navigation posture of the non-powered boat 110, and as a result, the path condition of the headrace C as the non-powered boat passes through the headrace tunnel CT can be photographed and observed more reliably and smoothly.

[0075] Furthermore, since the cable-like submerged portion 122 and the cable-like steering base end portion 123 of the cable-like steering body 120 have circular cross sections, the non-powered boat 110 can be navigated smoothly.

[0076] In addition, since the mounting end 121 of the cable-like steering body 120 is connected upward to the stern-side mounting part 111 of the non-powered boat 110, it can smoothly follow the navigation of the non-powered boat 110, suppressing pitching (vertical shaking) of the non-powered boat 110, and the path condition of the water channel C through which the non-powered boat 110 passes through the water channel tunnel CT can be stably photographed and observed.

[0077] Furthermore, since the rope-like submerged portion 122 and / or the rope-like steering base end portion 123 of the rope-like steering body 120 are configured so that their length can be freely changed depending on the conditions of the bottom CB of the waterway C, disturbances in the sailing posture caused by yawing (swaying of the bow) of the non-powered boat 110 can be suppressed and automatically corrected.

[0078] In addition to these, the length of the non-powered boat 110 is three times or more the width of the non-powered boat 110, so that any disturbance in the sailing attitude of the non-powered boat 110 can be automatically corrected reliably.

[0079] On the other hand, the cable-like steering body 120 of this embodiment includes an attachment end 121 that is connected to the stern-side attachment part 111 of the non-powered boat 110, a cable-like submerged part 122 that is connected to the attachment end 121 and curves in a catenary shape while hanging down toward the road bottom CB of the waterway C, and a cable-like submerged part 122 that is continuous with the cable-like submerged part 122. With open endsThe steering rope is configured with a steering rope base end 123 that abuts against the bottom CB of the waterway C, and the mounting end 121 is configured to be detachably connected to the stern side mounting part 111 of the non-powered boat 110, so that the submerged rope part 122 connected to the mounting end 121 that is connected to the stern side mounting part 111 of the non-powered boat 110 flexes in a catenary curve while hanging down toward the bottom CB of the waterway C, and flexibly follows the navigation of the non-powered boat 110, and the steering rope base end 123 that is continuous with the submerged rope part 122 abuts against the bottom CB of the waterway C and continues It is possible to automatically correct and suppress disturbances in the navigation posture of the non-powered boat 110 due to yaw (swaying of the bow) and sway (swinging from side to side) caused by the path state in the headrace C due to sliding resistance that is automatically induced by the non-powered boat 110. As a result, not only can the path state of the headrace C that the non-powered boat 110 passes through the headrace tunnel CT be photographed and observed reliably and smoothly, but also the disturbances in the navigation posture of the non-powered boat 110 due to yaw (swaying of the bow) and sway (swinging from side to side) can be suppressed and suppressed. Ride on the flow of flowing water The unpowered boat 110 is placed in the center of the waterway C where the flow velocity is faster than that at the side of the waterway. in the downstream direction It can be sailed.

[0080] Furthermore, since the attachment end 121 is made up of a carabiner, the rope-like steering body 120 can be easily connected to the stern-side attachment part 111 of the non-powered boat 110.

[0081] Furthermore, since the rope-like submerged portion 122 and the rope-like steering base end portion 123 are made of a single metal rope-like body having a specific gravity greater than that of the flowing water W in the water channel C, the rope-like steering body 120 will not float up even if the flowing water in the water channel C has excessive force, and will also reliably abut against the bottom CB of the water channel C, continuously generating sliding resistance, so that any disturbance in the sailing attitude of the non-powered boat 110 can be automatically corrected reliably.

[0082] In addition, because the submerged cord-like portion 122 and the base end of the steering cord-like member 123 are constructed of cord-like bodies having a circular cross section, even if they come into contact with an obstacle such as an uneven crack occurring in the bottom CB of the water channel C or a rock R placed inside the water channel C, the outer surfaces of the submerged cord-like portion 122 and the base end of the steering cord-like member 123 can slip through without being caught inadvertently. This not only prevents accidents in which the non-powered boat 110 becomes unable to escape inside the water channel tunnel CT, but also has the enormous effect of improving the durability of the steering cord-like body 120 without causing early damage. [Explanation of symbols]

[0083] 100...Navigation attitude automatic correction device 110...Non-powered boat 111....Aft side mounting part 111a Mounting hole 112···Light 113···Air Camera 114 Underwater Camera 120....Riding structure 121 Mounting end 122....Cord-like submerged section 122a··Connecting ring 123 Cable-like steering base end C... Headrace CB...Road bottom SC: Narrowed part of the flow path CT... Headrace Tunnel IW...Inner wall W...Running water R...Rock Fa: downstream flow force Fb: Sliding resistance Mr...Turning moment Lb: Boat length Wb: Boat width

Claims

1. An automatic navigation attitude correcting device for a non-powered boat, comprising: a non-powered boat that travels downstream without power using flowing water in a waterway and photographs and observes the path condition of the waterway; and a rope-like steering body that is attached to the non-powered boat and automatically corrects the navigation attitude of the non-powered boat by following the downstream navigation of the non-powered boat, 1. An automatic navigation attitude correcting device for a non-powered boat, wherein the steering rope comprises an attachment end that connects to a stern mounting portion of the non-powered boat, a submerged rope that is connected to the attachment end and curves in a catenary shape while hanging down toward the bottom of the headrace, and a steering rope base that has an open end that is continuous with the submerged rope and abuts against the bottom of the headrace.

2. 2. The automatic navigation attitude correcting device for a non-powered boat according to claim 1, wherein the non-powered boat is equipped with an aerial camera and / or an underwater camera for photographing and observing the path state of the waterway.

3. 3. The automatic attitude correcting device for a non-powered boat according to claim 1, wherein the submerged cable-like portion of the steering cable and the base end of the steering cable are made of a single metallic cable-like body having a specific gravity greater than that of the flowing water in the waterway.

4. An automatic navigation attitude correcting device for a non-powered boat as described in claim 1 or claim 2, characterized in that the submerged rope-like portion and the base end of the rope-like steering body are made of a rope-like body having a circular cross section.

5. 3. An automatic navigation attitude correcting device for a non-powered boat as described in claim 1 or claim 2, characterized in that the mounting end of the cable-like steering body is connected upward to the stern side mounting portion of the non-powered boat.

6. 3. The automatic navigation attitude correcting device for a non-powered boat according to claim 1 or claim 2, wherein the length of the submerged cable-like portion of the steering cable and / or the base end of the steering cable-like portion is adjustable according to the condition of the bottom of the waterway.

7. 3. The automatic navigation attitude correcting device for a non-powered boat according to claim 1, wherein the length of the non-powered boat is at least three times the width of the non-powered boat.

8. 3. The automatic attitude correcting device for a non-powered boat according to claim 1, wherein at least a part of the headrace is constructed as a headrace tunnel.

9. a rope-like steering body attached to a non-powered boat that travels downstream without power using flowing water in a waterway to photograph and observe the path condition of the waterway, the rope-like steering body automatically correcting the sailing attitude of the non-powered boat in accordance with the downstream sailing of the non-powered boat, the steering rope comprises an attachment end portion connected to the stern-side attachment portion of the non-powered boat; a submerged cord portion connected to the attachment end portion and curved in a catenary shape while hanging down toward the bottom of the waterway; and a steering rope base portion having an open end continuous with the submerged cord portion and abutting against the bottom of the waterway, The cable-like steering body is characterized in that the mounting end is configured to be detachably connected to a mounting portion on the stern side of the non-powered boat.

10. 10. The cable-like steering body according to claim 9, wherein the attachment end portion is formed of a carabiner.

11. 11. The cord-like steering body according to claim 9 or 10, wherein the cord-like submerged portion and the cord-like steering base end portion are made of a single metal cord-like body having a specific gravity greater than that of the flowing water in the water channel.

12. 11. The cord-like steering body according to claim 9 or 10, wherein the cord-like submerged portion and the cord-like steering base end portion are configured by a cord-like body having a circular cross section.

Images