1P1-D27 物質の相変化を利用した浮力調整装置を有する水中ロボットの研究 : マイコンを用いた水深制御装置の開発

概要

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The goal of this paper is to develop a robot control system using a microcomputer for an underwater robot with a buoyancy control system based on the spermaceti oil hypothesis. Sperm whales have a spermaceti organ in their head that is filled with spermaceti oil. It is said that sperm whales control their buoyancy by melting or coagulating spermaceti oil. We have proposed the underwater robot with a buoyancy control device using its theory. Thus, we built a depth control circuit using a microcomputer and pressure sensor. Then, we experimented with the robot control. As a result, we confirmed that when we ordered a target water depth, the robot dived, floated and maintained the depth itself by detecting its own position. In addition, we confirmed that when a disturbance occurs, the robot returned to the former position.