SUBMERSIBLE VEHICLE CONTROL UNIT Russian patent published in 2001 - IPC

FIELD: shipbuilding; control units for control of submersible vehicles at neutral buoyancy in vertical plane. SUBSTANCE: proposed unit has propellers for vertical and horizontal motion, swivel TV camera with sensor showing turn of TV camera relative to longitudinal axis of submersible vehicle and command sensor. Output of first threshold member is connected with control input of first gate. Output of adder is connected to first input of OR gate through second threshold unit and NOT gate and to second input of OR gate through third threshold member. Input of modulo taking unit is connected with output of angle-data sensor and its output is connected with input of first threshold member and second input of adder. EFFECT: extended functional capabilities of submersible vehicle. 1 dwg