AUTOMATIC CONTROL SYSTEM FOR DRONE OF DIVER ACCOMPANYING Russian patent published in 2018 - IPC B63C11/46 B63B21/00 B63G8/16 G05D1/00 

FIELD: data processing.

SUBSTANCE: automatic control system for the drone of a diver accompanying contains a hydrophone on board the equipment, two waiting multivibrators, OR gate, the counter, the indicator, the command sensor, the acoustic radiator, the pulse generator, and on board the drone its control device contains an acoustic radiator, pulse generator, counter, RS flip-flop, monostable multivibrator, AND gate, D flip-flop, OR gate, march motion controller, four multi-channel multiplexer, four registers, servo-drives of the propulsor, depth propulsor, propulsor and transverse propulsor, dynamic positioning controller, vector zero sensor connected in a certain way. March movement controller contains five hydrophones, five RS flip-flops, six counters, a pulse generator, three subtractors, a settling distance sensor, an adder connected in a certain way. Dynamic positioning controller contains an inertial navigation module, two registers, a current course sensor, a sinusoidal functional converter, adder, four multipliers, a cosine functional converter, five subtractors, a multi-channel multiplexer connected in a certain way.

EFFECT: provides increased productivity, security and visual stealth of the diver's work in the process of performing underwater works.

3 cl, 6 dwg