U.S. patent application number 14/962433 was filed with the patent office on 2016-03-31 for underwater mobile body.
This patent application is currently assigned to IHI Corporation. The applicant listed for this patent is IHI Corporation. Invention is credited to Kensuke Hirata, Masaaki Ichikawa, Aritsune Kawabe, Toshihiko NAKAGAWA, Hiroaki Ozasa, Yoshiyuki Wada.
Application Number | 20160090160 14/962433 |
Document ID | / |
Family ID | 52022155 |
Filed Date | 2016-03-31 |
United States Patent
Application |
20160090160 |
Kind Code |
A1 |
NAKAGAWA; Toshihiko ; et
al. |
March 31, 2016 |
UNDERWATER MOBILE BODY
Abstract
An underwater mobile body capable of acquiring information on
hydrosphere and moving between a position under water and a water
surface includes: a body unit provided with a data acquisition
device that acquires hydrosphere information, and a specific
gravity adjusting device that adjusts the position of the
underwater mobile body under water; and an antenna unit arranged at
a tail of the body unit and provided with an antenna that transmits
the acquired hydrosphere information, wherein the antenna unit
holds the antenna such that the antenna is able to turn in a
vertical direction.
Inventors: |
NAKAGAWA; Toshihiko;
(Koto-ku, JP) ; Ichikawa; Masaaki; (Koto-ku,
JP) ; Kawabe; Aritsune; (Koto-ku, JP) ; Ozasa;
Hiroaki; (Koto-ku, JP) ; Wada; Yoshiyuki;
(Koto-ku, JP) ; Hirata; Kensuke; (Koto-ku,
JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
IHI Corporation |
Koto-ku |
|
JP |
|
|
Assignee: |
IHI Corporation
Koto-ku
JP
|
Family ID: |
52022155 |
Appl. No.: |
14/962433 |
Filed: |
December 8, 2015 |
Related U.S. Patent Documents
|
|
|
|
|
|
Application
Number |
Filing Date |
Patent Number |
|
|
PCT/JP2014/064626 |
Jun 2, 2014 |
|
|
|
14962433 |
|
|
|
|
Current U.S.
Class: |
114/331 |
Current CPC
Class: |
B63G 8/04 20130101; B63B
22/06 20130101; B63G 8/001 20130101; B63B 2022/006 20130101; B63B
2211/02 20130101; H01Q 1/04 20130101; B63G 8/39 20130101; B63B
22/18 20130101 |
International
Class: |
B63G 8/04 20060101
B63G008/04; B63G 8/00 20060101 B63G008/00 |
Foreign Application Data
Date |
Code |
Application Number |
Jun 11, 2013 |
JP |
2013-122668 |
Claims
1. An underwater mobile body capable of acquiring information on
hydrosphere and moving between a position under water and a water
surface, comprising: a body unit provided with a data acquisition
device that acquires the hydrosphere information, and a specific
gravity adjusting device that adjusts the position of the
underwater mobile body under water; and an antenna unit arranged at
a tail of the body unit and provided with an antenna that transmits
the acquired hydrosphere information, wherein the antenna unit
holds the antenna such that the antenna is able to turn in a
vertical direction.
2. The underwater mobile body according to claim 1, wherein the
antenna unit includes a pair of supporting members extending
rearward from the body unit, a pivot shaft rotatably connected to
the supporting members, the antenna projecting from a peripheral
surface of the pivot shaft, and a weight member joined to the pivot
shaft and located opposite the antenna.
3. The underwater mobile body according to claim 2, wherein a
communication cable connected to the antenna is passed through
interiors of the antenna, the pivot shaft and the supporting member
to be guided to the body unit.
4. The underwater mobile body according to claim 1, wherein the
antenna is able to turn through an angle of at least 180 degrees or
more.
5. The underwater mobile body according to claim 2, wherein the
antenna is able to turn through an angle of at least 180 degrees or
more.
6. The underwater mobile body according to claim 3, wherein the
antenna is able to turn through an angle of at least 180 degrees or
more.
Description
TECHNICAL FIELD
[0001] The present disclosure relates to an underwater mobile body,
and more particularly, to an underwater mobile body capable of
moving between a position under water and the water surface.
BACKGROUND ART
[0002] The hydrosphere (seas, lakes, rivers) occupies approximately
70% of the earth's surface, and its thermal capacity is said to be
about 1000 times that of the atmosphere. A major change in the
water temperature of, in particular, the vastest ocean exerts an
enormous influence upon the state of the atmosphere, causing
substantial changes of the weathers and climates of various parts
of the world (e.g., El Nino effect). It is therefore necessary to
survey marine information including water temperatures, in order to
grasp variations of the marine information. It is also necessary to
observe tidal currents and crustal changes of the seabed and to
investigate active faults of the seabed, continental shelves and so
forth for purposes of navigation safety, disaster prevention,
environmental conservation, protection of maritime rights and
interests, and the like.
[0003] In such marine surveys, underwater mobile bodies such as a
buoy submersible under water, an underwater traveling body or
underwater glider capable of traveling under water without external
propulsion, and an underwater towed body that can be towed under
water are often used. The underwater mobile bodies are generally
equipped with antennas for transmitting collected marine
information to ground base stations (see, for example, Patent
Document 1, Patent Document 2, etc.).
[0004] Patent Document 1 discloses an unmanned, autonomous
submersible underwater traveling body having a body unit with a
pressure hull structure and a GPS (Global Positioning System;
satellite navigation system) antenna attached to the bow of the
body unit. Patent Document 2 discloses a glide type underwater
traveling body having a body unit, and a radio antenna and a GPS
antenna attached to the tail of the body unit and disposed along
the fore-and-aft direction. The latter traveling body is configured
to be erected with its bow down so that the antenna may project
above the water surface for communication.
CITATION LIST
Patent Literature
[0005] Patent Document 1: Japanese Unexamined Patent Publication
No. H10-86894
[0006] Patent Document 2: Japanese Unexamined Patent Publication
No. 2006-232070
SUMMARY
Technical Problem
[0007] In the case of an underwater traveling body having an
antenna attached to an upper surface of the body unit like the one
disclosed in Patent Document 1, the antenna is usually fixed so as
to project upright above the water surface by the balance of the
body unit, neglecting in many cases the fluid resistance of the
antenna during submerging or traveling. Also, since the antenna is
fixed to the body unit, the posture of the antenna is liable to be
ruined by external force exerted by a mooring cable, towing cable,
waves and the like, giving rise to a problem that the orientation
of the antenna becomes unstable.
[0008] In the underwater traveling body disclosed in Patent
Document 2, the antenna is fixed in such a manner that the fluid
resistance during submerging and traveling is small. While the
attitude of the body unit is for submerging or traveling, however,
the antenna cannot be exposed to the atmosphere above the water
surface, and it is necessary that attitude control for the body
unit should be performed. However, the attitude control of an
underwater traveling body requires a mechanism for adjusting the
balance as well as a mechanism for generating propulsive force,
such as a propeller, posing a problem of structural complexity,
heavy weight, and increased consumption of electric power.
[0009] An object of the present disclosure was created in view of
the aforementioned problems, and an object thereof is to provide an
underwater mobile body which is simple in structure, low in fluid
resistance, and capable of stabilizing the posture of an antenna
during communication.
Solution to Problem
[0010] An aspect of the present disclosure provides an underwater
mobile body capable of acquiring information on hydrosphere and
moving between a position under water and a water surface, the
underwater mobile body including: a body unit provided with a data
acquisition device that acquires the hydrosphere information, and a
specific gravity adjusting device that adjusts the position of the
underwater mobile body under water; and an antenna unit arranged at
a tail of the body unit and provided with an antenna that transmits
the acquired hydrosphere information, wherein the antenna unit
holds the antenna such that the antenna is able to turn in a
vertical direction.
Advantageous Effects
[0011] In the underwater mobile body according to the present
disclosure, the antenna unit holds the antenna such that the
antenna is able to turn in a vertical direction, and therefore, in
all situations such as during observation, during ascent and during
descent, the antenna is allowed to turn with the flow of water,
making it possible to reduce the fluid resistance. Also, even in
cases where the attitude of the underwater mobile body changes due
to external force exerted by waves, tension of a mooring cable or
the like when the underwater mobile body has ascended to a position
near the water surface for purposes of communication, the antenna
can move relative to the underwater mobile body, and thus, the
posture of the antenna can be stabilized.
BRIEF DESCRIPTION OF DRAWINGS
[0012] FIG. 1A is a side view of an underwater mobile body
according to a first embodiment of the present disclosure.
[0013] FIG. 1B is a top view of the underwater mobile body
according to the first embodiment of the present disclosure.
[0014] FIG. 2 illustrates an observation state of the underwater
mobile body.
[0015] FIG. 3A illustrates an ascent of the underwater mobile
body.
[0016] FIG. 3B illustrates a communication state of the underwater
mobile body.
[0017] FIG. 3C illustrates a descent of the underwater mobile
body.
[0018] FIG. 4A is a top view of an underwater mobile body according
to a second embodiment of the present disclosure.
[0019] FIG. 4B illustrates a section B-B as viewed from a direction
indicated by arrows in FIG. 4A.
[0020] FIG. 4C is a side view of an underwater mobile body
according to a third embodiment of the present disclosure.
[0021] FIG. 4D is a side view of an underwater mobile body
according to a fourth embodiment of the present disclosure.
[0022] FIG. 4E is a side view of an underwater mobile body
according to a fifth embodiment of the present disclosure.
DESCRIPTION OF EMBODIMENTS
[0023] Embodiments of the present disclosure will be described
below with reference to FIGS. 1A through 4E. FIGS. 1A and 2A
illustrate an underwater mobile body according to a first
embodiment of the present disclosure, wherein FIG. 1A is a side
view and FIG. 1B is a top view. FIG. 2 illustrates an observation
state of the underwater mobile body. FIGS. 3A to 3C illustrate
behavior of the underwater mobile body, wherein FIG. 3A shows an
ascent, FIG. 3B shows a communication state, and FIG. 3C shows a
descent.
[0024] As illustrated in FIGS. 1A and 1B, the underwater mobile
body 1 according to the first embodiment of the present disclosure,
which is capable of acquiring information on hydrosphere and moving
between a position under water and a water surface, includes: a
body unit 2 provided with a data acquisition device 21 that
acquires the hydrosphere information, and a specific gravity
adjusting device 22 that adjusts the position of the underwater
mobile body 1 under water; and an antenna unit 3 arranged at a tail
of the body unit 2 and provided with an antenna 31 that transmits
the acquired hydrosphere information, wherein the antenna unit 3
holds the antenna 31 such that the antenna 31 is able to turn in a
vertical direction.
[0025] The underwater mobile body 1 is, for example, a buoy,
underwater traveling body, underwater glider, underwater towed body
or the like placed in the hydrosphere including seas, lakes and
rivers, and is an underwater apparatus that is movable between a
position under water and the water surface, namely, capable of
sinking under water and floating to the water surface. The
underwater mobile body 1 acquires data (hydrosphere information)
about the body of water where it is placed, such as current
position, water temperature, salinity concentration, water
pressure, magnetic force, and radioactive concentration. The
following describes a case where the underwater mobile body 1 is
placed in the sea to acquire marine information (hydrosphere
information).
[0026] The body unit 2 has a housing with a nearly cylindrical
shape, for example, of which the front portion, namely, the head,
is tapered to reduce fluid resistance. The body unit 2 houses the
specific gravity adjusting device 22, a controller 23, a storage
battery (not shown), and the like. The data acquisition device 21,
stabilizing fins 24, the antenna unit 3 and the like are disposed
on the outside of the body unit 2.
[0027] The data acquisition device 21 includes various sensors and
devices for measurement and observation, such as a CTD sensor for
acquiring basic information including salinity concentration
(sensor for measuring Conductivity, Temperature and Depth), a
pressure sensor, a magnetic sensor, a radiation meter, and a sonar.
Suitable sensors and devices are selected according to the kinds of
marine information to be acquired from the sea, which is the target
of observation or measurement. In the example illustrated in FIG.
1A, the data acquisition device 21 is disposed on a lower surface
of the body unit 2, but the location of the data acquisition device
is not particularly limited, and the data acquisition device may be
disposed on an upper surface, side surface or at a rear tail
portion of the body unit 2.
[0028] The specific gravity adjusting device 22 includes, for
example, an expandable and contractible buoyancy bag 22a, a cover
22b surrounding the outer periphery of the buoyancy bag 22a, an oil
pump 22c disposed within the body unit 2, and an oil tank 22d
containing an operating fluid (e.g., silicone oil) that is supplied
to and discharged from the buoyancy bag 22a. The buoyancy bag 22a
is made of a soft material (e.g., resin or the like) having
tolerance to seawater. The cover 22b is a component for preventing
damage to the buoyancy bag 22a and has a plurality of openings (not
shown) formed in an outer periphery thereof. Accordingly, the
interior of the cover 22b is filled with seawater.
[0029] When the oil pump 22c is operated to supply the operating
fluid from the oil tank 22d to the buoyancy bag 22a, the buoyancy
bag 22a expands within the cover 22b and forces out the seawater
within the cover 22b. As a result, the apparent volume of the
underwater mobile body 1 increases, so that the specific gravity of
the underwater mobile body 1 decreases and the buoyant force of the
mobile body 1 increases, enabling the underwater mobile body 1 to
ascend.
[0030] On the other hand, when the oil pump 22c is operated to
discharge the operating fluid from the buoyancy bag 22a into the
oil tank 22d, the buoyancy bag 22a contracts within the cover 22b,
allowing the seawater to flow into the cover 22b. As a result, the
apparent volume of the underwater mobile body 1 decreases, so that
the specific gravity of the underwater mobile body 1 increases and
the buoyant force of the mobile body 1 decreases, enabling the
underwater mobile body 1 to descend.
[0031] The controller 23 controls the operations of the sensors and
devices constituting the data acquisition device 21, the storing of
data acquired by the data acquisition device 21, the operation of
the oil pump 22c, and the communications (transmission and
reception of data) via the antenna unit 3. Specifically, a storage
(memory) connected to the controller 23 stores an operation
schedule for the individual sensors and devices of the data
acquisition device 21 as well as a sink-float schedule for the
underwater mobile body 1, and in accordance with the schedules, the
controller 23 performs predetermined operations necessary for the
measurements and the floating and sinking.
[0032] The antenna unit 3 is a communication device that transmits
the marine information acquired by the data acquisition device 21
to the main equipment at a ground base station or an observation
ship. The antenna unit 3 may send data directly to the antenna of
the main equipment or may communicate with the main equipment via a
communication satellite.
[0033] The antenna unit 3 includes, for example, a pair of
supporting members 32, 32 extending rearward from the body unit 2,
a pivot shaft 33 rotatably connected to the supporting members 32,
32, an antenna 31 projecting from a peripheral surface of the pivot
shaft 33, and a weight member 34 joined to the pivot shaft 33 and
located opposite the antenna 31. A communication cable 35 connected
to the antenna 31 is passed through the interiors of the antenna
31, pivot shaft 33 and supporting member 32 and connected to the
controller 23 within the body unit 2. Since the communication cable
35 is passed through the interior of the antenna unit 3, it is
possible to prevent the communicating cable 35 from entwining or
interfering with the antenna 31 even if the antenna 31 turns over a
large angle.
[0034] The pair of supporting members 32, 32 are fixed to the rear
end face of the body unit 2 substantially horizontally and
substantially parallel to each other, and the pivot shaft 33
connects distal end portions of the two supporting members to each
other such that the pivot shaft is rotatable relative to the
supporting members. The antenna 31 and the weight member 34 are
joined to the peripheral surface of the pivot shaft 33 so as to be
aligned substantially vertically. The weight member 34 is held by a
support 34a to be located at a fixed distance from the pivot shaft
33 and serves to keep the antenna 31 balanced under water.
[0035] While no load acts upon the antenna unit 3 as shown in FIG.
1A, the weight member 34 is located at its lowermost position due
to gravity, so that the antenna 31 is held standing substantially
in a vertical direction. On the other hand, when the antenna unit 3
is subjected to fluid resistance due to sea current or the floating
or sinking of the underwater mobile body 1, the antenna 31 turns
about the pivot axis 33 in directions indicated by the arrow in the
figure.
[0036] FIG. 2 illustrates an example of a marine information
collection system using the underwater mobile body 1. The marine
information collection system includes, for example, an anchor 4
put on the bottom of the sea, an intermediate buoy 5 connected to
the anchor 4 and floating under water, a mooring cable 6 having one
end connected to the intermediate buoy 5, and the underwater mobile
body 1 connected to the other end of the mooring cable 6.
[0037] The anchor 4 is a component for connecting the underwater
mobile body 1 to the bed of the sea. The intermediate buoy 5 is a
component that serves as a fulcrum for the floating and sinking of
the underwater mobile body 1. The intermediate buoy 5 is connected
to the anchor 4 by a mooring cable 51. The mooring cable 6 is a
component that connects the intermediate buoy 5 and the underwater
mobile body 1. The length of the mooring cable 6 is set according
to diverse conditions, such as the depth of an underwater standby
position of the underwater mobile body 1, the velocity of current
of the sea where the underwater mobile body 1 is placed, and the
magnitude of the sea current resistance of the mooring cable 6, so
that the underwater mobile body 1 can ascend and reach the surface
of the sea.
[0038] Also, the mooring cable 6 is connected to such a portion of
the underwater mobile body 1 that the connection point is located
forward from the middle of the overall length of the mobile body 1
and at the same time is located rearward from the nose of the
mobile body 1. By connecting the mooring cable 6 in this manner, it
is possible to make it easier for the underwater mobile body 1 to
be supported nearly in parallel with the direction of sea
current.
[0039] In the observation state illustrated in FIG. 2, the
underwater mobile body 1 remains submerged in seawater and is
located downstream of the intermediate buoy 5 due to sea current.
At this time, since the underwater mobile body 1 is situated in the
sea current flowing in a direction indicated by the arrow in the
figure, the antenna 31 is pushed by the sea current and tilted
downstream. Although the antenna 31 is tilted substantially
horizontally in the figure, in practice the antenna is tilted
within a range of about 45 to 135 degrees from the vertical
direction shown in FIG. 1A, depending on the velocity of sea
current and pitching of the underwater mobile body 1.
[0040] After predetermined marine information is acquired by the
underwater mobile body 1, the antenna 31 needs to be exposed to the
atmosphere above the sea surface, in order to transmit the acquired
data to the ground side. Accordingly, the underwater mobile body 1
ascends from the observation state shown in FIG. 2. To cause the
underwater mobile body 1 to ascend, the oil pump 22c has only to be
operated to supply the operating fluid from the oil tank 22d to the
buoyancy bag 22a. During ascent, the seawater flows downward
relative to the antenna unit 3, and therefore, the antenna 31 is
tilted downward as shown in FIG. 3A.
[0041] While the antenna 31 is exposed to the atmosphere above the
sea surface as illustrated in FIG. 3B, the antenna 31 starts
communication with a communication satellite or the like to send
the acquired marine information to the ground base station. At this
time, the underwater mobile body 1 is floating near the sea
surface, so that the underwater mobile body rocks up and down due
to waves or the tension of the mooring cable 6. However, since the
antenna 31 is connected to the body unit 2 via the pivot shaft 33,
it is movable relative to the body unit 2. Accordingly, the
substantially vertical posture of the antenna 31 can be maintained,
so that the antenna can perform communication with its posture
stabilized.
[0042] Then, to return to the observation state, the underwater
mobile body 1 needs to descend. To cause the underwater mobile body
1 to descend, the oil pump 22c has only to be operated to discharge
the operating fluid from the buoyancy bag 22a into the oil tank
22d. During descent, the seawater flows upward relative to the
antenna unit 3, and thus, the antenna 31 is tilted upward as
illustrated in FIG. 3C.
[0043] The antenna 31 is required to turn at least in response to
the ascent shown in FIG. 3A and the descent shown in FIG. 3C.
Preferably, therefore, the antenna 31 is configured so as to be
able to turn through an angle of at least 180 degrees or more.
[0044] In the underwater mobile body 1 of the aforementioned
embodiment, the antenna unit 3 is configured to hold the antenna 31
such that the antenna is able to turn in a vertical direction, and
therefore, in all situations such as during observation, during
ascent and during descent, the antenna 31 is allowed to turn with
the flow of water, whereby the fluid resistance can be reduced.
[0045] Also, even in cases where the attitude of the underwater
mobile body 1 changes due to external force exerted by waves,
tension of the mooring cable 6 or the like when the underwater
mobile body has ascended to a position near the water surface for
communication, the antenna 31 can move relative to the underwater
mobile body, and thus, the posture of the antenna 31 can be
stabilized.
[0046] Referring now to FIG. 4, other embodiments exemplifying the
underwater mobile body 1 will be described. FIGS. 4A to 4E
illustrate underwater mobile bodies according to other embodiments
of the present disclosure, wherein FIG. 4A is a top view of a
second embodiment, FIG. 4B illustrates a section B-B as viewed from
a direction indicated by arrows in FIG. 4A, FIG. 4C is a side view
of a third embodiment, FIG. 4D is a side view of a fourth
embodiment, and FIG. 4E is a side view of a fifth embodiment. In
the figures, like reference signs denote like component parts
already explained above with reference to the first embodiment, and
detailed explanation of such component parts is omitted. Also, in
the individual figures, the specific gravity adjusting device 22 is
illustrated in a simplified manner.
[0047] In the underwater mobile body 1 of the second embodiment
illustrated in FIGS. 4A and 4B, the communication cable 35
connected to the antenna 31 is disposed in a different way.
Specifically, the communication cable 35 is passed through the
interior of the antenna 31, then led out from the peripheral
surface of the pivot shaft 33 and guided to the controller 23
within the body unit 2. In this manner, the communication cable 35
may be partly exposed to the outside at a location between the
antenna 31 and the body unit 2. It is possible that the weight
member 34 will pass between the supporting members 32, 32 of the
antenna unit 3, and thus, the communication cable is preferably
slackened so as not to obstruct the movement of the weight member
34.
[0048] In the underwater mobile body 1 of the third embodiment
illustrated in FIG. 4C, a shock absorber 7 is disposed around the
outer periphery of the tail of the body unit 2. Where the antenna
31 is long, it is possible that the antenna 31 will contact the
body unit 2 while turning. Thus, the shock absorber 7 is disposed
around the outer periphery of the tail of the body unit 2, thereby
preventing damage to the antenna 31.
[0049] In the underwater mobile body 1 of the fourth embodiment
illustrated in FIG. 4D, a shock absorber 7 is disposed around the
outer periphery of the antenna 31. This configuration also serves
to prevent damage to the antenna 31.
[0050] The underwater mobile body 1 of the fifth embodiment
illustrated in FIG. 4E is configured such that the antenna 31 can
make a 360-degree turn. Specifically, the supporting members 32
have a length longer than that of the antenna 31. This
configuration permits the antenna 31 to make a 360-degree turn
about the pivot shaft 33 without contacting the body unit 2,
whereby damage to the antenna 31 can be prevented.
[0051] In the foregoing embodiments, the underwater mobile body 1
is used in a marine information collection system for fixed-point
observation, but the configuration thereof is not particularly
limited. The underwater mobile body 1 may be an unmoored buoy, an
underwater traveling body, an underwater glider, or an underwater
towed body.
[0052] The present disclosure is not limited to the foregoing
embodiments and may of course be modified in various ways without
departing from the scope of the disclosure.
ASPECTS OF THE DISCLOSURE
[0053] In a first aspect of the present disclosure, an underwater
mobile body capable of acquiring information on hydrosphere and
moving between a position under water and a water surface includes:
a body unit provided with a data acquisition device that acquires
the hydrosphere information, and a specific gravity adjusting
device that adjusts the position of the underwater mobile body
under water; and an antenna unit arranged at a tail of the body
unit and provided with an antenna that transmits the acquired
hydrosphere information, wherein the antenna unit holds the antenna
such that the antenna is able to turn in a vertical direction.
[0054] In a second aspect of the present disclosure, the underwater
mobile body according to the first aspect is configured such that
the antenna unit includes a pair of supporting members extending
rearward from the body unit, a pivot shaft rotatably connected to
the supporting members, the antenna projecting from a peripheral
surface of the pivot shaft, and a weight member joined to the pivot
shaft and located opposite the antenna.
[0055] In a third aspect of the present disclosure, the underwater
mobile body according to the second aspect is configured such that
a communication cable connected to the antenna is passed through
interiors of the antenna, the pivot shaft and the supporting member
to be guided to the body unit.
[0056] In a fourth aspect of the present disclosure, the underwater
mobile body according to any of the first to third aspects is
configured such that the antenna is able to turn through an angle
of at least 180 degrees or more.
REFERENCE SIGNS LIST
[0057] 1: underwater mobile body [0058] 2: body unit [0059] 3:
antenna unit [0060] 22: specific gravity adjusting device [0061]
31: antenna [0062] 32: supporting member [0063] 33: pivot shaft
[0064] 34: weight member [0065] 35: communication cable
* * * * *