JP2012228919A - Unmanned floating observation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an unmanned floating observation device that enters a dangerous place for observing the back side of a bridge or the like on the water, while reducing observation costs.SOLUTION: On the outside of a screw 2 and a ladder 3 of a radio-controlled boat 1, a basket-shaped protection cover 4 with a slope part 6 is attached to prevent the screw 2 and the ladder 3 from losing their functions due to an obstacle. On the radio-controlled boat 1, a camera 13 which can be oriented in horizontal and vertical directions is mounted. The camera 13 is remotely controlled by a ground base 100 to observe a damaged part on the back side of a bridge or a degree of the damage.

Description

  The present invention relates to an unmanned surface observation apparatus that can observe a living organism or the like by entering a dangerous place that cannot be approached by a bridge or manned boat built on the road, a railway, or the like.

  When deciding the damage or useful life of a bridge due to an earthquake, tsunami, aging, etc., observation from the ground or above is possible, but when observing the bridge from below, board a manned boat and under the bridge. The current situation is that from here, the overhead bridge is photographed with a camera or visually inspected.

  Thus, in order for an operator to visually observe the damage situation such as cracks and collapse, etc. from a manned boat, or to take a picture with a camera and analyze it by visualizing it on a ground monitor, at a minimum, Two workers need to be involved.

  There are also places where river flows, vegetation, etc. interfere with each other and are dangerous and cannot be reached under the bridge.

  In such a case, there is a method of observing from under the bridge using a safety rope from the top of the bridge, but if this is not possible, giving up observation from under the bridge. Currently.

  Further, as a survey device for a seagrass bed, Patent Document 1 (Japanese Patent Application Laid-Open No. 2002-058370) introduces an apparatus for surveying a video system that can be run underwater from a ship by remote control.

  Further, as an underwater observation apparatus, Patent Document 2 (Japanese Patent Laid-Open No. 10-020382) introduces an apparatus that takes a CCD camera into water from an unmanned ship and remotely operates it from the ground for underwater photography.

  However, in the case of the above-described observation apparatus, it is possible to observe the water and the bottom of the water, but it is not possible to observe a building on the water from the water. Especially in the case of rivers and lakes, there are many obstacles such as dredgings and driftwood, and these obstacles damage the screw or ladder of the boat, so it cannot be approached or returned due to obstacles. It becomes impossible.

  In addition, the observation with a manned boat is expensive.

JP 2002-058370 A Japanese Patent Laid-Open No. 10-020382

  As described above, the present invention enables remote shooting using a radio controlled boat that can take a picture from the water while approaching a place where there is an obstacle and cannot be approached, and that does not cost the observation. It is an object of the present invention to provide an unmanned aerial observation apparatus that can safely observe structures and organisms on the water at low cost.

  The invention described in claim 1, which is provided to solve the above-described problem, is a water unmanned observation apparatus, in which a. A screw attached to the bottom of the radio controlled boat and a protective cover with a wire rod arranged rearward with a certain distance outside the rudder, and an inclined part that rises backward on the front part of this protective cover or the entire protective cover B. A camera frame that can be rotated horizontally and vertically is mounted on the radio-controlled boat, and a camera for photographing buildings, creatures, and plants on the water is mounted on the camera frame; c. On the radio control boat, the radio control boat and the camera mount and the camera are operated by wireless communication from the ground or the mother ship, and onboard control communication means for transmitting the imaging signal of the camera to the ground or the mother ship is mounted. d. On the ground or on the mother ship, there is provided a ground observation communication means for sending a control signal to the onboard control communication means, receiving a signal from the onboard control communication means, outputting it to a monitor, and storing it as data. It is characterized by this.

  According to the present invention, the obstacle does not come into contact with the screw or the ladder due to the action of the protective cover, so that there is no problem in traveling on the water and changing the direction.

  In addition, since the protective cover is made of a wire and is inclined at the front or the whole, the resistance of water can be minimized.

  Next, the invention described in claim 2 is to collect environmental survey data in addition to the camera to the radio controlled boat described in claim 1 and transmit it to the ground observation communication means via the onboard control communication means. It is characterized by the fact that it is equipped with the environmental survey means.

  According to the present invention, various environmental data can be collected in conjunction with observation from the water, so that multifaceted observation and investigation can be performed simultaneously.

  Further, the invention described in claim 3 is characterized in that the radio controlled boat described in claim 1 is equipped with a GPS function and can acquire observation position data of an investigation object currently being investigated. Is.

  According to the present invention, since the current shooting position can be specified by the point, it is convenient that the location is not mistaken when rushing for repair or the like later.

  In particular, in the case of a long bridge, it is possible to know exactly where the problem occurred on the bridge by analyzing the position at which the bridge was photographed, so that it is possible to identify the problem from above the bridge. It is effective when you can rush to a location and need an emergency.

  In this regard, in the case of using a conventional manned boat, for example, the position where the damage occurred under the bridge was visually confirmed and recorded, so the position confirmation may be inaccurate especially for long bridges. There was a problem during the emergency response.

  The invention described in claim 4 is characterized in that a blower is attached to the camera mount on the radio-controlled boat described in claim 1 toward the camera mounted on the camera mount. It is.

  According to the present invention, it is possible to prevent the rain and splashes coming to the camera from being blown forward to adhere to the lens of the camera and the camera housing chamber from getting wet.

  According to a fifth aspect of the present invention, there is provided a camera frame according to the first aspect, wherein the camera frame is rotatable in a horizontal direction by a rotary motor fixed on the radio control boat, and a camera fixed in the camera storage chamber. The camera rotation motor that can rotate the camera up and down by driving the rotating shaft and the skylight formed on the ceiling at the position where the camera is located in the camera storage room described above is opened when the camera is controlled upward, and the horizontal The interlocking means that closes when the orientation is controlled, and the rear part of the camera housing chamber, from the rear toward the opening formed in front of the camera housing chamber, splashes and water droplets enter the camera housing chamber from this opening. It is characterized by the fact that a blower is installed to block the air pressure with wind pressure.

  According to the present invention, since the skylight is opened only when the camera itself is controlled upward, there is no hindrance to shooting with the camera facing upward, and when moving without the camera facing upward, splashing or rainwater Does not enter the camera compartment.

  The invention described in claim 6 is characterized in that the radio controlled boat described in claim 1 is equipped with a light that can change the irradiation direction in the horizontal and vertical directions in conjunction with the direction of the camera. To do.

  According to the present invention, when photographing with a camera, there are many cases where the area under the bridge is dim, so that it is possible to obtain a clear image by applying light light.

  According to a seventh aspect of the present invention, a transparent glass or plastic window is attached to the front of the camera housing chamber according to the first aspect, and a wiper is attached to the window so as to be remotely operable. It is characterized by this.

  According to the present invention, it is possible to prevent splashing from the front of the camera and the like, and when a water droplet adheres, the wiper can be driven and removed.

  The invention described in claim 8 is characterized in that the radio controlled boat described in claim 1 is equipped with a compass capable of detecting the shooting direction of the camera and transmitting it as data.

  According to the present invention, since the photographing direction of the camera can be specified, it is convenient to specify the position of the damaged part of the pier, for example.

  As described above, the present invention can easily observe a damage etc. by photographing the back side of a bridge from the water using a radio controlled boat, so that it cannot approach a dangerous place like a manned boat. In addition, the observation cost can be reduced because the image is taken unattended.

  In addition, the radio controlled boat can take a picture without being influenced by obstacles such as reeds and driftwood, and can approach a shooting point freely or enter a place that cannot be approached by a manned boat.

  Moreover, according to this invention, it can utilize also as observation apparatuses, such as a living organism | raw_food from the surface besides a building like a bridge.

Explanatory drawing of the water unmanned observation apparatus which concerns on this invention. Explanatory drawing of a radio controlled boat. Explanatory drawing of the protective cover seen from the side. Explanatory drawing of the protective cover seen from the side. Explanatory drawing of the protective cover seen from the front. Explanatory drawing of a camera mount part. Explanatory drawing which looked at the camera mount part from the top.

  The unmanned aerial observation device according to the present invention is an organism or the like that inhabits water structures, rivers, lakes, etc., and has been conventionally observed on a manned boat on an unmanned radio control boat. An observation device that can reduce the observation cost while being able to approach and observe even dangerous places that could not be approached by manned boats by installing and performing observation while radio controlling on land or on the mother ship It is.

  In particular, the radio controlled boat according to the present invention has a device capable of entering into a place where a conventional radio controlled boat cannot be approached due to obstacles such as dredging and driftwood, in addition to running and operating functions as a known radio controlled boat. Has been made.

  In addition, the observation device mounted on the radio controlled boat has a camera and a light attached to a gantry that can be controlled 180 ° horizontally from the boat and remotely controlled 90 ° or 180 ° upward. It is a structure.

  The camera is housed in a camera housing so as not to get wet with splashes or rainwater, and a ceiling window that can be opened and closed in conjunction with the direction of the camera is provided on the ceiling of the camera housing. The upper part can be photographed from this skylight.

  Further, the front of the camera housing chamber is opened, and photographing in the front direction is possible from this opening. However, in order to prevent splashing or rainwater from entering through the opening, the opening may be a glass or transparent plastic window, and a wiper may be attached to remove water droplets.

  In addition, a blower for blowing air toward the camera is attached to the rear of the camera storage room, and an air flow that flows forward through the camera storage room is formed, and when there is no glass window, splashes and rainwater enter the room. You may make it prevent entering.

  On land or on the mother ship, send a radio signal to the onboard control communication device mounted on the radio control boat and send a control signal to the radio control boat and the observation device, and conversely receive the observation data from the onboard control communication device and display it on the monitor. There is a ground observation communication base for recording data.

  An embodiment of the present invention will be described in detail with reference to FIGS. FIG. 1 shows an entire observation apparatus. Reference numeral 1 denotes a radio control boat. The radio control boat 1 has a known function of traveling by remote control in response to a control signal from a land observation communication base 100. The size of the boat is selected according to the conditions such as the size, weight, and river of the observation equipment, but the boat of this embodiment has a length of 1.2 m.

  2 is a screw provided on the bottom 1a of the radio controlled boat 1; 3 is a ladder; 4 is a protective cover formed of a metal wire 5 made of stainless steel or the like that covers the screw 2 and the ladder 3 from its periphery; As shown in FIGS. 2 to 5, the cover 4 meshes the wire 5 in a bowl shape with a certain interval 5 a so as to surround the screw 2 and the ladder 3 from the periphery, and inclines from the front of the ship bottom 1 a toward the rear. It consists of the structure which formed the part 6, and is being fixed to the ship bottom 1a with the fastening screw 7. FIG.

  The protective cover 4 is connected to the rope 8 suspended in the horizontal direction in FIG. 2 or through the gap 5a while preventing obstacles such as a fence or a tree branch from becoming entangled with the screw 2 and the ladder 3. Propulsion and steering are ensured by being in contact with water as usual.

  Moreover, the inclination part 6 formed in the front part of the protective cover 4 aims at reducing the resistance of water or making it easy to enter into dense ridges.

  Reference numeral 9 denotes a camera mount mounted on the radio control boat 1. The mount 9 includes a camera storage chamber 12 mounted in a horizontal direction with respect to the rotation shaft 11 of the motor 10, and a front in the storage chamber 12. And a camera rotation shaft 14 mounted horizontally on a frame 15 that can change the orientation of the camera 13 in the vertical direction.

  Reference numeral 16 denotes an orientation control device for the camera 13 for rotating the orientation of the camera 13 assembled behind the camera 13 by 90 ° in the vertical direction. The control device 16 is a cradle fixed to the camera housing chamber 12. A tip 20a of a wire 120 tied to a lever 19 that can be tilted back and forth by a motor 18 on the upper surface of 17 is tied to a band 21 attached to the camera 13, and the lever is moved by the motor 20 as shown in FIG. By tilting 19, the camera 13 can be controlled from the horizontal to the upward direction around the camera rotation axis 14 with the wire 20.

  Reference numeral 22 denotes a skylight formed in the ceiling portion of the camera housing chamber 12, and a sliding window lid 23 is attached to the skylight 22 along a guide rail 24 so as to be slidable and openable. When the camera 13 is controlled upward, the interlocking wire 25 connected between the band 21 and the window lid 23 of the camera 13 is pulled in an interlocked manner as shown in FIG. When facing, it is closed in conjunction.

  Reference numeral 26 denotes a light attached to the camera 13 so as to face the same direction as the camera 13, and can project the tip of the light 26 onto a subject to be photographed in accordance with the direction of the camera 13.

  Reference numeral 27 denotes a blower attached to the rear part of the camera storage chamber 12 by a fixing belt 30 and a fastening screw 31. The blower 27 blows out air sucked from an air suction port 28 through a front opening 29, and the camera storage chamber. 12 prevents water splashing and the like from flowing into the inside.

  However, a glass or transparent plastic window fitted with a wiper may be attached to the opening 29 of the camera housing chamber 12, and in this case, the blower 27 is unnecessary.

  32 is a power source (battery) mounted on the radio controlled boat 1, and the power box for supplying power to the camera 13, the motor 18, the fan motor in the blower 27, and the light 26 via the cable 33, in FIG. Reference numeral 34 denotes a signal cable that transmits an imaging signal photographed by the camera 13 and transmits a control signal of the camera 13 (for example, ON, OFF, zooming, etc. of the camera 13) sent from the ground base.

  In FIG. 6, 1b is a hull deck, and a camera mount 9 (camera housing chamber 12) is fixed to the deck 1b by a base 1c and bolts 1d.

  In FIG. 1, reference numeral 100 denotes a land base, and the land base 100 communicates with the onboard control device 35 mounted on the radio controlled boat 1 via the antennas 36 and 102 for land control communication. The device 101 is provided, and the equipment on the radio controlled boat 1 is operated by a signal from the land control communication device 101 and receives an imaging signal from the camera 13 and can be displayed on the display 103.

  Further, the land control communication device 101 incorporates a recording device for recording a video signal and other environmental information data.

  In FIG. 1, reference numeral 37 denotes a GPS device mounted on the radio controlled boat 1. The GPS device 37 acquires position information of the radio controlled boat 1 (camera 13), and uses the position information (shooting position) as a land base. 100 can be obtained. In FIG. 1, reference numeral 38 denotes a compass attached to the camera housing chamber 12 of the radio control boat 1. The compass 38 specifies the shooting direction of the camera 13 and transmits it to the ground as data, thereby matching the shooting position. By acquiring the direction, observation with higher accuracy is possible.

  Next, an example of observation performed using the observation apparatus described above will be described. The radio controlled boat 1 travels to the bottom of the bridge by a control signal from the land base 100. Here, the horizontal direction of the camera 13 (camera housing room) is driven in the direction of 360 ° by driving the motor 11 as shown in FIG. Then, the motor 18 is driven to control upward, and the window lid 23 is opened to take a picture.

  The blower 27 is continuously driven while the radio controlled boat 1 is traveling and while the camera 13 is photographing.

  The land base 100 can observe the damage position and degree of damage of the bridge with the above-described photographing data, and send it to the relevant department as appropriate information such as restoration and repair if necessary.

DESCRIPTION OF SYMBOLS 1 Radio control boat 2 Screw 3 Ladder 4 Protective cover 9 Camera mount 10 Camera accommodation chamber 13 Camera 22 Skylight 26 Light 27 Blower

Claims (8)

a. A screw attached to the bottom of the radio controlled boat and a protective cover with a wire rod arranged rearward with a certain distance outside the rudder, and an inclined part that rises backward on the front part of this protective cover or the entire protective cover That formed
b. On the radio-controlled boat, a camera frame that can be rotated horizontally and vertically is mounted, and a camera for photographing buildings, creatures, and plants on the water is mounted on the camera frame.
c. On the radio control boat, the radio control boat and the camera mount and the camera are operated by wireless communication from the ground or the mother ship, and onboard control communication means for transmitting the imaging signal of the camera to the ground or the mother ship is mounted.
d. On the ground or on the mother ship, there is provided a ground observation communication means for sending a control signal to the onboard control communication means, receiving a signal from the onboard control communication means, outputting it to a monitor, and storing it as data. about,
e. A water-based unmanned observation device.   The radio controlled boat described in claim 1 is equipped with an environmental survey means for collecting environmental survey data in addition to the camera and transmitting it to the ground observation communication means via the onboard control communication means. Water unmanned observation device.   The radio controlled boat described in claim 1 is equipped with a GPS function, and can obtain observation position data of an investigation object currently being investigated.   An unmanned aerial observation apparatus according to claim 1, wherein a blower is attached to the camera base on the radio control boat according to claim 1 toward the camera attached to the camera base.   According to a first aspect of the present invention, there is provided a camera mount, wherein a camera housing chamber that is rotatable in a horizontal direction by a rotary motor fixed on a radio controlled boat, and a camera rotating shaft fixed in the camera housing chamber is driven to move the camera vertically. A rotatable camera rotation motor and an interlocking mechanism that opens when the camera is controlled upward, and closes when the camera is controlled horizontally, when the skylight is formed on the ceiling where the camera is located. And a blower for preventing spraying of water, water droplets, and the like from the opening toward the opening formed at the front of the camera housing chamber from the rear side by wind pressure. A water-based unmanned observation device.   The radio controlled boat described in claim 1 is equipped with a light that can change the irradiation direction in the horizontal and vertical directions in conjunction with the direction of the camera.   A waterless unmanned observation apparatus, characterized in that a transparent glass or plastic window is attached to the front of the camera housing chamber according to claim 1 and a wiper is attached to the window in a remotely operable manner. A radio-controlled boat according to claim 1, further comprising a compass capable of detecting a shooting direction of the camera and transmitting the data as data.

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