JP2008100536A - Unmanned monitoring buoy for drifting material, monitoring system for drifting material and method thereof - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an unmanned monitoring buoy for drifting materials, a monitoring system for drifting materials and a method thereof which can detect the position of the drifting materials by facilitating collection of the drifting materials such as heavy oil on the water and automatically tracking by detecting the position of the drifting materials in order to reduce the effect on the natural environment and local economy due to oil spill incident such as heavy oil, and can detect the data of hydrographical/meteorological phenomenon of the drifting water area of the drifting materials and transmit the data to the base station in real time. <P>SOLUTION: The unmanned monitoring buoy (10) for drifting materials is put in a water area having the drifting materials (Fo), and automatically repeats surfacing and downwelling in the water area. The monitoring buoy detects the existence or non-existence and the position of the drifting materials (Fo) on the water surface part when it is under the water surface. After detecting, the monitoring buoy floats toward the position of the drifting material (Fo) to be detected, and sends the position information and the data of hydrographical/meteorological phenomenon or the like when floating in the area of the drifting materials (Fo) on the water surface. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an unmanned floating substance monitoring buoy, a floating substance monitoring system, and a floating substance monitoring method for detecting and monitoring a floating substance such as heavy oil that has flowed out to the sea due to a marine accident or the like and is floating or floating.

  Heavy oil spilled to the sea due to a tanker maritime accident, etc. becomes highly viscous because it is emulsified and becomes highly viscous when mixed with seawater.If it drifts to the coast, damage to the natural environment is likely to increase. Because recovery requires a lot of time and effort, it also causes a lot of loss for the surrounding economy.

  Therefore, in order to prevent damage to the environment to a minimum, before the spilled heavy oil drifts to the coast, limited heavy oil recovery equipment and oil control equipment are placed on the coast where the drift is expected. It is necessary to quickly collect the stranded heavy oil. To that end, when floating heavy oil (floating heavy oil) is discovered, it is necessary to perform high-precision heavy oil drift simulations to accurately predict the drifting destination. In order to improve the accuracy of this heavy oil drift simulation, it is important to acquire and reflect the marine and meteorological data in real time in the drift position of the heavy oil and the drifting water area.

  There is a method called a fluorescent lidar method as a method for detecting and monitoring floating substances such as heavy oil and chemicals that have flowed out of the sea due to a marine accident of a tanker ship and floating. In this method, as shown in FIG. 11, a helicopter 1 is equipped with an ultraviolet laser radar (LIDAR: Light Detection and Ranging) device 2 to scan the outflow sea area from the sky. In this scanning, the laser radar device 2 on the helicopter 1 is irradiated with an ultraviolet pulse laser L1 toward the sea surface, and the fluorescence L2 generated on the sea surface by this irradiation is composed of an image intensifier tube on the helicopter 1 and a CCD camera. Images are taken with respect to four types of wavelengths using the ultra-sensitive camera. In this captured image, the position information of the seawater and the spilled oil is obtained by distinguishing the blue-purple water Raman light of seawater from the blue-green fluorescence of petroleum. By the way, in the spilled oil test observation, when the height H is 150 m, the result is that the spilled oil can be detected with a field of view of 100 mrad and a diameter R of the range of the water surface of 15 m.

  Since this fluorescence lidar method is an active method in which fluorescence is generated by laser excitation, observation is possible not only in the daytime but also at nighttime, and the outflow substance can be identified by the fluorescence spectrum. Further, since a CCD camera is used as the light receiving side, real-time monitoring is possible.

  However, this method has a problem that it is difficult to follow outflow for a long time due to the limitation of the cruising time of the helicopter. At present, there are no devices or systems that can track the buoyant heavy oil automatically for a long period of time and acquire the position information of the spilled heavy oil and the sea state / weather data of the sea area in real time by other methods.

  On the other hand, after drifting a depth of a certain depth for a certain period of time, the aircraft automatically ascends, informs the satellite of its own one, and sinks to a predetermined depth again. An automatic levitation type float that obtains the average flow velocity of the deep layer from the difference from the levitation position is proposed (for example, see Non-Patent Document 1).

However, even if the buoy is dropped into the floating material at first, the buoy may come out of the floating material due to disturbances such as waves, tidal currents and winds. There is a problem that buoys that cannot move on their own cannot follow drifting floating material. In addition, a buoy that uses a propulsion device such as a propeller consumes a large amount of energy such as electric power used for propulsion, and has a problem that it cannot follow a suspended substance and transmit data for a long period of time.
Yutaka Nagata, “Neutral Flow and Argo Project”, Encyclopedia of the Sea, Maruzen Co., Ltd., published on March 25, 2003, p. 407-409

  The present invention has been made to solve the above-mentioned problems, and its purpose is to facilitate the collection of floating substances such as heavy oil on the water, and to influence the natural environment and local economy due to a spill accident of heavy oil and the like. In order to reduce this, the position of the floating material is detected and automatically tracked to detect the position of the floating material, as well as the oceanographic and meteorological data of the floating water area of the floating material, and these data are transmitted to the base station in real time. An unmanned floating material monitoring buoy, a floating material monitoring system, and a floating material monitoring method that can be transmitted to a vehicle.

  The unmanned floating substance monitoring buoy according to the present invention for achieving the above-mentioned object is introduced into a water area where the floating substance is present, and automatically floats and sinks in the water area, and when it is below the water surface, The presence / absence and position of the buoyant substance are detected, and after detection, the buoyant substance rises toward the position of the detected buoyant substance, and the position information is transmitted to the base station when buoyant in the buoyant substance area on the water surface.

  The main feature of this unmanned floating substance monitoring buoy is that it is put into the water area where the spilled substance (buoyant substance: suspended substance) immediately after the spill of heavy oil, etc. The point is that the floating material is automatically tracked over time, and the sea state and meteorological data of the water area where the floating material is drifting are transmitted in real time to the ground, sea or air base station.

  By combining these two features, it is possible to improve the efficiency of the floating material recovery work in the floating water area of the floating material. In addition, since real-time data can be obtained, high-precision heavy oil drift simulation can be performed, so that the accuracy of drift prediction can be improved, and countermeasures can be taken early on the coast where drift is expected.

  That is, according to this configuration, the floating material can be automatically tracked by automatically repeating the sensing of the floating material such as heavy oil and the movement in the direction in which the floating material is detected. Therefore, while automatically following floating oils such as heavy oil and chemicals drifting on the surface of the sea, rivers, lakes, etc., the position is detected by a GPS device mounted on an unmanned floating substance monitoring buoy. Can be transmitted to a base station arranged on the ground, on a ship, on an aircraft, or on a helicopter, and the drifting position of floating material can be accurately grasped.

  In addition, when unmanned buoyant material monitoring buoys were removed from the buoyant material region due to disturbances such as waves, winds and tidal currents, they were detected by controlling the wing angle of movable wings during the ascent and the like by subsidence and ascent by buoyancy adjustment. Since it floats toward the position of the floating material and returns to the floating material region, the energy used to follow the floating material is small. Therefore, it is possible to follow for a long time as compared with the case of following using a propulsion device such as a propeller, and it is possible to automatically follow for several days to several weeks.

  The unmanned floating substance monitoring buoy is configured to measure sea state / weather data and transmit the measured sea state / weather data to the base station. According to this configuration, in addition to the drifting position of the floating material, sea conditions and meteorological data such as waves, tidal currents, winds, and atmospheric pressure in that water area can be obtained, so the accuracy of floating simulation of floating material can be further improved. .

  Further, in the above-described unmanned buoyant substance monitoring buoy, the buoyancy detected by controlling the blade angle of the movable wing during the levitation while the buoyancy adjustment device repeats the levitation and sinking and adjusts the buoyancy. It is constructed so as to rise toward the material part. According to this configuration, buoyancy can be achieved by using a mechanism that combines the vertical movement by the buoyancy adjustment device installed inside or outside the fuselage monitoring buoy and the control of the blade angle of the movable wing. The adjustment can be performed with a simple mechanism and with little energy. Moreover, since the aircraft itself moves without using a propeller such as a propeller, the power consumed by automatic tracking can be kept low. Therefore, real-time data of sea conditions and meteorological conditions in the floating water area can be transmitted to the base station while automatically tracking the floating material for a long period of about 20 days immediately after the heavy oil floating. In addition, automatic tracking is possible with a relatively simple mechanism and relatively simple control. The movable wing may have a configuration in which the entire wing rotates or swings, or may have a configuration in which some of the flaps of the wing swing.

  Further, the above-described unmanned floating substance monitoring buoy is configured so that the presence or absence and position of the floating substance in the water surface portion when it is below the water surface are detected by a non-contact detection sensor. According to this configuration, when sinking, the non-contact detection sensor can search for a wide range upward, and since the linkage with the follow-up operation at the next ascent is continuous, automatic follow-up is smoothly performed with energy saving. become able to.

  As this non-contact detection sensor, an ultraviolet sensor can be used, and the difference between the water surface and the floating material is detected by scanning the ultraviolet light upward (water surface) and analyzing the reflected light (fluorescence) spectrum. Detect the position (relative position) of the floating material as seen from the unmanned floating material monitoring buoy. The non-contact detection sensor is not limited to the ultraviolet sensor, and may use light of other wavelengths, sound waves, or the like. In short, it is only necessary to be able to detect the floating material on the surface of the water above the unmanned floating material monitoring buoy that is non-contact and in water.

  Further, the above-described unmanned floating substance monitoring buoy is configured so that the contact type detection sensor determines whether or not it is floating in the floating substance area on the water surface. According to this configuration, since it can be determined whether or not the surface floats in the floating material region on the water surface, when floating in the floating material region on the water surface, that is, in the mass of floating material such as heavy oil, When a substance monitoring buoy is present, it is not necessary to automatically follow it, and wasteful settling and floating can be eliminated, thereby further saving energy.

  As the contact detection sensor, a movable blade torque detection sensor can be used. When the aircraft is flying, the movable blade is moved, the torque is detected by the torque detection sensor, and the detected torque value is set to a predetermined value. It is possible to easily determine whether the movable blade is in water or in floating material such as heavy oil. In this case, the fact that the viscosity of water (or seawater) and floating material (heavy oil, chemical substances, etc.) is different is used. In addition, you may use sensors other than this as a contact-type detection sensor.

  In order to achieve the above object, a floating material monitoring system of the present invention is configured using the above-described unmanned floating material monitoring buoy. According to this configuration, it is possible to obtain the drifting position of the floating material and the sea state / weather data in the water area with a relatively simple device and system such as the unmanned floating material monitoring buoy and the receiving device of the base station. .

  In addition, the floating substance monitoring method of the present invention for achieving the above object is to introduce an unmanned floating substance monitoring buoy into a water area where the floating substance is present, and cause the unmanned floating substance monitoring buoy to repeatedly rise and sink. The presence and position of the floating substance in the water surface portion when it is under the surface of the water is detected, and after detection, it is lifted toward the position of the detected floating substance, and is unmanned when it is floating in the floating substance region of the water surface. This is a method for transmitting position information of a floating material monitoring buoy to a base station.

  Further, in the above buoyant substance monitoring method, the unmanned buoyant substance monitoring buoy measures sea conditions / weather data, transmits the measured sea conditions / weather data to a base station, or repeats the ascent and sink of buoyancy. The buoyancy is adjusted by the adjusting device, and during the ascent, the wing angle of the movable wing is controlled to levitate toward the portion of the detected buoyant substance.

  In the above floating material monitoring method, whether or not the presence and position of the floating material on the surface of the water surface when it is below the surface of the water is detected by a non-contact detection sensor or is floating in the floating material region of the water surface The determination of whether or not is made by a contact type detection sensor.

  According to these floating substance monitoring methods, the same effects as the unmanned floating substance monitoring buoy and the unmanned floating substance monitoring system described above can be obtained.

  According to the unmanned floating material monitoring buoy, the floating material monitoring system, and the floating material monitoring method of the present invention, the floating material that follows the floating material is saved with energy saving, and the position of the floating material such as heavy oil and the state of the floating water Since the meteorological data can be obtained in real time at the base station, the drifting simulation of the floating material can be performed with high accuracy. Accordingly, it is possible to appropriately take advance countermeasures such as placing a floating material recovery device on the coast of the drifting destination.

  Hereinafter, an unmanned floating substance monitoring buoy, a floating substance monitoring system, and a floating substance monitoring method according to the present invention will be described with reference to the drawings. Here, heavy oil will be described as a floating material (floating material, spilled material), but the present invention can also be applied to other floating materials.

  As shown in FIG. 1, the unmanned floating substance monitoring buoy 10 of the present invention is put into a water area where the floating substance Fo is present, and automatically floats and sinks in this water area ((a) to (f)), When it is under the surface of the water ((c)), the presence and position of the floating material Fo in the water surface portion are detected ((d)), and after the detection, it floats toward the position of the detected floating material Fo ((e)). When the surface floats in the area of the floating material Fo on the water surface ((f)), it is configured to transmit position information, sea state / weather data, etc. to the base station.

  As shown in FIGS. 2 to 4, the unmanned buoyant substance monitoring buoy 10 according to the embodiment of the present invention includes a total of four movable wings 12 at the upper portion of a cylindrical body 11 in a cross-shaped position. At the same time, a total of four fixed wings 13 are formed at the lower portion with a cross-shaped position. Further, as shown in FIGS. 5 to 8, the movable blade driving motor 12 a, the buoyancy adjusting device 14, the buoyant heavy oil detection device 21, the attitude control sensors 22 and 23, the battery 15, and the like are arranged inside the fuselage 11. Established. In addition, when the wave power generator is provided and the battery 15 is configured to be charged in a state where the wave power generator is swayed by the wave in the floating state, the operation period can be remarkably increased.

  Also, the movable blade 12 and the buoyancy adjustment are provided in the head portion 11a of the fuselage 11 based on the output signals of the buoyant heavy oil detection device 21 and the various sensors 21, 22 and 23 having an ultraviolet sensor for detecting the distribution range of the buoyant heavy oil. A control unit 30 for controlling the device 14, a GPS device (not shown) for detecting the position of the buoy 10, various measuring devices (not shown) such as a velocimeter and a wave height meter for monitoring sea conditions and weather, various data A transmitting device (not shown) or the like for transmitting the signal to the base station is provided. Further, a suspension 11b is provided on the top of the head 11a so that the unmanned floating substance monitoring buoy 10 can be easily collected.

  The buoyant heavy oil detection device 21 includes an ultraviolet sensor for detecting the distribution range of the buoyant heavy oil Fo. As shown in FIG. 1, the unmanned buoyant substance monitoring buoy 10 sinks, for example, about 10 m. This ultraviolet ray is irradiated from below the water surface toward the water surface at a predetermined depth, scanned within a predetermined range of the water surface, and the fluorescence reflected from the water surface and floating heavy oil Fo is captured to analyze this fluorescence. To distinguish between the water surface and the floating heavy oil Fo region.

  As the attitude control sensor, there are a rate sensor 22 that detects acceleration in each direction, an azimuth / tilt sensor 23 that detects azimuth and inclination, a depth meter (not shown), and the like.

  The movable blade 12 rotates or swings by driving a movable blade driving motor 12a that uses the battery 15 as a power source. This movable blade drive motor 12a drives a pair of movable blades 12 at the same time, and is provided with two in total. The rotating shaft of the movable blade 12 is provided with a torque sensor (not shown) for measuring rotational torque, and the unmanned floating substance monitoring buoy 10 is placed in heavy oil depending on the magnitude of the rotational torque detected by the torque sensor. It is determined whether or not. Then, the control unit 30 to which the detection results of the floating fuel oil detection device 21 and the attitude control sensors 22 and 23 and the like are input, each during the ascent so that the unmanned floating material monitoring buoy 10 enters the floating fuel oil Fo during the ascent. The movable blade driving motor 12a is controlled to control the blade angles of the two pairs of movable blades 12 for each pair.

  The buoyancy adjustment device 14 includes a buoyancy adjustment motor 14a, a piston 14b, a cylinder 14c, a buoyancy adjustment water inlet / outlet 14d, and the like. By driving the buoyancy adjustment motor 14a, the piston 14b is reciprocated to enter and exit the cylinder 14c. Thereby, water is sent out from the cylinder 14c via the buoyancy adjustment water inlet / outlet 14d to increase the buoyancy, or conversely, water is taken into the cylinder 14c from the buoyancy adjustment water inlet / outlet 14d to reduce the buoyancy. In FIG. 5, the portion where water enters is indicated by hatching (oblique lines).

  The unmanned buoyant substance monitoring buoy 10 as a whole is in a state where the buoyancy and the weight are substantially balanced, and when the buoyancy from which water is delivered is maximum, at least a part of the head 11b is exposed on the water surface. The weight adjustment and the capacity of the buoyancy adjustment device 14 so that the head 11a can come out on the water surface and perform wireless communication with the base station, and so that it sinks when the buoyancy that takes in water is minimum. Set. Then, the unmanned buoyant substance monitoring buoy 10 is caused to rise or sink by the increase or decrease in buoyancy by the buoyancy adjustment device 14.

  The floating substance monitoring system is configured using the unmanned floating substance monitoring buoy 10. In this case, the base station that receives the transmission of the unmanned floating substance monitoring buoy 10 is normally installed on the land as a ground station, but may be installed on a helicopter, an airplane, or the like as necessary. Note that reception may be performed by a plurality of base stations. In addition, this floating substance monitoring system detects the floating area of the floating substance Fo in order to introduce the unmanned floating substance monitoring buoy 10 into the floating area of the floating substance Fo, and uses the unmanned floating substance monitoring buoy 10. It is configured with equipment and subsystems for charging and collecting the floating material Fo in the drifting water area.

  Next, a control method of the unmanned floating substance monitoring buoy 10 and a floating substance monitoring method using the unmanned floating substance monitoring buoy 10 will be described.

  As shown in FIG. 9, when a heavy oil spill accident occurs (S1), the floating heavy oil is searched by an aircraft, helicopter, ship, etc. (S2), and when floating heavy oil is found (S3), unmanned floating substance monitoring The buoy 10 is introduced into or near the floating heavy oil Fo from an aircraft, helicopter, ship, or the like (S4). At the time of this input, the control of the control unit 30 is started by turning on the switch, and its operation is started. Thereafter, the floating heavy oil is monitored by the unmanned floating substance monitoring buoy, and the unmanned floating substance monitoring buoy 10 follows the drift of the floating heavy oil Fo and transmits various data to the base station (S5). When the necessary processing such as recovery of the floating heavy oil Fo is completed and the data of the unmanned floating material monitoring buoy 10 is no longer necessary, the unmanned floating material monitoring buoy 10 is recovered, the switch is turned off, and the control unit 30 Is stopped and the operation is stopped.

  Then, in the monitoring of floating heavy oil by the unmanned floating material monitoring buoy (S5), the automatic tracking and data communication of the floating heavy oil Fo of the unmanned floating material monitoring buoy 10 are automatically performed according to the control flow shown in FIG. Controlled.

  When the switch of the control unit 30 of the unmanned floating substance monitoring buoy 10 is turned on and the control according to the control flow shown in FIG. 10 is started, the movable blade 12 is moved in step S51, and the torque at this time is torqued. It detects with a sensor ((a) of FIG. 1). In the next step S52, it is determined from the magnitude of the torque detected when the movable blade 12 is moved whether or not the unmanned floating substance monitoring buoy 10 is in the floating heavy oil. When the magnitude of the detected torque is greater than a predetermined torque threshold, it is determined that the floating heavy oil Fo is present, and when it is smaller, it is determined that the detected torque is underwater (in seawater). This unmanned buoyant substance monitoring buoy 10 may be removed from the buoyant heavy oil Fo when it is thrown in, or may be removed from the buoyant heavy oil Fo due to disturbances such as waves, winds and tidal currents even in the buoyant heavy oil Fo. Do.

  If it is determined that the determination result in step S52 is in the floating fuel oil Fo, the process goes to step S56. If the determination result in step S52 is not in the floating fuel oil Fo, the process proceeds to step S53. Go to control the buoyancy adjustment device 14 and move the buoyancy adjustment cylinder 14a to reduce the buoyancy by adding water from the buoyancy adjustment water inlet / outlet and measure the settling depth with a depth meter (for example, To 10 m) ((b) of FIG. 1). When the predetermined depth is reached ((c) of FIG. 1), the upper surface of the water is scanned by the ultraviolet sensor of the floating heavy oil detection device 21 and viewed from the unmanned floating substance monitoring buoy 10 in the next step S54. The position (relative position) of the floating heavy oil Fo on the water surface is detected ((d) in FIG. 1).

  When the detection of the position of the buoyant heavy oil Fo on the water surface by the buoyant heavy oil detection device 21 is completed, in the next step S55, the buoyancy adjusting device 14 is controlled to move the buoyancy adjusting piston 14b, and water is supplied from the buoyancy adjusted water inlet / outlet 14d. Then, the buoyancy is increased and the buoyancy is increased ((e) in FIG. 1). At the time of the ascent, the control unit 30 uses the detection results of the buoyancy heavy oil detection device 21, the attitude control sensors 22, 23, etc. so as to rise toward the position of the buoyancy heavy oil Fo detected by the unmanned buoyant substance monitoring buoy 10. While controlling the movable blade 12.

  When the water surface is reached ((f) in FIG. 1), the process returns to step S51, the movable blade 12 is moved, and the torque at this time is detected by the torque sensor. In the next step S52, it is determined from the magnitude of the torque detected when the movable blade 12 is moved whether or not the unmanned floating substance monitoring buoy 10 is in the floating heavy oil. That is, it is confirmed that the unmanned floating substance monitoring buoy 10 has floated in the floating heavy oil Fo. If the determination result is not in the floating fuel oil Fo, the process goes to step S53 again to settle, until the unmanned floating material monitoring buoy 10 rises in the floating fuel oil Fo until a predetermined number of times is reached. Steps S51 to S55 are repeated.

  In step S56, the position of the unmanned floating substance monitoring buoy 10 is detected by the GPS device, and the sea state / weather data is measured by various measuring devices for sea state / weather monitoring. In the next step S57, these positions and sea state / weather data are transmitted to the base station. Thereafter, in the next step S58, the process waits until a predetermined time elapses, and then returns to step S51. During this standby, since it floats in the floating heavy oil Fo, it is in a state of being shaken by waves, so that the battery 15 may be charged by a wave power generator (not shown).

  Steps S51 to S58 are repeated until the unmanned floating substance monitoring buoy 10 is collected, and the automatic control is terminated by stopping the operation by collecting the floating substance monitoring buoy 10 and turning off the switch (S8 in FIG. 9). To do.

  According to the above-described unmanned floating substance monitoring buoy 10, the floating substance monitoring system, and the floating substance monitoring method, the sensing of the floating heavy oil Fo by ultraviolet rays and the movement in the direction in which the floating heavy oil Fo is detected are automatically performed. Thus, the automatic tracking of the floating heavy oil Fo can be performed.

  Further, in the movement, since the mechanism which combines the vertical movement by the buoyancy adjusting device 14 installed in the airframe of the unmanned buoyant substance monitoring buoy 10 and the control of the blade angle of the movable blades 12 and 12 is used, the airframe itself Compared to devices that move using propellers such as propellers, the power consumed by automatic tracking can be kept low. For this reason, the base station can obtain real-time data on the position of the floating heavy oil and the sea conditions and meteorological conditions of the floating water for a long period of about 20 days immediately after the heavy oil floating.

It is side sectional drawing which shows the structure of the unmanned floating substance monitoring buoy of embodiment which concerns on this invention. It is a side view which shows the structure of the unmanned floating substance monitoring buoy of embodiment which concerns on this invention. FIG. 3 is a plan view of the unmanned floating substance monitoring buoy of FIG. 2. FIG. 3 is a bottom view of the unmanned floating substance monitoring buoy of FIG. 2. It is a sectional side view which shows the structure of the unmanned floating substance monitoring buoy of FIG. It is an AA arrow directional view of the unmanned floating substance monitoring buoy of FIG. FIG. 6 is a BB arrow view of the unmanned floating substance monitoring buoy of FIG. 5. It is CC arrow line view of the unmanned floating substance monitoring buoy of FIG. It is a figure which shows an example of the flow of the usage method of the buoy for unmanned floating substance monitoring. It is a figure which shows an example of the control flow of the unmanned floating substance monitoring buoy. It is a figure for demonstrating the fluorescence lidar method.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Unmanned buoyant substance monitoring buoy 11 Body 12 Movable wing 13 Fixed wing 14 Buoyancy adjustment device 15 Battery 21 Buoyant heavy oil detection device 22 Rate sensor (Attitude control sensor)
23 Direction / Inclination Sensor (Attitude Control Sensor)
30 Control unit (control circuit)
Fo Floating heavy oil (floating material)

Claims (11)

  The floating substance is thrown into a certain water area, and it automatically floats and sinks in the water area.When it is below the surface of the water, it detects the presence and position of the floating substance on the surface of the water. An unmanned buoyant material monitoring buoy that transmits position information to the base station when it floats and floats in the buoyant material region of the water surface.   The unmanned floating substance monitoring buoy according to claim 1, wherein the sea state / weather data is measured and the measured sea state / weather data is transmitted to the base station.   The levitation and settling are repeated by adjusting the buoyancy with a buoyancy adjustment device, and the wing angle of the movable wing is controlled during the levitation to rise toward the portion of the detected buoyant substance. A buoy for unmanned floating material monitoring according to claim 1 or 2.   The buoy for unmanned floating substance monitoring according to claim 1, 2 or 3, wherein the presence or absence and position of the floating substance in the water surface portion when it is under the water surface are detected by a non-contact detection sensor.   The unmanned floating substance monitoring buoy according to claim 1, 2, 3, or 4, wherein the contact type detection sensor determines whether or not the ship floats in the floating substance area on the water surface.   A floating material monitoring system using the unmanned floating material monitoring buoy according to claim 1, 2, 3, 4, 5 or 6.   An unmanned floating material monitoring buoy is introduced into the water area where the floating material is present, and the unmanned floating material monitoring buoy is repeatedly raised and settled to detect the presence and position of the floating material on the surface of the water when it is below the surface of the water. And a floating material monitoring method for transmitting the position information of the unmanned floating material monitoring buoy to the base station when the floating material is levitated toward the position of the detected floating material after the detection and floating in the floating material region on the water surface.   8. The floating substance monitoring method according to claim 7, wherein said unmanned floating substance monitoring buoy measures sea condition / weather data and transmits the measured sea condition / weather data to a base station.   8. The levitation and settling are repeated by adjusting buoyancy with a buoyancy adjusting device, and during the ascent, the wing angle of the movable wing is controlled to levitate toward the detected buoyant substance portion. Or the method for monitoring unmanned buoyant substances according to 8.   The unmanned floating substance monitoring buoy according to claim 7, 8 or 9, wherein the presence / absence and position of the floating substance in the water surface portion under the water surface is detected by a non-contact detection sensor.   11. The unmanned floating material monitoring buoy according to claim 7, 8, 9 or 10, wherein the contact type detection sensor determines whether or not the surface floats in a floating material region on the water surface.

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