JP2013190167A - Information collection system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately collect information in a target area and to refill supplies to an information collector thrown in an information collecting area even if the sky in the information collecting area is in a dangerous situation.SOLUTION: An information collecting system includes: an information collector B that collects information in an information collecting area while remotely operated or moving by itself; a first rocket that mounts the information collector B and releases the information collector B in the information collecting area or near the information collecting area; second rockets C, C that mounts supplies D to the information collector B and release the supplies to the information collecting area or near the information collector B that has been thrown nearby; a rocket launching device A1 that launches the first and second rockets C, C to the information collecting area or near the information collecting area; and an information collection system managing device A2 that sends and receives information in the information collecting area, or between the information collector B that is thrown near the information collecting area and the supplies D.

Description

  The present invention relates to an information collection system that collects information in an information collection area.

Conventionally, as an example of this type of information collection system, there are those disclosed in Non-Patent Documents 1 to 3.
Among Non-Patent Documents 1 to 3, UAV (UnmannedAerialVehicle) disclosed in Non-Patent Document 1 reconnaisses a dangerous area on the ground where humans cannot enter.
Non-patent documents 2 and 3 disclose the contents of sensing a dangerous area by mounting a sensor or the like from a rocket. The following SADARM and BAT developed in the United States are given as examples. be able to.

FY2009-2034UnmannedSystemsIntegratedRoadmap, [October 26, 2011 search], Internet <http://www.acq.osd.mil/psa/docs/UMSIntegratedRoadmap2009.pdf> XM898SADARM (SenseandDestroyArmor), [October 26, 2011 search], <http://www.fas.org/man/dod-101/sys/land/sadarm.htm> ATACMSBlockII / BrilliantAnti-armorTechnology (BAT), [October 26, 2011 search], <http://www.fas.org/man/dod-101/sys/land/atacms-bat.htm>

However, in the UAV described above, when the sky or the like is in a dangerous state such as a battle zone or an active volcano, for example, the user cannot enter the sky and cannot collect information.
Further, when collecting information from the sky, there is an unsolved problem that information is not collected when there is a tree, a building, smoke, or the like because there is a limit to the resolution of information such as camera resolution.

  Therefore, the present invention can accurately collect information in the area even when the information collection area is dangerous, and can replenish supplies to the information collection body put in the information collection area. The purpose is to provide an information collection system.

The present invention for solving the above problems is as follows.
An information collection system according to the present invention is equipped with an information collection body that collects information in an information collection area while remotely maneuvering or autonomously moving, and the information collection body. A first rocket to be released in the vehicle, a second rocket to be mounted in the information collection area or in the vicinity of the information collection body loaded in the vicinity of the information collection area, and the first and second Information collection system management device for sending and receiving information between a rocket launcher that launches the rocket toward the information collection area or the vicinity thereof, and an information collection body and supplies supplied in the information collection area or the vicinity thereof And have.

In this configuration, the information collector released from the first rocket to the information collection area or in the vicinity thereof collects information while moving autonomously within the information collection area.
The collected information is transmitted / received to / from the information collector system management apparatus.
Further, when a supply item to be replenished to the information collecting body becomes necessary, the necessary supply item is discharged into the information collecting region or the vicinity of the information collecting unit by the second rocket.

  According to the present invention, even when the sky in the information collection area is dangerous, the information in the area can be collected with high accuracy, and the supplies to the information collection body put in the information collection area can be supplied. can do.

1 is a block diagram illustrating a schematic configuration of an information collection system according to an embodiment of the present invention. It is a block diagram which shows schematic structure of the rocket which concerns on an example which makes a part of information collection system same as the above. It is sectional drawing of the rocket which concerns on an example same as the above. It is sectional drawing after isolate | separating the rocket motor of the rocket which concerns on an example same as the above. It is explanatory drawing of an information collection area | region. It is a block diagram which shows the structure of the robot which concerns on an example. It is an external appearance perspective view of the robot which concerns on an example. (A) is the front view of the robot which concerns on an example, (B) is the top view. It is a block diagram which shows schematic structure of the charging device which is an example of a supplement. It is explanatory drawing which shows a state when dropping a charging device same as the above. (A) is a schematic side view which shows the mode after landing a charging device, (B) is a schematic side view which shows a mode that the robot is charged with the charging device. It is a flowchart which shows the operation | movement sequence from dropping a robot to reconnaissance in this system. It is explanatory drawing which shows the influence of the wind when dropping a robot. It is explanatory drawing at the time of reducing the influence of the wind at the time of dropping a robot. It is a flowchart which shows the operation | movement which throws in a supplement after supplying a robot after putting a robot into an information collection area | region. It is explanatory drawing of the information collection area | region which throws in a supply.

  EMBODIMENT OF THE INVENTION Below, the form for implementing this invention is demonstrated with reference to drawings. FIG. 1 is a block diagram showing a schematic configuration of an information collecting system according to an embodiment of the present invention, and FIG. 2 is a block diagram showing a schematic configuration of a rocket according to an example forming a part of the information collecting system. 3 is a cross-sectional view of the rocket according to the example, FIG. 4 is a cross-sectional view after separating the rocket motor of the rocket according to the example, and FIG. 5 is an explanatory diagram of the information collection area.

As shown in FIG. 1, an information collection system A according to an embodiment of the present invention includes a rocket launcher (self-propelled launcher) A1, an information collector system management device A2, a communication device A3, a communication relay A4, information It has a charging device D which is an example of a collector B and a supply product.
In this embodiment, the information collector B is described as “robot B”, and accordingly, in FIG. 1, the information collector system management device A2 is expressed as “robot system management device A2”. Yes.

The rocket launcher A1 includes a rocket mounting device 10, a rocket launch control device 11, a self-propelled device 12, and a self-position assessment device 13.
The rocket mounting device 10 is configured to be able to load a plurality of rockets C shown in FIGS.

The rocket launch control device 11 has a function of controlling the launch direction, launch angle, etc. of the rocket C based on the geographical relationship with the information collection area S shown in FIG.
The self-position evaluation device 13 is, for example, a GPS (Global Positioning System) that can evaluate the self-position.

  The robot system management device A2 has a function of transmitting and receiving information between an information collection area and an information collection body and supplies supplied in the vicinity thereof, and includes a robot control device 20, a robot collection information management device 21, and A self-position evaluation device 22 is provided.

The robot collection information management apparatus 21 has a function of managing information in the information collection area S collected by the robot B, the status of the robot B, and the like. In this embodiment, the robot collection information management apparatus 21 has the following functions. Yes.
“Robot B status” includes the coordinate position information of the robot B itself, the operation status of the mounted device, the communication radio wave reception status, and the charge / discharge information of the battery 43A in the power supply unit 43 described later.

(1) A function for determining whether or not the battery 43A of the robot B needs to be charged based on the charge / discharge information included in the status of the robot B. This function is referred to as “charging determination means 21A”.
(2) Means for determining the number and position of charging devices D to be input based on the coordinate position information of each robot B that has been input. This function is referred to as “insertion charging device determination means 21B”.

The self-position evaluation device 22 has a function equivalent to that of the self-position evaluation device 13 described above, and evaluates the self-position of the device A2.
The robot control device 20 has a function of controlling the information collection area S or the robot B located in the vicinity of the information collection area S.

The communication device A3 is for performing wireless communication by being interposed between the robot system management device A2 and the rocket C or the robot B or both.
Note that the rocket launcher A1, the robot system management device A2, and the communication device A3 are connected to the communication device A3 by wireless or wired network.

The communication relay body A4 is, for example, an aircraft 30 or a UGV (Unmanned Ground Vehicle) 31 equipped with a transponder or the like, and relays communication between the communication device A3 and the rocket C or robot B.
The communication relay A4 may be used as appropriate in consideration of the distance between the communication device A3 and the rocket C or robot B.

  As shown in FIG. 2, the rocket C includes a rocket motor 40, a payload mounting unit 41, a sequence control unit 42, a power supply unit 43, a rocket motor separation device 44 for separating the rocket motor 40, a self-position assessment device 46, a ballistic path. A correction device 45, a dropped altitude rating device 47, and a craniotomy device 48 are installed.

Among the above-described configurations, the payload mounting portion 41 and the rocket motor 40 are arranged back and forth with respect to each other along the axis O that substantially coincides with the flight direction α (shown in FIG. 3).
A radome 41a and a fairing 41b, which is the head, are disposed at the front portion of the payload mounting portion 41.

  The cleaving device 48 opens the head by separating and removing the fairing 41b with pyrotechnics or the like, and thereby has a function of exposing the radome 41a to reduce the flying speed of the rocket C.

A plurality of rear tails 40a are arranged on the outer peripheral wall of the rocket motor 40 at a predetermined angular interval around the axis O, and the outer peripheral wall of the payload mounting portion 41 is also centered on the axis O. A plurality of front tails 41e (see FIG. 4) are arranged at required angular intervals.
The front tail 41e protrudes at a predetermined timing after the rocket motor 40 is separated.

  As shown in FIG. 2, the payload mounting unit 41 includes a payload holding unit 41A, payloads P1, P1 (P2, P2), a payload landing device 41B, and a payload dropping device 41C.

In the present embodiment, there are two types of payload P1, which is a combination of the robot B with the deceleration parachute 41d and the drawer umbrella 41c, and a payload P2 which is combined with the charging device D and the deceleration parachute 41d and the drawer umbrella 41c.
Two payloads P1, P1 (P2, P2) are mounted and accommodated back and forth along the axis O, and the payloads P1, P1 (P2, P2) can be discharged sequentially.

The payload landing device 41B is for landing the robot B and the charging device D in the information collection area S or in the vicinity thereof, and is a parachute, for example.
The payload dropping device 41C is for discharging the robot B and the charging device D from the rocket C and dropping them.
In this embodiment, after the rocket motor is separated, the drawer umbrella 41c is pulled out by a negative pressure. However, after the rocket motor is separated, the drawer umbrella 41c sealed with pressure is covered with a pyrotechnic or the like. It may be made to pop out separated by, and pulled out by negative pressure.

The dropped altitude rating device 47 includes a processing unit 47A and an altitude measuring laser sensor 47B.
The altitude measuring laser sensor 47B measures the distance from the rocket C to the ground surface by the reflection of laser light and measures the altitude to the ground.
The processing unit 47A has a function of evaluating the dropped altitude based on the data collected by the altitude measuring laser sensor 47B.

The sequence control unit 42 controls the rocket C and has the following functions.
(3) A function for determining whether or not an altitude sufficient to separate the rocket motor 40 (hereinafter referred to as “separation altitude”) is determined based on the dropping altitude evaluated by the dropping altitude rating device 47. This function is referred to as “separation height determination means 42a”. The separation altitude is set in advance.

(4) A function of separating the rocket motor 40 by the rocket motor separating device 44 when it is determined by the separation height determining means 42a that the separation height has been reached. This function is referred to as “rocket motor separation means 42b”.

The trajectory correcting device 45 includes a rear tail 40a disposed on the rocket C and a drive unit (not shown) for driving the rear tail 40a so as to have a preset trajectory. I am trying to fix it.
The self-position evaluation device 46 has the same function as the self-position evaluation device 13 described above, and evaluates the self-position of this device.

6 is a block diagram showing a configuration of a robot according to an example, FIG. 7 is an external perspective view of the robot, FIG. 8A is a front view thereof, and FIG.
The robot B collects information in the information collection area S while autonomously moving. The robot B forms a part of a horizontally long cylindrical robot body 50 and a moving mechanism 59 described later. It has an external configuration having a pair of deployment wheels 51, 51 disposed at both ends.

  In the robot main body 50, an autonomous behavior control unit 52, a movement mechanism control unit 53, a mission device 54, a power supply unit 55 including a battery, a communication device 56, an environment recognition device 57, a self-position assessment device 58, and a movement mechanism 59 are accommodated. doing.

As shown in FIGS. 8A and 8B, an environment recognition device 57 and a reconnaissance camera 54 are arranged in parallel on the outer peripheral wall surface of the robot body 50 and in front of the traveling direction.
In addition, a GPS antenna 62 and a communication antenna 63 are disposed on the outer peripheral wall surface of the robot body 50 and at an upper position.
In addition, what is shown by 64 is the tail member extended in order to prevent rotation of the robot main body 50. FIG.

The deployment wheels 51 and 51 are supported by the axles at the left and right ends of the robot body 50, and are driven to rotate by two motors (not shown) individually connected to the axles via a speed reduction mechanism (both not shown). It has come to be.

The deployment wheels 51, 51 include a plurality of blades 51a arranged in a radial pattern with a predetermined angular interval centered on a hub fixed to the axle.
The blade 51a is developed from a folding position following the outer peripheral surface of the robot body 50 shown in FIG. 7 to a running position shown in FIGS. 8A and 8B by the elastic force of an elastic body such as a torsion coil spring. It is like that.

  When the two motors mounted on the robot body 50 are operated in a state where the blades 51a of the deploying wheels 51 and 51 are moved to the travel position, the deploying wheels 51 and 51 are individually driven to rotate to travel. Can do.

  The autonomous behavior control unit 52 has a function of autonomously controlling the operation of the robot B. According to the set mission, and based on the coordinate position information of the charging device D described later, It has a function to make it move autonomously.

  The movement mechanism control unit 53 is configured to perform movement along a predetermined movement route from the above-described autonomous behavior control unit 52 by controlling rotation of the motors of the movement mechanism 59 independently of each other.

  The mission device 54 shown in the present embodiment is a reconnaissance camera that captures an image in the information collection area S. However, for example, a laser pointer or the like for measuring a distance to a specific object can be employed.

The environment recognition device 57 shown in the present embodiment is an environment recognition 3DLRF (laser range finder), and thereby travels in the information collection area S.
The self-position evaluation device 58 has a function equivalent to that of the self-position evaluation device 13 described above, and evaluates the self-position of this device.

  The communication device 56 has a function of transmitting / receiving information collected by itself and information on its own coordinate position to / from the robot collection information management device 21 described above.

  Next, with reference to FIGS. 9-11, the form which replenishes a supplement with the robot B is demonstrated. FIG. 9 is a block diagram illustrating a schematic configuration of the charging device, FIG. 10 is an explanatory diagram illustrating a state when the charging device is dropped, and FIG. 11A illustrates a state after the charging device is landed. A schematic side view, (B) is a schematic side view showing a state in which the robot is charged by the charging device.

  The charging device D is for charging the power supply unit 55 of the robot B moving in the information collection area S described above, and includes the robot joints 70 and 70, the power supply unit 71, the charge control unit 72, the self A position evaluation device 73 and a communication device 77 are included.

  The robot joints 70 and 70 are disposed at both ends of a rectangular parallelepiped apparatus main body 76 on which a charging battery (not shown) is mounted. The robot main body 50 of the robot B is sandwiched from both the upper and lower sides thereof. Each of the upper and lower electrode portions 74, 74, 75, 75 protrudes at an interval.

  A charging electrode (not shown) is formed on the outer peripheral wall surface of the robot body 50 at a position where it abuts on the upper and lower electrode portions 74, 74, 75, 75, and the upper and lower electrode portions 74, 74, 75, 75 are formed. The robot main body 50 that has moved to a predetermined position can be charged.

The charging control unit 72 starts charging when it detects that the robot B is positioned between the upper and lower electrode units 74, 74, 75, 75, and then ends charging when it detects the completion of charging. ing.
The movement of the robot B between the upper and lower electrode portions 74, 74, 75, and 75 is driven from the open end side of the upper and lower electrode portions 74, 74, 75, and 75 by rotating the deployment wheels 51 and 51. Move to the side and couple electrically.
The self-position evaluation device 73 has the same function as the self-position evaluation device 13 described above, and evaluates the self-position of this device and transmits its own coordinate position information via the communication device 77.

  As shown in FIG. 10, the charging device D is thrown into the information collecting area S while being accommodated in a transport cylinder 78 connected to a deceleration parachute 41d. In other words, as with the robot B, the rocket C is thrown into the information collection area S.

Next, with reference to FIGS. 12 to 16, the operation of the information collection system having the above-described configuration will be described. FIG. 12 is a flowchart showing an operation sequence from dropping a robot to reconnaissance in the information collecting system according to the embodiment of the present invention, and FIG. 13 is an explanatory diagram showing the influence of wind when dropping the robot B FIG. 14 is an explanatory diagram when the influence of the wind when dropping the robot B is reduced.
In FIG. 12, “robot system management device” is described as “management system”.

<Sequence of Robot System Management Device A2>
Step 1 (denoted as “S1” in FIG. 12; the same applies hereinafter): For example, when forest F shown in FIG. In FIG. 5, what is indicated by “x” is a landing position, and a circle having a required radius centered on the landing position indicates a search range by two robots B and B dropped by one rocket C.

Step 2: The search range in the information collection area S is determined, and the number and coordinate position of the robot B to be dropped are determined.
Step 3: The relay aircraft 30 and the UGV (relay body) 31 are arranged as necessary.

Step 4: The information obtained in Steps 1 to 3 is set in the robot B.
Step 5: Set the rocket sequence (e.g., altitude for starting to drop)
Specifically, the rocket sequence is set in the robot system management apparatus A2 by manually inputting sequence information.
That is, the drop start altitudes of the payloads P1 and P1 to be sequentially released / dropped are set.

Step 6: Launch rocket C. In this case, a plurality of rockets C are launched as necessary.
Step 7: Monitor the robot status.
The “robot status” includes the operation status of the mounted device, the communication radio wave reception state, and the charge / discharge information of the battery 45A.

<Sequence of Rocket C>
Step 8: Launch rocket C.
Step 9: The self-position evaluation device 46 evaluates its own coordinate position.

Step 10: The rocket motor 40 is separated.
Based on the dropped altitude evaluated by the dropped altitude rating device 47 described above, it is determined whether or not the altitude is sufficient to separate the rocket motor 40 (hereinafter referred to as “separated altitude”).
When the separation altitude determining means 42a determines that the separation altitude has been reached, the rocket motor 40 is separated by the rocket motor separating device 44.

Step 11: The fairing 41b of the rocket C is separated and opened by the cleaving device 48. Thereby, the rocket C can be decelerated.
Step 12: Start dropping only the first robot B1 out of the two robots B1 and B2.
Step 13: With further deceleration of the rocket C thereafter, ground altitude measurement is started by the altitude measuring laser sensor 47B.

Step 14: Start dropping the last second robot B2.
Step 15: The parachute 41d for deceleration is opened and lowered and landed.
By the way, when the parachute 41d for deceleration is opened by the wind, it is greatly deviated from the target landing position, and there is a problem that it is desired to reduce this deviation.

In other words, if the umbrella is opened at a high altitude, the amount of the flow increases as the flow time increases, so it is desired to drop the robot B at the lowest altitude possible.
Also, since there is an error in the drop altitude, it is necessary to set it higher considering this.
Therefore, in this embodiment, the following configuration is adopted.

・ GPS altimeter error: ΔH_gps
-Landing position elevation variation (ground relief): ΔH_land
・ Sequence operation time variation (Time from the start of dropping until robot B leaves rocket C, time until robot B opens the parachute, time from opening the parachute 41d for deceleration to deceleration, etc. x descent speed) : ΔH_sq

<Reduction in landing position elevation variation ΔH_land>
In order to measure the ground altitude by GPS in order to reduce the landing position altitude variation ΔH_land, it is necessary to know the altitude with respect to the ground at the launch position of the rocket C.
If this cannot be known, the altitude variation of the ground occurs as an error, so it is necessary to set the drop altitude high.

  Therefore, in the present embodiment, the above-described laser sensor 47B is mounted as a distance measuring sensor to measure the distance from the ground. The distance measuring sensor may be a millimeter wave sensor or the like. Thereby, the landing position altitude variation ΔH_land can be reduced.

<Reduction of sequence operation time variation ΔH_sq>
The time from when the robot B is dropped from the rocket C until the robot B decelerates after opening the deceleration parachute 41d varies depending on various factors, and the robot B completes the deceleration. The altitude to be scattered varies.

If landing before deceleration is completed, the robot may be damaged. In consideration of this, it is necessary to increase the drop altitude and decelerate.
This variation time is affected as an altitude error as the descent speed of the rocket C when the robot is dropped is higher.

  Examples of conventional techniques for decelerating the rocket C include value and supersonic parachute. However, in order to use these, a separate mounting space is required. Also, the design of the rocket C requires a great deal of cost such as a wind tunnel test.

In addition, since this system is intended to input the robot B to the target position for information collection or the like, it is sufficient that even one robot B can be accurately input to the target position.
Therefore, in the present embodiment, as shown in FIG. 14, in addition to opening the head and making it blunt, the robot B is sequentially dropped, so that the rocket when finally dropping the last robot B is dropped. The speed of C is reduced.

As described above, the following effects can be obtained.
-The accuracy of the loading position of the robot B can be improved at low cost.
The altitude measurement error can be reduced by ground altitude measurement using the laser sensor 47B.
Specifically, the dropping errors (ΔH_gps, ΔH_land, ΔH_sq) of the last robot B among the robots B that are sequentially dropped can be reduced. Further, the robot B dropped before the last drop is dropped at a scattered position, and information can be collected covering a wide range.
-By decelerating the rocket C, a sensor for measuring altitude can be realized with a lower output and a measurement rate, and the cost can also be reduced by these.

Step 16: Establish communication with the robot system management apparatus A2.
Step 17: The self-position evaluation device 58 measures its own coordinate position.
Step 18: Information related to the search is received from the information collector system management apparatus A2.
“Search information” is the distance from the search position GPS data or the landing position when there is a start and stop of the search and a target position. In addition, when searching in a range, it is the distance from the GPS data or the landing position of the search range.

Step 19: Start an autonomous search.
Step 20: The collected information (search information) / robot status is transmitted to the information collector system management apparatus A2.

<< Sequence including charging device D >>
<Sequence of Robot System Management Device A2>
FIG. 15 is a flowchart showing the operation of supplying the robot after supplying the robot to the information collection area and supplying the robot with the supplies. FIG. 16 is an explanatory diagram of an information collection area into which supplies are supplied.
In FIG. 15, charging device D is shown as an example of “supplement”, and “x” shown in FIG. 16 indicates the charging position of charging device D.

Step 1 (indicated as “Sa1” in FIG. 15; the same applies hereinafter): The robot status is monitored.
Step 2: It is determined whether or not each robot B needs to be charged. If it is determined that charging is necessary, the process proceeds to Step 3.
Step 3: Based on the coordinate position information of each robot B that has been input, the number and position of charging devices D to be input are determined.

Step 4: Launch rocket C equipped with charging device D.
Step 5: Receive the coordinate position at the start of dropping of the charging device D in Step 12 to be described later.
Step 6: Predict the coordinate position where the charging device D will land.
Step 7: The landing position of the charging device D measured by the GPS mounted on the rocket C is received.
Step 8: The coordinate position where the charging device D has landed is transmitted to the robot B.

<Sequence of Rocket C>
Step 9: Fly.
Step 10: The coordinate position of the rocket C is measured by GPS.
Step 11: The rocket motor 40 is separated.
Step 12: Start dropping of the charging device D.
Step 13: The charging device D is pulled out by the drawer umbrella 41c and lowered.
Step 14: The parachute 41d is developed and lowered to land.
Step 15: The landing position of the charging device D is measured by the mounted GPS, and the measured landing position is transmitted to the robot collection information management device 21.
<Robot sequence>
Step 16: The landing (predicted) position of the charging device D is received from the robot system management device A2.
Step 17: It autonomously moves toward the landing (predicted) position of the charging device D.
Step 18: Charging is performed by autonomously connecting to the charging device D.
Step 19: The search (information collection) is continued. If recharging is required, the process returns to step 17.

The present invention is not limited to the above-described embodiments, and the following modifications can be made.
In the above-described embodiment, the charging device is described as an example of a supplement to the robot. However, the present invention is not limited to this. For example, a functional component added to the robot can be considered.

In the above-described embodiment, an example in which the same types of payloads P1, P1 or P2, P2 are simultaneously mounted and sequentially released and dropped has been described. However, different types of payloads P1, P2 are simultaneously mounted. These may be discharged and dropped sequentially. Of course, the number of payloads mounted on one rocket is not limited to the above two, but may be three or more.
-In above-mentioned embodiment, although the land was demonstrated as an example as an information collection area | region, the sea may be sufficient.

In the above embodiment, the example in which the self-position rating device of the charging device is mounted has been described. However, when the self-position rating device is not mounted, the following is performed.
The launch of the charging device D from the rocket C is started.
Next, the rocket status (position, altitude, speed) is transmitted to the robot system management apparatus A2.
The robot system management device A2 predicts the landing position of the charging device D.
The robot B receives the landing position from the robot system management device A2, and moves autonomously to the vicinity of the charging device D.
The operator of the robot system management device A2 finds out the charging device D by the reconnaissance camera 54, and instructs the position of the charging device D to move on the image.

30,31 Relay body (aircraft, etc.)
A1 Rocket launcher A2 Information collector system management device (robot system management device)
B Information collection body (robot)
C rocket (first and second rocket)
D Supplies (charging device)
S Information collection area

Claims (5)

An information collection body that collects information in the information collection area while remotely controlling or autonomously moving; and
A first rocket that carries the information collection body and releases the information collection body at or near the information collection area;
A second rocket that carries the supplies for the information collection body and releases it to the information collection area or the vicinity of the information collection body thrown in the vicinity thereof,
A rocket launcher that launches the first and second rockets toward or near the information collection area;
An information collection system comprising: an information collection system management device that transmits and receives information between an information collection area and supplies supplied in or near the information collection area. The information collector and supplies are each equipped with a self-position assessment device for assessing their coordinate position.
The information collecting body has an autonomous moving means that autonomously moves toward the supply item via the movement mechanism based on the coordinate position of the evaluated item and the coordinate position of the supply item. The information collection system described. A relay body that relays transmission and reception of information between the information collection body and the information collection body system management device;
The information collection system according to claim 1 or 2, wherein the information collection system management apparatus transmits and receives information collected by the information collection body and related information related to the status of the information through the relay body. The rocket has altitude determination means for determining whether or not the altitude is set in advance,
The information collection system according to any one of claims 1 to 3, further comprising a craniotomy device that opens the head when the altitude determination means determines that the altitude set in advance is reached.   The information collection system according to any one of claims 1 to 4, wherein the rocket includes a plurality of information collectors or supplies, and a dropping device that sequentially drops them.

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