JP2016078770A - Floating body fitting device, unmanned surface craft and unmanned movable body control system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an unmanned water craft in which unmanned waterborne navigation and water travel of a floating body can be autonomously achieved.SOLUTION: A floating body fitting device is equipped with: a fitting frame 160 which is fixed to a floating body 510, and of which a size can be adjusted according to an outline of the floating body 510; a device body 150 which is attached to the fitting frame 160, and covers at least a part of the upper part of the floating body 510; a screw arm 144 having a support arm 142 which is so attached to the device body 150 as to be rotated around a shaft center and is extended downwards from the device body 150, and a screw 141 which is located at a tip of the support arm 142; and a control part 123 which controls rotation of the screw arm 144 and rotation of the screw 141. The control part 123 changes a direction of the screw 141 by rotating the screw arm 144 around a shaft center.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a floating body attachment device attached to a floating body. The present invention relates to a floating body mounting apparatus that constitutes an unmanned surface watercraft that can perform unmanned water navigation, unmanned underwater travel, unmanned land travel, and the like by being attached to a floating body, for example.

In recent years, unmanned surface boats (USV), unmanned ground vehicles (UGV), and unmanned ground vehicles (UGV) that can be moved and controlled without human boarding for observation, rescue, etc. in hazardous areas. There is an increasing demand for unmanned air vehicles (UAVs) and unmanned air vehicles (UAVs). These unmanned mobile bodies may be steered by a machine autonomously or by a human being remotely operated.
2. Description of the Related Art Conventionally, as a floating body mounting device, there is an outboard motor mounting base that can be propelled on water by being mounted on a floating body (for example, see Patent Document 1).

Japanese Patent Laid-Open No. 10-329782

  The device of Patent Document 1 is a device that only gives a propulsive force on the water to a simple floating body without a propulsive force, autonomous unmanned water navigation, unmanned underwater traveling for observation, rescue, etc. in a dangerous area, There is a problem that it cannot cope with unmanned land driving.

  It is an object of the present invention to provide a floating body attachment device that allows a floating body to be unmanned and autonomously sailed on the water and traveling underwater by being attached to the floating body.

The floating body mounting device according to the present invention is:
An attachment frame fixed to the floating body, the size of which can be adjusted according to the outline of the floating body;
An apparatus main body attached to the attachment frame and covering at least a part of the upper part of the floating body;
A support arm attached to the apparatus main body so as to rotate about the axis, and extending downward from the apparatus main body; and a screw arm having a screw installed at a tip of the support arm;
A control unit for controlling the rotation of the screw arm and the rotation of the screw;
The controller is
The direction of the screw is changed by rotating the screw arm about an axis.

According to the floating body mounting apparatus according to the present invention, a mounting frame that can be adjusted in size, a screw arm that is mounted on the apparatus main body so as to rotate about the axis, and that has a screw installed at the tip, and a screw arm And a control unit that controls the rotation of the screw. Therefore, by attaching to the floating body, it is possible to realize an unmanned surface boat that can float and travel underwater unmanned and autonomously.

FIG. 3 is a perspective view of the unmanned surface boat 500 according to Embodiment 1 during water navigation. FIG. 3 is a plan view of the unmanned surface boat 500 according to Embodiment 1 during water navigation. FIG. 3 is a front view of the unmanned surface boat 500 according to Embodiment 1 during water navigation. FIG. 4 is a side view of the unmanned surface boat 500 according to Embodiment 1 during water navigation. 2A and 2B are diagrams illustrating a screw arm 144 according to Embodiment 1, wherein FIG. 2A is a side view of the screw arm 144, and FIG. 2B is a front view of the screw arm 144. 2 is a functional block diagram showing a functional configuration of unmanned mobile control system 800 according to Embodiment 1. FIG. 3 is a diagram illustrating an example of a hardware configuration of a management control device 202 in the management device 200 according to the first embodiment and a device control device 120 in the floating body mounting device 100. FIG. It is a figure explaining operation | movement of the unmanned surface boat 500 which concerns on Embodiment 1, (a) is a figure which changes direction of the screw arm 144 to a vehicle running state, (b) is a figure which moves the screw arm 144 upwards. (C) is a figure which jacks up the floating body 510 with the screw arm 144. FIG. It is a figure which shows the unmanned surface boat 500 which concerns on Embodiment 1, (a) is a figure which shows the state which is moving forward by surface navigation, (b) is the state which is moving to the other side part direction by surface navigation FIG. It is a figure which shows the unmanned surface boat 500 which concerns on Embodiment 2, (a) is a side view of an example at the time of four-legged walking, (b) is a perspective view of (a). It is a figure which shows the unmanned surface boat 500 which concerns on Embodiment 2, (a) is a side view of the 1st example at the time of four-legged walking, (b) is a perspective view of (a). It is a figure which shows the unmanned surface boat 500 which concerns on Embodiment 2, (a) is a side view of the 2nd example at the time of four-legged walking, (b) is a perspective view of (a). It is a figure which shows the unmanned surface boat 501 which concerns on Embodiment 3, (a) is a perspective view of the unmanned surface boat 501, and (b) is a side view of the unmanned surface boat 501. 10 is a functional block diagram showing a functional configuration of an unmanned mobile control system 801 according to Embodiment 3. FIG. It is a figure which shows the state which the unmanned surface boat 501 which concerns on Embodiment 3 contacts the shore, (a) is a perspective view, (b) is a side view. FIG. 10 is a diagram illustrating an unmanned surface boat 501 according to Embodiment 3, and (a) and (b) are diagrams for explaining an example of an operation at the time of berthing and landing. FIG. 10 is a diagram illustrating an unmanned surface boat 501 according to a third embodiment, and (a) and (b) are diagrams for explaining another example of operations at the time of berthing and landing. It is a figure which shows the unmanned surface boat 501 which concerns on Embodiment 3, (a) (b) is a figure for demonstrating another example of the operation | movement at the time of berthing and landing. It is a figure which shows the variation of the unmanned surface boat 501 which concerns on Embodiment 3, (a) is a perspective view, (b) is a side view. It is a partial cross section figure which shows the fixation system of the plate 390 which concerns on Embodiment 4, and the unmanned ground vehicle 300, (a) is an expanded sectional view of the coupling | bond part C state, (b) is an expanded section of the coupling | bond part D state FIG. It is a figure which shows the unmanned surface boat 502 which concerns on Embodiment 5, (a) is the perspective view seen from the front, (b) is the perspective view seen from back, (c) is a side view. FIG. 10 is a functional block diagram showing a functional configuration of an unmanned mobile control system 802 according to a fifth embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. The present invention is not limited to the embodiments described below. Moreover, in the following drawings, the relationship of the size of each component may be different from the actual one. Also, in the description of the embodiment, directions and positions such as “top”, “bottom”, “left”, “right”, “front”, “back”, “front”, “back” are indicated. These notations are merely described as such for convenience of explanation, and do not limit the arrangement, orientation, etc., of devices, instruments, parts, and the like.

Embodiment 1 FIG.
In the present embodiment, a floating body attachment device 100 that constitutes an unmanned surface boat 500 that can be attached to the floating body 510 so that the floating body 510 can travel unmannedly on the water, travel on the bottom of the water, and travel on land will be described. In addition, an unmanned surface boat 500 configured by attaching the floating body attachment device 100 to the floating body 510 will be described.
An unmanned surface boat is a system that can sail on the surface autonomously or remotely by a person even when a person is not on board, and is called USV.
The floating body mounting device 100 described below is referred to as a floating body unmanned device, a ship unmanned kit, a USV kit, or the like.

*** Explanation of configuration ***
FIG. 1 is a perspective view of the unmanned surface boat 500 according to the present embodiment during water navigation.
FIG. 2 is a plan view of the unmanned surface boat 500 according to the present embodiment during water navigation.
FIG. 3 is a front view of the unmanned surface boat 500 according to the present embodiment during water navigation.
FIG. 4 is a side view of the unmanned surface boat 500 according to the present embodiment during water navigation.
5A and 5B are views showing the screw arm 144 according to the present embodiment, wherein FIG. 5A is a side view of the screw arm 144, and FIG. 5B is a front view of the screw arm 144. FIG.
The configuration of an unmanned surface boat 500 according to the present embodiment will be described with reference to FIGS.
1 to 4 show the shape when the unmanned surface boat 500 is sailing on the water, the description of the water surface 950 and the like is omitted for easy understanding of the configuration.

Unmanned surface boat 500 according to the present embodiment includes floating body 510 and floating body attachment device 100 attached to floating body 510.
The floating body 510 is an existing small vessel such as an inflatable boat. The floating body 510 may not be a small ship as long as it floats on water, but may be a simple flat plate made of mat, firewood, wood, resin, or the like. In the present embodiment, description will be made assuming an existing small vessel such as a rubber boat as the floating body 510.
The unmanned surface boat 500 becomes a mere small ship when the floating body mounting device 100 is removed.

The unmanned surface boat 500 includes a floating body attachment device 100 and a floating body 510 to which the floating body attachment device 100 is attached.
The floating body mounting device 100 includes a mounting frame 160, a device main body 150, a control unit 123, and a screw arm 144. The screw arm 144 includes a support arm 142 and a screw 141.

The mounting frame 160 is a mounting frame 160 that is fixed to the floating body 510 and can be adjusted in size according to the outline of the floating body 510.
The apparatus main body 150 is attached to the attachment frame 160 and covers at least a part of the upper part of the floating body 510.
The screw arm 144 is a support arm 142 that is attached to the apparatus main body 150 so as to rotate about the axis, and extends downward from the apparatus main body 150, and a screw installed at the tip of the support arm 142. 141.
The control unit 123 controls the rotation of the screw arm 144 and the rotation of the screw 141. The controller 123 changes the direction of the screw 141 by rotating the screw arm 144 about the axis.

The control unit 123 controls the rotation of the screw arm 144 so that the floating body 510 moves forward in the bow direction and moves forward, and the screw arm 144 moves so that the floating body 510 moves backward in the stern direction. Control the rotation of
The control unit 123 causes the floating body 510 to travel backward by rotating the screw arm 144 by 180 degrees from the forward navigation state.

<Configuration of mounting frame 160>
The attachment frame 160 is a base on which the apparatus main body 150 is attached by being attached to the floating body 510.
The mounting frame 160 includes two horizontal frames 161, two vertical frames 162, and four floating body fixing portions 163.

As shown in FIG. 2, the two horizontal frames 161 and the two vertical frames 162 are assembled so as to form a quadrangle. That is, two vertical frames arranged in parallel are arranged on two horizontal frames arranged in parallel so as to form a right angle to the horizontal frame.
The floating body fixing portion 163 is disposed below four places where the horizontal frame 161 and the vertical frame overlap. The mounting frame 160 is fixed to the floating body 510 by fixing the floating body fixing portion 163 to the floating body 510.

The mounting frame 160 is configured such that the interval between the two horizontal frames 161 and the interval between the two vertical frames 162 can be adjusted. By adjusting the interval between the two horizontal frames 161 and the interval between the two vertical frames 162, the positions of the four portions where the horizontal frame 161 and the vertical frame overlap can be adjusted. The position of the floating body fixing portion 163 can be adjusted by adjusting the positions of the four portions where the horizontal frame 161 and the vertical frame overlap.
Since the attachment frame 160 can adjust the position of the floating body fixing portion 163, the attachment frame 160 can be attached to the floating body 510 regardless of the size of the floating body 510.

As shown in FIGS. 1 to 4, the floating body fixing portion 163 includes a fixing portion upper portion 1631 and a fixing portion connecting portion 1632.
As shown in FIGS. 1 and 3, the fixed portion upper portion 1631 has a shape along the inflated tube of the rubber boat which is the floating body 510, and is in contact with the upper side of the inflated tube of the rubber boat. The fixed portion connecting portion 1632 connects the two fixed portion upper portions 1631 on both sides along the horizontal frame 161 on the lower side of the floating body 510.
Therefore, the two front fixed portion upper portions 1631 are connected by the front fixed portion connecting portion 1632, and the two rear fixed portion upper portions 1631 are connected by the rear fixed portion connecting portion 1632.
Thus, since the floating body fixing | fixed part 163 is fixed so that the circumference | surroundings of the floating body 510 may be enclosed in two places before and behind the floating body 510, the attachment frame 160 can be reliably fixed to the floating body 510.

Note that the attachment frame 160 may not have the configuration of the present embodiment as long as the size can be adjusted. For example, a configuration in which a plurality of positions where the floating body fixing portion 163 is disposed is provided in advance, and the position where the floating body fixing portion 163 is disposed may be changed according to the size of the floating body 510 to be attached.
In the present embodiment, the floating body fixing portion 163 is described as an example of fixing to a rubber boat, but may be configured to be fixed to a rod or a simple flat plate.
For example, the floating body fixing portion 163 may be a leaf spring that sandwiches an edge of a ridge or a flat plate, a mechanism that sandwiches the edge and tightens it with a bolt. When attaching to a box-shaped small ship whose upper surface is open, for example, the fixed portion upper portion 1631 may have a U shape sandwiching the upper end portion of the side wall of the box-shaped small ship.

<Configuration of Device Main Body 150>
The apparatus main body 150 includes a component plate part 151, an arrangement part 152, a drive part 143, and a power supply part 124.
In the placement unit 152, the sensor unit 110 that acquires the status information of the floating body 510 and the wireless antenna 121 are placed.
The drive unit 143 controls the rotation of the screw arm 144 under the control of the control unit 123.
The power supply unit 124 supplies power to the control unit 123, the drive unit 143, the sensor unit 110, and the wireless antenna 121.

  The component plate portion 151 has a long shape, and is disposed in parallel with the horizontal frame 161 across the two vertical frames 162. The constituent plate portions 151 are arranged one by one before and after the vertical frame 162.

A drive unit 143 is disposed at both ends of the component plate unit 151, and a screw arm 144 is connected to the drive unit 143. For example, the drive unit 143 is installed at both ends of each of the two component plate units 151, and is installed at four locations as a whole.
The drive unit 143 rotates the screw arm 144 about the axis by motor control. In addition, the drive unit 143 rotates the screw 141 by motor control, and causes the floating body 510 to navigate by the rotation of the screw 141.

  A power supply unit 124 is disposed below the component plate unit 151. The power supply unit 124 is a battery. The power supply unit 124 includes a drive unit 143, a control unit 123, a sensor unit 110, a self-device battery 12141 for supplying power to the floating body mounting device 100 itself, such as an unmanned ground vehicle and a vehicle unmanned flight described later. Power supply battery 1242 for supplying power to the body and the unmanned aerial vehicle.

  The constituent plate portion 151 may not be two flat plates arranged side by side, but may be a single flat plate, a cross-shaped flat plate, or an X-shaped flat plate.

  The control part 123 is arrange | positioned at the lower part of the arrangement | positioning part 152, for example. A control box or the like that houses a microcomputer as the control unit 123 may be provided below the placement unit 152.

The arrangement part 152 has a top plate part 153 protruding upward.
A radio antenna 121 and a sensor unit 110 are installed on the top plate unit 153.
The sensor unit 110 acquires situation information that is information related to the situation and environment around the floating body 510. The sensor unit 110 includes, for example, a rider 111, a GPS 112, and the like. In addition to the rider 111 and the GPS 112, the sensor unit 110 may be provided with an optional sensor 114 such as a camera 113, a sonar, a submarine laser, and a gyro sensor.
The rider 111, that is, LIDAR generates a 3D image around the floating body 510. The GPS 112 acquires a signal from a GPS satellite. The camera 113 images the periphery of the floating body 510. Sonar detects underwater objects and water depth. The gyro sensor detects the attitude of the unmanned surface boat 500.

<Configuration of screw arm 144>
The floating body attachment device 100 includes at least two screw arms 144.
At least two screw arms 144 are disposed at least one on each side of the floating body 510 in the front-rear direction from the bow 511 toward the stern 512.
The control unit 123 controls the rotation of each of the at least two screw arms 144 so that the screws 141 installed at the tips of the at least two screw arms 144 have the same orientation.
The control unit 123 controls the rotation of the screw 141 by the motor 146.

In the present embodiment, the floating body mounting apparatus 100 includes four screw arms 144. Two at least four screw arms 144 are disposed on both sides of the floating body 510 in the front-rear direction from the bow to the stern.
The control unit 123 controls the rotation of the screw 141 by the motor 146.

  The number of screw arms 144 may be any number, for example, three on each side, four on each side, or the like. The number of screw arms 144 is preferably determined as appropriate according to the usage mode of the floating body attachment device 100.

5A and 5B are views showing the screw arm 144 according to the present embodiment, wherein FIG. 5A is a side view of the screw arm 144, and FIG. 5B is a front view of the screw arm 144. FIG.
5A and 5B, the screw arm 144 includes a support arm 142, a motor 146 installed at the upper end of the support arm 142, and a screw 141 installed at the lower end of the support arm 142. Prepare.

Moreover, the screw 141 has a cylindrical tire portion 145 that rotates together with the screw 141 around the screw 141.
The control unit 123 causes the tire unit 145 to travel on the water bottom or land.
The screw arm 144 is attached to the apparatus main body 150 so as to be movable in the vertical direction.
The controller 123 adjusts the height from the bottom of the water or the land to the floating body 510 by controlling the vertical movement of the screw arm 144.

As shown in FIGS. 2 and 5, the drive unit 143 can rotate the support arm 142 about the axis freely in the P1 direction. The screw 141 rotates in the P2 direction according to the rotation of the support arm 142.
The drive unit 143 can move the support arm 142 freely in the vertical direction. The screw 141 and the tire part 145 can adjust the distance from the floating body 510 according to the vertical movement of the support arm 142.
The operation of the unmanned surface boat 500 will be described later.

<Configuration of Unmanned Mobile Control System 800>
FIG. 6 is a functional block diagram showing a functional configuration of unmanned mobile control system 800 according to the present embodiment.
The unmanned mobile object control system 800 will be described with reference to FIG.

The unmanned mobile body control system 800 includes an unmanned surface boat 500 and a management device 200 that transmits a device control command 211 that is a command for controlling the floating body mounting device 100.
The control unit 123 of the floating body mounting apparatus 100 controls the floating body mounting apparatus 100 in accordance with a device control command 211 transmitted from the management apparatus 200.

  The management device 200 includes a wireless device 201, a management control device 202, a wireless antenna 203, and a long-range wireless antenna 204.

The management control device 202 receives an operation command related to the operation of the unmanned surface boat 500 from the user. The management control device 202 generates a device control command 211 to be transmitted to the floating body mounting device 100 based on the received operation command. Examples of the operation command include a destination of an unmanned surface boat, an observation instruction using the sensor unit 110, and the like. Further, it is possible to instruct detailed operation to the unmanned surface boat by the operation command. For example, an instruction such as changing the direction in water navigation, shifting from water navigation to underwater vehicle traveling, or shifting from vehicle traveling to quadruped walking can be transmitted by an operation command.
The wireless device 201 uses a wireless antenna 203 and a long-range wireless antenna 204. Wireless communication is performed with the floating body mounting apparatus 100.
The wireless antenna 203 transmits and receives radio waves. The long-range wireless antenna 204 transmits and receives radio waves in a range longer than the communication range of the wireless antenna 203.

The floating body mounting apparatus 100 includes a wireless antenna 121, a wireless unit 122, a control unit 123, a sensor unit 110, a power supply unit 124, a drive unit 143, a motor 146, a screw 141, and a support arm 142. The sensor unit 110 includes a rider 111, a GPS 112, a camera 113, and an optional sensor 114. The wireless antenna 121, the wireless unit 122, and the control unit 123 may be configured by one device control device 120. The screw arm 144 includes a motor 146, a screw 141, and a support arm 142.
The wireless unit 122 performs wireless communication using the wireless antenna 121.
Since the other functional blocks have already been described with reference to FIGS. 1 to 5, description thereof will be omitted here.

  FIG. 7 is a diagram illustrating an example of a hardware configuration of the management control device 202 in the management device 200 and the device control device 120 in the floating body mounting device 100 according to the present embodiment. An example of the hardware configuration of the management control device 202 and the device control device 120 will be described with reference to FIG.

  The management control device 202 and the device control device 120 include a computer, and each element of the management control device 202 and the device control device 120 can be realized by a program.

  As a hardware configuration of the management control device 202 and the device control device 120, an arithmetic device 901, an external storage device 902, a main storage device 903, a communication device 904, and an input / output device 905 are connected to the bus.

The arithmetic device 901 is a CPU (Central Processing Unit) that executes a program. The arithmetic device 901 is also referred to as a processing device.
The external storage device 902 is, for example, a ROM (Read Only Memory), a flash memory, or a hard disk device.
The main storage device 903 is a RAM (Random / Access / Memory).

The communication device 904 is, for example, a communication board or the like, and is connected to an intranet, a LAN (Local / Area / Network), or the like. The communication device 904 is not limited to an intranet, a LAN, or the like, but is also a WAN (Wide Area Network) such as an IP-VPN (Internet, Protocol, Virtual, Private Network), a wide area LAN, or an ATM (Asynchronous / Transfer / Mode) network. Alternatively, it may be connected to the Internet. Intranet, LAN, WAN, and the Internet are examples of networks.
In the present embodiment, the wireless device 201 is an example of the communication device 904 of the management control device 202, and the wireless unit 122 is an example of the communication device 904 of the device control device 120.

  The input / output device 905 is, for example, a mouse, a keyboard, a display device, or the like. Alternatively, other display devices may be used. Instead of the mouse, a touch panel, a touch pad, a trackball, a pen tablet, or another pointing device may be used. The display device may be an LCD (Liquid / Crystal / Display), a CRT (Cathode / Ray / Tube), or another display device.

The program is normally stored in the external storage device 902, and is loaded into the arithmetic device 901 and executed while being loaded in the main storage device 903.
The program is, for example, a program that realizes the function described as the “control unit 123”.
The program product includes, for example, a storage medium, a storage device, and the like on which a program that realizes the function of the “control unit 123” is recorded. A program product loads a computer-readable program regardless of the visual format.

Further, the external storage device 902 also stores an operating system. Hereinafter, the operating system is referred to as OS. At least a part of the OS is loaded into the main storage device 903, and the arithmetic device 901 executes, for example, a program that realizes the function of the “control unit 123” while executing the OS.
An application program is also stored in the external storage device 902 and is executed by the arithmetic device 901 in a state loaded in the main storage device 903.
Information such as “common information” and “˜table” is also stored in the external storage device 902.

In the description of this embodiment, “determine”, “determine”, “extract”, “detect”, “set”, “register”, “select”, “generate”, Information, data, signal values, and variable values indicating the results of processing described as “acquire”, “input”, “output”, and the like are stored in the main storage device 903.
In addition, data received by the management control device 202 and the device control device 120 is stored in the main storage device 903.
Also, an encryption key / decryption key, a random value, and a parameter may be stored in the main storage device 903.

  The configuration of FIG. 7 is merely an example of the hardware configuration of the management control device 202 and the device control device 120, and the hardware configuration of the management control device 202 and the device control device 120 is the configuration described in FIG. Not limited to this, other configurations may be used.

*** Explanation of operation ***
8A and 8B are diagrams for explaining the operation of the unmanned surface boat 500 according to the present embodiment, in which FIG. 8A is a diagram in which the direction of the screw arm 144 is changed from the water navigation to the bottom running mode, and FIG. 144 is a diagram in which 144 is movable upward, and FIG. 10C is a diagram in which the floating body 510 is jacked up by the screw arm 144.
With reference to FIG. 8, an operation of changing the water bottom 951 from the water navigation mode propelled by the rotation of the screw 141 to the water bottom traveling mode of traveling by the rotation of the tire portion 145 will be described.

(1) First, it is assumed that the unmanned surface boat 500 is sailing forward in the state shown in FIGS. 1 to 4. At this time, the screw 141 generates a fluid flow behind the floating body 510 to generate a propulsive force that moves the floating body 510 forward.
(2) The control unit 123 determines whether or not to perform water bottom traveling.
For example, the control unit 123 determines that the water bottom travels when the user receives an instruction for water bottom travel from the management device 200.
Alternatively, the control unit 123 detects the water depth of the environment in which the floating body 510 is traveling on the water periodically using sonar or the like, and determines that the water bottom travels when it is determined that the water depth is shallower than a preset threshold value. . This is because when the water depth becomes shallow, it is difficult to navigate the water by the rotation of the screw 141. A threshold for water depth is set in the controller 123 in advance.
Alternatively, the control unit 123 determines that traveling on the bottom of the water is necessary when a predetermined map area is reached. This can be done by determining the movement route of the unmanned surface boat 500 and the movement method at the movement location in advance and setting them in the control unit 123. The control unit 123 calculates the current position based on the GPS signal acquired by the GPS 112 and determines whether or not the vehicle travels on the bottom by determining whether or not a predetermined map area has been reached.
A method other than the above may be used as a method for determining whether or not the control unit 123 travels under water.

(3) The operation when it is determined by the control unit 123 that water bottom traveling is necessary will be described.
(4) First, as shown in FIG. 8A, the control unit 123 rotates the screw arm 144 about 90 degrees about the axis by the motor control by the drive unit 143. The dotted line part of Fig.8 (a) is the position of the screw arm 144 at the time of water navigation. As shown in FIG. 8A, the two screw arms 144 on one side of the floating body 510 are rotated 90 degrees in the P3 direction from the dotted line state. Further, the two screw arms 144 on the other side of the floating body 510 are rotated 90 degrees in the P4 direction from the dotted line state. Accordingly, the screw 141, that is, the rotation axis of the tire portion 145 is orthogonal to the front-rear direction of the floating body 510.
(5) Next, as shown in FIG. 8B, the control unit 123 moves the screw arm 144 upward by motor control by the drive unit 143. Thereby, even when the water depth is shallow, the floating body 510 is in a floating state.
(6) Next, as shown in FIG. 8C, the control unit 123 moves the screw arm 144 downward by motor control by the drive unit 143. Thereby, the floating body 510 is jacked up, the floating body 510 is positioned above the water surface 950, and the unmanned surface boat 500 is in a standing state.
(7) Then, the control unit 123 rotates the tire unit 145 to move the unmanned surface boat 500 forward or backward. The unmanned surface boat 500 is in a water bottom traveling mode in which the tire portion 145 travels on the water bottom 951. Since the floating body 510 is in an upright state away from the water surface 950, the water bottom traveling by the tire portion 145 can be smoothly performed without water resistance.
This is the end of the description of the operation of the unmanned surface boat 500 for changing from the water navigation mode to the water bottom traveling mode.

FIGS. 9A and 9B are diagrams showing the unmanned surface boat 500 according to the present embodiment, in which FIG. 9A shows a state of advancing by surface navigation, and FIG. 9B moves in the direction of the other side by surface navigation. It is a figure which shows the state which is carrying out.
FIG. 9A is a diagram showing the unmanned surface boat 500 in the same state as FIGS. 1 to 4, and since the fluid flow by the screw 141 is in the P10 direction, the propulsive force that moves forward to the unmanned surface boat 500 is illustrated. Has occurred.

As shown in FIG. 9B, the unmanned surface boat 500 can also move in the side direction by surface navigation. In FIG. 9B, the position of the dotted screw arm 144 is in the state of FIG. When it is desired to move the unmanned surface boat 500 in the direction of the other side, that is, in the direction B, the control unit 123 rotates the screw arm 144 on one side by 90 degrees in the P3 direction. Further, the control unit 123 rotates the screw arm 144 on the other side by 90 degrees in the P5 direction. The P3 direction and the P5 direction are opposite directions. Accordingly, the rotational axis of the screw 141 is orthogonal to the front-rear direction of the floating body 510 and the flow of fluid by all the screws 141 is in the P11 direction. Therefore, in the unmanned surface boat 500, the direction of the other side, that is, the B direction Propulsion to move to is generated.
In addition, since the unmanned surface boat 500 can rotate the screw arm 144 in all directions, that is, 360 degrees in water navigation, it moves not only in the front-rear direction and the side direction but also in all directions of 360 degrees. Can be made. This is also possible to move in any direction of 360 degrees in all directions even in the water bottom traveling mode and the land traveling mode in which the vehicle travels on land. That is, the unmanned surface boat 500 can also move in the lateral direction and the oblique direction.

*** Explanation of effects ***
As described above, according to the floating body mounting apparatus 100 according to the present embodiment, an unmanned surface boat equipped with a control unit can be configured by mounting on an existing small boat or the like. In addition, the unmanned surface boat according to the present embodiment can perform unmanned water navigation, unmanned bottom traveling, unmanned land traveling, etc. under the control of the control unit, so it can immediately respond to observation, rescue, etc. in dangerous areas. be able to.

  Further, in the present embodiment, the control unit 123 determines in advance the change of the unmanned surface boat 500 from the water navigation mode to the water bottom traveling mode, the change from the water bottom traveling mode to the water navigation mode, the change of the moving direction, and the like. It may be performed automatically according to a program. Alternatively, it may be performed by a device control command from the management device 200. Alternatively, the floating body mounting device 100 transmits information indicating the state and state of the unmanned surface boat 500 to the management device 200, and the user remotely controls the unmanned surface boat 500 by interrupting according to the state while monitoring the state and state of the unmanned surface boat 500. You may do it.

  Thus, according to the unmanned surface boat 500 according to the present embodiment, autonomous traveling or semi-autonomous traveling by the program of the control unit 123 is possible, and control can be performed quickly and accurately. Further, since the unmanned surface boat 500 can be controlled by the user when necessary, it is possible to deal with various situations of the unmanned surface boat 500 in a multifaceted manner.

  Moreover, according to the floating body mounting apparatus 100 according to the present embodiment, since the screw 141 is controlled by a motor, it is possible to perform backward movement or omnidirectional movement that is difficult with an engine.

  Further, according to the floating body mounting apparatus 100 according to the present embodiment, for example, after reaching the coastal area where the water depth is shallow, the unmanned surface boat 500 can be erected by moving the support arm 142 in the vertical direction. At this time, since the control unit 123 controls each screw arm 144 independently, the unmanned surface boat 500 can be set in a standing posture according to the terrain such as horizontal, forward tilt, and rear tilt. Further, the attitude of the unmanned surface boat 500 can be freely changed. Further, the unmanned surface boat 500 can move in all directions using the rotation function of the screw arm 144 even when the unmanned surface boat 500 travels with the tire portion from the standing state.

Embodiment 2. FIG.
In the present embodiment, differences from the first embodiment will be described.
FIGS. 10A and 10B are diagrams showing an unmanned surface boat 500 according to the present embodiment, in which FIG. 10A is a side view of an example when walking on four legs, and FIG. 10B is a perspective view of FIG.
FIGS. 11A and 11B are diagrams showing the unmanned surface boat 500 according to the present embodiment, in which FIG. 11A is a side view of a first example when walking on four legs, and FIG. 11B is a perspective view of FIG.
FIGS. 12A and 12B are diagrams showing the unmanned surface boat 500 according to the present embodiment, in which FIG. 12A is a side view of a second example when walking on four legs, and FIG. 12B is a perspective view of FIG.

In the present embodiment, a case where the unmanned surface boat 500 walks on four legs will be described.
10 to 12, the same components as those described in Embodiment 1 are denoted by the same reference numerals, and the description thereof is omitted.

*** Explanation of configuration ***
The floating body mounting apparatus 100 includes at least four screw arms 144. At least two screw arms 144 are arranged on each side of the floating body 510 in the front-rear direction from the bow 511 to the stern 512.
The control unit 123 controls the screw arms 144 such that at least four screw arms 144 walk four feet on the water bottom 951 or the land 952.

*** Explanation of operation ***
The control unit 123 can rotate the screw arm 144 in the front-rear direction, that is, the P6-P7 direction by the driving unit 143. The tire part 145 can be moved in the front-rear direction by rotating the screw arm 144 in the front-rear direction.
The control unit 123 has a lock mechanism that locks the screw arm 144 by the drive unit 143. The tire portion 145 can be fixed by locking the screw arm 144.
Further, as described in the first embodiment, the control unit 123 can move the screw arm 144 in the vertical direction. The tire portion 145 can be moved in the vertical direction by moving the screw arm 144 in the vertical direction.

  In this manner, the control unit 123 can move the tire unit 145 in the front-rear direction, move it up and down, and lock it further. Therefore, the control unit 123 moves the tire unit 145 upward while moving the tire unit 145 upward, or moves backward while raising the tire unit 145 by combining the movement in the front-rear direction, the movement in the vertical direction, and the lock mechanism. It can be lowered, moved upward while being moved upward, and lowered downward, or moved upward while being moved upward and lowered downward. Moreover, the tire part 145 can be locked in a required position.

As described in the first embodiment, the control unit 123 can control the four screw arms 144 independently. Therefore, the control part 123 can make the unmanned surface boat 500 walk four legs by performing the above control independently with respect to the four screw arms 144. FIG.
Since the tire portion 145 can also move in the vertical direction, the unmanned surface boat 500 can be walked even when there is an obstacle on the road or on a slope.

  As shown in FIGS. 10 to 12, the four screw arms 144 are referred to as screw arms 144a, 144b, 144c, and 144d. The components included in each of the screw arms 144a, 144b, 144c, and 144d may also be described with the subscripts a, b, c, and d.

First, an example of control when the unmanned surface boat 500 walks four legs forward will be described.
(A1) In FIGS. 10A and 10B, two screw arms 144a and 144c that cross and face each other are in the same state. For example, the control unit 123 locks the tire portions 145a and 145c that are put forward from the state of FIGS. 10A and 10B, and rotates the support arms 142a and 142c of the locked tire portion 145 in the P6 direction. As a result, the floating body 510 moves forward. This state is (a) and (b) in FIG.
(A2) From the state of (a) and (b) of FIG. 11, the control unit 123 raises the two screw arms 144b and 144d that cross and face each other upward, and then rotates them in the P7 direction so that the tire units 145b and 145d. Is moved forward and lowered to land the tire portions 145b and 145d on the ground.
(A3) From the state of (a2), the control unit 123 locks the tire portions 145b and 145d that are put forward, and rotates the support arms 142b and 142d of the locked tire portion 145 in the P6 direction, thereby floating body 510. Moves forward.
(A4) From the state of (a3), the control unit 123 raises the two screw arms 144a and 144c that cross and face each other upward, and then rotates them in the P7 direction so that the tire portions 145a and 145c are forwarded and the lower part The tire portions 145a and 145c are landed on the ground. In this state, the process returns to (a) and (b) of FIG.
The controller 123 moves forward by walking on four legs by repeating (a1), (a2), (a3), and (a4).

Next, an example of control when the unmanned surface boat 500 walks four legs backward will be described.
(B1) In FIGS. 10A and 10B, two screw arms 144a and 144c that cross and face each other are in the same state. For example, the control unit 123 locks the tire portions 145b and 145d that are extended rearward from the states of FIGS. 10A and 10B, and rotates the support arms 142b and 142d of the locked tire portion 145 in the P7 direction. As a result, the floating body 510 moves backward. This state is (a) and (b) in FIG.
(B2) From the state of FIGS. 12 (a) and 12 (b), the control unit 123 raises the two screw arms 144a and 144c that are crossed and face each other upward, and then rotates them in the P6 direction so that the tire units 145a and 145c. Is taken out rearward and lowered downward to land the tire portions 145a and 145c on the ground.
(B3) From the state of (b2), the control unit 123 locks the tire portions 145a and 145c that are protruded rearward, and rotates the support arms 142a and 142c of the locked tire portion 145 in the P7 direction, thereby floating body 510. Moves backwards.
(B4) From the state of (b3), the control unit 123 raises the two screw arms 144b and 144d that cross and face each other upward, and then rotates them in the P6 direction so that the tire portions 145b and 145d are moved rearward. The tire portions 145b and 145d are landed on the ground. In this state, the process returns to (a) and (b) of FIG.
The control unit 123 moves backward by walking on four legs by alternately repeating (b1), (b2), (b3), and (b4).

Here, the operation at the time of forward and backward movements has been described. However, the control unit 123 can control the four screw arms 144 independently, and thereby can walk in the lateral direction and change the direction of the unmanned surface boat 500. The unmanned surface boat 500 can walk not only on land but also on the bottom of the water. The unmanned surface boat 500 can get over and avoid obstacles by walking on the four legs even when there are obstacles such as rocks on the bottom of the water.
Note that the above four-legged walking control method is an example, and any control method may be used as long as the four-legged walking can be performed.

*** Explanation of effects ***
As described above, according to the floating body mounting apparatus 100 according to the present embodiment, since the four-legged walking can be performed under the control of the control unit 123, the vehicle can move even in a place where traveling by the tire unit is impossible. An unmanned surface boat 500 that can be realized is realized. Moreover, the unmanned surface boat 500 that can get over and avoid even when there is an obstacle is realized.

Embodiment 3 FIG.
In the present embodiment, differences from Embodiments 1 and 2 will be mainly described.
In the present embodiment, an unmanned surface boat 501 equipped with an unmanned ground vehicle 300 will be described in addition to the configuration of the unmanned surface boat 500 described in the first and second embodiments.

  The unmanned ground vehicle 300 is an unmanned moving body that can move on the ground autonomously or by a remote device by a person even if no person is on board. Unmanned ground vehicle 300 is also referred to as UGV.

*** Explanation of configuration ***
FIG. 13 is a view showing the unmanned surface boat 501 according to the present embodiment, wherein (a) is a perspective view of the unmanned surface boat 501, and (b) is a side view of the unmanned surface boat 501.
FIG. 14 is a functional block diagram showing a functional configuration of the unmanned mobile control system 801 according to the present embodiment.
FIGS. 15A and 15B are diagrams showing a state where the unmanned surface boat 501 according to the present embodiment is in contact with the berth, in which FIG. 15A is a perspective view and FIG. 15B is a side view.
The configurations of the unmanned surface boat 501 and the unmanned mobile body control system 801 according to the present embodiment will be described with reference to FIGS. 13 to 15.

In the present embodiment, the same components as those described in the first and second embodiments are denoted by the same reference numerals, and the description thereof may be omitted.
In this embodiment, in addition to the configuration of the unmanned surface boat 500 described in the first and second embodiments, an unmanned surface boat 501 equipped with the unmanned ground vehicle 300 will be described. 13A and 13B show the camera 113 and the sonar among the optional sensors 114 that are not shown in the first and second embodiments.

An unmanned surface boat 501 that sails unmannedly includes a plate 390 attached to an upper portion and an unmanned ground vehicle 300 mounted on the plate 390.
The unmanned ground vehicle 300 includes a vehicle body 301, at least one crawler 343 provided on the left and right sides of the vehicle body 301, and crawler arms 341 provided on at least two on the left and right sides of the vehicle body 301.
The crawler arm 341 includes an arm 3411 that moves along a circular orbit centering around the rotation shaft 3415 by rotating, and a wheel 3412 that is attached to each tip 3413 of the arm 3411.
The unmanned ground vehicle 300 includes a vehicle control unit 320 that controls the operation of the crawler 343 and the crawler arm 341.

The wheel 3412 is displaced between a region 3432 above and a region 3433 below the lower end 3431 of the crawler 343 as the tip end 3413 moves.
The unmanned ground vehicle 300 includes two crawler arms 341 on the left and right sides of the front side of the vehicle body 301.
As shown in FIG. 15, the front two crawler arms 341 are fixed to the plate 390 in a state of protruding forward from the bow 511 of the unmanned surface boat 501.
The vehicle control unit 320 causes the unmanned surface boat 501 to advance by causing the wheels 3412 of the two front crawler arms to land on the land 952 and rotating the wheels 3412.

The unmanned ground vehicle 300 includes a vehicle unmanned aerial vehicle 400 arranged at the top.
The vehicle control unit 320 controls the operation of the unmanned vehicle for vehicle 400.

The plate 390 is attached to the apparatus main body 150 of the floating body attachment apparatus 100. The plate 390 is attached so as to cover the apparatus main body 150 of the floating body attachment apparatus 100. The plate 390 is formed with two rails on which one crawler 343 of the two left and right crawlers 343 and two crawler arms 341 on one side of the left and right crawler arms can travel. The plate 390 has a gentle slope along the shape of the bow 511 of the unmanned surface boat 501 so that the unmanned ground vehicle 300 can easily get on and off. This slope portion is referred to as a slope portion 391.
The crawler arm 341 is also referred to as a sub crawler.

FIG. 15B shows a lower end 3431 of the crawler, a region 3432 above and a region 3433 below the lower end 3431 of the crawler 343.
In FIGS. 13A and 13B, all four wheels 3412 of the four crawler arms 341 are located in the upper region 3432. That is, all the wheels 3412 of the crawler arm 341 of the unmanned ground vehicle 300 are located in the upper region 3432 when the unmanned surface boat 501 is in a state of water navigation.

  15A and 15B, the two front wheels 3412 are located in the lower region 3433, and the two rear wheels 3412 are located in the upper region 3432.

Next, the functional configuration of the unmanned mobile control system 801 according to the present embodiment will be described with reference to FIG.
In FIG. 14, the configuration of the management device 200 and the floating body mounting device 100 has been described in the first embodiment, and thus the description thereof is omitted here.

The unmanned mobile body control system 801 includes an unmanned surface boat 501 and a management device 200.
The management device 200 transmits a device control command 211 that is a command for controlling the floating body mounting device 100 and a vehicle control command 311 that is a command for controlling the unmanned ground vehicle 300.
The control unit 123 of the floating body mounting apparatus 100 controls the floating body mounting apparatus 100 in accordance with a device control command 211 transmitted from the management apparatus 200.
The vehicle control unit 320 of the unmanned ground vehicle 300 controls the unmanned ground vehicle 300 according to the vehicle control command 311 transmitted from the management device 200.

As shown in FIG. 14, in the present embodiment, in addition to the management device 200 and the floating body mounting device 100 described in the first and second embodiments, an unmanned ground vehicle 300 and an unmanned flight for a vehicle mounted on the vehicle. A body 400.
The unmanned ground vehicle 300 includes a wireless device 310, a vehicle control unit 320, a battery for own device 330, motors 340 and 350, a crawler arm 341, a crawler 343, a GPS 360, a rider 370, and the like. The unmanned ground vehicle 300 may be equipped with other sensor devices.

  The vehicle unmanned aerial vehicle 400 includes a wireless antenna 401, a camera 402, and the like. The unmanned aerial vehicle for vehicle 400 may be equipped with other sensor devices. Here, the vehicle unmanned air vehicle 400 is controlled by the vehicle control unit 320 of the unmanned ground vehicle 300, but may be controlled directly from the management device 200, or the control unit 123 of the floating body mounting device 100. It is good also as controllable from.

The wireless device 310 may receive the vehicle control command 311 transmitted from the management device 200 via the wireless unit 122 of the floating body mounting device 100. Alternatively, the vehicle control command 311 may be received directly from the management device 200.
The vehicle control unit 320 controls the operation of the unmanned ground vehicle 300 according to the vehicle control command 311 transmitted from the management device 200 and accepts a control command from the control unit 123 of the unmanned surface boat 501. Since the vehicle control unit 320 and the control unit 123 are configured as described above, the unmanned surface boat 501 can perform not only an autonomous operation and an operation by remote operation but also a semi-autonomous operation.

In addition, since the unmanned aerial vehicle 400 is an unmanned aerial vehicle mounted on an unmanned ground vehicle, it is also referred to as a UGV-equipped UAV or a vehicle unmanned aircraft.
The wireless antenna 401 of the unmanned vehicle for vehicle 400 is connected to the wireless device 310 of the unmanned ground vehicle 300. The vehicle unmanned aerial vehicle 400 receives an operation command from the vehicle control unit 320 of the unmanned ground vehicle 300 via the wireless antenna 401 and the unmanned ground vehicle 300. The vehicle unmanned aerial vehicle 400 may operate under the control of the vehicle control unit 320 of the unmanned ground vehicle 300, or may operate according to an operation command to the vehicle unmanned aircraft 400 included in the vehicle control command from the management device 200. You may do it. Further, the vehicle unmanned air vehicle 400 itself may have a control device. In this case, the vehicle unmanned air vehicle 400 can operate autonomously by its own control device, operate by remote operation, or perform semi-autonomous operation by combining these.
In the present embodiment, it is assumed that unmanned vehicle for vehicle 400 functions as a sensor device for unmanned ground vehicle 300.

*** Explanation of operation ***
Next, using FIG. 13 and FIG. 15, an operation until the unmanned surface boat 501 according to the present embodiment touches the shore from the coast is explained.

(C1) FIGS. 13A and 13B show a case where the unmanned surface boat 501 is in the water navigation mode. The unmanned surface boat 501 may be in the bottom running mode or the bottom walking mode. Operations in the water navigation mode, the water bottom traveling mode, and the water bottom walking mode are the same as those described in the first and second embodiments.
(C2) The control unit 123 determines whether or not the crawler arm 341 contacts the bank.
For example, the control unit 123 determines that the crawler arm 341 contacts the bank when an instruction to contact the crawler arm 341 is received from the management device 200 by the user.
Alternatively, the control unit 123 detects the water depth of the environment in which the floating body 510 is navigating periodically by sonar or the like, and determines that the water depth is shallower than a preset threshold value, the crawler arm 341 contacts the shore. Judge that.
Alternatively, the control unit 123 determines that the crawler arm 341 contacts the bank when it reaches a predetermined map area. This can be done by determining the movement route of the unmanned surface boat 500 and the movement method at the movement location in advance and setting them in the control unit 123. The control unit 123 determines whether or not the crawler arm 341 contacts the bank by calculating the current position based on the GPS signal acquired by the GPS 112 and determining whether or not a predetermined map area has been reached. .
A method other than the above may be used as a method for determining whether or not the control unit 123 contacts the crawler arm 341.
(C3) When determining that the crawler arm 341 is in contact with the crawler arm 341, the control unit 123 transmits an operation command for contacting the crawler arm 341 to the vehicle control unit 320 of the unmanned ground vehicle 300. Further, as shown in FIGS. 15A and 15B, the control unit 123 rotates the screw arm 144 obliquely so that the screw arm 144 does not protrude downward from the lower end of the floating body 510, and the screw arm 144. Is fixed in a form located above the lower end of the floating body 510.
(C4) The vehicle control unit 320 operates the unmanned ground vehicle 300 in accordance with the operation command for coming into contact with the crawler arm 341 transmitted from the control unit 123.
(C5) First, the vehicle control unit 320 advances the unmanned ground vehicle 300 forward from the state of FIG. 13 and stops it at the slope portion 391 on the front side of the plate 390 as shown in FIG. Here, the unmanned ground vehicle 300 is fixed to the plate 390.
(C6) Then, as shown in FIG. 15, the vehicle control unit 320 rotates the wheel 3412 of the front crawler arm 341 to the lower region 3433 to land on the land 952.
(C7) The vehicle control unit 320 pulls the unmanned surface boat 501 forward by rotating the two wheels 3412 landed on the land 952. The vehicle control unit 320 can also push the unmanned surface boat 501 backward by rotating the two wheels 3412 landed on the land 952 in the opposite direction to the forward movement.

FIG. 16 is a diagram illustrating an unmanned surface boat 501 according to the present embodiment, and (a) and (b) are diagrams for explaining an example of operations at the time of berthing and berthing.
FIG. 17 is a diagram illustrating an unmanned surface boat 501 according to the present embodiment, and (a) and (b) are diagrams for explaining another example of the operation at the time of berthing and leaving.
FIG. 18 is a diagram showing an unmanned surface boat 501 according to the present embodiment, and (a) and (b) are diagrams for explaining another example of the operation at the time of berthing and leaving.
FIG. 19 is a view showing a variation of the unmanned surface craft 501 according to the present embodiment, where (a) is a perspective view and (b) is a side view.

  Variations of the operation of the unmanned surface boat 501 according to the present embodiment will be described with reference to FIGS. 16 to 19.

16 (a) and 16 (b) show a state where the unmanned surface boat 501 contacts the quay by walking on four legs without using the crawler arm 341 of the unmanned ground vehicle 300.
For example, there may be severe irregularities in the coastal area, and it may not be preferable to advance while dragging the bottom of the floating body 510 to the coast with the crawler arm 341 as shown in FIG. In such a case, it is possible to land only by walking on four legs by the four screw arms 144 described in the second embodiment. In addition, it is possible to leave the shore only by walking on four legs with four screw arms 144.

When the coastal area is smooth, flat, or gently inclined, the unmanned surface boat 501 starts running on the water bottom using the tire part 145 in a shallow place, and stays on the shore to land on the shore. May be. Further, the unmanned surface boat 501 may travel offshore from the land in the direction of the waterside, leave the shore as it is, and take off from the water by running on the bottom.
In addition, as shown in FIG. 16, after the unmanned surface boat 501 comes in contact with the shore and completely landed on the coast, the unmanned ground vehicle 300 or the unmanned flying vehicle for vehicle 400 leaves the floating body mounting device 100, and the surroundings are observed. It can be carried out.

  17 (a) and 17 (b) show a state where the unmanned surface boat 501 contacts the pier by combining the crawler arm 341 of the unmanned ground vehicle 300 and the traveling by the tire portion 145. In FIG. 17, the vehicle unmanned aerial vehicle 400 is not shown, but the unmanned ground vehicle 300 may include the vehicle unmanned aerial vehicle 400.

For example, due to the inclination of the coastal part, there may be a case where the coast cannot be contacted only by traveling by the rotation of the tire part 145 of the floating body mounting device 100. In such a case, the control unit 123 uses the crawler arm 341 of the unmanned ground vehicle 300 as an auxiliary. As shown in FIG. 17B, the control unit 123 can adjust the height of the tire unit 145 by adjusting the height of the screw arm 144, so that the wheel 3412 of the crawler arm 341, The tire part 145 and the rear tire part 145 can be adjusted to the inclination of the coastal part. The controller 123 can make a berthing while making such adjustments.
In addition, as shown in FIG. 17, after the unmanned surface boat 501 has berthed and completely landed on the coast, the unmanned ground vehicle 300 or the unmanned flying vehicle for vehicle 400 is separated from the floating body mounting device 100, and the surrounding observation is performed. It can be carried out.

  18 (a) and 18 (b) show a state where the unmanned surface boat 501 moves in combination with the crawler arm 341 of the unmanned ground vehicle 300 and traveling by the tire portion 145 and stops at the waterside. Thereafter, only the unmanned ground vehicle 300 may land on the coast and start observation. In FIG. 18, the vehicle unmanned aerial vehicle 400 is not shown, but the unmanned ground vehicle 300 may include the vehicle unmanned aerial vehicle 400.

If the unmanned surface boat 501 completely landed on the coast, the operation at the time of returning becomes complicated, and the time until returning becomes longer. As shown in FIG. 18, if the vehicle is stopped at the waterside, the operation at the time of returning is reduced, and the time until returning can be shortened. Further, even in an environment where it is not possible to touch the coast in the walking mode or the traveling mode, it is possible to stop at the waterside and make the observation only by the unmanned ground vehicle 300 or the unmanned air vehicle 400 for vehicles.
As shown in FIG. 18, after the unmanned surface boat 501 stops at the waterside, the unmanned ground vehicle 300 or the unmanned vehicle for vehicle 400 can be separated from the floating body mounting device 100 and the surroundings can be observed.

Variations of the unmanned surface boat will be described with reference to FIG.
In the present embodiment, the floating body mounting apparatus 100 includes two screw arms 144 on the left and right sides of the floating body 510. However, as shown in FIG. 19, two screw arms 144 may be provided at the rear portion of the apparatus main body 150. In this case, the unmanned surface boat 500 cannot take the traveling mode or the walking mode, but can sail on the water. In addition, the walking mode and the traveling mode cannot be used at the time of berthing, but the berthing can be made by pulling the unmanned surface boat by the crawler arm 341.

  With the configuration as shown in FIG. 19, the system can be simplified. Moreover, since the load can be increased by simplifying the system, it is possible to realize a highly functional unmanned surface boat loaded with other sensors.

*** Explanation of effects ***
According to the unmanned surface boat 501 according to the present embodiment, since the unmanned ground vehicle having the crawler arm is mounted, the crawler arm can assist the berthing and the berthing. Therefore, by using a screw arm and a crawler arm, it is possible to berth and berth even in harsh environments such as a coastal area with severe irregularities, a coastal area with a steep slope, etc., realizing a highly adaptable unmanned surface boat can do.

  In addition, according to the unmanned surface boat 501 according to the present embodiment, since the unmanned flying vehicle for vehicles is mounted on the unmanned ground vehicle, the vehicle can be used even in a place that cannot be reached by a screw arm or a crawler arm such as a quay. It can be observed by an unmanned air vehicle.

  In the present embodiment, the unmanned surface boat on which an unmanned ground vehicle is mounted is described as having a structure in which a floating body attachment device is attached to a floating body. However, the unmanned surface boat may not be composed of a floating body and a floating body mounting device as long as it is an autonomous, remote-controlled, or semi-autonomous unmanned surface boat. The unmanned surface boat 501 according to the present embodiment may be configured by mounting a plate and an unmanned ground vehicle in advance on a ship configured as an autonomous, remote-controlled, or semi-autonomous unmanned surface boat. .

Embodiment 4 FIG.
In the present embodiment, differences from Embodiment 3 will be mainly described.
In the present embodiment, a fixing method between plate 390 and unmanned ground vehicle 300 described in the third embodiment will be described.
In the present embodiment, the same components as those described in the first to third embodiments are denoted by the same reference numerals, and the description thereof may be omitted.

*** Explanation of configuration ***
FIG. 20 is a partial cross-sectional view showing a method of fixing the plate 390 and the unmanned ground vehicle 300 according to the present embodiment, where (a) is an enlarged cross-sectional view of the coupled portion C state, and (b) is the coupled portion D It is an expanded sectional view of a state.
The unmanned ground vehicle 300 includes a fixing rod 371 for fixing to the plate 390 at a lower portion 3700 facing the plate 390.
The plate 390 includes a vehicle fixing portion 392 that fixes the unmanned ground vehicle 300 by engaging with the fixing rod 371.

  The fixing rod 371 has a rod shape substantially orthogonal to the traveling direction of the unmanned ground vehicle 300, and is provided in the UGV lower space 3111 between the left and right crawlers 343 so as to connect the left and right crawlers 343 to each other.

  The vehicle fixing portion 392 includes a rod catcher 3921, a rod retainer 3922, a retainer stopper 3923, a catcher stopper 3924, and a rotating shaft 3925. The vehicle fixing portion 392 is provided on the slope portion 391 of the plate 390.

*** Explanation of operation ***
First, a coupling method between the plate 390 and the unmanned ground vehicle 300 will be described.
(D1) As shown in FIG. 20A, the traveling direction of the unmanned ground vehicle 300 is a direction toward the rear of the unmanned surface boat 501. That is, the unmanned ground vehicle 300 is about to get on the plate 390.
(D2) When the vehicle body 301 advances, the fixing rod 371 fits into the U-shaped portion of the rod catcher 3921. Further, when the vehicle body 301 advances, the rod catcher 3921 and the rod retainer 3922 rotate upward about the rotation shaft 3925. As the rod catcher 3921 rotates upward, the rod retainer 3922 also rotates upward, and the back portion of the rod retainer 3922 hits the retainer stopper 3923.
(D3) As shown in FIG. 20B, when the rod catcher 3921 rotates about 90 degrees upward with respect to the traveling direction, the U-shaped opening is blocked by the rod presser 3922, and the fixing rod 371 To prevent falling out.
(D4) The catcher stopper 3924 fits the lower corner of the rod catcher 3921 to prevent the rod catcher 3921 from rotating in the original direction.

  As described above, the lower portion of the unmanned ground vehicle 300 is coupled to the slope portion 391 of the plate 390, and the unmanned ground vehicle 300 is fixed to the plate 390.

Next, a method for releasing the connection between the combined plate 390 and the unmanned ground vehicle 300 will be described.
(E1) As shown in FIG. 20B, the traveling direction of the unmanned ground vehicle 300 at the time of release is assumed to be a direction toward the front of the unmanned surface boat 501. That is, the unmanned ground vehicle 300 is off the plate 390.
(E2) In FIG. 20B, the catcher stopper 3924 is rotated downward, and the lower corner portion of the rod catcher 3921 fitted in the catcher stopper 3924 is removed. As a result, the rod catcher 3941 rotates downward and the vehicle body 301 moves in a direction in which the fixing rod 371 moves away from the rod catcher 3941, so that the unmanned ground vehicle 300 and the plate 390 are disconnected. At this time, the rod catcher 3921 and the rod retainer 3922 are given a force that returns to the state of FIG. The catcher stopper 3924 is also given a force that springs upward by a spring or the like.

  As described above, the connection between the lower portion of the unmanned ground vehicle 300 and the slope portion 391 of the plate 390 is released, and the unmanned ground vehicle 300 can be separated from the plate 390.

*** Explanation of effects ***
As described above, according to the unmanned surface boat according to the present embodiment, since the unmanned ground vehicle and the plate can be securely fixed, the unmanned surface boat is reliably pulled by the crawler arm on the front side of the unmanned ground vehicle. can do.

  Note that this embodiment is an example of a method of fixing the plate 390 and the unmanned ground vehicle 300, and the plate 390 and the unmanned ground vehicle 300 may be coupled and released by other methods.

Embodiment 5 FIG.
In the present embodiment, differences from Embodiments 3 and 4 will be mainly described.
In the present embodiment, in addition to the unmanned surface watercraft 501 described in the third embodiment, an unmanned surface watercraft 502 having an unmanned flying body 600 that is a separate body from the unmanned flying object 400 for a vehicle will be described.

*** Explanation of configuration ***
FIG. 21 is a view showing the unmanned surface boat 502 according to the present embodiment, where (a) is a perspective view seen from the front, (b) is a perspective view seen from the rear, and (c) is a side view. .
FIG. 22 is a functional block diagram showing a functional configuration of the unmanned mobile control system 802 according to the present embodiment.
The configuration of the unmanned surface boat 502 and the unmanned moving body control system 802 will be described with reference to FIGS. 21 and 22.

In the present embodiment, in addition to the configuration of the unmanned surface watercraft 501 described in the third and fourth embodiments, an unmanned air vehicle 600 separate from the vehicle unmanned air vehicle 400 and a flight on which the unmanned air vehicle 600 is mounted. An unmanned surface boat 502 including a body mounting portion 605 will be described.
In the present embodiment, the same components as those described in the third and fourth embodiments are denoted by the same reference numerals, and the description thereof may be omitted.

The floating body mounting apparatus 100 includes an unmanned air vehicle 600 disposed in the apparatus main body 150.
The control unit 123 controls the operation of the unmanned air vehicle 600.

  The apparatus main body 150 includes a flying object mounting portion 605 that protrudes rearward from the upper portion of the placement portion 152. The unmanned air vehicle 600 is placed on the air vehicle mounting unit 605.

Next, the functional configuration of the unmanned mobile control system 802 according to the present embodiment will be described with reference to FIG.
In FIG. 22, the configuration of the management device 200, the floating body mounting device 100, the unmanned ground vehicle 300, and the vehicle unmanned air vehicle 400 has been described in the third embodiment, and thus the description thereof is omitted here.

The unmanned mobile body control system 802 includes an unmanned surface boat 502, a device control command 211 that is a command for controlling the floating body mounting device 100, a vehicle control command 311 that is a command for controlling the unmanned ground vehicle 300, and an unmanned air vehicle 600. And a management device 200 that transmits a flying object control command 611 that is a command for controlling the aircraft.
The control unit 123 of the floating body mounting device 100 controls the floating body mounting device 100 according to the device control command 211 transmitted from the management device 200 and also uses the unmanned air vehicle 600 according to the flying body control command 611 transmitted from the management device 200. To control.
Further, the vehicle control unit 320 of the unmanned ground vehicle 300 controls the unmanned ground vehicle 300 according to the vehicle control command 311 transmitted from the management device 200.

*** Explanation of operation ***
As shown in FIG. 22, in the present embodiment, in addition to the management device 200, the floating body mounting device 100, the unmanned ground vehicle 300, and the unmanned flying vehicle 400 for vehicles described in the first to fourth embodiments, the unmanned flying vehicle 600 is used. Is provided.
The unmanned air vehicle 600 includes a long-range wireless antenna 601, a camera 602, and the like. Other sensor devices may be mounted. Here, the unmanned air vehicle 600 is configured to be controlled by the control unit 123 of the floating body mounting device 100, but may be controlled directly from the management device 200 or from the vehicle control unit 320 of the unmanned ground vehicle 300. It may be possible.

  Unmanned aerial vehicle 600 is also referred to as an unmanned aerial vehicle, and is also referred to as a USV-equipped UAV and a USV-equipped unmanned aerial vehicle because it is an unmanned aerial vehicle mounted on unmanned surface boat 502.

  The unmanned air vehicle 600 can be used as a sensor for the unmanned surface boat 502. In addition, while the power is supplied from the power supply battery 126 of the floating body mounting device 100 and is placed on the flying object mounting unit 605, the charging mode is set.

  Long-range wireless antenna 601 of unmanned air vehicle 600 is connected to wireless unit 122 of floating body mounting apparatus 100. The unmanned air vehicle 600 receives an operation command from the control unit 123 via the long-range wireless antenna 601. The unmanned aerial vehicle 600 may be operated by the control of the vehicle control unit 320 of the unmanned ground vehicle 300, or operated by an operation command to the unmanned air vehicle 600 included in the flying object control command 611 from the management device 200. You may do it. The unmanned air vehicle 600 itself may have a control device. In this case, the unmanned aerial vehicle 600 can operate autonomously by its own control device, operate by remote control, or perform a semi-autonomous operation by combining these.

*** Explanation of effects ***
As described above, according to the unmanned surface boat and the unmanned mobile body control system according to the present embodiment, the unmanned surface boat can be provided with an unmanned flying body and used as a sensor for the unmanned surface boat. In addition, unmanned aerial vehicles can operate not only as sensors for unmanned surface boats, but also operate autonomously, operate remotely, or combine these to operate semi-autonomously. An unmanned surface boat can be realized.

The effects of the unmanned surface boat and the unmanned mobile control system described in the first to fifth embodiments will be further described.
(A) An unmanned unmanned surface boat, which is an unmanned aircraft, can land on and off the coast by itself to observe remote islands, coastal areas such as waterfront obstacles, and flooded places.
(B) In the amphibious UGV, the drive system was complicated and the size was increased, and efficient transportation and observation were not possible. However, according to the unmanned surface boat described in the third to fifth embodiments, the UGV and UAV are Since it can be transported from the water to the ground, an efficient unmanned observation system using the advantages of USV, UGV, and UAV can be constructed.
(C) Existing rubber boats and ships can be unmanned regardless of size, and can be docked, berthed, and berthed autonomously and semi-autonomously.

  In addition, the configurations described in the first to fifth embodiments described above are essentially preferable examples, and are not intended to limit the scope of the present invention, its applied products, and uses, but as necessary. Various changes are possible.

  As mentioned above, although Embodiment 1-5 of this invention was demonstrated, you may implement combining the invention contained in this embodiment partially. Alternatively, one part of this embodiment may be implemented. Alternatively, two or more of the embodiments may be partially combined. In addition, this invention is not limited to these embodiment, A various change is possible as needed.

  DESCRIPTION OF SYMBOLS 100 Floating body attachment apparatus, 110 Sensor part, 111 Rider, 112 GPS, 113 Camera, 114 Option sensor, 120 Apparatus control apparatus, 121 Radio antenna, 122 Radio part, 123 Control part, 124 Power supply part, 141 Screw, 142 Support arm, 143 Drive part, 144 Screw arm, 145 Tire part, 146 Motor, 150 Device main body, 151 Component plate part, 152 Arrangement part, 153 Top plate part, 160 Mounting frame, 161 Horizontal frame, 162 Vertical frame, 163 Floating body fixing part, 200 management device, 201 wireless device, 202 management control device, 203 wireless antenna, 204 long-range wireless antenna, 211 device control command, 300 unmanned ground vehicle, 301 vehicle body, 310 wireless device, 311 vehicle control command, 320 vehicles Control unit, 330 battery, 340 motor, 341 crawler arm, 343 crawler, 350 motor, 360 GPS, 370 rider, 371 fixing rod, 390 plate, 391 slope unit, 400 unmanned aerial vehicle for vehicle, 401 wireless antenna, 402 camera , 500,501,502 Unmanned surface boat, 510 floating body, 511 bow, 512 stern, 600 unmanned aircraft, 601 long-range wireless antenna, 602 camera, 605 flying body mounting unit, 611 flying body control command, 800, 801, 802 Unmanned mobile control system, 901 arithmetic device, 902 external storage device, 903 main storage device, 904 communication device, 905 input / output device, 950 water surface, 951 water bottom, 952 land, 1241 battery for own device, 1242 battery for power supply Lee, 1631 fixed part upper part, 1632 fixed part connecting part, 3111 UGV lower space, 3411 arm, 3412 wheel, 3413 tip part, 3415 rotation axis, 3431 lower end, 3432 upper area, 3433 lower area, 3700 lower part, 3922 rod Catcher, 3922 Rod presser, 3923 Presser stopper, 3924 Catcher stopper, 3925 Rotating shaft.

Claims (19)

An attachment frame fixed to the floating body, the size of which can be adjusted according to the outline of the floating body;
An apparatus main body attached to the attachment frame and covering at least a part of the upper part of the floating body;
A support arm attached to the apparatus main body so as to rotate about the axis, and extending downward from the apparatus main body; and a screw arm having a screw installed at a tip of the support arm;
A control unit for controlling the rotation of the screw arm and the rotation of the screw;
The controller is
A floating body attachment device that changes the direction of the screw by rotating the screw arm about an axis. The controller is
The rotation of the screw arm is controlled so that the floating body moves forward in the forward direction on the water, and the rotation of the screw arm is controlled so that the floating body moves backward in the direction of the stern. The floating body mounting apparatus according to claim 1. The controller is
The floating body attachment device according to claim 2, wherein the floating body is moved backward by rotating the screw arm 180 degrees from a state of forward navigation. The floating body mounting device is:
Comprising at least two screw arms;
The at least two screw arms are
At least one each is arranged on both sides in the front-rear direction from the bow to the stern in the floating body,
The controller is
4. The rotation of each of the at least two screw arms is controlled so that the screw installed at the tip of each of the at least two screw arms has the same orientation. 5. The floating body mounting apparatus described. The screw is
A cylindrical tire portion that rotates with the screw is provided around the periphery,
The controller is
The floating body mounting apparatus according to any one of claims 1 to 4, wherein the tire portion is wheeled on a water bottom or land. The screw arm is
It is attached to the device body so as to be movable in the vertical direction,
The controller is
The floating body attachment device according to any one of claims 1 to 5, wherein a height from a water bottom or a land to the floating body is adjusted by controlling vertical movement of the screw arm. The floating body mounting device is:
Comprising at least four screw arms;
The at least four screw arms are
At least two are arranged on both sides in the front-rear direction from the bow to the stern of the floating body,
The controller is
The floating body attachment device according to any one of claims 1 to 6, wherein the screw arm is controlled so that the at least four screw arms walk four feet on the water bottom or the land. The apparatus main body is
An arrangement unit in which a sensor unit and a wireless antenna for obtaining status information of the floating body are arranged;
A drive unit that controls the rotation of the screw arm under the control of the control unit;
The floating body mounting apparatus according to any one of claims 1 to 7, further comprising a power supply unit that supplies power to the control unit, the driving unit, the sensor unit, and the wireless antenna. The controller is
The floating body attachment device according to any one of claims 1 to 8, wherein the rotation of the screw is controlled by a motor. The floating body mounting device according to any one of claims 1 to 9,
An unmanned surface boat including a floating body to which the floating body mounting device is attached. A plate attached to the apparatus body;
An unmanned ground vehicle mounted on the plate,
The unmanned ground vehicle is
The car body,
A crawler provided at least one each on the left and right of the vehicle body;
A crawler arm provided at least two on each of the left and right sides of the vehicle body, each arm having a distal end that moves along a circular orbit centering on a rotation axis by rotating; and each distal end of the arm A crawler arm having wheels attached to the
The unmanned surface watercraft according to claim 10, further comprising a vehicle control unit that controls operations of the crawler and the crawler arm.   The unmanned surface watercraft according to claim 11, wherein the wheel is displaced between a region above and below a lower end of the crawler as the tip portion moves. The unmanned ground vehicle is
The unmanned vehicle according to claim 11 or 12, wherein two crawler arms are provided on the left and right sides of the front side of the vehicle body, and the two crawler arms are fixed to the plate in a state of protruding forward from a bow of the floating body. Surface boat. The vehicle control unit
The unmanned surface watercraft according to claim 13, wherein the unmanned surface watercraft is advanced by landing each wheel of the two crawler arms on land and rotating the wheel. The unmanned ground vehicle is
In the lower part facing the plate, provided with a fixing rod for fixing to the plate,
The plate is
The unmanned surface watercraft according to claim 13 or 14, further comprising a vehicle fixing portion that fixes the unmanned ground vehicle by engaging with the fixing rod. The floating body mounting device is:
Comprising an unmanned aerial vehicle disposed in the apparatus body,
The controller is
The unmanned surface boat according to any one of claims 11 to 15, which controls the operation of the unmanned air vehicle. An unmanned surface boat according to claim 10;
A management device that transmits a device control command that is a command to control the floating body mounting device;
The control unit of the floating body mounting device is an unmanned mobile body control system that controls the floating body mounting device in accordance with the device control command transmitted from the management device. An unmanned surface boat according to any one of claims 11 to 16,
A management device that transmits a device control command that is a command to control the floating body mounting device and a vehicle control command that is a command to control the unmanned ground vehicle;
The control unit of the floating body mounting device controls the floating body mounting device according to the device control command transmitted from the management device,
The vehicle control unit of the unmanned ground vehicle is an unmanned mobile body control system that controls the unmanned ground vehicle according to the vehicle control command transmitted from the management device. An unmanned surface boat according to claim 16;
A management device that transmits a device control command that is a command to control the floating body mounting device, a vehicle control command that is a command to control the unmanned ground vehicle, and a flying object control command that is a command to control the unmanned air vehicle And
The control unit of the floating body mounting device controls the floating body mounting device according to the device control command transmitted from the management device, and the unmanned air vehicle according to the flying body control command transmitted from the management device. Control
The vehicle control unit of the unmanned ground vehicle is an unmanned mobile body control system that controls the unmanned ground vehicle according to the vehicle control command transmitted from the management device.

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