JP2018130998A - Underwater searching method and underwater searching system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To be able to efficiently detect a target from a search range.SOLUTION: An underwater vehicle 1 collects information with a side scanning sonar 6 and transmits the collected information to a control station 2 when it cruises on a specified moving path in the search range of a target. The control station 2 performs image processing based on that information at an image processing unit 19, extracts a target candidate and displays it on a display unit 20. The control station 2 issues a command to indicate the specified target candidate to the underwater vehicle 1 when an input unit 21 has specified the target candidate as the collection target of the detail information. The underwater vehicle 1 sets a re-search area around the detecting position of the target candidate and a re-search course and transmits the collected information with an optical camera 7 to the control station 2 as well as cruises in accordance with the re-search course. The control station 2 displays, on the display unit 20, an image of the target candidate collected with the optical camera 7 of the underwater vehicle 1 and provides it for determination on whether it is a target or not.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an underwater search method and an underwater search system used for searching an underwater object using an underwater vehicle.

  Autonomous unmanned underwater vehicle called AUV (Autonomous Underwater Vehicle) or UUV (Unmanned Underwater Vehicle) is considered to be used to search for underwater natural objects or objects artificially installed in the water. It has been.

  An underwater information collection system has been conventionally proposed as a means for searching for an underwater object that is sinking to the bottom of the water using an underwater vehicle (see, for example, Patent Document 1).

  In this underwater information collecting system, the underwater vehicle is configured to include a CCD camera, an underwater acoustic camera, and a side scan sonar as means for collecting underwater information. In addition, the method of searching for the target search object using the underwater vehicle is to observe the bottom of the water vehicle while the underwater vehicle is moving underwater. Then, it approaches the position and collects more detailed information of the search object, and then the underwater vehicle is returned to the original movement path.

JP 2010-139270 A

  However, in the method shown in Patent Document 1, when a search target is found at a position off the movement path while moving along the movement path, the underwater vehicle is located at the position where the search target is found each time. In order to approach the lane, it is necessary to travel off the travel route.

  In addition, the underwater vehicle moves along the movement path from the time when the underwater information collection means collects underwater information to the time required for processing until the search target is discovered by analyzing the collected data. Therefore, when the underwater vehicle heads for the discovery position to be searched, it is necessary to move in the direction of returning the movement route. For this reason, when the underwater vehicle is a cruise type, it is necessary to make a turn, and in order to make the turn, speed control for reducing the traveling speed may be required.

  Furthermore, when the underwater vehicle deviates from the movement path, the detection range of the underwater information collecting means provided in the underwater vehicle also deviates from the position based on the movement path, so the underwater vehicle returns to the original movement path. In some cases, it is necessary to appropriately control the position where the underwater vehicle returns to the moving path and the traveling direction when returning so that the detection range of the underwater information collecting means along the moving path is not interrupted.

  Therefore, when searching for a search target by the technique disclosed in Patent Document 1, if a search target is found during movement along the movement path of the underwater vehicle, a course change or speed change is interrupted. Furthermore, since it is necessary to obtain the control amount of the course and speed on the spot according to the discovery position of the search target and perform control, the efficiency of movement of the underwater vehicle decreases. Thus, the search method disclosed in Patent Document 1 is actually inefficient in searching for a search target.

  Moreover, Patent Document 1 discloses a plurality of types of underwater information collecting means, such as a CCD camera, an underwater acoustic camera, and a side scan sonar, but these simply collect underwater information as an image. It is only shown as, and there is no suggestion of how to use the search target efficiently.

  Therefore, the present invention aims to provide an underwater search method and an underwater search system that can efficiently find an object from a search range.

  In order to solve the above-mentioned problems, the present invention is provided with a traveling process in which an underwater vehicle is made to travel according to a movement route within a search range of a target object, and the underwater vehicle is provided in the traveling process Of the first information collecting means and the second information collecting means having different information collecting ranges, the first information collecting means having an information collecting range larger than that of the second information collecting means is used. Processing for collecting underwater information, processing for extracting an object similar to a target object as a target object candidate based on the information collected by the first information collecting means, and focusing on the position of the target object candidate A process of setting a re-search area, setting a re-search course in the re-search area, and making the underwater vehicle travel according to the re-search course, and collecting information by the second information collecting means Processing to be performed and the underwater vehicle is the second information collecting means. A process of displaying the collected information to the display unit of the control station, and underwater search method of performing.

  The re-search course is set so that the entire re-search area can be scanned within the information collection range of the second information collection means.

  The underwater vehicle performs a calibration process of position detection means provided in the underwater vehicle after the navigation process of traveling according to the travel route in the search range and before the start of the navigation according to the re-search course. It is.

  The re-search area is centered on the detection position of the object candidate, with σ being the standard deviation regarding the error included in the detection result of the position of the object candidate based on the information collected by the first information collecting means. An area with a radius of 3σ is set.

  A process for displaying the candidate object extracted based on the information collected by the first information collecting means on the display unit of the control station, and a target object candidate for collecting detailed information by the control station When designated, there is a method of performing a process of setting a re-search area centered on the position of the designated object candidate and setting a re-search course in the re-search area.

  An acoustic image sensor is used as the first information collecting unit, and an optical image sensor is used as the second information collecting unit.

  The underwater vehicle includes an underwater vehicle and a control station. The underwater vehicle includes a position detection unit, a propulsion steering unit, a control device, a first information collection unit and a second information collection range that are different in size. An information collecting means and a communication device, wherein the control station includes a communication device that communicates with the underwater vehicle, and a display unit that displays information on the target candidate, and the underwater vehicle or At least one of the control stations includes means for performing processing for extracting an object similar to a target object as a target object candidate based on the information collected by the first information collecting means, and the underwater vehicle or the At least one of the control stations includes a re-search area that sets a re-search area centered on the position of the extracted target candidate, and sets a re-search course in the re-search area. The mid-range vehicle follows the travel route within the search range of the target. A function of collecting underwater information using the first information collecting means, and a function of collecting information using the second information collecting means while traveling according to the re-search course, The underwater search system includes a function of transmitting information collected by the second information collecting means to the control station.

  According to the underwater search method and the underwater search system of the present invention, an object can be efficiently found from the search range.

1 is a schematic diagram showing a first embodiment of an underwater search system. It is a flowchart which shows the underwater search method performed using the underwater search system of FIG. It is a schematic diagram which shows the movement path | route of the underwater vehicle set to the search range of the target object. It is a schematic diagram which shows the state by which the information of a target object is collected with the information collection means with which the underwater vehicle was equipped. It is a schematic diagram which shows a re-search area | region and a re-search course. It is a schematic diagram which shows a re-search area | region and a re-search course. It is a schematic diagram which shows the state by which the candidate object was displayed on the display part in the control station in an underwater search system. It is a schematic diagram which shows the state by which the image of the candidate object collected with the optical camera was displayed on the display part. It is a schematic diagram which shows the application example of 1st Embodiment of an underwater search system. It is a flowchart which shows the underwater search method performed using the underwater search system of FIG. It is a schematic diagram which shows 2nd Embodiment of an underwater search system. It is a flowchart which shows the underwater search method performed using the underwater search system of FIG. It is a schematic diagram which shows 3rd Embodiment of an underwater search system. It is a flowchart which shows the underwater search method performed using the underwater search system of FIG. It is a schematic diagram which shows the application example of 3rd Embodiment of an underwater search system. It is a schematic diagram which shows 4th Embodiment of an underwater search system. It is a flowchart which shows the underwater search method performed using the underwater search system of FIG.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.

[First Embodiment]
FIG. 1 is a schematic diagram showing a first embodiment of the underwater search system. FIG. 2 is a flowchart showing an underwater search method performed using the underwater search system of FIG. FIG. 3 shows the movement path of the underwater vehicle set in the search range of the object. FIG. 3A is a schematic diagram showing the entire search range, and FIG. It is a figure which expands and shows a part. FIG. 4 is a schematic diagram illustrating a state in which target candidate information is collected by the side scan sonar provided in the underwater vehicle. FIG. 5 is a schematic diagram showing an example of a re-search course set in the re-search area. FIG. 6 is a schematic diagram showing another example of the re-search course set in the re-search area. FIG. 7 shows a state in which the target object candidate is displayed on the display unit at the control station in the underwater search system. FIG. 7A shows a state in which an image of the entire search range is displayed on the display unit. FIG. 7B is a schematic diagram showing a state where a part of the search range image is displayed on the display unit. FIG. 8 is a schematic diagram showing a state in which images of target object candidates collected by the optical camera are displayed on the display unit.

  The underwater search system of this embodiment is shown in FIG. 1 and is configured to include an underwater vehicle 1 and a control station 2 that remotely controls the underwater vehicle 1.

  The underwater vehicle 1 includes a position detection unit 3, a propulsion steering unit 4, a control device 5, a first information collection unit 6 and a second information collection unit 7 having different information collection ranges, and a communication device. The acoustic communication device 8 is provided. The position detection means 3, the propulsion steering means 4, the information collection means 6 and 7, and the acoustic communication device 8 are connected to the control device 5.

  The position detection means 3 has a function of detecting the position of the underwater vehicle 1 itself. The position of the own aircraft of the underwater vehicle 1 detected by the position detection means 3 may be, for example, three-dimensional coordinates related to latitude, longitude, and depth in the earth coordinates. Although not shown, the position detection means 3 has, for example, a configuration including an inertial navigation device or a configuration including an inertial navigation device and a Doppler velocimeter.

  Further, the position detection means 3 has a function of detecting the direction and posture of the underwater vehicle 1.

  The propulsion steering means 4 has a function of propelling and steering the underwater vehicle 1. The propulsion steering means 4 may be configured to include, for example, a main thruster and a rudder (not shown) provided on the rear end side of the underwater vehicle 1, and the configuration may be either a side thruster or a vertical thruster. The structure which added either or both may be sufficient. Further, if the propulsion steering means 4 can propel and steer the underwater vehicle 1, the thruster equipped to the aircraft of the underwater vehicle 1 so that the angle can be changed, and the generation amount of the propulsive force are individually provided. It goes without saying that various types of propulsion steering means 4 that are conventionally implemented or proposed in the underwater vehicle 1 may be employed, such as a configuration including a plurality of adjustable thruster sets.

  The first information collecting means 6 and the second information collecting means 7 are relatively in comparison with the information collecting range of the first information collecting means 6 compared to the information collecting range of the second information collecting means 7. Have a relationship of becoming large. The size of the information collection range in this case is the size of the range in which effective information collection is possible, or the size of the area in which information collection is possible per unit time.

  Furthermore, the first information collecting means 6 and the second information collecting means 7 are relatively more detailed in the second information collecting means 7 than in the first information collecting means 6. It has a relationship that it has characteristics that can collect various information.

  In general, when an object is specified, determination based on visual information such as the shape and appearance of the object is effective. In general, the attenuation of light in water is larger than the attenuation of sound.

  In consideration of these points, in the present embodiment, the first information collecting unit 6 is an information collecting unit that obtains object information using sound waves including ultrasonic waves, and the second information collecting unit 7 is , An information collecting means for obtaining object information using light.

  As a specific example, the first information collecting means 6 is, for example, a side scan sonar that is an acoustic image sensor. The second information collecting means 7 is, for example, an optical camera that is an optical image sensor. In the following, for convenience, the side scan sonar is denoted by the same reference numeral 6 as the first information collecting means 6, and the optical camera is denoted by the same reference numeral 7 as the second information collecting means 7. explain.

  Further, the optical camera 7 is provided with an illuminating means 9 such as an underwater light that irradiates light toward a photographing region 7a (see FIGS. 5 and 6) that is an information collection range of the optical camera 7. It is said that.

  As will be described later, when the movement path 11 is set in the target object search range 10 (see FIG. 3A), the control device 5 acquires the current own aircraft of the underwater vehicle 1 acquired from the position detection means 3. The propulsion steering means 4 is provided with a command (control input) for the ship to travel along the movement path 11 based on the position information and the direction and attitude information of the ship. The control device 5 has a function of issuing a command to turn on the side scan sonar 6 when the aircraft travels along the movement route 11.

  Further, the control device 5 in the present embodiment is configured to include the re-search setting unit 12.

  When the control device 5 receives a command from the control station 2 regarding the instruction of the candidate object 13 (see FIGS. 4 and 7B) for which detailed information is desired to be collected, the re-search setting unit 12 As shown in the figure, a function is provided for setting a re-search area 14 centered on the coordinates of the position of the instructed target candidate 13 and setting a re-search course 15 in the re-search area 14.

  The reason why the re-search area 14 and the re-search course 15 are set by the re-search setting unit 12 in this way is as follows.

  That is, the inertial navigation device provided in the position detecting means 3 of the underwater vehicle 1 has a property that errors accumulate as the underwater vehicle 1 travels underwater.

  Information collected by the side scan sonar 6 of the underwater vehicle 1 is used to detect the position of an object in water by image processing in an image processing unit 19 provided on the control station 2 side, as will be described later. At this time, in the process of detecting the position of the object, the information on the position of the underwater vehicle 1 detected by the position detection means 3 at the time of information collection by the side scan sonar 6 is also used.

  By the way, the target object 13 is extracted as an object similar to the target object from the object whose position is obtained by the image processing unit 19. Therefore, the detection result of the position of the candidate object 13 includes an error due to the error accumulated in the inertial navigation device when the information is collected by the side scan sonar 6.

  Further, the accuracy of the detection result of the position of the target candidate 13 by the image processing unit 19 is affected by the resolution of the image used when the image processing unit 19 performs image processing.

  Therefore, the position of the target candidate 13 that is known at the time when the control device 5 receives a command related to the instruction of the target candidate 13 from which the detailed information is to be collected from the control station 2 is the purpose including the error as described above. This is the detection position of the object candidate 13.

  In this case, depending on the size of the error included in the detection position of the target object 13, even if the underwater vehicle 1 is arranged with the detection position of the target object 13 as a target, the position of the underwater vehicle 1 May deviate from the actual position of the object candidate 13.

  Therefore, in the present embodiment, even if the search setting unit 12 includes an error in the detection position of the target object 13, the actual position of the target object 13 is included with the detection position as the center O. A possible range is set as a re-search area 14, and a re-search course 15 that scans the entire re-search area 14 is set. This improves the probability that the underwater vehicle 1 that travels along the re-search course 15 approaches the actual position of the target candidate 13.

  Note that errors accumulated in the inertial navigation device as the underwater traveling time of the underwater vehicle 1 progresses and errors included in the detection result of the object position by the image processing in the image processing unit 19 are different from each other. It is known from the performance or can be estimated from the test result.

  Therefore, in the present embodiment, the re-search setting unit 12 sets the standard deviation regarding the error included in the detection result of the position of the target object 13 as σ and has a radius 3σ from the center O as shown in FIGS. The area is set as the re-search area 14. In this case, since the probability that the actual position of the target candidate 13 is included in the re-search area 14 is about 99.7%, underwater cruising that travels along the re-search course 15 set in the re-search area 14 is performed. It is almost certain that the body 1 approaches the actual position of the target candidate 13.

  Further, the re-search setting unit 12 can perform underwater cruising in which the entire surface of the re-search area 14 can be scanned by the imaging area 7a of the optical camera 7 equipped as the second information collecting means on the underwater vehicle 1. The movement route of the body 1 is obtained, and the movement route is set as the re-search course 15.

  The re-search course 15 may be, for example, a comb-shaped route as shown in FIG. 5 or a spiral route as shown in FIG.

  5 and 6, reference numeral 15 a indicates the start point of the re-search course 15, and reference numeral 15 b indicates the end point of the re-search course 15.

  The re-search course 15 shown in FIG. 5 and FIG. 6 is the center O, that is, the object candidate 13 of the target object 13 immediately when the underwater vehicle 1 starts to travel along the re-search course 15 from the starting point 15a. It is set to pass through the vicinity of the detection position. However, the arrangement of the re-search course 15 shown in FIG. 5 and FIG. 6 is an example, and if the re-search area 14 can be scanned over the entire surface by the optical camera 7 of the underwater vehicle 1, it is not shown in the figure. Of course, the re-search course 15 may be set in any arrangement.

  Furthermore, the underwater vehicle 1 is equipped with the optical camera 7 in an obliquely downward posture, and the photographing area 7a of the optical camera 7 can photograph a range along the radius of the re-search area 14 at a time. In this case, the re-search course 15 may be set such that the underwater vehicle 1 turns on the spot at a position above the center O of the re-search area 14, for example.

  When the re-search course 15 is set by the re-search setting unit 12 as described above, the control device 5 further acquires information on the current position of the underwater vehicle 1 acquired from the position detection means 3, In addition, the propulsion steering means 4 is provided with a command (control input) for the own aircraft to travel along the re-search course 15 based on information on the orientation and attitude of the own aircraft. Further, the control device 5 has a function of issuing a command to turn on the optical camera 7 and the illumination means 9 when the aircraft travels along the re-search course 15.

  The acoustic communication device 8 has a function of transmitting the status S and receiving the command C with the acoustic communication device 16 as a communication device provided in the control station 2 as a communication target.

  In the present embodiment, the status S transmitted by the acoustic communication device 8 includes information collected by the side scan sonar 6, information collected by the optical camera 7, and the underwater vehicle 1 output from the control device 5. Information on the position and information on the direction and posture of the underwater vehicle 1 are included.

  In the present embodiment, the control station 2 is installed in the ship 17. The control station 2 includes an acoustic communication device 16 and a control device 18 connected to the acoustic communication device 16. Although not shown, the marine vessel 17 maintains a positional relationship that allows mutual communication between the underwater vehicle 1 and the acoustic communication device 8 of the underwater vehicle 1 when the underwater vehicle 1 sails. It is assumed that it has a function of moving so as to follow, for example, a function capable of following the underwater vehicle 1 and traveling.

  The acoustic communication device 16 has a function of receiving the status S and transmitting the command C using the acoustic communication device 8 of the underwater vehicle 1 as a communication target.

  The command C transmitted by the acoustic communication device 16 includes a command related to the traveling of the underwater vehicle 1 that is issued from the control device 18. Specific contents of the command C will be described later.

  The control device 18 includes an image processing unit 19, a display unit 20, and an input unit 21.

  The display unit 20 is a display as shown in FIGS. 7A and 7B and FIG. 8, and as shown in FIGS. 7A and 7B, an image based on the image data processed by the image processing unit 19 is used. A function for displaying P1 and a function for displaying an image P2 based on information collected by the optical camera 7 of the underwater vehicle 1 are provided as shown in FIG. FIGS. 7A, 7B, and 8 show an example in which the display unit 20 switches between the image P1 and the image P2 on the screen. For example, the screen of the display unit 20 is illustrated. The image P1 and the image P2 may be displayed separately in different divided sections in the screen. Alternatively, the display unit 20 displays a plurality of display areas (not shown) that can be resized and moved freely on the screen, and separately displays the images P1 and P2 in different display areas on the screen. It may be.

  In addition, although the display part 20 was shown as a rectangular shape in FIGS. 7A, 7B, and 8, this shape is merely an example, and a rectangular, square, or circular shape with an aspect ratio other than that illustrated. Of course, any other shape may be used. Of course, the display unit 20 may use a display of an arbitrary display method.

  The input unit 21 is for performing input to the control device 18, and at least water among the target candidates 13 in the image P <b> 1 displayed on the display unit 20 as shown in FIGS. 7A and 7B. A function is provided for inputting an object candidate 13 for which detailed information is desired to be collected by the optical camera 7 of the middle traveling vehicle 1.

  Moreover, it is preferable that the input unit 21 also has a function of setting an extraction condition used when the image processing unit 19 performs processing for extracting an object similar to the target object, as will be described later. This extraction condition is, for example, information effective for specifying the target object such as the shape and size of the target object, or information effective for identifying the target object from other objects.

  Furthermore, the input unit 21 may have a function of performing operations such as an operation for enlarging or reducing the image P1 or the image P2 displayed on the display unit 20, or scrolling the display range.

  The input unit 21 having these functions includes at least one existing input device that is generally employed as an input device for a computer, such as a keyboard, a touch panel integrated with the display unit 20, a mouse, and other pointing devices. What is necessary is just to be the structure.

  Since the side scan sonar 6 provided in the underwater vehicle 1 irradiates an acoustic beam and detects its reflected sound, an image (acoustic image) indicating the position of an object in the water based on the detected reflected sound. Image processing is required to generate ().

  The image processing unit 19 performs this image processing, and information collected by the side scan sonar 6 of the underwater vehicle 1 is included in the status S received by the acoustic communication device 16 and input to the control device 18. If so, it has a function of performing image processing based on the information.

  At this time, the image processing unit 19 determines, from the status S, the position of the underwater vehicle 1 at the time of information collection corresponding to the information collected by the side scan sonar 6, and information on the orientation and attitude of the underwater vehicle 1 And a function of generating image data about the shape of the bottom and the position of the object existing on the bottom and outputting the image data to the display unit 20 based on the acquired information. An image displayed on the display unit 20 based on the function of the image processing unit 19 is the image P1 described above.

  Furthermore, the image processing unit 19 extracts an object similar to the target object in the image P1 displayed on the display unit 20 based on the set information of the extraction condition, and sets the object as the target object candidate 13 as an image. A function specified in P1 is provided.

  As a method for extracting an object similar to the object in the image P1, any existing or conventionally proposed algorithm such as pattern matching or an image correlation method may be used.

  In addition, when the information collected by the side scan sonar 6 is imaged and displayed as it is, an image showing the shape of the bottom of the right side of the position immediately below the movement path 11 of the underwater vehicle 1 and the shape of the bottom of the left side of the water are shown. A band-like non-measurement region having a width corresponding to twice the altitude from the bottom of the underwater vehicle 1 is inserted between the displayed images. In view of this, the image processing unit 19 may cause the display unit 20 to display an image that has been subjected to the process of removing the band-like region. In this way, the display unit 20 can display the image P <b> 1 in a state where the bottom of the water is continuous in the horizontal direction orthogonal to the traveling direction of the underwater vehicle 1. Therefore, in this case, the image P1 displayed on the display unit 20 does not break the latitude and longitude coordinate axes, so that it is easy to visually grasp the position of the specified target candidate 13 in the search range 10. Can be.

  As a method of clearly displaying the target object candidate 13 on the display unit 20, for example, the target object candidate 13 may be displayed surrounded by a circle or square frame or a blinking frame. It should be noted that, as long as the target candidate 13 can be displayed so as to be distinguishable from other objects, it is needless to say that a method other than the above may be adopted as a method for clearly specifying the target candidate 13.

  Further, the image processing unit 19 can obtain the coordinates of the position of the extracted target candidate 13 in accordance with the process of extracting the target candidate 13. Therefore, the image processing unit 19 has a function for displaying the coordinates of the position of the candidate object 13 in the image P1 to be displayed on the display unit 20, and a scale for indicating the actual size of the area or thing displayed on the screen. A function of displaying (not shown) may be provided. Furthermore, the image processing unit 19 has a function of displaying, in the image P1 to be displayed on the display unit 20, the similarity with the target object calculated when the target object candidate 13 is extracted in correspondence with the target object candidate 13. You may make it provide.

  In the display unit 20, when the image P1 based on the image data processed by the image processing unit 19 is displayed, as shown in FIG. 7A, the image of the entire search range 10 is displayed on the screen. Confirm the position and distribution of the candidate object 13 in the range 10, or enlarge and display the vicinity of the candidate object 13 on the screen as shown in FIG. You can do it.

  The image processing unit 19 may store conditions for extracting the target candidate 13 in advance, or may display the image P1 on the display unit 20 from the input unit 21. You may make it receive the change of the extraction conditions by input. When the image processing unit 19 accepts the change of the extraction condition, the candidate object 13 corresponding to the extraction condition can be displayed in the image P1 displayed on the display unit 20 while changing the extraction condition. For this reason, in the image processing unit 19, the number of target object candidates 13 displayed in the image P <b> 1 is changed by an operation such as changing the extraction condition or changing the priority of each extraction condition when there are a plurality of extraction conditions. It can be adjusted so that it is not too much or too little.

  When the target candidate 13 for which detailed information collection is desired is specified from among the target candidates 13 in the image P1 displayed on the display unit 20 by the input at the input unit 21, the control device 18 specifies the underwater vehicle. 1 is provided with a function for issuing a command for instructing the coordinates of the position of the designated candidate object 13. This command is transmitted from the acoustic communication device 16 to the underwater vehicle 1 as the command C.

  The underwater search method using the underwater search system of the present embodiment having the above-described configuration is performed according to the procedure shown in FIG.

  First, when the search range 10 is set in accordance with the search plan for the target object, a path setting unit (not shown) moves the path 11 of the underwater vehicle 1 for searching the entire search range 10 using the side scan sonar 6. Is set (step S1). The route setting unit may be provided in the control device 18 of the control station 2 or may be provided in another route setting device such as a computer.

  For example, as illustrated in FIG. 3A, the moving path 11 is a path in which the underwater vehicle 1 reciprocates along the first direction among the two directions intersecting in the plane with respect to the search range 10. Are set in a so-called comb-shaped movement path 11 that is sequentially shifted in the second direction. In the present embodiment, the first direction and the second direction are arranged orthogonally. Further, as shown in FIG. 3 (b), the distance to be shifted in the second direction is a belt-like shape formed by the side scan sonar 6 when the underwater vehicle 1 travels along one route along the first direction. The information collection area and the band-shaped information collection area by the side scan sonar 6 when traveling on the adjacent route are set so as to overlap with a set dimension.

  The setting of the movement route 11 may be based on, for example, a waypoint file, or another route that has been adopted or proposed in order to make the underwater vehicle 1 autonomously follow a predetermined route. It may be based on a setting method.

  The set movement path 11 is given as a command to the control device 5 of the underwater vehicle 1. The control device 5 of the underwater vehicle 1 is also instructed to turn on the side scan sonar 6 when the underwater vehicle 1 moves along the movement path 11.

  These commands to the control device 5 of the underwater vehicle 1 are, for example, performed by wired connection when the underwater vehicle 1 is on board or on land, or by communication via the acoustic communication device 8. do it.

  Next, the underwater vehicle 1 starts to travel. As a result, the underwater vehicle 1 travels toward the starting point of the travel route 11 in the search range 10, and then travels along the travel route 11 in the search range 10 as shown in FIG. I do. At this time, in the underwater vehicle 1, the side scan sonar 6 is turned on according to a command from the control device 5 with the start of navigation along the movement path 11. Thereby, as shown in FIG. 4A, the underwater vehicle 1 travels along the movement path 11, and the portion located below the movement path 11 in the search range 10 uses the side scan sonar 6. Information is collected (step S2).

  The information collected by the side scan sonar 6 is the status of the underwater vehicle 1 along with the position information of the underwater vehicle 1 output from the control device 5 and the direction and attitude information of the underwater vehicle 1. S is sequentially transmitted to the control device 18 of the control station 2 by communication via the acoustic communication device 8 and the acoustic communication device 16 (step S3).

  When the underwater vehicle 1 finishes traveling along the movement path 11 in the search range 10, the propulsion steering means 4 stops and drifts until a command from the control station 2 is received in step S7 described later. When the set distance is moved by this drift, control is performed to return to the original position, or a fixed point is held on the spot or at the set position, or a swivel run is performed in the set area to enter a standby state. . Further, when the underwater vehicle 1 finishes traveling along the movement path 11 in the search range 10, the control device 5 gives a command for turning off the side scan sonar 6.

  When the underwater vehicle 1 finishes traveling along the movement path 11 in the search range 10, in the control station 2, the control device 18 processes the information collected by the side scan sonar 6 in the image processing unit 19, An object candidate 13 similar to the object is extracted (step S4), and as shown in FIGS. 7A and 7B, an image P1 including the object candidate 13 is displayed on the display unit 20 (step S5). .

  Next, the control station 2 designates the target candidate 13 for which detailed information collection is desired by the optical camera 7 of the underwater vehicle 1 for the target candidate 13 (step S6).

  In the process of step S6, for example, an operator (not shown) confirms the target candidate 13 with the image P1 displayed on the display unit 20, selects the target candidate 13 that seems to be the target, and details it. The input unit 21 may specify the target candidate 13 as an information collection target.

  Note that the reason why the operator performs the process of specifying the target candidate 13 to be collected detailed information based on the image P1 displayed on the display unit 20 in step S6 is as follows.

  That is, in the process of extracting the object candidate 13 similar to the object by the image processing in the image processing unit 19, only the determination based on the set extraction condition is performed. However, since the information collected by the side scan sonar 6 includes an error, if the extraction condition is set too strictly, there is a possibility that the object is not included in the object candidate 13. In addition, among those extracted as the target object candidate 13 by the image processing unit 19 with a high degree of similarity to the extraction conditions, those that are clearly different from the target object are included in terms of conditions other than the set extraction conditions Sometimes it is.

  Therefore, at present, the image processing unit 19 sets the extraction condition of the target object candidate 13 to be somewhat wide, and the operator truly selects the target object from the target object candidates 13 extracted based on the extraction condition. The process of determining what can be considered and what is not is effective.

  In the future, if it becomes possible for a computer to learn the judgment criteria and judgment of the selection to be performed when the operator as described above designates the object candidate 13 or to perform numerical processing and automatic processing, Of course, the process of step S6 may be automatically performed by the control device 18 of the control station 2.

  When the target candidate 13 to be collected detailed information is designated in step S6, the control device 18 sends the coordinates of the position of the designated target candidate 13 to the underwater vehicle 1 optically. A command for instructing the position (detection position) of the target candidate 13 to be photographed by the camera 7 is issued (step S7). This command is sent as a command C to the control device 5 of the underwater vehicle 1 by communication via the acoustic communication device 16 and the acoustic communication device 8.

  In the underwater vehicle 1, when the control device 5 receives the command C, the re-search setting unit 12 of the control device 5 shows the position of the instructed target candidate 13 as the center O as shown in FIGS. A re-search area 14 and a re-search course 15 are set (step S8).

  When the re-search area 14 and the re-search course 15 are set in this way, in the underwater vehicle 1, the control device 5 moves to the start point 15a of the re-search course 15 and then restarts from the start point 15a. A command (control input) for traveling along the search course 15 to the end point 15 b is given to the propulsion steering means 4. Further, the control device 5 turns on the optical camera 7 and the illumination means 9 when the underwater vehicle 1 starts traveling on the re-search course 15.

  As a result, the underwater vehicle 1 travels along the re-search area 14 along the re-search course 15 as shown in FIGS. 5 and 6 and collects detailed information by photographing with the optical camera 7. Perform (step S9). When the underwater vehicle 1 travels along the re-search course 15, it is almost certain that the underwater vehicle 1 approaches the actual position of the target candidate 13. For this reason, the information collected by the optical camera 7 provided in the underwater vehicle 1 almost certainly includes an image of the instructed candidate object 13.

  The underwater vehicle 1 transmits the information collected by the optical camera 7 in step S9 as the status S to the control device 18 of the control station 2 by communication via the acoustic communication device 8 and the acoustic communication device 16. (Step S10). The underwater vehicle 1 may sequentially perform the process of transmitting the information collected by the optical camera 7 to the control device 18 of the control station 2 while navigating the re-search course 15. You may make it carry out collectively, after finishing the search course 15 navigation.

  Furthermore, the underwater vehicle 1 stores information for specifying the object such as the shape and size of the object in the control device 5 and the like, and is considered as the object while the re-search course 15 is traveling. When the target candidate 13 to be obtained is captured in the imaging region 7a of the optical camera 7, the traveling along the re-search course 15 may be terminated there. In this case, the underwater vehicle 1 further starts to hold a fixed point in the vicinity of the found target object 13 and start a round trip, and collect further information about the target candidate 13. Also good.

  When the underwater vehicle 1 finishes traveling along the re-search course 15 and exits from the re-search area 14, the control device 5 gives a command to turn off the optical camera 7.

  Thereby, in the control station 2, the control apparatus 18 displays the image P2 based on the information collected by the optical camera 7 on the display part 20, as shown in FIG. 8 (step S11). Accordingly, the display unit 20 can display the image P2 related to the target object candidate 13 specified in step S6.

  Therefore, in the control station 2, an operator (not shown) observes and examines the image of the target candidate 13 displayed on the display unit 20, and determines whether or not the target candidate 13 is a true target. be able to.

  Thereafter, the control station 2 determines whether there is another object candidate 13 for which detailed information collection is desired by the optical camera 7 of the underwater vehicle 1 (step S12). If there is an object candidate 13, the process returns to step S 6, and the process from step S 6 to step S 11 for making another object candidate 13 a collection target of detailed information is performed, and then the process proceeds to step S 12 again. carry out.

  Thereby, in the control station 2, an operator (not shown) has photographed with the optical camera 7 all the target candidates 13 designated as the collection targets of the detailed information among the target candidates 13 displayed on the display unit 20. The image can be observed and examined, and it can be sequentially determined whether or not the candidate object 13 is a true object.

  On the other hand, if it is determined in step S12 that the control station 2 does not have another target candidate 13 for which detailed information collection is desired, the underwater search method is terminated.

  Thus, according to the underwater search method and the underwater search system of the present embodiment, information is collected by the side scan sonar 6 while the underwater vehicle 1 is traveling along the movement path 11 in the search range 10 of the target object. The target candidate 13 is extracted based on the result, and then the underwater vehicle 1 is made to travel so as to approach the actual position of the designated target candidate 13. Such information is collected by the optical camera 7, and based on the image obtained as a result, it can be determined whether the object candidate 13 is a true object.

  Therefore, in the underwater search method and the underwater search system of the present embodiment, when the underwater vehicle 1 travels in the search range 10 according to the movement path 11, it is required by the method disclosed in Patent Document 1. It is not necessary to change the course or speed every time the search target is found. In addition, in the underwater search method and the underwater search system of the present embodiment, when the target candidate 13 for which detailed information is to be collected is designated, the re-search area 14 and the re-search course 15 are set, and then the re-search is performed. It is possible to cause the underwater vehicle 1 to follow the course 15.

  For this reason, according to the underwater search method and the underwater search system of the present embodiment, it is possible to improve the efficiency of movement of the underwater vehicle 1 and to efficiently find an object from the search range 10. it can.

  Of the side scan sonar 6 as the first information collecting means provided in the underwater vehicle 1 and the optical camera 7 as the second information collecting means, the side having a relatively large information collecting range. The scan sonar 6 is used as an information collecting means when the underwater vehicle 1 travels according to the movement route 11 set in the search range 10. On the other hand, the optical camera 7 having a relatively small information collection range is used as an information collecting means for performing a cruise approaching the underwater vehicle 1 to the actual position of the designated target candidate 13. It is. As described above, the underwater search method and the underwater search system according to the present embodiment use a plurality of information collection means according to the size of each information collection range, so that an object can be efficiently found from the search range 10. can do.

  Furthermore, in the underwater search method and the underwater search system of the present embodiment, the information collected by the side scan sonar 6 provided in the underwater vehicle 1 is automatically image-processed by the control device 18 of the control station 2, Since the object candidate 13 is displayed in the image P1 on the display unit 20, even when the search range 10 is wide, it is possible to reduce labor for finding an object that is highly likely to be a target object. it can.

  The underwater search method and the underwater search system of the present embodiment are candidate objects based on information collected by the side scan sonar 6 due to errors accumulated in the inertial navigation device of the position detection means 3 of the underwater vehicle 1. Even if an error is included in the detection position 13, the underwater vehicle 1 can actually move the target object 13 by making the underwater vehicle 1 travel along the search course 15 in the search region 14. The position can be approached. Therefore, according to the underwater search method and the underwater search system of the present embodiment, detailed information from the optical camera 7 can be collected almost certainly for the target candidate 13.

[Application Example of First Embodiment]
FIG. 9 is a schematic diagram showing an application example of the first embodiment of the underwater search system. FIG. 10 is a flowchart showing an underwater search method performed using the underwater search system of FIG.

  In FIGS. 9 and 10, the same components as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  In the underwater search method shown in the first embodiment, the information collected by the side scan sonar 6 provided in the underwater vehicle 1 and the detailed information about the target candidate 13 collected by the optical camera 7 are Is also transmitted to the control device 18 of the control station 2 as the status S.

  By the way, acoustic communication, which is a communication means that can be used underwater, has characteristics that communication speed is slow and communication range is limited compared to wireless communication, which is generally a communication means that can be used in the air. doing.

  Therefore, when the amount of data of status S to be transmitted from the underwater vehicle 1 to the control station 2 is increased, data transmission / reception by acoustic communication between the acoustic communication device 8 and the acoustic communication device 16 is processed. It can be considered rate limiting.

  Therefore, as shown in FIG. 9, the underwater search system of this application example includes a wireless communication device 22 in which the underwater vehicle 1 is connected to the control device 5 in addition to the same configuration as in the first embodiment. The control station 2 is configured to include a wireless communication device 23 connected to the control device 18.

  The wireless communication device 22 provided in the underwater vehicle 1 and the wireless communication device 23 provided in the control station 2 function to mutually transmit and receive the status S and the command C similar to the acoustic communication device 8 and the acoustic communication device 16. It has.

  Note that the wireless communication device 22 and the wireless communication device 23 are for performing communication in a state where the underwater vehicle 1 floats on the water surface, as will be described later. Therefore, the communication standard of the wireless communication device 22 and the wireless communication device 23 depends on the distance required for communication with the control station 2 provided in the ship 17 when the underwater vehicle 1 is in a state of floating on the water surface. A wireless LAN or other existing wireless communication standards may be appropriately selected and adopted.

  The underwater search method using the underwater search system of this application example having the above-described configuration is performed, for example, according to the procedure shown in FIG.

  In the underwater search method of this application example, as shown in FIG. 10, in the same procedure as shown in FIG. 2, in step S2, the underwater vehicle 1 moves in the search range 10 along the movement path 11 (FIG. 3 (a ) Collect information by side scan sonar 6 while sailing along (see (b)). At this time, in the present embodiment, the information collected by the side scan sonar 6, the information on the position of the underwater vehicle 1 at the time of collecting information output from the control device 5, and the direction of the underwater vehicle 1 Posture information is stored in a storage unit (not shown).

  In step S2, when the underwater vehicle 1 finishes traveling along the movement path 11 in the search range 10, in this application example, the process proceeds to step S13, and the underwater vehicle 1 rises to the surface of the water.

  After that, the process proceeds to step S3 similar to that shown in FIG. 2, and the underwater vehicle 1 receives the information collected by the side scan sonar 6 stored in the storage unit and the position of the underwater vehicle 1 at the time of information collection. And the information on the orientation and attitude of the underwater vehicle 1 are sequentially transmitted to the control device 18 of the control station 2 as status S by communication via the wireless communication device 22 and the wireless communication device 23 ( Step S3).

  After the step S3, the underwater vehicle 1 drifts by stopping the propulsion steering means 4 on the surface of the water until it receives a command from the control station 2 in step S7, or at the place or set position. A fixed point is held, or a turn is made in a set area to enter a standby state.

  In the underwater search method of this application example, after step S3, the process proceeds to step S4. The procedure after step S4 is the same as the underwater search method of the first embodiment shown in FIG.

  Therefore, according to the underwater search method and the underwater search system of this application example, the underwater vehicle 1 is traveling side by side while traveling along the movement path 11 (see FIGS. 3A and 3B) in the search range 10. Even if the amount of data of the status S including the information collected by the side scan sonar 6 is increased due to the collection of information by the scan sonar 6, the wireless communication via the wireless communication device 22 and the wireless communication device 23 is performed. The status S can be promptly transmitted from the underwater vehicle 1 to the control device 18 of the control station 2 by communication.

  Therefore, in addition to the same effect as the first embodiment, the underwater search method and the underwater search system of this application example can collect more detailed information than the first embodiment in the side scan sonar 6. . Therefore, the underwater search method and underwater search system of this application example can make it easier to find an object that is highly likely to be an object from the search range 10.

  In addition, in the underwater search method of this application example, as shown in FIG. 10, it illustrated about the case where the process which the underwater vehicle 1 floats on the water surface is performed between step S2 and step S3. On the other hand, the processing of the underwater vehicle 1 ascending to the surface of the water is performed between Step S9 and Step S10, and the underwater vehicle 1 travels along the re-search course 15 while using the optical camera 7. The collected information may be transmitted as the status S from the underwater vehicle 1 to the control device 18 of the control station 2 by wireless communication via the wireless communication device 22 and the wireless communication device 23.

  In this way, even if the data amount of status S including detailed information about the target candidate 13 collected by the optical camera 7 is increased in capacity, the wireless communication device 22 and the wireless communication device 23 are used. The status S can be promptly transmitted from the underwater vehicle 1 to the control device 18 of the control station 2 by wireless communication.

  When the underwater vehicle 1 includes a process of floating on the water surface between Step S9 and Step S10, the process of floating the underwater vehicle 1 on the water surface between Step S2 and Step S3 (Step S13). May be performed together or may be omitted.

[Second Embodiment]
FIG. 11 is a schematic diagram showing a second embodiment of the underwater search system. FIG. 12 is a flowchart showing an underwater search method performed using the underwater search system of FIG. 11.

  11 and 12, the same components as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  In the underwater search system of this embodiment, as shown in FIG. 11, the underwater vehicle 1 includes an image processing unit 24 connected to the side scan sonar 6 and the control device 5 in the same configuration as in the first embodiment. It is set as the structure provided.

  Similar to the image processing unit 19 provided in the control device 18 of the control station 2 in the first embodiment, the image processing unit 24 is configured to acquire information collected by the side scan sonar 6 and the position of the underwater vehicle 1 during information collection. Based on the information on the orientation and attitude of the underwater vehicle 1, a function for generating image data about the shape of the bottom and the position of an object existing on the bottom, and in the image based on the image data And a function of extracting an object similar to the target object to be the target object candidate 13.

  The extraction condition for extracting the target candidate 13 by the image processing unit 24 should be stored in advance when the underwater vehicle 1 sails along the movement path 11 in the search range 10. That's fine. Further, the extraction condition may be changeable by a command from the control station 2.

  The acoustic communication device 8 of the underwater vehicle 1 in this embodiment transmits image data including information on the target candidate 13 generated by the image processing unit 24 to the acoustic communication device 16 of the control station 2 as the status S. It has a function to do.

  In the present embodiment, since the underwater vehicle 1 is configured to include the image processing unit 24, the control device 18a of the control station 2 has an image processing unit that has the same configuration as the control device 18 in the first embodiment. The configuration is omitted.

  When the status S is input from the acoustic communication device 16, the control device 18 a displays the image data included in the status S and the information about the target candidate 13 on the display unit 20, as shown in FIGS. As shown, it has a function of displaying the image P1 in which the object candidate 13 is clearly shown.

  Further, when the target object candidate 13 to be collected detailed information is designated from among the target object candidates 13 in the image P1 displayed on the display unit 20 by the input from the input unit 21, the control device 18 a It has a function of issuing a command for instructing the designated object candidate 13 as an object to be photographed by the optical camera 7 to the middle traveling vehicle 1. This command is transmitted from the acoustic communication device 16 to the underwater vehicle 1 as the command C.

  The underwater search method using the underwater search system of the present embodiment having the above-described configuration is performed according to the procedure shown in FIG.

  As shown in FIG. 12, the underwater search method of this embodiment proceeds to step S14 after steps S1 and S2 similar to those shown in FIG.

  In step S <b> 14, when the underwater vehicle 1 finishes traveling along the movement path 11 in the search range 10, the image processing unit 24 included in the underwater vehicle 1 processes the information collected by the side scan sonar 6. Then, the target candidate 13 similar to the target is extracted.

  When the underwater vehicle 1 finishes traveling along the movement path 11 in the search range 10, the underwater vehicle 1 is in a standby state until receiving a command from the control station 2 in step S <b> 18 described later, and the control device 5 is on the side. The point which gives the command which turns off to the scan sonar 6 is the same as that of 1st Embodiment.

  Furthermore, the underwater vehicle 1 uses the image data including the information of the target candidate 13 obtained by the image processing unit 24 as the status S as a status S by communication via the acoustic communication device 8 and the acoustic communication device 16. 2 is transmitted to the second control device 18a (step S15).

  In the control station 2, when the control device 18a receives the status S, the object candidate similar to that shown in FIGS. 7A and 7B is displayed on the display unit 20 based on the image data including the information of the object candidate 13. The image P1 including 13 is displayed (step S16).

  Next, the control station 2 designates the target candidate 13 for which detailed information collection is desired by the optical camera 7 of the underwater vehicle 1 for the target candidate 13 (step S17). The designation of the target candidate 13 as the collection target of the detailed information may be performed in the same manner as in step S6 in FIG.

  When the target candidate 13 to be collected detailed information is designated in step S17, the control device 18a issues a command to instruct the designated target candidate 13 to the underwater vehicle 1 ( Step S18). This command is sent as a command C to the control device 5 of the underwater vehicle 1 by communication via the acoustic communication device 16 and the acoustic communication device 8.

  In the underwater vehicle 1, when the control device 5 receives the command C, the re-search setting unit 12 of the control device 5 re-searches the re-search area 14 centered on the position of the designated target object 13, A search course 15 is set (step S18). The re-search area 14 and the re-search course 15 may be set in the same manner as in step S8 in FIG.

  Thereafter, the same processing from step S9 to step S12 as shown in FIG. 2 is performed. In this embodiment, when it is determined in step S12 that there is another target candidate 13 for which detailed information collection is desired, the process returns to step S17.

  Therefore, the same effect as that of the first embodiment can be obtained also by the underwater search method and the underwater search system of the present embodiment.

[Third Embodiment]
FIG. 13 is a schematic diagram showing a third embodiment of the underwater search system. FIG. 14 is a flowchart showing an underwater search method performed using the underwater search system of FIG. 13.

  In FIGS. 13 and 14, the same components as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  In the underwater search system of this embodiment, as shown in FIG. 13, in addition to the same configuration as that of the first embodiment, the underwater vehicle 1 is a global navigation such as GPS as a calibration means of the position detection means 3. It is configured to include a satellite system (GNSS) receiver 25.

  The receiving device 25 has a function of detecting the position of the receiving device 25 itself in the earth coordinates when receiving signals from a plurality of GNSS satellites in a state where the underwater vehicle 1 floats on the water surface. Further, the receiving device 25 has a function of sending the position information detected for the receiving device 25 itself to the position detecting means 3 as described above.

  When receiving the position information from the receiving device 25, the position detection means 3 in the present embodiment calibrates the position of the own aircraft of the underwater vehicle 1 detected by the position detection means 3 based on the information. It has a function.

  Thereby, when the underwater vehicle 1 ascends to the surface of the water, the position error generated in the inertial navigation device (not shown) of the position detection means 3 can be calibrated using GNSS.

  The underwater search method using the underwater search system of the present embodiment having the above-described configuration is performed, for example, according to the procedure shown in FIG.

  In the underwater search method of the present embodiment, as shown in FIG. 14, in the same procedure as shown in FIG. 2, the underwater vehicle 1 finishes traveling along the movement path 11 in the search range 10 in step S2, After the transmission of the information collected by the side scan sonar 6 in step S3 to the control device 18 of the control station 2 is completed, the underwater vehicle 1 starts to travel on the re-search course 15 in step S9. In the meantime, the underwater vehicle 1 temporarily floats on the surface of the water and configures the position detection means 3 based on the position information detected by the receiving device 25 using GNSS (step S20).

  In FIG. 14, as an example, step S20 is shown between step S7 and step S8. However, as described above, step S20 may be performed at any time as long as it is between step S3 and step S9, and at the same time as any one of steps S4 to S8. It is good also as a structure to perform.

  Thereby, when the underwater vehicle 1 sails the re-search course 15, it will be in the state by which the position detection means 3 was calibrated.

  In the control station 2, a plurality of candidate objects 13 may be designated as targets for collecting detailed information by the optical camera 7. In this case, the underwater vehicle 1 travels sequentially through the re-search course 15 set for each target object 13, but at this time as well, errors are accumulated in the inertial navigation device of the position detection means 3. The

  Therefore, the calibration process of the position detection means 3 in step S20 is performed in step S9 after an instruction regarding the target candidate 13 to be imaged by the optical camera 7 is given to the underwater vehicle 1 in step S7. The underwater vehicle 1 is preferably carried out before the start of navigation on the re-search course 15. In this way, the underwater vehicle 1 can travel the re-search course 15 set for the object candidate 13 with the position detecting means 3 being calibrated each time.

  The underwater search method and the underwater search system of the present embodiment configured as described above are re-searched in a state where the underwater vehicle 1 has been calibrated for the position detection means 3 in addition to the same effects as the first embodiment. As the course 15 travels, a more accurate position can be detected for the candidate object 13 for which detailed information is collected by the optical camera 7.

[Application Example of Third Embodiment]
FIG. 15 is a schematic diagram showing an application example of the third embodiment.

  In FIG. 15, the same components as those in the third embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  In the underwater search system of the third embodiment, the configuration including the GNSS receiver 25 as the calibration means of the position detection means 3 in the underwater vehicle 1 has been exemplified.

  On the other hand, as a calibration means of the position detection means 3, instead of the receiving device 25, as shown in FIG. 15, an acoustic positioning device 26 for positioning an acoustic landmark 27 whose position is known in water is known. It may be adopted.

  The acoustic positioning device 26 has a function of detecting the position of the own aircraft of the underwater vehicle 1 based on the position of the acoustic landmark 27 by performing acoustic positioning on the acoustic landmark 27.

  Furthermore, the acoustic positioning device 26 has a function of sending the position information detected for the own aircraft of the underwater vehicle 1 to the position detecting means 3 as described above.

  When receiving the position information from the acoustic positioning device 26, the position detecting means 3 in this application example calibrates the position of the own vehicle of the underwater vehicle 1 detected by the position detecting means 3 based on the information. It has a function to do.

  Thus, the underwater vehicle 1 is generated in an inertial navigation device (not shown) of the position detection means 3 in a state where the underwater vehicle 1 is disposed in an area where the acoustic landmark 27 can be measured by the acoustic positioning device 26 in water. The position error can be calibrated.

  The underwater search method using the underwater search system of this application example having the above configuration may be the same as that of the third embodiment. Thereby, also by this application example, the effect similar to 3rd Embodiment can be acquired.

[Fourth Embodiment]
FIG. 16 is a schematic diagram showing a fourth embodiment of the underwater search system. FIG. 17 is a flowchart showing an underwater search method performed using the underwater search system of FIG.

  16 and 17, the same components as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  As shown in FIG. 16, the underwater search system of the present embodiment has the same configuration as that of the first embodiment, but instead of the configuration in which the control device 5 of the underwater vehicle 1 includes a re-search setting unit, the control station 2 The control device 18 includes a re-search setting unit 12a.

  When the target candidate 13 is designated, the re-search setting unit 12a is designated as shown in FIGS. 5 and 6 in the same manner as the re-search setting unit 12 on the underwater vehicle 1 side in the first embodiment. A function for setting a re-search area 14 centered on the coordinates of the position of the target object 13 and a re-search course 15 is provided.

  Therefore, in the control device 18 of the control station 2, an object candidate 13 for which detailed information collection is desired is designated from among the object candidates 13 in the image P1 displayed on the display unit 20 by the input at the input unit 21. Then, the re-search setting unit 12a sets a re-search area 14 corresponding to the designated object candidate 13 and a re-search course 15.

  Therefore, the control device 18 has a function of instructing the underwater vehicle 1 to use the re-search course 15 set by the re-search setting unit 12a as a route to be traveled. This command is transmitted from the acoustic communication device 16 to the underwater vehicle 1 as the command C.

  When the control device 5 of the underwater vehicle 1 receives the command for the re-search course 15 from the control station 2 as described above, the current position of the own aircraft of the underwater vehicle 1 acquired from the position detection means 3 is obtained. And a command (control input) for the aircraft to travel along the re-search course 15 based on the information of the vehicle and the direction and attitude of the aircraft.

  The underwater search method using the underwater search system of the present embodiment having the above-described configuration is performed, for example, according to the procedure shown in FIG.

  As shown in FIG. 17, the underwater search method of the present embodiment is performed by the optical camera 7 of the underwater vehicle 1 in step S <b> 6 by the control device 18 of the control station 2 in the same procedure as shown in FIG. 2. When the target candidate 13 for which detailed information collection is desired is designated, the process proceeds to step S21.

  In step S21, the re-search setting unit 12a of the control device 18 sets the re-search area 14 and the re-search course 15 similar to those shown in FIGS.

  When the re-search course 15 corresponding to the designated target candidate 13 is set in step S21, the control device 18 commands the set re-search course 15 to the underwater vehicle 1 (step). S22). This command is sent as a command C to the control device 5 of the underwater vehicle 1 by communication via the acoustic communication device 16 and the acoustic communication device 8.

  In the underwater vehicle 1, when the control device 5 receives the command C, the control device 5 moves to the start point 15a of the re-search course 15 and then the end point 15b along the re-search course 15 from the start point 15a. A command (control input) for traveling to the propulsion steering means 4 is given. Further, the control device 5 turns on the optical camera 7 and the illumination means 9 when the underwater vehicle 1 starts traveling on the re-search course 15.

  Thereby, the underwater vehicle 1 travels along the re-search area 14 along the re-search area 15 and collects detailed information by photographing with the optical camera 7 (step S23). This is the same as step S9 in FIG.

  In the underwater search method of this embodiment, after step S23, the process proceeds to step S10. The procedure after step S10 is the same as the underwater search method of the first embodiment shown in FIG.

  Therefore, the same effect as that of the first embodiment can be obtained also by the underwater search method and the underwater search system of the present embodiment.

  The present invention is not limited only to the above-described embodiments and application examples. For example, as the first information collecting means provided in the underwater vehicle 1, the side scan sonar 6 is exemplified, but a multi-narrow beam is used. An acoustic probe or other acoustic image sensor may be used.

  Although the optical camera 7 is exemplified as the second information collecting means provided in the underwater vehicle 1, an optical three-dimensional scanner using laser light or the like may be used.

  Further, the first information collection unit 6 and the second information collection unit 7 are relatively in the information collection range of the second information collection unit 7 in the information collection range of the first information collection unit 6. Both of them may be acoustic or optical information collecting means as long as they have a relationship that is larger than that, or another information collecting method capable of detecting an object in water. It may be.

  The position detection means 3 provided in the underwater vehicle 1 has been described as including an inertial navigation device. However, if the underwater vehicle 1 can detect the position of the underwater vehicle 1 in water, Any position detecting means that has been proposed in the past may be employed. In that case, the position detection means 3 may be of a type that does not include an inertial navigation device.

  The re-search area 14 is preferably set to an area having a radius 3σ with the standard deviation regarding the error included in the detection result of the position of the target object 13 as σ and the detection position of the target object 13 as the center O. If it is appropriate to think that the re-search area 14 includes the actual position of the target object 13, another method may be used.

  In each embodiment and application example, the acoustic communication devices 8 and 16 are illustrated as the communication devices that perform mutual communication between the underwater vehicle 1 and the control station 2 underwater. However, communication using communication methods such as light and electromagnetic waves is possible. A machine may be adopted. In the application example of the first embodiment, the wireless communication devices 22 and 23 are illustrated as the communication devices that perform the mutual communication between the underwater vehicle 1 and the control station 2 in the air. A communication device using a communication method such as

  Although the control station 2 showed the example equipped with the ship 17, the structure by which the control station 2 was provided on the ground may be sufficient. In this case, a relay having a configuration in which a traveling body arranged on the water surface is equipped with a communication device for performing mutual communication with the underwater traveling body 1 and a communication device for performing communication with the control station 2 is provided. The command C and status S may be relayed between the underwater vehicle 1 and the control station 2 using a machine.

  The configuration including the wireless communication device 22 and the wireless communication device 23 that perform mutual communication with the underwater vehicle 1 and the control station 2 in the application example of the first embodiment is the second embodiment, the third embodiment, and its application example, You may apply to 4th Embodiment. The underwater search method in this case is that the underwater vehicle 1 rises to the surface of the water, and the status S is obtained from the underwater vehicle 1 to the control station 2 by wireless communication via the wireless communication device 22 and the wireless communication device 23. What is necessary is just to perform the process to transmit.

  The configuration including the image processing unit 24 in the underwater vehicle 1 in the second embodiment may be applied to the application example of the first embodiment, the third embodiment, its application example, and the fourth embodiment.

  In the third embodiment and its application example, the GNSS receiving device 25 and the acoustic positioning device 26 that measures the acoustic landmark 27 are exemplified as the calibration means of the position detecting means 3 of the underwater vehicle 1. Any existing or conventionally proposed calibration means may be adopted as long as the position of the middle traveling body 1 can be calibrated with respect to the position detection means 3 and the inertial navigation device.

  The configuration in which the position detecting means 3 of the underwater vehicle 1 in the third embodiment and its application example includes a calibration means may be applied to the application example of the first embodiment, the second embodiment, and the fourth embodiment. .

  In the first embodiment, the configuration in which the re-search setting unit 12 is provided in the control device 5 of the underwater vehicle 1 is shown, but in the configuration of the first embodiment, the control device 18 of the control station 2 has a fourth implementation. It is good also as a structure provided with the re-search setting part 12a similar to a form. In this case, the re-search setting unit 12a on the control station 2 side can grasp the re-search course 15 on the control station 2 side by performing the same processing as the re-search setting unit 12 on the underwater vehicle 1 side. become.

  The illustrated shape of the underwater vehicle 1 is an example, and the underwater vehicle 1 may have a shape other than the illustrated shape.

  In addition, it goes without saying that various modifications can be made without departing from the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Underwater vehicle, 2 Control station, 3 Position detection means, 4 Propulsion steering means, 5 Control apparatus, 6 Side scan sonar (1st information collection means, acoustic image sensor), 7 Optical camera (2nd information) Collection means, optical image sensor), 7a imaging area (information collection range), 8 acoustic communication device (communication device), 10 search range, 11 movement route, 12, 12a re-search setting unit, 13 target object candidate, 14 Re-search area, 15 Re-search course, 16 Acoustic communication device (communication device), 19 Image processing unit (means), 20 Display unit, 24 Image processing unit (means)

Claims (7)

A navigation process for navigating the underwater vehicle in accordance with the movement path within the search range of the object;
During the cruising process, information is collected as compared with the second information collecting means among the first information collecting means and the second information collecting means which are different in information collection range provided in the underwater vehicle. A process of collecting underwater information using the first information collecting means having a large range;
A process of extracting an object similar to a target object as a target object candidate based on the information collected by the first information collecting means;
Setting a re-search area centered on the position of the candidate object, and setting a re-search course in the re-search area; and
A process of performing the information collection by the second information collection means, while making the underwater vehicle travel according to the re-search course;
An underwater search method, comprising: performing processing for displaying information collected by the second information collecting unit by the underwater vehicle on a display unit of a control station. The underwater search method according to claim 1, wherein the re-search course is set so that the entire surface of the re-search area can be scanned within an information collection range of the second information collection means. The underwater vehicle performs calibration processing of position detecting means provided in the underwater vehicle after starting the navigation according to the re-search course after the navigation processing of traveling according to the movement route in the search range. Item 3. An underwater search method according to item 1 or 2. The re-search area is centered on the detection position of the object candidate, with σ being the standard deviation regarding the error included in the detection result of the position of the object candidate based on the information collected by the first information collecting means. The underwater search method according to any one of claims 1 to 3, wherein the region is set to a region having a radius of 3σ. A process for displaying the target candidate extracted based on the information collected by the first information collecting means on the display unit of the control station;
When an object candidate for which detailed information is to be collected is designated by the control station, a re-search area centered on the position of the designated object candidate is set, and a re-search course is set in the re-search area. The underwater search method according to any one of claims 1 to 4, wherein: The underwater search method according to any one of claims 1 to 5, wherein an acoustic image sensor is used as the first information collecting unit, and an optical image sensor is used as the second information collecting unit. With an underwater vehicle and a control station,
The underwater vehicle includes position detecting means, propulsion steering means, a control device, first information collecting means and second information collecting means having different information collection ranges, and a communication device.
The control station includes a communication device that communicates with the underwater vehicle, and a display unit that displays information on the target candidate,
At least one of the underwater vehicle or the control station comprises means for performing processing for extracting an object similar to a target object as a target object candidate based on the information collected by the first information collecting means,
A re-search setting unit that sets a re-search area centered on the position of the extracted target candidate in at least one of the underwater vehicle or the control station and sets a re-search course in the re-search area With
Furthermore, the underwater vehicle is
A function of navigating the search range of the object according to the movement route and collecting information in the water using the first information collecting means;
Sailing according to the re-search course and collecting information using the second information collecting means;
An underwater search system comprising: a function of transmitting information collected by the second information collecting means to the control station.

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