JP2019166961A5 - Underwater exploration system and remote control device - Google Patents
Underwater exploration system and remote control device Download PDFInfo
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- 238000004891 communication Methods 0.000 claims 19
- 238000003384 imaging method Methods 0.000 claims 3
- 238000010295 mobile communication Methods 0.000 claims 3
- 230000002093 peripheral Effects 0.000 claims 3
- 238000010248 power generation Methods 0.000 claims 3
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Claims (22)
水中ケーブルを介して通信する有線通信部と、上空滞在型の無線中継装置と無線通信する無線通信部とを有する複数のブイと、
前記複数のブイのそれぞれに前記水中ケーブルを介して連結され、自律制御又は外部からの制御により水中を潜水して移動するための駆動部と、前記水中ケーブルを介して通信する有線通信部と、水中情報を取得する情報取得部とを有する複数の水中移動体と、
前記複数のブイと無線通信可能な上空滞在型の無線中継装置と、
前記ブイを介して前記水中移動体と通信することにより前記水中移動体の位置を制御する制御装置と、を備え、
前記上空滞在型の無線中継装置を複数備え、
前記複数の無線中継装置はそれぞれ、上空から海面に向けて移動通信の３次元セルを形成し、前記３次元セル内に位置する前記ブイ及び他の移動局と無線通信可能であり、
前記複数の無線中継装置は、無線中継装置間の無線通信により、移動通信網に接続された３次元の無線通信ネットワークを形成し、
前記制御装置は、前記３次元の無線通信ネットワークを形成する前記複数の無線中継装置のいずれかを介して、前記水中移動体が連結された前記ブイと通信することを特徴とするシステム。 A system for underwater exploration,
A plurality of buoys having a wired communication unit that communicates via an underwater cable, and a wireless communication unit that wirelessly communicates with a wireless relay device that stays above the sky,
A drive unit that is connected to each of the plurality of buoys via the underwater cable, dive underwater by autonomous control or external control, and moves, and a wired communication unit that communicates via the underwater cable, A plurality of underwater vehicles having an information acquisition unit for acquiring underwater information,
An overhead stay type wireless relay device capable of wireless communication with the plurality of buoys,
And a control device for controlling the position of the underwater vehicle by communicating with the underwater vehicle via the front Symbol buoy,
A plurality of the above-mentioned stay-in-the-air wireless relay devices,
The plurality of wireless relay devices each form a three-dimensional cell for mobile communication from the sky to the sea surface, and can wirelessly communicate with the buoy and other mobile stations located in the three-dimensional cell,
The plurality of wireless relay devices form a three-dimensional wireless communication network connected to a mobile communication network by wireless communication between the wireless relay devices,
The system, wherein the control device communicates with the buoy to which the underwater vehicle is connected via one of the plurality of wireless relay devices forming the three-dimensional wireless communication network .
前記制御装置は、地上、船舶又は飛行体に設けられた遠隔制御装置であることを特徴とするシステム。 The system of claim 1 ,
The said control apparatus is a remote control apparatus provided in the ground, a ship, or an air vehicle, The system characterized by the above-mentioned.
前記制御装置は、前記無線中継装置に設けられた遠隔制御装置であることを特徴とするシステム。 The system of claim 1 ,
The system, wherein the control device is a remote control device provided in the wireless relay device .
前記制御装置は、前記複数のブイの互いに隣接するブイ間の最低距離が所定距離以上になるように前記水中移動体の位置を制御することを特徴とするシステム。 In either system the 請 Motomeko 1 to 3,
The system according to claim 1, wherein the control device controls the position of the underwater vehicle such that a minimum distance between adjacent buoys of the plurality of buoys is equal to or greater than a predetermined distance.
前記制御装置は、前記水中移動体が探査対象を発見したとき、その探査対象の動きに追従するように前記水中移動体の位置を制御することを特徴とするシステム。 The system according to any one of claims 1 to 4 ,
The control device controls the position of the underwater vehicle so that the underwater vehicle follows the movement of the underwater vehicle when the underwater vehicle detects the underwater vehicle.
前記制御装置は、前記水中移動体が探査対象を発見したとき、他の周辺の水中移動体を前記探査対象の発見位置に移動させるように前記周辺の水中移動体の位置を制御することを特徴とするシステム。 The system according to any one of claims 1 to 4 ,
The controller is configured to control a position of the surrounding underwater vehicle such that when the underwater vehicle detects an object to be searched, another nearby underwater vehicle is moved to a discovery position of the object to be searched. And the system.
前記制御装置は、情報処理装置から受信した水中探査の探査結果と、前記ブイ又は前記水中移動体の位置情報とに基づいて、前記水中移動体の位置を制御する制御情報を生成し、その制御情報を、前記上空滞在型の無線中継装置及び前記ブイを介して前記水中移動体に送信することを特徴とするシステム。 The control device generates control information for controlling the position of the underwater vehicle based on a search result of the underwater search received from the information processing device and the position information of the buoy or the underwater vehicle, and controls the control information. A system for transmitting information to the underwater vehicle via the stay-over-the-air wireless relay device and the buoy.
水中ケーブルを介して通信する有線通信部と、上空滞在型の無線中継装置と無線通信する無線通信部とを有する複数のブイと、 A plurality of buoys having a wired communication unit that communicates via an underwater cable, and a wireless communication unit that wirelessly communicates with a wireless relay device that stays above the sky,
前記複数のブイのそれぞれに前記水中ケーブルを介して連結され、自律制御又は外部からの制御により水中を潜水して移動するための駆動部と、前記水中ケーブルを介して通信する有線通信部と、水中情報を取得する情報取得部とを有する複数の水中移動体と、 A drive unit that is connected to each of the plurality of buoys via the underwater cable, dive underwater by autonomous control or external control, and moves, and a wired communication unit that communicates via the underwater cable, A plurality of underwater vehicles having an information acquisition unit for acquiring underwater information,
前記複数のブイと無線通信可能な上空滞在型の無線中継装置と、 An overhead stay type wireless relay device capable of wireless communication with the plurality of buoys,
前記ブイを介して前記水中移動体と通信することにより前記水中移動体の位置を制御する制御装置と、を備え、 A control device that controls the position of the underwater vehicle by communicating with the underwater vehicle via the buoy,
前記制御装置は、情報処理装置から受信した水中探査の探査結果と、前記ブイ又は前記水中移動体の位置情報とに基づいて、前記水中移動体の位置を制御する制御情報を生成し、その制御情報を、前記上空滞在型の無線中継装置及び前記ブイを介して前記水中移動体に送信することを特徴とするシステム。 The control device generates control information for controlling the position of the underwater vehicle based on a search result of the underwater search received from the information processing device and the position information of the buoy or the underwater vehicle, and controls the control information. A system for transmitting information to the underwater vehicle via the stay-over-the-air wireless relay device and the buoy.
前記制御装置は、前記複数のブイを分散配置させて海洋の広域にわたって目標の対象を探査する広域探査モードを実行し、その広域探査モードにより前記目標の対象を発見したら、前記広域探査モードから、前記目標の対象を発見した前記水中移動体が連結された前記ブイの近くに周辺の他のブイに連結された水中移動体を集めて前記目標の対象のより詳細に探査する集中探査モードに切り換えて実行することを特徴とするシステム。 The control device executes a wide area search mode in which the plurality of buoys are distributed and arranged to search for a target object over a wide area of the ocean, and when the target object is found by the wide area search mode, from the wide area search mode, Switching to a centralized exploration mode in which the underwater vehicle that has found the target object is gathered near the buoy connected to the underwater vehicle that is connected to other buoys in the vicinity, and the target object is searched in more detail. A system characterized by performing.
水中ケーブルを介して通信する有線通信部と、上空滞在型の無線中継装置と無線通信する無線通信部とを有する複数のブイと、 A plurality of buoys having a wired communication unit that communicates via an underwater cable, and a wireless communication unit that wirelessly communicates with a wireless relay device that stays above the sky,
前記複数のブイのそれぞれに前記水中ケーブルを介して連結され、自律制御又は外部からの制御により水中を潜水して移動するための駆動部と、前記水中ケーブルを介して通信する有線通信部と、水中情報を取得する情報取得部とを有する複数の水中移動体と、 A drive unit that is connected to each of the plurality of buoys via the underwater cable, dive and move underwater by autonomous control or external control, and a wired communication unit that communicates via the underwater cable, A plurality of underwater vehicles having an information acquisition unit for acquiring underwater information,
前記複数のブイと無線通信可能な上空滞在型の無線中継装置と、 An overhead stay type wireless relay device capable of wireless communication with the plurality of buoys,
前記ブイを介して前記水中移動体と通信することにより前記水中移動体の位置を制御する制御装置と、を備え、 A control device that controls the position of the underwater vehicle by communicating with the underwater vehicle via the buoy,
前記制御装置は、前記複数のブイを分散配置させて海洋の広域にわたって目標の対象を探査する広域探査モードを実行し、その広域探査モードにより前記目標の対象を発見したら、前記広域探査モードから、前記目標の対象を発見した前記水中移動体が連結された前記ブイの近くに周辺の他のブイに連結された水中移動体を集めて前記目標の対象のより詳細に探査する集中探査モードに切り換えて実行することを特徴とするシステム。 The control device executes a wide area search mode in which the plurality of buoys are distributed and arranged to search for a target object over a wide area of the ocean, and when the target object is found by the wide area search mode, from the wide area search mode, Switching to a centralized exploration mode in which the underwater vehicle that has found the target object is gathered near the buoy connected to the underwater vehicle that is connected to other buoys in the vicinity, and the target object is searched in more detail. A system characterized by performing.
前記上空滞在型の無線中継装置は、水面に位置している前記複数のブイを俯瞰して撮像する撮像部を備え、
前記制御装置は、前記水中移動体の位置の制御に、前記複数のブイを俯瞰して撮像した画像を用いることを特徴とするシステム。 The system according to any one of claims 1 to 10 ,
The overhead stay type wireless relay device includes an imaging unit configured to overlook the plurality of buoys located on the water surface and image the buoys.
The system according to claim 1, wherein the control device uses an image obtained by overhead-viewing the plurality of buoys to control the position of the underwater vehicle.
前記水中移動体の情報取得部は、光、音波、超音波又は電波を用いて水中を撮像する撮像部を含み、
前記水中情報は、水中の画像情報を含むことを特徴とするシステム。 The system according to any one of claims 1 to 11 ,
The information acquisition unit of the underwater vehicle includes an imaging unit that images underwater using light, sound waves, ultrasonic waves, or radio waves,
The underwater information includes underwater image information.
前記複数の水中移動体で取得された水中情報に基づいて水中探査の情報処理を行う情報処理装置を更に備えることを特徴とするシステム。 The system according to any one of claims 1 to 12 ,
A system further comprising an information processing device for performing information processing of underwater exploration based on underwater information acquired by the plurality of underwater vehicles.
前記ブイは、そのブイの周辺における周辺情報を取得する情報取得部を有し、
前記情報処理装置は、前記複数の水中移動体で取得された前記複数の水中情報と前記複数のブイで取得された周辺情報とに基づいて水中探査の情報処理を行うことを特徴とするシステム。 14. The system of claim 13 ,
The buoy has an information acquisition unit for acquiring peripheral information around the buoy,
The information processing apparatus performs information processing of underwater exploration based on the plurality of underwater information acquired by the plurality of underwater vehicles and peripheral information acquired by the plurality of buoys.
前記ブイの情報取得部は、そのブイの周辺を撮像する撮像部を含み、
前記周辺情報は、前記ブイの周辺の画像情報を含むことを特徴とするシステム。 The system of claim 14 , wherein
The buoy information acquisition unit includes an imaging unit that images the periphery of the buoy,
The system according to claim 1, wherein the surrounding information includes image information around the buoy.
前記周辺情報は、前記ブイの位置情報及び前記水中移動体の位置情報の少なくとも一方を含むことを特徴とするシステム。 The system according to claim 14 or 15 ,
The system according to claim 1, wherein the peripheral information includes at least one of positional information of the buoy and positional information of the underwater vehicle.
前記水中探査の対象は、水中の魚群、生物、生物礁、宝物、遺失物、遭難者、海底火山、遺跡、資源、環境及び地形の少なくとも一つであることを特徴とするシステム。 The system according to any one of claims 1 to 16 ,
The underwater exploration target is at least one of underwater fish school, creature, biological reef, treasure, lost and found, victim, submarine volcano, archeological site, resource, environment and topography.
前記水中移動体はバッテリを備え、
前記ブイは発電装置を備え、前記水中ケーブルを介して前記水中移動体に電力を供給して前記バッテリを充電することを特徴とするシステム。 The system according to any one of claims 1 to 17 ,
The underwater vehicle includes a battery,
The buoy includes a power generation device, and supplies power to the underwater vehicle via the underwater cable to charge the battery.
前記ブイの発電装置は、波のエネルギーを利用して発電する波力発電装置であることを特徴とするシステム。 19. The system of claim 18 , wherein
The buoy power generation device is a wave power generation device that generates electric power using wave energy.
移動通信網に接続された３次元の無線通信ネットワークを上空から海面に向けて形成する複数の上空滞在型の無線中継装置のいずれかを介して、前記水中移動体が連結された前記ブイと通信することを特徴とする遠隔制御装置。 Communicates with the buoy to which the underwater vehicle is connected via one of a plurality of airborne wireless relay devices that form a three-dimensional wireless communication network connected to a mobile communication network from the sky to the sea surface A remote control device.
情報処理装置から受信した水中探査の探査結果と、前記ブイ又は前記水中移動体の位置情報とに基づいて、前記水中移動体の位置を制御する制御情報を生成し、その制御情報を、前記上空滞在型の無線中継装置及び前記ブイを介して前記水中移動体に送信することを特徴とする遠隔制御装置。 Based on the search result of the underwater search received from the information processing device and the position information of the buoy or the underwater vehicle, control information for controlling the position of the underwater vehicle is generated, and the control information is generated in the sky. A remote control device for transmitting to the underwater vehicle via a stay-type wireless relay device and the buoy.
前記複数のブイを分散配置させて海洋の広域にわたって目標の対象を探査する広域探査モードを実行し、その広域探査モードにより前記目標の対象を発見したら、前記広域探査モードから、前記目標の対象を発見した前記水中移動体が連結された前記ブイの近くに周辺の他のブイに連結された水中移動体を集めて前記目標の対象のより詳細に探査する集中探査モードに切り換えて実行することを特徴とする遠隔制御装置。 Performing a wide area search mode in which the plurality of buoys are dispersed and searched for a target object over a wide area of the ocean, and when the target object is found by the wide area search mode, the target object is changed from the wide area search mode. Switching to and executing a concentrated search mode in which the discovered underwater vehicle is connected to another buoy in the vicinity of the buoy to which the underwater vehicle is connected, and the collected underwater vehicle is searched for the target object in more detail. Features remote control device.
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| JP2018056044A JP6797145B2 (en) | 2018-03-23 | 2018-03-23 | Underwater exploration system and remote control device |
| PCT/JP2019/010676 WO2019181751A1 (en) | 2018-03-23 | 2019-03-14 | Autonomous decentralized control of wide-area underwater survey submersible robot via haps |
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| US11705962B2 (en) | 2019-11-25 | 2023-07-18 | University-Industry Cooperation Group Of Kyung Hee University | Maritime communication system based on low earth orbit satellite and unmanned aerial vehicle |
| KR102419238B1 (en) * | 2019-11-25 | 2022-07-12 | 경희대학교 산학협력단 | Marine communication system based on low orbit satellite and unmanned aerial vehicle |
| JP7328885B2 (en) * | 2019-12-24 | 2023-08-17 | 川崎重工業株式会社 | MOTION SENSOR SELECTION DEVICE, TARGET DETECTION SYSTEM AND MOTION SENSOR SELECTION METHOD |
| CN111392007A (en) * | 2020-04-23 | 2020-07-10 | 上海海洋大学 | A bionical sea eel for marine ranching environmental monitoring |
| JP7301788B2 (en) * | 2020-05-25 | 2023-07-03 | Kddi株式会社 | Optical repeater and optical submarine cable system |
| JP2022094828A (en) * | 2020-12-15 | 2022-06-27 | Ｈａｐｓモバイル株式会社 | Control device, program, system, and method |
| CN113093770B (en) * | 2021-03-30 | 2022-03-29 | 华南理工大学 | Wave evaluation-based multi-rotor unmanned spacecraft water surface takeoff control method |
| KR102351398B1 (en) * | 2021-06-17 | 2022-01-14 | (주)지오시스템리서치 | Method and system for detecting marine life using imaging equipment |
| CN113163274B (en) * | 2021-06-24 | 2021-09-14 | 深之蓝(天津)水下智能科技有限公司 | Underwater robot communication system |
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