JP2020148135A - Submerged floating type power generator - Google Patents

Abstract

To provide a submerged floating type power generator capable of autonomously detecting a vessel.SOLUTION: A power generator 2 includes a turbine 23, a power generation pod 21 including a power generator which generates power by receiving the rotational driving force of the turbine 23, and a camera 25 for taking an image of a sea surface WS.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to an underwater floating power generator.

An underwater floating power generator that is installed underwater and uses the flow of water to generate power is known (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2014-159750

The floating underwater power generator as described above may float from the water to the surface of the water in an emergency or the like, but when floating, the floating underwater power generator is required to avoid a collision with a ship. The water surface may be monitored by a guard ship, etc., but it is necessary to arrange a guard ship and manpower is required for the guard ship.

The present disclosure describes an underwater floating power generator capable of autonomously detecting a ship.

The underwater floating power generator according to one aspect of the present disclosure includes a turbine, a power generation pod including a generator that receives a rotational driving force from the turbine to generate power, and a position on the water surface where the underwater floating power generator floats. It is provided with an imaging device for imaging a water area.

According to the present disclosure, a ship can be detected autonomously.

FIG. 1 is a schematic configuration diagram of a power generation system including an underwater floating power generation device according to an embodiment. FIG. 2 is a perspective view of the floating underwater power generator shown in FIG. FIG. 3 is a functional block diagram of the power generation system shown in FIG. FIG. 4 is a flowchart showing a series of processes of levitation control performed by the control device shown in FIG. FIG. 5 is a functional block diagram of a modified example of the power generation system shown in FIG. FIG. 6 is a flowchart showing a series of processes of levitation control performed by the control device shown in FIG. FIG. 7 is a flowchart showing the details of the ship position calculation process shown in FIG.

[1] Outline of the Embodiment The underwater floating power generation device according to one aspect of the present disclosure includes a turbine, a power generation pod including a generator that receives a rotational driving force from the turbine, and an underwater floating power generation device on the water surface. It is provided with an image pickup device for imaging a water area including a position where the device floats.

This underwater floating power generation device includes an imaging device for imaging a water area including a position where the underwater floating power generation device floats on the water surface. In general, it is difficult to image the water surface from underwater in a place where the transparency of water is low. Therefore, in a normal underwater moving body, an imaging device is not used to check the condition of the water surface. However, since the floating floating power generator uses the flow of water to generate electricity, it is installed in a place where the flow of water is relatively fast. For this reason, in places where floating underwater power generators are installed, impurities such as plankton are washed away, and the transparency of water tends to be high. Therefore, since the water surface can be clearly imaged, it is possible to detect the ship from the image data obtained by imaging the water area of the water surface. By analyzing the image data in this way, it is possible to autonomously detect the ship without human intervention.

The underwater floating power generation device may further include a control device for determining the presence or absence of a ship in the water area based on the image data captured by the image pickup device. When a ship exists in the water area, the image data includes an image of the bottom of the ship. If there are no ships in the body of water, the image data does not include an image of the bottom of the ship. In this way, the presence or absence of a ship in the water area can be determined from the image data obtained by imaging the water surface.

The control device may determine whether or not to float the underwater floating power generation device based on the determination result of the presence or absence of the ship. For example, if there is no ship in the water area, even if the floating underwater power generator is levitated, it will not collide with the ship. If there is a ship in the body of water, it may collide with the ship when the underwater floating power generator is levitated. Therefore, the possibility of collision with a ship can be reduced by deciding whether or not to float the underwater floating power generation device based on the determination result of the presence or absence of a ship in the water area.

The control device may levitate the underwater floating power generator when it is determined that the ship does not exist in the water area. If there is no ship in the water area, even if the floating underwater power generator is levitated, it will not collide with the ship. Therefore, when it is determined from the image data that the ship does not exist, the underwater floating power generator can be safely levitated.

The control device may make the floating floating power generator stand by when it is determined that the ship exists in the water area. In this case, it is possible to avoid a collision with the ship by making the floating floating power generator stand by in the water until the ship passes through the water area.

When the control device determines that a ship exists in the water area, the control device may further determine whether or not the underwater floating power generation device collides with the ship when the underwater floating power generation device is levitated, and collides with the ship. If it is determined not to do so, the underwater floating power generator may be levitated. In this case, if the ship exists in the water area but does not collide with the ship, the underwater floating power generator can be safely surfaced. This makes it possible to shorten the time required for the floating process of the underwater floating power generation device.

[2] Examples of Embodiments Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In the description of the drawings, the same elements are designated by the same reference numerals, and duplicate description will be omitted. In the following description, the terms "upstream" or "downstream" are used with reference to water flow. The word "before" means the upstream side of the stream of water, and the word "after" means the downstream side of the stream of water.

FIG. 1 is a schematic configuration diagram of a power generation system including an underwater floating power generation device according to an embodiment. FIG. 2 is a perspective view of the floating underwater power generator shown in FIG. The power generation system 1 shown in FIG. 1 is an underwater floating ocean current power generation system that generates electricity using an ocean current FW. The power generation system 1 includes one or more power generation devices 2 and land equipment 6.

The power generation device 2 is an underwater floating power generation device installed in a state of being suspended in water such as the sea. The power generation device 2 receives the ocean current FW to generate electric power. The power generation device 2 includes a pair of power generation pods 21, a cross beam 22, a turbine 23 provided in each power generation pod 21, and a generator 24 (see FIG. 3) connected to each turbine 23. .. The power generation pod 21 is a floating body capable of floating in water. The power generation pod 21 has, for example, a cylindrical shape. The pair of power generation pods 21 are arranged so as to be separated from each other on the left and right, for example. The pair of power generation pods 21 are connected by a cross beam 22. The cross beam 22 is, for example, a rectangular plate-shaped member. The power generation pod 21 has a front portion 21a and a rear portion 21b. The power generation pod 21 is arranged so that the front portion 21a is located upstream of the ocean current FW and the rear portion 21b is located downstream of the ocean current FW.

The power generation pod 21 is connected to a sinker 3 arranged on the seabed WB via a mooring line 4. The sinker 3 may be, for example, a friction type sinker or another sinker. The mooring line 4 may be connected to an anchor fixed to the seabed WB instead of the sinker 3. The anchor may be a pile type anchor, a suction type anchor, or another anchor. The lower end of the mooring line 4 is connected to the sinker 3, and the upper end of the mooring line 4 is connected to the power generation pod 21. The upper ends of the mooring lines 4 are connected to, for example, a pair of power generation pods 21. The mooring line 4 may be connected to the cross beam 22 instead of the power generation pod 21.

A cable 5 is connected to the power generation pod 21. The cable 5 includes a power transmission cable for transmitting the electric power generated by the generator 24 and a communication cable for communicating with the land equipment 6. The cable 5 extends from the power generation pod 21 toward the sinker 3 along the mooring line 4 and extends from the mooring line 4 toward the land facility 6 along the seabed.

The turbine 23 is a turbine for power generation. The turbine 23 is rotatably provided on the rear portion 21b of the power generation pod 21. In this embodiment, a so-called downwind type turbine is adopted as the turbine 23. The turbine 23 may be an upwind type turbine. The turbine 23 includes a plurality of (for example, two) blades. Since the power generation device 2 of the present embodiment employs a downwind type turbine, blades are arranged downstream of the power generation pod 21. A rotating shaft (not shown) housed in the power generation pod 21 is connected to the turbine 23. The rotation of the turbine 23 (blade) is transmitted to the generator 24 via the rotation shaft. The rotation axis is provided, for example, along the central axis of the power generation pod 21.

The generator 24 generates electricity by the rotational driving force of the turbine 23. The generator 24 is housed in the power generation pod 21.

The power generation device 2 rises from the water to a predetermined floating position on the sea surface WS when, for example, an abnormality such as water leakage or a malfunction of power generation is detected, or when maintenance of the power generation device 2 is performed. The ascent position of the power generation device 2 is predetermined. The ship 7 may pass through the sea surface WS of the sea where the power generation device 2 is installed. Therefore, the power generation device 2 is required to avoid a collision with the ship 7.

FIG. 3 is a functional block diagram of the power generation system shown in FIG. As shown in FIG. 3, the power generation device 2 further includes a camera 25, a communication device 26, a buoyancy adjusting mechanism 27, a rotation adjusting mechanism 28, a power receiving device 29, and a control device 30.

The camera 25 is an imaging device for imaging the water area R of the sea surface WS. The water area R is a region within a predetermined range of the sea level WS, and includes a floating position where the power generation device 2 floats. The water area R is set as, for example, a circular region having a predetermined radius centered on the floating position of the power generation device 2. The camera 25 is provided on the cross beam 22. The camera 25 is installed so that the lens of the camera 25 faces the water area R (upward). In other words, the camera 25 is installed so that the imaging range of the camera 25 includes the water area R. An example of the camera 25 is a digital camera. The camera 25 generates image data by capturing the water area R. The camera 25 may generate still image data or may generate moving image data. The camera 25 outputs the image data to the control device 30.

The communication device 26 is a device that communicates with the land equipment 6. The communication device 26 is composed of, for example, a network interface card (NIC) or a wired communication module. The communication device 26 communicates with the land equipment 6 via the cable 5.

The buoyancy adjusting mechanism 27 is a mechanism for adjusting the buoyancy of the power generation device 2. The buoyancy adjusting mechanism 27 adjusts the buoyancy of the power generation device 2 by, for example, changing the weight of the entire power generation device 2. The buoyancy adjusting mechanism 27 is mounted on the power generation pod 21. The buoyancy adjusting mechanism 27 includes a buoyancy adjusting tank provided in the power generation pod 21, a water injection / drainage pipe connecting the tank and the outside of the power generation pod 21, and a pump provided in the water injection / drainage pipe. The buoyancy adjusting mechanism 27 changes the weight of the entire power generation device 2 by injecting seawater into the tank by driving the pump and discharging the seawater from the tank. The buoyancy adjusting mechanism 27 may be provided on another pod connected to the power generation pod 21.

The rotation adjusting mechanism 28 is a mechanism for adjusting the rotation of the turbine 23. The rotation adjusting mechanism 28 adjusts the floating position of the power generation device 2 when the power generation device 2 floats by adjusting the rotation of the left and right turbines 23. As the rotation adjusting mechanism 28, for example, a device that applies a rotational load to the generator 24 or the like is used.

The power receiving device 29 is a power converter that receives the power generated by the generator 24 and adjusts the power. The power receiving device 29, for example, converts the power generated by the generator 24 into DC power and converts it into AC power so as to have a desired frequency and voltage. The power receiving device 29 transmits the converted electric power to the land equipment 6 via the cable 5.

The control device 30 is a controller that controls the power generation device 2 in an integrated manner. The control device 30 executes, for example, power generation control of the power generation device 2, levitation control, and the like. The details of the levitation control will be described later.

The land equipment 6 includes a control device 61, a communication device 62, and a power receiving device 63. The control device 61 executes communication control, power reception control, and the like. For example, the control device 61 controls communication with the power generation device 2 to control signal reception and signal transmission. The communication device 62 receives the signal transmitted from the power generation device 2 through the cable 5 and outputs the signal information to the control device 61. The power receiving device 63 receives the electric power transmitted by the power generation device 2 and outputs the electric power to the outside of the land facility 6 (for example, the electric power system).

Next, the levitation control of the power generation device 2 will be described in detail with reference to FIG. FIG. 4 is a flowchart showing a series of processes of levitation control performed by the control device shown in FIG. The series of processes shown in FIG. 4 is started at predetermined time intervals, for example, during the operation of the power generation device 2.

As shown in FIG. 4, first, the control device 30 determines whether or not the power generation device 2 needs to be levitated (step S11). The control device 30 determines that it is necessary to levitate the power generation device 2 when, for example, an abnormality such as a water leak or a power generation failure is detected. The control device 30 may determine that it is necessary to levitate the power generation device 2 in order to perform maintenance on the power generation device 2 when a predetermined time has elapsed since the last maintenance. The control device 30 determines that it is not necessary to levitate the power generation device 2 when, for example, no abnormality is detected and a predetermined time has not elapsed since the last maintenance. The control device 30 may classify the detected abnormality into a severe abnormality (failure), a moderate abnormality (failure), and a minor abnormality (failure).

When the control device 30 determines in step S11 that it is not necessary to levitate the power generation device 2 (step S11; NO), a series of processes for levitating control is completed. On the other hand, in step S11, when the control device 30 determines that the power generation device 2 needs to be levitated (step S11; YES), the control device 30 outputs an imaging command to the camera 25 and images the water area R on the camera 25. Let me. Then, the camera 25 outputs the image data obtained by imaging the water area R to the control device 30. As a result, the control device 30 acquires the image data (step S12).

Subsequently, the control device 30 determines the presence or absence of the ship 7 in the water area R based on the image data captured by the camera 25 (step S13). Specifically, the control device 30 determines that the ship 7 exists in the water area R when the image data includes an image of the bottom of the ship. The control device 30 determines that the ship 7 does not exist in the water area R when the image data does not include the image of the bottom of the ship. The control device 30 may determine whether or not the image data includes an image of the bottom of the ship by machine learning. In this case, for example, a plurality of image data including an image of the bottom of the ship and a plurality of image data of only the water surface not including the image of the bottom of the ship are prepared in advance, and these image data are used as learning data for machine learning. Be done. The control device 30 may determine whether or not the image data includes an image of the bottom of the ship by another method.

If it is determined in step S13 that the ship 7 exists in the water area R (step S13; YES), the power generation device 2 may collide with the ship 7 when the power generation device 2 ascends. A buoyancy stop command is output to the buoyancy adjusting mechanism 27, and the buoyancy of the power generation device 2 is stopped (standby) for a certain period of time (step S14). The fixed time is, for example, about 1 minute to 10 minutes. Then, when a certain time elapses, the control device 30 executes the processes of steps S12 and S13 again.

On the other hand, in step S13, when it is determined that the ship 7 does not exist in the water area R (step S13; NO), the power generation device 2 can safely ascend, so that the control device 30 ascends to the buoyancy adjusting mechanism 27. A command is output to raise the power generation device 2 toward the floating position of the sea surface WS (step S15). Then, the control device 30 determines whether or not the ascent of the power generation device 2 is completed after the elapse of a predetermined time (step S16). Even if it is determined in step S13 that the ship 7 does not exist in the water area R, there is a possibility that the ship 7 has entered the water area R when time has passed since the image data was acquired in step S12. Therefore, when it is determined that the ascent of the power generation device 2 has not been completed yet (step S16; NO), the control device 30 re-executes the processes of steps S12 and S13.

On the other hand, in step S16, when the control device 30 determines that the ascent of the power generation device 2 is completed (step S16; YES), the control device 30 performs a recovery process (step S17). The recovery process may be a process according to the degree of the detected abnormality. For example, in the case of a mild or moderate abnormality, the control device 30 may eliminate the abnormal state by performing an automatic recovery operation. The automatic recovery operation is, for example, an operation in which the power of the control device 30 is turned off and then turned on again. In the case of a severe abnormality, the control device 30 cannot be automatically restored, so that the power generation device 2 may be made to stand by at the sea level WS. As described above, a series of processes of levitation control is completed.

In step S14, the ascent of the power generation device 2 is stopped for a certain period of time, but the ascent operation of the power generation device 2 may be adjusted so as to avoid a collision between the power generation device 2 and the ship 7. For example, the control device 30 causes the buoyancy adjusting mechanism 27 to adjust the buoyancy time of the power generation device 2. Specifically, the power generation device 2 is slowly levitated to avoid a collision between the ship 7 and the power generation device 2. Further, the control device 30 may cause the rotation adjusting mechanism 28 to change the floating position of the power generation device 2. Specifically, the rotation adjusting mechanism 28 may adjust the rotational state of the left and right turbines 23 to raise the power generation device 2 to a position away from the ship 7. Further, both the ascent time of the power generation device 2 and the change of the ascent position of the power generation device 2 may be performed.

In step S11, when the abnormality is resolved by turning on the power of the control device 30 again after the power is cut off, the control device 30 determines that it is not necessary to levitate the power generation device 2, and the abnormality is found. If the problem is not solved, the control device 30 may determine that the power generation device 2 needs to be levitated.

As described above, the power generation device 2 includes a camera 25 for photographing the water area R of the sea surface WS. In general, it is difficult to image the water surface from underwater in a place where the transparency of water is low. For this reason, in a normal underwater moving body, an imaging device such as a camera is not used to confirm whether or not the ship 7 is present on the water surface. However, since the power generation device 2 generates electricity by using the flow of water (ocean current FW), it is installed in a place where the flow of water is relatively fast. Therefore, in the place where the power generation device 2 is installed, impurities such as plankton are washed away, so that the transparency of water tends to be high. Therefore, since the water surface can be clearly imaged, the ship 7 can be detected from the image data obtained by imaging the water area R of the sea surface WS. By analyzing the image data in this way, it is possible to autonomously detect the ship 7 without human intervention. Further, it is not necessary to install a buoy or the like to occupy the water area R. Therefore, the power generation device 2 can be levitated to the sea surface WS without hindering the navigation of the ship 7.

When the ship 7 exists in the water area R, the image data includes an image of the bottom of the ship. When the ship 7 does not exist in the water area R, the image data does not include the image of the bottom of the ship. In this way, the presence or absence of the ship 7 in the water area R can be determined from the image data obtained by imaging the water area R of the sea surface WS.

For example, if the ship 7 does not exist in the water area R, even if the power generation device 2 is levitated, it does not collide with the ship. If the ship 7 exists in the water area R, it may collide with the ship 7 when the power generation device 2 is levitated. As described above, the control device 30 determines whether or not to levitate the power generation device 2 based on the determination result of the presence or absence of the ship 7 in the water area R, thereby reducing the possibility of collision with the ship 7. Can be done.

Specifically, when it is determined from the image data that the ship 7 does not exist, the power generation device 2 can be safely levitated. Therefore, the control device 30 raises the power generation device 2 when it is determined that the ship 7 does not exist in the water area R. On the other hand, when the control device 30 determines that the ship 7 exists in the water area R, the control device 30 causes the power generation device 2 to stand by without floating. As a result, the power generation device 2 can be kept in the water until the ship 7 passes through the water area R, so that the collision with the ship 7 can be avoided.

Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above embodiments.

The power generation device 2 may further include a central pod arranged between the pair of power generation pods 21. In this case, the camera 25 may be provided at the top of the central pod. The power generation device 2 may include only one power generation pod 21 or may include three or more power generation pods 21.

Since the power generation device 2 is installed floating in water, the posture of the power generation device 2 can change. Therefore, the imaging range of the camera 25 can also change. On the other hand, when the control device 30 determines that the ship 7 exists in the water area R, the control device 30 may further determine whether or not the ship 7 collides with the ship 7 when the power generation device 2 is levitated. Hereinafter, the power generation system 1A according to the modified example will be specifically described.

FIG. 5 is a functional block diagram of a modified example of the power generation system shown in FIG. As shown in FIG. 5, the power generation system 1A is mainly different from the power generation system 1 in that the power generation device 2A is provided in place of the power generation device 2. The power generation device 2A is mainly different from the power generation device 2 in that it further includes a depth sensor 31, a position sensor 32, and an attitude sensor 33.

The depth sensor 31 is a sensor that detects the depth of the power generation device 2A (power generation pod 21). The depth sensor 31 is mounted on the power generation pod 21. An example of the depth sensor 31 is a pressure sensor that detects water pressure. The depth sensor 31 detects the depth of the power generation device 2A and outputs depth information indicating the depth of the power generation device 2A to the control device 30.

The position sensor 32 is a sensor that detects the position of the power generation device 2A (power generation pod 21). The position sensor 32 is mounted on the power generation pod 21. Examples of the position sensor 32 include a GPS (Global Positioning System) sensor, an acoustic positioning sensor, an inertial navigation system, and the like. The position sensor 32 detects, for example, the latitude and longitude of the power generation device 2A, and outputs position information indicating the position (latitude and longitude) of the power generation device 2A to the control device 30.

The posture sensor 33 is a sensor that detects the posture of the power generation device 2A (power generation pod 21). The posture sensor 33 is mounted on the power generation pod 21. An example of the posture sensor 33 is a gyro sensor. The attitude sensor 33 detects the roll angle, pitch angle, and yaw angle as the attitude of the power generation device 2A. The roll angle, pitch angle, and yaw angle represent angles with respect to a predetermined reference posture of the power generation device 2A. The posture sensor 33 outputs the posture information indicating the posture of the power generation device 2A to the control device 30.

Next, the levitation control of the power generation device 2A will be described in detail with reference to FIGS. 6 and 7. FIG. 6 is a flowchart showing a series of processes of levitation control performed by the control device shown in FIG. FIG. 7 is a flowchart showing the details of the ship position calculation process shown in FIG. The series of processes shown in FIG. 6 is started at predetermined time intervals, for example, during the operation of the power generation device 2A.

Since steps S21 to S23 shown in FIG. 6 are the same as steps S11 to S13 shown in FIG. 4, their description will be omitted. When it is determined in step S23 that the ship 7 exists in the water area R (step S23; YES), the control device 30 performs the ship position calculation process (step S24).

In the ship position calculation process in step S24, first, as shown in FIG. 7, the control device 30 acquires the depth information of the power generation device 2A from the depth sensor 31, and acquires the position information of the power generation device 2A from the position sensor 32. Then, the attitude information of the power generation device 2A is acquired from the attitude sensor 33 (step S31). Then, the control device 30 calculates the relative position information of the ship 7 with respect to the camera 25 by analyzing the image data acquired in step S22 (step S32). Specifically, the control device 30 refers to the distance between the camera 25 and the ship 7 from the position of the ship 7 with respect to the center of the image data (captured image) in the image data, the azimuth angle of the ship 7 with respect to the camera 25, and the camera 25. The elevation angle and the like of the ship 7 are calculated as relative position information.

Then, the control device 30 calculates the actual current position of the ship 7 (step S33). For example, the control device 30 calculates the direction in which the camera 25 is facing based on the attitude information, and based on the direction, the depth information, the position information, and the relative position information, the actual position of the ship 7. To calculate.

Subsequently, the control device 30 compares the actual position of the ship 7 with the ascending position of the power generation device 2A to determine whether or not the power generation device 2A collides with the ship 7 when the power generation device 2A is levitated. (Step S25). For example, the control device 30 determines that the power generation device 2A does not collide with the ship 7 when the distance between the actual position of the ship 7 and the ascent position of the power generation device 2A is equal to or greater than a predetermined threshold value, and the distance is determined. Is smaller than the threshold value, it is determined that the power generation device 2A collides with the ship 7. The control device 30 may determine whether or not the power generation device 2A collides with the ship 7 based on the speed and the traveling direction of the ship 7. The speed and the traveling direction of the ship 7 may be obtained from a plurality of continuously acquired image data.

When it is determined in step S25 that the power generation device 2A collides with the ship 7 (step S25; YES), the control device 30 outputs a buoyancy stop command to the buoyancy adjusting mechanism 27, and the power generation device 2A, as in step S14. Is stopped (standby) for a certain period of time (step S26). Then, when a certain period of time elapses, the control device 30 executes the processes of steps S22 and S23 again.

In step S23, when it is determined that the ship 7 does not exist in the water area R (step S23; NO), or in step S25, it is determined that the power generation device 2A does not collide with the ship 7 (step S25; NO). Since the power generation device 2A can safely ascend, the control device 30 outputs a buoyancy command to the buoyancy adjusting mechanism 27 to levitate the power generation device 2A toward the ascent position of the sea surface WS (step S27). Since steps S28 and S29 are the same as steps S16 and S17 shown in FIG. 4, their description will be omitted.

The power generation device 2A also has the same effect as that of the power generation device 2. Further, in the power generation device 2A, when the control device 30 determines that the ship 7 exists in the water area R, it further determines whether or not the power generation device 2A collides with the ship 7 when the power generation device 2A is levitated. .. Then, when the control device 30 determines that the power generation device 2A does not collide with the ship 7, the power generation device 2A is levitated. As described above, if the ship 7 exists in the water area R but the power generation device 2A does not collide with the ship 7, the power generation device 2A can be safely levitated. In such a case, it is not necessary to make the power generation device 2A stand by in water, so that the time required for the levitation process of the power generation device 2A can be shortened.

2,2A power generator (underwater floating power generator)
7 Ship 21 Power generation pod 23 Turbine 24 Generator 25 Camera (imaging device)
30 Control device

Claims (6)

It is an underwater floating power generator
With the turbine
A power generation pod containing a generator that generates power by receiving the rotational driving force of the turbine, and
An imaging device for imaging a water area including a position on the water surface where the floating floating power generator floats,
An underwater floating power generator equipped with. The underwater floating power generation device according to claim 1, further comprising a control device for determining the presence or absence of a ship in the water area based on the image data captured by the image pickup device. The underwater floating power generation device according to claim 2, wherein the control device determines whether or not to float the underwater floating power generation device based on a determination result of the presence or absence of the ship. The underwater floating power generation device according to claim 3, wherein the control device floats the underwater floating power generation device when it is determined that the ship does not exist in the water area. The underwater floating power generation device according to claim 3 or 4, wherein the control device causes the underwater floating power generation device to stand by when it is determined that the ship exists in the water area. When the control device determines that the ship exists in the water area, the control device further determines whether or not the underwater floating power generation device collides with the ship when the underwater floating power generation device is levitated. The underwater floating power generation device according to claim 3 or 4, wherein the underwater floating power generation device is levitated when it is determined that the ship does not collide with the ship.

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