JP2021054150A - Water bottom shape measuring device - Google Patents

Abstract

To provide a water bottom shape measuring device capable of suppressing cost and simplifying a configuration.SOLUTION: A water bottom shape measuring device positions a three-dimensional shape measuring part 14E which is suspended from an unmanned flight body 14 through a support member 20 in water, for measuring a three-dimensional shape of a water bottom 22 and generating three-dimensional shape information, and positions a position of the unmanned flight body 14 by a positioning part 14D and generates the same as positioning information, and generates by a water bottom shape information generation part 12F, a shape of the water bottom 22 as water bottom shape information indicated on a coordinate position on the earth on the basis of these three-dimensional shape information and positioning information. A screw 30 is coupled to the three-dimensional shape measuring part 14E, and a relative position of the three-dimensional shape measuring part 14E to the unmanned flight body 14 is in a prescribed range R, by controlling rotation of the screw 30.SELECTED DRAWING: Figure 2

Description

The present invention relates to a water bottom shape measuring device.

It is necessary to accurately measure the shape of the seabed, lakebed, and riverbed during dredging work and structure construction work on the seabed, lakebed, and riverbed.
As a water bottom shape measuring device, sonar is placed underwater from the observation ship via a support frame, and based on the three-dimensional shape information of the water bottom measured by the sonar and the positioning information measured by the GPS positioning device mounted on the observation ship. A technique for generating the shape of the water bottom as water bottom shape information indicated by coordinate positions on the earth has been proposed (see Patent Document 1).
In the above-mentioned prior art, in order to correct the measurement error caused by the shaking of the observation ship due to waves, a three-dimensional position sensor is provided on the observation ship side to acquire the three-dimensional position of the observation ship, and a total station is provided on the ground side to obtain the total station. Positioning data is obtained by measuring the position of the observation ship, and the bottom shape information is corrected using the three-dimensional position and positioning data of these observation ships.

Japanese Unexamined Patent Publication No. 2010-30340

However, in the above-mentioned conventional technique, an observation ship and a ship license qualified person for operating the observation ship are required in order to obtain the bottom shape information, and the equipment cost and the operation cost are high.
In addition, devices such as a three-dimensional position sensor and a total station are required to correct the measurement error caused by the shaking of the observation ship due to waves, and arithmetic processing is required to correct the measurement error, simplifying the configuration. It is disadvantageous in reducing the cost.
The present invention has been made in view of such circumstances, and an object of the present invention is to provide a water bottom shape measuring device which is advantageous in order to simplify the configuration while suppressing the cost.

In order to achieve the above object, the present invention is a water bottom shape measuring device for measuring the shape of the water bottom, which is a remotely controlled unmanned vehicle and is suspended from the unmanned vehicle via a support member and submerged in water. The position of the unmanned flying object based on the positioning signal received from the positioning satellite mounted on the unmanned flying object and the three-dimensional shape measuring unit that measures the three-dimensional shape of the bottom of the water and generates the three-dimensional shape information in the positioned state. A positioning unit that positions and generates positioning information, and a bottom that generates bottom shape information that generates the bottom shape as bottom shape information indicated by coordinate positions on the earth based on the three-dimensional shape information and the positioning information. A shape information generation unit, a screw connected to the three-dimensional shape measurement unit, and a screw control unit that controls rotation of the screw are provided, and the screw control unit measures the three-dimensional shape of the unmanned vehicle. It is characterized in that the rotation of the screw is controlled so that the relative position of the portion is within a predetermined range.
Further, the present invention further includes an imaging unit that images the surroundings of the unmanned vehicle to generate image information, and the screw control unit uses the image information imaged by the imaging unit to generate the image information of the unmanned vehicle. It is characterized in that the relative position of the three-dimensional shape measuring unit with respect to the above is detected.
Further, the present invention further includes a measuring unit position detecting unit that detects the position of the three-dimensional shape measuring unit, and the screw control unit is the position of the three-dimensional shape measuring unit detected by the measuring unit position detecting unit. And, based on the position of the unmanned vehicle generated by the positioning unit, the relative position of the three-dimensional shape measuring unit with respect to the unmanned vehicle is detected.
Further, in the present invention, a management device is provided at a position away from the unmanned aerial vehicle, the unmanned aerial vehicle is provided with a communication unit on the unmanned aerial vehicle side, and the management device communicates with the screw control unit by a wireless line. A communication unit on the management device side is provided, and the screw control unit controls the rotation of the screw based on a control signal supplied via the wireless line.
Further, the present invention is characterized in that a plurality of the screws are provided symmetrically with respect to the extending axis in the water depth direction of the three-dimensional shape measuring unit.

According to the present invention, a three-dimensional shape measuring unit suspended from an unmanned flying object via a support member is positioned in water to measure the three-dimensional shape of the bottom of the water and generate three-dimensional shape information, and the positioning unit unmanned. The position of the flying object is positioned and generated as positioning information, and the shape of the bottom of the water is generated as the bottom shape information indicated by the coordinate position on the earth based on the three-dimensional shape information and the positioning information.
Therefore, since the observation ship provided with sonar is not required as in the conventional case, a ship license qualified person is required to operate the observation ship and the observation ship, which is advantageous in reducing the equipment cost and the operation cost.
In addition, the unmanned aerial vehicle that supports the three-dimensional shape measurement unit is not affected by waves, eliminating the need for equipment to correct the shaking of the observation ship as in the past, simplifying the configuration and reducing costs. It will be advantageous in trying to achieve this.
Further, since the screw is connected to the 3D shape measuring unit and the rotation of the screw is controlled so that the relative position of the 3D shape measuring unit with respect to the unmanned vehicle is within a predetermined range, the position of the 3D shape measuring unit in water can be determined. It is advantageous in stabilizing and improving the measurement accuracy of the bottom shape.
Further, if the relative position of the three-dimensional shape measuring unit with respect to the unmanned vehicle is detected by using the image information captured by the imaging unit, it is advantageous in quickly and accurately grasping the position of the three-dimensional shape measuring unit.
Further, if the measurement unit position detection unit for detecting the position of the three-dimensional shape measurement unit is provided, the position of the three-dimensional shape measurement unit can be detected with high accuracy. Further, if the position of the three-dimensional shape measuring unit is used when generating the bottom shape information, it is advantageous in improving the accuracy of the bottom shape information.
Further, if the rotation of the screw is controlled based on the control signal supplied via the wireless line, the configuration of the three-dimensional shape measuring unit can be simplified, which is advantageous in reducing the system cost.
Further, by providing a plurality of screws symmetrically with respect to the extension axis in the water depth direction of the three-dimensional shape measuring unit, the moving direction of the three-dimensional shape measuring unit can be finely adjusted, and the three-dimensional shape measuring unit can be adjusted. It is advantageous for moving quickly within a predetermined range.

It is a block diagram which shows the structure of the water bottom shape measuring apparatus of embodiment. It is explanatory drawing which shows the measurement state which arranged the 3D shape measuring part in water by an unmanned aerial vehicle. It is explanatory drawing which shows an example of the attachment state of a screw. It is explanatory drawing which shows typically the screw control by the screw control part. It is a flowchart which shows the operation of the water bottom shape measuring apparatus of embodiment. It is explanatory drawing which shows another example of the screw attachment state. It is explanatory drawing which shows another example of the screw attachment state.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
As shown in FIG. 1, the water bottom shape measuring device 10 of the present embodiment includes a management device 12 and an unmanned aerial vehicle 14.
The management device 12 is provided on the ground in the vicinity of the sea, river, lake, etc. for measuring the shape of the bottom 22 (see FIG. 2).
The management device 12 includes a remote operation command unit 12A, a management device side communication unit 12B, a map database unit 12C, a display unit 12D, a management device side flight control unit 12E, a water bottom shape information generation unit 12F, and information processing. It is configured to include a unit 12G, a storage unit 12H, and an output unit 12I.

The remote control command unit 12A generates flight body operation command information for remotely controlling the unmanned aerial vehicle body 14 by operating an operation member such as a joystick by an operator.
Further, the remote control command unit 12A starts or stops the operation of the positioning unit 14D and the three-dimensional shape measuring unit 14E mounted on the unmanned aerial vehicle 14 by the operator operating an operation member such as an operation button. It generates operation command information of the positioning unit 14D, operation command information of the three-dimensional shape measurement unit 14E, operation command information for controlling the rotation of the screw 30, and the like.
The management device side communication unit 12B communicates with the unmanned aerial vehicle 14 via the wireless line N, and the unmanned aerial vehicle 14 has the aircraft body operation command information, the positioning unit 14D operation command information, and the three-dimensional shape measurement unit. The operation command information of 14E is transmitted, and image information, positioning information, and three-dimensional shape information transmitted from the unmanned aerial vehicle 14 are received. Reference numeral 1202 in the figure indicates an antenna of the communication unit 12B on the management device side.
The image information, positioning information, and three-dimensional shape information will be described in detail later.

The map database unit 12C stores map information including the sea, rivers, lakes, etc. for which the shape of the bottom 22 is to be measured.

The display unit 12D displays the image information and the three-dimensional shape information received by the communication unit 12B on the management device side.
Therefore, the operator can remotely control the unmanned aerial vehicle 14 based on the image information displayed by the display unit 12D and the three-dimensional shape information.
Further, the display unit 12D reads and displays the map information stored in the map database unit 12C based on the positioning information received by the management device side communication unit 12B, and displays the current position of the unmanned aerial vehicle 14 as well. It is configured to be displayed on the map displayed on the display screen of the unit 12D.
Therefore, the operator can remotely control the unmanned aerial vehicle 14 based on the map displayed by the display unit 12D and the current position of the unmanned aerial vehicle 14.

Instead of remote control by the operator, the flight control unit 12E on the management device side sets the unmanned aerial vehicle 14 on the flight route based on the positioning information received by the communication unit 12B on the management device side and a predetermined flight route. It is to fly by automatic control along the line.
That is, based on the map information of the map database unit 12C, a flight course is set so that the unmanned flying object 14 flies along the bottom 22 to be measured, and the flight control unit 12E on the management device side provides the positioning information and the flight. Aircraft operation command information is generated based on the course, the air vehicle operation command information is transmitted from the management device side communication unit 12B to the air vehicle side communication unit 14A via the radio line N, and the air vehicle operation command information is transmitted to the aircraft side flight. By giving to the control unit 14C, the unmanned flying object 14 can be automatically controlled.

The water bottom shape information generation unit 12F indicates the shape of the water bottom 22 at coordinate positions on the earth based on the three-dimensional shape information and positioning information received by the management device side communication unit 12B, in other words, it is indicated by three-dimensional coordinates. It is generated as the bottom shape information.

The information processing unit 12G generates a cross-sectional view, a perspective view, an isoline diagram, etc. showing the shape of the water bottom 22 by arithmetically processing the water bottom shape information.
In the present embodiment, the display unit 12D displays the water bottom shape information by displaying a cross-sectional view, a perspective view, an isoline diagram, or the like showing the shape of the water bottom 22 generated by the information processing unit 12G.

The storage unit 12H stores the water bottom shape information generated by the water bottom shape information generation unit 12F, a cross-sectional view, a perspective view, an isoline diagram, etc. showing the shape of the water bottom 22 generated by the information processing unit 12G.
The output unit 12I outputs the water bottom shape information, the cross-sectional view, the perspective view, the contour diagram, etc. stored in the storage unit 12H, and records the water bottom shape information and the figure on a semiconductor recording medium such as a memory card, for example. Alternatively, the bottom shape information and drawings are transmitted to the terminal device via a network, or the bottom shape information and drawings are printed on a paper medium using a printer.

As shown in FIG. 2, the unmanned aerial vehicle 14 includes an air vehicle body 16, a plurality of rotors 18 provided on the air vehicle body 16, and a plurality of motors (non-motor) provided for each rotor 18 to rotate and drive the rotor 18. (Fig.) And. In the present embodiment, the flying object main body 16 is assumed to be circular when viewed from above.
Further, as shown in FIG. 1, the unmanned aerial vehicle 14 includes an air vehicle side communication unit 14A, an imaging unit 14B, an air vehicle side flight control unit 14C, a positioning unit 14D, a three-dimensional shape measurement unit 14E, and a screw control unit 14F. It is configured.

The aircraft-side communication unit 14A communicates with the management device-side communication unit 12B of the management device 12 via the wireless line N, and the image information captured by the image pickup unit 14B and the positioning information generated by the positioning unit 14D. The three-dimensional shape information generated by the three-dimensional shape measuring unit 14E is transmitted to the management device side communication unit 12B, and the unmanned aircraft 14 operation command information is received from the management device side communication unit 12B. Reference numeral 1402 in the figure indicates an antenna of the aircraft-side communication unit 14A.

The image pickup unit 14B captures the surroundings of the unmanned aerial vehicle 14 and generates image information. In the present embodiment, the image pickup unit 14B is provided on the lower surface of the vehicle body 16, and images a direction below the vehicle body 16, that is, a direction in which the unmanned vehicle 14 is on the water surface side when in flight. Further, the imaging range of the imaging unit 14B includes all predetermined ranges described later.
The flight control unit 14C on the vehicle body side rotates and controls each rotor 18 based on the vehicle body operation command information transmitted from the communication unit 12B on the management device side to the communication unit 14A on the vehicle body side via the wireless line N, thereby performing unmanned flight. The body 14 is to be flown.
The positioning unit 14D positions the position of the unmanned aerial vehicle 14 based on the positioning signal mounted on the vehicle body 16 and received from the positioning satellite, and generates it as positioning information.
Such positioning satellites are used in GNSS (Global Navigation Satellite System) such as GPS, GLONASS, Galileo, and quasi-zenith satellite (QZSS), and the positioning satellites used in these surveying systems. One may be used, or two or more positioning satellites may be used in combination.

The three-dimensional shape measuring unit 14E measures the three-dimensional shape of the bottom 22 in a state where it is suspended from the flying object main body 16 via a support member 20 and is located in water, and generates three-dimensional shape information.
In the present embodiment, the support member 20 is composed of a flexible wire or rope. By using a flexible wire or rope as the support member 20, for example, when the three-dimensional shape measuring unit 14E comes into contact with an obstacle such as a rock, the support member 20, the three-dimensional shape measuring unit 14E, or the flying object This is advantageous in suppressing the degree of damage to the main body 16. When a wire or rope is used as the support member 20, the three-dimensional shape measuring unit 14E may sway relative to the vehicle body 16 due to waves. The posture can be stabilized.
Further, the support member 20 may be formed of, for example, a rigid metal rod or frame, and the three-dimensional shape measuring unit 14E may be immovably supported with respect to the vehicle body 16. When the 3D shape measuring unit 14E is immovably supported with respect to the flying object body 16 by using a rod or a frame, it is possible to suppress the 3D shape measuring unit 14E from swinging relative to the flying object body 16 due to waves. It is more advantageous to perform the measurement by the three-dimensional shape measuring unit 14E with higher accuracy.

The three-dimensional shape measuring unit 14E houses a sonar that uses ultrasonic waves or a laser measuring machine that uses laser light in its housing.
The sonar irradiates the bottom 22 with ultrasonic waves, receives the reflected wave from the bottom 22, and generates three-dimensional shape information based on the received wave.
As a sonar, a single beam-shaped ultrasonic wave 26 is scanned toward the bottom 22 or a plurality of spread beam-shaped ultrasonic waves 26 (multi-beam) are simultaneously directed toward the bottom 22. Any of the sonars to be irradiated may be used, and various conventionally known sonars can be used as such sonars.

The laser measuring device irradiates the bottom 22 with the laser beam, receives the reflected light reflected from the bottom 22, and generates three-dimensional shape information based on the received reflected light.
As the laser measuring machine, a conventionally known single laser beam 28 that scans (scans) toward the bottom 22 can be used.
A green laser is often used as the laser light 28 used for shape measurement, which means that the green laser is hard to be absorbed by water and reaches the bottom 22 reliably, and the intensity of the reflected light from the bottom 22 can be secured. Because.

The screw control unit 14F controls the rotation of the screw 30 connected to the three-dimensional shape measurement unit 14E. As described above, especially when a wire or rope is used as the support member 20, the three-dimensional shape measuring unit 14E may sway relative to the vehicle body 16 due to waves. The rotation of the screw 30 is controlled so that the relative position of the three-dimensional shape measuring unit 14E with respect to the unmanned vehicle 14 is within a predetermined range.

As shown in FIGS. 2 and 3, a screw 30 for stabilizing the posture of the three-dimensional shape measuring unit 14E is connected to the three-dimensional shape measuring unit 14E.
In the present embodiment, a circular frame 32 is bridged along the side surface of the housing of the bell-shaped three-dimensional shape measuring unit 14E, and screws 30 are attached to the tips of four arms 34 protruding in the radial direction of the frame 32. It is attached. As shown in FIG. 4, the four screws 30 are attached at intervals of 90 degrees when the three-dimensional shape measuring unit 14E is viewed from above. That is, a plurality of screws 30 are provided symmetrically with respect to the extending axis (central axis O in FIG. 4) of the three-dimensional shape measuring unit 14E in the water depth direction. Providing the plurality of screws 30 in this way is advantageous in facilitating the movement of the three-dimensional shape measuring unit 14E to a desired position. The screw 30 causes the three-dimensional shape measuring unit 14E to generate a propulsive force by rotating the screw blade 30A around the rotating shaft 30B by a motor or the like (not shown).

For example, as shown in FIG. 2, the vertical axis (extending axis in the water depth direction) passing through the center point of the flying body 16 when the flying body 16 is viewed from above is defined as X. The support member 20 is attached to the center point of the lower surface of the vehicle body 16 and extends along the vertical axis X in a state where it is not affected by the water flow. In the present embodiment, the range of the radius N in the horizontal direction from the vertical axis X is set as the predetermined range R, and the screw control unit 14F controls the rotation of the screw 30 so that the three-dimensional shape measuring unit 14E is located within the predetermined range R. To do.

FIG. 4 is an explanatory view schematically showing screw control by the screw control unit 14F, and is a top view of the three-dimensional shape measurement unit 14E. Of the four screws 30, the one located on the upper side of the paper surface is referred to as the screw 30a, the one located on the right side of the paper surface is referred to as the screw 30b, the one located on the lower side of the paper surface is referred to as the screw 30c, and the one located on the left side of the paper surface is referred to as the screw 30d.

For example, as shown in FIG. 4A, when the three-dimensional shape measuring unit 14E deviates to the lower side of the paper surface with respect to the predetermined range R due to the water flow F from the upper side to the lower side of the paper surface, the screw control unit 14F uses the screw 30c on the lower side of the paper surface. Is rotated to generate a propulsive force upward on the paper surface, and the three-dimensional shape measuring unit 14E returns to the predetermined range R.
Further, for example, as shown in FIG. 4B, when the three-dimensional shape measuring unit 14E deviates to the lower left side of the paper surface with respect to the predetermined range R due to the water flow F from the upper right to the lower left of the paper surface, the screw control unit 14F is located on the lower left side of the paper surface. The screw 30c and the screw 30d on the left side of the paper surface are rotated to generate a propulsive force to the upper right of the paper surface, and the three-dimensional shape measuring unit 14E returns to the predetermined range R.

The screw control unit 14F detects the relative position of the three-dimensional shape measuring unit 14E with respect to the unmanned flying object 14 (aircraft body 16) by image recognition using, for example, the image information captured by the imaging unit 14B, and the screw 30 It is determined whether or not the screw 30 is operated and which of the four screws 30 is operated. The three-dimensional shape measuring unit 14E may rotate in the circumferential direction around the connecting portion with the support member 20. Therefore, for example, the screws 30a to 30d are color-coded or marked so that the screws 30a to 30d can be identified from the image information, and it is determined which screw 30a to 30d to operate. May be good.

Further, for example, a measuring unit position detecting unit (not shown) for detecting the position of the three-dimensional shape measuring unit 14E is further provided, and the screw control unit 14F is the position of the three-dimensional shape measuring unit 14E detected by the measuring unit position detecting unit. And, based on the position of the unmanned vehicle 14 (aircraft body 16) generated by the positioning unit 14D, the relative position of the three-dimensional shape measuring unit 14E with respect to the unmanned vehicle 14 may be detected.
Like the positioning unit 14D, the measuring unit position detecting unit may measure the position of the three-dimensional shape measuring unit 14E based on the positioning signal received from the positioning satellite, or may be provided on the vehicle body 16, for example. The signal from the transmitter may be received by the three-dimensional shape measuring unit 14E, and the relative position from the three-dimensional shape measuring unit 14E may be detected based on the reception status.
Also in this case, it is preferable to be able to detect the rotational state of the three-dimensional shape measuring unit 14E in the circumferential direction, such as detecting the positions of two points of the three-dimensional shape measuring unit 14E.

The screw 30 may be controlled by the screw control unit 14F by remote control while the operator sees the image captured by the image pickup unit 14B, for example. That is, the screw control unit 14F may control the rotation of the screw 30 based on the control signal (operation command information for controlling the rotation of the screw 30) supplied via the wireless line.

Next, the operation of the water bottom shape measuring device 10 will be described with reference to the flowchart of FIG.
First, the operator flies the unmanned aerial vehicle 14 from a predetermined standby place by operating the remote control command unit 12A of the management device 12, and obtains image information around the unmanned aerial vehicle 14 displayed on the display unit 12D. While visually recognizing, the unmanned aerial vehicle 14 is flown to the location of the sea, lake, or river whose bottom shape is to be measured (step S10).
Then, while visually recognizing the image information around the unmanned aerial vehicle 14 displayed on the display unit 12D, the unmanned aerial vehicle 14 is lowered toward the water surface 24, and the three-dimensional shape measuring unit 14E is moved from the air to the water. The dimensional shape measuring unit 14E is hovered in a state of being positioned at a predetermined depth from the water surface 24 to maintain that state (step S12).
Next, the operator starts the operation of the positioning unit 14D and the three-dimensional shape measuring unit 14E by operating the remote control control unit 12A of the management device 12 (step S14).
When the measurement is started, the screw control unit 14F determines whether or not the three-dimensional shape measurement unit 14E is within the predetermined range from the vehicle body 16 (step S16), and if it is out of the predetermined range (step S16). Step S16: No), the screw 30 is operated to return to the predetermined range (step S18). Steps S16 and S18 are continued during the measurement.
Further, during the measurement, the positioning information generated by the positioning unit 14D and the three-dimensional shape information generated by the three-dimensional shape measuring unit 14E are generated from the unmanned vehicle 14 via the wireless line N to generate the bottom shape information of the management device 12. It is transmitted to the unit 12F (step S20), and the water bottom shape information is generated by the water bottom shape information generation unit 12F (step S22).
Further, the operator can measure the shape of the water bottom 22 which has not been measured yet while visually recognizing the image information displayed on the display unit 12D, the cross-sectional view showing the shape of the water bottom 22, the perspective view, the isoline diagram, and the like. As described above, by operating the remote control command unit 12A, the unmanned aerial vehicle 14 is made to fly in the horizontal direction and the measurement point is moved (step S24).
Then, the operator visually recognizes the image information displayed on the display unit 12D, the cross-sectional view showing the shape of the water bottom 22, the perspective view, the isoline view, and the like, so that the measurement can be performed over the entire area of the water bottom 22 to be measured in shape. It is determined whether or not the process is completed (step S26).
If step S22 is negative, the process returns to step S16 and the same operation is performed.
If step S22 is affirmative, the operator raises the unmanned aerial vehicle 14 by remote control, pulls the three-dimensional shape measuring unit 14E from the water into the air, and visually recognizes the image displayed on the display unit 12D. 14 is flown toward a predetermined waiting place and landed at the waiting place (step S28).
Then, the water bottom shape information of the entire area of the water bottom 22 stored in the storage unit 12H is output from the output unit 12I (step S30), and a series of measurement operations is completed.

As described above, according to the present embodiment, the three-dimensional shape measuring unit 14E suspended from the unmanned flying object 14 via the support member 20 is positioned in water to measure the three-dimensional shape of the bottom 22 and three-dimensionally. In addition to generating shape information, the positioning unit 14D positions the position of the unmanned flying object 14 and generates it as positioning information, and based on these three-dimensional shape information and positioning information, the bottom shape information generation unit 12F determines the shape of the bottom 22 to the earth. It is now generated as the bottom shape information indicated by the above coordinate position.
Therefore, since the observation ship provided with sonar is not required as in the conventional case, a ship license qualified person is required to operate the observation ship and the observation ship, which is advantageous in reducing the equipment cost and the operation cost.
Further, since the unmanned vehicle 14 that supports the three-dimensional shape measuring unit 14E is located above the water surface 24 away from the water surface 24, it is not affected by the waves and the observation ship sways as in the conventional case. Equipment such as a three-dimensional position sensor and a total station for correcting the above is not required, which is advantageous in simplifying the configuration and reducing the cost.

Further, in the present embodiment, the screw 30 is connected to the three-dimensional shape measuring unit 14E, and the rotation of the screw 30 is controlled so that the relative position of the three-dimensional shape measuring unit 14E with respect to the unmanned vehicle 14 is within a predetermined range. This is advantageous in stabilizing the position of the three-dimensional shape measuring unit 14E in water and improving the measurement accuracy of the bottom shape.
In detecting the relative position of the three-dimensional shape measuring unit 14E with respect to the unmanned vehicle 14, if the image information captured by the imaging unit 14B is used, for example, the imaging unit 14B for remote control can be diverted to reduce the system cost. It is advantageous for quickly and accurately grasping the position of the three-dimensional shape measuring unit 14E.
Further, in detecting the relative position of the three-dimensional shape measuring unit 14E with respect to the unmanned flying object 14, if the measuring unit position detecting unit for detecting the position of the three-dimensional shape measuring unit 14E is provided, the position of the three-dimensional shape measuring unit 14E is provided. Can be detected accurately. Further, if the position of the three-dimensional shape measuring unit 14E detected by the measuring unit position detecting unit is used at the time of generating the water bottom shape information, the accuracy of the water bottom shape information can be further improved.
Further, if the rotation of the screw 30 is controlled by remote control by the operator, that is, based on the control signal supplied via the wireless line, the configuration of the three-dimensional shape measuring unit 14E can be simplified, and the system cost can be simplified. It is advantageous in reducing.
Further, by providing a plurality of screws 30 symmetrically with respect to the extension axis in the water depth direction of the three-dimensional shape measuring unit 14E, the moving direction of the three-dimensional shape measuring unit 14E can be finely adjusted, and the three-dimensional shape can be adjusted. This is advantageous in quickly moving the measuring unit 14E within a predetermined range.

In the present embodiment, the four screws 30 are attached at intervals of 90 degrees so as to be able to cope with water flows at various angles in the horizontal direction. That is, when the two screws 30 are attached at intervals of 180 degrees, it is not possible to correspond to the water flow from the direction orthogonal to the straight line connecting the screws 30, so the four screws 30 are arranged.
On the other hand, for example, by attaching the three screws 30 at intervals of 120 degrees, it is possible to cope with the water flow from various angles as in the case of arranging the four screws 30.

Further, for example, as shown in FIG. 6, a screw 30 may be provided on the lower surface of the housing of the three-dimensional shape measuring unit 14E. By providing the screw 30 not only on the side surface of the housing of the three-dimensional shape measuring unit 14E but also on the lower surface of the housing, it is possible to cope with the water flow in the water depth direction, and the posture of the three-dimensional shape measuring unit 14E is more stable. It becomes advantageous in. The water flow in the water depth direction includes a flow toward a deep water depth and a flow toward a shallow water depth. By reversing the rotation direction of the screw 30 according to the flow direction, the water flow can be moved in a desired direction. Propulsive force can be generated.
In the example of FIG. 6, the case where the screw 30 is provided avoiding the central portion of the lower surface of the housing of the three-dimensional shape measuring unit 14E having the transmitting / receiving unit of the ultrasonic wave of the sonar or the laser beam of the laser measuring machine is shown.

Further, for example, as shown in FIG. 7, the screw 30 may be installed at a predetermined angle (greater than 0 degrees and less than 90 degrees) with respect to the water depth direction. In the example of FIG. 7, the predetermined angle θ is set to 45 degrees. By tilting the screw 30 with respect to the water depth direction in this way, it is possible to cope with the water flow in the water depth direction as in FIG. 6, which is advantageous in more stabilizing the posture of the three-dimensional shape measuring unit 14E. ..

Further, in the above description, the screw 30 is stopped until the three-dimensional shape measuring unit 14E deviates from the predetermined range, but it takes a certain time to start the screw 30. Therefore, for example, all the screws 30 are constantly rotated at a low speed, and when the three-dimensional shape measuring unit 14E deviates from (or may deviate from) a predetermined range, the output of the specific screw 30 is increased. May be good. By doing so, it is possible to quickly respond to a sudden change in the water flow, improve the measurement accuracy of the bottom shape, and perform the measurement more efficiently.

Further, the water bottom shape information generation unit 12F is provided on the unmanned aerial vehicle 14, and the water bottom shape information generated by the water bottom shape information generation unit 12F is transmitted to the management device 12 away from the unmanned aerial vehicle 14 via the wireless line N. It may be.
However, as in the present embodiment, the water bottom shape information generation unit 12F is provided in the management device 12 away from the unmanned aerial vehicle 14, and the water bottom shape information generation unit 12F generates the water bottom shape information via the wireless line N. If the operation is performed based on the supplied three-dimensional shape information and positioning information, the power saving and weight reduction of the unmanned aerial vehicle 14 can be achieved as compared with the case where the water bottom shape information generation unit 12F is provided on the unmanned aerial vehicle 14. Therefore, the flight duration of the unmanned aerial vehicle 14 can be secured, and therefore, the three-dimensional shape of the water bottom 22 in a wider range can be measured by one flight of the unmanned aerial vehicle 14, and the measurement efficiency can be improved. It will be advantageous in planning.

Further, in the present embodiment, the three-dimensional shape measuring unit 14E irradiates the water bottom 22 with ultrasonic waves 26, receives the reflected wave from the water bottom 22, and generates three-dimensional shape information based on the received wave. Because it is configured to include, it is advantageous in obtaining accurate three-dimensional shape information without being affected by the transparency of water in the sea, lakes, rivers, etc., and the bottom shape information obtained by the bottom shape information generation unit 12F It is advantageous in ensuring accuracy.

Further, in the present embodiment, the three-dimensional shape measuring unit 14E irradiates the water bottom 22 with the laser light 28, receives the reflected light reflected from the water bottom 22, and based on the received reflected light, the three-dimensional shape information. It was configured to include a laser measuring machine to generate.
Therefore, as compared with the case where the laser measuring device is irradiated from the air into water, the laser light 28 does not pass through the interface between the air (atmosphere) and the water surface 24, so that the laser light 28 is scattered at the interface and the amount of light is reduced. Since this is suppressed, it is advantageous in obtaining the bottom shape information of the bottom 22 having a larger depth.

In the present embodiment, the case where the operator remotely controls the unmanned aerial vehicle 14 has been described. However, as described above, the unmanned aerial vehicle 14 is automatically controlled to fly the unmanned aerial vehicle 14 on a predetermined flight course. It is also possible to obtain the information on the shape of the bottom of the water 22 along the above, which is advantageous in efficiently measuring the shape of the bottom of the water while saving manpower.

10 Water bottom shape measuring device 12 Management device 14 Unmanned flying object 12B Management device side communication unit 12F Water bottom shape generating unit 14A Air vehicle side communication unit 14B Imaging unit 14D Positioning unit 14E Three-dimensional shape measuring unit 14F Screw control unit 16 Air vehicle body 20 Support Member 22 Water bottom 26 Ultrasonic 28 Laser light 30 (30a to 30b) Screw N Wireless line R Predetermined range

Claims (5)

A water bottom shape measuring device that measures the shape of the water bottom.
Remotely controlled unmanned aerial vehicles and
A three-dimensional shape measuring unit that measures the three-dimensional shape of the bottom of the water and generates three-dimensional shape information while being suspended from the unmanned flying object via a support member and located in water.
A positioning unit that positions the position of the unmanned aerial vehicle based on a positioning signal mounted on the unmanned aerial vehicle and received from a positioning satellite and generates it as positioning information.
A water bottom shape information generation unit that generates water bottom shape information that generates the water bottom shape as water bottom shape information indicated by coordinate positions on the earth based on the three-dimensional shape information and the positioning information.
With the screw connected to the three-dimensional shape measuring unit,
A screw control unit that controls the rotation of the screw is provided.
The screw control unit controls the rotation of the screw so that the relative position of the three-dimensional shape measuring unit with respect to the unmanned aerial vehicle is within a predetermined range.
A water bottom shape measuring device characterized by this. An imaging unit that images the surroundings of the unmanned aerial vehicle and generates image information is further provided.
The screw control unit detects the relative position of the three-dimensional shape measuring unit with respect to the unmanned aerial vehicle by using the image information captured by the imaging unit.
The water bottom shape measuring device according to claim 1. A measuring unit position detecting unit for detecting the position of the three-dimensional shape measuring unit is further provided.
The screw control unit refers to the unmanned aerial vehicle based on the position of the three-dimensional shape measuring unit detected by the measuring unit position detecting unit and the position of the unmanned aerial vehicle generated by the positioning unit. Detects the relative position of the 3D shape measuring unit,
The water bottom shape measuring device according to claim 1. A management device is provided at a location away from the unmanned aerial vehicle.
The unmanned aerial vehicle is provided with a communication unit on the unmanned aerial vehicle side.
The management device is provided with a management device-side communication unit that communicates with the screw control unit via a wireless line.
The screw control unit controls the rotation of the screw based on a control signal supplied via the wireless line.
The water bottom shape measuring device according to claim 1. A plurality of the screws are provided symmetrically with respect to the extending axis in the water depth direction of the three-dimensional shape measuring unit.
A water bottom shape measuring device characterized by this.

Images