JP2021079816A - Underwater measurement device and underwater measurement method - Google Patents

Abstract

To improve measurement efficiency by suppressing consumption of a power source and ensuring longer measurable time when an unmanned flying object flies in order to supply the power source.SOLUTION: The underwater measurement device comprises a three-dimensional measurement unit 16A that is detachably connected to an electromagnet 26 provided to a wire 24 suspended from a remote-controlled unmanned flying object 14 and that performs measurement in the state of being positioned underwater, and moors, when it is determined that a battery capacity for flying the unmanned flying object 14 is equal to or smaller than a prescribed threshold value, the three-dimensional measurement unit 16A, and releases connection between the electromagnet 26 and the three-dimensional measurement unit 16A. Then, the unmanned flying object 14 with the three-dimensional measurement unit 16A removed flies to a power supply device to supply the power to the battery, and when power supplying to the battery is completed, the unmanned flying object 14 flies to the three-dimensional measurement unit 16A and returns. Then, the electromagnet 26 and the three-dimensional measurement unit 16A are connected again, the mooring of the three-dimensional measurement unit 16A is released, and the measurement is resumed.SELECTED DRAWING: Figure 2

Description

The present invention relates to an underwater measuring device and an underwater measuring method.

For example, 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 bottom of the water as information on the shape of the bottom of the water indicated by the coordinate position 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.

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.
Therefore, the applicant applies the observation ship to generate the bottom shape information, which is the three-dimensional shape of the bottom shape, by locating the three-dimensional shape measurement unit (measurement unit) suspended from the unmanned flying object in the water. We have already proposed a water bottom shape measuring device that is advantageous in reducing various costs associated with the above and simplifying the configuration.

Japanese Unexamined Patent Publication No. 2010-30340

By the way, in the underwater measuring device for measuring by locating the measuring unit in water as described above, an unmanned flying object flies by rotating a rotor by the power of a battery mounted on the measuring device, or an unmanned flying body is mounted on the rotor. Some internal combustion engines (engines) that operate on fossil fuels rotate the rotor to fly, but if the power source such as the battery or fossil fuel runs out during measurement, the unmanned aircraft will crash and the measurement will be carried out. You will not be able to do it.
Therefore, it is conceivable to supply the power source to the unmanned aircraft before the power source runs out, but if the measuring unit is suspended even when the unmanned aircraft is flown to the power source supply device, it is in flight. However, the unmanned aircraft will support the weight of the measuring unit, which is disadvantageous in suppressing the consumption of the power source.
The present invention has been made in view of such circumstances, and an object of the present invention is to suppress the consumption of the power source when flying an unmanned vehicle to supply the power source, and to secure a longer measurable time. It is an object of the present invention to provide an underwater measuring device and an underwater measuring method which are advantageous for improving the measurement efficiency.

In order to achieve the above-mentioned object, the present invention relates to a remotely controlled unmanned flying object, a flight control unit for flying the unmanned flying object, and an attachment portion provided on a connecting member suspended from the unmanned flying object. A measuring unit that is detachably connected and measures while located in water, a connection control unit that controls the connection between the mounting unit and the measuring unit, a mooring unit that moored the measuring unit within a predetermined range, and the above. The mooring unit includes a power source management unit for determining whether or not the capacity of the power source for flying the unmanned vehicle is equal to or less than a predetermined threshold, and the mooring unit has a capacity of the power source equal to or less than the predetermined threshold. When it is determined that the measurement unit is moored, the connection control unit releases the connection between the mounting unit and the measurement unit when the measurement unit is moored within the predetermined range, and the flight control is performed. The unit flies the unmanned vehicle from which the measuring unit has been removed to the power source supply device, and then flies the unmanned vehicle to which the power source has been supplied to the measuring unit. When the supply of the power source to the unmanned aircraft is completed, the mounting portion and the measuring portion are reconnected, and the mooring portion is the measurement when the mounting portion and the measuring portion are reconnected. It is characterized by releasing the mooring of the department.
Further, in the present invention, the resistance member is raised by winding a floating body that gives buoyancy to the measurement unit and a winding member provided in the measurement unit and having a resistance member attached to an end portion, thereby raising the winding member. A hoisting device for lowering the resistance member by unwinding the member is further provided, and the mooring portion includes a buoyancy control unit for controlling the buoyancy of the floating body and a winding for controlling the winding and unwinding of the winding member. The buoyancy control unit is configured to include a buoyancy control unit, and when it is determined that the capacity of the power source is equal to or less than the predetermined threshold value, the buoyancy control unit applies buoyancy to the floating body to move the measurement unit to the water surface. When the winding control unit determines that the capacity of the power source is equal to or less than the predetermined threshold value and the measuring unit is moved to the water surface, the winding member is unwound and the resistance member is lowered to the bottom of the water. When the mounting unit and the measuring unit are reconnected, the winding control unit winds up the winding member to raise the resistance member, and the buoyancy control unit raises the resistance member. When the mounting portion and the measuring portion are reconnected and the resistance member is raised, the buoyancy is removed from the floating body.
Further, the present invention further includes a measuring unit-side positioning unit that generates measurement unit positioning information indicating the position of the measuring unit based on a positioning signal received from the positioning satellite, and the winding control unit is the measuring unit positioning. When it is determined from the information that the measuring unit is not moored within the predetermined range, the winding member is wound up to raise the resistance member, and the flight control unit flies the unmanned vehicle. The measuring unit is moved by the above, and the winding control unit is characterized in that when the measuring unit is moved, the winding member is unwound and the resistance member is lowered to the bottom of the water.
Further, the present invention is characterized in that the mounting portion is an electromagnet, and the connection control unit controls the connection between the electromagnet and the measuring unit by controlling the supply of electric power to the electromagnet. To do.
Further, the present invention further includes a housing that houses the measuring unit and whose upper surface is made of a metal material attracted by the electromagnet, and the connection control unit controls the supply of electric power to the electromagnet. The present invention is characterized in that the connection between the electromagnet and the upper surface of the housing is controlled.
Further, in the present invention, the floating body is a ballast tank into which gas and water are supplied and discharged, and the buoyancy control unit adjusts the supply and discharge of gas and water to the inside of the ballast tank. This is characterized in that the buoyancy of the ballast tank is controlled.
Further, in the present invention, the measuring unit is a three-dimensional shape measuring unit that measures the three-dimensional shape of the bottom of the water and generates three-dimensional shape information, and is mounted on the unmanned vehicle and receives a positioning signal from a positioning satellite. Based on the vehicle body positioning unit that generates the vehicle body positioning information indicating the position of the unmanned vehicle, and the three-dimensional shape information and the vehicle body positioning information, the shape of the water bottom is indicated by the coordinate position on the earth. It is characterized by further including a water bottom shape information generation unit that generates water bottom shape information.
Further, the present invention is an underwater measurement method executed by an underwater measuring device including a remotely controlled unmanned vehicle, wherein the unmanned vehicle is provided on a support member suspended from the unmanned vehicle. Power source management that is detachably connected to the mounting part and has a measuring part that measures while located in water, and determines whether the capacity of the power source that flies the unmanned vehicle is below a predetermined threshold. A step, a mooring step of mooring the measuring unit within a predetermined range when it is determined that the capacity of the power source is equal to or less than the predetermined threshold, and a case where the measuring unit is moored within the predetermined range. After flying the unmanned vehicle from which the measuring part has been removed to the power source supply device, the unmanned person who has completed the supply of the power source. A flight control step for flying the flying object to the measuring unit, a connecting step for reconnecting the mounting unit and the measuring unit when the supply of the power source to the unmanned vehicle is completed, and the mounting unit and the measuring unit. It is characterized by including a mooring release step of releasing the mooring of the measuring unit when the measuring unit is reconnected.

According to the present invention, when it is determined that the capacity of the power source for flying an unmanned vehicle is equal to or less than a predetermined threshold value, a measurement connected to a mounting portion provided on a connecting member suspended from the unmanned vehicle is measured. The unit is moored, and when the measuring unit is moored within a predetermined range, the connection between the mounting unit and the measuring unit is released. Then, the unmanned vehicle from which the measuring unit has been removed is flown to the power source supply device to supply the power source, and when the power source supply is completed, the unmanned vehicle is flown to the measuring unit, and the mounting unit and the measuring unit are operated. Is reconnected and the mooring of the measuring unit is released, so that the measurement by the measuring unit can be restarted.
Therefore, it is advantageous in suppressing the consumption of the power source when flying the unmanned aerial vehicle to supply the power source, securing a longer measurement time, and improving the measurement efficiency.
Further, according to the present invention, the resistance member is raised by winding the floating body that gives buoyancy to the measuring portion and the winding member provided on the measuring portion and to which the resistance member is attached, and the resistance member is unwound to resist. The mooring unit is composed of a buoyancy control unit that controls the buoyancy of the floating body and a winding control unit that controls the winding and unwinding of the winding member, which is provided with a winding device for lowering the member. When it is determined that the capacity of the power source is equal to or less than a predetermined threshold value, the measuring unit is moored by giving buoyancy to the floating body to move the measuring unit to the water surface and lowering the resistance member to the bottom of the water. With a simple configuration, the measuring unit can be moored and the consumption of the power source can be suppressed.
Further, according to the present invention, when the measuring unit is not moored within a predetermined range, the resistance member is raised to move the measuring unit in the horizontal direction, and the resistance member is lowered to the bottom of the water again. If it is not stable, the mooring can be redone, which is advantageous in avoiding the anchoring of the measuring unit.
Further, according to the present invention, a three-dimensional shape measuring unit suspended from an unmanned vehicle is positioned in water to measure the three-dimensional shape of the bottom of the water and generate three-dimensional shape information, and the vehicle-side positioning unit performs unmanned flight. Air vehicle positioning information indicating the position of the body is generated, and water bottom shape information indicating the shape of the water bottom in coordinate positions on the earth is generated based on the three-dimensional shape information and the air vehicle positioning information.
Therefore, since an observation ship equipped with sonar is not required, a ship license qualified person is required to operate the observation ship and the observation ship, which is advantageous in reducing equipment costs and operating costs.
In addition, the unmanned air vehicle that supports the 3D 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.

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 the underwater part was arranged underwater by an unmanned aerial vehicle. It is a vertical cross-sectional view which shows the structure of the underwater part of the water bottom shape measuring apparatus. It is a figure which shows the state which the underwater part connected to the unmanned aerial vehicle is moored. It is a figure which shows the state which the underwater part which was disconnected from the unmanned aerial vehicle is moored. It is a figure which shows the state which is towed by an unmanned aerial vehicle while the underwater part is floating on the water surface. It is a flowchart which shows the operation of the water bottom shape measuring apparatus of embodiment. It is a flowchart which shows the operation of the water bottom shape measuring apparatus of embodiment (continued).

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following embodiment, an example in which the underwater measuring device of the present invention is applied to a water bottom measuring device for measuring the bottom shape is shown.
As shown in FIG. 1, the water bottom shape measuring device 10 of the present embodiment includes a management device 12, an unmanned flying object 14 remotely controlled by the management device 12, and an underwater portion 16.
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 46 (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 object operation command information for remote control of the unmanned aerial vehicle 14 by the operator operating an operation member such as a joystick.
Further, the remote control command unit 12A is a flight for starting or stopping the operation of the vehicle body side positioning unit 14D mounted on the unmanned aerial vehicle 14 by the operator operating an operation member such as an operation button. Generates operation command information for the body-side positioning unit 14D.
Further, the remote operation command unit 12A has a three-dimensional shape measurement unit 16A, a measurement unit side positioning unit 16B, and a buoyancy control unit 16C mounted on the underwater unit 16 by the operator operating an operation member such as an operation button. And the operation command information of the three-dimensional shape measuring unit 16A for starting or stopping the operation of the hoisting control unit 16D, the operation command information of the positioning unit 16B on the measuring unit side, the operation command information of the buoyancy control unit 16C, and Generates operation command information for the take-up control unit 16D.

The management device side communication unit 12B communicates with the unmanned aircraft body 14 via the wireless line N, and transmits the aircraft body operation command information and the operation command information of the aircraft body side positioning unit 14D to the unmanned aircraft body 14. The operation command information of the three-dimensional shape measurement unit 16A, the operation command information of the measurement unit side positioning unit 16B, the operation command information of the buoyancy control unit 16C, and the hoisting control unit are sent to the underwater unit 16 described later via the unmanned aircraft body 14. 16D operation command information is transmitted.
Further, the management device side communication unit 12B receives image information, air vehicle positioning information, three-dimensional shape information, and measurement unit positioning information transmitted from the unmanned aircraft body 14.
Reference numeral 1202 in the figure indicates an antenna of the communication unit 12B on the management device side. The image information, the flying object positioning information, the three-dimensional shape information, and the measuring unit positioning 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 46 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 out and displays the map information stored in the map database unit 12C based on the aircraft positioning information received by the management device side communication unit 12B, and at the same time, displays the current position of the unmanned aircraft body 14. Is configured to be displayed on the map displayed on the display screen of the display 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.

The flight control unit 12E on the management device side described the unmanned flight body 14 based on the flight object positioning information received by the communication unit 12B on the management device side and the predetermined flight route instead of the remote operation of the operator. Fly by automatic control along the flight route.
That is, based on the map information of the map database unit 12C, a flight course is set so that the unmanned air vehicle 14 flies along the bottom 46 to be measured, and the flight control unit 12E on the management device side sets the flight body positioning information. And the flight body operation command information is generated based on the flight course, the flight body operation command information is transmitted from the management device side communication unit 12B to the flight body side communication unit 14A via the radio line N, and the flight body operation command information is flown. By giving to the body side flight control unit 14C, the unmanned flight body 14 can be automatically controlled.

The water bottom shape information generation unit 12F indicates the shape of the water bottom 46 at coordinate positions on the earth based on the three-dimensional shape information and the flying object positioning information received by the management device side communication unit 12B, in other words, the three-dimensional coordinates. Generates the bottom shape information indicated by.

The information processing unit 12G generates a cross-sectional view, a perspective view, an isoline diagram, etc. showing the shape of the water bottom 46 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 46 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 showing the shape of the water bottom 46 generated by the information processing unit 12G, a perspective view, an isoline diagram, and the like.
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 FIGS. 1 and 2, the unmanned vehicle 14 includes a vehicle body 18, a plurality of rotors 20 provided on the vehicle body 18, and a plurality of rotors 20 provided for each rotor 20 to rotate and drive the rotor 20. It includes a motor (not shown), a battery 22 that supplies electric power to the motor, and an electromagnet 26 (mounting portion) provided at the lower end of a wire 24 (connecting member) suspended from the vehicle body 18.
In the embodiment, the case where the unmanned vehicle 14 rotates the rotor 20 by the electric power of the battery 22 will be described. However, in the present invention, the unmanned vehicle 14 rotates the rotor 20 by an engine operated by fossil fuel. Even if it is applicable.
Further, as shown in FIG. 1, the unmanned air vehicle 14 includes an air vehicle side communication unit 14A, an imaging unit 14B, an air vehicle side flight control unit 14C, an air vehicle side positioning unit 14D, a battery management unit 14E, a power control unit 14F, and a battery 22. , The electromagnet 26 is included.

The flight body 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 is generated by the flight body side positioning unit 14D. The flight object positioning information, the three-dimensional shape information generated by the three-dimensional shape measuring unit 16A mounted on the underwater unit 16 described later, and the measuring unit positioning information generated by the measuring unit side positioning unit 16B are combined with the management device side communication unit. Send to 12B.
Further, the flight body side communication unit 14A has the flight body operation command information transmitted from the management device side communication unit 12B, the operation command information of the flight body side positioning unit 14D, the operation command information of the three-dimensional shape measurement unit 16A, and the measurement unit side positioning. The operation command information of the unit 16B, the operation command information of the buoyancy control unit 16C, and the operation command information of the hoisting control unit 16D are received.
Reference numeral 1402 in the figure indicates an antenna of the aircraft-side communication unit 14A.

The imaging unit 14B images the surroundings of the unmanned aerial vehicle 14 to generate image information.
The flight control unit 14C on the vehicle body side rotates and controls each rotor 20 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. Fly body 14.

The aircraft body side positioning unit 14D positions the unmanned aerial vehicle 14 based on the positioning signal mounted on the aircraft body 18 and received from the positioning satellite, and generates the aircraft body positioning information indicating the position of the unmanned aerial vehicle 14.
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 battery management unit 14E constitutes a power source management unit that manages the capacity of the battery 22, which is a power source for flying the unmanned aerial vehicle 14, and whether the capacity of the battery 22 is equal to or less than a predetermined threshold value. Judge whether or not.
When the capacity of the battery 22 is equal to or less than a predetermined threshold value, the battery management unit 14E includes, for example, the image information and transmits it to the management device 12, and displays it on the display unit 12D together with the image information. Inform.
A predetermined threshold is, for example, electric power capable of mooring the underwater portion 16, reciprocating the unmanned vehicle 14 to the power supply device to supply electric power to the battery 22, and further releasing the mooring of the underwater portion 16. Set the amount to the remaining value.

The electromagnet 26 generates a magnetic force when the electric power is supplied, and loses the magnetic force when the electric power supply is stopped.
The electric power control unit 14F controls the supply of electric power to the electromagnet 26. By supplying electric power to the electromagnet 26, a magnetic force is generated, and by stopping the supply of electric power, the magnetic force is lost.
In the present embodiment, the power control unit 14F supplies power to the electromagnet 26, attracts the upper surface of the housing 28 (described later) accommodating the three-dimensional shape measuring unit 16A, and connects the electromagnet 26 and the housing 28. To.
Further, the power control unit 14F stops the supply of electric power to the electromagnet 26, disconnects the electromagnet 26 from the upper surface of the housing 28, and removes the housing 28.
The power control unit 14F controls the connection between the electromagnet 26 and the three-dimensional shape measuring unit 16A by controlling the connection between the electromagnet 26 and the upper surface of the housing 28 accommodating the three-dimensional shape measuring unit 16A. It constitutes a control unit.
In the present embodiment, the power control unit 14F is in a state in which the electromagnet 26 and the three-dimensional shape measuring unit 16A are connected when the three-dimensional shape measuring unit 16A performs the measurement. Then, when the power control unit 14F supplies power to the battery 22 of the unmanned vehicle 14, the electromagnet 26 and the three-dimensional shape measurement unit 16A are disconnected when the underwater unit 16 is moored within a predetermined range. When the power supply to the battery 22 of the unmanned vehicle 14 is completed, the electromagnet 26 and the three-dimensional shape measuring unit 16A are reconnected.

As shown in FIGS. 1 to 3, the underwater portion 16 includes a housing 28, a three-dimensional shape measuring unit 16A, a measuring unit side positioning unit 16B, a buoyancy control unit 16C, a winding control unit 16D, and a ballast tank 30 ( (Floating body), a water flow valve 32, a gas flow valve 34, a winch 36 (winding device), and an anchor 38 (resistance member). Each configuration of the underwater portion 16 is driven by electric power supplied from the battery 22 by a cable or the like (not shown).

The housing 28 is watertight, a three-dimensional shape measuring unit 16A is housed inside the housing 28, and a floating ballast tank 30 is provided outside the housing 28.
The housing 28 is detachably connected to an electromagnet 26 provided at the lower part of the wire 24 suspended from the vehicle body 18, and when connected to the electromagnet 26, the flight body 18 flies. It moves together with the main body 18 and is in a state of being located in the air or underwater.
In the present embodiment, the housing 28 has a columnar shape, and as shown in FIG. 3, a disk-shaped bottom wall 2802, a cylindrical side wall 2804 rising from the periphery of the bottom wall 2802, and an upper end of the side wall 2804. It is provided with a disk-shaped upper wall 2806 for connecting the above.
The upper wall 2806, which is the upper surface of the housing 28, is made of a metal material attracted by the electromagnet 26, and the electromagnet 26 to which power is supplied is connected to the upper surface thereof. The side wall 2804 and the bottom wall 2802 may be made of the same material as the upper wall 2806 or may be made of a different material.
Further, the shape of the housing 28 is not limited to a columnar shape, and may be arbitrary such as a square columnar shape, a polygonal columnar shape, and a spherical shape.

The ballast tank 30 is a floating body that gives buoyancy to the housing 28 that houses the three-dimensional shape measuring unit 16A, and the buoyancy is adjusted by supplying and discharging gas and water to the inside.
The ballast tank 30 is made of a hard material that is not deformed by water pressure when it is located in water, and various conventionally known materials such as a metal material and a synthetic resin material can be used as such a hard material.
The ballast tank 30 is formed in an annular shape over the entire outer circumference of the side wall 2804 of the housing 28, and has a uniform cross section.
The ballast tank 30 has a cylindrical inner peripheral wall portion 3002 formed with an inner diameter overlapped with the side wall 2804 of the housing 28, and an upper wall extending radially outward from the upper end of the inner peripheral wall portion 3002. A portion 3004, a lower wall portion 3006 extending radially outward of the ballast tank 30 from the lower end of the inner peripheral wall portion 3002, and an outer peripheral wall portion 3008 connecting the tips of the upper wall portion 3004 and the lower wall portion 3006 are included. When the ballast tank 30 is broken in a cross section including the central axis of the ballast tank 30, the outer peripheral wall portion 3008 forms a curved surface convex outward in the radial direction of the ballast tank 30.
The ballast tank 30 is attached with its inner peripheral wall portion 3002 overlapped with the side wall 2804 of the housing 28.
A water flow port 3010 through which water enters and exits is provided at the lower wall portion 3006 of the ballast tank 30.
A gas flow port 3012 through which air enters and exits is provided at the upper wall portion 3004 of the ballast tank 30.

The water flow valve 32 constitutes a water supply unit that discharges the gas inside the ballast tank 30 by supplying water to the ballast tank 30, and one end 3202 of the water flow valve 32 communicates with the water flow port 3010 of the ballast tank 30. The other end 3204 of the water flow valve 32 is open to the outside of the ballast tank 30 at the lower part of the ballast tank 30.
The gas flow valve 34 constitutes a gas supply unit that drains water inside the ballast tank 30 by supplying gas to the inside of the ballast tank 30, and one end 3402 of the gas flow valve 34 is a gas flow port 3012 of the ballast tank 30. The other end 3404 of the gas flow valve 34 is open to the outside of the ballast tank 30 at the upper part of the ballast tank 30.

The winch 36 is provided at the lower part of the housing 28, and the anchor 38 is raised by winding the wire 3602 (winding member) to which the anchor 38 is attached at the end, and the anchor 38 is lowered by feeding out the wire 3602. It is something that makes you.
Specifically, the winch 36 winds the wire 3602 on the winding cylinder 3604 by rotating (rotating clockwise) the cylindrical winding cylinder 3604 having flanges 3604A at both ends in the R1 direction indicated by the arrow by a motor (not shown). The anchor 38, which is wound around the outer peripheral surface of the wire and attached to the tip of the wire 3602, is raised in the vertical direction.
Further, in the winch 36, the winding cylinder 3604 is rotated (rotated counterclockwise) in the R2 direction opposite to the R1 direction by a motor (not shown), so that the wire 3602 is unwound from the outer peripheral surface of the winding cylinder 3604, and the wire 3602 The anchor 38 attached to the tip of the anchor 38 is lowered in the vertical direction.
The winch 36 has a mounting member 3606 composed of an insertion portion 3606A for inserting the central portion of the winding cylinder 3604 and a mounting plate portion 3606B having both ends joined to both ends of the insertion portion 3606 and bent in a U shape. It is provided, and is attached to the housing 28 by joining the mounting member 3606 and the lower surface of the bottom wall 2802 of the housing 28 by welding or the like. The winch 35 is attached at a position that does not interfere with the measurement by the three-dimensional shape measuring unit 16A.
The anchor 38 is an anchor that mooring a connected object within a certain range by generating a resistance force (holding force) by its own weight and sinking to the bottom of water such as the seabed or the bottom of a lake. In the present embodiment, the anchor 38 is lowered and placed on the bottom of the water to moor the underwater portion 16 including the housing 28 accommodating the three-dimensional shape measuring portion 16A in a certain range on the water.

The three-dimensional shape measuring unit 16A is mounted on the bottom wall 2202 inside the housing 28, measures the three-dimensional shape of the water bottom 46 in a state where the housing 28 is located in water, and generates three-dimensional shape information.
Since the three-dimensional shape measuring unit 16A is housed in the housing 28, when the housing 28 is connected to the electromagnet 26 of the wire 24 suspended from the vehicle body 18, the three-dimensional shape with the electromagnet 26 When the measuring unit 16A is connected and the housing 28 and the electromagnet 26 are disconnected, the connection between the electromagnet 26 and the three-dimensional shape measuring unit 16A is released.
Further, when the housing 22 is connected to the electromagnet 26, the three-dimensional shape measuring unit 16A moves together with the flying body 18 by the flight of the flying body 18 and goes into the air or underwater like the housing 28. It is considered to be in a positioned state.

As the three-dimensional shape measuring unit 16A, a sonar using an ultrasonic wave 50 or a laser measuring machine using a laser beam 52 can be used.
In this case, the bottom wall 2802 is formed with a window portion through which the ultrasonic wave 50 or the laser beam 52 is transmitted. It is assumed that the ultrasonic wave 50 or the laser beam 52 is irradiated in a direction that is not blocked by the winch 36.

The sonar irradiates the water bottom 46 with ultrasonic waves 50, receives reflected waves from the water bottom 46, and generates three-dimensional shape information based on the received waves.
As a sonar, a single beam-shaped ultrasonic wave 50 is scanned toward the bottom 46, or a plurality of spread beam-shaped ultrasonic waves 50 (multi-beam) are simultaneously directed toward the bottom 46. Any of the sonars to be irradiated may be used, and various conventionally known sonars can be used as such sonars.
In this way, the three-dimensional shape measuring unit 16A includes a sonar that irradiates the water bottom 46 with ultrasonic waves 50, receives the reflected wave from the water bottom 46, and generates three-dimensional shape information based on the received wave. , It is advantageous in obtaining accurate three-dimensional shape information without being affected by the transparency of water such as the sea, lakes, and rivers, and in ensuring the accuracy of the bottom shape information obtained by the bottom shape information generator 12F. It will be advantageous.

The laser measuring machine irradiates the water bottom 46 with the laser light, receives the reflected light reflected from the water bottom 46, and generates three-dimensional shape information based on the received reflected light.
As the laser measuring machine, a conventionally known single laser beam 52 that scans (scans) toward the bottom 46 of the water can be used.
A green laser is often used as the laser light 52 used for shape measurement, which means that the green laser is not easily absorbed by water and reaches the bottom 46 reliably, and the intensity of the reflected light from the bottom 46 can be ensured. Because.
In this way, the three-dimensional shape measuring unit 16A irradiates the water bottom 46 with the laser light 52, receives the reflected light reflected from the water bottom 46, and generates three-dimensional shape information based on the received reflected light. When the machine is included, the laser light 52 does not pass through the interface between the air (atmosphere) and the water surface 48 as compared with the case where the laser light 52 is irradiated from the air into the water, so that the laser light 52 is scattered at the interface. As a result, the decrease in the amount of light is suppressed, which is advantageous in obtaining the bottom shape information of the bottom 46 having a larger depth.

The positioning unit 16B on the measuring unit side is mounted in the vicinity of the three-dimensional shape measuring unit 16A inside the housing 28, positions the position of the three-dimensional shape measuring unit 16A based on the positioning signal received from the positioning satellite, and is three-dimensional. The measurement unit positioning information indicating the position of the shape measurement unit 16A is generated. The positioning satellite is the same as that of the aircraft-side positioning unit 14D.

The buoyancy control unit 16C controls the buoyancy of the ballast tank 30 by opening and closing the water flow valve 32 and the gas flow valve 34 and adjusting the supply and discharge of gas and water to the inside of the ballast tank 30.
Specifically, the buoyancy control unit 16C ballasts water via the water flow valve 32 by opening the water flow valve 32 and the gas flow valve 34 in a state where the lower part of the underwater part 16 is located in the water. It is introduced into the tank 30 and air is discharged into water through the gas flow valve 34.
As a result, the inside of the ballast tank 30 is filled with water, so that the buoyancy of the ballast tank 30 becomes almost zero.

Further, in the buoyancy control unit 16C, the water flow valve 32 and the gas flow valve 34 are opened in a state where the entire underwater part 16B is located in the air, so that water is supplied to the ballast tank 30 via the water flow valve 32. The water is discharged from the inside and air is introduced into the ballast tank 30 through the gas flow valve 34.
Then, when the water flow valve 32 and the gas flow valve 34 are closed, the inside thereof is filled with air and buoyancy is generated by the ballast tank 30.

Further, the buoyancy control unit 16C can adjust the buoyancy given to the ballast tank 30 by adjusting the amount (volume) of air introduced into the ballast tank 30, whereby at least a part of the housing 28 is above the water surface 48. Can be located in.
Therefore, the buoyancy control unit 16C fills the ballast tank 30 with air to give buoyancy, so that the underwater portion 16 in which the three-dimensional shape measuring unit 16A is housed inside the housing 28 is moved to the water surface and becomes the ballast tank 30. By filling with water and removing buoyancy, the underwater portion 16 is moved into the water.
In the present embodiment, when it is determined that the capacity of the battery 22 is equal to or less than a predetermined threshold value, the buoyancy control unit 16C introduces air into the ballast tank 30 to give buoyancy, and the three-dimensional shape measurement unit 16A accommodates the ballast tank 30. The underwater part 16 is moved to the water surface.
Further, in the buoyancy control unit 16C, when the unmanned vehicle 14 that has completed the supply of electric power to the battery 22 flies back to the underwater portion 16, the electromagnet 26 and the underwater portion 16 are reconnected, and the anchor 38 is raised. , Water is introduced into the ballast tank 30 to remove buoyancy from the floating body, and the underwater portion 16 in which the three-dimensional shape measuring unit 16A is housed is moved into water.

The take-up control unit 16D controls the take-up and unwinding of the wire 3602 of the winch 36.
Specifically, the winding control unit 16D winds the wire 3602 on the outer peripheral surface of the winding body 3604 by rotating the winding body 3604 of the winch 36 in the R1 direction (FIG. 3) by a motor (not shown). , The anchor 38 attached to the tip of the wire 3602 is raised vertically toward the water surface.
Further, the take-up control unit 16D causes the wire 3602 to be unwound from the outer peripheral surface of the winding body 3604 by rotating the winding body 3604 of the winch 36 in the R2 direction (FIG. 3) by a motor (not shown). The anchor 38 attached to the tip is lowered vertically toward the bottom of the water.

In the present embodiment, the take-up control unit 16D determines that the capacity of the battery 22 is equal to or less than a predetermined threshold value, and when the underwater unit 16 accommodating the three-dimensional shape measuring unit 16A is moved to the water surface, the wire 3602 The anchor 38 is lowered to the bottom of the water to moor the underwater portion 16.
Further, the take-up control unit 16D winds the wire 3602 when the unmanned aerial vehicle 14 that has completed the supply of electric power to the battery 22 flies back to the underwater portion 16 and the electromagnet 26 and the underwater portion 16 are reconnected. Take and raise the anchor 38.
Further, when the winding control unit 16D determines that the underwater unit 16 is not moored within a predetermined range based on the measurement unit positioning information generated by the measurement unit side positioning unit 16B, the winding control unit 16D winds up the wire 3602 and anchors it. When the underwater portion 16 is moved in the horizontal direction by raising the 38, the wire 3602 is unwound and the anchor 38 is lowered to the bottom of the water again.

In the present embodiment, the buoyancy control unit 16C and the take-up control unit 16D form a mooring unit for mooring the three-dimensional shape measurement unit 16A within a predetermined range, and the mooring unit has a predetermined capacity of the battery 22. When it is determined that the value is below the threshold value, the underwater unit 16 accommodating the three-dimensional shape measuring unit 16A is moored, the power supply to the battery 22 of the unmanned vehicle 14 is completed, and the electromagnet 26 and the underwater unit 16 are reunited. When connected, the underwater portion 16 is released from mooring.

Therefore, for example, in the present embodiment, when it is determined that the capacity of the battery 22 is equal to or less than a predetermined threshold value, the buoyancy control unit 16C moves the underwater portion 16 to the water surface, and the take-up control unit 16D moves the anchor 38. By lowering to the bottom of the water, the underwater portion 16 is moored as shown in FIG.
FIG. 4 shows a state in which the underwater portion 16 floating on the water surface is moored within a predetermined range by the anchor 38 lowered to the bottom of the water so as not to be anchored, and the wire 24 suspended from the unmanned aircraft 14 is shown. Remains connected to the underwater portion 16 but does not support it.

When the underwater portion 16A is moored within a predetermined range and the power supply to the electromagnet 26 is stopped by the power control unit 14F, the connection between the electromagnet 26 and the housing 28 is released, and the unmanned aircraft As shown in FIG. 5, the 14 can fly without suspending the underwater portion 16 including the three-dimensional shape measuring portion 16A. Since the underwater portion 16 is moored by the anchor 38, the mooring location is not unknown.
FIG. 5 shows a state in which the unmanned vehicle 14 is flying with the wire 24 lowered. However, when flying only with the unmanned vehicle 14, the wire 24 to which the electromagnet 26 is attached is attached to the unmanned vehicle 14. It may be configured to be housed in the lower part of the.

Further, as shown in FIG. 4, even if the underwater portion 16 is moved to the water surface by the buoyancy control unit 16C and the anchor 38 is lowered to the water bottom by the winding control unit 16D, the position of the anchor 38 on the water bottom is stable. If not, the underwater portion 16 cannot be kept within a predetermined range.
Whether or not the underwater portion 16 is moored within a predetermined range is determined within a predetermined range by the elapse of a predetermined time (for example, 1 minute) using, for example, the measurement unit positioning information generated by the measurement unit side positioning unit 16B. It can be judged by whether or not it stays in.
When the underwater portion 16 is not moored within a predetermined range, as shown in FIG. 6, the anchor 38 is once raised by the take-up control unit 16D, and the unmanned air vehicle 14 is flown by the flight control unit 14C on the vehicle body side. The underwater portion 16 is towed while floating on the water surface and moved in the horizontal direction.
Then, after moving the mooring place, the anchor 38 is lowered to the bottom of the water by the take-up control unit 16D, so that the underwater part 16 is moored again. As a result, the underwater portion 16 can be moored within a predetermined range without anchoring.

Next, the operation of the water bottom shape measuring device 10 will be described with reference to the flowcharts of FIGS. 7-1 and 7-2.
It is assumed that the unmanned aerial vehicle 14 is placed in a predetermined waiting place in advance.
First, when the operator operates the remote operation control unit 12A of the management device 12, the buoyancy control unit 16C opens both the water flow valve 32 and the gas flow valve 34 to ballast the water inside the ballast tank 30. After discharging from the tank 30, both the water flow valve 32 and the gas flow valve 34 are closed to keep the inside of the ballast tank 30 filled with air (step S10). If the inside of the ballast tank 30 is filled with air in advance, step S10 is omitted.

Then, by remote control from the operator, the power control unit 14F supplies power to the electromagnet 26 to connect the electromagnet 26 and the upper surface of the housing 28, and connects the underwater part 16 to the unmanned vehicle 16 (step). S12). When the housing 28 is connected to the electromagnet 26, the operator may grasp and connect them, or the unmanned aerial vehicle 14 may be flown and connected by remote control.

Next, the operator flies the unmanned aerial vehicle 14 from a predetermined standby place by operating the remote control command unit 12A, and visually recognizes the image information around the unmanned aerial vehicle 14 displayed on the display unit 12D. , Fly the unmanned aerial vehicle 14 toward the sea, lake, or river whose bottom shape is to be measured (step S14).

Then, when the unmanned aircraft 14 reaches above the water surface 48 of the sea, lake, river, etc., the unmanned aircraft 14 is placed on the water surface while visually recognizing the image information around the unmanned aircraft 14 displayed on the display unit 12D. It is lowered toward 48, and the underwater portion 16 is hovered in a state of being moved from the air to the water surface 48 to maintain that state (step S16).
Here, in the underwater portion 16, the buoyancy of the ballast tank 30 acts on the housing 28, so that the housing 28 floats on the water surface 48 and a part of the housing 28 is located on the water surface 48 (step S18). ).

Then, by operating the remote control command unit 12A, the operator flies the unmanned vehicle 14 toward the measurement points of the sea, lake, and river where the anhydrous bottom shape is measured, and the housing 28 covers the underwater portion 16 on the water surface. It is towed toward the measurement point while floating on 48 (step S20).
Here, the underwater portion 16 is towed to the measurement point by the unmanned flying object 14 via the wire 24 in a state where the housing 28 floats on the water surface 48 and a part of the housing 28 is located on the water surface 48. At this time, the weight of the underwater portion 16 added to the unmanned aviation body 14 becomes almost zero, and when the underwater portion 16 suspended from the unmanned aviation body 14 by the wire 24 is located in the air, the unmanned aviation body 14 becomes It will be significantly reduced compared to the added weight.

Next, the operator visually recognizes the image information around the unmanned vehicle 14 displayed on the display unit 12D, and when the housing 28 reaches the upper part of the measurement point, causes the unmanned vehicle 14 to hover at that position. The state is maintained (step S22).

Then, by remote operation from the operator, the buoyancy control unit 16C opens both the water flow valve 32 and the gas flow valve 34, whereby the air inside the ballast tank 30 is released from the gas flow valve 34 to the ballast tank 30. At the same time, water is introduced into the ballast tank 30 from the water flow valve 32, the air inside the ballast tank 30 is discharged, and the inside of the ballast tank 30 is filled with water. As a result, the buoyancy acting on the housing 28 becomes almost zero (step S24).

Then, the operator lowers the unmanned aircraft 14 toward the water surface 48 by operating the remote control command unit 12A while visually recognizing the image information around the unmanned aircraft 14 displayed on the display unit 12D. With the underwater portion 16 positioned at a predetermined depth from the water surface 48, in other words, with the underwater portion 16 submerged to a depth sufficient for the three-dimensional shape measuring unit 16A to properly measure the water bottom 46. The unmanned aircraft 14 is hovered and maintained in that state (step S26).

Next, the flying object side positioning unit 14D and the three-dimensional shape measuring unit 16A start the measurement operation by remote control from the operator (step S28).
As a result, the flying object positioning information generated by the flying object side positioning unit 14D and the three-dimensional shape information generated by the three-dimensional shape measuring unit 16A are transferred from the unmanned flying object 14 to the bottom shape of the management device 12 via the wireless line N. It is transmitted to the information generation unit 12F (step S30), and the water bottom shape information generation unit 12F generates the water bottom shape information (step S32).

Next, when the flight object positioning information and the three-dimensional shape information are transmitted to the management device 12, the battery management unit 14E determines whether or not the capacity of the battery 22 is equal to or less than a predetermined threshold value (step S34).
If step S34 is negative, that is, if the capacity of the battery 22 is greater than a predetermined threshold, the operator can see the image information displayed on the display unit 12D, a cross-sectional view showing the shape of the water bottom 46, a perspective view, and an isoline view. By operating the remote control command unit 12A so that the shape of the bottom 46, for which the shape has not been measured, can be measured while visually observing the above, the unmanned flying object 14 is made to fly along the water surface 48, and the measurement point is measured. (Step S36).

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 46, the perspective view, the isoline diagram, and the like, so that the measurement can be performed over the entire area of the water bottom 46 to be measured in shape. It is determined whether or not the process is completed (step S38).
If step S38 is negative, the process returns to step S30 and the same operation is performed.

On the other hand, if step S38 is affirmative, that is, if the measurement is completed, the operator raises the unmanned aerial vehicle 14 by operating the remote control command unit 12A, and raises the entire underwater part 16 to the air. (Step S40).
Here, since both the water flow valve 32 and the gas flow valve 34 are in the opened state, air is introduced into the ballast tank 30 from the gas flow valve 34, and water is ballasted from the water flow valve 32. When the gas is discharged to the outside of the tank 30 and the inside of the ballast tank 30 is filled with air, both the water flow valve 32 and the gas flow valve 34 are closed, and the inside of the ballast tank 30 is filled with air. (Step S42).

Next, the operator operates the remote control command unit 12A to lower the unmanned aerial vehicle 14 toward the water surface 48, hover the underwater unit 16 from the air to the water surface 48, and maintain that state. (Step S44).
Here, in the underwater portion 16, the buoyancy of the ballast tank 30 acts on the housing 28, so that the housing 28 floats on the water surface 48 and a part of the housing 28 is located on the water surface 48.

Then, by operating the remote control command unit 12A, the operator flies the unmanned vehicle 14 toward the water surface 48 of the sea, lake, or river near the standby place, and the underwater portion 16 is moved to the water surface 48 by the housing 28. Tow in a floating state (step S46).
Here, as in the case of step S20, in the underwater portion 16, the housing 28 is floated on the water surface 48 and a part of the housing 28 is located on the water surface 48, and the underwater portion 16 is provided by the unmanned flying object 14 via the wire 24. Since it is towed, the weight of the underwater portion 16 added to the unmanned flying object 14 becomes almost zero, and the resistance of water received by the underwater portion 16 added to the unmanned flying object 14 is reduced.
Then, when the underwater portion 16 reaches the location of the water surface 48 near the standby location, the operator raises the unmanned aerial vehicle 14 by remote control, pulls the entire underwater portion 16 from the water surface 48 into the air, and displays the display unit 12D. While visually recognizing the image displayed on the screen, the unmanned aerial vehicle 14 is made to fly toward a predetermined waiting place and land at the waiting place (step S48).
Then, the water bottom shape information of the entire area of the water bottom 46 stored in the storage unit 12H is output from the output unit 12I (step S50), and a series of measurement operations is completed.

On the other hand, if step S34 is affirmative, that is, if the capacity of the battery 22 is equal to or less than a predetermined threshold value, the battery management unit 14E transmits a notification to that effect to the management device 12 to notify the operator, and the operator remotely controls the operation. By operating the command unit 12A, the unmanned air vehicle 14 is raised, and the entire underwater part 16 is raised to the air (step S52).
Since both the water flow valve 32 and the gas flow valve 34 are in the opened state, air is introduced into the ballast tank 30 from the gas flow valve 34, and water is discharged from the water flow valve 32 into the ballast tank 30. When the gas was discharged to the outside of the 30 and the inside of the ballast tank 30 was filled with air, both the water flow valve 32 and the gas flow valve 34 were closed, and the inside of the ballast tank 30 was filled with air. The state is set (step S54).

Next, the operator operates the remote control command unit 12A to lower the unmanned aerial vehicle 14 toward the water surface 48, and hover the underwater unit 16 from the air to the water surface 48 to change the state. Maintain (step S56).
Then, by remote control from the operator, the take-up control unit 16D rotates the winding body 3604 of the winch 36 to pay out the wire 3602, and lowers the anchor 38 attached to the wire 3602 (step S58).

Next, by remote control from the operator, the measurement unit side positioning unit 16B starts the positioning operation to generate the measurement unit positioning information (step S60), and enters the management device 12 via the vehicle side communication unit 14. Send.
The operator determines whether or not the underwater unit 16 accommodating the three-dimensional shape measuring unit 16A is moored within a predetermined range based on the measurement unit positioning information (step S62).
If step S62 is negative, that is, if the underwater portion 16 is not moored within a predetermined range, the take-up control unit 16D rotates the winding cylinder 3604 of the winch 36 and the wire 3602 by remote control from the operator. Is taken up and the anchor 38 attached to the wire 3602 is raised (step S64).

Then, by operating the remote control command unit 12A, the operator flies the unmanned aerial vehicle 14 and tows the underwater portion 16 with the housing 28 floating on the water surface 48 (step S66), and pulls the underwater portion 16 Move horizontally.
When the underwater portion 16 is moved in the horizontal direction, the process returns to step S58 and the same operation is performed.

On the other hand, if step S62 is affirmative, that is, when the underwater portion 16 is moored within a predetermined range, the power control unit 14F stops the supply of electric power to the electromagnet 26 by remote control from the operator. The connection between the electromagnet 26 and the upper surface of the housing 28 is released, and the underwater portion 16 is removed from the unmanned vehicle 16 (step S68).
Next, the operator flies the unmanned aerial vehicle 14 from the mooring place of the underwater unit 16 by operating the remote control command unit 12A, and visually recognizes the image information around the unmanned aerial vehicle 14 displayed on the display unit 12D. While doing so, the unmanned aerial vehicle 14 is flown to the power supply device (step S70).
Then, electric power is supplied by the electric power supply device to charge the battery 22 (step S72), and when the charging is completed, the operator operates the remote operation command unit 12A to drive the unmanned aircraft 14 from the electric power supply device. The unmanned aircraft 14 is made to fly, and the unmanned aircraft 14 is made to fly to the mooring place of the underwater portion 16 while visually recognizing the image information around the unmanned aircraft 14 displayed on the display unit 12D (step S74).

When the unmanned aerial vehicle 14 returns to the underwater portion 16, the power control unit 14F supplies electric power to the electromagnet 26 to reconnect the electromagnet 26 and the upper surface of the housing 28 by remote control from the operator, and the underwater portion 16 is reconnected to the unmanned aerial vehicle 16 (step S76).
Then, by remote control from the operator, the winding control unit 16D rotates the winding body 3604 of the winch 36 to wind the wire 3602, and raises the anchor 38 attached to the wire 3602 (step S78).
When the anchor 38 is raised, the process returns to step S36 and the measurement of the bottom shape is restarted.

As described above, according to the water bottom shape measuring device 10 of the present embodiment, when it is determined that the capacity of the battery 22 for flying the unmanned vehicle 14 is equal to or less than a predetermined threshold value, the water bottom shape measuring device 10 is suspended from the unmanned vehicle 14. The underwater portion 16 (three-dimensional shape measuring portion 16A) connected to the electromagnet 26 provided on the lowered wire 24 is moored, and the connection between the electromagnet 26 and the underwater portion 16 is released. Then, the unmanned vehicle 16 from which the underwater portion 16 has been removed is flown to the power supply device to supply electric power, and when the power supply is completed, the unmanned vehicle 16 is flown to the underwater portion 16 to fly the electromagnet 26 and water. By reconnecting the central portion 16 and releasing the mooring of the underwater portion 16, the measurement by the three-dimensional shape measuring unit 16A can be restarted.
Therefore, it is advantageous in suppressing the consumption of electric power when the unmanned aerial vehicle 14 is flown to supply electric power, securing a longer measurement time, and improving the measurement efficiency.
Further, the ballast tank 28 that gives buoyancy to the housing 28 of the underwater portion 16 and the wire 3602 provided in the underwater portion 16 to which the anchor 38 is attached are wound to raise the anchor 38, and the wire 3602 is unwound to anchor. A mooring unit is composed of a buoyancy control unit 16C for controlling the buoyancy of the ballast tank 30 and a winding control unit 16D for controlling the winding and unwinding of the wire 3602, which is provided with a winch 36 for lowering the 38. When it is determined that the capacity of the battery 22 is equal to or less than a predetermined threshold value, the ballast tank 30 is given buoyancy to move the underwater portion 16 to the water surface, and the anchor 38 is lowered to the bottom of the water to moor the underwater portion 16. Therefore, the underwater portion 16 can be moored with a simple configuration to suppress power consumption.
Further, when the underwater portion 16 is not moored within a predetermined range, the anchor 38 is raised to move the underwater portion 16 in the horizontal direction, and the anchor 38 is lowered to the bottom of the water again, so that the moored underwater portion 16 is not stable. In some cases, the mooring can be redone, which is advantageous in avoiding the anchoring of the underwater part 16.
Further, the three-dimensional shape measuring unit 16A suspended from the unmanned vehicle 14 is positioned in the water to measure the three-dimensional shape of the bottom of the water and generate three-dimensional shape information, and the vehicle-side positioning unit 14D of the unmanned vehicle 14 Air vehicle positioning information indicating the position is generated, and water bottom shape information indicating the shape of the water bottom in coordinate positions on the earth is generated based on the three-dimensional shape information and the air vehicle positioning information.
Therefore, since an observation ship equipped with sonar is not required, a ship license qualified person is required to operate the observation ship and the observation ship, which is advantageous in reducing equipment costs and operating costs.
Further, the unmanned flying object 14 that supports the three-dimensional shape measuring unit 16A is not affected by the waves, and the equipment for correcting the shaking of the observation ship as in the conventional case becomes unnecessary, and the configuration is simplified and the cost is reduced. It is advantageous in reducing the number of

In the above-described embodiment, the capacity of the battery 22 is determined after the bottom shape information is generated, but the capacity may be determined at a different timing. For example, the determination may be made before measuring the bottom shape. Good.
Further, in the above-described embodiment, the measurement process of the bottom shape includes the charging process of the unmanned aerial vehicle 14 due to insufficient capacity of the battery 22, but the charging process of the unmanned aerial vehicle 14 is performed in parallel with the measurement process of the bottom shape. It may be configured to perform. In this case, if it is determined that the capacity of the battery 22 is equal to or less than a predetermined threshold value, in order to give priority to preventing the unmanned aerial vehicle 14 from crashing, the measurement process of the bottom shape is interrupted and the unmanned aerial vehicle 14 is charged. Do.
Further, in the above-described embodiment, an example in which the underwater measuring device is applied to the water bottom measuring device for measuring the shape of the water bottom is shown, but it can be applied to any device for measuring underwater using an unmanned flying object. is there.
Further, in the above-described embodiment, the case where the operator remotely controls the unmanned aerial vehicle 14 has been described, but as described above, the unmanned aerial vehicle 14 is flown by flying a predetermined flight course by automatic control. Information on the shape of the bottom of the water 46 along the course may be obtained, which is advantageous in efficiently measuring the shape of the bottom of the water while saving manpower.
Further, in the above-described embodiment, the water bottom shape information generation unit 12F is provided in the management device 12, but the water bottom shape information generation unit 12F is provided in the unmanned aircraft 14 and the water bottom shape information generated by the water bottom shape information generation unit 12F is transmitted to the wireless line N. It may be transmitted to the management device 12 away from the unmanned aircraft 14 via the above.
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 aircraft 14, and the water bottom shape information generation unit 12F generates the water bottom shape information via the wireless line N. When the operation is performed based on the supplied three-dimensional shape information and the flying object positioning information, the unmanned flying object 14 is reduced in power and weight as compared with the case where the underwater shape information generating unit 12F is provided in the unmanned flying object 14. Therefore, the flight duration of the unmanned flying object 14 can be secured, and therefore, one flight of the unmanned flying object 14 can measure the three-dimensional shape of the water bottom 46 in a wider range, and the measurement efficiency can be increased. It will be advantageous in trying to make it.

10 Water bottom shape measuring device 12 Management device 12A Remote operation command unit 12B Management device side communication unit 12C Map database unit 12D display unit 12E Management device side flight control unit 12F Water bottom shape information generation unit 12G Information processing unit 12H Storage unit 12I Output unit 14 Unmanned vehicle 14A Air vehicle side communication unit 14B Imaging unit 14C Air vehicle side flight control unit 14D Air vehicle side positioning unit 14E Battery management unit 14F Power control unit 16 Underwater unit 16A 3D shape measurement unit 16B Measurement unit side positioning unit 16C Buoyancy control unit 16D Winding control unit 18 Aircraft body 20 Rotor 22 Battery 24 Wire 26 Electromagnet 28 Housing 30 Ballast tank 32 Water flow valve 34 Gas flow valve 36 winch 38 Anchor 46 Water bottom 48 Water surface 50 Ultrasonic 52 Laser light

Claims (8)

Remotely controlled unmanned aircraft and
The flight control unit that flies the unmanned aerial vehicle and
A measuring unit that is detachably connected to a mounting unit provided on a connecting member suspended from the unmanned aerial vehicle and that measures the vehicle while it is located in water.
A connection control unit that controls the connection between the mounting unit and the measuring unit,
A mooring unit that moored the measuring unit within a predetermined range, and a mooring unit.
A power source management unit for determining whether or not the capacity of the power source for flying the unmanned aerial vehicle is equal to or less than a predetermined threshold value is provided.
When it is determined that the capacity of the power source is equal to or less than the predetermined threshold value, the mooring unit moored the measuring unit.
When the measuring unit is moored within the predetermined range, the connection control unit releases the connection between the mounting unit and the measuring unit.
The flight control unit flies the unmanned vehicle from which the measuring unit has been removed to the power source supply device, and then flies the unmanned vehicle to which the power source has been supplied to the measuring unit.
When the supply of the power source to the unmanned aerial vehicle is completed, the connection control unit reconnects the mounting unit and the measuring unit.
The mooring portion releases the mooring of the measuring portion when the mounting portion and the measuring portion are reconnected.
An underwater measuring device characterized by the fact that. A floating body that gives buoyancy to the measuring unit,
A winding device provided in the measuring unit and having a resistance member attached to an end thereof to raise the resistance member, and to unwind the winding member to lower the resistance member. With more
The mooring unit includes a buoyancy control unit that controls the buoyancy of the floating body and a winding control unit that controls the winding and unwinding of the winding member.
When the buoyancy control unit determines that the capacity of the power source is equal to or less than the predetermined threshold value, the buoyancy control unit applies buoyancy to the buoyancy body to move the measurement unit to the water surface.
When the take-up control unit determines that the capacity of the power source is equal to or less than the predetermined threshold value and the measuring unit is moved to the water surface, the take-up control unit pays out the take-up member and lowers the resistance member to the bottom of the water. Mooring the measuring unit
When the mounting unit and the measuring unit are reconnected, the winding control unit winds up the winding member and raises the resistance member.
The buoyancy control unit removes buoyancy from the floating body when the mounting unit and the measuring unit are reconnected and the resistance member is raised.
The underwater measuring apparatus according to claim 1. Further, a measuring unit side positioning unit that generates measurement unit positioning information indicating the position of the measuring unit based on a positioning signal received from a positioning satellite is further provided.
When the winding control unit determines from the measurement unit positioning information that the measuring unit is not moored within the predetermined range, the winding control unit winds the winding member and raises the resistance member.
The flight control unit moves the measuring unit by flying the unmanned aerial vehicle.
When the measuring unit is moved, the winding control unit pays out the winding member and lowers the resistance member to the bottom of the water.
The underwater measuring apparatus according to claim 2. The mounting portion is an electromagnet and
The connection control unit controls the connection between the electromagnet and the measurement unit by controlling the supply of electric power to the electromagnet.
The underwater measuring apparatus according to any one of claims 1 to 3. It further comprises a housing that houses the measuring unit and whose upper surface is made of a metal material that is attracted to the electromagnet.
The connection control unit controls the connection between the electromagnet and the upper surface of the housing by controlling the supply of electric power to the electromagnet.
The underwater measuring apparatus according to claim 4. The floating body is a ballast tank in which gas and water are supplied and discharged.
The buoyancy control unit controls the buoyancy of the ballast tank by adjusting the supply and discharge of gas and water to the inside of the ballast tank.
The underwater measuring apparatus according to claim 5. The measuring unit is a three-dimensional shape measuring unit that measures the three-dimensional shape of the bottom of the water and generates three-dimensional shape information.
An air vehicle-side positioning unit that generates air vehicle positioning information indicating the position of the unmanned air vehicle based on a positioning signal mounted on the unmanned air vehicle and received from a positioning satellite.
A water bottom shape information generation unit that generates water bottom shape information indicating the shape of the water bottom at coordinate positions on the earth based on the three-dimensional shape information and the flying object positioning information is further provided.
The underwater measuring apparatus according to any one of claims 1 to 6. An underwater measurement method performed by an underwater measuring device equipped with a remotely controlled unmanned aircraft.
The unmanned aerial vehicle is detachably connected to a mounting portion provided on a support member suspended from the unmanned aerial vehicle, and includes a measuring unit for measuring while being positioned in water.
A power source management step for determining whether or not the capacity of the power source for flying the unmanned aerial vehicle is equal to or less than a predetermined threshold value, and
When it is determined that the capacity of the power source is equal to or less than the predetermined threshold value, a mooring step for mooring the measuring unit within a predetermined range and a mooring step.
When the measuring unit is moored within the predetermined range, a connection release step for disconnecting the mounting unit and the measuring unit, and a connection release step.
A flight control step of flying the unmanned vehicle from which the measuring unit has been removed to the power source supply device, and then flying the unmanned vehicle to which the power source has been supplied to the measuring unit.
When the supply of the power source to the unmanned aerial vehicle is completed, the connection step for reconnecting the mounting portion and the measuring portion, and
Includes a mooring release step for releasing the mooring of the measuring unit when the mounting unit and the measuring unit are reconnected.
An underwater measurement method characterized by this.

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