JP3939710B2 - 遠隔操縦無人ボート - Google Patents
遠隔操縦無人ボート Download PDFInfo
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- JP3939710B2 JP3939710B2 JP2004167637A JP2004167637A JP3939710B2 JP 3939710 B2 JP3939710 B2 JP 3939710B2 JP 2004167637 A JP2004167637 A JP 2004167637A JP 2004167637 A JP2004167637 A JP 2004167637A JP 3939710 B2 JP3939710 B2 JP 3939710B2
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- control device
- remote control
- boat
- unmanned boat
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 42
- 230000005540 biological transmission Effects 0.000 claims description 15
- 238000004891 communication Methods 0.000 description 7
- 238000012876 topography Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 241000251468 Actinopterygii Species 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 241000195493 Cryptophyta Species 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000012447 hatching Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 244000005700 microbiome Species 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Images
Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H23/00—Toy boats; Floating toys; Other aquatic toy devices
- A63H23/02—Boats; Sailing boats
- A63H23/04—Self-propelled boats, ships or submarines
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H30/00—Remote-control arrangements specially adapted for toys, e.g. for toy vehicles
- A63H30/02—Electrical arrangements
- A63H30/04—Electrical arrangements using wireless transmission
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
- B63H25/04—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
- G01C13/008—Surveying specially adapted to open water, e.g. sea, lake, river or canal measuring depth of open water
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
- B63H2025/028—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring using remote control means, e.g. wireless control; Equipment or accessories therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
- B63H25/04—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass
- B63H2025/045—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass making use of satellite radio beacon positioning systems, e.g. the Global Positioning System [GPS]
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Description
(ボート)
図2はボート10の側方から見た部分断面図、図3はボート10の平面図である。
(遠隔操縦装置)
図4は遠隔操縦装置の外観を示す斜視図、図5は遠隔操縦装置の構成を示すブロック図、図6はモニターの表示例を示す図である。
なお、ボート10の操作は、操作ボタン24によるものに限られない。ボート10は、ジョイスティックにより操作されることもできる。
(コンピュータ)
図7は作成された水底の地図を示す図である。
(作用)
次に、本発明の遠隔操縦無人ボートの作用について説明する。
11…推進動力源、
12…電源、
13…操舵装置、
14…第1送受信アンテナ、
15…第1制御装置、
16…GPSアンテナ、
17…記憶装置、
18…観測機、
19…取手、
20…遠隔操縦装置、
21…第2送受信アンテナ、
22…第2制御装置、
23…モニター、
24A〜C…操作ボタン、
25…警報装置、
26…記憶装置、
27…ケーブル、
30…コンピュータ、
111…スクリュー、
113…モータ、
115…スクリューカバー、
117、118…歯車、
131…舵、
133…モータ。
Claims (13)
- 遠隔操縦装置との間で送受信される信号によってボートの走行が制御される遠隔操縦無人ボートであって、
人工衛星から発信されている電波を受信するGPSアンテナと、
前記GPSアンテナが受信した電波により現在位置を算出する現在位置算出手段と、
初期位置を記憶する初期位置記憶手段と、
推進動力を発生する推進動力源と、
進行方向を自在に変更する操舵装置と、
前記遠隔操縦装置との間で信号を送受信する第1送受信アンテナと、
前記推進動力源に電力の供給を行う電源と、
前記電源の残量を検出する残量検出装置と、
前記第1送受信アンテナにより一定時間以上前記遠隔操縦装置からの信号を受信しなかったと判断された場合、または、前記電源の残量が半分以下になったと判断された場合のうち、少なくともいずれか一方の判断が行なわれた場合に、前記初期位置に自動回帰させるため、前記現在位置および前記初期位置に基づいて、前記推進動力源と前記操舵装置との動作を制御する第1制御装置と、
を有することを特徴とする遠隔操縦無人ボート。 - 前記第1制御装置は、
算出された現在位置と前記電源の残量が半分以下になったことを前記第1送受信アンテナにより遠隔操縦装置に送信する一方、前記遠隔操縦装置から前記現在位置の受領に基づいて送信された受領信号を受信する機能を有し、前記受領信号が一定時間内に受信されなかった場合に、前記第1送受信アンテナにより一定時間以上前記遠隔操縦装置からの信号を受信しなかったと判断することを特徴とする請求項1に記載の遠隔操縦無人ボート。 - 前記遠隔制御操縦装置は、
前記第1制御装置から送信された現在位置を受信したときに受領信号を出力する第2制御装置と、
前記第1制御装置に前記第2制御装置から出力された受領信号を送信する第2送受信アンテナと、
を有することを特徴とする請求項1に記載の遠隔操縦無人ボート。 - 前記遠隔制御操縦装置は、
前記第1制御装置から送信される現在位置が一定時間以上受信されなかった場合に警報を発する警報装置をさらに有することを特徴とする請求項3に記載の遠隔操縦無人ボート。 - 前記遠隔制御操縦装置は、
前記第1制御装置から前記電源の残量が半分以下になったことを前記第2送受信アンテナにより受信した場合に、警報を発する警報装置をさらに有することを特徴とする請求項2に記載の遠隔操縦無人ボート。 - 前記第1制御装置は、
前記初期位置に自動回帰させる制御をしている最中に、前記第1送受信アンテナにより前記受領信号が受信されたときには、前記自動回帰させる制御を終了し、遠隔操縦装置との間で送受信される信号によって走行が制御できるようにすることを特徴とする請求項1に記載の遠隔操縦無人ボート。 - 前記遠隔制御操縦装置は、
前記第1制御装置が前記自動回帰させる制御を終了したときには、その旨を知らせる手段を有することを特徴とする請求項1に記載の遠隔操縦無人ボート。 - 前記第1制御装置は、
現在位置算出手段により各時点の現在位置を算出して前記初期位置から前記現在位置まで経路を算出する機能を有し、前記経路を遡って、前記初期位置に自動回帰させる制御を行うことを特徴とする請求項1に記載の遠隔操縦無人ボート。 - 前記第1制御装置は、
前記初期位置に最短距離で戻るように自動回帰させる制御を行うことを特徴とする請求項1に記載の遠隔操縦無人ボート。 - 前記遠隔操縦無人ボートは、
水中および水底の様子を観測する観測機をさらに有し、
前記観測機は、観測された水中および水底の様子を前記第1送受信アンテナにより前記遠隔操縦装置に送信することを特徴とする請求項1に記載の遠隔操縦無人ボート。 - 前記観測機は、さらに、
前記ボートの地面に対する速度、前記ボートの潮流に対する相対速度および潮流速度を測定する機能と、
水底の地質を調査して水平方向の周囲の様子を観測する機能と、
を有することを特徴とする請求項9に記載の遠隔操縦無人ボート。 - 前記遠隔制御操縦装置が有する第2制御装置は、
さらに、前記第1送受信アンテナにより送信された水中および水底の様子を前記第2送受信アンテナにより受信し、
受信した水中および水底の様子から水中の地図を作成する機能を有していることを特徴とする請求項3に記載の遠隔操縦無人ボート。 - 前記遠隔制御操縦装置は、
前記第2送受信アンテナにより受信した水中および水底の様子および前記ボートの現在位置を表示するモニターをさらに有することを特徴とする請求項9に記載の遠隔操縦無人ボート。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004167637A JP3939710B2 (ja) | 2004-06-04 | 2004-06-04 | 遠隔操縦無人ボート |
TW093137744A TW200540589A (en) | 2004-06-04 | 2004-12-07 | Remote control unmanned boat and remote control device |
KR1020040116770A KR20050115818A (ko) | 2004-06-04 | 2004-12-30 | 원격 조종 무인 보트 및 원격 조종 장치 |
EP05000043A EP1602574A1 (en) | 2004-06-04 | 2005-01-04 | Remote control unmanned boat and remote control device |
CNB2005100002652A CN100555138C (zh) | 2004-06-04 | 2005-01-07 | 遥控无人船与遥控器 |
US11/052,669 US7398741B2 (en) | 2004-06-04 | 2005-02-07 | Remote control unmanned boat and remote control device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004167637A JP3939710B2 (ja) | 2004-06-04 | 2004-06-04 | 遠隔操縦無人ボート |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2005343391A JP2005343391A (ja) | 2005-12-15 |
JP3939710B2 true JP3939710B2 (ja) | 2007-07-04 |
Family
ID=34933199
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2004167637A Active JP3939710B2 (ja) | 2004-06-04 | 2004-06-04 | 遠隔操縦無人ボート |
Country Status (6)
Country | Link |
---|---|
US (1) | US7398741B2 (ja) |
EP (1) | EP1602574A1 (ja) |
JP (1) | JP3939710B2 (ja) |
KR (1) | KR20050115818A (ja) |
CN (1) | CN100555138C (ja) |
TW (1) | TW200540589A (ja) |
Cited By (1)
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2004
- 2004-06-04 JP JP2004167637A patent/JP3939710B2/ja active Active
- 2004-12-07 TW TW093137744A patent/TW200540589A/zh unknown
- 2004-12-30 KR KR1020040116770A patent/KR20050115818A/ko active Search and Examination
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- 2005-01-07 CN CNB2005100002652A patent/CN100555138C/zh not_active Expired - Fee Related
- 2005-02-07 US US11/052,669 patent/US7398741B2/en not_active Expired - Fee Related
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KR102226443B1 (ko) * | 2020-03-02 | 2021-03-11 | 주식회사 가민무인기술 | Gps신호 기반의 약제 살포 보트 제어 시스템 |
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US20050268834A1 (en) | 2005-12-08 |
US7398741B2 (en) | 2008-07-15 |
CN100555138C (zh) | 2009-10-28 |
CN1707378A (zh) | 2005-12-14 |
TW200540589A (en) | 2005-12-16 |
KR20050115818A (ko) | 2005-12-08 |
EP1602574A1 (en) | 2005-12-07 |
JP2005343391A (ja) | 2005-12-15 |
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