JP5665049B2 - Underwater environment unmanned research ship - Google Patents

Underwater environment unmanned research ship Download PDF

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JP5665049B2
JP5665049B2 JP2010288127A JP2010288127A JP5665049B2 JP 5665049 B2 JP5665049 B2 JP 5665049B2 JP 2010288127 A JP2010288127 A JP 2010288127A JP 2010288127 A JP2010288127 A JP 2010288127A JP 5665049 B2 JP5665049 B2 JP 5665049B2
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JP2012137318A (en
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清一 猪狩
清一 猪狩
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株式会社エスアイ
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本発明は、河川あるいは湖等での水中環境調査をラジコンボートを用いて行う無人調査船に関し、更に詳しくは、有人ボートでは近づくことの出来ない危険な場所での調査を陸上からリモコン操作により簡単に行うことができると共に調査コストを大幅に削減できる水中環境無人調査船に関する。   The present invention relates to an unmanned research ship that uses a radio controlled boat to conduct an underwater environment survey in rivers or lakes, and more specifically, it is easy to conduct a survey in a dangerous place that cannot be approached by a manned boat from the land by remote control operation. It is related with the underwater environment unmanned research ship which can be carried out and can greatly reduce the research cost.

河川や湖水の水質を調査したり、水底の土砂や沈殿物を採取して各種の環境汚染物質を検査するために、従来は採取器を携帯した調査員がモーターボート等に乗り移り、採取ポイントに移動して採取器を水中に降し、採水あるいは土砂の採集作業を行っている。   In order to investigate the water quality of rivers and lakes, or to collect various sediments and sediments from the bottom of the water and inspect various environmental pollutants, the investigator who carried the collector has moved to a motor boat etc. and moved to the collection point. Then, the collector is lowered into the water, and water or soil collection work is performed.

例えば特許文献１〜４には、このように有人ボートで河川や湖等で採水を行うときに用いられる採水器が紹介されている。   For example, Patent Documents 1 to 4 introduce a water sampler that is used when collecting water in a river or lake by a manned boat.

しかし、これらの公知例は、いずれも調査員がボート（船舶）で移動することが必要なため、危険な場所に近づいての作業ができないことから、環境調査に空白域が出てしまうという問題がある。   However, all of these known examples require the investigator to move by boat (vessel), so that work close to a dangerous place cannot be performed, and there is a problem that a blank area appears in the environmental survey. There is.

また、調査には最低でも２人の調査員が必要なことから、人件費が嵩むという問題がある。   Further, since the survey requires at least two investigators, there is a problem that labor costs increase.

特開２００７−２５５１３７号公報JP 2007-255137 A 特開２０１０−１９０６２５号公報JP 2010-190625 A 特開２００８−２４１６７３号公報JP 2008-241673 A 特開２００１−１８３２６５号公報JP 2001-183265 A

本発明は、係る点に鑑みて提供されるものであって、その目的は、危険な場所での採取を無人で行うことができると共に調査コストを大幅に削減できる水中環境無人調査船を提供することである。   The present invention is provided in view of the above points, and an object of the present invention is to provide an underwater environment unmanned research ship capable of unattended sampling in a dangerous place and greatly reducing the research cost. That is.

上記課題を解決するための手段として、請求項１に記載の発明は、水中環境無人調査船として、ａ．陸上からのリモコンによる遠隔操作で操船されるラジコンボートと、ｂ．前記ラジコンボート上に設置されていると共に地上からの遠隔操作でアームの上下運動と旋回運動が制御されるクレーンと、ｃ．外筒の下端において、垂直から互いに対向する方向に閉じて前記外筒の下端を閉塞することができるショベルを開閉自在に取り付けると共に前記外筒の天板の中央に開口部を形成し、この開口部に断面ハ字状の栓シートを形成すると共に、この栓シートに下方から接して密閉する栓体を外筒内に組み込み、この栓体の下部から延長してその先端を前記ショベルの内側に形成したアームに連結し、前記栓体が上昇して栓シートに密着するのに連動して前記アームによりショベルを内方に回転させて外筒の下端を閉じ、栓体が下降して栓シートを開放するのに連動して外筒の下端を開放するショベル開閉軸で構成された土砂採集器と、ｄ．筒体の上部と下部の開口部をそれぞれ天板と底板で覆い、この天板と底板の中央部にそれぞれ断面ハ字状のボールシートを形成すると共に前記天板と底板のボールシートを経由して筒体内を貫通し、かつ上下動自在にシャフト挿入し、このシャフトの下端側であって、前記筒体の外に位置する部分とシャフトの上端側であって、前記筒体の内側に位置する部分にそれぞれボールバルブを取り付けてシャフトを上昇させると天板と底板のボールシートに下方から同時に接してそれぞれを閉塞し、シャフトを下降させるとボールバルブがボールシートから離れて天板と底板のボールシートをそれぞれ同時に開放する開閉機構を組み込んで成る採水器と、ｅ．前記土砂採集器の外筒又は採水器の筒体の上部に先端が連結自在であって、前記クレーンのアームの先端に取り付けられた一つのガイドリングを経由して前記ラジコン船上に延長された土砂採集器又は採水器昇降用の昇降ワイヤーの捲き揚げ又は下降を制御する昇降ウインチと、ｆ．前記土砂採集器の栓体又は採水器のシャフトの上端に先端が連結自在であって、前記クレーンのアームの先端に取り付けられたガイドリングとは別のガイドリングを経由して前記ラジコン船上に延長された土砂採集器又は採水器の栓体及びショベル又はボールバルブを開閉する開閉用ワイヤーの捲き揚げ又は下降を制御する開閉ウインチと、ｇ．陸地からの信号を受けて前記ラジコンボートを操船し、かつ前記クレーン及び昇降ウインチ並びに開閉ウインチを自動制御するラジコン船上に搭載された制御器と、から成ることを特徴とするものである。 As means for solving the above-mentioned problems, the invention according to claim 1 is an underwater environment unmanned research vessel, comprising: a. A radio controlled boat which is operated by remote control from a remote control from land; b. A crane that is installed on the radio-controlled boat and whose vertical movement and turning movement of the arm are controlled by remote control from the ground; c. At the lower end of the outer cylinder, an excavator that can be closed from the vertical in a direction facing each other and close the lower end of the outer cylinder is attached to be freely opened and closed, and an opening is formed at the center of the top plate of the outer cylinder. A plug sheet having a cross-sectional shape is formed in the section, and a plug body that is in contact with the plug sheet from below is sealed in the outer cylinder, and is extended from the lower part of the plug body so that its tip is located inside the shovel. Connected to the formed arm, the shovel is rotated inward by the arm and the lower end of the outer cylinder is closed by the arm as the plug body rises and comes into close contact with the plug sheet, and the plug body descends and the plug sheet is lowered. An earth and sand collector comprising an excavator opening and closing shaft that opens the lower end of the outer cylinder in conjunction with opening the door; d. The upper and lower openings of the cylindrical body are covered with a top plate and a bottom plate, respectively, and a ball sheet with a cross-sectional shape is formed at the center of the top plate and the bottom plate, respectively, and the ball sheets of the top plate and the bottom plate are passed through. The shaft is inserted into the cylinder so as to freely move up and down, and the lower end side of the shaft is located on the outside of the cylinder and the upper end side of the shaft and is located on the inner side of the cylinder. When the ball valve is attached to each part and the shaft is raised, the top and bottom plate ball seats are simultaneously contacted from below to close each other, and when the shaft is lowered, the ball valve separates from the ball seat and the top plate and bottom plate A water sampler incorporating an opening and closing mechanism for simultaneously opening the ball seats; e. The tip is freely connectable to the outer cylinder of the earth and sand collector or the cylinder of the water collector, and is extended onto the radio control ship via one guide ring attached to the tip of the arm of the crane. An elevating winch for controlling the lifting or lowering of the elevating wire for elevating the earth and sand collector or the water sampler; f. A tip is freely connectable to the upper end of the shaft of the earth and sand collector or the shaft of the water collector, and on the radio controlled ship via a guide ring different from the guide ring attached to the tip of the arm of the crane. An open / close winch that controls the lifting or lowering of the open / close wire that opens and closes the plug and the shovel or ball valve of the extended sediment collector or water sampler; g. And a controller mounted on the radio control ship for operating the radio control boat in response to a signal from land and automatically controlling the crane, the lifting winch and the opening / closing winch.

また、請求項２に記載の発明は、請求項１に記載の水中環境無人調査船において、前記クレーンのアームの先端に前記ガイドリング以外に更にカメラコード用ガイドリングを取り付けてこのガイドリングを経由してカメラコードを水中カメラまで延長し、先端を該水中カメラに接続すると共に前記ラジコンボート上にはカメラコード捲取機を備え、かつ前記アームのガイドリングを経由して水中カメラ吊設ワイヤーを延長して水中カメラに結び、この水中カメラの電動リールをラジコン船上に備え、かつ前記制御器により陸地からの信号を受けて水中カメラの操作と電動リールを制御するように構成して成ることを特徴とするものである。   According to a second aspect of the present invention, in the underwater environment unmanned research ship according to the first aspect, a camera code guide ring is further attached to the tip of the crane arm in addition to the guide ring. The camera cord is extended to the underwater camera, the tip is connected to the underwater camera, the radio control boat is equipped with a camera cord take-off machine, and the underwater camera suspension wire is connected via the arm guide ring. The underwater camera is extended and connected to the underwater camera.The underwater camera has an electric reel on the radio control ship, and the controller controls the underwater camera and the electric reel by receiving a signal from the land. It is a feature.

また、請求項３に記載の発明は、請求項１又は２に記載の水中環境無人調査船において、前記水中カメラを用いての水中撮影に併せて土砂採集器又は採水器を制御して土砂採集又は採水を同時に行うことができるように構成して成ることを特徴とするものである。   Further, the invention described in claim 3 is the unmanned underwater environment unmanned research ship described in claim 1 or 2, wherein the earth / sand collector or the water sampler is controlled in conjunction with underwater photography using the underwater camera. It is characterized by comprising so that collection or water collection can be performed simultaneously.

本発明によると、ラジコンボートにより水上を採集ポイントまで移動し、このポイントで採取することができる。   According to the present invention, it is possible to move to the collection point on the water by the radio controlled boat, and collect at this point.

このため、有人では近づくことの出来ない危険な水域での採取作業ができることから、調査の空白域を無くすことができる。   For this reason, since it is possible to collect in dangerous waters that cannot be approached by manned people, it is possible to eliminate the blank area of the survey.

また、陸上からの遠隔操作で採取作業を行うことができるため、調査人数を減らして調査コストを削減することができる。   In addition, since the sampling operation can be performed by remote control from the land, the number of surveys can be reduced and the survey cost can be reduced.

本発明に係る無人調査船を側方から見た説明図。Explanatory drawing which looked at the unmanned investigation ship which concerns on this invention from the side. 本発明に係る無人調査船を上方から見た側面図。The side view which looked at the unmanned investigation ship concerning the present invention from the upper part. 船上に設置されたクレーンを側方から見た説明図。Explanatory drawing which looked at the crane installed on the ship from the side. 船上に設置されたクレーンを上方から見た説明図。Explanatory drawing which looked at the crane installed on the ship from upper direction. ガイドリングの説明図。Explanatory drawing of a guide ring. 土砂採集器の説明図。Illustration of earth and sand collector. 土砂を採集した状態の説明図。Explanatory drawing of the state which collected earth and sand. 採集器の下部の形状を示す説明図であって、（Ａ）は外枠の先端部であって、ショベル取付前の側面図、（Ｂ）は正面図。It is explanatory drawing which shows the shape of the lower part of a collector, (A) is a front-end | tip part of an outer frame, Comprising: The side view before shovel attachment, (B) is a front view. ショベルの取付状態と開閉状態を示す説明図であって、（Ａ）はショベルを開いて土砂に突き刺す状態、（Ｂ）は突き刺してショベルを閉じ、土砂を採集した状態の説明図。It is explanatory drawing which shows the attachment state and excavation state of a shovel, Comprising: (A) is a state which opens a shovel and stabs in earth and sand, (B) is explanatory drawing of the state which stabbed and closed the shovel and collected earth and sand. 採水器の説明図。Explanatory drawing of a water sampler. 採水した状態の説明図。Explanatory drawing of the state which sampled water. Ａ−Ａ’線断面図。A-A 'line sectional drawing.

本発明に係る無人調査船は、陸上からの遠隔操作で水上を自由に移動することができる。船の位置確認は目視又はＧＰＳ機能を搭載して行うことができる。   The unmanned research ship according to the present invention can move freely on the water by remote control from the land. The ship position can be confirmed visually or with a GPS function.

水底の土砂及び水の採取及び水中カメラの操作も陸上からの遠隔操作で行う。   The bottom sediment and water are collected and the underwater camera is also operated remotely from the land.

本発明の実施例１を図１〜図１２に基づいて詳細に説明する。図１及び図２はラジコンボートを示し、このラジコンボート１は、搭載されたアンテナ２ａ付の遠隔制御器２によりその走行が自動制御される。   A first embodiment of the present invention will be described in detail with reference to FIGS. 1 and 2 show a radio controlled boat, and the radio controlled boat 1 is automatically controlled by a remote controller 2 with an antenna 2a mounted thereon.

符号の３は、図１〜図４において、ラジコンボート１の船尾に設置されたクレーンであって、このクレーン３のアーム４はアーム軸４ａを介して駆動装置５により１８０°旋回することができると共にアーム４の先端側を上下に振ることができ、このアーム４の運動は陸上から前記制御器２を介して遠隔操作される。   Reference numeral 3 denotes a crane installed at the stern of the radio controlled boat 1 in FIGS. 1 to 4, and the arm 4 of the crane 3 can be turned 180 ° by the drive device 5 via the arm shaft 4 a. At the same time, the tip side of the arm 4 can be swung up and down, and the movement of the arm 4 is remotely operated from the land via the controller 2.

６ａ、６ｂ、６ｃは図５に示すようにアーム４の先端に取り付けられたガイドリングであって、６ａは開閉ワイヤーリング、６ｂは昇降ワイヤーリング、６ｃは水中カメラコードリング、７は船上に設置された吊り上げ物仮置き場、８は土砂採集器又は採水器（後述）を先端に吊設する昇降ワイヤー９を捲き揚げたり下降させるためのウインチ、１０は前記土砂採集器又は採水器２９の開閉操作を行うための開閉ワイヤー１１を引いたり弛めたりするためのウインチであって、このウインチ８、１０は前記制御器２を介して陸上から遠隔操作される。   6a, 6b and 6c are guide rings attached to the tip of the arm 4 as shown in FIG. 5, 6a is an open / close wire ring, 6b is a lifting wire ring, 6c is an underwater camera cord ring, and 7 is installed on the ship. Temporary storage place for lifted objects, 8 is a winch for lifting and lowering the lifting wire 9 that suspends the earth and sand collector or water collector (described later) at the tip, 10 is the above-mentioned earth and sand collector or water collector 29 A winch for pulling or loosening an opening / closing wire 11 for performing an opening / closing operation. The winches 8, 10 are remotely operated from the land via the controller 2.

符号の１２はアーム受け台、１３は後述する水中カメラのコード４１を捲き揚げるためのモータ１５で駆動される電動リール、１６は捲き揚げたカメラコード４１を前記電動リール１３の下方で受けるためのコード受けであって、捲き揚げられたコード１４は図１に示すように自重でコード受け１６内に落下し、自身の弾性の作用でとぐろ巻きに巻き取られる。   Reference numeral 12 is an arm cradle, 13 is an electric reel driven by a motor 15 for hoisting a cord 41 of an underwater camera, which will be described later, and 16 is for receiving the hoisted camera cord 41 below the electric reel 13. As shown in FIG. 1, the cord 14 that has been wound up is dropped into the cord receiver 16 by its own weight as shown in FIG. 1, and is wound around the coil by its own elastic action.

図６は土砂採集器１７を示すもので、この採集器１７は、外筒１８の天板１９の中央に栓シート２０を形成し、下部開口部２１に左右に分けて軸２３、２３ａを中心にして下部開口部２１を閉塞したり、開放できるアーム２４ｂ付のショベル２４、２４ａを取り付けると共に前記栓シート２０に内部から密着して栓シート２０を閉塞することができる栓体２５を取付軸２６に対してネジ２６ａ、ナット２６ｂを介して位置調整可能に取り付け、この取付軸２６の上端はフック２６ａにより前記した開閉ワイヤー１１の先端に連結自在である。   FIG. 6 shows the earth and sand collecting device 17, which is formed with a stopper sheet 20 at the center of the top plate 19 of the outer cylinder 18, and divided into left and right parts at the lower opening 21 to center the shafts 23 and 23 a. The lower opening 21 can be closed or opened, and excavators 24 and 24a with arms 24b that can be opened are attached, and the plug body 25 that can close the plug sheet 20 in close contact with the plug sheet 20 from the inside is attached to the mounting shaft 26. The upper end of the mounting shaft 26 can be connected to the tip of the opening / closing wire 11 by a hook 26a.

２７は外筒１８の上部にフック２７ａにより取り付けられた吊り下げワイヤーであって、前記昇降ワイヤー９の先端にフック２７ｂを介して連結自在である。   A suspension wire 27 is attached to the upper portion of the outer cylinder 18 by a hook 27a, and can be connected to the tip of the lifting wire 9 via a hook 27b.

２８、２８ａは前記栓体２５の取付軸２６の下端部に取り付けられた駆動板であって、前記アーム２４ｂはこの駆動板２８、２８ａ間に係合していて、取付軸２６が下るとショベル２４、２４ａを開放し、上がると閉じることができる。   Reference numerals 28 and 28a denote drive plates attached to the lower end portion of the attachment shaft 26 of the plug body 25. The arm 24b is engaged between the drive plates 28 and 28a, and the excavator is moved when the attachment shaft 26 is lowered. 24, 24a can be opened and closed when raised.

図１０、１１は採水器２９を示すもので、この採水器２９は、筒体３０の天板３１の中央に断面ハ字状の上部バルブシート３２を形成し、底板３３の中央に断面ハ字状の下部バルブシート３４を形成すると共に前記上部バルブシート３２と下部バルブシート３４を貫通する上下動軸３５の上部であって、前記上部バルブシート３２の内側に位置する上部ボールバルブ３６を取り付け、上下動軸３５の下部であって、下部バルブシート３４の外側に位置する下部ボールバルブ３７を取り付け、上下動軸３５の上端はフック２６ａを介して前記開閉ワイヤー１１の先端に連結自在であって、開閉ワイヤー１１が引かれると図１１に示すように上下動軸３５が上昇して上部ボールバルブ３６と下部ボールバルブ３７がそれぞれのバルブシート３２、３３に密着する。 FIGS. 10 and 11 show a water sampler 29. The water sampler 29 is formed with an upper valve seat 32 having a C-shaped cross section at the center of the top plate 31 of the cylindrical body 30, and a cross section at the center of the bottom plate 33. An upper ball valve 36 that forms a C-shaped lower valve seat 34 and is located above the vertical valve shaft 35 that penetrates the upper valve seat 32 and the lower valve seat 34, and is located inside the upper valve seat 32. A lower ball valve 37 located on the lower side of the lower valve seat 34 and attached to the lower part of the vertical movement shaft 35 is attached, and the upper end of the vertical movement axis 35 can be connected to the tip of the opening / closing wire 11 via a hook 26a. there are, upper ball valve 36 and the lower ball valve 37 is in each opening and closing the wire 11 is pulled is the vertical shaft 35 as shown in FIG. 11 rises the valve seat 32 In close contact with the 33.

３８は筒体３０の上部のフック３０ａに取り付けられた吊り下げワイヤーであって、前記昇降ワイヤー９の先端にフック３８ａを介して連結自在である。 A suspension wire 38 is attached to the hook 30a on the upper portion of the cylindrical body 30, and can be connected to the tip of the lifting wire 9 via the hook 38a.

図８〜１０において、３９は上下動軸３５において、上部及び下部ボールバルブ３６、３７が取り付けられる部分に切設されたネジ部であって、上下のボールバルブ３６、３７はこのネジ部３９においてナット４０により取り付けられていると共にナット４０の調整により上下のボールバルブ３６、３７の位置を微調整してバルブシート３２、３３に対する密着タイミングを調整することができる。   In FIGS. 8 to 10, reference numeral 39 denotes a threaded portion cut at a portion where the upper and lower ball valves 36 and 37 are attached to the vertical movement shaft 35. The upper and lower ball valves 36 and 37 are connected to the threaded portion 39. The timing of contact with the valve seats 32 and 33 can be adjusted by finely adjusting the positions of the upper and lower ball valves 36 and 37 by being attached by the nut 40 and adjusting the nut 40.

次に、上記構成の環境無人調査船を用いて行う環境調査であって、水底の土砂を採集する例を先ず説明する。   Next, an example of an environmental survey conducted using the environmental unmanned survey ship having the above-described configuration, in which sediment at the bottom of the water is collected, will be described first.

先ず、土砂を採集する水底までの水深をあらかじめ測定しておき、この水底に採集器１７が届く長さに昇降ワイヤー９と開閉ワイヤー１１の長さを調整し、昇降ワイヤー９の先端に採集器１７の吊りワイヤー２７をフック２７ｂを介して連結し、開閉ワイヤー１１の先端に取付軸２６の上端をフック２６ａを介して連結する。   First, the water depth to the bottom of the earth and sand is measured in advance, the lengths of the lifting and lowering wires 9 and 11 are adjusted so that the collector 17 reaches the bottom of the water, and the collector is attached to the tip of the lifting and lowering wire 9. 17 suspension wires 27 are connected via a hook 27b, and the upper end of the mounting shaft 26 is connected to the tip of the opening / closing wire 11 via a hook 26a.

この作業は陸上において行い、次にリモコンボート１上のウインチ８、９を捲いてそれぞれのワイヤー９、１１をクレーン３のアーム４を上げた状態で水面に届かないところまで捲き取っておく。   This operation is carried out on land, and then winches 8 and 9 on the remote control boat 1 are wound up and the wires 9 and 11 are scraped off to reach the water surface with the arm 4 of the crane 3 raised.

この状態でリモコンボート１を操作して採集ポイントのところまで移動し、アーム４を上下及び旋回させて位置を定めたのち、ウインチ８、１０を解いて採集器１７を水中に降す。   In this state, the remote control boat 1 is operated to move to the collection point, the arm 4 is moved up and down and turned to determine the position, and then the winch 8 and 10 are unwound to lower the collector 17 into the water.

採集器１７が水底に届くとあらかじめ定めた昇降ワイヤーの延長距離で判るので、この距離になったところでウインチ８、１０を止める。   When the collector 17 reaches the bottom of the water, it can be determined by the predetermined extension distance of the lifting wire, and the winches 8 and 10 are stopped at this distance.

なお、この採集器１７の下降時に、開閉ワイヤー１１は弛めて取付軸２６を下げて栓体２５を開き、ショベル２４、２４ａは垂直方向に開いたままとしておくことにより、採集器１７内を水が通るために採集器１７は水底まで円滑に沈みながら到達し、やがてショベル２４、２４ａの先端が重量で水底の土砂に突き刺る（図６）。   When the collector 17 is lowered, the open / close wire 11 is loosened, the mounting shaft 26 is lowered and the stopper 25 is opened, and the excavators 24 and 24a are left open in the vertical direction, thereby allowing the inside of the collector 17 to be opened. Since the water passes, the collector 17 reaches the bottom of the water while sinking smoothly, and eventually the excavators 24 and 24a pierce the bottom of the bottom of the water by weight (FIG. 6).

この突き刺った状態で開閉ワイヤー１１をウインチ１０で引き上げると、取付軸２６が上昇し、栓体２５が栓シート２０に密着して閉塞すると同時にアーム２４ｂによりショベル２４、２４ａが土砂を掻き集めるようにして外筒１８内に採集し、外筒１８の底部を閉じる（図７）。   When the open / close wire 11 is pulled up with the winch 10 in this pierced state, the mounting shaft 26 is raised, and the plug body 25 is in close contact with the plug sheet 20 and is simultaneously closed. Thus, it collects in the outer cylinder 18, and closes the bottom part of the outer cylinder 18 (FIG. 7).

この状態で昇降ワイヤー９と開閉ワイヤー１１を捲き揚げることにより採集器１７が水上に現われるので、あとはクレーン３を１８０°旋回させて採集器１７を船上に置き、そのままラジコンボート１を操作して陸上の基地のところに帰還させる。   In this state, the collector 17 appears on the water by lifting the lifting and lowering wires 9 and 11, and then the crane 3 is turned 180 ° to place the collector 17 on the ship, and the radio controlled boat 1 is operated as it is. Return to the land base.

次に、採水作業について説明する。採水器２９の吊設ワイヤー３８のフック３８ａを昇降ワイヤー９に連結し、上下動軸３５を開閉ワイヤー１１に連結するのは上記採集器１７の場合と同じである。   Next, the water sampling operation will be described. The hook 38 a of the suspension wire 38 of the water sampler 29 is connected to the lifting wire 9 and the vertical movement shaft 35 is connected to the opening / closing wire 11 as in the case of the collector 17.

また、採水ポイントと水深もあらかじめ測定しておくことにより、それぞれのワイヤー９、１１の長さを陸上で設定しておく点も同じである。   Moreover, the point which sets the length of each wire 9 and 11 on land by measuring a water-collecting point and water depth beforehand is also the same.

なお、本実施例１では、陸上において筒体３０内に水を入れ、栓体３６、３７を図９に示すよう閉じて水を封じ、この水の重さを利用して採水器２９を水中に降下させているが、採水器２９がある程度重い場合には必ずしもこの水の封入の必要はない。 In the first embodiment, putting water into the cylindrical body 30 in the land, to close as shown in FIG. 9 sealed the water plug 37, a water sampler 29 by utilizing the weight of the water Although it is lowered into the water, it is not always necessary to enclose the water when the water sampler 29 is somewhat heavy.

ラジコンボート１がポイントに到達すると、開閉ワイヤー１１を弛めてボールバルブ３６、３７を開き、昇降ワイヤー９を上下に揺らすことにより筒体３０内の水を水中に排出し、その上でポイントの水を筒体３０内に流入させて（入れ替えさせて開閉ワイヤー１１を引いて）ボールバルブ３６、３７を閉じることにより採水を終る。この採水状態を図９に示す。 When RC boat 1 reaches the point, open the ball valve 36 and 37 are loosened the closing wires 11, by swinging the lifting wires 9 and below the cylindrical body 30 water is discharged into water, the point at thereon Water sampling is terminated by closing the ball valves 36 and 37 by causing water to flow into the cylindrical body 30 (by switching and pulling the opening and closing wire 11). This water sampling state is shown in FIG.

以上の採水が終るとウインチ８を駆動して昇降ワイヤー９を引き上げることにより採水器２９を採集器１７と同じようにラジコンボート１上に置き、ラジコンボート１を陸上の基地に帰還させる。   When the above water sampling is completed, the winch 8 is driven and the lifting wire 9 is pulled up to place the water sampler 29 on the radio control boat 1 in the same manner as the collector 17 and the radio control boat 1 is returned to the land base.

このようにしてラジコンボート１がポイントまで移動して帰還するまでの動作及びウインチ９、１０及び採集器１７と採水器２９の動作は、すべて陸上においてリモコンを作業員が操作することによりラジコンボート１上の制御器２を介して自動制御で行われる。   The operation until the radio controlled boat 1 moves to the point and returns and the operations of the winches 9, 10 and the collector 17 and the water collector 29 are all performed by the operator operating the remote control on land. This is performed by automatic control via the controller 2 on the No. 1.

なお、採集器１７及び採水器２９は、好ましくはステンレス等の防錆金属製とすることが必要であるが、条件によってはガラス製としても良い。   The collector 17 and the water collector 29 are preferably made of a rust-proof metal such as stainless steel, but may be made of glass depending on conditions.

本実施例２は、水中カメラ５０で水中撮影する場合であって、請求項３に記載した発明に対応する。   The second embodiment is a case where underwater shooting is performed with the underwater camera 50, and corresponds to the invention described in claim 3.

この水中カメラ５０を用いて行う水中の観察は、図１、図４に示すように昇降ワイヤー９に水中カメラ５０を取り付けると共に水中カメラ５０のコード５１は別に船上に設けた電動リール４２を用いて延長又は捲き取り、この捲き取ったカメラコード５１は船上において前記電動リール５２の下に置いたコード収納箱１６内に自重で落下させて収納する。   Underwater observation using the underwater camera 50 is performed by attaching an underwater camera 50 to the lifting wire 9 as shown in FIGS. 1 and 4 and using an electric reel 42 provided on the ship with a cord 51 of the underwater camera 50 separately. The extended or scraped camera cord 51 is dropped and stored in the cord storage box 16 placed under the electric reel 52 on the ship by its own weight.

カメラコード５１は、この自然落下に際し、自身の弾性により箱１６内において自然ととぐろ巻き状になる。   When the camera cord 51 is naturally dropped, the camera cord 51 is naturally wound in the box 16 due to its elasticity.

なお、水中カメラ５０は、単独で用いても良いし、前記採集器１７又は採水器２９と併せて用いても良い。   The underwater camera 50 may be used alone or in combination with the collector 17 or the water collector 29.

また、前記カメラコード５１は陸上のモニターにアンテナ２ａを介して無線で結ばれていると共にこのカメラコード５１には水中カメラ５０をリモコン操作する信号線が併設されている。   The camera code 51 is wirelessly connected to a land monitor via an antenna 2a, and the camera code 51 is provided with a signal line for remote-controlling the underwater camera 50.

１ ラジコンボート
２ 制御器
３ クレーン
４ アーム
８・１０ ウインチ
９ 昇降ワイヤー
１１ 開閉ワイヤー
１７ 採集器
２４、２４ａ ショベル
２５ 栓体
２９ 採水器
３６・３７ ボールバルブ
５０ 水中カメラ
５１ カメラコード DESCRIPTION OF SYMBOLS 1 Radio control boat 2 Controller 3 Crane 4 Arm 8/10 Winch 9 Lifting wire 11 Opening / closing wire 17 Collector 24, 24a Excavator 25 Plug body 29 Sampler 36/37 Ball valve 50 Underwater camera 51 Camera cord

Claims (3)

ａ．陸上からのリモコンによる遠隔操作で操船されるラジコンボートと、
ｂ．前記ラジコンボート上に設置されていると共に地上からの遠隔操作でアームの上下運動と旋回運動が制御されるクレーンと、
ｃ．外筒の下端において、垂直から互いに対向する方向に閉じて前記外筒の下端を閉塞することができるショベルを開閉自在に取り付けると共に前記外筒の天板の中央に開口部を形成し、この開口部に断面ハ字状の栓シートを形成すると共に、この栓シートに下方から接して密閉する栓体を外筒内に組み込み、この栓体の下部から延長してその先端を前記ショベルの内側に形成したアームに連結し、前記栓体が上昇して栓シートに密着するのに連動して前記アームによりショベルを内方に回転させて外筒の下端を閉じ、栓体が下降して栓シートを開放するのに連動して外筒の下端を開放するショベル開閉軸で構成された土砂採集器と、
ｄ．筒体の上部と下部の開口部をそれぞれ天板と底板で覆い、この天板と底板の中央部にそれぞれ断面ハ字状のボールシートを形成すると共に前記天板と底板のボールシートを経由して筒体内を貫通し、かつ上下動自在にシャフト挿入し、このシャフトの下端側であって、前記筒体の外に位置する部分とシャフトの上端側であって、前記筒体の内側に位置する部分にそれぞれボールバルブを取り付けてシャフトを上昇させると天板と底板のボールシートに下方から同時に接してそれぞれを閉塞し、シャフトを下降させるとボールバルブがボールシートから離れて天板と底板のボールシートをそれぞれ同時に開放する開閉機構を組み込んで成る採水器と、
ｅ．前記土砂採集器の外筒又は採水器の筒体の上部に先端が連結自在であって、前記クレーンのアームの先端に取り付けられた一つのガイドリングを経由して前記ラジコン船上に延長された土砂採集器又は採水器昇降用の昇降ワイヤーの捲き揚げ又は下降を制御する昇降ウインチと、
ｆ．前記土砂採集器の栓体又は採水器のシャフトの上端に先端が連結自在であって、前記クレーンのアームの先端に取り付けられたガイドリングとは別のガイドリングを経由して前記ラジコン船上に延長された土砂採集器又は採水器の栓体及びショベル又はボールバルブを開閉する開閉用ワイヤーの捲き揚げ又は下降を制御する開閉ウインチと、
ｇ．陸地からの信号を受けて前記ラジコンボートを操船し、かつ前記クレーン及び昇降ウインチ並びに開閉ウインチを自動制御するラジコン船上に搭載された制御器と、
ｈ．から成ることを特徴とする水中環境無人調査船。 a. A radio controlled boat that is operated by remote control from the land,
b. A crane that is installed on the radio-controlled boat and whose arm's vertical movement and turning movement are controlled by remote control from the ground;
c. At the lower end of the outer cylinder, an excavator that can be closed from the vertical in a direction facing each other and close the lower end of the outer cylinder is attached to be freely opened and closed, and an opening is formed at the center of the top plate of the outer cylinder. A plug sheet having a cross-sectional shape is formed in the section, and a plug body that is in contact with the plug sheet from below is sealed in the outer cylinder, and is extended from the lower part of the plug body so that its tip is located inside the shovel. Connected to the formed arm, the shovel is rotated inward by the arm and the lower end of the outer cylinder is closed by the arm as the plug body rises and comes into close contact with the plug sheet, and the plug body descends and the plug sheet is lowered. An earth and sand collector composed of a shovel opening and closing shaft that opens the lower end of the outer cylinder in conjunction with opening the
d. The upper and lower openings of the cylindrical body are covered with a top plate and a bottom plate, respectively, and a ball sheet with a cross-sectional shape is formed at the center of the top plate and the bottom plate, respectively, and the ball sheets of the top plate and the bottom plate are passed through. The shaft is inserted into the cylinder so as to freely move up and down, and the lower end side of the shaft is located on the outside of the cylinder and the upper end side of the shaft and is located on the inner side of the cylinder. When the ball valve is attached to each part and the shaft is raised, the top and bottom plate ball seats are simultaneously contacted from below to close each other, and when the shaft is lowered, the ball valve separates from the ball seat and the top plate and bottom plate A water sampler incorporating an opening and closing mechanism for simultaneously opening the ball seats,
e. The tip is freely connectable to the outer cylinder of the earth and sand collector or the cylinder of the water collector, and is extended onto the radio control ship via one guide ring attached to the tip of the arm of the crane. A lifting winch that controls the lifting or lowering of the lifting wire for lifting the earth and sand collector or the water collector;
f. A tip is freely connectable to the upper end of the shaft of the earth and sand collector or the shaft of the water collector, and on the radio controlled ship via a guide ring different from the guide ring attached to the tip of the arm of the crane. An open / close winch that controls the lifting or lowering of the open / close wire that opens and closes the plug and the excavator or ball valve of the extended earth and sand collector or water collector;
g. A controller mounted on the radio control ship for operating the radio control boat in response to a signal from the land and automatically controlling the crane, the lifting winch and the opening / closing winch;
h. An underwater environment unmanned research vessel characterized by comprising: 前記クレーンのアームの先端に前記ガイドリング以外に更にカメラコード用ガイドリングを取り付けてこのガイドリングを経由してカメラコードを水中カメラまで延長し、先端を該水中カメラに接続すると共に前記ラジコンボート上にはカメラコード捲取機を備え、かつ前記アームのガイドリングを経由して水中カメラ吊設ワイヤーを延長して水中カメラに結び、この水中カメラの電動リールをラジコン船上に備え、かつ前記制御器により陸地からの信号を受けて水中カメラの操作と電動リールを制御するように構成して成ることを特徴とする請求項１に記載の水中環境無人調査船。 In addition to the guide ring, a camera cord guide ring is attached to the tip of the crane arm, the camera cord is extended to the underwater camera via the guide ring, the tip is connected to the underwater camera, and the radio control boat Is equipped with a camera cord take-off machine, and an underwater camera suspension wire is extended through the guide ring of the arm to be connected to the underwater camera. An electric reel of the underwater camera is provided on the radio control ship, and the controller The underwater environment unmanned research ship according to claim 1, wherein the underwater environment unmanned research ship is configured to receive a signal from the land and control the operation of the underwater camera and the electric reel. 前記水中カメラを用いての水中撮影に併せて土砂採集器又は採水器を制御して土砂採集又は採水を同時に行うことができるように構成して成ることを特徴とする請求項１又は２に記載の水中環境無人調査船。 3. The soil and sand collecting device or the water sampling device is controlled in conjunction with the underwater photography using the underwater camera, and the soil and sand collecting or water sampling can be performed simultaneously. Underwater environment unmanned research vessel described in 1.
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