JP6942972B2 - Underwater search method and underwater search system - Google Patents

Description

The present invention relates to an underwater search method and an underwater search system used to search for an object in water using an underwater vehicle.

An autonomous underwater vehicle called AUV (Autonomous Underwater Vehicle) or UUV (Unmanned Underwater Vehicle) may be used to search for natural objects in water or objects artificially installed in water. Has been done.

An underwater information gathering system has been conventionally proposed for searching for an underwater object submerged in the bottom of a water using an underwater vehicle (see, for example, Patent Document 1).

In this underwater information collection system, the underwater vehicle is configured to include a CCD camera, an underwater acoustic camera, and a side scan sonar as means for collecting underwater information. In addition, when searching for a search target that is an object using an underwater vehicle, the underwater vehicle observes the bottom of the water while moving in the water, and when the search target is found, the underwater vehicle is used. , It is supposed that the underwater vehicle will return to its original movement route after approaching that position and collecting more detailed information on the search target.

Japanese Unexamined Patent Publication No. 2010-139270

However, in the method shown in Patent Document 1, when a search target is found at a position deviated from the movement route while moving along the movement route, the underwater vehicle is placed at the position where the search target is found each time. It is necessary to sail off the movement path in order to approach.

In addition, the underwater vehicle moves along the movement route from the time when the underwater information collecting means collects the underwater information to the time required for the processing from the time when the search target is found by the analysis of the collected data. Therefore, when the underwater vehicle heads for the location where the search target is found, it is necessary to move in the direction of returning from the movement route. Therefore, when the underwater vehicle is a cruising type, it is necessary to make a turn, and in order to make the turn, it may be necessary to control the speed by lowering the cruising speed.

Furthermore, when the underwater vehicle deviates from the movement path, the detection range of the underwater information collecting means provided in the underwater vehicle also deviates from the position based on the movement path, so that the underwater vehicle returns to the original movement path. Occasionally, it is necessary to appropriately control the position at which the underwater vehicle returns to the movement path and the navigation direction when the underwater vehicle returns so that the detection range of the underwater information collecting means along the movement path is not interrupted.

Therefore, when searching for a search target by the method shown in Patent Document 1, if the search target is found while moving along the movement path of the underwater vehicle, the course change or speed change is interrupted. In addition, it is necessary to obtain and control the control amount of the course and speed on the spot according to the discovery position of the search target, so that the efficiency of movement of the underwater vehicle is reduced. Therefore, the search method shown in Patent Document 1 is inefficient in searching the search target.

Moreover, Patent Document 1 discloses a plurality of types of underwater information collecting means such as a CCD camera, an underwater acoustic camera, and a side scan sonar, but these simply collect underwater information as an image. It is only shown as, and there is no idea to use it properly in order to search the search target efficiently.

Therefore, the present invention is intended to provide an underwater search method and an underwater search system capable of efficiently finding a target object from a search range.

In order to solve the above-mentioned problems, the present invention provides a navigation process for causing an underwater vehicle to navigate in a search range of an object according to a movement route, and the underwater vehicle during the navigation process. Of the first information collecting means and the second information collecting means having different information collecting ranges, the first information collecting means having a larger information collecting range than the second information collecting means is used. The process of collecting information in water, the process of extracting an object similar to an object as an object candidate based on the information collected by the first information collecting means, and the position of the object candidate as the center. The process of setting the re-search area and setting the re-search course in the re-search area, causing the underwater vehicle to navigate according to the re-search course, and collecting information by the second information collecting means. It is an underwater search method that performs the processing to be performed and the processing to display the information collected by the underwater vehicle by the second information collecting means on the display unit of the control station.

The re-search course is set so that the entire surface of the re-search area can be scanned within the information collection range of the second information collecting means.

The underwater vehicle is to be calibrated for the position detecting means provided on the underwater vehicle after the navigation process of navigating along the movement route in the search range and before the start of the navigation according to the re-search course. It is set to.

In the re-search area, the standard deviation regarding the error included in the detection result of the position of the target object candidate based on the information collected by the first information collecting means is σ, and the detection position of the target object candidate is the center. It is set in a region with a radius of 3σ.

The process of displaying the target object candidate extracted based on the information collected by the first information collecting means on the display unit of the control station, and the target object candidate for which the control station collects detailed information Once designated, there is a method of setting a re-search area centered on the position of the designated target candidate and setting a re-search course in the re-search area.

There is a method of using an acoustic image sensor as the first information collecting means and using an optical image sensor as the second information collecting means.

Further, the underwater vehicle includes an underwater vehicle and a control station, and the underwater vehicle includes a position detecting means, a propulsion steering means, a control device, a first information collecting means and a second information collecting means having different information collecting ranges. The control station includes an information collecting means and a communication device, and the control station includes a communication device that communicates with the underwater vehicle and a display unit that displays information on the target object candidate. At least one of the control stations is provided with means for performing a process of extracting an object similar to the target object as a target object candidate based on the information collected by the first information collecting means, and the underwater vehicle or the said. At least one of the control stations is provided with a re-search setting unit for setting a re-search area centered on the position of the extracted target object candidate and setting a re-search course in the re-search area, and further, the water. The medium navigating body travels in the search range of the target object according to the movement route, has a function of collecting underwater information by using the first information collecting means, and travels according to the re-search course, and also has the first information collecting means. The underwater search system includes a function of collecting information using the information collecting means of 2 and a function of transmitting the information collected by the second information collecting means to the control station.

According to the underwater search method and the underwater search system of the present invention, the target object can be efficiently found from the search range.

It is a schematic diagram which shows the 1st Embodiment of the underwater search system. It is a flow chart which shows the underwater search method performed using the underwater search system of FIG. It is a schematic diagram which shows the movement route of the underwater vehicle set in the search range of a target object. It is a schematic diagram which shows the state which the information of the target object candidate is collected by the information collecting means provided in the underwater vehicle. It is a schematic diagram which shows the re-search area and the re-search course. It is a schematic diagram which shows the re-search area and the re-search course. It is a schematic diagram which shows the state which the target object candidate is displayed on the display part in the control station in the underwater search system. It is a schematic diagram which shows the state which the image of the target object candidate collected by an optical camera is displayed on the display part. It is a schematic diagram which shows the application example of 1st Embodiment of an underwater search system. It is a flow chart which shows the underwater search method performed using the underwater search system of FIG. It is a schematic diagram which shows the 2nd Embodiment of the underwater search system. It is a flow chart which shows the underwater search method performed using the underwater search system of FIG. It is a schematic diagram which shows the 3rd Embodiment of the underwater search system. It is a flow chart which shows the underwater search method performed using the underwater search system of FIG. It is a schematic diagram which shows the application example of the 3rd Embodiment of an underwater search system. It is a schematic diagram which shows the 4th Embodiment of the underwater search system. It is a flow chart which shows the underwater search method performed using the underwater search system of FIG.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.

[First Embodiment]
FIG. 1 is a schematic view showing a first embodiment of an underwater search system. FIG. 2 is a flow chart showing an underwater search method performed by using the underwater search system of FIG. FIG. 3 shows the movement route of the underwater vehicle set in the search range of the target object, FIG. 3 (a) is a schematic view showing the entire search range, and FIG. 3 (b) is one of the search ranges. It is a figure which shows the part enlarged. FIG. 4 is a schematic view showing a state in which information on a target target candidate is collected by a side scan sonar provided in the underwater vehicle. FIG. 5 is a schematic diagram showing an example of a re-search course set in the re-search area. FIG. 6 is a schematic diagram showing another example of the re-search course set in the re-search area. FIG. 7 shows a state in which the target object candidate is displayed on the display unit at the control station in the underwater search system, and FIG. 7A shows a state in which the image of the entire search range is displayed on the display unit. The schematic diagram, FIG. 7B, is a schematic diagram of a state in which a part of the image of the search range is displayed on the display unit. FIG. 8 is a schematic view showing a state in which an image of a target object candidate collected by an optical camera is displayed on a display unit.

The underwater search system of the present embodiment is shown in FIG. 1, and has a configuration including an underwater navigation body 1 and a control station 2 that remotely controls the navigation of the underwater navigation body 1.

The underwater vehicle 1 is used as a communication device with a position detecting means 3, a propulsion steering means 4, a control device 5, a first information collecting means 6 and a second information collecting means 7 having different information collecting ranges, and a communication device. It is configured to include the acoustic communication device 8 of the above. The position detecting means 3, the propulsion steering means 4, the information collecting means 6 and 7, and the acoustic communication device 8 are connected to the control device 5.

The position detecting means 3 has a function of detecting the position of the own machine of the underwater vehicle 1. The position of the own aircraft of the underwater vehicle 1 detected by the position detecting means 3 may be, for example, three-dimensional coordinates relating to latitude, longitude and depth in the earth coordinates. Although not shown, the position detecting means 3 has, for example, a configuration including an inertial navigation system or a configuration including an inertial navigation system and a Doppler velvet.

Further, the position detecting means 3 has a function of detecting the direction and attitude of the underwater vehicle 1's own aircraft.

The propulsion steering means 4 has a function of propulsion and steering of the underwater vehicle 1. The propulsion steering means 4 may have, for example, a configuration including a main thruster (not shown) provided on the rear end side of the underwater vehicle 1 and a rudder, and the configuration may be either a side thruster or a vertical thruster. It may be a configuration in which one or both are added. Further, if the propulsion steering means 4 can propel and steer the underwater vehicle 1, the thruster equipped on the underwater vehicle 1 so that the angle can be changed and the amount of propulsive force generated can be individually generated. It goes without saying that various types of propulsion steering means 4 conventionally mounted or proposed on the underwater vehicle 1 may be adopted, such as a configuration including a set of a plurality of adjustable thrusters.

In the first information collecting means 6 and the second information collecting means 7, the information collecting range of the first information collecting means 6 is relatively larger than the information collecting range of the second information collecting means 7. It has a relationship of becoming large. In this case, the size of the information collection range is the size of the range in which effective information can be collected, or the size of the area in which information can be collected per unit time.

Further, in the first information collecting means 6 and the second information collecting means 7, the second information collecting means 7 is relatively more detailed than the first information collecting means 6 in terms of the object. It has a relationship that it has the property of being able to collect various information.

Generally, when identifying an object, it is effective to make a judgment based on visual information such as the shape and appearance of the object. Also, in general, the attenuation of light in water is larger than the attenuation of sound.

In consideration of these points, in the present embodiment, the first information collecting means 6 is an information collecting means in a form of obtaining information on an object by using a sound wave including ultrasonic waves, and the second information collecting means 7 is , It is an information gathering means in the form of obtaining information on an object using light.

As a specific example, the first information collecting means 6 is, for example, a side scan sonar which is an acoustic image sensor. The second information collecting means 7 is, for example, an optical camera which is an optical image sensor. In the following, for convenience, the side scan sonar is designated by the same reference numeral 6 as that of the first information collecting means 6, and the optical camera is designated by the same reference numeral 7 as that of the second information collecting means 7. explain.

Further, the optical camera 7 is provided with a lighting means 9 such as an underwater light that irradiates light toward the photographing area 7a (see FIGS. 5 and 6), which is the information collection range of the optical camera 7. It is said that.

When the movement path 11 is set in the search range 10 of the target object (see FIG. 3A), the control device 5 is the current own machine of the underwater vehicle 1 acquired from the position detecting means 3. It has a function of giving a command (control input) for the own aircraft to sail along the movement path 11 to the propulsion steering means 4 based on the information on the position of the aircraft and the information on the orientation and attitude of the own aircraft. Further, the control device 5 has a function of issuing a command to turn on the side scan sonar 6 when the own aircraft travels along the movement path 11.

Further, the control device 5 in the present embodiment is configured to include a re-search setting unit 12.

When the re-search setting unit 12 receives a command from the control station 2 regarding the instruction of the target candidate 13 (see FIGS. 4 and 7 (b)) for which detailed information is desired to be collected, the re-search setting unit 12 is shown in FIGS. 5 and 6. As shown, it has a function of setting a re-search area 14 centered on the coordinates of the position of the instructed target object candidate 13 and setting a re-search course 15 in the re-search area 14.

The reason why the re-search setting unit 12 sets the re-search area 14 and the re-search course 15 in this way is as follows.

That is, the inertial navigation system provided in the position detecting means 3 of the underwater navigation body 1 has a property that an error is accumulated as the navigation time of the underwater navigation body 1 elapses in water.

The information collected by the side scan sonar 6 of the underwater vehicle 1 is used for detecting the position of an object in the water by image processing by the image processing unit 19 provided on the control station 2 side, as will be described later. At this time, in the process of detecting the position of the object, the information on the position of the underwater vehicle 1 detected by the position detecting means 3 at the time of collecting the information by the side scan sonar 6 is also used.

By the way, the target object candidate 13 is extracted as an object similar to the target object from the object whose position is obtained by the image processing unit 19. Therefore, the detection result for the position of the target object candidate 13 includes an error caused by an error accumulated in the inertial navigation system when the information is collected by the side scan sonar 6.

Further, the accuracy of the detection result of the position of the target object candidate 13 by the image processing unit 19 is also affected by the resolution of the image used when the image processing unit 19 performs the image processing.

Therefore, the position of the target candidate 13 that is known at the time when the control device 5 receives the command regarding the instruction of the target candidate 13 for which detailed information is to be collected from the control station 2 is the purpose including the above error. This is the detection position of the object candidate 13.

In this case, depending on the magnitude of the error included in the detection position of the target candidate 13, even if the underwater vehicle 1 is arranged with the detection position of the target candidate 13 as the target, the position of the underwater vehicle 1 May deviate from the actual position of the target candidate 13.

Therefore, in the present embodiment, even if the re-search setting unit 12 includes an error in the detection position of the target object candidate 13, the actual position of the target object candidate 13 is included with the detection position as the center O. A conceivable range is set as the re-search area 14, and a re-search course 15 that scans the re-search area 14 over the entire surface is set. As a result, the probability that the underwater vehicle 1 traveling along the re-search course 15 approaches the actual position of the target candidate 13 is improved.

It should be noted that the error accumulated in the inertial navigation system according to the passage of the underwater navigation time of the underwater navigation body 1 and the error included in the detection result of the position of the object by the image processing by the image processing unit 19 are the errors of the equipment to be used. It is known from the performance or can be estimated from the test results.

Therefore, in the present embodiment, the re-search setting unit 12 has a radius of 3σ from the center O as shown in FIGS. 5 and 6 with the standard deviation regarding the error included in the detection result of the position of the target object candidate 13 as σ. The area is set to the re-search area 14. In this case, the probability that the actual position of the target candidate 13 is included in the re-search area 14 is about 99.7%, so that the underwater navigation that runs along the re-search course 15 set in the re-search area 14 It is almost certain that the body 1 approaches the actual position of the target candidate 13.

Further, the re-search setting unit 12 is capable of scanning the entire surface of the re-search area 14 by the photographing area 7a of the optical camera 7 equipped in the underwater vehicle 1 as a second information collecting means. The movement route of the body 1 is obtained, and the movement route is set as the re-search course 15.

The re-search course 15 may be, for example, a lost path as shown in FIG. 5 or a spiral path as shown in FIG.

Reference numerals 15a in FIGS. 5 and 6 indicate the start point of the re-search course 15, and reference numeral 15b indicates the end point of the re-search course 15.

In each of the re-search courses 15 shown in FIGS. 5 and 6, when the underwater vehicle 1 starts cruising along the re-search course 15 from the starting point 15a, the center O, that is, the target candidate 13 is promptly set. It is set to pass near the detection position. However, the arrangement of the re-search course 15 shown in FIGS. 5 and 6 is an example, and if the re-search area 14 can be scanned over the entire surface by the optical camera 7 of the underwater vehicle 1, other than those shown in the figure. Of course, the re-search course 15 may be set in any arrangement of.

Further, the underwater vehicle 1 is equipped with the optical camera 7 in an obliquely downward posture, and the photographing area 7a of the optical camera 7 can photograph a range along the radius of the re-search area 14 at once. In this case, the re-search course 15 may be set, for example, so that the underwater vehicle 1 makes an in-situ turn at a position above the center O of the re-search area 14.

Further, when the re-search setting unit 12 sets the re-search course 15 as described above, the control device 5 further obtains information on the current position of the underwater vehicle 1 of the underwater vehicle 1 acquired from the position detecting means 3. Further, it has a function of giving a command (control input) for the own aircraft to sail along the re-search course 15 to the propulsion steering means 4 based on the information of the orientation and the attitude of the own aircraft. Further, the control device 5 has a function of issuing a command to turn on the optical camera 7 and the lighting means 9 when the own aircraft sails along the re-search course 15.

The acoustic communication device 8 has a function of transmitting a status S and receiving a command C with the acoustic communication device 16 as a communication device provided in the control station 2 as a communication target.

In the present embodiment, the status S transmitted by the acoustic communication device 8 includes the information collected by the side scan sonar 6, the information collected by the optical camera 7, and the underwater vehicle 1 output from the control device 5. The position information and the orientation and attitude information of the underwater vehicle 1 are included.

In this embodiment, the control station 2 is equipped on the ship 17. The control station 2 is configured to include an acoustic communication device 16 and a control device 18 connected to the acoustic communication device 16. Although not shown, the ship 17 maintains a positional relationship in which the underwater vehicle 1 can communicate with the acoustic communication device 8 of the underwater vehicle 1 by the acoustic communication device 16 when the underwater vehicle 1 is navigating. It is assumed that it has a function of moving in such a manner, for example, a function of being able to follow the underwater vehicle 1 and navigate.

The acoustic communication device 16 has a function of receiving the status S and transmitting the command C with the acoustic communication device 8 of the underwater vehicle 1 as the communication target.

The command C transmitted by the acoustic communication device 16 includes a command regarding the navigation of the underwater vehicle 1 issued from the control device 18. The specific content of command C will be described later.

The control device 18 is configured to include an image processing unit 19, a display unit 20, and an input unit 21.

The display unit 20 is a display as shown in FIGS. 7 (a) and 7 (b) and 8 and is an image based on the image data processed by the image processing unit 19 as shown in FIGS. 7 (a) and 7 (b). As shown in FIG. 8, it has a function of displaying P1 and a function of displaying an image P2 based on the information collected by the optical camera 7 of the underwater vehicle 1. Note that FIGS. 7 (a) and 7 (b) and 8 show an example in which the image P1 and the image P2 are switched and displayed on the screen by the display unit 20, but for example, the screen of the display unit 20 is shown. The image P1 and the image P2 may be separately displayed in different divided sections on the screen by dividing the image into a plurality of sections. Alternatively, the display unit 20 may display a plurality of display areas (not shown) that can be freely resized and moved on the screen, and display the image P1 and the image P2 separately in different display areas on the screen. It may be.

The display unit 20 is shown as a rectangular shape in FIGS. 7 (a) and 7 (b) and FIG. 8, but this shape is an example, and a rectangular shape, a square shape, or a circular shape having an aspect ratio other than those shown in the drawing is an example. Of course, it may have any other shape. Further, it goes without saying that the display unit 20 may use a display of any display method.

The input unit 21 is for inputting to the control device 18, and is at least water among the target object candidates 13 in the image P1 displayed on the display unit 20 as shown in FIGS. 7A and 7B. It has a function of inputting a target candidate 13 for which detailed information is desired to be collected by the optical camera 7 of the middle cruiser 1.

Further, it is preferable that the input unit 21 also has a function of setting extraction conditions used when the image processing unit 19 performs a process of extracting an object similar to the target object, as will be described later. This extraction condition is information that is effective for identifying the target object, such as the shape and size of the target object, and information that is effective for distinguishing the target object from other objects.

Further, the input unit 21 may have a function of performing operations such as enlargement / reduction of the image P1 and the image P2 displayed on the display unit 20 and scrolling of the display range.

The input unit 21 having these functions includes at least one existing input device generally used as a computer input device, such as a keyboard, a touch panel integrated with the display unit 20, a mouse, and other pointing devices. It may be configured as such.

Since the side scan sonar 6 provided in the underwater vehicle 1 irradiates an acoustic beam and detects the reflected sound, an image (acoustic image) showing the position of an object in the water based on the detected reflected sound. ) Is required for image processing.

The image processing unit 19 performs this image processing, and the status S received by the acoustic communication device 16 and input to the control device 18 includes the information collected by the side scan sonar 6 of the underwater vehicle 1. If so, it has a function to perform image processing based on the information.

At this time, the image processing unit 19 obtains information on the position of the underwater vehicle 1 at the time of collecting information corresponding to the information collected by the side scan sonar 6 and the direction and attitude of the underwater vehicle 1 from the status S. Is acquired, and based on each acquired information, it has a function of generating image data about the shape of the bottom of the water and the position of an object existing on the bottom of the water, and outputting this image data to the display unit 20. The image displayed on the display unit 20 based on the function of the image processing unit 19 is the image P1 described above.

Further, the image processing unit 19 extracts an object similar to the target object in the image P1 displayed on the display unit 20 based on the information of the extraction conditions set, and sets the object as the target object candidate 13 as an image. It has a function to be specified in P1.

As a method for extracting an object similar to the target object in the image P1, for example, an arbitrary existing or conventionally proposed algorithm such as a pattern matching method or an image correlation method may be used.

When the information collected by the side scan sonar 6 is displayed as an image as it is, the image showing the shape of the water bottom on the right side of the position directly below the movement path 11 of the underwater vehicle 1 and the shape of the water bottom on the left side are displayed. A strip-shaped non-measurement region having a width of twice the altitude from the bottom of the underwater vehicle 1 is inserted between the image and the image shown. Therefore, in the image processing unit 19, the display unit 20 may display the image that has been processed to remove the band-shaped region. In this way, the display unit 20 can display the image P1 on the bottom of the water in a state of being continuous in the horizontal direction orthogonal to the traveling direction of the underwater vehicle 1. Therefore, in this case, since the coordinate axes of latitude and longitude of the image P1 displayed on the display unit 20 are not interrupted, it is easy to visually grasp the position of the specified target candidate 13 within the search range 10. Can be.

As a method of clearly indicating the target object candidate 13 on the display unit 20, for example, the target object candidate 13 may be displayed by being surrounded by a frame such as a circle or a square or a blinking frame. As long as the target object candidate 13 can be displayed so as to be distinguishable from other objects, it goes without saying that a method other than the above may be adopted as the method for clearly indicating the target object candidate 13.

In addition, the image processing unit 19 can obtain the coordinates of the position of the extracted target object candidate 13 in accordance with the process of extracting the target object candidate 13. Therefore, the image processing unit 19 has a function of displaying the coordinates of the position of the target object candidate 13 in the image P1 to be displayed on the display unit 20, and a scale for showing the actual size of the area or object displayed on the screen. It may be provided with a function of displaying (not shown). Further, the image processing unit 19 has a function of displaying the similarity with the target object calculated when extracting the target object candidate 13 in the image P1 to be displayed on the display unit 20 in correspondence with the target object candidate 13. May be provided.

When the display unit 20 displays the image P1 based on the image data processed by the image processing unit 19, the display unit 20 displays the image of the entire search range 10 on the screen as shown in FIG. 7A, and searches. Check the position and distribution of the target candidate 13 in the range 10, or enlarge the vicinity of the target candidate 13 on the screen as shown in FIG. 7B to check the outer shape and size of the target candidate 13. Can be done.

The image processing unit 19 may store the conditions for extracting the target object candidate 13 in advance, or the image processing unit 19 may display the image P1 on the display unit 20 from the input unit 21. The change of the extraction condition by input may be accepted. When the image processing unit 19 accepts the change of the extraction condition, the target candidate 13 corresponding to the extraction condition can be displayed in the image P1 displayed on the display unit 20 while changing the extraction condition. Therefore, in the image processing unit 19, the number of target candidate 13 displayed in the image P1 is increased by an operation such as changing the extraction conditions or changing the priority of each extraction condition when there are a plurality of extraction conditions. It can be adjusted so that it does not become too much or too little.

When the target candidate 13 for which detailed information is desired to be collected is designated from the target candidates 13 in the image P1 displayed on the display unit 20 by the input from the input unit 21, the control device 18 is an underwater vehicle. It has a function of issuing a command for instructing the coordinates of the position of the designated target object candidate 13 with respect to 1. This command is transmitted from the acoustic communication device 16 to the underwater vehicle 1 as a command C.

The underwater search method using the underwater search system of the present embodiment having the above configuration is carried out by the procedure shown in FIG.

First, when the search range 10 is set according to the search plan for the target object, the route setting unit (not shown) searches the entire search range 10 using the side scan sonar 6, and the movement path 11 of the underwater vehicle 1 is used. Is set (step S1). The route setting unit may be provided in the control device 18 of the control station 2, or may be provided in another device for route setting such as a computer.

As shown in FIG. 3A, the movement path 11 is, for example, a path in which the underwater vehicle 1 reciprocates along the first direction among the two directions intersecting in the plane with respect to the search range 10. Is set in the so-called comb-shaped movement path 11 which is sequentially shifted and arranged in the second direction. In the present embodiment, the first direction and the second direction are arranged so as to be orthogonal to each other. Further, as shown in FIG. 3B, the distance to be shifted in the second direction is a band shape by the side scan sonar 6 when the underwater vehicle 1 is navigating one route along the first direction. The information collection area and the strip-shaped information collection area by the side scan sonar 6 when navigating an adjacent route are set to overlap with each other by a set dimension.

The setting of the movement route 11 may be based on, for example, a waypoint file, or another route conventionally adopted or proposed for autonomous navigation of the underwater vehicle 1 following a predetermined route. It may be due to the setting method.

The set movement path 11 is given as a command to the control device 5 of the underwater vehicle 1. Further, the control device 5 of the underwater vehicle 1 is also instructed to turn on the side scan sonar 6 when the underwater vehicle 1 moves on the movement path 11.

These commands to the control device 5 of the underwater vehicle 1 are, for example, given by a wired connection when the underwater vehicle 1 is on board or on land, or by communication via an acoustic communication device 8. do it.

Next, the underwater vehicle 1 is started to sail. As a result, the underwater vehicle 1 sails toward the start point of the movement path 11 in the search range 10, and then travels along the movement path 11 in the search range 10 as shown in FIG. 3A. I do. At this time, in the underwater vehicle 1, the side scan sonar 6 is turned on by the command of the control device 5 as the navigation along the movement path 11 starts. As a result, as shown in FIG. 4A, the underwater vehicle 1 is traveling along the movement path 11 and is located below the movement path 11 in the search range 10 by the side scan sonar 6. Information is collected (step S2).

The information collected by the side scan sonar 6 of the underwater vehicle 1 is the status together with the position information of the underwater vehicle 1 output from the control device 5 and the direction and attitude information of the underwater vehicle 1. As S, the information is sequentially transmitted to the control device 18 of the control station 2 by communication via the acoustic communication device 8 and the acoustic communication device 16 (step S3).

When the underwater vehicle 1 finishes cruising along the movement path 11 in the search range 10, the propulsion steering means 4 is stopped and drifts until a command from the control station 2 is received in step S7 described later. When the vehicle moves a set distance due to this drift, it is controlled to return to the original position, a fixed point is held on the spot or at a set position, or a turning cruise is performed in a set area to enter a standby state. .. Further, the control device 5 gives a command to the side scan sonar 6 to turn off when the underwater vehicle 1 finishes traveling along the movement path 11 in the search range 10.

When the underwater vehicle 1 finishes cruising along the movement path 11 in the search range 10, the control device 18 processes the information collected by the side scan sonar 6 in the image processing unit 19 in the control station 2. The target object candidate 13 similar to the target object is extracted (step S4), and as shown in FIGS. 7A and 7B, the image P1 including the target object candidate 13 is displayed on the display unit 20 (step S5). ..

Next, the control station 2 designates the target candidate 13 for which detailed information is desired to be collected by the optical camera 7 of the underwater vehicle 1 (step S6).

In the process of step S6, for example, an operator (not shown) confirms the target object candidate 13 on the image P1 displayed on the display unit 20, selects the target object candidate 13 that seems to be the target object, and details the target object candidate 13. The input unit 21 may specify the target object candidate 13 for which information is to be collected.

The reason why the operator performs the process of designating the target object candidate 13 for which the detailed information is to be collected based on the image P1 displayed on the display unit 20 in step S6 is as follows.

That is, in the process of extracting the target object candidate 13 similar to the target object by the image processing in the image processing unit 19, only the determination based on the set extraction conditions is performed. However, since the information collected by the side scan sonar 6 contains an error, if the extraction conditions are set too strictly, there is a possibility that the target object will not be included in the target object candidate 13. In addition, some of the objects that have a high degree of similarity to the extraction conditions and are extracted as the target object candidate 13 by the image processing unit 19 are clearly different from the target object when considering conditions other than the set extraction conditions. It may have been.

Therefore, at present, the image processing unit 19 sets the extraction conditions of the target object candidate 13 to a certain extent, and the operator truly considers the target object candidate 13 among the target object candidates 13 extracted based on the extraction conditions. The process of determining what is possible and what is not is effective.

In the future, if it becomes possible to let the computer learn the judgment criteria and judgments of the selection performed when the operator specifies the target object candidate 13 as described above, or to digitize and automatically process the above. Of course, the process of step S6 may be automatically performed by the control device 18 of the control station 2.

When the target object candidate 13 for which detailed information is to be collected is designated in step S6, the control device 18 optically transfers the coordinates of the position of the designated target object candidate 13 to the underwater vehicle 1. A command is issued as a position (detection position) of the target object candidate 13 to be photographed by the camera 7 (step S7). This command is sent as command C to the control device 5 of the underwater vehicle 1 by communication via the acoustic communication device 16 and the acoustic communication device 8.

In the underwater vehicle 1, when the control device 5 receives the command C, the re-search setting unit 12 of the control device 5 shows in FIGS. 5 and 6 with the position of the designated target candidate 13 as the center O. Such a re-search area 14 and a re-search course 15 are set (step S8).

When the re-search area 14 and the re-search course 15 are set in this way, in the underwater vehicle 1, the control device 5 moves the own aircraft to the start point 15a of the re-search course 15, and then re-searches from the start point 15a. A command (control input) for navigating to the end point 15b along the search course 15 is given to the propulsion steering means 4. Further, the control device 5 turns on the optical camera 7 and the lighting means 9 when the underwater vehicle 1 starts sailing on the search course 15.

As a result, as shown in FIGS. 5 and 6, the underwater vehicle 1 navigates the re-search area 14 along the re-search course 15, and collects detailed information by taking a picture of the optical camera 7. (Step S9). When the underwater vehicle 1 sails along the re-search course 15, it is almost certain that the underwater vehicle 1 approaches the actual position of the target candidate 13. Therefore, the information collected by the optical camera 7 provided in the underwater vehicle 1 almost certainly includes an image of the designated target candidate 13 taken.

The underwater vehicle 1 transmits the information collected by the optical camera 7 in step S9 to the control device 18 of the control station 2 by communication via the acoustic communication device 8 and the acoustic communication device 16 as the status S. (Step S10). The underwater vehicle 1 may sequentially perform the process of transmitting the information collected by the optical camera 7 to the control device 18 of the control station 2 while navigating the re-search course 15. It may be performed collectively after the cruising of the search course 15 is completed.

Further, the underwater vehicle 1 stores information for identifying the target object such as the shape and size of the target object in the control device 5 or the like, and considers the underwater vehicle 1 to be the target object during the navigation of the re-search course 15. When the target object candidate 13 is captured in the photographing area 7a of the optical camera 7, the cruise along the re-search course 15 may be terminated there. In this case, the underwater vehicle 1 further keeps a fixed point in the vicinity of the discovered target candidate 13 and starts orbiting to collect further information about the target candidate 13. May be good.

The control device 5 gives a command to the optical camera 7 to turn it off when the underwater vehicle 1 finishes cruising along the re-search course 15 and exits the re-search area 14.

As a result, in the control station 2, as shown in FIG. 8, the control device 18 displays the image P2 based on the information collected by the optical camera 7 on the display unit 20 (step S11). Therefore, the display unit 20 can display the image P2 relating to the target object candidate 13 designated in step S6.

Therefore, in the control station 2, an operator (not shown) observes and examines the image of the target object candidate 13 displayed on the display unit 20, and determines whether or not the target object candidate 13 is a true target object. be able to.

After that, the control station 2 determines whether or not there is another target candidate 13 for which detailed information is desired to be collected by the optical camera 7 of the underwater vehicle 1 (step S12), and another object for which detailed information is desired to be collected. If there is a target object candidate 13 of the above, the process returns to step S6, the processes from step S6 to step S11 for collecting detailed information on the other target object candidate 13 are performed, and then the process of proceeding to step S12 is performed again. implement.

As a result, in the control station 2, an operator (not shown) photographed all the target candidate 13s designated as the target for collecting detailed information among the target candidates 13 displayed on the display unit 20 with the optical camera 7. By observing and examining the image, it is possible to sequentially determine whether or not the target object candidate 13 is a true target object.

On the other hand, if the control station 2 determines in step S12 that there is no other target candidate 13 for which detailed information is desired to be collected, the underwater search method is terminated.

As described above, according to the underwater search method and the underwater search system of the present embodiment, the side scan sonar 6 collects information while the underwater vehicle 1 is navigating along the movement path 11 in the search range 10 of the target object. Then, the target candidate 13 is extracted based on the result, and then the underwater vehicle 1 is navigated so as to approach the actual position of the designated target candidate 13, and the details of the target candidate 13 are obtained. Information can be collected by the optical camera 7, and it can be determined whether the target object candidate 13 is a true target object based on the image obtained as a result.

Therefore, in the underwater search method and the underwater search system of the present embodiment, the underwater vehicle 1 is required by the method shown in Patent Document 1 when navigating the search range 10 according to the movement route 11. It is possible to eliminate the need to change the course or speed for each search target discovery. Further, in the underwater search method and the underwater search system of the present embodiment, when the target candidate 13 for which detailed information is to be collected is specified, the re-search area 14 and the re-search course 15 are set, and then the re-search is performed again. The underwater vehicle 1 can be made to navigate according to the course 15.

Therefore, according to the underwater search method and the underwater search system of the present embodiment, it is possible to improve the efficiency of movement of the underwater vehicle 1, and it is possible to efficiently find the target object from the search range 10. can.

Further, of the side scan sonar 6 as the first information collecting means provided in the underwater vehicle 1 and the optical camera 7 as the second information collecting means, the side having a relatively large information collecting range. The scan sonar 6 is used as an information collecting means when the underwater vehicle 1 is navigated according to the movement path 11 set in the search range 10. On the other hand, the optical camera 7 having a relatively small information collection range is used as an information collection means when the underwater vehicle 1 is sailed to approach the actual position of the designated target candidate 13. It is set to. As described above, since the underwater search method and the underwater search system of the present embodiment use a plurality of information collecting means properly according to the size of each information collecting range, the target object can be efficiently found from the search range 10. can do.

Further, in the underwater search method and the underwater search system of the present embodiment, the information collected by the side scan sonar 6 provided in the underwater vehicle 1 is automatically image-processed by the control device 18 of the control station 2, and the object is Since the object candidate 13 is displayed in the image P1 on the display unit 20, even when the search range 10 is wide, the labor for finding an object that is likely to be the object can be reduced. can.

The underwater search method and the underwater search system of the present embodiment are target object candidates based on the information collected by the side scan sonar 6 due to an error accumulated in the inertial navigation system of the position detection means 3 of the underwater navigation body 1. Even if the detection position of 13 contains an error, by navigating the underwater navigation body 1 along the re-search course 15 in the re-search area 14, the underwater navigation body 1 can actually be the target candidate 13. Can be approached to the position of. Therefore, according to the underwater search method and the underwater search system of the present embodiment, detailed information on the target candidate 13 can be almost certainly collected by the optical camera 7.

[Application example of the first embodiment]
FIG. 9 is a schematic view showing an application example of the first embodiment of the underwater search system. FIG. 10 is a flow chart showing an underwater search method performed by using the underwater search system of FIG.

In FIGS. 9 and 10, the same reference numerals as those in the first embodiment are designated by the same reference numerals, and the description thereof will be omitted.

In the underwater search method shown in the first embodiment, the information collected by the side scan sonar 6 provided in the underwater vehicle 1 and the detailed information about the target candidate 13 collected by the optical camera 7 will be obtained in any case. Is also supposed to be transmitted to the control device 18 of the control station 2 as the status S.

By the way, acoustic communication, which is a communication means that can be used underwater, has a characteristic that the communication speed is slower and the communication range is limited as compared with wireless communication, which is a communication means that can be generally used in the air. doing.

Therefore, when the amount of status S data to be transmitted from the underwater vehicle 1 to the control station 2 becomes large, the transmission / reception of data by acoustic communication between the acoustic communication device 8 and the acoustic communication device 16 is processed. It is possible that it will be rate-determining.

Therefore, as shown in FIG. 9, the underwater search system of this application example includes a wireless communication device 22 in which the underwater vehicle 1 is connected to the control device 5 in addition to the same configuration as that of the first embodiment. The control station 2 is configured to include a wireless communication device 23 connected to the control device 18.

The wireless communication device 22 provided in the underwater vehicle 1 and the wireless communication device 23 provided in the control station 2 have a function of mutually transmitting and receiving status S and command C similar to those of the acoustic communication device 8 and the acoustic communication device 16. It has.

The wireless communication device 22 and the wireless communication device 23 are for communicating with the underwater vehicle 1 floating on the water surface, as will be described later. Therefore, the communication standards of the wireless communication device 22 and the wireless communication device 23 are based on the distance required for communication with the control station 2 provided on the ship 17 when the underwater vehicle 1 is floating on the water surface. , Wireless LAN and other existing communication standards for wireless communication may be appropriately selected and adopted.

The underwater search method using the underwater search system of the present application example having the above configuration is carried out, for example, by the procedure shown in FIG.

In the underwater search method of this application example, as shown in FIG. 10, in the same procedure as shown in FIG. 2, the underwater vehicle 1 moves in the search range 10 in step S2 (FIG. 3 (a). ) (Refer to (b)), the side scan sonar 6 collects information while sailing. At that time, in the present embodiment, the information collected by the side scan sonar 6, the position information of the underwater vehicle 1 at the time of collecting the information output from the control device 5, and the orientation of the underwater vehicle 1 Posture information is stored in a storage unit (not shown).

When the underwater vehicle 1 finishes traveling along the movement path 11 in the search range 10 in step S2, in this application example, the process proceeds to step S13, and the underwater vehicle 1 rises to the surface of the water.

After that, the process proceeds to step S3 similar to that shown in FIG. 2, and the underwater vehicle 1 has the information collected by the side scan sonar 6 stored in the storage unit and the position of the underwater vehicle 1 at the time of collecting the information. And the information on the orientation and attitude of the underwater vehicle 1 as status S, are sequentially transmitted to the control device 18 of the control station 2 by communication via the wireless communication device 22 and the wireless communication device 23 ( Step S3).

After step S3, the underwater vehicle 1 stops the propulsion steering means 4 and drifts on the surface of the water, or in place or at a set position, until it receives a command from control station 2 in step S7. It holds a fixed point or makes a turning cruise in the set area to enter the standby state.

In the underwater search method of this application example, after step S3, the process proceeds to step S4. The procedure after step S4 is the same as the underwater search method of the first embodiment shown in FIG.

Therefore, according to the underwater search method and the underwater search system of this application example, the underwater vehicle 1 is cruising along the movement route 11 (see FIGS. 3A and 3B) in the search range 10 and sideways. Even if the amount of status S data including the information collected by the side scan sonar 6 is increased due to the information collection by the scan sonar 6, the wireless communication device 22 and the wireless communication device 23 are used for wireless communication. By communication, the status S can be promptly transmitted from the underwater vehicle 1 to the control device 18 of the control station 2.

Therefore, the underwater search method and the underwater search system of this application example have the same effects as those of the first embodiment, and the side scan sonar 6 can collect more detailed information than that of the first embodiment. .. Therefore, the underwater search method and the underwater search system of this application example can make it easier to find an object that is likely to be a target object from the search range 10.

In the underwater search method of this application example, as shown in FIG. 10, a case where the underwater vehicle 1 floats on the water surface is illustrated between steps S2 and S3. On the other hand, between step S9 and step S10, the underwater vehicle 1 floats on the water surface, and the underwater vehicle 1 sails along the re-search course 15 with the optical camera 7. The collected information may be transmitted from the underwater vehicle 1 to the control device 18 of the control station 2 as the status S by wireless communication via the wireless communication device 22 and the wireless communication device 23.

In this way, even if the amount of status S data including detailed information about the target object candidate 13 collected by the optical camera 7 is large, the wireless communication device 22 and the wireless communication device 23 are used. The status S can be promptly transmitted from the underwater vehicle 1 to the control device 18 of the control station 2 by wireless communication.

When the process of ascending the underwater vehicle 1 to the water surface is provided between the steps S9 and S10, the process of ascending the underwater vehicle 1 to the water surface between the above-mentioned steps S2 and S3 (step S13). May be done together or may be omitted.

[Second Embodiment]
FIG. 11 is a schematic view showing a second embodiment of the underwater search system. FIG. 12 is a flow chart showing an underwater search method performed by using the underwater search system of FIG.

In FIGS. 11 and 12, the same reference numerals as those in the first embodiment are designated by the same reference numerals, and the description thereof will be omitted.

In the underwater search system of the present embodiment, as shown in FIG. 11, in the same configuration as that of the first embodiment, the underwater vehicle 1 has an image processing unit 24 connected to the side scan sonar 6 and the control device 5. It is configured to be provided.

The image processing unit 24, like the image processing unit 19 provided in the control device 18 of the control station 2 in the first embodiment, has the information collected by the side scan sonar 6 and the position of the underwater vehicle 1 at the time of collecting the information. , And a function to generate image data about the shape of the bottom of the water and the position of an object existing on the bottom of the water based on the information on the orientation and orientation of the underwater vehicle 1, and in the image based on the image data. It has a function of extracting an object similar to the target object and using it as the target object candidate 13.

The extraction conditions for extracting the target object candidate 13 by the image processing unit 24 should be stored in advance when the underwater vehicle 1 is navigated along the movement path 11 in the search range 10. Just do it. Further, the extraction conditions may be changed by a command from the control station 2.

The acoustic communication device 8 of the underwater vehicle 1 in the present embodiment transmits the image data including the information of the target object candidate 13 generated by the image processing unit 24 to the acoustic communication device 16 of the control station 2 as the status S. It has a function to do.

In the present embodiment, since the underwater vehicle 1 is configured to include the image processing unit 24, the control device 18a of the control station 2 has the same configuration as the control device 18 in the first embodiment. The configuration is omitted.

When the status S is input from the acoustic communication device 16, the control device 18a displays the image data included in the status S and the information of the target candidate 13 on the display unit 20 in FIGS. 7 (a) and 7 (b). Similar to the above, it has a function of displaying the image P1 in which the target candidate 13 is clearly indicated.

Further, when the target object candidate 13 for collecting detailed information is designated from the target object candidates 13 in the image P1 displayed on the display unit 20 by the input from the input unit 21, the control device 18a is watered. It has a function of issuing a command to the middle navigation body 1 to instruct the designated target object candidate 13 as a target for photographing by the optical camera 7. This command is transmitted from the acoustic communication device 16 to the underwater vehicle 1 as a command C.

The underwater search method using the underwater search system of the present embodiment having the above configuration is carried out by the procedure shown in FIG.

As shown in FIG. 12, the underwater search method of the present embodiment proceeds to step S14 after step S1 and step S2 similar to those shown in FIG.

In step S14, when the underwater vehicle 1 finishes cruising along the movement path 11 in the search range 10, the image processing unit 24 provided in the underwater vehicle 1 processes the information collected by the side scan sonar 6. Then, the target product candidate 13 similar to the target product is extracted.

When the underwater vehicle 1 finishes cruising along the movement path 11 in the search range 10, it is in a standby state until it receives a command from the control station 2 in step S18 described later, and the control device 5 is on the side. The point of giving a command to turn off the scan sonar 6 is the same as that of the first embodiment.

Further, the underwater vehicle 1 sets the image data including the information of the target object candidate 13 obtained by the image processing unit 24 as the status S, and communicates with the acoustic communication device 8 and the acoustic communication device 16 to control the station. It is transmitted to the control device 18a of 2 (step S15).

In the control station 2, when the control device 18a receives the status S, the target object candidate similar to that shown in FIGS. 7 (a) and 7 (b) is displayed on the display unit 20 based on the image data including the information of the target object candidate 13. The image P1 including 13 is displayed (step S16).

Next, the control station 2 designates the target candidate 13 for which detailed information is desired to be collected by the optical camera 7 of the underwater vehicle 1 (step S17). The target object candidate 13 for which the detailed information is to be collected may be designated in the same manner as in step S6 of FIG.

When the target object candidate 13 for which detailed information is to be collected is designated in step S17, the control device 18a issues a command to instruct the designated target object candidate 13 to the underwater vehicle 1. Step S18). This command is sent as command C to the control device 5 of the underwater vehicle 1 by communication via the acoustic communication device 16 and the acoustic communication device 8.

In the underwater vehicle 1, when the control device 5 receives the command C, the re-search setting unit 12 of the control device 5 re-searches the re-search area 14 centered on the position of the designated target candidate 13 and re-searches. The search course 15 is set (step S18). The re-search area 14 and the re-search course 15 may be set in the same manner as in step S8 of FIG.

After that, the same processes from step S9 to step S12 as shown in FIG. 2 are performed. In the present embodiment, when it is determined in step S12 that there is another target candidate 13 for which detailed information is desired to be collected, the process returns to step S17.

Therefore, the same effect as that of the first embodiment can be obtained by the underwater search method and the underwater search system of the present embodiment.

[Third Embodiment]
FIG. 13 is a schematic view showing a third embodiment of the underwater search system. FIG. 14 is a flow chart showing an underwater search method performed by using the underwater search system of FIG.

In FIGS. 13 and 14, the same reference numerals as those in the first embodiment are designated by the same reference numerals, and the description thereof will be omitted.

As shown in FIG. 13, in the underwater search system of the present embodiment, in addition to the same configuration as that of the first embodiment, the underwater navigation body 1 is used as a calibration means of the position detecting means 3 for global navigation such as GPS. It is configured to include a receiving device 25 of a satellite system (GNSS).

The receiving device 25 has a function of detecting the position of the receiving device 25 itself in the earth coordinates when receiving signals from a plurality of satellites of GNSS when the underwater vehicle 1 is floating on the water surface. Further, the receiving device 25 has a function of sending the position information detected about the receiving device 25 itself to the position detecting means 3 as described above.

When the position detecting means 3 in the present embodiment receives the position information from the receiving device 25, the position detecting means 3 calibrates the position of its own machine of the underwater vehicle 1 detected by the position detecting means 3 based on the information. It has a function.

As a result, when the underwater navigation body 1 floats on the water surface, it is possible to calibrate the position error occurring in the inertial navigation system (not shown) of the position detecting means 3 by using GNSS.

The underwater search method using the underwater search system of the present embodiment having the above configuration is carried out, for example, by the procedure shown in FIG.

In the underwater search method of the present embodiment, as shown in FIG. 14, in the same procedure as shown in FIG. 2, the underwater vehicle 1 ends the navigation along the movement path 11 in the search range 10 in step S2. From the end of transmission of the information collected by the side scan sonar 6 in step S3 to the control device 18 of the control station 2 until the underwater vehicle 1 starts sailing on the re-search course 15 in step S9. In the meantime, the underwater vehicle 1 temporarily floats on the water surface, and configures the position detecting means 3 based on the position information detected by the receiving device 25 using GNSS (step S20).

In FIG. 14, as an example, step S20 is shown between steps S7 and S8. However, as described above, it goes without saying that step S20 may be performed at any time between steps S3 and S9, and may be performed simultaneously with any of the processes from step S4 to step S8. It may be configured to be performed.

As a result, when the underwater vehicle 1 navigates the re-search course 15, the position detecting means 3 is calibrated.

In the control station 2, a plurality of target object candidates 13 may be designated as targets for collecting detailed information by the optical camera 7. In this case, the underwater navigation body 1 navigates the re-search course 15 set for each target candidate 13 in order, but even at this time, an error is accumulated in the inertial navigation system of the position detecting means 3. NS.

Therefore, in the calibration process of the position detecting means 3 in step S20, after the underwater vehicle 1 is instructed in step S7 regarding the target object candidate 13 to be photographed by the optical camera 7, step S9 It is preferable to perform this before the underwater vehicle 1 starts sailing on the re-search course 15. In this way, the underwater vehicle 1 can navigate the re-search course 15 set for the target candidate 13 in a state where the position detecting means 3 is calibrated each time.

The underwater search method and the underwater search system of the present embodiment having the above configuration have the same effects as those of the first embodiment, and the underwater vehicle 1 re-searches with the position detecting means 3 calibrated. As the course 15 is navigated, the optical camera 7 can detect a more accurate position of the target candidate 13 for which detailed information is collected.

[Application example of the third embodiment]
FIG. 15 is a schematic view showing an application example of the third embodiment.

In FIG. 15, the same reference numerals as those in the third embodiment are designated by the same reference numerals, and the description thereof will be omitted.

In the underwater search system of the third embodiment, a configuration including a GNSS receiving device 25 as a calibration means of the position detecting means 3 in the underwater vehicle 1 is illustrated.

On the other hand, as the calibration means of the position detecting means 3, instead of the receiving device 25, as shown in FIG. 15, an acoustic positioning device 26 that positions an acoustic landmark 27 whose position is known in water is used. It may be adopted.

The acoustic positioning device 26 has a function of detecting the position of its own aircraft of the underwater vehicle 1 with reference to the position of the acoustic landmark 27 by performing acoustic positioning on the acoustic landmark 27.

Further, the acoustic positioning device 26 has a function of sending information on the position detected for the own machine of the underwater vehicle 1 to the position detecting means 3 as described above.

When the position detecting means 3 in this application example receives the position information from the acoustic positioning device 26, the position detecting means 3 calibrates the position of its own machine of the underwater vehicle 1 detected by the position detecting means 3 based on the information. It has a function to do.

As a result, the underwater navigation body 1 is generated in the inertial navigation system (not shown) of the position detecting means 3 in a state where the underwater navigation body 1 is arranged in an area where the acoustic landmark 27 can be positioned underwater by the acoustic positioning device 26. It is possible to calibrate the error of the position.

The underwater search method using the underwater search system of the present application example having the above configuration may be the same as that of the third embodiment. As a result, the same effect as that of the third embodiment can be obtained by this application example.

[Fourth Embodiment]
FIG. 16 is a schematic diagram showing a fourth embodiment of the underwater search system. FIG. 17 is a flow chart showing an underwater search method performed by using the underwater search system of FIG.

In FIGS. 16 and 17, the same reference numerals as those in the first embodiment are designated by the same reference numerals, and the description thereof will be omitted.

As shown in FIG. 16, the underwater search system of the present embodiment has the same configuration as that of the first embodiment, instead of the configuration in which the control device 5 of the underwater vehicle 1 includes the re-search setting unit, the control station 2 The control device 18 of the above is configured to include the re-search setting unit 12a.

When the target candidate 13 is designated, the re-search setting unit 12a is designated as shown in FIGS. 5 and 6 as in the re-search setting unit 12 on the underwater vehicle 1 side in the first embodiment. It has a function of setting a re-search area 14 centered on the coordinates of the position of the target object candidate 13 and a re-search course 15.

Therefore, in the control device 18 of the control station 2, the target candidate 13 for which detailed information is desired to be collected is designated from the target candidates 13 in the image P1 displayed on the display unit 20 by the input from the input unit 21. Then, the re-search setting unit 12a sets the re-search area 14 corresponding to the designated target candidate 13 and the re-search course 15.

Therefore, the control device 18 has a function of instructing the underwater vehicle 1 to set the re-search course 15 set by the re-search setting unit 12a as a route to be navigated. This command is transmitted from the acoustic communication device 16 to the underwater vehicle 1 as a command C.

When the control device 5 of the underwater vehicle 1 receives a command for the re-search course 15 from the control station 2 as described above, the current position of the underwater vehicle 1 acquired from the position detecting means 3 It has a function of giving a command (control input) for the own aircraft to sail along the re-search course 15 to the propulsion steering means 4 based on the information of the above and the information of the direction and attitude of the own aircraft.

The underwater search method using the underwater search system of the present embodiment having the above configuration is carried out, for example, by the procedure shown in FIG.

In the underwater search method of the present embodiment, as shown in FIG. 17, in the same procedure as shown in FIG. 2, in step S6, the control device 18 of the control station 2 is used by the optical camera 7 of the underwater vehicle 1. When the target candidate 13 for which detailed information is desired is designated, the process proceeds to step S21.

In step S21, the re-search setting unit 12a of the control device 18 sets the re-search area 14 and the re-search course 15 similar to those shown in FIGS. 5 and 6.

When the re-search course 15 corresponding to the designated target candidate 13 is set in step S21, the control device 18 commands the set re-search course 15 to the underwater vehicle 1 (step). S22). This command is sent as command C to the control device 5 of the underwater vehicle 1 by communication via the acoustic communication device 16 and the acoustic communication device 8.

In the underwater vehicle 1, when the control device 5 receives the command C, the control device 5 moves its own machine to the start point 15a of the re-search course 15, and then moves from the start point 15a to the end point 15b along the re-search course 15. A command (control input) for navigating to is given to the propulsion steering means 4. Further, the control device 5 turns on the optical camera 7 and the lighting means 9 when the underwater vehicle 1 starts sailing on the search course 15.

As a result, the underwater vehicle 1 navigates the re-search area 14 along the re-search course 15 and collects detailed information by taking a picture of the optical camera 7 (step S23). This point is the same as in step S9 of FIG.

In the underwater search method of the present embodiment, after step S23, the process proceeds to step S10. The procedure after step S10 is the same as the underwater search method of the first embodiment shown in FIG.

Therefore, the same effect as that of the first embodiment can be obtained by the underwater search method and the underwater search system of the present embodiment.

The present invention is not limited to the above embodiments and application examples. For example, as the first information collecting means provided in the underwater vehicle 1, the side scan sonar 6 is exemplified, but the multi-narrow beam is used. An acoustic probe or other acoustic image sensor may be used.

As the second information collecting means provided in the underwater vehicle 1, the optical camera 7 has been exemplified, but an optical three-dimensional scanner using a laser beam or the like may be used.

Further, in the first information collecting means 6 and the second information collecting means 7, the information collecting range of the first information collecting means 6 is relatively closer to the information collecting range of the second information collecting means 7. Both may be acoustic or optical information gathering means as long as they have a relation of being larger than each other, or another information gathering method capable of detecting an object in water. It may be.

The position detecting means 3 provided in the underwater navigation body 1 has been described as being provided with an inertial navigation system, but any existing or existing underwater navigation body 1 can be provided as long as it can detect the position of the underwater navigation body 1 in water. Any conventionally proposed position detecting means may be adopted. In that case, the position detecting means 3 may be of a type not provided with an inertial navigation system.

The re-search region 14 is preferably set in a region having a radius of 3σ with the detection position of the target candidate 13 as the center O, where the standard deviation regarding the error included in the detection result of the position of the target candidate 13 is σ. If it is reasonable to consider that the re-search area 14 includes the actual position of the target candidate 13, it may be set by another method.

In each embodiment and application example, acoustic communication devices 8 and 16 are exemplified as communication devices that perform mutual communication between the underwater vehicle 1 and the control station 2 underwater, but communication by a communication method such as light or electromagnetic wave is used. A machine may be adopted. Further, in the application example of the first embodiment, the wireless communication devices 22 and 23 are exemplified as the communication devices that perform mutual communication between the underwater vehicle 1 and the control station 2 in the air, but light or sound waves (ultrasonic waves) are exemplified. A communication device of a communication method such as) may be adopted.

Although the control station 2 has shown an example of being equipped on the ship 17, the control station 2 may be provided on the ground. In this case, a relay having a configuration in which the navigation body arranged on the water surface is equipped with a communication device for mutual communication with the underwater navigation body 1 and a communication device for communication with the control station 2. The machine may be used to relay the communication of command C and status S between the underwater vehicle 1 and the control station 2.

In the application example of the first embodiment, the configuration including the wireless communication device 22 and the wireless communication device 23 for mutual communication between the underwater vehicle 1 and the control station 2 is the second embodiment, the third embodiment and the application example thereof. It may be applied to the fourth embodiment. In the underwater search method in this case, the underwater vehicle 1 floats on the surface of the water, and the status S is changed from the underwater vehicle 1 to the control station 2 by wireless communication via the wireless communication device 22 and the wireless communication device 23. The process of transmitting may be performed.

The configuration in which the underwater vehicle 1 in the second embodiment includes the image processing unit 24 may be applied to an application example of the first embodiment, a third embodiment and its application example, and a fourth embodiment.

In the third embodiment and its application example, the GNSS receiving device 25 and the acoustic positioning device 26 for positioning the acoustic landmark 27 have been exemplified as the calibration means of the position detecting means 3 of the underwater navigation body 1, but water has been illustrated. As long as the position of the position detecting means 3 of the middle navigation body 1 and the inertial navigation system can be calibrated, existing or conventionally proposed calibration means may be adopted.

The configuration in which the position detecting means 3 of the underwater vehicle 1 in the third embodiment and its application example includes the calibration means may be applied to the application example, the second embodiment, and the fourth embodiment of the first embodiment. ..

In the first embodiment, the control device 5 of the underwater vehicle 1 is provided with the re-search setting unit 12, but in the configuration of the first embodiment, the control device 18 of the control station 2 is equipped with the fourth embodiment. A configuration may be configured in which the re-search setting unit 12a similar to the embodiment is provided. In this case, the re-search setting unit 12a on the control station 2 side can grasp the re-search course 15 on the control station 2 side by performing the same processing as the re-search setting unit 12 on the underwater vehicle 1 side. become.

The illustrated shape of the underwater vehicle 1 is an example, and the underwater vehicle 1 may have a shape other than that shown.

Of course, various changes can be made without departing from the gist of the present invention.

1 Underwater vehicle, 2 Control station, 3 Position detection means, 4 Propulsion steering means, 5 Control device, 6 Side scan sonar (1st information gathering means, acoustic image sensor), 7 Optical camera (2nd information) Collection means, optical image sensor), 7a shooting area (information collection range), 8 acoustic communication device (communication device), 10 search range, 11 movement route, 12, 12a re-search setting unit, 13 target candidate, 14 Re-search area, 15 Re-search course, 16 Acoustic communication device (communication device), 19 Image processing unit (means), 20 Display unit, 24 Image processing unit (means)

Claims (6)

The navigation process that causes the underwater vehicle to navigate according to the movement route within the search range of the target object,
At the time of the navigation process, among the first information collecting means and the second information collecting means having different sizes of the information collecting range provided in the underwater vehicle, the information is collected as compared with the second information collecting means. The process of collecting information in water using the first information collecting means, which has a large range,
Based on the information collected by the first information collecting means, a process of extracting an object similar to the target object as a target object candidate, and
A process of setting a re-search area centered on the position of the target object candidate and setting a re-search course in the re-search area.
A process of causing the underwater vehicle to navigate according to the re-search course and collecting information by the second information collecting means.
A process of displaying the information collected by the underwater vehicle by the second information collecting means on the display unit of the control station, and
A process of displaying a target object candidate extracted based on the information collected by the first information collecting means on the display unit, and a process of displaying the target object candidate on the display unit.
When a target object candidate for which detailed information is to be collected is specified by the control station, a process of setting a re-search area centered on the position of the designated target object candidate and setting the re-search course. , underwater search method and performing. The underwater search method according to claim 1, wherein the re-search course is set so that the entire surface of the re-search area can be scanned within the information collection range of the second information collecting means. The underwater vehicle is claimed to perform a calibration process of the position detecting means provided on the underwater vehicle after the navigation process of navigating according to the movement route in the search range and before the start of the navigation according to the re-search course. Item 1. The underwater search method according to item 1 or 2. In the re-search area, the standard deviation regarding the error included in the detection result of the position of the target object candidate based on the information collected by the first information collecting means is σ, and the detection position of the target object candidate is the center. The underwater search method according to any one of claims 1 to 3, which is set in a region having a radius of 3σ. The underwater search method according to any one of claims 1 to 4 , wherein an acoustic image sensor is used as the first information collecting means, and an optical image sensor is used as the second information collecting means. Equipped with an underwater vehicle and a control station,
The underwater vehicle includes a position detecting means, a propulsion steering means, a control device, a first information collecting means and a second information collecting means having different information collecting ranges, and a communication device.
The control station includes a communication device that communicates with the underwater vehicle and a display unit that displays information on target object candidates.
At least one of the underwater vehicle and the control station is provided with a means for performing a process of extracting an object similar to the target object as a target object candidate based on the information collected by the first information collecting means.
A re-search setting unit that sets a re-search area centered on the position of the extracted target candidate in at least one of the underwater vehicle or the control station, and sets a re-search course in the re-search area. With
Further, the underwater vehicle is
A function of navigating the search range of the target object according to the movement route and collecting underwater information by using the first information collecting means.
A function of navigating according to the re-search course and collecting information using the second information collecting means, and
It is provided with a function of transmitting the information collected by the second information collecting means to the control station.
The control station has a function of displaying a target object candidate extracted based on the information collected by the first information collecting means on the display unit.
When the underwater vehicle or at least one of the control stations is designated by the control station as a target target candidate for which detailed information is to be collected, a re-search centered on the position of the designated target candidate is performed. Provide a function to set an area and set a re-search course in the re-search area.
An underwater search system featuring.

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