WO2022045250A1 - Mobile body - Google Patents

Abstract

The present invention addresses the problem of providing a mobile body and a control method and the like therefor, which enable an improvement in the stability of a mobile body that moves in or on water, and which enable safe operation and transport of cargo.　In the present invention, a drone 1 moves on or in water and transports a container 5 which is a prescribed article. The drone comprises: rollers 51 and cart rollers 53 which are a center of gravity moving means for moving the container center of gravity GC of the article; and a roller engagement part 54 which is a center of gravity fixing means for fixing the center of gravity of the article. In addition, the drone 1 is provided with a ballast tank 55 that can discharge or take in water or air using a pump. Due the forgoing, the abovementioned problem is solved.

Description

Mobile

The present invention relates to a moving body.

In recent years, underwater drones that can move underwater have been developed (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2018-90017

On the other hand, there is a need to carry cargo by means of a water drone, which is a moving body that moves underwater or on water. However, transporting cargo using a water drone is difficult to handle simply by scaling the container ship.

The present invention has been made in view of such a situation, and an object thereof is to improve the stability of a moving body moving underwater or on the water, to operate safely, and to enable cargo transportation.

In order to achieve the above object, the moving body of one aspect of the present invention is
In a mobile body that moves on or under water to carry a predetermined item.
A means for moving the center of gravity of the article and a means for moving the center of gravity of the article,
A center of gravity fixing means for fixing the center of gravity of the article,
To prepare for.

According to the present invention, the stability of the water drone can be improved, safe operation, and cargo transportation can be performed.

It is an image diagram which shows the outline of the control between the drone and the operator terminal of the embodiment which concerns on this invention. FIG. 3 is a block diagram showing a hardware configuration related to information processing of various control units related to movement control in the drone of FIG. 1. FIG. 3 is a functional block diagram showing an example of a functional configuration for realizing various processes executed by the drone of FIG. 1. It is a figure which shows the example of the appearance of the drone of FIG. It is a figure which shows the example of the installation of the support member 6 which guides and supports the drone of FIG. It is sectional drawing of the line AA about the drone of FIG. It is sectional drawing of the line AA about the drone of FIG. It is a figure which shows the example of the cross-sectional view similar to FIG. 6 in the drone which can move underwater among the drone of FIG. It is a figure which shows the example of the fixed drone when the drone of FIG. 1 enters the dock. It is a figure which shows the example of the fixed drone when the drone of FIG. 1 enters the dock. It is a figure which shows the example which the drone of FIG. 1 is connected to a dock and lowers a container. It is a figure which shows the example which the drone of FIG. 1 is connected to a dock and lowers a container. It is a figure which shows the dock containing the drone of FIG. 8 from the other direction. It is a figure which shows the dock containing the drone of FIG. 8 from the other direction. It is a figure which shows the dock containing the drone of FIG. 8 from the other direction. It is a figure which shows the example which raises the GPS receiver for acquiring the position of the drone of FIG. 1 to the sea surface. It is a figure which shows the example which the drone of FIG. 1 moves by receiving the signal from the transmission device installed on the quay and the seabed.

Hereinafter, with respect to the embodiment according to the present invention, an information processing system including a small moving body for water (hereinafter referred to as “drone”) 1 that can move on or under water will be described with reference to the drawings. In the figure, the same reference numerals are given to the same elements, and duplicate explanations are omitted. First, the overall image of the communication and control device of the drone 1 will be described, and then the control of the drone 1 on or under water will be described.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is an image diagram showing an outline of control between the drone 1 and the operator terminal 2 of the present embodiment.

As shown in FIG. 1, the drone 1 acquires position information from the GPS (Global Positioning System) satellite G.
The drone 1 together transmits this position information and information obtained from various sensors mounted on the drone 1 to the operator terminal 2. The information obtained from the various sensors is, for example, information on the posture of the drone 1, information on the rotational movement, and the like. The operator terminal 2 is composed of a smartphone or the like, and is a terminal used by the operator U to operate the drone 1.
The server 3 is a device composed of a personal computer or the like and used to acquire various information from the drone 1 and execute various processes.
The drone 1, the operator terminal 2, and the server 3 are each connected to each other via a predetermined network N such as the Internet. The network N includes not only the Internet and mobile carrier networks, but also short-range wireless communications such as NFC ((Near Field Communication) registered trademark) and Bluetooth (registered trademark).
Specifically, for example, the following examples are assumed as the usage mode of such a network N.
That is, when the drone 1 moves in the area where the radio wave of the operator terminal 2 reaches, the drone 1 and the operator terminal 2 can directly communicate with each other in real time. On the other hand, when the drone 1 moves outside the area where the radio wave of the operator terminal 2 reaches, it cannot directly communicate with the drone 1 and the operator terminal 2, so that it is indirect. Communicates. Specifically, the operator terminal 2 acquires the position information, movement information, etc. of the drone 1 from the server 3 via the network N such as the Internet or the mobile carrier network, and while referring to these information, the drone 1 Send information to control movement. In this case, the server 3 exchanges information with the drone 1 via the drone 1 and the wireless device W having a predetermined wireless communication standard.
Further, the server 3 not only operates according to the instruction of the operator terminal 2 as described above, but also exchanges information regarding the destination instruction and control to the drone 1 based on the information exchanged with the drone 1. Can also be done.

Further, the drone 1 has the following hardware configuration for information processing related to the control of the drone in the present embodiment.
FIG. 2 is a block diagram showing a hardware configuration related to information processing of various control units related to movement control in the drone of FIG.

The CPU 11, ROM 12 and RAM 13 are connected to each other via the bus 14. An input / output interface 15 is also connected to the bus 14. An output unit 16, an input unit 17, a storage unit 18, a communication unit 19, and a drive 20 are connected to the input / output interface 15.

The output unit 16 is composed of a display, a speaker, and the like, and outputs various information as images and sounds.
The input unit 17 is composed of a keyboard, a mouse, and the like, and inputs various information.

The storage unit 18 is composed of a hard disk, a DRAM (Dynamic Random Access Memory), or the like, and stores various data.
The communication unit 19 communicates with another device (such as the operator terminal 2 in the example of FIG. 1) via the network N including the Internet.

A removable media 31 made of a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is appropriately mounted on the drive 20. The program read from the removable media 31 by the drive 20 is installed in the storage unit 18 as needed.
Further, the removable media 31 can also store various data stored in the storage unit 18 in the same manner as the storage unit 18.

Although not shown, the operator terminal 2 and the server 3 in FIG. 1 have basically the same configuration as the hardware configuration shown in FIG.
Further, the communication unit 19 is supposed to perform communication via the network N including the Internet, but the present invention is not particularly limited to this. Specifically, for example, it is possible to receive sound waves and radio waves emitted by other devices, and acquire signal strength and data carried on the signal. That is, the above-mentioned communication is not limited to transmitting and receiving information to each other, but can unilaterally transmit and receive sound waves, radio waves, and the like. Furthermore, when the drone 1 is in the dock or near the land, the communication unit 19 can perform communication not only by wireless communication by sound waves or radio waves but also by connection by a fixed line.

FIG. 3 is a functional block diagram showing an example of a functional configuration for realizing various processes executed by the drone 1 of FIG.

As shown in FIG. 3, the drone 1 is a mobile body including a drive unit 41, a movement control unit 42, a center of gravity management unit 43, a center of gravity control unit 44, a position estimation unit 45, and a communication unit 19. ..
The "moving body" in the present invention is any object that moves in space by a driving unit, and the drone 1 in the present embodiment is a "moving body" that moves on or under water by being driven by a driving unit 41 as a driving means. Is an example.

The drive unit 41 is driven using the supplied energy. The drone 1 can move in space by driving the drive unit 41 or the like. A motor driven by electric energy and an engine driven by chemical energy such as gasoline are both examples of the drive unit 41.

The movement control unit 42 controls the movement of the drone 1. As a result, the drone 1 changes the output of the drive unit 41 and moves according to the direction of the wings and the like driven by the drive unit 41. Thereby, for example, the distance to the building can be changed as described later.
The movement control unit 42 may control the movement according to the signal related to the control by the operator terminal 2 or the server 3 received by the communication unit 19, or the movement is controlled by the autonomous control unit (not shown) possessed by the drone 1. You may go.

The center of gravity management unit 43 manages the center of gravity of the container or the like, which is the luggage loaded by the drone 1, although the details will be described later. As a result, the drone 1 can detect and manage the center of gravity of the container, change the center of gravity of the container in cooperation with the center of gravity control unit 44 described later, and control the center of gravity so that the drone 1 becomes stable.

The center of gravity control unit 44 controls the center of gravity of the container or the like, which is the load loaded by the drone 1, although the details will be described later. Specifically, for example, by moving or rotating the container, the position of the center of gravity of the container can be moved to a predetermined position of the drone 1.

The position estimation unit 45 estimates the self-position, which is the self-position of the drone 1, although the details will be described later. Specifically, for example, the current position can be estimated based on a signal from a GPS satellite, or the current position can be estimated based on a signal from a transmission device described later.

Hereinafter, an example of the appearance of the drone 1 that can move on or under water in the present embodiment will be described with reference to FIG.

In the following description, unless otherwise specified, the following directions are used.
That is, hereinafter, in the above-mentioned drone 1 that can move on or under water, the axis X is taken in the direction of movement by passing through the center of the drone 1 and exerting a main driving force. That is, although the details will be described later, the drone 1 is provided with a propeller that exerts a main driving force on one side of the shaft X. The side with the propeller is called "rear of drone 1" or "axis X is in the negative direction", and the opposite is called "in front of drone 1" or "axis X is in the positive direction".
Further, the axis Z is taken in the direction opposite to the gravity acting on the drone 1 which passes through the center of the drone 1 and is suspended on the water surface. That is, for example, when there is a drone 1 that is horizontally suspended on water and loaded with cargo, the direction in which gravity acts is called "the lower side of the drone 1" or "the direction in which the axis Z is negative", and the opposite is called ". It is called "upper side of drone 1" or "axis Z is in the positive direction".
Further, the axis Y is defined so that the three-dimensional Cartesian coordinate system using the axis X, the axis Y, and the axis Z becomes a right-handed system through the intersection of the axis X and the axis Z.
However, the direction of the definition of the structure and the axis of the drone 1 in the description of the present embodiment is merely an example. That is, the present invention is not limited to the above-described embodiment, and modifications, improvements, and the like within the range in which the object of the present invention can be achieved are included in the present invention.

FIG. 4 is a diagram showing an example of the appearance of the drone 1 of FIG. Specifically, it is a figure which showed the drone 1 so that the axis Z is from the positive direction and the axis X is from the positive direction to the left.
The drone 1 in the example of FIG. 4 is a moving body that floats and moves on the water. The drone 1 is loaded with a container 5 which is cargo, and the axis X moves in the positive direction by controlling the drive unit 41A, which is an example of the drive unit 41, by the movement control unit 42.

By attaching the side thrusters in the vertical direction, it is possible to move without moving forward. That is, the drone 1 in the example of FIG. 4 includes two drive units 41B, which is an example of the drive unit 41. The drone 1 is provided with two drive units 41B (hereinafter, appropriately referred to as "side thrusters") in a direction in which the driving force is exerted in the direction of the axis Z. Thereby, by driving the side thruster, the driving force can be exerted in the positive direction of the axis Z or the negative direction of the axis Z. As a result, the drone 1 can exert a driving force in the direction of the axis Z without moving forward or backward by the driving unit 41A. That is, it is possible to control the posture such as rotation of the drone 1 around the axis Y.
Further, the side thrusters may be attached to both the front and rear of the hull. That is, although not shown, the drone 1 can further include a side thruster that exerts a driving force in the direction of the axis Z at a position where the axis X is in the negative direction. As a result, the drone 1 controls the surface formed by the axis X and the axis Y of the drone 1 so as to have an arbitrary angle when the drone 1 moves in the direction of the axis Z without moving forward or backward by the drive unit 41A. be able to.
It may also be attached in the left-right direction. That is, although not shown, the drone 1 can be provided with a side thruster that exerts a driving force in the direction of the axis Y. As a result, the drone 1 can move in the direction of the axis Y and change the direction without moving forward or backward by the drive unit 41A.
As described above, an example of the appearance of the drone 1 that can move on or under water in the present embodiment has been described with reference to FIG.

When the drive unit 41 of FIG. 4 is used, the drone 1 can have the effects of improving stability, safe operation, and carrying cargo.
The mobile body capable of achieving such an effect is not limited to the drone 1 using the drive unit 41 of FIG. 4, and the following mobile body can be adopted.
That is, for example, by attaching a side thruster (for example, the drive unit 41B in FIG. 4) in the vertical direction (for example, the direction of the axis Z in FIG. 4), a moving body capable of moving without advancing can be adopted. As a result, the moving body provided with the side thrusters (for example, the drone 1 in FIG. 4) can control the driving force in the direction of the axis Z, and can improve the stability.
Further, for example, as the side thruster, a moving body attached both front and rear of the hull (for example, near the end in the direction of the axis X in FIG. 4) can be adopted. As a result, the moving body provided with the side thrusters in the front and rear of the hull can control the direction of the axis Z of the moving body and control the angle, and can improve the stability.
Further, for example, a moving body having side thrusters attached in the left-right direction (for example, the direction of the axis Y in FIG. 4) can be adopted. As a result, the moving body provided with the side thrusters in the left-right direction can move in the direction of the axis Y and change the direction without moving in the direction of the axis X, which can improve the stability. can.
Further, for example, the above-mentioned side thruster is provided in the front part of the hull, in the front-rear direction, or in the left-right direction, but the present invention is not particularly limited to this. That is, for example, it is not limited to the direction of the axis X, the axis Y, or the axis Z, and may be provided in a direction other than any of the axes. Furthermore, although not shown, a mechanism for changing the direction in which the side thruster is installed may be provided so that the driving force can be exerted in any direction.

Hereinafter, an example of the support member 6 that guides and supports the drone 1 in the present embodiment will be described with reference to FIG.
The quay Q in FIG. 4 includes a plurality of support members 6. The support member 6 can guide and support the drone 1.

The support member 6 in the example of FIG. 4 can be safely guided to the back even if it comes into contact with it by using a roller with a spring. That is, by adopting a roller structure with a spring, the support member 6 can absorb an impact or the like due to the elasticity of the spring even if the drone 1 comes into contact with the support member 6. Further, since the quay Q includes a plurality of support members 6, the plurality of support members 6 can be brought into contact with the drone 1 one after another. As a result, the drone 1 can be guided along the quay Q.

Also, it can be supported from the left, right, top and bottom. That is, the support member 6 can be guided or supported from any direction of left, right, up and down, depending on the shape of the drone 1. Specifically, for example, in the example of FIG. 4, the quay Q and the support member 6 guide and support the movement of the drone 1 on the planes indicated by the axes X and Y, but the drone 1 is not particularly limited thereto. That is, the quay Q and the support member 6 can be supported from the left and right sides of the drone 1 by providing the axis Y in the positive direction and the axis Y in the negative direction with respect to the drone 1. Further, although not shown, the drone 1 can be supported from below by providing the support member 6 in the direction in which the axis Z is negative, that is, on the bottom surface of the water in which the drone 1 floats. Further, although the details will be described later, for the drone 1 that can move in the water, the drone 1 is supported from above by providing the support member 6 on the upper portion of the drone 1, that is, the axis Z in the positive direction. Can be done. As a result, the support member 6 can support the drone 1 from the left, right, top and bottom.

The support member 6 can also be linked with the control. That is, the support member 6 can be interlocked according to the control of the drone 1. Specifically, for example, the support member 6 may move according to the control of the drone 1. That is, for example, when the drone 1 is controlled to turn, the support member 6 may move in conjunction with each other to assist the turning of the drone 1.

The support member 6 can emit sound waves or the like to indicate the location of the wall like GPS. That is, the support member 6 can transmit a sound wave or the like carrying position information and time information on which the support member 6 is present. Specifically, for example, the drone 1 receives the position and time information of the support member 6 from each of the two support members 6, and the position estimation unit 45 of FIG. 3 receives the position and time information of the support member 6 from each of the support members 6. Distance can be estimated. Thereby, the support member 6 can indicate the location of the wall so that the line connecting each of the support members 6 corresponds to the quay Q, for example.

Hereinafter, the support member 6 that guides and supports the drone 1 will be described with reference to FIG.
FIG. 5 is a diagram showing an example of installation of a support member 6 that guides and supports the drone 1 of FIG.

The support member 6 can be installed so as not to be damaged even if the weight of the luggage is lightened. That is, the support member 6 that guides or supports the drone 1 should be installed so that the drone 1 is not damaged regardless of the weight of the entire drone 1 when the drone 1 is loaded with or not loaded with the container 5. Can be done. Specifically, for example, by providing the support member 6 as shown in FIG. 5, the drone 1 can be installed so as not to be damaged. That is, for example, by guiding or supporting the drone 1 by a plurality of support members 6, the weight applied to each of the plurality of support members 6 can be dispersed so that the drone 1 is not damaged. Further, for example, as described above, the support member 6 has a roller structure with a spring so that even if the drone 1 comes into contact with the support member 6, the impact or the like is absorbed by the elasticity of the spring, or a plurality of support members 6 are used. The drone 1 can be evenly contacted with respect to the above. As a result, the drone 1 can be installed so as not to be damaged regardless of the weight of the drone 1.
As described above, an example of the support member 6 that guides and supports the drone 1 in the present embodiment has been described with reference to FIG.

When such support members 6 of FIGS. 4 and 5 are used, the drone 1 can have the effects of improving stability, safe operation, and carrying cargo.
The moving body and the supporting member capable of exerting such an effect are not limited to the drone 1 and the supporting member 6 of FIGS. 4 and 5, and the following moving body and the supporting means can be adopted.
That is, for example, using a roller with a spring (for example, the support member 6 of FIGS. 4 and 5), even if the drone 1 of FIG. 4 comes into contact (for example, with respect to the direction in which the drone 1 is advanced), it is safe. A moving body or supporting means that guides to the back can be adopted. As a result, the support means having a roller structure with a spring can improve the stability of the moving body and allow the moving body to operate safely.
Further, for example, a moving body or a supporting means that is linked to the control (of the drone 1) (for example, the control by the movement control unit 42 in FIG. 3) can be adopted. As a result, the support means linked with the control of the moving body can improve the stability of the moving body and allow the moving body to operate safely.
Further, for example, the support means is provided with a support means by emitting a sound wave or the like and causing the distance between the moving body and the support means to be estimated based on the time information or the like placed on the sound wave or the like. A moving body or supporting means indicating the location of the can be adopted. As a result, a support means that can indicate the location of the wall, such as GPS, can make the moving body improve stability and operate safely.
Further, for example, the supporting means is a moving body installed so that the moving body (for example, the drone 1 in FIG. 5) is not damaged even if the weight of the luggage (for example, the container 5 in which the drone 1 in FIG. 5 is loaded) becomes lighter. And support means can be adopted. As a result, even if the weight of the cargo is reduced, the moving body can be made to carry the cargo.
Further, for example, the above-mentioned support means is made of a roller with a spring, but is not particularly limited thereto. That is, for example, any supporting means that can absorb the impact in the expansion / contraction direction of the supporting means by the elastic body and reduce the friction by the rotating body is sufficient. Furthermore, any support means having a structure capable of alleviating impact and friction is sufficient so that the moving body that comes into contact with or collides with the support means is not damaged.

Hereinafter, an example of loading the container 5 of the drone 1 in the present embodiment will be described with reference to FIG.
FIG. 6 is a cross-sectional view taken along the line AA for the drone 1 of FIG.
FIG. 6A is a diagram of an example in which the container center of gravity GC of the container 5 loaded on the drone 1 is not in the center of the drone 1.
FIG. 6B is a diagram of an example in which the container center of gravity GC of the container 5 loaded on the drone 1 is controlled to be the center of the drone 1.
When it is not necessary to distinguish between FIGS. 6A and 6B, they are collectively referred to as “FIG. 6”.

Looking at FIG. 6A, the drone 1 loads the container 5 via the roller 51, the container pedestal 52, and the pedestal roller 53. Here, the drone 1 is provided with a roller fitting portion 54, and the shape corresponding to the fitting portion (not shown) of the pedestal roller 53 prevents the pedestal roller 53 from slipping and rubbing against the drone 1.

Also, the dolly or container has a roller that can be moved. That is, the container 5 can be moved by the roller 51. Specifically, for example, the roller 51 can reduce the friction between the container 5 and the container pedestal 52 by rotating. As a result, the container 5 can be moved with respect to the container pedestal 52. However, the roller 51 may be prevented from rotating by a mechanism (not shown). Thereby, the container 5 can be fixed to the container pedestal 52.

Also, if the center of gravity is off, the dolly can be tilted to adjust around the center of gravity to prevent the hull from tilting. That is, in order to prevent the hull of the drone 1 from tilting when the center of gravity management unit 43 of FIG. 3 detects that the center of gravity GC of the container 5, which is the center of gravity of the container 5, is deviated from the center of the drone 1, FIG. By controlling the center of gravity control unit 44 of the above to tilt the container pedestal 52, the center of gravity of the container GC can be adjusted to the center of the drone 1. Specifically, for example, in FIG. 6A, the axis Y of the container center of gravity GC is deviated in the positive direction with respect to the center of the drone 1 in the direction of the axis Y. Here, the gravity with respect to the container 5 is illustrated as an arrow indicating "gravity" as being applied to the center of gravity GC of the container. In this case, gravity on the container 5 acts to capsize the drone 1, thus creating a risk that the drone 1 may capsize. In such a case, the pedestal roller 53 can rotate the container pedestal 52 with respect to the drone 1 by rotating. That is, the container 5 can be rotated and fixed with respect to the drone 1.

Looking at FIG. 6B, the container 5 and the container pedestal 52 are positioned at an angle with respect to the drone 1. Here, in FIGS. 6A and 6B, the position of the center of gravity GC of the container with respect to the container 5 has not changed. In FIG. 6B, the rotated container center of gravity GC coincides with the center of the drone 1. That is, the arrow indicating "gravity" as the gravity with respect to the container 5 is applied to the center of gravity GC of the container is located at the center of the drone 1. In this case, gravity on the container 5 does not act to capsize the drone 1 and does not pose a risk that the drone 1 can capsize. As a result, the drone 1 can reduce the risk of capsizing as compared with the case where the container 5 is simply installed.

Further, the above-mentioned power may be attached to the hull or the dock. That is, the method for rotating the container 5 described above is not limited to the one using the pedestal roller 53, and for example, the container 5 may be rotated with respect to the drone 1 by providing a roller or power on the drone 1 side.
Specifically, for example, in the case of FIG. 6B, the container pedestal 52 can be rotated with respect to the drone 1 by rotating the pedestal roller 53, which is performed by the power for rotating the pedestal roller 53. On the other hand, although not shown, the container pedestal 52 does not have a pedestal roller 53, but has a mechanism capable of rotating an arbitrary container pedestal 52 on the drone 1, and is powered by the drone 1 side, that is, the hull side. The container 5 and the container pedestal 52 may be rotated. As a result, the drone 1 can rotate the container 5 even when it is not moored at the dock. That is, even when the position of the center of gravity GC of the container changes and the risk of capsizing occurs due to the contents of the container 5 shifting or the like other than when the dock is moored, the risk can be reduced by rotating the container 5.
Further, for example, although not shown, the pedestal roller 53 and the drone 1, that is, the hull side may not be provided with power, and the container 5 and the container pedestal 52 may be rotated by the power provided by the dock in which the drone 1 is anchored. That is, the dock may include an arm or the like, rotate the container 5 and the container pedestal 52, and lock the pedestal roller 53 to fix the container center of gravity GC to the center of the drone 1. Thereby, the structure of the drone 1 can be simplified.

When the center of gravity control unit 44 of FIG. 3 and the container pedestal 52 of FIG. 6 are used, the drone 1 can have the effects of improving stability, safe operation, and carrying cargo.
The moving body capable of exhibiting such an effect is not limited to the drone 1 using the center of gravity control unit 44 of FIG. 6, and the following moving body can be adopted.
That is, for example, when a moving body (for example, the drone 1 in FIG. 6) loads a load (for example, the container 5 in FIG. 6), it is placed on a trolley (for example, the container pedestal 52 in FIG. 6) or a container (for example, the container 5 in FIG. 6). A roller (for example, the roller 51 in FIG. 6) is attached and can be moved. As a result, the moving body having a roller attached to the trolley or the container and can be moved can load and unload the cargo and can carry the cargo.
Further, for example, when the center of gravity (for example, the container center of gravity GC in FIG. 6) is deviated (for example, from the center position of the drone 1 in FIG. 6A), the hull is tilted (for example, the center of gravity management means (for example, the center of gravity management unit 43 in FIG. 3)). The trolley can be tilted and adjusted around the center of gravity (for example, adjusted by the center of gravity control unit 44 in FIG. 3). As a result, the moving body that can tilt the dolly and adjust it around the center of gravity can carry the cargo while improving the stability.
Further, for example, the above-mentioned power (for example, the center of gravity control unit 44 in FIG. 3) may be attached to the hull or the dock. As a result, the moving body when the dock is provided with the center of gravity control means can carry cargo while improving the stability, and further simplify the structure of the moving body.
That is, this moving body is
In a mobile body (eg, drone 1 in FIG. 6) that moves on or under water to carry a predetermined article (eg, container 5 in FIG. 6).
A means for moving the center of gravity (for example, the center of gravity control unit 44 in FIG. 3 and the container pedestal 52 and the pedestal roller 53 in FIG. 6) for moving the center of gravity of the article (for example, the container center of gravity GC in FIG. 6).
A moving body including a center of gravity fixing means (for example, the pedestal roller 53 and the roller fitting portion 54 in FIG. 6) for fixing the center of gravity of the article is sufficient.

Hereinafter, a method of managing the center of gravity of the drone 1 using the ballast tank will be described with reference to FIGS. 6 and 7.
In order to manage the center of gravity of the drone 1, it is possible to adjust the center of gravity to be below the waterline by pumping water and air in and out. That is, the more the center of gravity of the container GC and the center of gravity of the drone 1 are in the positive direction of the axis Z, the higher the risk of capsizing of the drone 1. In order to reduce this risk, the center of gravity of the drone 1 can be changed at least in the direction of the axis Z by pumping water or air into or out of a predetermined tank of the drone 1. Specifically, for example, looking at FIG. 6A, the drone 1 includes a ballast tank 55. Water and air can be pumped in and out of the ballast tank 55. Thereby, the weight of the drone 1 can be increased or decreased. As a result, by increasing the weight of the drone 1, the waterline can be raised with respect to the drone 1 (the axis Z of the drone 1 is submerged in the negative direction). As a result, the center of gravity of the drone 1 can be lowered with respect to the water surface, and the stability can be improved. Further, in the example of FIG. 6A, the drone 1 is provided with the ballast tank 55 in the direction in which the axis Z is negative with respect to the container 5. That is, by loading water, the center of gravity of the drone 1 including the container 5 can be lowered. As a result, the center of gravity of the drone 1 itself can be moved in the direction in which the axis Z is negative. Further, by injecting air into the ballast tank 55, water can be discharged and the weight of the drone 1 can be reduced. As a result, a heavier container 5 can be loaded as compared with the case where water is put inside the ballast tank 55.

Hereinafter, with reference to FIG. 7, an example of the drone 1 that can move in water in the present embodiment is shown.
FIG. 7 is a diagram showing an example of a cross-sectional view similar to that of FIG. 6 in a drone that can move underwater among the drones 1 of FIG.
The drone 1 in the example of FIG. 7 has a cylindrical structure. That is, the drone 1 has a structure in which water does not enter the inside of the drone 1 or the container 5 when it moves underwater.
Further, the drone 1 in the example of FIG. 7 includes ballast tanks 55A and 55B. When it is not necessary to distinguish the ballast tanks 55A and 55B individually, they are collectively referred to as "ballast tank 55". When submerging a drone 1 that can move in water, it is necessary to make the weight of the drone 1 heavier than the buoyancy determined by the volume of the drone 1 and the density of the surrounding water. In such a case, the weight of the drone 1 can be increased by pumping water into the ballast tank 55. Further, the weight of the drone 1 can be reduced by discharging water from the ballast tank 55 by a pump, compressed air, or the like. As a result, the drone 1 can dive and ascend.

Also, in the underwater machine, it can be adjusted so that it is below the center. That is, the drone 1 includes ballast tanks 55A and 55B as ballast tanks 55. As a result, the ballast tanks 55A and 55B can each move water and air in and out. That is, the drone 1 can change the weights of the ballast tanks 55A and 55B, respectively. Therefore, the drone 1 can change the entire center of gravity of the drone 1 including the container 5 and the ballast tanks 55A and 55B in the direction of the axis Z. Thereby, it is possible to control so that the direction of the axis Z of the drone 1 does not reverse, that is, the drone 1 does not roll over, and the center of gravity of the drone 1 comes in the direction in which the axis Z is negative with respect to the drone 1. ..
In addition, the dock can be adjusted in cooperation with the weight of the luggage. That is, when the container 5 is loaded on the drone 1 in the dock, the position of the container 5 in the dock and the position of the drone 1 in the axis Z direction can be adjusted by using the ballast tank 55. Specifically, for example, when the container 5 is loaded in the drone 1 of FIGS. 6 and 7 which is anchored in the dock, water is filled in the ballast tank 55 of the drone 1 in which the container 5 is not loaded. Thereby, the drone 1 can be moved in the negative direction of the axis Z. That is, the position of the drone 1 can be lowered. In this state, the container 5 is loaded. In this case, the weight with respect to the container 5 gradually changes from the state of being docked to the state of being applied to the drone 1. As a result, the drone 1 gradually sinks. At this time, by gradually pumping out the water in the ballast tank 55, the weight of the drone 1 can be reduced, the drone 1 can be prevented from sinking, and the container 5 can be loaded in a stable state.
As described above, an example of loading the container 5 in the present embodiment has been described with reference to FIGS. 6 and 7.

When the ballast tank 55 of FIGS. 6 and 7 and the center of gravity control unit 44 of FIG. 3 are used, the drone 1 can have the effects of improving stability, safe operation, and carrying cargo. ..
The moving body capable of achieving such an effect is not limited to the drone 1 using the ballast tank 55 and the center of gravity control unit 44 of FIGS. 6 and 7, and the following moving bodies can be adopted. ..
That is, for example, in order to manage the center of gravity of the moving body (for example, the drone 1 of FIGS. 6 and 7) (for example, the container center of gravity GC of FIGS. 6 and 7) (for example, by the center of gravity management unit 43 of FIG. 3), water or air. Can be adjusted so that the center of gravity is below the waterline by pumping in and out (for example, to the ballast tank 55 of FIGS. 6 and 7). As a result, the moving body that can be adjusted so that the center of gravity is below the waterline can improve stability, operate safely, and carry cargo.
Further, for example, in the dock, the total weight and buoyancy of the drone 1 of FIGS. 6 and 7 can be adjusted in cooperation with the luggage weight (for example, the weight of the container 5 of FIGS. 6 and 7). As a result, the moving body, which can adjust the weight and buoyancy of the entire moving body in cooperation with the weight of the luggage, can improve the stability, operate safely, and carry the cargo.
Further, for example, the ballast tank 55 described above is assumed to be at the position shown in FIGS. 6 and 7, but is not particularly limited thereto. That is, for example, a ballast tank capable of changing the center of gravity of the moving body is sufficient. Furthermore, the ballast tank may have a structure in the direction of the axis X. As a result, the center of gravity can be changed so as to change the elevation angle of the moving body.

Hereinafter, an example of the method of connecting the drone 1 to the dock and loading and unloading the container 5 in the present embodiment will be described with reference to FIGS. 8 and 9.
FIG. 8 is a diagram showing an example of fixing the drone 1 when the drone 1 of FIG. 1 enters the dock.
FIG. 8A is a diagram showing a state before the drone 1 is fixed when the drone 1 enters the dock.
FIG. 8B is a diagram showing a state after the drone 1 is fixed when the drone 1 enters the dock.
When it is not necessary to distinguish between FIGS. 8A and 8B, they are collectively referred to as “FIG. 8”.
In FIG. 8, the drone 1 is trying to connect to a dock in which the axis X is in the positive direction from the direction in which the axis X is in the negative direction. In the example of FIG. 8, the drone 1 is an underwater drone that can move underwater.

Looking at FIG. 8, the drone 1 in the example of FIG. 8 is loaded with a container 5 and includes a hatch 61 and a fixed portion 62. Further, the dock 7 in the example of FIG. 8 is provided with a waterproof wall 72 that separates the Di in the dock and the dock chamber Do with respect to the dock wall 71 that is the wall of the dock 7. Further, the dock 7 includes a support machine 73, a connection ring portion 74, a lock ring 75, and a cam 76. Further, looking at FIG. 8B, the dock 7 further includes a support member 6. Further, when the dock 7 and the drone 1 are connected, the dock connection area Dc is formed by the waterproof wall 72, the connection ring portion 74, the lock ring 75, and the hatch 61 of the drone 1 in addition to the Di in the dock and the dock room Do. It is formed.

First, when the hull enters the dock, the entrance is closed to block waves from the outer port. That is, although not shown, when the drone 1 enters the dock 7, the inside of the dock and the outer port can be separated by the partition wall of the dock provided with the axis X in the negative direction. As a result, it is possible to block waves and the like from the outer port to the dock room Do.

In addition, by grasping with the support machine on the dock side, the self-position can be stabilized and control can be facilitated. That is, looking at FIG. 8A, the self-position of the drone 1 can be stabilized with respect to the dock D by grasping an arbitrary position of the drone 1 by the support machine 73 provided in the dock 7. Specifically, for example, the support machine 73 in the example of FIG. 8 includes a mechanism capable of grasping the drone 1 and a mechanism for moving the support machine 73 to an arbitrary position. As a result, the hatch 61 of the drone 1 can be grasped and the drone 1 can be supported in a predetermined position of the dock 7. As a result, the drone 1 can easily control the position with respect to the dock 7.
By the method of the above example, the drone 1 can be moved to a predetermined position of the dock 7.

Next, fix the hull with rollers, press the lock ring against the hull and fix the cam, and seal the area around the hatch. That is, the drone 1 is fixed by the support member 6 having a roller structure with a spring, the lock ring 75 is pressed against the fixing portion 62 of the drone 1, and the lock ring 75 is fixed by the cam 76, so that the dock connection area around the hatch 61 is connected. The Dc can be sealed. Specifically, for example, the connection ring portion 74 has a cylindrical shape. As a result, it can be connected to the drone 1 which is a cylindrical underwater drone. The connecting ring portion includes a lock ring 75, and the cam 76 is movable with respect to the lock ring 75. For example, in the example of FIG. 8, the cam 76 includes a mechanism that rotates with respect to the lock ring 75. This allows the cam 76 to rotate and reposition with respect to the lock ring 75, as shown in FIGS. 8A and 8B. By this cam mechanism, the lock ring 75 and the cam 76 can be fitted and fixed to the fixing portion 62 of the drone 1.

In addition, the connection ring portion 74 is made of rubber or the like and can cope with shaking of the hull to some extent. That is, by using an elastic material such as rubber for the connection ring portion 74, each portion of the dock D including the connection ring portion 74 and each portion of the drone 1 including the fixing portion 62 when the drone 1 shakes. Can be prevented from being overloaded.

Also, when the drone 1 is connected to the dock 7, by pulling the cam toward the ring side, the ring can be brought into close contact with the hull and airtightness can be maintained. That is, when the lock ring 75 and the cam 76 are fitted and fixed to the fixing portion 62 of the drone 1, the lock ring 75 is moved by moving the cam 76 to the lock ring 75 side, that is, in the positive direction of the axis X. It can be brought into close contact with the fixed portion 62 of the drone 1. As a result, the dock connection area Dc can be made airtight.

Also, even if there is some leakage, there is no problem if there is a drainage facility. That is, when the above-mentioned dock connection area Dc is not completely airtight, that is, when there is some inflow of water from the dock chamber Do to the dock connection area Dc, the dock connection area Dc and the Di in the dock are not shown. By draining water with a drainage facility such as a pump, it is possible to make some water inflow into a state where there is no problem.

Also, it can be devised to hold down strong bones. That is, the support member 6 that supports the drone 1 can be devised to support a position of an aggregate (not shown) in the structure of the drone 1. Specifically, for example, when the outer wall of the drone 1 is composed of an aggregate (not shown) and a plate passed between the aggregate and the aggregate, when the drone 1 is connected to the dock 7, the support member provided in the dock 7 is provided. 6 can arrange the support member 6 so as to contact and support the aggregate of the drone 1 at a certain position.

Also, since it will break if it is completely fixed from all sides, it can be supported by a weak spring to allow some vibration. That is, when a spring having a strong spring constant is adopted for the support member 6 having a roller structure with a spring, when the drone 1 is completely fixed by the support member 6 from the left, right, top and bottom, for example, the drone when loading and unloading the container 5. Due to the shaking of 1, pressure is applied to the position in contact with the support member 6 and the support member 6 of the drone 1, and there is a possibility of damage. Therefore, by adopting a spring having a weaker spring constant as the support member 6 as compared with the above-mentioned case, some vibration of the drone 1 or the like can be absorbed by the support member 6. As a result, even if some vibration is generated in the drone 1, the operation can be tolerated.

FIG. 9 is a diagram showing an example in which the drone 1 of FIG. 1 is connected to the dock 7 and the container 5 is lowered.
FIG. 9A is a diagram showing an example in which the hatch 61 of the drone 1 connected to the dock 7 is removed.
FIG. 9B is a diagram showing an example in which the dolly 77 is connected and the container 5 is lowered.

Next, drain the water outside the hatch and remove the hatch. Also release the waterproof wall on the dock side. That is, the water in the dock connection region Dc outside the hatch 61, which has become airtight as described above, can be drained by a pump or the like, the water can be drained from the dock connection region Dc, and the hatch 61 can be removed. As a result, the inside of the drone 1, the dock connection area Dc, and the Di in the dock can be made into the atmosphere. In addition, the waterproof wall 72 can be released. As a result, the drone 1, the dock connection area Dc, and the Di in the dock are connected, and the container 5 can be lowered.

Next, bring the mechanism to receive the luggage from the dock side closer and pull out the luggage. It also supplies power and fuel at the same time. That is, it is possible to bring the mechanism for receiving the luggage such as the trolley 77 closer from the Di in the dock and withdraw the luggage such as the container 5 from the drone 1. Further, the dock 7 can supply power and fuel to the drone 1 at the same time as pulling out the luggage. As a result, power and fuel can be supplied in parallel with the loading and unloading of the container 5.

In addition, the weight of the hull changes significantly when unloading. Therefore, make adjustments by filling the ballast inside the ship with water or reducing the amount of water in the dock room. That is, when the container 5 is dropped from the drone 1, the weight of the container 5 changes from the state of being applied to the drone 1 to the state of being applied to the dock 7, so that the drone 1 tends to surface. Therefore, by putting water in the ballast tank 55 provided in the drone 1 described above, it is possible to increase the weight of the drone 1 and prevent it from ascending. Further, since the dock chamber Do is separated from the outer port by the partition wall of the dock provided with the axis X in the negative direction, the water in the dock chamber Do can be discharged. As a result, the buoyancy acting on the drone 1 can be reduced, and the drone 1 can be prevented from surfacing.
As described above, an example of the method of connecting the drone 1 to the dock 7 and loading and unloading the container 5 in the present embodiment has been described with reference to FIGS. 8 and 9.

When the dock 7 and the drone 1 of FIGS. 8 and 9 are used, the drone 1 can have the effects of improving stability, safe operation, and carrying cargo.
The moving body capable of exerting such an effect is not limited to the dock 7 and the drone 1 of FIGS. 8 and 9, and the following docks and moving bodies can be adopted.
That is, for example, when the hull (for example, the drone 1 in FIG. 8 or FIG. 9) enters the dock (for example, the dock 7 in FIG. 8 or FIG. 9), the entrance (for example, the axis X in FIG. 8 or FIG. 9 is in the negative direction). It is possible to adopt a dock that blocks a certain barrier) and blocks waves from the outer port. As a result, the mobile body connected to the dock that blocks waves from the outer port can improve the stability and load and unload cargo.
Further, for example, a dock that grips (a moving body) with a support machine on the dock side (for example, the support machine 73 in FIG. 8) can be adopted. This allows the (moving body) to stabilize its self-position and facilitate control, and the moving body can load and unload cargo with improved stability.
Further, for example, a dock made of rubber or the like (for example, the connection ring portion 74 of FIGS. 8 and 9) can be used to cope with the shaking of the hull to some extent. As a result, even when the moving body shakes or the moving body moves due to a change in weight, cargo can be stably loaded and unloaded.
Further, for example, the hull is fixed by a roller (for example, the support member 6 in FIG. 9), the lock ring (for example, the lock ring 75 in FIG. 9) is pressed against the hull, and the cam (for example, the cam 76 in FIG. 9) is pressed (for example, in FIG. 9). By fixing (fitting with the fixing portion 62), a dock that seals the periphery of the hatch (for example, the hatch 61 in FIG. 9) can be adopted. This allows the moving object to load and unload cargo with improved stability.
Further, for example, a drainage facility can be adopted in the dock because some water or the like leaks into the inside of the dock. This allows the moving object to load and unload cargo without being threatened by water leaks.
Further, for example, when the moving body is supported by the supporting means, a dock devised to hold down a strong bone in the drone 1 can be adopted. As a result, when improving the stability of the drone 1, it is possible not to apply a load to a position where the strength of the drone 1 is structurally weak.
Further, for example, since the moving body is broken when it is completely fixed from all sides by the supporting means, the roller of the supporting member is supported by a weak spring, and a dock that allows some vibration of the moving body can be adopted. As a result, it is possible to improve the stability of the drone 1 and prevent damage to the drone 1 due to unexpected slight shaking or the like.

Hereinafter, an example of adjusting the water level of the dock 7 containing the drone 1 in the present embodiment will be described with reference to FIG. 10.
FIG. 10 is a diagram showing the dock 7 containing the drone 1 of FIG. 8 from another direction.
FIG. 10A is a diagram showing a dock 7 containing a drone 1.
FIG. 10B is a diagram showing an example in which water in the dock chamber Do of the dock 7 containing the drone 1 is discharged.
FIG. 10C is a diagram showing an example in which the dock chamber Do of the dock 7 containing the drone 1 is filled with water again.
When it is not necessary to distinguish FIGS. 10A to 10C individually, they are collectively referred to as "FIG. 10".

In FIG. 10, the drone 1 is in the dock room Do of the dock 7. In the example of the present embodiment, since the drone 1 is an underwater drone that can move underwater, the dock 7 is installed below the sea level of the upper Du of the dock. Further, the dock 7 is provided with a valve 81 between the dock 7 and the upper Du of the dock. Further, the dock 7 includes a spare water tank 83 via a valve 82.
Further, looking at FIG. 10A, since the drone 1 moves underwater and enters the dock 7, the dock chamber Do is filled with water.

Here, the amount of water in the dock can be adjusted immediately by preparing a spare water tank below the dock when maintaining the balance of the ship or for maintenance. That is, the drone 1 may be out of balance due to buoyancy, or the water in the dock room Do may be drained for maintenance and inspection of the drone 1. In such a case, when simply draining water with a pump or the like, it takes time depending on the size of the dock chamber Do and the drainage capacity of the pump, and a pump with high drainage capacity is prepared for a short time. It costs such as. Therefore, by providing the dock 7 with a reserve water tank 83 underneath, the amount of water in the dock chamber Do can be adjusted immediately by draining the water inside the dock chamber Do to the reserve water tank 83. Specifically, for example, the dock 7 is provided with a valve 82 between the dock 7 and the empty reserve water tank 83 provided below. In this case, looking at FIG. 10B, by opening the valve 82, the water inside the dock chamber Do flows into the reserve water tank 83. As a result, water is drained from the dock room Do.

Also, at the time of departure, the water pressure will be matched with the sea side again, and the water in the reserve tank will be pumped back to the sea. That is, when the maintenance and inspection of the drone 1 is completed and the vehicle departs from the outer port, seawater is supplied to the dock room Do. As a result, the dock room Do is filled with seawater, and the water pressure can be matched with that of the outer port. In this state, the port can be departed by opening the partition wall separating the outside world and the dock room Do.

Also, with a seaplane, the ups and downs can be adjusted in the same way. That is, in the case of a water drone in which the drone 1 floats and moves on the water, although not shown, the above-mentioned dock upper Du does not exist, but in the dock 7 having a partition wall with an outer port, the drone 1 enters the dock. Close the partition with the outer port in this state. When it is desired to drain the water in the dock room Do, seawater can be drained to the reserve water tank 83 provided in the lower part.
As described above, an example of adjusting the water level of the dock 7 containing the drone 1 in the present embodiment has been described with reference to FIG.

When the dock 7 and the drone 1 of FIG. 10 are used, the drone 1 can have the effects of improving stability, safe operation, and carrying cargo.
The moving body capable of exerting such an effect is not limited to the dock 7 and the drone 1 in FIG. 10, and the following docks and moving bodies can be adopted.
That is, for example, when maintaining the balance of the ship (for example, the drone 1 in FIG. 10) or by preparing a spare water tank (for example, the spare water tank 83 in FIG. 10) below the dock for maintenance, the amount of water in the dock can be quickly increased. You can use a dock to adjust. As a result, the water in the dock can be drained without using a pump or the like, and maintenance and inspection of the moving body can be performed immediately.
Further, for example, when the moving body departs from the port, a dock can be adopted in which the water pressure is matched with the sea side (for example, the upper Du of the dock in FIG. 10) again, and the water in the reserve tank is later returned to the sea by a pump. As a result, water can be supplied to the dock without using a pump or the like, and the moving body can leave the port immediately.
Further, for example, in a seaplane, a dock for adjusting ups and downs can be adopted in the same manner. Thereby, for example, not only the moving body that can move in the water shown in FIG. 10 but also the moving body that can move on the water can be quickly drained to perform maintenance and inspection work.
Further, for example, the above-mentioned dock 7 has one path and one valve to the reserve water tank 83 and the dock upper Du, but is not particularly limited thereto. That is, for example, the dock 7 and the reserve water tank 83 may be connected by a plurality of valves and paths. As a result, drainage can be performed by one route and air can be supplied by the other route, and the speed of drainage can be improved.

Hereinafter, an example in which the drone 1 acquires its own position in the present embodiment will be described with reference to FIG. 11.
FIG. 11 is a diagram showing an example in which the drone 1 of FIG. 1 raises the GPS receiving device for acquiring its own position to the sea surface.
In FIG. 11, the drone 1-1, which is a surface drone that floats and moves on the sea, can acquire a self-position by receiving a signal from the GPS satellite G while navigating on the surface of the water. On the other hand, the drone 1-2, which is an underwater drone that moves in the sea, is blocked by the seawater and cannot directly receive the signal from the GPS satellite G.

Here, in order to acquire the self-position, the receiver with the tie can be raised to the sea surface when acquiring GPS. That is, when the drone 1-2 moving underwater receives the signal from the GPS satellite G, the drone 1 can connect the GPS receiving device 91 with the signal line 92 and raise it to the sea surface. As a result, the drone 1-2 receives the signal from the GPS satellite G via the GPS receiver 91 and the signal line 92, and the position estimation unit 45 in FIG. 3 is based on the acquired signal from the GPS satellite G. The self-position can be estimated.
Further, at this time, it is possible to transmit sound waves or the like from the GPS device or the hull to confirm that there are no other ships or obstacles at the sea surface or a place up to the sea surface and safely transport the GPS to the sea surface. That is, when the GPS receiving device 91 is raised to the sea surface, the GPS receiving device 91 may come into contact with a ship moving on the sea such as a drone 1-1. In order to avoid this, the GPS receiving device 91 can transmit sound waves or the like to check whether there are other ships or obstacles on the sea surface or at a place up to the sea surface. Specifically, for example, looking at FIG. 11, the sound wave transmitting unit (not shown) included in the GPS receiving device 91 transmits sound waves toward the sea surface. Sound waves are reflected when there are other vessels or obstacles on or above sea level. The sound wave receiver (not shown) provided in the GPS receiver 91 receives the reflected sound wave, and the distance to the sea surface, the engine sound of another ship, etc. are received, so that the drone 1-2 can be used by another ship or an obstacle. Can identify the existence of. As a result, the drone 1-2 can avoid other ships and obstacles, raise the GPS receiver 91 to the sea surface, receive the signal of the GPS satellite G, and acquire its own position.
As described above, an example of the case where the drone 1 acquires its own position in the present embodiment has been described with reference to FIG.

When such a drone 1 of FIG. 11 is used, the drone 1 can have the effects of improving stability, safe operation, and carrying cargo.
The moving body capable of exerting such an effect is not limited to the drone 1 in FIG. 11, and the following docks and moving bodies can be adopted.
That is, for example, when acquiring GPS for acquiring the self-position of a mobile body (for example, drone 1 in FIG. 11), a receiver with a string (for example, signal line 92 in FIG. 11) (for example, GPS reception in FIG. 11) A moving body that raises the device 91) to the sea surface can be adopted. As a result, the moving body can acquire its own position, and can operate safely and carry cargo.
Further, for example, a GPS device (for example, the GPS receiving device 91 in FIG. 11) or a hull (for example, the drone 1 in FIG. 11) emits a sound wave or the like to the sea surface or a place up to the sea surface to another ship (for example, the drone 1 in FIG. 11). -1) It is possible to adopt a moving object that safely transports GPS to the surface of the sea after confirming that there are no obstacles. As a result, the safety when raising the GPS receiving means necessary for acquiring the self-position to the sea surface is improved, and safe operation and cargo transportation can be performed.
Further, for example, the above-mentioned device for raising to the sea is a GPS receiving device 91, but the device is not particularly limited to this. That is, not only the GPS receiving device, but also a device that a moving object raises to the sea, specifically, an image pickup device that captures an image of the state of the sea, a periscope, or the like, also transmits sound waves or the like as described above. By doing so, it is possible to confirm that there are no other vessels or obstacles on the surface of the sea or in the place up to the surface of the sea.

Hereinafter, an example of a radio wave transmitting device for preventing the drone 1 from colliding with a quay or the seabed in this implementation system will be described with reference to FIG. 12.
FIG. 12 is a diagram showing an example in which the drone 1 of FIG. 1 moves in response to a signal from a signal transmission / reception device installed on a quay or the seabed.
In FIG. 12, in the signal transmission / reception device 101, a plurality of signal transmission / reception devices 101A are installed on the quay Q in the sea. Further, the signal transmission / reception device 101B is installed on the seabed. When it is not necessary to distinguish between the signal transmission / reception device 101A and the signal transmission / reception device 101B, they are collectively referred to as "signal transmission / reception device 101".

By installing a device that emits sound waves or the like on the quay or the seabed under the sea and outputting a signal, it is possible to convey the danger to the transport aircraft and support the self-position estimation of the transport aircraft. That is, the signal transmission / reception device 101 installed on the quay Q in the sea or the seabed transmits a signal such as a sound wave from the signal transmission / reception unit 111. The signal transmitted by the signal transmission / reception device 101 is received by the drone 1 navigating near the signal transmission / reception device 101. The drone 1 provided with the position estimation unit 45 of FIG. 3 can analyze the signal of the signal transmission / reception device 101 and perform self-position estimation to estimate the self-position of the drone 1.
Specifically, by sending time information from this device in time synchronization equivalent to GPS, the distance can be measured from the arrival time on a ship. That is, the signal transmission / reception device 101 transmits time information corresponding to the time at the time of transmission as a signal, similarly to the GPS satellite G. The drone 1 that has received the signal can estimate the distance from the signal transmission / reception device 101 that has transmitted the signal by calculating the arrival time from the transmission time and the reception time. As a result, the drone 1 can maintain a distance from the quay Q and the seabed where the signal transmission / reception device 101 is installed by providing a predetermined distance from the signal transmission / reception device 101.

Also, the distance can be estimated from the strength of the received signal. That is, the signal such as the sound wave transmitted by the signal transmission / reception device 101 becomes wider or attenuated as the distance from the transmitted position increases, so that the signal strength decreases. The drone 1 can share, for example, the strength transmitted by the signal transmission / reception device 101 in advance. The drone 1 can estimate the distance between the drone 1 and the signal transmission / reception device 101 from the amount at which the received signal is weakened from the transmitted intensity and the received intensity. As a result, the distance of the signal transmitted by the signal transmission / reception device 101 can be estimated regardless of the data carried on the signal such as time information.

Also, if you combine multiple items, you can know the exact location. That is, by combining a plurality of signal transmission / reception devices 101, the drone 1 can estimate an accurate self-position. Specifically, for example, when the drone 1 can estimate the distance from one signal transmission / reception device 101, it can be seen that the self-position of the drone 1 is on a concentric circle separated by the distance estimated from the signal transmission / reception device 101. .. If the distances from each of the two signal transmission / reception devices 101 can be estimated, the self-position of the drone 1 is the position of the intersection (up to two) of the concentric circles centered on each of the signal transmission / reception devices 101. It turns out that there is. If the distances from each of the three signal transmission / reception devices 101 can be estimated, the self-position of the drone 1 is determined to be one point. As described above, by combining a plurality of signal transmission / reception devices 101, the drone 1 can estimate an accurate self-position. Furthermore, by further combining a plurality of signal transmission / reception devices 101, the accuracy of estimating the self-position of the drone 1 can be improved.

On the contrary, data can be transferred from the ship to the ground. That is, the drone 1 can be provided with the signal transmitting / receiving device 101, and the quay Q can be provided with the signal receiving device. Specifically, for example, the signal transmission / reception device 101 included in the drone 1 transmits a signal carrying information indicating the current time. Next, a plurality of signal receiving devices installed on the quay Q receive the signal. Similar to the above, the signal receiving device can estimate the distance between the drone 1 and the signal receiving device from the transmission time and the reception time of the signal. The position of the drone 1 can be estimated by being able to estimate each of the distances between the drone 1 and each of the plurality of signal receiving devices. As a result, the position of the drone 1 can be estimated from the quay Q side, that is, the ground side.

Alternatively, the position may be estimated from a plurality of ground stations and transmitted to the ship by using the signal from the ship. That is, as described above, when the drone 1 is positioned based on the signals received by the plurality of ground signal receiving devices based on the signal transmitted by the signal transmitting / receiving device 101 included in the drone 1, it is estimated on the ground side. The position of the drone 1 can be transmitted to the drone 1 by wireless communication such as radio waves. As a result, the drone 1 can acquire the self-position estimated on the ground side without loading the device for estimating the self-position.

Also, even one ground station may be combined with the movement of a ship, or the self-position may be estimated using the distance from the water surface. That is, as described above, the more information about each distance, such as the distance between the drone 1 and the signal transmission / reception device 101, the better the accuracy. Therefore, for example, even when the signal can be received from only one of the signal transmission / reception devices 101 to the quay Q, the signal from the other drone 1 whose self-position is accurately determined can be received. , Can be combined with your own movement status. Further, when estimating the self-position of the drone 1 which is an underwater drone capable of moving underwater, the self-position may be estimated using the distance from the water surface.

Moreover, even if there is no ground station, the self-position may be estimated by inertial navigation using information such as ocean current. That is, when there is no device such as a signal transmission / reception device 101 in the vicinity of the drone 1, the drone 1 performs inertial navigation based on information on the direction and speed of the ocean current and information on the acceleration sensor provided in the drone 1. May be good. As a result, the drone 1 can estimate its own position even when the signal transmission / reception device 101 is in a poor area or cannot receive a signal.
As described above, an example of the signal transmission / reception device for preventing the drone 1 from colliding with the quay or the seabed in the present implementation system has been described with reference to FIG.

When the signal transmission / reception device 101 and the drone 1 of FIG. 12 are used, the drone 1 can have the effects of improving stability, safe operation, and carrying cargo.
The mobile body capable of exerting such an effect is not limited to the signal transmission / reception device 101 and the drone 1 of FIG. 12, and the following docks and mobile bodies can be adopted.
That is, for example, a device that emits sound waves or the like (for example, the signal transmission / reception device 101 in FIG. 12) is installed on the quay or the seabed under the sea, and by emitting a signal, the transport aircraft (for example, the drone 1 in FIG. It is possible to employ a signal transmission / reception means or a moving body that conveys a danger (that is, it is approaching the seabed) or estimates the self-position of the transport aircraft (for example, by the position estimation unit 45 in FIG. 3). As a result, the moving body can estimate its own position, and can operate safely and carry cargo.
Further, for example, a signal transmission / reception means or a mobile body that estimates the distance (for example, the signal transmission / reception device 101 of FIG. 12 and the drone 1) depending on the strength of the received signal can be adopted. As a result, the moving body can estimate the distance to the quay where the signal transmitting / receiving means is installed and the seabed, and can operate safely and carry cargo.
Further, for example, a signal transmission / reception means or a mobile body that combines a plurality of signal transmission / reception means can be adopted. As a result, the moving body can estimate its own position more accurately, and can operate safely and carry cargo.
Further, for example, on the contrary, a signal transmitting / receiving means or a mobile body that transfers data from a ship (for example, the drone 1 in FIG. 12) to the ground can be adopted. As a result, by estimating the position of the moving body from the ground side, appropriate control can be performed for the moving body by wireless communication or the like, and safe operation and cargo transportation can be performed.
Further, for example, it is possible to adopt a signal transmission / reception means or a mobile body that estimates a position from a plurality of ground stations (for example, a plurality of signal transmission / reception devices 101 in FIG. 12) and transmits the position to the ship by using a signal from the ship. .. As a result, the moving body can acquire the self-position estimated on the ground side without loading the device for estimating the self-position, and can safely operate and transport the cargo.
Further, for example, even one ground station can adopt a signal transmission / reception means or a mobile body that can be combined with the movement of a ship or estimate its own position by using a distance from the water surface or the like. As a result, the mobile body can estimate its own position based on the distance to other mobile bodies even when the distance to a place where there are few signal transmission / reception means can be used for estimation, and safe operation and cargo can be estimated. Can be transported.
Further, for example, even if there is no ground station, it is possible to adopt a signal transmission / reception means or a mobile body that estimates its own position by inertial navigation using information such as ocean currents. As a result, the moving body can estimate its own position even when there is no signal transmitting / receiving means, and can operate safely and carry cargo.

Although the present invention and other embodiments have been described above, the present invention and other embodiments are not limited to the above-described embodiments, and modifications, improvements, etc. within the range in which the object can be achieved are described in the present invention. It is included.
For example, in the above-described embodiment, the drone is adopted as an example of the moving body, but the drone is not limited to the drone, and any moving body can be adopted. For example, not only a drone that moves on the water or underwater, but also a ship that moves on the water, a submarine that moves underwater, and the like are all examples of moving objects.
Further, the functional block diagram shown in FIG. 3 is merely an example and is not particularly limited. That is, it suffices if the drone 1 or the like is provided with a function capable of executing the above-mentioned series of processes as a whole, and what kind of functional block is used to realize this function is not particularly limited to the example of FIG. ..
Further, one functional block may be configured by a single hardware or a combination of a single software.

When the processing of each functional block is executed by software, the programs constituting the software are installed in a computer or the like from a network or a recording medium.
The computer may be a computer embedded in dedicated hardware. Further, the computer may be a computer capable of executing various functions by installing various programs, for example, a general-purpose smartphone or a personal computer in addition to a server.

The recording medium containing such a program is not only composed of removable media, which is distributed separately from the main body of the device to provide the program to each user, but also is preliminarily incorporated in the main body of the device to each user. It is composed of the provided recording media and the like.

In this specification, the steps for describing a program recorded on a recording medium are not only processed in chronological order but also in parallel or individually, even if they are not necessarily processed in chronological order. It also includes the processing to be executed.

1 ... Drone, 2 ... Operator terminal, 3 ... Server, 41 ... Drive unit, 42 ... Movement control unit, 43 ... Center of gravity management unit, 44 ... Center of gravity control unit , 45 ... position estimation unit, 5 ... container, Q ... quay, 6 ... support member, GC ... container center of gravity, 51 ... roller, 52 ... container pedestal, 53.・ ・ Pedestal roller, 54 ・ ・ ・ Roller fitting part, 55 ・ ・ ・ Ballast tank, 61 ・ ・ ・ Hatch, 62 ・ ・ ・ Fixed part, 7 ・ ・ ・ Dock, Di ・ ・ ・ Dock inside, Do ・ ・ ・Dock room, Dc ... Dock connection area, 71 ... Dock wall, 72 ... Waterproof wall, 73 ... Support machine, 74 ... Connection ring part, 75 ... Lock ring, 76 ... -Cam, 77 ... trolley, 81 ... valve, 82 ... valve, Du ... dock upper part, 83 ... reserve water tank, 91 ... GPS receiver, 92 ... signal line, 101 ... Signal transmission / reception device

Claims (1)

1. In a mobile body that moves on or under water to carry a predetermined item.
   A means for moving the center of gravity of the article and a means for moving the center of gravity of the article,
   A center of gravity fixing means for fixing the center of gravity of the article,
   A mobile body equipped with.

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