JP2024118954A - Unmanned underwater exploration system, management device, and method for controlling unmanned underwater exploration system - Google Patents

Abstract

[Problem] To provide an inexpensive unmanned underwater exploration system that can automate a series of seabed exploration tasks. [Solution] In an unmanned underwater exploration system that can communicate with a ship that can navigate by receiving steering signals transmitted from an RC controller 23 via a transmitting/receiving antenna over a specified network, an underwater drone 31 that performs underwater exploration based on exploration signals transmitted from the RC controller 23, and a management device 11 that processes exploration information transmitted from the ship 1, the system receives exploration information transmitted from the ship 1, analyzes seabed topography information and shape information of structural parts laid on the seabed, creates 3D seabed exploration images showing the seabed topography and seabed structures that show the exploration results based on the analyzed exploration information, and stores the created 3D seabed exploration images by linking them to a specified nautical chart. [Selected Figure] Figure 1

Description

The present invention relates to an unmanned underwater exploration system that automatically controls the navigation of a vessel via wireless communication and conducts underwater surveys using an installed underwater exploration device, a management device, and a control method for the unmanned underwater exploration system.

Conventionally, when investigating undersea topography, etc., the following Patent Document 1 states, "While diving by divers is easy to carry out, it is difficult to conduct continuous investigations over long periods of time. In addition, there are problems in that it is easily affected by weather and sea conditions, and is often dangerous.

In addition, underwater robots are themselves expensive. Moreover, they require skill to operate and are complex to operate, such as requiring a large mother ship. This results in high costs.

Furthermore, it has been pointed out that in order to move an underwater robot so as to maintain a constant height above the seabed on an uneven seabed, complex mechanisms and controls are required, and the operation is also complicated."

In response to these issues, the following Patent Document 1, which discloses an underwater vehicle, discloses that "in order to provide an underwater vehicle that is inexpensive and easy to operate and can be used for seabed surveys, the underwater vehicle 1 of the present invention is characterized in that it comprises a long, slender, cylindrical main body 7 to which a mooring means 9 is attached at its tip, attitude stabilization means 11 that is located on the opposite side of the mooring means 9 of the main body 7 and has attitude stabilization wings that form the rear end, and adjustment means 5 that adjusts the underwater position of the main body 7."

As an underwater survey device, the following Patent Document 2 discloses that "in order to provide a work vessel support method and system capable of supporting underwater surveys by a work vessel with a simple configuration, an image of a target mark 60 attached to a work object laid on the seabed or in the sea is captured by an imaging means 10 suspended from a work vessel into the sea together with a work member, the image obtained is processed to generate a virtual three-dimensional model including the work member and the work object, an image of the virtual three-dimensional model viewed from a desired direction is generated, and the image is used to support the processing of the work object by the work vessel's work member."

In addition, the following Patent Document 3 describes a system for exploration using an underwater drone: "[0023] Underwater, a diver 8 and a camera 9 operated by the diver are below multiple floats 1, and an underwater drone 10 is exploring or swimming in the sea near the diver. The underwater drone 10 has a transmitting/receiving device 11, and its transmitting element 12 and receiving element 13 are exposed and arranged on the top of the underwater drone 10 facing toward the water surface. Figure 2 is a front view of the underwater drone 10, and it can be propelled up, down, left and right by controlling four propeller fans 14, 15, 16, and 17. It also has a horizontal stabilizer 18 to ensure stability of horizontal movement. The underwater drone 10 is equipped with a transmitting/receiving device 11, and the transmitting element 12 and receiving element 13 are arranged on the top of the drone 10 body.

[0024] This transmitting/receiving device (mobile body side transmitting/receiving device) 11 and transmitting/receiving elements 12, 13 are controlled by a direction control means 30 so that signals can be constantly sent upward even while the underwater drone 10 is moving. This direction control means 30 is performed by gyrocompass direction control, and details will be described later. A drone camera 19 is disposed on the front of the drone 10 so that underwater images can be transmitted upward (to the water surface) from the drone side transmitting/receiving device 11. This drone camera 19 is operated using the underwater communication system of the present invention under data signal control from the base station or center side. " is disclosed.

9 and 10 are diagrams showing examples of surveys of structures installed during harbor construction work.
As shown in Figure 9, in order to survey undersea structures, it was necessary to set up a large crane on land and, as shown in Figure 10, to carry out the survey while checking the horizontal state using a scanner or the like located at a separate operating position.
FIG. 11 is a diagram showing the structure of a quay constructed for a fishing port.
Such marine structures may experience irregular positioning due to the application of forces to their foundations from unexpected directions as a result of years of use or earthquakes.
For this reason, the exact location of the structure may be surveyed periodically and coastal construction work may be carried out to reinforce the structure.

JP 2005-206031 A JP 2001-180579 A JP 2022-164524 A

However, when a system is created by combining the above Patent Documents 1 to 3, the system configurations are independent, so a diver is needed to adjust the communication interfaces and operate the underwater drone. There are limitations to the seabed depth that can be surveyed, and when external conditions such as tides and turbidity are also taken into account, in order to carry out an effective exploration, it is necessary to know the weather conditions, tides, and the transparency of the seawater, etc. in advance. This imposes a considerable burden on personnel, and it has been pointed out that it is not possible to carry out exploration activities at low cost within a certain seabed area.

Furthermore, if it is necessary to take in a certain amount of seawater from the seabed during seabed surveys and bring it back, a water intake device and a system to collect the seawater taken in by the device and navigate it to a designated port, etc. will be required, but currently there has been no proposal for a complete system to collect seawater from seabed surveys.
Additionally, surveys of coastal areas require the installation of large-scale measurement systems, which can result in higher survey costs than expected.

The present invention has been made to solve the above problems, and provides an inexpensive unmanned underwater exploration system, management device, and control method for an unmanned underwater exploration system that can automate a series of underwater exploration tasks by linking an underwater camera and a sonar device attached to a drone body that moves underwater, and by having a configuration in which the drone body is steered via a wireless controller from a remote headquarters, while checking the image from the underwater camera on a display device, and the reflected waves obtained by exploring the intended underwater area are compiled and analyzed. ...

The unmanned underwater exploration system of the present invention is an unmanned underwater exploration system capable of communicating between a ship capable of navigating by receiving steering signals transmitted from an RC controller via a transmitting/receiving antenna through a predetermined network, an underwater drone that performs underwater exploration based on the exploration signals transmitted from the RC controller, and a management device that processes the exploration information transmitted from the ship, in which the ship is equipped with a means for dropping an underwater drone equipped on the ship into the sea based on the signals transmitted from the RC controller and a means for recovering/lowering the dropped underwater drone from the sea, the underwater drone is equipped with an underwater camera that photographs the seabed within a set exploration seabed area, an exploration control unit that controls a sonar system in which a transducer is disposed, and a navigation control unit that controls the navigation course of the underwater drone based on the signals transmitted from the RC controller, and the management device is configured to process the exploration information transmitted from the ship, The system is characterized by comprising a route setting means for setting a navigation route based on the exploration area to be explored, a first navigation means for transmitting the navigation route set by the route setting means to the ship and having the ship depart from the starting port and navigate to the exploration area, a second navigation means for transmitting a return navigation route from the exploration area determined by the navigation route set by the route setting means to the ship and having the ship navigate to the starting port, an analysis means for analyzing the topographical information of the seabed and the shape information of the structural parts laid on the seabed by receiving the exploration information transmitted from the ship, a creation means for creating a 3D seabed exploration image showing the seabed topography and the seabed structure showing the exploration results based on the exploration information analyzed by the analysis means, a storage means for storing the 3D seabed exploration image created by the creation means by linking it to a specified nautical chart, and an output means for outputting the 3D seabed exploration image built up in the storage means.

According to the present invention, by simply operating a drone with simple operations, it is possible to efficiently collect seafloor exploration information for the exploration target area, transfer the exploration information via wireless communication, and transfer the captured underwater video information to a management device installed at a remote collection headquarters, making it possible to automate a series of seafloor exploration operations.

The drawings show specific embodiments of the present invention, including essential features of the invention as well as alternative and preferred embodiments.
1 is a block diagram illustrating the configuration of an unmanned underwater exploration system according to an embodiment of the present invention. FIG. 2 is a block diagram illustrating the configuration of a server device provided at a land base in the unmanned underwater exploration system according to the embodiment. 3 is a block diagram illustrating a program configuration expanded in a memory unit shown in FIG. 2; FIG. 2 is a block diagram illustrating the configuration of the wireless controller shown in FIG. 1 . FIG. 1 is a perspective view showing the appearance of an underwater drone applied to the unmanned underwater exploration system according to this embodiment. FIG. 1 is a diagram showing an example of exploration using the unmanned underwater exploration system according to this embodiment. 4 is a flowchart for explaining a work process on a ship of the unmanned underwater exploration system according to the embodiment. 4 is a flowchart for explaining a work process on a ship of the unmanned underwater exploration system according to the embodiment. A diagram showing an example of an investigation into a structure installed during port construction work. A diagram showing an example of an investigation into a structure installed during port construction work. A diagram showing the structure of the quay constructed for the fishing port.

Next, the best mode for carrying out the present invention will be described with reference to the drawings.
<System configuration>
First Embodiment
Fig. 1 is a block diagram illustrating the configuration of an unmanned underwater exploration system according to this embodiment. The following describes in detail the configuration of an unmanned underwater exploration system that can communicate with a ship 1 that can navigate by receiving a steering signal transmitted from an RC controller 23 via a transmitting/receiving antenna through a predetermined network, an underwater drone 31 that performs underwater exploration based on an exploration signal transmitted from the RC controller 23, and a management device 11 shown in Fig. 2 that processes exploration information transmitted from the ship.

In Figure 1, the ship 1 drops an underwater drone 31 equipped on the ship 1 into the sea based on a signal transmitted from the RC controller 23, and is equipped with a means for hoisting/lowering (not shown) to recover the dropped underwater drone 31 from the sea. The underwater drone 31 is equipped with a controller 4 that functions as an exploration control unit that controls an underwater camera 2 that photographs the seabed within a set exploration seabed area, a sonar system 3 in which a transmitter/receiver is arranged, a navigation control unit 4a that controls the navigation course of the underwater drone 31 based on a control signal transmitted from the RC controller 23, and an equipment device controller 4b that controls the operation of the engine 5 of the ship 1, the rudder that determines the steering direction, and various other equipment.
The controller 4 is configured to be able to transmit a transmission wave of a predetermined frequency underwater from the multi-beam sonar equipped on the underwater drone 31.
Reference numeral 6 denotes a screw, which rotates forward or backward by reversibly transmitting the rotational force of the engine 5. Reference numeral 24 denotes an antenna, which performs 2.5 GHz ship-steering control communication between the ship 1 and the underwater drone 31.

8 is a monitor that displays underwater images after image processing of underwater image information captured by a camera installed on the underwater drone 31. 7 is an antenna that uses a 5G environment carrier to wirelessly communicate with a management device 11 shown in Figure 2 that is installed at a base on land.

In this embodiment, the vessel is equipped with a first exploration unit that explores the seabed in shallow waters and a second exploration unit that explores the seabed at a slightly deeper depth of 150 to 400 m. An operator on board the vessel 1 can operate the RC controller 23 to freely switch between the first and second exploration units to explore undersea structures and the shape of the seabed.

The management device 11 includes a route setting means 14-5 for setting a navigation route based on the exploration area to be explored by the ship 1, a first movement navigation means 14-1 for transmitting the navigation route set by the route setting means 14-5 to the ship 1 and having the ship depart from the starting port and navigate to the exploration area, a second movement navigation means 14-2 for transmitting a return navigation route to the ship from the exploration area determined by the navigation route set by the route setting means 14-5 to the ship and having the ship navigate back to the starting port, and The system includes an analysis means 14-3 that analyzes seabed topography information and shape information of structural parts laid on the seabed by receiving exploration information transmitted from the analysis means 14-3, a creation means 14-4 that creates 3D seabed exploration images showing seabed topography and seabed structures that show the exploration results based on the exploration information analyzed by the analysis means 14-3, an external memory 22 that stores the 3D seabed exploration images created by the creation means 14-4 by linking them to a specified nautical chart, and a display unit 21 that outputs the 3D seabed exploration images stored in the external memory 22.

In this example, an operator on the deck of the ship 1 operates the RC controller 23, but the ship 1 may be configured as an unmanned system in which an operator operating the RC controller 23 is located close to the management device 11.

FIG. 2 is a block diagram for explaining the configuration of a management device provided at a land base in the unmanned underwater exploration system according to this embodiment.
In FIG. 2, reference numeral 11 denotes a management device, in which a wireless controller 12 communicates with the ship 1 shown in FIG. 1 via an antenna 24 and a predetermined carrier.
Reference numeral 13 denotes a CPU, which executes various applications loaded into a memory unit 14 from an external memory 22 connected via an interface (I/O) 15 .

21 is a display unit, which displays the sonar reception information for seabed exploration transmitted from the ship 1 via the antenna 24 by the CPU 13, the underwater image information captured by the camera, image calculation processing, and data analysis processing to create seabed exploration images.

FIG. 3 is a block diagram for explaining the configuration of a program developed in the memory unit 14 shown in FIG.
In FIG. 3, 14-1 denotes a first navigation means, which transmits the navigation route set by the route setting means 14-5 to the ship 1 and controls the ship to depart from the starting port and navigate to the exploration sea area.

14-2 is a second navigation means, which transmits to the ship 1 a return navigation route from the survey area to the starting port, determined by the navigation route set by the route setting means 14-5, and controls the return navigation to the starting port.

14-3 is an analysis means that performs calculation processing to analyze the seabed topography information and the shape information of the structural parts laid on the seabed by receiving the exploration information transmitted from the ship 1. 14-4 is a creation means that performs calculation processing to create a 3D seabed exploration image showing the seabed topography and the seabed structures showing the exploration results based on the exploration information analyzed by the analysis means 14-3.

The external memory 22 stores the 3D seabed exploration images created by the creation means 14-4 in association with a specified nautical chart. The management device 11 is also configured to be capable of connecting a display unit 21 and a printer (not shown) as output means for outputting the 3D seabed exploration images stored in the external memory 22.

FIG. 4 is a block diagram illustrating the configuration of the controller 4 shown in FIG.
4, 4b-1 is an engine control unit that performs overall control of an engine 5 (not shown) of the vessel 1. The engine control 4b-1 can also control the engine unit based on an operation signal from the RC controller 23.

4b-2 is the sonar control unit, which transmits multiple beams into the sea and receives waves reflected from the seabed to collect seabed shape information that determines the shape of the seabed.

4b-3 is an underwater drone control unit that controls the diving, surfacing, movement direction, etc. of the underwater drone 31 based on operation signals from the RC controller 23. 4b-4 is a camera control unit that controls the shooting of the underwater camera 2 equipped on the underwater drone 31 and the lighting of the shooting auxiliary light based on operation signals from the RC controller 23.

Figure 5 is a perspective view showing the appearance of an underwater drone 31 that is applied to the unmanned underwater exploration system according to this embodiment.

In FIG. 5, 100 denotes the drone body, which is equipped with an underwater camera 102, a positioning system 103, a sonar, a forward thruster, a vertical thruster, a lateral thruster, a communication unit, and a controller unit, and is configured so that the submerged body can be pulled up to the ship 200 by a hoisting cable (not shown) connected to a winch on the ship. The drone body 100 can also adjust the camera position and shooting angle by wirelessly communicating with an operation controller equipped with a four-axis joystick.

In addition, by operating the operation controller on the ship 1, a light for photography (not shown) on the main body can be turned on. The drone main body 100 is also configured to have an automatic orientation function and an automatic depth function.

Figure 6 shows an example of exploration using an underwater drone submerged by an unmanned ship in the unmanned underwater exploration system according to this embodiment.

In this embodiment, even if the operator operating the RC controller 23 is not on board the ship 1, the headquarters where the management device 11 is installed is configured to be able to switch between modes to operate the ship 1 and the underwater drone 31, control the operation of the sonar and underwater camera 2 equipped on the underwater drone 31 via wireless communication, and control the operation of the sonar system 3 equipped on the ship 1 and the underwater camera 2 via wireless communication.

[Effects of the First Embodiment]
According to this embodiment, it is possible to remotely control the survey of the seabed shape in shallow waters about 10 meters below the sea surface and the survey of the seabed shape about 150 to 400 meters above the sea surface, so that the equipment related to conventional seabed exploration can be made smaller and an inexpensive system can be constructed. Also, the number of workers required for seabed exploration can be significantly reduced.

Second Embodiment
A control method in the unmanned underwater exploration system, which shows the work processing on the ship side and the work processing on the management device side, will be described in detail below.

[Ships' side work processing]
7 is a flowchart showing the ship-side operation process in the unmanned underwater exploration system according to this embodiment. Note that (1) to (12) indicate each step, and each step is realized by the controller 4 of the ship 1 executing a stored control program.

First, when a pull-down signal for submerging the underwater drone 31 into the sea is received from the RC controller 23 (1), the winch installed at the bow of the ship 1 is controlled to submerge the underwater drone 31 (2).

Next, when a signal to turn on the camera 102 of the underwater drone 31 is received from the RC controller 23 (3), underwater photography by the camera begins.
Next, the RC controller 23 checks whether the underwater footage transmitted from the camera of the underwater drone 31 is OK (4), and stores the received underwater video information captured by the camera in the external memory 22.

Next, the RC controller 23 activates the sonar system of the underwater drone 31 (5) and receives the reflected sound waves transmitted from the underwater drone 31 (6).
Next, the controller 4 of the vessel 1 judges whether an instruction to change the course of the vessel 1 has been issued from the RC controller 23 (7). If the controller 4 of the vessel 1 judges that the course should be changed, it controls the start of the engine 5 to move through the exploration sea area (8).

Next, when the exploration of the specified sea area is completed, the controller 4 of the ship 1 judges whether or not it has received an instruction from the RC controller 23 to recover the underwater drone 31. Here, when the controller 4 of the ship 1 judges that it has received an instruction from the RC controller 23 to recover the underwater drone 31, it drives the winch to recover the underwater drone 31 from the sea (9).

Next, the controller 4 of the ship 1 judges whether the moved coordinate position is a preset exploration area (10). If the controller 4 of the ship 1 judges that the moved coordinate position is a preset exploration area, it judges whether to resume the underwater exploration (11). If the exploration is to be resumed, the controller 4 of the ship 1 returns to step (1) and repeats the exploration work.

On the other hand, if it is determined in step (11) that the seabed exploration will not be resumed (exploration has ended), the controller 4 of the ship 1 receives a return port instruction from the RC controller 23 (12) and sails back to the pre-set port of departure, and ends this process once it has returned to the port of departure.

This enables the ship 1 to control the maneuvering signals received from the RC controller 23, the underwater drone's diving and surfacing, etc., to explore the seabed and investigate the shape of the seabed and structures on the seabed in an unmanned manner.
In addition, the RC controller 23 is capable of setting multiple navigation routes for maneuvering the ship 1 in the exploration area from the management device 11 in response to changes in ocean currents.

[Operation Processing on the Management Device Side]
8 is a flowchart showing the work processing on the ship side in the unmanned underwater exploration system according to this embodiment. Note that (21) to (30) indicate each step, and each step is realized by the CPU 13 of the management device 11 executing a stored control program. In this example, it is assumed that an operator is on board the ship 1, a data terminal operated by the operator is capable of communicating with the management device 11, and the operator starts the engine of the ship 1.

The CPU 13 of the management device 11 sets an exploration route for the ship 1 in accordance with the accumulated changes in ocean currents in the exploration area (21). Next, the CPU 13 transmits information related to the set exploration route to the ship 1 (22). This exploration route information is notified to an app installed on a data terminal operated by an operator on board the ship 1.

Next, the operator starts the engine 5 of the vessel 1 based on the instructions displayed on the operation screen displayed on the data terminal (23). Note that the management device 11 can constantly obtain position information of the vessel 1 as it moves due to its maneuvering by tracking the GPS signal.

Next, the management device 11 receives the GPS signal to determine whether the ship 1 has reached the destination sea area (24), and if it determines that the ship 1 has reached the destination sea area, receives the exploration information wirelessly transmitted from the ship 1 (25). Note that the seabed image captured by the camera 102 is also displayed on the display unit 21 on the ship 1.

At this time, an operator on the ship 1 operates the RC controller 23 to control the diving, surfacing, etc. of the underwater drone 31. Also, on the shallow seabed, image information captured by the underwater camera 2 is displayed.
Next, the management device 11 starts an analysis program (not shown) for the exploration information transmitted from the ship 1, and performs a three-dimensional analysis of the depth, shape, etc. of the seabed (26).

Next, the CPU 13 creates an analysis image for displaying the shape of the seabed, etc. as a 3D image based on the three-dimensional analysis results (27).
Next, the CPU 13 stores the analysis image information in the external memory 22 (28). The stored analysis image information is provided with predetermined ID information, and can be read out from the external memory 22 and displayed on the display unit 21 as needed.

Next, when an instruction to output the analysis image information stored in the external memory 22 is received (29), a 3D image showing the structure and shape of the explored sea area is output to the display unit 21 (30), and this process is terminated.
In addition, the management device 11 is also capable of outputting 3D seabed exploration images to a specified printing device, or outputting 3D seabed exploration images to a specified analysis computer.

[Effects of the second embodiment]
As a result, the management device 11 can be installed remotely at the desired exploration headquarters without being in close proximity to the ship 1 to be surveyed, and can monitor precise marine and seabed surveys as well as freely conduct diving surveys using the ship 1 and underwater drone 31 in a comprehensive manner.

In the above embodiment, a system in which the ship itself performs the exploration is exemplified, but in a system in which the exploration ship is connected to another ship 1 that tows the exploration ship, it is also possible to make the towing ship 1 unmanned and use the RC controller 23 to explore the seabed of a specified exploration area using GPS information.
In addition, the ship 1 may be configured to execute an automatic steering program started by the wireless controller 12 of the management device 11, without being limited to an RC controller, to remotely control a winch that steers, steers, inspects each piece of equipment, and launches and lifts the underwater drone 23 from the sea, or the RC controller and management device 11 may work together to remotely control a winch that steers, steers, inspects each piece of equipment, and launches and lifts the underwater drone 23 from the sea.

The present invention can be applied to communication between a ship and a management device in ocean areas on Earth, including wireless, wired, and satellite-based communication.
The disclosure regarding the present invention described above can be summarized at least as follows.

(1) An unmanned underwater exploration system capable of communicating between a ship capable of navigating by receiving steering signals transmitted from an RC controller via a transmitting/receiving antenna through a predetermined network, an underwater drone that performs underwater exploration based on exploration signals transmitted from the RC controller, and a management device that processes exploration information transmitted from the ship, wherein the ship is equipped with a means for dropping an underwater drone equipped on the ship into the sea based on signals transmitted from the RC controller and a means for recovering/lowering the dropped underwater drone from the sea, the underwater drone is equipped with an underwater camera that photographs the seabed within a set exploration seabed area, an exploration control unit that controls a sonar system in which a transducer is disposed, and a navigation control unit that controls the navigation course of the underwater drone based on signals transmitted from the RC controller, and the management device processes the exploration information transmitted from the ship. The system is characterized by comprising a route setting means for setting a navigation route based on the area, a first navigation means for transmitting the navigation route set by the route setting means to the ship and having the ship depart from the starting port and navigate to the exploration area, a second navigation means for transmitting a return navigation route from the exploration area determined by the navigation route set by the route setting means to the ship and having the ship navigate to the starting port, an analysis means for analyzing the topographical information of the seabed and the shape information of the structural parts laid on the seabed by receiving the exploration information transmitted from the ship, a creation means for creating a 3D seabed exploration image showing the seabed topography and the seabed structure showing the exploration results based on the exploration information analyzed by the analysis means, a storage means for storing the 3D seabed exploration image created by the creation means by linking it to a specified nautical chart, and an output means for outputting the 3D seabed exploration image built up in the storage means.

(2) The exploration control unit is characterized in that it transmits a transmission wave of a predetermined frequency into the ocean from a multi-beam sonar equipped in the underwater drone.

(3) The exploration control unit is characterized in that it controls the amount of light from a beam light source used for capturing images with an underwater camera equipped on the underwater drone.

(4) The route setting means is characterized in that it sets multiple navigation routes in response to changes in ocean currents in the exploration area explored by the vessel.

(5) A control method for an unmanned underwater exploration system capable of communicating with a ship capable of navigating by receiving steering signals transmitted from an RC controller via a transmitting/receiving antenna through a specified network, an underwater drone that performs underwater exploration based on exploration signals transmitted from the RC controller, and a management device that processes exploration information transmitted from the ship, the ship comprising a step of dropping the underwater drone equipped on the ship into the sea based on signals transmitted from the RC controller and a step of recovering/lowering the dropped underwater drone from the sea, the underwater drone comprising an exploration control step of controlling an underwater camera that photographs the seabed and a sonar system equipped with a transducer within a set exploration seabed area, and a navigation control step of controlling the navigation course of the underwater drone based on signals transmitted from the RC controller.

(6) A management device that communicates with a ship capable of navigating by receiving steering signals transmitted from an RC controller via a transmitting/receiving antenna through a specified network, and an underwater drone that performs underwater exploration based on exploration signals transmitted from the RC controller, and processes exploration information transmitted from the ship, comprising a route setting means for setting a navigation route based on the exploration area to be explored by the ship, a first navigation means for transmitting the navigation route set by the route setting means to the ship, causing it to depart from a starting port and navigate to the exploration area, and a navigation means for determining a navigation route based on the navigation route set by the route setting means. The system is characterized by having a second navigation means for transmitting to the ship a return navigation route from the exploration area to the starting port and for the ship to navigate back to the starting port, an analysis means for receiving the exploration information transmitted from the ship and analyzing the seabed topography information and the shape information of the structural parts laid on the seabed, a creation means for creating a 3D seabed exploration image showing the seabed topography and the seabed structures showing the exploration results based on the exploration information analyzed by the analysis means, a storage means for storing the 3D seabed exploration image created by the creation means by linking it to a specified nautical chart, and an output means for outputting the 3D seabed exploration image built up in the storage means.

(7) A control method for an unmanned underwater exploration system capable of communicating between a ship capable of navigating by receiving steering signals transmitted from an RC controller via a transmitting/receiving antenna through a predetermined network, an underwater drone that performs underwater exploration based on exploration signals transmitted from the RC controller, and a management device that processes exploration information transmitted from the ship, wherein the management device performs a route setting step of setting a navigation route based on an exploration area to be explored by the ship, a first movement navigation step of transmitting the navigation route set by the route setting step to the ship, causing the ship to depart from a starting port and move and navigate to the exploration area, and The method is characterized by comprising a second navigation step of transmitting to the ship a return navigation route for returning from the exploration area to the starting port, the return navigation route being determined by the navigation route set in the navigation setting step, and causing the ship to navigate back to the starting port; an analysis step of analyzing the topographical information of the seabed and the shape information of the structural parts laid on the seabed by receiving the exploration information transmitted from the ship; a creation step of creating a 3D seabed exploration image showing the seabed topography and the seabed structures showing the exploration results based on the exploration information analyzed in the analysis step; and a storage step of linking the 3D seabed exploration image created in the creation step to a specified nautical chart and storing it in a storage means.

(8) The management device is characterized by having an output step of outputting the 3D seabed exploration image accumulated in the storage means.

(9) The management device is characterized in that the output step outputs the 3D seabed exploration image to a specified display device.

(10) The management device is characterized in that the output step outputs the 3D seabed exploration image to a specified printing device.

(11) The management device is characterized in that the output step outputs the 3D seabed exploration image to a specified analysis computer.

1 Ship 4 Controller 11 Management device 13 CPU
23 RC controller 31 Underwater drone

Claims (11)

An unmanned underwater exploration system capable of communicating between a ship capable of navigating by receiving a steering signal transmitted from an RC controller via a transmitting/receiving antenna, an underwater drone that performs underwater exploration based on an exploration signal transmitted from the RC controller, and a management device that processes exploration information transmitted from the ship,
The vessel,
A means for dropping an underwater drone equipped on the ship into the sea based on a signal transmitted from the RC controller and for recovering the dropped underwater drone from the sea,
The underwater drone is
an exploration control unit that controls an underwater camera that photographs the seabed within a set exploration seabed area and a sonar system in which a transducer is arranged;
A navigation control unit that controls the navigation course of the underwater drone based on a signal transmitted from the RC controller,
The management device includes:
A route setting means for setting a navigation route based on an exploration area to be explored by the ship;
a first navigation means for transmitting the navigation route set by the route setting means to the ship and having the ship depart from a starting port and navigate to the exploration sea area;
a second navigation means for transmitting to the ship a return navigation route from the survey area determined by the navigation route set by the route setting means to the ship so as to return to the starting port; and
an analysis means for analyzing the topographical information of the seabed and the shape information of the structure laid on the seabed by receiving the exploration information transmitted from the ship;
a creating means for creating a 3D seabed exploration image showing the seabed topography and seabed structures showing the exploration results based on the exploration information analyzed by the analyzing means;
A storage means for storing the 3D seafloor exploration image created by the creation means in association with a predetermined nautical chart;
an output means for outputting the 3D seabed exploration image accumulated in the storage means;
An unmanned underwater exploration system comprising: The unmanned underwater exploration system according to claim 1, characterized in that the exploration control unit transmits a transmission wave of a predetermined frequency in the sea from a multi-beam sonar equipped in the underwater drone. The unmanned underwater exploration system according to claim 1, characterized in that the exploration control unit controls the amount of light from a beam light source captured by an underwater camera equipped on the underwater drone. The unmanned underwater exploration system according to claim 1, characterized in that the route setting means sets multiple navigation routes in response to changes in ocean currents in the exploration area explored by the vessel. A method for controlling an unmanned underwater exploration system capable of communicating with a ship capable of navigating by receiving a steering signal transmitted from an RC controller via a transmitting/receiving antenna, an underwater drone that performs underwater exploration based on an exploration signal transmitted from the RC controller, and a management device that processes exploration information transmitted from the ship, comprising:
The vessel,
A step of dropping the underwater drone equipped on the ship into the sea based on a signal transmitted from the RC controller, and recovering/lowering the dropped underwater drone from the sea,
The underwater drone is
an exploration control step of controlling an underwater camera for photographing the seabed and a sonar system in which a transducer is disposed within the set exploration seabed area;
and a navigation control step of controlling a navigation course of the underwater drone based on a signal transmitted from the RC controller.
A control method for an unmanned underwater exploration system, comprising: A management device that communicates with a ship capable of sailing by receiving a steering signal transmitted from an RC controller via a predetermined network through a transmitting/receiving antenna, and an underwater drone that performs underwater exploration based on an exploration signal transmitted from the RC controller, and processes exploration information transmitted from the ship,
A route setting means for setting a navigation route based on an exploration area to be explored by the ship;
a first navigation means for transmitting the navigation route set by the route setting means to the ship and having the ship depart from a starting port and navigate to the exploration sea area;
a second navigation means for transmitting to the ship a return navigation route from the survey area determined by the navigation route set by the route setting means to the ship so as to return to the starting port; and
an analysis means for analyzing the topographical information of the seabed and the shape information of the structure laid on the seabed by receiving the exploration information transmitted from the ship;
a creating means for creating a 3D seabed exploration image showing the seabed topography and seabed structures showing the exploration results based on the exploration information analyzed by the analyzing means;
A storage means for storing the 3D seafloor exploration image created by the creation means in association with a predetermined nautical chart;
an output means for outputting the 3D seabed exploration image accumulated in the storage means;
A management device comprising: A method for controlling an unmanned underwater exploration system capable of communicating with a ship capable of navigating by receiving a steering signal transmitted from an RC controller via a transmitting/receiving antenna, an underwater drone that performs underwater exploration based on an exploration signal transmitted from the RC controller, and a management device that processes exploration information transmitted from the ship, comprising:
The management device includes:
A route setting step of setting a navigation route based on an exploration area to be explored by the ship;
a first movement/navigation step of transmitting the navigation route set by the route setting step to the ship and having the ship depart from a starting port and move to the exploration sea area;
a second movement navigation step of transmitting to the ship a return navigation route from the exploration sea area determined by the navigation route set in the route setting step to a starting port, and causing the ship to navigate back to the starting port;
an analysis step of analyzing topographical information of the seabed and shape information of a structure laid on the seabed by receiving the exploration information transmitted from the ship;
a creating step of creating a 3D seabed exploration image showing the seabed topography and seabed structures showing the exploration results based on the exploration information analyzed in the analyzing step;
a storage step of linking the 3D seabed exploration image created in the creation step to a predetermined nautical chart and storing the image in a storage means;
Equipped with
A control method for an unmanned underwater exploration system, comprising: The management device includes:
8. The control method for an unmanned underwater exploration system according to claim 7, further comprising an output step of outputting the 3D seabed exploration image accumulated in the storage means. The management device includes:
9. The control method for an unmanned underwater exploration system according to claim 8, wherein the output step outputs the 3D seabed exploration image to a predetermined display device. The management device includes:
The control method for an unmanned underwater exploration system according to claim 7 , wherein the output step outputs the 3D seabed exploration image to a predetermined printing device. The management device includes:
8. The method for controlling an unmanned underwater exploration system according to claim 7, wherein said output step outputs said 3D seabed exploration image to a predetermined analysis computer.