Maritime surveillance system

Abstract

[Problem] To construct a rescue system that can reliably support rescue operations for victims waiting near a watercraft. [Solution] A watercraft surveillance system is a system that enables communication between the following devices: a watercraft equipped with a camera, a receiver that receives image signals transmitted from the aforementioned camera and displays them on a display unit, and a wireless controller that controls the movement of the aforementioned watercraft. When outputting images transmitted from the camera equipped on the watercraft (100) to the display unit of the receiver, the system displays the watercraft images transmitted from the camera (101) and the status of information on watercraft rescue operations on the display unit, thereby supporting the rescue operations for victims.

Description

Technical Field

[0001] This invention relates to a water monitoring system that remotely operates or maneuvers a water vehicle equipped with various performance cameras, etc., via an RC controller, etc., wirelessly transmits images or pictures from the cameras, etc., to a remote receiver, and uses various displays, etc., to confirm the images, etc., received by the receiver, thereby supporting rescue activities on water (sea, river, lake, marsh, reservoir).

Prior Art

[0002] Japan is almost entirely surrounded by the ocean, and various maritime accidents often occur in waters near the coast or about one nautical mile from the coastline. In this situation, the agencies that act upon receiving a rescue order are patrol boats of the Japan Coast Guard, etc. Also, a system has been established to quickly rescue the accident victims using the patrol boats along with civilian fishing boats and yachts. Here, as a vessel smaller than a yacht, a personal watercraft or a special small vessel called a personal watercraft has attracted attention. To operate this personal watercraft, one must obtain the qualification of a special small vessel operator.

[0003] Currently, when citing a series of rescue operations in the event of a maritime accident, a rescue request is received wirelessly or by wire, reported to the Japan Coast Guard, and a rescue order is issued by the Japan Coast Guard that has received the report to a patrol boat moving in the offshore area to conduct searches and rescues around the scene and transport the victims to a hospital, etc.

[0004] On the other hand, in daylight visual conditions, Patent Document 1 below is disclosed as something for rescuing the rescued. According to this technology, it is disclosed that even in places where a rescue boat carrying a rescuer cannot approach, or in bad weather or harsh conditions, the rescued can be quickly and safely rescued without worrying about the rescuer suffering secondary disasters. Also, a rescue boat equipped with a GPS function is proposed in Patent Document 2 below.

[0005] According to this Patent Document 2, the rescue system conducts the rescue of victims in maritime accidents, etc. To support rescue activities more quickly and efficiently, the absolute position of the victim is calculated by a GPS receiver and sent to the rescue system processing device via a wireless transmitter in an emergency. The processing device that has received the position of the victim immediately automatically selects the rescue boat closest to the victim from among the pre-registered rescue boats in the vicinity, automatically sends the azimuth and distance information to reach the victim, and issues a departure order. The rescue boat that has received the departure order starts automatically sailing towards the victim and is guided to the destination by the rescue system processing device.

[0006] In addition, the following Patent Document 3 discloses an all-weather remotely controlled unmanned workboat (RC boat), which can be used in coastal operations of ships (various workboats, rescue boats, etc.), when entering or leaving ports, or in rescue operations during bad weather, etc., in situations where manned workboats (small boats attached to ships) cannot be used, or in combination with them. It is designed as an RC boat that can be controlled on a mother ship (or a manned workboat). Even when the main body is covered by waves in rough seas or the main body suddenly inclines (rolls over), it can immediately recover, the engine does not stop, and it enables the intake and exhaust of the engine during sudden inclination. [Prior Art Documents] [Patent Documents]

[0007] [Patent Document 1] Japanese Patent Application Laid-Open No. 2018-62279 [Patent Document 2] Japanese Patent Application Laid-Open No. 9-304506 [Patent Document 3] Japanese Patent Application Laid-Open No. 61-257396

Summary of the Invention

[0008] [Problems to be Solved by the Invention]

[0009] As described above, in order to rescue victims of a maritime accident using the GPS function, it is often impossible to quickly rescue the victims without ensuring a considerable number of personnel and using a large-scale system.

[0010] Moreover, for the rescue activities of victims, they are limited to daytime and the rescue activities of rescuers within the visual range. If a maritime accident occurs at night when the seawater temperature is low, effective rescue activities cannot be carried out, and there is a situation where it is too late to quickly rescue important lives.

[0011] Also, the RC rescue boat is designed as an RC boat that can be controlled on a mother ship (or a manned workboat). It is only limited to the situation where the operator who conducts the operation moves to the maritime accident site and, during the day, the rescuers carry out rescue activities within the visual range. It is considered that the possibility of solving the above problems is relatively low. In addition, although existing FPV drones have the function of receiving sound and transmitting it to a receiver, they have not been put into practical use. Therefore, if only the camera of an FPV drone is mounted on a water vehicle, the surrounding sounds on the water cannot be transmitted to the driver who operates the PC controller. Therefore, an environment for voice conversation communication between the victims waiting for rescue on the water and the above-mentioned driver has not been prepared. Therefore, it is impossible to immediately ask the victims about their current situation, and rescue activities cannot be carried out smoothly, and there is a situation that affects the preparation of the medical team.

[0012] The present invention is achieved to solve the above problems. The object of the present invention is to construct a rescue system that displays the images transmitted from the cameras equipped on water vehicles and the information necessary for the victims on the display unit of the receiver, observes the status of the victims waiting for rescue on the water, and can effectively support the rescue activities for the victims waiting near the water vehicle. Moreover, a further object of the present invention is to construct a rescue system that provides an interactive communication environment by sound between the water vehicle and the RC controller, thereby enabling the victims and the rescuers to have an instant voice conversation. [Technical Means for Solving the Problem]

[0013] The water surveillance system of the present invention is a water surveillance system that enables the following equipment to communicate: a water vehicle equipped with a camera, a receiver that receives the image signal transmitted from the aforementioned camera and displays it on the display unit, and an RC controller that controls the operation of the aforementioned water vehicle. The aforementioned water vehicle is equipped with control means that receives the operation signal transmitted from the aforementioned RC controller operated by the driver and controls the operation of the aforementioned water vehicle accordingly. The aforementioned receiver is equipped with display control means that receives the water image transmitted from the aforementioned camera and switches the display mode of the aforementioned display unit to the surveillance mode accordingly, and displays the water image transmitted from the aforementioned camera and the information for supporting water rescue activities on the aforementioned display unit. [Effects of the Invention]

[0014] According to the present invention, a rescue system can be constructed that displays the images transmitted from the cameras equipped on water vehicles and the information necessary for the victims on the display unit of the receiver, observes the status of the victims waiting for rescue on the water, and effectively supports the rescue activities for the victims waiting near the water vehicle. Moreover, a rescue system can be constructed that provides an interactive communication environment by sound between the water vehicle and the RC controller, thereby enabling the victims and the rescuers to have an instant voice conversation.

Embodiment

[0016] Next, the best mode for implementing the present invention will be described with reference to the drawings.

[0017] <Explanation of System Structure> [First Embodiment] FIG. 1 is a diagram showing the structure of the water vehicle and the FPV system according to the embodiment of the present invention. In this embodiment, the water includes seas, rivers, lakes, marshes, reservoirs, etc., and also includes flood areas where low-lying lands are completely flooded due to river flooding. Moreover, on the water vehicle, cameras with various performances can be mounted, and the mounted cameras are configured to transmit video information as images and image information as still pictures to the receiver described later.

[0018] Moreover, in this embodiment, although an example of a real rescue operation for a victim waiting for rescue on water is given for illustration, this system can of course also be applied to training, inspection, and prevention for rescue operations.

[0019] In this example, a water motorcycle is given as an example of the water vehicle 100 for illustration, but the water vehicle 100 is not limited to a water motorcycle, and any water vehicle that can be controlled by an RC (remote control) controller can be applied to the present invention. Also, the water motorcycle may not be for unmanned use only, but can also be a manned water vehicle operated by a driver with a qualification for operation during normal use. In addition, the water vehicle 100 is provided with attachable auxiliary machines. For example, it can be equipped with a network communication function during manned operation and a display function for displaying images downloaded from the network (YouTube (registered trademark)). Moreover, the attachable auxiliary machines on the water vehicle 100 include a fish finder or an underwater camera for searching for victims in the water. At this time, the image of the underwater camera is transmitted to the receiver of this embodiment, allowing the driver to confirm the underwater image. Also, it can be configured such that when shooting the underwater image, the underwater lighting is turned on. And in this example, although the situation of operating the RC (remote control) to control the water vehicle 100 is shown, it can also be configured to be controlled by a joystick-type controller.

[0020] At this time, the manned water vehicle is configured to be freely detachable and attachable: a microphone 104, a speaker 105, a camera 101, etc. that function as means for establishing the subsequent voice communication. Moreover, on the water vehicle 100, there are equipped a red light that clearly shows the surrounding area is in the subsequent emergency rescue operation, a lighting lamp that functions as a searchlight, and a floating device, etc. that are rescue equipment necessary for the subsequent rescue operation.

[0021] Moreover, a storage section is provided at the bottom of the hull of the water vehicle 100, and a life-saving equipment (floating device (such as foamed polyurethane or air floating strips, etc.)) can be taken out from the storage section for use with a simple operation (instructions from the RC controller 200).

[0022] Thus, even in the case where it is difficult for the victim to climb onto the water vehicle 100 by their own physical strength, they can wait for rescue on the water by putting on the floating device thrown into the water from the water vehicle 100 as described later. Also, an actuator (not shown) of the water vehicle 100 is configured to sequentially or selectively throw any one of a floating device, food, and a thermal blanket for saving the victim into the water.

[0023] Moreover, the water vehicle 100 to which the present embodiment is applied can be equipped with a plurality of cameras, and the CCD camera 101a, the infrared camera 101b, the CCD camera 101c, the infrared camera 101d, and the omnidirectional camera 101e are arranged at predetermined positions on the hull.

[0024] Here, the receiver 350 has a receiver function, and receives a plurality of first image information, a plurality of second image information sent from the CCD camera 101a, the infrared camera 101b, the CCD camera 101c, the infrared camera 101d, and the third image information sent from the omnidirectional camera 101e. The RC controller 20 controls the traveling direction of the water vehicle 100 based on the operation instructions of a joystick described later. Moreover, in the present embodiment, as a method of remotely controlling the water vehicle 100 without a driver, there are: a first control method, in which the driver visually observes the state of the water vehicle 100 and operates the RC controller 20; a second control method, in which the receiver 350 receives the image sent from the camera of the water vehicle 100, and the driver operates the RC controller 20 while looking at the screen of the display device connected to the receiver 350; and a third control method, in which the receiver 350 is configured to be integrated with goggles, the goggles are equipped, and the driver operates the RC controller 20 while looking at the screen provided on the goggles. Any of the above control methods can be selected according to the rescue situation. Moreover, these control methods can also be combined to control the water vehicle 100. That is to say, the present invention can also be applied to a system in which a plurality of drivers control a plurality of water vehicles 100 to carry out rescue activities.

[0025] Furthermore, it is not necessary for the water vehicle 100 shown in the present embodiment to be equipped with all of the above-mentioned plurality of cameras, and a water surveillance system can be freely constructed by appropriately combining a plurality of cameras as an option. Hereinafter, the receiver 350 can also be a system that displays the image on the water received from the camera and the information necessary for rescue support (including information on rescue equipment (including the size of the floating device), the equipment of lighting lamps, red lamps, and the equipment for establishing a voice conversation (microphone, speaker) information), water temperature information) on the display unit. Then, in the case of a system using the receiver 350, the camera of the water vehicle 100 transmits the image signal of the water captured through the VTX transmission unit 120 and the antenna 121 to the receiver 350. Then, the receiver 350 receives the image signal captured by the camera 100 on the water through the receiving antenna 356, and displays the received image signal on the screen of a connected personal computer, tablet, or smartphone, so that the driver can visually confirm the rescue activities on the water.

[0026] Further, in the case of a system equipped with all cameras, the controller 355 of the receiver 350 receives the first to third video signals captured by the CCD camera 101a, the infrared camera 101b, the CCD camera 101c, the infrared camera 101d, and the omnidirectional camera 101e, and performs display control with the controller 355 to project and display on the display unit 351.

[0027] In addition, the controller 355 of the receiver 350 is equipped with a switch button (not shown) as a switching means, which is used to switch the respective video signals transmitted from the CCD camera 101a, the infrared camera 101b, the CCD camera 101c, the infrared camera 101d, and the omnidirectional camera 101e. The driver selects this switch button, thereby enabling dynamic switching of the respective video signals transmitted by the respective cameras and displayed on the display unit 351. Also, in the case of having a switching mode, the following configuration may also be provided: cyclically switching the respective video signals transmitted by the respective cameras in a certain order and at set time intervals. Hereinafter, a system example of the water vehicle 100 equipped with one CCD camera as the camera 101 will be described. Also, in the water, the sea will be taken as an example for description.

[0028] In FIG. 1, the water vehicle 100 can also be operated as a manned boat as described above. However, when the water vehicle 100 is unmanned, as long as it receives the operation signal transmitted from the RC controller 200, it can perform functions such as engine start, engine stop, rudder operation, and the sound generation and sound reception described later. 105 is a speaker, which is detachably installed at a predetermined position on both sides or one side of the hull. The engine referred to here includes: a prime mover that generates power by burning fuel and an electric motor (motor) that obtains power from a power source supplied by a battery.

[0029] 104 is a microphone, which is integrated with the speaker 105, converts the ambient sound that can be received from the periphery of the water vehicle 100 or the captured image signal into a digital signal and transmits it to the receiver 350 described later. Thereby, the driver can hear the ambient sound received by the microphone 104 equipped on the water vehicle 100 on the sea through the speaker 105 connected to the RC controller 200.

[0030] Also, after the driver's voice is picked up by the microphone 104, the RC controller 200 selects a specific channel as a digital audio signal to transmit to the water vehicle 100. Upon receiving this, the controller unit 106 of the water vehicle 100 processes the received audio information into an analog signal and then outputs it as a sound emitted from the speaker 105 of the water vehicle 100. Here, the speaker 105 is designed for use on water and is configured to be adjustable in direction so that seawater does not block the traveling direction. The speaker 105 is configured to be adjustable in direction so as not to be blocked by the seawater of transverse waves. Also, the microphone 104 can also be configured to have the function of an underwater microphone.

[0031] In addition, when the sound processing unit 107 is equipped with a memory, pre-recorded audio messages suitable for rescue activities can be stored, and according to the selection signal from the RC controller 200, sounds are automatically emitted by the speaker 105. Thereby, in other embodiments described later, attention or warning message sounds corresponding to their uses can also be automatically emitted by the speaker 105.

[0032] Also, the microphone 104 is also designed for use on water and is covered with a wind cap to minimize the influence of wind or rain. And since it is affected by the wave shaking on water and there are cases where the sound pickup characteristics are distorted, the sound processing unit 107 eliminates noise of specific frequencies and can pick up sounds clearly.

[0033] As described above, the driver and the victim waiting for rescue on water can communicate with each other by voice. Therefore, when the driver wears goggles equipped with the function of the receiver 350 for receiving camera images, the driver can directly talk to the victim waiting for rescue on water and visually confirm the real - time images while correctly judging the current state of the victim, such as the degree of injury or weakness.

[0034] Also, in FIG. 1, as an example of the receiver 350, a goggle - type receiver that the driver can wear is shown, and adjustment straps or switch buttons for the driver to wear the goggles are omitted. And in the following description, it is described that the receiver 350 displays the images or pictures transmitted from the water vehicle 100 on the connected display device. That is, in the system of the present invention, as a receiver for receiving the moving image and still image transmitted from the water vehicle, it is not limited to the so - called FPV goggles. Thus, a display device connected to the receiver body can also adopt a smart phone or a PAD device. Thereby, the moving images and still images transmitted from various cameras mounted on the water vehicle can be displayed on the display devices of smart phones or PAD devices.

[0035] Here, the camera 101 configured with a CCD camera as a camera for FPV acquires a first-person view image and converts it into a predetermined image signal. The camera 101 equipped with the FPV camera is set at a predetermined position near the bow of the water vehicle 100.

[0036] The water vehicle 100 equipped with the FPV camera may also adopt the following structure: following the movement of the driver's line of sight detected by an operating device (not shown) or an action sensor linked to the receiver 350 to control the posture positions of the respective lenses to be positioned up, down, left, and right.

[0037] That is, in the case where the controller unit 106 constitutes the receiver 350 with goggles as an example, it can also execute shooting control to freely adjust the shooting directions of the respective cameras 101 in accordance with the movement of the driver's line of sight.

[0038] Also, in the display device connected to the receiver 350, in addition to the image signal received by the receiver 350, additional information can also be synthetically displayed. In this embodiment, the FPV machine is constituted by the water vehicle 100 and the mounted camera 101. If a GPS and an FPV module are combined, the latitude, longitude, speed, altitude, traveling direction, etc. of the FPV machine can be synthetically displayed on the screen of the receiver 350.

[0039] The water vehicle 100 transmits the image signal or infrared image generated by the mounted camera 101 to the image receiver (VRX) provided in the receiver 350 by radio waves, for example, a digital signal of 5.8 GHz.

[0040] Also, when the camera 101 uses the 5.8 GHz band, in the case of personal use, one must have a qualification of "Japanese Amateur Radio Class 4" or above (in the case of commercial use, one must have a qualification of "Japanese Third-Class Marine Special Radio Technician" or above).

[0041] FIG. 2 is a block diagram showing an example of the water surveillance system of this embodiment. The water surveillance system of this example enables communication between the following devices: a water vehicle that can be equipped with a camera 101, a receiver 350 that receives the image signal transmitted from the camera 101 and displays it on the display unit, and an RC controller 200 that controls the operation of the water vehicle 100. Here, the so-called operation includes: controlling the traveling direction of the water vehicle 100, controlling the engine of the water vehicle 100, controlling the throwing of the equipment installed on the water vehicle 100 into the water, controlling the driving of the microphone or speaker installed on the water vehicle 100, controlling the lighting of the red light and illumination light installed on the water vehicle 100, and switching and controlling the image mode of the camera installed on the water vehicle 100.

[0042] Here, as an example of the FPV (First Person View) system in this embodiment, the image signal captured by the camera 101 with a zoom function provided in the water vehicle 100 is received by the receiver 350. While the situation on the water is displayed on the display unit 351 connected to the receiver 350, the driver operates the RC controller 200, as if the driver were on board the water vehicle 100, to perform a water surveillance operation.

[0043] Moreover, the RC controller 200 can externally connect a microphone 104 and a speaker 105 and conduct wireless communication with the water vehicle 100, thereby enabling the use of the microphone 104 and speaker 105 equipped on the water vehicle 100 to communicate with each other. Here, the sound includes the voices of the victims. Also, the RC controller 200 has a Bluetooth communication function, and rescuers other than the driver near the RC controller 200, such as lifeguards and doctors, can also engage in an inserted voice conversation with the victims waiting for rescue at sea. Thereby, appropriate rescue activities can be supported as soon as possible.

[0044] Furthermore, although an example of being installable on the receiver 350 is given for the display unit 351, as a display device, as long as it is a tablet device equipped with a given OS and has a wireless communication function, it is not limited to the type of screen equipped on goggles. Also, on the display unit 351, information such as information supporting water rescue activities, meteorological information, the correct position information (GPS or RTK) of the water captured by the camera, and the types of rescue equipment is displayed. Thereby, the driver can correctly support the rescue activities of the victims.

[0045] Also, the camera 101 can also switch the shooting direction or shooting angle according to the operation device operated by the driver or the motion sensor connected to the receiver 350. Thereby, the driver can search for the victims waiting for rescue on the sea while visually confirming the image of the camera 101. Moreover, the transmission speed adopted by the camera 101 is configured to be available in two frequency bands described later.

[0046] Moreover, the camera 101 is provided around the bow position of the water vehicle 100 to capture the visual field area in front of the bow.

[0047] The first available frequency band is 5.8 GHz for the communication of images and sounds without delay. However, in order to use this 5.8 GHz for wireless communication, the operator (pilot (driver)) is required to be qualified as a Class 3 Special Land Radio Technician or above with a Japanese national qualification. The second available frequency band is for the communication of images and sounds at 2.4 GHz without the need to apply for a qualification to the Ministry of Internal Affairs and Communications of Japan.

[0048] Therefore, in the case of a camera using the 2.4 GHz band, the camera 101 can be constituted by a commercially available CCD camera or a hand-held camera. Also, in this embodiment, it can be configured to selectively switch and control between two different frequencies. Thereby, in order to establish voice communication between the RC controller 200 and the water vehicle 100, the 2.4 GHz band is dedicated, thereby reducing the communication control burden on the RC controller 200 side, and a voice communication channel can be surely established to prioritize voice conversation communication. At this time, in the RC controller 200, the voice communication and the control of the water vehicle 100 can also be switched and controlled to temporarily or intermittently prioritize the voice communication channel for communication.

[0049] [Structure of the water vehicle] In the water vehicle 100 shown in Fig. 2, 102a is the first positioning processing unit that performs positioning processing based on GPS (Global Positioning System), receives position specific signals from satellites at the current position of the water vehicle 100, and can measure the current position. Also, the receiver 350 is exemplified by goggles.

[0050] 102b is the second positioning processing unit that performs positioning processing based on Real Time Kinematic. It is a technology that receives signals from four or more satellites using two receivers, a reference station and a rover station, exchanges information between the two receivers to correct errors, and thereby can obtain position information with higher accuracy than single positioning. Hereinafter, an example of a driver wearing goggles equipped with the function of the receiver 350 operating the RC controller 200 to perform water rescue on the water vehicle 100 will be described.

[0051] Moreover, in this embodiment, the water vehicle 100 equipped with the antenna 103 has the function of a relay station or a base station for satellites or the RTK body of communication. Thereby, different types of image signals captured by a plurality of cameras provided on the water vehicle 100 can be received by the receiver 350 through the VTX transmission unit 120 and the antenna 121 and displayed on the connected display unit 351.

[0052] 103 is a signal receiving and transmitting antenna. For example, it can receive and transmit digital signals of 5.8 GHz between the receiver 350 and the water vehicle 100. Moreover, in the voice call mode, it switches to 2.4 GHz, and converts the remote control signal from the RC controller 200 described later and the voice signal received by the microphone 104 into digital signals to transmit to the receiver 350 or the RC controller 200.

[0053] 105 is a waterproof speaker. The water vehicle 100 amplifies and outputs the voice from the driver received from the RC controller 200 towards the water. Specifically, the output voice is the digital voice signal that was previously converted into a digital signal and then converted into an analog signal.

[0054] Also, for the speaker 105, after the antenna 121 receives the voice signal of the driver received by the microphone 104, the controller unit 106 amplifies the voice processed by the voice processing unit 107. Here, the amplification level is at least a voice output with different intensities (dB) that can be amplified in three levels.

[0055] Thereby, after discovering the victim to be rescued, the voice output level can be adjusted according to the proximity of the victim to the water vehicle 100.

[0056] 108 is an engine driver, which corresponds to any one of channels CH1 to CH6 controlled by the controller unit 201 of the RC controller 200, and controls the start and stop of the engine 109, and even the acceleration level (from engine start to full engine speed). In this embodiment, channel CH6 is allocated to the microphone 104 and the speaker 105, and the microphone 104 or the speaker 105 is selectively activated.

[0057] 110 is an engine driver, which corresponds to any one of channels CH1 to CH6 controlled by the controller unit 201, and can adjust the left and right swing angles of the rudder unit 111 to control the traveling direction.

[0058] Also, in the system example of this embodiment, although the case where a plurality of cameras are equipped on the water vehicle 100 has been described, it can also be the following system: One CCD camera as the first camera is equipped on the first water vehicle, and one infrared camera as the second camera is equipped on the second water vehicle. Two drivers cooperate to carry out a water search activity to support the victims waiting for rescue on the water.

[0059] Moreover, a plurality of cameras (ordinary video cameras, infrared cameras) are arranged on both sides near the bow of the water vehicle 100, and the viewing angle orientation (e.g., 360° orientation adjustment) or angle of the lens can be adjusted. Here, the so-called video camera includes image recording devices equivalent to wearable cameras, action cameras, digital video cameras, etc., and also includes camera devices equipped with SD cards or hard disks, etc.

[0060] Moreover, the water vehicle 100 shown in this embodiment is equipped with a large-capacity secondary battery (not shown), and can supply sufficient power for several hours to the red light 113 and the illumination lamp 114 used in rescue activities even when the engine 109 stops.

[0061] Moreover, this secondary battery is equipped with a function of starting the engine 109 to thereby start a generator (not shown) and charge the secondary battery.

[0062] [Structure of the RC controller unit] The controller unit 201 controls the AC of the RC control signal between the antenna 202 and the antenna 103 of the water vehicle 100 that can move on the sea surface, and controls the driving of the engine 109, the red light 113, and the illumination lamp 114.

[0063] Also, by using the sensors connected to the receiver 350, the lens angle of the camera 101 can be adjusted in any direction up, down, left, or right. 203 is a signal transmission and reception unit, which performs signal transmission and reception processing of the RC control signal between the antenna 202 and the antenna 103 of the water vehicle 100 that can move on the water surface.

[0064] The signal processing unit 204 transmits various drive signals to the antenna 103 of the water vehicle 100 through the signal transmission and reception unit 203 and the antenna 202. The drive signal is a drive signal obtained by processing the actuator signal generated by the controller unit 201 for driving the equipment of the water vehicle 100.

[0065] 205a is a positioning processing unit that processes positioning information through the position signal (GPS (Global Positioning System) mode (GPS mode)) received from satellites, and thereby can notify the GPS processing unit 102 of a small ship of the information of the target location (disaster site, fishing ground monitoring area, swimming prohibited area, other monitoring areas), or display the position information indicating the current position of the driver on the display unit 351 connected to the receiver 350. 205b is a positioning processing unit that performs positioning processing based on the Real Time Kinematic signal (RTK mode).

[0066] Thus, the watercraft 100 sails in an unmanned state during the day and moves towards the target location set as the sea area of the distress scene under the management of GPS information or the management of the RTK mode, and the camera 101 can be used at the target location to search for victims and monitor the status of the victims.

[0067] Furthermore, on the watercraft 100, as equipment, there are a red light 113, a lighting lamp 114 whose lighting direction can be controlled, a lifebuoy as a floating device, rescue food, and a thermal blanket, which can assist in the rescue of victims at the rescue destination.

[0068] Thus, the camera 101 can photograph the victims to be rescued even under low-light conditions, that is, in the dark, in a state where the sea surface is illuminated by the lighting lamp 114, and can support the rescue activities to a certain extent even when the water surface is under low-light conditions, enabling rapid rescue of lives.

[0069] 206 is the operation unit. The driver operates the left and right joysticks 206a, 206b up, down, left, and right to instruct the start, stop, acceleration of the engine 109 of the watercraft 100, and the traveling direction of the watercraft 100 of the rudder unit 111. Here, in the rudder unit 111, the traveling direction is determined by switching the drainage water flow direction from the rear part of the bottom of the watercraft 100.

[0070] Thus, the controller unit 201 generates a driving signal (digital control signal) of a predetermined bit through the signal processing unit 204, and can transmit it from the antenna 202 to the antenna 103 of the watercraft 100 through the signal transceiver unit 203.

[0071] On the other hand, the watercraft 100 processes the digital control signal received through the antenna 103 with the signal transceiver unit 112 and notifies the indication content to the controller unit 106, so as to start, accelerate (following the throttle operation), and stop the engine 109 by the engine driver 108.

[0072] Similarly, the watercraft 100 processes the digital control signal received through the antenna 103 with the signal transceiver unit 112 and notifies the indication content to the controller unit 106, so as to drive the rudder unit 111 by the rudder driver 110 through an actuator (not shown) and control the traveling direction of the watercraft 100.

[0073] [Structure of the FPV system] On the display unit 351 connected to the receiver 350 constituting the FPV system, the underwater animation image transmitted from the watercraft 100 can be displayed in real time.

[0074] Further, the goggles are configured to be connectable to an unillustrated operation device, and the movement of the line of sight of the driver wearing the goggles is regarded as a gesture operation of the operation device operated by the driver, whereby the shooting direction (up and down, left and right) of the camera 101 on the water vehicle 100 can be controlled.

[0075] The driver operating the RC controller 200 interlocks the microphone 104 and the speaker 105, and while confirming the live video transmitted from the water vehicle 100 on the display screen of the display unit 350, listens to the received sound through the speaker 105 (in the case where the victim is alive, including the conversation explaining the current situation), and can directly talk to the victim in a realistic state through the microphone 104. Further, the sound received for underwater recording is signal-processed by the DSP chip of the sound processing unit 107 as described above.

[0076] Next, the driver operating the RC controller 200 transmits the generated sound signal to the water vehicle 100 through the microphone 104 and amplifies and emits it from the speaker 105 of the water vehicle 100. Further, the position of the speaker 105 is configured to be extendable vertically from the bottom of the boat. Thereby, the sound can be emitted from the nearby area to a farther place.

[0077] As described above, in this system, the victim to be rescued and the driver operating the RC controller 200 are as if they are boarding the water vehicle 100 to go to the distress point for rescue, finding the victim and being able to have a conversation on the spot.

[0078] Further, the driver of the RC controller 200 displays the position information (the current position of the victim to be rescued) specified by the GPS signal obtained by the water vehicle 100 on the display unit 351, and notifies the position information to external organizations (the rescue team of the fire department, the patrol team of the fire department, the Coast Guard), whereby an emergency rescue team for the victim can be formed.

[0079] Moreover, the driver of the RC controller 200 gives an instruction to turn on the red light 113 of the water vehicle 100 by the RC controller 200, whereby the rescue team going to the rescue can quickly specify the direction to advance, and it can become an indicator when reaching the distress site in the shortest distance and the shortest time.

[0080] Moreover, the driver is given an indication to turn on the lighting lamp 114 of the water vehicle 100 by the RC controller 200, whereby the function of a searchlight can be exerted in the search sea area. Such a searchlight can not only assist rescue operations, but also give a sense of security to the victims. The controller unit 201 is provided with joysticks 206a and 206b as indication means, which perform various indications for remotely controlling the water vehicle 100.

[0081] Moreover, the controller unit 201 of the RC controller 200 has a signal generation function, which generates a control signal corresponding to the indications of the joysticks 206a and 206b. At this time, the signal transmission / reception unit 203 of the RC controller 200 functions as a means for transmitting the generated control signal to the water vehicle 100.

[0082] On the other hand, the water vehicle 100 is provided with a microphone 104 for picking up surrounding sounds on the water and a speaker 105. The controller unit 106 amplifies the sound information received from the receiver 350 after processing it with the sound processing unit 107 from the speaker 105.

[0083] Moreover, the signal transmission / reception unit 112 has a function of receiving navigation information from the RC controller 200 and a function of transmitting the sound information picked up by the microphone 104 to the receiver 350. Also, the video information, still images, etc. taken by the camera 101 are transmitted to the receiver 350 through the VTX transmission unit 120 and the antenna 121.

[0084] In addition, the controller unit 106 receives an operation instruction from the RC controller 200 to perform positioning control on the viewing direction of the camera 101, and controls the navigation state of the water vehicle 100 based on the navigation information received from the RC controller 200.

[0085] [Control method of the water surveillance system based on the first surveillance mode] FIG. 3 is a flowchart for explaining the control method of the water surveillance system of the present embodiment. Also, S1 to S24 represent respective steps, and each step is realized by the CPU of the controller unit 201 reading the control program stored in the ROM into the RAM. Here, the water is taken as an example of the sea.

[0086] Hereinafter, a system example in which the controller unit 106 controls the shooting direction of the camera 101 mounted on the water vehicle 100 to perform water surveillance in the first surveillance mode will be described.

[0087] Moreover, the first monitoring mode is an example in which, during the day, the water vehicle 100 is moved to the destination described below in the shortest distance in the GPS mode or the RTK mode, and the image information (video signal) captured by the camera 101 is not transmitted. Thereby, the waste of electric power is avoided, and the lighting lamp 114 can be lit to support the long-time water monitoring activity.

[0088] Moreover, in the initial search for the victim, the controller unit 106 of the water vehicle 100 is instructed by the controller unit 201 of the position information to be the moving target, and the unmanned water vehicle 100 is moved to the shortest distance to the distress sea area specified by the GPS information notified by the unmanned aerial vehicle (not shown).

[0089] In addition, in this water monitoring system example, the controller unit 106 of the water vehicle 100, the controller unit 201 of the RC controller 200, and the controller 355 of the receiver 350 are linked to support the rescue activity of the victim.

[0090] Specifically, the controller unit 106 of the water vehicle 100 is linked to the RC controller 200 to establish communication for voice conversation between the driver and the victim at the same time.

[0091] Moreover, the controller unit 106 of the water vehicle 100 is linked to the RC controller 200 to establish communication for controlling the posture position of the camera 100 based on the shooting request of the driver.

[0092] First, when the controller unit 201 determines that the driver operates the joystick 206a and instructs to start the engine 109 of the water vehicle 100 (YES in S1), and in addition, the controller unit 201 determines whether the monitoring mode for water monitoring is the first monitoring mode for the day or the second monitoring mode for the night (S2). When it is determined to be the second monitoring mode, it proceeds to the step shown in FIG. 5 below (S32). On the other hand, in step (S2), when the controller unit 201 determines that the monitoring mode is the first monitoring mode for the day, it goes to step (S3).

[0093] Next, the controller unit 201 causes the signal processing unit 204 to generate: an identification code for specifying the engine 109 of the water vehicle 100, an engine start signal for turning on the state signal of the engine 109, and transmits it to the water vehicle 100 through the signal transceiver unit 203 and the antenna 202. Thereby, the controller unit 106 of the water vehicle 100 instructs the start of the engine 109 (S3).

[0094] Next, when the controller unit 201 determines that the driving mode is urgent, that is, when the driver operates the joystick 206a to instruct the red light 113 of the water vehicle 100 to be lit (YES in S4), it proceeds to step (S5).

[0095] Next, the controller unit 201 causes the signal processing unit 204 to generate: an identification code indicating the lighting of the red light 113 of the water vehicle 100, and a red lighting signal that turns the status signal of the red light 113 into the ON state, and transmits it to the water vehicle 100 through the signal transceiver unit 203 and the antenna 202. Thereby, the controller unit 106 of the water vehicle 100 instructs the water vehicle 100 to light the red light 113 (S5).

[0096] Next, when the controller unit 201 determines that the driver operates the joystick 206a and determines the traveling direction of the water vehicle 100 by the rudder unit 111 of the water vehicle 100, specifically, when determining the course of the water vehicle 100 (YES in S6), it proceeds to step (S7).

[0097] Next, the controller unit 201 causes the signal processing unit 204 to generate: an identification code designating the right direction, left direction, and straight-ahead direction of the rudder unit 111 of the water vehicle 100, and a control signal that accelerates the engine 109 to propel the water vehicle 100, and transmits it to the water vehicle 100 through the signal transceiver unit 203 and the antenna 202. Thereby, the controller unit 106 of the water vehicle 100 starts the water movement of the water vehicle 100 (S7). For the subsequent movement direction, the first positioning processing (GPS) unit 205a follows the GPS signal to determine the direction of the bow, thereby quickly moving to the rescue area. Also, it may be a structure that uses the positioning processing of the second positioning processing (GPS) unit 205b.

[0098] Next, the controller unit 201 receives the GPS signal received from the water vehicle 100, and determines whether the current position of the water vehicle 100 has reached the distress point (destination) (S8).

[0099] Here, when the controller unit 201 determines that the current position of the water vehicle 100 has reached the rescue point (destination), the controller unit 201 causes the signal processing unit 204 to generate a control signal to stop the engine of the water vehicle 100, and transmits it to the water vehicle 100 through the signal transceiver unit 203 and the antenna 202.

[0100] Thereby, the controller unit 106 of the water vehicle 100 stops the movement of the water vehicle 100 (S9), and switches the shooting mode of the camera 101 to the FPV mode.

[0101] Thus, in the case where the controller unit 106 of the water vehicle 100 receives the orientation information for determining the orientation of each mounted camera by following the movement of the driver's line of sight from the controller 355 of the receiver 350 (YES in S10), it proceeds to step (S11). Thereafter, the controller 355 of the receiver 350 continuously determines at any time whether the orientation information of the camera 101 has been updated (S11). Here, in the case where the controller 355 of the receiver 350 determines that the orientation information of the camera 101 has been updated, it proceeds to step (S18).

[0102] Then, the controller 355 of the receiver 350 generates a positioning control signal for determining the orientation direction of the camera 101. In addition, the controller 355 of the receiver 350 transmits the newly generated positioning control signal to the water vehicle 100 through the antenna of the receiver 350 (S18), and returns to step (S11).

[0103] Thus, the controller unit 106 of the water vehicle 100 controls the orientation direction captured by the camera 101 by following the movement of the line of sight of the driver wearing the receiver 350, and performs positioning control of the camera 101 to capture the object that the driver is looking at.

[0104] On the other hand, in the case where the controller 355 of the receiver 350 determines in step (S11) that the orientation information of the camera 101 has been updated, it proceeds to step (S12).

[0105] Then, it controls the orientation of the camera 101 towards the target that the driver wearing the receiver 350 is staring at, and transmits the camera image of the object that the driver is looking at (for example, the face of the victim) to the receiver 350 as an image signal (S12).

[0106] Next, in order to confirm the response from the object (the victim to be rescued) that the driver is staring at, when the controller unit 201 determines that the driver operates the joystick 206a to instruct the dialogue tool of the water vehicle 100 to start voice recording (YES in S13), the controller unit 201 switches the communication mode to the 2.4 GHz band to establish a voice dialogue, and then proceeds to step (S14).

[0107] Then, the controller unit 201 transmits a control signal through the signal transceiver unit 203 and the antenna 202 to the water vehicle 100 to make the dialogue tools of the microphone 104 and the speaker 105 into a dialogue state (ON state). Thus, the controller unit 106 of the water vehicle 100 can turn on the microphone 104 and the speaker 105 (S14). Next, the driver uses the microphone 104 externally connected to the RC controller 200 to transmit voice data for calling the subject (victim) (e.g., "Are you okay?") to the water vehicle 100 through the antenna 202 (S15). For example, the voice "Are you okay?" is amplified and output to the victim at a high volume from the speaker 105. Next, when the controller unit 106 of the water vehicle 100 determines that the driver has instructed to receive the voice of the victim (instruct to receive the sound emitted by the victim) (YES in S16), it proceeds to step (S17). Then, the controller unit 106 of the water vehicle 100 uses the microphone 104 to receive the sound (S17). After the controller unit 106 processes the received voice of the victim as a signal by the voice processing unit 107, the controller unit 106 transmits the received voice of the victim from the antenna 103 to the RC controller 200. Next, the RC controller 200 outputs the voice received from the controller unit 106 from the speaker 105 (earphone output is also possible) (S19). Thereby, the driver can hear the voice of the victim and judge the state of the victim at the scene using both hearing and vision. At this time, the controller unit 106 of the water vehicle 100 controls the input unit for inputting rescue equipment instructed by the RC controller 200. For example, any one of a floating device, food, and a thermal blanket that can be used as rescue equipment can be selected and input into the water. Thereby, the victim can obtain a floating device to gain sufficient buoyancy, thereby greatly reducing physical strength consumption. In addition, by wrapping the thermal blanket around the body, it is also possible to prevent body temperature from dropping. Next, when it is determined that no return instruction for the water vehicle 100 has been issued (YES in S20), it returns to step (S10), and the RC controller 200 repeats the same process with the water vehicle 100 to communicate with the subject (victim). During this period, when the rescue team arrives at the scene, it is determined that the initial rescue process of the water vehicle 100 is completed. On the other hand, in step (S20), when it is determined that the controller unit 201 has issued a return instruction to return to the starting position by the driver operating the joystick 206a, the controller unit 201 switches the communication mode to the 5.8 GHz band, preferentially establishes communication for the operation of the water vehicle 100, and then proceeds to step (S21).

[0114] Then, the engine start signal for restarting the engine 109 of the water vehicle 100 is transmitted to the water vehicle 100 via the signal transceiver unit 203 and the antenna 202. Thereby, the controller unit 106 of the water vehicle 100 starts the engine 109 (S21).

[0115] Also, in the case of returning the water vehicle 100, the first positioning process (GPS) unit 205a or the second positioning process unit 205b can control the return target in the automatic return mode to return to the original departure point.

[0116] Moreover, using the second positioning process (RTK) unit 205b as a positioning system, a positioning process with a position accuracy error of about 3 cm is performed, thereby enabling accurate positioning.

[0117] Next, the controller unit 201 instructs the water vehicle 100 to return in the GPS mode (S22). Then, when the controller unit 201 confirms that the water vehicle 100 has returned to the departure position (S23), an engine stop signal for stopping the engine 109 of the water vehicle 100 is transmitted to the water vehicle 100 via the signal transceiver unit 203 and the antenna 202, and the engine 109 is stopped (S24), ending this process. Also, when returning the water vehicle 100, in the case where the above communication mode is the RTK mode, in step (S20), the water vehicle 100 can also automatically return to the departure position (original position).

[0118] Thereby, during the day, using the GPS function (RTK function) to quickly reach the location of the person in distress to be rescued, one can talk while confirming the expression of the victim waiting for rescue on the water, and quickly and smoothly carry out rescue activities. Also, when the receiver 350 is in the form of goggles on the water, the driver wearing the goggles can visually confirm the victim on the screen inside the goggles while ensuring voice communication with the rescue support personnel, and can effectively support the rescue activities.

[0119] [Effect of the First Embodiment] According to the first embodiment, during the day, the driver operating the RC controller quickly makes the water vehicle rush to the side of the victim to be rescued while watching the image received by the receiver using the GPS function or the RTA function. Then, in the state of specifying the position of the victim photographed by the camera of the water vehicle, the driver can approach the victim to take care of the victim and have a two-way conversation to give encouragement until the rescue team arrives, enabling remote rescue support.

[0120] [Second Embodiment] <Control Method of Marine Surveillance System Based on Second Surveillance Mode> Fig. 4 is a block diagram showing an example of the marine surveillance system of the present embodiment. The difference in structure between the marine surveillance system shown in this example and the marine surveillance system shown in Fig. 2 is that the marine vehicle 100 is equipped with an infrared camera 115, and it is a system example that can process a heat source (human body) floating on the water as an infrared image at night.

[0121] In the marine surveillance system configured as described above, the controller unit 106, the controller unit 201, and the controller 355 of the receiver 350 are linked to establish communication for voice conversation between the driver and the victim.

[0122] Similarly, the controller unit 106, the controller unit 201, and the controller 355 of the receiver 350 are linked to establish communication for controlling the posture position of the infrared camera 115 received from the receiver 350.

[0123] Moreover, between the marine vehicle 100 and the RC controller 200, based on the shooting request of the driver from the controller 355 of the operation receiver 350, communication for controlling the posture position of the infrared camera 115 is established.

[0124] Fig. 5 is a flowchart for explaining the control method of the marine surveillance system of the present embodiment. Also, S31 to S54 represent each step, and each step is realized by the CPU of the controller unit 201 reading the control program stored in the ROM into the RAM and executing it.

[0125] Hereinafter, a system example will be described in which, in the second surveillance mode, the controller unit 106 controls the shooting direction of the infrared camera 115 mounted on the marine vehicle 100 to perform marine surveillance.

[0126] Moreover, in the second surveillance mode, before reaching the destination described later, the GPS mode or the real-time kinematic technology mode is used. And, during the search, the image captured by the infrared camera 115 is played while the marine vehicle 100 is moving on the display device connected to the receiver 350, and it is an example of supporting the rescue activities of the rescuers at night in the rescue waters.

[0127] And, in the initial search for the victim, the controller unit 106 of the marine vehicle 100 is instructed by the RC controller 200 to move in a certain direction, and the unmanned marine vehicle 100 is made to reach the distress sea area specified by the GPS information or RTK information notified by an unmanned aerial vehicle (not shown) at the shortest distance.

[0128] First, when the controller unit 201 determines that the driver operates the joystick 206a to instruct starting the engine 109 of the water vehicle 100 (YES in S31), in addition, the controller unit 201 determines whether the monitoring mode is the first monitoring mode or the second monitoring mode (S32). When it is determined to be the first monitoring mode, it proceeds to the steps shown in FIG. 3 above (S2). On the other hand, in step (S32), when the controller unit 201 determines that the monitoring mode is the second monitoring mode, it proceeds to the steps shown in FIG. 5 (S33).

[0129] Next, the controller unit 201 causes the signal processing unit 204 to generate: an identification code for specifying the engine 109 of the water vehicle 100 and an engine start signal that turns the status signal of the engine 109 to the ON state, and transmits them through the signal transceiver unit 203 and the antenna 202 to instruct the water vehicle 100 to start the engine 109.

[0130] In addition, an instruction to turn on the power of the infrared camera 115 on the water vehicle 100 is transmitted from the controller 355 of the receiver 350 through the antenna 306 (S33).

[0131] Next, when the controller unit 201 determines that the activation mode is urgent, that is, when the driver operates the joystick 206a to instruct lighting the red light 113 of the water vehicle 100 (YES in S34), it proceeds to step (S35).

[0132] Then, the controller unit 201 causes the signal processing unit 204 to generate: an identification code for instructing lighting the red light 113 of the water vehicle 100 and a red lighting signal that turns the status signal of the red light 113 to the ON state, and transmits them through the signal transceiver unit 203 and the antenna 202 to the water vehicle 100. Thereby, the controller unit 106 of the water vehicle 100 lights the red light 113 (S35).

[0133] Next, when the controller unit 201 determines that the driver operates the joystick 206a to give an instruction to determine the traveling direction to the rudder unit 111 of the water vehicle 100 (an instruction to determine the orientation of the infrared camera 115) (YES in S36), it proceeds to step (S37).

[0134] Next, the controller unit 201 causes the signal processing unit 204 to generate: an identification code for specifying the operation direction of the rudder unit 111 of the water vehicle 100 and a control signal that accelerates the engine 109 to propel the water vehicle 100, and transmits them through the signal transceiver unit 203 and the antenna 202 to the water vehicle 100.

[0135] Accordingly, the controller unit 106 starts the water movement of the water vehicle 100 (S37). Thereafter, for the azimuth movement of the water vehicle 100, the controller unit 106 determines by following the GPS signal or the Real - Time Kinematic (RTK) signal, and accordingly automatically follows the rescue water area to move the water vehicle 100.

[0136] Next, the controller unit 201 receives the GPS signal received from the water vehicle 100, and determines whether the current position of the water vehicle 100 has reached the rescue point (destination) (S38). Here, in the case where it is determined that the current position of the water vehicle 100 has reached the rescue point (destination), the process proceeds to step (S39).

[0137] Then, the controller unit 201 causes the signal processing unit 204 to generate a control signal for stopping the engine of the water vehicle 100, and transmits it to the water vehicle 100 through the signal transceiver unit 203 and the antenna 202.

[0138] Accordingly, the controller unit 106 of the water vehicle 100 stops the movement of the water vehicle 100 (S39), and switches the infrared camera 115 to the FPV mode.

[0139] Thereafter, in the case where the controller 355 of the receiver 350 determines that the motion sensor has detected the line - of - sight movement of the driver (YES in S40), the process proceeds to step (S41).

[0140] In step S41, the controller 355 of the receiver 350 determines whether the driver operating the receiver 350 has indicated a change in the travel azimuth, and determines whether the azimuth information of the infrared camera 115 has been updated (S41).

[0141] Here, in the case where the controller 355 determines that the azimuth information of the infrared camera 115 has been updated, the controller 355 generates a positioning control signal for determining the line - of - sight direction of the infrared camera 115, and transmits the generated new positioning control signal to the water vehicle 100 through the antenna 306 (S48), and returns to step (S41).

[0142] Accordingly, the controller unit 106 of the water vehicle 100 follows the indication of the driver operating the receiver 350 to change the travel azimuth, and controls the azimuth direction of the infrared camera 115 to photograph the victim being stared at by the driver.

[0143] On the other hand, in the case where the controller 355 determines in S41 that the azimuth information of the infrared camera 115 has not been updated, the process proceeds to step (S42).

[0144] Then, the controller unit 106 of the water vehicle 100 controls the direction of the infrared camera 115 to match the changed traveling direction indicated by the driver of the operation receiver 350.

[0145] Thereby, the controller unit 106 of the water vehicle 100 transmits the video signal of the object being imaged (e.g., the face of the victim) that the driver is gazing at to the receiver 350 (S42), and proceeds to step (S43).

[0146] Next, in order to confirm the response from the victim on the water that the driver is staring at, when the controller unit 201 determines that the driver operates the joystick 206a to indicate the start of voice recording of the communication tool of the water vehicle 100 (YES in S43), here, the controller unit 201 switches the communication mode to the 2.4 GHz band to establish a voice call, and then proceeds to step (S44).

[0147] Then, the controller unit 201 transmits, via the signal transceiver unit 203 and the antenna 202, a control signal to the water vehicle 100 to make the communication tools of the microphone 104 and the speaker 105 enter the call state (ON state) (S44).

[0148] Next, the driver uses the microphone 104 connected to the RC controller 200 to transmit, via the signal transceiver unit 203 and the antenna 202, voice data for shouting at the object being imaged (the victim) (e.g., "Are you okay?") to the controller unit 106 of the water vehicle 100 (S45). Thereby, the controller unit 106 amplifies and outputs, from the speaker 105 of the water vehicle 100 at a high volume, for example, "Are you okay?" to the person in need of rescue. Also, if the name of the rescue target has been confirmed, first call out the name and then call out "Are you okay?".

[0149] In step (S46), when it is determined that the controller unit 201 instructs to receive the voice from the victim (YES in S46), the microphone 104 and the speaker 105 of the water vehicle 100 are turned on.

[0150] Then, after the voice received by the microphone 104 is signal - processed in the controller unit 106, if the microphone 104 receives the voice of the victim being rescued on the water (S47), the controller unit 106 of the water vehicle 100 transmits the voice signal of the victim received via the signal transceiver unit 112 to the RC controller 200 (S49).

[0151] Thus, the driver can hear, from the speaker 105 equipped in the RC controller 200, the human voice of the victim whose voice has been processed (including removing wave sounds, etc.) by the microphone 104 of the water vehicle 100.

[0152] Next, the controller unit 106 repeats the same process with the water vehicle 100, thereby communicating with the object to be imaged (the victim). During this period, when the rescue team arrives at the scene, it is determined that the initial rescue process of the water vehicle 100 has ended. Here, the controller unit 201 switches the communication mode to the 5.8 GHz band and preferentially establishes communication for the operation of the water vehicle 100.

[0153] Next, the controller unit 201 determines whether the driver has operated the joystick 206a to issue a return instruction (S50) to return to the departure position.

[0154] Here, in the case where the controller unit 201 determines that the driver has operated the joystick 206a to issue a return instruction to return to the departure position, it proceeds to step (S51).

[0155] Then, the engine start signal for restarting the engine 109 of the water vehicle 100 is transmitted to the water vehicle 100 through the signal transceiver unit 203 and the antenna 202.

[0156] Thus, the controller unit 106 of the water vehicle 100 starts the engine 109 (S51). Also, in the case of returning the water vehicle 100 to the initial starting position, the first positioning processing unit 205a or the second positioning processing unit 205b can control the return target in the automatic return mode to return to the original starting point.

[0157] Next, the controller unit 201 starts the return of the water vehicle 100 in the GPS mode or the real-time kinematic (RTK) mode (S52).

[0158] Then, when the controller unit 201 confirms that the water vehicle 100 has returned to the departure position (S53), it transmits an engine stop signal to stop the engine 109 of the water vehicle 100 through the signal transceiver unit 203 and the antenna 202, and stops the engine 109 (S54), ending this process.

[0159] Thus, the water vehicle 100 can quickly reach the location to be rescued from sunset to early morning using the GPS function or the RTK function. After that, the infrared camera 115 equipped in the water vehicle 100 captures the victim floating on the water as a heat source image, and the rescue operation can be smoothly carried out.

[0160] [Effect of the Second Embodiment] According to the second embodiment, even at night with poor visibility, the water vehicle 100 can quickly reach the location of the victim to be rescued by using the GPS function or the RTA function. The driver, while in a state where the position of a specific victim is known, captures the victim floating on the water as a heat source, thereby efficiently identifying the position of the victim to be rescued.

[0161] Moreover, the water vehicle 100 can assist the rescue activities of victims in a 24-hour system including at night, which can greatly improve the survival rescue rate. Also, the driver operating the receiver 350 can ensure communication with the rescue supporters while confirming the infrared image of the victim on the water, and thus can effectively support the rescue activities.

[0162] Furthermore, as a system combining the first embodiment and the second embodiment, for example, the water vehicle 100 determines whether the monitoring modes of both the camera 101 and the infrared camera 115 are the first monitoring mode or the second monitoring mode by the controller unit 201, performs camera image control, and switches the transmission content of the image information between the water vehicle 100 and the controller unit 201, so as to support the rescue activities in accordance with the situation of either day or night.

[0163] Here, the controller unit 201 is configured to be able to recognize the camera equipment status of the water vehicle 100. Therefore, in the case where only one of the camera 101 and the infrared camera 115 is mounted, it can be clearly determined whether it is the first monitoring mode or the second monitoring mode.

[0164] Moreover, in the case where both the camera 101 and the infrared camera 115 are mounted, the controller unit 201 designates the first monitoring mode or the second monitoring mode for the water vehicle 100, and thereby it can also be determined which mode it is.

[0165] Moreover, in the rescue activities, when the water vehicle 100 is equipped with an omnidirectional camera that functions as a third camera, and the image received by the receiver 350 is displayed on the display device, the driver conducts the rescue activities while watching the display of the display device. Therefore, the rescue activities can be carried out efficiently and reliably by making full use of the plural viewpoints of the driver.

[0166] [Third Embodiment] Fig. 6 is a schematic diagram showing the structure of the water monitoring system of this embodiment. In this example of the water monitoring system, a plurality of water vehicles 100 are arranged in the swimming area of a beach, for example, to monitor the swimmers. Also, the structure of the water vehicle 100 is the same as that of the first embodiment, so the detailed structure description is omitted. Hereinafter, an example in which a lifeguard wears the goggle-type receiver 350 to monitor the swimmers will be described.

[0167] In the system of this example, a monitor who acts as a lifeguard at a beach monitoring station wears goggles and monitors the status of all swimmers in the swimming area while operating the RC controller 200.

[0168] [Effect of the Third Embodiment] According to the third embodiment, a monitor who acts as a lifeguard at a beach monitoring station wears goggles and can monitor the status of all swimmers in the swimming area while warning dangerous swimmers from the water vehicle 100 with the voice of the driver.

[0169] [Fourth Embodiment] FIG. 7 is a schematic diagram showing an example of the water monitoring system of this embodiment. Hereinafter, an example will be described in which a fish tank monitor wears a goggle-type receiver 350 to perform a trap setting operation for preventing poachers from approaching a sea fish tank with the water vehicle 100.

[0170] In the example of the water monitoring system of this example, a plurality of water vehicles 100 are moved to the vicinity of the sea fish tanks 500 to 502, and the monitor in the monitoring hut wears goggles 350 and operates the RC controller 200 to patrol and monitor the periphery of the sea fish tanks 500 to 502 at regular intervals or when the cameras 101 and 115 that photograph the fish tanks capture poachers.

[0171] Also, since the structure of the water vehicle 100 is the same as that of the first embodiment, a detailed description of the structure is omitted. And, water patrol in the first monitoring mode is performed during the day, and water patrol in the above-described second monitoring mode is performed at night.

[0172] [Effect of the Fourth Embodiment] According to the fourth embodiment, a monitor who monitors the status of a plurality of fish tanks wears goggles and monitors the status of the fish tanks or the approach of suspicious persons from a gathering place away from the fish tanks. It is also possible to issue a warning with the voice of the driver to an apparently suspicious approaching person from the water vehicle 100. Also, in the case where it is recognized by an image that a warning has been ignored, it is also possible to notify the jurisdictional police precinct. Also, by taking a photo of the scene, it can also be used as search material for the future.

[0173] Further, in the above-described first and second embodiments, as the arrangement positions of the first camera, the second camera, and the third camera, it has been described that the first camera is arranged in the bow direction of the water vehicle 100, the third camera is arranged near the steering rudder of the water vehicle 100, and the second camera is arranged at the stern of the water vehicle 100. However, a vertical rod may be provided near the steering rudder of the water vehicle 100, and a structure in which cameras are arranged side by side in the vertical direction (up and down direction) with respect to this may also be used.

[0174] At this time, the third camera may be provided at the top end of the vertical rod with the highest height of the boat, and then, a structure in which a plurality of first cameras and a plurality of second cameras are arranged facing each other may also be used.

[0175] Also, in each of the above-described embodiments, it has been described that the driver operates the RC controller 200 to move the water vehicle 100 to the rescue point. However, the water vehicle 100 equipped with the above-described cameras 101 and 115 may be transported to the rescue site by a rescue helicopter, and the water vehicle 100 may be dropped into the water in that sea area, thereby quickly supporting the search activity in the on-site sea area.

[0176] By this, in a situation where rescue personnel (divers) cannot approach the burning hull, it is also possible to approach the periphery of the hull and quickly support the confirmation of the damaged part or the search for the crew to be rescued. Also, the water vehicle 100, as a rescue equipment, for example, a hooked rope that can be used to tow a 30-foot-class yacht may be thrown in.

[0177] [Fifth Embodiment] FIG. 8 is a perspective view showing an example of another water vehicle to which the water monitoring system applicable to this embodiment is applied.

[0178] In each of the above-described embodiments, as an example of the water vehicle applicable to the water monitoring system, an example of applying a water motorcycle has been described. However, of course, a water vehicle that can carry three members shown below may also be applied to the present invention.

[0179] In the water vehicle shown in this example, a joystick is provided at a predetermined position in the front of the hull, and has a plurality of buttons like a fighter plane. The throttle operation can be performed by pulling the joystick (controller joystick) backward, and the traveling direction of the water vehicle can be controlled by tilting it left and right.

[0180] Here, various cameras shown in the above-described embodiments are provided at predetermined positions and communicate with the RC controller 200. Thus, the joystick operation of the RC controller 200 can be used as the above-described controller joystick operation for control, and thus the same functions as those of the above-described water vehicle 100 can be executed. Therefore, in this figure, cameras, speakers, microphones, antennas, etc. are omitted.

[0181] [Effect of the Fifth Embodiment] According to the fifth embodiment, compared with the water vehicle 100 shown in the first embodiment, the dimensions of the expandable width and the overall length can be increased. Therefore, a single water vehicle can carry a considerable amount of equipment and accommodate multiple rescued victims at the same time. Moreover, for the water vehicle shown in FIG. 8, a large engine can be used in terms of horsepower, so the towing capacity is high, and multiple small ships can be towed simultaneously, and the rescue activity ability is also excellent.

[0182] Thus, the ability of the water vehicle shown in FIG. 8 can be utilized, and a greater role can be played in various aspects of rescue activities.

[0183] [Sixth Embodiment] In the above embodiments, a system for supporting the rescue activities of victims by interlocking the controller unit 106 of the water vehicle 100, the controller unit 201 of the RC controller 200, and the controller 355 of the receiver 350 has been described. However, with the evolution of wireless communication technology in the mobile communication system, a structure for unmanned operation of a water vehicle using wireless communication of so-called public communication (4G, 5G) is also within the scope of application of the present invention.

[0184] Moreover, the prime mover mounted on the water vehicle can be a motor, an engine, or a composite type of motor & engine. In addition to fossil fuels, the fuel can also be hydrogen fuel. From various options, it can be combined and configured to correspond to uses such as rescue and surveillance, thereby enabling a more mobile water vehicle to be put into use.

[0185] Furthermore, the water vehicle shown in this embodiment is equipped with various switches as functions to be具备, such as a floodlight as a searchlight, a speaker & microphone, a full-color rotating light, a camera switch, a camera switching mechanism, a switch for the bait box lifting and opening / closing, and switches related to floating devices.

[0186] In addition, as a satellite for acquiring the position information of ship operation, the water vehicle shown in this embodiment can utilize GPS or a GNSS system including satellite "wayfinding".

[0187] Moreover, the remote operation of the water vehicle shown in this embodiment includes an automatic ship operation function of automatic navigation, including the following situations: installing a program in a rewritable memory mounted on a control board, thereby patrolling along a surveillance route with a set rescue range; in an environment where communication is carried out with a data terminal, for example, with an application installed on a smartphone, patrolling the rescue range displayed on the screen along a desired navigation route.

[0188] Further, the following water vehicle is provided with a function of returning to the departure position (specified by the position information set in the search sea area) according to a manual boating instruction or a remote control boating instruction. Further, in the present embodiment, a water vehicle that follows a remote control boating instruction is called a guided water vehicle, and the radio wave form includes an infrared method, a Bluetooth (registered trademark) method, and a Wi-Fi method.

[0189] Moreover, in the present embodiment, the water vehicle includes various ships that can be unmanned, including a rowing boat that drives a rowing oar, a rubber boat, a canoe, and a pedal boat that operates on a lake.

[0190] Further, for various yachts, ships, fishing boats, oil tankers, warships, aircraft carriers that were originally manned, a function associated with the programs or applications installed in the present water vehicle system can be added, whereby these various ships can also function as a search team.

[0191] FIG. 9 is a diagram showing an automatic boating controller applicable to the water monitoring system of the present embodiment.

[0192] In FIG. 9, reference numeral 900 is an automatic boating controller, which includes a boating unit 901 that automates an existing outboard motor and a communication unit 902 that communicates via an antenna 903. Moreover, the automatic boating controller 900 integrates a wind speed, wind direction, and obstacle sensor (not shown), and has a waterproof specification to support all-weather maritime rescue activities. Moreover, the automatic boating controller 900 can also transmit control signals for a rudder, a propeller, and a sail winch. In addition, by driving an electric motor, a power boat such as a small yacht, an outboard motor, or a small boat can be automated. Reference numeral 904 is a camera unit, which is equipped with an infrared camera in addition to a normal CCD camera and can perform automatic boating at night. Also, an AI camera for collision prevention can be provided corresponding to GPS and GNSS.

[0193] Further, the automatic boating controller 900 of the main body is configured as a system that uses currently commercially available lithium batteries. Therefore, with the future evolution of battery technology, further miniaturization can be achieved. By improving the power consumption of the electronic circuits of the components necessary for driving the boat and improving the material design (the limitation of the center of gravity design can also be reduced), it can be further lightened to meet the weight balance generally required for various small ships, thereby enabling a more maneuverable automatic boating system to be configured.

[0194] FIG. 10 is a diagram showing an operation device of a water vehicle that can be unmanned and is applicable to the water monitoring system of the present embodiment.

[0195] In FIG. 10, 920 is a smart phone installed with an automatic boat control unit application.

[0196] Here, the automatic boat control unit application has: a user registration function, a remote measurement function, a manual operation function, a route setting, an automatic operation function, an RTL function, a position holding function, a voice activation function, a distance limit setting function (a safety function that automatically stops when the distance from the starting position exceeds the set distance).

[0197] FIGS. 11 to 15 are diagrams showing an example of a vehicle applicable to the water surveillance system of the present embodiment.

[0198] [An example of an automatic sailing type vehicle] In FIG. 11, 1100 is an automatic boat control type vehicle, combined with an automatic boat controller 900, and thus assembled to a large remote control boat for towing, capable of autonomous navigation, towing, and accompanying for shipwreck rescue or safety surveillance and water patrol.

[0199] In FIG. 12, 1200 is an original unmanned sailing type vehicle that can automatically navigate remotely. The preset uses include applications such as small cargo transportation, water or underwater photography, fish school exploration, water security surveillance, ocean research, support for rescue or search activities, and maritime patrol or security surveillance.

[0200] In FIG. 13, 1300 is a sailing type vehicle that functions as an automated sailing boat that is not easily capsized. In this example, it is an example that can be easily used as an operatorless automatic sailing boat by anyone. Since this water vehicle is propelled only by wind power, its operation time is relatively long. For example, it can sail continuously for 15 hours, and the maximum load capacity is more than 170 kg. It can be used for various purposes through manned and unmanned navigation. For example, it can be used for various purposes such as unmanned cargo transportation between remote islands or transportation of relief supplies in case of emergency.

[0201] In FIG. 14, 1400 is a water landing sailing type vehicle that functions as an amphibious vehicle that flies at high speed until it reaches the destination and stays and operates on the water for a long time by means of a sail after water landing. Thereby, for areas that are difficult to access, such as rivers without levees or sea areas with many reefs, it approaches by flying, moves to the target location far from the shore by flying, and then executes stable water landing control, thereby shortening the moving time to the activity water area.

[0202] In Fig. 15, 1500 is an offshore operation support vehicle. The sail-type drone discovers target fish (skipjack tuna, tuna, swordfish) and chases them at high speed, thereby locking the ship's steering and rudder control efficiency on the target fish, which can reduce the time and fuel cost to reach the fishing ground.

[0203] Furthermore, the water vehicle shown in Figs. 11 to 15 is equipped with an automatic steering unit, and the automatic steering unit is configured to be detachable from a given hull.

[0204] Moreover, the given hull is an offshore mobile structure that satisfies buoyancy, mobility, and stowability as described above. The hull material can be any one of wooden, rubber, reinforced plastic, and steel, or a combination thereof. And, the given hull includes the following ships: ships that remotely control the security of water equipment or fish farms by using the remote operation function of autonomous mobile ships. Here, for example, remote wireless control is used for autonomous movement to move to an offshore destination, which helps to reduce labor or occupied time, improve the efficiency of security operations, and ensure the safety of security personnel. A video camera is installed on the hull and used in combination with autonomous movement, which can also support the patrol of a pre-input route. And, since GPS and GNSS are used for autonomous movement, offshore movement and steering can be performed even at night when the human eye cannot see. Here, the hull has a maximum stowage weight of 175 kg, and the function can also be expanded according to the purpose. And, the capacity of the hull, outboard motor, and fuel tank can be freely changed according to the offshore steering purpose or use, and a generator can be installed, so machines that require a large amount of electricity can also be used.

[0205] Therefore, the offshore monitoring system is an offshore monitoring system that enables the following devices to communicate: a water vehicle that can be equipped with the camera shown in Fig. 9, a data terminal that receives the video signal transmitted from the aforementioned camera and displays it on a display unit (refer to Fig. 10), and a wireless controller that controls the movement of the aforementioned water vehicle. The aforementioned water vehicle is equipped with a control means that receives the movement signal transmitted from the aforementioned wireless controller (a mobile communication system compliant with 4G and 5G) operated by a driver and controls the movement of the aforementioned water vehicle in response to this. The aforementioned receiver is equipped with a display control means that receives the offshore video transmitted from the aforementioned camera and switches the display mode of the aforementioned display unit to a monitoring mode in response to this, and displays the offshore video transmitted from the aforementioned camera and information to support offshore rescue activities on the aforementioned display unit. Here, the wireless controller uses a protocol compliant with a mobile communication system. [Industrial Applicability]

[0206] It is estimated that the engine structure of water vehicles will continue to evolve in the future. For example, the same is true for the engine that provides the propulsion force for movement on water.

[0207] Furthermore, for countermeasures against global warming, it is estimated that the engine structure will rapidly shift from an internal combustion engine to an electric motor. However, the present invention can be applied regardless of the difference in engine structure. Moreover, if it is an electric motor, it is possible to expect enhanced operability in accordance with the quietness during travel.

BRIEF DESCRIPTION OF THE DRAWINGS

[0015] [FIG. 1] is a perspective view showing the appearance of a water vehicle. [FIG. 2] is a block diagram showing an example of a water monitoring system. [FIG. 3] is a flowchart illustrating a control method of the water monitoring system according to the present embodiment. [FIG. 4] is a block diagram showing an example of a water monitoring system. [FIG. 5] is a flowchart illustrating a control method of the water monitoring system according to the present embodiment. [FIG. 6] is a diagram showing the structure of the water monitoring system according to the present embodiment. [FIG. 7] is a diagram showing the structure of the water monitoring system according to the present embodiment. [FIG. 8] is a perspective view showing an example of another water vehicle applicable to the water monitoring system according to the present embodiment. [FIG. 9] is a diagram showing an automatic boat control device applicable to the water monitoring system according to the present embodiment. [FIG. 10] is a diagram showing an operating device of the water monitoring system according to the present embodiment. [FIG. 11] is a diagram showing an example of a water vehicle applicable to the water monitoring system according to the present embodiment. [FIG. 12] is a diagram showing an example of a water vehicle applicable to the water monitoring system according to the present embodiment. [FIG. 13] is a diagram showing an example of a water vehicle applicable to the water monitoring system according to the present embodiment. [FIG. 14] is a diagram showing an example of a water vehicle applicable to the water monitoring system according to the present embodiment. [FIG. 15] is a diagram showing an example of a water vehicle applicable to the water monitoring system according to the present embodiment.

Claims

1. A maritime surveillance system, characterized in that it enables communication between the following devices: a watercraft equipped with a camera and propelling water forward by discharging water from the bottom of the vessel; a receiver receiving image signals transmitted from the aforementioned camera and displaying them on a display unit; and an RC controller controlling the movement of the aforementioned watercraft. The aforementioned watercraft includes a control means that receives movement signals transmitted from the aforementioned RC controller by the operator and controls the movement of the aforementioned watercraft accordingly. The aforementioned receiver includes a display control means that receives water images transmitted from the aforementioned camera and switches the display mode of the aforementioned display unit to a surveillance mode accordingly, displaying the water images transmitted from the aforementioned camera and information supporting maritime rescue activities on the aforementioned display unit.

2. The maritime surveillance system as described in claim 1, wherein, In the aforementioned watercraft, the aforementioned control means, based on the deployment instruction received from the aforementioned RC controller, controls the deployment unit to deploy rescue equipment supporting the rescue onto the water for the victims.

3. The maritime surveillance system as described in claim 2, wherein, The aforementioned control measures, controlling the aforementioned input unit, can sequentially input any of the aforementioned rescue equipment—floating devices, food, or thermal blankets—into the aforementioned water.

4. The maritime surveillance system as described in claim 1, wherein, The aforementioned watercraft can be equipped with multiple cameras that capture images of the water in different ways, positioned in a predetermined location.

5. The maritime surveillance system as described in claim 4, wherein, Any of the aforementioned cameras is constructed using a CCD camera.

6. The maritime surveillance system as described in claim 4, wherein, Any of the aforementioned cameras is constructed using infrared technology.

7. The maritime surveillance system as described in claim 4, wherein, Any of the aforementioned cameras is constructed using an omnidirectional camera.

8. The maritime surveillance system as described in claim 1, wherein, It has means for outputting the images received by the aforementioned receiver to a screen, which is provided by the goggles worn by the aforementioned driver.

9. The maritime surveillance system as described in claim 1, wherein, The aforementioned support information includes the location information of the aforementioned watercraft, water temperature information, weather information, and the types of rescue equipment carried.

10. The maritime surveillance system as described in claim 1, wherein, It has the means to establish sound-based communication between the aforementioned water vehicle and the aforementioned RC controller.

11. The maritime surveillance system as described in claim 1, wherein, The aforementioned RC controller switches the communication mode between the control system and the aforementioned water vehicle.

12. The maritime surveillance system as described in claim 11, wherein, The aforementioned RC controller switches the communication mode with the aforementioned water vehicle from the 5.8GHz band to the 2.4GHz band during voice communication.

13. The maritime surveillance system as described in claim 1, wherein, The engines of the aforementioned water vehicles are either prime movers or electric motors.

14. The maritime surveillance system as described in claim 1, wherein, The engine of the aforementioned watercraft is a composite engine that combines a prime mover and an electric motor.

15. The maritime surveillance system as described in claim 1, wherein, The aforementioned watercraft is equipped with an automatic boat control unit.

16. The maritime surveillance system as described in claim 15, wherein, The aforementioned automated ship handling unit can be loaded and unloaded from a predetermined hull.

17. The maritime surveillance system as described in claim 16, wherein, The aforementioned hull is a mobile marine structure that satisfies the requirements of buoyancy, mobility, and cargo carrying capacity. The hull material can be any one or a combination of wood, rubber, reinforced plastic, and steel.

18. A maritime surveillance system, characterized in that it enables communication between the following devices: a watercraft equipped with a camera and propelling water forward by discharging water from the bottom of the vessel; a data terminal that receives image signals transmitted from the aforementioned camera and displays them on a display unit; a wireless controller that controls the movement of the aforementioned watercraft; the aforementioned watercraft having a control means that receives movement signals transmitted by the aforementioned wireless controller operated by the driver and controls the movement of the aforementioned watercraft accordingly; the aforementioned receiver having a display control means that receives water images transmitted from the aforementioned camera and switches the display mode of the aforementioned display unit to a surveillance mode accordingly, thereby displaying the water images transmitted from the aforementioned camera and information supporting maritime rescue activities on the aforementioned display unit.

19. The maritime surveillance system as described in claim 18, wherein, The aforementioned wireless controller uses protocols that conform to mobile communication systems.

Images