Buoy

Abstract

To provide a buoy capable of suppressing a postural change.SOLUTION: A buoy comprises a floating body with a through hole, a brace with first edge located in water and a second edge located in air, and an elastic member provided between the floating body and the brace, and to push the brace to the side of the second edge.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to buoys. [Background technology]

[0002] When construction work is carried out at sea, buoys are sometimes installed on the sea to indicate the construction area (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2014-117980 A Summary of the Invention [Problem to be solved by the invention]

[0004] The buoy's position could change significantly due to the effects of waves.

[0005] The present disclosure provides a buoy that reduces attitude drift. [Means for solving the problem]

[0006] The present disclosure relates to a buoy comprising a float having a through hole, a strut that passes through the through hole and has a first end located underwater and a second end located in the air, and an elastic member provided between the float and the strut that pushes the strut toward the second end. Effect of the Invention

[0007] The buoy of the present disclosure can suppress fluctuations in attitude. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a perspective view of a buoy according to the present embodiment. [Diagram 2] FIG. 2 is a front view of the buoy according to this embodiment. [Diagram 3] FIG. 3 is an exploded perspective view for explaining the float and the connection part of the buoy according to this embodiment. [Figure 4] FIG. 4 is a cross-sectional view for explaining the float and the connection part of the buoy according to this embodiment. [Diagram 5] FIG. 5 is a diagram showing the functional configuration of the buoy according to this embodiment. [Figure 6] FIG. 6 is a diagram showing the buoy according to this embodiment in use. [Figure 7] FIG. 7 is a diagram for explaining an example of use of the buoy according to this embodiment. [Figure 8] FIG. 8 is a perspective view of a buoy according to a modified example of this embodiment. [Figure 9] FIG. 9 is a front view of a buoy according to a modified example of this embodiment. [Figure 10] FIG. 10 is a diagram showing the functional configuration of a control unit in a buoy according to a modified example of this embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Specific examples of the buoy according to the present embodiment will be described below with reference to the drawings. Note that the present disclosure is not limited to these examples, but is defined by the claims, and is intended to include all modifications within the meaning and scope of the claims.

[0010] In addition, in the description of the specification and drawings of each embodiment, components having substantially the same or corresponding functions may be denoted by the same reference numerals to avoid redundant explanation. In addition, the scale of each part in the drawings may differ from the actual scale in order to facilitate understanding.

[0011] In the directions of parallel, right-angle, orthogonal, horizontal, vertical, up-down, left-right, etc., deviations are permitted to the extent that they do not impair the effects of the embodiment. The shape of the corners is not limited to right angles and may be rounded. Parallel, right-angle, orthogonal, horizontal, and vertical may include approximately parallel, approximately right-angle, approximately orthogonal, approximately horizontal, and approximately vertical, respectively.

[0012] For example, "approximately parallel" means that even if two lines or two surfaces are not completely parallel to each other, they can be treated as being parallel to each other within the range allowed in manufacturing. As with "approximately parallel," other terms such as "approximately right angle," "approximately perpendicular," "approximately horizontal," and "approximately vertical" are also intended to fall under the respective terms as long as the relative positional relationship between the two lines or two surfaces is within the range allowed in manufacturing.

[0013] <Embodiment> A buoy according to this embodiment will be described. The buoy according to this embodiment includes a float, a position detection unit that detects the position of the float, a propulsion unit that generates a propulsive force to move the float, and a control unit that controls the propulsion unit so that the position detected by the position detection unit falls within a predetermined range. The buoy according to this embodiment can remain within the predetermined range.

[0014] The buoy according to the present embodiment will now be described from another perspective. The buoy according to the present embodiment includes a float having a through hole, a strut that passes through the through hole and has a first end located underwater and a second end located in the air, and an elastic member that is provided between the float and the strut and presses the strut toward the second end. The buoy according to the present embodiment can suppress fluctuations in attitude.

[0015] The buoy according to the present embodiment will be described in detail. FIG. 1 is a perspective view of a buoy 1, which is an example of a buoy according to the present embodiment. FIG. 2 is a front view of a buoy 1, which is an example of a buoy according to the present embodiment. FIG. 3 is an exploded perspective view for explaining a float 20 and a connection part 40 in a buoy 1, which is an example of a buoy according to the present embodiment. FIG. 4 is a cross-sectional view for explaining a float 20 and a connection part 40 in a buoy 1, which is an example of a buoy according to the present embodiment.

[0016] For ease of explanation, the drawings may have a virtual three-dimensional coordinate system (XYZ Cartesian coordinate system) consisting of mutually orthogonal X-axis, Y-axis, and Z-axis (XYZ axes) set. For a coordinate axis perpendicular to the paper surface of the drawing, a black circle in the circle of the coordinate axis indicates that the axis faces the front side of the paper surface. Also, a cross in the circle of the coordinate axis indicates that the axis faces the back side of the paper surface.

[0017] However, this coordinate system is defined for the purpose of explanation and does not limit the attitude of the buoy according to this embodiment.

[0018] In the following drawings, the X-axis and Y-axis directions are horizontal. The Z-axis is vertical. A view of an object viewed from the +X side in the opposite direction to the X-axis along the X-axis is called a front view. The +Z side of an object along the Z-axis is sometimes called the top, and the -Z side is sometimes called the bottom.

[0019] The buoy 1 comprises an upper portion 10, a floating body 20, a lower portion 30, a connecting portion 40, an elastic portion 50, and a coupling portion 60.

[0020] [Top 10] The upper part 10 is provided so as to be exposed above the water surface in the air when in use. The upper part 10 is provided above the water surface when in use. The upper part 10 includes a control unit 11. The control unit 11 is configured as, for example, a circuit board. The control unit 11 is provided in a hemispherical shell-shaped housing 10a in order to reduce the influence of the usage environment, such as wind, rain, and waves.

[0021] The control unit 11 measures the position of the buoy 1. In other words, the control unit 11 performs positioning of the buoy 1. Specifically, the control unit 11 performs positioning of the buoy 1 using a satellite positioning system. The control unit 11 is connected to an antenna 14a that receives signals transmitted from GNSS (Global Navigation Satellite System) satellites, such as GPS (Global Positioning System) satellites. The control unit 11 processes the GNSS satellite signals received from the antenna 14a to perform positioning of the buoy 1.

[0022] The control unit 11 also controls the buoy 1 to be held at a predetermined position. Specifically, the control unit 11 controls the propulsion unit 31a and the propulsion unit 31b provided in the lower portion 30, which will be described later, to move the buoy 1 to a desired position and to stay at the desired position.

[0023] Furthermore, the control unit 11 communicates with a communication target such as a computer or a remote controller installed on the ground. An antenna 15a for communicating with the communication target is connected to the control unit 11. The control unit 11 performs, for example, wireless communication via the antenna 15a. The communication may be communication via a mobile communication network or a network, or one-to-one communication. The wireless communication may be, for example, communication via a mobile communication network, or wireless communication used in a communication standard related to a wireless LAN (Local Area Network). Note that the communication standard used in a wireless LAN is, for example, the IEEE (Institute of Electrical and Electronics Engineers) 802.11 standard. The wireless communication may also be short-range wireless communication such as IEEE 802.15. The wireless communication may also use wireless control communication, so-called radio control communication.

[0024] The communication target that communicates with the control unit 11 may be, for example, a wireless terminal such as a mobile phone, a smartphone, or a tablet terminal, a personal computer, or a controller for radio control.

[0025] Furthermore, light-emitting unit 18a is connected to control unit 11. Light-emitting unit 18a emits light based on the control of control unit 11. Light-emitting unit 18a is, for example, an LED (Light Emitting Diode) lamp. Control unit 11 controls the lighting of light-emitting unit 18a. Furthermore, camera 19a is connected to control unit 11. Control unit 11 controls camera 19a and acquires images captured by camera 19a.

[0026] [Floating Body 20] The float 20 generates buoyancy to float the buoy 1 on the water surface. The float 20 is formed of, for example, resin. The float 20 has a cylindrical shape with hemispherical ends. The float 20 has a through hole 20h that passes through the center. A support pole 41, which will be described later, passes through the through hole 20h.

[0027] 4 shows an example in which the float 20 is solid, but the float 20 may be hollow. As for the material of the float 20, the float 20 may be made of metal or the like as long as the material is capable of generating the necessary buoyancy. When the buoy 1 is used in the sea, the float 20 is preferably made of resin so as not to be corroded by the salt contained in seawater.

[0028] [Bottom 30] The lower part 30 is placed underwater when in use. The lower part 30 includes a top plate 30p1 and a bottom plate 30p2 that are rectangular when viewed from above, and four rod-shaped members 30r that connect the top plate 30p1 and the bottom plate 30p2. The lower part 30 includes a propulsion unit 31a and a propulsion unit 31b, and a battery storage box 32a and a battery storage box 32b. The propulsion unit 31a and the propulsion unit 31b are each a so-called thruster. In addition, a camera 19a is attached to the lower part 30. The camera 19a is an underwater camera.

[0029] The propulsion units 31a and 31b are attached to the lower surface of the top plate 30p1. The camera 19a is attached to the upper surface of the top plate 30p1. The battery storage box 32a is attached to a side plate 30pa that is attached between the two rod-shaped members 30r on the -Y side. The battery storage box 32b is attached to a side plate 30pb that is attached between the two rod-shaped members 30r on the +Y side.

[0030] Each of the propulsion units 31a and 31b generates a propulsive force for moving the buoy 1. Each of the propulsion units 31a and 31b generates a propulsive force in the X-axis direction in each of Figures 1 and 2.

[0031] The control unit 11 controls the output of each of the propulsion units 31a and 31b. The control unit 11 controls the propulsion units 31a and 31b to have the same output, thereby moving the buoy 1 in the X-axis direction in each of Figs. 1 and 2. The control unit 11 also controls one of the propulsion units 31a and 31b to have a higher output than the other, thereby moving the buoy 1 while bending its travel direction from the X-axis direction toward the other of the propulsion units 31a and 31b. Furthermore, the control unit 11 controls one of the propulsion units 31a and 31b to have an output opposite to that of the other, thereby rotating the buoy 1.

[0032] The battery storage box 32a stores the battery 33a. The battery storage box 32b stores the battery 33b. The types of the batteries 33a and 33b are not limited as long as they can store power. The batteries 33a and 33b are, for example, secondary batteries that can be charged and discharged. The batteries 33a and 33b are, for example, lithium ion batteries.

[0033] Each of the batteries 33a and 33b is not limited to a lithium ion battery. Each of the batteries 33a and 33b may be a secondary battery, such as a nickel-metal hydride battery or a lead storage battery. Each of the batteries 33a and 33b may be a large-capacity capacitor, such as a lithium ion capacitor or an electric double layer capacitor. Each of the batteries 33a and 33b may be a primary battery, for example. Each of the batteries 33a and 33b may be a fuel cell.

[0034] The battery 33a and the battery 33b supply power required for operation to the control unit 11. The control unit 11 controls the supply of power from the battery 33a and the battery 33b to the propulsion unit 31a and the propulsion unit 31b, respectively. The control unit 11 controls the supply of power from the battery 33a and the battery 33b to the propulsion unit 31a and the propulsion unit 31b, respectively, thereby controlling the output of each of the propulsion units 31a and 31b.

[0035] The number of batteries stored in each of the battery storage boxes 32a and 32b may also be determined appropriately.

[0036] The top plate 30p1, the bottom plate 30p2, and the rod-shaped member 30r are each formed of, for example, metal or resin. When the buoy 1 is used in the sea, the top plate 30p1, the bottom plate 30p2, and the rod-shaped member 30r may each be formed of resin so as not to be corroded by the salt contained in seawater. When the buoy 1 is used in the sea, the top plate 30p1, the bottom plate 30p2, and the rod-shaped member 30r may each be formed of metal that is resistant to corrosion by salt water so as not to be corroded by the salt contained in seawater. When the buoy 1 is used in the sea, the top plate 30p1, the bottom plate 30p2, and the rod-shaped member 30r may each be coated with paint that is resistant to corrosion by salt.

[0037] The same applies to the materials of the propulsion unit 31a, the propulsion unit 31b, the battery storage box 32a, and the battery storage box 32b.

[0038] Each of the battery storage box 32a and the battery storage box 32b is preferably a waterproof pressure-resistant container so that water does not enter the inside when in water.

[0039] [Connection 40] The connection part 40 connects the upper part 10 and the lower part 30. The connection part 40 also holds the floating body 20.

[0040] The connection part 40 includes a strut 41, a flange 42, and a flange 43. When the buoy 1 is in use, the flange 42 connected to the lower end of the strut 41 is located underwater. When the buoy 1 is in use, the flange 43 connected to the upper end of the strut 41 is located in the air. The flange 42 is connected to the lower part 30. The flange 43 is connected to the upper part 10.

[0041] The support pillar 41 connects between the upper part 10 and the lower part 30 of the buoy 1. The support pillar 41 holds the floating body 20 between the flange 42 and the flange 43. Specifically, the support pillar 41 passes through the through hole 20h provided in the floating body 20. The support pillar 41 also holds the elastic part 50 between the floating body 20 and the flange 43.

[0042] The support 41 has a through passage 41h penetrating from the upper end to the lower end inside. Cables connected from the control unit 11 to the propulsion unit 31a, the propulsion unit 31b, the battery 33a, the battery 33b, and the camera 19a are wired through the through passage 41h.

[0043] In the above example, the connection portion 40 has flanges 42 and 43 at the ends of the support 41, but other configurations may be adopted in place of the flanges 42 and 43 as long as they can connect to the upper portion 10 and the lower portion 30.

[0044] The support pillar 41, the flange 42 and the flange 43 are made of, for example, resin.

[0045] [Elastic part 50] When the buoy 1 is used, the elastic part 50 presses the support 41 upward against the floating body 20. The elastic part 50 is provided between the floating body 20 and the flange 43 of the connection part 40. The elastic part 50 is, for example, a compression coil spring.

[0046] In the buoyant 1, even taking into account the buoyancy, a downward force is applied to the connection part 40 due to the weight of the lower part 30 in particular. Then, the buoyant force of the floating body 20 causes the buoyant 1 to float on the water. When the buoyant 1 floats on the water, the elastic part 50 is in a compressed state.

[0047] The elastic portion 50 is made of, for example, resin.

[0048] [Connection part 60] For example, a rope connected to the buoy 1 is tied to the connecting part 60. For example, by tying one end of a rope, the other end of which is fixed on the ground or in the water, to the connecting part 60, it is possible to prevent the buoy 1 from being carried away far away and becoming impossible to recover. Also, by tying the other end of a rope, the one end of which is tied to a floating body such as a boat, ship, or raft, to the connecting part 60, it is possible to moor the floating body.

[0049] <Functional configuration> The functions of the buoy according to this embodiment will be described. FIG. 5 is a diagram showing the functional configuration of a buoy 1, which is an example of a buoy according to this embodiment. The buoy 1 is equipped with a control unit 11 in order to perform autonomous navigation so as to automatically remain at a desired position. An overview of the functions of the control unit 11 will be described. Note that FIG. 5 also shows some of the elements connected to the control unit 11 equipped in the buoy 1.

[0050] The control unit 11 includes a calculation unit 12, an inertial measurement unit 13, a satellite positioning unit 14, a wireless communication unit 15, motor driving units 16a and 16b, a power control unit 17, a light emission driving unit 18, and a camera input / output unit 19. Each component will be described in detail below.

[0051] [Calculation unit 12] The calculation unit 12 controls the operation of the buoy 1. The calculation unit 12 is configured, for example, by a microprocessing unit equipped with a CPU (Central Processing Unit), a RAM (Random Access Memory) and a ROM (Read Only Memory). The calculation unit 12 performs processing by the CPU expanding a program recorded in the ROM into the RAM and executing it.

[0052] The calculation unit 12 is connected to the inertial measurement unit 13 and the satellite positioning unit 14. The calculation unit 12 monitors the operating state of the buoy 1 based on the measurement results input from the inertial measurement unit 13 and the satellite positioning unit 14. For example, the calculation unit 12 monitors the speed, traveling direction, and orientation of the buoy 1 based on the measurement results input from the inertial measurement unit 13. The calculation unit 12 also monitors the position, speed, etc. of the buoy 1 based on the measurement results input from the satellite positioning unit 14.

[0053] The calculation unit 12 autonomously navigates the buoy 1 so as to stay at a desired position based on the measurement results input from the inertial measurement unit 13 and the satellite positioning unit 14. The buoy 1 may autonomously navigate so as to move to a desired position based on a command given. The buoy 1 may also be manually navigated by remote control using, for example, a wireless controller.

[0054] [Inertial Measurement Unit 13] The inertial measurement unit 13 measures the motion state of the buoy 1. The inertial measurement unit 13 measures, for example, the acceleration in three axial directions, the angular acceleration about the three axial directions, and the orientation in the three axial directions.

[0055] The inertial measurement unit 13 outputs the measurement results to the calculation unit 12. The calculation unit 12 uses the measurement results from the inertial measurement unit 13 to perform control for autonomous navigation.

[0056] [Satellite Positioning Unit 14] The satellite positioning unit 14 measures the position of the buoy 1. That is, the satellite positioning unit 14 performs positioning using a satellite positioning system. The satellite positioning unit 14 is an example of a position detection unit that detects the position of the buoy 1, in other words, the position of the floating body 20. The satellite positioning unit 14 is, for example, a receiver in a global navigation satellite system (GNSS). The satellite positioning unit 14 receives a positioning signal transmitted from a satellite by an antenna 14a and performs positioning.

[0057] The satellite positioning unit 14 outputs the positioning result to the calculation unit 12. The calculation unit 12 performs control for autonomous navigation using the result measured by the satellite positioning unit 14. The control unit 11 controls each of the propulsion units 31a and 31b so that the position of the buoy 1 measured by the satellite positioning unit 14, in other words, the position of the floating body 20, falls within a predetermined range.

[0058] [Wireless Communication Unit 15] The wireless communication unit 15 communicates with an external communication target. The wireless communication unit 15 transmits and receives data and the like to and from the external communication target via the antenna 15a. The wireless communication unit 15 is an example of a communication unit.

[0059] The wireless communication unit 15 receives, for example, a control command for moving the buoy 1 from an external communication target. Then, the wireless communication unit 15 outputs the received control command to the calculation unit 12. The calculation unit 12 performs control for autonomous navigation based on the acquired control command.

[0060] Furthermore, the wireless communication unit 15 transmits, for example, data and status information acquired by the buoy 1 to an external communication target. For example, when video data acquired by the camera 19a is input from the calculation unit 12 to the wireless communication unit 15, the wireless communication unit 15 transmits the video data to the external communication target via the antenna 15a. The external communication target displays the received video data on, for example, a display or the like.

[0061] [Motor driving unit 16a and motor driving unit 16b] The motor driving unit 16a and the motor driving unit 16b respectively drive the motor 31m provided in the propulsion unit 31a and the motor 31n provided in the propulsion unit 31b. Each of the motor driving unit 16a and the motor driving unit 16b is a so-called motor driver.

[0062] Each of the motor driving units 16a and 16b is connected to the calculation unit 12. The motor driving unit 16a drives the motor 31m in the propulsion unit 31a based on a command from the calculation unit 12. The motor driving unit 16b drives the motor 31n in the propulsion unit 31b based on a command from the calculation unit 12.

[0063] Each of the motor drivers 16a and 16b adjusts the power supplied to the motor, for example, by pulse width modulation. Each of the motor drivers 16a and 16b controls the rotation speed of a screw propeller connected to the motor by adjusting the power supplied to the motor. Each of the motor drivers 16a and 16b controls the speed and direction of travel of the buoy 1 by controlling the rotation speed of the screw propeller.

[0064] The propulsion unit 31a and the propulsion unit 31b are each supplied with power from at least one of a battery 33a and a battery 33b via a motor drive unit.

[0065] [Power supply control unit 17] The power supply control unit 17 controls each of the battery 33a and the battery 33b. The power supply control unit 17 controls charging and discharging of each of the battery 33a and the battery 33b.

[0066] [Light Emitting Driver 18] The light emission drive unit 18 controls turning on and off the light emitting unit 18a. The calculation unit 12 controls the light emission drive unit 18 to turn on or off the light emitting unit 18a.

[0067] For example, the control unit 11 may be configured to turn on the light-emitting unit 18a in green when the satellite positioning unit 14 has performed positioning. Also, the control unit 11 may be configured to turn on the light-emitting unit 18a in red when the satellite positioning unit 14 has not performed positioning.

[0068] The light emission drive unit 18 may, for example, blink the light emitting unit 18a by repeatedly turning it on and off. In addition, the light emission drive unit 18 may, for example, modulate the intensity of the light emitting unit 18a based on data to light it up so as to be able to communicate.

[0069] The color of the light-emitting unit 18a is not limited to the above example, and may be blue, yellow, white, or the like. The light-emitting unit 18a is not limited to an LED lamp. Instead of an LED lamp, the light-emitting unit 18a may be, for example, an incandescent lamp, a xenon lamp, a halogen lamp, or the like. The light-emitting unit 18a may be a rotating lamp.

[0070] [Camera I / O section 19] The camera input / output unit 19 controls the operation of the camera 19a and acquires images captured by the camera 19a. The camera input / output unit 19 outputs the acquired images captured by the camera 19a to the calculation unit 12.

[0071] The image captured by the camera 19a may be a still image or a video. The image captured by the camera 19a may be color or black and white. The band of the image captured by the camera 19a is not limited to visible light, but may be infrared light. The camera 19a is not limited to an underwater camera, and may be, for example, a camera provided on the upper portion 10 to capture images above water.

[0072] The buoy 1 may be equipped with, for example, a thermometer and a hygrometer for measuring the temperature in the air, a thermometer for measuring the water temperature, a luminometer, an analyzer for analyzing the components of gas or liquid, etc. The buoy 1 may output the measurement results to the outside via the wireless communication unit 15.

[0073] <Behavior of buoys> The behavior of the buoy according to this embodiment will be described below. Fig. 6 is a diagram showing a state in which a buoy 1, which is an example of the buoy according to this embodiment, is used.

[0074] As the floating body 20 floats on the water surface SL, the upper part 10 is exposed above the water surface SL. The effect of the water surface SL fluctuating due to waves will be described. When the water surface SL fluctuates as shown by the double-arrowed line Fa, the elastic part 50 acts as a shock absorber. Therefore, the fluctuation of the upper part 10 and lower part 30 of the buoy 1 becomes small as shown by the double-arrowed line Fb.

[0075] As the fluctuation of the upper part 10 becomes smaller, for example, the position fluctuation of the light-emitting unit 18a becomes smaller. As the fluctuation of the position of the light-emitting unit 18a becomes smaller, when the buoy 1 is viewed from a distant position, the fluctuation in the position of the light emitted from the light-emitting unit 18a becomes smaller, improving visibility. In addition, as the fluctuation of the upper part 10 becomes smaller, for example, the position fluctuation of each of the antennas 14a and 15a becomes smaller. As the fluctuation of the position of the antenna 14a becomes smaller, the position of the buoy 1 can be stably determined. In addition, as the fluctuation of the position of the antenna 15a becomes smaller, for example, the communication can be stably performed.

[0076] The smaller the fluctuation of the lower portion 30, the smaller the fluctuation in the position of the camera 19a, for example. The smaller the fluctuation in the position of the camera 19a, the more stable the image capturing by the camera 19a can be underwater.

[0077] <Examples of using buoys> An example of the use of the buoy according to this embodiment will be described below. Fig. 7 is a diagram illustrating an example of the use of a buoy 1, which is an example of the buoy according to this embodiment.

[0078] As shown in FIG. 7(a), a buoy 1 can be arranged as a marker on the water surface SL by remaining at a predetermined position.

[0079] Also, as shown in FIG. 7(b), the floating body FLO can be moored at a predetermined position to the buoy 1 that is anchored at a predetermined position.

[0080] <<Variations>> A buoy according to a modification of this embodiment will be described below. The buoy according to the modification of this embodiment differs from the buoy according to this embodiment in the number of propulsion parts.

[0081] A buoy according to a modified example of this embodiment will be described in detail. Fig. 8 is a perspective view of a buoy 2 which is an example of a buoy according to a modified example of this embodiment. Fig. 9 is a front view of a buoy which is an example of a buoy according to a modified example of this embodiment.

[0082] The buoy 2 includes an upper portion 110, a floating body 20, a lower portion 130, a connecting portion 40, an elastic portion 50, a coupling portion 161, a coupling portion 162, and a coupling portion 163. Note that for the floating body 20, the coupling portion 40, and the elastic portion 50, the description of the buoy 1, which is an example of a buoy according to this embodiment, may be referred to, and detailed description thereof will be omitted here.

[0083] [Top 110] The upper part 110 is provided so as to be exposed in the air from the water surface when in use. The upper part 110 is provided above the water surface when in use. The upper part 110 includes a control unit 111. The control unit 111 is configured as, for example, a circuit board. The control unit 111 is provided in a cylindrical housing 110a in order to reduce the influence of the usage environment such as wind, rain, and waves. The buoy 2 includes a light emitting unit 18a on the upper part of the housing 110a.

[0084] For details of the control unit 111, please refer to the control unit 11 in the buoy 1.

[0085] [Bottom 130] The lower part 130 is placed in water during use. The lower part 130 includes a propulsion unit 131a, a propulsion unit 131b, and a propulsion unit 131c, and a battery storage box 132. The propulsion units 131a, 131b, and 131c are connected to the battery storage box 132 by a connection unit 134.

[0086] Each of the propulsion units 131a, 131b, and 131c generates a propulsive force for moving the buoy 2. The propulsion unit 131a generates a propulsive force in the X-axis direction in each of Figs. 8 and 9. The propulsion unit 131b generates a propulsive force in a direction rotated 120° from the X-axis direction to the -Y side about the Z axis when viewed from the +Z side along the Z axis direction in the opposite direction to the Z axis in each of Figs. 8 and 9. The propulsion unit 131c generates a propulsive force in a direction rotated 120° from the X-axis direction to the +Y side about the Z axis when viewed from the +Z side along the Z axis direction in the opposite direction to the Z axis in each of Figs. 8 and 9.

[0087] The control unit 111 controls the output of each of the propulsion units 131a, 131b, and 131c. By the control unit 111 controlling each of the propulsion units 131a, 131b, and 131c, the buoy 2 can move in the XY plane without changing its orientation.

[0088] The battery storage box 132 stores the battery 133. For the battery 133, refer to the respective descriptions of the battery 33a and the battery 33b, and a detailed description thereof will be omitted here.

[0089] [Joint portion 161, joint portion 162, and joint portion 163] As described above, the buoy 2 is movable without changing its orientation. Therefore, the buoy 2 has the coupling parts 161, 162, and 163 at positions rotated 120° in the direction along the Z axis on a plane parallel to the XY plane.

[0090] <Functional configuration> The functions of a buoy according to a modified example of this embodiment will be described. FIG. 10 is a diagram showing the functional configuration of a buoy 2, which is an example of a buoy according to a modified example of this embodiment. The buoy 2 is equipped with a control unit 111 for autonomous navigation so as to automatically remain at a desired position. An overview of the functions of the control unit 111 will be described. Note that FIG. 10 also shows some of the elements connected to the control unit 111 equipped in the buoy 2.

[0091] The control unit 111 includes a calculation unit 112, an inertial measurement unit 13, a satellite positioning unit 14, a motor drive unit 116a, a motor drive unit 116b, and a motor drive unit 116c, a power control unit 17, a light emission drive unit 18, and a camera input / output unit 19. For configurations common to the buoy 1, which is an example of a buoy according to this embodiment, refer to the description of the buoy 1 and description thereof will be omitted here.

[0092] [Calculation unit 112] The calculation unit 112 controls the operation of the buoy 2. Since the calculation unit 112 has a configuration similar to that of the calculation unit 12 and performs similar processing, the description of the calculation unit 12 should be referred to and a detailed description thereof will be omitted here.

[0093] [Motor driving unit 116a, motor driving unit 116b, and motor driving unit 116c] The motor driving units 116a, 116b, and 116c respectively drive the motor 131m provided in the propulsion unit 131a, the motor 131n provided in the propulsion unit 131b, and the motor 131o provided in the propulsion unit 131c. Each of the motor driving units 116a, 116b, and 116c is a so-called motor driver.

[0094] In the above example, two or three propulsion units are used, but the number of propulsion units is not limited to two or three, and four or more propulsion units may be provided. [Explanation of symbols]

[0095] 1, 2 buoys 10, 110 Upper 10a Housing 11 Control section 18a Light emitting part 19a Camera 20 Floating Body 20h through hole 30, 130 Lower 31a, 31b, 131a, 131b, 131c Propulsion section 32a, 32b, 132 Battery storage box 33a, 33b, 133 Battery 40 Connection 41 Post 42, 43 Flange 50 Elastic part 60, 161, 162, 163 joint

Claims

1. A floating body having a through hole; A support that passes through the through hole and has a first end located in water and a second end located in air; an elastic portion provided between the floating body and the support column and configured to push the support column toward the second end portion; Equipped with buoy.

2. an upper portion connected to the second end; a lower portion connected to the first end; Equipped with 2. The buoy of claim 1.

3. A position detection unit that detects the position of the floating body; A propulsion unit that generates a propulsive force for moving the floating body; A control unit that controls the propulsion unit so that the position detected by the position detection unit is within a predetermined range; Further comprising:

3. The buoy of claim 2.

4. The position detection unit performs positioning using a global positioning satellite system, The position detection unit is connected to an antenna provided on the upper portion.

4. The buoy of claim 3.

5. A camera is provided at the lower portion.

4. The buoy of claim 3.

6. A plurality of the propulsion units are provided.

4. The buoy of claim 3.

7. A battery storage box for storing a battery is provided at the lower portion. A buoy according to any one of claims 2 to 6.

8. A light emitting portion is provided on the upper portion. A buoy according to any one of claims 2 to 6.

9. With a coupling to which the rope is tied, A buoy according to any one of claims 1 to 6.

10. A communication unit for communicating with the outside. A buoy according to any one of claims 1 to 6.

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