Autonomous navigation floating body

Abstract

To provide an autonomous navigation floating body illuminating water surface or underwater.SOLUTION: An autonomous navigation floating body includes: a hull; an illumination unit provided on the hull for illuminating water surface or underwater; a propulsion unit for generating propulsion force for moving the hull; and a controller for controlling a propulsion unit to navigate by remote operation or autonomous navigation.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to an autonomous navigation floating body. [Background technology]

[0002] Patent Document 1 discloses a suspicious ship detection device that is provided with a light that emits light toward a suspicious ship and has a function of aiming the light at a ship that has been identified as a suspicious ship and emitting the light. Patent Document 1 also discloses that a directional speaker is provided to prevent the approach of a suspicious ship. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2005-096674 A Summary of the Invention [Problem to be solved by the invention]

[0004] For example, there is a demand for illuminating the water surface or underwater at night when performing on-water work in the fishing and aquaculture industries, or at construction sites for offshore wind power generation and the like.

[0005] The present disclosure provides an autonomous navigational floating body that illuminates the surface or underwater world. [Means for solving the problem]

[0006] The present disclosure relates to an autonomously navigating floating body that includes a hull, a lighting unit provided on the hull for illuminating the water surface or underwater, a propulsion unit for generating propulsive force to move the hull, and a control unit for controlling the propulsion unit to navigate by remote operation or automatic piloting. Effect of the Invention

[0007] The autonomous navigation floating body disclosed herein can illuminate the water surface or the water below. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a perspective view of an autonomous navigation floating body according to the first embodiment. [Diagram 2] FIG. 2 is a front view of the autonomous navigation floating body according to the first embodiment. [Diagram 3] FIG. 3 is a side view of the autonomous navigation floating body according to the first embodiment. [Figure 4] FIG. 4 is a diagram showing the functional configuration of the control unit in the autonomous navigation floating body according to the first embodiment. [Diagram 5] FIG. 5 is a diagram showing a state in which the autonomous navigation floating body according to the first embodiment is used. [Figure 6] FIG. 6 is a diagram showing a state in which the autonomous navigation floating body according to the first embodiment is used. [Figure 7] FIG. 7 is a perspective view of the autonomous navigation floating body according to the second embodiment. [Figure 8] FIG. 8 is a front view of the autonomous navigation floating body according to the second embodiment. [Figure 9] FIG. 9 is a side view of the autonomous navigation floating body according to the second embodiment. [Figure 10] FIG. 10 is a diagram showing the functional configuration of a control unit in the autonomous navigation floating body according to the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] The autonomous navigation floating body in the present disclosure 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] <Autonomous navigation floating body according to the first embodiment> The autonomous navigation floating body according to the first embodiment will be described. The autonomous navigation floating body according to the first embodiment includes a hull, a lighting unit provided on the hull for illuminating the water surface or underwater, a propulsion unit for generating a propulsive force for moving the hull, and a control unit for controlling the propulsion unit to navigate by remote control or automatic piloting.

[0014] Fig. 1 is a perspective view of an autonomous navigation floating body 1 which is an example of an autonomous navigation floating body according to the first embodiment. Fig. 2 is a front view of the autonomous navigation floating body 1 which is an example of an autonomous navigation floating body according to the first embodiment. Fig. 3 is a side view of the autonomous navigation floating body 1 which is an example of an autonomous navigation floating body according to the first embodiment.

[0015] 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.

[0016] However, this coordinate system is defined for the purpose of explanation and does not limit the attitude of the autonomous navigation floating body etc. according to this embodiment.

[0017] In the following drawings, the X-axis direction and the Y-axis direction are horizontal. The X-axis direction is the direction of travel when the autonomous navigation floating body moves linearly. In other words, the X-axis direction is the direction connecting the bow and the stern. The Z-axis is the vertical direction.

[0018] Additionally, 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. A view of an object viewed from the +Y side in the opposite direction to the Y axis along the Y axis is called a side view. A view of an object viewed from the +Z side in the opposite direction to the Z axis along the Z axis is called a plan view. Viewing an object viewed from the +Z side in the opposite direction to the Z axis along the Z axis is called a plan view.

[0019] <Autonomous Navigation Floating Vehicle 1> The autonomous navigation floating body 1 navigates by remote control or automatic piloting. The autonomous navigation floating body 1 is, for example, a floating body that navigates unmanned. The autonomous navigation floating body 1 includes a hull 10, an extension section 20, a propulsion section 30a and a propulsion section 30b, and a control section 40. The autonomous navigation floating body 1 may include an operation section so that the autonomous navigation floating body 1 can be operated manually.

[0020] [Hull 10] The hull 10 has a plate-like shape. The hull 10 has a longitudinal direction in the X-axis direction in a plan view. The hull 10 has a generally rectangular shape with a length of, for example, 1.2 meters and a width of 0.6 meters in a plan view. The hull 10 is formed, for example, from resin so that it can float on the water surface. The hull 10 has a control unit 40 therein. The hull 10 also has a battery therein as a power source for operating the autonomous navigation floating body 1.

[0021] The hull 10 is provided with a coupling portion 11 for tying a rope or the like for towing a ship, a buoy, a raft, a fish pen, etc. The coupling portion 11 is, for example, an eye bolt.

[0022] [Extension 20] The extension section 20 is provided in addition to the hull 10. The extension section 20 includes an installation section 21, a notification section 22, and an illumination section 23. Note that the hull 10 may also function as the extension section 20.

[0023] (Installation part 21) The installation section 21 is a thin plate having a rectangular shape when viewed from above. The installation section 21 is formed, for example, from metal or resin. The installation section 21 is attached to the upper surface of the hull 10. The installation section 21 holds an alarm section 22 and an illumination section 23. The alarm section 22 and the illumination section 23 are each placed on the upper surface of the installation section 21 and fixed thereto by bolts or the like. Note that the hull 10 may also serve as the installation section 21.

[0024] (Notification unit 22) The notification unit 22 notifies, for example, the operation state and the like of the autonomous navigation floating body 1 to the outside. In addition, the notification unit 22 notifies, for example, the presence of the autonomous navigation floating body 1 to the outside.

[0025] The notification unit 22 is, for example, an indicator lamp. The notification unit 22 includes, for example, a light emitting element, such as an LED (Light Emitting Diode). Note that the light emitting element in the notification unit 22 is not limited to an LED, and may be, for example, an incandescent lamp or a discharge lamp.

[0026] (Lighting Department 23) The lighting unit 23 illuminates a desired direction. For example, the lighting unit 23 is a searchlight. The lighting unit 23 illuminates the front of the autonomous navigation floating body 1 as shown as an area L in FIG. 3. The lighting unit 23 includes, for example, an LED as a light-emitting element. Note that the light-emitting element in the lighting unit 23 is not limited to an LED, and may be, for example, an incandescent lamp or a discharge lamp.

[0027] [Propulsion unit 30a and propulsion unit 30b] The propulsion units 30a and 30b generate propulsive force that moves the hull 10. Each of the propulsion units 30a and 30b is, for example, a thruster.

[0028] [Control unit 40] The control unit 40 controls the operation of the autonomous navigation floating body 1. The control unit 40 controls the autonomous navigation floating body 1 so that it navigates by remote control or automatic piloting. The control unit 40 controls each of the propulsion unit 30a and the propulsion unit 30b.

[0029] The control unit 40 will be described in detail. Fig. 4 is a diagram showing the functional configuration of the control unit 40 in the autonomous navigation floating body 1, which is an example of the autonomous navigation floating body according to the first embodiment. The autonomous navigation floating body 1 is equipped with the control unit 40 in order to navigate by remote control or automatic piloting. An overview of the functions of the control unit 40 will be described. Note that Fig. 4 also shows some of the elements connected to the control unit 40 equipped in the autonomous navigation floating body 1.

[0030] The control unit 40 includes a calculation unit 41, an inertial measurement unit 42, a satellite positioning unit 43, a wireless communication unit 44, motor driving units 45a and 45b, a power control unit 46, a light emission driving unit 47, and a lighting input / output unit 48. Each component will be described in detail below.

[0031] [Calculation unit 41] The calculation unit 41 controls the operation of the autonomous navigation floating body 1. The calculation unit 41 is configured, for example, by a microprocessing unit including a CPU (Central Processing Unit), a RAM (Random Access Memory), and a ROM (Read Only Memory). The calculation unit 41 performs processing by the CPU expanding a program recorded in the ROM into the RAM and executing it.

[0032] The calculation unit 41 is connected to the inertial measurement unit 42 and the satellite positioning unit 43. The calculation unit 41 monitors the operating state of the autonomous navigation floating body 1 based on the measurement results input from the inertial measurement unit 42 and the satellite positioning unit 43. For example, the calculation unit 41 monitors the speed, the traveling direction, and the orientation of the autonomous navigation floating body 1 based on the measurement results input from the inertial measurement unit 42. The calculation unit 41 also monitors the position, speed, and the like of the autonomous navigation floating body 1 based on the measurement results input from the satellite positioning unit 43.

[0033] The calculation unit 41 navigates by automatic pilot, that is, autonomously navigates, based on the measurement results input from the inertial measurement unit 42 and the satellite positioning unit 43. In addition, the autonomous navigation floating body 1 may be manually navigated by remote control using, for example, a wireless controller.

[0034] [Inertial Measurement Unit 42] The inertial measurement unit 42 measures the motion state of the autonomous navigation floating body 1. The inertial measurement unit 42 measures, for example, the acceleration in the three-axis directions, the angular acceleration about the three-axis directions, and the orientation in the three-axis directions.

[0035] The inertial measurement unit 42 outputs the measurement results to the calculation unit 41. The calculation unit 41 uses the measurement results from the inertial measurement unit 42 to perform control for autonomous navigation.

[0036] [Satellite Positioning Unit 43] The satellite positioning unit 43 measures the position of the autonomous navigation floating body 1. That is, the satellite positioning unit 43 performs positioning using a satellite positioning system. The satellite positioning unit 43 is an example of a position detection unit that detects the position of the autonomous navigation floating body 1, in other words, the position of the hull 10. The satellite positioning unit 43 is, for example, a receiver in a global navigation satellite system (GNSS: Global Navigation Satellite System). The satellite positioning unit 43 receives a positioning signal transmitted from a satellite by an antenna 43a and performs positioning.

[0037] The satellite positioning unit 43 outputs the positioning result to the calculation unit 41. The calculation unit 41 performs control for autonomous navigation using the result measured by the satellite positioning unit 43. The control unit 40 controls each of the propulsion units 30a and 30b so that the position of the autonomous navigation floating body 1 measured by the satellite positioning unit 43, in other words, the position of the hull 10, falls within a predetermined position or range.

[0038] [Wireless Communication Unit 44] The wireless communication unit 44 communicates with an external communication target. The wireless communication unit 44 transmits and receives data and the like to and from the external communication target via an antenna 44a. The wireless communication unit 44 is an example of a communication unit.

[0039] The wireless communication unit 44 receives, for example, a control command for moving the autonomous navigation floating body 1 from an external communication target. Then, the wireless communication unit 44 outputs the received control command to the calculation unit 41. The calculation unit 41 performs control for autonomous navigation based on the acquired control command.

[0040] Furthermore, the wireless communication unit 44 transmits, for example, data and status information acquired in the autonomous navigation floating body 1 to an external communication target. For example, when video data acquired by a camera is input from the calculation unit 41 to the wireless communication unit 44, the wireless communication unit 44 transmits the video data to the external communication target via the antenna 44a. The external communication target displays the received video data on a display or the like.

[0041] [Motor driving unit 45a and motor driving unit 45b] The motor driving unit 45a and the motor driving unit 45b respectively drive the motor 30m provided in the propulsion unit 30a and the motor 30n provided in the propulsion unit 30b. Each of the motor driving unit 45a and the motor driving unit 45b is a so-called motor driver.

[0042] Each of the motor driving units 45a and 45b is connected to the calculation unit 41. The motor driving unit 45a drives the motor 30m in the propulsion unit 30a based on a command from the calculation unit 41. The motor driving unit 45b drives the motor 30n in the propulsion unit 30b based on a command from the calculation unit 41.

[0043] Each of the motor driving units 45a and 45b adjusts the power supplied to the motor by, for example, pulse width modulation. Each of the motor driving units 45a and 45b controls the rotation speed of a screw propeller connected to the motor by adjusting the power supplied to the motor. Each of the motor driving units 45a and 45b controls the speed and direction of travel of the autonomous navigation floating body 1 by controlling the rotation speed of the screw propeller.

[0044] Each of the propulsion units 30a and 30b is supplied with power from a battery 46a via a motor drive unit.

[0045] [Power supply control unit 46] The power supply control unit 46 controls the battery 46a. The power supply control unit 46 controls the charging and discharging of the battery 46a.

[0046] The type of the battery 46a is not limited as long as it can store power. The battery 46a is, for example, a secondary battery that can be charged and discharged. The battery 46a is, for example, a lithium ion battery.

[0047] The battery 46a is not limited to a lithium ion battery. The battery 46a may be a secondary battery, such as a nickel-metal hydride battery or a lead storage battery. The battery 46a may be a large-capacity capacitor, such as a lithium ion capacitor or an electric double layer capacitor. The battery 46a may be a primary battery, for example. The battery 46a may be a fuel cell.

[0048] [Light Emitting Driver 47] The light emission drive section 47 controls turning on and off the notification section 22. The calculation section 41 controls the light emission drive section 47 to cause the light emitting elements in the notification section 22 to turn on or off.

[0049] The control unit 40 may, for example, blink the notification unit 22 at a predetermined time interval. By blinking the notification unit 22 at a predetermined time interval, it is possible to notify external ships and the like of the presence of the autonomous navigation floating body 1 at night.

[0050] The control unit 40 may also notify the outside of the state of the autonomous navigation floating body 1 via the notification unit 22. For example, the control unit 40 may turn on the notification unit 22 in green when the satellite positioning unit 43 has performed positioning. The control unit 40 may also turn on the notification unit 22 in red when the satellite positioning unit 43 has not performed positioning.

[0051] The light emission drive unit 47 may, for example, blink the notification unit 22 by repeatedly turning it on and off. Also, the light emission drive unit 47 may, for example, modulate the intensity of the notification unit 22 based on data to light up the notification unit 22 so as to be able to communicate.

[0052] The color of the light emitted by the notification unit 22 is not limited to the above example, and the notification unit 22 may be configured to emit, for example, blue, yellow, white, etc. Furthermore, the notification unit 22 is not limited to an LED lamp. Instead of an LED lamp, the notification unit 22 may be configured to emit, for example, an incandescent lamp, a xenon lamp, a halogen lamp, etc. Furthermore, the notification unit 22 may be configured to be a rotating lamp.

[0053] [Lighting I / O section 48] The lighting input / output unit 48 controls the operation of the lighting unit 23, and acquires the state of the lighting unit 23. The lighting input / output unit 48 outputs the acquired information on the state of the lighting unit 23 to the calculation unit 41.

[0054] The autonomous navigation floating body 1 may be equipped with, for example, a thermometer and a hygrometer for measuring temperature in the air, a thermometer for measuring water temperature, a light meter, an analyzer for analyzing gas or liquid components, and the like. The autonomous navigation floating body 1 may output the measurement results to the outside via the wireless communication unit 44. The autonomous navigation floating body 1 may also be equipped with, for example, a camera. The camera may take, for example, still images or videos, and may take images in the air or underwater. The autonomous navigation floating body 1 may transmit the measurement results and the captured images, etc. to the outside via the wireless communication unit 44.

[0055] An example of a usage state of the autonomous navigation floating body 1, which is an example of the autonomous navigation floating body according to the first embodiment, will be described. Fig. 5 is a diagram showing a usage state of the autonomous navigation floating body 1, which is an example of the autonomous navigation floating body according to the first embodiment.

[0056] The autonomous navigation floating body 1 is used in combination with a remote controller 50 provided on a ground LND. The combination of the autonomous navigation floating body 1 and the remote controller 50 is called a water floating body system 60. That is, the water floating body system 60 includes the autonomous navigation floating body 1 and the remote controller 50. The water floating body system 60 may include at least one of the autonomous navigation floating body 1 and the remote controller 50 in a plurality of units.

[0057] The autonomous navigation floating body 1 communicates with the remote controller 50 by wireless signals S. Specifically, the autonomous navigation floating body 1 communicates with the remote controller 50 via an antenna 44a. The control unit 40 in the autonomous navigation floating body 1 receives the wireless signal S from the remote controller 50 from the antenna 44a by the wireless communication unit 44. In addition, the control unit 40 in the autonomous navigation floating body 1 transmits the wireless signal S from the antenna 44a to the remote controller 50 by the wireless communication unit 44.

[0058] The remote controller 50 is, for example, a controller for radio control. Note that the remote controller 50 may be, for example, a wireless terminal such as a mobile phone, a smartphone, or a tablet terminal, or may be a personal computer.

[0059] The autonomous navigation floating body 1 is controlled by a remote controller 50 provided on the ground LND. For example, the autonomous navigation floating body 1 is instructed of the coordinates of a destination from the remote controller 50. When the coordinates of the destination are instructed from the remote controller 50, the autonomous navigation floating body 1 performs autonomous navigation so that the hull 10 reaches the coordinates of the destination. Note that the remote controller 50 is not limited to instructing the autonomous navigation floating body 1 of the coordinates of the destination, and may instruct, for example, the route along which the autonomous navigation floating body 1 will proceed.

[0060] Furthermore, the autonomous navigation floating body 1 may be remotely operated by a remote controller 50. A user remotely operates the autonomous navigation floating body 1 by operating an operation terminal, a button, and the like provided on the remote controller 50.

[0061] The autonomous navigation floating body 1 may transmit data to a remote controller 50 provided on the ground LND. For example, the autonomous navigation floating body 1 may transmit status information, acquired data, etc. of the autonomous navigation floating body 1 to the remote controller 50. The remote controller 50 may display the received status information, acquired data, etc. of the autonomous navigation floating body 1 on a display.

[0062] The remote controller 50 is not limited to being provided on a ground LND, but may be provided on a ship, for example.

[0063] Another example of the usage state of the autonomous navigation floating body 1, which is an example of the autonomous navigation floating body according to the first embodiment, will be described below. Fig. 6 is a diagram showing the usage state of the autonomous navigation floating body 1, which is an example of the autonomous navigation floating body according to the first embodiment.

[0064] 6, the autonomous navigation floating body 1 may be controlled to stay at a position at a certain distance from an object OBJ, which is an object to which the light is directed, and the autonomous navigation floating body 1 may be controlled to orient the hull 10 in the direction in which the object OBJ is present.

[0065] The autonomous navigation floating body 1 can continuously illuminate the target OBJ by controlling the hull 10 to face the target OBJ at a position a certain distance away from the target OBJ. The target OBJ can be, for example, a work site in a fishing industry, a construction target at a construction site, a person in distress, a suspicious ship, etc.

[0066] Also, for example, when the target OBJ moves, the autonomous navigation floating body 1 may move to follow the position of the target OBJ. In other words, the control unit 40 may control the propulsion unit 30a and the propulsion unit 30b so that the lighting unit 23 illuminates the target OBJ to follow the movement of the target OBJ. For example, when tracking the target OBJ, for example, an image acquired by a camera may be processed to track the target OBJ.

[0067] In the above example of the autonomous navigation float 1, the autonomous navigation float 1 illuminates both the water surface and the water surface, but the area illuminated by the autonomous navigation float according to the first embodiment is not limited to the water surface and the water surface. For example, the autonomous navigation float according to the first embodiment may be provided with a lighting unit underwater to illuminate the water. By illuminating the water, the lighting unit in the autonomous navigation float according to the first embodiment can function as a fish-attracting light. Furthermore, by illuminating the water, the autonomous navigation float according to the first embodiment can scatter the light from the lighting unit over a wide range due to the scattering of light in the water. By scattering the light from the lighting unit over a wide range, the autonomous navigation float according to the first embodiment can easily find its own position from a distance.

[0068] For example, in the fishing and aquaculture industries, there is a need to illuminate the water surface or underwater during nighttime water-based work. For example, in fish cage work, there is a need to illuminate the work area. Also, in the fishing industry, there is a need to illuminate the water surface or underwater for attracting fish.

[0069] In addition, for example, there is a need to illuminate the water surface or underwater at construction sites for offshore wind power generation, etc. Furthermore, for example, there is a need to illuminate the water surface or underwater when searching for missing persons on the water.

[0070] According to the autonomous navigation floating body of the first embodiment, it is possible to illuminate the water surface or the water without human intervention. In particular, according to the autonomous navigation floating body of the first embodiment, it is possible to continuously illuminate the illumination target.

[0071] <<Autonomous navigation floating body according to the second embodiment>> The autonomous navigation floating body according to the second embodiment will be described. The autonomous navigation floating body according to the second embodiment includes a float, a loudspeaker unit provided on the hull for emitting sound, a propulsion unit for generating a propulsive force for moving the float, and a control unit for controlling the propulsion unit by remote control or autonomous navigation.

[0072] Fig. 7 is a perspective view of the autonomous navigation floating body 2 which is an example of the autonomous navigation floating body according to the second embodiment. Fig. 8 is a front view of the autonomous navigation floating body 2 which is an example of the autonomous navigation floating body according to the second embodiment. Fig. 9 is a side view of the autonomous navigation floating body 2 which is an example of the autonomous navigation floating body according to the second embodiment.

[0073] <Autonomous Navigation Floating Vehicle 2> The autonomous navigation floating body 2 navigates by remote control or automatic piloting. The autonomous navigation floating body 2 includes a hull 10, an expansion section 120, a propulsion section 30a and a propulsion section 30b, and a control section 140. In other words, the autonomous navigation floating body 2 includes the expansion section 120 and the control section 140 instead of the expansion section 20 and the control section 40 in the autonomous navigation floating body 1, respectively. In the following description, the expansion section 120 and the control section 140 will each be described in detail, and detailed description of the configuration common to the autonomous navigation floating body 1 will be omitted, with reference to the description of the autonomous navigation floating body 1.

[0074] [Extension 120] The extension section 120 is additionally provided on the hull 10. The extension section 120 includes an installation section 21, a notification section 22, and a loudspeaker section 24. Here, the loudspeaker section 24 will be described.

[0075] (Audio section 24) The loudspeaker unit 24 emits sound in a desired direction and is, for example, a loudspeaker.

[0076] [Control unit 140] The control unit 140 controls the operation of the autonomous navigation floating body 2. The control unit 140 controls the autonomous navigation floating body 2 so that it navigates by remote control or automatic piloting. The control unit 140 controls each of the propulsion unit 30a and the propulsion unit 30b.

[0077] The control unit 140 will be described in detail. Fig. 10 is a diagram showing the functional configuration of the control unit 140 in the autonomous navigation floating body 2, which is an example of an autonomous navigation floating body according to the second embodiment. The autonomous navigation floating body 2 is equipped with the control unit 140 in order to navigate by remote control or automatic piloting. An overview of the functions of the control unit 140 will be described. Note that Fig. 10 also shows some of the elements connected to the control unit 140 equipped in the autonomous navigation floating body 2.

[0078] The control unit 140 includes a calculation unit 141, an inertial measurement unit 42, a satellite positioning unit 43, a wireless communication unit 44, a motor driving unit 45a and a motor driving unit 45b, a power control unit 46, a light emission driving unit 47, and an audio input / output unit 148. Here, the calculation unit 141 and the audio input / output unit 148 will be described in detail.

[0079] [Calculation unit 141] The calculation unit 141 controls the operation of the autonomous navigation floating body 2. The calculation unit 141 differs in that it performs the processing of an audio input / output unit 148 instead of the processing of the lighting input / output unit 48, and therefore, the parts related to the audio input / output unit 148 will be described in detail.

[0080] [Audio input / output section 148] The acoustic input / output unit 148 drives the loudspeaker unit 24 to output sound from the loudspeaker unit 24. The calculation unit 141 outputs sound data to the acoustic input / output unit 148. The acoustic input / output unit 148 performs, for example, analog-to-digital conversion based on the sound data output from the calculation unit 141, and outputs sound from the loudspeaker unit 24.

[0081] The sound data may be transmitted, for example, from the remote controller 50 in the water floating body system 60. For example, sound inputted by a microphone provided in the remote controller 50 may be converted into sound data and transmitted to the autonomous navigation floating body 2 by a wireless signal S. Then, sound may be emitted from the loudspeaker unit 24 based on the transmitted sound data.

[0082] The sound data may be sound data stored in the control unit 140. For example, the sound data may be recorded voice data or music data. For example, the sound data may be synthesized on a computer.

[0083] In the above example, the audio input / output unit 148 is connected to the loudspeaker unit 24 to output sound, but the audio input / output unit 148 may also be connected to a microphone or the like to input sound.

[0084] For example, at beaches, it is required to warn swimmers in dangerous areas by voice. In addition, at work sites such as fishing and aquaculture, or at construction sites, it is required to give instructions to people to do their work by voice. Furthermore, for example, when searching for a missing person on the water, it is required to call out to searchers by voice.

[0085] According to the autonomous navigation floating body of the second embodiment, for example, a loud sound can be generated on the water far away from the coast, quays, etc. According to the autonomous navigation floating body of the second embodiment, since sound data is transmitted by radio waves, sound can be generated at a distance without sound attenuation. Since a loud sound can be generated on the water far away from the coast, quays, etc., the autonomous navigation floating body of the second embodiment can clearly instruct workers, etc., who are far away from the coast, quays, etc. Furthermore, since a loud sound can be generated on the water far away from the coast, quays, etc., the autonomous navigation floating body of the second embodiment can alert people who are far away from the coast, quays, etc.

[0086] The autonomous navigation floating body according to this embodiment may be equipped with both a lighting unit and a loudspeaker unit.

[0087] In the above example, two propulsion units are used, but the number of propulsion units is not limited to two, and three or more propulsion units may be provided. [Explanation of symbols]

[0088] 1, 2 Autonomous floating body 10. Hull 11 Joint 20, 120 Extension 23 Lighting Department 24 Public address section 30a, 30b Propulsion section 40, 140 Control unit 41, 141 Arithmetic section 42 Inertial measurement unit 43 Satellite Positioning Unit 43a Antenna 44 Wireless Communication Section 44a Antenna 45a, 45b Motor drive unit 46 Power supply control unit 46a Battery 47 Light Emitting Driver 48 Lighting input / output section 50 Remote Controller 60 Water Floating System 148 Audio input / output section LND Ground OBJ target S Radio signal

Claims

1. The hull and A lighting unit provided on the hull for illuminating the water surface or the water; A propulsion unit that generates a propulsive force for moving the hull; A control unit that controls the propulsion unit to navigate by remote control or automatic pilot; Equipped with Autonomous floating body.

2. The control unit controls the propulsion unit so that the illumination unit faces the illumination target. The autonomous navigation floating body according to claim 1 .

3. The control unit controls the propulsion unit so that the illumination unit illuminates the illumination target in accordance with the movement of the illumination target. The autonomous navigation floating body according to claim 2.

4. The hull and A loudspeaker unit provided on the hull for emitting sound; A propulsion unit that generates a propulsive force for moving the hull; A control unit that controls the propulsion unit to navigate by remote control or automatic pilot; Equipped with Autonomous floating body.

5. The control unit receives sound data from a remote controller and controls the loudspeaker unit to emit a sound based on the sound data. The autonomous navigation floating body according to claim 4.

6. The control unit wirelessly communicates with the remote controller. The autonomous navigation floating body according to claim 5.

7. The control unit controls the propulsion unit to move to a commanded position.

7. An autonomous navigation floating body according to any one of claims 1 to 6.

8. The control unit controls the propulsion unit to move through a specified path.

7. An autonomous navigation floating body according to any one of claims 1 to 6.

9. a satellite positioning unit that performs positioning using a global navigation satellite system; a notification unit that lights up based on a reception state of the satellite positioning unit; Equipped with 7. An autonomous navigation floating body according to any one of claims 1 to 6.

10. the notification unit lights up in a color different from a color when the satellite positioning unit has been able to determine the position and when the satellite positioning unit has not been able to determine the position; The autonomous navigation floating body according to claim 9.

Images