On-water moving device and on-water moving method

Abstract

To provide an on-water moving device and an on-water moving method that are able to be enjoyed by a user easily.SOLUTION: An on-water movement device comprises: a float part that floats on water and has a cavity part connected to water in an inner-side part with respect to a peripheral edge part; and a unit part that can be attached to and detached from the cavity part, the unit part having arranged therein a plurality of thrusters that is positioned in the water when the unit part is attached to the cavity part. The unit part may be provided with, for example, a control unit that controls rotational speeds of each of the thrusters in a mutually independent manner. The thrusters may move in a direction designated by a controller part by providing a difference between the rotational speeds of respective rotary shafts.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to water-based mobility devices and methods. [Background technology]

[0002] Conventionally, there is a water boat used for physical fitness and for games such as water handball and water soccer (see Patent Document 1). The water boat performs fin movement of fin members in response to reciprocating rotation of a handle by an operator, and moves in a direction and at a speed according to the operation of the handle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2009-096214 A Summary of the Invention [Problem to be solved by the invention]

[0004] A variety of activities and behaviors, including hobbies, sports, etc., are carried out on water. Such activities and behaviors may be referred to as, for example, "activities." Meanwhile, water activities can be enjoyed in different ways by different users, such as simply floating on the water using a boat or the like, or moving on the water using a boat, etc. The water boat described in Patent Document 1 requires the user to operate a handle to move the boat, and cannot improve user satisfaction from the viewpoint of casual enjoyment by users such as tourists.

[0005] The present disclosure provides a water-based movement device and a water-based movement method that can be easily enjoyed by users. [Means for solving the problem]

[0006] One embodiment of a water-based moving device comprises a float section that floats on the water and has a hollow section that connects to the water on its inner side relative to its peripheral portion, and a unit section that has a plurality of thrusters that are detachable from the hollow section and that are positioned underwater when attached to the hollow section. Effect of the Invention

[0007] The water-based movement device and water-based movement method disclosed herein can be enjoyed easily by users. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a first diagram for explaining a water-based moving device according to one embodiment. [Diagram 2] 2 is a second diagram for explaining a water-based moving device according to one embodiment, in which (A) is a perspective view of the water-based moving device seen from above, and (B) is a perspective view of the water-based moving device seen from below. [Diagram 3] FIG. 1 is a block diagram for explaining a water-based moving device according to one embodiment. [Figure 4] FIG. 13 is a diagram for explaining the case where the surface moving device moves to a homing position. [Diagram 5] FIG. 11 is a diagram for explaining a case where a slave moves in response to a master's movement. [Figure 6] 1 is a flowchart illustrating a method of movement on water according to one embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] An embodiment will be described below.

[0010] [Overview of Water Vehicle 1] First, an overview of a water moving device 1 according to one embodiment will be described. FIG. 1 is a first diagram for explaining a water moving device 1 according to one embodiment. Fig. 2 is a second diagram for explaining the water moving device 1 according to one embodiment. Fig. 2(A) is a perspective view of the water moving device 1 seen from above, and Fig. 2(B) is a perspective view of the water moving device 1 seen from below.

[0011] The water movement device 1 shown in Figs. 1 and 2 may be, for example, various motorized devices (water activity devices) used when a user enjoys water activities (water activities). An activity refers to various activities and behaviors including hobbies and sports. Thus, water activities refer to various activities and behaviors performed on water such as the ocean, lakes, rivers, and pools. The water movement device 1 may be usable on a calm water surface to enjoy such water activities.

[0012] The water-borne transportation device 1 comprises a float section 10, a unit section 20, and a controller section 30 (see FIG. 1).

[0013] The float unit 10 floats on the water (water surface) and can carry one or more people. The planar shape of the float unit 10 may be various shapes including, for example, a circle, a rectangle, a polygon, and the like. As an example, the float unit 10 may be in the form of a life ring (float) into which air can be inserted. Note that when storing the float unit 10, it may be possible to fold it up relatively small by releasing the air from inside.

[0014] The float part 10 has a hollow part 110 that is connected to the water in an inner part 102 relative to a peripheral part 101. The peripheral part 101 may be, for example, a part that is the outer edge of the planar shape of the float part 10. The inner part 102 may be, for example, a part that is more inward than the outer edge of the planar shape of the float part 10. A specific example of the inner part 102 may be the center part (approximately the center part) of the planar shape of the float part 10. The hollow part 110 may be a hole (opening) that is connected to the water. The hollow part 110 may be another term, an opening or a hole part.

[0015] The float portion 10 may be provided with, for example, a roof, and may also be provided with other cavities (openings) different from the hollow portion 110 so that a user riding on the float portion 10 can put their legs in the water.

[0016] The unit section 20 is detachable from the hollow section 110, and has a plurality of thrusters 230 disposed therein that are located underwater when the unit section 20 is attached to the hollow section 110. The unit section 20 may include a waterproof housing that can be attached to the hollow section 110. The housing may be detachable from the float section 10. A plurality of thrusters 230 are disposed on the underwater side of the housing.

[0017] The thrusters 230 may be fixed to the lower surface of the housing, or may be arranged on the lower surface of the housing so that their respective orientations can be changed. When the thrusters 230 are fixed to the lower surface of the housing, they may be arranged so that their respective rotation axes face the same direction (parallel to each other), or so that their respective rotation axes face different directions. The unit section 20 controls the movement of the float section 10 by the output difference between the thrusters 230. The thrusters 230 may be two thrusters as exemplified in Figs. 1 and 2, or may be three or more thrusters. The thrusters 230 may be referred to as screws, propellers, or the like. The thrusters 230 may be provided with a protective cover to prevent the body, such as fingers, from getting in the thrusters 230.

[0018] The unit section 20 includes, for example, an internal power source. The power source may be a primary battery or a secondary battery. A kill switch 240 (see FIG. 1 ) or the like may be provided in the unit section 20. When the waterborne vehicle 1 is used, the kill switch 240 may be attached to the unit section 20, and when the kill switch 240 is removed from the unit section 20 in an emergency, the thruster 230 may be stopped.

[0019] The controller unit 30 may be an instruction input device or the like operated by a user riding on the float unit 10. The controller unit 30 accepts input of instructions when a user riding on the float unit 10 issues an instruction to instruct the direction of movement of the float unit 10 and to stop the movement of the float unit 10. The controller unit 30 may, for example, have a joystick and accept an input operation to move the float unit 10 in the direction in which the stick (lever) is tilted. Furthermore, the controller unit 30 is not limited to a joystick, and may, for example, have a plurality of buttons for specifying the direction of movement and accept an input operation to move the float unit 10 in the direction in which one of the plurality of buttons is operated. The controller unit 30 may be waterproof and may be designed to float even if dropped in water. The controller section 30 may transmit the user's instruction, which has been input, to a device (such as the control section 210 (see FIG. 3 described later)) disposed inside the unit section 20, wirelessly or via wire. The control section 210 may be, for example, an information processing device such as a processor and a computer.

[0020] The water moving device 1 is capable of moving the float section 10 in a direction corresponding to the operation (e.g., forward / backward and left / right directions, right rotation, left rotation, etc.) by a user riding on the float section 10 operating the controller unit 30. In this case, the water moving device 1 is capable of moving the float section 10 in a direction corresponding to the operation by controlling the multiple thrusters 230 independently of each other (e.g., controlling the rotation speed, etc.) in response to the operation of the controller unit 30. In other words, when the rotation axes of the multiple thrusters 230 each face in the same direction (each rotation axis is parallel), the water moving device 1 may move in a direction specified by the controller unit 30 by providing a difference (output difference) in the rotation speed of each rotation axis (the rotation speed of the multiple thrusters 230).

[0021] As one example, when moving forward, the water moving device 1 may have the same number of revolutions of the multiple (e.g., two) thrusters 230. Also, as one example, when moving rightward, the water moving device 1 may have a higher number of revolutions of the thruster 230 arranged on the left side in a plan view among the multiple (e.g., two) thrusters 230 than the number of revolutions of the thruster 230 arranged on the right side in a plan view among the multiple (e.g., two) thrusters 230. Also, as one example, when moving leftward, the water moving device 1 may have a higher number of revolutions of the thruster 230 arranged on the right side in a plan view than the number of revolutions of the thruster 230 arranged on the left side. The multiple (e.g., two) thrusters 230 may be arranged in parallel along a direction intersecting (e.g., perpendicular to) the forward movement direction of the water moving device 1, and further arranged so that their respective rotation axes are aligned along the forward movement direction. Alternatively, the multiple thrusters 230 are not limited to the above and may be arranged in any positions. Furthermore, when there are three or more thrusters 230, similarly to the above, by changing the rotation speed of each of the three or more thrusters 230 (by providing an output difference between the multiple thrusters 230), the water moving device 1 can move in a direction specified by the controller unit 30.

[0022] [Details of Water-Based Vehicle 1] Next, the water moving device 1 according to one embodiment will be described in detail. In particular, the function of the unit section 20 will be described. FIG. 3 is a block diagram for explaining the water moving device 1 according to one embodiment.

[0023] The unit section 20 includes a communication section 221 , a storage section 222 , a physical quantity detection section 223 , a receiving section 224 , and a control section 210 .

[0024] The communication unit 221 is, for example, a communication interface capable of transmitting and receiving various information to and from a device (external device) outside the water moving device 1. The external device may be, for example, the controller unit 30 and the ground base 400 (see FIG. 4 described later), etc. That is, the communication unit 221 accepts, for example, the movement of the float unit 10 input by the controller unit 30.

[0025] The storage unit 222 may store, for example, various information and programs. Examples of the storage unit 222 may be a memory, a solid state drive, a hard disk drive, or the like.

[0026] The physical quantity detection unit 223 detects a physical quantity related to the movement of the float unit 10. The physical quantity may be, for example, at least one of geomagnetism, angular velocity, and acceleration. Therefore, the physical quantity detection unit 223 may be, for example, at least one physical quantity sensor of a geomagnetic sensor, an angular velocity (gyro) sensor, and an acceleration sensor.

[0027] The receiver 224 receives a positioning signal. The positioning signal may be, for example, a signal (GNSS signal) transmitted from a GNSS satellite. The positioning signal is not limited to a GNSS signal, but may be a signal transmitted from the ground (for example, two points) that can identify a position on water based on the arrival time difference or phase difference of a plurality of signals.

[0028] When the movement of the float portion 10 received by the communication portion 221 differs from the movement of the float portion 10 estimated based on the physical quantity detected by the physical quantity detection portion 223, the control portion 210 corrects (offsets) the estimated movement of the float portion 10 and controls each of the multiple thrusters 230 so that the movement of the float portion 10 matches the movement input by the controller portion 30.

[0029] As a specific example, when the movement (movement direction) of the float section 10 received by the communication section 221 is forward (straight forward) and the actual movement (movement direction) of the float section 10 estimated based on the physical quantity detected by the physical quantity detection section 223 is to the right (diagonally right) (or to the left (diagonally left)), the control section 210 controls the multiple thrusters 230 so that the input value (actual movement of the float section 10) and the target value (movement of the float section 10 received by the communication section 221) match, as in PID control, to move the float section 10 to the left (diagonally left) (or to the right (diagonally left)). In this case, the control section 210 may control the rotation speed of each of the multiple thrusters 230 independently of each other. That is, as an example, the control unit 210 may control each thruster 230 so that, among multiple thrusters 230 arranged in parallel along a direction intersecting (e.g., perpendicular) the forward direction of the float unit 10, the rotation speed of the thruster 230 arranged on the right (or left) is greater than the rotation speed of the thruster 230 arranged on the left (or right).

[0030] As a specific example, when the movement of the float portion 10 received by the communication portion 221 is neutral (stopped), and the actual movement of the float portion 10 estimated based on the physical quantity detected by the physical quantity detection portion 223 rotates horizontally to the right (clockwise) (or to the left (counterclockwise)) (rotating on the spot), the control portion 210 may control the multiple thrusters 230 so that, among the multiple thrusters 230 arranged in parallel, the number of rotations of the thruster 230 arranged on the right (or left) is greater than the number of rotations of the thruster 230 arranged on the left (or right).

[0031] In other words, the control unit 210 may independently control each of the multiple thrusters 230 so that the float portion 10 moves in a direction that corrects (offsets) the movement of the float portion 10 estimated based on physical quantities, and so that the float portion 10 moves in a direction input by the controller unit 30. The control unit 210 may estimate the actual movement of the float section 10 using a known technique based on the physical quantities detected by one or more physical quantity detection units 223. For example, when the actual movement (movement direction) of the float section 10 estimated in this way differs (or can be considered to be different, such as being substantially different) from the movement (movement direction) of the float section 10 input by the controller section 30 (accepted by the communication unit 221), the control unit 210 controls the rotation speed of each of the thrusters 230 arranged in parallel independently of each other so as to correct (cancel) the actual movement of the float section 10, thereby controlling the float section 10 to move in the direction input by the controller section 30 (accepted by the communication unit 221) (including the case of neutral).

[0032] FIG. 4 is a diagram for explaining a case where the surface water moving device 1 moves to a home position.

[0033] The control unit 210 may acquire the position of the float unit 10 based on the positioning signal received by the receiving unit 224, and control each of the multiple thrusters 230 so that the float unit 10 moves to a previously designated position (homing position) at a predetermined timing (see FIG. 4). The storage unit 222 may store information (reference position information) on a reference position (homing position) in advance. For example, when a predetermined button (e.g., a homing button, etc.) 301 arranged on the controller unit 30 is operated, or when a predetermined signal (homing signal) is transmitted from the ground base 400, the control unit 210 receives an operation of the controller unit 30 (operation of the homing button 301, etc.) or a homing signal via the communication unit 221, and acquires the current position (position information) of the float unit 10 based on the positioning signal received by the receiving unit 224. The control unit 210 estimates the direction (orientation) from the current position to the homing position based on the current position and the homing position. The control unit 210 controls each of the thrusters 230 so that the float unit 10 moves in the estimated direction, moving the float unit 10 from the current position toward the home position. The control unit 210 may control each of the thrusters 230 to stop rotating when the float unit 10 reaches the home position.

[0034] When an area R (see FIG. 4) whose outer edge is indicated by a plurality of pieces of position information is specified in advance, the control unit 210 may compare the current position of the float portion 10 with the area R and control the plurality of thrusters 230 so that the float portion 10 does not go outside the area R. That is, the control unit 210 may, for example, compare the current position of the float portion 10 with the area R, and when the current position of the float portion 10 goes outside the area R, perform control such as stopping the plurality of thrusters 230 or moving the plurality of thrusters 230 backward.

[0035] FIG. 5 is a diagram for explaining a case where the slave 1S moves in response to the movement of the master 1M.

[0036] There may be multiple water moving devices 1, each of which has one float section 10 and one unit section 20 as a pair. In this case, one of the multiple water moving devices 1 may be designated as a master (main unit) 1M, and the other surface moving devices 1, except for the master 1M, may be designated as slaves (subordinate units) 1S.

[0037] The control unit 210 of the master 1M transmits the acquired position to the control units 210 of one or more slaves 1S. That is, the control unit 210 (control unit 210 of the master 1M) arranged in the water moving device 1 (main device) that becomes the master 1M acquires the current position based on the positioning signal received by the receiving unit 224. The control unit 210 of the master 1M controls the communication unit 221 to transmit the acquired current position (position 501) (master position information) to the control unit 210 of the slave 1S at any time. Alternatively, the control unit 210 of the master 1M stores the acquired current position information for a predetermined period of time and generates a trajectory 502 of the position 501. The control unit 210 of the master 1M controls the communication unit 221 to transmit the trajectory 502 of the position 501 (master position information) to the control unit 210 of the slave 1S. The control unit 210 of the slave 1S may be the control unit 210 arranged in the water moving device 1 (slave device) that becomes the slave 1S.

[0038] The control unit 210 of the slave 1S may control each of the multiple thrusters 230 so that the float unit 10 moves along a trajectory 502 of the position 501 (master position information) acquired from the master 1M. The control unit 210 of the slave 1S may control each of the multiple thrusters 230 arranged in the slave 1S so that the float unit 10 of the slave 1S moves along the trajectory 502 of the position 501 of the master 1M, based on the position 501 (trajectory 502) of the master 1M acquired via the communication unit 221 of the slave 1S and the current position of the slave 1S based on the positioning signal received by the receiving unit 224 of the slave 1S. That is, the control unit 210 of the slave 1S controls each of the multiple thrusters 230 of the slave 1S so that the current position of the slave 1S coincides (approximately coincides) with the position 501 (trajectory 502) of the master 1M and follows the movement of the master 1M.

[0039] [Water transportation method] Next, a method for movement on water according to one embodiment will be described. FIG. 6 is a flowchart illustrating a method for movement on water according to one embodiment.

[0040] In step ST101, the control unit 210 receives, via the communication unit 221, the movement of the float unit 10 input by the controller unit 30.

[0041] In step ST102, the physical quantity detection unit 223 detects a physical quantity related to the movement of the float portion 10. The physical quantity detection unit 223 may be at least one physical quantity sensor selected from, for example, a geomagnetic sensor, an angular velocity (gyro) sensor, and an acceleration sensor.

[0042] In step ST103, if the movement of the float portion 10 received in step ST101 differs from the movement of the float portion 10 estimated based on the physical quantities detected in step ST102, the control unit 210 corrects the estimated movement of the float portion 10 to control each of the multiple thrusters 230 so as to match the movement of the float portion 10 input by the controller unit 30. In this case, the control unit 210 may control the rotation speed of each of the multiple thrusters 230 independently of each other. Here, the control unit 210 may independently control each of the multiple thrusters 230 so that the float portion 10 moves in a direction that corrects the movement of the float portion 10 estimated based on the physical quantities detected in step ST102, and so that the float portion 10 moves in the direction input to the controller unit 30 received in step ST101.

[0043] In step ST104, the receiving unit 224 receives the positioning signal.

[0044] In step ST105, the control unit 210 acquires the position of the float section 10 based on the positioning signal received in step ST104, and controls each of the multiple thrusters 230 so that the float section 10 moves to a pre-specified position (home position) at a predetermined timing.

[0045] In step ST106, when one of the multiple surface moving devices 1 is designated as a master (main device) 1M and the other surface moving devices 1 except the master 1M are designated as slaves (subordinate devices) 1S, the control unit 210 of the slave 1S controls each of the multiple thrusters 230 arranged on the slave 1S so that the float unit 10 of the slave 1S moves along the trajectory 502 of the position 501 (master position information) acquired from the master 1M. Here, the control unit 210 of the master 1M transmits the position 501 (trajectory 502) (master position information) acquired by the master 1M to the control units 210 of one or more slaves 1S.

[0046] The above-mentioned processes of steps ST101 to ST103, steps ST104 to ST105, and steps ST104 and ST106 may be performed consecutively, or may be performed independently of each other.

[0047] [Variations] Next, a modified example will be described.

[0048] The water moving device 1 may include, for example, a camera unit (not shown). The camera unit is capable of capturing still images and videos (images). The camera unit may be disposed on the water or underwater. The camera unit may also be disposed on a drone that flies so as to follow the movement of the water moving device 1. The water moving device 1 may be capable of transmitting images captured by the camera unit to a terminal used by a user (e.g., a laptop, a tablet, a smartphone, etc.) via the communication unit 221.

[0049] The water moving device 1 may be capable of being remotely operated, for example, using a controller unit 30 disposed in the ground base 400. In this case, the water moving device 1 may acquire a direction (input instruction) input in response to the operation of the controller unit 30 disposed in the ground base 400 via the communication unit 221, and control each of the multiple thrusters 230 so as to move in a direction in response to the input instruction.

[0050] The water moving device 1 may be monitorable, for example, by a monitoring device (monitoring terminal) (not shown) arranged at the ground base 400. In this case, the water moving device 1 may transmit its own identification information, the remaining amount of power stored in the power source (e.g., remaining battery power), its current position, and images to the monitoring device via the communication unit 221. The monitoring device may display information acquired from the water moving device 1 on a display unit (not shown) and may store the acquired information as a log in a memory unit (not shown) to monitor one or more water moving devices 1. Note that when the monitoring device acquires images from the water moving device 1, it may stream the images.

[0051] The water moving device 1 may be capable of, for example, specifying a moving route in advance. That is, the water moving device 1 may be capable of acquiring multiple pieces of pre-specified position information (moving route information) via the communication unit 221, for example, along a moving route indicated by multiple pieces of position information (e.g., position coordinates, etc.) or passing through the multiple pieces of position information as waypoints. The water moving device 1 may control each of the multiple thrusters 230 so that the float section 10 moves based on the position information of the float section 10 acquired based on the positioning signal and the pre-specified position information (moving route information).

[0052] The above-mentioned water moving device 1 is not limited to being a device for users to enjoy water activities, but may also be used as a marker (buoy) in a waterway, etc., or as a measuring device that secures power while performing energy harvesting and performs measurements using various sensors. It should be noted that the water moving device 1 may be configured, for example, by fitting the unit section 20 into a commercially available float.

[0053] It may be possible to connect multiple surface water moving devices 1. Multiple connected surface water moving devices may be controlled to switch positions on the water by driving the thrusters at predetermined intervals.

[0054] [Aspects and Effects of the Present Embodiment] Next, one aspect of this embodiment and the effects of each aspect will be described. Note that each aspect described below is an example at the time of filing, and this embodiment is not limited to the aspects described below. In other words, this embodiment is not limited to each aspect described below, and may be realized by appropriately combining each of the above-mentioned parts. In addition, a lower aspect may be able to cite any of the higher aspects. In addition, the effects described below are merely examples, and the effects of each aspect are not limited to those described below. In addition, each aspect may, for example, achieve at least one of the effects described below.

[0055] (Aspect 1) One embodiment of a water-based moving device comprises a float section that floats on the water and has a hollow section that connects to the water on its inner side relative to its peripheral portion, and a unit section that has a plurality of thrusters that are detachable from the hollow section and that are positioned underwater when attached to the hollow section. This allows the water-borne transportation device to allow users riding on the float section to easily enjoy activities on the water.

[0056] (Aspect 2) In one embodiment of the water-borne movement device, the multiple thrusters may have their respective rotational axes pointing in the same direction, and the number of rotational axes may be differentiated to allow movement in a direction specified by the controller unit. This allows the waterborne transportation device to move in a direction specified by a user riding on the float section by operating the controller section.

[0057] (Aspect 3) In one embodiment of the water movement device, the unit unit may include a physical quantity detection unit that detects physical quantities related to the movement of the float unit, a communication unit that accepts the movement of the float unit input by the controller unit, and a control unit that, when the movement of the float unit accepted by the communication unit differs from the movement of the float unit estimated based on the physical quantities detected by the physical quantity detection unit, corrects the estimated movement of the float unit to match the movement of the float unit input by the controller unit and controls each of the multiple thrusters. That is, the water moving device controls the multiple thrusters independently so that the actual movement of the float part estimated based on the physical quantity detected by the physical quantity detection unit matches (or approximately matches) the movement of the float part received by the communication unit. Therefore, the water moving device allows the user riding on the float part to easily enjoy water activities, since the float part moves in response to instructions from the user.

[0058] (Aspect 4) In one embodiment of the water moving device, the control unit may independently control each of the multiple thrusters so that the float section moves in a direction that corrects the movement of the float section estimated based on physical quantities, and so that the float section moves in a direction input by the controller unit. This enables the waterborne movement device to match (or approximately match) the actual movement of the float section estimated based on the physical quantities detected by the physical quantity detection unit to the movement of the float section received by the communication unit.

[0059] (Aspect 5) In one aspect of the waterborne movement device, the control unit may be configured to control the rotation speed of each of the multiple thrusters independently of one another. This allows the waterborne movement device to move the float portion in accordance with the instructions of a user riding on the float portion by changing the rotation speed of each of the multiple thrusters.

[0060] (Aspect 6) In one embodiment of the water movement device, the unit section is equipped with a receiving section that receives a positioning signal, and the control section obtains the position of the float section based on the positioning signal received by the receiving section, and controls each of the multiple thrusters so that the float section moves to a pre-designated position at a predetermined timing. This allows the waterborne transportation device to automatically return to its home position (reference position) without instructions from the user riding on the float section.

[0061] (Aspect 7) In one embodiment of a water moving device, there are multiple devices, each of which is a pair of one float section and one unit section, and one of the multiple devices is designated as a master, and the other devices of the multiple devices other than the master are designated as slaves.The control unit of the master transmits the acquired position to a control unit of the slave, and the control unit of the slave controls each of the multiple thrusters so that the float section moves along the trajectory of the position acquired from the master. The water moving device can make one or more slaves (subordinate devices) follow the movement of the master (main device). As a result, when a guide (such as a tour guide) rides on the master and tourists ride on the slaves, the slaves automatically follow the movement of the master without the tourists having to operate the controller, allowing the tourists to enjoy sightseeing (activity) moving on the water.

[0062] (Aspect 8) In one embodiment of a method for moving on water, a surface moving device having a float section, a unit section, and a controller section executes a physical quantity detection step of detecting physical quantities related to the movement of the float section using a physical quantity detection section, a communication step of receiving the movement of the float section input by the controller section using a communication section, and, if the movement of the float section received by the communication section differs from the movement of the float section estimated based on the physical quantities detected by the physical quantity detection section, a control step of controlling each of a plurality of thrusters by a control section to correct the estimated movement of the float section to match the movement of the float section input by the controller section. As a result, the water movement method can achieve the same effects as the water movement device of the above-mentioned embodiment. [Explanation of symbols]

[0063] 1 Water transportation device 1M Master (Main Unit) 1S Slave (slave device) 10 Float section 20 Unit Section 210 Control section 221 Communications Department 222 Storage section 223 Physical quantity detection unit 224 Detector 230 Thruster 240 Kill Switch 30 Controller section 400 Ground Base 501 position (Master 1M position) 502 Trajectory (Trajectory of Master 1M's position (movement))

Claims

1. A float part that floats on the water and has a cavity part that is connected to the water on the inside of the periphery, a unit portion in which a plurality of thrusters are arranged and which is detachable from the cavity portion and located underwater when the unit portion is attached to the cavity portion; A water-based moving device comprising:

2. The plurality of thrusters each have a rotation axis facing the same direction, and the number of rotations of each rotation axis is set to a different value, so that the thrusters move in a direction specified by a controller unit.

2. The waterborne transportation device of claim 1.

3. The unit portion includes: a physical quantity detection unit that detects a physical quantity related to the movement of the float portion; a communication unit that receives a movement of the float unit inputted by a controller unit; a control unit that, when the movement of the float section received by the communication unit differs from the movement of the float section estimated based on the physical quantity detected by the physical quantity detection unit, corrects the estimated movement of the float section to control each of the multiple thrusters so that the movement of the float section matches the movement of the float section input by the controller unit; 3. The waterborne transportation device according to claim 1 or 2.

4. The control unit independently controls each of the plurality of thrusters so that the float section moves in a direction that corrects the movement of the float section estimated based on a physical quantity, and so that the float section moves in a direction input by the controller unit.

4. The waterborne transportation device of claim 3.

5. The control unit controls the rotation speed of each of the plurality of thrusters independently of one another.

4. The waterborne transportation device of claim 3.

6. The unit portion includes a receiving portion for receiving a positioning signal, The control unit acquires the position of the float unit based on the positioning signal received by the receiving unit, and controls each of the plurality of thrusters so that the float unit moves to a pre-designated position at a predetermined timing.

4. The waterborne transportation device of claim 3.

7. There are a plurality of devices each including one float portion and one unit portion, One of the plurality of devices is designated as a master, and the other devices of the plurality of devices other than the master are designated as slaves; The control unit of the master transmits the acquired position to the control unit of the slave; The control unit of the slave controls each of the plurality of thrusters so that the float unit moves along a trajectory of positions acquired from the master.

7. The waterborne transportation device of claim 6.

8. A water-based moving device including a float section, a unit section, and a controller section, a physical quantity detection step of detecting a physical quantity related to the movement of the float portion by a physical quantity detection unit; a communication step of receiving, by a communication unit, a movement of the float portion inputted by the controller unit; a control step of controlling each of the plurality of thrusters by a control unit when the movement of the float section received by the communication unit differs from the movement of the float section estimated based on the physical quantity detected by the physical quantity detection unit, so as to correct the estimated movement of the float section to match the movement of the float section input by the controller unit; The method of claim 1, further comprising the steps of:

Images