Underwater capture device

Abstract

To provide an underwater capture device capable of detecting and capturing underwater target objects by using a drone and capable of visually recognizing the state that the underwater target objects are captured.SOLUTION: An underwater capture device includes an operation part which can be operated by an operator, a display part which the operator can visually recognize, a movable body capable of moving underwater according to the operation by the operation part, and a capture part attached to the movable body and capable of capturing underwater target objects. The movable body has a detection part to detect the target objects, and an imaging part provided at the position where the capture part can be imaged and to take the picture of the underwater images including the target object. The display part can display the image at the time when the capture part captures the target object as the underwater image captured by the imaging part.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an underwater capture device for capturing an underwater object. [Background technology]

[0002] 2. Description of the Related Art Conventionally, fishing systems have been known in which an unmanned aerial vehicle (drone) is used for fishing (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2022-81369 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the fishing system using the unmanned aircraft described in the above-mentioned Patent Document 1, the unmanned aircraft flying over the water detects a school of fish from above the water and drops a fishing line from the water into the water, so the unmanned aircraft cannot necessarily detect a school of fish in deeper water. Also, when a fish is caught on the fishing line dropped into the water, the fishing line is separated from the unmanned aircraft, so the angler cannot see the fish being caught on the fishing line. Therefore, there is room for improvement as a fishing system using an unmanned aircraft.

[0005] The present invention has been made in consideration of the above-mentioned situation, and aims to provide an underwater capture device that can detect and capture underwater objects (e.g., fish) using an unmanned aerial vehicle, and also enables the user to visually observe how the underwater object is being captured. [Means for solving the problem]

[0006] In order to achieve the above-mentioned object, an underwater capture device according to one embodiment of the present invention is an underwater capture device including an operating unit that can be operated by an operator, a display unit that can be viewed by the operator, a moving body that can move underwater in response to operation of the operating unit, and a capture unit that is attached to the moving body and can capture an underwater object, wherein the moving body has a detection unit that detects the object, and an imaging unit that is provided at a position where the capture unit can be imaged and captures an underwater image including the object, and the display unit is capable of displaying an image of when the capture unit captures the object as the underwater image imaged by the imaging unit. Effect of the Invention

[0007] According to an underwater capture device of one example of the present invention, the moving body can be operated by operating the operating unit to detect underwater objects, and an image of the capture unit attached to the moving body capturing the object is displayed on the display unit, allowing the user to visually observe how the underwater object is captured. [Brief description of the drawings]

[0008] [Figure 1] 1 is a diagram for explaining an overview of an underwater capture device according to an embodiment of the present invention; [Diagram 2] FIG. 1 is a diagram showing the configuration of an underwater drone and a control device in an underwater capture device according to one embodiment of the present invention. [Diagram 3] 13 is a flowchart illustrating an example of a remote capture process performed by an underwater drone. [Figure 4] FIG. 1 is a diagram for explaining an overview of fishing according to one embodiment of the present invention. [Diagram 5] FIG. 1 is a diagram for explaining an overview of fishing according to one embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0010] First, an overview of the underwater capture device 1 according to this embodiment will be described with reference to Fig. 1. Fig. 1 shows a schematic diagram of the underwater capture device 1 according to this embodiment. The underwater capture device 1 according to this embodiment is used as a fishing device (fishing tackle) for anglers to fish.

[0011] (Overview of the underwater capture device) As shown in Figure 1, the underwater capture device 1 of this embodiment includes a fishing rod 11 held by an angler, a control device 12 operated by the angler, a reel 13 operated by the angler, an underwater drone 15, a cable 14 connecting the control device 12 and the underwater drone 15, and a mechanism unit 16 attached to the underwater drone 15 and used to capture an object 2 (e.g., a fish).

[0012] The fishing rod 11 is held by an angler and includes a fastener 111 for holding the cable 14. The details of how the cable 14 is held will be described later.

[0013] The control device 12 is detachably attached to the bottom end of the fishing rod 11 so that the angler can operate it, and is configured to include a display unit 125 and an operation unit 126. The display unit 125 displays an image based on image information etc. transmitted from the underwater drone 15, and the operation unit 126 is used by the angler to remotely operate the underwater drone 15. The control device 12 may be attached integrally with the fishing rod 11 at the bottom end of the fishing rod 11.

[0014] The reel 13 is attached to the fishing rod 11 above the control device 12 so that the angler can operate it, and is used by the angler to wind up the cable 14 that extends into the water. Note that the reel 13 may be provided separately from the fishing rod 11, rather than being disposed on the fishing rod 11.

[0015] The cable 14 is a waterproof communication cable, and may be, for example, a waterproof cable. The cable 14 connects the underwater drone 15 and the control device 12 so that they can communicate with each other. Note that the communication between the underwater drone 15 and the control device 12 is not limited to wired communication using the cable 14, and may be wireless communication.

[0016] In addition, a part of the cable 14 extending from the control device 12 to the underwater drone 15 is provided so as to be crawled around the fishing pole 11 to which the control device 12 is attached by a fastener 111. Specifically, the fastener 111 is formed in a ring shape having a ring hole larger than the outer diameter of the cable 14, and the cable 14 is inserted into the ring hole of the fastener 111. The fastener 111 may be provided at multiple locations on the fishing pole 11. In this way, the cable 14 extends from the control device 12 to the fishing pole 11 by the fastener 11 provided on the fishing pole 11, and is connected to the underwater drone 15. In addition, since the ring hole of the fastener 111 is larger than the outer diameter of the cable 14, the cable 14 is not fixed by the fastener 111, and when the cable 14 is wound by the reel 13, the cable 14 is wound along the fishing pole 11. It should be noted that the fastener 111 is not limited to the shape described above as long as it is configured to hold the cable 14 so that it runs along the fishing rod 11 and to allow the reel 13 to wind the cable 14 so that it runs along the fishing rod 11.

[0017] The underwater drone 15 can move underwater by diving underwater unmanned, and is configured to include a waterproof housing, a drive unit 155 that drives the housing, and an imaging unit 156 and an illumination unit 157 that are attached to the housing and waterproofed. The imaging unit 156 is provided near the center of the front of the housing of the underwater drone 15, and images the surroundings in front of the underwater drone 15. The illumination unit 157 is provided near the imaging unit 156, for example, on the front of the housing and above the imaging unit 156, and illuminates the imaging range of the imaging unit 156. The underwater drone 15 is remotely controlled from the outside by a control device 12 operated by an angler.

[0018] The mechanism unit 16 is attached to the underwater drone 15 and configured to be capable of capturing an underwater object 2 (e.g., a fish). The mechanism unit 16 may be configured, for example, as a fish hook or a lure. The mechanism unit 16 is attached so as to be included in the imaging range of the imaging unit 156. This allows the imaging unit 156 to capture an image of the moment when the mechanism unit 16 captures the object 2. The mechanism unit 16 may be configured integrally with the underwater drone 15, or may be attached so as to be removable.

[0019] In this embodiment, as described above, a part of the cable 14 is provided so as to crawl around the fishing rod 11, so that when the cable 14 is pulled and a load is applied to the cable 14, the load can also be interlocked with the fishing rod 11. The cable 14 is also provided so as to crawl around the fishing rod 11 and can be wound up by the reel 13. Therefore, when the underwater drone 15 is loaded by the tackle unit 16 attached to the underwater drone 15 capturing the target 2, and a load is applied to the cable 14, the load is interlocked with the fishing rod 11, so that the fishing rod 11 deforms (bends). The angler can recognize that the target 2 has been captured by the bending of the fishing rod 11, and by operating the fishing rod 11 or the reel 13 to pull or bend the cable 14, the positional relationship between the tackle unit 16 attached to the underwater drone 15 and the target 2 captured by the tackle unit 16 can be adjusted, so to speak, to perform hooking. Therefore, in this embodiment, while fishing using an underwater drone 15 (unmanned aircraft), it is possible to obtain the same experience as regular fishing (fishing using only a fishing rod 11 without using an underwater drone 15), thereby increasing the interest in fishing.

[0020] Next, an overview of the control device 12 and the underwater drone 15 in the underwater capture device 1 will be described with reference to Fig. 2. Fig. 2 shows an example of the configuration of the control device 12 and the underwater drone 15 in the underwater capture device 1 shown in Fig. 1.

[0021] (Overview of the control device) The control device 12 is attached to the fishing rod 11, and houses a power supply unit 121, a communication unit 122, a control unit 123, and a storage unit 124, as shown in Fig. 2. The control device 12 also has a display unit 125, an operation unit 126, a sensor unit 127, and an alarm unit 128.

[0022] The power supply unit 121 supplies power to each functional unit constituting the control device 12. As the power supply unit 121, a battery such as a primary battery, a secondary battery, or a fuel cell may be used, or power may be supplied to the control device 12 from the outside via a power cable, or power may be supplied to the control device 12 from the underwater drone 15 via the cable 14.

[0023] The communication unit 122 is controlled by the control unit 123 and performs wired communication with the underwater drone 15 via the cable 14. This enables the control device 12 to transmit and receive data between the underwater drone 15. Note that in this embodiment, the communication unit 122 performs wired communication via the cable 14, but it may also perform wireless communication, and may also be capable of wireless communication not only with the underwater drone 15 but also with other devices (e.g., a server device).

[0024] The control unit 123 is connected to each functional unit constituting the control device 12, and controls each functional unit to display images and various information on the display unit 125, and also transmits an operation signal based on an operation on the operation unit 126 to the underwater drone 15. The control unit 123 is composed of a CPU (Central Processing Unit), and controls each functional unit constituting the control device 12 by executing a program stored in the storage unit 124.

[0025] The storage unit 124 is composed of a ROM (Read Only Memory) and a RAM (Random Access Memory). The ROM stores a program executed by the control unit 123 (CPU). The RAM stores various pieces of detection information detected by the sensor unit 127.

[0026] The display unit 125 is used by the angler to check the environment around the underwater drone 15, and may be configured with, for example, a liquid crystal display. Image information captured by the imaging unit 156 of the underwater drone 15 and various detection information detected by a sensor unit 158 ​​(described later) of the underwater drone 15 are transmitted from the underwater drone 15 to the control device 12 via the cable 14, and are controlled by the control unit 123 so that the image captured by the imaging unit 156 is displayed on the display unit 125, and the detection information around the underwater drone 15 is displayed on the display unit 125. Note that the transmission of information from the underwater drone 15 to the control device 12 is performed in real time, but may be performed periodically.

[0027] The operation unit 126 is used by the angler to remotely operate the underwater drone 15, and may include, for example, a cross key or stick controller for controlling the movement direction of the underwater drone 15, an operation button for controlling the propulsive force of the underwater drone 15, and an operation button for switching the lighting unit 157 of the underwater drone 15 ON / OFF. When an operation is performed on the operation unit 126, an operation signal corresponding to the operation is controlled by the control unit 123 and transmitted to the underwater drone 15. This allows the underwater drone 15 to operate in response to the operation on the operation unit 126 by the angler.

[0028] The sensor unit 127 is provided, for example, on a side surface of the housing of the control device 12, and detects various information related to the control device 12. The sensor unit 127 may be configured by combining, for example, a temperature sensor, a pressure sensor, an acceleration sensor, a gyro sensor, a position sensor, and the like, and detects position information and attitude (direction) information of the control device 12 (which may also be said to be position information and attitude (direction) information of the fishing rod 11 to which the control device 12 is attached), and the like. The detection information may be displayed on the display unit 125 by the control unit 123. In addition, the detection information may be stored in the storage unit 124 (RAM) and may be capable of being transmitted to an external device (for example, an external server) by wireless communication. In this way, the external device can accumulate position information and posture (orientation) information of the control device 12 (i.e., position information and posture (orientation) information of the fishing rod 11). If there are multiple control devices 12 (i.e., fishing rods 11), the external device can accumulate multiple pieces of position information of the fishing rod 11 (more specifically, the position and orientation of the fishing rod 11 when it is bent), which can be useful for understanding popular spots for anglers and the direction in which to set up a line.

[0029] The notification unit 128 is controlled by the control unit 123 to vibrate the operation unit 126. The notification unit 128 may be configured, for example, as an eccentric motor having a weight with a biased center of gravity provided on the motor shaft, and may be provided inside or close to the operation unit 126. By varying the applied voltage when driving the eccentric motor, the vibration intensity of the eccentric motor can be varied, and the vibration intensity of the operation unit 126 can be varied. Based on a control signal transmitted from the underwater drone 15 to the control device 12, when the target 2 is included in the image captured by the imaging unit 156 (i.e., when the target 2 is reflected on the display unit 125), the control unit 123 drives and controls the notification unit 128 to vibrate the operation unit 126 at a first intensity (hereinafter referred to as weak vibration). Furthermore, when the tackle unit 16 captures the target 2, the control unit 123 drives and controls the notification unit 128 to vibrate the operation unit 126 at a second intensity (hereinafter referred to as strong vibration) that is stronger than the first intensity, based on a control signal transmitted from the underwater drone 15 to the control device 12. In this manner, the vibration of the operation unit 126 notifies the angler that the target 2 has been detected around the underwater drone 15 or that the target 2 has been captured by the tackle unit 16. Note that, in this embodiment, such notification is performed by the vibration of the operation unit 126, but is not limited thereto, and may be performed by, for example, emitting light from the display unit 125.

[0030] In this embodiment, the display unit 125 and the operation unit 126 are configured as an integrated unit (configured as the control device 12), but they may be provided separately. For example, the display unit 125 may be configured as a head-mounted display worn by the angler, the operation unit 126 may be attached to the fishing rod 11, and the cable 14 may connect the operation unit 126 and the underwater drone 15.

[0031] (Overview of underwater drones) The underwater drone 15 is configured to operate according to various control signals transmitted to the underwater drone 15 by an angler using the underwater trapping device 1 operating the operation unit 126 of the control device 12. As shown in Fig. 2, the underwater drone 15 accommodates a power supply unit 151, a communication unit 152, a control unit 153, and a memory unit 154 in a waterproof housing. The underwater drone 15 also has a drive unit 155, an imaging unit 156, a lighting unit 157, and a sensor unit 158 ​​on the housing.

[0032] The power supply unit 151 supplies power to each functional unit constituting the underwater drone 15. As the power supply unit 151, a battery such as a primary battery, a secondary battery, or a fuel cell may be used, or power may be supplied to the underwater drone 15 from an external source via a power cable, or power may be supplied to the underwater drone 15 from the control device 12 via the cable 14.

[0033] The communication unit 152 is controlled by the control unit 153 and performs wired communication with the control device 12 via the cable 14. This allows the underwater drone 15 to transmit and receive data to and from the control device 12. Note that in this embodiment, the communication unit 152 performs wired communication via the cable 14, but it may also perform wireless communication, and may also be capable of wireless communication not only with the control device 12 but also with other devices (e.g., a server device).

[0034] The control unit 153 is connected to each functional unit constituting the underwater drone 15, controls each functional unit to control the attitude and operation of the underwater drone 15, and transmits various signals to the control device 12. The control unit 153 is composed of a CPU (Central Processing Unit), and controls each functional unit constituting the underwater drone 15 by executing a program stored in the memory unit 154.

[0035] The storage unit 154 is composed of a ROM (Read Only Memory) and a RAM (Random Access Memory). The ROM stores a program executed by the control unit 153 (CPU). The RAM stores various pieces of detection information detected by the sensor unit 158.

[0036] The driving unit 155 is controlled by the control unit 153 to propel the underwater drone 15 and change the propulsion direction. The driving unit 155 may be configured to include, for example, a propeller provided at the rear of the underwater drone 15 and an actuator that rotates the propeller. The control unit 153 controls the driving unit 155 based on an operation signal generated by operating the operation unit 126 of the control device 12. This allows the underwater drone 15 to operate in response to the operation of the operation unit 126 by the angler. Note that even if the angler does not operate the operation unit 126, the control unit 153 automatically controls the driving unit 155 based on a program stored in the storage unit 154 (ROM) in response to detection information detected by the sensor unit 158 ​​(for example, attitude information of the underwater drone 15, information on water flow, etc.). In this way, even if there is no operation, the attitude of the underwater drone 15 can be automatically and appropriately maintained. Note that a flight controller can be used for this automatic control. The control unit 153 may also control the driving unit 155 to automatically track the school of fish based on detection information (for example, information on the detection of a school of fish) detected by the sensor unit 158. In this way, the angler can move the underwater drone 15 to a point where the school of fish is located without being aware of it.

[0037] The imaging unit 156 is controlled by the control unit 153 to capture an image of the surroundings in front of the underwater drone 15 as described above. The imaging unit 156 may be, for example, a waterproof camera that captures still images and videos. Image information captured by the imaging unit 156 is transmitted by the control unit 153 to the control device 12 via the cable 14. This makes it possible for the image captured by the imaging unit 156 to be displayed on the display unit 125 of the control device 12.

[0038] The illumination unit 157 is controlled by the control unit 153, and as described above, illuminates the imaging range of the imaging unit 156. The illumination unit 157 may be configured with, for example, a halogen lamp or an LED (Light Emitting Diode).

[0039] The sensor unit 158 ​​is provided, for example, on the side of the housing of the underwater drone 15, and detects the position and attitude information of the underwater drone 15 and various information in the water where the underwater drone 15 moves. The sensor unit 158 ​​may be configured by combining, for example, a temperature sensor, a pressure sensor, an acceleration sensor, a gyro sensor, a flow rate sensor, a position sensor, a fish detection sensor, etc., and detects the position and attitude information of the underwater drone 15, surrounding water temperature information, water current information, etc., and also detects surrounding fish schools. These detection information may be transmitted to the control device 12 via the cable 14 by the control unit 153. In this way, information about the surroundings of the underwater drone 15 can be displayed on the display unit 125 of the control device 12. In addition, these detection information may be stored in the memory unit 154 (RAM) and can be transmitted to an external device (for example, an external server) by wireless communication. In this way, the external device can accumulate information about the surroundings of the underwater drone 15, and when there are multiple underwater drones 15, different underwater information can be accumulated according to the position of the underwater drone 15, which can be useful for understanding the underwater environment. In particular, when the imaging unit 156 captures an image of the target 2 or when the mechanism unit 16 captures the target 2, the detection information may be transmitted to an external device. In this way, the surrounding underwater environment when the target 2 is detected or captured can be understood.

[0040] (Remote Capture Processing) Next, the remote capture process executed by the control unit 153 (CPU) of the underwater drone 15 in Fig. 2 will be described with reference to Fig. 3. The remote capture process includes processes from when the underwater drone 15 operates based on the angler's remote operation of the operation unit 126 until the target object 2 is captured by the tackle unit 16 attached to the underwater drone 15. The remote capture process shown in Fig. 3 is intended to explain the characteristic processes in this embodiment, and does not exclude other processes necessary for the angler to remotely control the underwater drone 15 to fish.

[0041] In step S1, the control unit 153 determines whether the power of the underwater drone 15 is ON, that is, whether or not power is being supplied by the power supply unit 151. If it is determined that the power is ON (step S1; YES), the process proceeds to step S2, and if it is determined that the power is not ON (that is, switched to OFF) (step S1; NO), the process ends.

[0042] In step S2, the control unit 153 acquires image information of the surroundings in front of the underwater drone 15 captured by the imaging unit 156, position and attitude information of the underwater drone 15 detected by the sensor unit 158, and surrounding detection information, and stores them in the storage unit 154 (RAM). The control unit 153 also transmits this information to the control device 12 via the cable 14. The control device 12 (more specifically, the control unit 123) receives this information, and displays an image of the surroundings in front of the underwater drone 15 on the display unit 125 based on the information, and also displays detection information of the surroundings of the underwater drone 15.

[0043] In step S3, the control unit 153 controls the attitude of the underwater drone 15. Specifically, the control unit 153 controls the driving unit 155 based on the program stored in the storage unit 154 (ROM) in response to the detection information (e.g., position and attitude information of the underwater drone 15, water current information, etc.) detected by the sensor unit 158 ​​in step S2. This allows the attitude of the underwater drone 15 to be controlled to an appropriate state.

[0044] In step S4, the control unit 153 judges whether or not an operation signal resulting from operation of the operation unit 126 has been received from the control device 12. If it is judged that an operation signal has been received (step S4; YES), the process proceeds to step S5, and if it is judged that an operation signal has not been received (step S4; NO), the process proceeds to step S6.

[0045] In step S5, the control unit 153 controls the movement of the underwater drone 15. Specifically, the control unit 153 controls the drive unit 155 based on an operation signal generated by operating the operation unit 126, thereby moving the underwater drone 15. This causes the imaging range of the imaging unit 156 provided in the underwater drone 15 to change, and the position of the device unit 16 attached to the underwater drone 15 to move. In this way, the image of the surroundings in front of the underwater drone 15 changes based on the operation of the operation unit 126, and the position of the device unit 16 also changes, so that the angler can search for the target object 2 (fish) to be fished for while remotely operating the underwater drone 15.

[0046] In step S6, the control unit 153 judges whether the object 2 has been detected (specifically, whether the object 2 is included in the image captured by the imaging unit 156). For this judgment, for example, a known image judgment technique may be used. If it is judged that the object 2 has been detected (step S6; YES), the process proceeds to step S7, and if it is judged that the object 2 has not been detected (step S6; NO), the process proceeds to step S8.

[0047] In step S7, the control unit 153 transmits instruction information (weak vibration notification instruction information) to the control device 12 to instruct the control device 12 to weakly vibrate the operation unit 126. As a result, the control device 12 weakly vibrates the operation unit 126, and the angler is notified that the target 2 has been detected around the underwater drone 15.

[0048] In step S8, the control unit 153 judges whether the target 2 has been captured (specifically, whether the mechanism unit 16 has captured the target 2). Since the mechanism unit 16 is attached so as to be included in the imaging range of the imaging unit 156, when the target 2 is captured by the mechanism unit 16, the target 2 and the mechanism unit 16 are included in the same image captured by the imaging unit 156. For this reason, for example, a known image judgment technique can be used for the judgment in step S8, or, for example, a sensor may be provided in the mechanism unit 16 and detection information of the sensor may be used. If it is judged that the target 2 has been captured (step S8; YES), the process proceeds to step S9, and if it is judged that the target 2 has not been captured (step S8; NO), the process returns to step S1.

[0049] In step S9, the control unit 153 transmits instruction information (strong vibration notification instruction information) to the control device 12 to instruct the control device 12 to strongly vibrate the operation unit 126. As a result, the control device 12 strongly vibrates the operation unit 126, and the angler is notified that the target 2 has been caught by the fishing tackle unit 16.

[0050] The processing of steps S1 to S9 is repeated as long as the power supply of the underwater drone 15 is ON. As a result, for example, an image captured by the imaging unit 156 of the underwater drone 15 is displayed on the display unit 125 of the control device 12 in real time. Furthermore, since the device unit 16 is always included in the imaging range of the imaging unit 156 regardless of the movement control of the underwater drone 15, the imaging unit 156 can capture an image at the moment the device unit 16 captures the target 2. Therefore, the display unit 125 can display a video (image) of the moment the device unit 16 captures the target 2, which can enhance the fun of fishing.

[0051] (Fishing Overview) Next, an overview of fishing performed using the underwater trapping device 1 will be described with reference to Fig. 4 and Fig. 5. Fig. 4 and Fig. 5 are diagrams for explaining an overview of fishing using the underwater trapping device 1 according to this embodiment.

[0052] As shown in FIG. 4(A), the angler first sets up the underwater capture device 1. Specifically, the angler connects the fishing rod 11 and the cable 14 by inserting the cable 14 through a ring hole of the fastener 111 of the fishing rod 11, connects one end of the cable 14 to the control device 12, and connects the other end of the cable 14 to the underwater drone 15. The angler also attaches the control device 12 connected to the cable 14 to the lower end of the fishing rod 11. The angler also attaches the reel 13 to the fishing rod 11, and attaches the tackle unit 16 to the underwater drone 15. The tackle unit 16 may be attached integrally to the underwater drone 15 in advance. The angler then starts up the underwater drone 15 and the control device 12 (turns on the power). This causes the underwater drone 15 to start acquiring captured images by the imaging unit 156 and to start acquiring detection information by the sensor unit 158. Then, the angler throws the underwater drone 15 into the water and operates the operation unit 126 of the control device 12 to move the underwater drone 15 to the fishing spot. The movement of the underwater drone 15 to the fishing spot may not only be based on the operation of the angler, but may also be automatically based on detection information detected by the sensor unit 158 ​​of the underwater drone 15 (for example, information on the detection of a school of fish) or based on preset target position information.

[0053] Next, as shown in Fig. 4(B), when the underwater drone 15 is moved and an image of the target 2 (e.g., a fish) is captured by the imaging unit 156 of the underwater drone 15, the operation unit 126 of the control device 12 vibrates weakly. This notifies the user that the target 2 has been detected around the underwater drone 15.

[0054] Next, as shown in FIG. 4(C), in order to capture the target 2 with the armament unit 16, the angler operates the operation unit 126 of the control device 12 to move the underwater drone 15, and tracks the target 2 so that the armament unit 16 attached to the underwater drone 15 captures the target 2. During this tracking, the display unit 125 of the control device 12 displays an underwater image of the surroundings including the armament unit 16 and the target 2 in real time, so the angler can track the target 2 while checking the underwater image. This tracking may be performed automatically by the underwater drone 15 based on the detection information detected by the sensor unit 158 ​​of the underwater drone 15 and the information of the underwater image captured by the imaging unit 156. Then, when the armament unit 16 captures the target 2, the operation unit 126 of the control device 12 vibrates strongly. This notifies the angler that the target 2 has been captured by the armament unit 16.

[0055] Next, as shown in Fig. 5(D), the angler uses the fishing rod 11 and reel 13 to perform hooking. Specifically, as described above, when the target 2 is caught by the tackle part 16, a load is applied to the underwater drone 15, and when this load is applied to the cable 14, the load is transferred to the fishing rod 11, causing the fishing rod 11 to bend. By performing hooking in response to this bending, the angler adjusts the positional relationship between the tackle part 16 attached to the underwater drone 15 and the target 2 caught by the tackle part 16, so that the caught target 2 does not move away from the tackle part 16 (does not escape).

[0056] 5(E), the angler reels in the cable 14 using the reel 13, thereby reeling in the underwater drone 15 connected to the cable 14 and the target 2 caught by the tackle unit 16, and lifts up the target 2. When reeling in the target 2, the angler may not only reel in the cable 14 using the reel 13, but also operate the operation unit 126 of the control device 12 to reel in the underwater drone 15.

[0057] As described above, according to this embodiment, the underwater drone 15 can be moved by the operation unit 126, and the sensor unit 158 ​​of the underwater drone 15 can detect the underwater target 2. In addition, the imaging unit 156 of the underwater drone 15 is provided at a position where it can capture an image of the device unit 16, so that the state when the device unit 16 captures the target 2 can be displayed on the display unit 125. Therefore, after detecting the target 2 by remote control, it is possible to visually confirm the state when the device unit 16 captures the target 2, which can improve the enjoyment of fishing.

[0058] In addition, the control unit 153 controls the attitude of the underwater drone 15 by automatically controlling the drive unit 155 according to the state of the underwater drone 15 (e.g., attitude information) as detection information detected by the sensor unit 158 ​​and the surrounding environment of the underwater drone 15 (e.g., water current information). Therefore, even if the state of the underwater drone 15 or the surrounding environment changes, the target 2 can be captured more reliably by appropriately maintaining the positional relationship between the mechanism unit 16 attached to the underwater drone 15 and the target 2, or an underwater image including the target 2 can be displayed on the display unit 125 more reliably.

[0059] In addition, since a part of the cable 14 is provided so as to crawl along the fishing rod 11, when the cable 14 is pulled and a load is applied to the cable 14, the load can be linked to the fishing rod 11. Therefore, when the underwater drone 15 is loaded by the tackle unit 16 attached to the underwater drone 15 capturing the target 2, and a load is applied to the cable 14, the load is linked to the fishing rod 11, and the fishing rod 11 is deformed (for example, bends). Therefore, the angler can adjust the positional relationship between the tackle unit 16 and the target 2 captured by the tackle unit 16 by operating the fishing rod 11 (for example, hooking) according to the load applied to the fishing rod 11, so that the captured target 2 does not leave the tackle unit 16 (does not escape). In this way, even if the angler uses the underwater drone 15 to capture the target 2, the angler can feel the load of the target 2 through the fishing rod 11 he holds, and can get the feeling of operating the fishing rod 11 to capture the target 2, which can increase the interest of fishing.

[0060] In addition, the fishing rod 11 is fitted with a reel 13 capable of winding up the cable 14. Therefore, not only can the cable 14 be moved by operating the underwater drone 15 using the operation unit 126, but the cable 14 can also be wound up using the reel 13. For example, when the target 2 is caught, the cable 14 can be reeled in using the reel 13, and as a result of reeling in the underwater drone 15, the target 2 caught by the tackle unit 16 can be reeled in. This gives the user a sense of having reeled in (pulled up) the target themselves, enhancing the fun of fishing.

[0061] In addition, when the target 2 is imaged by the imaging unit 156 of the underwater drone 15 (i.e., the target 2 is displayed on the display unit 125), the operation unit 126 of the control device 12 vibrates weakly. This allows the angler to easily know that the target 2 has been detected around the underwater drone 15, and the angler can know that it is time to capture the target 2 and can make the next preparation (preparation for capture).

[0062] In addition, when the fishing tackle unit 16 catches the target 2, the operation unit 126 of the control device 12 vibrates strongly. Therefore, the angler can easily know that the target 2 has been caught by the fishing tackle unit 16, and can know that it is time to reel in the target 2 so that it does not escape, and can make the next preparation (preparation to reel in).

[0063] Furthermore, the memory unit 124 of the control device 12 stores the position information and attitude (direction) information of the fishing rod 11 as detection information detected by the sensor unit 127. For this reason, for example, the direction and position information of the fishing rod 11 when the target object 2 is caught can be grasped, and this can be used as information for catching the target object 2. Note that although this information is stored in the memory unit 124 of the control device 12, if the display unit 125 and the operation unit 126 are not integrally configured as the control device 12 (if they are configured separately), this information may be stored in a memory unit included in the display unit 125 or in a memory unit included in the operation unit 126.

[0064] Moreover, the display unit 125 and the operation unit 126 are integrally configured as the control device 12. Therefore, when assembling the underwater trapping device 1, the display unit 125 and the operation unit 126 can be easily attached to the fishing rod 11.

[0065] In addition, when the imaging unit 156 captures an image of the target 2, information about the surroundings of the underwater drone 15 detected by the sensor unit 158 ​​is stored in the memory unit 154 (RAM) and transmitted to an external device. Therefore, it is possible to grasp the surrounding underwater environment when the target 2 is detected.

[0066] Although the embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and may be modified as in the following modified examples. In addition, multiple modified examples may be combined without departing from the gist of the present invention.

[0067] (Modification) In the above embodiment, the underwater capture device 1 is applied to a fishing device (fishing tackle) for anglers to fish, but it may be applied to other underwater devices. Specifically, it may be applied to an underwater search device that searches for and captures underwater habitats, or it may be applied to an underwater cleaning device that searches for and captures garbage in the water to clean the water. When the underwater capture device 1 is applied to a purpose other than fishing, the underwater capture device 1 may not include the fishing rod 11 or reel 13, but may be composed of the control device 12, the underwater drone 15 (and the attached device unit 16), and a cable 14 connecting the two, or may not include the cable 14, but may be composed of the control device 12 and the underwater drone 15 (and the attached device unit 16), and the two communicate wirelessly. In this case, the device unit 16 may be composed of not only a fishing hook or a lure, but also a remotely controlled arm, etc. Furthermore, even if the underwater capture device 1 does not include a fishing rod 11 or a cable 14, the manner in which the target object 2 is captured by the mechanism unit 16 can be visually observed on the display unit 125, and the operation unit 126 of the control device 12 can vibrate weakly to notify that the target object 2 has been detected around the underwater drone 15, and the operation unit 126 of the control device 12 can vibrate strongly to notify that the target object 2 has been captured by the mechanism unit 16.

[0068] In the above embodiment, the imaging unit 156 may have a recording function. In particular, the imaging unit 156 is configured to automatically turn on the recording function when the tackle unit 16 captures the target 2, and the recorded image may be stored in the memory unit 154 (RAM) of the underwater drone 15 and uploaded to an external device (e.g., a server) based on an instruction from the angler via the operation unit 126 or automatically at a predetermined timing, or may be displayed on the display unit 125. In this way, the angler will not miss the moment when the tackle unit 16 captures the target 2, which can increase the fun of fishing.

[0069] In the above embodiment, the angler sets up the underwater capture device 1, then activates the underwater drone 15 to throw it into the water, but this throwing may be performed by the angler throwing it. In this way, when throwing it, it is preferable that the underwater drone 15 is small and lightweight. In addition, it is preferable that the shape of the underwater drone 15 is easy for the angler to throw it, and for example, it may be a shape that the angler can easily hold in one hand and throw it, such as the shape of a plastic bottle. In addition, after being thrown into the water by the angler, the small and lightweight underwater drone 15 sinks into the water according to its own weight and the set center of gravity, and then the attitude of the drone 15 may be controlled by the control unit 153 according to the detection information detected by the sensor unit 158 ​​(for example, attitude information of the underwater drone 15, information on the water flow, etc.). In addition, the initial attitude of the underwater drone 15 after being thrown into the water may be selected by the angler. Specifically, the initial postures of the underwater drone 15 may be, for example, a first posture in which the up-down direction of the underwater drone 15 is the vertical direction and the fore-aft direction of the underwater drone 15 is the propulsion direction, and a second posture in which the up-down direction and the fore-aft direction of the underwater drone 15 in the first posture are reversed, and the angler may be able to select which posture to use.

[0070] In the above-described embodiment, the lighting unit 157 may be used as the trap unit 16. For example, when capturing an object that reacts favorably to light (e.g., a squid) as the target 2, an underwater light as the lighting unit 157 can be used as a lure as the trap unit 16.

[0071] In the above embodiment, the mechanism unit 16 may be configured to be detachable from the underwater drone 15, and may be reattachable to a plurality of different types of target objects 2. In this case, the mechanism unit 16 may be configured to be easily detachable and attachable (for example, configured to be easily attachable / detachable with one touch).

[0072] In the above embodiment, the underwater drone 15 may be provided with a storage unit for storing an attractant (e.g., bait) for attracting the target object 2, and the attractant stored in the storage unit may be discharged near the underwater drone 15 by remote control by the angler (e.g., operation of the operation unit 126). In this way, an environment in which the target object 2 can be more easily captured can be created.

[0073] In the above-described embodiment, the display unit 125 may be capable of displaying the length of the cable 14 underwater. For example, the display unit 125 may calculate and display the remaining length of the cable 14 underwater by calculating the length of the cable 14 wound around the reel 13. With this configuration, the approximate distance from the angler to the underwater drone 15 can be grasped.

[0074] In the above embodiment, the control unit 153 of the underwater drone 15 may be configured to grasp the detected fish species. Specifically, the control unit 153 may be configured to grasp the fish species of the target 2 based on a known image determination technique based on an underwater image including the target 2 (fish) captured by the imaging unit 156. In this way, it is possible to capture the fish as the target 2 after grasping the fish species. In addition, when the fish species can be grasped, the vibration mode of the operation unit 126 may be made different depending on the fish species when notifying that the target 2 has been detected around the underwater drone 15 based on the imaging unit 156 capturing the target 2. For example, the vibration interval or vibration intensity may be made different for fish species A and fish species B. In this way, it is possible to notify which type of fish has been detected by the vibration mode of the operation unit 126.

[0075] In the above-described embodiment, the mechanism unit 16 may have a weight sensor. In this way, when the mechanism unit 16 has a weight sensor, the weight of the captured object 2 can be grasped when the mechanism unit 16 captures the object 2. In addition, at this time, when the mechanism unit 16 notifies the user that the object 2 has been captured by the mechanism unit 16 based on the fact that the object 2 has been captured by the mechanism unit 16, the vibration mode of the operation unit 126 may be changed according to the weight of the captured object 2. For example, the vibration interval or vibration intensity may be changed between weight A and weight B. In this way, the vibration mode of the operation unit 126 can notify the user of the weight of the object 2 that has been captured.

[0076] As described above, the embodiment and the modified examples of the present invention have been described, but the present invention also includes various configurations as described below.

[0077] That is, an underwater capture device (e.g., underwater capture device 1) including an operation unit (e.g., operation unit 126) that can be operated by an operator (angler), a display unit (e.g., display unit 125) that can be viewed by the operator, a moving body (e.g., underwater drone 15) that can move underwater in response to the operation of the operation unit, and a capture unit (e.g., mechanism unit 16) that is attached to the moving body and can capture an underwater object (e.g., object 2), in which the moving body has a detection unit (e.g., sensor unit 158) that detects the object, and an imaging unit (e.g., imaging unit 156) that is provided at a position where the capture unit can be imaged and captures an underwater image including the object, and the display unit can display an image when the capture unit captures the object as the underwater image imaged by the imaging unit. According to this configuration, the moving body can be operated by operating the operation unit to detect an underwater object, and an image when the capture unit attached to the moving body captures the object is displayed on the display unit, so that the state in which the underwater object is captured can be visually confirmed.

[0078] The moving body also has a control unit (e.g., control unit 153) that controls the moving body, and a detection unit (e.g., sensor unit 158) that detects the state (e.g., attitude state) of the moving body and the environment around the moving body (e.g., water current), and the control unit can control the moving body based on the detection information detected by the detection unit. According to this configuration, the moving body is controlled according to the state of the moving body and the environment around the moving body, so that the object can be captured more reliably by appropriately maintaining the positional relationship between the capture unit attached to the moving body and the object even if the environment around the moving body changes, or an underwater image including the object can be displayed more reliably on the display unit, compared to when such control is not performed.

[0079] The fishing rod also includes a fishing rod body (fishing rod 11) that can be held by the operator, a cable (e.g., cable 14) that connects the operating unit and the moving body, and the operating unit is attached to the fishing rod body, and the fishing rod body has a holding unit (e.g., fastener 111) that holds a part of the cable connected to the operating unit so that it is wound around the fishing rod body. With this configuration, when the capturing unit attached to the moving body captures an object, a load is applied to the moving body, and when a load is applied to the cable, the load is linked to the fishing rod body, and the fishing rod body is deformed (e.g., bends). Therefore, the operator can adjust the positional relationship between the capturing unit and the object captured by the capturing unit by operating the fishing rod body (e.g., hooking) in response to the load applied to the fishing rod body, so that the captured object does not leave the capturing unit (does not escape). In this way, even if the operator uses the moving body to capture an object, the operator can feel the load of the object through the fishing rod body that he holds, and can get the feeling of capturing the object by operating the fishing rod body, so that a more interesting underwater capture device can be realized.

[0080] The rod body also includes a winding section (e.g., reel 13) that is attached to the rod body and can wind up the cable. With this configuration, not only can the cable be moved by operating the moving body using the operating section, but the cable can also be wound up using the winding section, so that, for example, when an object is captured, the cable is reeled in using the winding section to reel in the moving body, and as a result, the object captured by the capturing section of the moving body can be reeled in, providing a real feeling that the object has been reeled in (pulled up), and a more interesting underwater capturing device can be realized.

[0081] The operation unit also has an object display notification unit (for example, weak vibration by notification unit 128) that notifies the operator that the object has been displayed when the object is displayed on the display unit. With this configuration, the operation unit notifies the operator that the object has been displayed, so that the operator can easily confirm that it is time to capture the object.

[0082] The operating unit also has an object capture notification unit (for example, strong vibration by notification unit 128) that notifies the operator that the object has been captured when the capturing unit has captured the object. With this configuration, the operating unit notifies the operator that the object has been captured, so that the operator can easily confirm that it is time to pull the object in so that it does not escape.

[0083] The operating unit has a storage unit (e.g., storage unit 124) that stores the orientation and position information of the rod body. With this configuration, for example, the orientation and position information of the rod body when an object is captured can be grasped, and this can be used as information for capturing the object.

[0084] The display unit can display the length of the cable underwater. With this configuration, the angler can grasp the approximate distance of the underwater drone from the angler.

[0085] The operating section and the display section are integrally configured. With this configuration, the operating section and the display section can be easily attached to the fishing rod body.

[0086] The device further includes an output unit (e.g., a communication unit 152) that outputs detection information detected by the detection unit when the detection unit detects the target object. With this configuration, it is possible to grasp the surrounding environment when the target object is detected.

[0087] The detection unit is capable of detecting fish as the target object and includes a fish species identification unit capable of identifying the type of the detected fish. With this configuration, it is possible to identify the type of fish when capturing a fish as the target object.

[0088] Although the present invention has been described above, the above description is merely an example of the present invention, and various improvements and modifications may be made. Furthermore, the effects described in the present embodiment are merely a list of preferred effects resulting from the present invention, and the effects of the present invention are not limited to these. [Explanation of symbols]

[0089] 1 Underwater capture device 11 Fishing Rod 111 Fasteners 12 Control device 121 Power supply section 122 Communications Department 123 Control Unit 124 Storage section 125 Display section 126 Operation section 127 Sensor section 128 Notification Department 13 Reel 14 Cable 15 Underwater drone 151 Power supply section 152 Communications Department 153 Control Unit 154 Storage section 155 Drive unit 156 Imaging unit 157 Lighting Department 158 Sensor section 16 Trick Room 2. Object

Claims

1. An operation unit that can be operated by an operator; A display unit visible to the operator; a moving body that can move underwater in response to an operation of the operation unit; a capture unit attached to the moving body and capable of capturing an underwater object, The moving body is A detection unit that detects the object; an imaging unit that is provided at a position where the capture unit can be imaged and captures an underwater image including the target object; An underwater capturing device, wherein the display unit is capable of displaying an image of the target object captured by the capturing unit as the underwater image captured by the imaging unit.

2. The moving body is A control unit that controls the moving object; A detection unit that detects a state of the moving object and an environment around the moving object, The underwater trapping device according to claim 1 , wherein the control unit is capable of controlling the moving body based on detection information detected by the detection unit.

3. A rod body that can be held by the operator; A cable connecting the operation unit and the moving body, The operating unit is attached to the rod body, 3. The underwater capture device according to claim 1, wherein the rod body has a holding portion that holds a part of the cable connected to the operating portion so that the part is laid on the rod body.

Images