Movable body, movable body control system, and control method

Abstract

To automatically adjust the length of a cable between an underwater drone and a water surface drone when navigating the underwater drone separated from the water surface drone.SOLUTION: A movable body has a water surface movable body for moving on the water surface and an underwater movable body for navigating underwater that are coupled in a detachable state. The water surface movable body includes: a cable processing unit connected to the underwater movable body by a cable and switching and performing cable winding-out operation and cable winding-in operation; a storage unit for storing movement plan information; and a setting unit for setting an action of the cable processing unit to the winding-out mode for winding out the cable from the water surface movable body when information indicating the position relationship corresponding to the movable path of the underwater movable body indicates that the underwater moving body is moving in the direction away from the water surface movable body.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a mobile body capable of operating underwater, a mobile body control system including the mobile body, and a control method for a cable processing section provided in the mobile body. [Background technology]

[0002] A combined water-air drone is known in which a surface drone capable of flying in the air moves to a predetermined position while coupled with a submersible drone capable of operating underwater, and then the submersible drone is separated and recovered after the submersible drone has completed its work (see, for example, Non-Patent Document 1). Also known is a technology in which a device on the water surface and an underwater moving body are connected by a cable, and the amount of the cable wound or let out is determined based on the amount of cable slack (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP2015-9642 Public Relations [Non-patent literature]

[0004] [Non-Patent Document 1] KDDI Corporation, KDDI Research, Inc., Prodrone Inc., “World’s first water-air combined drone succeeds in remote underwater photography ~ Safe and efficient inspection of offshore wind power generation equipment without launching a ship ~”, [online], December 14, 2021, KDDI, [Searched February 25, 2022], Internet<URL:https: / / news.kddi.com / kddi / corporate / newsrelease / 2021 / 12 / 14 / 5593.html> Summary of the Invention [Problem to be solved by the invention]

[0005] Such underwater drones were sometimes separated from the surface drones while still connected by a cable, and signals were sent and received through the cable. In order for such underwater drones to automatically navigate underwater, it was required to be able to appropriately adjust the length of the cable depending on the distance between the underwater drone and the surface drone.

[0006] Therefore, the present invention has been made in consideration of these points, and aims to make it possible to automatically adjust the length of the cable between a submersible drone and a surface drone when the submersible drone separated from the surface drone is submerged. [Means for solving the problem]

[0007] In a first aspect of the present invention, there is provided a moving body in which a surface moving body that moves on the water and a submersible moving body that submerges underwater are detachably connected, wherein the surface moving body is connected to the submersible moving body by a cable, the moving body having a cable processing unit that switches between letting out and winding up the cable, a memory unit that stores movement plan information including information on a predetermined movement path of the submersible moving body and information indicating the positional relationship between the submersible moving body and the surface moving body on the movement path of the submersible moving body, and a setting unit that sets the operation of the cable processing unit to a payout mode that pays out the cable from the surface moving body when the information indicating the positional relationship corresponding to the movement path of the submersible moving body indicates that the submersible moving body is moving in a direction away from the surface moving body.

[0008] The setting unit may set the operation of the cable processing unit to a winding mode to wind up the unwound cable when the information indicating the positional relationship indicates that the submersible vehicle is moving in a direction approaching the surface vehicle.

[0009] The setting unit may be set to a stop mode that stops operation of the cable processing unit when the information indicating the positional relationship indicates that there is no change in the distance between the surface vehicle and the submersible vehicle.

[0010] The surface vehicle may further include an identification unit that identifies the position and speed of the submersible vehicle based on an acoustic signal emitted by the submersible vehicle, and the setting unit may set the speed at which the cable is wound up or the speed at which the cable is let out by the cable processing unit based on at least one of the identified position and speed of the submersible vehicle.

[0011] The moving body may further include a measuring unit that measures the length of the cable sent out from the surface moving body, and when the surface moving body receives an instruction from outside to move to a position different from the movement route of the movement plan information, the setting unit may cancel the mode setting of the cable processing unit and set the speed at which the cable is wound up or sent out by the cable processing unit based on at least one of the identified position and speed of the submersible moving body and the measured length of the cable.

[0012] The moving body may further include a measuring unit that measures the length of the cable sent out from the surface moving body, and if the identified position of the submersible moving body is away from the movement path of the movement plan information by more than a predetermined range, the setting unit may cancel the mode setting of the cable processing unit and set the speed at which the cable is wound up or sent out by the cable processing unit based on at least one of the identified position and speed of the submersible moving body and the measured length of the cable.

[0013] In a second aspect of the present invention, there is provided a mobile body control system comprising the moving body of the first aspect and a mobile body control device that generates control information for controlling the surface moving body and the submersible moving body, wherein the mobile body control device has a communication unit that transmits the movement plan information of the submersible moving body to the surface moving body, and a submersible control unit that moves the surface moving body and the submersible moving body toward a position where the submersible moving body will execute the movement plan information, and generates the control information for causing the submersible moving body to execute the movement plan information.

[0014] In a third aspect of the present invention, there is provided a control method for a cable processing unit provided in a surface vehicle that moves on the water, executed by a computer, wherein the surface vehicle is connected to a submersible vehicle that submerges underwater by a cable, and the cable processing unit switches between letting out and winding up the cable, and the computer provides a control method having the steps of acquiring movement plan information including information on a predetermined movement path of the submersible vehicle and information indicating a positional relationship between the submersible vehicle and the surface vehicle on the movement path of the submersible vehicle, and setting the operation of the cable processing unit to a payout mode in which the cable is paid out from the surface vehicle when the information indicating the positional relationship corresponding to the movement path of the submersible vehicle indicates that the submersible vehicle is moving in a direction away from the surface vehicle. Effect of the Invention

[0015] According to the present invention, when operating an underwater drone separated from a surface drone, the length of the cable between the underwater drone and the surface drone can be automatically adjusted. [Brief description of the drawings]

[0016] [Figure 1] FIG. 1 is a diagram for explaining an overview of a moving object 100. [Diagram 2] FIG. 1 is a diagram for explaining an overview of a moving object 100. [Diagram 3] FIG. 1 is a diagram for explaining an overview of a moving object 100. [Figure 4] FIG. 13 is a diagram showing an example of a movement path when an underwater object K is a seawall. [Diagram 5] FIG. 1 is a diagram showing the configuration of an underwater vehicle 1. [Figure 6] FIG. 11 is a diagram illustrating an example of movement plan information. [Figure 7] FIG. 2 is a diagram for explaining three-dimensional spatial coordinates. [Figure 8] 13 is a flowchart showing the flow of processing in the water vehicle 1. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] [Overview of mobile unit 100] 1 to 3 are diagrams for explaining an overview of the moving body 100. The moving body 100 has a surface moving body 1 capable of moving on the water surface, and a submersible moving body 2 detachably connected to the surface moving body 1 and capable of diving underwater. The moving body 100 can move in either a state in which the submersible moving body 2 is housed in the surface moving body 1, or a state in which the submersible moving body 2 is not housed in the surface moving body 1. As shown in FIG. 2, even in a state in which the submersible moving body 2 is not housed in the surface moving body 1, the surface moving body 1 and the submersible moving body 2 are connected by a cable C.

[0018] The surface-water moving body 1 is provided with a movement mechanism 10 for moving the surface-water moving body 1 on the water, and an attachment / detachment mechanism 11 for attaching and detaching the submersible moving body 2. The movement mechanism 10 includes, for example, a thruster for moving the surface-water moving body 1 on the water. The movement mechanism 10 may include mechanisms required for flying the surface-water moving body 1, such as a propeller and a rudder. In this embodiment, an example will be described in which the surface-water moving body 1 has a mechanism for flying and moving, and a mechanism for moving on the water. The attachment / detachment mechanism 11 includes a member that configures a space for accommodating the submersible moving body 2, a mechanism for fixing the submersible moving body 2, and a mechanism for releasing the submersible moving body 2.

[0019] The moving body 100 moves based on the movement plan information received from the management server 3, and executes a predetermined operation at the submerged location indicated by the movement plan information. The predetermined operation is, for example, an operation of photographing an underwater object or an operation of processing an underwater object. In the following description, a case where the predetermined operation is an operation of photographing an underwater object K will be mainly illustrated.

[0020] The management server 3 is a device, such as a computer, capable of transmitting and receiving data to and from the mobile body 100 via a network such as a mobile phone network or Wi-Fi (registered trademark). The management server 3 is managed, for example, by a business operator who uses the mobile body 100 to observe the state of underwater objects and perform maintenance on the underwater objects. The management server 3 has a communication unit, and transmits movement plan information to the mobile body 100 to cause the mobile body 100 to perform a predetermined operation.

[0021] The movement plan information will be described in detail later, but the movement plan information includes information indicating the latitude, longitude, and depth of multiple submersible locations where the submersible mobile body 2 performs a predetermined operation underwater. The movement plan information may further include information indicating the operation to be performed by the submersible mobile body 2 at each submersible location. The management server 3 acquires the movement plan information, for example, from a computer used by a user who has requested work using the mobile body 100. The management server 3 may store a history of multiple submersible locations where the submersible mobile body 2 has performed a predetermined operation in the past, and create the movement plan information based on the stored history.

[0022] When a user creates movement plan information, the user specifies the route that the user wants the submersible mobile body 2 to travel or the location that the user wants to photograph on a map displayed on the information terminal. The management server 3 creates or acquires movement plan information that includes at least one of the flight route and landing location of the surface mobile body 1, and the submersible route, work location, work content, and return location of the submersible mobile body 2, based on the route or location specified by the user. The flight route may be the shortest route while avoiding no-fly zones, or the shortest route that passes through a permitted flight zone.

[0023] The management server 3 may create a route that satisfies the specified conditions by receiving at least one of the desired shooting location, route, shooting angle, and shooting distance to the target object from the user. For example, when the management server 3 receives the designation of the shooting location, shooting angle (angle with respect to the vertical direction), and shooting distance (distance from the target object), it creates movement plan information including the shooting angle and shooting distance received at the received shooting location.

[0024] FIG. 1 shows a state in which a submersible mobile unit 2 is housed in a surface mobile unit 1, and the submersible mobile unit 2 has not yet reached the submersible location. The surface mobile unit 1 moves with the submersible mobile unit 2 housed in it to a position above the submersible location indicated by movement plan information received from the management server 3. The position above the submersible location is, for example, a position vertically above the submersible location. In other words, the position above the submersible location is at the same latitude and longitude as the submersible location, and is above the water surface.

[0025] In Fig. 1, seaweed is shown as the underwater object K. The movement plan information includes information indicating the positions of multiple submersible locations where the submersible moving body 2 will photograph the underwater object K. Fig. 1 shows the position of the moving body 100 at the time when the surface moving body 1 has moved with the submersible moving body 2 stowed to a position above the first submersible location.

[0026] When the moving body 100 moves to a position above the initial submersible location, as shown in Figure 2, the surface moving body 1 releases the submersible moving body 2 by operating the attachment / detachment mechanism 11, making the submersible moving body 2 movable underwater.

[0027] After releasing the submersible mobile unit 2, the surface mobile unit 1 receives acoustic signals periodically emitted by the submersible mobile unit 2 and identifies the relative position of the submersible mobile unit 2 with respect to the surface mobile unit 1 by analyzing the received acoustic signals. The surface mobile unit 1 may identify the orientation of the submersible mobile unit 2 by receiving from the submersible mobile unit 2 data indicating the orientation of the submersible mobile unit 2 detected by a sensor (e.g., a geomagnetic sensor) possessed by the submersible mobile unit 2. The surface mobile unit 1 identifies the direction in which the submersible mobile unit 2 should move based on the relationship between the identified relative position of the submersible mobile unit 2 and the position of the target submersible location. The surface mobile unit 1 moves the submersible mobile unit 2 toward the submersible location by transmitting control data indicating the direction in which it should move to the submersible mobile unit 2 via the cable C. The surface mobile unit 1 and the submersible mobile unit 2 may transmit and receive control data acoustically or wirelessly.

[0028] When the submersible mobile body 2 reaches the submersible location, the surface mobile body 1 causes the submersible mobile body 2 to perform a predetermined operation. When the submersible mobile body 2 performs the predetermined operation, the surface mobile body 1 moves toward above the next submersible location and transmits control data to the submersible mobile body 2 for moving the submersible mobile body 2 to the next submersible location. As an example, the surface mobile body 1 transmits control data for moving the submersible mobile body 2 so that the surface mobile body 1 and the submersible mobile body 2 move toward the latitude and longitude position of the next submersible location at approximately the same speed.

[0029] FIG. 3 is a diagram showing an example of a movement path of the surface-water moving body 1. FIG. 3 is a schematic diagram showing a state in which the underwater object K is viewed from above the surface-water moving body 1. As shown in FIG. 3, as an example, the surface-water moving body 1 moves from one end side of the underwater object K to the other end side, and when it reaches the other end side, it moves in the depth direction, and then moves from the other end side to the one end side. The submersible moving body 2 also moves underwater along the same movement path in accordance with the movement of the surface-water moving body 1. By moving the surface-water moving body 1 and the submersible moving body 2 in this manner, it is possible to perform operations at multiple positions of the underwater object K even if the underwater object K spreads out in a planar shape.

[0030] Fig. 4 is a diagram showing an example of a movement path when the underwater object K is a seawall. When the underwater object K has long surfaces in the vertical and horizontal directions as shown in Fig. 4, the submersible moving body 2 performs an operation while moving up and down. In the example shown in Fig. 4, the surface moving body 1 moves the submersible moving body 2 downward while keeping the position of the surface moving body 1 fixed. The surface moving body 1 may change the length of the cable C in response to changes in the depth of the submersible location.

[0031] When the submersible mobile body 2 reaches the lowest submersible location where it is to perform an action, the surface mobile body 1 moves horizontally toward a position above the next submersible location, and moves the submersible mobile body 2 to the next submersible location. The surface mobile body 1 then moves the submersible mobile body 2 upward while keeping the position of the surface mobile body 1 fixed. By repeating such actions by the surface mobile body 1 and the submersible mobile body 2, actions can be performed at multiple positions of the underwater object K, even if the underwater object K has long surfaces in both the vertical and horizontal directions.

[0032] In the above-described moving body 100, the surface moving body 1 and the submersible moving body 2 are separated while still connected by the cable C, and each of them operates based on the movement plan information. In this case, since the distance between the surface moving body 1 and the submersible moving body 2 varies, it is desirable to be able to appropriately adjust the length of the cable. Therefore, it is conceivable to adjust the length of the cable C by determining the amount of winding or letting out of the cable C according to the tension applied to the cable C.

[0033] However, when tension is applied to the cable C, a load is applied to the submersible vehicle 2, which may affect the operation of the submersible vehicle 2. Therefore, the surface vehicle 1 of the vehicle 100 according to this embodiment determines the amount of winding or letting out of the cable C based on the movement plan information to adjust the length of the cable C. Such a surface vehicle 1 will be described next.

[0034] [Configuration of water vehicle 1] 5 is a diagram showing the configuration of the surface vehicle 1. The surface vehicle 1 has a cable processing section 5, a movement mechanism section 10, an attachment / detachment mechanism section 11, a communication section 12, an acoustic signal receiving section 13, a GPS receiver 14, a storage section 15, and a control section 16. The control section 16 has a plan information acquisition section 161, an identification section 162, a flight control section 163, a submersion control section 164, and a setting section 165.

[0035] The cable processing section 5 has a reel or the like that can wind up and store the cable C. The cable processing section 5 also has a function of operating as a cable letting-out device that rotates the reel with a motor or the like to let out the cable C from the reel, and as a cable winding device that winds up the cable C from the reel.

[0036] The cable processing section 5 switches between the functions of letting out and taking up the cable in response to a control signal received from the control section 16. The cable processing section 5 is configured to be able to switch between, for example, a letting out mode for letting out the cable C, a take-up mode for taking up the cable C, and a stop mode for stopping operation.

[0037] The let-out mode is a mode in which the cable processing unit 5 lets out the cable based on a control signal. The cable processing unit 5 desirably has a locking mechanism for locking the let-out operation of the cable C and a locking mechanism for locking the winding operation. For example, in the let-out mode, the winding operation is locked so that the cable C cannot be wound, and the let-out operation is unlocked. The cable processing unit 5 may have a brake function for adjusting the speed at which the cable C is let out in the let-out mode. The brake function is desirably configured to adjust the strength of the brake so that the cable C is not pulled by the tide or the like when the brake function is activated, causing slack.

[0038] The winding mode is a mode in which the cable processing part 5 winds the cable based on a control signal. For example, in the winding mode, the unwinding operation is locked so that the cable C cannot be unwound in the unwinding direction, and the winding operation is unlocked. Note that the cable processing part 5 may have an adjustment function for adjusting the speed at which the cable C is wound in the winding mode.

[0039] The stop mode is a mode in which the cable processing section 5 stops operating. For example, in the stop mode, the winding operation and the unwinding operation of the cable C are locked so that the operation in the winding direction and the operation in the unwinding direction of the cable C are not possible. Alternatively, in the stop mode, the unwinding operation or the winding operation of the cable C may be performed according to the slack of the cable C. Note that the operation according to the slack of the cable C is known as in Patent Document 1 and the like, and therefore a detailed description thereof will be omitted here. Note that the lock function of the cable processing section 5 is desirably configured to adjust the lock strength of the lock function so that the cable C and / or the cable processing section 5 are not damaged even if the cable C is pulled strongly when the operation of the cable C is locked.

[0040] When the mode setting is released, the cable processing section 5 is configured to be able to execute the operation of letting out or taking up the cable C in response to the control signal. In this case, the lock on the take-up operation and the letting-out operation is released. The cable processing section 5 described above is configured to be able to process the corresponding operation in response to, for example, the operation mode, the let-out amount, the let-out speed, the take-up amount, the take-up speed, etc. of the cable C designated by the control signal.

[0041] The cable processing unit 5 may further include a measuring unit 6. The measuring unit 6 measures the length of the cable C sent out from the surface vehicle 1. For example, the measuring unit 6 measures the length of the cable C sent out by the cable processing unit 5 and the length of the cable C wound up by the cable processing unit 5, and measures the length of the cable C sent out from the surface vehicle 1 by accumulating the measurement results.

[0042] As described above, the movement mechanism unit 10 includes mechanisms necessary for flying the surface-water vehicle 1, such as a propeller and a rudder, and a mechanism for moving the surface-water vehicle 1 on water. The movement mechanism unit 10 operates based on the control of the flight control unit 163, and moves the surface-water vehicle 1 in the air or on water.

[0043] The attachment / detachment mechanism 11 is a mechanism for attaching and detaching the submersible vehicle 2. The attachment / detachment mechanism 11 has, for example, an arm for fixing the submersible vehicle 2, and can switch between a state in which the submersible vehicle 2 is housed in the surface vehicle 1 and a state in which the submersible vehicle 2 is released from the surface vehicle 1 by changing the shape or orientation of the arm. The attachment / detachment mechanism 11 may include the cable processing unit 5 described above.

[0044] The communication unit 12 has a communication interface for transmitting and receiving data to and from the management server 3. The communication unit 12 receives data including, for example, movement plan information from the management server 3. The communication unit 12 inputs the received movement plan information to the plan information acquisition unit 161. The communication unit 12 may transmit to the management server 3 data (for example, captured image data) indicating the results of the operation performed by the submersible mobile body 2 at the submersible location.

[0045] The acoustic signal receiving unit 13 has multiple receivers that receive acoustic signals emitted by the submersible vehicle 2. The acoustic signal receiving unit 13 inputs the multiple acoustic signals received by each of the multiple receivers to the identification unit 162. Since the multiple receivers are provided at different positions on the surface vehicle 1, the timing at which the acoustic signal emitted by the submersible vehicle 2 reaches each of the multiple receivers is different. The identification unit 162 identifies the relative position of the submersible vehicle 2 with respect to the surface vehicle 1 based on the timing at which the acoustic signal reaches each of the multiple receivers.

[0046] The GPS receiver 14 receives radio waves received from GPS satellites. The GPS receiver 14 inputs to the identification unit 162 data that is included in the received radio waves and is used to identify the latitude and longitude.

[0047] The storage unit 15 has storage media such as a ROM (Read Only Memory), a RAM (Random Access Memory), and an SSD (Solid State Drive). The storage unit 15 stores the movement plan information received by the communication unit 12. The storage unit 15 may store captured image data transmitted from the submersible vehicle 2. The storage unit 15 stores a program executed by the control unit 16.

[0048] The control unit 16 has, for example, a CPU (Central Processing Unit). The control unit 16 executes the programs stored in the storage unit 15 to function as a plan information acquisition unit 161, a specification unit 162, a flight control unit 163, and a submarine control unit 164.

[0049] The plan information acquisition unit 161 acquires movement plan information including the submersible location of the submersible mobile body 2 via the communication unit 12. The movement plan information may include information indicating an operation to be executed by the submersible mobile body 2 in association with the submersible location. The plan information acquisition unit 161 stores the acquired movement plan information in the storage unit 15.

[0050] Fig. 6 is a diagram showing an example of movement plan information. In the movement plan information shown in Fig. 6, an action ID, the latitude, longitude, and depth of the submersible location, the orientation of the submersible mobile unit 2 when it moves, and the content of the action to be performed are associated with each of a plurality of submersible locations where the submersible mobile unit 2 should perform a predetermined action. The orientation of the submersible mobile unit 2 when it moves is represented by a combination of an angle A1 based on north and an angle A2 based on the horizontal plane, and is illustrated in the form of (A1, A2) in Fig. 6. In Fig. 6, the content of the action is illustrated as an action of releasing the submersible mobile unit 2, an action of taking a normal photograph, and an action of taking an enlarged photograph (zoomed-up photograph).

[0051] The action ID includes information indicating the order in which the submersible mobile body 2 performs predetermined actions. In the example shown in Fig. 6, the submersible mobile body 2 performs actions in the order of the numbers indicated by the action ID. The movement plan information may further include information indicating the time at which the submersible mobile body 2 should perform each action. It is desirable that the movement plan information includes the actions from when the submersible mobile body 2 is released from the surface mobile body 1 until the submersible mobile body 2 submerges, returns to the surface mobile body 1 and is stored there.

[0052] The movement plan information further includes information indicating the positional relationship between the submersible moving body 2 and the surface moving body 1. The positional relationship between the surface moving body 1 and the submersible moving body 2 is information indicating, for example, whether the submersible moving body 2 moves in a direction away from the surface moving body 1, whether the submersible moving body 2 moves in a direction approaching the surface moving body 1, or whether there is no change in the distance between the surface moving body 1 and the submersible moving body 2. Fig. 6 shows an example in which the positional relationship between the surface moving body 1 and the submersible moving body 2 is set to "initial position", "moving away", "approaching", and "no change".

[0053] For example, the latitude and longitude of the submersible location for the first action ID (1) are the initial positions of the surface vehicle 1 and the submersible vehicle 2. When the surface vehicle 1 releases the submersible vehicle 2, it may stop at the initial position, or alternatively, it may move to a position that is the same as the latitude and longitude of the submersible vehicle 2. In this way, the positional relationship between the surface vehicle 1 and the submersible vehicle 2 is preset in accordance with the movement plan for the surface vehicle 1 and the submersible vehicle 2.

[0054] The plan information acquisition unit 161 acquires movement plan information before the moving body 100 starts moving, but may acquire movement plan information after the moving body 100 starts moving. As an example, the plan information acquisition unit 161 may transmit data (e.g., captured image data) indicating the results of the operation performed by the submersible moving body 2 at the submersible location indicated by the movement plan information acquired before the moving body 100 starts moving to the management server 3, and further acquire movement plan information created by the management server 3 based on the data indicating the results.

[0055] The identification unit 162 identifies the absolute position of the surface moving body 1 and the relative position from the absolute position to the submerged location. Specifically, the identification unit 162 first identifies latitude and longitude as information indicating the absolute position of the surface moving body 1 based on data input from the GPS receiver 14. The identification unit 162 also identifies the relative position from the absolute position of the surface moving body 1 to the submerged location indicated by the movement plan information by identifying a vector from the identified absolute position of the surface moving body 1 to the position of the submerged location indicated by the movement plan information.

[0056] The identification unit 162 can calculate the distance and direction from the current absolute position of the surface vehicle 1 to the submerged location, for example, by comparing the position of the submerged location indicated in the movement plan information with the current absolute position of the surface vehicle 1 based on data received by the GPS receiver 14. The identification unit 162 then converts the calculated distance and direction into a relative vector to identify the relative position from the absolute position of the surface vehicle 1 to the submerged location. The relative position is represented by the coordinates of the end position of the vector in a three-dimensional spatial coordinate system with the absolute position as the origin.

[0057] FIG. 7 is a diagram for explaining three-dimensional spatial coordinates. In the three-dimensional spatial coordinates shown in FIG. 7, x-axis, y-axis, and z-axis that are perpendicular to each other are shown. The x-axis direction corresponds to the north-south direction, the y-axis direction corresponds to the east-west direction, and the z-axis direction corresponds to the vertical direction. The relative position of the submerged location with respect to the surface vehicle 1 is represented by the three-dimensional coordinates (x, y, z) of the submerged location when the surface vehicle 1 is at the origin. The direction in which the submerged vehicle 2, released from the surface vehicle 1, should move is represented by a combination of the angle θ from the x-axis in the xy plane and the angle φ from the xy plane.

[0058] The identification unit 162 may identify the position of the submersible mobile unit 2. Specifically, as described above, the identification unit 162 identifies the relative position of the submersible mobile unit 2 with respect to the surface mobile unit 1 based on the timing at which the acoustic signal arrives at each of the multiple receivers included in the acoustic signal receiving unit 13. The identification unit 162 may further identify the absolute position of the submersible mobile unit 2 based on the identified absolute position of the surface mobile unit 1 and the relative position of the submersible mobile unit 2.

[0059] The identification unit 162 also identifies the movement speed of the submersible mobile body 2 from the identification results of multiple absolute positions of the submersible mobile body 2 and the identified time difference. The identification unit 162 may also identify the movement speed of the surface mobile body 1. The identification unit 162 may also identify the relative speed of the submersible mobile body 2 with respect to the surface mobile body 1. As described above, the identification unit 162 identifies the position and speed of the submersible mobile body 2 based on the acoustic signal emitted by the submersible mobile body 2.

[0060] The flight control unit 163 controls the movement mechanism unit 10 to fly the surface-water moving body 1. The flight control unit 163 controls the movement mechanism unit 10 to fly the surface-water moving body 1 toward a position above the submerged location indicated by the movement plan information. Specifically, the flight control unit 163 identifies a vector from the absolute position of the surface-water moving body 1 notified by the identification unit 162 to a position above the submerged location indicated by the movement plan information, and controls the rudder of the movement mechanism unit 10 to fly the surface-water moving body 1 in the direction of the identified vector.

[0061] When the submersible moving body 2 is submerged underwater, the flight control unit 163 controls the surface moving body 1 to be located vertically above the position of the submersible moving body 2. Specifically, the flight control unit 163 first identifies the latitude and longitude of the vertically above position of the submersible moving body 2 based on the absolute position of the surface moving body 1 notified by the identification unit 162. Next, the flight control unit 163 identifies a vector at the vertically above position of the submersible moving body 2 identified from the absolute position of the surface moving body 1, and controls the thrusters of the movement mechanism unit 10 to move the surface moving body 1 in the direction of the identified vector on the water surface. By maintaining the surface moving body 1 above the submersible moving body 2, the cable C can be made short, thereby preventing the cable C from getting caught on an underwater structure. In addition, the time required to wind up the cable C can be shortened.

[0062] If the movement plan information includes multiple submersible locations, when the flight control unit 163 acquires a result (e.g., captured image data) of the submersible mobile body 2 completing a predetermined operation at a first submersible location among the multiple submersible locations, it moves the surface mobile body 1 toward a position above a second submersible location different from the first submersible location. By repeating such movement control, the flight control unit 163 enables the submersible mobile body 2 to perform operations at all submersible locations included in the movement plan information.

[0063] When the surface water vehicle 1 is not flying but on the water, the position of the surface water vehicle 1 may change due to the influence of waves. In such a case, when the flight control unit 163 determines that the surface water vehicle 1 has moved a predetermined distance or more away from the position, the flight control unit 163 may operate the thrusters to return the surface water vehicle 1 to the position.

[0064] When the submersible vehicle 2 has performed the predetermined operation at all submersible locations and has been accommodated in the surface vehicle 1, the flight control unit 163 causes the surface vehicle 1 to fly according to the route indicated by the movement plan information. The flight control unit 163 causes the surface vehicle 1 to fly, for example, to a predetermined position.

[0065] The submersion control unit 164 controls the position of the submersion mobile unit 2. Specifically, when the surface mobile unit 1 arrives at a position above the submersion location, the submersion control unit 164 moves the submersion mobile unit 2 toward the submersion location. More specifically, when the surface mobile unit 1 reaches a position above the submersion location while the submersion mobile unit 2 is housed in the surface mobile unit 1, the submersion control unit 164 releases the submersion mobile unit 2 by controlling the attachment / detachment mechanism unit 11. Next, with the submersion mobile unit 2 released from the surface mobile unit 1, the submersion control unit 164 moves the submersion mobile unit 2 toward the submersion location by transmitting control data to the submersion mobile unit 2 via the cable C.

[0066] The submersible control unit 164 moves the submersible mobile unit 2 toward the submersible location, for example, by transmitting control data including the relative position of the submersible location to the position of the surface mobile unit 1 to the submersible mobile unit 2. Since the absolute position of the surface mobile unit 1 is determined with high accuracy based on radio waves from GPS satellites, the submersible control unit 164 can move the submersible mobile unit 2 in a direction corresponding to the relative position of the submersible location to the surface mobile unit 1, thereby making it possible to make the submersible mobile unit 2 reach the submersible location with high accuracy.

[0067] When the submersible mobile body 2 reaches a submersible location, the submersible control unit 164 may receive notification from the submersible mobile body 2 of the orientation of the submersible mobile body 2 at that time, and transmit control data to the submersible mobile body 2 indicating the difference between the notified orientation and the orientation associated with the submersible location in the movement plan information.

[0068] The setting unit 165 generates a control signal for controlling the cable processing unit 5 based on the movement plan information and supplies it to the cable processing unit 5. For example, when information indicating a positional relationship corresponding to the movement path of the submersible moving body 2 indicates that the submersible moving body 2 moves in a direction away from the surface moving body 1, the setting unit 165 sets the operation of the cable processing unit 5 to a payout mode in which the cable C is paid out from the surface moving body 1.

[0069] For example, consider a case where the surface vehicle 1 is fixed in its position on the water, and the submersible control unit 164 advances processing from motion ID (1) to motion ID (2) in the movement plan information shown in Fig. 6. In this case, since the positional relationship between the surface vehicle 1 and the submersible vehicle 2 in the movement plan information indicates "moving away," the setting unit 165 sets the operation of the cable processing unit 5 to the sending out mode. The setting unit 165 supplies, for example, a control signal to the cable processing unit 5 to set it to the sending out mode.

[0070] The setting unit 165 sets the speed at which the cable C of the cable processing unit 5 is let out, based on at least one of the position and speed of the submersible mobile unit 2 identified by the identification unit 162. The setting unit 165 supplies the cable processing unit 5 with a control signal specifying the speed at which the moving cable C is let out, for example, in synchronization with the timing at which the submersible mobile unit 2 is moved by the submersible control unit 164. This makes it possible to let out the cable C and adjust it to an appropriate length when the submersible mobile unit 2 submerges to move away from the surface mobile unit 1.

[0071] The setting unit 165 may set information on the travel distance as the let-out amount of the cable C, using the distance (7 m) that the submersible vehicle 2 travels away from the surface vehicle 1 in the period from operation ID (1) to operation ID (2). This allows the length of the mobile cable C to be let out with high precision. The movement plan information may include information on the distance that the submersible vehicle 2 travels away from the surface vehicle 1.

[0072] Furthermore, when the information indicating the positional relationship indicates that the submersible vehicle 2 is moving in a direction approaching the surface vehicle 1, the setting unit 165 sets the operation of the cable processing unit 5 to a winding mode that winds up the let-out cable C. For example, when the submersible control unit 164 advances processing from operation ID (7) to operation ID (8) in the movement plan information shown in Fig. 6, the information indicating the positional relationship indicates that the submersible vehicle 2 is "approaching" the surface vehicle 1, so the setting unit 165 sets the operation of the cable processing unit 5 to the winding mode. The setting unit 165 supplies, for example, a control signal to the cable processing unit 5 to set it to the winding mode.

[0073] The setting unit 165 sets the speed at which the cable C of the cable processing unit 5 is wound up, based on at least one of the position and speed of the submersible mobile unit 2 identified by the identification unit 162. For example, the setting unit 165 supplies a control signal specifying the speed at which the moving cable C is wound up to the cable processing unit 5 in synchronization with the timing at which the submersible mobile unit 2 is moved by the submersible control unit 164. This allows the cable C to be wound up and adjusted to an appropriate length when the submersible mobile unit 2 dives to approach the surface mobile unit 1.

[0074] The setting unit 165 may use the distance (10m-8m=2m) that the submersible vehicle 2 moves as it approaches the surface vehicle 1 in action ID (7) to action ID (8) to set information on the travel distance as the winding amount of the cable C. The travel plan information may include information on the distance (2m) that the submersible vehicle 2 moves as it approaches the surface vehicle 1.

[0075] In the above, an example has been described in which the setting unit 165 uses information on the speed of the submersible mobile body 2 identified by the identification unit 162, but the present invention is not limited to this. For example, when the submersible control unit 164 operates the submersible mobile body 2 so that the moving speed is approximately constant, the setting unit 165 may set the constant speed as the speed at which the cable C is wound or let out.

[0076] Furthermore, when the information indicating the positional relationship indicates that there is no change in the distance between the surface vehicle 1 and the submersible vehicle 2, the setting unit 165 sets the operation of the cable processing unit 5 to a stop mode that stops the operation of the cable processing unit 5. For example, when the submersible control unit 164 advances processing from operation ID (5) to operation ID (6) in the movement plan information shown in Fig. 6, the information indicating the positional relationship indicates "no change" in the distance between the surface vehicle 1 and the submersible vehicle 2, so the setting unit 165 sets the operation of the cable processing unit 5 to the stop mode.

[0077] In the stop mode, the setting unit 165 may control the cable processing unit 5 using the length of the cable C measured by the measurement unit 6. The setting unit 165, for example, uses the length of the cable C to specify the sagging or the like of the cable C. Then, as described above, the setting unit 165 controls the cable processing unit 5 based on the specified sagging. Similarly, when the setting of the mode of the cable processing unit 5 is released, the setting unit 165 may control the cable processing unit 5 using the length of the cable C.

[0078] For example, when the surface moving body 1 receives an external instruction to move to a position different from the movement route in the movement plan information, the setting unit 165 cancels the mode setting of the cable processing unit 5. As one example, when a new route to which the submersible moving body 2 should move or a new location to be photographed is specified from the computer used by the user, and the submersible moving body 2 moves to a position different from the current movement route by the submersible moving body control unit 164, the setting unit 165 cancels the mode setting of the cable processing unit 5.

[0079] Alternatively, if the identified position of the submersible mobile body 2 is away from the movement path of the movement plan information by more than a predetermined range, the setting unit 165 may cancel the setting of the mode of the cable processing unit 5. For example, the submersible mobile body 2 may deviate from the movement path of the movement plan information by more than a predetermined range when the water flow around the submersible mobile body 2 is fast, when the submersible mobile body 2 comes into contact with animals, plants, floating objects, etc., when the operation of the submersible mobile body 2's diving mechanism is unstable, etc. In this case, the setting unit 165 cancels the setting of the mode of the cable processing unit 5.

[0080] When the setting unit 165 releases the mode setting of the cable processing unit 5, it sets the speed at which the cable C is wound up or the speed at which the cable C is let out by the cable processing unit 5 based on at least one of the position and speed of the submersible vehicle 2 identified by the identification unit 162 and the length of the cable C measured by the measurement unit 6.

[0081] For example, when the measurement result of the position of the submersible vehicle 2 changes based on the measurement result of the position of the submersible vehicle 2 at the time the mode setting of the cable processing unit 5 is released, the setting unit 165 supplies the cable processing unit 5 with a control signal to wind or let out the cable C by the amount of the change in the distance between the surface vehicle 1 and the submersible vehicle 2. The setting unit 165 may also supply the cable processing unit 5 with a control signal to wind or let out the cable C by the amount of the change in the distance between the surface vehicle 1 and the submersible vehicle 2 that corresponds to the speed of the submersible vehicle 2.

[0082] In addition, if the position of the submersible moving body 2 identified by the identification unit 162 is away from the movement route of the movement plan information by more than a predetermined range, and the direction of travel of the submersible moving body 2 at the time the mode setting of the cable processing unit 5 is released is a direction away from the surface moving body 1, the setting unit 165 may supply a control signal to the cable processing unit 5 to send out cable C so that the length of cable C exceeds the predetermined range.

[0083] Alternatively, when the position of the submersible moving body 2 identified by the identifying unit 162 is away from the movement route in the movement plan information by more than a predetermined range and the direction of travel of the submersible moving body 2 at the time when the mode setting of the cable processing unit 5 is released is a direction approaching the surface moving body 1, the setting unit 165 may supply to the cable processing unit 5 a control signal to wind up the cable C so that the length of the cable C exceeds the predetermined range. Furthermore, after releasing the mode setting of the cable processing unit 5, the setting unit 165 may combine these operations to set the speed at which the cable processing unit 5 winds up the cable C or the speed at which the cable processing unit 5 pays out the cable C.

[0084] According to the moving body 100 of this embodiment, when the submersible moving body 2 is made to perform a submersible operation based on the movement plan information, the length of the cable C between the surface moving body 1 and the submersible moving body 2 can be automatically adjusted. Therefore, the moving body 100 can automatically execute the submersible operation of the submersible moving body 2.

[0085] The submersible control unit 164 receives the result data transmitted by the submersible mobile unit 2. The submersible control unit 164 transmits the result data to the management server 3 so that the user who requested the work can understand the progress. Note that the result data transmitted by the submersible mobile unit 2 does not include information indicating the position or orientation of the submersible mobile unit 2, and the submersible control unit 164 may add the absolute position and orientation of the submersible mobile unit 2 at the time of receiving the result data from the submersible mobile unit 2 to the captured image data.

[0086] For example, when the submersible mobile body 2 completes an operation at the first submersible location or receives result data, the submersible mobile body 2 moves to the second submersible location, which is the next submersible location. When the submersible mobile body 2 continues to take pictures while diving, the submersible mobile body 2 cannot determine the completion of the operation even if it receives part of the captured image data during the shooting as result data. Therefore, the submersible mobile body 164 may determine the completion of the operation when the submersible mobile body 2 arrives at the destination submersible location and the orientation at the destination matches the current orientation of the submersible mobile body 2. As a specific example of the movement to the next submersible location, the submersible mobile body 2 moves to the second submersible location by moving the submersible mobile body 2 to a position vertically below the position of the surface mobile body 1 between the first submersible location and the second submersible location.

[0087] The submersion control unit 164, for example, controls the attachment / detachment mechanism unit 11 to raise the submersible vehicle 2 to the position of the surface vehicle 1. Also, as described above, the setting unit 165 controls the cable processing unit 5 to wind up the cable C. The submersion control unit 164 may raise the submersible vehicle 2 by transmitting to the submersible vehicle 2 control data including a direction and distance for moving the submersible vehicle 2 towards the surface vehicle 1 based on the relative position of the submersible vehicle 2 with respect to the surface vehicle 1.

[0088] In the movement plan information according to the present embodiment described above, examples have been described in which the information on the positional relationship between the surface moving body 1 and the submersible moving body 2 is indicated as "moving away," "approaching," or "no change," but the present invention is not limited to this. The information on the positional relationship may be information that can determine whether the submersible moving body 2 is moving away from the surface moving body 1, whether the submersible moving body 2 is moving toward the surface moving body 1, or whether there is no change in the distance between the surface moving body 1 and the submersible moving body 2.

[0089] [Processing flow for surface vehicle 1] Fig. 8 is a flowchart showing the flow of processing in the water vehicle 1. The flowchart shown in Fig. 8 starts at a point before the vehicle 100 starts moving.

[0090] First, the surface moving body 1 acquires movement plan information from the management server 3 (S11). The surface moving body 1 moves based on the positions of multiple submerged locations included in the acquired movement plan information (S12). Specifically, the flight control unit 163 controls the movement mechanism unit 10 to move toward the first submerged location. The flight control unit 163 determines whether the moving body 100 has reached above the submerged location during the movement of the moving body 100 (S13). When the flight control unit 163 determines that the moving body 100 has not reached above the submerged location based on the absolute position of the surface moving body 1 notified by the identification unit 162 (NO in S13), the moving body continues to move (S12).

[0091] When the flight control unit 163 determines that the moving body 100 has reached above the submerged location or a landing location at the instructed absolute position (YES in S13), it ends the movement of the surface-water moving body 1. When the flight control unit 163 ends the movement of the surface-water moving body 1, the submerged navigation control unit 164 controls the attachment / detachment mechanism unit 11 to release the submerged moving body 2 (S14).

[0092] When the submersible mobile unit 2 is released, the submersible mobile unit 2 is moved to the submersible location (S15). Here, the setting unit 165 switches between letting out and winding up the cable C by the cable processing unit 5 based on information indicating the positional relationship between the surface mobile unit 1 and the submersible mobile unit 2, which is included in the movement plan information. In other words, in S15, the control unit 16 moves the submersible mobile unit 2 to the submersible location corresponding to the movement plan information while adjusting the length of the cable.

[0093] The submersion control unit 164 determines whether or not the submersion mobile body 2 has reached the submersion location based on the absolute position of the submersion mobile body 2 notified by the identification unit 162 (S16). If the submersion control unit 164 determines that the submersion mobile body 2 has not reached the submersion location (NO in S16), it waits until the submersion mobile body 2 reaches the submersion location.

[0094] When the submersible control unit 164 determines that the submersible mobile unit 2 has reached the submersible location (YES in S16), it transmits control data for executing an operation associated with the submersible location in the movement plan information to the submersible mobile unit 2, thereby causing the submersible mobile unit 2 to execute that operation (S17). Here, the setting unit 165 continues to control the cable processing unit 5 based on information indicating the positional relationship between the surface mobile unit 1 and the submersible mobile unit 2, which is included in the movement plan information. In other words, in S17, the control unit 16 adjusts the length of the cable while causing the submersible mobile unit 2 to execute an operation corresponding to the movement plan information.

[0095] When the submersible control unit 164 receives a notification from the submersible mobile unit 2 that an action has been performed, it determines whether the action has been completed at all submersible locations (S18). If there is still a submersible location where an action has not been performed (NO in S18), the submersible control unit 164 moves the submersible mobile unit 2 to the next submersible location. The submersible control unit 164 repeats the processes from S15 to S18 until the action has been performed at all submersible locations.

[0096] When the operation has been performed at all submersible locations (YES in S18), the submersible control unit 164 controls the attachment / detachment mechanism unit 11 to wind up the cable C, and sends control data for raising the submersible vehicle 2 to the submersible vehicle 2, thereby raising the submersible vehicle 2 (S19). In other words, in S19, the control unit 16 raises the submersible vehicle 2 to a position of the surface vehicle 1 corresponding to the movement plan information, while adjusting the length of the cable. When the submersible vehicle 2 has risen and been housed in the surface vehicle 1, the flight control unit 163 moves the surface vehicle 1 toward the base (S20).

[0097] [First Modification] In the above explanation, the surface moving body 1 has the plan information acquisition unit 161, the flight control unit 163, and the submersible control unit 164, but a moving body control device (e.g., a computer) external to the surface moving body 1 may have functional units equivalent to the plan information acquisition unit 161, the flight control unit 163, and the submersible control unit 164. The submersible control unit of the moving body control device, for example, moves the surface moving body 1 and the submersible moving body 2 toward a position where the submersible moving body 2 will execute the movement plan information, and generates control information for causing the submersible moving body 2 to execute the movement plan information.

[0098] As an example, the management server 3 may have functional units equivalent to the plan information acquisition unit 161, the flight control unit 163, and the submersible control unit 164. In this case, the flight control unit and the submersible control unit of the management server 3 acquire information indicating the position of the surface-water moving body 1 and the position of the submersible moving body 2 from the surface-water moving body 1. Then, the flight control unit possessed by the management server 3 transmits data for controlling the movement mechanism unit 10 to the surface-water moving body 1, and the submersible control unit possessed by the management server 3 transmits control data for moving the submersible moving body 2 to the submersible moving body 2 via the surface-water moving body 1.

[0099] Furthermore, the communication unit of the management server 3 transmits movement plan information of the submersible vehicle 2 to the surface vehicle 1. As a result, the setting unit 165 of the surface vehicle 1 controls the cable processing unit 5 based on the movement plan information. Alternatively, the functional unit of a mobile control device such as the management server 3 may further include the setting unit 165. In this case, the setting unit 165 of the management server 3 generates a control signal for controlling the cable processing unit 5 based on the movement plan information and transmits it to the surface vehicle 1.

[0100] [Second modified example] In the above explanation, the case has been exemplified where the submersible control unit 164 controls the position of the submersible mobile unit 2 based on the position of the submersible mobile unit 2 identified by the identification unit 162, but the submersible control unit 164 may control the position of the submersible mobile unit 2 by other means. As an example, the surface mobile unit 1 may be equipped with an imaging unit for imaging the condition of the cable C connected to the submersible mobile unit 2 or the underwater condition where the submersible mobile unit 2 is submerged.

[0101] As an example, the submersion control unit 164 causes the photographing unit to start photographing when the submersible mobile unit 2 starts submerging, and causes the photographing unit to continue photographing until recovery of the submersible mobile unit 2 is completed. By analyzing the shape or direction of the cable C in the images photographed by the photographing unit, the submersion control unit 164 can determine whether the cable C is stretched correctly in the direction in which the submersible mobile unit 2 heads toward the submersible location, or whether the cable C is being carried away in a direction different from the submersible location by a water current.

[0102] When the submergence control unit 164 determines that the cable C is not properly tensioned or that the cable C is flowing in a direction different from the direction of the submergence location, it instructs the submergence mobile body 2 to move toward the submergence location. When the submergence control unit 164 determines that the cable C is not properly tensioned or that the cable C is flowing in a direction different from the direction of the submergence location, it may warn the operator or the like by transmitting warning data to the management server 3. Alternatively or in addition to this, the setting unit 165 may receive the result of the determination that the cable C is not properly tensioned from the submergence control unit 164, and may cancel the setting of the mode of the cable processing unit 5 in accordance with the determination result, and control the cable processing unit 5 as described above.

[0103] [Effects of surface vehicle 1] As described above, the moving body 100 includes the surface moving body 1 and the submersible moving body 2 detachably coupled to the surface moving body 1. The surface moving body 1 includes a flight control unit 163 that causes the surface moving body 1 to fly toward a position above the submersible location indicated by the movement plan information including the submersible location of the submersible moving body 2, a submersible control unit 164 that causes the submersible moving body 2 to move toward the submersible location when the surface moving body 1 arrives at the position above the submersible location, and a setting unit 165 that adjusts the length of the cable C. With the moving body 100 configured in this way, the submersible moving body 2 can move to a predetermined submersible location underwater while appropriately adjusting the length of the cable C without the need for the operator's operation. Furthermore, when the submersible moving body 2 reaches the submersible location, the submersible control unit 164 transmits control data for executing an operation to the submersible moving body 2, so that the submersible moving body 2 can execute a predetermined operation at the submersible location without the need for the operator's operation.

[0104] In the above explanation, the surface moving body 1 and the submersible moving body 2 move autonomously based on the movement plan information, but some of the operations of the surface moving body 1 and the submersible moving body 2 may be performed based on the control of an operator. For example, if the surface moving body 1 receives manual operation data from the management server 3 or another device while the surface moving body 1 and the submersible moving body 2 are moving autonomously based on the movement plan information, the autonomous operation may be stopped and the surface moving body 1 may operate based on the manual operation data.

[0105] Furthermore, this invention will make it possible to contribute to Goal 9 of the United Nations' Sustainable Development Goals (SDGs), which is to "build resilient infrastructure, promote industry, innovation and infrastructure."

[0106] Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes are possible within the scope of the gist of the present invention. For example, all or part of the device can be configured by distributing or integrating functionally or physically in any unit. In addition, new embodiments resulting from any combination of multiple embodiments are also included in the embodiments of the present invention. The effect of the new embodiment resulting from the combination combines the effect of the original embodiment. [Explanation of symbols]

[0107] 1 Water vehicle 2 Submersible vehicle 3 Management Server 5 Cable processing section 6 Measuring part 10 Moving mechanism section 11 Detachable mechanism 12 Communications Department 13 Acoustic signal receiving unit 14 Receiver 15 Storage section 16 Control section 100 Mobile 161 Planning Information Acquisition Department 162 Specific part 163 Flight Control Unit 164 Submersion Control Unit 165 Settings

Claims

1. A moving body in which a surface moving body that moves on the water surface and a submersible moving body that submerges in the water are detachably connected, The water vehicle is a cable processing section connected to the submersible vehicle by a cable and switching between letting out and taking up the cable; a storage unit that stores movement plan information including information on a preset movement path of the submersible moving body and information indicating a positional relationship between the submersible moving body and the surface moving body on the movement path of the submersible moving body; a setting unit that sets the operation of the cable processing unit to a payout mode for paying out the cable from the surface vehicle when the information indicating the positional relationship corresponding to the movement path of the submersible vehicle indicates that the submersible vehicle is moving in a direction away from the surface vehicle; and A moving object having the above configuration.

2. the setting unit sets the operation of the cable processing unit to a winding mode in which the let-out cable is wound up when the information indicating the positional relationship indicates that the submersible vehicle is moving in a direction approaching the surface vehicle. The moving body according to claim 1 .

3. the setting unit sets a stop mode in which the operation of the cable processing unit is stopped when the information indicating the positional relationship indicates that there is no change in the distance between the surface vehicle and the submersible vehicle. The moving body according to claim 1 .

4. The surface vehicle further includes an identification unit that identifies a position and a speed of the submersible vehicle based on an acoustic signal emitted by the submersible vehicle, the setting unit sets a speed at which the cable is wound up or a speed at which the cable is let out by the cable processing unit based on at least one of the identified position and speed of the underwater vehicle. The moving body according to claim 1 .

5. A measuring unit for measuring the length of the cable sent out from the water vehicle is further provided, when the surface vehicle acquires an external instruction to move to a position different from the movement route of the movement plan information, the setting unit cancels the mode setting of the cable processing unit, and sets the speed of winding up the cable or the speed of letting out the cable of the cable processing unit based on at least one of the identified position and speed of the submersible vehicle and the measured length of the cable. The moving body according to claim 4.

6. A measuring unit for measuring the length of the cable sent out from the water vehicle is further provided, when the identified position of the underwater moving body is away from the movement route of the movement plan information by more than a predetermined range, the setting unit cancels the setting of the mode of the cable processing unit, and sets the speed of winding up the cable or the speed of letting out the cable of the cable processing unit based on at least one of the identified position and speed of the underwater moving body and the measured length of the cable. The moving body according to claim 4.

7. 7. A mobile body control system comprising: the mobile body according to claim 1; and a mobile body control device that generates control information for controlling the surface mobile body and the submersible mobile body, The mobile object control device includes: a communication unit that transmits the movement plan information of the submersible vehicle to the surface vehicle; a submersible control unit that moves the surface vehicle and the submersible vehicle toward a position where the submersible vehicle executes the movement plan information, and generates the control information for causing the submersible vehicle to execute the movement plan information; having Mobile control system.

8. A method for controlling a cable processing section provided in a water-based moving body that moves on water, the method comprising the steps of: the surface vehicle is connected to a submersible vehicle that submerges in water by a cable, and the cable processing unit switches between letting out and taking up the cable, The computer includes: acquiring movement plan information including information on a preset movement route of the submersible moving body and information indicating a positional relationship between the submersible moving body and the surface moving body on the movement route of the submersible moving body; When the information indicating the positional relationship corresponding to the movement path of the submersible vehicle indicates that the submersible vehicle is moving in a direction away from the surface vehicle, setting the operation of the cable processing unit to a payout mode in which the cable is paid out from the surface vehicle; The control method includes:

Images