Investigating robot unit

Abstract

To provide an investigating robot unit capable of investigating both sea surface and underwater conditions.SOLUTION: An investigating robot unit 1 comprises a ship-shaped robot 10 floating on the sea surface and an underwater robot 100 moving through the sea. The ship-shaped robot 10 has a communication part. The underwater robot 100 can be separably accommodated in the cage of the ship-shaped robot 10 and can communicate with the ship-shaped robot 10 via the communication part. The ship-shaped robot 10 comprises a first camera 43 to photograph the sea surface. The underwater robot 100 comprises a third camera 103 to photograph the underwater.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to an investigation robot unit.

Background Art

[0002] As an investigation robot unit, there is known one including an underwater vehicle capable of moving underwater and a surface vehicle moving on the water surface in accordance with the movement of the underwater vehicle. The underwater vehicle is equipped with a camera. The camera collects an image taken in the sea (underwater) as underwater information. Therefore, it is possible to investigate the state of the sea with the camera of the underwater vehicle (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the investigation robot unit is equipped with a camera only on the underwater vehicle. For this reason, it is difficult to investigate the state of the sea surface (for example, the state of garbage on the sea surface, etc.).

[0005] The present invention has been made in view of the above-described circumstances, and an object thereof is to provide an investigation robot unit capable of investigating the respective states both on the sea surface and underwater.

Means for Solving the Problems

[0006] In order to solve the above problems, the present invention proposes the following means. <1>The survey robot unit according to one aspect of the present invention includes a boat-shaped robot having a communication unit, an underwater robot that can be detachably fixed to the boat-shaped robot and can communicate with the boat-shaped robot, and imaging means provided on each of the boat-shaped robot and the underwater robot.

[0007] According to the survey robot unit, the underwater robot can be detachably fixed to the boat-shaped robot. Also, the boat-shaped robot and the underwater robot can communicate with each other. Further, imaging means is provided on each of the boat-shaped robot and the underwater robot. Therefore, the imaging means of the boat-shaped robot can capture an image of the sea surface. Also, the imaging means of the underwater robot can capture an image of the sea. Thereby, the images of the sea surface and the sea can be transmitted from the communication unit of the boat-shaped robot to the outside, and information on the sea surface and the sea can be collected. As a result, the state of objects (e.g., garbage) floating on both the sea surface and the sea can be investigated.

[0008] Also, based on the obtained video information, a 3D prediction map of marine garbage can be simulated in combination with terrain information, seabed information, tidal current simulation, etc. Based on this prediction map, a range can be presented in advance at the location where the marine garbage is flowing. Furthermore, the survey robot unit can also be applied when checking the growth state of fish, etc. in a fish cage for aquaculture. In addition, the survey robot unit can also be applied when investigating underwater ruins and underwater structures.

[0009] <2>In the survey robot unit according to <1> above, the underwater robot may be storable in the boat-shaped robot.

[0010] According to the survey robot unit, an underwater robot is stored in a boat-shaped robot. Therefore, the survey robot unit can be made compact. As a result, for example, the survey robot unit can be easily floated on the sea surface by separating the underwater robot from the boat-shaped robot on the sea surface. Also, for example, the survey robot unit can be easily recovered from the sea surface by storing the underwater robot in the boat-shaped robot on the sea surface.

Effect of the Invention

[0011] According to the present invention, the respective states can be investigated both on the sea surface and in the sea.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Mode for Carrying Out the Invention

[0013] Hereinafter, a survey robot unit according to an embodiment of the present invention will be described with reference to the drawings. In the drawings, the X direction is defined as the front, the Y direction as the left, and the Z direction as the upper for explanation.

[0014] <Survey Robot Unit> As shown in FIGS. 1 and 2, the survey robot unit 1 is, for example, a device for remotely operating and investigating marine floating garbage. The survey robot unit 1 includes a boat-shaped robot 10 floating on the sea surface (water surface), an underwater robot 100 moving in the sea (underwater), and a prop (proportional system) (not shown). The boat-shaped robot 10 and the underwater robot 100 are each driven by their own battery, and the communication unit 46 (described later) of the boat-shaped robot 10 is wirelessly connected to the radio control transmitter (Propo), and is remotely operated from the land by the Propo.

[0015] The Propo is a base terminal for remotely operating the boat-shaped robot 10 and the underwater robot 100 from the land. Note that the boat-shaped robot 10 and the underwater robot 100 may be remotely operated from the base terminal with power supply by a wired connection. Also, the Propo can confirm the image taken by the first imaging means 16 (described later) mounted on the boat-shaped robot 10 in real time on the display. Further, the Propo can confirm the image taken by the second imaging means 103 (described later) mounted on the underwater robot 100 in real time on the display.

[0016] The survey robot unit 1 includes, for example, an acoustic positioning system having a sampling rate of about 1 Hz. The acoustic positioning system receives the sound waves transmitted from the underwater robot 100 and determines the relative position of the underwater robot 100 with respect to the boat-shaped robot 10. The underwater robot 100 is operated by an operator based on the signal from the Propo.

[0017] The boat-shaped robot 10 is equipped with a GNSS (Global Navigation Satellite System) such as a GPS (Global Positioning System). The GNSS is a global positioning system that measures the position of the boat-shaped robot 10. The boat-shaped robot 10 has functions such as dynamic positioning and automatic navigation for presetting route coordinates. The boat-shaped robot 10 autonomously sails according to the relative position and azimuth with respect to the underwater robot 100 determined by the acoustic positioning system. Specifically, the boat-shaped robot 10 autonomously sails so as to follow the underwater robot 100 based on the relative position, azimuth angle, and the length of the cable 35 (described later) of the underwater robot 100.

[0018] In addition, an optical flow sensor may be used for the boat-shaped robot 10 or the underwater robot 100. That is, the boat-shaped robot 10 and the underwater robot 100 may be navigated while feedbacking the position information of the boat-shaped robot 10 and the underwater robot 100 using the optical flow sensor.

[0019] Hereinafter, the boat-shaped robot 10 and the underwater robot 100 will be described in detail. <Boat-shaped robot> The boat-shaped robot 10 is a catamaran-shaped autonomous boat having a navigation function as a boat for moving on the sea surface. The boat-shaped robot 10 is configured, for example, with a length L in the front-rear direction: 1400 mm, a width W: 1100 mm, a height H: 65 mm, and a weight of 30 kg. The boat-shaped robot 10 includes a pair of floats 12, a hull frame 13, a plurality of first thrusters 14, a reel device 15, a first imaging means (imaging means) 16, and a first control device 17 (see FIG. 3). The pair of floats 12 are connected at intervals in the left-right direction by, for example, a front fixed pipe 21 and a rear fixed pipe 22 made of an aluminum alloy. The hull frame 13 is mounted on the upper parts of the front fixed pipe 21 and the rear fixed pipe 22.

[0020] A cage (not shown) is installed between the pair of floats 12. The underwater robot 100 described later is stored in the cage. The cage is provided below the hull frame 13. The cage is configured to be able to store (fix) the underwater robot 100 separably. The cage separates or stores the underwater robot 100 based on a remote operation from the prop. That is, the boat-shaped robot 10 can separate and store the underwater robot 100. The height of the cage can be adjusted according to the underwater robot 100 to be used in order to suppress the hydrodynamic resistance during the navigation of the boat-shaped robot 10.

[0021] A plurality of first thrusters 14 are provided to navigate (move) the boat-shaped robot 10 on the sea surface. As the plurality of first thrusters 14, four are provided at the bottom of a pair of floats 12. The four first thrusters 14 are arranged in a rhombus shape in a bottom view, for example. That is, the four first thrusters 14 are arranged so that the boat-shaped robot 10 can move in all directions on the sea surface. In the embodiment, although four are described as an example of the plurality of first thrusters 14, the number of the first thrusters 14 is not limited to four.

[0022] As shown in FIGS. 1 to 3, the reel device 15 is provided to connect the boat-shaped robot 10 to the underwater robot 100 by wire. The reel device 15 includes a reel frame 32, a cable drum 33, a motor 34, a cable 35, and a cable monitoring camera 36. The reel frame 32 is mounted on the hull frame 13 near the rear part 13a. The cable drum 33 is rotatable by the motor 34. The motor 34 is a DC motor. The cable drum 33 can be locked by an electromagnetic brake (not shown).

[0023] The cable 35 is wound around the cable drum 33. The cable 35 is connected to a first control device 17 (described later) via a slip ring (not shown). By rotating the cable drum 33 with the motor 34, the cable 35 can be wound up and fed out. The cable monitoring camera 36 monitors the state of winding up and feeding out of the cable 35. The tip 35a of the cable 35 is connected to a second control device 104 (described later) of the underwater robot 100. Therefore, the first control device 17 is connected to the second control device 104 by wire via the cable 35.

[0024] The first imaging means 16 includes, for example, a first storage case 42, a first camera 43, and a second camera (not shown). The first storage case 42 is disposed, for example, downward from the bottom surface at the front portion 13b of the hull frame 13. The first storage case 42 has waterproof properties. The first camera 43 is stored at the lower end of the first storage case 42. The first camera 43 is rotatable 360° in the horizontal direction and captures a 3D image of sea surface objects. The 3D image captured by the first camera 43 is transmitted in real time to a prop on land. Hereinafter, in the embodiment, sea surface garbage will be described as an example of sea surface objects, but sea surface objects include, in addition to garbage, red tides (pumice stones), sea surface structures, and the like.

[0025] The second camera is mounted, for example, on the upper part of the hull frame 13. The second camera is rotatable 360° in the horizontal direction and captures a 3D image of the surrounding coast of the ship-shaped robot 10. The 3D image captured by the second camera is transmitted in real time to a prop on land. Hereinafter, in the embodiment, coastal garbage will be described as an example of the surrounding coast of the ship-shaped robot 10, but the surrounding coast of the ship-shaped robot 10 includes, in addition to coastal garbage, coastal (marine) structures and the like.

[0026] The first control device 17 includes, for example, a first storage box 45, a communication unit 46, and a control unit (not shown). The first storage box 45 is disposed in front of the reel frame 32 and mounted substantially at the center of the hull frame 13 in the left-right direction. The first storage box 45 has waterproof properties, for example. Inside the first storage box 45, for example, the communication unit 46 and the control unit are stored.

[0027] The communication unit 46 receives a control signal from a prop (not shown) and transmits it to the control unit. The control unit controls the cage, the reel device 15, and the first imaging means 16 (specifically, the first camera 43 and the second camera) based on the signal transmitted from the communication unit 46. Further, the communication unit 46 transmits it to a second control device 104 (described later) via the cable 35. Note that a battery (not shown) is stored in the first storage box 45. The battery is used as the power source of the ship-shaped robot 10.

[0028] <Underwater Robot> The underwater robot 100 has a function of moving in the sea. The underwater robot 100 is wired-connected to the ship-shaped robot 10 by a cable 35. The underwater robot 100 is configured, for example, with a length L in the front-rear direction: 470 mm, a width W: 450 mm, a height H: 200 mm, and a weight of 10 kg. The underwater robot 100 includes, for example, a frame body 102, a plurality of second thrusters (not shown), second imaging means (imaging means) 103, and a second control device 104. A plurality of second thrusters are provided on the frame body 102. The plurality of second thrusters enable the underwater robot 100 to move such as diving and turning in the sea.

[0029] The second imaging means 103 has, for example, a third camera built into a second storage case (not shown). Hereinafter, the third camera of the second imaging means 103 may be referred to as the third camera 103. The second storage case has waterproof properties. The third camera 103 is provided, for example, at the front of the second storage case. The third camera 103 is disposed on the front portion 102a side of the frame body 102. The third camera 103 captures a 3D image of underwater objects. The 3D image captured by the third camera 103 is transmitted in real time to the prop on land. Hereinafter, in the embodiment, underwater garbage will be described as an example of underwater objects, but underwater objects include, in addition to garbage, red tides (pumice stones), underwater structures, and the like.

[0030] The second control device 104 is stored, for example, in a second storage case (not shown). The second control device 104 is capable of communicating with the communication unit 46 of the first control device 17. In other words, the underwater robot 100 is wired-connected by the cable 35 so as to be capable of communicating with the ship-shaped robot 10. The second control device 104 receives, for example, a control signal from the first control device 17 and transmits it to the plurality of second thrusters and the second imaging means 103 (that is, the third camera 103). Further, the second control device 104 sends an image of the underwater garbage captured by the third camera 103 to the first control device 17. Note that a battery (not shown) is stored in the second storage case. The battery is used as the power source for the underwater robot 100.

[0031] Next, the operation of investigating (monitoring) marine drifting debris by the investigation robot unit 1 will be described based on FIGS. 2 and 4. As shown in FIGS. 2 and 4, when investigating marine debris with the investigation robot unit 1, first, the underwater robot 100 is stored in the cage of the ship-shaped robot 10. With the underwater robot 100 stored in the cage, the investigation robot unit 1 is floated on the sea surface S1. Next, the investigation robot unit 1 floated on the sea surface S1 is navigated to the investigation position. Then, the underwater robot 100 is separated from the cage of the investigation robot unit 1 that has navigated to the investigation position.

[0032] The underwater robot 100 separated from the cage is moved in the sea S2, and a 3D image of marine debris is taken by the third camera 103 of the underwater robot 100. The 3D image taken by the third camera 103 is transmitted to the prop on land in real time.

[0033] The ship-shaped robot 10 autonomously navigates following the underwater robot 100 based on the relative position, azimuth angle, and the feeding length of the cable 35 of the underwater robot 100. A 3D image of sea surface debris is taken by the first camera 43 of the ship-shaped robot 10. Also, a 3D image of coastal debris is taken by the second camera. The 3D images taken by the first camera 43 and the second camera are transmitted to the prop on land in real time.

[0034] The 3D images taken by the first camera 43, the third camera 103, and the second camera are confirmed in real time on the display of the prop. Based on the image information displayed on the display, the amount, type, and distribution of marine debris are grasped. Alternatively, the obtained image information is saved, and based on the saved image information, the amount, type, and distribution of marine debris are grasped. In addition, the obtained image information is combined with topographic information, seabed information, tidal current simulation, etc. to create a 3D simulation map of marine debris. Based on the 3D simulation map of marine debris, the range of the location where the marine debris flows is presented in advance.

[0035] After the survey robot unit 1 finishes photographing marine drifting debris, the underwater robot 100 is stored in the cage of the ship-shaped robot 10. After storing the underwater robot 100 in the cage, the survey robot unit 1 is recovered from the sea surface S1. Thereby, the survey of marine drifting debris by the survey robot unit 1 is completed.

[0036] According to the survey robot unit 1 in the embodiment described above, as shown in FIGS. 2 and 4, the underwater robot 100 can be detachably fixed to the ship-shaped robot 10. Also, the ship-shaped robot 10 and the underwater robot 100 can communicate with each other. Furthermore, the ship-shaped robot 10 is provided with a first camera 43. Also, the underwater robot 100 is provided with a third camera 103. Therefore, the first camera 43 of the ship-shaped robot 10 can capture a 3D image of the sea surface debris. Furthermore, the third camera 103 of the underwater robot 100 can capture an image of the underwater debris. Thereby, the images of the sea surface debris and the underwater debris are transmitted from the communication unit 46 (see FIG. 3) of the ship-shaped robot 10 to the prop, and the information on the sea surface debris and the underwater debris can be collected. As a result, the state of the debris on the sea surface and underwater can be investigated.

[0037] In addition, the ship-shaped robot 10 is provided with a second camera. Therefore, in addition to the sea surface debris and the underwater debris, an image of the coastal debris can be transmitted from the communication unit 46 (see FIG. 3) of the ship-shaped robot 10 to the prop. Thereby, in addition to the information on the sea surface debris and the underwater debris, the information on the coastal debris can be collected. As a result, the state of the debris on the sea surface, underwater, and coastal areas can be investigated.

[0038] In addition, based on the obtained video information, a 3D prediction map of marine debris can be simulated in combination with terrain information, seabed information, tidal current simulation, etc. Based on this prediction map, a range can be presented in advance at the location where the marine debris is flowing. Furthermore, the investigation robot unit 1 can also be applied to confirm the growth status of fish, etc. in a fish cage for aquaculture. In addition, the investigation robot unit 1 can also be applied to investigate underwater ruins and underwater structures.

[0039] In addition, the underwater robot 100 is stored in the ship-shaped robot 10. Therefore, the investigation robot unit 1 can be made compact. As a result, for example, by separating the underwater robot 100 from the ship-shaped robot 10 on the sea surface S1, the investigation robot unit 1 can be easily floated on the sea surface S1. Also, for example, by storing the underwater robot 100 in the ship-shaped robot 10 on the sea surface S1, the investigation robot unit 1 can be easily recovered from the sea surface S1.

[0040] Note that the technical scope of the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention.

[0041] In addition, within the scope not departing from the spirit of the present invention, it is possible to appropriately replace the components in this embodiment with well-known components.

Explanation of Reference Numerals

[0042] 10... Ship-shaped robot 16... First imaging means (imaging means) 43... First camera 46... Communication unit 100... Underwater robot 103... Third camera (second imaging means, imaging means)

Claims

1. A boat-shaped robot having a communication unit, and an underwater robot that can be detachably fixed to the boat-shaped robot and is communicable with the boat-shaped robot. An investigation robot unit, wherein each of the boat-shaped robot and the underwater robot is provided with imaging means.

2. The investigation robot unit according to claim 1, wherein the underwater robot can be stored in the boat-shaped robot.

Images