Small size rescue type water drone

Abstract

To provide a small-sized rescue type water drone for lifesaving with a simple structure at low cost.SOLUTION: A water drone navigating on water by remote operation or automatic maneuvering includes a hull 2 with a top surface side 3a of configuration and size where at least an upper half of a human body is capable of riding on it and at the same time having the top surface side 3a have buoyancy to float on water even when at least the upper half of a human body is placed on it.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to a small rescue version of a water drone for rescue operations. [Background technology]

[0002] Conventionally, technologies have been proposed for using surface drones that navigate on the water by remote control or automatic piloting for rescue operations.

[0003] For example, the water drone system described in Patent Document 1 includes a life preserver launching drone and a towing drone. These two water drones each include a navigable hull, a propulsion unit that provides propulsive force to the hull, and a control unit that receives wireless communications and drives and controls the propulsion unit based on wireless communications commands. In addition, the life preserver launching drone is configured to store life preservers (such as lifeboats) to be used by the person in need of rescue and to launch the life preservers outside the hull. The towing drone has the propulsion power to navigate on the water while towing the life preserver carrying the person in need of rescue.

[0004] When conducting a water rescue, both the life-saving device launching drone and the towing drone will travel to the rescue location. Once they arrive at the rescue location, the life-saving device launching drone will launch the life-saving device from the hull of the ship. Once the person in need of rescue gets on the launched life-saving device, the towing drone will tow the device to a safe location, where the person will be secured and given treatment. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2020-142671 Summary of the Invention [Problem to be solved by the invention]

[0006] However, in the conventional example, two water drones, a life-saving device launching drone and a towing drone, as well as life-saving devices (such as lifeboats) are required, making the system large-scale and expensive.

[0007] Patent Document 1 also proposes that a life preserver-launching drone also serve as a towing drone. However, because a life preserver-launching drone needs a structure for storing and launching the life preserver, as well as a large propulsion force for towing the life preserver, the structure of the surface drone itself is complicated and expensive.

[0008] Therefore, an object of the present invention is to provide a water drone for water rescue that has a simple configuration and is low cost. [Means for solving the problem]

[0009] The present invention was made in consideration of the above problems, and is characterized by: (1) a water drone that navigates on water by remote control or automatic piloting, the upper surface of which has a shape and size that allows at least the upper body of a person to rest on it, and which has buoyancy that allows the upper surface to float above the water even when at least the upper body of a person is resting on it.

[0010] (2) In the above (1), the hull is provided with a gripping portion that can be grasped by hand.

[0011] (3) In the above (1), the hull is characterized in that the top and bottom members are colored differently.

[0012] (4) In the above (1), the hull is characterized in that when it capsizes with its bottom side exposed above the water surface, a rotational moment is generated to return the top side above the water surface, restoring it to its original proper state. [Effects of the Invention]

[0013] According to the present invention, the hull of the water drone itself functions as a life preserver, making it simple in configuration and low in cost. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 2 is a perspective view of the exterior of the hull, showing the present embodiment. [Figure 2] 1A and 1B show the present embodiment, in which FIG. 1A is a front view of the hull, and FIG. 1B is an enlarged view of the main part of FIG. [Figure 3] FIG. 2 is a side view of the hull of the present embodiment. [Figure 4] 1A and 1B show the present embodiment, in which FIG. 1A is a bottom view of the hull, and FIG. 1B is an enlarged view of the main part of FIG. [Figure 5] FIG. 1 is a circuit block diagram of a control system for the water drone according to this embodiment. [Figure 6] FIG. 1 is a front view of the water drone illustrating the present embodiment and illustrating automatic restoration. [Figure 7] FIG. 1 is a side view of the water drone with a person on board, illustrating the present embodiment. [Figure 8] FIG. 5 is a diagram showing a modified example of the guard member (corresponding to FIG. 4(b)). DETAILED DESCRIPTION OF THE INVENTION

[0015] Each embodiment will be described in detail below with reference to the accompanying drawings. In this example, a description of already known technologies will be omitted. Furthermore, the following examples illustrate devices and methods for embodying the technical idea of ​​the invention, and the technical idea of ​​the present invention is not limited to the following. Various modifications can be made to the technical idea of ​​the present invention within the scope of the matters described in the claims. In particular, it should be noted that the drawings are schematic and may differ from the actual product.

[0016] This section describes a rescue system using surface drones. The rescue system includes a drone operation terminal (controller) (not shown) installed on a mother ship or the like, and multiple surface drones 1 that move based on commands from the drone operation terminal.

[0017] The drone operation terminal communicates with each of the surface drones 1 via the Internet or the like, and can send various commands to the surface drones. A display (not shown) or the like can be connected to the drone operation terminal.

[0018] Each water drone 1 is configured to be able to navigate on the water by remote control or automatic piloting, and is equipped with a hull 2, a propulsion unit 10 attached to the hull 2, and a control unit 20 attached to the hull 2 ​​and performing drive control of the propulsion unit 10, etc.

[0019] The hull 2 ​​comprises a top member 3 that forms the top side 3a, and a bottom member 4 that forms the bottom side. The top member 3 and the bottom member 4 are configured to be lockable in a position where their entire peripheral edges are butted together. In the locked state, the interior space is a waterproof, sealed space, and can be opened to the outside by unlocking.

[0020] The upper surface side 3a of the upper surface member 3 has a shape and size that allows at least the upper half of a person's body to rest on it. In this embodiment, the entire upper surface side 3a has a substantially flat shape, making it easy to rest the upper half of a person's body on. The upper surface member 3 has a side surface side 3b that extends downward from the entire periphery of the upper surface side 3a, and the boundary between the upper surface side 3a and the side surface side 3b is formed in a rounded shape.

[0021] The top surface member 3 and the bottom surface member 4 are made of a strong and lightweight material, including lightweight and strong materials such as glass fiber, fiber reinforced plastic (FRP), and carbon.

[0022] The hull 2 ​​has a waterproof sealed internal space, i.e., an air layer, and is made of a lightweight material, so that the upper surface a has enough buoyancy to float above the water even when at least the upper half of a person's body is placed on it.

[0023] A pair of left and right grips 5 are provided on the upper surface side 3a of the top surface member 3 at a position forward in the direction of travel of the hull 2. Each grip 5 is a long, narrow, V-shaped recess that slopes backward from the center of the hull 2 ​​toward both ends, and the top surface member 3 can be gripped by inserting the fingers into this recess and pressing the palm of the hand against the upper surface side 3a of the top surface member 3.

[0024] A pair of left and right grips 6 are provided on the side surfaces 3b of the top surface member 3 at the front and rear positions of the hull 2. Each of these grips 6 is also an elongated recess, and can be used in the same way to grip the top surface member 3. In the illustrated example, the grips 5, 6 are formed as elongated recesses, but they may also be formed from stainless steel or plastic handle or hook members protruding from the hull 2, as long as they can be gripped by the person in need of rescue.

[0025] A large recess 7 is formed in the center of the bottom side of the bottom member 4. The recess 7 is formed over the entire area in the fore-and-aft direction of the hull 2. In other words, the recess 7 penetrates the hull 2 ​​in the fore-and-aft direction, giving the hull 2 ​​the shape of a catamaran.

[0026] The propulsion unit 10 has a jet pump 11. The jet pump 11 has a cylindrical impeller housing 12 installed in the recess 7 on the bottom surface of the hull 2, an impeller 13 (shown in FIG. 5) arranged in the impeller housing 12, and a nozzle deflector 14 connected to the rear end of the impeller housing 12.

[0027] The impeller 13 is rotated by a motor 15 (shown in FIG. 5) disposed inside the hull 2. The direction of the nozzle outlet of the nozzle deflector 14 is swung left and right by an actuator 16 disposed inside the hull 2. The drive of the motor 15 and the actuator 16 is controlled by a drive control unit 17.

[0028] When the impeller 13 is rotated by the motor 15, water in front of the impeller housing 12 is sucked into the impeller housing 12 and then ejected from the nozzle of the nozzle deflector 14 at the rear, thereby exerting a propulsive force on the hull 2. The direction of the nozzle of the nozzle deflector 14 can be changed by changing the direction of the nozzle of the nozzle deflector 14 using the actuator 16, thereby changing the direction of travel of the hull 2.

[0029] The impeller housing 12 and nozzle deflector 14 are attached so that they fit completely into the recess 7 on the bottom side of the hull 2. A guard member 18 that covers the impeller housing 12 and nozzle deflector 14 is provided on the bottom member 4. The guard member 18 prevents floating objects on or in the water from entering the impeller housing 12. The guard member 18 also prevents the body of the person in need of rescue from coming into contact with the impeller 13 inside the impeller housing 12.

[0030] The guard member 18 is made of a high-strength material, such as reinforced plastic or stainless steel, that is resistant to damage from salt. The guard member 18 is made of a large number of rod portions 18a arranged at intervals. Each rod portion 18a faces equally diagonally relative to the direction of travel of the hull 2. If each rod portion 18a faces perpendicular to the direction of travel of the hull 2, it would be difficult to remove algae and other materials that become entangled in the rod portions 18a. However, if each rod portion 18a faces diagonally, algae and other materials become entangled in the rod portions 18a and move rearward with the water current, making it easier for the algae and other materials to become entangled.

[0031] The motor 15, actuator 16, and battery 19 (shown in Figure 5) that supplies power to them are arranged in the catamaran-like left and right internal spaces of the bottom member 4, as close as possible to the bottom of the hull 2. The battery 19 is rechargeable and is provided so as to be easily attached and detached. In this way, the heavy motor 15, actuator 16, battery 19, etc. are primarily arranged near the bottom of the hull 2. This allows the center of gravity of the hull 2 ​​to be set at a very low position. The reason for this will be described in detail below.

[0032] A camera 25 (shown in Figure 5) is attached to the hull 2 ​​to capture images of almost the entire periphery of the hull 2 ​​and above the hull 2. A light 26 (shown in Figure 5) is attached to the hull 2 ​​to illuminate the periphery of the hull 2. The camera 25 and the light 26 are not shown in Figures 1 to 4.

[0033] Next, the control system of the water drone 1 will be described. Electronic components such as the control unit 20 are housed in the internal space of the hull 2. As shown in FIG. 5, the control unit 20 includes a processor, RAM (Random Access Memory), ROM (Read Only Memory), etc. The processor is, for example, a CPU (Central Processing Unit), MPU (Micro Processing Unit), or ASIC (Application Specific Integrated Circuit). The control unit 20 executes a control program stored in the memory unit 21 using the processor. The control program includes an automatic driving program.

[0034] The control unit 20 is responsible for the overall control of the surface drone 1. Specifically, the control unit 20 controls the operation of the drive control unit 17 of the propulsion unit 10. A communication unit 22 and an antenna 23 are connected to the control unit 20. The control unit 20 controls communication with a drone operation terminal connected via a network or the like. When the control unit 20 receives a navigation command from the drone operation terminal, it controls each unit to execute the navigation command.

[0035] The control unit 20 is connected to a signal processing unit 24 and a camera 25, as well as to a light 26, a position sensor 27, etc. The control unit 20 transmits image information from the camera 25 via the communication unit 22 and the antenna 23. The control unit 20 transmits hull position information acquired by the position sensor 27 via the communication unit 22 and the antenna 23. This allows the drone operation terminal to acquire image information around the hull 2 ​​and position information of the hull 2. The camera 25 is a CCD image sensor. The position sensor 27 is, for example, a GPS sensor. The control unit 20 also controls the on / off and illuminance of the light 26.

[0036] Next, the reason why the center of gravity of the hull 2 ​​is set at a very low position will be explained. As shown in Figure 3, when the hull 2 ​​is capsized, let us assume that the waterline is at position A, and that the distance D from position A to position B on the top surface of the hull 2 ​​(the bottom of the hull when capsized) is equal to the distance D from position A to the bottom of the hull (above the waterline when capsized) is equal to the distance C. The center of gravity is set to be farther away from position C, i.e., lower than position C. As a result, as shown in Figure 6, when the capsized hull 2 ​​tilts due to waves, wind, or the like, the center of buoyancy CB, which is the center of buoyancy B of the hull 2, and the center of gravity CG, which is the center of gravity G of the hull 2, become significantly separated from each other (d). This generates a large rotational moment M due to the buoyancy CB and gravity CG in a direction that further increases the tilt. The greater the tilt, the greater this rotational moment M becomes, and the greater the tilt of the hull 2 ​​becomes. Eventually, the hull 2 ​​automatically returns to its original state.

[0037] Next, a specific example of emergency rescue will be explained. When a request for emergency rescue is received on the sea, river, lake, etc., a mother ship (not shown) carrying multiple surface drones 1 is dispatched to the vicinity of the person in need of rescue. If the person in need of rescue can be seen from the mother ship, the surface drones 1 are lowered from the mother ship onto the water. A drone operation terminal is operated from the mother ship to navigate the surface drone 1 to the location of the person in need of rescue. When the surface drone 1 arrives in the vicinity of the person in need of rescue, it is stopped at that position.

[0038] As shown in Figure 7, the rescuer waits until the person in need of rescue places at least the upper half of their body in a prone position on top of the hull 2, for example by grasping the gripping parts 5 and 6 of the hull 2. Preferably, the rescuer bends their knees upwards so that their legs are above the water (see the imaginary lines in Figure 7). Once it is confirmed that the person in need of rescue is safely on the hull 2, the drone control terminal is operated from the mother ship to navigate the hull 2 ​​to the mother ship's position. Once the person in need of rescue arrives at the mother ship, the rescuer retrieves the person from the hull 2 ​​onto the mother ship.

[0039] When emergency rescue is possible from the shore of the sea, river, lake, etc., the surface drone 1 is floated on the water from the shore, and the drone operation terminal is operated from the shore, and the person in need of rescue is transported to the shore using procedures similar to those described above.

[0040] Furthermore, if the exact location of the person in need of rescue is unknown and only an approximate location is known, the mother ship will rush to an appropriate location. At night, when the person in need of rescue cannot be visually confirmed from the mother ship due to bad weather (fog), as many surface drones 1 as possible will be lowered onto the water from the mother ship, and the mother ship will divide and determine the search area for each surface drone 1. Then, each drone operation terminal will be operated from the mother ship, and each surface drone 1 will navigate the search area on autopilot. At this time, the lights 26 of each surface drone 1 will be turned on and the cameras 25 will be activated.

[0041] The mother ship checks the camera footage sent from each surface drone 1 to find footage of the person in need of rescue. When footage of the person in need of rescue is found, the surface drone 1 is navigated to a location near the person in need of rescue and stopped at that location. The mother ship waits for the person in need of rescue to grasp the gripping parts 5, 6 of the hull 2 ​​and place at least the upper half of their body in a prone position on top of the hull 2. The person in need of rescue is then retrieved to the mother ship in the same manner as above.

[0042] In addition, the location of the person in need of rescue can be identified from the location information of the surface drone 1 that found the person in need of rescue. Therefore, if there are multiple people in need of rescue, other surface drones 1 currently searching can be automatically navigated to the location and used to rescue the people in need of rescue.

[0043] If the hull 2 ​​capsizes due to the influence of waves, wind, etc. during the search navigation of the surface drone 1, the hull 2 ​​changes color from the color of the top surface member 3 to the color of the bottom surface member 4, making it possible to visually recognize the capsizing of the hull 2. In this case, the navigation of the capsized hull 2 ​​is stopped. Since the capsized hull 2 ​​automatically returns to its original normal position for the reasons described above, the navigation of the hull 2 ​​is resumed after the hull 2 ​​has returned to its original position. In this way, it is possible to rescue the person in need of rescue even after the drone has capsized.

[0044] As explained above, the surface drone 1, which navigates on the water by remote control or automatic piloting, is equipped with a hull 2 ​​whose upper surface 3a has a shape and size that makes it easy to carry at least the upper half of a person's body, and which has buoyancy that allows the upper surface 3a to float above the water even when at least the upper half of a person's body is carried on it. Therefore, because the hull 2 ​​of the surface drone 1 itself functions as a life preserver, the configuration is simple and low cost.

[0045] The hull 2 ​​is provided with grips 5 and 6 that can be grasped by hand, making it easier for the person in need of rescue to ensure safety on the hull 2.

[0046] The hull 2 ​​has different colors for the top member 3 and the bottom member 4. Therefore, it is easy to visually check whether the hull 2 ​​is in a capsized state.

[0047] The hull 2 ​​is structured so that if it capsizes with its bottom exposed above the water surface, a rotational moment is generated that returns the top surface 3a above the water surface, restoring it to its original proper position. Therefore, even after the hull 2 ​​capsizes, rescue of the person in need of rescue can be carried out. Furthermore, even if the hull 2 ​​capsizes, there is no need to perform work such as righting or recovery of the hull 2.

[0048] In the above embodiment, the bottom of the hull 2 ​​is formed symmetrically, but if priority is given to improving the restoring force in the event of capsizing, it is preferable to form it asymmetrically. For example, in the above embodiment, the bottom member 4 of the hull 2 ​​has a large recess 7 in the center of its bottom side, and the left and right sides of this recess protrude toward the bottom of the hull, but it may also be shaped so that one of the left and right protrusions is eliminated.

[0049] In the above embodiment, it has been described that at least the upper half of the body is placed on the hull 2 ​​in a prone position, but depending on the injury, it may not be possible to lie prone, so it is of course also possible to place the upper half of the body on the side or on the back.

[0050] In the above embodiment, a beacon 28 may be mounted on the surface drone 1, as shown by the phantom line in Figure 5. The flashing of the beacon 28 makes it easier for the person in need of rescue to find the surface drone 1, allowing for smooth rescue operations.

[0051] In the above embodiment, as shown by the phantom lines in Figure 5, the surface drone 1 may be equipped with a microphone 29 and a speaker 30. This allows the rescuer to call out to the person in need of rescue, for example, by giving instructions such as "Place your upper body face down on the top surface 3a of the surface drone 1." Furthermore, the rescuer's health and other conditions can be confirmed or estimated from their voice, allowing for accurate and smooth rescue operations.

[0052] If the surface drone 1 is equipped with a microphone 29 and a speaker 30, it is even better to connect a microphone and a speaker to the drone operation terminal as well. This allows the operator of the drone operation terminal, emergency medical personnel, etc. to communicate with the person in need of rescue on the surface drone 1, making rescue operations even more accurate and smooth.

[0053] In the above embodiment, a pair of recesses for placing elbows may be formed on the upper surface of the hull 2. This allows the person in need of rescue to maintain an even safer posture on the hull 2.

[0054] In the above embodiment, the gripping parts 5, 6 are provided at the front and rear positions in the direction of travel of the hull 2, but the positions of the gripping parts 5, 6 are not important. Furthermore, the hull 2 ​​may be configured so that mooring fittings can be attached to the front end, etc.

[0055] In the above embodiment, the propulsion unit 10 is the jet pump 11, but it may also be configured to have a screw and rudder exposed to the outside of the hull 2. In this case, too, the screw and rudder are covered with a guard member 18. Also, in the above embodiment, the power source for the propulsion unit 10 is the motor 15, but it may also be an engine.

[0056] In the above embodiment, the guard member 18 is formed from a number of rod portions 18a arranged at an angle with a gap between them, but as shown in Figure 8, it may also be formed from a central rod portion 18b that runs along the direction of travel of the hull 2, and a number of branch rod portions 18c that are arranged at an angle with a gap between them on the left and right of the central rod portion 18b. Even when formed in this way, because each branch rod portion 18c is oriented diagonally, algae move rearward with the water current and are less likely to become tangled.

[0057] Communication between the drone control terminal (not shown) and the surface drone may be via various wireless technologies including Wi-Fi and Bluetooth (registered trademark), or via ultra-low altitude communication satellites (e.g., Starlink).

[0058] The size of the hull 2 ​​is assumed to be from A4 size to about 2 m, but is not limited to this. In the above embodiment, the hull 2 ​​is about 70 cm long, 40 cm wide, and 40 cm high.

[0059] Although the embodiments have been described in detail above, the present invention is not limited to the specific embodiments, and various modifications and changes are possible within the scope of the claims. Furthermore, it is also possible to combine all or a plurality of the components of the above-described embodiments. [Explanation of symbols]

[0060] 1. Water drone 2. Hull 3 Deck members 3a Top side 4 Bottom parts 5,6 Gripping part

Claims

1. In the case of a water drone that navigates on the water by remote control or automatic control, This small rescue water drone is characterized by having a hull whose upper surface has a shape and size that allows at least the upper half of a human body to rest on it, and which has buoyancy that allows the upper surface to float above the water even when at least the upper half of a human body is placed on it.

2. The small rescue water drone according to claim 1, characterized in that the hull is provided with a gripping portion that can be grasped by a human hand.

3. The small rescue water drone according to claim 1, wherein the upper and lower members of the hull are different colors.

4. The small rescue water drone of claim 1, characterized in that when the hull capsizes with the bottom side exposed above the water surface, a rotational force is generated to return the top side above the water surface, restoring it to its original position.

Images