Underwater movable body control system, underwater movable body and underwater movable body control method

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The underwater vehicle control system efficiently locates and rescues divers in need by using an information terminal and vehicle control unit to move the vehicle to the diver's location, addressing the challenge of solo diving rescues.

JP2025143984APending Publication Date: 2025-10-02KDDI CORP

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Patent Information

Application Number: JP2024043530
Authority / Receiving Office: JP · JP
Patent Type: Applications
Current Assignee / Owner
Filing Date: 2024-03-19
Publication Date: 2025-10-02

AI Technical Summary

Technical Problem

Divers may find themselves in need of rescue during recreational diving or underwater work, with no guarantee that a companion diver will be nearby to check or assist in their condition.

Method used

An underwater vehicle control system comprising an underwater vehicle and an information terminal that transmits diving status information, with a position identification unit to locate the diver and the vehicle, and a vehicle control unit to move the vehicle to the diver's location when certain conditions are met.

Benefits of technology

The system enables the underwater vehicle to quickly reach and rescue a diver in need, reducing power consumption and ensuring timely assistance.

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Abstract

To allow an underwater movable body to quickly reach the location of a diver in need of rescue.SOLUTION: An underwater movable body control system comprises: an underwater movable body 3; and an information terminal 2 that transmits diving status information indicating a diving status of a diver. The underwater movable body 3 has a position identification unit 352 that identifies the position of the diver and the position of the underwater movable body 3, and a movable body control unit 353 that moves the underwater movable body 3 toward the position of the diver when the diving status information satisfies predetermined conditions.SELECTED DRAWING: Figure 4

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Description

[Technical Field]

[0001] The present invention relates to an underwater vehicle control system for controlling an underwater vehicle, an underwater vehicle, and a method for controlling an underwater vehicle. [Background technology]

[0002] A technique for supporting divers in managing their depth is known (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-052380 Summary of the Invention [Problem to be solved by the invention]

[0004] Divers may find themselves in a state of needing rescue during recreational diving or underwater work. In recreational diving or underwater work, there is no guarantee that a companion diver will be nearby, so it may not be possible to check the condition of a diver in need of rescue or to rescue them.

[0005] The present invention has been made in consideration of these points, and has as its object to enable an underwater vehicle to quickly reach the location of a diver in need of rescue. [Means for solving the problem]

[0006] An underwater vehicle control system according to a first aspect of the present invention comprises an underwater vehicle and an information terminal that transmits diving status information indicating a diver's diving status, wherein the underwater vehicle has a position identification unit that identifies the position of the diver and the position of the underwater vehicle, and a vehicle control unit that moves the underwater vehicle so as to approach the position of the diver when the diving status information satisfies predetermined conditions.

[0007] An underwater vehicle control system according to a second aspect of the present invention comprises an underwater vehicle, an external device capable of communicating with the underwater vehicle, and an information terminal that transmits diving status information indicating the diving status of a diver, wherein the external device has a position identification unit that identifies the position of the diver and the position of the underwater vehicle, and a transmission processing unit that transmits a movement signal to the underwater vehicle that instructs the underwater vehicle to move closer to the position of the diver when the diving status information satisfies a predetermined condition, and the underwater vehicle has a movement signal control unit that moves the underwater vehicle closer to the position of the diver based on the movement signal.

[0008] The specified conditions may include a first condition that is a condition for moving the underwater vehicle so that the distance between the diver's position and the underwater vehicle's position is a first distance or less, and a second condition that is a condition for moving the underwater vehicle so that the distance between the diver's position and the underwater vehicle's position is a second distance or less that is shorter than the first distance.

[0009] The moving body control unit may, when the diving state information satisfies the first condition but does not satisfy the second condition, move the underwater moving body so that the distance between the two is less than the first distance and greater than the second distance.

[0010] The mobile body control unit may move the underwater mobile body away from the diver's position when the diving state information no longer satisfies the first condition after the underwater mobile body has started moving due to the diving state information satisfying the first condition.

[0011] When the diving state information satisfies the first condition and the second condition, the moving body control unit may move the underwater moving body so that the inter-body distance is equal to or less than the second distance.

[0012] The underwater vehicle may be equipped with an air tank, and the underwater vehicle may further have an equipment control unit that opens the valve of the air tank when the distance between the diver's position and the underwater vehicle's position becomes less than a predetermined distance.

[0013] A priority order may be set for the multiple types of diving status information, and the mobile body control unit may move the underwater mobile body so as to approach the position of the diver whose diving status indicated by the diving status information with the relatively highest priority is the poorest, among the multiple divers whose diving status information with the relatively highest priority satisfies the specified condition.

[0014] The information terminal may transmit information when it receives information from the diver that rescue by the underwater vehicle is not necessary, and the vehicle control unit in the underwater vehicle may, when receiving the information, not move the underwater vehicle to approach the diver's position even if the diving status information satisfies the specified condition.

[0015] The underwater vehicle may further have an operation receiving unit that receives from the diver a rescue termination operation to terminate the rescue of the underwater vehicle, and the vehicle control unit may move the underwater vehicle away from the diver's position when the rescue termination operation is received from the diver.

[0016] The underwater moving body may further have an image recognition unit that recognizes images, and the moving body control unit may move the underwater moving body to circle the diver if the image recognition unit recognizes a side other than the front of the diver's body, and may cause the underwater moving body to remain in its current position if the image recognition unit recognizes a side other than the front of the diver's body.

[0017] The diving condition may be at least one of the remaining air pressure in an air tank carried by the diver, the depth from the water surface to the diver's position, the change in the depth over a predetermined period of time, the diver's breathing condition, or the diver's heart rate.

[0018] An underwater moving body according to a third aspect of the present invention is an underwater moving body having a position identification unit that identifies the position of a diver and the position of the underwater moving body, and a moving body control unit that moves the underwater moving body so as to approach the position of the diver when diving state information indicating the diving state of the diver satisfies predetermined conditions.

[0019] An underwater vehicle control method according to a fourth aspect of the present invention is a method for controlling an underwater vehicle executed by an underwater vehicle, and includes the steps of identifying the position of a diver and the position of the underwater vehicle, and moving the underwater vehicle so as to approach the position of the diver when diving state information indicating the diving state of the diver satisfies a predetermined condition.

[0020] An underwater moving body control method according to a fifth aspect of the present invention is an underwater moving body control method executed by an underwater moving body and an external device capable of communicating with the underwater moving body, and includes a position identification step in which the external device identifies the position of a diver and the position of the underwater moving body, a transmission processing step in which the external device transmits a movement signal to the underwater moving body, which is a signal instructing the underwater moving body to move closer to the position of the diver, when diving state information indicating the diving state of the diver satisfies a predetermined condition, and a movement control step in which the underwater moving body moves the underwater moving body to approach the position of the diver based on the movement signal. [Effects of the Invention]

[0021] According to the present invention, an underwater vehicle can quickly reach the location of a diver in need of rescue. [Brief explanation of the drawings]

[0022] [Figure 1] FIG. 2 is a diagram showing an outline of the operation of the information processing system S in the first embodiment. [Figure 2] 1 is a diagram illustrating an example of the configuration of an external device 1 according to a first embodiment. [Figure 3] 2 is a diagram illustrating an example of the configuration of an information terminal 2 in the first embodiment. FIG. [Figure 4] 2 is a diagram showing an example of the configuration of an underwater vehicle 3 in the first embodiment. FIG. [Figure 5] FIG. 10 is a diagram showing an example of a diving state management table. [Figure 6] FIG. 10 illustrates an example of a threshold management table. [Figure 7] 10 is a flowchart showing the flow of processing by a mobile object control unit 353. [Figure 8] FIG. 10 is a diagram showing an outline of the operation of the information processing system S in the second embodiment. [Figure 9] FIG. 10 is a diagram showing an outline of the operation of the information processing system S in the third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0023] First Embodiment [Outline of Information Processing System S] An overview of an information processing system S according to this embodiment will be described using Figure 1. The information processing system S includes an external device 1, an information terminal 2 carried by a diver, and an underwater vehicle 3. The information processing system S is a system for identifying and rescuing a diver by moving the underwater vehicle 3 to the location of a diver in need of rescue underwater.

[0024] The external device 1 is a device that identifies the position of the diver and the position of the underwater moving body 3. The external device 1 is installed, for example, on a ship, a buoy, or a combined water-air drone that exists on the water surface. The external device 1 may also function as a relay device that relays communications between the information terminal 2 and the underwater moving body 3 and other devices.

[0025] The information terminal 2 is an information terminal that transmits diving state information indicating the diving state of the diver (residual pressure, depth, depth change, diver's breathing state, diver's heart rate, etc.) The information terminal 2 may be a sensor that measures the diver's diving state, or may be a terminal that the diver can carry that acquires the diving state measured by the sensor as diving state information.

[0026] The underwater vehicle 3 is a vehicle capable of moving underwater. The underwater vehicle 3 is, for example, an underwater drone capable of diving underwater. The underwater vehicle 3 may be equipped with equipment for rescuing divers (air tanks, regulators, etc.) or a camera for photographing divers. The underwater vehicle 3 transmits and receives data to and from the external device 1 by, for example, acoustic signals, but may also transmit and receive data to and from the external device 1 by wire (for example, an underwater cable).

[0027] The external device 1, the information terminal 2, and the underwater moving body 3 are capable of communicating with one another. This communication is primarily assumed to be underwater acoustic communication, but may also be optical wireless communication. Below, an overview of the operation of the information processing system S will be explained with reference to Fig. 1. Fig. 1 is a diagram showing an overview of the operation of the information processing system S in the first embodiment.

[0028] The external device 1 uses underwater acoustic positioning technology to identify the relative positions of the diver and the underwater moving body 3, and acquires position information indicating the identified positions. The relative position is determined, for example, by the direction of an object and the distance to the object as seen from the external device 1. The external device 1 also periodically transmits the acquired position information to the diver and the underwater moving body 3 using underwater acoustic communication technology. This allows the diver to know his / her own position and the position of the underwater moving body 3, and the underwater moving body 3 to know its own position and the position of the diver.

[0029] The information terminal 2 acquires diving state information indicating the diving state of the diver and uses underwater acoustic communication technology to transmit the acquired diving state information to the underwater moving body 3. If the diving state information received by the underwater moving body 3 satisfies a predetermined condition (for example, the residual pressure is less than a threshold, the depth is greater than a threshold, etc.), the underwater moving body 3 moves closer to the diver's position based on the received position information.

[0030] Once the underwater vehicle 3 approaches within reach of the diver, it can rescue the diver using equipment mounted on the underwater vehicle 3 and photograph the diver using a camera mounted on the underwater vehicle 3. In this way, the information processing system S according to this embodiment makes it possible to quickly rescue or identify a diver who needs rescue. The configurations and operations of the external device 1, the information terminal 2, and the underwater vehicle 3 will be described in detail below.

[0031] [Configuration and Operation of External Device 1] The following describes the configuration and operation of the external device 1. The external device 1 is a device that identifies the position of the diver and the position of the underwater moving body 3. The location where the external device 1 is installed may be anywhere that allows acoustic communication with the information terminal 2 and the underwater moving body 3, such as a ship on the water surface, a buoy, or a drone that can float on the water surface, such as a water-air combined drone.

[0032] 2 is a diagram showing an example of the configuration of the external device 1 in the first embodiment. The external device 1 includes an acoustic processing unit 11, a device communication unit 12, a storage unit 13, and a control unit 14. The control unit 14 includes a position identification unit 141 and a transmission processing unit 142.

[0033] The acoustic processing unit 11 performs underwater acoustic positioning. The device communication unit 12 is a communication interface for communicating with the information terminal 2 and underwater moving body 3 possessed by the diver using underwater acoustic communication technology. The device communication unit 12 transmits position information indicating the position of the diver and the position of the underwater moving body 3 input from the transmission processing unit 142 to the information terminal 2 and the underwater moving body 3 possessed by the diver.

[0034] The storage unit 13 is a storage medium including a ROM (Read Only Memory), a RAM (Random Access Memory), etc. The storage unit 13 stores a program executed by the control unit 14.

[0035] The control unit 14 is, for example, a CPU (Central Processing Unit). The control unit 14 executes an information processing program stored in the storage unit 13, thereby functioning as a position specifying unit 141 and a transmission processing unit 142.

[0036] The position identification unit 141 identifies the position of the diver and the position of the underwater moving body 3. The position of the diver is, for example, the position of the information terminal 2. The position identification unit 141 identifies the relative position of the diver and the relative position of the underwater moving body 3 using, for example, the acoustic processing unit 11, and acquires position information indicating the identified position. The relative position is, for example, the position of the diver or the underwater moving body 3 relative to the position of the external device 1. More specifically, the relative position is the direction in which the diver or the underwater moving body 3 is located and the distance to the diver or the underwater moving body 3 relative to the position of the external device 1.

[0037] The position determination unit 141 may determine position information indicating the absolute positions (latitude, longitude, depth) of the diver and the underwater moving body 3 by comparing the relative positions of the diver and the underwater moving body 3 based on the position of the external device 1 with the absolute position of the external device 1 determined based on radio waves received from a GPS satellite.

[0038] Examples of underwater acoustic positioning techniques include the SSBL (Super Short Baseline) method, the USBL (Ultra Short Baseline) method, and the SBL (Short Baseline) method. When it is desired to use the underwater acoustic positioning technique to identify the positions of multiple divers without interference, the position identifying unit 141 may use known techniques such as time division multiplexing, frequency division multiplexing, or CDMA.

[0039] The transmission processing unit 142 transmits position information indicating the position of the diver and the position of the underwater moving body 3 to the diver and the underwater moving body 3. The transmission processing unit 142 transmits the position information to the diver and the underwater moving body 3 periodically (for example, every second) via the device communication unit 12, for example, using underwater acoustic communication technology. This allows the diver to know his / her own position and the position of the underwater moving body 3, and the underwater moving body 3 to know its own position and the position of the diver.

[0040] [Configuration and operation of information terminal 2] The configuration and operation of the information terminal 2 will be described. The information terminal 2 is an information terminal that transmits diving status information indicating the diving status of the diver. The information terminal 2 is, for example, a sensor (residual pressure sensor, depth sensor, breathing sensor, heart rate sensor, etc.) that measures the diving status of the diver. The information terminal 2 may be a portable terminal that can be carried by the diver and that acquires diving status information indicating the diving status measured by the sensor and transmits the acquired diving status information. The information terminal 2 may be a terminal in which a sensor and a portable terminal are integrated. The portable terminal may be, for example, a wristwatch-type terminal that can be worn on the diver's wrist, or a tablet-type terminal. In the following description, the information terminal 2 will be assumed to be a tablet-type terminal.

[0041] 3 is a diagram showing an example of the configuration of the information terminal 2 in the first embodiment. The information terminal 2 includes a terminal communication unit 21, a storage unit 22, a display 23, an operation unit 24, and a control unit 25. The control unit 25 has an acquisition unit 251, a reception processing unit 252, a display processing unit 253, an operation acceptance unit 254, and a transmission processing unit 255.

[0042] The terminal communication unit 21 is a communication interface for communicating with the external device 1 and the underwater moving body 3 using underwater acoustic communication technology. The terminal communication unit 21 inputs position information indicating the position of the diver and the position of the underwater moving body 3 received from the external device 1 to the reception processing unit 252. The terminal communication unit 21 also transmits the diving state information input from the transmission processing unit 255 to the underwater moving body 3.

[0043] The storage unit 22 is a storage medium including a ROM, a RAM, etc. The storage unit 22 stores a program that the control unit 25 executes.

[0044] The display 23 is a display unit for displaying information. The operation unit 24 is a device that receives operations from the diver, and is, for example, a touch panel.

[0045] The control unit 25 is, for example, a CPU. The control unit 25 executes an information processing program stored in the storage unit 22, thereby functioning as an acquisition unit 251, a reception processing unit 252, a display processing unit 253, an operation acceptance unit 254, and a transmission processing unit 255.

[0046] The acquisition unit 251 acquires diving condition information indicating the diving condition of the diver measured by a sensor. The diving condition may be, for example, at least one of the following: the remaining air pressure in an air tank carried by the diver, the depth from the water surface to the diver's position, the change in depth over a given time period, the diver's breathing condition, or the diver's heart rate.

[0047] The acquisition unit 251 may identify the position of the diver and the position of the underwater vehicle 3 using an inertial navigation system or sonar.

[0048] The reception processing unit 252 receives various types of information. For example, the reception processing unit 252 receives position information indicating the position of the diver and the position of the underwater moving body 3 from the external device 1 via the terminal communication unit 21. The reception processing unit 252 may also receive, via the terminal communication unit 21, a question from the underwater moving body 3 asking the diver whether rescue is necessary.

[0049] The display processing unit 253 displays various types of information on the display 23. For example, the display processing unit 253 displays the diving condition information acquired by the acquisition unit 251 on the display 23. This allows the diver to objectively grasp his or her own diving condition, enabling the diver to take action such as coming to the surface on his or her own before rescue becomes necessary.

[0050] The display processing unit 253 may also cause the display 23 to display the position of the diver indicated by the position information received by the reception processing unit 252 and the position of the underwater moving body 3. This allows the diver to know how far away he or she is from the underwater moving body 3, allowing him or her to perform diving work with peace of mind. The display processing unit 253 may also cause the display 23 to display a question received by the reception processing unit 252 asking the diver whether or not rescue is necessary.

[0051] The operation reception unit 254 receives various operations by the diver. For example, the operation reception unit 254 receives, via the operation unit 24, information from the diver indicating whether rescue by the underwater vehicle 3 is necessary.

[0052] The transmission processing unit 255 transmits various types of information. The transmission processing unit 255 transmits the diving status information acquired by the acquisition unit 251 to the underwater moving body 3, for example, via the terminal communication unit 21. Specifically, the transmission processing unit 255 may transmit information indicating the diver's remaining pressure, depth, depth change, respiratory rate, and heart rate to the underwater moving body 3, in association with an ID for identifying the diver. The transmission processing unit 255 may transmit the diving status information to the underwater moving body 3 at time intervals that vary depending on the type of diving status information. For example, the transmission processing unit 255 transmits information indicating the diver's remaining pressure and depth to the underwater moving body 3 every second, and information indicating the diver's depth change, respiratory rate, and heart rate every 10 seconds.

[0053] Furthermore, the transmission processing unit 255 may transmit information indicating the necessity of rescue accepted by the operation accepting unit 254 to the underwater moving body 3. For example, when the operation accepting unit 254 accepts an operation by a diver indicating that rescue by the underwater moving body 3 is not necessary, the transmission processing unit 255 may transmit information indicating that rescue is not necessary to the underwater moving body 3.

[0054] [Configuration and operation of underwater vehicle 3] The configuration and operation of the underwater vehicle 3 will be described.

[0055] 4 is a diagram showing an example of the configuration of the underwater vehicle 3 in the first embodiment. The underwater vehicle 3 includes a mobile communication unit 31, a storage unit 32, an operation unit 33, an image capture unit 34, and a control unit 35. The control unit 35 includes a reception processing unit 351, a position identification unit 352, a mobile vehicle control unit 353, a transmission processing unit 354, an image recognition unit 355, an equipment control unit 356, and an operation reception unit 357. The underwater vehicle 3 may include an air tank A and a rescue float R as equipment for rescuing divers.

[0056] The mobile communication unit 31 is a communication interface for communicating with the external device 1 and the information terminal 2 possessed by the diver using underwater acoustic communication technology. The mobile communication unit 31 inputs position information indicating the position of the diver and the position of the underwater moving body 3 received from the external device 1 to the reception processing unit 351. The mobile communication unit 31 also inputs diving state information received from the information terminal 2 to the reception processing unit 351. The mobile communication unit 31 also transmits an image of the diver input from the transmission processing unit 354 to the external device 1, etc.

[0057] The storage unit 32 is a storage medium including a ROM, a RAM, etc. The storage unit 32 stores programs executed by the control unit 35. The storage unit 32 stores a diving state management table and a threshold management table.

[0058] 5 is a diagram showing an example of a diving state management table. In the diving state management table, diver IDs, times, and diving state information are associated with each other. As mentioned above, the diving state information is at least one of residual pressure, depth, depth change, respiratory rate, and heart rate. The time is the time when the information terminal 2 transmitted the diving state information to the underwater moving body 3.

[0059] 6 is a diagram showing an example of a threshold management table. In the threshold management table, residual pressure, depth, depth change, respiratory rate, and heart rate are set as thresholds corresponding to predetermined conditions that serve as criteria for the underwater moving body 3 to approach the diver's position. The residual pressure value in the threshold management table is a numerical value that serves as a criterion for the underwater moving body 3 to approach the diver's position when the residual pressure received by the underwater moving body 3 from the information terminal 2 is smaller than that value. The depth, depth change, respiratory rate, and heart rate values in the threshold management table are numerical values that serve as criteria for the underwater moving body 3 to approach the diver's position when the depth, depth change, respiratory rate, and heart rate received by the underwater moving body 3 from the information terminal 2 are larger than that value.

[0060] However, if only one threshold value is set for each of multiple types of diving state information in the threshold management table, the following problem arises: Taking residual pressure as an example, the underwater vehicle 3 will not begin to move toward the diver's position until the residual pressure received by the underwater vehicle 3 from the information terminal 2 falls below the residual pressure set in the threshold management table, so if the underwater vehicle 3 and the diver's position are far apart, it may take some time for the underwater vehicle 3 to approach the diver's position.

[0061] Therefore, the predetermined conditions that serve as criteria for the underwater vehicle 3 to approach the diver's position may include a first condition that is a condition for moving the underwater vehicle 3 so that the distance between the diver's position and the underwater vehicle 3 is equal to or less than a first distance, and a second condition that is a condition for moving the underwater vehicle 3 so that the distance between the diver and the underwater vehicle 3 is equal to or less than a second distance that is shorter than the first distance. The first condition is a condition in which the diver is not in a rescue-needed state, in which rescue is required, but the diver's condition requires observation. The second condition is a condition in which the diver is in a rescue-needed state.

[0062] The first distance may be, for example, a fixed distance (for example, several tens of meters), or may be a distance obtained by multiplying the distance between the diver's position and the initial position of the underwater vehicle 3 before it approached the diver by a predetermined percentage (for example, 70%). The second distance is, for example, a distance (for example, 1 meter) at which the diver can touch the underwater vehicle 3.

[0063] In this way, by setting multiple thresholds in the threshold management table, the underwater vehicle 3 can approach the diver in stages, and therefore the underwater vehicle 3 can quickly reach the diver's location when the diver falls into a state requiring rescue. Note that the threshold management table may set three or more thresholds for each of multiple types of diving state information.

[0064] A priority order may be set for multiple types of diving condition information, as shown in Fig. 6. This allows the underwater vehicle 3 to, for example, preferentially identify or rescue a diver whose diving condition is the worst, as indicated by diving condition information with a relatively high priority, as will be described later.

[0065] The operation unit 33 is a device that receives operations from the diver, such as a button that can be pressed. The photographing unit 34 is a device that can photograph the diver, such as a camera.

[0066] The control unit 35 is, for example, a CPU. The control unit 35 executes an information processing program stored in the storage unit 32, thereby functioning as a reception processing unit 351, a position identification unit 352, a mobile object control unit 353, a transmission processing unit 354, an image recognition unit 355, an equipment control unit 356, and an operation reception unit 357.

[0067] The reception processing unit 351 receives various types of information. For example, the reception processing unit 351 receives position information indicating the positions of the divers and the underwater moving body 3 from the external device 1 via the mobile communication unit 31. The reception processing unit 351 may also acquire diving status information from the information terminal 2 of each diver via the mobile communication unit 31, and store the acquired diving status information in the storage unit 32 as a diving status management table. The reception processing unit 351 may also receive information indicating whether rescue by the underwater moving body 3 is necessary from the information terminal 2 via the mobile communication unit 31.

[0068] The position identifying unit 352 identifies the position of the diver and the position of the underwater vehicle 3. For example, the position identifying unit 352 identifies the position of the diver and the position of the underwater vehicle 3 based on the received position information. The position identifying unit 352 may identify the position of the diver and the position of the underwater vehicle 3 using an inertial navigation system or sonar.

[0069] The moving body control unit 353 moves the underwater moving body 3 so as to approach the diver's position when the diving state information satisfies a predetermined condition. For example, the moving body control unit 353 moves the underwater moving body 3 so as to approach the diver's position when the residual pressure is lower than a threshold value, or when the depth, depth change, respiratory rate, or heart rate is higher than a threshold value.

[0070] The mobile object control unit 353 may generate a diving route, which is a straight line connecting the position of the diver and the position of the underwater moving object 3, and move the underwater moving object 3 along the generated diving route. Note that, since a diver who needs to be rescued usually sinks gradually, the mobile object control unit 353 may update the diving route periodically (for example, every 5 seconds) and move the underwater moving object 3 along the updated diving route.

[0071] The mobile body control unit 353 may move the underwater vehicle 3 so as to approach the diver in stages, as described below. When the diver falls into an observation-requiring state, the mobile body control unit 353 first moves the underwater vehicle 3 to approach the diver's position to within a certain distance. That is, for example, when the diving state information satisfies a first condition that the diver falls into an observation-requiring state but does not satisfy a second condition that the diver falls into a rescue-requiring state, the mobile body control unit 353 moves the underwater vehicle 3 so that the distance between the two is equal to or less than the first distance and equal to or greater than the second distance (for example, so that the distance between the two is several meters shorter than the first distance).

[0072] In this way, by approaching the location of a diver who has become in a state requiring observation to a certain distance, the underwater vehicle 3 can quickly reach the diver's location when the diver becomes in a state requiring rescue. Also, if the diver no longer requires rescue, the underwater vehicle 3 will not have arrived too close to the diver, so the underwater vehicle 3 will consume less power.

[0073] When the diver falls into a state requiring rescue, the mobile body control unit 353 may move the underwater vehicle 3 to the diver's position. That is, when the diving state information satisfies a first condition for the diver to be in a state requiring observation and a second condition for the diver to be in a state requiring rescue, the mobile body control unit 353 may move the underwater vehicle 3 so that the distance between the two is equal to or less than the second distance (for example, so that the distance between the two is equal to or less than 1 meter). This allows the underwater vehicle 3 to confirm the state of the diver in a state requiring rescue and to rescue him.

[0074] Incidentally, when multiple divers are present within the observable range of a single underwater vehicle 3, multiple divers may fall into a state requiring rescue. In this case, the underwater vehicle 3 may determine which divers to prioritize for rescue as follows.

[0075] That is, the mobile body control unit 353 may move the underwater vehicle 3 so as to approach the position of the diver whose diving state indicated by the diving state information with the relatively highest priority satisfies the predetermined condition, among a plurality of divers whose diving state information with the relatively highest priority satisfies the predetermined condition. The mobile body control unit 353 may move the underwater vehicle 3 so as to approach the position of the diver whose diving state indicated by the diving state information with the highest priority satisfies the predetermined condition, among a plurality of divers whose diving state information of different types satisfies the predetermined condition. In this way, the underwater vehicle 3 prioritizes rescuing divers who are in greater need of rescue, thereby increasing the survival rate of divers.

[0076] Incidentally, when the diver's diving state improves and the diver no longer requires rescue, the mobile body control unit 353 may move the underwater vehicle 3 away from the diver's location. That is, after the mobile body control unit 353 starts moving the underwater vehicle because the diving state information satisfies a first condition indicating that the diver needs observation, the mobile body control unit 353 may move the underwater vehicle 3 away from the diver's location if the diving state information no longer satisfies the first condition. The mobile body control unit 353 may, for example, move the underwater vehicle 3 so that it returns to its original position before approaching the diver. In this way, by moving away from the location of the diver whose diving state information no longer satisfies the first condition, the underwater vehicle 3 can wait in an appropriate position in preparation for confirming or rescuing other divers.

[0077] Furthermore, even if a diver falls into a state requiring observation or rescue, confirmation or rescue by the underwater vehicle 3 may become unnecessary because the diver is able to respond on his or her own or a nearby diver comes to rescue. In this case, the mobile vehicle control unit 353 receives information from the information terminal 2 indicating that rescue by the underwater vehicle 3 is unnecessary, and in this case, even if the diving state information satisfies a predetermined condition, the mobile vehicle control unit 353 may move the underwater vehicle 3 to approach the diver's position. For example, the mobile vehicle control unit 353 may move the underwater vehicle 3 to return to its original position before approaching the diver.

[0078] In this way, by having the mobile body control unit 353 prevent the underwater mobile body 3 from getting any closer to a diver who no longer needs to be confirmed or rescued by the underwater mobile body 3, unnecessary consumption of power by the underwater mobile body 3 can be reduced and the underwater mobile body 3 can be prepared to confirm or rescue other divers.

[0079] The transmission processing unit 354 transmits various types of information. For example, when the underwater moving body 3 reaches the position of the diver, the photographing unit 34 photographs the diver, and the transmission processing unit 354 transmits the photographed image of the diver to the external device 1 or the like via the mobile communication unit 31. This makes it possible to check the status of the diver.

[0080] However, when the underwater vehicle 3 reaches a position behind the diver, the diver may not notice the presence of the underwater vehicle 3, or may find it difficult for the diver to remove equipment mounted on the underwater vehicle 3. Therefore, the vehicle control unit 353 may move the underwater vehicle 3 so as to circle the diver when the image recognition unit 355 recognizes a side other than the front of the diver's body, and may cause the underwater vehicle 3 to remain in its current position (hover) when the image recognition unit 355 recognizes a side in front of the diver's body.

[0081] In this way, by allowing the underwater vehicle 3 to move around in front of the diver's body, it becomes easier for the diver to notice the presence of the underwater vehicle 3. It also becomes easier for the diver to take out equipment (air tank A, regulator, rescue float R, etc.) mounted on the underwater vehicle 3.

[0082] However, for example, if the diver is panicked, the diver may not be able to retrieve the equipment mounted on the underwater vehicle 3 by himself / herself. Therefore, the equipment control unit 356 may open the valve of the air cylinder A when the distance between the diver's position and the underwater vehicle 3 becomes a predetermined distance (for example, 1 m) or less. The equipment control unit 356 may also separate the rescue float R from the underwater vehicle 3. This allows the diver to retrieve the equipment mounted on the underwater vehicle 3 even in a situation where he / she is unable to retrieve the equipment by himself / herself.

[0083] When the diver successfully retrieves the equipment or when rescue by the underwater vehicle 3 is no longer necessary, the diver presses a button serving as the operation unit 33 of the underwater vehicle 3. The operation reception unit 357 receives a rescue end operation from the diver via the operation unit 33 to end the rescue by the underwater vehicle 3. Then, when the mobile vehicle control unit 353 receives the rescue end operation from the diver, it moves the underwater vehicle 3 away from the diver's position. The mobile vehicle control unit 353 may, for example, move the underwater vehicle 3 so as to return to its original position before approaching the diver.

[0084] In this way, the mobile unit control unit 353 can move the underwater mobile unit 3 that has completed the rescue away from the diver's position, allowing the underwater mobile unit 3 to prepare for checking for or rescuing other divers.

[0085] When the information terminal 2 receives information from a diver that rescue by the underwater vehicle 3 is necessary and transmits this information, the vehicle control unit 353 may move the underwater vehicle 3 so that it approaches the diver's position even if the diving state information does not satisfy a predetermined condition. This allows the diver to request rescue from the underwater vehicle 3 of his or her own volition regardless of the diving state, allowing the diver to perform diving work with peace of mind.

[0086] [Processing flow in the moving body control unit 353 in the underwater moving body 3] A description will be given of the flow of processing by the moving body control unit 353 in the underwater moving body 3. Fig. 7 is a flowchart showing the flow of processing by the moving body control unit 353 in the first embodiment.

[0087] The mobile object control unit 353 determines whether the diving state information satisfies a first condition (S1). If the diving state information does not satisfy the first condition (S1: NO), the mobile object control unit 353 causes the underwater moving object 3 to remain at its current position (S2). On the other hand, if the diving state information satisfies the first condition (S1: YES), the mobile object control unit 353 causes the underwater moving object 3 to move within a certain distance of the diver's position (S3).

[0088] After the underwater moving body 3 starts moving, the moving body control unit 353 determines whether the diving state information no longer satisfies the first condition (S4). If the diving state information no longer satisfies the first condition (S4: YES), the moving body control unit 353 moves the underwater moving body 3 away from the diver's position (S5). On the other hand, if the diving state information continues to satisfy the first condition (S4: NO), the process proceeds to the next step, S6.

[0089] The mobile object control unit 353 determines whether the diving state information satisfies the second condition (S6). If the diving state information does not satisfy the second condition (S6: NO), the mobile object control unit 353 causes the underwater moving object 3 to remain at its current position (S7). On the other hand, if the diving state information satisfies the second condition (S6: YES), the mobile object control unit 353 causes the underwater moving object 3 to move very close to the diver (S8). This allows the underwater moving object 3 to check the condition of the diver in need of rescue and to rescue him.

[0090] [Effects of Information Processing System S] As described above, the information processing system S according to this embodiment can move the underwater vehicle 3 so as to approach the diver's location when the diving condition information periodically transmitted by the information terminal 2 carried by the diver satisfies a predetermined condition. As a result, the underwater vehicle 3 can quickly reach the location of the diver in need of rescue, and can identify and rescue the diver.

[0091] Furthermore, in the information processing system S according to this embodiment, the underwater vehicle 3 may approach the diver's position in stages, such as approaching to a certain distance when the diving status information satisfies a first condition, and approaching to within reach of the diver when the diving status information satisfies a second condition. As a result, the underwater vehicle 3 can quickly reach the diver's position when the diver requires rescue, and the power consumption of the underwater vehicle 3 can be reduced if the diver no longer requires rescue.

[0092] Furthermore, in the information processing system S according to this embodiment, when the distance between the diver's position and the underwater vehicle 3's position becomes a predetermined distance (for example, 1 m) or less, the underwater vehicle 3 can open the valve of the air cylinder A or separate the rescue float R from the underwater vehicle 3. As a result, the diver can retrieve the equipment mounted on the underwater vehicle 3 even in a situation where he or she is unable to retrieve the equipment by himself or herself.

[0093] Second Embodiment [Outline of Information Processing System S] In the first embodiment, an example was described in which the external device 1 transmits position information indicating both the identified position of the diver and the identified position of the underwater moving body 3 to both the diver and the underwater moving body 3. In contrast, in the information processing system S of the second embodiment, the external device 1 transmits position information indicating the identified position of the diver to the diver, and transmits position information indicating the identified position of the underwater moving body 3 to the underwater moving body 3.

[0094] An outline of the operation of the information processing system S will be explained below with reference to Fig. 8. Fig. 8 is a diagram showing an outline of the operation of the information processing system S in the second embodiment. The external device 1 identifies the relative position of the diver and the relative position of the underwater moving body 3 using underwater acoustic positioning technology.

[0095] The external device 1 uses underwater acoustic communication technology to transmit position information indicating the identified position of the diver to an information terminal 2 carried by the diver, and transmits position information indicating the identified position of the underwater moving body 3 to the underwater moving body 3. The information terminal 2 transmits the received position information indicating the diver's position and diving state information acquired in the same manner as in the first embodiment to the underwater moving body 3.

[0096] Then, as in the first embodiment, if the diving state information received by the underwater moving body 3 satisfies a predetermined condition, the underwater moving body 3 moves closer to the diver's position based on the received position information. Below, among the operations performed by the external device 1, the information terminal 2, and the underwater moving body 3, operations specific to the second embodiment will be described.

[0097] [Operations Executed by the External Device 1, the Information Terminal 2, and the Underwater Vehicle 3] The transmission processing unit 142 in the external device 1 periodically (e.g., every second) transmits location information indicating the location of the identified diver to the information terminal 2 carried by the diver, and transmits location information indicating the location of the identified underwater moving body 3 to the underwater moving body 3, for example, using underwater acoustic communication technology, via the device communication unit 12.

[0098] The reception processing unit 252 in the information terminal 2 receives position information indicating the diver's position from the external device 1, for example, via the terminal communication unit 21. In addition, the transmission processing unit 255 in the information terminal 2 periodically transmits, to the underwater moving body 3, for example, via the terminal communication unit 21, the position information indicating the diver's position and diving state information obtained in the same manner as in the first embodiment.

[0099] The receiving processing unit 351 in the underwater moving body 3 receives, for example, via the mobile communication unit 31, location information indicating the location of the underwater moving body 3 from the external device 1, and receives location information indicating the location of the diver from the information terminal 2.

[0100] When the diving state information satisfies a predetermined condition, the moving body control unit 353 in the underwater moving body 3 moves the underwater moving body 3 so as to approach the diver's position based on the position information received by the reception processing unit 351.

[0101] Third Embodiment [Outline of Information Processing System S] In the first and second embodiments, an example has been described in which the underwater moving body 3 moves itself when the diving state information received from the information terminal 2 satisfies a predetermined condition. In contrast, in the information processing system S of the third embodiment, when the diving state information received from the information terminal 2 satisfies a predetermined condition, the external device 1 moves the underwater moving body 3 by transmitting to the underwater moving body 3 a movement signal that is a signal instructing the underwater moving body 3 to move.

[0102] An outline of the operation of the information processing system S will be explained below with reference to Fig. 9. Fig. 9 is a diagram showing an outline of the operation of the information processing system S in the third embodiment. The external device 1 uses underwater acoustic positioning technology to identify the positions of the diver and the underwater moving body 3. Furthermore, the external device 1 periodically transmits position information indicating the identified positions to the diver and the underwater moving body 3 using underwater acoustic communication technology.

[0103] The information terminal 2 acquires diving status information indicating the diving status of the diver and transmits the acquired diving status information to the external device 1 using underwater acoustic communication technology. If the diving status information received by the external device 1 satisfies a predetermined condition, the external device 1 transmits a movement signal to the underwater moving body 3, which is a signal instructing the underwater moving body 3 to move. Based on the received movement signal, the underwater moving body 3 moves so as to approach the diver's position. Among the operations performed by the external device 1, the information terminal 2, and the underwater moving body 3, operations specific to the third embodiment will be described below.

[0104] [Operations Executed by the External Device 1, the Information Terminal 2, and the Underwater Vehicle 3] The transmission processing unit 255 in the information terminal 2 transmits the diving state information acquired by the acquisition unit 251 to the external device 1 via the terminal communication unit 21, for example.

[0105] When the received diving state information satisfies a predetermined condition, the transmission processing unit 354 in the external device 1 transmits a movement signal to the underwater moving body 3, which is a signal instructing the underwater moving body 3 to move closer to the diver's position. The details of how the movement signal causes the underwater moving body 3 to move are the same as the processing contents performed by the moving body control unit 353 in the underwater moving body 3 in the first embodiment.

[0106] A reception processing unit 351 in the underwater moving body 3 receives a movement signal from the external device 1, for example, via the mobile communication unit 31. A mobile control unit 353 in the underwater moving body 3 moves the underwater moving body 3 so as to approach the position of the diver based on the received movement signal.

[0107] In this way, the external device 1 receives diving state information and transmits a movement signal to the underwater moving body 3 if the received diving state information satisfies a predetermined condition, thereby eliminating the need to store the diving state information in the underwater moving body 3 and to determine whether the diving state information satisfies the predetermined condition. As a result, it is possible to reduce the probability of a decrease in communication speed or communication failure occurring due to an increase in the amount of data and processing volume in the underwater moving body 3.

[0108] In addition, if the external device 1 includes the aforementioned relay device and a land-based device installed in a control tower located on land, the relay device may identify the position of the diver and the position of the underwater vehicle 3, and the land-based device may store the diving status information, determine whether the diving status information satisfies specified conditions, and transmit a movement signal to the underwater vehicle 3.

[0109] Furthermore, this invention will make it possible to contribute to Goal 9 of the United Nations' Sustainable Development Goals (SDGs), which is "Build resilient infrastructure, promote inclusive and sustainable industrialization, and promote innovation and resilience."

[0110] The present invention has been described above using embodiments, but 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 functionally or physically distributing or integrating any unit. Furthermore, new embodiments resulting from any combination of multiple embodiments are also included in the embodiments of the present invention. The effects of the new embodiments resulting from the combination also have the effects of the original embodiments. [Explanation of symbols]

[0111] 1 External device 11. Sound Processing Unit 12 Device communication unit 13 Storage section 14 Control Unit 141 Location identification part 142 Transmission processing unit 2. Information terminal 21 Terminal communication unit 22 Memory section 23 Display 24 Control section 25 Control Unit 251 Acquisition Department 252 Receiving processing unit 253 Display processing section 254 Operation reception section 255 Transmission Processing Unit 3 Underwater vehicles 31 Mobile Communications Department 32 Storage section 33 Operation section 34 Photography Department 35 Control Unit 351 Receiving processing unit 352 Location identification part 353 Mobile Control Unit 354 Transmission processing unit 355 Image Recognition Unit 356 Equipment Control Department 357 Operation reception section S Information Processing System A. Air cylinder R Rescue Float

Claims

1. The apparatus comprises an underwater vehicle and an information terminal that transmits diving state information indicating the diving state of a diver, The underwater vehicle is a position identification unit that identifies the position of the diver and the position of the underwater vehicle; a moving body control unit that moves the underwater moving body so as to approach the position of the diver when the diving state information satisfies a predetermined condition; having Underwater vehicle control system.

2. The system comprises an underwater moving body, an external device capable of communicating with the underwater moving body, and an information terminal that transmits diving state information indicating the diving state of a diver, The external device is a position identification unit that identifies the position of the diver and the position of the underwater vehicle; a transmission processing unit that transmits, when the diving state information satisfies a predetermined condition, a movement signal to the underwater moving body, which is a signal instructing the underwater moving body to move closer to the position of the diver, The underwater vehicle is a moving body control unit that moves the underwater moving body so as to approach the position of the diver based on the movement signal; Underwater vehicle control system.

3. The predetermined conditions include a first condition that is a condition for moving the underwater vehicle so that a distance between the position of the diver and the position of the underwater vehicle is equal to or less than a first distance, and a second condition that is a condition for moving the underwater vehicle so that the distance between the two is equal to or less than a second distance that is shorter than the first distance.