Apparatus and method for observing aquatic environment

Abstract

To provide an observation device and an observation method of a water area environment capable of freely navigating an unmanned navigation body without being affected by seaweed or the like, and capable of observing a blue carbon ecosystem more inexpensively and efficiently than before.SOLUTION: The unmanned ground vehicle includes a self-propelled unmanned ground vehicle (20) and a control device (50) for remotely controlling the unmanned ground vehicle (20), the unmanned ground vehicle (20) including a hull (30) and a measuring unit (40), the hull (20) including a frame-shaped hull frame (31) having corners, a plurality of floating bodies (32) provided at intervals on an outer peripheral portion of the hull frame (31), and a plurality of sets of rotor units (35) erected on an upper portion of the outer peripheral portion of the hull frame (31) so as to face each other at positions not interfering with the floating bodies (32).SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an observation device and an observation method for an aquatic environment including blue carbon ecosystems such as seagrass beds and algae beds. [Background technology]

[0002] Blue carbon is a carbon dioxide (CO2) fixation technology that utilizes the mechanism by which seaweed and algae living in coastal areas absorb carbon dioxide (CO2). Generally, blue carbon ecosystems refer to seagrass beds (e.g., Zostera marina, Sugamo duck, etc.), seaweed beds (kelp, wakame seaweed), wetlands, tidal flats, and mangrove forests, which act as carriers of carbon dioxide (Non-Patent Document 1). However, in this invention, the term is used exclusively to refer to seagrass beds, seaweed beds, and other seaweed beds.

[0003] Blue carbon ecosystems have many benefits, such as absorbing carbon dioxide and supporting the growth of living organisms, and the regeneration and creation of blue carbon ecosystems is an important issue for future measures against global warming and the promotion of the fishing industry. In recent years, a blue carbon credit system has been established to certify the carbon absorption capacity of blue carbon ecosystems and sell them as credits.

[0004] In recent years, the decline of blue carbon ecosystems such as seaweed beds has become a problem. To address this issue, it is necessary to observe the growth status of actual blue carbon ecosystems (Non-Patent Document 2).

[0005] Conventional methods for observing blue carbon ecosystems include visual observation by divers, acoustic exploration using ships equipped with sonar, underwater photography using a self-propelled underwater camera combined with a ship, and aerial photography using an aerial drone.

[0006] Visual observation by divers involves multiple divers with specialized knowledge of seaweed and seaweed diving into the target waters to make direct observations. The sonic exploration method involves emitting sonic waves from the bottom of a ship toward the seabed and observing seaweed beds based on the reflected waves (Patent Documents 1 and 2). The underwater photography method involves photographing the underwater world with a self-propelled underwater camera while accompanying a vessel through the target waters, and observing the distribution of blue carbon ecosystems based on these images (Patent Documents 3 and 4). The aerial photography method involves photographing the target water area from above using a camera mounted on an aerial drone, and observing the distribution of blue carbon ecosystems based on the shading of the images (Patent Document 5). [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Japanese Patent Application Publication No. 7-49376 [Patent Document 2] Japanese Patent Application Publication No. 8-271629 [Patent Document 3] Japanese Patent Application Publication No. 10-20382 [Patent Document 4] Japanese Patent Application Laid-Open No. 2002-58370 [Patent Document 5] Japanese Patent Application Laid-Open No. 2004-151278 [Non-patent literature]

[0008] [Non-Patent Document 1] https: / / www.mlit.go.jp / report / press / content / 001737796.pdf [Non-patent document 2] https: / / www.mlit.go.jp / report / press / port06_hh_000290.html Summary of the Invention [Problem to be solved by the invention]

[0009] Conventional techniques for observing blue carbon ecosystems have the following inherent problems: <1> Visual observation by divers is extremely inefficient, as it requires only divers with specialized knowledge of seaweed and seaweed, and places a heavy burden on the divers' efforts. <2> Observation methods using self-propelled underwater cameras have problems such as the accompanying vessel and underwater camera being equipped with screw elements, which can easily become entangled with seaweed, hindering the navigation of the vessel and underwater camera, and air bubbles generated by the rotation of the screw elements, resulting in poor image quality. <3> Furthermore, since the ship and underwater camera are heavy objects, a large amount of inertia acts during navigation. Therefore, the vessel and underwater camera cannot be stopped immediately. Starting and stopping takes a lot of time, making it difficult to observe efficiently. <4> When the ship and the underwater camera are connected by a cable, the range that the underwater camera can observe is limited by the length of the cable. Therefore, the wider the observation range, the more time it takes to observe, and the lower the observation efficiency. <5> The aerial photography method using aerial drones has the problem that the shading in the images is unclear, making it difficult to accurately observe the distribution of blue carbon ecosystems using aerial photography alone. In addition, there is the problem that the conditions for aerial photography are limited to ocean areas with good light transmission. <6> As described above, conventional observation methods require a great deal of effort and expense, placing a heavy burden on blue carbon credit applicants and others. <7> Against this background, there is a need to propose technologies that enable cheaper and more efficient observation of blue carbon ecosystems in order to promote the regeneration and creation of blue carbon ecosystems.

[0010] The present invention has been made in consideration of the above points, and an object of the present invention is to provide an aquatic environment observation device and observation method that allows unmanned vehicles to navigate freely without being affected by seaweed, etc., and enables observation of aquatic environments more cheaply and efficiently than conventional methods. Another object of the present invention is to provide an observation device and an observation method for blue carbon ecosystems that can navigate and observe unmanned vehicles even in adverse environments such as storms, without having to increase the size of the rotor unit or the number of rotor units installed. [Means for solving the problem]

[0011] The present invention is an aquatic environment observation device comprising a self-propelled unmanned surface vehicle equipped with a means for measuring the aquatic environment, and a control device that remotely controls the unmanned surface vehicle via wireless communication and receives data measured by the measurement means, wherein the unmanned surface vehicle has a hull portion that floats on the sea, and the hull portion has multiple sets of rotor units equipped with rotors that rotate around a lateral rotation axis, the multiple sets of rotor units are erected facing each other on top of the hull portion, and the unmanned surface vehicle is self-propelled by the lateral thrust generated by rotating the rotors of some or all of the multiple sets of rotor units. In another aspect of the present invention, the unmanned underwater vehicle includes a hull portion floating on the sea and a measurement portion mounted on the hull portion. In another form of the present invention, the hull portion comprises at least a frame-shaped hull frame having corners, a plurality of floating bodies spaced apart on the outer periphery of the hull frame, and a plurality of sets of rotor units spaced apart and erected on the upper part of the outer periphery of the hull frame in positions that do not interfere with the floating bodies. In another embodiment of the present invention, a plurality of floating bodies are provided at the corners of the hull frame in a dispersed manner. In another embodiment of the present invention, masts are provided at intervals on the outer periphery of the hull frame, and a rotor unit is provided laterally at the top of each mast. In another form of the present invention, the measurement unit comprises a waterproof housing, a navigation control means for controlling the navigation of the unmanned underwater vehicle housed in the housing, a measurement means for observing the underwater world housed in the housing, and a battery. The present invention is a method for observing an aquatic environment using any of the above-mentioned observation devices, in which the undersea aquatic environment is observed while the unmanned aquatic vehicle is propelled by using lateral thrust generated by rotating some or all of the rotor blades of the multiple sets of rotor units, and the aquatic environment is observed by receiving data measured by the unmanned aquatic vehicle using a control device. [Effects of the Invention]

[0012] The present invention has at least one of the following effects. <1> The unmanned underwater vehicle does not have a screw element that rotates in the sea, but propels itself using the thrust of multiple rotor units installed on the top of the hull. Therefore, there is no need to worry about the self-propulsion of the unmanned underwater vehicle being hindered by seaweed, etc., and the unmanned underwater vehicle can navigate freely without being affected by seaweed, etc. <2> When the unmanned underwater vehicle is to be stopped, it can be stopped immediately by simply stopping the operation of all rotor units. Even if inertia is acting on the unmanned vehicle, the unmanned vehicle can be forced to stop by a simple operation of momentarily reversing the rotational blades of a pair of rotor units facing the direction of travel. <3> Due to the factors mentioned above, it is possible to observe aquatic environments (e.g., blue carbon ecosystems) more cheaply and efficiently than before through the measurement means (measurement unit) of an unmanned underwater vehicle, without relying on divers. Therefore, it can make a significant contribution to the efficient understanding of the water environment and the promotion of the regeneration and creation of blue carbon ecosystems. <4> One possible self-propulsion means for an unmanned underwater vehicle is to orient the rotation axis of the rotor unit's rotor blades vertically and rotate the rotor blades horizontally. When the rotor unit's rotor blades are rotated horizontally, the vertical thrust from the rotor blades does not contribute to the horizontal navigation of the vehicle, resulting in a large loss of thrust during horizontal navigation. In contrast, in the present invention, the rotation axes of the multiple rotor units are oriented horizontally, thereby reducing the loss of horizontal thrust. Therefore, in the present invention, the navigation power of the unmanned underwater vehicle can be ensured even in adverse environments such as storms, without increasing the size of the rotor unit or the number of rotor units installed. <5> The frame-shaped hull structure of the unmanned surface vehicle makes it less susceptible to the effects of waves, and multiple floating bodies are distributed around the corners of the hull, significantly increasing the stability of the unmanned surface vehicle. As a result, even if the unmanned surface vehicle is made small and lightweight, it can navigate the sea in a stable position. <6> The unmanned underwater vehicle does not have a screw element, which is a cause of air bubbles. This allows you to take clear, underwater photos. [Brief explanation of the drawings]

[0013] [Figure 1] Model diagram of the observation device according to the present invention [Figure 2] Perspective view of the unmanned underwater vehicle from below [Figure 3] Top view of the unmanned underwater vehicle [Figure 4] Measurement unit diagram DETAILED DESCRIPTION OF THE INVENTION

[0014] The present invention will be described in detail with reference to FIGS. [Example 1]

[0015] <1> Overview of the aquatic environment observation equipment FIG. 1 shows an example of an observation device 10 used to observe the aquatic environment. The observation device 10 includes a self-propelled unmanned underwater vehicle 20 and a control device 50 that remotely controls the unmanned underwater vehicle 20 wirelessly (cordlessly).

[0016] In the following explanation, "front and rear" refers to the forward or backward direction of the unmanned underwater vehicle 20, and "left and right" refers to the left and right direction relative to the direction of travel of the unmanned underwater vehicle 20.

[0017] <2> Unmanned vehicle The unmanned underwater vehicle 20 is a device that can measure information about the underwater environment (for example, information about the blue carbon ecosystem) while freely navigating the water surface.

[0018] The unmanned underwater vehicle 20 illustrated in this example includes a self-propelled hull section 30 that floats on the sea, and a measurement section 40 mounted on the hull section 30.

[0019] Considering portability and ease of handling, it is desirable that the practical unmanned underwater vehicle 20 has dimensions of, for example, about 60 to 120 cm on a side, about 30 to 100 cm in height, and a total weight of about 10 to 20 kg.

[0020] <2.1> Hull The hull section 30 comprises at least a hull frame 31, a plurality of floating bodies 32 spaced apart on the outer periphery of the hull frame 31, and a plurality of rotor units 35 (35a to 35d) spaced apart and erected on the outer periphery of the hull frame 31 in positions that do not interfere with the floating bodies 32.

[0021] <2.1.1> Hull Frame The hull frame 31 is a polygonal frame body formed by joining together a plurality of waterproof frame members, and has an outer periphery 31a and a crossing portion 31b. The reason why the framework of the hull 30 is frame-shaped is to make it less susceptible to the effects of waves.

[0022] The planar shape of the hull frame 31 is not limited to the quadrangle shown in this example, but may be a polygon with more sides than a triangle, or may be a circle or an ellipse. The frame material that constitutes the hull frame 31 can be a hollow pipe made of a lightweight and strong FRP material.

[0023] A plurality of masts 33 are erected integrally at intervals on the outer periphery 31a of the hull frame 31, and a rotor unit 35 is provided at the top of each mast 33.

[0024] <2.1.2> Mast A plurality of masts 33 are erected integrally at intervals on the outer periphery 31a of the hull frame 31, and a rotor unit 35 is provided at the top of each mast 33. In this example, four masts 23 are erected, but the number of masts 23 may be the same as the number of rotor units 35 installed.

[0025] <2.1.3> Rotor unit The rotor units 35 are the navigation source for the unmanned underwater vehicle 20, and all rotor units 35 are deployed above the hull frame 31 so as not to be affected by seaweed and the like in the sea. The number of rotor units 35 to be installed can be selected as appropriate, but it is sufficient that there are three or more sets of rotor units 35 (three to six sets).

[0026] The rotor unit 35 is made up of a motor 36 having a horizontally oriented rotation shaft, and a rotor 37 provided on the rotation shaft of the motor 36 . The rotor blades 37 of each rotor unit 35 are all arranged to face horizontally. In other words, the rotor blades 37 of each rotor unit 35 are arranged so that the rotation planes of the rotor blades 37 are aligned in the same vertical plane.

[0027] When the rotor units 35 are arranged on the hull frame 31, the rotor units 35 are arranged so that the air blowing directions of the rotor units 35 intersect with each other. In this example, a configuration is described in which a pair of rotor units 35 are arranged facing each other (directly opposite each other) and facing in the front-to-back and left-to-right directions, but the rotor units 35 may also be arranged simply facing each other without facing each other directly.

[0028] The plurality of rotor units 35 can control the operation and stopping of one or more motors 36 . By manually or automatically controlling the on / off and rotation speed of the motors 36 of one or more rotor units 35, the unmanned underwater vehicle 20 can navigate horizontally in all directions. A method for controlling the plurality of rotor units 35 will be described later.

[0029] <2.1.4> Reason for placing the rotor unit sideways Another possible navigation means for the unmanned underwater vehicle 20 is a rotor unit arrangement in which the rotation axis is arranged vertically and the rotor blades rotate horizontally, as in a known drone. When the rotor blades of multiple rotor units are rotated horizontally, horizontal thrust and vertical thrust are generated, but the vertical thrust from the rotor blades does not contribute to the horizontal navigation of the vehicle, resulting in a loss of thrust when navigating horizontally. Therefore, when navigating in adverse environments such as a storm, even if the rotors with their rotation axes oriented vertically are rotated at high speed, there is a possibility that the thrust for horizontal navigation will be insufficient, making it impossible to navigate. In order to compensate for the lack of thrust required for navigation, it is necessary to increase the size of the rotor unit or the number of rotor units installed, but these measures cause problems such as increased costs and weight of the vehicle.

[0030] In order to deal with such a situation, the present invention reduces the loss of horizontal thrust by orienting the rotation axes of the multiple rotor units 35 horizontally. Therefore, in the present invention, the navigation power of the unmanned underwater vehicle 20 can be ensured even in adverse environments such as storms, without increasing the size of the rotor unit 35 or the number of rotor units 35 installed.

[0031] <2.1.5> Floating body A plurality of floating bodies 32 are provided on the outer periphery 31a of the hull frame 31. The float 32 is a structure that generates buoyancy so that the unmanned underwater vehicle 20 floats on the sea surface, and is formed, for example, from a lightweight resin material that is lighter than water, or is formed as a hollow structure. There are no particular restrictions on the shape of the float 32, but a columnar, spherical, or semi-spherical shape is preferred. The number of floats 32 to be installed and the size of the floats 32 can be selected appropriately taking into consideration the total weight of the unmanned underwater vehicle 20, etc.

[0032] The floats 32 may be provided along the straight part of the outer periphery 31a, but a plurality of floats 32 are preferably provided at the corners of the hull frame 31 in a well-balanced manner. The reason for distributing the plurality of floating bodies 32 at the corners of the hull frame 31 is to increase the stability of the unmanned underwater vehicle 20 by using the "side float effect."

[0033] <2.2> Measurement section A measuring unit 40 is provided in the center of the hull frame 31. Referring to Figure 4, the measurement unit 40 comprises a waterproof housing 41, a navigation control means 42 (e.g., a GPS system 42a, a housing control system 42b, a wireless communication system 42c, etc.) built into the housing 41 for controlling the navigation of the unmanned underwater vehicle 20, a measurement means 43 (e.g., a photographic camera 43a, a sonar system 43b, etc.) built into the housing 41 for observing the underwater world, and a battery 44. The bottom of the box 41 is made of a transparent material so that the underwater world can be photographed using a photographing camera 43a or the like.

[0034] <2.2.1> Navigation control means The PS system 42a and the wireless communication system 42c are well known. The underwater vehicle control system 42b can individually control the operation and stopping of the plurality of rotor units 35 (35a to 35d), the rotation speed of the rotor blades 37, and the like. The systems that constitute the navigation control means 52 of the unmanned underwater vehicle 20 are not limited to the exemplified GPS system 42a, underwater vehicle control system 42b, and wireless communication system 42c, but may be any known system as needed.

[0035] <2.2.2> Measurement methods The photographing camera 43a may be not only an underwater camera but also a surface camera, which may be installed in parallel. The photographing camera is attached via a known cymbal. The photographing camera 43a is capable of taking not only still images but also moving images. The sonar system 43b is known to be capable of not only observing the distribution of seaweed and algae growing in the sea, but also measuring the water depth. The sonar system 43b is deployed as needed.

[0036] The measurement means 43 capable of observing the underwater world is not limited to the photographic camera 43a and sonar system 43b shown as examples, and may be equipped with known measuring equipment and various sensors (water quality sensors, flow velocity sensors, etc.) as needed.

[0037] <2.2.3> Battery The battery 44 may be a known rechargeable battery (such as a lithium ion battery), a solar cell, a fuel cell, or a combination of these. The rotor unit 35 , the navigation control means 42 , and the measurement means 43 are electrically connected to a battery 44 .

[0038] The buoyancy of the unmanned underwater vehicle 20 can be adjusted by selecting the float 32, so even if the weight of the battery 44 increases slightly, it has little effect on the unmanned underwater vehicle 20's ability to rise to the surface of the sea and its free navigation.

[0039] <3> control device The control device 50 shown in FIG. 1 is a device that remotely controls the navigation of the unmanned underwater vehicle 20, and receives and stores images and data measured by the unmanned underwater vehicle 20. A monitor may be attached to part of the control device 50 so that underwater images can be viewed in real time. The control device 50 may be a portable controller that is dedicated to controlling a single unmanned underwater vehicle 20, or may be a base station type that uses a single control device 50 to simultaneously control multiple unmanned underwater vehicles 20.

[0040] [Methods for observing blue carbon ecosystems] A method for observing blue carbon ecosystems using the observation device 10 will now be described.

[0041] <1> Transporting observation equipment The unmanned underwater vehicle 20 that constitutes the observation device 10 is small enough to be mounted on a non-large vehicle such as a minivan, and is light enough to be carried by a single worker. The control device 50 is also small and lightweight. Therefore, the unmanned underwater vehicle 20 and the control device 50 can be transported and moved extremely easily.

[0042] <2> Navigation and movement of unmanned underwater vehicles The unmanned underwater vehicle 20 is landed on the sea surface with the bottom surface of the measuring unit 40 facing downward. The unmanned underwater vehicle 20 floats on the sea surface due to the buoyancy of the multiple floating bodies 32. The unmanned underwater vehicle 20 is automatically navigated to the target waters of blue carbon ecosystems (seagrass beds, seaweed beds, etc.) under the command of the control device 50 or in accordance with a program.

[0043] The unmanned underwater vehicle 20 does not have a screw element that rotates in the sea, but propels itself using the thrust of multiple rotor units 35 arranged above the hull frame 31. Therefore, there is no need to worry about the self-propulsion of the unmanned underwater vehicle 20 being hindered by seaweed or other seaweed, and the unmanned underwater vehicle 20 can navigate freely without being affected by seaweed or other seaweed.

[0044] Since the unmanned underwater vehicle 20 can navigate by itself, it is not necessary for it to be accompanied by a ship, and furthermore, since the unmanned underwater vehicle 20 can be remotely controlled from the land side, there is no need to provide an extension cable to the unmanned underwater vehicle 20.

[0045] <2.1> Straight navigation A method for steering the unmanned underwater vehicle 20 will be described with reference to FIG. The unmanned underwater vehicle 20 can move in a straight line by rotating the rotor blades 37 together with any one of the motors 36 of the plurality of rotor units 35a to 35d to generate a thrust in the horizontal direction.

[0046] When the unmanned underwater vehicle 20 moves straight, either one of the rotor blades 37 of the pair of rotor units 35a, 35c facing the direction of travel is operated, or the rotor blades 37 of the pair of rotor units 35a, 35c facing the direction of travel are operated simultaneously.

[0047] When the rotors 37 of a pair of rotor units 35a, 35c facing the traveling direction are operated simultaneously, the sailing speed is doubled compared to when only one of the rotors 37 of the pair of rotor units 35a, 35c facing the traveling direction is operated.

[0048] As another mode for moving the unmanned underwater vehicle 20 in a straight line, it is also possible to move the unmanned underwater vehicle 20 by operating the rotor blades 37 of all the rotor units 35a to 35d simultaneously.

[0049] <2.2> Change of direction of travel When changing the direction of travel of the unmanned underwater vehicle 20, the direction of travel of the unmanned underwater vehicle 20 can be changed left or right by controlling the rotation of one or both of the rotor blades 37 of a pair of rotor units 35b, 35d facing in a direction perpendicular to the direction of travel of the unmanned underwater vehicle 20.

[0050] The direction of travel of the unmanned underwater vehicle 20 can be adjusted to a desired angle by adjusting the rotation speed of the rotor blades 37 of each rotor unit 35b, 35d, or by combining them in the opposite direction of rotation.

[0051] <2.3>Stop operation When the unmanned underwater vehicle 20 is stopped, the operation of all rotor units 35a to 35d is stopped, or the rotor blades 37 of the pair of rotor units 35a, 35c facing the direction of travel are momentarily reversed to brake.

[0052] Because the unmanned underwater vehicle 20 is lightweight, weighing only a few kg, it does not have a large inertia, and because water resistance acts when the unmanned underwater vehicle 20 navigates, the unmanned underwater vehicle 20 can be stopped immediately by simply stopping the operation of all rotor units 35a to 35d.

[0053] Even if the unmanned underwater vehicle 20 is affected by inertia, the unmanned underwater vehicle 20 can be immediately forced to stop by momentarily reversing the rotation of the rotor blades 37 of the pair of rotor units 35a, 35c facing the direction of travel to apply a braking force.

[0054] <3> Underwater observation using measurement tools When the unmanned underwater vehicle 20 arrives at the water area to be observed, the control device 50 is operated to activate the measurement means 43 (photographic camera 43a, sonar system 43b, etc.) to observe the distribution and growth status of seaweed and other marine plants. The unmanned underwater vehicle 20 does not have a screw element that is a cause of air bubbles, and therefore can capture images of the underwater world with clear image quality.

[0055] Observations by the measurement means 43 can be performed while the unmanned underwater vehicle 20 is stationary, or can be performed while the unmanned underwater vehicle 20 is sailing.

[0056] <3.1> Transmission of observation data Measurement data such as underwater images taken by the measurement means 43 is transmitted to the control device 50 together with GPS-based position information of the unmanned underwater vehicle 20.

[0057] <3.2> Receiving observation data Measurement data such as images transmitted from the unmanned underwater vehicle 20 is received by the control device 50. The observer looks at the image displayed on the control device 50 in real time and makes observations, or looks at the measurement data stored in the control device 50 and makes observations.

[0058] In this way, it is possible to observe blue carbon ecosystems more cheaply and efficiently than before through the measurement unit 40 of the unmanned underwater vehicle 20, without relying on divers. Therefore, it can make a significant contribution to promoting the regeneration and creation of blue carbon ecosystems.

[0059] [Example 2] In the above-described first embodiment, the present invention is applied to the observation of blue carbon ecosystems as an aquatic environment. However, the present invention can also be applied to water quality surveys and topographical surveys such as narrow multi-beam surveys. [Explanation of symbols]

[0060] 10. Observation equipment 20...Unmanned vehicle 30 Hull 31. Hull frame 31a... Hull frame outer periphery 31b: Transverse section of hull frame 32. Floating body 33 Mast 35, 35a to 35d Rotor unit 36 Motor 37 Rotor 40. Measurement section 41...Case 42. Navigation control means 42a GPS control system 42b Navigation Control System 42c···Communication Systems 43. Measurement methods 43a···Photographic camera 43b Sonar System 44 Battery 50...Control device

Claims

1. An observation device for an aquatic environment comprising: a self-propelled unmanned underwater vehicle equipped with a means for measuring an aquatic environment; and a control device that remotely controls the unmanned underwater vehicle via wireless communication and receives data measured by the measurement means, The unmanned underwater vehicle has a hull portion floating on the sea, The hull section has a plurality of rotor units each having a rotor blade that rotates around a horizontal rotation axis, The plurality of rotor units are erected facing each other on the upper part of the hull section, The unmanned underwater vehicle is self-propelled by lateral thrust generated by rotating some or all of the rotor blades of the plurality of rotor units. Aquatic environment observation equipment.

2. 2. The aquatic environment observation device according to claim 1, wherein the unmanned underwater vehicle includes a hull portion floating on the sea and a measurement portion mounted on the hull portion.

3. The aquatic environment observation device described in claim 1, characterized in that the hull portion comprises at least a frame-shaped hull frame having corners, a plurality of floating bodies spaced apart on the outer periphery of the hull frame, and a plurality of sets of rotor units spaced apart and erected on the upper part of the outer periphery of the hull frame in positions that do not interfere with the floating bodies.

4. 4. The aquatic environment observation device according to claim 3, wherein a plurality of floating bodies are provided at the corners of the hull frame in a dispersed manner.

5. 4. The aquatic environment observation device according to claim 3, wherein masts are provided at intervals on the outer periphery of the hull frame, and a rotor unit is provided laterally at the top of each mast.

6. The aquatic environment observation device described in claim 1, characterized in that the measurement unit comprises a waterproof housing, a navigation control means for controlling the navigation of an unmanned underwater vehicle built into the housing, a measurement means for observing the underwater environment built into the housing, and a battery.

7. A method for observing an aquatic environment using the observation device according to claim 1, comprising: observing an underwater environment while propelling the unmanned underwater vehicle by using lateral thrust generated by rotating some or all of the rotor blades of the plurality of rotor units; The control device receives data measured by the unmanned underwater vehicle and observes the aquatic environment. Methods for observing the aquatic environment.

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