Observation device and method for aquatic environments

Abstract

To provide an observation device and an observation method for an aquatic environment, which enables an unmanned vehicle to navigate freely without being affected by seaweed, etc., and enables observation of blue carbon ecosystems more cheaply and efficiently than before. [Solution] The unmanned surface vehicle 20 comprises a self-propelled unmanned surface vehicle 20 and a control device 50 that remotely controls the unmanned surface vehicle 20. The unmanned surface vehicle 20 comprises a hull section 30 and a measurement section 40. The hull section 20 comprises a frame-shaped hull frame 31 with corners, a plurality of floats 32 arranged at intervals on the outer periphery of the hull frame 31, and a plurality of sets of rotor units 35 erected facing each other on the upper part of the outer periphery of the hull frame 31 in positions that do not interfere with the floats 32, and the unmanned surface vehicle is propelled by rotating some or all of the rotors 37 of the plurality of sets of rotor units 35.

Description

[Technical field]

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

[0002] Blue carbon is the carbon dioxide (CO 2 ) is a carbon dioxide fixation technology that utilizes the mechanism of absorption. Generally, blue carbon ecosystems refer to seagrass beds (e.g., Zostera marina, Sugamo duck), seaweed beds (kombu, wakame), 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, including carbon dioxide absorption and biological growth, and the regeneration and creation of blue carbon ecosystems is an important issue for future measures against global warming and the promotion of the fisheries 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, for example, 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 marine algae diving into the target waters to make direct observations. The sonic exploration method involves emitting sound 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 ship in 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 with a camera mounted on an aerial drone, and observing the distribution of blue carbon ecosystems based on the shading, etc., 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] JP 2002-58370 A [Patent Document 5] JP 2004-151278 A [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 monitoring 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 marine algae, and places a heavy burden on the divers' efforts. <2> Observation methods using self-propelled underwater cameras have problems such as the accompanying ship and underwater camera being equipped with screw elements, which can easily become entangled with seaweed, hindering the navigation of the ship and underwater camera, and poor image quality due to air bubbles generated as the screw elements rotate. <3> Furthermore, since ships and underwater cameras are heavy objects, large inertia is at work during navigation. This means that the vessel and underwater camera cannot be stopped immediately. Starting and stopping takes a lot of time, making it difficult to conduct efficient observations. <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 perform the observation, and the lower the observation efficiency. <5> The use of aerial drones for aerial photography has problems, such as the difficulty of accurately observing the distribution of blue carbon ecosystems using aerial photography alone, due to the unclear shading in the images. It also has the problem that the conditions for aerial photography are limited to marine areas with good light transmittance. <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> In light of this, there is a need to propose technologies that enable cheaper and more efficient monitoring 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 an unmanned vehicle to navigate freely without being affected by seaweed, etc., and enables observation of the aquatic environment at a lower cost and more 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 the top of the hull portion, and the unmanned surface vehicle is self-propelled by lateral thrust generated by rotating some or all of the rotors 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 erected at intervals 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 in a distributed manner at the corners of the hull frame. 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 on 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 built into the housing, a measurement means for observing the underwater environment built into the housing, and a battery. The present invention is a method for observing an aquatic environment using any of the observation devices described above, in which the undersea aquatic environment is observed while the unmanned aquatic vehicle is propelled under its own power using lateral thrust generated by rotating some or all of the rotor blades of the multiple rotor units, and the aquatic environment is observed by receiving data measured by the unmanned aquatic vehicle using a control device. Effect of the Invention

[0012] The present invention has at least one of the following advantages. <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 mounted on the top of the hull. Therefore, there is no need to worry about the self-propulsion of the unmanned aerial vehicle being hindered by seaweed, etc., and the unmanned aerial vehicle can navigate freely without being affected by seaweed, etc. <2> When the unmanned vehicle needs to be stopped, it can be stopped immediately by simply ceasing 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 described 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 the unmanned underwater vehicle, without relying on divers. Therefore, it can make a significant contribution to efficiently understanding the water environment and promoting the regeneration and creation of blue carbon ecosystems. <4> One possible self-propulsion means for an unmanned underwater vehicle is to orient the rotor unit's blades in a vertical position and rotate the blades horizontally. When the rotor unit's blades are rotated horizontally, the vertical thrust from the rotors 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 rotational 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 aerial 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 of the hull of the unmanned navigational vehicle is frame-shaped to make it less susceptible to the effects of waves, and multiple floating bodies are distributed around the corners of the hull, making the unmanned navigational vehicle much more stable. Therefore, even if the unmanned navigational vehicle is made small and lightweight, it can navigate the sea in a stable posture. <6> The unmanned vehicle does not have a screw element, which is a cause of air bubbles. This allows you to capture underwater images with clear image quality. [Brief description of the drawings]

[0013] [Figure 1] Model diagram of the observation device according to the present invention [Diagram 2] A perspective view of the unmanned vehicle from below [Diagram 3] Top view of the unmanned vehicle [Figure 4] Measuring unit diagram DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[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 for observing an aquatic environment. The observation device 10 includes a self-propelled unmanned aquatic vehicle 20 and a control device 50 that remotely controls the unmanned aquatic vehicle 20 wirelessly (cordlessly).

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

[0017] <2> Unmanned vehicle The unmanned underwater vehicle 20 is a device capable of measuring information on the underwater environment (for example, information on 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 transportability and ease of handling, it is desirable for a practical unmanned aerial vehicle 20 to have 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) erected at intervals 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 skeleton of the hull 30 is made frame-shaped in order to make it less susceptible to the effects of waves.

[0022] The planar shape of the hull frame 31 is not limited to the rectangle 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 constituting the hull frame 31 can be made of hollow pipes made of 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.

[0025] <2.1.3> Rotor unit The rotor units 35 are the navigation source for the unmanned underwater vehicle 20, and all of the 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 appropriately selected, but it is sufficient that the number of rotor units 35 is three or more (three to six).

[0026] The rotor unit 35 is composed of a motor 36 having a horizontal rotating shaft, and a rotor 37 provided on the rotating shaft of the motor 36 . The rotor blades 37 of each rotor unit 35 are all provided to face horizontally. In other words, the rotor blades 37 of each rotor unit 35 are provided so that their rotation planes are 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 cross each other. In this example, a configuration in which a pair of rotor units 35 are opposed to each other (facing each other) and arranged facing the front-rear and left-right directions will be described, but the rotor units 35 may also be simply provided facing each other without facing each other.

[0028] The multiple rotor units 35 are capable of controlling the start and stop 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 multiple rotor units 35 will be described later.

[0029] <2.1.4> Reason for arranging the rotor unit sideways Another possible navigation means for the unmanned vehicle 20 is a rotor unit arrangement in which the rotation axis is arranged vertically and the rotor blades rotate horizontally, as in known drones. When the rotor blades of multiple rotor units are rotated horizontally, horizontal thrust and vertical thrust are generated. However, the vertical thrust from the rotor blades does not contribute to the horizontal navigation of the vehicle, and therefore results in thrust loss during horizontal navigation. Therefore, when navigating in adverse environments such as a storm, even if the rotors with vertical shafts are rotated at high speed, there may not be enough thrust for horizontal navigation, making it impossible to navigate. In order to compensate for the lack of thrust required for navigation, it would be necessary to increase the size of the rotor unit or the number of rotor units installed, but these measures would raise the issues of high 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 rotational 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 bodies 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 body 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 is no particular restriction 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 body 20, etc.

[0032] The float 32 may be provided on the middle of a straight portion 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 multiple floating bodies 32 at the corners of the hull frame 31 is to increase the stability of the unmanned underwater body 20 by using the "side float effect".

[0033] <2.2> Measurement section A measuring section 40 is provided in the center of the hull frame 31. Explaining with reference to Figure 4, the measurement unit 40 comprises a waterproof housing 41, a navigation control means 42 (e.g., a GPS system 42a, a vehicle control system 42b, a wireless communication system 42c, etc.) built into the housing 41 for controlling the navigation of the unmanned vehicle 20, a measurement means 43 (e.g., a photographing 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 with 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 multiple rotor units 35 (35a to 35d), the rotation speed of the rotor blades 37, and the like. The systems constituting 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, and any known system may be applied as necessary.

[0035] <2.2.2> Measurement methods The photographing camera 43a may be not only an underwater camera but also a surface camera. 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 marine 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 it is also possible to equip it with publicly known measuring equipment and various sensors (water quality sensors, flow velocity sensors, etc.) as necessary.

[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 two or more of these. The rotor unit 35 , the navigation control means 42 , and the measurement means 43 described above are electrically connected to a battery 44 .

[0038] The buoyancy of the unmanned underwater body 20 can be adjusted by selecting the float 32, so even if the weight of the battery 44 increases slightly, there is little effect on the unmanned underwater body 20 floating on the sea surface and 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 dedicated to controlling a single unmanned aerial vehicle 20, or may be a base station type in which a single control device 50 controls multiple unmanned aerial vehicles 20 simultaneously.

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

[0041] <1> Transportation of observation equipment The unmanned vehicle 20 constituting 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 aquatic vehicle 20 and the control device 50 can be transported and moved extremely easily.

[0042] <2> Navigation and movement of unmanned aerial 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 multiple floating bodies 32. The unmanned underwater vehicle 20 is automatically navigated to the target waters of the blue carbon ecosystem (seagrass beds, algae beds, etc.) by command of the control device 50 or according to 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 aquatic vehicle 20 can navigate under its own power, it does not need to be accompanied by a ship, and furthermore, since the unmanned aquatic vehicle 20 can be remotely controlled from land, there is no need to provide an extension cable to the unmanned aquatic vehicle 20.

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

[0046] When the unmanned 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 direction of travel 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 direction of travel is operated.

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

[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 to the left or right by controlling the rotation of one or both of the rotors 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] By adjusting the rotation speed of the rotors 37 of each rotor unit 35b, 35d, or by combining the rotation directions in reverse, the traveling direction of the unmanned aerial vehicle 20 can be adjusted to the desired angle.

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

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

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

[0054] <3> Underwater observation using measuring tools When the unmanned underwater vehicle 20 arrives at the water area to be observed, the control device 50 is operated to start up the measurement means 43 (photographic camera 43a, sonar system 43b, etc.) to observe the distribution and growth conditions of seaweed and other marine plants. The unmanned underwater vehicle 20 does not have a screw element, which is a cause of air bubble generation, 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 captured by the measuring means 43 are transmitted to the control device 50 together with position information of the unmanned underwater vehicle 20 obtained by GPS.

[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, and 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-mentioned first embodiment, a form applied to the observation of a blue carbon ecosystem as an aquatic environment has been described. 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 section 31... Hull frame 31a... Outer periphery of hull frame 31b... Transverse section of hull frame 32. Floating body 33 Mast 35, 35a to 35d Rotor unit 36 Motor 37 Rotor 40...Measuring 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 measuring means for measuring an aquatic environment; and a control device that remotely controls the unmanned underwater vehicle by wireless communication and receives data measured by the measuring means, The unmanned aquatic vehicle has a hull portion floating on the sea, The hull portion includes a frame-shaped hull frame having corners, A plurality of floating bodies provided at intervals on the outer periphery of the hull frame; a plurality of rotor units provided with rotor blades that rotate about a horizontal rotation axis, the rotor units being erected at intervals on an upper portion of the outer periphery of the hull frame at positions that do not interfere with the floating body, The plurality of rotor units are erected facing each other on the upper portion of the hull portion, The unmanned aquatic vehicle is made to propel itself by a lateral thrust generated by rotating some or all of the rotor blades of the plurality of rotor units. Observation equipment for aquatic environments.

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. 2. The aquatic environment observation device according to claim 1, wherein a plurality of floating bodies are distributed around the corners of the hull frame.

4. 2. The aquatic environment observation device according to claim 1, further comprising masts provided at intervals on the outer periphery of the hull frame, and a rotor unit provided laterally at the top of each mast.

5. The aquatic environment observation device described in claim 2, characterized in that the measurement unit comprises a waterproof housing, a navigation control means for controlling the navigation of an unmanned aquatic vehicle built into the housing, a measurement means for observing the underwater environment built into the housing, and a battery.

6. 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 a lateral thrust generated by rotating some or all of the rotor blades of the plurality of rotor units; The method is characterized in that 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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