Mobile body, mobile body module, and device for setting balance adjustment material for the module

Abstract

To speedily carry out balance adjustment of a movable body.SOLUTION: A module 11 of a movable body 10 includes: a housing 12 capable of being coupled to another module 11 composing a portion of the movable body 10; and a balance adjustment unit 13 for attachably / detachably retaining at least one of balance adjusters 14 of the movable body 10.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present disclosure relates to a module that constitutes a part of a moving body and a setting device for a balancing member that is attached to the module. [Background technology]

[0002] Patent Document 1 discloses an underwater vehicle. This underwater vehicle is composed of a plurality of disassembled cylindrical pressure-resistant containers, each of which contains a different piece of equipment. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2009-096396 A Summary of the Invention [Problem to be solved by the invention]

[0004] As the operability of unmanned vehicles (UV) such as unmanned aerial vehicles improves, their applications are becoming more diverse. Since it is obviously not realistic to install all the devices required for these applications on a vehicle, it is possible to prepare individual modules with different functions and configure a vehicle by combining any of these modules appropriately depending on the application.

[0005] However, the weight and buoyancy of a module differ depending on the device mounted on the module. Therefore, the balance adjustment of the mobile body is required. This balance adjustment needs to be performed according to the operating environment. In addition, depending on the purpose of the mobile body, balance adjustment may be required due to module replacement on site. Balance adjustment often takes a lot of time because the mobile body is repeatedly inserted into and retrieved from the operating environment.

[0006] The present disclosure has been made in consideration of the above circumstances, and aims to provide a module for a moving body that enables rapid balance adjustment of the moving body, and a setting device for a balance adjustment material for the module. [Means for solving the problem]

[0007] A module of a moving body according to one embodiment of the present disclosure includes a housing that can be connected to another module that constitutes a part of the moving body, and a balance adjustment unit that detachably holds at least one balance adjustment member of the moving body. The balance adjustment unit includes a ballast holding unit that detachably holds ballast as the balance adjustment material, and a float holding unit that detachably holds a float as the balance adjustment material, and the float holding unit has a float housing unit that opens to the outer surface of the housing as an inlet for the float, and a lid unit that opens and closes the inlet for the float. do.

[0008] A module of a moving body according to one embodiment of the present disclosure includes a housing connectable to another module constituting a part of the moving body, and a balance adjustment unit detachably holding at least one balance adjustment member of the moving body; The balance adjustment unit is a ballast holding unit that detachably holds a ballast as the balance adjustment material. The ballast holder includes a ballast storage portion that opens to an outer surface of the housing as an inlet for the ballast, and a lid portion that opens and closes the inlet for the ballast. Note The module further includes a communication unit that outputs balance adjustment information related to the balance adjustment unit in response to a request signal from an external device. Good too.

[0009] A module of a moving body according to one embodiment of the present disclosure includes a housing that can be connected to another module that constitutes a part of the moving body, a balance adjustment unit that detachably holds at least one balance adjustment member of the moving body, and a communication section that outputs balance adjustment information related to the balance adjustment section in response to a request signal from an external device; and Equipped with The balance adjustment unit includes a ballast holding unit that detachably holds a ballast as the balance adjustment material. .

[0010] One aspect of the present disclosure is a moving body including a plurality of the above-described modules.

[0011] One aspect of the present disclosure is a setting device for a balance adjustment material that is attached to each of a plurality of modules that are connected to each other to form a moving body, the device comprising: a control unit that calculates the weight and center of gravity position of the moving body based on the arrangement of the plurality of modules and the weight and center of gravity position of each of the modules, estimates the balance state of the moving body in its operating environment based on the weight and center of gravity position of the moving body, and calculates the weight of ballast as the balance adjustment material to be attached to the ballast holding portion of each of the modules as the ballast set weight so that the balance state falls within a predetermined allowable range, and a display unit that displays the ballast set weight or the number of ballast corresponding to the ballast set weight in correspondence with the ballast holding portion of each of the modules.

[0012] The control unit may calculate the floatation and center of buoyancy of the moving body based on the arrangement of the multiple modules and the floatation and center of buoyancy of each of the modules, and calculate the floatation of a float as a balancing material attached to the float holding part of each of the modules as the float set floatation so that the balance state falls within a predetermined tolerance range. The estimation of the balance state by the control unit may be performed based on the floatation and center of buoyancy position of the moving body in addition to the weight and center of gravity position of the moving body. The display unit may display the float set floatation or the number of the floats corresponding to the float set floatation in association with the float holding part of each of the modules.

[0013] The setting device may further include a communication unit that communicates with the mobile object. Effect of the Invention

[0014] According to the present disclosure, it is possible to provide a module for a moving body that can quickly perform balance adjustment of the moving body, and a setting device for a balancing material for the module. [Brief description of the drawings]

[0015] [Figure 1] FIG. 2 is a conceptual diagram illustrating an example of a moving body according to the present embodiment. [Diagram 2] 2 is a diagram showing an example of an unmanned aerial vehicle corresponding to the moving body of FIG. 1. [Diagram 3] 1A and 1B are diagrams showing an example of a module according to the present embodiment, in which (a) is a side view of the module as viewed from the Y direction, and (b) is a cross-sectional view of the module as viewed from the X direction. [Figure 4] FIG. 11 is a conceptual diagram showing another example of a moving body according to the present embodiment. [Diagram 5] 5 is a diagram showing an example of an unmanned surface vehicle (unmanned underwater vehicle) corresponding to the moving body of FIG. 4. [Figure 6]5A and 5B are diagrams showing another example of a module according to the present embodiment, in which (a) is a side view of the module as viewed from the Y direction, and (b) is a cross-sectional view of the module as viewed from the X direction. [Figure 7] FIG. 2 is a diagram illustrating an example of a configuration of a setting device according to the present embodiment. [Figure 8] 5 is a flowchart showing a setting process of a balance adjustment material using the setting device according to the present embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Hereinafter, some embodiments of the present disclosure will be described with reference to the accompanying drawings. In addition, common parts in each drawing are given the same reference numerals, and duplicated explanations will be omitted. For convenience of explanation, the central axis CA is assumed to extend horizontally, and the extension direction is defined as the X direction (axial direction). In addition, the direction that extends horizontally and is perpendicular to the X direction is defined as the Y direction, and the vertical direction is defined as the Z direction. Furthermore, one side of the X direction is defined as the "front" and the other side of the X direction is defined as the "rear".

[0017] The moving body according to the present embodiment can be applied to unmanned vehicles such as an unmanned underwater vehicle (UUV), an unmanned surface vehicle (ASV), an unmanned aerial vehicle (UAV), and an unmanned ground vehicle (UGV). The unmanned vehicle may operate autonomously or may be operated by remote control of an operator. As described below, the moving body is composed of a plurality of modules, and each module is equipped with a balance adjustment material for adjusting the gravity balance and buoyancy balance of the moving body. The setting device according to the present embodiment calculates the number of the above-mentioned balance adjustment materials to be equipped to each module.

[0018] First, a moving body and a module according to the present embodiment will be described. Fig. 1 is a conceptual diagram showing an example of a moving body 10 according to this embodiment. Fig. 2 is a diagram showing an example of an unmanned aerial vehicle 10A corresponding to the moving body 10 of Fig. 1. Fig. 3 is a diagram showing an example of a module 11 according to this embodiment, where (a) is a side view of the module 11 as viewed from the Y direction, and (b) is a cross-sectional view of the module 11 as viewed from the X direction.

[0019] 1 and 2, a moving body 10 is composed of a plurality of modules 11 connected to each other. The plurality of modules 11 are connected to each other and operate as the moving body 10. The modules 11 each have an individual function, and are appropriately selected and combined according to the purpose of the moving body 10 in order to function as the moving body 10. In addition, one of the plurality of modules 11 has a control device that controls each module 11 as a master module, and controls the operation of the moving body 10.

[0020] As shown in Fig. 3, the module 11 includes a housing 12 and a balance adjustment unit 13. The housing 12 constitutes a part of the outer shape of the entire moving body 10, and is a container that houses at least the balance adjustment unit 13 and devices (not shown) necessary for the operation of the module 11. The housing 12 has a hollow cylindrical shape extending in the X direction from the front end 12a to the rear end 12b. Also, as shown in Fig. 3, the housing 12 has a circular cross section centered on a central axis CA extending in the Z direction. However, the cross-sectional shape of the housing 12 is not limited to a circular shape, and may have a shape according to the function of the module 11, etc.

[0021] The housing 12 is configured to be connectable to another module 11 that constitutes another part of the moving body 10. That is, the housing 12 has a connecting portion (not shown) provided at at least one of the front end portion 12a and the rear end portion 12b. The connecting portion (not shown) mechanically connects to the other module 11. The material of the housing 12 is, for example, a metal or resin having sufficient strength, and is selected according to the application of the moving body 10.

[0022] The module 11 has basic functions for the moving body 10, such as power supply, propulsion and steering, or control and navigation. That is, when the function of the module 11 is power supply, the module 11 is provided with a power supply device including a power source such as a battery. When the function of the module 11 is propulsion and steering, the module 11 is provided with a power source such as a drive motor, a propeller or wheels connected to the power source, and an adjustment mechanism (steering mechanism) for the rudder or wheels. When the function of the module 11 is control and navigation, the module 11 is provided with an inertial navigation system having a gyro and an accelerometer. Note that some of the above functions may be performed by a single module 11.

[0023] Furthermore, the module 11 may have functions according to the purpose and operating environment of the moving body 10. For example, the module 11 has functions such as sensing of targets or obstacles, manipulation, imaging, measurement, or cargo storage. For example, when the function of the module 11 is sensing, the module 11 is provided with a probe equipped with a sonic sensor, an infrared sensor, or the like. When the function of the module 11 is manipulation, the module 11 is provided with a manipulator such as a movable arm installed in the housing 12, and an imaging device such as a camera for checking the operating state of the manipulator. When the function of the module 11 is imaging, the module 11 is provided with an imaging device such as a camera. When the function of the module 11 is measurement, the module 11 is provided with sensors such as a temperature sensor, a pressure sensor, or an acoustic sensor, and a control device for the sensors. When the function of the module 11 is cargo storage, the module 11 is provided with a cargo storage room in the housing 12. Note that some of the above functions may be performed by a single module 11.

[0024] The balance adjustment unit 13 detachably holds at least one balance adjustment material 14 of the moving body 10. The balance adjustment material 14 is, for example, a ballast (weight, weight) 15 that adjusts the gravity balance of the entire moving body 10. In this case, the balance adjustment unit 13 includes a ballast holding unit 16 that detachably holds the ballast 15. A plurality of ballasts 15 are prepared, some of which are attached to the ballast holding unit 16 according to the desired gravity balance of the moving body 10. Note that the weights of the plurality of ballasts 15 may be the same or different.

[0025] 3, the ballast holding unit 16 serving as the balance adjustment unit 13 has a storage unit 17 and a lid unit 18. The storage unit 17 is a container for storing the ballast 15, and has an inlet 19 for the ballast 15 that opens to the outer surface of the housing 12. The storage unit 17 may have a capacity for storing multiple ballasts 15.

[0026] The lid 18 is a plate member that opens and closes an inlet 19 of the ballast 15. The lid 18 is attached to the housing 12 via a connecting member such as a hinge, and forms the outer surface of the housing 12 (i.e., the outer surface of the moving body 10). The lid 18 prevents the ballast 15 from accidentally dropping, and reduces the drag of the fluid (i.e., air or water) generated on the moving body 10 during movement.

[0027] When the module 11 is placed in a posture for when the movable body 10 is in operation, the ballast holding part 16 is located below the center of gravity 20 when viewed from the X direction. This makes it possible to suppress unnecessary roll of the module 11 that occurs when the ballast 15 is attached. Furthermore, it is desirable for the ballast holding part 16 to be located at a position below the center of gravity 20 along the Z direction. This makes it possible to further suppress the above-mentioned unnecessary roll.

[0028] The ballast holding unit 16 is provided in the module 11 regardless of the operating environment of the moving body 10. That is, the ballast holding unit 16 is provided in the module 11 of the moving body 10 that operates in each of the environments underwater (on water), on land, and in the air.

[0029] Fig. 4 is a conceptual diagram showing another example of the moving body 10 according to this embodiment. Fig. 5 is a diagram showing an example of an unmanned underwater vehicle (unmanned surface vehicle) 10B corresponding to the moving body 10 of Fig. 4. Fig. 6 is a diagram showing another example of the module 11 according to this embodiment, where (a) is a side view of the module 11 as viewed from the Y direction, and (b) is a cross-sectional view of the module 11 as viewed from the X direction.

[0030] The balance adjustment unit 13 may include, in addition to the ballast holding unit 16, a float holding unit 26 that detachably holds a float (buoyancy material, float) 25 as the balance adjustment material 14. The float 25 adjusts the buoyancy balance of the entire moving body 10. A plurality of floats 25 are prepared, some of which are attached to the float holding unit 26 according to the desired buoyancy balance of the moving body 10. The buoyancy of the plurality of floats 25 may be the same or different. The float holding unit 26 as the balance adjustment unit 13 is provided on a moving body that operates underwater or on water, such as the unmanned underwater vehicle (unmanned surface vehicle) 10B shown in FIG. 5.

[0031] 6, the float holding part 26 serving as the balance adjustment part 13 has a housing part 27 and a lid part 28. The housing part 27 is a container that houses the float 25, and has an inlet 29 for the float 25 that opens to the outer surface of the housing 12. The housing part 27 may have a capacity large enough to house a plurality of floats 25.

[0032] The lid 28 is a plate member that opens and closes the inlet 29 of the float 25. The lid 28 is attached to the housing 12 via a connecting member such as a hinge, and forms the outer surface of the housing 12 (i.e., the outer surface of the moving body 10). The lid 28 prevents the float 25 from accidentally floating up, and reduces the drag of the fluid (i.e., air or water) generated on the moving body 10 during movement. Note that the lid 28 is configured to allow water to flow into the housing 27 so that the float 25 can obtain buoyancy. For example, the lid 28 is provided with a through hole (not shown) that communicates with the housing 27 from the external space of the module 11.

[0033] When the module 11 is placed in a posture for when the movable body 10 is in operation, the float holding portion 26 is located above the center of buoyancy 21 when viewed from the X direction. This makes it possible to suppress unnecessary roll of the module 11 that occurs when the float 25 is attached. Furthermore, it is desirable for the float holding portion 26 to be located at a position above the center of buoyancy 21 along the Z direction. This makes it possible to further suppress the above-mentioned unnecessary roll.

[0034] The module 11 may have a communication unit 23 that establishes a network with other modules 11 that constitute the mobile body 10. The communication unit 23 transmits various signals such as control signals and data signals of each module 11 via the network.

[0035] The communication unit 23 may also output balance adjustment information in response to a request signal from an external device. The balance adjustment information is information necessary for the module 11 that outputs the information to calculate the number of balance adjustment materials 14 required for balance adjustment of the moving body 10. The balance adjustment information includes, for example, the weight, center of gravity position, buoyancy amount, center of buoyancy position of the module 11, and the relative position of the balance adjustment unit 13 with respect to the center of gravity or the center of buoyancy, the maximum number of balance adjustment materials 14 that can be loaded, the number of balance adjustment materials 14 currently attached, and the model number of other modules 11 that are connected. On the other hand, the external device is a device that can access the above-mentioned network from outside the moving body 10, and is, for example, a setting device 30 (see FIG. 7) according to this embodiment, which will be described later. The setting device 30 receives the balance adjustment information through communication, so that the input of the balance adjustment information by the operator of the setting device 30 can be omitted, and the operator's work can be reduced.

[0036] The balance adjustment information may include information indicating the number of balance adjustment materials 14 held by the balance adjustment unit 13 when the request signal is received. That is, when the module 11 is provided with only the ballast holding unit 16, the balance adjustment information may include information indicating the number of ballasts 15. Also, when the module 11 is provided with the ballast holding unit 16 and the float holding unit 26, the balance adjustment information may include information indicating the number of ballasts 15 and the number of floats 25.

[0037] The balance adjustment information may include a unique model number assigned to the module 11. The model number included in the balance adjustment information is transmitted to the setting device 30 and compared with a list previously stored in the setting device 30. If the corresponding model number is found in the list, the setting device 30 obtains the above-mentioned information, such as the weight, corresponding to that model number from the list.

[0038] The output destination of the balance adjustment information may be the external device that issued the request signal, or may be another module 11 constituting the moving object 10. In the former case, the balance adjustment information is directly transmitted to the external device via the network. On the other hand, in the latter case, the balance adjustment information is transmitted to a communication unit provided in the other module 11 that functions as the master module that issued the request signal. Thereafter, the balance adjustment information is transmitted to the external device via the network in response to a further request signal from the external device.

[0039] According to this embodiment, each module 11 constituting the moving body 10 is provided with a balance adjustment unit 13 that holds the balance adjustment materials 14. Therefore, it is possible to finely adjust the attachment positions and number of the balance adjustment materials 14 in the entire moving body 10. Therefore, for example, by calculating the attachment positions and number of the balance adjustment materials 14 in advance and attaching the balance adjustment materials 14 to the moving body 10 based on this calculation result, it is possible to reduce the number of times the moving body 10 is put into and retrieved from the operating environment for balance adjustment. In other words, balance adjustment of the moving body can be performed quickly.

[0040] Next, the setting device according to this embodiment will be described. FIG. 7 is a diagram showing an example of the configuration of the setting device 30 according to the present embodiment.

[0041] 7, the setting device 30 is configured as a so-called computer. That is, the setting device 30 has a control unit 31, a communication unit 32, an input unit 33, and a display unit . These are connected via a bus .

[0042] The control unit 31 has a calculation unit 35, a storage unit 36, and an auxiliary storage device 37. The calculation unit 35 is a so-called CPU, and executes processing for controlling the entire setting device 30 based on a program stored in the auxiliary storage device 37. The storage unit 36 ​​includes a read only memory (ROM) and a random access memory (RAM), and temporarily stores various information required for processing performed by the calculation unit 35. The auxiliary storage device 37 is a hard disk drive (HDD: Hard Disk Drive) or an SSD (Solid State Drive), and stores various data and various programs. The balance adjustment information described above may be stored in this auxiliary storage device 37.

[0043] The communication unit 32 is connected to the network of the mobile object 10 by wire or wirelessly, and communicates with the mobile object 10 as shown in Fig. 7. A well-known communication protocol is adopted. Note that, when balance adjustment information is stored in the module 11, the setting device 30 may acquire the information through communication with the mobile object 10 by the communication unit 32.

[0044] The input unit 33 is an interface that accepts data, and is a keyboard, various input / output ports, etc. When balance adjustment information is not stored in either the module 11 or the setting device 30, the information is input to the setting device 30 via the input unit 33. The display unit 34 is, for example, a liquid crystal monitor, and displays the data from the input unit 33, the calculation results by the calculation unit 35, etc.

[0045] As described above, a single moving body 10 is composed of multiple modules 11. The setting device 30 calculates the total amount of balancing materials 14 to be attached to each of these modules 11, or the number of materials corresponding to the total amount, and displays the result on the display unit 34. The balancing materials 14 are attached to or detached from each module 11 in accordance with the displayed result.

[0046] Next, a setting process for the balance adjustment member 14 using the setting device 30 will be described. FIG. 8 is a flowchart showing the setting process of the balancing member 14 using the setting device 30. As shown in FIG.

[0047] For ease of explanation, it is assumed that the above-mentioned moving body 10 is an unmanned underwater vehicle (UUV) that travels in seawater. Therefore, each module 11 has a ballast holding unit 16 and a float holding unit 26. The setting device 30 calculates the number of ballasts 15 and floats 25 to be attached to each module, and displays it on the display unit 34. It is assumed that the moving body 10 has already been assembled by connecting multiple modules 11. It is also assumed that parameters related to the operating environment of the moving body 10, such as seawater density, have been input (stored) in advance in the setting device 30.

[0048] First, the setting device 30 acquires balance adjustment information of each module 11 (S10). The balance adjustment information may be acquired from the mobile object 10 through communication between the setting device 30 and the mobile object 10, or may be acquired via the input unit 33. When the balance adjustment information is acquired through communication between the communication unit 32 and the mobile object 10, the input operation of the balance adjustment information by the operator can be omitted. In addition, unexpected erroneous input by the operator can also be avoided.

[0049] When the model number of the module 11 is used as the balance adjustment information, the auxiliary storage device 37 or the storage unit 36 ​​stores in advance a list in which specific parameters of the module 11, such as the weight, and the like are associated with the model number of the module 11. The setting device 30 compares the acquired model number with the above-mentioned list, and acquires information such as the weight of the module 11 that corresponds to the relevant model number.

[0050] Next, the setting device 30 determines the arrangement of the modules 11 in the moving object 10 based on the balance adjustment information of each module 11 (S20). The balance adjustment information includes the model number of the other connected modules 11. Therefore, the anteroposterior relationship of each module 11 can be identified, and the arrangement can also be identified. Note that this arrangement information may be obtained by communication with the moving object 10 as information separate from the balance adjustment information. In this case, the arrangement determination process (S20) is omitted.

[0051] Next, the setting device 30 calculates the weight and center of gravity position of the moving body 10 based on the arrangement of the multiple modules 11 and the weight and center of gravity position of each module 11 (S30), and calculates the buoyancy and center of gravity position of the moving body 10 based on the arrangement of the multiple modules 11 and the buoyancy and center of gravity position of each module 11 (S40).

[0052] Next, the setting device 30 estimates the balance state of the moving body 10 in the operating environment based on the weight, center of gravity position, buoyancy amount, and center of buoyancy position of the moving body 10 (S50). The balance state is represented by the attitude (pitch, roll, etc.) of the moving body 10 when placed in the operating environment and the generated moment, etc. Note that the moving body 10 at this time is placed in a state in which the balance adjustment material 14 is not attached or in which the balance adjustment material 14 attached during the previous operation remains.

[0053] Next, the control unit 31 judges whether the balance state of the moving body 10 obtained by the process of S50 falls within a predetermined allowable state range (S60). This predetermined allowable state is stored in advance in the auxiliary storage device 37. If the balance state falls within the predetermined allowable state range (YES in S60), the moving body 10 will take a desired posture in the operating environment, and the generated moment will also fall within the allowable range. Therefore, there is no need to newly attach or detach the balance adjustment member 14, and the display unit 34 displays the judgment result, and the series of processes ends.

[0054] If the balance state is outside the range of the predetermined allowable state (NO in S60), the control unit 31 calculates the weight of the ballast 15 attached to the ballast holding unit 16 of each module 11 as the "set ballast weight" and calculates the floating amount of the float 25 attached to the float holding unit 26 of each module 11 as the "set float floating amount" so that the balance state falls within the range of the predetermined allowable state (S70). For example, a brute force method is used for this calculation. In the brute force method, all combinations of the positions of the balance adjustment units 13 (ballast holding units 16 and float holding units 26) of each module 11, the discrete values ​​of the weight of the ballast 15, and the discrete values ​​of the floating amount of the float 25 are assumed, and a combination that causes the balance state to fall within the range of the predetermined allowable state is extracted from the calculation results.

[0055] After the process of S70, the display unit 34 displays the set ballast weight or the number of ballasts 15 corresponding to the set ballast weight in association with the ballast holding unit 16 of each module 11. The display unit 34 also displays the set float floating amount or the number of floats 25 corresponding to the set float floating amount in association with the float holding unit 26 of each module 11 (S80).

[0056] Through the above processing, ballast 15 of the weight or number displayed on the display unit 34 is attached to the ballast holding portion 16 of each module 11, and floats 25 of the floating amount or number displayed on the display unit 34 are attached to the float holding portion 26 of each module 11.

[0057] When performing the above-mentioned setting process for a moving body 10 such as an unmanned aerial vehicle (UAV) that does not require floats 25, the buoyancy amount and the position of the center of buoyancy can be replaced with the lift and the center of lift, respectively, for a moving body in the air. Similarly, for a moving body on land, the buoyancy amount can be omitted, and the position of the center of buoyancy can be replaced with the support position of the wheels.

[0058] Furthermore, in the process of S70, there may be cases where a plurality of combinations of the balance adjustment material 14 that fall within a predetermined range are obtained. In such a case, the setting device 30 may display on the display unit 34 a priority order indicating the degree of recommendation for each combination. For example, a rank indicating the ease of attaching or detaching the balance adjustment material 14 is assigned to each balance adjustment unit 13, and a priority order based on the sum of the ranks indicating the ease is displayed on the display unit 34 for each combination obtained in the process of S70. The worker selects this combination with a high priority order and performs the attaching or detaching work. This reduces the burden of the work and speeds up the balance adjustment of the moving body.

[0059] Furthermore, the priority of each combination obtained in the process of S70 may be set based on the moment generated by each combination, and the set priority may be displayed on the display unit 34. By selecting a combination with a small moment, deterioration such as deformation of each module 11 can be mitigated.

[0060] The present disclosure is not limited to the above-described embodiment, but is defined by the claims, and includes all modifications within the meaning and scope equivalent to the claims. [Explanation of symbols]

[0061] 10...mobile body, 10A...unmanned aerial vehicle, 10B...unmanned underwater vehicle (unmanned surface vehicle), 11...module, 12...housing, 12a...front end, 12b...rear end, 13...balance adjustment unit, 14...balance adjustment material, 15...ballast (weight, sinker), 16...ballast holding unit, 17...storage unit, 18...lid, 19...inlet, 20...center of gravity, 21...center of buoyancy, 23...communication unit, 25...float (buoyancy material, float), 26...float holding unit, 27...storage unit, 28...lid, 29...inlet, 30...setting device, 31...control unit, 32...communication unit, 33...input unit, 34...display unit, 35...calculation unit, 36...storage unit, 37...auxiliary storage device, 38...bus, CA...central axis

Claims

1. A module of a moving body, A housing that can be connected to another module that constitutes a part of the moving body; a balance adjustment unit that detachably holds at least one balance adjustment member of the moving body; Equipped with The balance adjustment unit is a ballast holding portion that detachably holds a ballast as the balance adjustment material; a float holding portion that detachably holds a float serving as the balance adjustment member; Including, The float holding portion is a float accommodating portion that opens to an outer surface of the housing as an inlet for the float; A lid portion for opening and closing the inlet of the float; having Module.

2. A module for a moving body, comprising: A housing that can be connected to another module that constitutes a part of the moving body; a balance adjustment unit that detachably holds at least one balance adjustment member of the moving body; Equipped with The balance adjustment unit is A ballast holding portion that detachably holds the ballast as the balance adjustment material. Including, The ballast holding portion is a ballast storage portion that opens to an outer surface of the housing as an inlet for the ballast; a lid portion for opening and closing the inlet of the ballast; having Module.

3. Further comprising a communication unit that outputs balance adjustment information regarding the balance adjustment unit in response to a request signal from an external device. The module of claim 2 .

4. A module for a moving body, comprising: A housing that can be connected to another module that constitutes a part of the moving body; a balance adjustment unit that detachably holds at least one balance adjustment member of the moving body; a communication unit that outputs balance adjustment information related to the balance adjustment unit in response to a request signal from an external device; Equipped with The balance adjustment unit is A ballast holding portion that detachably holds the ballast as the balance adjustment material. Including, Module.

5. A moving body having a plurality of modules described in any one of claims 1 to 4.

6. A setting device for balancing adjustment members attached to each of a plurality of modules that constitute a moving body by connecting them to each other, comprising: Calculating a weight and a center of gravity of the moving body based on an arrangement of the plurality of modules and a weight and a center of gravity of each of the modules; estimating a balance state of the moving body in an operating environment based on the weight and the center of gravity position of the moving body; a control unit that calculates a weight of the ballast as the balance adjustment material attached to the ballast holding unit of each of the modules as a ballast set weight so that the balance state falls within a predetermined allowable range; a display unit that displays the set ballast weight or the number of the ballasts corresponding to the set ballast weight in association with the ballast holding unit of each of the modules; A setting device comprising:

7. The control unit is Calculating the buoyancy and center of buoyancy of the moving body based on the arrangement of the plurality of modules and the buoyancy and center of buoyancy of each of the modules; calculating a float setting float amount of the float as the balance adjustment material attached to the float holding portion of each of the modules so that the balance state falls within a predetermined tolerance range; the estimation of the balance state by the control unit is performed based on the floating amount and the position of the center of buoyancy of the moving body in addition to the weight and the position of the center of gravity of the moving body, The display unit is The float setting float amount or the number of the floats corresponding to the float setting float amount is displayed in association with the float holding portion of each of the modules. The setting device according to claim 6.

8. The mobile unit further includes a communication unit for communicating with the mobile unit.

8. The setting device according to claim 6 or 7.

Images