Water-borne floating body, method and device for controlling water-borne floating body

Abstract

To provide a water floating body improving safety during autonomous navigation or remote operation.SOLUTION: A water floating body capable of autonomous navigation includes an operation unit provided on the water floating body and operated to maneuver the water floating body, a navigation unit for generating propulsion force and having the water floating body navigated in the desired direction, a communication unit for communicating with an operation terminal, a control unit to control the navigation unit to have the water floating body carry out autonomous navigation, the control unit stops autonomous navigation when an operation signal from one of the operation unit and the operation terminal during autonomous navigation and the water floating body controls the navigation unit based on the operation signal with high priority regarding respective operation signals of the operation unit and the operation terminal.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a floating body on water, a control method for a floating body on water, and a control device. [Background technology]

[0002] Patent Document 1 discloses an unmanned boat system for collecting topographical data of the bottom of a body of water such as a lake bottom or ocean bottom. Patent Document 1 discloses that the unmanned boat system includes an unmanned boat and a sonar. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2018 / 110040 Summary of the Invention [Problem to be solved by the invention]

[0004] BACKGROUND ART In an unmanned watercraft that is traveling autonomously or by remote control, if a malfunction occurs and the unmanned watercraft becomes uncontrollable, for example, it is required to safely stop the unmanned watercraft.

[0005] The present disclosure provides a floating body on water that is safer when navigated autonomously or remotely. [Means for solving the problem]

[0006] The present disclosure relates to an autonomously navigable floating body on water, comprising: an operation unit provided on the floating body and operated to steer the floating body on water; a navigation unit that generates propulsion and causes the floating body to navigate in a desired direction; a communication unit that communicates with an operation terminal; and a control unit that controls the navigation unit so that the floating body on water navigates autonomously, wherein when an operation signal from either the operation unit or the operation terminal is detected during autonomous navigation, the control unit stops the autonomous navigation and controls the navigation unit based on the operation signal with the highest priority among the operation signals from the operation unit and the operation terminal. [Effects of the Invention]

[0007] The waterborne floating body of the present disclosure can improve safety during autonomous navigation or remotely controlled navigation. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing an outline of the water floating body according to this embodiment. [Figure 2] FIG. 2 is a diagram illustrating the remote control of the waterborne floating body according to this embodiment. [Figure 3] FIG. 3 is a diagram illustrating the function of the water floating body according to this embodiment. [Figure 4] FIG. 4 is a diagram illustrating the function of the control unit of the water floating body according to this embodiment. [Figure 5] FIG. 5 is a flow diagram illustrating the processing in the control unit of the water floating body according to this embodiment. [Figure 6] FIG. 6 is a diagram for explaining an outline of a first modified example of the water floating body according to this embodiment. [Figure 7] FIG. 7 is a diagram for explaining an outline of a second modified example of the water floating body according to this embodiment. [Figure 8] FIG. 8 is a diagram for explaining an outline of a third modified example of the water floating body according to this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Specific examples of the floating body, the method for controlling the floating body, and the control device according to the present embodiment will be described below with reference to the drawings. Note that the present invention is not limited to these examples, but is defined by the claims, and is intended to include all modifications within the meaning and scope of the claims.

[0010] In the description of the specification and drawings of each embodiment, components having substantially the same or corresponding functions may be designated by the same reference numerals to avoid redundant explanation. In addition, the scale of each part in the drawings may differ from the actual scale to facilitate understanding.

[0011] In the directions of parallel, right-angle, orthogonal, horizontal, vertical, up / down, left / right, etc., deviations are permitted to the extent that they do not impair the effects of the embodiments. The shape of the corners is not limited to right angles and may be rounded like an arch. Parallel, right-angle, orthogonal, horizontal, and vertical may include approximately parallel, approximately right-angle, approximately orthogonal, approximately horizontal, and approximately vertical.

[0012] For example, "substantially parallel" means that even if two lines or two surfaces are not completely parallel to each other, they can be treated as parallel to each other within the range allowed in manufacturing. As with "substantially parallel," other terms such as "substantially right angle," "substantially perpendicular," "substantially horizontal," and "substantially vertical" are also intended to fall under the respective meanings as long as the relative positional relationship between the two lines or surfaces is within the range allowed in manufacturing.

[0013] <Water Floating Body 1> The water floating body 1 according to this embodiment will now be described. Figure 1 is a diagram showing an outline of the water floating body 1 according to this embodiment. The direction in which the water floating body 1 moves without turning the rudder 23 is referred to as the longitudinal direction. In this disclosure, the side of the water floating body 1 in the longitudinal direction where the screw propeller 13 and rudder 23 are provided is referred to as the rear side. Furthermore, the direction perpendicular to the longitudinal direction and parallel to the water surface is referred to as the transverse direction or left-right direction, and the direction perpendicular to the longitudinal direction and perpendicular to the water surface is referred to as the up-down direction.

[0014] The waterborne floating body 1 is a ship capable of autonomous navigation. That is, the waterborne floating body 1 is a ship that navigates automatically without human operation. Note that the waterborne floating body of the present disclosure is not limited to a ship, and may be, for example, a raft, a boat, a float, a buoy, or the like.

[0015] The waterborne floating body 1 comprises a hull 1a. The hull 1a extends in the fore-and-aft direction and defines the outer shape of the waterborne floating body 1. The waterborne floating body 1 comprises a screw propeller 13 and a rudder 23 on the rear side of the hull 1a.

[0016] The water floating body 1 comprises a propulsion unit 10, a steering unit 20, an operation unit 30, and a control unit 100. The propulsion unit 10, the steering unit 20, the operation unit 30, and the control unit 100 will each be described in detail.

[0017] [Promotion Department 10] The propulsion unit 10 generates a propulsive force for sailing the waterborne floating body 1. The waterborne floating body 1 sails using the propulsive force generated in the propulsion unit 10. The propulsion unit 10 includes a power unit 11, a rotating shaft 12, and a screw propeller 13.

[0018] (Power part 11) The power unit 11 converts energy into rotational motion and generates power for rotating the screw propeller 13. The power unit 11 is, for example, an engine or an electric motor. The power unit 11 is connected to a drive circuit unit 110. The power unit 11 rotates at a rotation speed determined based on a control signal ctl1 output by the drive circuit unit 110. In other words, the drive circuit unit 110 controls the rotation speed of the power unit 11.

[0019] The power generated by the power unit 11 is transmitted to the screw propeller 13 via the rotary shaft 12. The power unit 11 rotates the rotary shaft 12. The screw propeller 13 rotates in accordance with the rotation of the rotary shaft 12.

[0020] When the power unit 11 is an electric motor, the drive circuit unit 110 may use, for example, power supplied to the electric motor that is the power unit 11 as the control signal ctl1. For example, the drive circuit unit 110 may control the voltage, current, etc. for driving the electric motor that is the power unit 11 to control the rotation speed of the electric motor that is the power unit 11. The drive circuit unit 110 may also control the power supplied to the electric motor that is the power unit 11 by pulse width modulation to control the rotation speed of the electric motor that is the power unit 11.

[0021] (Rotation axis 12) The rotating shaft 12 transmits the power generated by the power unit 11 to the screw propeller 13. The power unit 11 is connected to one end of the rotating shaft 12. The screw propeller 13 is attached to the other end of the rotating shaft 12. The rotating shaft 12 is what is called a propeller shaft.

[0022] The rotating shaft 12 is attached to the hull 1a via a sealing mechanism to prevent water from entering the interior of the hull 1a, and is also attached to the hull 1a via a bearing mechanism to allow rotation.

[0023] The rotating shaft 12 is not limited to being directly connected to the power unit 11, but may be connected to the power unit 11 via a transmission or the like, for example.

[0024] (Screw propeller 13) The screw propeller 13 generates lift in the direction of extension of the rotation shaft 12 as it rotates. The lift generated by the screw propeller 13 causes the watercraft 1 to obtain a propulsive force in the fore-and-aft direction of the hull 1a.

[0025] The screw propeller 13 is connected to the power unit 11 via the rotary shaft 12. When the power unit 11 rotates the rotary shaft 12, the screw propeller 13 rotates.

[0026] [Steering unit 20] The steering unit 20 controls the direction in which the water floating body 1 travels. The water floating body 1 changes the direction in which it travels by using the steering unit 20. The steering unit 20 includes an angle conversion unit 21, a steering shaft 22, and a rudder 23.

[0027] (Angle conversion unit 21) The angle conversion unit 21 changes the direction of the steering shaft 22 so that the direction of the steering shaft 22 becomes a predetermined angle. The angle conversion unit 21 is, for example, a servo motor. The angle conversion unit 21 is connected to the drive circuit unit 120. The angle conversion unit 21 rotates so that the angle becomes an angle determined based on the control signal ctl2 output by the drive circuit unit 120. In other words, the drive circuit unit 120 controls the angle of the angle conversion unit 21 around the vertical direction (up and down direction).

[0028] (Steering shaft 22) The steering shaft 22 transmits changes in the angle of the angle converter 21 around the vertical direction (up and down direction) to the rudder 23. The angle converter 21 is connected to one end of the steering shaft 22. The rudder 23 is attached to the other end of the steering shaft 22.

[0029] The steering shaft 22 is attached to the hull 1a via a sealing mechanism to prevent water from entering the interior of the hull 1a, and is also attached to the hull 1a via a bearing mechanism to allow the steering shaft 22 to rotate.

[0030] (rudder 23) The rudder 23 rotates around a steering shaft 22 extending in the vertical direction, thereby changing the direction of travel of the water floating body 1. The water floating body 1 changes its direction of travel by using the rudder 23.

[0031] The rudder 23 is connected to the angle conversion unit 21 via the steering shaft 22. When the angle conversion unit 21 rotates the steering shaft 22, the rudder 23 rotates.

[0032] [Operation unit 30] The operation unit 30 receives operations from the operator to operate the water floating body 1. The operation unit 30 is provided on the water floating body 1. The operation unit 30 is provided, for example, on the deck or wheelhouse of the water floating body 1. The operation unit 30 includes, for example, a steering wheel 31, an accelerator lever 32, an activation switch 33, and a control lamp 34. When performing manual navigation, the operator presses the activation switch 33 to switch the steering wheel 31 and accelerator lever 32 to manual mode, and then operates the steering wheel 31 and accelerator lever 32 to operate the water floating body 1. The control lamp 34 is lit while in manual mode.

[0033] The operation unit 30 is connected to the control unit 100. The operation unit 30 outputs the operation amount received from the driver for each of the steering wheel 31 and the accelerator lever 32 as an operation signal sig1 to the operation driver 130 of the control unit 100.

[0034] Furthermore, during autonomous navigation, the operation unit 30 may move each of the steering wheel 31 and the accelerator lever 32 according to the control amount during autonomous navigation.

[0035] (Steering 31) The steering wheel 31 is operated by the operator to control the direction of travel of the water floating body 1. The steering wheel 31 is, for example, a circle with a diameter of 30 cm or more, and the control unit 100 controls the direction of the rudder 23 according to the rotation angle of the steering wheel 31.

[0036] (Accelerator lever 32) The accelerator lever 32 is operated by the operator to control the speed at which the water floating body 1 travels. The accelerator lever 32 is, for example, rod-shaped or T-shaped, longer than 8 cm, with a grip at the tip, and is controlled by moving it back and forth at least 10 cm. The control unit 100 controls the rotation speed of the screw propeller 13 according to the position of the accelerator lever 32.

[0037] (Activate switch 33) The activate switch 33 is a switch that, when pressed by the operator, stops external remote control and autonomous navigation and switches to manual mode, which gives top priority to operation using the steering 31 and accelerator lever 32. During manual mode, control from the operation unit 30 has top priority. In this embodiment, operation from the operation unit 30 always has priority while there is operation from the operation unit 30. This is because operation by a person actually on board and operating the ship has priority over any autonomous navigation or remote control.

[0038] Furthermore, by providing an activation switch 33, manual mode can be forcibly maintained by switching with the switch. For example, if an abnormality occurs, a person may try to operate the operation unit 30 to deal with the abnormality on the spot, rather than using a pre-programmed autonomous navigation route or remote control by a person who is unaware of the abnormality on site. Even if an attempt is made to operate the operation unit 30 to deal with the abnormality on the spot, the operation may differ from the pre-programmed settings, and the priority may be restored to autonomous navigation and remote control as soon as the hands are taken off the steering wheel 31 or accelerator lever 32. If the priority were to be restored to autonomous navigation and remote control as soon as the hands are taken off the steering wheel 31 or accelerator lever 32, it may be impossible to avoid the abnormality. In the underwater floating body 1, forcibly maintaining manual mode by switching with the activation switch 33 prevents the priority from being restored to autonomous navigation and remote control even if the hands are taken off the steering wheel 31 or accelerator lever 32.

[0039] While in manual mode, the control lamp 34 lights up to notify the operator that manual mode is in effect, preventing them from forgetting to return to autonomous navigation / remote control mode after avoiding any abnormalities.

[0040] <Remote control of floating body 1> The water floating body 1 according to this embodiment can be operated by an operating unit 30 provided on the water floating body 1, and also can be remotely controlled from outside the water floating body 1. The remote control of the water floating body 1 will now be described.

[0041] 2 is a diagram illustrating the remote operation of the water floating body 1 according to this embodiment. The water floating body 1 is connected to an operation terminal 210, an operation terminal 220, and an operation terminal 230, which are provided outside the water floating body 1. The water floating body 1 can be operated by each of the operation terminals 210, 220, and 230. The water floating body 1 can communicate and be operated by each of the operation terminals 210, 220, and 230 using a plurality of wireless methods.

[0042] In the water floating body 1 according to this embodiment, an example is shown in which the water floating body 1 is operated by the operation terminal 210, the operation terminal 220, and the operation terminal 230, but the number of terminals to be remotely controlled is not limited to the above example. For example, the water floating body 1 may be remotely controlled using one of the operation terminals 210, 220, and 230, or may be remotely controlled using two of the operation terminals 210, 220, and 230.

[0043] Furthermore, the number of each of the operation terminals 210, 220, and 230 is not limited to one, and for example, at least one of the operation terminals 210, 220, and 230 may be provided in plurality.

[0044] [Operation terminal 210] The operation terminal 210 remotely controls the waterborne floating body 1 at the site where the waterborne floating body 1 is sailing. The operation terminal 210 is, for example, a radio control transmitter, a so-called radio control transmitter. In remote control by radio control, the waterborne floating body 1 is controlled by directly receiving radio waves emitted by the operation terminal 210, which is a transmitter. Therefore, it can be operated without any relay via an external system. Therefore, remote control by the operation terminal 210 is remote control with the lowest risk of system trouble or control delays.

[0045] However, remote control by radio control makes it difficult to select the transmission and reception of radio waves, and there is a risk of interference if radio waves of the same frequency are mixed. Furthermore, remote control by radio control poses a risk of hacking, in which the owner of the waterborne floating body 1 may receive unintended control if the control signal is not encrypted. In this embodiment, the operation terminal 210 is capable of transmitting, in addition to normal control signals, a frequency switching signal for switching the control frequency and a specific emergency code. When the waterborne floating body 1 receives a frequency switching signal, it replies to the operation terminal 210 with a frequency switching response signal, allowing the waterborne floating body 1 and the operation terminal 210 to switch the operating frequency in synchronization. After the emergency code is transmitted, the waterborne floating body 1 is forcibly prevented from accepting operation control by the radio control method until the control unit 100 is reset, and only other control methods are enabled.

[0046] The operation terminal 210 includes a power switch 211 and an operation stick 212. When the power switch 211 is turned on, the operation terminal 210 starts up.

[0047] When the operation terminal 210 is started up, it starts communication with the water floating body 1. The operation terminal 210 is equipped with an antenna 213. The operation terminal 210 transmits and receives a wireless signal WL1 between the antenna 213 and an antenna 41 equipped on the water floating body 1. The wireless signal WL1 is, for example, a radio wave signal in the 2.4 GHz band.

[0048] The operation terminal 210 transmits an operation signal sig2 to the water floating body 1 based on the operation of the operation stick 212. The operation stick 212 is rod-shaped and less than 5 cm long, and the operator operates it by moving the tip of the operation stick 212 with his / her fingertips within a range of less than 8 cm. When the operator operates the operation stick 212, the operation terminal 210 transmits operation signals for moving the water floating body 1 forward, backward, left turn, and right turn as operation signals sig2 according to the amount of operation of the operation stick 212. In addition to the operation stick 212, the operation terminal may also use a circular steering wheel (not shown) with a diameter of less than 10 cm. The operation stick and steering wheel mounted on the operation terminal 210 are both made smaller than those of the operation unit 30 that directly operates the water floating body 1.

[0049] Note that communication between the operation terminal 210 and the water floating body 1 is not limited to wireless signal WL1, and wired communication may be performed via a wire by connecting the operation terminal 210 and the water floating body 1 with a wire. Since the radio control type wireless signal WL1 cannot transmit very strong radio waves, it is desirable to keep the distance between the water floating body 1 and the operation terminal 210 within 200 m.

[0050] Furthermore, the components for inputting operations provided on the operation terminal 210 are not limited to the power switch 211 and the operation stick 212, and may be switches, buttons, levers, etc. as appropriate depending on the required functions. A lamp that lights up while an operation by the operation terminal 210 is valid may also be used.

[0051] [Operation terminal 220] The operation terminal 220 remotely controls the waterborne floating body 1 at the site where the waterborne floating body 1 is sailing. The operation terminal 220 is, for example, a tablet computer (tablet PC (Personal Computer)), a mobile terminal such as a smartphone or a mobile phone, or a fixed terminal such as a personal computer. In this disclosure, a case where a tablet PC is used as the operation terminal 220 will be described.

[0052] The operation terminal 220 uses an application to remotely control the water floating body 1. When remotely controlling the water floating body 1 using the operation terminal 220, the operator starts up an application for remotely controlling the water floating body 1 on the operation terminal 220, which is a tablet PC.

[0053] When the application is launched on the operation terminal 220, the operation terminal 220 starts communication with the water floating body 1. When the operation terminal 220 starts communication with the water floating body 1, the operation terminal 220 can remotely control the water floating body 1.

[0054] The operation terminal 220 is equipped with a communication antenna. The operation terminal 220 communicates with the antenna equipped in the operation terminal 220 and the antenna 42 equipped in the water floating body 1 by wireless signal WL2. One-to-one communication is performed between the water floating body 1 and the operation terminal 220 by wireless signal WL2.

[0055] The wireless signal WL2 is, for example, a wireless signal that complies with a communication standard for a wireless LAN (Local Area Network).The communication standard used for a wireless LAN is, for example, the IEEE (Institute of Electrical and Electronics Engineers) 802.11 standard.

[0056] When the application is started, the operation terminal 220 transmits an operation signal sig3 to the water floating body 1 based on the operation of an icon displayed on the screen. By operating the icon displayed on the screen, the operation terminal 220 transmits an operation signal for moving the water floating body 1 forward, backward, turning left, and turning right as the operation signal sig3 in accordance with the operation of the icon.

[0057] The wireless signal WL2 may be a wireless signal used in a short-range wireless communication standard such as IEEE 802.15. The medium used for the wireless signal WL2 is not limited to radio waves, and may be light such as visible light or infrared light. Furthermore, by connecting the operation terminal 220 and the water floating body 1 with a wire, wired communication may be performed via the wire.

[0058] The operation terminal 220 transmits and receives data via a pre-linked router. When the underwater floating body 1 navigates along the coast, routers are installed at predetermined intervals, and the underwater floating body 1 is connected to the router located closest to it. This allows communication between the operation terminal 220 and the underwater floating body 1 to be established via multiple routers, which are sequentially switched depending on the location of the underwater floating body 1. For example, by attaching routers to buoys anchored to the seabed along the expected route, it is possible to navigate away from the coast. In this way, by using the wireless signal WL2, which is a wireless LAN standard, and by arranging multiple routers, the underwater floating body 1 can be remotely navigated over a wide area, even using short-range wireless communication radio waves that are generally not very strong.

[0059] The display screen of the operating terminal 220 may be displayed dark (brightness increased, contrast increased) while operations from the operating terminal 220 are valid. Also, operations from other terminals are given priority, and the display may be displayed light (brightness decreased, contrast decreased) while operations from the operating terminal 220 are invalid.

[0060] [Operation terminal 230] The operation terminal 230 remotely controls the waterborne floating body 1 at a location away from the site where the waterborne floating body 1 is sailing. Like the operation terminal 220, the operation terminal 230 is, for example, a mobile terminal such as a tablet PC, smartphone, or mobile phone, or a fixed terminal such as a personal computer. In the present disclosure, a case where a tablet PC is used as the operation terminal 230 will be described.

[0061] The operation terminal 230 uses an application to remotely control the water floating body 1. When remotely controlling the water floating body 1 using the operation terminal 230, the operator starts up an application for remotely controlling the water floating body 1 on the operation terminal 230, which is a tablet PC.

[0062] The operation terminal 230 and the water floating body 1 communicate with each other via an external network 250. Here, an example of the external network 250 will be described as a mobile communication network.

[0063] The operation terminal 230 is connectable to an external network 250. When an application is launched on the operation terminal 230, the operation terminal 230 starts communication with the water floating body 1. When the operation terminal 220 starts communication with the water floating body 1, the operation terminal 220 can remotely control the water floating body 1.

[0064] The operation terminal 230 communicates with the base station 251 by a wireless signal WL3. The operation terminal 230 is provided with an antenna for mobile communication in order to connect to the base station 251. The operation terminal 230 connects to the base station 251, thereby connecting to the external network 250.

[0065] The waterborne body 1 communicates with the base station 252 via a wireless signal WL4. The waterborne body 1 is equipped with a mobile communication antenna 43 to connect to the base station 252. By connecting to the base station 252, the waterborne body 1 connects to the external network 250.

[0066] When the application is started, the operation terminal 230 transmits an operation signal sig4 to the water floating body 1 based on the operation of an icon displayed on the screen. By operating the icon displayed on the screen, the operation terminal 230 transmits an operation signal for moving the water floating body 1 forward, backward, turning left, and turning right as the operation signal sig4 in accordance with the operation of the icon.

[0067] The external network 250 is not limited to a mobile communication network, but may be, for example, a satellite telephone communication network, the Internet, etc. When the Internet is used as the external network 250, the external network 250 may be connected to the Internet via a mobile communication network, a wireless LAN, etc. Furthermore, a VPN (Virtual Private Network) may be configured in the external network 250. A dedicated line or a dedicated network may also be used as the external network 250.

[0068] These external networks 250 can now be accessed from anywhere in the world, and in principle, remote control is possible without any physical limitations on the distance between the control terminal 230 and the waterborne floating body 1. However, the external network 250 is used simultaneously for various purposes, and it is necessary to anticipate the occurrence of communication failures, system troubles, communication delays, etc. In the case of a waterborne floating body, unlike an aircraft or vehicle, it is expected that it will take several seconds, or even several minutes, from the time the rudder is turned until the course actually changes, so a communication delay of a few seconds is usually not a problem. Furthermore, because the external network 250 is used simultaneously by various users for various purposes, it is necessary to anticipate the possibility of external operations unintended by the owner of the waterborne floating body 1. For this reason, it is preferable that operation signals be transmitted and received in the form of encrypted data packets.

[0069] The display screen of the operating terminal 230 may be displayed dark (brightness increased, contrast increased) while operations from the operating terminal 230 are valid. Also, operations from other terminals are given priority, and the display may be displayed light (brightness decreased, contrast decreased) while operations from the operating terminal 230 are invalid.

[0070] The operation terminal 230 may be used at the site where the water floating body 1 is sailing. The operation terminal 230 may also be used to remotely control multiple water floating bodies 1. Furthermore, for example, multiple operation terminals 230 may be provided in a monitoring room or the like, and each of the multiple operation terminals 230 may remotely control a corresponding water floating body.

[0071] Each of the operation signal sig2, the operation signal sig3, and the operation signal sig4 is an example of a remote control signal. Also, one of the operation terminals 210, 220, and 230 is an example of a first operation terminal that communicates by a first wireless system. One of the operation terminals 210, 220, and 230 other than the first operation terminal is an example of a second operation terminal that communicates by a second wireless system that is different from the first system.

[0072] <Functional configuration of the control unit 100 of the water floating body 1> The following describes the functional configuration of the control unit 100 provided in the water floating body 1. Fig. 3 is a diagram illustrating the functions of the water floating body 1 according to this embodiment. Note that Fig. 3 also shows some of the elements connected to the control unit 100 provided in the water floating body 1.

[0073] The control unit 100 includes a calculation unit 101, a drive circuit unit 110, a drive circuit unit 120, an operation drive unit 130, a wireless communication unit 141, a wireless LAN communication unit 142, a mobile communication unit 143, an inertial measurement unit 151, a satellite positioning unit 152, and a warning drive unit 160. Each component will be described in detail below.

[0074] [Calculation unit 101] The calculation unit 101 monitors the operating status of the water floating body 1 and controls the operation of the water floating body 1. The calculation unit 101 is configured by, for example, a microprocessing unit equipped with a CPU (Central Processing Unit), RAM (Random Access Memory), and ROM (Read Only Memory). The calculation unit 101 performs processing by the CPU expanding a program recorded in the ROM into the RAM and executing it.

[0075] The calculation unit 101 is connected to the inertial measurement unit 151 and the satellite positioning unit 152. The calculation unit 101 monitors the operating state of the water floating body 1 based on the measurement results input from the inertial measurement unit 151 and the satellite positioning unit 152. For example, the calculation unit 101 monitors the speed and bow direction of the water floating body 1 based on the measurement results input from the inertial measurement unit 151. The calculation unit 101 also monitors the position, speed, etc. of the water floating body 1 based on the measurement results input from the satellite positioning unit 152.

[0076] The calculation unit 101 is connected to the operation drive unit 130, the wireless communication unit 141, the wireless LAN communication unit 142, and the mobile communication unit 143. The calculation unit 101 acquires operation signals from each of the operation drive unit 130, the wireless communication unit 141, the wireless LAN communication unit 142, and the mobile communication unit 143.

[0077] The calculation unit 101 acquires an operation signal sig1 from the operation drive unit 130. The calculation unit 101 acquires an operation signal sig2 from the wireless communication unit 141. The calculation unit 101 acquires an operation signal sig3 from the wireless LAN communication unit 142. The calculation unit 101 acquires an operation signal sig4 from the mobile communication unit 143.

[0078] The calculation unit 101 performs autonomous navigation based on the measurement results input from the inertial measurement unit 151 and the satellite positioning unit 152. The calculation unit 101 also performs manual navigation based on the operation of the operation unit 30. Furthermore, the calculation unit 101 performs manual navigation by remote control in accordance with the operation of each of the operation terminals 210, 220, and 230.

[0079] [Drive circuit section 110] The drive circuit unit 110 drives the power unit 11. The drive circuit unit 110 is a so-called motor driver. The drive circuit unit 110 controls the power unit 11 based on commands from the calculation unit 101. The drive circuit unit 110 is connected to the power unit 11. The drive circuit unit 110 adjusts the power supplied to the power unit 11, which is an electric motor, for example, by pulse width modulation. The drive circuit unit 110 controls the rotational speed of the screw propeller 13 by adjusting the power supplied to the power unit 11. By controlling the rotational speed of the screw propeller 13, the speed at which the water floating body 1 travels is controlled.

[0080] [Drive circuit unit 120] The drive circuit unit 120 drives the angle conversion unit 21. The drive circuit unit 120 controls the angle conversion unit 21 based on commands from the calculation unit 101. The drive circuit unit 120 is a so-called servo driver. The drive circuit unit 120 is connected to the angle conversion unit 21. The drive circuit unit 120 controls the rotation angle of the angle conversion unit 21, which is a servo motor. The drive circuit unit 120 controls the rotation angle of the power unit 11, thereby controlling the rotation angle of the rudder 23. By controlling the rotation angle of the rudder 23, the direction in which the water floating body 1 travels is controlled.

[0081] [Operation drive unit 130] The operation drive unit 130 detects the amount of operation performed by the driver on the operation unit 30. The operation drive unit 130 outputs the amount of operation on the operation unit 30 to the calculation unit 101. The operation drive unit 130 detects the rotation angle of the steering wheel 31 relative to a reference direction. The operation drive unit 130 also detects the amount of displacement of the accelerator lever 32 relative to a reference position.

[0082] The rotation angle of the steering wheel 31 and the displacement amount of the accelerator lever 32 are examples of the operation signal sig1.

[0083] Furthermore, when autonomous navigation is being performed, the operation driver 130 may control the operation unit 30 to move based on the control amount during autonomous navigation.

[0084] [Wireless communication unit 141] The wireless communication unit 141 communicates with the operation terminal 210. The wireless communication unit 141 is, for example, a radio control receiver, a so-called radio control receiver. The wireless communication unit 141 is connected to an antenna 41. The wireless communication unit 141 communicates with the operation terminal 210 via the antenna 41.

[0085] The wireless communication unit 141 outputs the operation signal sig2 received from the operation terminal 210 via the antenna 41 to the calculation unit 101.

[0086] [Wireless LAN communication section 142] The wireless LAN communication unit 142 communicates with the operation terminal 220. The wireless LAN communication unit 142 is, for example, a wireless LAN communication board or a wireless LAN communication card. The wireless LAN communication unit 142 is connected to the antenna 42. The wireless LAN communication unit 142 communicates with the operation terminal 220 via the antenna 42.

[0087] The wireless LAN communication unit 142 outputs the operation signal sig3 received from the operation terminal 220 via the antenna 42 to the calculation unit 101.

[0088] [Mobile Communications Department 143] The mobile communication unit 143 communicates with the operation terminal 230 via the external network 250. The mobile communication unit 143 is, for example, a mobile communication board or a mobile communication card. The mobile communication unit 143 is connected to the antenna 43. The mobile communication unit 143 is connected to the external network 250 via the antenna 43. The mobile communication unit 143 then communicates with the operation terminal 230 via the external network 250.

[0089] The mobile communication unit 143 outputs the operation signal sig 4 received from the operation terminal 230 via the antenna 43 to the calculation unit 101 .

[0090] [Inertial Measurement Unit 151] The inertial measurement unit 151 measures the motion state of the water floating body 1. The inertial measurement unit 151 measures, for example, acceleration in three axial directions, angular acceleration around the three axial directions, and orientation in the three axial directions.

[0091] The inertial measurement unit 151 outputs the measurement results to the calculation unit 101. The calculation unit 101 uses the measurement results of the inertial measurement unit 151 to perform control for autonomous navigation.

[0092] [Satellite Positioning Unit 152] The satellite positioning unit 152 measures the position of the water floating body 1. That is, the satellite positioning unit 152 performs positioning using a satellite positioning system. The satellite positioning unit 152 is, for example, a receiver in a Global Navigation Satellite System (GNSS).

[0093] The satellite positioning unit 152 outputs the positioning result to the calculation unit 101. The calculation unit 101 uses the result measured by the satellite positioning unit 152 to perform control for autonomous navigation.

[0094] [Warning Drive Unit 160] When autonomous navigation is stopped, the warning drive unit 160 notifies the surroundings of the water floating body 1 that it has stopped. The warning drive unit 160 operates the warning unit 60 to notify the surroundings of the water floating body 1. Until the safety of the autonomous navigation program is sufficiently improved, the water floating body may stop navigation and be moored in place during periods when no human operation is performed.

[0095] The warning unit 60 is, for example, a warning light. The warning drive unit 160 turns on the warning light, which is an example of the warning unit 60, to warn people around the water floating body 1. The warning drive unit 160 may also flash the warning light, which is an example of the warning unit 60, to warn people around the water floating body 1. When flashing the warning light, which is an example of the warning unit 60, the flashing pattern of the warning light may be based on Morse code, for example, a pattern showing "OSO."

[0096] The warning unit 60 may also be, for example, a flag. The warning drive unit 160 may raise a flag, which is an example of the warning unit 60, to warn people around the water floating body 1. The flag, which is an example of the warning unit 60, may be, for example, an international signal flag, or a flag made up of letters and pictures. Instead of raising a flag, the flag may be displayed on a display or the like.

[0097] Furthermore, the warning unit 60 may be a display device such as an LED display, an organic EL display, a liquid crystal display, etc. The warning drive unit 160 may display characters or pictures on a display device, which is an example of the warning unit 60, to notify people around the water floating body 1.

[0098] Furthermore, the warning unit 60 may be, for example, an acoustic device such as a speaker. The warning drive unit 160 may output voice or sound from the acoustic device, which is an example of the warning unit 60, to notify people around the water floating body 1. Furthermore, the sound pattern generated by the acoustic device, which is an example of the warning unit 60, may be based on Morse code, for example, a pattern indicating "OSO."

[0099] Furthermore, the warning unit 60 displays the international signal flag or the letter "R" in Morse code while the floating body 1 is traveling autonomously or remotely. If there is another ship traveling underway, the other ship will not know whether the floating body 1 is traveling autonomously or remotely. Furthermore, while the floating body 1 is being remotely operated using a LAN or external network, visual confirmation is difficult. For example, communication between people using voice communication, light, semaphore signals, etc. is not possible.

[0100] International signal flags and Morse code are assigned various meanings, such as the aforementioned "OSO," in order to communicate meaning to the other party using a limited number of characters. Here, R stands for robot, but at the time of filing this application, no specific meaning was assigned to R. Therefore, in this embodiment, by raising "R" during autonomous navigation or remotely controlled navigation, the other vessel is informed of its status. Furthermore, when receiving wireless voice communication from the other vessel, if remotely controlled via a LAN or external network, the voice communication may be converted into voice packets and transferred to the operation terminals 220 and 230.

[0101] <Details of Processing in Calculation Unit 101> A detailed description will be given of the processing in the calculation unit 101 of the control unit 100 provided in the water floating body 1. Fig. 4 is a diagram for explaining the function of the calculation unit 101 in the control unit 100 of the water floating body 1 according to this embodiment.

[0102] The calculation unit 101 includes an operation signal selection unit 102, an autonomous navigation control unit 103, a manual navigation control unit 104, and a control selection unit 105. Each processing element included in the calculation unit 101 will be described in detail below.

[0103] [Operation signal selection unit 102] The operation signal selection unit 102 selects one operation signal from the plurality of operation signals based on the priority. Specifically, the operation signal selection unit 102 selects the operation signal with the highest priority from the plurality of enabled operation signals. The operation signal selection unit 102 selects one operation signal from the operation signals sig1, sig2, sig3, and sig4 as the operation signal sig based on a predetermined priority.

[0104] (Priority for selecting operation signals) The priority for selecting an operation signal may be determined based on the distance to the waterborne body 1, for example, so that the priority of the operation unit or operation terminal closer to the waterborne body 1 is higher.

[0105] For example, the operation signal sig1 of the operation unit 30 provided on the water floating body 1 is given the highest priority. Then, the operation signal sig2 of the operation terminal 210, which is next closest to the water floating body 1, is given the next highest priority after the operation signal sig1. Then, the priorities are set in the order of the operation signal sig3 of the operation terminal 220, and the operation signal sig4 of the operation terminal 230 via the external network 250.

[0106] When the operation terminal 220 is a LAN and multiple operation terminals 220 are connected to the same LAN, the operation terminal 220 connected to the router closest to the water floating body 1 is given priority for connection.

[0107] Furthermore, the priority for selecting an operation signal may be determined based on the delay time until the control unit 100 of the water floating body 1, for example, so that an operation unit or operation terminal with a short delay time is given a higher priority.

[0108] For example, the operation signal sig1 of the operation unit 30 provided on the water floating body 1 is assigned the highest priority because the delay time is almost negligible. Then, the operation signal sig2 of the operation terminal 210, which is directly connected to the water floating body 1 by radio waves, is assigned the next highest priority after the operation signal sig1. Then, taking into consideration delays in wireless LANs and mobile communication networks, the priorities are set in the order of the operation signal sig3 of the operation terminal 220, and the operation signal sig4 of the operation terminal 230 via the external network 250.

[0109] Furthermore, for example, when using a plurality of operation terminals 230 that communicate via different external networks, the priority of the operation terminal 230 with a short delay time may be higher. For example, the priority of the operation terminal 230 that uses a mobile phone communication network as the external network may be higher than the priority of the operation terminal 230 that uses a satellite telephone network as the external network with a long delay time.

[0110] Furthermore, the priority for selecting an operation signal may be determined based on the physical shape of the part where the operation is performed, with a higher priority being given to an operation unit or operation terminal with a larger shape.

[0111] For example, the operation signal sig1 of the operation unit 30 provided on the water floating body 1 is usually set to the highest priority because it is louder than the radio control transmitter used in the operation terminal 210. Next, the priority of the operation signal sig2 of the operation terminal 210 equipped with the physical operation stick 212 is set to the next highest priority after the operation signal sig1. Then, the operation signal sig3 of the operation terminal 220 or the operation signal sig4 of the operation terminal 230, which are operated using icons on the app, are set to the next highest priority after the operation signal sig2.

[0112] Furthermore, the priority of the operation signal of an operation terminal that physically exists as an operation component used to operate the water floating body 1 may be higher than the priority of the operation signal of an operation terminal that has operation components virtually provided on the screen as, for example, icons, etc. For example, the priority of the operation signal sig2 of the operation terminal 210 that has the physical operation stick 212 may be higher than the priority of the operation signal sig3 of the operation terminal 220 that is configured by virtual operation components on the screen.

[0113] The setting of the priority is not limited to the above example, and for example, a user or an administrator may set the priority and select an operation signal based on the set priority. When the user or administrator sets the priority, for example, a table for setting the priority may be provided in memory, and the user interface of the operation terminal may change the settings of the table.

[0114] [Autonomous navigation control unit 103] The autonomous navigation control unit 103 outputs a control signal ctla so that the surface floating body 1 performs autonomous navigation. The autonomous navigation control unit 103 controls, for example, the speed and bow direction of the surface floating body 1 so that the surface floating body 1 reaches the destination. More specifically, the autonomous navigation control unit 103 controls the rotation speed of the screw propeller 13 and the rotation angle of the rudder 23 so that the positioning result from the satellite positioning unit 152 becomes the desired position.

[0115] Furthermore, for example, the autonomous navigation control unit 103 may store a plurality of target points and control the water floating body 1 to navigate between the plurality of points, thereby allowing the water floating body 1 to automatically navigate along a desired trajectory. The plurality of points to be stored may be recorded by the operator operating any one of the operation unit 30, operation terminal 210, operation terminal 220, and operation terminal 230 to operate the water floating body 1, while storing the points measured by the satellite positioning unit 152. Then, the recorded plurality of points may be played back to reproduce the trajectory operated by the operator.

[0116] [Manual navigation control unit 104] The manual navigation control unit 104 outputs a control signal ctlm to manually navigate the water floating body 1. Based on the operation signal sig, the manual navigation control unit 104 controls the water floating body 1. Based on the operation signal sig, the manual navigation control unit 104 controls the rotation speed of the screw propeller 13 and the rotation angle of the rudder 23.

[0117] [Control selection unit 105] The control selection unit 105 selects either the control signal ctla output by the autonomous navigation control unit 103 or the control signal ctlm output by the manual navigation control unit 104, and outputs it as a control signal ctl. In the underwater floating body 1 according to this embodiment, when any of the operation signals sig1, sig2, sig3, and sig4 is detected during autonomous navigation by the control signal ctla, the control selection unit 105 selects manual navigation by the control signal ctlm.

[0118] Next, a flow diagram will be used to explain the processing in the control unit 100. Fig. 5 is a flow diagram for explaining the processing in the control unit 100 of the water floating body 1 according to this embodiment.

[0119] (Step S10) When the control unit 100 starts operating, the control unit 100 performs initialization. The calculation unit 101 included in the control unit 100 initializes each of the calculation unit 101, drive circuit unit 110, drive circuit unit 120, operation drive unit 130, wireless communication unit 141, wireless LAN communication unit 142, mobile communication unit 143, inertial measurement unit 151, and satellite positioning unit 152. The calculation unit 101, for example, starts each unit, sets setting values, etc.

[0120] (Step S20) Next, the control unit 100 starts autonomous navigation. Specifically, the autonomous navigation control unit 103 of the calculation unit 101 starts outputting a control signal ctla. Then, the control selection unit 105 outputs a control signal ctl based on the control signal ctla. The control signal ctl based on the control signal ctla outputs a control signal ctl1 and a control signal ctl2. The control signal ctl1 and the control signal ctl2 based on the control signal ctla are output, causing the water floating body 1 to navigate autonomously.

[0121] At this point, it is assumed that none of the operation unit 30, operation terminal 210, operation terminal 220, and operation terminal 230 is being operated. It is also assumed that the power of operation terminal 210 is turned off. It is also assumed that none of the operation terminals 220 and 230 is running an app.

[0122] (Step S30) Next, the control unit 100 determines whether or not an operation signal has been detected. Specifically, the control unit 100 determines whether or not an operation signal has been detected from any of the operation unit 30, the operation terminal 210, the operation terminal 220, and the operation terminal 230.

[0123] For example, when the control unit 100 detects that the operation unit 30 has been operated, the control unit 100 determines that an operation signal has been detected from the operation unit 30. More specifically, when the activate switch 33 is pressed by the operator, the control unit 100 determines that an operation signal has been detected from the operation unit 30. Furthermore, when the power of the operation terminal 210 is turned on and communication between the control unit 100 and the operation terminal 210 is started, the control unit 100 determines that an operation signal has been detected from the operation terminal 210. Furthermore, when the control unit 100 starts an app on the operation terminal 220 and starts communication between the control unit 100 and the operation terminal 220, the control unit 100 determines that an operation signal has been detected from the operation terminal 220. Furthermore, when the control unit 100 starts an app on the operation terminal 230 and starts communication between the control unit 100 and the operation terminal 230, the control unit 100 determines that an operation signal has been detected from the operation terminal 230.

[0124] If the calculation unit 101 of the control unit 100 detects an operation signal from any of the operation unit 30, operation terminal 210, operation terminal 220, and operation terminal 230 (Yes in step S30), the calculation unit 101 proceeds to step S40. If an operation signal is not detected from any of the operation unit 30, operation terminal 210, operation terminal 220, and operation terminal 230 (No in step S30), the calculation unit 101 returns to step S30 and repeats the process. While the process of step S30 is being repeated, the water floating body 1 continues autonomous navigation.

[0125] As described above, the water floating body 1 of this embodiment is equipped with an operation signal selection unit 102, so when two or more operation signals are detected from the operation unit 30, operation terminal 210, operation terminal 220 and operation terminal 230, the operation signal with the higher priority is selected.

[0126] (Step S40) If the calculation unit 101 of the control unit 100 detects an operation signal from any of the operation unit 30, operation terminal 210, operation terminal 220, and operation terminal 230 (Yes in step S30), the calculation unit 101 stops autonomous navigation. Then, the calculation unit 101 proceeds to step S50.

[0127] (Step S50) The calculation unit 101 of the control unit 100 starts manual navigation using the manual navigation control unit 104. Specifically, the manual navigation control unit 104 outputs a control signal ctlm to the control selection unit 105. Then, the control selection unit 105 outputs a control signal ctl based on the control signal ctlm. The control signal ctl based on the control signal ctlm outputs a control signal ctl1 and a control signal ctl2. The control signal ctl1 and the control signal ctl2 based on the control signal ctlm are output, causing the waterborne floating body 1 to manually navigate.

[0128] When switching from autonomous navigation to manual navigation, the drive circuit unit 110 and the drive circuit unit 120 may be initialized. By performing the initialization, it is possible to prevent latch-up from occurring in the drive circuit unit 110 and the drive circuit unit 120.

[0129] (Step S60) The calculation unit 101 determines whether or not an operation signal with a higher priority than the current operation signal has been detected. If the calculation unit 101 has detected an operation signal with a higher priority than the current operation signal (Yes in step S60), the calculation unit 101 proceeds to step S70. If the calculation unit 101 has not detected an operation signal with a higher priority than the current operation signal (No in step S60), the calculation unit 101 proceeds to step S80.

[0130] (Step S70) If the calculation unit 101 detects an operation signal with a higher priority than the current operation signal (Yes in step S60), the calculation unit 101 switches processing to the operation signal with the higher priority and performs manual navigation. Specifically, the operation signal selection unit 102 outputs the operation signal with the higher priority as the operation signal sig. Therefore, the manual navigation control unit 104 outputs a control signal ctlm based on the operation signal with the higher priority. By outputting the control signal ctlm based on the operation signal with the higher priority, the underwater floating body 1 is manually navigated by the operation signal with the higher priority.

[0131] For example, a case will be described in which, in descending order of priority, the operation signals are operation signal sig1 of operation unit 30, operation signal sig2 of operation terminal 210, operation signal sig3 of operation terminal 220, and operation signal sig4 of operation terminal 230. When manual operation is being performed using operation signal sig4 of operation terminal 230, if the power of operation terminal 210 is turned on, operation signal selection unit 102 switches from operation signal sig4 to operation signal sig2 and outputs the operation signal sig to control selection unit 105. This results in a switch to manual operation on operation terminal 210. Furthermore, when manual operation is being performed using operation signal sig2 of operation terminal 210, if operation unit 30 is operated, operation signal selection unit 102 switches from operation signal sig2 to operation signal sig1 and outputs the operation signal sig to control selection unit 105. This results in a switch to manual operation on operation unit 30.

[0132] By switching the operating signal as described above, it is possible to gradually switch from autonomous control to remote control at a location far from the water floating body 1, to remote control at a location close to the water floating body 1, to direct control at the operating unit 30 of the water floating body 1.

[0133] When switching the operation signal, the drive circuit unit 110 and the drive circuit unit 120 may be initialized. By performing the initialization, it is possible to prevent latch-up from occurring in each of the drive circuit unit 110 and the drive circuit unit 120.

[0134] After switching the processing to the operation signal with the higher priority, the calculation unit 101 advances the processing to step S80.

[0135] (Step S80) The calculation unit 101 determines whether to stop navigation. If the calculation unit 101 determines to stop navigation (Yes in step S80), the calculation unit 101 stops manual navigation (step S90) and executes post-processing (step S100). Then, the calculation unit 101 ends the processing. On the other hand, if the calculation unit 101 determines not to stop navigation, that is, to continue navigation (No in step S80), the calculation unit 101 returns to step S60 and repeats the processing.

[0136] <Actions and Effects> According to the water floating body 1 of this embodiment, even if a malfunction occurs during autonomous navigation of the water floating body 1, the water floating body 1 can be safely stopped by manually operating it using any of the operation unit 30, operation terminal 210, operation terminal 220 and operation terminal 230.

[0137] Furthermore, according to the water floating body 1 of this embodiment, the water floating body 1 can be stopped more safely by manually operating one of the operation unit 30, the operation terminal 210, the operation terminal 220, and the operation terminal 230 by selecting it in accordance with priority. For example, as will be described below, if a malfunction occurs in the water floating body 1 while it is autonomously navigating, it can be dealt with in stages.

[0138] For example, in the first stage, the waterborne floating body 1 can be safely stopped by remotely operating it using an operating terminal such as the operating terminal 230, which is installed in a location away from the waterborne floating body 1, for example, in a monitoring room. By performing remote operation as in the first stage, it is possible to monitor, for example, multiple waterborne floating bodies 1 operating in remote locations.

[0139] Next, in the second stage, if the first stage is not possible, the water floating body 1 can be safely stopped by remotely operating the water floating body 1 using an operating terminal such as the operating terminal 210 or 220 at the site where the water floating body 1 is operating. By remotely operating the water floating body 1 at the site as in the second stage, the water floating body 1 can be stopped while visually checking the situation at the site.

[0140] Next, in the third stage, if the second stage is not possible, the water floating body 1 can be safely stopped by directly operating an operating unit provided on the water floating body 1, such as the operating unit 30. In the third stage, the water floating body 1 can be safely stopped by boarding the water floating body 1 and directly operating it.

[0141] Furthermore, according to the water floating body 1 of this embodiment, the warning unit 60 warns those in the vicinity, thereby ensuring safety around the water floating body 1.

[0142] The propulsion unit 10 and the steering unit 20 are an example of a navigation unit that generates a propulsive force and causes the waterborne floating body 1 to sail in a desired direction.

[0143] In the above description, the case where autonomous navigation is performed has been described, but this is not limited to the case where autonomous navigation is performed. For example, even when manual navigation is performed without autonomous navigation, any of the operation unit 30, operation terminal 210, operation terminal 220, and operation terminal 230 may be selected based on priority to perform manual navigation.

[0144] <Modification> In the waterborne floating body 1, the navigation of the waterborne floating body 1 is controlled by the propulsion unit 10 and the steering unit 20, but the method of controlling the navigation of the waterborne floating body 1 is not limited to the propulsion unit 10 and the steering unit 20. Below, modified examples of the method of controlling the navigation of the waterborne floating body are shown.

[0145] [Variation 1] The water floating body 2 has multiple propulsion units instead of the propulsion unit 10 and steering unit 20 of the water floating body 1. Specifically, the water floating body 2 has two propulsion units, a propulsion unit 10a and a propulsion unit 10b. Figure 6 is a diagram illustrating an outline of the water floating body 2, which is a first modified example of the water floating body according to this embodiment.

[0146] The propulsion unit 10a includes a power unit 11a, a rotary shaft 12a, and a screw propeller 13a. The propulsion unit 10b includes a power unit 11b, a rotary shaft 12b, and a screw propeller 13b.

[0147] The control unit 100a includes drive circuit units 110a and 110b instead of the drive circuit units 110 and 120 of the control unit 100. The drive circuit units 110a and 110b each have the same functions as the drive circuit unit 110. The power unit 11a is connected to the drive circuit unit 110a of the control unit 100a. The power unit 11b is connected to the drive circuit unit 110b of the control unit 100a.

[0148] In the water floating body 2, the direction in which the water floating body 2 travels is controlled by changing the output of each of the propulsion units 10a and 10b. That is, the control unit 100a controls the direction in which the water floating body 2 travels by controlling the output of each of the propulsion units 10a and 10b.

[0149] The propulsion units 10a and 10b are an example of a navigation unit that generates a propulsive force and causes the waterborne floating body 2 to sail in a desired direction.

[0150] [Variation 2] The water floating body 3 is equipped with a propulsion unit 10c, which is an outboard motor, and an angle conversion unit 21a that rotates the direction of the propulsion unit 10c around the vertical direction, instead of the propulsion unit 10 and steering unit 20 of the water floating body 1. Specifically, the water floating body 3 is steered by changing the direction of the propulsion unit 10c. Figure 7 is a diagram illustrating an outline of the water floating body 3, which is a second modified example of the water floating body according to this embodiment.

[0151] The propulsion unit 10c includes a power unit 11c, a rotary shaft 12c, and a screw propeller 13c. The propulsion unit 10c is a so-called outboard motor. The propulsion unit 10c is attached to the transom of the floating body 3.

[0152] The control unit 100b includes a drive circuit unit 110c and a drive circuit unit 120a instead of the drive circuit unit 110 and the drive circuit unit 120 of the control unit 100. The drive circuit unit 110c has the same function as the drive circuit unit 110. The drive circuit unit 120a has the same function as the drive circuit unit 120. The power unit 11c is connected to the drive circuit unit 110c of the control unit 100b. The angle conversion unit 21a is connected to the drive circuit unit 120a of the control unit 100b.

[0153] In the water floating body 3, the direction of the propulsion unit 10c is changed by the angle conversion unit 21a, thereby controlling the direction in which the water floating body 3 travels. In other words, the control unit 100b controls the direction in which the water floating body 3 travels by controlling the direction of the propulsion unit 10c, which is an outboard motor.

[0154] The propulsion unit 10c is an example of a navigation unit that generates a propulsive force and causes the waterborne floating body 3 to sail in a desired direction.

[0155] [Variation 3] The water floating body 4 has a plurality of propulsion units which are outboard motors instead of the propulsion unit 10 and steering unit 20 of the water floating body 1. Specifically, the water floating body 4 has two propulsion units, a propulsion unit 10d and a propulsion unit 10e which are outboard motors. Figure 8 is a diagram illustrating an outline of the water floating body 4 which is a third modified example of the water floating body according to this embodiment.

[0156] The propulsion unit 10d includes a power unit 11d, a rotating shaft 12d, and a screw propeller 13d. The propulsion unit 10e includes a power unit 11e, a rotating shaft 12e, and a screw propeller 13e. The propulsion units 10d and 10e, which are outboard motors, are each attached to the transom of the floating body 4.

[0157] The control unit 100c includes a drive circuit unit 110d and a drive circuit unit 110e instead of the drive circuit unit 110 and the drive circuit unit 120 of the control unit 100. The drive circuit unit 110d and the drive circuit unit 110e each have the same functions as the drive circuit unit 110. The power unit 11d is connected to the drive circuit unit 110d of the control unit 100c. The power unit 11e is connected to the drive circuit unit 110e of the control unit 100c.

[0158] In the water floating body 4, the direction in which the water floating body 2 travels is controlled by changing the output of each of the propulsion units 10d and 10e. That is, the control unit 100c controls the direction in which the water floating body 4 travels by controlling the output of each of the propulsion units 10d and 10e.

[0159] The propulsion units 10d and 10e are an example of a navigation unit that generates a propulsive force and causes the waterborne floating body 4 to sail in a desired direction.

[0160] The waterborne floating body 4 is provided with two propulsion units (propulsion unit 10d and propulsion unit 10e), but the number of propulsion units may be three or more. For example, four propulsion units may be provided, each at a side or corner of the rectangular hull when viewed from above.

[0161] Because the operation terminals 220 and 230 are the screens of smartphones, tablets, PCs, etc., any user interface may be displayed, but it is preferable to use the design of the operation unit 30 and operation terminal 210. The operation terminals 220 and 230 can remotely control various water floats using the same device. However, since the operator is expected to be away from the site, for example, when one person is responsible for remotely controlling multiple water floats, it is expected that the operator will become confused about which water float they are currently operating. While it is natural to display the model number and photo of the water float being operated on the display screen, using the design of the operation unit 30 allows the operator to more intuitively identify the water float being operated. The time required from inputting a control signal to the actual braking process varies greatly depending on the size of the water float, etc., so intuitively recognizing the braking time required from the design of the operation unit 30 is effective in ensuring safety. [Explanation of symbols]

[0162] 1, 2, 3, 4 Floating bodies on water 1a hull 10, 10a, 10b, 10c, 10d, 10e Propulsion section 11, 11a, 11b, 11c, 11d, 11e Power section 12, 12a, 12b, 12c, 12d, 12e Rotation axis 13, 13a, 13b, 13c, 13d, 13e Screw propeller 20 Steering section 21, 21a Angle conversion section 22 Steering shaft 23 Rudder 30 Control section 31 Steering 32 Accelerator lever 33 Activate Switch 34 Control lamp 41, 42, 43 Antennas 60 Warning section 100, 100a, 100b, 100c control unit 101 Arithmetic section 102 Operation signal selection section 103 Autonomous navigation control unit 104 Manual navigation control unit 105 Control selection unit 110, 110a, 110b, 110c, 110d, 110e drive circuit section 120, 120a drive circuit section 130 Operation drive unit 141 Radio Communication Department 142 Wireless LAN communication unit 143 Mobile Communications Department 151 Inertial Measurement Unit 152 Satellite Positioning Unit 160 Warning Drive Unit 210 Operation terminal 211 Power switch 212 Control stick 213 Antenna 220, 230 Operation terminal 250 external networks 251, 252 base station ctl, ctl1, ctl2, ctla, ctlm control signals sig, sig1, sig2, sig3, sig4 operation signal WL1, WL2, WL3, WL4 wireless signal

Claims

1. An autonomously navigable floating body on water, an operating unit provided on the waterborne floating body and operated to steer the waterborne floating body; a navigation unit that generates a propulsive force and causes the waterborne floating body to navigate in a desired direction; a communication unit that communicates with the operation terminal; a control unit that controls the navigation unit so that the waterborne floating body navigates autonomously, when an operation signal from either the operation unit or the operation terminal is detected during autonomous navigation, the control unit stops the autonomous navigation and controls the navigation unit based on the operation signal with a higher priority among the operation signals from the operation unit and the operation terminal, The control unit turns on a warning light to notify the surrounding area when the autonomous navigation is stopped. Floating body on water.

2. The control unit issues a warning by flashing the warning light based on a Morse code. The waterborne floating body according to claim 1.

3. The control unit hoists a flag to notify the user when the autonomous navigation is stopped. The waterborne floating body according to claim 2.

4. An autonomously navigable floating body on water, an operating unit provided on the waterborne floating body and operated to steer the waterborne floating body; a navigation unit that generates a propulsive force and causes the waterborne floating body to navigate in a desired direction; a communication unit that communicates with the operation terminal; a control unit that controls the navigation unit so that the waterborne floating body navigates autonomously, when an operation signal from either the operation unit or the operation terminal is detected during autonomous navigation, the control unit stops the autonomous navigation and controls the navigation unit based on the operation signal with a higher priority among the operation signals from the operation unit and the operation terminal, The control unit hoists a flag to notify the user when the autonomous navigation is stopped. Floating body on water.

5. The operation terminal is a radio control transmitter. A waterborne floating body according to any one of claims 1 to 4.

6. The operation terminal is a tablet computer. A waterborne floating body according to any one of claims 1 to 4.

7. The operation terminal is connected to the communication unit wirelessly. A waterborne floating body according to any one of claims 1 to 6.

8. the operation terminal is connected to the communication unit via an external network; A waterborne floating body according to any one of claims 1 to 7.

9. the external network is a mobile communication network; The waterborne floating body according to claim 8.

10. The operation signal of the operation unit has a higher priority than the operation signal of the operation terminal. A waterborne floating body according to any one of claims 1 to 9.

11. the control unit initializes a circuit that drives the drive unit when the autonomous navigation is stopped. A waterborne floating body according to any one of claims 1 to 10.

12. A method for controlling an autonomously navigable floating body, comprising: When an operation signal from either the operation unit or the operation terminal is detected while the underwater floating body is autonomously navigating, the autonomous navigation is stopped and manual navigation is performed based on the operation signal with a higher priority among the operation signals from the operation unit and the operation terminal, When the autonomous navigation is stopped, a warning light is turned on to notify the surrounding area. A method for controlling a floating body on water.

13. A method for controlling an autonomously navigable floating body on water, comprising: When an operation signal from either the operation unit or the operation terminal is detected while the underwater floating body is autonomously navigating, the autonomous navigation is stopped and manual navigation is performed based on the operation signal with a higher priority among the operation signals from the operation unit and the operation terminal, When the autonomous navigation is stopped, a flag is raised to notify the stop. A method for controlling a floating body on water.

14. A control device for controlling a navigation unit of an autonomously navigating floating body on water, the control device comprising: an operating unit operated to steer the body; a navigation unit that generates a propulsive force and makes the body navigate in a desired direction; and a communication unit that communicates with an operating terminal, when an operation signal from either the operation unit or the operation terminal is detected during autonomous navigation, the autonomous navigation is stopped, and control is performed so that manual navigation is performed based on the operation signal having a higher priority among the operation signals from the operation unit and the operation terminal, When the autonomous navigation is stopped, a warning light is turned on to notify the surrounding area. Control device for floating bodies on water.

15. A control device for controlling the navigation unit of an autonomously navigating floating body on water, the control device comprising: an operating unit operated to steer the body; a navigation unit that generates a propulsive force and makes the body navigate in a desired direction; and a communication unit that communicates with an operating terminal, when an operation signal from either the operation unit or the operation terminal is detected during autonomous navigation, the autonomous navigation is stopped, and control is performed so that manual navigation is performed based on the operation signal having a higher priority among the operation signals from the operation unit and the operation terminal, When the autonomous navigation is stopped, a flag is raised to notify the stop. Control device for floating bodies on water.

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