Hulls and unmanned water vehicles

Abstract

To provide a hull for an unmanned water surface travelling body capable of suppressing oscillation of the hull due to waves or tracks and an unmanned water surface travelling body.SOLUTION: A hull for an unmanned water surface travelling body 13 includes two columnar floating bodies 11 and a coupling structure 12 for coupling the columnar floating bodies 11 in parallel with space in between, the space between the two columnar floating bodies 11 is 1 / 4 to 3 / 4 of the length in the longitudinal direction of the columnar floating bodies 11, end units of the two columnar floating bodies 11 are conical, and the columnar floating bodies 11 are air hoses.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a hull for an unmanned watercraft and an unmanned watercraft, and more particularly, to a hull for an unmanned watercraft and an unmanned watercraft suitable for use by remote operation within a coastal structure such as a pier.

Background Art

[0002] When inspecting a harbor structure such as a pier where it is difficult for a manned ship to enter, exit, or approach, by remote operation, for example, the use of an unmanned watercraft described in Patent Document 1 has been proposed. The unmanned watercraft described in Patent Document 1 is a single-hull ship with a V-shaped bottom, and by using a camera mounted on the hull, an inspection object in a narrow place such as under a pier can be safely observed from a distance.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, since the unmanned watercraft described in Patent Document 1 is a single-hull ship with a V-shaped bottom, the hull was likely to sway due to waves, wake waves, etc. As a result, during the inspection work of the inspection object by the camera, the viewpoint and video were disturbed, and there was a problem that it affected the determination of abnormal locations such as cracks on the underside of the pier.

[0005] Therefore, the problem to be solved by the present invention is to provide a means that is less affected by waves, wake waves, etc. when inspecting a harbor structure such as a pier by remote operation.

Means for Solving the Problems

[0006] The means for solving the problems of the present invention are as follows.

[0007] Firstly, It is an air hose with sealed openings at both ends. Two cylindrical floating bodies, The system comprises a connecting structure that connects the cylindrical floating bodies in parallel at intervals, The distance between the two cylindrical floating bodies is 1 / 4 to 3 / 4 of the longitudinal length of the cylindrical floating bodies. death, The connecting structure has a pair of floating connecting rings connected to the front and rear of each of the two cylindrical floating bodies, and a connecting deck that is foldably connected between these floating connecting rings. The connecting deck has a front connecting frame that is foldable in a mountain fold via hinges between a pair of left and right front floating connecting rings, a rear connecting frame that is foldable in a mountain fold via hinges between a pair of left and right rear floating connecting rings, and a connecting rack that is detachably stretched between the assembled front connecting frame and the rear connecting frame and is foldable in a mountain fold in the front-rear direction via hinges at its midpoint in the longitudinal direction. The base ends of the front connecting frame and the rear connecting frame are respectively fixed to the upper ends of the corresponding floating connecting rings. The inner diameter of each of the floating connecting rings is formed to be smaller than the outer diameter of each of the cylindrical floating bodies when they are expanded. A hull for an unmanned watercraft, characterized by the following features. Secondly, The two cylindrical floating bodies mentioned above However, a sandwich structure is created by forming thermoplastic polyurethane resin layers on the inner and outer surfaces of the polyester fibers. A hull for an unmanned waterborne vehicle according to the first description, characterized in that...

[0008] The 3 to, It is an air hose with sealed openings at both ends. Two cylindrical floating bodies, The system comprises a connecting structure that connects the cylindrical floating bodies in parallel at intervals, The distance between the two cylindrical floating bodies is 1 / 4 to 3 / 4 of the longitudinal length of the cylindrical floating bodies. death, The connecting structure has a pair of floating connecting rings connected to the front and rear of each of the two cylindrical floating bodies, and a connecting deck that is foldably connected between these floating connecting rings. The connecting deck has a front connecting frame that is foldable in a mountain fold via hinges between a pair of left and right front floating connecting rings, a rear connecting frame that is foldable in a mountain fold via hinges between a pair of left and right rear floating connecting rings, and a connecting rack that is detachably stretched between the assembled front connecting frame and the rear connecting frame and is foldable in a mountain fold in the front-rear direction via hinges at its midpoint in the longitudinal direction. The base ends of the front connecting frame and the rear connecting frame are respectively fixed to the upper ends of the corresponding floating connecting rings. The inner diameter of each of the floating connecting rings is formed to be smaller than the outer diameter of each of the cylindrical floating bodies when they are expanded. An unmanned watercraft characterized by having propulsion thrusters installed on a hull for an unmanned watercraft. The 4 to, The aforementioned propulsion thrusters are arranged in pairs, one on each side, at the midpoint of the longitudinal length of the two cylindrical floating bodies. The cylindrical floating body is connected to the thruster connecting ring, which is a split-type design with Ω-shaped members combined, via the thruster connecting ring. The aforementioned 3 The unmanned watercraft described above. The 5 to, The two cylindrical floating bodies mentioned above However, a sandwich structure is created by forming thermoplastic polyurethane resin layers on the inner and outer surfaces of the polyester fibers. The preceding features 3Or the 4 unmanned surface vehicle described in

[0009] Here, the material of the cylindrical floating body is arbitrary. For example, various plastics, various metals, various fabrics, etc. can be adopted. The cylindrical floating body can be constituted by a hollow material such as a hose, a tube, a pipe, etc., but is not limited thereto. For example, it can also be constituted by a solid material obtained by processing styrofoam into a columnar shape. As the cylindrical floating body, it is preferably constituted by an air tube float.

[0010] The length of the cylindrical floating body in the longitudinal direction is arbitrary, but it is preferably in the range of 1 m to 2 m. If it is less than 1 m, there will be a disadvantage of lacking stability. Also, if it exceeds 2 m, there will be disadvantages such as hindering the turning operation in a narrow place. Particularly preferably, the length of the cylindrical floating body is about 1.4 m. With this length, high maneuverability and high stability of the hull for the unmanned surface vehicle can be obtained simultaneously.

[0011] The diameter of the cylindrical floating body is arbitrary, but it is preferably in the range of 5 cm to 20 cm. If it is less than 5 cm, there will be a disadvantage that sufficient buoyancy cannot be obtained. Also, if it exceeds 20 cm, there will be disadvantages such as hindering the mobility such as the turning operation. Particularly preferably, the diameter of the cylindrical floating body is about 10 - 15 cm, and a standard product of a fire hose can be used.

[0012] The material of the connecting structure is arbitrary. For example, various metals such as iron, stainless steel, aluminum alloy, etc., various plastics, etc. can be adopted. The shape of the connecting structure is arbitrary. For example, in plan view, a rectangular shape, a circular shape, an elliptical shape, etc. can be adopted. Furthermore, while a foldable structure is preferred for the connecting structure, it is not limited to that.

[0013] The distance between the two cylindrical floating bodies is preferably 1 / 4 to 3 / 4. If the length of the cylindrical floating body is less than 1 / 4 of its longitudinal length, it becomes more susceptible to wave effects, resulting in a lack of stability. Furthermore, if the spacing is greater than 3 / 4, the gaps become too wide, hindering entry into narrow spaces and causing inconveniences such as handling problems. A particularly preferred spacing is approximately 2 / 4, or half, of the length in the longitudinal direction. When the spacing is about half the length of the longitudinal direction, it offers excellent stability and handling, resulting in a well-balanced design.

[0014] When constructing the end in a conical shape, in addition to making the front end, which is on the direction of travel, conical, the rear end can also be formed in a conical shape. The apex angle of the cone can be arbitrary, but is preferably between 60° and 120°.

[0015] The material of each floating connecting ring and connecting deck is arbitrary and can be any type of metal, plastic, etc. The size of each floating connecting ring is arbitrary, as long as it can be attached to and detached from the corresponding cylindrical floating body. Furthermore, the connection structure between each floating body connecting ring and each cylindrical floating body is arbitrary. As for the connecting structure, various fastening structures using hook-and-loop fasteners and various fastening structures using fastening bands can be employed, as well as adhesive bonding methods and compression locking by the expansion of the cylindrical float when the cylindrical float is an air hose or the like.

[0016] The structure of the connecting deck is arbitrary, as long as it is detachable and foldable between each floating connecting ring. For example, it may have a front connecting frame that is foldable between the front floating connecting rings, a rear connecting frame that is foldable between the rear floating connecting rings, and a connecting rack that is detachably stretched between the front and rear connecting frames after assembly and is foldable in the front-to-back direction. In particular, to reduce the weight of the connecting deck and lower the deck height, a connecting deck in which the main components are made of a flat frame is preferred.

[0017] The type of propulsion thruster is arbitrary; for example, electric thrusters, hydraulic thrusters, etc., can be used.

[0018] Furthermore, the hull for the unmanned watercraft is equipped with, for example, a lithium-ion battery as a power source for the thrusters, and a control unit that controls the equipment including the thrusters. [Effects of the Invention]

[0019] The present invention can achieve the following effects.

[0020] By adopting a catamaran type vessel with two cylindrical floating bodies of the same size, and with the distance between these cylindrical floating bodies being 1 / 4 to 3 / 4 of the longitudinal length of the cylindrical floating bodies, it is possible to suppress the rocking of the hull caused by waves and wake waves. This makes it possible to obtain stable images in areas that are difficult for manned vessels to approach or enter, such as the underside of pier superstructures and inclined pile sections, as they are less affected by waves and wakes, for example, by suppressing the shaking of the observation camera's viewpoint.

[0021] In other words, by adopting a catamaran-type hull consisting of two cylindrical floating bodies connected in parallel, a wide deck is obtained between the cylindrical floating bodies, resulting in greater stability compared to a single-hull hull.

[0022] In particular, when the tips of the two cylindrical floating bodies are conical, the pitch (vertical movement) of the unmanned watercraft hull can be suppressed compared to when the tips of each cylindrical floating body are flat surfaces perpendicular to the longitudinal direction.

[0023] By using air hoses as two cylindrical floats, the system can be used simply by inflating each cylindrical float with air. On the other hand, during storage, the cylindrical floats can be compactly deflated simply by releasing the air from each one. As a result, the storage space required for the unmanned watercraft hull is reduced, and transportation and handling to the site become easier.

[0024] When using the hull for the unmanned water-based mobile vehicle, the connecting structure, which is connected to each floating body connecting ring in a folded state, is assembled to hold each cylindrical floating body in a parallel position separated by a predetermined distance. Furthermore, when storing the hull of the unmanned watercraft, this connecting structure can be folded, allowing for compact storage.

[0025] By arranging a pair of thrusters on the left and right sides at the midpoint of the longitudinal length of two cylindrical floating bodies, it becomes possible to reduce the turning radius of the unmanned watercraft, thereby improving its maneuverability. [Brief explanation of the drawing]

[0026] [Figure 1] This is a plan view including a partially enlarged view of an unmanned water vehicle equipped with a hull for an unmanned water vehicle according to Embodiment 1 of the present invention. [Figure 2] This is a side view including a partially enlarged view of an unmanned water vehicle equipped with a hull for an unmanned water vehicle according to Embodiment 1 of the present invention. [Figure 3] This is a front view of an unmanned water vehicle equipped with a hull for an unmanned water vehicle according to Embodiment 1 of the present invention. [Figure 4] This is an enlarged plan view showing the folded state of a connecting structure that constitutes a part of the hull for an unmanned water-based mobile vehicle according to Embodiment 1 of the present invention. [Figure 5]This is an enlarged side view showing the folded state of the connecting structure in Figure 4. [Figure 6] This is an enlarged plan view showing the storage state of a vessel for an unmanned water-based mobile vehicle according to Embodiment 1 of the present invention. [Figure 7] Figure 6 is an enlarged side view showing the storage state of the hull for the unmanned watercraft. [Figure 8] This is an explanatory diagram showing the state of inspection work in the underwater part of infrastructure near a quay using an unmanned mobile water vehicle according to Embodiment 1 of the present invention. [Figure 9] Figure 8 is an explanatory diagram showing the working conditions of an underwater environmental survey near a seawall using an unmanned mobile watercraft. [Modes for carrying out the invention]

[0027] Hereinafter, embodiments for carrying out the present invention will be specifically described with reference to the drawings. In the attached drawings, identical components are denoted by the same reference numeral, and redundant explanations have been omitted. The description herein represents only one embodiment of the present invention, and therefore the present invention is not limited to this embodiment. [Examples]

[0028] In Figure 1, 10 represents an unmanned water-based mobile vehicle according to Embodiment 1 of the present invention. This unmanned watercraft 10 consists of a hull 13 for unmanned watercraft, which is formed by connecting two cylindrical floating bodies 11 of the same size in parallel at a predetermined distance apart by a connecting structure 12, and is equipped with a pair of propulsion thrusters 14 on the left and right sides, as shown in Figure 3.

[0029] The following will provide a detailed explanation of these components. For the sake of explanation, the bow end of the ship, which is the side facing the direction of travel, may be referred to as the front, and the stern end, which is the rear, may be referred to as the rear.

[0030] As shown in Figure 1, each cylindrical floating body 11 has a hose-shaped floating body 15 with a diameter of 15 cm and a length of 1.4 m, made from standard fire hoses. As shown in the enlarged view of the rear end of the float body 15 in Figure 1, the float body 15 has a sandwich structure formed by creating a thermoplastic polyurethane resin layer 16 on the inner and outer surfaces of polyester fibers.

[0031] The distance between the two cylindrical floating bodies 11 is 50 cm, which is about one-third of the length of each cylindrical floating body 11. Furthermore, the optimal spacing between each cylindrical floating body 11 for the unmanned water-based mobile vehicle 10 in terms of maneuverability and stability against waves is 70 cm, which is approximately half the length of each cylindrical floating body 11.

[0032] A conical cap 18 made of high-density polyethylene with a 90° apex angle is airtightly attached to the bow end of each floating body 15 on the longitudinal side in the direction of travel, via adhesive and multiple stainless steel hose clamps 19.

[0033] On the other hand, a circular cap 20 made of high-density polyethylene, which has a flat circular end plate, is airtightly attached to the rear end of each floating body 15, which is on the stern side, via adhesive and multiple stainless steel hose clamps 19. As shown in the enlarged view in Figure 2, an injection valve 22 is provided protruding from the center of the end plate constituting the circular cap 20, into which compressed air from a compressor (not shown) is injected via an air intake adapter 21.

[0034] As shown in Figure 1, the connecting structure 12 has a total of four floating body connecting rings 23, one pair each connected to the left and right floating body 15, and a connecting deck 24 that is detachably and foldably connected between these floating body connecting rings 23.

[0035] The following will provide a detailed explanation of the connected structure 12, primarily referring to Figure 1. The material of each floating body connecting ring 23 and connecting deck 24 is stainless steel. The inner diameter of each floating body connecting ring 23 is slightly smaller than the outer diameter of each floating body 15 when inflated by the injection of compressed air. Specifically, it is within a range of 5 mm or less, and preferably about 1 to 2 mm smaller than the outer diameter of each floating body 15 when inflated by the injection of compressed air. In this way, by making the inner diameter of each floating body connecting ring 23 slightly smaller than the outer diameter of each floating body 15 that is expanded by the injection of compressed air, it is possible to avoid the risk of the position of each floating body connecting ring 23 shifting when subjected to impact from waves during use.

[0036] The connecting deck 24 includes a front connecting frame 25 that is foldable in a mountain fold via a hinge H (see Figure 3) between a pair of front floating connecting rings 23 on the left and right sides, a rear connecting frame 26 that is foldable in a mountain fold via a hinge H (see Figure 3) between a pair of rear floating connecting rings 23 on the left and right sides, and a connecting rack 27 that is detachably stretched between the assembled front connecting frame 25 and rear connecting frame 26 and is foldable in a mountain fold in the front-rear direction via a hinge H (see Figure 5) at its midpoint in the longitudinal direction.

[0037] Here, by directly attaching the front connecting frame 25 and the rear connecting frame 26 to the upper end of the floating body connecting ring 23, it is possible to reduce the overall height. As a result, it can penetrate even if the gap between the water surface and the structure being inspected is small during use, and is less affected by tidal levels. Furthermore, its low center of gravity makes it less susceptible to wave motion, thus enhancing stability.

[0038] The front connecting frame 25 and the rear connecting frame 26 shown in Figure 1 are both connected via a pair of hinges H (see Figure 6) so that they can be folded in a mountain fold, connecting the end portion of the corresponding long right-side section frame 28, which has a nut hole n (see Figure 6) drilled in it, and the end portion of the corresponding short left-side section frame 29, which has a tongue plate b (see Figure 6) with a through hole a (see Figure 6) protruding from it. As shown in Figure 6, the base end of the right-side frame 28 is provided with a nut hole n, separate from the tip end, for connecting the connecting rack 27 shown in Figure 1.

[0039] The hinge H shown in Figure 3 is positioned between the lower left end of the corresponding right-side frame 28 and the lower right end of the left-side frame 29. Furthermore, the base ends of the front connecting frame 25 and the rear connecting frame 26 are fixed to the upper ends of the corresponding floating body connecting rings 23, respectively.

[0040] Furthermore, the right-side frame 28 is formed to be longer than the corresponding left-side frame 29 by the diameter of the cylindrical floating body 11. The reason for this is that when the hull 13 for the unmanned watercraft is stored, the right-side frame 28 and the left-side frame 29 are folded via their respective hinges H, so that the components of the left cylindrical float 11 and the components of the right cylindrical float 11 are arranged in parallel adjacent to each other (see Figures 6 and 7). This allows anyone to easily and reliably store the pair of cylindrical floating bodies 11 in a compact size.

[0041] As shown in Figure 1, the connecting rack 27 is formed by connecting the rear end of the front section rack 30 and the front end of the rear section rack 31 via a hinge H (see Figure 5). The front section rack 30 is formed by connecting two front frame components 32 that extend in the front-rear direction in a parallel, spaced-apart state, and two connecting members 33 that extend in the left-right direction and are horizontally spaced parallel between the two front frame components 32. The rear section rack 31 is formed by connecting two rear frame components 34 that extend in the front-rear direction in a parallel, spaced-apart state, and two connecting members 33 that extend in the left-right direction and are horizontally spaced parallel between the two rear frame components 34.

[0042] As shown in Figure 5, the front frame component 32 of the front section rack 30 has nut holes n at its front and rear ends, respectively. Furthermore, as shown in Figure 4, the rear frame component 34 of the rear portion rack 31 has a tongue plate b with a through hole a protruding from its front end, while another nut hole n is formed at its rear end. The pair of hinges H shown in Figure 5 are positioned between the lower rear end of the front frame component 32 of the front section rack 30 and the lower front end of the rear frame component 34 of the rear section rack 31.

[0043] As shown in Figure 3, the left and right pair of propulsion thrusters 14 are electrically powered and mounted on a fixed shaft 35. Each propulsion thruster 14 is connected to the corresponding mid-length portion of the floating body 15 via a pair of left and right plastic thruster connecting rings 36 shown in Figure 1. Here, by adjusting the thrust of each of the left and right thrusters 14, it becomes possible to freely control forward, backward, and turning movements.

[0044] As shown in Figures 6 and 7, the hull 13 for the unmanned water-based mobile vehicle can be compactly stored by deflating each cylindrical floating body 11. Note that Figures 6 and 7 show the vehicle with each propulsion thruster 14 and each thruster connecting ring 36 removed.

[0045] The thruster connecting ring 36, although not shown in the figure, has a structure that combines Ω-shaped members in an upper and lower split form, and has two openings in the flange-like portion at the end, and is configured to be fixed using hexagonal screws and nuts through these openings. Therefore, by loosening the nut and removing the hexagonal screw from the opening, the thruster connecting ring 36 is split into upper and lower halves, making it possible to remove the propulsion thruster 14 and the thruster connecting ring 36 from the floating body 15.

[0046] Next, with reference to Figures 1 to 8, we will explain the inspection work performed near the quay 37, under the pier 38 and in the underwater infrastructure, using the unmanned water-based mobile body 10 according to Embodiment 1 of the present invention. First, as shown in Figures 6 and 7, the components of the unmanned water-based mobile vehicle 10, which were compactly stored in a designated storage location, are transported by vehicle to the assembly site.

[0047] During assembly, the folded right-side frame 28 and left-side frame 29 are extended in the left-right direction around the hinge H, and then this extended state is maintained by screwing them together with a pair of connecting screws B, as shown in Figure 1.

[0048] Specifically, the connecting deck 24 is assembled by inserting each connecting screw B (see Figure 1) through the through hole a (see Figure 6) in the tongue plate b (see Figure 6) of the left-side frame 29 into the nut hole n (see Figure 6) at the right end of the right-side frame 28, and then screwing them together.

[0049] Subsequently, as shown in Figure 2, compressed air from a compressor (not shown) is injected through an air adapter 21 into an injection valve 22 protruding from the circular cap 20, thereby inflating the pair of left and right cylindrical floats 11.

[0050] On the other hand, as shown in Figures 4 and 5, the folded front rack 30 and rear rack 31 are extended in the front-rear direction around a pair of hinges H, and then, as shown in Figure 1, this extended state is maintained by screwing it in place at the central part with a pair of connecting screws B. Specifically, the connecting rack 27 is assembled by inserting the connecting screws B shown in Figure 1 into the nut holes n at the rear end of the front frame component 32 of the front frame component 32 of the front rack 30, shown in Figure 5, through the through holes a of each tongue plate b of the rear frame component 34 of the rear rack 31 shown in Figure 4, and screwing them together.

[0051] Next, as shown in Figure 1 or Figure 2, the connecting rack 27 is connected to the front connecting frame 25 and the rear connecting frame 26 in a draped manner to assemble the connecting structure 12. Specifically, the nut holes n (see Figure 6) at the base ends of the right-side frame 28 and left-side frame 29 positioned at the front are aligned with the nut holes n (see Figure 5) at the front ends of the front frame components 32 of the front rack 30, and the connecting screws B are inserted and fastened together as shown in Figure 1. On the other hand, the nut holes n (see Figure 6) at the base ends of the rear frame components 34 of the rear rack 31 are aligned with the nut holes n (see Figure 5) at the base ends of the right and left frame components 29 located at the rear, and the connecting screws B are inserted and fastened together as shown in Figure 1. This allows the connecting structure 12 to be assembled.

[0052] Subsequently, as shown in Figure 8, the connecting rack 27 is equipped with a navigation camera 39, an aerial camera 40, an underwater camera 41, a fish finder 42, a control unit 43 that controls these devices and each of the propulsion thrusters 14, and a battery 44.

[0053] As shown in Figure 8, when the unmanned water-based mobile vehicle 10 inspects the underside of the pier 38 and the underwater infrastructure, workers standing on the quay 37 operate a controller with a monitor (not shown) to carry out the work. In other words, the worker first remotely controls the unmanned watercraft 10 to the vicinity of the pier 38 or quay 37 by activating a pair of propulsion thrusters 14 on the left and right sides while viewing images of the direction of travel taken by the navigation camera 39 on a monitor.

[0054] Subsequently, during the inspection of the underside of pier 38, the workers perform the inspection while viewing images of the direction of travel captured by the navigation camera 39 on a monitor, and simultaneously photographing the underside of pier 38 with the aerial camera 40. In this case, the image data of the underside of the pier 38 is recorded on the recording medium of the aerial camera 40. Furthermore, this captured image data can be taken back and used, for example, to generate 3D reconstructed images or to perform AI-based crack detection.

[0055] Furthermore, when inspecting the water intake 45, which is a type of underwater infrastructure near the quay 37, workers perform the inspection while viewing camera images of the water intake 45 taken by the underwater camera 41 on a monitor. Simultaneously, camera image data of the water intake 45 can also be recorded in the controller's recording unit.

[0056] Furthermore, when confirming submerged obstacles 46 near the quay 37, the unmanned mobile watercraft 10 is made to move at a low speed while a fish finder 42 performs a side scan near the seabed, and the scan data is transmitted to the controller, allowing the worker to confirm the submerged obstacles 46 near the seabed while viewing the analysis graph displayed on the monitor. Simultaneously, the scan data is stored in the main unit of the fish finder 42.

[0057] In addition, as shown in Figure 9, for example, this unmanned water-based mobile vehicle 10 can also be used to conduct various environmental surveys near the seawall 47. For example, the underwater camera 41 can be used to conduct surveys on the distribution of seagrass and algae in blue carbon (for calculating carbon dioxide absorption), and to observe fish that gather in coastal reefs and other areas (for surveying the abundance of fish and shellfish resources).

[0058] Furthermore, by attaching survey nets and seawater collection containers to the unmanned water-based mobile vehicle 10 and towing it, it becomes possible to conduct various resource surveys and water quality surveys near the sea surface. Furthermore, since the unmanned water vehicle 10 can tow buoys and survey nets, it can be used not only for the surveys and inspections mentioned above, but also for water rescue and other purposes.

[0059] Thus, in the unmanned water-based mobile vehicle 10 of Example 1, a catamaran type is adopted, which has two cylindrical floating bodies 11 of the same size, and the distance between these cylindrical floating bodies 11 is approximately 1 / 3 of the longitudinal length of the cylindrical floating bodies 11. This makes it possible to suppress the rocking of the unmanned water-based mobile vehicle 10 caused by waves, wake waves, etc.

[0060] As a result, even if the unmanned watercraft 10 is rocked by waves or wakes in places that are difficult for manned vessels to approach or enter, such as the underside of the pier 38 or the sloping piles, the rocking of the viewpoints of the aerial camera 40 and the underwater camera 41 is suppressed, and stable images can be obtained.

[0061] The reason for this is that, firstly, a catamaran-type hull 13 for the unmanned watercraft was adopted, which consists of two cylindrical floating bodies 11 connected in parallel. This provides a wide connecting deck 24 between the cylindrical floating bodies 11, resulting in increased stability of the hull 13 for the unmanned watercraft compared to conventional single-hull hulls.

[0062] Furthermore, by setting the distance between the two cylindrical floating bodies 11 to approximately 1 / 3 of the longitudinal length of the cylindrical floating bodies 11, the overall structure becomes compact, highly maneuverable, and the hull 13 for the unmanned water-based mobile vehicle becomes more stable. This makes it possible to suppress the rocking of the hull 13 for the unmanned watercraft caused by waves, wake waves, etc.

[0063] Furthermore, because the tips of the two cylindrical floating bodies 11 are conical, the pitch of the unmanned watercraft hull 13 can be suppressed compared to the case where the tips of each cylindrical floating body 11 are flat surfaces perpendicular to the longitudinal direction.

[0064] Furthermore, by using air hoses as the two cylindrical floats 11, the system can be used simply by inflating each cylindrical float 11 with air. On the other hand, during storage, the cylindrical floating bodies 11 can be compactly stored simply by deflating them. As a result, the storage space required for the unmanned watercraft 10 and the hull 13 for the unmanned watercraft is reduced, and transportation and handling to the site become easier.

[0065] Furthermore, when using the hull 13 for the unmanned water-based mobile vehicle, the connecting structures 12, which are connected to each floating body connecting ring 23 in a folded state, are first assembled, thereby holding each cylindrical floating body 11 in a parallel position separated by a predetermined distance. On the other hand, when storing the hull 13 for the unmanned watercraft, the connecting structure 12 can be folded, making compact storage easy.

[0066] Furthermore, by positioning a pair of thrusters 14 on the left and right sides at the midpoint of the longitudinal length of the two cylindrical floating bodies 11, and adjusting the thrust of each of the left and right thrusters 14, it is possible to freely control forward, backward, and turning movements, and it is also possible to turn around the center of the unmanned water-based mobile body 10. This will improve the maneuverability of the unmanned watercraft 10. [Explanation of Symbols]

[0067] 10 Unmanned water vehicle 11. Cylindrical floating bodies 12 Connected structure 13 Hull for unmanned water vehicle 14. Propulsion thrusters 15. Floating body 16 Thermoplastic polyurethane resin layer 18 Cone Capsules 19 Hose clamp 20 circular caps 21 Air Inflation Adapter 22 Injection valve 23 Floating body connecting ring 24 Linked Decks 25 Front connecting frame 26 Rear connecting frame 27 Linking Racks 28 Right side frame 29 Left side frame 30 Front section rack 31 Rear section rack 32 Front frame component 33 Connecting Member 34 Rear frame component 35 Fixed axis 36 Thruster linking ring 37 Wharf 38 Pier 39 Navigation Cameras 40 Aerial Cameras 41 Underwater Camera 42 Fish finder 43 Control Unit 44 batteries 45 Water intake 46 Submerged obstacles 47 Seawall B connecting screw H hinge a Through hole b lingual plate n Nut hole

Claims

1. Two cylindrical floating bodies which are air hoses with sealed openings at both ends, The system comprises a connecting structure that connects the cylindrical floating bodies in parallel at intervals, The distance between the two cylindrical floating bodies is set to 1 / 4 to 3 / 4 of the longitudinal length of the cylindrical floating bodies. The connecting structure has a pair of floating connecting rings connected to the front and rear of each of the two cylindrical floating bodies, and a connecting deck that is foldably connected between these floating connecting rings. The connecting deck has a front connecting frame that is foldable in a mountain fold via hinges between a pair of left and right front floating connecting rings, a rear connecting frame that is foldable in a mountain fold via hinges between a pair of left and right rear floating connecting rings, and a connecting rack that is detachably stretched between the assembled front connecting frame and the rear connecting frame and is foldable in a mountain fold in the front-rear direction via hinges at its midpoint in the longitudinal direction. The base ends of the front connecting frame and the rear connecting frame are respectively fixed to the upper ends of the corresponding floating connecting rings. A hull for an unmanned watercraft, characterized in that the inner diameter of each floating body connecting ring is formed to be smaller than the outer diameter when each cylindrical floating body is expanded.

2. The hull for an unmanned watercraft according to claim 1, characterized in that the two cylindrical floats have a sandwich structure formed by forming thermoplastic polyurethane resin layers on the inner and outer surfaces of polyester fibers.

3. Two cylindrical floating bodies which are air hoses with sealed openings at both ends, The system comprises a connecting structure that connects the cylindrical floating bodies in parallel at intervals, The distance between the two cylindrical floating bodies is set to 1 / 4 to 3 / 4 of the longitudinal length of the cylindrical floating bodies. The connecting structure has a pair of floating connecting rings connected to the front and rear of each of the two cylindrical floating bodies, and a connecting deck that is foldably connected between these floating connecting rings. The connecting deck has a front connecting frame that is foldable in a mountain fold via hinges between a pair of left and right front floating connecting rings, a rear connecting frame that is foldable in a mountain fold via hinges between a pair of left and right rear floating connecting rings, and a connecting rack that is detachably stretched between the assembled front connecting frame and the rear connecting frame and is foldable in a mountain fold in the front-rear direction via hinges at its midpoint in the longitudinal direction. The base ends of the front connecting frame and the rear connecting frame are respectively fixed to the upper ends of the corresponding floating connecting rings. An unmanned watercraft is characterized in that the inner diameter of each of the floating connecting rings is formed to be smaller than the outer diameter when each of the cylindrical floating bodies is expanded, and the hull for the unmanned watercraft is equipped with a propulsion thruster.

4. The propulsion thrusters are arranged in pairs on the left and right sides at the midpoint of the longitudinal length of the two cylindrical floating bodies, and are connected to the cylindrical floating bodies respectively via thruster connecting rings that are upper and lower divided and composed of Ω-shaped members, as described in claim 3.

5. The unmanned water-based mobile body according to claim 3 or 4, characterized in that the two cylindrical floating bodies have a sandwich structure formed by forming thermoplastic polyurethane resin layers on the inner and outer surfaces of polyester fibers.

Images