Floating body

Abstract

The present invention comprises: a housing (1) that has a columnar shape; a cylindrical member (2) that is disposed so as to cover the circumference of the housing (1); a plurality of connection members (3) each including a fixed arm (5) and a movable arm (4) that is connected to an end part of the fixed arm (5) by a joint (6) so that the connection angle is variable, one end part of each connection member (3) being connected to the side surface of the housing (1) and the other end part being connected to the side surface of the cylindrical member (2); and a sheet (7) having an outer circumferential part connected to each joint (6) and an inner circumferential part connected to the side surface of the cylindrical member (2).

Description

Floating body

[0001] This disclosure relates to a floating body that floats on the sea surface.

[0002] For purposes such as weather prediction and conservation of marine resources, it is required to collect marine data such as seawater temperature, wind speed above the ocean, and ocean currents. Non-Patent Documents 1 and 2 disclose an unmanned observation device (USV: Unmanned Surface Vehicle) that sails unmanned on the ocean to collect marine data.

[0003] Mobile, continuous ocean monitoring by wave glider, [searched on October 21, 2024], Internet <https: / / www.info.liquid-robotics.com / japan> Multi-beam survey unmanned boat, [searched on October 21, 2024], Internet <https: / / www.toyo.co.jp / kaiyo / products / detail / sfs_ebasvg2>

[0004] However, the wave glider disclosed in Non-Patent Document 1 described above has a configuration in which a float portion floating on the water surface and a glider moving underwater are connected by an umbilical cable, so the configuration becomes complicated. Also, the umbilical cable may be cut. Further, in the unmanned observation device disclosed in Non-Patent Document 2, a power source for moving on the ocean and energy for driving the power source are required.

[0005] This disclosure has been made in view of the above circumstances, and an object thereof is to provide a floating body capable of moving on the sea surface without imparting power.

[0006] The floating body according to one aspect of this disclosure includes a housing having a columnar shape, a cylindrical member disposed so as to cover the periphery of the housing, a first arm, and a second arm variably connected by a joint at an end of the first arm, and includes a plurality of connecting members having one end connected to a side surface of the housing and the other end connected to a side surface of the cylindrical member, and a sheet having an outer peripheral portion connected to each joint and an inner peripheral portion connected to a side surface of the cylindrical member.

[0007] According to this disclosure, it will be possible to move across the sea surface without providing power.

[0008] Figure 1 is a perspective view showing the schematic configuration of a floating body according to the first embodiment. Figure 2 is a diagram showing a sheet mounted on the floating body, indicating eight regions divided by slits. Figure 3 is a perspective view showing the floating body according to the first embodiment with the sheet removed. Figure 4 is an explanatory diagram showing how the housing and cylindrical member mounted on the floating body are connected by a connecting member. Figure 5 is a block diagram showing the electrical configuration of the floating body according to the first embodiment. Figure 6A is a perspective view showing a rudder mounted on the bottom of the floating body according to the first embodiment. Figure 6B is a perspective view showing another rudder mounted on the bottom of the floating body according to the first embodiment. Figure 7A is an explanatory diagram showing the state of the housing, cylindrical member, and connecting member when the floating body is floating on a calm sea surface. Figure 7B is an explanatory diagram showing the state of the housing, cylindrical member, and connecting member when the sea level rises due to waves. Figure 7C is an explanatory diagram showing the state of the housing, cylindrical member, and connecting member when the sea level falls due to waves. Figure 8A is a perspective view showing the state of the floating body when the sea level rises due to waves. Figure 8B is a perspective view showing the state of the floating body when the sea level drops due to waves. Figure 9 is a flowchart showing the processing procedure by the floating body and base station equipment according to the first embodiment. Figure 10 is a perspective view of the floating body according to the second embodiment, showing the state with the sheet removed. Figure 11 is a block diagram showing the electrical configuration of the floating body according to the second embodiment. Figure 12 is an explanatory diagram showing the connection between the rails formed on the housing and the fixed arm according to the second embodiment. Figure 13 is an explanatory diagram showing the connection between each rail formed on the housing and cylindrical member and the fixed arm and the movable arm. Figure 14 is a diagram showing the sheet mounted on the floating body according to the second embodiment, showing eight areas divided by slits. Figure 15A is a perspective view showing the state when the housing of the floating body according to the second embodiment has lowered. Figure 15B is a perspective view showing the state when the housing of the floating body according to the second embodiment has risen. Figure 16 is a block diagram showing the hardware configuration of the embodiment.

[0009] [Description of the First Embodiment] Hereinafter, embodiments will be described with reference to the drawings. Figure 1 is a schematic perspective view showing the configuration of the floating body 100 according to the first embodiment. As shown in Figure 1, the floating body 100 comprises a housing 1, a cylindrical member 2, a plurality of connecting members 3, and a seat 7. The floating body 100 can float and move on the sea surface without being powered. Furthermore, it observes various data related to the ocean. Hereinafter, the direction perpendicular to the sea surface (vertical direction) will be referred to as the up and down direction, and the direction of the sea surface will be referred to as the horizontal direction.

[0010] The enclosure 1 has a cylindrical shape (columnar shape). As shown in Figure 5, which will be described later, the enclosure 1 is equipped with various instrumentation devices and sensors. The specific configuration of these will be described later.

[0011] The housing 1 is designed so that its overall specific gravity is less than 1, and its center of gravity is positioned low. Therefore, when the housing 1 is floated on the surface of the sea, its cylindrical axis d1 is oriented vertically, with the upper part above the water surface and the lower part below it, allowing it to float on the surface. Note that the housing 1 is not limited to a cylindrical shape, but may be a column of other shapes.

[0012] The cylindrical member 2 (tubular member) has a cylindrical shape and is arranged to cover the perimeter of the housing 1. Multiple elongated rectangular openings 25 facing vertically are formed on the side surface of the cylindrical member 2 at equal intervals along the circumference (eight in Figure 1). The cylindrical member 2 is made of a material with a lower specific gravity than the housing 1. The cylindrical member 2 is an example of a tubular member. In this embodiment, the cylindrical member 2, which has a cylindrical shape, is used as an example for explanation, but the tubular member is not limited to a cylindrical shape and may be a tubular member of other shapes.

[0013] Figure 2 is a plan view showing the structure of the sheet 7. The sheet 7 has a flat circular shape, with a circular notch 7a formed in the center. The housing 1 shown in Figure 1 passes through the notch 7a. The sheet 7 is made of a flexible material and is expandable and contractible. Multiple slits 7b are formed in the sheet 7 along the radial direction. There are eight slits 7b, the same number as the opening 25 shown in Figure 1.

[0014] The eight portions p1 to p8 on the outer circumference of the sheet 7, corresponding to the slits 7b, are each connected to joints 6 formed on the connecting member 3 (see Figures 3 and 4, described later). The eight portions q1 to q8 on the inner circumference of the sheet 7, corresponding to the slits 7b, are each connected to the side surfaces of the cylindrical member 2. In other words, the sheet 7 has a hollow, flat plate shape, with its outer circumference connected to each joint 6 and its inner circumference connected to the side surfaces of the cylindrical member (cylindrical member 2). In the following, as shown in Figure 2, the divided regions of the sheet, separated by the eight slits 7b, will be referred to as regions 7-1 to 7-8, respectively.

[0015] Figure 3 is a perspective view showing the floating body 100 according to the embodiment, with the sheet 7 removed. As shown in Figure 3, eight connecting members 3 are installed between the housing 1 and the cylindrical member 2 of the floating body 100 to connect them. Each connecting member 3 includes a movable arm 4, a fixed arm 5, and a joint 6.

[0016] The fixed arm 5 (first arm) is made of a rigid body. The fixed arm 5 does not change shape even when external stress is applied.

[0017] The movable arm 4 (second arm) is made of a material with a lower modulus of elasticity (more easily deformed) than the fixed arm 5. The movable arm 4 is designed to be extendable and retractable. Therefore, when stress is applied to the movable arm 4 in the longitudinal direction, the movable arm 4 extends or retracts. In other words, the second arm (movable arm 4) has a lower modulus of elasticity than the first arm (fixed arm 5).

[0018] The joint 6 connects one end of the fixed arm 5 to one end of the movable arm 4 in a flexible manner. The joint 6 is, for example, a ball joint, and the movable arm 4 can be bent to any angle relative to the fixed arm 5. That is, the connecting member 3 has a structure in which the fixed arm 5 and the movable arm 4 are connected by the joint 6. The connecting member 3 includes a first arm (fixed arm 5) and a second arm (movable arm 4) which is connected to the end of the first arm by the joint 6 in a way that allows for a variable connection angle, with one end connected to the side of the housing 1 and the other end connected to the side of the cylindrical member (cylindrical member 2).

[0019] Figure 4 is an explanatory diagram showing the connection between the housing 1 and the cylindrical member 2 and the eight connecting members 3, and is a view of the floating body 100 from above. As shown in Figure 4, one end of the connecting member 3 is connected to the side of the housing 1, and the other end is connected to the side of the cylindrical member 2. Specifically, in some of the connecting members 3 (in this case, four of the eight connecting members, every other one), the end on the fixed arm 5 side (one end of the connecting member 3) is connected to the side of the cylindrical member 2, and the end on the movable arm 4 side (the other end of the connecting member 3) is connected to the side of the housing 1. Hereinafter, this connecting member 3 will be referred to as the "first connecting member 3a".

[0020] Furthermore, in the other connecting members 3 of the multiple connecting members 3 (in this case, the other four connecting members 3 out of eight), the end on the fixed arm 5 side (the other end of the connecting member 3) is connected to the side of the housing 1, and the end on the movable arm 4 side (one end of the connecting member 3) is connected to the side of the cylindrical member 2. Hereinafter, this connecting member 3 will be referred to as the "second connecting member 3b".

[0021] Specifically, four first connecting members 3a, each with one end on the fixed arm 5 side connected to the side of the cylindrical member 2 and the other end on the movable arm 4 side connected to the side of the housing 1, and four second connecting members 3b, each with one end on the fixed arm 5 side connected to the side of the housing 1 and the other end on the movable arm 4 side connected to the side of the cylindrical member 2, are arranged alternately along the circumferential direction of the cylindrical member 2.

[0022] Next, the configuration of instrumentation equipment and sensors installed inside the housing 1 will be described. Figure 5 is a block diagram showing the electrical configuration of the floating body 100 and the base station device 50 that communicates with the floating body 100 according to the first embodiment. As shown in Figure 5, the floating body 100 is capable of communicating with the base station device 50 via a non-terrestrial network (NTN) 40.

[0023] The floating body 100 is equipped with a control device 31, a communication device 32, various sensors 33, a GPS receiver 34, a solar panel 35, an antenna 36, ​​a battery 37, and a rudder 38 inside the housing 1.

[0024] The communication device 32 is connected to the antenna 36 and communicates with the base station device 50 via the NTN 40. Specifically, the communication device 32 receives various control commands transmitted from the base station device 50 and outputs them to the control device 31. The communication device 32 also transmits the measurement data measured by each sensor 33 to the base station device 50.

[0025] Sensor 33 measures various data on the sea surface of the floating body 100, as well as various data in the seawater. Sensor 33 measures temperature, atmospheric pressure, humidity, and solar radiation on the sea surface. Sensor 33 measures water temperature, salinity, ocean current direction, plankton content, dissolved oxygen, and turbidity in the seawater.

[0026] The GPS receiver 34 communicates with GPS satellites (not shown) to acquire the current position data of the floating body 100.

[0027] The solar panel 35 receives sunlight, generates electricity, and charges the battery 37 with this electricity.

[0028] The battery 37 charges with electricity generated by the solar panel 35 and supplies power to drive each instrumentation device and sensor 33 mounted on the floating body 100.

[0029] The rudder 38 is installed at the bottom of the housing 1. The rudder 38 sets the direction of travel of the floating body 100 based on a control signal output from the rudder control unit 311, which will be described later.

[0030] The control device 31 includes a rudder control unit 311, a data acquisition unit 312, a state detection unit 313, and a storage unit 314.

[0031] The rudder control unit 311 controls the rudder 38 so that the floating body 100 moves in the specified direction, based on a direction setting command transmitted from the base station device 50.

[0032] The data acquisition unit 312 acquires data detected by each sensor 33. Specifically, the data acquisition unit 312 acquires various data such as air temperature, atmospheric pressure, seawater temperature, and salinity at sea surface. The data acquisition unit 312 also acquires position data received by the GPS receiver 34.

[0033] The state detection unit 313 detects the current position, direction of travel, and speed of the floating body 100 based on the position data acquired by the data acquisition unit 312 and the control commands from the rudder control unit 311.

[0034] The storage unit 314 stores various types of data acquired by the data acquisition unit 312.

[0035] The base station device 50 includes a communication device 51, a storage unit 52, an input unit 53, and a calculation unit 54.

[0036] The communication device 51 communicates wirelessly with the communication device 32 of the floating body 100 via the NTN 40. Specifically, the communication device 51 transmits various control commands to the communication device 32 of the floating body 100. The communication device 51 receives various measurement data transmitted from the communication device 32 of the floating body 100.

[0037] The memory unit 52 stores various measurement data received by the communication device 51.

[0038] The input unit 53 accepts input operations from the operator. For example, it accepts input of a direction setting command to set the direction of movement of the floating body 100.

[0039] The calculation unit 54 performs analysis processing of measurement data related to ocean observation based on each measurement data from the measurement data stored in the storage unit 52. The calculation unit 54 displays information such as the analysis results of the measurement data, the current position of the floating body 100, the direction of travel of the floating body 100, and the speed of travel on a display (not shown) or the like. The calculation unit 54 generates control commands based on the input operations of the operator in the input unit 53 and outputs them to the communication device 51. For example, when the operator performs an input operation to set the direction of travel of the floating body 100, this control command is output to the communication device 51. In addition to input from the input unit 53, the calculation unit 54 may also automatically generate control commands using the system and output them to the communication device 51.

[0040] FIGS. 6A and 6B are explanatory diagrams showing the specific configuration of the rudder 38. FIG. 6A is an explanatory diagram showing a state where two rudders 38a having a plate cam shape are installed at the bottom of the housing 1 in a side view. By rotating the two rudders 38a about the central axis of the housing 1 as a rotation axis by a rotation mechanism (not shown), the moving direction of the floating body 100 can be set.

[0041] FIG. 6B is an explanatory diagram showing a state where a flat plate-shaped rudder 38b having a plate cam shape is installed at the bottom of the housing 1 in a plan view. By rotating the rudder 38b about the central axis of the housing 1 as a rotation axis by a rotation mechanism (not shown), the moving direction of the floating body 100 can be set.

[0042] Next, the operation when the floating body 100 is floating on the sea surface will be described with reference to the operation diagrams shown in FIGS. 7A to 7C and the perspective views shown in FIGS. 8A and 8B. FIG. 7A is an explanatory diagram schematically showing the state of the floating body 100 at the time of stability when there are no waves on the sea surface. FIGS. 7B and 7C are explanatory diagrams schematically showing the states of the floating body 100 when the sea surface rises and when the sea surface drops due to the generation of waves, respectively. FIGS. 8A and 8B are perspective views showing the states of the floating body 100 when the sea surface rises and when the sea surface drops due to the generation of waves, respectively.

[0043] In FIG. 7A, the reference sign W1 indicates the sea surface. As shown in FIG. 7A, the upper part (for example, about the upper 1 / 3) of the floating body 100 floats above the sea surface W1, and the remaining part (for example, about the lower 2 / 3) sinks below the sea surface W1.

[0044] As shown in FIG. 7A, the fixed arms 5 of each connecting member 3 (the first connecting member 3a and the second connecting member 3b) project outward in the horizontal direction from the housing 1 or the cylindrical member 2. Similarly, the movable arm 4 also projects outward in the substantially horizontal direction from the housing 1 or the cylindrical member 2. That is, the angle formed by the fixed arm 5 and the movable arm 4 at the joint 6 is approximately 0 degrees.

[0045] When the sea surface W1 rises due to waves from the state shown in FIG. 7A, the housing 1 is displaced downward relative to the cylindrical member 2 as shown in FIG. 7B. As described above, the cylindrical member 2 is formed of a material having a specific gravity smaller than that of the housing 1. The cylindrical member 2 immediately follows and rises with respect to the rise of the sea surface W1. That is, the cylindrical member 2 rises at a high follow-up speed with respect to the displacement of the sea surface W1. On the other hand, the housing 1 rises at a slow follow-up speed with respect to the rise of the sea surface W1. Therefore, when the sea surface W1 rises, the housing 1 is displaced downward with respect to the cylindrical member 2.

[0046] As a result, as shown on the left side of FIG. 7B, the joint 6 of the second connecting member 3b installed between the housing 1 and the cylindrical member 2 descends relative to the cylindrical member 2. That is, since the fixing arm 5 of the second connecting member 3b is connected to the housing 1 so as to be in the horizontal direction, the joint 6 descends together with the housing 1. Further, the telescopic movable arm 4 extends as the housing 1 descends. Therefore, the sheet 7 connected to the joint 6 of the second connecting member 3b is displaced so as to be downwardly inclined toward the outside of the floating body 100.

[0047] On the other hand, as shown on the right side of FIG. 7B, the fixing arm 5 of the first connecting member 3a installed between the housing 1 and the cylindrical member 2 is connected to the side surface of the cylindrical member 2 and rises in conjunction with the cylindrical member 2. Therefore, the joint 6 of the first connecting member 3a does not displace in the vertical direction with respect to the cylindrical member 2. For this reason, the sheet 7 connected to the joint 6 of the first connecting member 3a remains facing in the horizontal direction.

[0048] That is, among the eight respective portions p1 to p8 on the outer periphery of the sheet 7 shown in FIG. 2 described above, the portions (let these be p1, p3, p5, p7) to which the first connecting member 3a is connected do not displace in the vertical direction with respect to the cylindrical member 2. On the other hand, among the eight respective portions p1 to p8 on the outer periphery of the sheet 7, the portions (let these be p2, p4, p6, p8) to which the second connecting member 3b is connected displace downward with respect to the cylindrical member 2.

[0049] That is, as shown in Figure 8A, the second connecting member 3b located between the two first connecting members 3a descends, so the area of ​​the sheet 7 in this area descends. Specifically, areas 7-2 and 7-3 shown in Figure 2 descend together, areas 7-4 and 7-5 descend together, areas 7-6 and 7-7 descend together, and furthermore, areas 7-8 and 7-1 descend together.

[0050] Furthermore, as the sea surface W1 descends due to waves from the state shown in Figure 7A, the housing 1 is displaced relatively upward relative to the cylindrical member 2, as shown in Figure 7C. Since the cylindrical member 2 is made of a material with a lower specific gravity than the housing 1, the cylindrical member 2 descends in immediate response to the descending sea surface W1. That is, the cylindrical member 2 descends at a fast response speed to the displacement of the sea surface W1. On the other hand, the housing 1 descends at a slower response speed to the descending sea surface W1. Therefore, when the sea surface W1 descends, the housing 1 is displaced upward relative to the cylindrical member 2.

[0051] As a result, as shown on the left side of Figure 7C, the joint 6 of the second connecting member 3b, which is installed between the housing 1 and the cylindrical member 2, rises relative to the cylindrical member 2. That is, since the fixed arm 5 is connected to the second connecting member 3b so that it is horizontal to the housing 1, the joint 6 rises together with the housing 1. In addition, the expandable and contractible movable arm 4 extends as the housing 1 rises. Therefore, the sheet 7 connected to the joint 6 of the second connecting member 3b is displaced so that it slopes upward toward the outside of the floating body 100. Note that, as shown in Figure 2, the sheet 7 has slits 7b formed in the parts of the sheet 7 corresponding to each connecting member 3, so the movable arm 4 can pass over the sheet 7 through these slits 7b.

[0052] Furthermore, as shown on the right side of Figure 7C, the fixing arm 5 of the first connecting member 3a, which is installed between the housing 1 and the cylindrical member 2, is connected to the side surface of the cylindrical member 2 and descends in conjunction with the cylindrical member 2. Therefore, the joint 6 of the first connecting member 3a does not displace vertically relative to the cylindrical member 2. As a result, the seat 7 connected to the joint 6 of the first connecting member 3a remains oriented horizontally.

[0053] Specifically, of the eight parts p1 to p8 on the outer circumference of the sheet 7 shown in Figure 2 above, parts p1, p3, p5, and p7 to which the first connecting member 3a is connected do not displace in the vertical direction relative to the cylindrical member 2. In contrast, of the eight parts p1 to p8 on the outer circumference of the sheet 7, parts p2, p4, p6, and p8 to which the second connecting member 3b is connected displace in the upward direction relative to the cylindrical member 2.

[0054] That is, as shown in Figure 8B, the second connecting member 3b located between the two first connecting members 3a rises, so the area of ​​the sheet 7 in this area rises. Specifically, areas 7-2 and 7-3 shown in Figure 2 rise together, areas 7-4 and 7-5 rise together, areas 7-6 and 7-7 rise together, and furthermore, areas 7-8 and 7-1 rise together.

[0055] To summarize the above-described operation, when the sea surface W1 rises due to wave generation, the floating body 100 floating on the sea surface W1 will not experience vertical displacement at parts p1, p3, p5, and p7 on the outer circumference of the sheet 7 shown in Figure 2, while parts p2, p4, p6, and p8 will be displaced downwards. Conversely, when the sea surface W1 descends, parts p1, p3, p5, and p7 on the outer circumference of the sheet 7 will not experience vertical displacement, while parts p2, p4, p6, and p8 will be displaced upwards. Therefore, when the floating body 100 is displaced vertically by waves, regions 7-2, 7-3, 7-4, 7-5, 7-6, 7-7, and 7-8, 7-1 shown in Figure 2 will repeatedly rise and fall as a single unit. The vertical movement of each region on the sheet 7 can generate thrust for the floating body 100.

[0056] Furthermore, as shown in Figures 6A and 6B, the direction of travel of the floating body 100 can be set to a desired direction by controlling the angle of the rudder 38, that is, the two rudders 38a shown in Figure 7A, or the rudder 38b shown in Figure 7B.

[0057] Next, the operation of the floating body 100 according to this embodiment, configured as described above, will be explained with reference to the flowchart shown in Figure 9. This process is performed by the floating body 100 and the base station device 50 shown in Figure 5. First, in step S11 of Figure 9, the operator makes the floating body 100 float on the sea surface and navigates it at the ocean data observation point.

[0058] In step S12, the data acquisition unit 312 acquires data measured by each sensor 33. Specifically, the data acquisition unit 312 acquires measurement data (air temperature, water temperature, etc.) detected by various sensors 33. The data acquisition unit 312 acquires the current position information of the floating body 100 from the GPS receiver 34. The data acquisition unit 312 stores the acquired measurement data and position information in the storage unit 314.

[0059] In step S13, the communication device 32 of the floating body 100 transmits the measurement data stored in the memory unit 314 and the position information of the floating body 100 to the base station device 50 via the NTN 40.

[0060] In step S14, the communication device 51 of the base station device 50 acquires various measurement data and position information of the floating body 100 transmitted from the floating body 100.

[0061] In step S15, the input unit 53 of the base station device 50 receives input from the operator of the measurement time Tk from each sensor 33 of the floating body 100.

[0062] In step S16, the calculation unit 54 generates a control command for the floating body 100 so that it reaches the target observation point at measurement time Tk. The communication device 51 transmits this control command to the floating body 100.

[0063] In step S17, the rudder control unit 311 of the control device 31 operates the rudder 38 based on the control command and controls the floating body 100 to move in the direction of the target observation point.

[0064] In step S18, the control device 31 determines whether the floating body 100 has reached the target observation point based on the current position of the floating body 100 obtained from the GPS receiver 34. If the floating body 100 has reached the target observation point (S18; YES), the process proceeds to step S19; otherwise (S18; NO), the device waits.

[0065] In step S19, the control device 31 determines whether an operation termination instruction has been input by the operator via the input unit 53 and whether this termination instruction has been received by the communication device 32. If a termination instruction has been received (S19; YES), this process is terminated; otherwise (S19; NO), the process returns to step S12. In this way, the floating body 100 can be moved to the desired target observation point and various measurement data can be collected.

[0066] As described above, the floating body 100 according to this embodiment includes a casing 1 that has a columnar shape, a cylindrical member 2 (tubular member) arranged to cover the periphery of the casing 1, a fixed arm 5 (first arm), and a movable arm 4 (second arm) connected to the end of the fixed arm 5 by a joint 6 so as to be able to change the connection angle. It also includes a plurality of connecting members 3, one end of which is connected to the side surface of the casing 1 and the other end of which is connected to the side surface of the cylindrical member 2, and a sheet 7 whose outer circumference is connected to each joint 6 and whose inner circumference is connected to the side surface of the cylindrical member 2.

[0067] In this embodiment, the difference in vertical displacement between the housing 1 and the cylindrical member 2 when waves are generated changes the angle of the fixed arm 5 and the movable arm 4 that constitute the connecting member 3, thereby displacing the seat 7 vertically and generating propulsion for the floating body 100. As a result, it is possible to move across the sea surface without applying power. Furthermore, since the electricity generated using the solar panel 35 is used to drive various instrumentation devices such as the communication device 32, sensor 33, and GPS receiver 34 mounted inside the housing 1, there is no need to supply energy from an external source. In other words, there is no need to supply fuel or anything like that.

[0068] In this embodiment, since the operator can measure ocean data using the floating body 100 with a simple operation of inputting information such as the observation position into the input unit 53 of the base station device 50, it does not require an operator with specialized knowledge, and can be easily operated even by an operator with little expertise.

[0069] In this embodiment, the fixed arm 5 and the movable arm 4 are connected by a joint 6 to form a connecting member 3, and the movable arm 4 (second arm) is made of a material with a lower modulus of elasticity than the fixed arm 5 (first arm). Therefore, when the housing 1 is displaced vertically relative to the cylindrical member 2, the movable arm 4 deforms, which can displace the seat 7 vertically and impart thrust to the floating body 100.

[0070] Furthermore, when the floating body 100 is to be kept stationary in a predetermined position without being moved, the floating body 101 can be kept within a desired range by controlling the rudder 38. Therefore, there is no need to fix it to a predetermined location using mooring ropes or the like. In other words, it becomes possible to avoid problems such as the umbilical cable being damaged and cut during strong winds, as has happened in the past.

[0071] [Description of the Second Embodiment] Next, a second embodiment will be described. Figure 10A is a perspective view showing the configuration of the floating body 101 according to the second embodiment. The floating body 101 according to the second embodiment differs from the first embodiment described above in that a rail 22 extending along the axial direction of the housing 1 is formed at the connection portion between the fixed arm 5 of the second connecting member 3b and the housing 1. Also, as shown in Figure 11, the control device 31 is equipped with a rail control unit 315, and does not have the rudder 38 and rudder control unit 311 shown in Figure 5.

[0072] In the floating body 101 shown in Figure 10, rails 22 are formed at four locations on the side surface of the housing 1. Note that only one rail 22 is shown in Figure 10. Specifically, rails 22 are formed on the side surface of the housing 1 to allow one end of the connecting member 3 to slide in the longitudinal direction of the housing 1.

[0073] The fixed arms 5 of the four second connecting members 3b that connect the housing 1 and the cylindrical member 2 are slidably connected along the rail 22. Furthermore, the rail control unit 315 allows switching between fixing and releasing the fixed arms 5 and the rail 22. Specifically, by performing a fixing or releasing input operation at the input unit 53 of the base station device 50, the fixed state in which the fixed arms 5 do not slide relative to the rail 22 and the released state in which the fixed arms 5 are slidable relative to the rail 22 can be switched. A detailed explanation follows below.

[0074] When the fixed arm 5 is fixed to the rail 22, the fixed arm 5 cannot slide along the rail 22. Therefore, since the fixed arm 5 of the second connecting member 3b is fixed to the housing 1, it operates in the same manner as the first embodiment described above.

[0075] When the fixed arm 5 is released from the rail 22, the fixed arm 5 becomes slidable along the rail 22. Figure 12 is an explanatory diagram showing the relationship between the second connecting member 3b and the rail 22. When the fixed arm 5 is released from the rail 22, the fixed arm 5 slides vertically along the rail 22. Therefore, when waves are generated on the sea surface and the housing 1 is displaced vertically relative to the cylindrical member 2 of the floating body 101, the fixed arm 5 slides along the rail 22 according to the relative positional relationship between the housing 1 and the cylindrical member 2. As a result, the second connecting member 3b maintains a state where the angle between the fixed arm 5 and the movable arm 4 is approximately 0 degrees at the joint 6.

[0076] For example, in the eight connecting members 3 (first connecting member 3a, second connecting member 3b) shown in Figure 4, the second connecting member 3b (see reference numeral E1) located 180 degrees apart from each other is made to slide against the fixed arm 5 and the rail 22, while the other two second connecting members 3b (see reference numeral E2) are fixed against the fixed arm 5 and the rail 22. In this case, the joints 6 of the two second connecting members 3b shown by reference numeral E1 do not displace vertically when waves are generated, similar to the first connecting member 3a. That is, one end of at least one of the multiple connecting members 3 (the second connecting member 3b shown by reference numeral E1) is made slidable against the rail 22, and one end of the other connecting members (the second connecting member 3b shown by reference numeral E2) is fixed to the rail 22.

[0077] Figure 14 is a plan view of the sheet 7 mounted on the floating body 101 according to the second embodiment. As shown in Figure 14, the sheet 7 is divided into eight regions 7-1 to 7-8 by eight slits 7b formed at eight locations. Referring to Figure 14, the joints 6 of the first connecting member 3a are connected to four parts p1, p3, p5, and p7 set on the sheet 7, so these parts do not displace vertically even when affected by waves. Also, when the fixed arm 5 and rail 22 are slid at parts p2 and p6 which are 180 degrees apart from each other, these parts p2 and p6 also do not displace vertically regardless of the wave conditions. That is, only parts p4 and p8 are displaced vertically due to the effect of waves. Therefore, regions 7-4 and 7-5 on the sheet 7 are displaced vertically as a single unit, and regions 7-8 and 7-1 are displaced vertically as a single unit. For this reason, a thrust force can be generated on the floating body 101 in the direction of arrows Y1 or Y2 shown in Figure 14, and the floating body 101 can be moved in these directions.

[0078] Furthermore, when the fixed arm 5 and the rail 22 are slid at points p4 and p8, which are 180 degrees apart from each other, points p4 and p8 do not displace vertically regardless of the wave conditions, as described above. That is, only points p2 and p6 are displaced vertically due to the influence of the waves. Therefore, regions 7-2 and 7-3 of the sheet 7 are displaced vertically as a single unit, and regions 7-6 and 7-7 are displaced vertically as a single unit. As a result, thrust can be generated on the floating body 101 in the direction of arrows Y3 or Y4 shown in Figure 14, and the floating body 101 can be moved in these directions.

[0079] Figure 15A is a perspective view showing the state of the floating body when the sea level rises due to waves, and Figure 15B is a perspective view showing the state of the floating body when the sea level falls due to waves. As shown in Figures 15A and 15B, by releasing the fixed arm 5 and rail 22 at the second connecting member 3b indicated by reference numeral R1, and the second connecting member 3b located 180 degrees thereto, the area of ​​the sheet 7 that is displaced in the vertical direction can be limited, and the direction in which the floating body 101 moves can be controlled.

[0080] Thus, the floating body 101 according to the second embodiment can set its direction of travel by generating thrust in either the direction of arrows Y1 and Y2, or arrows Y3 and Y4, as shown in Figure 14. For this reason, as shown in Figures 6A and 6B, there is no need to install a rudder 38, and thrust can be generated in a desired direction relative to the floating body 101, i.e., in the direction of Y1-Y2 or Y3-Y4 as shown in Figure 14. Consequently, the floating body 101 can be moved in the desired direction by the control of the rail control unit 315.

[0081] In the second embodiment described above, an example was given in which rails 22 are formed on the housing 1. However, as shown in Figure 13, rails 22 may be formed on the housing 1, and in addition, rails 21 may be formed on the side surface of the cylindrical member 2 to slidably connect the movable arm 4. In this configuration as well, the angle between the fixed arm 5 and the movable arm 4 at the joint 6 can be made approximately 0 degrees, and the same effects as in the embodiment described above can be obtained.

[0082] As shown in Figure 16, the control device 31 of the floating body 100 in this embodiment can be a general-purpose computer system comprising, for example, a CPU (Central Processing Unit, processor) 901, memory 902, storage 903 (HDD: Hard Disk Drive, SSD: Solid State Drive), communication device 904, input device 905, and output device 906. The memory 902 and storage 903 are storage devices. In this computer system, the CPU 901 executes a predetermined program loaded onto the memory 902, thereby realizing each function of the control device 31 of the floating body 100.

[0083] The control device 31 may be implemented on a single computer, or on multiple computers. Furthermore, the control device 31 may be a virtual machine implemented on a computer.

[0084] The program for the control device 31 can be stored on a computer-readable recording medium such as an HDD, SSD, USB (Universal Serial Bus) memory, CD (Compact Disc), or DVD (Digital Versatile Disc), or it can be distributed via a network. A computer-readable recording medium is, for example, a non-transitory recording medium.

[0085] This disclosure is not limited to the embodiments described above, and numerous modifications are possible within the scope of its essence.

[0086] 1 Housing 2 Cylindrical member (tubular member) 3 Connecting member 3a First connecting member 3b Second connecting member 4 Movable arm (second arm) 5 Fixed arm (first arm) 6 Joint 7 Seat 7a Notch 7b Slit 21, 22 Rail 25 Opening 31 Control device 32 Communication device 33 Sensor 34 GPS receiver 35 Solar panel 36 Antenna 37 Battery 38, 38a, 38b Rudder 40 Non-terrestrial network (NTN) 50 Base station equipment 51 Communication device 52 Memory unit 53 Input unit 54 Calculation unit 100, 101 Floating body 311 Rudder control unit 312 Data acquisition unit 313 State detection unit 314 Memory unit 315 Rail control unit

Claims

1. A floating body comprising: a casing in the shape of a column; a cylindrical member arranged to cover the periphery of the casing; a plurality of connecting members including a first arm and a second arm connected to the end of the first arm by a joint so as to be able to change the connection angle, one end of which is connected to the side surface of the casing and the other end of which is connected to the side surface of the cylindrical member; and a sheet whose outer circumference is connected to each joint and whose inner circumference is connected to the side surface of the cylindrical member.

2. The float according to claim 1, wherein the second arm has a lower modulus of elasticity than the first arm.

3. A rail is formed on the side surface of the housing for sliding one end of the connecting member in the longitudinal direction of the housing, and one end of at least one of the multiple connecting members is made slidable with respect to the rail, and one end of the other connecting members is fixed to the rail, according to claim 1 or 2.

4. The floating body according to claim 1 or 2, further comprising a rudder installed at the bottom of the housing and a rudder control unit for controlling the rudder.

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