JP2017119477A - Buoy search system and method for searching buoy - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a buoy search system by which a buoy thrown down on the sea can be easily discovered from a ship, and a method for searching a buoy.SOLUTION: A buoy search system includes a buoy 20, an unmanned flight body 30, a ship 10 comprising control means which communicates with the buoy 20 and the unmanned flight body 30 via a wireless communication line. During the unmanned flight body 30 flies in a buoy tracking mode, flight control means performs flight control including such a control that the unmanned flight body 30 tracks the buoy 20, and when a horizontal distance between the unmanned flight body 30 and the buoy 20 falls in a range of a prescribed distance or less, the unmanned flight body remains within the range.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a system and method for searching for a buoy used at sea after its drop.

  Conventionally, there are radio buoys (hereinafter also simply referred to as buoys) that transmit radio waves to clarify the position of buoys that are attached to fishing nets or longlines that are supplied by fishing boats to manage the nets. In searching for such a buoy, the radio wave transmitted from the buoy is received by the ship's direction detector and searched based on the direction, or if the buoy has a positioning function of its own position, Positioning data transmitted from a buoy is received by a ship, and searching is performed based on the positioning data.

  For example, in longline fishing, a buoy is attached to a longline and thrown from a ship, and after a predetermined time, a longline to be first lifted is found by searching for a buoy, and the recovery operation is started. At that time, in order to collect the long line, after the ship is brought close to the buoy position based on direction detection or positioning data, it is necessary to finally find the corresponding buoy by visual observation of the operator on the ship.

JP 2008-184050 A

  However, even if the ship is brought close to the buoy position based on direction detection and / or positioning data, it may be difficult for the operator to visually detect the buoy because the buoy is behind the wave or the hull. In that case, in order to continue the search for buoys, it is necessary to navigate the ship extra, and there is a problem that the operation time and fuel use increase. In particular, when the waves are high, finding buoys becomes more difficult under operating conditions such as rainy weather and nighttime.

  The present invention has been made in view of the above problems, and provides a buoy search system and a buoy search method capable of easily finding a buoy dropped on the sea from a ship.

(Aspect of the Invention)
The following aspects of the present invention exemplify the configuration of the present invention, and will be described separately for easy understanding of various configurations of the present invention. Each section does not limit the technical scope of the present invention, and some of the components of each section are replaced, deleted, or further while referring to the best mode for carrying out the invention. Those to which the above components are added can also be included in the technical scope of the present invention.

(1) A buoy search system including a buoy, an unmanned air vehicle, and a ship provided with control means for communicating with the buoy and the unmanned air vehicle via a wireless communication line,
The buoy comprises buoy position information acquisition means for acquiring the current position of the own device as buoy position information, and transmission means for transmitting the buoy position information to the control means,
The control means includes: transmission / reception means for receiving a buoy position information and transmitting a flight command to the unmanned air vehicle; and operating means for switching a flight mode of the unmanned air vehicle.
The unmanned aerial vehicle includes a flying object position information acquiring unit that acquires the current position of the aircraft as flying object position information, a flight command receiving unit that receives the flight command, and a flight control that performs flight control of the unmanned aircraft. Means, and
The flight mode includes a buoy tracking mode, in which the flight command includes the buoy position information;
While the unmanned air vehicle is flying in the buoy tracking mode, the flight control performed by the flight control means is based on the unmanned air vehicle based at least in part on the air vehicle position information and the buoy position information. Includes tracking the buoy and controlling to stay within the range when the horizontal distance between the unmanned air vehicle and the buoy is within a predetermined distance. A buoy search system (claim 1).

(2) In the buoy search system according to (1), the altitude of the unmanned air vehicle is predetermined for the flight control performed by the flight control means while the unmanned air vehicle is flying in the buoy tracking mode. The buoy search system according to claim 2, further comprising controlling to maintain the altitude of the buoy.

(3) In the buoy search system according to (1) or (2),
The control means includes ship position information acquisition means for acquiring the current position of the ship as ship position information,
The flight mode includes a recovery mode, and in the recovery mode, the flight command includes the ship position information,
While the unmanned air vehicle is flying in the recovery mode, the flight control performed by the flight control means is based on the unmanned air vehicle based at least in part on the air vehicle position information and the ship position information. The buoy search system according to claim 3, further comprising: tracking the ship and controlling the ship so as to remain within the range above the ship.

(4) In the buoy search system according to any one of (1) to (3), a limit condition is set for a flight range of the unmanned air vehicle, and flight control performed by the flight control means includes: The buoy search system according to claim 4, further comprising: controlling the unmanned air vehicle to move within the flight range that satisfies the restriction condition when the unmanned air vehicle is outside the flight range that satisfies the restriction condition. ).

(5) In the buoy search system according to any one of (1) to (4), the unmanned air vehicle indicates that the unmanned air vehicle is out of a flight range that satisfies the restriction condition. A buoy search system comprising: (Claim 5).

(6) The buoy search system according to any one of (1) to (5), wherein the unmanned air vehicle includes a light emitting means (Claim 6).

(7) The buoy search system according to any one of (1) to (6), wherein the unmanned air vehicle includes a grip portion on a lower side. ).

(8) Search for a buoy from a ship using a buoy search system including a buoy, an unmanned air vehicle, and a ship provided with control means for communicating with the buoy and the unmanned air vehicle via a wireless communication line. A method,
The buoy comprises buoy position information acquisition means for acquiring the current position of the own device as buoy position information, and transmission means for transmitting the buoy position information to the control means,
The control means includes: transmission / reception means for receiving a buoy position information and transmitting a flight command to the unmanned air vehicle; and operating means for switching a flight mode of the unmanned air vehicle.
The unmanned aerial vehicle includes a flying object position information acquiring unit that acquires the current position of the aircraft as flying object position information, a flight command receiving unit that receives the flight command, and a flight control that performs flight control of the unmanned aircraft. Means, and
The flight mode includes a buoy tracking mode, in which the flight command includes the buoy position information;
Navigating the ship to a first range in which a horizontal distance between the buoy and the ship is equal to or less than a first distance;
Flying the unmanned air vehicle in the buoy tracking mode when the ship is within the first range; and
While the unmanned air vehicle is flying in the buoy tracking mode, the flight control performed by the flight control means is based on the unmanned air vehicle based at least in part on the air vehicle position information and the buoy position information. Tracking the buoy and being within a second range in which a horizontal distance between the unmanned air vehicle and the buoy is less than or equal to a second distance shorter than the first distance, 2. The buoy search method according to claim 1, further comprising controlling to stay within a range of 2.

(9) In the buoy search method described in (8),
The unmanned air vehicle includes a grip portion on a lower side,
The control means includes ship position information acquisition means for acquiring the current position of the ship as ship position information,
The flight mode includes a recovery mode, and in the recovery mode, the flight command includes the ship position information,
While the unmanned air vehicle is flying in the recovery mode, the flight control performed by the flight control means is based on the unmanned air vehicle based at least in part on the air vehicle position information and the ship position information. Tracking the ship and controlling the unmanned air vehicle to remain in place when the unmanned air vehicle is in the air above the ship,
Flying the unmanned air vehicle in the recovery mode;
Capturing the unmanned aerial vehicle using the grip portion while the unmanned aerial vehicle is in the air when the unmanned aerial vehicle remains in the air above the ship. A characteristic buoy search method (claim 9).

  Since the present invention is configured as described above, a buoy dropped on the sea is removed from the ship by using an unmanned air vehicle that can be seen from the ship without being affected by waves, hulls, etc. It can be easily discovered.

It is a figure which shows typically the structure of the buoy search system in one Embodiment of this invention. It is a block diagram which shows the principal part of the internal structure of the buoy in one Embodiment of this invention. In one Embodiment of this invention, it is a block diagram which shows the principal part of the control means with which a ship is provided. It is a front view which shows the principal part of the unmanned air vehicle in one Embodiment of this invention. It is a block diagram which shows the principal part of the internal structure of the unmanned air vehicle in one Embodiment of this invention. It is a figure which shows the principal part of the buoy search method in one Embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. As shown in FIG. 1, the buoy search system in one embodiment of the present invention includes a ship 10, a buoy 20, and an unmanned air vehicle 30. In the present embodiment, the buoy 20 is a satellite buoy described later, and the unmanned air vehicle 30 is a small unmanned airplane (so-called drone) that can fly by remote control and / or automatic piloting. Further, the ship 10 includes a control unit 100 (see FIG. 3), which will be described later, of the buoy search system. The control unit 100 is connected to the buoy 20 and the unmanned air vehicle 30 via a wireless communication line composed of a low power wireless system. connect. The ship 10 is, for example, a longline fishing boat of less than 20 tons. In this case, the buoy 20 is attached to a longline (not shown) and dropped on the sea. In the present embodiment, the ship 10 also includes satellite communication means (not shown) that communicates with the buoy 20 via a communication satellite (for example, an Inmarsat satellite).

  The buoy search system according to the present invention will be described in detail below with reference to FIGS. Here, FIG. 2, FIG. 3, and FIG. 5 are block diagrams showing internal configurations of the buoy 20, the control means 100, and the unmanned air vehicle 30, respectively. Each block shown in these drawings functions to achieve a predetermined operation described below, and its configuration is configured by any appropriate hardware or software, or a combination thereof. .

  As shown in FIG. 2, the buoy 20 is a satellite buoy including a satellite communication unit 201, a GPS reception unit 202, and a control unit 204, and is one of the components of a wireless communication line including a low-power wireless system. A small power communication unit 203 is provided. The GPS receiving unit 202 receives a GPS satellite signal transmitted from a GPS (Global Positioning System) satellite, and outputs the received GPS satellite signal to the control unit 204. The control unit 204 performs positioning calculation using the GPS satellite signal input from the GPS receiving unit 202, and calculates the current position of the buoy 20 as buoy position information including, for example, latitude and longitude. Thus, in the present embodiment, the GPS receiving unit 202 and the control unit 204 constitute a buoy position information acquisition unit.

  Here, the buoy 20 that is a satellite buoy transmits buoy information including the buoy position information calculated by the control unit 204 from the satellite communication unit 201 in the same manner as the conventional satellite buoy. The buoy information transmitted from the satellite communication unit 201 is received by the satellite communication means of the ship 10 via the communication satellite and the land station, and the received buoy information is used for grasping the state of the buoy and searching for a buoy similar to the prior art. Can be used. In addition, in the buoy 20, buoy position information calculated by the control unit 204 is transmitted from the low power communication unit 203 to the control means 100 (FIG. 3) of the ship 10. Thus, in this embodiment, the low power communication unit 203 constitutes a transmission unit that transmits buoy position information to the control unit 100.

  The control means 100 with which the ship 10 is provided is provided with the GPS receiving part 101, the low power communication part 102, the control part 103, and the operation panel 104 which is the operation means in this embodiment, as shown in FIG. The GPS receiving unit 101 receives a GPS satellite signal transmitted from a GPS satellite, and outputs the received GPS satellite signal to the control unit 103. The control unit 103 performs positioning calculation using the GPS satellite signal input from the GPS receiving unit 101, and calculates the current position of the ship 10 as ship position information including, for example, latitude and longitude. Thus, in this embodiment, the GPS receiving part 101 and the control part 103 comprise ship position information acquisition means.

  The low power communication unit 102 is one of the components of a wireless communication line composed of a low power wireless system. The low power communication unit 102 receives buoy position information transmitted from the buoy 20 and sends the received buoy position information to the control unit 103. Output. Further, the control unit 103 generates a flight command for the unmanned air vehicle 30 and outputs the flight command to the low-power communication unit 102, and the flight command is transmitted from the low-power communication unit 102 to the unmanned air vehicle 30. As described above, in the present embodiment, the low-power communication unit 102 constitutes transmission / reception means for receiving the buoy position information and transmitting the flight command to the unmanned air vehicle 30.

  In addition, a plurality of flight modes of the unmanned air vehicle 30 are set in the control unit 103, and the control unit 103 generates an appropriate flight command according to the flight mode. In the present embodiment, the flight mode includes a buoy tracking mode and a recovery mode. The flight command includes buoy position information in the buoy tracking mode, and includes ship position information in the collection mode. In addition, an operation panel 104 for switching the flight mode is connected to the control unit 103, and the switching of the flight mode in the control unit 103 is executed by the operator operating the operation panel 104.

  In the present embodiment, the flight mode of the unmanned air vehicle 30 includes an ascending mode, a descending mode, and a hovering mode in addition to the buoy tracking mode and the recovery mode described above. The “fly to buoy” switch 105 for switching the flight mode to the buoy tracking mode, the “fly to ship” switch 106 for switching to the recovery mode, the “up” switch 107 for switching to the ascending mode, and the descending mode A “down” switch 108 for switching and a “hovering” switch 109 for switching to the hovering mode are provided. Details of the flight control of the unmanned air vehicle 30 in each flight mode will be described later.

  The terms “operation panel” and “switch” are not intended to limit the configuration of the operation panel 104 and the switches 105 to 109 by these terms. The panel 104 and the switches 105 to 109 may have any mechanical and / or electrical configuration as long as the operator can operate and the flight mode is switched according to the intention.

  In the present embodiment, as shown in FIG. 4, the unmanned air vehicle 30 includes a main body 31 and four rotor blades 32 (three rotor blades 32 shown in the figure) provided symmetrically upward from the main body 31. 1 is a so-called multi-copter type unmanned small airplane equipped with a single rotor blade (not shown) existing on the back side of the central rotor blade 32. The unmanned aerial vehicle 30 further includes a light emitting means 33 made of a high-intensity LED, and a ring-shaped grip 34 is attached to the lower side of the unmanned aerial vehicle 30.

  As shown in FIG. 5, the unmanned air vehicle 30 includes a GPS receiving unit 301, a low power communication unit 302, a flight control unit 303, an altitude sensor 304, and a control unit 305 as its internal configuration. The GPS receiving unit 301 receives a GPS satellite signal transmitted from a GPS satellite, and outputs the received GPS satellite signal to the control unit 305. The control unit 305 performs positioning calculation using the GPS satellite signal input from the GPS receiving unit 301, and calculates the current position of the unmanned air vehicle 30 as air vehicle position information including, for example, latitude and longitude. As described above, in the present embodiment, the GPS receiving unit 301 and the control unit 305 constitute a flying object position information acquisition unit.

  The low-power communication unit 302 is one of the components of a wireless communication line that includes a low-power wireless system. The low-power communication unit 302 receives a flight command from the control unit 100 of the ship 10 and outputs the received flight command to the control unit 305. The control unit 305 generates flight control information (for example, the speed and direction of the unmanned air vehicle 30) based at least in part on the aircraft position information and the flight command, and the generated flight control information is used as the flight control unit 303. Output to. The flight control unit 303 operates the four rotor blades 32 based on the flight control information input from the control unit 305, thereby controlling the flight mode of the unmanned air vehicle 30. Thus, in the present embodiment, the control unit 305 and the flight control unit 303 constitute a flight control unit that performs flight control of the unmanned air vehicle 30.

  In the present embodiment, the unmanned air vehicle 30 includes an altitude sensor 304, and altitude information of the unmanned air vehicle 30 detected by the altitude sensor 30 is output to the control unit 305. The control unit 305 generates flight control information based on altitude information from the altitude sensor 304 in addition to the above-described flying object position information and flight command.

  For example, the flight control when the buoy tracking mode is selected as the flight mode of the unmanned air vehicle 30 in the control means 100 includes the following control. In this case, as described above, the flight command from the control means 100 includes buoy position information. Then, the control unit 305 tracks the buoy 20 based on the vehicle position information and the buoy position information included in the flight command (in other words, the horizontal distance between the unmanned air vehicle 30 and the buoy 20 is reduced. Flight control information is generated, and the flight control unit 303 causes the unmanned air vehicle 30 to fly based on the flight control information. Further, the control unit 305 performs unmanned flight within a range in which the horizontal distance between the unmanned air vehicle 30 and the buoy 20 is equal to or less than a predetermined distance (for example, 2 m) based on the flying object position information and the buoy position information. It is determined whether or not the body 30 is present, and if it is within the above range, the flight control unit 303 generates flight control information for the unmanned air vehicle 30 to fly so as to remain within the range. The unmanned aerial vehicle 30 is caused to fly based on the flight control information.

  Here, when the unmanned air vehicle 30 is in a range where the horizontal distance between the unmanned air vehicle 30 and the buoy 20 is equal to or less than a predetermined distance, the flight control means of the unmanned air vehicle 30 causes the unmanned air vehicle 30 to If necessary, the altitude may be adjusted to a predetermined altitude (for example, 15 m) and then fly so as to stay on the spot (so-called hovering).

  The unmanned aerial vehicle 30 is provided with a reporting means for indicating that the horizontal distance between the unmanned aerial vehicle 30 and the buoy 20 is within a predetermined distance (in other words, the buoy 20 has been reached). It may be a thing. This reporting means is composed of, for example, the control unit 305 and the small power communication unit 302 of the unmanned air vehicle 30, and sends a message indicating arrival at the buoy 20 generated by the control unit 305 from the small power communication unit 302 to the ship 10. It may be transmitted to the control means 100. Alternatively, the reporting means may be constituted by the light emitting means 33 provided in the unmanned air vehicle 30. In this case, the message indicating the arrival at the buoy 20 indicates the light emitting means 33 (for example, luminescent color, blinking). Etc.) may be realized by emitting light in a specific pattern.

  Furthermore, in this embodiment, the flight control means of the unmanned air vehicle 30 causes the unmanned air vehicle 30 to fly so as to maintain a predetermined altitude (for example, 15 m) during the buoy tracking mode.

  Further, for example, the flight control when the collection mode is selected as the flight mode of the unmanned air vehicle 30 in the control unit 100 includes the following control. In this case, as described above, the flight command from the control means 100 includes ship position information. Then, the control unit 305 tracks the ship 10 based on the vehicle position information and the ship position information included in the flight command (in other words, reduces the horizontal distance between the unmanned air vehicle 30 and the ship 10). Flight control information is generated, and the flight control unit 303 causes the unmanned air vehicle 30 to fly based on the flight control information. Further, the control unit 305 determines whether or not the unmanned air vehicle 30 is in the range above the ship 10 based on the vehicle position information and the ship position information. Flight control information for causing the unmanned air vehicle 30 to fly within the range is generated, and the flight control unit 303 causes the unmanned air vehicle 30 to fly based on the flight control information.

  Here, when the unmanned air vehicle 30 is in the range above the ship 10, the flight control means of the unmanned air vehicle 30 sets the altitude of the unmanned air vehicle 30 to a predetermined altitude (if necessary). For example, after adjusting to 15 m), the aircraft may fly so that it stays in place (so-called hovering).

  In the present embodiment, the flight mode includes an ascending mode, a descending mode, and a hovering mode, and the control means 100 of the ship 10 generates an appropriate flight command in accordance with each flight mode to generate an unmanned air vehicle. The flight control means (the control unit 305 and the flight control unit 303) of the unmanned air vehicle 30 transmits the unmanned vehicle based on the received flight command and, if necessary, the flight vehicle position information and / or altitude information. The flying object 30 is controlled to fly. For example, the flight control means causes the unmanned air vehicle 30 to fly while keeping the horizontal position (latitude and longitude) constant from the spot in the ascending mode, and from the spot to the horizontal position (latitude in the descending mode). And longitude) while maintaining a constant value, and in a hovering mode, the aircraft flies to stay there.

  Here, in the buoy search system according to the present embodiment, limiting conditions are set in the flight range of the unmanned air vehicle 30, and these limiting conditions include the minimum altitude (for example, 10 m) and the maximum altitude (for example, 10 m) For example, 150 m) and the maximum horizontal distance from the ship 10 (for example, 30 m) are included. For example, the control unit 305 of the unmanned air vehicle 30 is set with the minimum altitude, the maximum altitude, and the maximum horizontal distance as the limiting conditions, and the flight control performed by the flight control means of the unmanned air vehicle 30 includes the unmanned air vehicle. If 30 is outside the flight range that meets these limits, then controlling to move within the flight range that meets these limits is included. Therefore, in this embodiment, the flight command from the control means 100 in the buoy tracking mode may include ship position information along with buoy position information.

  Further, the unmanned aerial vehicle 30 may include an alarm unit that indicates that the unmanned aerial vehicle 30 is outside the flight range that satisfies the above-described restriction conditions. This alarm means is composed of, for example, the control unit 305 and the small power communication unit 302 of the unmanned air vehicle 30, and sends a message indicating that it is out of the flight range generated by the control unit 305 from the low power communication unit 302 to the ship. It may be transmitted to ten control means 100. Alternatively, the warning means may be constituted by the light emitting means 33 provided in the unmanned air vehicle 30. In this case, the message indicating that the warning means is out of the flight range indicates the light emitting means 33 (for example, the emission color, It may be realized by emitting light in a specific pattern (such as blinking).

  In the buoy search system according to the present embodiment, the above-described restriction condition regarding the flight range of the unmanned air vehicle 30 is not necessarily applied over the entire flight period of the unmanned air vehicle 30, and an exception of application depending on the use situation. It may have a period. Further, in the buoy search system in the present embodiment, the unmanned air vehicle 30 may be configured to be able to fly by a normal remote control as necessary.

  Next, an embodiment of the buoy search method according to the present invention will be described with reference to FIG. Here, in FIG. 6, steps performed by the buoy 20, the control means 100 of the ship 10, and the unmanned air vehicle 30 in the buoy search method according to the present embodiment are described as a series of procedures. The operations of the buoy 20, the control means 100, and the unmanned air vehicle 30 in the buoy search method according to the present embodiment will be described in the order described in FIG. 6. However, FIG. 6 shows a mere example of the operation of the buoy 20, the control means 100, and the unmanned air vehicle 30 in order to explain the buoy search method in the present embodiment, and the buoy search method in the present embodiment. Is not limited by the execution order of the steps shown in FIG. 6 as long as each of the buoy 20, the control means 100, and the unmanned air vehicle 30 performs the functions described above.

  In the buoy search method in the present embodiment, first, the ship 10 is navigated to a first range in which the horizontal distance between the buoy 20 and the ship 10 is equal to or less than a first distance (for example, 20 m). This navigation is performed using buoy information transmitted from the satellite communication unit 201 of the buoy 20 which is a satellite buoy to the satellite communication means provided in the ship 10.

  When the ship 10 reaches the first range, the unmanned air vehicle 30 is caused to fly from the ship 10 in the buoy tracking mode. At this time, the operator on the ship 10 operates the “fly to buoy” switch 105 on the operation panel 104 to set the flight mode of the unmanned air vehicle 30 to the buoy tracking mode (S101). The control means 100 of the ship 10 determines whether or not the flight mode is the buoy tracking mode (that is, “fly to buoy” has been selected) (step S102). In this case, since it is the buoy tracking mode, the control means 100 receives buoy position information from the buoy 20 (step S103), and transmits a flight command including the buoy position information to the unmanned air vehicle (S104).

  Here, the buoy 20 acquires the current position of the own device as buoy position information (that is, receives the GPS satellite signal and calculates the current position of the own device) (S201), and the acquired buoy position information. Is transmitted to the control means 100 of the ship 10 via a wireless communication line composed of a low-power wireless system (S202). At this time, the buoy position acquisition step (S201) and the buoy position transmission step (S202) may be executed periodically. Alternatively, a transmission request for buoy position information may be transmitted from the control means 100 to the buoy 20, and the buoy 20 may transmit buoy position information in response to the transmission request.

  The present invention is not limited by the specific procedure when the unmanned air vehicle 30 starts to fly from the ship 10. Preferably, the unmanned air vehicle 30 is safe from the ship 10. After rising to a predetermined altitude (for example, 15 m), the movement in the horizontal direction is started. For example, this starting procedure may be to raise the unmanned air vehicle 30 from above the ship 10 to a predetermined altitude by selecting the ascent mode on the control means 100 before the buoy tracking mode or by normal remote maneuvering, and then control By selecting the buoy tracking mode with the means 100, the unmanned air vehicle 30 may start moving in the horizontal direction. Alternatively, the control unit 305 of the unmanned air vehicle 30 may be set with a procedure for starting movement in the horizontal direction after rising to the predetermined altitude as an initial procedure in the buoy tracking mode.

  The unmanned air vehicle 30 receives a flight command from the control means 100 of the ship 10 (S301), and acquires the current position of the own aircraft as flying body position information (that is, receives the GPS satellite signal, (S302). Then, the flight control means of the unmanned air vehicle 30 determines whether or not the horizontal movement control of the unmanned air vehicle 30 is necessary (S303), and if necessary (Y), performs predetermined movement control (S304). ).

  Here, whether or not the movement control in the horizontal direction of the unmanned air vehicle 30 is necessary depends on whether the unmanned air vehicle 30 has a second horizontal distance shorter than the first distance between the unmanned air vehicle 30 and the buoy 20. The determination is made based on whether or not the distance is within the second range that is equal to or less than the distance (for example, 2 m). In this case, the movement control executed in step S304 is suitable for controlling the buoy 20 (in other words, reducing the horizontal distance between the unmanned air vehicle 30 and the buoy 20). ) To control the unmanned air vehicle 30 to fly. At this time, the flight control means of the unmanned air vehicle 30 controls the altitude of the unmanned air vehicle 30 so as to maintain a predetermined altitude (for example, 15 m).

  Although illustration in FIG. 6 is omitted, if it is determined in step S303 that the movement control in the horizontal direction is not necessary (that is, the unmanned air vehicle 30 is in the second range), it is usually unmanned. The flight control means of the flying body 30 performs flight control for keeping the unmanned flying body 30 within the second range (in other words, maintaining at least the horizontal position). Typically, the flight control means of the unmanned air vehicle 30 causes the unmanned air vehicle 30 to fly so that it stays in place (so-called hovering) after adjusting its altitude to a predetermined altitude if necessary. It is.

  In the buoy search method according to the present embodiment, in the buoy tracking mode, the steps of S102 to S104 are repeatedly executed in the control unit 100, and accordingly, the steps of S301 to S304 are repeatedly executed in the unmanned air vehicle 30. As a result, the unmanned aerial vehicle 30 is in a stable state within the second range.

  Then, while the unmanned aerial vehicle 30 remains within the second range, the ship 10 is caused to navigate closer to the unmanned aerial vehicle 20 while visually confirming the unmanned aerial vehicle 30. Thereby, the operator on the ship 10 can easily find the buoy 20. When the unmanned air vehicle 30 is within the second range, the unmanned air vehicle 30 may notify the ship 10 to that effect.

  The buoy search method according to the present embodiment includes a method of returning the unmanned air vehicle 30 in flight to the ship 10 and collecting it. Next, the method will be described. The recovery of the unmanned air vehicle 30 to the ship 10 is typically performed after the unmanned air vehicle 30 is made to fly in the buoy search mode and thereby the buoy 20 dropped on the sea is discovered. In the buoy search method in the embodiment, the flight mode of the unmanned air vehicle 30 in flight in any flight mode can be switched to the recovery mode at any timing as necessary.

  While the unmanned air vehicle 30 is flying in an arbitrary flight mode, an operator on the ship 10 operates the “fly to ship” switch 106 on the operation panel 104 to set the flight mode of the unmanned air vehicle 30 to the recovery mode. Set (S101). In this case, the control means 100 of the ship 10 determines whether or not the flight mode is the buoy tracking mode (“fly to buoy” is selected) (step S102), and the determination result is “No (N ”), The process proceeds to step S105 to determine whether or not the flight mode is the recovery mode (that is,“ flight to ship ”is selected). Since the result of this determination is “Yes (Y)”, the control means 100 transmits a flight command to the unmanned air vehicle 30 (S106).

  At this time, the control unit 100 repeatedly executes the step (S107) of acquiring the current position of the ship 10 as ship position information (that is, receiving the GPS satellite signal and calculating the current position of the ship 10). The flight command transmitted to the unmanned air vehicle 30 in step S106 includes the ship position information acquired in step S107.

  The unmanned air vehicle 30 receives a flight command from the control means 100 of the ship 10 (S301), and acquires the current position of the own aircraft as flying body position information (that is, receives the GPS satellite signal, (S302). Then, the flight control means of the unmanned air vehicle 30 determines whether or not the horizontal movement control of the unmanned air vehicle 30 is necessary (S303), and if necessary (Y), performs predetermined movement control (S304). ).

  Here, whether or not the movement control in the horizontal direction of the unmanned air vehicle 30 is necessary is determined based on whether or not the unmanned air vehicle 30 is within the range above the ship 10. This is a case where horizontal movement control is required (Y). In this case, the movement control executed in step S304 is flight control information appropriate for tracking the ship 10 (in other words, reducing the horizontal distance between the unmanned air vehicle 30 and the ship 10) (for example, speed and direction). ) To control the unmanned air vehicle 30 to fly.

  Although illustration in FIG. 6 is omitted, when it is determined in step S303 that the movement control in the horizontal direction is not necessary (that is, the unmanned air vehicle 30 is in the range above the ship 10), The flight control means of the unmanned air vehicle 30 performs flight control for keeping the unmanned air vehicle 30 within the range (in other words, maintaining at least the horizontal position). Typically, the flight control means of the unmanned air vehicle 30 causes the unmanned air vehicle 30 to fly so that it stays in place (so-called hovering) after adjusting its altitude to a predetermined altitude if necessary. It is.

  In the buoy search method according to the present embodiment, in the recovery mode, the control unit 100 repeatedly executes steps S102, S105, and S106, and accordingly, the unmanned air vehicle 30 repeatedly executes steps S301 to S304. As a result, the unmanned aerial vehicle 30 stably reaches a state where it remains within the range above the ship 10.

  Then, the operator of the ship 10 moves the unmanned air vehicle 30 to its horizontal position at an appropriate timing according to the situation of the ship 10, for example, by operating the “descent” switch 108 on the operation panel 104 or by normal remote control. Is lowered while staying in the range above the ship 10. Then, while the unmanned aerial vehicle 30 is in the air, the operator captures and collects the unmanned aerial vehicle 30 by manually grasping the grip portion 34 of the unmanned aerial vehicle 30.

  Here, in a situation where it is difficult to visually recognize the unmanned aerial vehicle 30 such as at night and / or rainy weather, the light emitting means 33 may emit light during the flight of the unmanned aerial vehicle 30.

  As described above, in the buoy search system and the buoy search method according to the present embodiment, the unmanned air vehicle 30 can be visually recognized at the position of the buoy 20 or in the vicinity of the buoy 20 so that the position of the buoy 20 can be visually confirmed. Since the buoy 20 itself is difficult to detect from the ship 10 due to the influence of the waves and the hull, the buoy 20 is dropped on the sea without being affected by the waves and the hull. The buoy can be easily found from the ship 10.

  Thus, the ability to discover the buoy 20 without being affected by waves generally means that the height of the deck from the sea is low, and thus the small size (for example, 20 This is particularly advantageous for work on small fishing boats (less than tons).

  Further, in the buoy search system and the buoy search method according to the present embodiment, since a limiting condition is set for the flight range of the unmanned air vehicle 30, it is effective to lose sight of the unmanned air vehicle 30 used in an environment over the sea. It is possible to prevent the unmanned air vehicle 30 from being properly observed and to fly appropriately. Furthermore, setting the minimum altitude in this limiting condition is advantageous in order to prevent the influence of waves on the flight of the unmanned air vehicle 30.

  Further, in the buoy search system and the buoy search method according to the present embodiment, the unmanned air vehicle 30 flying in the buoy tracking mode maintains a predetermined altitude so that the operator on the ship 10 can use the buoy 20 by the unmanned air vehicle 30. Can be easily grasped, and the buoy 20 can be found more easily.

  Further, in the buoy search system and the buoy search method according to the present embodiment, since the unmanned air vehicle 30 has the light emitting means 33, the unmanned air vehicle 30 can be easily visually recognized even at night and / or in rainy conditions. It becomes possible.

  In the buoy search method according to the present embodiment, the ship 10 is navigated to a first range in which the horizontal distance between the buoy 20 and the ship 10 is equal to or less than a first distance (for example, 20 m). When the first range is reached, the unmanned air vehicle 30 is caused to fly from the ship 10 in the buoy tracking mode, and then the horizontal distance between the buoy 20 and the unmanned air vehicle 30 is a second distance (for example, 2 m). ) By targeting the unmanned air vehicle 30 that remains within the second range as follows, the ship 10 is navigated closer to the buoy position 20 so that the position of the buoy 20 before the position of the ship 10 and the buoy 20 overlap. The buoy 20 is limited to the very narrow second range, and the buoy 20 is hidden behind the hull of the ship 10 and is difficult to find. Prevent It becomes possible.

  Furthermore, since the buoy search system and the buoy search method in the present embodiment need only function in a relatively narrow range substantially within the first range described above, the control means 100 of the ship 10 can be used. It is possible to construct a wireless communication line between the buoy 20 and the unmanned air vehicle 30 with a relatively inexpensive low-power wireless system without using satellite communication with high communication costs, for example.

  In the buoy search method according to the present embodiment, when the unmanned air vehicle 30 is collected in the ship 10, the operator manually holds the grip portion 34 of the unmanned air vehicle 30 while the unmanned air vehicle 30 is in the air. By capturing the unmanned aerial vehicle 30 by gripping, the unmanned aerial vehicle 30 is generally swung, and compared to landing on a deck on which it is difficult to secure a sufficient landing area. It becomes possible to collect reliably and safely. However, in the buoy search method according to the present invention, depending on the situation of the ship 10, when the unmanned air vehicle 30 is recovered to the ship 10, the unmanned air vehicle 30 is landed on the ship 10 (for example, on the deck). Also good.

  In the above description, the buoy 20 has a basic function as a satellite buoy. However, in the buoy search system and buoy search method according to the present invention, the buoy 20 has a basic function as an arbitrary radio buoy. There may be.

  10: Ship, 20: Buoy, 30: Unmanned air vehicle, 31: Main body, 32: Rotary wing, 33: Light emitting means, 34: Grasping part, 100: Control part, 101: GPS receiving part, 102: Low power communication part , 103: control unit, 104: operation panel, 201: satellite communication unit, 202: GPS reception unit, 203: low power communication unit, 204: control unit, 301: GPS reception unit, 302: low power communication unit, 303: Flight control unit 304: Altitude sensor 305: Control unit

Claims (9)

A buoy search system comprising: a buoy; an unmanned air vehicle; and a ship provided with control means for communicating with the buoy and the unmanned air vehicle via a wireless communication line.
The buoy comprises buoy position information acquisition means for acquiring the current position of the own device as buoy position information, and transmission means for transmitting the buoy position information to the control means,
The control means includes: transmission / reception means for receiving a buoy position information and transmitting a flight command to the unmanned air vehicle; and operating means for switching a flight mode of the unmanned air vehicle.
The unmanned aerial vehicle includes a flying object position information acquiring unit that acquires the current position of the aircraft as flying object position information, a flight command receiving unit that receives the flight command, and a flight control that performs flight control of the unmanned aircraft. Means, and
The flight mode includes a buoy tracking mode, in which the flight command includes the buoy position information;
While the unmanned air vehicle is flying in the buoy tracking mode, the flight control performed by the flight control means is based on the unmanned air vehicle based at least in part on the air vehicle position information and the buoy position information. Includes tracking the buoy and controlling to stay within the range when the horizontal distance between the unmanned air vehicle and the buoy is within a predetermined distance. A buoy search system characterized by that.   While the unmanned air vehicle is flying in the buoy tracking mode, the flight control performed by the flight control means includes controlling the altitude of the unmanned air vehicle to maintain a predetermined altitude. The buoy search system according to claim 1. The control means includes ship position information acquisition means for acquiring the current position of the ship as ship position information,
The flight mode includes a recovery mode, and in the recovery mode, the flight command includes the ship position information,
While the unmanned air vehicle is flying in the recovery mode, the flight control performed by the flight control means is based on the unmanned air vehicle based at least in part on the air vehicle position information and the ship position information. 3. The buoy search system according to claim 1, further comprising: tracking the ship and controlling the ship so that the ship stays in the range above the ship. .   Restriction conditions are set in the flight range of the unmanned air vehicle, and the flight control performed by the flight control means includes the restriction condition when the unmanned air vehicle is outside the flight range that satisfies the restriction condition. The buoy search system according to any one of claims 1 to 3, further comprising controlling to move within a flight range.   5. The buoy according to claim 1, wherein the unmanned aerial vehicle includes a warning unit that indicates that the unmanned aerial vehicle is out of a flight range that satisfies the restriction condition. Search system.   The buoy search system according to claim 1, wherein the unmanned aerial vehicle includes a light emitting unit.   The buoy search system according to any one of claims 1 to 6, wherein the unmanned aerial vehicle includes a grip portion on a lower side. A method for searching for a buoy from a ship using a buoy search system including a buoy, an unmanned air vehicle, and a ship having a control means for communicating with the buoy and the unmanned air vehicle via a wireless communication line. And
The buoy comprises buoy position information acquisition means for acquiring the current position of the own device as buoy position information, and transmission means for transmitting the buoy position information to the control means,
The control means includes: transmission / reception means for receiving a buoy position information and transmitting a flight command to the unmanned air vehicle; and operating means for switching a flight mode of the unmanned air vehicle.
The unmanned aerial vehicle includes a flying object position information acquiring unit that acquires the current position of the aircraft as flying object position information, a flight command receiving unit that receives the flight command, and a flight control that performs flight control of the unmanned aircraft. Means, and
The flight mode includes a buoy tracking mode, in which the flight command includes the buoy position information;
Navigating the ship to a first range in which a horizontal distance between the buoy and the ship is equal to or less than a first distance;
Flying the unmanned air vehicle in the buoy tracking mode when the ship is within the first range; and
While the unmanned air vehicle is flying in the buoy tracking mode, the flight control performed by the flight control means is based on the unmanned air vehicle based at least in part on the air vehicle position information and the buoy position information. Tracking the buoy and being within a second range in which a horizontal distance between the unmanned air vehicle and the buoy is less than or equal to a second distance shorter than the first distance, A buoy search method comprising: controlling to stay within a range of 2. The unmanned air vehicle includes a grip portion on a lower side,
The control means includes ship position information acquisition means for acquiring the current position of the ship as ship position information,
The flight mode includes a recovery mode, and in the recovery mode, the flight command includes the ship position information,
While the unmanned air vehicle is flying in the recovery mode, the flight control performed by the flight control means is based on the unmanned air vehicle based at least in part on the air vehicle position information and the ship position information. Tracking the ship and controlling the unmanned air vehicle to remain in place when the unmanned air vehicle is in the air above the ship,
Flying the unmanned air vehicle in the recovery mode;
Capturing the unmanned aerial vehicle using the grip portion while the unmanned aerial vehicle is in the air when the unmanned aerial vehicle remains in the air above the ship. The buoy search method according to claim 8, characterized in that:

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