JP2018176905A - Underwater survey system using underwater vehicle and underwater survey method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an underwater survey system and an underwater survey method capable of quickly and easily conducting an underwater survey at a plurality of locations in various places. An underwater survey system 1 has an unmanned aerial vehicle 100 capable of flying by remote control, a measuring unit 200 coupled to the unmanned aerial vehicle 100, and the unmanned aerial vehicle 100 and the measuring unit 200 on the water surface W. It is configured to include a floating body 130 suspended in the air. The measuring unit 200 is in a state of floating on the water surface, underwater camera image and underwater topography information including at least one of water depth, and water quality information including at least one of water temperature, salinity, turbidity and pH. At least one of the above can be measured, and the measurement result can be recorded or transmitted. [Selection diagram] Fig. 1

Description

  The present invention relates to an underwater survey system and method using an unmanned aerial vehicle for surveying topography, water quality, and the like in water at a construction site in water such as a sea, a lake, and a river.

  Heretofore, various surveys in the water of the target water area, such as water quality survey, water depth survey, bottom condition survey, etc., have been conducted as preliminary surveys when performing underwater construction such as sea, lake and river. Surveys were often conducted manually, with the survey equipment suspended from the ship.

  When conducting surface surveys on reefs of a certain size and size, in the sea area, lakes, dam lakes, etc., there are often a plurality of targeted survey points. At that time, it takes time to move to the survey point, and in order to survey these multiple survey points under the same tide and sunshine conditions, when trying to survey in the same time zone, multiple ships and personnel There was a case that needed.

  In particular, since ships can not enter into shallow waters such as reefs and the sea surface surrounded by reefs, they are forced to move to survey points with a rowboat or the like and are extremely inefficient. The Therefore, a system that can move quickly, is simple, and does not require personnel is desired.

  On the other hand, in recent years, remotely operated unmanned aerial vehicles such as drones are used in various fields such as photography from the sky and transportation of articles. In the field of such a water quality survey, Patent Document 1 introduces a recovery method using an unmanned air vehicle for recovering a survey probe installed in water. That is, Patent Document 1 discloses a hook that can be locked to a buoy or a rope body, and a recovery cord that is connected to the hook, as a method of recovering to the mother ship an underwater drone that is connected by a rope body to a buoy floating on the water surface. Using the recovery device provided with the hook and the flying object capable of transporting the recovery cable, moving the flying object to a place where the buoy floats, and locking the hook to the buoy or rope body, and underwater We introduce how to pull up the drone and collect it.

  However, in the method of Patent Document 1, since an unmanned spacecraft is installed in water, it is possible to investigate various items in the water, but the survey cycle including installation, survey, and recovery of spacecraft becomes long, In particular, there is a problem that it takes time to carry out surveys at a plurality of points with one explorer. In order to conduct surveys at multiple points in the same time zone, it is necessary to prepare multiple explorers, which may increase costs. In addition, although the efficiency is higher than when collecting directly from the mother ship at the time of collection, the installation of the searcher is performed separately by throwing in from the mother ship, so it is particularly difficult to install in places where shallow vessels can not approach etc Problems are assumed.

Unexamined-Japanese-Patent No. 2017-24630

  The present invention has been made to solve the above problems, and it is an object of the present invention to provide an underwater survey system and an underwater survey method capable of conducting quick and easy surveys of water in multiple places in various places. To aim.

  In order to solve the above problems, an underwater survey system according to the present invention comprises an unmanned air vehicle capable of flying by remote control, a measurement unit coupled to the unmanned air vehicle, and the unmanned air vehicle and the measurement unit. At least the floating unit for floating the measurement unit on the water surface, the measurement unit floating in water, the underwater topography information including at least one of an underwater camera image and water depth, and a water temperature And at least one of water quality information including at least one of salinity, turbidity, and pH can be measured, and the measurement result can be recorded or transmitted.

  In the underwater survey method according to the present invention, an unmanned air vehicle capable of flying by remote control, a measurement unit coupled to the unmanned air vehicle, and at least the measurement unit among the unmanned air vehicle and the measurement unit. The underwater camera image and the water depth in a state in which the measurement unit is moved to the investigation site by the unmanned aerial vehicle and the measurement unit is suspended on the water surface using an underwater survey system configured to include a floating body suspended on the water surface. Measuring at least one of underwater topography information including at least one of the above and water quality information including at least one of the water temperature, salinity concentration, turbidity, and pH, and recording or transmitting the measurement result I assume.

  According to the underwater survey system and the underwater survey method of the present invention, the measurement unit is moved to the survey location by the unmanned air vehicle, and after surveying at one location, it is migrated to another location and surveyed rapidly. It became possible to investigate. In addition, because it flies and moves to the survey point, surveys can be easily done even in places that can not be approached by ships, such as shallow water. This has made it possible to conduct surveys in multiple places in various places quickly and easily.

Conceptual diagram showing the underwater survey system of the first embodiment Bottom view of the underwater survey system of Fig. 1 Schematic sectional view showing details of the measurement unit of the underwater survey system of FIG. 1 Block diagram showing a control system of the underwater survey system of the first embodiment Conceptual diagram showing the underwater survey system of the second embodiment Block diagram showing a control system of the underwater survey system of the second embodiment

  Hereinafter, an embodiment of the present invention will be described based on the attached drawings.

First Embodiment
FIG. 1 is a conceptual view showing the underwater research system of the first embodiment, and FIG. 2 is a bottom view of the underwater research system of FIG. The underwater survey system 1 includes an unmanned air vehicle 100 and a measurement unit 200.

  The unmanned air vehicle 100 is an unmanned air vehicle which can fly by remote control from the measurement base 2. In this embodiment, the unmanned air vehicle 100 has a form of a drone, and in the substantially horizontal direction from the main body 101 and the main body 101 A plurality of (for example, eight) arms 102 radially extended, an electric motor 103 vertically disposed on the tip end side of each arm 102, and a rotary blade rotatably provided by the electric motor 103 And 104). The rotary wings 104 are provided such that their rotational planes are on the same horizontal plane. By adjusting the rotational speed of each rotary wing 104 by each electric motor 103, the unmanned air vehicle 100 can be raised, fly, and lowered.

  The unmanned air vehicle 100 may not necessarily be a drone, and may be a radio controlled aircraft, a radio controlled helicopter, etc., as long as it can fly remotely or in an autonomous operation by a program. Further, the motor is not limited to the electric motor, and may be one using an internal combustion engine such as a gasoline engine.

  The measurement base 2 is installed on the mother ship or on the ground to remotely control the unmanned air vehicle 100 and receive measurement data. The measurement base 2 does not necessarily have to be a large-scale device or facility, and may be an operation unit carried by an operator who remotely controls the unmanned air vehicle to arrive and exit.

  A floating body 130 is attached to the side of the main body portion 101 of the unmanned air vehicle 100. The floating body 130 provides buoyancy so that the entire unmanned air vehicle 100 including the measurement unit 200 floats on the water surface W when the unmanned air vehicle 100 lands on the water. The structure of the floating body 130 may be a hollow structure such as a hull of a ship, or may be a solid member having a specific gravity smaller than that of water. One or more floating bodies 130 are provided in a well-balanced manner so that the unmanned air vehicle 100 can stably float on the water surface W without being overturned even if it is covered by waves.

  Moreover, as for the shape of the floating body 130, it is desirable that the water landing area in the horizontal direction be as small as possible so that the water separation resistance is reduced at the time of water separation. This is because the power of the unmanned air vehicle 100 may be small. In the present embodiment, the floating body 130 having a ring shape in the horizontal direction is used to improve the stability at the time of floating and to reduce the separation resistance. However, the shape of the floating body 130 is not limited to the ring shape, and may be any shape as long as it can achieve floating stability and low water separation resistance. For example, one or more circular floating bodies, linear floating bodies, frame-like floating bodies, etc. may be used.

  A measurement unit 200 is attached to the lower surface of the main body unit 101 of the unmanned air vehicle 100. The measuring unit 200 includes a measuring unit main body 201 formed of a waterproof case, a camera 212 attached to the lower surface of the measuring unit main body 201, which performs underwater survey, and one or more sensors 202. When the unmanned air vehicle 100 is floating on the water surface W, at least detection portions of the camera 212 and each sensor 202 are configured to be submerged in water, thereby enabling underwater investigation.

  The camera 212 is attached via a camera attitude control device (gimbal) 213 and captures an external image during flight of the unmanned air vehicle 100 including the measurement unit 200, and an underwater image during floating of the water surface W Shoot and collect underwater topography information. In the present specification, "image" includes not only still images but also images. As described above, in the present embodiment, the camera 212 of the measurement unit 200 is shared for underwater photographing and external photographing at the time of flight, but separately from the camera 212 for the measurement unit 200, the unmanned air vehicle 100 is also used. A camera dedicated to external shooting during flight may be separately provided.

  The sensor 202 may be a water depth sensor such as a scan sonar for measuring water depth as one of underwater topography information. Moreover, in order to measure water quality information, water quality sensors, such as water temperature, salinity concentration, turbidity, pH, etc., are mentioned. These sensors may be waterproof commercially available marine observation sensors. In addition to these, a flow rate sensor or the like may be attached.

  FIG. 3 is a schematic cross-sectional view showing the details of the measurement unit 200. As shown in FIG. The cables 203 of the camera 212 and the sensor 202 are introduced into the measuring unit main body 201 through the connectors 220. Each cable 203 is also waterproofed. A replaceable waterproof ring (not shown) is disposed in the connector 220 according to the diameter of the cable 203, and the waterproof ring fits the cable 203 so that water does not penetrate into the measuring unit body 201. ing. The structure of the connector 220 makes it easy to replace the sensor 202 and can cope with various measurements.

  FIG. 4 is a block diagram showing a control system of the underwater research system 1 of the first embodiment. The unmanned air vehicle 100 has an information transmission unit 110 and a flight control unit 120 as its control system.

  The information transmission unit 110 has a communication function with the mother ship or the measurement base 2 on the ground, receives a command signal from the measurement base 2 such as the ascent of the unmanned air vehicle 100, the movement to the destination, and the descent, An external image captured by the camera 212 and current position information acquired by a GPS (Global Positioning System) terminal 121 are transmitted to the measurement base 2 in real time. Furthermore, during the underwater survey on the water surface, the underwater image captured by the camera 212 of the measurement unit, the measurement result of each sensor 202, and the like can be transmitted to the measurement base. The communication frequency is generally 2.4 GHz or 5 GHz, but other communication lines such as satellite communication may be used.

  The flight control unit 120 has a GPS terminal 121 and controls the rotational speed of each of the electric motors 103 (see FIG. 1) to automatically move the unmanned air vehicle 100 up, move to a destination, descend, etc. according to a program. Or according to the command signal received from the measurement base 2 via the information transmission unit 110. Even when the unmanned air vehicle 100 has an autonomous function and is out of the communication range with the measurement base 2 such as a mother ship, the unmanned air vehicle 100 autonomously moves to the survey position according to the position information of the GPS terminal 121 and the built-in program Thereafter, it can be returned to the measurement base 2.

  The unmanned air vehicle 100 has a power source 122. The power source 122 is generally a rechargeable battery such as a lithium ion battery, but may be a power source using a fuel cell or a solar cell.

  The range of the broken line in FIG. 4 shows the control system in the measuring unit 200. The camera 212 and the sensor 202 are connected to the memory unit 204, and the image taken by the camera 212 and the various measurement data measured by each sensor 202 are together with the position information of the unmanned air vehicle 100 measured by the GPS terminal 121. The data can be recorded (stored) in the memory unit 204 and reproduced after returning to the measurement base 2. Also, it is transmitted to the measurement base 2 through the information transmission unit 110 in real time or in response to a command from the measurement base 2.

  The orientation of the camera 212 is controlled using a camera attitude control device (gimbal) 213 so as to turn in a desired direction regardless of the attitude of the unmanned air vehicle 100.

  Next, an example of underwater research using the underwater research system 1 according to the first embodiment configured as described above will be described.

  The unmanned air vehicle 100 departs from the measurement base 2 automatically according to a command from the measurement base 2 or according to a program, flies to move to a predetermined survey point, and lands on the water surface.

  When the unmanned air vehicle 100 lands on the water, the camera 212 and the sensor 202 of the measurement unit 200 dive in the water, and various water quality investigations become possible. For example, while investigating the condition in water with the camera 212, the measurement of the water depth with a water depth sensor such as a sonar is also possible. It is also possible to measure water quality with water quality sensors such as water temperature, salinity, turbidity, pH, etc. Data in the underwater image and water quality obtained by the survey are transmitted in real time to the measurement base 2 when in the communicable range with the measurement base 2, but when outside the range, measurement data etc. Can be stored in the memory unit 204 of the measurement unit 200 and taken out when returning to the measurement base 2.

  The unmanned air vehicle 100, which has completed measurement at one location, flies away after being separated, performs measurement at the next survey location, and returns to the measurement base 2 after surveys at a predetermined number of locations.

  In addition, if there are many survey points, if charging facilities for the power supply 122 of the unmanned air vehicle 100 are provided on the water or reef in the vicinity, even if it does not return to the measurement base 2 for charging, its charging The equipment can be landed and recharged, and the investigation can continue. As such a charging facility, in consideration of corrosion by water (particularly seawater), a non-contact power feeding system (electromagnetic induction system, radio wave reception system, electric field / magnetic resonance system, etc.) is desirable.

  Furthermore, in order to cope with the deterioration of the weather, etc., evacuation equipment for the unmanned air vehicle 100 may be provided locally on a reef or an artificial structure.

  As described above, in the underwater survey system 1 according to the first embodiment, the measurement unit 200 is moved to the survey location by the unmanned air vehicle 100, and after surveyed at one location, moved to another location and surveyed, It became possible to investigate multiple places quickly. In addition, because it flies and moves to the survey point, surveys can be easily done even in places that can not be approached by ships, such as shallow water.

Second Embodiment
Next, an underwater survey system according to a second embodiment of the present invention will be described.

  FIG. 5 is a conceptual view showing the underwater research system 3 of the second embodiment. In this underwater survey system 3, the unmanned air vehicle 300 and the measuring unit 400 can be separated and coupled on the water surface, and the measuring unit 400 is in a state of being coupled with the unmanned air vehicle 300 and from the unmanned air vehicle 300. In any of the separated and floating states, at least one of underwater topography information and water quality information can be measured. After the completion of the separated investigation, it is possible for the empty unmanned air vehicle 300 to fly and retrieve the measuring unit 400. FIG. 5 shows the unmanned air vehicle 300 and the measuring unit 400 separated.

  As in the first embodiment, the unmanned air vehicle 300 has a main body 301, an arm 302, an electric motor 303, and a rotary wing 304, and also has an attaching / detaching means 305 for coupling / disengaging the measuring unit 400. This attachment / detachment means 305 may be any known means, and may be, for example, a mechanism such as an arm holding a packing box for distribution drones, or an attachment / detachment means using an electromagnet. However, it is a means that can firmly fix and position the measurement unit 400 on the unmanned air vehicle 300 so as not to be detached by landing, impact upon landing, or wave force, and floating on the water surface W at the time of recovery. It is necessary to be able to pick up the measuring unit 400 that is present.

  The unmanned air vehicle 300 of the present embodiment may fly in a separated state from the measuring unit 400, so the camera 312 for external photographing that is different from the camera 412 of the measuring unit described later is the camera attitude control device 313. Are connected to the main body 301 via

  The floating body 330 similar to the first embodiment is attached to the side surface of the main body 301 of the unmanned air vehicle 300.

  The measuring unit 400 is configured to be attachable to and detachable from the lower surface of the main body 301 of the unmanned air vehicle 300 by the attaching / detaching means 305, and the measuring unit main body 401 formed of a waterproof case as in the first embodiment It consists of a camera 412 attached to the lower surface of the main part 401 and performing underwater survey, and one or more sensors 402. When the unmanned air vehicle 300 is floating on the water surface W, at least detection portions of the camera 412 and each sensor 402 are configured to be submerged in water, thereby enabling underwater investigation.

  In the present embodiment, a floating body 430 is attached to the measurement unit 400, and after being separated from the unmanned air vehicle 300, it can float on the water surface W. Like the floating body 130 (see FIG. 1) of the unmanned air vehicle 100 of the first embodiment, the floating body 430 may be a hollow structure such as a hull of a ship, and is a solid member having a smaller specific gravity than water. May be One or more floating bodies 430 are provided in a well-balanced manner so that the floating portion 430 can stably float on the water surface W without being overturned even if the measuring portion 400 wears a wave.

  As for the shape of the floating body 430, it is desirable that the horizontal water receiving area be as small as possible so that the water separation resistance is reduced at the time of water separation. This is because the power of the unmanned air vehicle 300 may be small. In the present embodiment, the floating body 430 in a ring shape in the horizontal direction is used to improve the stability at the time of floating and to reduce the water separation resistance. The shape of the floating body 430 is not limited to the ring shape, and may be any shape as long as it can achieve floating stability and low water separation resistance. The measuring unit main body 401 formed of a waterproof case may be reduced in weight to have a buoyancy function, and may be used as the floating body 430.

FIG. 6 is a block diagram showing a control system of the underwater research system 3 of the second embodiment.
The unmanned air vehicle 300 has an information transmission unit 310 and a flight control unit 320 as its control system, as in the first embodiment.

  As in the first embodiment, the information transmitting unit 310 has a communication function with the measurement base 4, receives a command signal from the measurement base 4, and transmits various measurement data and the like to the measurement base 4. is there. In the present embodiment, the unmanned air vehicle 300 may fly in a separated state from the measurement unit 400, so in the information transmission unit 310, attitude control of the camera 312 different from the camera 412 of the measurement unit described later is performed. It is connected via the device 313 and the memory 314.

  A communication interface 315 for wireless communication with the measuring unit 400 is connected to the information transmitting unit 310. Communication between the unmanned air vehicle 300 and the measurement unit 400 may be performed by wire communication via a connector that is attached and detached at the time of connection and disconnection of the two, but in consideration of corrosion by water (especially seawater) This is because it is desirable to perform wireless communication such as Bluetooth (registered trademark) or Wi-Fi (registered trademark).

  The flight control unit 320 controls the flight of the unmanned air vehicle 300 by controlling the rotational speed of each of the electric motors 303 (see FIG. 5) as well as having the GPS terminal 321 as in the first embodiment. It is a thing. The unmanned air vehicle 300 further has a power source 322 similar to that of the first embodiment.

  The range of the broken line in FIG. 6 shows the control system of the measuring unit 400. The camera 412 is connected to the memory unit 404 via the camera attitude control device 413, and the sensor 402 is also connected to the memory unit 404. This camera 412 is a camera for underwater photography different from the camera 312 of the unmanned air vehicle 300. Here, the measurement unit 400 is capable of autonomously continuing the underwater survey even in a state separated from the unmanned air vehicle 300, with its own power supply 405, control unit 406, GPS terminal 407, and unmanned air vehicle 300. A communication interface 408 for wireless communication is provided. The power source 405 may be only a rechargeable battery such as a lithium ion battery, but since the water surface is usually sunny, a combination of a solar battery and a rechargeable battery is preferable.

  With this configuration, an image captured by the camera 412 and various measurement data measured by the sensors 402 are stored in the memory unit 404 together with position information of the measurement unit 400 measured by the GPS terminal 407. Alternatively, the information may be transmitted to the measurement base 4 through the communication interfaces 408 and 315 and the information transmission unit 310 of the unmanned air vehicle 300 in real time or in response to a command from the measurement base 4.

  Next, an example of underwater research using the underwater research system of the second embodiment configured as described above will be described.

  The unmanned air vehicle 300 to which the measurement unit 400 is coupled is automatically separated from the measurement base 4 according to a command of the measurement base 4 or according to a program, flies to move to a predetermined survey point, and lands on the water surface . When the unmanned air vehicle 300 lands on the water surface, the underwater survey camera 412 and sensor 402 of the measurement unit 400 dive into the water, and various underwater surveys become possible.

  If the survey can be completed in a short time, as in the first embodiment, the underwater survey is conducted with the measurement unit 400 coupled to the unmanned aerial vehicle 300, and the unmanned aerial vehicle 300 completed the survey at one location is After flying away from the water, the survey is conducted at the next location, and after the survey at a predetermined number of survey locations is completed, the measurement site 4 is returned to.

  On the other hand, in the case of a long-time underwater survey, the unmanned air vehicle 300 separates the measuring unit 400 on the water surface of the survey point, floats on the water surface to conduct underwater survey, and after completion, the empty unmanned air vehicle At 300, the measuring unit 400 is collected. For example, while the measurement unit 400 performs underwater survey on the water surface, the unmanned air vehicle 300 can perform, for example, an operation of installing or collecting another measurement unit 400 at another survey point in parallel.

  As described above, in the underwater survey system 3 of the second embodiment, when the survey can be performed in a short time, the survey in the water is performed while the measurement unit 400 is coupled to the unmanned air vehicle 300 as in the first embodiment. On the other hand, in the case of a long time and a long time, the measurement unit 400 is separated from the unmanned air vehicle 300 and surveyed, and in the meanwhile, the unmanned air vehicle 300 can perform other operations. And, flexible operation of the measurement unit 400 is possible.

  In the first and second embodiments, the measuring units 200 and 400 may be provided with means capable of collecting water in a predetermined water depth region. By taking this as a sample back to the measurement bases 2 and 4, it becomes possible to investigate the water quality and the like further. As a mechanism for collecting water, for example, it may be a mechanism in which the hose is dropped from the measuring unit main body 201, 401 and the water is sucked by a pump, or a cup-shaped container attached to the tip of a rope is hung up and pulled up A mechanism for skimming may be used, and a known mechanism can be adopted.

  In the above embodiments, the sensors 202 and 402 are fixed to the bottoms of the measuring unit bodies 201 and 401. However, by providing an elevating mechanism for these sensors 202 and 402, the sensors 202 and 402 can be used as measuring unit bodies. It is possible to lower the water level from 201 and 401 to a predetermined water depth so that the water quality and the like of the water depth can be investigated.

  In addition, the unmanned air vehicle 100, 300 or the measurement unit so that the unmanned air vehicle 100, 300 or the separated measurement unit 400 combined with the measurement unit 200, 400 can stay underwater for a certain time on the water surface in a fast water flow. From 200 and 400, an anchor (not shown) may be suspended to the bottom of the water to anchor the unmanned air vehicle 100, 300 and the separated measuring unit 400. Alternatively, unmanned while monitoring the GPS terminals 121 and 321. It is possible to provide a function capable of correcting the position by moving on the water surface by the rotation of the rotary wings 104, 304 of the flying object 100, 300.

  In addition, in order to avoid the influence of living things on measurement, the surfaces of unmanned air vehicle 100, 300 and measurement units 200, 400 have luminescence, smell, paint, shape, and color that resist the approach of fish and birds. You may

  Also, as a method of recovering the unmanned air vehicle 100, 300 when the repelling resistance of the floating body is large and can not re-fly, the unmanned air vehicle 100, 300 floating on the mother ship or the ground is You may tow to 2 or 4 measurement stations.

  Moreover, in said each embodiment, although GPS terminal 121, 321, 407 was used as a means to grasp | ascertain the self position of the unmanned air vehicle 100, 300 and the measurement part 400, the radio wave from several base stations on the ground is used instead. You may use the method of grasping | ascertaining one's position from.

  Also, the illustrated embodiments are merely illustrative of the present invention, and the present invention, in addition to those directly shown by the described embodiments, includes various improvements made by those skilled in the art within the scope of the claims. It goes without saying that it is intended to cover changes.

1: Underwater survey system (first embodiment)
2 ... measurement base 3 ... underwater research system (second embodiment)
4 Measurement base 100 Unmanned air vehicle 101 Main body 102 Arm 103 Electric motor 104 Rotary wing 110 Information transmission unit 120 Flight control unit 121 GPS terminal 122 Power supply 130 Floating body 200 Measurement unit 201 Measurement unit main body 202 ... sensor 203 ... cable 204 ... memory unit 212 ... camera 213 ... attitude control device for camera (gimbal)
220 ... connector 300 ... unmanned air vehicle 301 ... main body 302 ... arm 303 ... electric motor 304 ... rotary wing 305 ... attachment / detachment means 310 ... information transmission section 312 ... camera 313 ... attitude control device for camera (gimbal)
314 memory 315 communication interface 320 flight control unit 321 GPS terminal 322 power supply 400 measurement unit 401 measurement unit main body 402 sensor 404 memory unit 405 power supply 406 control unit 407 GPS terminal 408 communication interface 412: Camera 413: Posture control device for camera (gimbal)
430 ... floating body W ... water surface

Claims (7)

A drone capable of flying by remote control,
A measurement unit coupled to the unmanned air vehicle;
A floating body for floating at least the measurement unit of the unmanned air vehicle and the measurement unit;
Is configured to include
In the floating state of the water surface, the measurement unit includes underwater topography information including at least one of an underwater camera image and water depth, and water quality information including at least one of water temperature, salinity concentration, turbidity, and pH An underwater survey system, which is capable of measuring at least one and recording or transmitting the measurement result. The unmanned air vehicle and the measurement unit can be separated and coupled on the water surface,
The measurement unit floats on the water surface and can measure at least one of the underwater topography information and the water quality information in any of a state of being combined with the unmanned aerial vehicle and a state of being separated from the unmanned aerial vehicle. The underwater survey system according to claim 1, characterized in that   The underwater survey system according to claim 1 or 2, wherein the floating body is separately provided to the unmanned air vehicle and the measurement unit and coupled to each of them.   The underwater survey system according to any one of claims 1 to 3, wherein the floating body has a ring shape in a horizontal plane.   The underwater survey system according to any one of claims 1 to 4, wherein the measurement unit is provided with means for collecting water in a predetermined water depth region. It comprises: an unmanned air vehicle capable of flying by remote control; a measurement unit coupled to the unmanned air vehicle; and a floating body for floating at least the measurement unit of the unmanned air vehicle and the measurement unit. Using an underwater survey system,
Moving the measurement unit to a survey point by the unmanned aerial vehicle;
Underwater topography information including at least one of an underwater camera image and water depth, and water quality information including at least one of water temperature, salinity concentration, turbidity, and pH while the measurement unit is suspended on the water surface; Measure at least one,
An underwater survey method characterized by recording or transmitting the measurement result. The unmanned air vehicle and the measurement unit can be separated and coupled on the water surface,
The measurement unit is floated on a water surface in a state of being combined with the unmanned air vehicle or separated from the unmanned air vehicle, and at least one of the underwater topography information and the water quality information is measured. The underwater survey method according to claim 6.