JP2019077293A - Hydrological survey base and hydrological survey method using unmanned aircraft - Google Patents

Abstract

[Problem] To create an unmanned aerial vehicle that can move to measurement points from a safe location on land, perform bathymetric surveying by remote control, water quality surveys with controlled water depth, and sample collection, and that can easily control the sampling depth. Provide the hydrological survey base and hydrological survey method used. [Solution] A hydrological survey base using an unmanned aerial vehicle consists of an unmanned aerial vehicle that can be operated by radio, and a hydrological survey base body that is towed by a towing means installed on the unmanned aerial vehicle. The base is a hydrological research base, and the main body of the hydrological survey base includes a floating body that can float on the water surface and is towed by the unmanned aerial vehicle, and a hydrological survey device that is connected to at least either the floating body or the unmanned aerial vehicle. It is made up of. [Selection diagram] Figure 1

Description

  The present invention relates to a mobile hydrological survey base and hydrological survey method using an unmanned aerial vehicle that performs depth measurement of lakes, reservoirs, rivers, etc., water quality survey, sampling and the like using an unmanned aerial vehicle.

  Conventional bathing and surveying and water quality surveys and sampling are carried out by using a boat and underwater work by a diver, etc., which requires a great deal of labor and time, and depending on the topography conditions, loading a boat etc. The work efficiency and safety aspects have to be improved, for example, in some cases where there is a risk that the delivery of materials will be difficult.

  In the case of bathymetry, which is usually performed, the depth of water and the three-dimensional position of the ultrasonic sonar are measured by linking a boat equipped with the ultrasonic sonar and a light wave surveying device installed on the ground. Also, if necessary, lower the dedicated rope attached with a weight called red from the water to the bottom of the water, and measure the water depth directly.

In the water quality survey, go to the observation position with a boat, take a sample of water from a given depth using a water sampling device and carry it back for indoor analysis, or drop the analyzer into the water to make it on site locally. It is common to use various methods such as measuring.
In the collection of sediment, it is common practice to drop simple devices such as grabs and piston samplers from the ship.

  The general methods shown here are all manual operations from the ship's hands, and are very time-consuming operations. In order to implement it regularly or immediately after the occurrence of a disaster, it is necessary to have a method to approach the observation point with more efficient work and safety.

As a hydrological survey method using an unmanned aerial vehicle, there is a method of collecting water level information from the observation device installed on the observation point water with the unmanned aerial vehicle (Patent Document 1).
However, in this method, it is necessary to install a water level gauge for observation at the point where the water level is to be measured, and this water level gauge can measure only the water level of one point installed. There was a drawback that it was not possible to measure the water level or to conduct a hydrological survey other than the water level.

As another survey method using unmanned aerial vehicles, there is known a method in which an underwater camera suspended by an unmanned airplane is dropped on a survey point for visual survey (Patent Document 2).
However, in this method, although the attitude control of the camera is performed via a buoyant body, it has only a function as a mere buoyant body, and has a function for obtaining water depth and position information necessary for hydrological survey. I did not.

  In addition, research has been conducted on a method of collecting water directly from the unmanned aerial vehicle by mounting the water collection pump and the water collecting device on the unmanned aircraft, but it is said that this method makes it difficult to control the collection depth based on the water depth. There's a problem.

JP, 2017-116305, A JP, 2017-85263, A

  In view of the above-mentioned conventional drawbacks, the present invention can move from a safe land area to a survey point using an unmanned aerial vehicle, and can perform depth measurement by remote control, water quality survey with controlled water depth, and sampling. It aims to provide a hydrological survey base and hydrological survey method using an unmanned aerial vehicle with easy management of sampling depth.

  In order to achieve the above object, a hydrological survey base using an unmanned aerial vehicle according to the present invention comprises a wirelessly operable unmanned aerial vehicle and a hydrological survey base body towed by traction means provided on the unmanned aerial vehicle. A hydrological survey base using an unmanned aerial vehicle, wherein the hydrological survey base main body is capable of floating on the surface of the water, and a buoyant body to be pulled by the unmanned aerial vehicle, and at least either the buoyant body or the unmanned aerial vehicle It consists of a connected hydrological survey device.

  Further, in the hydrological survey method using the unmanned aerial vehicle according to the present invention, the hydrological survey base moving step of moving the hydrological survey base body to a predetermined survey position by the unmanned aerial vehicle and the hydrological survey base after the movement to the predetermined survey position is completed. And a hydrological survey step of conducting a hydrological survey at the survey position by the main body, wherein the hydrological survey base main body can float on the water surface and at least the buoyant body or a buoyant body to be pulled by the unmanned aerial vehicle And a hydrological survey device connected to any of the unmanned aerial vehicles.

As apparent from the above description, in the present invention, the following effects can be obtained.
(1) In each of the inventions described in claim 1, claim 2, claim 7, and claim 8, the hydrological survey base can be moved from a safe land area to an arbitrary survey point using an unmanned aerial vehicle. It is possible to conduct hydrological surveys such as depth survey by remote control, water quality survey with controlled water depth, and sampling.
(2) Also in the invention described in claim 3 and claim 9, while the same effect as the above (1) is obtained, it is possible to conduct a hydrological survey at an accurate survey position by using the GPS.
(3) Also in the invention described in claims 4 and 10, while the same effect as the above (1) to (2) can be obtained, it is possible to conduct a hydrological survey at a more accurate survey position.
(4) Also in the invention described in claims 5 and 11, the same effects as in the above (1) to (3) can be obtained, and the main body of the hydrological survey base is affected by the flow of water and the wind at the survey position. Even if you move, you can return to the appropriate survey position to conduct a hydrological survey.
(5) Also in the invention described in claims 6 and 12, the same effects as in the above (1) to (4) can be obtained, and the water depth can be continuously investigated.

1 to 4 are explanatory views showing a first embodiment of the present invention.
5 to 7 are explanatory views showing a second embodiment of the present invention.
8 to 10 are explanatory diagrams showing a third embodiment of the present invention.
11 and 12 are explanatory views showing a fourth embodiment of the present invention.
13 and 14 are explanatory views showing a fifth embodiment of the present invention.
Schematic of the hydrological research base using the unmanned aerial vehicle of 1st Embodiment. BRIEF DESCRIPTION OF THE DRAWINGS The flowchart of the hydrological investigation method using the unmanned aerial vehicle of 1st Embodiment. Explanatory drawing of a hydrological investigation base movement process. Explanatory drawing of a hydrological investigation process. Schematic of the hydrological research base using the unmanned aerial vehicle of 2nd Embodiment. The process chart of the hydrological investigation method using the unmanned aerial vehicle of 2nd Embodiment. Explanatory drawing of a hydrological investigation process. Schematic of the hydrological research base using the unmanned aerial vehicle of 3rd Embodiment. The process chart of the hydrological investigation method using the unmanned aerial vehicle of 3rd Embodiment. Explanatory drawing of a hydrological investigation process. The schematic diagram of the hydrological research base using the unmanned aerial vehicle of 4th Embodiment. The process chart of the hydrological investigation method using the unmanned aerial vehicle of 4th Embodiment. Explanatory drawing of a position adjustment means. The schematic diagram of the hydrological investigation base using the unmanned aerial vehicle of 5th Embodiment. The process chart of the hydrological investigation method using the unmanned aerial vehicle of 5th Embodiment.

Hereinafter, the present invention will be described in detail by the embodiments shown in the drawings.
In the first embodiment for carrying out the present invention shown in FIGS. 1 to 4, 1 is movable to a survey point, and performs a hydrologic survey such as a remote control depth survey, water quality survey with water depth management, and sampling. It is a hydrological research base using unmanned aerial vehicles (hereinafter referred to as “hydrological research base”) that can

  As shown in FIG. 1, the hydrological survey base 1 includes a small unmanned aerial vehicle 2 that can be operated wirelessly, and a hydrological survey base 4 that is towed by traction means 3 provided on the unmanned aerial vehicle 2. ing.

  The unmanned aerial vehicle 2 is a so-called small drone, and in the present invention, a known drone can be used.

  The hydrological survey base body 4 can float on the water surface, and the buoyant body 5 to be pulled by the unmanned aerial vehicle 2, the hydrological survey device 6 provided on the buoyant body 5, and the index 9 provided on the buoyant body 5. And consists of.

The buoyant body 5 is substantially spherical in this embodiment, and a through hole 7 is formed to pass through the center of the sphere. As the material of the buoyant body 5, although resin or the like of weighing is preferable in consideration of the ease of traction by the unmanned aerial vehicle 2, the metallic or glass buoyant body 5 can also be used.
The cable 8 whose one end is fixed to the unmanned aerial vehicle 2 is inserted into the through hole 7 of the buoyant body 5.

The cable 8 penetrates the through hole 7 and a dropout preventing device is fixed to the tip end portion (the other end portion) thereof so as not to drop out of the through hole (do not drop upward). In the present embodiment, a depth-finding instrument 6a described later has a function as a fall-off prevention tool.
In the present embodiment, the pulling means 3 configured to pull the buoyant body 5 is constituted by the cable 8 provided with the fall-off prevention tool as described above.

  A hydrological survey device 6 is attached to the tip of the cable 8. In the present embodiment, a depth measuring weight 6 a as a depth measuring instrument 6 a for measuring water depth is used as the hydrological survey device 6.

  As the hydrological survey device 6, in addition to the depth finder weight 6a, a water sampler 6b for collecting water, a sediment sampler 6c for collecting sediment, and a water quality measurement device for analyzing water quality 6d etc. can be used.

Only one hydrological survey device 6 may be attached, or a plurality of types may be attached.
By the way, in the present embodiment, an index fixing means (not shown) for fixing the index 9 to the cable 8 is provided in the vicinity of the through hole 7 of the buoyant body 5 when the depth finder weight 6a reaches the bottom. . The water depth can be investigated by measuring the distance from the index 9 to the depth-finding weight 6 a by fixing the index 9 to the cable 8 when it is grounded by the index fixing means.

  The index 9 is attached to the cable 8 in a tightened state, and once fixed to the cable 8, it moves in conjunction with the cable 8 (the distance from the other end of the cable becomes constant). The index 9 is suitably an elastic body having a tension enough to clamp the cable 8, a tubular body having a check valve, a clip or the like.

  The hydrological survey method 10 (hereinafter referred to as “hydrological survey method”) using an unmanned aerial vehicle carried out using the hydrological survey base body 4 is, as shown in FIG. And the unmanned aerial vehicle 2 is brought into a hovering state in the vicinity of the upper position of the survey position when the movement to the predetermined survey position is completed by moving the unmanned aerial vehicle 2 to the predetermined survey position and the movement to the predetermined survey position is completed. The base body 4 comprises a hydrological survey process 12 for conducting a hydrological survey at the survey position.

  The hydrological survey base moving process 11 is a process of pulling the hydrological survey base 4 by the unmanned aerial vehicle 2 and moving it to a predetermined survey position as shown in FIG.

  In the present embodiment, the cable 8 is inserted into the through hole 7 of the buoyant body 5 of the hydrological survey base body 4 in a penetrating state, and thereafter the hydrographic survey base body 4 is fixed to the tip of the cable 8. Can be towed. In this state, the unmanned aerial vehicle 2 is operated by remote control to fly the unmanned aerial vehicle 2 to the survey position with reference to a GPS (not shown) or the like mounted on the unmanned aerial vehicle 2.

  When it is confirmed that the unmanned aerial vehicle 2 has arrived at the survey position, is hovered at that point, and the hydrological survey base body 4 has moved approximately vertically downward, the process proceeds to the hydrological survey step 12.

  The hydrological survey step 12 is a step of conducting a hydrological survey of the survey position as shown in FIG. In the present embodiment, the unmanned aerial vehicle 2 is gradually lowered, the depth finder weight 6a fixed to the tip of the cable 8 is moved in the bottom direction, and the index 9 is fixed to the cable 8 when it is bottomed. The water depth at the survey position can be investigated by measuring the distance from the index 9 to the depth finding weight 6a.

  In this embodiment, only the water depth is investigated, but for example, a water collector 6b for collecting water, a sediment sampler 6c for collecting sediment, a water quality measuring device 6d for analyzing water quality, etc. Other hydrological surveys may be performed using the hydrological survey device 6.

[Different forms for carrying out the invention]
Next, different embodiments for carrying out the present invention shown in FIGS. 5 to 15 will be described. In the description of these different embodiments for carrying out the present invention, the same components as those of the first embodiment for carrying out the present invention will be assigned the same reference numerals and overlapping explanations will be omitted.

  In the second embodiment for carrying out the present invention shown in FIGS. 5 to 7, the main difference from the first embodiment for carrying out the present invention is that a through hole 7 is provided at the center, and the top and bottom surfaces are provided. Is fixed on the upper surface of the buoyant body 5A of a substantially flat shape, the winding type displacement meter 13 whose tip is connected to the depth finder weight 6a, and the bottom of the floating body 5A provided on the upper surface A detection device 14, a light wave surveying prism or reflector 15 provided on the upper surface of the buoyant body 5A, a water quality measuring device 6d provided on the bottom surface of the buoyant body 5A, and a predetermined cable 8 below the buoyant body 5A. Even if the hydrological survey base 1A and the hydrological survey method 10A using the hydrologic survey base body 4A configured with the water collector 6b fixed at the position, the same operation as the first embodiment for carrying out the present invention An effect is obtained.

  In the present embodiment, both the cable 8 connected to the unmanned aerial vehicle 2 and the tip of the wire 13a of the take-up type displacement gauge 13 are connected to the depth-finding weight 6a. Therefore, while the unmanned aerial vehicle 2 descends, the wire 13a of the take-up type displacement meter 14 is sent out, and the water depth is measured from the delivery amount of the take-up type displacement meter 13 when the landing detection device 14 detects that the bottom is reached. Hydrological survey process 12A.

  Here, the landing detection device 14 is a device that detects a change in the water surface and the like to detect the landing. Specifically, the draft when the depth finding weight 6a is suspended in water is stable, but when the depth finding weight 6a is bottomed, the draft surface changes. The landing detection device 14 measures the water depth by detecting either the change in the draft of the buoyant body 5A or the change in the tension of the windup displacement meter 13.

  The coordinates of the survey position can be roughly grasped using the GPS built into the unmanned aerial vehicle 2. However, since the unmanned aerial vehicle 2 has an altitude, the positions of the unmanned aerial vehicle 2 and the hydrological survey base 4A are Even if the unmanned aerial vehicle 2 is located at the survey position by the GPS, the hydrological survey base 4A may deviate from the actual survey position.

  Therefore, in the present embodiment, the unmanned aerial vehicle 2 is detected by lightwave surveying the lightwave surveying prism or reflector 15 attached to the buoyant body 5A from the ground to detect more detailed coordinates of the hydrological survey base body 4A. A hydrological survey base moving process 11A is employed to move the hydrological survey base body 4A to an accurate survey position using the method.

  The third embodiment for carrying out the present invention shown in FIGS. 8 to 10 mainly differs from the second embodiment for carrying out the present invention in the tip of the cable 8 fixed to the unmanned aerial vehicle 2. Of the wire 13a of the take-up displacement meter 13 is connected to the depth-finding weight 6a, and the take-up displacement gauge 13 is The present invention is carried out even with such a hydrological survey base 1B and a hydrological survey method 10B in that the hydrological survey step 12B measures the water depth by measuring the displacement when the wire 13a is extended and bottomed. The same effect as that of the second embodiment can be obtained.

  In the case where the cable 8 is directly attached to the buoyant body 5A as in the present embodiment and only the tip of the wire 13a of the take-up type displacement gauge 13 is connected to the depth-finding weight 6a, It is not necessary to provide the through hole 7 at the central portion, and for example, the take-up type displacement meter 13 may be fixed to the edge portion of the buoyant body 5A and the depth finder weight 6a may be connected without forming the through hole 7 etc. . Also, a recess may be formed in the buoyant body 5A, and the wire 13a of the take-up type displacement gauge 13 may be sent downward from this recess to connect the depth-finding weight 6a.

  The fourth embodiment for carrying out the present invention shown in FIGS. 11 to 13 mainly differs from the second embodiment for carrying out the present invention in that it includes a position adjusting means 16 capable of position adjustment. This is a point of the hydrological survey process 12C in which the hydrological survey is performed while adjusting the position so that the hydrological survey base 4B is positioned approximately vertically below the unmanned aerial vehicle 2 using the survey base body 4B using this position adjustment means 16 The same effects as those of the second embodiment for carrying out the present invention can be obtained by the hydrological survey base 1C and the hydrological survey method 10C using such a configuration.

  The position adjusting means 16 is provided at the auxiliary power 17 fixed to the bottom surface of the buoyant body 5A and in the vicinity of the through hole 7 on the upper surface of the buoyant body 5A, and detects the angle of the cable 8 provided in the unmanned aerial vehicle 2 A control device for operating the auxiliary power 17 when the inclination of the cable 8 is detected by the detection device 18 and the angle detection device 18, and stopping the auxiliary power 17 when the cable 8 becomes substantially vertical Not shown).

  By the way, this control device can also adjust the output of the auxiliary power 17 according to the inclination of the cable 8 detected by the angle detection device 18 in this embodiment. That is, when the inclination of the cable 8 is large (the angle formed between the buoyant body 5A and the cable 8 is small), the output of the auxiliary power 17 is increased, and the angle of the cable 8 is substantially vertical (the buoyant body 5A and the cable 8 form It is possible to appropriately move the buoyant body 5A to the research position by adjusting the output of the auxiliary power 17 to be smaller as the corner approaches (substantially perpendicular).

By providing such a position adjusting means 16, even if the hydrological survey base body 4B moves due to the flow of water at the survey position or the wind, it can be returned to the appropriate survey position.
In the present embodiment, the sediment sampler 6 c is attached to the cable 8 as the hydrological survey device 6.

  The fifth embodiment for carrying out the present invention shown in FIGS. 14 and 15 mainly differs from the fourth embodiment for carrying out the present invention in that a hydrologic survey base body 4C provided with a sonar 19 is used. Also, in view of the hydrological survey step 12D of continuously measuring the water depth during movement to the survey position using this sonar 19, even in the hydrological survey base 1D and the hydrological survey method 10D using such a configuration The same effects as those of the fourth embodiment for carrying out the present invention can be obtained.

  In addition, since the measurement result by sonar causes an error depending on the weather condition and the water quality condition, by measuring the error of the measurement value of the depths weight 6a and the measurement value of the sonar 19 at the survey position, the water depth continuously measured Correction of measured values can be performed.

The present invention is used in the hydrological research industry.

1, 1A, 1B, 1C, 1D: Hydrological research base using unmanned aerial vehicles,
2: unmanned aircraft, 3, 3A: traction means,
4, 4A, 4B, 4C: Hydrological Survey Base Body,
5, 5A: buoyant body, 6: hydrological survey device,
6a: sounding instrument (sounding weight), 6b: water collector,
6c: bottom sediment sampler, 6d: water quality measuring device,
7: Through hole, 8: Cable,
9: Indicator,
10, 10A, 10B, 10C, 10D: Hydrological survey method using unmanned aircraft,
11, 11A: Hydrological base transfer process,
12, 12A, 12B, 12C, 12D: Hydrological survey process,
13: Retractable displacement gauge, 14: Grounding detection device,
15: light wave surveying prism or reflector, 16: position adjusting means,
17: auxiliary power, 18: angle detection device,
19: Sonar.

Claims (12)

A hydrological survey base using an unmanned aerial vehicle comprising: an unmanned aerial vehicle operable wirelessly; and a hydrological survey base body towed by a traction means provided on the unmanned aerial vehicle, the hydrological survey base body being on the water surface A hydrological survey base using an unmanned aerial vehicle comprising: a buoyant body that can float and is towed by the unmanned aerial vehicle, and a hydrological survey device connected to at least the buoyant body or the unmanned aerial vehicle. The hydrological survey base using an unmanned aerial vehicle according to claim 1, wherein the hydrological survey apparatus has a sounding instrument capable of measuring at least the depth of water at a survey position. The said unmanned aerial vehicle is equipped with GPS, The hydrological investigation base using the unmanned aerial vehicle of Claim 1 or Claim 2 characterized by the above-mentioned. The hydrological survey base using the unmanned aerial vehicle according to any one of claims 1 to 3, wherein the hydrological survey base body comprises either a lightwave surveying prism or a reflector. 5. The unmanned aerial vehicle according to any one of claims 1 to 4, further comprising position adjustment means which can be adjusted to be positioned substantially vertically below the unmanned aerial vehicle in the hydrological survey base body. Hydrological base used. The hydrological survey base using the unmanned aerial vehicle according to any one of claims 1 to 5, further comprising a sonar in the hydrological survey base body. A hydrological survey base moving step of moving a hydrological survey base body to a predetermined survey position by an unmanned aerial vehicle, and a hydrological survey step of performing a hydrological survey at the survey position by the hydrological survey base body after moving to a predetermined survey position And the hydrological survey base body can be floated on the water surface, and comprises a buoyant body to be pulled by the unmanned aerial vehicle and a hydrological survey device connected to at least the buoyant body or the unmanned aerial vehicle Hydrological survey method using an unmanned aerial vehicle configured. In the said hydrological investigation process, the hydrological investigation method using the unmanned aerial vehicle of Claim 7 characterized by measuring the water depth of an investigation position at least using a depth-finding instrument. The hydrological survey method using an unmanned aerial vehicle according to any one of claims 7 and 8, wherein in the hydrological survey base moving step, the unmanned aerial vehicle equipped with GPS is moved to the survey position. In the hydrological survey base moving step, the detailed coordinates of the hydrological survey base are detected by either the light wave surveying prism or the reflector provided in the hydrological survey base, and the hydrological survey base is moved to the survey position. A hydrological survey method using an unmanned aerial vehicle according to any one of claims 7 to 9, characterized in that. The hydrological survey base body according to any one of claims 7 to 10, wherein in the hydrological survey step, the hydrological survey base body is always positioned substantially vertically below the unmanned aerial vehicle by position adjusting means provided in the hydrological survey base body. Hydrological survey method using unmanned aerial vehicles. 12. The water surveying step according to any one of claims 7 to 11, characterized in that the water depth until moving to a predetermined survey position is also continuously measured by the sonar provided in the hydro survey base body. Hydrological survey method using unmanned aerial vehicles.

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