JP2024080288A - Information processing device, information processing method, and program - Google Patents

Abstract

The present invention provides information for more accurately operating a mobile device operating underwater.
[Solution] An information processing device 1 has a cable information acquisition unit 131 that acquires a discharged cable length indicating the length of the cable discharged by a first moving device floating on the water, a position information acquisition unit 132 that acquires position information of a second moving device that is connected to the first moving device via a cable and submerges underwater, a current velocity information acquisition unit 133 that acquires current velocity information indicating the direction and speed of the water current at the position where the second moving device is submerged, and an estimation unit 134 that estimates the state of the cable discharged by the first moving device based on the acquired discharged cable length, position information, and current velocity information.
[Selected figure] Figure 2

Description

The present invention relates to an information processing device, an information processing method, and a program.

A system is known for remotely controlling an underwater robot via a cable connected to a surface robot (see, for example, Patent Document 1).

JP 2021-174214 A

Conventional technology requires an operator to pay out a cable from the sea to connect a mobile device, such as a drone, that operates underwater. Conventional technology requires the operator to understand the condition of the cable and operate the cable based on experience and intuition, which can lead to problems such as inaccurate operation of the mobile device.

The present invention has been made in consideration of these points, and aims to estimate information for more accurately operating a mobile device operated underwater.

The information processing device of the first aspect of the present invention includes a cable information acquisition unit that acquires a discharged cable length indicating the length of the cable discharged by a first mobile device floating on the water, a position information acquisition unit that acquires position information of a second mobile device that is connected to the first mobile device via the cable and that is submerged underwater, a flow velocity information acquisition unit that acquires flow velocity information indicating the direction and speed of the water current at the position where the second mobile device is submerged, and an estimation unit that estimates the state of the cable discharged by the first mobile device based on the acquired discharged cable length, the position information, and the flow velocity information.

The device may further include a display control unit that displays a screen showing the state of the cable estimated by the estimation unit.

The device may further include a display control unit, and the estimation unit may estimate the further dive distance of the second mobile device based on the total length of the cable, the discharge cable length, and the estimated state of the cable, and the display control unit may control the display of the estimated further dive distance.

The device may further include a storage unit that stores terrain information indicating the underwater terrain or the position and shape of underwater structures, and the estimation unit may estimate the further dive distance that the second mobile device can travel based on the terrain information.

The display control unit may notify that the cable is being released when the length of the discharged cable and the distance between the second moving device and the first moving device indicated by the position information have a predetermined relationship.

The device may further include an operation reception unit that receives winding operation information indicating an operation to wind up the cable from an information terminal for operating the first moving device and the second moving device, and may further include a device control unit that, upon receiving the winding operation information, controls the first moving device to wind up the cable until a predetermined relationship is established between the discharged cable length and the distance between the second moving device and the first moving device indicated by the position information.

The cable information acquisition unit may further acquire tension information indicating the tension applied to the cable from the first moving device, and the device control unit may control the first moving device to stop winding the cable when the winding operation information is received and the tension information indicates that the tension applied to the cable exceeds a threshold value.

The system may further include an ocean information acquisition unit that acquires ocean information indicating the direction and speed of tides, and a planned information acquisition unit that receives planned position information indicating the position of the point where the first mobile device is scheduled to land on water, and diving point information indicating the position of the point where the second mobile device is scheduled to dive, and the estimation unit may estimate the state of the cable based on the ocean information, the planned position information, and the diving point information.

The device may further include an ocean information acquisition unit that acquires ocean information indicating the direction and speed of tides, an acquisition unit that acquires the planned point where the second mobile device will dive and the planned area where the first mobile device will land, and a display control unit, and the estimation unit may identify a landing point within the planned area based on the ocean information, the planned point, and the planned area, and the display control unit may control the display of the landing point identified by the estimation unit.

The information processing method of the second aspect of the present invention includes the steps of: acquiring a discharged cable length indicating the length of the cable discharged by a first mobile device floating on the water; acquiring position information of a second mobile device that is connected to the first mobile device via a cable and that is submerged underwater; acquiring flow velocity information indicating the direction and speed of the water current at the position where the second mobile device is submerged, measured by the second mobile device; and estimating the state of the cable discharged by the first mobile device based on the acquired discharged cable length, the position information, and the flow velocity information.

In the program of the third aspect of the present invention, the computer is caused to execute the steps of acquiring a discharged cable length indicating the length of the cable discharged by a first mobile device floating on the water, acquiring position information of a second mobile device that is connected to the first mobile device via a cable and that is submerged underwater, acquiring flow velocity information indicating the direction and speed of the water current at the position where the second mobile device is submerged, measured by the second mobile device, and estimating the state of the cable discharged by the first mobile device based on the acquired discharged cable length, the position information, and the flow velocity information.

The present invention has the effect of estimating information for more accurately operating a mobile device operated underwater.

1 is a diagram illustrating an overview of an information processing system S according to an embodiment. 1 is a block diagram showing a configuration of an information processing device 1. FIG. FIG. 11 is a diagram showing an example of a screen displayed by a display control unit 135. FIG. 11 is a diagram showing an example of a screen displayed by a display control unit 135. FIG. 11 is a diagram showing an example of a screen displayed by a display control unit 135. FIG. 11 is a diagram showing an example of a screen displayed by a display control unit 135. FIG. 11 is a diagram showing an example of a screen displayed by a display control unit 135. 4 is a flowchart showing a process flow in the information processing device 1.

[Overview of Information Processing System S]
Fig. 1 is a diagram for explaining an overview of an information processing system S according to an embodiment. The information processing system S is a system for inspecting or exploring underwater using a mobile device. The information processing system S has an information processing device 1, a first mobile device 2, and a second mobile device 3. The information processing device 1 and the first mobile device 2 are communicatively connected via a network. The first mobile device 2 and the second mobile device 3 are connected via a cable C for transmitting and receiving information.

The information processing device 1 is a device for operating the first mobile device 2 and the second mobile device 3. The information processing device 1 is a personal computer, a smartphone, a tablet, etc. The information processing device 1 estimates the state of the cable C connecting the first mobile device 2 and the second mobile device 3 based on information acquired from the first mobile device 2 and the second mobile device 3.

The first mobile device 2 is a device that carries the second mobile device 3 and transmits and receives information between the information processing device 1 and the second mobile device 3. As an example, the first mobile device 2 is a drone capable of flight. The first mobile device 2 has a storage section for storing the second mobile device 3, and flies and moves with the second mobile device 3 stored in it. The first mobile device 2 lands on water and floats to stay at the point where it lands.

The first moving device 2 receives a control signal from the information processing device 1 and operates based on the received control signal. The first moving device 2 receives a control signal for controlling the second moving device 3 and relays the received control signal to the second moving device 3 via cable C. The first moving device 2 measures the distance between the first moving device 2 and the second moving device 3 by ultrasonic surveying and identifies the position of the second moving device 3 based on the measurement results. The first moving device 2 has a winch for discharging or winding up the cable C, detects the length of the cable being discharged (referred to as the discharged cable length) and transmits it to the information processing device 1.

The second mobile device 3 is a device for exploring by diving underwater. One example of the second mobile device 3 is an underwater drone. The second mobile device 3 receives an operation signal from the first mobile device 2 via the cable C, and is controlled based on the received operation signal. The second mobile device 3 has a camera and various sensors, and transmits information measured underwater or images captured underwater to the first mobile device 2 via the cable C.

The information processing device 1 performs physical calculations to estimate the state of the cable C underwater based on the flow velocity information measured by the second moving device 3, the position of the second moving device 3, and the discharged cable length. The flow velocity information is information that indicates the direction and speed of the water flow at the position measured by the second moving device 3 underwater. The information processing device 1 may estimate the state of the cable C based on the flow velocity information measured at multiple positions. The information processing device 1 displays the estimated state of the cable C.

By configuring the information processing system S in this way, it is possible to estimate information for more accurately operating a mobile device operated underwater.

The functions of the information processing device 1 may be divided between the information processing device 1 and an information terminal (not shown). In this case, the information processing device 1 estimates the state of the cable based on the acquired information, and controls the information terminal to display the estimated information on a display unit. In this case, the information processing device 1 is, for example, a server, and the information terminal is a smartphone, tablet, or personal computer. The information processing device 1 and the information terminal are connected via a network.

[Configuration of information processing device 1]
2 is a block diagram showing the configuration of the information processing device 1. The information processing device 1 has a communication unit 11, a storage unit 12, a control unit 13, an input unit 14, and a display unit 15. The control unit 13 has a cable information acquisition unit 131, a position information acquisition unit 132, a current speed information acquisition unit 133, an estimation unit 134, a display control unit 135, an operation reception unit 136, a device control unit 137, a marine information acquisition unit 138, and a schedule information acquisition unit 139.

The communication unit 11 is a communication interface for transmitting and receiving data to and from other devices via a network. The storage unit 12 is a storage medium including a ROM (Read Only Memory), a RAM (Random Access Memory), an SSD (Solid State Drive), a hard disk drive, etc. The storage unit 12 stores in advance a program to be executed by the control unit 13. The storage unit 12 may store the total length, outer diameter, weight, buoyancy, rigidity, etc. of the cable C.

The control unit 13 is a processor such as a CPU (Central Processing Unit), etc. The control unit 13 executes the programs stored in the storage unit 12 to function as a cable information acquisition unit 131, a position information acquisition unit 132, a current speed information acquisition unit 133, an estimation unit 134, a display control unit 135, an operation reception unit 136, an apparatus control unit 137, a marine information acquisition unit 138, and a schedule information acquisition unit 139.
The input unit 14 is an input device for receiving operations from a user, and is, for example, a touch screen, a keyboard, a mouse, etc. The display unit 15 displays a screen based on a signal output from the display control unit 135. The display unit 15 is, for example, a liquid crystal display, an organic EL (Electro-Luminescence) display, etc.

The cable information acquisition unit 131 acquires the discharged cable length, which indicates the length of the cable C discharged by the first moving device 2 floating on the water. The cable information acquisition unit 131 acquires the discharged cable length from the first moving device 2.

The position information acquisition unit 132 acquires position information of the first mobile device 2 and the second mobile device 3. Specifically, the position information acquisition unit 132 acquires position information of the second mobile device 3 from the first mobile device 2. The position information of the first mobile device 2 is information indicating the latitude and longitude measured by the first mobile device 2, and the position information of the second mobile device 3 is information indicating the relative positional relationship in three dimensions between the first mobile device 2 and the second mobile device 3.

The flow velocity information acquisition unit 133 acquires flow velocity information indicating the direction and speed of the water current at the position where the second moving device 3 is submerged. As an example, the second moving device 3 periodically detects flow velocity information and transmits it to the first moving device 2, and the first moving device 2 transmits the acquired flow velocity information to the information processing device 1, which is acquired by the flow velocity information acquisition unit 133. The flow velocity information acquisition unit 133 associates the acquired flow velocity information with the position information of the second moving device 3 at the time the flow velocity information was acquired.

As an example, the second mobile device 3 may have a Doppler ground speed meter, generate flow velocity information based on the speed and orientation for the second mobile device 3 to hover at the same position, and transmit the information to the information processing device 1. The second mobile device 3 may also periodically acquire information on the relative positions of the first mobile device 2 and the second mobile device 3 from the first mobile device 2, and generate flow velocity information based on the speed and orientation for the second mobile device 3 to hover at the same position based on the acquired information on the relative positions. The second mobile device 3 may also generate flow velocity information based on the speed and direction of the flow measured by a current meter possessed by the second mobile device 3.

The current velocity information acquisition unit 133 may also correct the current velocity information a predetermined time after the current velocity information was acquired. As an example, the current velocity information acquisition unit 133 may calculate a correction value for the current velocity information based on the amount of change in the direction and speed of the tidal current indicated by the ocean information acquired periodically by the ocean information acquisition unit 138, and the estimation unit 134 may estimate the state of the cable based on the current velocity information to which the correction value has been added.

In addition, the underwater flow velocity measured by a flow velocity detection means (not shown) mounted on the first moving device 2 may be acquired as flow velocity information. One example of the flow velocity detection means is an Acoustic Doppler Current Profiler (ADCP).

The estimation unit 134 estimates the state of the cable C discharged by the first moving device 2 based on the acquired discharge cable length, position information, and flow velocity information. Specifically, the estimation unit 134 refers to the outer diameter, weight, buoyancy, or rigidity of the cable stored in the storage unit 12, and simulates the state of the cable by known physical calculation processing based on the discharge cable length, position information, and flow velocity information, thereby estimating the state of the position, bending, movement, etc. of the cable C due to the influence of the water flow. More specifically, the estimation unit 134 simulates the state of the cable based on the flow velocity information at each position acquired by the flow velocity information acquisition unit 133, the wake of the second moving device 3 indicated by the acquired position information, the outer diameter, weight, buoyancy, or rigidity of the cable C, etc. Note that the estimation unit 134 may also simulate the state of the cable based on the tension generated by the second moving device 3 pulling the cable.

The estimation unit 134 may be configured to simulate the state of the cable by further taking into account the effect of the screw of the second moving device on the water flow. In this case, the information processing device 1 may acquire the orientation of the second moving device and the speed or amount of rotation of the prime mover, calculate the direction and speed of the water flow discharged by the second moving device from the acquired orientation of the second moving device and the speed or amount of rotation of the prime mover, and simulate the state of the cable further based on the calculated direction and speed of the water flow discharged by the second moving device.

[Cable status display]
The estimation unit 134 may be configured to display the state of the cable C estimated by the estimation unit 134. The display control unit 135 displays a screen displaying the state of the cable C estimated by the estimation unit 134. Fig. 3 is a diagram showing an example of the screen displayed by the display control unit 135. On the screen shown in Fig. 3, an object O01 indicating the first moving device 2, an object O02 indicating the second moving device 3, an object O03 indicating the target point of exploration, and an object O04 indicating the state of the cable C are displayed.

As an example, the display control unit 135 determines the position at which to draw the object O01 based on the position information of the first moving device 2 acquired from the first moving device 2. The display control unit 135 determines the position at which to draw the object O02 based on the position information of the second moving device 3 acquired from the first moving device 2. The display control unit 135 determines the position at which to draw the object O03 based on the position information of the set target point. The display control unit 135 draws the object O04 based on the state of the cable C estimated by the estimation unit 134.

The display control unit 135 may be configured to display the state of cable C superimposed on information indicating the underwater terrain and structures. In this case, the memory unit 12 stores topographical information indicating information on the position and shape of the underwater terrain or underwater structures. One example of the topographical information is point cloud data measuring the underwater terrain and structures. The display control unit 135 refers to the topographical information stored in the memory unit 12, and displays each object (O01, O02, O03, and O04) superimposed on the information indicating the underwater terrain and structures.

By configuring the information processing device 1 in this manner, it is possible to provide the user operating the first moving device 2 and the second moving device 3 with information that makes it easy to visually understand the state of the cable C underwater.

If the information processing device 1 is configured to further display information that allows the user to grasp the possible diving distance and whether diving is possible, it becomes easier for the user to determine whether or not the task objective can be achieved.

The estimation unit 134 estimates the distance that the second moving device 3 can further dive based on the total length of the cable C, the discharged cable length, and the estimated state of the cable C. The estimation unit 134 refers to the memory unit 12 and acquires the total length of the cable C. As an example, the estimation unit 134 calculates the cable length that the first moving device 2 can further discharge based on the acquired total length of the cable C and the discharged cable length acquired by the cable information acquisition unit 131. The estimation unit 134 calculates the position that the second moving device 3 can reach when all of the cable C is discharged based on the estimated state of the cable C, the flow velocity information acquired by the flow velocity information acquisition unit 133, and the calculated dischargeable cable length.

As an example, the estimation unit 134 may calculate a reachable position by physically calculating the state of the cable C when it moves vertically downward, and calculate the difference between the current water depth and the water depth of the calculated reachable position as the possible diving distance. The estimation unit 134 may further calculate the possible diving distance in a specified direction. The specified direction may be, for example, the front direction of the second moving device 3, a direction 45° vertically downward from the front, the left direction from the front, etc.

The display control unit 135 controls the display of the estimated possible diving distance. FIG. 4 is a diagram showing an example of a screen displayed by the display control unit 135. The screen shown in FIG. 4 shows objects (O11, O12, and O13) indicating the possible diving distance. The objects O11 to O13 indicate the possible diving distance in each direction estimated by the estimation unit 134.

By configuring the information processing device 1 in this way, the user can grasp the achievable distance, making it easier to determine whether or not the task objective can be accomplished.

In addition, since the estimation unit 134 is configured to calculate the possible diving distance based on information about the underwater topography and structures, the user operating the second mobile device 3 can operate it based on more reliable information.

The estimation unit 134 estimates the further diving distance of the second moving device 3 based on the terrain information. The estimation unit 134 refers to the memory unit 12 to acquire the terrain information. The estimation unit 134 calculates the distance that a part of the cable C or the second moving device 3 can reach without coming into contact with the underwater terrain or structures. As an example, the estimation unit 134 uses the discharge length of the cable C as a parameter to simulate the state of the cable C when the second moving device 3 is moved in a specified direction at each discharge length, identifies the maximum discharge length at which the distance between the position of the cable C closest to the terrain and the position of the terrain, etc. indicated by the terrain information is equal to or greater than a specified threshold, and calculates the further diving distance based on the position of the second moving device 3 at the identified maximum discharge length.

By configuring the information processing device 1 in this way, it is possible to provide the user with more reliable information that is estimated taking into account underwater information, enabling the user to decide whether or not to continue the work.

The estimation unit 134 may be configured to determine whether or not the second moving device 3 can dive to a deeper position based on the performance of the second moving device 3. In this case, the storage unit 12 stores performance information of the second moving device 3. The performance information is information indicating the maximum diving depth and the maximum diving current value of the second moving device 3. The estimation unit 134 determines that the second moving device 3 cannot dive to a deeper position when, for example, the water depth indicated by the position information of the second moving device 3 exceeds the maximum diving depth, or when the water current speed indicated by the current information acquired by the current information acquisition unit 133 exceeds the maximum diving current value. Then, when the estimation unit 134 determines that the second moving device 3 cannot dive to a deeper position, the display control unit 135 notifies the user that the second moving device 3 cannot dive to a deeper position. The estimation unit 134 may obtain the battery capacity of the second moving device 3 and determine that the second moving device 3 cannot dive to a deeper position when the battery capacity is equal to or less than a predetermined threshold.

By configuring the information processing device 1 in this way, it is possible to provide information that allows the user to determine whether or not the task objective can be achieved through simple processing.

[Cable Control]
If the length of the discharge cable is too long relative to the distance between the first movement device 2 and the second movement device 3, this may cause a problem in the movement of the second movement device 3 or cause a breakdown in the cable C. In such a case, the information processing device 1 may be configured to notify the user operating the second movement device 3.

The display control unit 135 may notify that the cable C is being shed when there is a predetermined relationship between the discharged cable length and the distance between the second moving device 3 and the first moving device 2 indicated by the position information. As an example, the display control unit 135 calculates the distance between the second moving device 3 and the first moving device 2 based on the position information of the first moving device 2 and the second moving device 3. Then, the display control unit 135 determines whether or not the ratio calculated using the discharged cable length as the numerator and the calculated distance between the second moving device 3 and the first moving device 2 as the denominator is equal to or less than a first threshold. If the calculated ratio is equal to or greater than the first threshold, the display control unit 135 notifies that the cable C is being shed. The first threshold is set based on the effect that the excess discharged cable has on the submersion of the second moving device 3.

Figure 5 is a diagram showing an example of a screen displayed by the display control unit 135 when the ratio calculated by the estimation unit 134 is equal to or greater than the first threshold value. In Figure 5, an object O21 is displayed to notify that the cable C is floating. In the above determination process, the display control unit 135 may perform the determination process using the water depth of the second moving device 3 instead of the distance between the first moving device 2 and the second moving device 3. In the above determination process, the calculated distance between the second moving device 3 and the first moving device 2 may be used as the numerator, and the discharged cable length may be used as the denominator. In this case, the display control unit 135 determines whether the calculated ratio is equal to or less than a predetermined threshold value.

The information processing device 1 may be configured to be able to give an instruction to wind up the cable C when the cable C is floating. The operation reception unit 136 receives winding operation information indicating an operation to wind up the cable C. In FIG. 5, a button O22 is displayed with the word "winding" to support the operation to wind up the cable C. When the user operates the information processing device 1 and presses the button O22, the operation reception unit 136 receives winding operation information indicating an operation to instruct winding up the cable C.

When the device control unit 137 receives the winding operation information, it controls the first moving device 2 to wind the cable C. Then, when the device control unit 137 receives the winding operation information, it controls the first moving device 2 to wind the cable C until a predetermined relationship is established between the discharged cable length and the distance between the second moving device 3 and the first moving device 2 indicated by the position information. The predetermined relationship is that the ratio calculated using the discharged cable length as the numerator and the distance between the second moving device 3 and the first moving device 2 indicated by the position information as the denominator is equal to or less than a second threshold value. The second threshold value is a value determined based on the effect of the force that the cable receives from the water flow on the second moving device 3, and is set to be smaller than the first threshold value. When the ratio between the distance between the second moving device 3 and the first moving device 2 indicated by the position information becomes equal to or less than the second threshold value, the device control unit 137 controls the first moving device 2 to stop winding.

In the above determination process, the display control unit 135 may perform the determination process using the water depth of the second moving device 3 instead of the distance between the first moving device 2 and the second moving device 3. In the above determination process, the calculated distance between the second moving device 3 and the first moving device 2 may be used as the numerator, and the discharge cable length may be used as the denominator. In this case, the display control unit 135 determines whether the calculated ratio is equal to or greater than a predetermined threshold value.

When winding the cable, if the tension applied to the cable C becomes too large, it is expected that the cable C may break or break. Therefore, the information processing device 1 may be configured to control the winding of the cable C so that the tension applied to the cable C does not become too large.

The cable information acquisition unit 131 further acquires tension information indicating the tension applied to the cable C from the first moving device 2. The first moving device 2 has a sensor for detecting the tension applied to the cable C, and generates tension information indicating the tension detected by the sensor. The first moving device 2 periodically transmits the generated tension information to the information processing device 1, and the cable information acquisition unit 131 acquires this.

When the device control unit 137 receives the winding operation information, it controls the first moving device 2 to stop winding the cable C when the tension information indicates that the tension on the cable C exceeds a third threshold. The third threshold is set based on the tension value allowed for the cable C and the maximum tension at which the first moving device 2 can stop at the water landing point.

[Prediction from oceanographic information]
If the information processing device 1 is configured to predict the state of the cable based on information that can be collected in advance before conducting an underwater exploration, it becomes easier for the user to make a work plan, and user convenience is improved.

The ocean information acquisition unit 138 acquires ocean information indicating the direction and speed of the tidal current. In the ocean information, position information (e.g., latitude and longitude) of multiple points is associated with the direction and speed of the tidal current at each of the multiple points.

The planned information acquisition unit 139 receives planned position information indicating the position of the planned point where the first mobile device 2 is to land on water, and diving point information indicating the position of the planned point where the second mobile device 3 is to dive. As an example, the position of the planned point where the first mobile device 2 is to land on water is expressed by latitude and longitude, and the position of the planned point where the second mobile device 3 is to dive is expressed by latitude, longitude, and water depth. As an example, the display control unit 135 displays a screen for the user to input the position of the planned point where the first mobile device 2 is to land on water and the position of the planned point where the second mobile device 3 is to dive. The planned information acquisition unit 139 receives the position of the planned point where the first mobile device 2 is to land on water and the position of the planned point where the second mobile device 3 is to dive, which are input by the user on the displayed screen.

The estimation unit 134 estimates the state of the cable C based on the ocean information, the planned position information, and the diving point information. As an example, the estimation unit 134 performs physical calculations of the effect that the current speed indicated by the ocean information will have on the cable when the cable is discharged from the position indicated by the planned position information and the second moving device 3 is submerged to the position indicated by the diving point information, and estimates the state of the cable. The estimation unit 134 may estimate that the direction and speed of the water current in the depth direction are constant. Then, the display control unit 135 displays the state of the cable estimated by the estimation unit 134.

By configuring the information processing device 1 in this way, it is possible to provide information that makes it easier for the user to consider the work site by displaying information that predicts the cable condition based on information that can be collected in advance.

The information processing device 1 may be configured to predict a suitable landing point based on the planned work area. Specifically, the planned information acquisition unit 139 acquires the planned point where the second mobile device 3 will dive and the planned area where the first mobile device 2 will land. The planned area is information that indicates the range of the area where the first mobile device 2 is planned to land.

The estimation unit 134 identifies a landing point within the planned area based on the ocean information, the planned point, and the planned area. As an example, the estimation unit 134 estimates the state of the cable when the second mobile device 3 is submerged from each of the multiple points selected from the planned area to the planned point based on the multiple points selected from the planned area and the acquired ocean information and planned point. The estimation unit 134 then identifies, as the landing point, the point among the multiple points included in the planned area where the discharge cable length is shortest when the second mobile device 3 is submerged to the planned point.

The display control unit 135 displays the landing point identified by the estimation unit 134. FIG. 6 is a diagram showing an example of a screen on which the display control unit 135 displays the landing point. In the screen shown in FIG. 6, the landing point identified by the estimation unit 134 is displayed superimposed on a map (O41). The information processing device 1 may be configured to display the predicted route of the cable together with the identified landing point. An example of the screen in this case is shown in FIG. 7. In FIG. 7, an object O31 indicating the planned point, an object O32 indicating the landing point identified by the estimation unit 134, and an object O33 indicating the predicted route of the cable are displayed. In the object O32 indicating the landing point, the coordinates of the identified landing point are displayed as an example. The object O33 is drawn based on the position of the cable predicted by the estimation unit 134 when the second moving device 3 is submerged from the identified landing point toward the planned point.

By configuring the information processing device 1 in this manner, it is possible to display information indicating suitable landing points, and to provide information that makes it easier for the user to consider work points.

[Processing flow in information processing device 1]
Fig. 8 is a flowchart showing the flow of processing in the information processing device 1. The flowchart shown in Fig. 8 starts from the point in time when an instruction to estimate the state of a cable is received.

The cable information acquisition unit 131 acquires the discharge cable length from the first moving device 2 (S01). The flow rate information acquisition unit 133 acquires flow rate information from the first moving device 2 (S02). The position information acquisition unit 132 acquires position information of the second moving device 3 from the first moving device 2 (S03).

The estimation unit 134 estimates the state of cable C based on the acquired discharge cable length, flow velocity information, and position information (S04). The display control unit 135 displays the state of cable C estimated by the estimation unit 134 (S05).

The display control unit 135 determines whether or not a termination condition is satisfied (S06). The termination condition is, for example, an operation to terminate the display. If the termination condition is not satisfied (NO in S06), the process returns to S01. If the termination condition is satisfied (YES in S06), the information processing device 1 terminates the process.

[Effects of information processing device 1]
As described above, in the information processing device 1, it is possible to estimate information for more accurately operating a mobile device operated underwater.

Furthermore, this invention will make it possible to contribute to Goal 9 of the United Nations' Sustainable Development Goals (SDGs), which is "Build resilient infrastructure, promote inclusive and sustainable industrialization, and promote innovation and infrastructure."

Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes are possible within the scope of the gist of the invention. For example, all or part of the device can be configured by distributing or integrating functionally or physically in any unit. In addition, new embodiments resulting from any combination of multiple embodiments are also included in the embodiments of the present invention. The effect of the new embodiment resulting from the combination also has the effect of the original embodiment.

REFERENCE SIGNS LIST 1 Information processing device 2 First mobile device 3 Second mobile device 11 Communication unit 12 Memory unit 13 Control unit 14 Input unit 15 Display unit 131 Cable information acquisition unit 132 Position information acquisition unit 133 Current speed information acquisition unit 134 Estimation unit 135 Display control unit 136 Operation acceptance unit 137 Device control unit 138 Ocean information acquisition unit 139 Schedule information acquisition unit

Claims (11)

a cable information acquisition unit that acquires a discharged cable length indicating a length of a cable discharged by the first moving device floating on the water;
a position information acquisition unit that acquires position information of a second mobile device that is connected to the first mobile device via the cable and that navigates underwater;
a current velocity information acquisition unit that acquires current velocity information indicating a direction and a speed of a water current at a position where the second moving device is submerged;
an estimation unit that estimates a state of the cable discharged by the first moving device based on the acquired discharged cable length, the position information, and the flow velocity information;
An information processing device having the above configuration. A display control unit that displays a screen that displays the state of the cable estimated by the estimation unit.
The information processing device according to claim 1 . A display control unit is further provided.
The estimation unit estimates a distance that the second moving device can further dive based on the total length of the cable, the discharged cable length, and the estimated state of the cable,
The display control unit controls to display the estimated diving distance.
3. The information processing device according to claim 1 or 2. The method further includes a storage unit for storing topographical information indicating information on the underwater topography or the position and shape of underwater structures,
The estimation unit estimates a distance that the second mobile device can further dive based on the topographical information.
The information processing device according to claim 3 . the display control unit notifies that the cable is being released when the length of the discharged cable and the distance between the second moving device and the first moving device indicated by the position information have a predetermined relationship.
The information processing device according to claim 2 . an operation receiving unit that receives winding operation information indicating an operation of winding the cable from an information terminal for operating the first moving device and the second moving device;
a device control unit that, when receiving the winding operation information, controls the first moving device to wind the cable until a predetermined relationship is established between the discharged cable length and a distance between the second moving device and the first moving device indicated by the position information.
3. The information processing device according to claim 1 or 2. the cable information acquisition unit further acquires tension information indicating a tension applied to the cable from the first moving device;
the device control unit controls the first moving device to stop winding the cable when the winding operation information is received and when the tension information indicates that the tension applied to the cable exceeds a threshold value.
The information processing device according to claim 6. A marine information acquisition unit that acquires marine information indicating a direction and a speed of a tidal current;
a schedule information acquisition unit that receives scheduled position information indicating a position of a location where the first mobile device is scheduled to land on water and diving point information indicating a position of a location where the second mobile device is scheduled to dive;
and
The estimation unit estimates a state of the cable based on the oceanographic information, the planned position information, and the diving point information.
3. The information processing device according to claim 1 or 2. A marine information acquisition unit that acquires marine information indicating a direction and a speed of a tidal current;
an acquisition unit that acquires a planned point where the second mobile device will dive and a planned area where the first mobile device will land;
A display control unit;
and
The estimation unit identifies a landing point within the planned area based on the oceanographic information, the planned point, and the planned area,
The display control unit controls to display the water landing point identified by the estimation unit.
3. The information processing device according to claim 1 or 2. The computer executes
obtaining a discharged cable length indicative of a length of cable discharged by a first moving device floating on the water;
acquiring position information of a second mobile device that is connected to the first mobile device via a cable and that navigates underwater;
acquiring current velocity information indicating a direction and a speed of a water current at a position where the second mobile device is submerged, the current velocity information being measured by the second mobile device;
estimating a state of the cable discharged by the first moving device based on the acquired discharged cable length, the position information, and the flow velocity information;
An information processing method comprising the steps of: On the computer,
obtaining a discharged cable length indicative of a length of cable discharged by a first moving device floating on the water;
acquiring position information of a second mobile device that is connected to the first mobile device via a cable and that navigates underwater;
acquiring current velocity information indicating a direction and a speed of a water current at a position where the second mobile device is submerged, the current velocity information being measured by the second mobile device;
estimating a state of the cable discharged by the first moving device based on the acquired discharged cable length, the position information, and the flow velocity information;
A program that executes the following.

Images