JP7017821B1 - Water monitoring system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To construct a rescue system capable of reliably supporting rescue activities for rescuers waiting in the vicinity of water mobility.
SOLUTION:
In a water monitoring system in which a camera can be equipped, a receiver that receives a video signal transmitted from the camera and displays it on a display unit, and an RC controller that controls the behavior of the water mobility communicate with each other. When the image transmitted from the camera equipped in the mobility 100 is output to the display unit provided in the receiver, the water image transmitted from the camera 101 and the information supporting the rescue activity on the water are displayed on the display unit. , Support the rescue activities of rescuers.
[Selection diagram] Fig. 2

Description

In the present invention, by remotely controlling and manipulating water mobility equipped with cameras and the like having various performances with an RC controller and the like, images and images are wirelessly transferred from the cameras and the like to a distant receiver, and the images received by the receivers. It is related to a water monitoring system that supports relief activities on the water (sea, river, lake, swamp, water storage dam) by confirming such things using various monitors.

In Japan, almost the entire land is surrounded by the sea, and a wide variety of marine accidents occur frequently at the seaside and in the water area about 1 nautical mile from the coastline. In such a situation, the first agency to act in response to the rescue order is the Japan Coast Guard patrol boat. In addition, a system has been established in which private fishing boats and pleasure boats are added to the patrol boat to quickly rescue the accident party.
Here, as a vessel smaller than a pleasure boat, a special small vessel called a personal watercraft or a personal watercraft is drawing attention.
In order to operate this personal watercraft or personal watercraft, it is necessary to obtain the qualification of a special small boat operator.

Currently, to show an example of a series of rescues in the event of a single marine accident, a rescue request is received wirelessly or by wire, and a report is sent to the Japan Coast Guard. Issuing rescue orders to patrol boats, searching around the site, rescue, and transporting to hospitals.

On the other hand, the following Patent Document 1 is disclosed as a method of rescuing a rescued person under a visible situation during the daytime. With this technology, it is possible to rescue the rescued person quickly and safely even in places where the rescue ship with the rescuer is inaccessible, in bad weather and in bad conditions, and the rescuer suffers a secondary disaster. It is disclosed that it enables the rescue of the rescued person without fear.
Further, a rescue boat having a GPS function is proposed in Patent Document 2 below.

According to this Patent Document 2, in a rescue system that rescues a rescuer in a marine accident or the like, the absolute position of the rescuer calculated by a GPS receiver is determined in order to support rescue activities in a shorter time and more efficiently. , Sent to the rescue system processor through a wireless transmitter in case of emergency.
Upon receiving the rescuer's position, the processing device immediately selects the rescue boat closest to the rescuer from the pre-registered rescue boats located in the vicinity, and the direction and distance to the rescuer. Is automatically transmitted as information and a start command is issued. It is stated that the rescue boat that receives the start command automatically starts sailing toward the rescuer and is guided to the destination by the rescue system processing device.

Furthermore, if the manned work boat (boat attached to the ship) cannot be used for offshore work of ships (various work boats, rescue boats, etc.), or for rescue activities during entry / exit or stormy weather, or in combination with this. It is an RC boat made controllable from the ship (or manned work boat) when using it, even if the main body is covered with waves when the waves are high in the open sea, or even if the main body tilts (rolls over). Patent Document 3 below discloses an all-weather radio-controlled unmanned work boat (RC boat) that can be restored immediately, has no engine stop, and can absorb and exhaust the engine when the slope is steep.

Japanese Unexamined Patent Publication No. 2018-62279 Japanese Unexamined Patent Publication No. 9-304506 Japanese Unexamined Patent Publication No. 61-257396

As mentioned above, in order to rescue the rescuer due to a marine accident using the GPS function, it is not possible to rescue the rescuer quickly without securing a considerable number of personnel and using a large-scale system. There are many.

Moreover, rescue activities for rescuers are limited to rescue activities within the visible range of rescuers during the day, and effective rescue activities when the seawater temperature is low or a marine accident occurs in the middle of the night. In some cases, it was not possible to do so, and prompt rescue was not in time, resulting in the loss of precious lives.

In addition, the RC rescue boat is an RC boat made controllable from the ship (or manned work boat), and the operator who operates the radio control moves to the marine accident site, and there are rescuers during the day. It is limited to rescue activities within the range of sight, and it is unlikely that the above-mentioned problems will be solved.
Furthermore, existing FPV drones that have a function of collecting sound and transferring it to a receiver have not been put into practical use.
Therefore, if the camera of the FPV drone is simply mounted on the water mobility, the peripheral voice on the water will not be transmitted to the pilot who operates the PC controller.
For this reason, there is no environment in which the rescuer waiting for education on the water and the above pilot can communicate with each other by voice conversation.
As a result, the current situation of the rescuer could not be heard from the person in real time, the rescue activities did not proceed smoothly, and the preparation for the medical team was impaired.

The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to display an image transmitted from a camera equipped in water mobility and information necessary for a rescuer on a display unit provided in a receiver. By doing so, it is possible to construct a rescue system that can reliably support rescue activities for rescuers waiting in the vicinity of water mobility while watching the state of rescuers waiting for rescue on the water.
Further, a further object of the present invention is to construct a rescue system in which the rescuer and the rescuer can have a voice conversation in real time by establishing a voice mutual communication environment between the water mobility and the RC controller.

The water monitoring system according to the present invention can be equipped with a speaker, a microphone, and a camera, and can receive water mobility on which the operator can board and navigate on the water, and receive a video signal transmitted from the camera. It is a water monitoring system that communicates with a receiver displayed on the display unit, and includes an RC controller that controls the behavior of the water mobility in an unmanned state, and the receiver receives the water image transmitted from the camera. The display control means for switching the display mode of the display unit to the monitoring mode and displaying the water image transmitted from the camera and the information supporting the rescue activity on the water on the display unit is provided. The water mobility is a control means for controlling the water navigation of the water mobility in response to receiving an action signal transmitted from the RC controller to be operated while the pilot is watching the water image displayed on the display unit. When the engine is stopped, the water mobility transmits the water image taken by the camera and the water sound collected by the microphone to the receiver, and the sound received from the receiver is transmitted from the speaker. It is characterized by loudening .

According to the present invention, by displaying the image transmitted from the camera equipped in the water mobility and the information necessary for the rescuer on the display unit provided in the receiver, the state of the rescuer waiting for rescue on the water can be viewed. It is possible to build a rescue system that reliably supports rescue activities for rescuers waiting in the vicinity of water mobility.
In addition, by establishing a voice mutual communication environment between the water mobility and the RC controller, it is possible to construct a rescue system in which the rescuer and the rescuer can have a voice conversation in real time.

It is a perspective view which shows the appearance of water mobility. It is a block diagram which shows an example of a water monitoring system. It is a flowchart explaining the control method of the water surface monitoring system which shows this embodiment. It is a block diagram which shows an example of a water monitoring system. It is a flowchart explaining the control method of the water surface monitoring system which shows this embodiment. It is a figure which shows the structure of the surface monitoring system which shows this embodiment. It is a figure which shows the structure of the surface monitoring system which shows this embodiment. It is a perspective view which shows an example of other surface mobility applied to the surface monitoring system which shows this embodiment.

Next, the best mode for carrying out the present invention will be described with reference to the drawings.
<Explanation of system configuration>
[First Embodiment]
Next, the best mode for carrying out the present invention will be described with reference to the drawings.
FIG. 1 is a diagram showing a configuration of a water mobility and an FPV system showing an embodiment of the present invention. In the present embodiment, the water includes the sea, rivers, lakes, swamps, reservoir dams, etc., and also includes flooded areas where rivers are flooded and the entire low land is flooded. In addition, a camera with various performances can be mounted on the water mobility, and the mounted camera is configured to be able to transmit moving image information as a video and image information as a still image to a receiver described later.

Further, in this embodiment, a realistic rescue activity for a rescuer waiting for rescue on the water will be described as an example, but it goes without saying that this system can also be applied to training, inspection, and prevention for rescue activities. do not have.

In this example, a personal watercraft will be described as an example of the personal watercraft 100, but the personal watercraft 100 is not limited to the personal watercraft, and the present invention is used as long as the personal watercraft can be maneuvered and controlled by an RC (radio control) controller. Applicable.
The personal watercraft is not exclusively for unmanned use, and may be configured to be used as a manned personal watercraft operated by a pilot having a driver's license in normal use.
Furthermore, the water mobility 100 is provided as an optional device that can be equipped. For example, it is equipped with a function for communicating with the Internet during manned operation and a monitor function for displaying images (YouTube (registered trademark)) downloaded on the Internet. Is also possible. In addition, optional equipment that can be equipped in the water mobility 100 includes a fish finder and an underwater camera that searches for a rescuer underwater. At that time, the image of the underwater camera is transmitted to the receiver in the present embodiment, and the pilot can confirm the underwater image. Further, when shooting an underwater image, the underwater light may be turned on.
Further, in this example, the case where the water mobility 100 is operated by operating the RC (radio control) is shown, but the configuration may be such that the water mobility 100 can be operated by a stick-type controller.

At that time, the manned water mobility shall be configured to be detachably configured with a microphone 104, a speaker 105, a camera 101, etc., which function as means for establishing voice communication described later. In addition, the water mobility 100 has a red lamp for clearly indicating to the surroundings that an emergency rescue activity is being carried out, a lighting lamp for functioning as a searchlight, and a float as a relief material necessary for the rescue activity described later. It is assumed that the equipment is equipped.

In addition, a storage unit is provided at the bottom of the water mobility 100, and a life-saving device (float (foaming urethane or air bar, etc.)) can be taken out from the storage unit and used by a simple operation (instructed by the RC controller 200). It is configured to be possible.

Therefore, even if it is difficult for the rescuer to transfer to the water mobility 100 by his / her own physical strength, it is possible to wait for the rescue on the water by wearing a float that is thrown into the water from the water mobility 100 as described later. be. The actuator of the water mobility 100 (not shown) is configured so that any one of a float, food, and a heat insulating sheet for saving the life of the rescuer can be sequentially or selectively put into the water.

Further, the water mobility 100 to which the present embodiment is applied can be equipped with a plurality of cameras, and the CCD camera 101a, the infrared camera 101b, the CCD camera 101c, the infrared camera 101d, and the omnidirectional camera 101e are placed at predetermined positions on the hull. Be placed.

Here, the receiver 300 is transmitted from the CCD camera 101a, the infrared camera 101b, the CCD camera camera 101c, the infrared camera 101d, the plurality of first image information, the plurality of second image information, and the omnidirectional camera 101e. It has a receiver function for receiving the third image information. The RC controller 20 controls the traveling direction of the water mobility 100 based on the operation instruction of the stick bar described later.
Further, in the present embodiment, as a method of unmanned maneuvering the water mobility 100, a first maneuvering method in which the pilot operates the RC controller 20 while visually observing the water mobility 100 and a pilot transmitting from the camera of the water mobility 100. A second control method in which the receiver 300 receives the image to be output and operates the RC controller 20 while looking at the screen of the display device connected to the receiver 300, and the receiver 300 is configured with goggles integrated to form the goggles. There is a third maneuvering method in which the RC controller 20 is operated while looking at the screen provided on the goggles, and one of the maneuvering methods can be selected according to the rescue situation. It is also possible to control the water mobility 100 by combining these control methods. That is, the present invention can also be applied to a system in which a plurality of pilots operate a plurality of water mobility 100s to perform rescue activities.

The water mobility 100 shown in the present embodiment does not need to be equipped with all of the above-mentioned plurality of cameras, and a water monitoring system in which a plurality of cameras are combined can be freely constructed as an option. Below, the receiver 350 is equipped with lighting, red light, and voice conversation, including images on the water received from the camera and information necessary for rescue support (including information on rescue equipment (including the size of the float)). (Mic, speaker) information), water temperature information) may be displayed on the display unit.
Therefore, in the case of a system using the receiver 350, the camera of the water mobility 100 transmits the captured video signal on the water to the receiver 350 via the VTX transmission unit 120 and the antenna 121. Then, the receiver 350 receives the video signal captured by the camera 100 on the water via the receiving antenna 356, and displays the received video signal on the screen of the connected personal computer, tablet, or smartphone, thereby causing the pilot. Can see the rescue activities on the water.

Further, in the case of a system equipped with all cameras, the controller 355 of the receiver 350 is a first to third image taken by the CCD camera 101a, the infrared camera 101b, the CCD camera 101c, the infrared camera 101d, and the omnidirectional camera 101e. The controller 355 controls the display so as to receive the video signal and project it onto the screen unit 305 as the display unit.

Further, the controller 355 of the receiver 300 is switched as a switching means for switching between the CCD camera 101a, the infrared camera 101b, the CCD camera 101c, the infrared camera 101d, and each video signal transmitted from the omnidirectional camera 101e (not shown). ) Button is provided, and the pilot can dynamically switch each video signal transmitted from each camera displayed on the screen unit 305 by selecting the switching button.
When the switching mode is provided, it may be provided with a configuration in which each video signal transmitted from each camera is cyclically switched in a fixed order and at set time intervals.
Hereinafter, a system example in which the water mobility 100 is equipped with one CCD camera as the camera 101 will be described. In addition, an example in which the water is on the sea will be described.

In FIG. 1, the water mobility 100 can be operated by a manned person on board as described above, but when the water mobility 100 is unmanned, the control signal transmitted from the RC controller 200 is received. It is possible to execute the functions of starting the engine, stopping the engine, operating the steering wheel, and uttering and receiving voice, which will be described later. Reference numeral 105 denotes a speaker (loudspeaker), which is detachably attached to a predetermined position on both sides or one side of the hull.

The 104 is a microphone (sound collector), which is provided integrally with the speaker 105, converts the peripheral sound that can be collected from the periphery of the water mobility 100 and the captured image signal into a digital signal, and transmits the digital signal to the receiver 350 described later. As a result, the pilot can hear the peripheral sound collected by the microphone 104 equipped in the marine water mobility 100 by the speaker 252 connected to the RC controller 200.

Further, the pilot's voice is collected through the microphone 251 and then transmitted to the water mobility 100 as a digital voice signal by the RC controller 200 selecting a specific channel. In response to this, the controller unit 106 of the water mobility 100 processes the received voice information into an analog signal, and then outputs the voice as loudened voice from the speaker 105 of the water mobility 100. Here, the speaker 105 is configured so that the direction can be adjusted so as not to be covered with seawater with respect to the traveling direction, assuming that the speaker 105 is used on water. The speaker 105 is configured so that the direction can be adjusted so as not to be covered with seawater due to transverse waves. Further, the microphone 251 may be configured to also have an underwater microphone function.

Further, when the voice processing unit 107 is provided with a memory, it is possible to store a voice message suitable for rescue activities recorded in advance and emit an automatic voice from the speaker 105 based on a selection signal from the RC controller 200. Is. Thereby, in another embodiment described later, it is also possible to emit an automatic voice from the speaker 105 with a message of caution or warning according to the intended use.

The microphone 104 is also covered with a hood so as to minimize the influence of wind and rain, assuming that it will be used on water. Further, since the sound collecting characteristic may be distorted on the water because it is affected by the fluctuation of the wave, the sound processing unit 107 cuts the noise of a specific frequency to enable clear sound collecting.

In this way, the pilot and the rescuer waiting for rescue on the water can communicate with each other by voice, so in the case of a pilot wearing goggles equipped with the function of the receiver 350 that receives the camera image, wait for rescue on the water. While talking directly with the rescuer and visually checking the real image, the rescuer's current condition, such as the degree of injury and the degree of weakness, can be accurately determined.

Note that FIG. 1 shows a goggle-type receiver that can be worn by the pilot as an example of the receiver 350, and the adjustment band, switcher button, and the like for the pilot to wear the goggles are omitted. Further, in the following description, a case where the receiver 350 displays a video or an image transmitted from the water mobility 100 on a connected display device will be described. That is, in the system of the present invention, the receiver as a device for receiving moving images and still images transmitted from water mobility is not limited to so-called FPV goggles. Therefore, it is possible to adopt a smartphone or a PAD device as the display device connected to the receiver main body. As a result, moving images and still images transmitted from various cameras mounted on the water mobility can be displayed on the display device of the smartphone or PAD device.

Here, as a camera for FPV, the camera 101 composed of a CCD camera acquires a first-person viewpoint image and converts it into a predetermined image signal.
The camera 101 mounted on the camera for FPV is installed at a predetermined position near the bow of the water mobility 100.

The water mobility 100 equipped with a camera for FPV can position and control the posture position of each lens vertically and horizontally according to the movement of the pilot's viewpoint detected by a motion device (not shown) linked with the receiver 350 or a motion sensor. May be adopted.

That is, when the receiver 350 is configured with goggles as an example, the controller unit 106 may be able to execute shooting control that freely adjusts the shooting direction of each camera 101 according to the movement of the viewpoint of the pilot.

The display device connected to the receiver 350 is configured to be capable of combining and displaying additional information in addition to the video signal received by the receiver 350.
In the present embodiment, the FPV machine is configured by the water mobility 100 and the mounted camera 101, and when combined with the GPS and the FPV module, the latitude, longitude, speed, altitude, traveling direction, etc. of the FPV machine can be displayed on the screen of the receiver 350. It is also possible to display them in a composite manner.

The water mobility 100 transmits a video signal or an infrared image generated by the mounted camera 101 to a video receiver (VRX) included in the receiver 350 as a radio wave, for example, a 5.8 GHz digital signal.

When the camera 101 uses the 5.8 Ghz band, a qualification of "amateur radio class 4" or higher ("class 3 land special radio engineer" or higher for business use) is required for personal use.

FIG. 2 is a block diagram showing an example of a water monitoring system showing the present embodiment.
In this example, the water mobility that can be equipped with the camera 101, the receiver 350 that receives the video signal transmitted from the camera 101 and displays it on the display unit, and the RC controller 200 that controls the behavior of the water mobility 100 communicate with each other. Take the water monitoring system as an example.
Here, the actions are to control the traveling direction of the water mobility 100, to control the engine of the water mobility 100, to control the introduction of the equipment equipped in the water mobility 100 to the water, and to control the water mobility 100. Control the drive of the microphone and speaker installed in the water mobility 100, control the lighting of the red light, lighting, etc. installed in the water mobility 100, and switch and control the image mode of the camera installed in the water mobility 100. Etc. are included.

Here, in the FPV (First Person View) system of the present embodiment, the receiver 350 receives the video signal captured by the camera 101 with the zoom function included in the water mobility 100, and the display unit 351 connected to the receiver 350 is on the water. This is an example of a system in which the pilot controls the RC controller 200 while projecting the above-mentioned state, so that the pilot performs the water warning work as if he / she is maneuvering on the water mobility 100.

Further, the RC controller 200 can externally connect the microphone 251 and the speaker 252, and by wirelessly communicating with the water mobility 100, the microphone 104 and the speaker 105 equipped in the water mobility 100 can be used for mutual voice. It is also configured to be able to interact with each other. Here, the voice includes the voice of the rescuer.
Since the RC controller 200 has a Bluetooth communication function, rescuers other than pilots, such as paramedics and doctors, can also interruptively have a voice conversation with a victim waiting for rescue at sea in the vicinity of the RC controller 200. .. As a result, appropriate relief activities can be supported as soon as possible.

The display unit 351 shows an example in which it can be attached to the receiver 350, but if the display device is a pad device in which a predetermined OS is installed and has a function of wireless communication, it is equipped in goggles. It is not limited to such screens.
The display unit 351 displays information such as information supporting rescue activities on the water, weather information, accurate position information on the water (GPS or RTK) taken by the camera, and the type of rescue material. .. This allows the pilot to accurately support the rescue activities of the rescuer.

The camera 101 can also switch the imaging direction and the imaging angle based on the motion device operated by the pilot and the motion sensor connected to the receiver 350.
As a result, the pilot is configured to be able to search for a rescuer waiting for rescue on the surface of the sea while visually recognizing the image of the camera 101. Further, the transfer speed adopted by the camera 101 is configured to be able to use two frequency bands described later.

Further, the camera 101 is provided around the bow position of the water mobility 100, and captures a field of view region in front of the bow.

The first usable frequency band is 5.8 GHz, and video and audio are exchanged without delay. However, in order to perform wireless communication using the 5.8 GHz, it is a prerequisite that the operator (pilot) is a qualified person of the third-class special land radio engineer or higher, which is a national qualification. ..
The second usable frequency band is 2.4 gigaHz, which does not require a license application from the Ministry of Internal Affairs and Communications, and video and audio are exchanged.

Therefore, in the case of a camera using the 2.4 GHz band, it is possible to configure the camera 101 with a commercially available CCD camera or handy camera.
In this embodiment, two different frequencies may be selectively switched and controlled.
As a result, by dedicating the 2.4 GHz band to establish voice communication between the RC controller 200 and the water mobility 100, the communication control burden on the RC controller 200 side is reduced and the voice communication channel is surely established. It is possible to give priority to voice conversation communication. At that time, the RC controller 200 may be configured to switch and control the voice communication and the control of the water mobility 100 so as to temporarily or intermittently preferentially communicate the voice communication channel.
[Configuration of water mobility]

In the water mobility 100 shown in FIG. 2, 102a is a first positioning processing unit that performs positioning processing based on GPS (Global Positioning System), and receives a position identification signal from a satellite to determine the current position of the water mobility 100. , The current position can be positioned. The receiver 350 is an example of goggles.

102b is a second positioning processing unit that performs positioning processing based on real time Kinematic, and is a technology that receives signals from four or more satellites with two receivers, a fixed station and a mobile station. By exchanging information between two receivers and correcting the deviation, it is configured so that position information with higher accuracy than single positioning can be obtained. Hereinafter, an example of water rescue by the water mobility 100 by operating the RC controller 200 by a pilot wearing goggles having the function of the receiver 350 will be described.

Further, in the present embodiment, the water mobility 100 provided with the antenna 103 is provided with a function as a relay station or a base station for the RTK main body of the satellite or communication, so that a plurality of cameras provided in the water mobility 100 can take an image. The different video signals can be displayed on the display unit 351 which is received and connected to the receiver 350 via the VTX transmission unit 120 and the antenna 121.

Reference numeral 103 denotes a transmission / reception antenna, which is configured to enable transmission / reception of, for example, a 5.8 GHZ digital signal between the receiver 350 and the water mobility 100. Further, in the voice conversation mode, the frequency is switched to 2.4 GHz, and the radio signal from the RC controller 200 and the voice signal collected by the microphone 104, which will be described later, are converted into digital signals and transmitted to the receiver 350 or the RC controller 200.

Reference numeral 105 is a waterproof speaker, and the sound from the pilot received by the water mobility 100 from the RC controller 200, specifically, the sound obtained by converting the digital sound signal converted into a digital signal into an analog signal is loudened toward the water. And output.

The speaker 105 receives the pilot's voice signal collected by the microphone 251 by the antenna 121, and then amplifies the processed voice via the controller unit 106 and the voice processing unit 107. Here, the level of loudspeaking is configured so that loudspeakers can be loudened as voice outputs having different intensities (dB) at least by about three steps.

As a result, the voice output level can be adjusted according to the distance between the rescuer and the water mobility 100 after finding the rescuer to be rescued.

108 is an engine driver, and in response to any of channels CH1 to CH6 controlled by the controller unit 201 of the RC controller 200, the start and stop of the engine 109, and the acceleration level (from the engine start to the full opening of the engine are stepwise). ) Is controlled.
In the present embodiment, the microphone 251 and the speaker 252 are assigned to the channel CH6 to selectively function the microphone 251 or the speaker 252.

Reference numeral 110 is an engine driver, which is configured to be capable of adjusting the left-right swing angle of the handle portion 111 to control the traveling direction in response to any of channels CH1 to CH6 controlled by the controller portion 201. ..

In the system example of the present embodiment, a case where a plurality of cameras are equipped in the water mobility 100 will be described, but the first water mobility is equipped with one CCD camera as the first camera and two cameras. The water mobility of the eyes may be equipped with one infrared camera as a second camera, and two pilots may work together to conduct a water search activity to support the rescuer waiting for rescue on the water.

In addition, multiple cameras (ordinary video camera, infrared camera) are placed on both sides near the bow of the water mobility 100 so that the viewpoint direction (for example, 360 ° direction adjustment is possible) and angle of the lens can be adjusted. You may.
Here, the video camera includes a video recording device similar to a wearable camera, an action camera, a digital video camera, and the like, and also includes a camera device equipped with an SD card, a hard disk, and the like.

Further, the water mobility 100 shown in the present embodiment is provided with a large-capacity secondary battery (not shown), and has sufficient power for the red light 113 and the lighting light 114 used for rescue activities even if the engine 109 is stopped. Is configured to be able to supply for several hours.

Further, the secondary battery is equipped with a function of charging the secondary battery by starting a generator (not shown) by starting the engine 109.
[Structure of RC controller]

The controller unit 201 controls the exchange of RC control signals between the antenna 202 and the antenna 103 of the water mobility 100 that can move on the sea surface to control the driving of the engine 109, the red light 113, and the lighting light 114. ..

It should be noted that the image angle of the camera 101 can be adjusted up and down and left and right by using the sensor connected to the receiver 350.
Reference numeral 203 denotes a transmission / reception unit, which performs transmission / reception processing of an RC control signal between the antenna 202 and the antenna 103 of the water mobility 100 that can move on the water surface.

The signal processing unit 204 transmits various drive signals processed by actuator signals for driving the equipment of the water mobility 100 generated by the controller unit 201 to the antenna 103 of the water mobility 100 via the transmission / reception unit 203 and the antenna 202. do.

205a is a positioning processing unit that processes positioning information in the position signal (GPS (Global Positioning System)) mode (GPS mode) received from the satellite to target points (distress site, fishing ground monitoring area, swimming prohibited area, etc.). The monitoring area) information can be notified to the GPS processing unit 102 of the small vessel, and the position information indicating the current position of the pilot can be displayed on the display unit 351 connected to the receiver 350.
Reference numeral 205b is a positioning processing unit, which performs positioning processing based on a real time Kinematic signal (RTK mode).

As a result, the water mobility 100 navigates unmanned during the day, moves to the target point set as the distress site sea area under the control of GPS information or the control of RTK mode, and uses the camera 101 at the target point. It is possible to search for the rescuer who was there and to monitor the condition of the rescuer.

The water mobility 100 is provided with a red light 113, a lighting light 114 capable of controlling the lighting direction, a rescue float as a float, a rescue food, and a heat insulating sheet as equipment, and the rescue destination is provided with a heat insulating sheet. It is configured to be able to support rescue.

As a result, the camera 101 captures the rescuer to be rescued while the sea surface is illuminated by the illumination lamp 114 even under night vision, that is, even in the dark, so that the rescue rescue is constant even when the water surface is under night vision. It is possible to support activities and save lives quickly.

206 is an operation unit, and the pilot operates the left and right stick bars 206a and 206b up, down, left and right to start the engine 109 of the water mobility 100, stop the engine 109, accelerate the engine 109, and operate the water mobility 100 of the handle unit 111. Indicate the direction of travel. Here, the handle portion 111 switches the direction of the water flow draining from the rear portion of the bottom of the water mobility 100 to determine the traveling direction.

As a result, the controller unit 201 can generate a drive signal (digital control signal) of a predetermined bit via the signal processing unit 204 and transmit it from the antenna 202 to the antenna 103 of the water mobility 100 via the transmission / reception unit 203.

On the other hand, in the water mobility 100, the instruction content processed by the transmission / reception unit 112 of the digital control signal received via the antenna 103 is notified to the controller unit 106, and the engine driver 108 starts and accelerates the engine 109 (follows the throttle operation). , Make a stop.

Similarly, in the water mobility 100, the instruction content processed by the transmission / reception unit 112 of the digital control signal received via the antenna 103 is notified to the controller unit 106, and the handle driver 110 notifies the handle unit 111 via an actuator (not shown). It is driven to control the traveling direction of the water mobility 100.

[FPV system configuration]
The display unit 351 connected to the receiver 350 constituting the FPV system can display the moving image on the water transmitted from the water mobility 100 in real time.

A motion device (not shown) can be connected to the goggles, and the gesture (motion) movement of the motion device operated by the pilot is regarded as the movement of the line of sight of the pilot wearing the goggles on the water mobility 100. It is also possible to control the imaging direction (upper limit, left and right) of the camera 101.

The pilot who operates the RC controller 200 links the microphone 251 and the speaker 252, and while checking the real image transmitted from the water mobility 100 on the display screen of the display unit 350, the received voice (the rescuer survives). In some cases, it is possible to directly talk with the rescuer through the microphone 251 in a state of being full of presence while listening to the speaker 252 (including a conversation explaining the current situation). The voice collected on the water to be received is signal-processed by the DSP chip of the voice processing unit 107 as described above.

Next, the pilot who operates the RC controller 200 transmits the audio signal generated through the microphone 251 to the water mobility 100, and the speaker 105 of the water mobility 100 alouds and emits the sound signal. The position of the speaker 105 is configured to extend vertically from the bottom of the ship. As a result, it is possible to emit voice over a slightly distant area from a close area.

In this way, in this system, the rescuer to be rescued and the pilot who operates the RC controller 200 board the water mobility 100, head for rescue at the distress point, find the rescuer, and have a conversation on the spot. It becomes possible to behave like this.

The pilot of the RC controller 200 displays the position information (current position of the rescuer to be rescued) display unit 351 specified from the GPS signal acquired from the water mobility 100, and displays the position information on the external organization (Fire and Disaster Management Agency). By notifying the rescue unit, the Fire and Disaster Management Agency Ranger Unit, and the Japan Coast Guard), it is possible to form a rescue team for rescuers as soon as possible.

In addition, the pilot of the RC controller 200 gives an instruction from the RC controller 200 to turn on the red light 113 of the water mobility 100 to identify the direction in which the rescue team heading for rescue should proceed quickly, and the shortest distance and the shortest time. It can also be used as an index when arriving at the distress site.

Further, the pilot can function as a searchlight in the search sea area by instructing the RC controller 200 to turn on the lighting lamp 114 of the water mobility 100. Such a search light not only helps the rescue operation, but also gives the rescuer a sense of security.
The controller unit 201 includes stick bars 206a and 206b as instruction means for giving various instructions for remotely controlling the water mobility 100.

Further, the controller unit 201 of the RC controller 200 has a signal generation function of generating a steering signal according to the instructions given by the stick bars 206a and 206b. At that time, the transmission / reception unit 203 of the RC controller 200 functions as a means for transmitting the generated control signal to the water mobility 100.

On the other hand, the water mobility 100 includes a microphone 104 for collecting ambient sounds on the water and a speaker 105, and the controller unit 106 processes the voice information received from the receiver 350 by the voice processing unit 107 and then from the speaker 105. Loud.

Further, the transmission / reception unit 112 has a function of receiving navigation information from the RC controller 200 and a function of transmitting the sound collection information collected by the microphone 104 to the receiver 350. The moving image information, still images, etc. captured by the camera 101 are transmitted to the receiver 350 via the VTX transmission unit 120 and the antenna 121.

Further, the controller unit 106 receives an operation instruction from the RC controller 200, positions and controls the line-of-sight direction of the camera 101, and controls the navigation state of the water mobility 100 based on the navigation information received from the RC controller 200. ..
[Control method of water monitoring system based on the first monitoring mode]

FIG. 3 is a flowchart illustrating a control method of the water monitoring system showing the present embodiment. Note that S1 to S24 indicate each step, and each step is realized by the CPU of the controller unit 201 loading the control program stored in the ROM into the RAM and executing the step. Here, on the water, the sea is taken as an example.

Hereinafter, in the first monitoring mode, a system example in which the controller unit 106 controls the imaging direction of the camera 101 mounted on the water mobility 100 to perform water monitoring will be described.

Further, in the first monitoring mode, the water mobility 100 is moved in the shortest time in the GPS mode or the RTK mode until the destination reached to be described later in the daytime, and the image information (video signal) captured by the camera 101 is transmitted. This is an example of not doing so.
As a result, it is possible to avoid a situation in which wasteful power is consumed and to support the water monitoring activity for a long time by turning on the lighting 114.

Further, in the initial search for the rescuer, the controller unit 106 of the water mobility 100 moves to the destination so that the unmanned water mobility 100 arrives at the distressed sea area specified from the GPS information notified from the drone (not shown) in the shortest distance. It is assumed that the position information to be is instructed from the controller unit 201.

Further, in this example of the water monitoring system, the controller unit 106 of the water mobility 100, the controller unit 201 of the RC controller 200, and the controller 355 of the receiver 350 cooperate to support the rescue activities of the rescuer.

Specifically, the controller unit 106 of the water mobility 100 and the RC controller 200 cooperate to establish communication for the pilot and the rescuer to have a voice conversation at the same time.

Further, the controller unit 106 of the water mobility 100 and the RC controller 200 cooperate to establish communication for controlling the posture position of the camera 100 based on the image pickup request from the pilot.

First, when the controller unit 201 determines that the pilot has been instructed to operate the stick bar 206a to start the engine 109 of the water mobility 100 (YES in S1), the controller unit 201 further monitors the water surface. When it is determined whether the mode is the first monitoring mode for daytime or the second monitoring mode for nighttime (S2) and it is determined to be the second monitoring mode, it is shown in FIG. 5 described later. The process proceeds to step S32.
On the other hand, if the controller unit 201 determines in step S2 that the monitoring mode is the first monitoring mode for daytime, the process proceeds to S3.

Next, the controller unit 201 generates an identification code for identifying the engine 109 of the water mobility 100 and an engine start signal for changing the state signal of the engine 109 to the ON state, and the signal processing unit 204 generates the transmission / reception unit 203 and the antenna. It is transmitted to the water mobility 100 via 202. As a result, the controller unit 106 of the water mobility 100 instructs the engine 109 to start (S3).

Next, when the controller unit 201 determines that the dispatch mode requires urgency, that is, the pilot operates the stick bar 206a to turn on the red light 113 of the water mobility 100 (in S4). YES), proceed to step S5.

Next, the controller unit 201 generates an identification code instructing the lighting of the red light 113 of the water mobility 100 by the signal processing unit 204 and a red lighting signal that changes the state signal of the red light 113 to the ON state, and transmits / receives the signal. It is transmitted to the water mobility 100 via the unit 203 and the antenna 202. In response to this, the controller unit 106 of the water mobility 100 instructs the water mobility 100 to turn on the red lamp 113 (S5).

Next, when the controller unit 201 determines that the pilot operates the stick bar 206a and the handle unit 111 of the water mobility 100 determines the traveling direction of the water mobility 100, specifically, the course of the water mobility 100 (S6). Yes), proceed to step S7.

Next, in the controller unit 201, the signal processing unit 204 has an identification code for designating the handle unit 111 of the water mobility 100 in the right direction, the left direction, and the straight direction, and a control signal for accelerating the engine 109 to propel the water mobility 100. Is generated and transmitted to the water mobility 100 via the transmission / reception unit 203 and the antenna 202.
In response to this, the controller unit 106 of the water mobility 100 starts the water movement of the water mobility 100 (S7). Subsequent movement directions are quickly moved to the rescue area by the first positioning processing (GPS) unit 205a following the GPS signal and determining the direction of the bow. It should be noted that the configuration may be such that the positioning process by the second positioning process (GPS) unit 205b is used.

Subsequently, the controller unit 201 receives the GPS signal received from the water mobility 100 and determines whether or not the current position of the water mobility 100 has arrived at the distress point (destination) (S8).

Here, when the controller unit 201 determines that the current position of the water mobility 100 has arrived at the rescue point (destination), the controller unit 201 has a control signal for the signal processing unit 204 to stop the engine of the water mobility 100. Is generated and transmitted to the water mobility 100 via the transmission / reception unit 203 and the antenna 202.

In response to this, the controller unit 106 of the water mobility 100 stops the movement of the water mobility 100 (S9), and switches the shooting mode of the camera 101 to the FPV mode.

As a result, when it is determined that the controller unit 106 of the water mobility 100 has received the directional information from the controller 355 of the receiver 350 that determines the azimuth of each camera mounted following the movement of the line of sight operated by the pilot (YES in S10). ), Proceed to step S11. After that, the controller 355 of the receiver 350 constantly determines whether or not the orientation information of the camera 101 is updated (S11).
Here, if the controller 355 of the receiver 350 determines that the directional information of the camera 101 has been updated, the process proceeds to step S18.

Then, the controller 355 of the receiver 350 generates a positioning control signal that determines the directional direction of the camera 101. Further, the controller 355 of the receiver 350 transmits the generated new positioning control signal to the water mobility 100 via the antenna of the receiver 350 (S18), and returns to step S11.

As a result, the controller unit 106 of the water mobility 100 controls the directional direction of the image taken by the camera 101 following the movement of the line of sight of the pilot wearing the receiver 350, so that the camera 101 captures the subject of interest by the pilot. Perform positioning control.

On the other hand, if the controller 355 of the receiver 350 determines in S11 that the directional information of the camera 101 has not been updated, the process proceeds to S12.

Then, the direction of the camera 101 is controlled before the pilot wearing the receiver 350 stares, and the camera image of the subject (for example, the face of the rescuer) that the pilot is paying attention to is transmitted to the receiver 350 as a video signal (S12). ..

Next, in order to confirm the response from the subject (the rescuer to be rescued) that the pilot is staring at, the controller unit 201 is instructed by the pilot to operate the stick bar 206a to collect sound by the conversation tool of the water mobility 100. If it is determined that this has been done (YES in S13), the controller unit 201 switches the communication mode to the 2.4 GHz band, establishes a voice conversation, and then proceeds to step S14.

Then, the controller unit 201 transmits a control signal for setting the conversation tool of the microphone 104 and the speaker 105 to the conversation state (ON state) to the water mobility 100 via the transmission / reception unit 203 and the antenna 202.
As a result, the controller unit 106 of the water mobility 100 can shift the microphone 104 and the speaker 105 to the ON state (S14).

Next, the pilot uses the microphone 251 externally connected to the RC controller 200 to send voice data for a voice to the subject (rescue) (for example, "Are you okay?") Through the antenna 202. Is transmitted to the water mobility 100 (S15). For example, the speaker 105 loudly outputs, for example, "Are you okay?" To the rescuer.

Next, when the controller unit 106 of the water mobility 100 determines that the pilot has instructed to collect the voice of the rescuer (instruction to receive the voice uttered by the rescuer) (YES in S16), the step. Proceed to S17.

Then, the controller unit 106 of the water mobility 100 collects sound using the microphone 104 (S17), the controller unit 106 signals the collected rescuer's voice with the voice processing unit 107, and then the controller unit 106 receives the sound. The collected voice of the rescuer is transmitted from the antenna 103 to the RC controller 200.

Next, the RC controller 200 outputs the sound received from the controller unit 106 from the speaker 252 (which may be an earphone output) (S19). This allows the pilot to pick up the rescuer's live voice and determine the rescuer's condition in the field using both auditory and visual at the same time. At this time, the controller unit 106 of the water mobility 100 controls the input unit for inputting the relief material instructed by the RC controller 200, and selects, for example, one of the float, the food, and the heat insulating sheet as the relief material. However, it can be put on the water.
As a result, the rescuer can significantly reduce the exhaustion of physical strength by acquiring the float and obtaining sufficient buoyancy. Furthermore, it is possible to prevent a decrease in body temperature by wrapping a heat insulating sheet around the body.

Subsequently, if it is determined that the instruction to return the water mobility 100 has not been given (YES in S20), the process returns to S10, and the RC controller 200 repeats the same process with the water mobility 100 to obtain the subject (YES). Talk to the rescuer).
During this time, when the rescue team arrives at the scene, it is judged that the initial rescue process by the water mobility 100 is completed.

On the other hand, when it is determined in step S20 that the controller unit 201 has been instructed to return to the departure position by operating the stick bar 206a from the pilot, the controller unit 201 sets the communication mode to the 5.8 GHz band. After switching and establishing communication that prioritizes the operation of the water mobility 100, the process proceeds to step S21.

Then, the engine start signal for restarting the engine 109 of the water mobility 100 is transmitted to the water mobility 100 via the transmission / reception unit 203 and the antenna 202. In response to this, the controller unit 106 of the water mobility 100 starts the engine 109 (S21).

When returning the water mobility 100, it is also possible to control the return destination in the automatic return mode in which the first positioning processing (GPS) unit 205a or the second positioning processing unit 205b returns to the first starting point. Is.

Further, in a system that uses the second positioning process (RTK) unit 205b as the positioning process, accurate positioning is possible by performing the positioning process having a position accuracy error of about 3 cm.

Next, the controller unit 201 instructs the return start of the water mobility 100 in the GPS mode (S22). Then, when the controller unit 201 confirms that the water mobility 100 has returned to the departure position (S23), the controller unit 201 sends an engine stop signal for stopping the engine 109 of the water mobility 100 to the water mobility 100 via the transmission / reception unit 203 and the antenna 202. Transmission is performed to stop the engine 109 (S24), and this process is terminated.
When returning the water mobility 100, if the communication mode is the RTK mode, the water mobility 100 may be automatically returned to the departure position (home position) in step S20.

As a result, during the daytime, the GPS function (RTK function) is used to quickly reach the point to be rescued, and while checking the facial expressions of the rescuer waiting for rescue on the water, the conversation is smooth and the rescue activity is swift. Can be done.
In addition, when the receiver 350 is composed of goggles on the water, the pilot wearing the goggles ensures rescue activities while visually recognizing the rescuer on the screen inside the goggles and ensuring voice conversation with the rescue supporter. I can help.
[Effect of the first embodiment]

According to the first embodiment, during the daytime, the pilot operating the RC controller is on the water under the rescuer who should be rescued quickly by using the GPS function and the RTA function while watching the image received by the receiver. Mobility can be rushed. Then, the pilot will support the rescue team by locating the rescuer as photographed by the water mobility camera, watching the rescuer while the water mobility is close to the rescuer, and talking in both directions until the rescue team arrives. Can be done remotely.
[Second Embodiment]
[Control method of water monitoring system based on the second monitoring mode]

FIG. 4 is a block diagram showing an example of a water monitoring system showing the present embodiment. The difference in configuration between the water monitoring system shown in this example and the water monitoring system shown in FIG. 2 is that the water mobility 100 is equipped with an infrared camera 115 and processes a heat source (human body) floating on the water at night as an infrared image. Is a possible system example.

In the water monitoring system configured in this way, the controller unit 106, the controller unit 201, and the controller 355 of the receiver 350 cooperate to establish communication for the pilot and the rescuer to have a voice conversation at the same time.

Similarly, the controller unit 106, the controller unit 201, and the controller 355 of the receiver 350 cooperate to establish communication for controlling the posture position of the infrared camera 115 received from the receiver 350.

Further, communication is established between the water mobility 100 and the RC controller 200 for controlling the posture position of the infrared camera 115 based on the image pickup request from the pilot operating the controller 355 of the receiver 350.

FIG. 5 is a flowchart illustrating a control method of the water monitoring system showing the present embodiment. Note that S31 to S53 indicate each step, and each step is realized by the CPU of the controller unit 201 loading the control program stored in the ROM into the RAM and executing the step.

Hereinafter, in the second monitoring mode, a system example in which the controller unit 106 controls the imaging direction of the infrared camera 115 mounted on the water mobility 100 to perform water monitoring will be described.

Further, in the second monitoring mode, the GPS mode or the real-time kinematic mode is used until the destination to be described later is reached, and the image captured by the infrared camera 115 is connected to the receiver 350 for the search. This is an example of supporting the rescue activities of the rescuer in the middle of the night in the relief water area while moving the water mobility 100 while monitoring with a device.

Further, in the initial search for the rescuer, the controller unit 106 of the water mobility 100 connects the unmanned water mobility 100 to the distressed sea area specified from the GPS information or RTK information notified from the drone (not shown) in the shortest distance. It is assumed that the moving direction is instructed by the RC controller 200.

First, when the controller unit 201 determines that the pilot has been instructed to operate the stick bar 206a to start the engine 109 of the water mobility 100 (YES in S31), the controller unit 201 has a first monitoring mode. If it is determined whether the mode is the monitoring mode or the second monitoring mode (S32) and the first monitoring mode is determined, the process proceeds to step S2 shown in FIG. 3 described above.
On the other hand, if the controller unit 201 determines in step S32 that the monitoring mode is the second monitoring mode, the process proceeds to S33 shown in FIG.

Next, the controller unit 201 generates an identification code for identifying the engine 109 of the water mobility 100 and an engine start signal for changing the state signal of the engine 109 to the ON state, and the signal processing unit 204 generates the transmission / reception unit 203 and the antenna. It transmits via 202 and instructs the water mobility 100 to start the engine 109.

Further, an instruction to turn on the power of the infrared camera 115 on the water mobility 100 is transmitted from the controller 355 of the receiver 350 via the antenna 306 (S33).

Next, when the controller unit 201 determines that the dispatch mode requires urgency, that is, the pilot operates the stick bar 206a to turn on the red light 113 of the water mobility 100 (in S34). YES), proceed to step S35.

Then, the controller unit 201 generates an identification code instructing the lighting of the red light 113 of the water mobility 100 by the signal processing unit 204 and a red lighting signal that changes the state signal of the red light 113 to the ON state, and the transmission / reception unit. It transmits to the water mobility 100 via 203 and the antenna 202.
As a result, the controller unit 106 of the water mobility 100 turns on the red light 113 (S35).

Next, when the controller unit 201 determines that the pilot operates the stick bar 206a to instruct the handle unit 111 of the water mobility 100 to determine the traveling direction (instruction to determine the direction of the infrared camera 115) (instruction to determine the direction of the infrared camera 115). YES in S36), and the process proceeds to step S37.

Next, the controller unit 201 generates an identification code for designating the direction in which the signal processing unit 204 operates the handle unit 111 of the water mobility 100, and a control signal for accelerating the engine 109 to promote the water mobility 100, and transmits and receives the control signal. It is transmitted to the water mobility 100 via the unit 203 and the antenna 202.

As a result, the controller unit 106 starts the water movement of the water mobility 100 (S37). After that, the directional movement of the water mobility 100 is determined by the controller unit 106 following the GPS signal or the real-time kinematic (RTK) signal, so that the water mobility 10 is automatically tracked to the rescue water area.

Subsequently, the controller unit 201 receives the GPS signal received from the water mobility 100 and determines whether or not the current position of the water mobility 100 has arrived at the rescue point (destination) (S38). Here, if it is determined that the current position of the water mobility 100 has arrived at the rescue point (destination), the process proceeds to step S39.

Then, the signal processing unit 204 generates a control signal for stopping the engine of the water mobility 100, and transmits the control signal to the water mobility 100 via the transmission / reception unit 203 and the antenna 202.

As a result, the controller unit 106 of the water mobility 100 stops the movement of the water mobility 100 (S39), and switches the infrared camera 115 to the FPV mode.

After that, when the controller 355 of the receiver 350 determines that the movement of the line of sight of the motion sensor by the pilot is detected (YES in S40), the process proceeds to step S41.

In step S41, the controller 355 of the receiver 350 determines whether or not the pilot operating the receiver 350 has instructed to change the direction of travel, and determines whether or not the direction information of the infrared camera 115 has been updated (. S41).

Here, when the controller 355 determines that the azimuth information of the infrared camera 115 has been updated, the controller 355 generates a positioning control signal that determines the line-of-sight direction of the infrared camera 115, and the generated new positioning control signal. Is transmitted to the water mobility 100 via the antenna 306 (S48), and the process returns to step S41.

As a result, the controller unit 106 of the water mobility 100 controls the azimuth direction of the infrared camera 115 according to the instruction to change the traveling direction from the pilot operating the receiver 350, and captures the rescuer who the pilot gazes at.

On the other hand, if the controller 355 determines in S41 that the direction information of the infrared camera 115 has not been updated, the process proceeds to step S42.

Then, the controller unit 106 of the water mobility 100 controls the pilot operating the receiver 350 to adjust the direction of the infrared camera 115 to the direction instructed to change the traveling direction.

In response to this, the controller unit 106 of the water mobility 100 transmits a video signal that captures the subject (for example, the face of the rescuer) that the pilot is watching to the receiver 350 (S42), and proceeds to step S43.

Next, in order to confirm the response from the rescuer on the water staring at the pilot, the controller unit 201 states that the pilot operates the stick bar 206a and is instructed to collect sound by the conversation tool of the water mobility 100. If it is determined (YES in S43), the controller unit 201 switches the communication mode to the 2.4 GHz band, establishes a voice conversation, and then proceeds to step S41.

Then, in step S41, the controller unit 201 transmits a control signal for setting the conversation tool of the microphone 104 and the speaker 105 to the conversation state (ON state) to the water mobility 100 via the transmission / reception unit 203 and the antenna 202 (S44).

Next, the pilot uses the microphone 251 connected to the RC controller 200 to transmit voice data for a voice to the subject (rescue) (for example, "is it okay?") To the transmission / reception unit 203 and the antenna 202. It is transmitted to the controller unit 106 of the water mobility 100 via (S45).
In response to this, the controller unit 106 speaks loudly from the speaker 105 of the water mobility 100 to a person who should rescue, for example, "Are you okay?". If the name of the person to be rescued has been confirmed, the name will be issued first, and then "Are you okay?" Will be issued.

When it is determined in S46 that the controller unit 201 has instructed the rescuer to collect sound (YES in S46), the microphone 104 of the water mobility 100 and the speaker 105 are turned on.

Then, after the sound collected by the microphone 104 is signal-processed by the controller unit 106, when the microphone 104 collects the sound of the rescuer accommodated on the water (S47), the controller unit 106 of the water mobility 100 receives the sound. The rescuer's voice signal collected via the transmission / reception unit 112 is transmitted to the RC controller 200 (S49).

As a result, the pilot can hear the live voice of the rescuer whose sound is collected by the microphone 104 of the water mobility 100 from the speaker 252 equipped in the RC controller 200 and processed by voice (including removing the sound of waves). can do.

Subsequently, the controller unit 106 talks with the subject (rescue person) by repeating the same process with the water mobility 100. During this time, when the rescue team arrives at the scene, it is judged that the initial rescue process by the water mobility 100 is completed. Here, the controller unit 201 switches the communication mode to the 5.8 GHz band and establishes communication that prioritizes the operation of the water mobility 100.

Next, the controller unit 201 determines whether or not a return instruction has been given for the pilot to operate the stick bar 206a to return to the starting position (S50).

Here, if it is determined that the controller unit 201 operates the stick bar 206a from the pilot to give a return instruction for returning to the departure position, the process proceeds to step S51.

Then, the engine start signal for restarting the engine 109 of the water mobility 100 is transmitted to the water mobility 100 via the transmission / reception unit 203 and the antenna 202.

As a result, the controller unit 106 of the water mobility 100 starts the engine 109 (S51). When returning the water mobility 100 to the initial movement start position, the return destination may be controlled in the automatic return mode in which the first positioning processing unit 205a or the second positioning processing unit 205b returns to the first starting point. It is possible.

Next, the controller unit 201 starts the return of the water mobility 100 in the GPS mode or the real-time kinematic (RTK) mode (S52).

Then, when the controller unit 201 confirms that the water mobility 100 has returned to the departure position (S53), the controller unit 201 sends an engine stop signal for stopping the engine 109 of the water mobility 100 to the water mobility 100 via the transmission / reception unit 203 and the antenna 202. Transmission is performed to stop the engine 109 (S54), and this process is terminated.

As a result, the water mobility 100 quickly arrives at the point to be rescued by using the GPS function and the RTK function from the evening when the sun goes down to the early morning, and then the infrared camera 115 equipped on the water mobility 100 is on the water. It is possible to capture the drifting rescuer as a heat source image and carry out rescue activities smoothly.
[Effect of the second embodiment]

According to the second embodiment, the water mobility 100 arrives at a point to be rescued promptly by using the GPS function and the RTA function even at night when the visibility is poor, and the pilot identifies the position of the rescuer. By considering the rescuer floating on the water as a heat source, it is possible to efficiently identify the position of the rescuer to be rescued.

In addition, the water mobility 100 can support the rescue activities of rescuers 24 hours a day including midnight, and the lifesaving rate can be significantly improved.
In addition, the pilot who operates the receiver 350 can reliably support the rescue operation while ensuring a conversation with the rescue supporter while visually recognizing the infrared image of the rescuer on the water.

As a system combining the first embodiment and the second embodiment, for example, the water mobility 100 monitors both the camera 101 and the infrared camera 115 in the first monitoring mode or the second monitoring mode. If the controller unit 201 determines whether or not the image information is transmitted and controls the camera image to switch the transmission content of the image information between the water mobility 100 and the controller unit 201, it can be used in both daytime and nighttime situations. Can adapt and support rescue operations.

Here, since the controller unit 201 is configured to be able to identify the camera equipped state of the water mobility 100, if only one of the camera 101 and the infrared camera 115 is mounted, the first monitoring mode is used. It is possible to accurately determine whether the mode is present or the second monitoring mode.

When both the camera 101 and the infrared camera 115 are mounted, the controller unit 201 specifies the first monitoring mode or the second monitoring mode for the water mobility 100 to determine which mode it is. You can also judge.

In the rescue activity, the water mobility 100 is equipped with an omnidirectional camera that functions as a third camera, the image received by the receiver 350 is displayed on the display device, and the pilot is watching the display of the display device while performing the rescue activity. Therefore, it is possible to efficiently and surely carry out relief activities by utilizing multiple viewpoints of the pilot in all directions.

[Third Embodiment]
FIG. 6 is a schematic view showing the configuration of the water monitoring system showing the present embodiment.
This example is an example of a water monitoring system in which a plurality of water mobility 100s are arranged in, for example, a swimming area of a beach to monitor swimmers. Since the configuration of the water mobility 100 is the same as that of the first embodiment, detailed description of the configuration will be omitted. Hereinafter, an example in which a life saver wears a goggle-type receiver 350 to monitor a swimmer will be described.

In this example, a guard who acts as a life saver wears goggles on a beach watch stand and monitors the state of the swimmer in the entire swimming area while operating the RC controller 200.
[Effect of the third embodiment]

According to the third embodiment, a guard who acts as a life saver wears goggles on a beach watch stand and monitors the condition of the swimmers in the entire swimming area while paying attention to swimmers who are more dangerous than the water mobility 100. Can be called out by the voice of the pilot.

[Fourth Embodiment]
FIG. 7 is a schematic view showing an example of a water monitoring system showing the present embodiment. Hereinafter, an example will be described in which a goggle-type receiver 350 is attached by a cage watcher and a trap installation work is performed to prevent a poacher who approaches the offshore cage from invading the water mobility 100.

In this example, a plurality of water mobility 100s are moved to the vicinity of the offshore cages 501 to 503, and a watchman wears goggles 300 in the monitoring hut and operates the RC controller 200 to operate the offshore cages 501 to 503. This is an example of a water monitoring system in which cameras 101 and 115, which take pictures of the surrounding area on a regular basis or in a cage, orbit and monitor the poachers at the timing of imaging.

Since the configuration of the water mobility 100 is the same as that of the first embodiment, detailed description of the configuration will be omitted. Further, in the daytime, the water patrol in the first monitoring mode is performed, and in the night, the water patrol in the second monitoring mode described above is performed.

[Effect of Fourth Embodiment]
According to the fourth embodiment, a watchman who monitors the state of a plurality of cages wears goggles and monitors the state of the cage and the approach of a suspicious person from a gathering place or the like away from the cage, and the water mobility 100. It is also possible to warn an approacher who is clearly sluggish to call attention by the voice of the pilot. If the image recognizes a state in which the warning is ignored, it is possible to issue a report to the competent authority. In addition, by recording the site photograph, it is possible to use it as an investigation material later.

In the first and second embodiments, the first camera is arranged in the direction toward the bow of the water mobility 100 as the arrangement position of the first camera, the second camera, and the third camera, and the water mobility 100 is arranged. The case where the third camera is arranged near the operation handle of the water mobility 100 and the second camera is arranged at the bow of the water mobility 100 has been described. However, the direction perpendicular to the vertical bar provided near the operation handle of the water mobility 100 It may be configured to be installed side by side (up and down direction).

At that time, a third camera may be installed at the top of the vertical bar so as to be at the highest altitude from the ship, and then a plurality of first cameras and a plurality of second cameras may be installed facing each other. good.

Further, in each of the above embodiments, the case where the pilot operates the RC controller 200 to transfer the water mobility 100 to the rescue point has been described, but the water mobility 100 equipped with the above-mentioned cameras 101 and 115 is rescued to the rescue site. It may be configured to promptly support the search activity in the site sea area by transporting the water in the sea area and dropping and landing the water mobility 100 in the sea area.

As a result, even in a situation where rescue personnel (sea monkeys) cannot approach the burning hull, it is possible to approach the hull and quickly support the search for damaged parts and the search for life-saving sailors.
Further, the water mobility 100 may be configured so that a rope with a hook for towing, for example, a 30-foot class cruiser can be thrown in as a relief material.
[Fifth Embodiment]

FIG. 8 is a perspective view showing an example of other water mobility applied to the water monitoring system showing the present embodiment.

In each of the above embodiments, the case where the personal watercraft model is applied as an example of the personal watercraft applied to the water monitoring system has been described, but it is possible to apply the personal watercraft that can be boarded by the following three people to the present invention. Needless to say.

In the water mobility shown in this example, the control stick is provided at a predetermined position in front of the hull, there are multiple buttons that a fighter handles, and when the control stick (controller stick) is pulled backward, throttle operation is performed and it is tilted to the left or right. By doing so, it is configured to be able to control the direction of travel of water mobility.

Therefore, various cameras shown in the above embodiment are provided at predetermined positions, and by communicating with the RC controller 200, the stick operation of the RC controller 200 is controlled so as to be handled as the control stick operation, thereby carrying out the above-mentioned water mobility. It is possible to execute the same function as 100. Therefore, in this figure, the camera, the speaker, the microphone, the antenna, and the like are omitted.
[Effect of the fifth embodiment]

According to the fifth embodiment, the width and the total length can be expanded as compared with the water mobility 100 shown in the first embodiment, so that one unit can be equipped with a considerable amount of equipment, and there are also rescuers to rescue. It is also possible to accommodate multiple people at the same time. In addition, since the water mobility shown in FIG. 8 can adopt a large engine in terms of horsepower, the towing capacity is also high, so that it is possible to tow a plurality of small vessels at the same time, and the rescue activity capability is also excellent. ..

Therefore, by fully utilizing the potential of water mobility shown in FIG. 8, it can play a major role in various relief activities in general.

100 Water mobility 101a, 101c camera (first camera)
101b, 101d infrared camera (second camera)
101e Omnidirectional camera (third camera)
106 Controller part 201 RC Controller part 300 Goggles

Claims (12)

A speaker, a microphone, a water mobility that can be equipped with a camera and that the operator can board and navigate on the water, and a receiver that receives the video signal transmitted from the camera and displays it on the display unit . It is a water monitoring system that communicates
Equipped with an RC controller that controls the behavior of the above -mentioned water mobility in an unmanned state ,
The receiver is
In response to receiving the water image transmitted from the camera, the display mode of the display unit is switched to the monitoring mode, and the water image transmitted from the camera and the information for supporting the rescue activity on the water are described. Equipped with display control means to display on the display unit
The water mobility is
A control means for controlling the water navigation of the water mobility in response to receiving an action signal transmitted from the RC controller to be operated while the pilot is watching the water image displayed on the display unit .
Equipped with
The water mobility means that when the engine is stopped, the water image taken by the camera and the water sound collected by the microphone are transmitted to the receiver, and the sound received from the receiver is loudened from the speaker . A featured water monitoring system. In the water mobility,
The water monitoring system according to claim 1, wherein the control means controls a charging unit for charging a rescue material to the water to support rescue for a rescuer based on a charging instruction received from the RC controller. .. The water monitoring according to claim 2, wherein the control means controls the charging unit so that any one of a float, food, and a heat insulating sheet can be sequentially charged onto the water as the rescue material. system. The water mobility is
The water surveillance system according to claim 1, wherein a plurality of cameras for photographing the water by different video methods can be equipped at a predetermined position. The water monitoring system according to claim 4, wherein any one of the cameras is composed of a CCD camera. The water monitoring system according to claim 4, wherein any one of the cameras is composed of an infrared camera. The water monitoring system according to claim 4, wherein any one of the cameras is composed of an omnidirectional camera. The water monitoring system according to claim 1, further comprising means for outputting an image received by the receiver to a screen included in goggles worn by the pilot. The water monitoring system according to claim 1, wherein the supporting information includes the position information of the water mobility, the water temperature information, the weather information, and the type of the relief material to be mounted. The water monitoring system according to claim 1, further comprising an establishment means for establishing voice communication between the water mobility and the RC controller. The water monitoring system according to claim 1, wherein the RC controller switches and controls a communication mode with the water mobility. The water monitoring system according to claim 11, wherein the RC controller switches and controls the communication mode with the water mobility from the 5.8 GHz band to the 2.4 GHz band during voice conversation communication.

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