JP6977266B2 - Underwater search method and underwater search system - Google Patents

Description

The present invention relates to an underwater search method and an underwater search system used to search for an object underwater using an underwater vehicle.

An autonomous underwater vehicle called AUV (Autonomous Underwater Vehicle) or UUV (Unmanned Underwater Vehicle) may be used to search for natural objects in the water or objects artificially installed in the water. Has been done.

An underwater information collection system has been conventionally proposed for searching for an underwater object submerged in the bottom of a water using an underwater vehicle (see, for example, Patent Document 1).

In this underwater information collection system, the underwater vehicle is configured to include a CCD camera, an underwater acoustic camera, and a side scan sonar as means for collecting underwater information. In addition, the method for searching the search target that is the target using the underwater vehicle is to observe the bottom of the water while the underwater vehicle moves in the water, and if the search target is found, the underwater vehicle will be used. , It is supposed that the underwater vehicle will return to the original movement route after approaching to that position and collecting more detailed information on the search target.

Japanese Unexamined Patent Publication No. 2010-139270

However, in the method shown in Patent Document 1, when the search target is found at a position deviating from the movement route while moving along the movement route, the underwater vehicle is at the position where the search target is found each time. It is necessary to sail off the movement path in order to approach.

In addition, the underwater vehicle moves along the movement route from the time when the underwater information collecting means collects the underwater information to the time required for processing until the search target is found by the analysis of the collected data. Therefore, when the underwater vehicle heads for the discovery position of the search target, it is necessary to move in the direction of returning to the movement route. Therefore, when the underwater vehicle is a cruising type, it is necessary to make a turn, and in order to make the turn, it may be necessary to control the speed to reduce the cruising speed.

Furthermore, when the underwater vehicle deviates from the movement route, the detection range of the underwater information collecting means provided for the underwater vehicle also deviates from the position based on the movement route, so that the underwater vehicle returns to the original movement route. Occasionally, it is necessary to appropriately control the position where the underwater vehicle returns to the movement path and the navigation direction when the underwater vehicle returns so that the detection range of the underwater information collecting means along the movement path is not interrupted.

Therefore, when searching for a search target by the method shown in Patent Document 1, if the search target is found while moving along the movement path of the underwater vehicle, the course change or speed change is interrupted. Furthermore, since it is necessary to obtain and control the control amount of the course and speed on the spot according to the discovery position of the search target, the efficiency of movement of the underwater vehicle is reduced. Therefore, the search method shown in Patent Document 1 is inefficient in searching the search target.

Moreover, Patent Document 1 discloses a plurality of types of underwater information collecting means such as a CCD camera, an underwater acoustic camera, and a side scan sonar, but these simply collect underwater information as an image. It is only shown as, and there is no idea to use it properly in order to search the search target efficiently.

Therefore, the present invention is intended to provide an underwater search method and an underwater search system capable of efficiently finding an object from a search range.

In order to solve the above-mentioned problems, the present invention is provided with a navigation process for causing an underwater vehicle to navigate a search range of an object according to a movement route, and a navigation process for the underwater vehicle during the navigation process. Of the first information collecting means and the second information collecting means having different information collecting ranges, the first information collecting means having a larger information collecting range than the second information collecting means is used. The process of collecting information in water, the process of extracting an object similar to an object as an object candidate based on the information collected by the first information collecting means, and the position of the object candidate in the water. The target position for navigation of the medium-sized vehicle, the process of setting the target for information collection by the second information collecting means, and the movement of the underwater vehicle to the target position to collect the second information. The process of collecting information by means, the process of transmitting the information collected by the underwater vehicle by the second information collecting means to the control station, and the display unit provided in the control station, the second information. It is an underwater search method that performs processing to display the information collected by the collection means.

The process of displaying the target object candidate extracted based on the information collected by the first information collecting means on the display unit of the control station, and the target object candidate for which the control station collects detailed information When designated, there is a method of setting the position of the target object candidate as the target position of the navigation of the underwater vehicle and the target of information collection by the second information collecting means. ..

There is a method of using an acoustic image sensor as the first information collecting means and using an optical image sensor as the second information collecting means.

Further, the underwater vehicle includes an underwater vehicle and a control station, and the underwater vehicle includes a position detecting means, a propulsion steering means, a control device, a first information collecting means and a second information collecting means having different information collecting ranges. An object similar to an object is selected as an object candidate based on the information collected by the first information collecting means on at least one of the underwater vehicle or the control station, which is provided with an information collecting means and a communication device. The control station includes a communication device that communicates with the underwater vehicle, a display unit that displays information on the target object candidate, and further, the underwater vehicle. Is a function of navigating the search range of the target object according to the movement route, a function of collecting underwater information by using the first information collecting means when navigating according to the movement route in the search range, and the extraction. The position of the target object candidate is moved to the target position of the voyage and the target of information collection by the second information collecting means, and the information is collected by the second information collecting means. The underwater search system has a function of performing the function and a function of transmitting the information collected by the second information collecting means to the control station.

According to the underwater search method and the underwater search system of the present invention, the target object can be efficiently found from the search range.

It is a schematic diagram which shows the 1st Embodiment of the underwater search system. It is a flow chart which shows the underwater search method performed using the underwater search system of FIG. It is a schematic diagram which shows the movement path of the underwater vehicle set in the search range of a target object. It is a schematic diagram which shows the state which the information of the target object candidate is collected by the information collecting means provided in the underwater vehicle. It is a schematic diagram which shows the state which the target object candidate is displayed on the display part in the control station in an underwater search system. It is a schematic diagram which shows the state which the image of the object candidate collected by an optical camera is displayed on the display part. It is a schematic diagram which shows the application example of 1st Embodiment of an underwater search system. It is a flow chart which shows the underwater search method performed using the underwater search system of FIG. It is a schematic diagram which shows the 2nd Embodiment of the underwater search system. It is a flow chart which shows the underwater search method performed using the underwater search system of FIG.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.

[First Embodiment]
FIG. 1 is a schematic diagram showing a first embodiment of an underwater search system. FIG. 2 is a flow chart showing an underwater search method performed by using the underwater search system of FIG. FIG. 3 shows the movement route of the underwater vehicle set in the search range of the target object, FIG. 3 (a) is a schematic diagram showing the entire search range, and FIG. 3 (b) is one of the search ranges. It is a figure which shows the part enlarged. FIG. 4 shows a state in which information on a target object candidate is collected by an information collecting means provided for an underwater vehicle, and FIG. 4A is a schematic diagram showing a state in which information is collected by a side scan sonar. FIG. 4B is a schematic diagram showing a state of information collection by an optical camera. FIG. 5 shows a state in which the target object candidate is displayed on the display unit at the control station in the underwater search system, and FIG. 5A shows a state in which an image of the entire search range is shown on the display unit. FIG. 5B is a schematic diagram showing a state in which an image of a part of the search range is displayed on the display unit. FIG. 6 is a schematic diagram showing a state in which an image of a target object candidate collected by an optical camera is displayed on a display unit.

The underwater search system of the present embodiment is shown in FIG. 1, and is configured to include an underwater vehicle 1 and a control station 2 that remotely controls the navigation of the underwater vehicle 1.

The underwater vehicle 1 includes a position detecting means 3, a propulsion steering means 4, a control device 5, a first information collecting means 6 and a second information collecting means 7 having different information collecting ranges, and a communication device. It is configured to be equipped with the acoustic communication device 8 of the above. The position detecting means 3, the propulsion steering means 4, the information collecting means 6 and 7, and the acoustic communication device 8 are connected to the control device 5.

The position detecting means 3 has a function of detecting the position of the own machine of the underwater vehicle 1. The position of the own machine of the underwater vehicle 1 detected by the position detecting means 3 may be, for example, three-dimensional coordinates relating to latitude, longitude and depth in the earth coordinates. The position detecting means 3 is, for example, configured to include an inertial navigation system or a configuration including an inertial navigation system and a Doppler velvet meter.

Further, the position detecting means 3 has a function of detecting the direction and attitude of the underwater vehicle 1's own machine.

The propulsion steering means 4 has a function of propulsion and steering of the underwater vehicle 1. The propulsion steering means 4 may be configured to include, for example, a main thruster (not shown) provided on the rear end side of the underwater vehicle 1 and a rudder, or the configuration may be either a side thruster or a vertical thruster. It may be a configuration in which one or both are added. Further, if the propulsion steering means 4 can propel and steer the underwater vehicle 1, the thruster equipped on the underwater vehicle 1 so that the angle can be changed and the amount of propulsive force generated can be individually generated. It goes without saying that various types of propulsion steering means 4 conventionally mounted or proposed on the underwater vehicle 1 may be adopted, such as a configuration consisting of a set of a plurality of adjustable thrusters.

As will be described later, when the movement path 10 is set in the search range 9 of the target object (see FIG. 3A), the control device 5 is the current own machine of the underwater vehicle 1 acquired from the position detecting means 3. It has a function of giving a command (control input) for the own aircraft to sail along the movement path 10 to the propulsion steering means 4 based on the information on the position of the aircraft and the information on the direction and attitude of the own aircraft.

Further, when the control station 2 instructs the coordinates of the target candidate 11 (see FIGS. 4 and 5 (b)), the control device 5 sets the coordinates at the target position and sets the coordinates to the target position, and the position detecting means. Propulsion steering a command (control input) for the aircraft to sail to reach the target position based on the information on the current position of the aircraft acquired from 3 and the information on the orientation and attitude of the aircraft. It has a function to give to the means 4.

In the first information collecting means 6 and the second information collecting means 7, the information collecting range of the first information collecting means 6 is relatively larger than the information collecting range of the second information collecting means 7. It has a relationship of becoming large. The magnitude of the information collection range in this case is the magnitude of the range in which effective information can be collected, or the magnitude of the area in which information can be collected per unit time.

Further, in the first information collecting means 6 and the second information collecting means 7, the second information collecting means 7 is relatively more detailed than the first information collecting means 6 in terms of the object. It has a relationship that it has the property of being able to collect various information.

Generally, when identifying an object, it is effective to make a judgment based on visual information such as the shape and appearance of the object. Also, in general, the attenuation of light in water is larger than the attenuation of sound.

In consideration of these points, in the present embodiment, the first information collecting means 6 is an information collecting means in a form of obtaining information on an object by using a sound wave including an ultrasonic wave, and the second information collecting means 7 is , It is an information collecting means in the form of obtaining information on an object using light.

As a specific example, the first information collecting means 6 is, for example, a side scan sonar which is an acoustic image sensor. The second information collecting means 7 is, for example, an optical camera which is an optical image sensor. In the following, for convenience, the side scan sonar is designated by the same reference numeral 6 as that of the first information collecting means 6, and the optical camera is designated by the same reference numeral 7 as that of the second information collecting means 7. explain.

Further, the optical camera 7 is configured to be provided with a lighting means 12 such as an underwater light that irradiates light toward a photographing area which is an information collection range.

The side scan sonar 6 and the optical camera 7 are switched on and off by the control device 5. Further, the lighting means 12 may be switched on and off according to the optical camera 7 by the control device 5.

The acoustic communication device 8 has a function of transmitting a status S and receiving a command C with the acoustic communication device 13 as a communication device provided in the control station 2 as a communication target.

In the present embodiment, the status S transmitted by the acoustic communication device 8 includes the information collected by the side scan sonar 6, the information collected by the optical camera 7, and the underwater vehicle 1 output from the control device 5. Information on the position and information on the orientation and attitude of the underwater vehicle 1 are included.

In this embodiment, the control station 2 is equipped on the ship 14. The control station 2 is configured to include an acoustic communication device 13 and a control device 15 connected to the acoustic communication device 13. Although not shown, the ship 14 maintains a positional relationship in which the underwater vehicle 1 can communicate with the acoustic communication device 8 of the underwater vehicle 1 by the acoustic communication device 13 when the underwater vehicle 1 is navigating. It is assumed that it has a function of moving so as to move, for example, a function of being able to follow the underwater vehicle 1.

The acoustic communication device 13 has a function of receiving a status S and transmitting a command C with the acoustic communication device 8 of the underwater vehicle 1 as a communication target.

The command C transmitted by the acoustic communication device 13 includes a command regarding the navigation of the underwater vehicle 1 issued from the control device 15. The specific content of command C will be described later.

The control device 15 is configured to include an image processing unit 16, a display unit 17, and an input unit 18.

The display unit 17 is a display as shown in FIGS. 5 (a) and 5 (b) and FIG. 6, and as shown in FIGS. 5 (a) and 5 (b), the display unit 17 is an image based on the image data processed by the image processing unit 16. As shown in FIG. 6, it has a function of displaying P1 and a function of displaying an image P2 based on the information collected by the optical camera 7 of the underwater vehicle 1. Note that FIGS. 5A and 6B show an example in which the image P1 and the image P2 are switched and displayed on the screen by the display unit 17, but the screen of the display unit 17 is shown, for example. The image P1 and the image P2 may be displayed separately in different divided sections in the screen by dividing the image into a plurality of sections. Alternatively, the display unit 17 may display a plurality of display areas (not shown) that can be freely resized and moved in the screen, and display the image P1 and the image P2 separately in different display areas in the screen. You may do it.

The display unit 17 is shown as a rectangular shape in FIGS. 5 (a) and 5 (b), but this shape is an example, and a rectangular shape, a square shape, or a circular shape having an aspect ratio other than those shown in the figure is an example. Of course, it may have any other shape. Further, it goes without saying that the display unit 17 may use a display of any display method.

The input unit 18 is for inputting to the control device 15, and is at least water among the target object candidates 11 in the image P1 displayed on the display unit 17 as shown in FIGS. 5A and 5B. It has a function of inputting an object candidate 11 for which detailed information is desired to be collected by the optical camera 7 of the medium-sized vehicle 1.

Further, it is preferable that the input unit 18 also has a function of setting extraction conditions used when the image processing unit 16 performs a process of extracting an object similar to the target object, as will be described later. This extraction condition is information that is effective for identifying the target object, such as the shape and size of the target object, and information that is effective for distinguishing the target object from other objects.

Further, the input unit 18 may have a function of performing operations such as enlargement / reduction of the image P1 and the image P2 displayed on the display unit 17 and scrolling of the display range.

The input unit 18 having these functions includes at least one existing input device generally used as an input device of a computer, such as a keyboard, a touch panel integrated with a display unit 17, a mouse, and other pointing devices. It may be configured as such.

Since the side scan sonar 6 provided in the underwater vehicle 1 irradiates an acoustic beam and detects the reflected sound, an image showing the position of an object in the water based on the detected reflected sound (acoustic image). ) Is required for image processing.

The image processing unit 16 performs this image processing, and the status S received by the acoustic communication device 13 and input to the control device 15 includes the information collected by the side scan sonar 6 of the underwater vehicle 1. If so, it has a function to perform image processing based on the information.

At this time, the image processing unit 16 obtains information on the position of the underwater vehicle 1 at the time of collecting information corresponding to the information collected by the side scan sonar 6 and the direction and attitude of the underwater vehicle 1 from the status S. Is acquired, and based on each acquired information, it has a function of generating image data about the shape of the bottom of the water and the position of an object existing on the bottom of the water, and outputting this image data to the display unit 17. The image displayed on the display unit 17 based on the function of the image processing unit 16 is the image P1 described above.

Further, the image processing unit 16 extracts an object similar to the target object in the image P1 displayed on the display unit 17 based on the information of the extraction conditions set, and uses that object as the target object candidate 11 as an image. It has a function to be specified in P1.

As a method for extracting an object similar to an object in the image P1, for example, an arbitrary existing or conventionally proposed algorithm such as a pattern matching method or an image correlation method may be used.

When the information collected by the side scan sonar 6 is displayed as an image as it is, the image showing the shape of the water bottom on the right side of the position directly under the movement path 10 of the underwater vehicle 1 and the shape of the water bottom on the left side are displayed. A strip-shaped non-measurement region having a width equal to twice the altitude from the bottom of the underwater vehicle 1 is inserted between the image and the image shown. Therefore, in the image processing unit 16, the display unit 17 may display the image that has been processed to remove the band-shaped region. In this way, the display unit 17 can display the image P1 in a state in which the water bottom is continuous in the horizontal direction orthogonal to the traveling direction of the underwater vehicle 1. Therefore, in this case, the image P1 displayed on the display unit 17 does not have the latitude and longitude coordinate axes interrupted, so that it is easy to visually grasp the position of the specified target candidate 11 within the search range 9. Can be.

As a method of clearly indicating the target object candidate 11 on the display unit 17, for example, the target object candidate 11 may be displayed by being surrounded by a frame such as a circle or a square or a blinking frame. As long as the target object candidate 11 can be displayed so as to be distinguishable from other objects, it is needless to say that a method other than the above may be adopted as the method for clearly indicating the target object candidate 11.

Further, the image processing unit 16 can obtain the coordinates of the position of the extracted target object candidate 11 in the process of extracting the target object candidate 11. Therefore, the image processing unit 16 has a function of displaying the coordinates of the position of the target object candidate 11 in the image P1 to be displayed on the display unit 17, and a scale for showing the actual size of the area or object displayed on the screen. It may be provided with a function of displaying (not shown). Further, the image processing unit 16 has a function of displaying, in the image P1 to be displayed on the display unit 17, the degree of similarity with the target object calculated when the target object candidate 11 is extracted, in correspondence with the target object candidate 11. May be provided.

When the display unit 17 displays the image P1 based on the image data processed by the image processing unit 16, as shown in FIG. 5A, the display unit 17 displays the image of the entire search range 9 on the screen and searches. Check the position and distribution of the target candidate 11 in the range 9, or enlarge the vicinity of the target candidate 11 on the screen as shown in FIG. 5 (b) to check the outer shape and size of the target candidate 11. Can be done.

The image processing unit 16 may store the conditions for extracting the target object candidate 11 in advance, or the display unit 17 may display the image P1 from the input unit 18. The change of the extraction condition by input may be accepted. When the image processing unit 16 accepts the change of the extraction condition, the object candidate 11 corresponding to the extraction condition can be displayed in the image P1 displayed on the display unit 17 while changing the extraction condition. Therefore, in the image processing unit 16, the number of object candidates 11 displayed in the image P1 is increased by an operation such as changing the extraction conditions or changing the priority of each extraction condition when there are a plurality of extraction conditions. It can be adjusted so that it does not become too much or too little.

When the target candidate 11 for which detailed information is desired to be collected is designated from the target candidates 11 in the image P1 displayed on the display unit 17, the control device 15 is an underwater vehicle. It has a function of issuing a command to indicate the coordinates of the position of the designated target object candidate 11 to the target position of the voyage and the target of photography by the optical camera 7. This command is transmitted from the acoustic communication device 13 to the underwater vehicle 1 as a command C.

The underwater search method using the underwater search system of the present embodiment having the above configuration is carried out by the procedure shown in FIG.

First, when the search range 9 is set according to the search plan for the target object, the route setting unit (not shown) searches the entire search range 9 using the side scan sonar 6, and the movement route 10 of the underwater vehicle 1 is used. Is set (step S1). The route setting unit may be provided in the control device 15 of the control station 2, or may be provided in another device for route setting such as a computer.

As shown in FIG. 3A, the movement route 10 is, for example, a route in which the underwater vehicle 1 reciprocates in the first direction among the two directions intersecting in the plane with respect to the search range 9. Is set in the so-called comb-shaped movement path 10 which is sequentially shifted and arranged in the second direction. In the present embodiment, the first direction and the second direction are arranged orthogonally to each other. Further, as shown in FIG. 3B, the distance to be shifted in the second direction is a band shape by the side scan sonar 6 when the underwater vehicle 1 is navigating one route along the first direction. The information gathering area and the strip-shaped information gathering area by the side scan sonar 6 when navigating an adjacent route are set to overlap with each other by the set dimensions.

The setting of the movement route 10 may be, for example, by a waypoint file, or another route conventionally adopted or proposed for autonomous navigation of the underwater vehicle 1 according to a predetermined route. It may be due to the setting method.

The set movement path 10 is given as a command to the control device 5 of the underwater vehicle 1. Further, the control device 5 of the underwater vehicle 1 is also instructed to turn on the side scan sonar 6 when the underwater vehicle 1 moves on the movement path 10.

These commands to the control device 5 of the underwater vehicle 1 are, for example, given by a wired connection when the underwater vehicle 1 is on board or on land, or by communication via an acoustic communication device 8. do it.

Next, the underwater vehicle 1 is started to sail. As a result, the underwater vehicle 1 sails toward the start point of the movement route 10 in the search range 9, and then in the search range 9, as shown in FIG. 4A, travels along the movement route 10. While performing the above, information is collected by the side scan sonar 6 (step S2).

The information collected by the side scan sonar 6 of the underwater vehicle 1 is the status together with the position information of the underwater vehicle 1 output from the control device 5 and the direction and attitude information of the underwater vehicle 1. As S, the information is sequentially transmitted to the control device 15 of the control station 2 by communication via the acoustic communication device 8 and the acoustic communication device 13 (step S3).

When the underwater vehicle 1 finishes cruising along the movement path 10 in the search range 9, the propulsion steering means 4 is stopped and drifts until a command from the control station 2 is received in step S7 described later. It holds a fixed point on the spot or at a set position, or makes a turning cruise in a set area and enters a standby state. Further, the control device 5 gives a command to the side scan sonar 6 to turn off when the underwater vehicle 1 finishes traveling along the movement path 10 in the search range 9.

When the underwater vehicle 1 finishes cruising along the movement path 10 in the search range 9, the control device 15 processes the information collected by the side scan sonar 6 in the image processing unit 16 in the control station 2. The target object candidate 11 similar to the target object is extracted (step S4), and as shown in FIGS. 5A and 5B, the image P1 including the target object candidate 11 is displayed on the display unit 17 (step S5). ..

Next, the control station 2 designates the target candidate 11 for which detailed information is desired to be collected by the optical camera 7 of the underwater vehicle 1 (step S6).

In the process of this step S6, for example, an operator (not shown) confirms the target object candidate 11 on the image P1 displayed on the display unit 17, selects the target object candidate 11 that seems to be the target object, and details it. The input unit 18 may specify the target object candidate 11 for which information is to be collected.

The reason why the operator performs the process of designating the target object candidate 11 for which detailed information is to be collected based on the image P1 displayed on the display unit 17 in step S6 is as follows.

That is, in the process of extracting the target object candidate 11 similar to the target object by the image processing in the image processing unit 16, only the determination based on the set extraction conditions is performed. However, since the information collected by the side scan sonar 6 contains an error, if the extraction conditions are set too strictly, there is a possibility that the target object will not be included in the target object candidate 11. Further, among those extracted as the target object candidate 11 by the image processing unit 16 because of their high similarity to the extraction conditions, those that are clearly different from the target object are included in consideration of the conditions other than the set extraction conditions. It may have been.

Therefore, at present, the image processing unit 16 sets the extraction conditions for the target object candidates 11 to a certain extent, and the operator truly considers the target object candidates 11 among the target object candidates 11 extracted based on the extraction conditions. The process of determining what is possible and what is not is effective.

In the future, if it becomes possible to let the computer learn the judgment criteria and judgments of the selection performed when the operator specifies the target object candidate 11 as described above, or to digitize and automatically process the above. Of course, the process of step S6 may be automatically performed by the control device 15 of the control station 2.

When the target object candidate 11 for which detailed information is to be collected is designated in step S6, the control device 15 sets the coordinates of the position of the designated target object candidate 11 to the navigation of the underwater vehicle 1. A command is issued to instruct the target position and the target to be photographed by the optical camera 7 (step S7). This command is sent as command C to the control device 5 of the underwater vehicle 1 by communication via the acoustic communication device 13 and the acoustic communication device 8.

In the underwater vehicle 1, when the control device 5 receives the command C, a command (control input) for the control device 5 to sail to reach the target position, that is, the position of the designated target candidate 11. Is given to the propulsion steering means 4. Further, the control device 5 turns on the optical camera 7 and the lighting means 12 when the cruising is started or when the underwater vehicle 1 approaches the distance set at the target position along with the cruising. To.

As a result, as shown in FIG. 4B, the underwater vehicle 1 travels to the position of the designated target candidate 11, and the optical camera 7 captures the image of the designated target candidate 11. Detailed information is collected by taking a picture of (step S8).

Further, when the underwater vehicle 1 collects detailed information of the designated target candidate 11 as described above, the underwater vehicle 1 sails around the designated target candidate 11 as necessary. An image may be taken about the area around the designated target object candidate 11. By doing so, in the underwater vehicle 1, not only the designated target candidate 11 but also the environment and the situation around the place where the designated target candidate 11 exists can be provided with detailed information. Can be collected.

When the underwater vehicle 1 collects information on the target candidate 11 designated by the optical camera 7 in step S8 and collects information on the surrounding environment and situation as necessary, the information is set to the status. As S, transmission is performed to the control device 15 of the control station 2 by communication via the acoustic communication device 8 and the acoustic communication device 13 (step S9).

As a result, in the control station 2, as shown in FIG. 6, the control device 15 displays the image P2 based on the information collected by the optical camera 7 on the display unit 17 (step S10).

Therefore, in the control station 2, an operator (not shown) observes and examines the image of the target object candidate 11 displayed on the display unit 17, and determines whether or not the target object candidate 11 is a true target object. be able to.

After that, the control station 2 determines whether or not there is another target candidate 11 for which detailed information is desired to be collected by the optical camera 7 of the underwater vehicle 1 (step S11), and another object for which detailed information is desired to be collected. If there is an object candidate 11 of the above, the process returns to step S6, the processing from step S6 to step S10 for collecting detailed information on the other object candidate 11 is performed, and then the process of proceeding to step S11 is performed again. implement.

As a result, in the control station 2, the optical camera 7 with respect to all the object candidates designated by the operator (not shown) as the target for collecting detailed information among the object candidates 11 displayed on the display unit 17 by the operator (not shown). It is possible to observe and examine the image taken in 1 and determine whether or not the target object candidate 11 is a true target object.

On the other hand, if the control station 2 determines in step S11 that there is no other target candidate 11 for which detailed information is desired to be collected, the underwater search method is terminated.

As described above, according to the underwater search method and the underwater search system of the present embodiment, the side scan sonar 6 collects information while the underwater vehicle 1 is navigating along the movement route 10 in the search range 9 of the target object. Then, the target candidate 11 is extracted based on the result, and then the underwater vehicle 1 is moved to the position of the designated target candidate 11 to collect detailed information by the optical camera 7, and the detailed information thereof is collected. Based on the resulting image, it can be determined whether the target object candidate 11 is a true target object.

Therefore, in the underwater search method and the underwater search system of the present embodiment, the underwater vehicle 1 is required by the method shown in Patent Document 1 when navigating the search range 9 according to the movement path 10. It is possible to eliminate the need to change the course or speed for each search target discovery. Further, in the underwater search method and the underwater search system of the present embodiment, when the target candidate 11 for which detailed information is to be collected is instructed, the underwater vehicle 1 is set as the target position of the target candidate 11. It can be designated as and sailed.

Therefore, according to the underwater search method and the underwater search system of the present embodiment, it is possible to improve the efficiency of movement of the underwater vehicle 1, and it is possible to efficiently find the target object from the search range 9. can.

Further, of the side scan sonar 6 as the first information collecting means provided in the underwater vehicle 1 and the optical camera 7 as the second information collecting means, the side having a relatively large information collecting range. The scan sonar 6 is used as an information collecting means when the underwater vehicle 1 is navigated according to the movement path 10 set in the search range 9. On the other hand, the optical camera 7 having a relatively small information collection range is used as an information collecting means when the underwater vehicle 1 is navigated with the position of the designated target candidate 11 as the target position. be. As described above, since the underwater search method and the underwater search system of the present embodiment use a plurality of information collecting means properly according to the size of each information collecting range, the target object can be efficiently found from the search range 9. can do.

Further, in the underwater search method and the underwater search system of the present embodiment, the information collected by the side scan sonar 6 provided in the underwater vehicle 1 is automatically image-processed by the control device 15 of the control station 2 for the purpose. Since the object candidate 11 is displayed in the image P1 on the display unit 17, even when the search range 9 is wide, the labor for finding an object that is highly likely to be the object can be reduced. can.

[Application example of the first embodiment]
FIG. 7 is a schematic diagram showing an application example of the first embodiment of the underwater search system. FIG. 8 is a flow chart showing an underwater search method performed by using the underwater search system of FIG. 7.

In FIGS. 7 and 8, the same reference numerals as those of the first embodiment are designated by the same reference numerals, and the description thereof will be omitted.

In the underwater search method shown in the first embodiment, the information collected by the side scan sonar 6 provided in the underwater vehicle 1 and the detailed information about the target candidate 11 collected by the optical camera 7 will be obtained in any case. Is also supposed to be transmitted to the control device 15 of the control station 2 as the status S.

By the way, acoustic communication, which is a communication means that can be used underwater, has a characteristic that the communication speed is slower and the communication range is limited as compared with wireless communication, which is a communication means that can be generally used in the air. is doing.

Therefore, when the amount of data of the status S to be transmitted from the underwater vehicle 1 to the control station 2 becomes large, the transmission / reception of data by acoustic communication between the acoustic communication device 8 and the acoustic communication device 13 is processed. It is possible that it will be rate-determining.

Therefore, as shown in FIG. 7, the underwater search system of this application example includes, in addition to the same configuration as that of the first embodiment, a wireless communication device 19 in which the underwater vehicle 1 is connected to the control device 5. The control station 2 is configured to include a wireless communication device 20 connected to the control device 15.

The radio communication device 19 provided in the underwater vehicle 1 and the radio communication device 20 provided in the control station 2 have a function of mutually transmitting / receiving status S and command C similar to those of the sound communication device 8 and the sound communication device 13. It is equipped with.

The wireless communication device 19 and the wireless communication device 20 are for communicating with the underwater vehicle 1 floating on the surface of the water, as will be described later. Therefore, the communication standards of the wireless communication device 19 and the wireless communication device 20 are based on the distance required for communication with the control station 2 provided in the ship 14 when the underwater vehicle 1 is in a state of floating on the water surface. , Wireless LAN and other existing communication standards for wireless communication may be appropriately selected and adopted.

The underwater search method using the underwater search system of this application example having the above configuration is carried out, for example, by the procedure shown in FIG.

In the underwater search method of this application example, as shown in FIG. 8, in the same procedure as shown in FIG. 2, in step S2, the underwater vehicle 1 moves in the search range 9 and the movement path 10 (FIG. 4 (a). )) The side scan sonar 6 collects information while sailing along the line. At that time, in the present embodiment, the information collected by the side scan sonar 6, the information on the position of the underwater vehicle 1 at the time of collecting the information output from the control device 5, and the orientation of the underwater vehicle 1 Posture information is stored in a storage unit (not shown).

When the underwater vehicle 1 finishes traveling along the movement path 10 in the search range 9 in step S2, in this application example, the process proceeds to step S12, and the underwater vehicle 1 ascends to the surface of the water.

After that, the process proceeds to step S3 similar to that shown in FIG. 2, and the underwater vehicle 1 has the information collected by the side scan sonar 6 stored in the storage unit and the position of the underwater vehicle 1 at the time of collecting the information. And the information on the orientation and attitude of the underwater vehicle 1 as status S, are sequentially transmitted to the control device 15 of the control station 2 by communication via the wireless communication device 19 and the wireless communication device 20 (. Step S3).

After step S3, the underwater vehicle 1 stops the propulsion steering means 4 and drifts, in place or at a set position on the surface of the water until it receives a command from control station 2 in step S7. Hold a fixed point, or make a turning cruise in the set area and enter the standby state.

In the underwater search method of this application example, the process proceeds to step S4 after step S3. The procedure after step S4 is the same as the underwater search method of the first embodiment shown in FIG.

Therefore, according to the underwater search method and the underwater search system of this application example, the underwater vehicle 1 sails along the movement route 10 (see FIG. 4A) in the search range 9 while the side scan sonar 6 is used. Even if the amount of status S data including the information collected by the side scan sonar 6 is increased due to the information collection by the wireless communication device 19, the wireless communication via the wireless communication device 19 and the wireless communication device 20 The status S can be promptly transmitted from the underwater vehicle 1 to the control device 15 of the control station 2.

Therefore, the underwater search method and the underwater search system of this application example have the same effects as those of the first embodiment, and the side scan sonar 6 can collect more detailed information than the first embodiment. .. Therefore, the underwater search method and the underwater search system of this application example can make it easier to find an object that is likely to be a target object from the search range 9.

In the underwater search method of this application example, as shown in FIG. 8, a case where the underwater vehicle 1 floats on the water surface is exemplified between steps S2 and S3. On the other hand, the object candidate 11 collected by the optical camera 7 provided in the underwater vehicle 1 by performing a process in which the underwater vehicle 1 floats on the water surface between steps S8 and S9. Detailed information may be transmitted from the underwater vehicle 1 to the control device 15 of the control station 2 by wireless communication via the wireless communication device 19 and the wireless communication device 20 as the status S.

By doing so, even if the amount of data of the status S including the detailed information about the target object candidate 11 collected by the optical camera 7 is large, the wireless communication device 19 and the wireless communication device 20 are used. The status S can be promptly transmitted from the underwater vehicle 1 to the control device 15 of the control station 2 by wireless communication.

When the process of ascending the underwater vehicle 1 to the water surface is provided between the steps S8 and S9, the process of ascending the underwater vehicle 1 to the water surface between the above-mentioned steps S2 and S3 (step S12). May be done together or may be omitted.

[Second Embodiment]
FIG. 9 is a schematic diagram showing a second embodiment of the underwater search system. FIG. 10 is a flow chart showing an underwater search method performed by using the underwater search system of FIG.

In FIGS. 9 and 10, the same reference numerals as those of the first embodiment are designated by the same reference numerals, and the description thereof will be omitted.

In the underwater search system of the present embodiment, as shown in FIG. 9, in the same configuration as that of the first embodiment, the underwater vehicle 1 has an image processing unit 21 connected to the side scan sonar 6 and the control device 5. It is configured to be prepared.

Similar to the image processing unit 16 provided in the control device 15 of the control station 2 in the first embodiment, the image processing unit 21 has the information collected by the side scan sonar 6 and the position of the underwater vehicle 1 at the time of collecting the information. , And a function to generate image data about the shape of the bottom of the water and the position of an object existing on the bottom of the water based on the information on the orientation and attitude of the underwater vehicle 1, and in the image based on the image data. It has a function of extracting an object similar to the target object and using it as the target object candidate 11.

The extraction conditions for extracting the target object candidate 11 by the image processing unit 21 should be stored in advance when the underwater vehicle 1 is navigated along the movement path 10 in the search range 9. Just do it. Further, the extraction conditions may be changed by a command from the control station 2.

The acoustic communication device 8 of the underwater vehicle 1 in the present embodiment transmits image data including information of the target object candidate 11 generated by the image processing unit 21 to the acoustic communication device 13 of the control station 2 as status S. It has a function to do.

In the present embodiment, since the underwater vehicle 1 is configured to include the image processing unit 21, the control device 15a of the control station 2 has the same configuration as the control device 15 in the first embodiment to provide the image processing unit. The configuration is omitted.

When the status S is input from the acoustic communication device 13, the control device 15a displays the image data included in the status S and the information of the target candidate 11 on the display unit 17 in FIGS. 5A and 5B. Similar to the above, it has a function of displaying the image P1 in which the target candidate 11 is clearly shown.

Further, when the control device 15a designates the target candidate 11 for which detailed information is desired to be collected from the target candidates 11 in the image P1 displayed on the display unit 17 by the input by the input unit 18, the control device 15a sails underwater. It has a function of issuing a command to the running object 1 to instruct the designated target object candidate 11 as the target position of the underwater traveling body 1 and the target of photography by the optical camera 7. This command is transmitted from the acoustic communication device 13 to the underwater vehicle 1 as a command C.

The underwater search method using the underwater search system of the present embodiment having the above configuration is carried out by the procedure shown in FIG.

As shown in FIG. 10, the underwater search method of the present embodiment proceeds to step S13 after the same steps S1 and S2 as shown in FIG. 2.

In step S13, when the underwater vehicle 1 finishes cruising along the movement path 10 in the search range 9, the image processing unit 21 provided in the underwater vehicle 1 processes the information collected by the side scan sonar 6. Then, the target object candidate 11 similar to the target object is extracted.

When the underwater vehicle 1 finishes cruising along the movement path 10 in the search range 9, it is in a standby state until it receives a command from the control station 2 in step S17 described later, and the control device 5 is on the side. The point of giving a command to turn off the scan sonar 6 is the same as that of the first embodiment.

Further, the underwater vehicle 1 sets the image data including the information of the target object candidate 11 obtained by the image processing unit 21 as the status S, and communicates with the acoustic communication device 8 and the acoustic communication device 13 to control the station. It is transmitted to the control device 15a of 2 (step S14).

In the control station 2, when the control device 15a receives the status S, the target object candidate similar to that shown in FIGS. 5A and 5B is shown on the display unit 17 based on the image data including the information of the object candidate 11. The image P1 including 11 is displayed (step S15).

Next, the control station 2 designates the target candidate 11 for which detailed information is desired to be collected by the optical camera 7 of the underwater vehicle 1 (step S16). The target object candidate 11 for which the detailed information is to be collected may be designated in the same manner as in step S6 of FIG.

When the target object candidate 11 for which detailed information is to be collected is designated in step S16, the control device 15a issues a command to instruct the designated target object candidate 11 to the underwater vehicle 1. Step S17). This command is sent as command C to the control device 5 of the underwater vehicle 1 by communication via the acoustic communication device 13 and the acoustic communication device 8.

In the underwater vehicle 1, when the control device 5 receives the command C, the coordinates of the position of the designated target candidate 11 are set to the target position of the underwater vehicle 1 and the optical camera 7. It is set as a target for shooting by (step S18).

After that, the same processes as shown in FIG. 2 from step S8 to step S11 are performed. In the present embodiment, if it is determined in step S11 that there is another target candidate 11 for which detailed information is desired to be collected, the process returns to step S16.

Therefore, the same effect as that of the first embodiment can be obtained by the underwater search method and the underwater search system of the present embodiment.

The present invention is not limited to each of the above embodiments and applications. For example, as the first information collecting means provided in the underwater vehicle 1, the side scan sonar 6 is exemplified, but the multi-narrow beam is used. An acoustic probe or other acoustic image sensor may be used.

As a second information collecting means provided in the underwater vehicle 1, an optical camera is exemplified, but an optical three-dimensional scanner using a laser beam or the like may be used.

Further, in the first information collecting means 6 and the second information collecting means 7, the information collecting range of the first information collecting means 6 is relatively closer to the information collecting range of the second information collecting means 7. Both may be acoustic or optical information gathering means as long as they have a relative large relationship, or they may be yet another information gathering method capable of detecting an object in water. It may be.

In each embodiment and application example, acoustic communication devices 8 and 13 are exemplified as communication devices that perform mutual communication between the underwater vehicle 1 and the control station 2 underwater, but communication of a communication method such as light or electromagnetic wave is exemplified. You may adopt the machine. Further, in the application example of the first embodiment, the wireless communication devices 19 and 20 are exemplified as the communication devices that perform mutual communication between the underwater vehicle 1 and the control station 2 in the air, but light or sound waves (ultrasonic waves) are exemplified. A communication device of a communication method such as) may be adopted.

Although the control station 2 has shown an example of being equipped on the ship 14, the control station 2 may be provided on the ground. In this case, the relay is equipped with a communication device for communicating with the underwater vehicle 1 and a communication device for communicating with the control station 2 on the navigation body arranged on the water surface. The machine may be used to relay the communication of command C and status S between the underwater vehicle 1 and the control station 2.

The underwater vehicle 1 and the control station 2 in the underwater search system of the second embodiment may be configured to include the same wireless communication device 19 and wireless communication device 20 as shown in the application example of the first embodiment. In the underwater search method in this case, the underwater vehicle 1 floats on the water surface between steps S13 and S14 and between steps S8 and S9 in the procedure shown in FIG. The status S may be transmitted from the underwater vehicle 1 to the control station 2 by wireless communication via the wireless communication device 19 and the wireless communication device 20.

The illustrated shape of the underwater vehicle 1 is an example, and the underwater vehicle 1 may have a shape other than that shown.

Of course, various changes can be made without departing from the gist of the present invention.

1 Underwater vehicle, 2 Control station, 3 Position detection means, 4 Propulsion steering means, 5 Control device, 6 Side scan sonar (1st information gathering means, acoustic image sensor), 7 Optical camera (2nd information) Collection means, optical image sensor), 8 acoustic communication device (communication device), 9 search range, 10 movement path, 11 target candidate, 13 acoustic communication device (communication device), 16 image processing unit (means), 17 Display, 19 wireless communication device (communication device), 20 wireless communication device (communication device)

Claims (3)

The navigation process that causes the underwater vehicle to navigate the search range of the target according to the movement route,
Among the first information collecting means and the second information collecting means having different sizes of the information collecting range provided in the underwater vehicle during the cruising process, the information is collected as compared with the second information collecting means. The process of collecting underwater information using the first information collecting means, which has a large range,
A process of extracting an object similar to the target object as a target object candidate based on the information collected by the first information collecting means.
A process of setting the position of the target object candidate as a target position for navigation of the underwater vehicle and a target for information collection by the second information collecting means.
A process in which the underwater vehicle moves to the target position and information is collected by the second information collecting means.
The process of transmitting the information collected by the underwater vehicle by the second information collecting means to the control station, and
A process of displaying the information collected by the second information collecting means on the display unit provided in the control station, and a process of displaying the information collected by the second information collecting means.
A process of displaying the target object candidate extracted based on the information collected by the first information collecting means on the display unit, and a process of displaying the target object candidate on the display unit.
When the target object candidate for which detailed information is to be collected is designated by the control station, the position of the target object candidate is set to the target position of the navigation of the underwater vehicle and the second information. An underwater search method characterized by performing a process set as a target for collecting information by a collecting means. The underwater search method according to claim 1, wherein an acoustic image sensor is used as the first information collecting means, and an optical image sensor is used as the second information collecting means. Equipped with an underwater vehicle and a control station,
The underwater vehicle includes a position detecting means, a propulsion steering means, a control device, a first information collecting means and a second information collecting means having different information collecting ranges, and a communication device.
At least one of the underwater vehicle and the control station is provided with a means for performing a process of extracting an object similar to the target object as a target object candidate based on the information collected by the first information collecting means.
The control station includes a communication device that communicates with the underwater vehicle and a display unit that displays information on the target object candidate.
Further, the underwater vehicle is
The function of navigating the search range of the target object according to the movement route,
A function of collecting underwater information by using the first information collecting means when navigating along the movement route in the search range.
The extracted position of the target object candidate is moved to the target position as a target position for navigation and a target for information collection by the second information collecting means, and is moved to the target position by the second information collecting means. The function to collect information and
It has a function of transmitting the information collected by the second information collecting means to the control station.
The control station has a function of displaying the target object candidate extracted based on the information collected by the first information collecting means on the display unit.
When the underwater vehicle or at least one of the control stations specifies the target candidate for which detailed information is to be collected by the control station, the position of the target candidate is set to the position of the underwater vehicle. An underwater search system comprising the function of setting the target position of navigation and the target of information collection by the second information collecting means.

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