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WO2023067652A1 - Dispositif de récupération d'objet flottant, procédé de récupération d'objet flottant et programme de récupération d'objet flottant - Google Patents

Dispositif de récupération d'objet flottant, procédé de récupération d'objet flottant et programme de récupération d'objet flottant Download PDF

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Publication number
WO2023067652A1
WO2023067652A1 PCT/JP2021/038415 JP2021038415W WO2023067652A1 WO 2023067652 A1 WO2023067652 A1 WO 2023067652A1 JP 2021038415 W JP2021038415 W JP 2021038415W WO 2023067652 A1 WO2023067652 A1 WO 2023067652A1
Authority
WO
WIPO (PCT)
Prior art keywords
flotsam
recovery
movable frame
pedestal
base
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2021/038415
Other languages
English (en)
Japanese (ja)
Inventor
豪 伊丹
潤 加藤
浩史 松原
恒子 倉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nippon Telegraph and Telephone Corp
Original Assignee
Nippon Telegraph and Telephone Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nippon Telegraph and Telephone Corp filed Critical Nippon Telegraph and Telephone Corp
Priority to PCT/JP2021/038415 priority Critical patent/WO2023067652A1/fr
Publication of WO2023067652A1 publication Critical patent/WO2023067652A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/50—Vessels or floating structures for aircraft
    • B63B35/52—Nets, slipways or the like, for recovering aircraft from the water

Definitions

  • the present invention relates to a drifting object recovery device, a drifting object recovery method, and a drifting object recovery program.
  • Drones and other flying objects are flown above the surface of the sea to acquire actual data such as weather information, environmental information, and disaster information on the sea.
  • BACKGROUND ART When flying an aircraft over the sea, the aircraft may not be able to return to the platform due to a low battery level, communication failure, or the like, and the aircraft may land on the surface of the sea. In such a case, the flying object drifts on the sea surface. Therefore, it is desired to quickly recover the drifting flying object.
  • Non-Patent Document 1 discloses a technology for flying a drone to confirm the location of a trash can, moving a garbage truck equipped with an automatic garbage collection robot to the location of the trash can, and automatically collecting garbage.
  • Non-Patent Document 1 discloses inserting a pedestal under the trash can and lifting it with a lift.
  • Non-Patent Document 2 describes a technology that connects a cart attached with a tag to an autonomous transport robot, automatically recognizes the surrounding map, connects the cart to the robot, and automatically transports the cart to a desired location. disclosed.
  • Non-Patent Documents 1 and 2 do not mention collecting drifting objects on the surface of the water.
  • stresses may be applied in the lateral direction due to the influence of waves. For this reason, it was difficult to stably place the drifting object on the lift, and there was a problem that the drifting object could not be recovered smoothly.
  • the present invention has been made in view of the above circumstances, and an object of the present invention is to provide a drifting object recovery device, a drifting object recovery method, and a drifting object recovery program capable of smoothly recovering drifting objects on the surface of water. to provide.
  • a flotsam recovery apparatus is a flotsam recovery apparatus for recovering flotsam on a water surface to a recovery base, which is installed at the recovery base, surrounds a predetermined range on the water surface, and gradually expands the surrounding range.
  • a movable frame that can be widened and contracted; frame control that expands the width of the movable frame to surround the drifting object and gradually reduces the surrounding range to move the drifting object toward the recovery base; and
  • a flotsam recovery method is a flotsam recovery method for recovering flotsam on a water surface to a recovery base, which is installed at the recovery base, surrounds a predetermined range on the water surface, and activating a movable frame that can be gradually expanded and contracted to surround the flotsam; and moving the flotsam toward the collection base by gradually narrowing the surrounding range.
  • One aspect of the present invention is a flotsam collecting program for causing a computer to function as the above flotsam collecting device.
  • FIG. 1 is a block diagram showing the configuration of a flotsam collecting device according to an embodiment and its peripheral devices.
  • FIG. 2A is an explanatory diagram showing a state in which the rods L1 to L4 of the movable frame are contracted.
  • FIG. 2B is an explanatory diagram showing a state in which the rod L1 of the movable frame is extended.
  • FIG. 2C is an explanatory diagram showing a state in which the rods L1 and L2 of the movable frame are extended.
  • FIG. 2D is an explanatory diagram showing a state in which the rods L1, L2, and L3 of the movable frame are extended.
  • FIG. 2A is an explanatory diagram showing a state in which the rods L1 to L4 of the movable frame are contracted.
  • FIG. 2B is an explanatory diagram showing a state in which the rod L1 of the movable frame is extended.
  • FIG. 2C is an explanatory diagram showing a state in which the rods
  • FIG. 2E is an explanatory diagram showing a state in which the four rods L1 to L4 of the movable frame are extended.
  • FIG. 3 is an explanatory diagram showing a state in which an aircraft drifting on the sea surface is surrounded by a movable frame.
  • FIG. 4 is an explanatory diagram showing how the flying object is moved toward the recovery base by narrowing the surrounding range of the movable frame.
  • FIG. 5 is an explanatory diagram showing how the pedestal of the lift mechanism is moved below the aircraft.
  • FIG. 6 is an explanatory diagram showing how the lift mechanism lifts the aircraft from the sea surface.
  • FIG. 7 is a flow chart showing a processing procedure of the drifting article recovery device according to the embodiment.
  • FIG. 8A is an explanatory diagram showing a state in which the four rods L11 to L14 of the movable frame are contracted.
  • FIG. 8B is an explanatory diagram showing a state in which the rods L11 and L13 of the movable frame are extended.
  • FIG. 8C is an explanatory diagram showing a state in which the four rods L11 to L14 of the movable frame are extended.
  • FIG. 9 is a block diagram showing the hardware configuration of this embodiment.
  • FIG. 1 is a block diagram showing the configuration of a flotsam collecting device according to an embodiment and its peripheral devices.
  • FIG. 1 An example of processing for recovering an aircraft drifting on the sea surface after an aircraft flying over the sea surface lands on the sea surface due to an emergency landing or a crash will be described as an example.
  • An aircraft landing on the surface of the sea is an example of a flotsam.
  • the surface of the sea will be described as an example of the water surface, but the flotsam collecting device according to the present invention can also be applied to the case of collecting flotsam on the surface of water such as lakes.
  • the flotsam recovery device 100 includes a remote control device 2, a movable frame 3, and a lift mechanism 4.
  • the remote control device 2 is installed at a recovery base 51 installed on the sea.
  • the remote control device 2 may be installed at a location away from the recovery base 51 as long as wireless communication with the aircraft is possible.
  • the recovery base 51 is, for example, a platform on which the flying object V1 takes off and lands.
  • the flying object V ⁇ b>1 that drifts on the sea surface and is recovered by the flotsam recovery device 100 is stored in a recovery base 51 .
  • the remote control device 2 includes an input unit 21, an operation control unit 22, a position detection unit 23, a communication unit 24, a frame control unit 25, and a lift control unit 26. .
  • the input unit 21 accepts input operations by the operator.
  • the input operation for example, information such as the flight path of the aircraft V1, the destination, collected data, and the like are input.
  • the operation control unit 22 generates a remote control signal for remotely controlling the flying object V1 based on the input command input by the input unit 21.
  • the remote control signal includes information on the flight path of the aircraft, the destination, and collected data such as images, temperature, UV intensity, carbon dioxide concentration, and the like.
  • the operation control section 22 outputs the generated remote control signal to the communication section 24 .
  • the communication unit 24 wirelessly transmits the remote control signal generated by the operation control unit 22 to the aircraft control device 1 mounted on the aircraft V1.
  • the position detection unit 23 acquires the position information of the flying object V1 transmitted from the flying object control device 1 by the communication unit 24.
  • Location information can be indicated by longitude and latitude.
  • the frame control unit 25 controls the movable frame 3 installed at the collection base 51.
  • the frame control unit 25 widens the movable frame 3 to surround the flying object V1 (drift), and gradually reduces the surrounding range, thereby moving the flying object V1 toward the recovery base 51 .
  • the frame control unit 25 contracts each rod L1 to L4 shown in FIGS. 2A to 2E to be described later so that the surrounding range is reduced in a similar shape. Details of the movable frame 3 will be described later.
  • the lift control unit 26 controls the lift mechanism 4 installed at the collection base 51. Details of the lift mechanism 4 will be described later.
  • the aircraft control device 1 includes a flight control unit 11, a GPS 12, a communication unit 13, a flight drive unit 15, and a drive battery 16.
  • the communication unit 13 performs wireless communication with the communication unit 24 mounted on the remote control device 2.
  • the GPS 12 receives GPS signals transmitted by GPS satellites and acquires position data indicating the current position of the aircraft V1.
  • the position data is, for example, longitude and latitude information.
  • the flight control unit 11 outputs a drive command to the flight drive unit 15. Specifically, based on the remote control signal transmitted from the remote control device 2, the flight control unit 11 outputs a drive command so that the flying object V1 flies toward the destination.
  • the flight drive unit 15 controls the flight of the aircraft V1. Specifically, the flight drive unit 15 controls the flight of the aircraft V1 based on the drive command output from the flight control unit 11 so that the flight direction and flight altitude are the desired direction and altitude.
  • the driving battery 16 supplies driving power to the flight driving section 15.
  • FIGS. 2A to 2E are explanatory diagrams showing how the movable frame 3 operates.
  • the movable frame 3 forms a rectangular frame with four extendable rods L1 to L4, and this frame surrounds a predetermined area on the sea surface.
  • each rod L1 to L4 By extending and contracting each rod L1 to L4, the surrounding range can be expanded or reduced.
  • the extension and contraction of each rod L1 to L4 is controlled by the frame control section 25.
  • FIG. It should be noted that the term “surrounding” is not limited to enclosing the entire periphery of a certain area, and includes the case where a part of the area is open.
  • FIG. 2A shows a state in which the range surrounded by the movable frame 3 is reduced. As shown in FIG. 3A, the rods L1 to L4 are all contracted, and the area R1 surrounded by the rods L1 to L4 is narrow.
  • the area R2 surrounded by the four rods L1 to L4 of the movable frame 3 becomes an area R2 wider than the area R1 shown in FIG. 2A. That is, under the control of the frame controller 25, the area surrounded by the rods L1 to L4 can be changed from the narrow area R1 shown in FIG. 2A to the wide area R2 shown in FIG. 2E.
  • the rods L1 to L4 are extended to expand the range surrounded by the movable frame 3.
  • the flying body V1 can be guided to the vicinity of the collection base 51 as shown in FIG.
  • the movable frame 3 is installed at the recovery base 51, surrounds a predetermined range on the water surface, and can gradually expand and contract the surrounding range.
  • the movable frame 3 has a polygonal shape connected by a plurality of extendable rods, and the frame controller 25 expands and contracts the surrounding range by extending and retracting each rod.
  • each rod L1 to L4 expands and contracts in three steps. can be By increasing the number of steps of each rod L1 to L4, the size of each rod L1 to L4 when contracted can be reduced.
  • the lift mechanism 4 is provided with a pedestal 52 that protrudes below the sea surface in the range surrounding the movable frame 3 .
  • the pedestal 52 has a planar surface.
  • an elevating arm 53 for elevating the pedestal 52 is provided between the collection base 51 and the pedestal 52 .
  • the loading and unloading of the pedestal 52 and the lifting and lowering of the pedestal 52 by the lifting arm 53 are controlled by the lift control unit 26 shown in FIG.
  • the lift control unit 26 moves the pedestal 52 below the flying object V1 to place the flying object on the surface of the pedestal 52. Place V1. After that, the collected flying object V1 is moved to the upper surface of the collection base 51. - ⁇
  • FIG. 7 is a flowchart showing a processing procedure for recovering the flying object V1 drifting on the sea surface by the drifting object recovery device 100. As shown in FIG.
  • step S11 it is detected that the flying object V1 has landed on the sea due to a forced landing or a crash.
  • step S12 it is determined whether or not the flying object V1 has self-propelled and reached the vicinity of the recovery base 51. Specifically, the flying object V1 has a function of self-propelled on the sea surface and returning to the recovery base 51 when it becomes unable to fly. It is determined whether or not it has reached The position detection unit 23 acquires the position information of the flying object V1 from the GPS 12 mounted on the flying object control device 1 and determines that the flying object V1 has reached the vicinity of the recovery base 51 .
  • step S13 the frame control unit 25 performs control to extend each rod L1 to L4 shown in FIG. 2A. Specifically, the rod L1 is extended as shown in FIG. 2B so as to surround the aircraft V1, then the rod L2 is extended as shown in FIG. 2C, and the rod L3 is extended as shown in FIG. 2D. is extended, and rod L4 is extended as shown in FIG. 2E.
  • the flying object V1 is introduced into the area (R2 shown in FIG. 2E) surrounded by the rods L1 to L4.
  • step S14 the frame control unit 25 gradually contracts the rods L1 to L4 so that the range surrounded by the rods L1 to L4 is reduced while maintaining similarity.
  • the range surrounded by the rods L1 to L4 gradually narrows, and the flying object V1 captured by the rods L1 to L4 moves toward the recovery base 51 side. Specifically, as shown in FIG. 4, the range surrounded by the rods L1 to L4 is narrowed, so that the flying object V1 moves toward the recovery base 51 side.
  • step S15 the lift control unit 26 moves the pedestal 52 of the lift mechanism 4 below the flying object V1 to place the flying object V1 on the pedestal 52, as shown in FIG.
  • step S16 the lift control unit 26 drives the elevating arm 53 to raise the pedestal 52 as shown in FIG. 6, and recover the flying object V1.
  • a worker at the recovery base 51 can easily take out and recover the flying object V1 placed on the pedestal 52. In this way, the flying object V1 drifting on the sea surface can be easily recovered.
  • the drifting object recovery device 100 is a drifting object recovery device 100 that recovers a drifting object (flying object V1) on the water surface to a recovery base.
  • a movable frame 3 which surrounds a predetermined range and can gradually widen and reduce the surrounding range, and a base for collecting drifting substances by expanding the width of the movable frame 3 to surround the drifting substances and gradually reducing the surrounding range. and a frame control unit 25 that moves toward 51 .
  • the flying object V1 that has landed on the sea surface can be easily brought closer to the recovery base 51. Further, by activating the lift mechanism 4, the flying object V1 approaching the collection base 51 can be automatically lifted, so that the operator does the troublesome task of lifting the drifting object such as the flying object V1 from the sea surface. It can be easily retrieved without
  • the movable frame 3 has a plurality of (for example, four) rods (side portions), and each rod L1 to L4 is extendable. Therefore, the flying object V1 is surrounded by the rods L1 to L4 that are stretched to the maximum extent, and then the rods L1 to L4 are contracted while maintaining the similar shape to reduce the surrounding range. can be easily moved toward the recovery base 51 .
  • the flying object V1 after the flying object V1 approaches the collection base 51, the pedestal 52 is moved below the flying object V1, and the elevating arm 53 is operated to raise the flying object V1 placed on the pedestal 52. Therefore, the flying object V1 can be easily recovered without being affected by the wind and waves generated on the sea surface.
  • the movable frame 3a according to the modification has rods L11 to L14 as shown in FIGS. 8A to 8C.
  • the movable frame 3a changes the surrounding range by extending and contracting the rods L11 to L14. A detailed description will be given below.
  • a rod L11 is installed at one side of the corner of the recovery base 51, and a rod L12 is provided at the tip of the rod L11 so as to be orthogonal to the rod L11.
  • a rod L13 is installed in a direction orthogonal to the rod L11 on the other side of the corner of the collection base 51, and a rod L14 is installed at the tip of the rod L13 so as to be orthogonal to the rod L13.
  • the range surrounded by the rods L11 to L14 can be expanded.
  • the rods L11 and L13 are extended by the frame control unit 25 from the state shown in FIG. 8A as shown in FIG. 8B. Further, as shown in FIG. 8C, the rods L12 and L14 are extended so that the flying object V1 is surrounded by the rods L11 to L14.
  • the surrounding range is reduced while the similar shape is maintained, and the flying object V1 (drift) is moved toward the recovery base 51.
  • the bounding range may be reduced without maintaining .
  • the flotsam recovery apparatus 100 of the present embodiment described above includes, for example, a CPU (Central Processing Unit, processor) 901, a memory 902, and a storage 903 (HDD: Hard Disk Drive, SSD: Solid State Drive). ), a communication device 904, an input device 905, and an output device 906, a general-purpose computer system can be used.
  • Memory 902 and storage 903 are storage devices.
  • CPU 901 executes a predetermined program loaded on memory 902 to realize each function of flotsam collecting apparatus 100 .
  • the flotsam collecting device 100 may be implemented by one computer, or may be implemented by a plurality of computers. Further, the flotsam recovery device 100 may be a virtual machine implemented on a computer.
  • the program for the flotsam collecting device 100 can be stored in computer-readable recording media such as HDD, SSD, USB (Universal Serial Bus) memory, CD (Compact Disc), DVD (Digital Versatile Disc), It can also be distributed over a network.
  • computer-readable recording media such as HDD, SSD, USB (Universal Serial Bus) memory, CD (Compact Disc), DVD (Digital Versatile Disc), It can also be distributed over a network.
  • Flight Control Device 2 Remote Control Device 3, 3a Movable Frame 4 Lift Mechanism 11 Flight Control Section 13 Communication Section 15 Flight Driving Section 16 Driving Battery 21 Input Section 22 Operation Control Section 23 Position Detection Section 24 Communication Section 25 Frame Control Section 26

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Un dispositif de récupération d'objet flottant (100) qui récupère, dans une base de récupération (51), un corps volant (V1) qui dérive sur une surface d'eau et qui comprend : un cadre mobile (3) qui est fourni à la base de récupération (51), qui entoure une zone prescrite sur la surface de l'eau et permet d'élargir ou de réduire progressivement la zone d'entourage ; et une unité de commande de cadre (25) qui élargit le cadre mobile (3) pour entourer le corps volant (V1) et réduit progressivement la zone d'entourage, déplaçant ainsi le corps volant (V1) vers la base de récupération (51).
PCT/JP2021/038415 2021-10-18 2021-10-18 Dispositif de récupération d'objet flottant, procédé de récupération d'objet flottant et programme de récupération d'objet flottant Ceased WO2023067652A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2021/038415 WO2023067652A1 (fr) 2021-10-18 2021-10-18 Dispositif de récupération d'objet flottant, procédé de récupération d'objet flottant et programme de récupération d'objet flottant

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2021/038415 WO2023067652A1 (fr) 2021-10-18 2021-10-18 Dispositif de récupération d'objet flottant, procédé de récupération d'objet flottant et programme de récupération d'objet flottant

Publications (1)

Publication Number Publication Date
WO2023067652A1 true WO2023067652A1 (fr) 2023-04-27

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002137790A (ja) * 2000-11-02 2002-05-14 Kokusai Kako Kk 水難者の救助具および救助方法
JP2003276685A (ja) * 2002-03-26 2003-10-02 Kokusai Kako Kk 救命索発射装置
US6968802B1 (en) * 2003-12-18 2005-11-29 The United States Of America As Represented By The Secretary Of The Navy Buoyant retrieval of unmanned seawater vehicles
JP2021014261A (ja) * 2019-03-28 2021-02-12 有限会社渥美不動産アンドコーポレーション 筒型回転体を備える作業装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002137790A (ja) * 2000-11-02 2002-05-14 Kokusai Kako Kk 水難者の救助具および救助方法
JP2003276685A (ja) * 2002-03-26 2003-10-02 Kokusai Kako Kk 救命索発射装置
US6968802B1 (en) * 2003-12-18 2005-11-29 The United States Of America As Represented By The Secretary Of The Navy Buoyant retrieval of unmanned seawater vehicles
JP2021014261A (ja) * 2019-03-28 2021-02-12 有限会社渥美不動産アンドコーポレーション 筒型回転体を備える作業装置

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