Remote control unmanned boat and remote control device

• US 7,398,741 B2
• Filed: 02/07/2005
• Issued: 07/15/2008
• Est. Priority Date: 06/04/2004
• Status: Expired due to Fees

• Current Assignee: Coden Co., Ltd.
• Original Assignee: Coden Co., Ltd.
• Inventors: Koda, Kojiro, Koda, Yoshiharu
• Primary Examiner(s): SWINEHART, EDWIN L
• Application Number:
  US11/052,669
• Publication Number:
  US 20050268834A1
• Time in Patent Office: 1,254 Days
• Field of Search: 701/21, 144/144.E, 144/144.RE
• US Class Current: 114/144.0RE
• CPC Class Codes: A63H 23/04 Self-propelled boats, ships or submarines
• CPC Class Codes: A63H 30/04 using wireless transmission
• CPC Class Codes: B63B 2035/006 Unmanned surface vessels, e.g. remotely controlled
• CPC Class Codes: B63B 35/00 Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
• CPC Class Codes: B63H 2025/028 using remote control means, e.g. wireless control; Equipment or accessories therefor
• CPC Class Codes: B63H 2025/045 making use of satellite radio beacon positioning systems, e.g. the Global Positioning System [GPS]
• CPC Class Codes: B63H 25/02 Initiating means for steering , for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
• CPC Class Codes: B63H 25/04 automatic, e.g. reacting to compass
• CPC Class Codes: G01C 13/008 measuring depth of open water
• CPC Class Codes: G05D 1/0206 specially adapted to water vehicles
• CPC Class Codes: Y02A 90/30 Assessment of water resources

Abstract

This invention concerns a remote control unmanned boat which can be freely operated by remote control and a remote control device. The remote control unmanned boat comprises a propelling power source 11 for generating a propelling power, a steering device 13 for freely varying the direction of advance, a first transmit-receive antenna 24 for receiving the signal transmitted by ratio from a control device 20, a first controller 15 for controlling the propelling power source 11 and the steering device 13 based on the signal received from the first transmit-receive antenna 14, a memory device 17 for memorizing the initial position set in advance, and a GPS antenna 16 for receiving the electric wave transmitted from an artificial satellite. The first controller 15 calculates the present position based on the electric wave received by the GPS antenna 16 and, when the stated condition is satisfied, initiates automatic control of the propelling power source 11 and the steering device 13 so as to attain regression to the initial position based on the present position and the initial position. Thus, the remote control unmanned boat has no possibility of being missed.

Claims

1. A remote control unmanned boat comprising:

a propelling power source for generating a propelling power,

a steering device for freely varying the direction of travel,

a first transmit-receive antenna for receiving a signal transmitted by radio by a remote control device,

a first controller for controlling said propelling power source and said steering device based on said signal received by said first transmit-receive antenna,

a memory device for memorizing an initial position set in advance,

a GPS antenna for receiving an electric wave transmitted from an artificial satellite,

said first controller being adapted to calculate the present position based on the electric wave received by said GPS antenna and, when stated conditions are satisfied said first transmit-receive antenna becomes temporarily disabled so that it becomes temporarily incapable of receiving said signal, to initiate automatic control of said propelling power source and said steering device so as to be regressed to the initial position based on said present position and said initial position, and

said first controller, when said first transmit-receive antenna becomes capable of receiving said received signal during said automatic control, terminates said automatic control and resumes control based on the signal from said remote control device,

a surveying device for surveying the states of water body and water bottom, wherein said first transmit-receive antenna causes information obtained from the survey concerning the states of water body and water bottom surveyed by said surveying device to be transmitted by a specific electric wave to said remote control steering device,

a second transmit-receive antenna for transmitting by radio the signal concerning the operations of said propelling power source and said steering device to said remote control unmanned boat and receiving the information obtained from the survey concerning the states of water body and water bottom surveyed by said surveying device, and

a second controller for feeding the signals of operations concerning said propelling power source, said steering device, and said surveying device to said second transmit-receive antenna.

2. A remote control unmanned boat according to claim 1, wherein said surveying device further serves to determine the speed relative to the ground surface, the speed relative to the tidal current, and the speed of the tidal current, survey the geology of water bottom, and survey the state of the environment in the horizontal direction.

3. A remote control unmanned boat according to claim 1, wherein said first transmit-receive antenna continuously transmits the information of the present position calculated by said first controller to a remote control device and continuously receives the received signal returned from said remote control device, and said first controller initiates said automatic control when said first transmit-receive antenna is not capable of receiving said received signal for a prescribed time.

4. A remote control unmanned boat according to claim 1, wherein

said memory device memorizes, when necessary, the positions calculated as the present positions at individual time points by said first controller, and

said first controller, during the course of said automatic control, controls said propelling power source and said steering device so as to pass the present positions at the individual time points memorized in said memory device.

5. A remote control unmanned boat according to claim 1, wherein said first controller, during the course of said automatic control, controls said propelling power source and said steering device so as to return to said initial position in the shortest distance.

6. A remote control unmanned boat according to claim 1, which further comprises a surveying device for surveying the states of water body and water bottom wherein said memory device memorizes the information of survey concerning the states of water body and water bottom surveyed by said surveying device.

7. A remote control unmanned boat according to claim 6, wherein said memory device records said information of survey in a recording medium.

8. A remote control unmanned boat according to claim 1, which further comprises a surveying device for surveying the states of water body and water bottom and wherein

said memory device memorizes the longitudes and the latitudes of important points in the region selected for survey, and

said first controller controls said propelling power sources and said steering device so as to pass said points.

9. A remote control device according to claim 1, which further comprises a monitor for displaying the state of water body and the present position based on said information of survey received from said second transmit-receive antenna.

10. A remote control device according to claim 1, which further comprises an alarm device for issuing an alarm when the communication with said remote control unmanned boat cannot be continued for a stated time or when the signal indicating a decrease of the electric source is received from said remote control unmanned boat.

11. A remote control unmanned boat according to claim 1, which further comprises an alarm device for informing by an alarm or a monitor for informing by display on a screen the termination of automatic control of said remote control unmanned boat when the communication with said remote control unmanned boat is not continued for a stated time and subsequently the communication with said remote control unmanned boat is rendered resumable.

12. A remote control device according to claim 9, wherein

said second controller draws a map of a water body and a water bottom based on said information of survey received from said second transmit-receive antenna, and

said monitor displays a map formed by said second controller.

13. A remote control device according to claim 1, which further comprises a recording device for recording said information of survey received from said second transmit-receive antenna on a recording medium.