ASV開発ロードマップ

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1 日欧 GNSS ミッション海洋ロボット開発と運用化への課題 Development of USVs and agendas of their practical use in Japan March 8, 2017 国立研究開発法人海洋研究開発機構 JAMSTEC 吉田弘 Hiroshi Yoshida 第 2 回日欧 GNSS 駐日欧州連合代表部

2 Technical Terms 無人航行船 UMV: Unmanned Maritime Vessel 洋上無人探査機 USV: Unmanned Surface Vehicle 洋上自律探査機 ASV: Autonomous Surface Vehicle 自律型無人探査機 AUV: Autonomous Underwater Vehicle 遠隔操縦型無人探査機 ROV: Remotely Operated Vehicle Surface vehicles Underwater vehicles 2

3 Marine Robots

4 UMVs Large Small? tons Drone ship/ Rolls-Royce 4.4 m, 1.5 tons Robotic Boat/ JAMSTEC-Yanmar 90 kg Waveglider / Liquid Robotics 40 m, 135 tons Sea Hunter/ DARPA 350 kg C-Enduro / ASV 4

5 Boat size UMV 3.5 tons C-Worker / ASV 1.7 tons Mariner/ Maritime Robotics 3 tons Kan-chan/ Windy network 1.8 tons DELPHIS / MES 3 tons Mainami / JAMSTEC-MHI 1.5 tons Robotic Boat/ JAMSTEC-Yanmar 5

6 Applications for the fisheries industry 漁船の GNSS 自律認識ハイブリッドによる自動航行 Autonomous cruising of fish boats Monitoring of marine farms Automatic fixed-point operation 6

7 Securing communication and observation in a disaster-stricken region ASV 2 危険地域での調査 Observation in a hazard area 1 被災時の通信確保 securing communication in emergency situations 7

8 1000m Creating bathymetry map in shallow water ASV 8

9 Observation of crustal movement quasi-zenith satellite GNSS ASV ASV Acoustic positioning Transponders 9

10 無人船と AUV の同時利用 ASV-AUV applications 10

11 Why we need underwater vehicles ITEMS Surface Shallow water Deep sea 資源開発 Development of resources 気候変動 Climate change 環境調査 Environment 港湾点検 Inspection in port and harbor 漁業養殖 Fisheries 海洋エネルギー Ocean energy 輸送 Carrier 11

12 AUV.., What? Manned Remotely Autonomous Famous Robots Underwater Vehicles HOV ROV AUV AUV = Autonomous underwater vehicle 12

13 ~2 m AUV enables underwater imaging and CTD measurement, ph, Co2, ATP, DO, etc. Laser scanning image Sonar image Bathymetry Mosaicing by stereo camera 13

14 AUV is higher performance platform but Now A mother vessel positions and monitors AUV(s) Operation cost of the vessel is about \ 5,000,000/day An ASV is a great substitute for a mother vessel 14

15 基本的な ASV-AUV の使い方 ASV-AUV operation ASV WWW AUV users Land station AUVs ASV, AUV operators ASV operators enginners 衝突防止のためにリアルタイムで監視 15

16 Marine resource exploration with multiple AUVs ROV ASV The AUV is teleoperated with the ASV. The mother ship performs the other works. AUVs 16

17 Pipeline inspection Sonar Laser Scanner Camera 17

JAMSTE s Robotic Boat Specifications of the ASV

communication WiFi GPS navigation GNSS Receiver

18 JAMSTE s Robotic Boat Specifications of the ASV Length: 4.4 m Weight: 1.8 tons Speed: 5 knots Endurance:48 hors 格納型キール搭載 Ka & L satellite communication Iridium communication WiFi GPS navigation GNSS Receiver AIS Contr ol CPU Recog nition CPU Cameras Laser profiler IMU Driver CPU Rader Actuators 18

運用化への課題 Technologies improvement needed 1. 測位 (Positioning) 特に海中が難しい GNSS-INS-Doppler velocity meter hybrid navigation 2. 他船舶や海洋構造物との衝突回避方法 (How do you avoid collisions?) i.

19 運用化への課題 Technologies improvement needed 1. 測位 (Positioning) 特に海中が難しい GNSS-INS-Doppler velocity meter hybrid navigation 2. 他船舶や海洋構造物との衝突回避方法 (How do you avoid collisions?) i. 自動認識 (Automatic recognition) Probability of misjudgment? ii. 遠隔監視 (Tele-monitoring) Mandatory twenty-four-hour supervision? 3. 信頼性 (Reliability) 多数のロボットを同時に利用していくためにどのような信頼性基準が必要か? 19

20 運用化への課題 Regulations 海上衝突予防法 The Act for Preventing Collisions at Sea is the most important. 海上海中ロボットのルール作りでは漁協の意見が重要 It is important to reflect views of fisheries cooperative association on the rules. 日本国内には未だ無人船のルールが無い There has been no progress in making revisions to existing laws to deal with ASVs in Japan. 無人船のルール化に当たっては無人船のメリットが出るようなレギュレーションが必要 The regulation to be revised must have the merit of ASVs compared to manned ships. 20

21 ボートサイズ無人船 (ASV) 実用化にむけて Toward the realization of ASVs in Japan Standardization & Test sites 県や国が取組 insurance 民間が取組 Regulation 民間団体から要望 Practical applications of ASV/USV Commercialization 数社の民間が取組 Market 国プロと民間による開拓 Technology development 国研民間が取組個別な取り組み individual actions 相互協力による統一的な取り組み Unified actions 21

22 END

m 1 AUV 10 m 1.3 m 1.5 m 10 tons 300 km 3,500 m 3 kn. Maximum 4 kn SSBL (, ) AUV 2,000 3,

m 1 AUV 10 m 1.3 m 1.5 m 10 tons 300 km 3,500 m 3 kn. Maximum 4 kn SSBL (, ) AUV 2,000 3, 19 pp.7-17 2006 Development of Deep Sea Cruising Autonomous Underwater Vehicle Taro Aoki Abstract The URASHIMA, a third-generation AUV (Autonomous Underwater Vehicle), can dive to a depth of 3,500 meters,