Patent Description:
Photogrammetry has begun to attract attention by recent improvements in image processing technology and computer processing speed. Photogrammetry is a technology that precisely digitizes images and positions from photographs taken from various angles and reproduces realistic three-dimensional objects from them. In order to facilitate photography for photogrammetry, for example, <CIT> discloses a scanner including a camera unit having two cameras and an irradiation unit. Document JP <CIT> discloses an underwater robot that comprises a front case, an imaging unit, and a spring. The front case has a transparent plate that is arranged to face an inspected object during inspections and that transmits visible light.

However, in the scanner disclosed in <CIT>, the photographing camera and the illumination light are fixed at predetermined positions on the arm, and an operator must hold the scanner in his /her hands and point the scanner in an appropriate direction. Further, since the scanner is carried by the operator, it is not suitable for photography for photogrammetry in water or in the sea (hereinafter, "in water" and "in the sea" are collectively referred to as in water, except special case) where it is difficult for the operator to move.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the drawings. In the present specification and the drawings, components having substantially the same functional configuration are designated by the same reference numerals. Therefore, duplicate description will be omitted. Also, in each drawing, the members of the device are not described according to the actual dimensions in order to emphasize them.

<FIG> is a perspective view of the support device <NUM> of a first embodiment, and shows a state before mounting an unmanned submarine ROV such as an underwater drone. The support device <NUM> can be equipped with at least one or more photographing camera CA (with a waterproof housing), an illumination light LT, a laser pointer LP, and the like. In the following description, each direction of up/down, front/back, and left/right is defined as shown in <FIG>. In the basic posture when the support device <NUM> is submerged in water, the water surface side is defined as the upper side (+ Z axis) and the water bottom side is defined as the lower side (-Z axis). The direction in which the laser pointer LP is arranged is defined as the front (+ X-axis) in the one-axis direction of one of the cross-shaped first frames described later, and the opposite side is defined as the rear (-X-axis). Then, in the other two-axis directions of the first frame, the back side of the paper surface in <FIG> is the right side (+ Y axis), and the front side of the paper surface is the left side (-Y axis). Further, in the following description, the direction of rotation centered on the front-rear axis is the roll direction, the direction of rotation centered on the right-left axis is the pitch direction, and the direction of rotation centered on the vertical axis is the yaw direction.

The support device <NUM> is detachably attached to an unmanned submarine ROV such as an underwater drone. The support device <NUM> can be flexibly attached to and detached from the newly introduced unmanned submarine ROV almost every year.

The size of the support device <NUM> is configured to fit within, for example, <NUM> in the X-axis direction, <NUM> in the Y-axis direction, and <NUM> in the Z-axis direction. Since the unmanned submarine ROV is becoming smaller, the support device <NUM> may be even smaller in size. The support device <NUM> of the first embodiment does not have an electrical connection or wireless / wired signal transmission / reception with the unmanned submarine ROV. However, the support device <NUM> may be electrically connected (power supply/signal) to the unmanned submarine ROV if necessary.

The photographing camera CA including the still image camera and the moving image camera and the illumination light LT attached to the support device <NUM> can be freely changed according to the application. For example, for the photographing camera CA, there are a waterproof housing having a water depth of <NUM> water resistant and a waterproof housing having a water depth of <NUM> water resistant. Similarly, the illumination light LT also has a limit water depth of <NUM>, <NUM>, <NUM> water resistant, or the like. Depending on the limit water depth of the unmanned submarine ROV, the water depth of the operating location, or the purpose of the user, the type of the photographing camera CA and its waterproof housing attached to the support device <NUM>, or the illumination light LT can be changed.

The support device <NUM> has a cross-shaped upper first frame 10U and a cross-shaped lower second frame 10B. The first frame 10U and the second frame 10B are arranged so as to face each other. Further, the support device <NUM> has a support material <NUM> arranged between the first frame 10U and the second frame 10U so as to connect the first frame 10U and the second frame 10B. The support material <NUM> is formed by a buoyancy material having a specific density of less than <NUM>. Further, the support device <NUM> includes a lighting mount <NUM> for an illumination light attached to the support material <NUM>, a shooting mount <NUM> for a photographing camera attached to the second frame 10B, and a pointer mount <NUM> for a laser pointer attached to the support material <NUM>. These members will be described in detail below with reference to <FIG> and <FIG>.

<FIG> is a plan view of the support device <NUM> observed from + Z axis direction, and <FIG> is a bottom view of the support device <NUM> observed from -Z axis direction. The first frame 10U shown in <FIG> is formed of a metal such as stainless steel, an aluminum alloy, or chrome steel, or a fiber reinforced plastic having high strength made of glass fiber, carbon fiber, or the like, and made by a 3D printer and so on. A metal that easily rusts, for example, an iron material is not preferable in consideration of being used in the sea, but when an iron material is used for the first frame 10U, it is preferably protected by a rust preventive paint. The width of the first frame 10U is, for example, <NUM> to <NUM>, and the length of the first frame 10U in the front-rear direction or the right-left direction is, for example, <NUM> to <NUM>. In the first embodiment, the lengths of the first frame 10U in the front-rear direction and the right-left direction are the same, but the lengths may be different from each other.

The second frame 10B shown in <FIG> is also made of the same metal material or reinforced plastic as the first frame 10U. Since the first frame 10U and the second frame 10B are connected by the plate-shaped support material <NUM> described later, they overlap each other when observed from upward or downward. In the first embodiment, the first and second cross-shaped frames are formed in a cross shape orthogonal to the X-axis direction and the Y-axis direction at <NUM> degrees, but the intersection angles may be changeable, for example, <NUM> degrees and <NUM> degrees.

The support material <NUM> is fixed to the front-rear end (X-axis direction) and the left-right end (Y-axis direction) of the first frame 10U and the second frame 10B. The support material <NUM> is a buoyant body having a specific gravity of <NUM> or less, and may be made of, for example, a glass fiber reinforced plastic material such as urethane foam, polyethylene foam, or, styrene foam. Since the unmanned submarine ROV may move deep into the water, reinforced styrofoam with pressure resistance and water resistance is particularly preferable. As described above, the support device <NUM> is attached with a photographing camera CA (with a waterproof housing), an illumination light LT, a laser pointer LP, and so on. In the first embodiment, at most five photographing cameras CA, eight illumination lights LT, and two laser pointer LPs are attached.

It is preferable that the volume of the support material <NUM> buoyant body and the material of the support material <NUM> maybe selected so that the maximum weights of the attached photographing camera CA, the illumination light LT, the laser pointer LP, and so on can be offset. For example, when the photographing camera CA is lighter or the number of photographing cameras to be attached is small, a weight (not shown) is attached to the support device <NUM>. For example, a weight of <NUM> may be taped to the second frame 10B.

The support material <NUM> of the first embodiment is arranged at the front-rear end and the left-right end of the first frame 10U and the second frame 10B, respectively. For example, the front-rear support material <NUM> may be one support material <NUM> having a length equivalent to the length in the front-rear direction of the first frame 10U. That is, it may be composed of three support materials, one support material <NUM> extending in the X-axis direction and two support materials <NUM> extending in the Y-axis direction as shown in <FIG> or <FIG>. When the total weight of the attached photographing camera CA, illumination light LT, and laser pointer LP becomes very heavy, the volume of the buoyant body can be increased by preparing one support material <NUM> that extends long in the X-axis direction and maximum weight can be offset.

As shown in <FIG> and <FIG>, a lighting mount <NUM> for the illumination light LT is attached to the first surface <NUM> of the support material <NUM> by screwing or bonding. In this embodiment, eight lighting mounts <NUM> are attached to eight first surfaces <NUM> of the four support materials <NUM>. The light holder <NUM> may be rotatable to the axis of the base of the lighting mount <NUM> so that the lighting mount <NUM> can direct the lighting direction of the illumination light LT according to the shooting direction of the photographing camera CA. Alternatively, when the base of the lighting mount <NUM> and the light holder <NUM> are fixed (non-rotatable), screw holes for attaching the lighting mount <NUM> to the support material <NUM> are arranged on the circumference, for example, every <NUM> degrees, and the base of <NUM> may be rotatable about the axis with respect to the support material <NUM>. When the base of the lighting mount <NUM> and the light holder <NUM> are fixed, a turntable may be provided under the base of the lighting mount <NUM>.

When the shooting direction of the photographing camera CA is limited, it is not always necessary to provide eight lighting mounts <NUM>, and for example, only four lighting mounts <NUM> may be arranged. However, when creating a 3D model with photogrammetry, it is preferable that the photograph taken is sharp or not blur. In order to take a sharp picture, increase the shutter speed to make a picture without blurring due to movement, raise the aperture value (F value) to make a picture without blur, and lower the ISO value to make a picture with less noise. Therefore, it is preferable to arrange lighting mount <NUM> with <NUM> or more, preferably <NUM> or more to secure the amount of light from the illumination light LT.

As shown in <FIG> and <FIG>, two pointer mounts <NUM> for laser pointer LP are attached to the fourth surfaces <NUM> at both ends of the support material <NUM> in the X-axis direction by screwing or bonding. Pointer mounts <NUM> may be attached to both ends of the support material <NUM> in the Y-axis direction. When the length of the first frame 10U in the front-rear direction is longer than the length in the left-right direction, it is preferable that the pointer mounts <NUM> are attached to both ends of the longer one. The laser pointers LP create to form the light spots emitted from the laser pointer LP on the bottom of the water or a cliff (wall surface) in the water, and utilize the distance between the two light spots in the photograph taken by the photographing camera CA. Then it is possible to give dimensions to the created digital 3D model. It is preferable that the pointer mount <NUM> is configured so that the direction of the light spot can be rotated about the axis according to the shooting direction of the photographing camera. In the first embodiment, the pointer mount <NUM> is attached to the fourth surface <NUM> of the support material <NUM>, but it may be provided on the first frame 10U or the second frame 10B.

The detachable mount <NUM> shown in <FIG> is a mount for attaching and detaching the unmanned submarine ROV. If the unmanned submarine ROV has an attachment / detachment device, it can be fitted with the attachment / detachment device. When the unmanned submarine ROV does not have an attachment / detachment device, the unmanned submarine ROV can be attached / detached with the tape by passing a tape or band by passing band through the hole (not shown) of the detachable mount <NUM>. In <FIG>, although three detachable mounts <NUM> are provided, not limited to three. For example, only one at the center of the cross may be provided, or five at the center and five on the front, back, left, and right may be provided, these arrangements are good. Further, the detachable mount <NUM> may be movable on the first frame 10U. The first frame 10U and the unmanned submarine ROV may be attached or detached with a tape or a band without providing the detachable mount <NUM>.

The shooting mount <NUM> shown in <FIG> is a mount for attaching and detaching the waterproof housing of the photographing camera CA. Since the bottom of the water (seabed) is often photographed, it is preferable that the shooting mount <NUM> is attached to the second frame 10B. Further, if the support material <NUM> has a structure (see <FIG>) that penetrates the second frame 10B downward (-Z axis), the shooting mount <NUM> may be attached to the bottom surface of the support member <NUM>.

The shooting mount <NUM> has a function equivalent to that of a universal head of a tripod. For example, the function of shooting mount <NUM> is configured so that the roll direction, pitch direction, and yaw direction can be freely set. The reference axis of the shooting mount <NUM> is the -Z axis direction in which the photographing camera CA housed in the waterproof housing observes the water bottom (seabed). Assuming that the -Z axis direction of the shooting mount <NUM> is <NUM> degrees, it is preferable that the photographing camera CA can photograph from the -<NUM> degree direction to the +<NUM> degree direction in the roll direction and from the -<NUM> degree direction to the +<NUM> degree direction in the pitch direction.

Photographing for creating a digital 3D model with photogrammetry is that each photo has sufficient overlap. That is, it is preferable that the first photograph and the second photograph overlap by <NUM>% (horizontal direction) or <NUM>% (vertical direction) or more. In order to create a more precise 3D model, it is preferable that the object to be photographed is shot from at least <NUM> different angles. Therefore, it is preferable that the support device <NUM> can be equipped with five photographing cameras CA in advance in the directions of downward, diagonally forward, downward, diagonally downward to the left, diagonally downward to the right, and diagonally downward to the rear. Conventional photogrammetry in water was done by a handheld camera and a diver takes pictures of one place from multiple angles. When five photographing cameras CA with a different shooting direction are installed, pictures for photogrammetry are taken just by moving the unmanned submarine ROV in one direction (for example, + X axis direction). It is preferable that five shooting mounts <NUM> are provided, but for example, if a steep cliff (wall surface) in water is mainly photographed, three shooting mounts <NUM> may be provided.

<FIG> is the support material <NUM> of the first embodiment, <FIG> is a view of observing the support material <NUM> from the + Y axis direction, and <FIG> is a view of observing the support material <NUM> from the -X axis direction. <FIG> is a view of the support material <NUM> of the second embodiment observed from the + Y axis direction. As shown in <FIG> (A2), the support material <NUM> has a first surface <NUM>, a second surface <NUM>, and a third surface <NUM> on one side, and the first surface <NUM> and the second surface <NUM> and a third surface <NUM> on the opposite side. Therefore, the first surface <NUM> and the first surface <NUM> form a thickness D1, the second surface <NUM> and the second surface <NUM> form a thickness D2, and the third surface <NUM> and the third surface <NUM> are Form thickness D3. The lighting mount <NUM> is arranged on the first surface <NUM>.

As shown in <FIG>, the illumination light LT generally has a circular body cross section and a light source head LTH having a trumpet-shaped diameter. Further, the illumination light LT generally has a battery lid LTT for inserting a primary battery or a secondary battery, and the battery lid LTT is often larger in diameter than the body. Therefore, in the rotation range of the illumination light LT attached to the lighting mount <NUM>, it is preferable that the second surface <NUM> is recessed inward from the first surface <NUM> so that the light source head LTH or the battery lid LTT does not interfere with the support material <NUM>. And the third surface <NUM> is preferably recessed inward from the first surface <NUM>. Since there are various shapes of the illumination light LT, it is not necessary to provide the second surface <NUM> or the third surface <NUM> which are recessed inward from the first surface <NUM>.

The step <NUM> (step between the first surface and the second surface and the step between the first surface and the third surface) of the support material <NUM> shown in <FIG> is formed a straight line parallel to the X-axis or the Y-axis. However, as shown in <FIG>, the step <NUM> of the support material <NUM> may be formed in a circumferential shape.

As described above, in order to create a 3D model by photogrammetry, it is desired that the photographing camera CA captures a sharp photograph. Therefore, it is preferable that the light from the illumination light LT is as strong as possible. However, when the light from the illumination light LT hits a floating object in water, a backscatter (backscattering) phenomenon occurs in which the light is scattered and diffusely reflected in the direction in which the light comes, then blocking the view. In order to reduce this backscatter, the positional relationship between the illumination light LT and the photographing camera CA is adjusted.

<FIG> is a right-side view of the support device <NUM> on which four illumination lights LT and three photographing cameras CA are described. The illumination light LT on the + X-axis side of the four illumination lights LT faces forward (+ X-axis direction), and the illumination light LT on the -X-axis side faces rearward (-X-axis direction). Further, the two illumination lights LT of the four illumination lights LT are directed downward (in the -Z axis direction). When the four illumination lights LT attached to the lighting mount <NUM> are rotatably moved downward from the horizontal direction, the locus LC of the light source head LTH of the illumination light LT becomes a locus indicated by a dotted line.

In <FIG>, the front (+ X-axis direction) photographing camera CA is drawn with the front (+ X-axis direction) as the shooting direction. The rear (-X-axis direction) photographing camera CA is drawn with the rear (-X-axis direction) as the shooting direction. And the photographing camera CA in the center is drawn so as to shoot in the water bottom direction (-Z axis direction). The angle of view AF varies depending on whether the shooting lens of each photographing camera CA is a wide-angle lens or a telephoto lens. When the shooting mount <NUM> is rotated in each direction, the total angle of view range of these three photographing camera CA becomes maximum angle of view WAF shown in a fan-shaped.

As shown in <FIG>, the locus LC of the light source head LTH is inside (+ Z-axis direction) from the maximum angle of view WAF of the photographing camera CA. When the locus LC of the light source head LTH is inside the maximum angle of view WAF of the photographing camera CA, the backscatter can be reduced. The length of the illumination light LT varies from about <NUM> to <NUM> or more. It is preferable that the locus LC of the various light source heads LTH is inside the maximum angle of view WAF of the photographing camera CA. Therefore, it is preferable that the center position of the illumination mount <NUM> is located above half the length of the support material <NUM> in the Z-axis direction. Further, it is preferable that the shooting mount <NUM> is attached to the bottom surface of the second frame 10B or the support material <NUM> so as to be as lower as possible in the support device <NUM>. Although not shown, the lighting mount <NUM> may be provided at the upper end (+ Z axis) of the support material <NUM>. Although the right-side view of the support device <NUM> is shown in <FIG>, the positional relationship between the lighting mount <NUM> and the shooting mount <NUM> is the same in the left-side view, the front-side view, and the rear-side view.

<FIG> is a side view of the support device 100A of the second embodiment. The support material 20A of the support device 100A has a structure that connects the first frame 10U and the second frame 10B and penetrates the second frame 10B downward (-Z axis). Therefore, the shooting mount <NUM> is attached to the bottom surface of the support material 20A. Further, the support device 100A has a weight mount <NUM> that the support device <NUM> of the first embodiment does not have.

When the lighting mount <NUM> and the shooting mount <NUM> are equipped with an illumination light LT and a photographing camera CA of the same weight, The support device <NUM> (and 100A) has a center of gravity in an axial shape connecting the cross-shaped intersection of the first frame 10U and the cross-shaped intersection of the first frame 10U in a well-balanced manner. However, when the weights of the illumination light LT and the photographing camera CA are different, or when the illumination light LT or the photographing camera CA is attached to some of the lighting mounts <NUM> or some of the shooting mounts, The center of gravity deviates from the axis connecting the intersections of the crosses. Further, even if the support device <NUM> is equipped with the illumination light LT and the photographing camera CA in a well-balanced manner, the support device <NUM> (and 100A) may be tilted due to the water flow (ocean current). On the contrary, when photographing a steep cliff (wall surface) in water, it may be better to keep the support device <NUM> (and 100A) tilted at a certain angle and photograph with the photographing camera CA.

The weight mount <NUM> shown in <FIG> has a rail <NUM>, a pedestal <NUM>, and a locking mechanism <NUM>. The rail <NUM> has a groove and is made of a metal such as plastic or stainless steel or an aluminum alloy. The pedestal <NUM> is made of plastic or metal and has a retaining rod <NUM> for fastening the weight WT and a protrusion (not shown) that enters the groove of the rail <NUM>, and the pedestal <NUM> can move along the rail <NUM>. Further, the pedestal <NUM> has a lock mechanism <NUM> for locking the pedestal <NUM> on the rail <NUM>.

It is preferable that the weight WT has a hole (not shown) and unevenness so that the stacking does not shift. And it is preferable that the weight of the weight WT can be adjusted by inserting the hole of the weight WT into the fastening rod <NUM> and stacking, for example, <NUM> of the weight WT in <NUM> step, <NUM> steps, and <NUM> steps. The weight WT of the flat plate may be fastened with tape or the like without providing the fastening rod <NUM> on the pedestal <NUM>.

An example of the balance adjustment of the support device 100A will be explained with reference to <FIG>. It is assumed that the balance between the total weight and buoyancy of the support device 100A including the photographing camera CA, the illumination light LT, and the laser pointer LP matches the front (+ X-axis side) pedestal <NUM>, the four weight WTs, and the rear (-X-axis side) pedestal <NUM> with two weights WT. Further, it is assumed that the front pedestal <NUM> is locked by the lock mechanism <NUM> at the center position of the rail <NUM>, and the rear pedestal <NUM> is also locked by the lock mechanism <NUM> at the center position of the rail <NUM>. If the front is slightly lighter (about <NUM>) in this state, the lock of the pedestal <NUM> on which the two rear weight WTs are placed is released, and the pedestal <NUM> is moved forward and locked by the lock mechanism <NUM>. It is easier to make fine adjustments when the weight WT moves the pedestal <NUM> a long distance.

Although <FIG> shows an example in which the pedestal <NUM> is manually moved and locked by the lock mechanism <NUM>, a ball screw, an electric motor, and an electric circuit may be added to the rail <NUM> to automatically adjust the balance. Although the right-side view of the support device 100A is shown in <FIG>, when observed from the front side view, the support device 100A also has a weight mount <NUM> having a rail <NUM> extending in the Y-axis direction.

<FIG> is a bottom view of the support device 100B of the third embodiment. The support device 100B has an annular flat plate <NUM> that substantially covers the second frame 10B below the second frame 10B (in the -Z axis direction). The annular flat plate <NUM> is connected to the second frame 10B by screwing or welding. The annular flat plate <NUM> is preferably made of a metal such as stainless steel, aluminum alloy, or chrome steel, and has a mesh structure so as not to be affected by water flow. The shooting mount <NUM> is arranged at every <NUM> degrees of the annular flat plate <NUM>, and together with the shooting mount <NUM> arranged at the center of the cross of the second frame 10B, a maximum of nine photographing cameras CA (with a waterproof housing) can be arranged. Since the number of photographing cameras CA is large, it is possible to sufficiently secure overlap between each photograph in the photography of photogrammetry.

<FIG> is a bottom view of the support device 100C of the fourth embodiment. The support device 100C has an octagonal flat plate <NUM> having substantially the same length in the XY axis direction as the second frame 10B instead of the second frame 10B. The octagonal flat plate <NUM> is connected to the first frame 10U by a support material <NUM>. The octagonal flat plate <NUM> is also made of a metal such as stainless steel. The shooting mount <NUM> is arranged at the corner of the octagonal flat plate <NUM>, and the shooting mount <NUM> is also arranged at the center of the octagonal flat plate <NUM>, so that a maximum of nine photographing cameras CA can be arranged.

The octagonal flat plate <NUM> of <FIG> is not formed with holes, but it is preferable that the octagonal flat plate <NUM> has a large hole like the flat plate <NUM> in order to make it less susceptible to the influence of water flow, and it is preferably a mesh structure. In the third embodiment, the annular flat plate <NUM> is attached below the second frame 10B, but as in the fourth embodiment, the annular flat plate <NUM> may be attached instead of the second frame 10B. Further, in the fourth embodiment, the octagonal flat plate <NUM> is attached, Not limited to the octagonal flat plate, it may be a polygonal flat plate. Further, as in the third embodiment, a polygonal flat plate may be attached below the second frame 10B.

When a flat plate is attached instead of the second frame 10B as in the fourth embodiment, the weight mount <NUM> shown in the second embodiment may be attached in the radial direction (in the case of a circular shape) or the longitudinal direction (in case of polygonal shape) of the flat plate.

<FIG> show the support device 100D of the fifth embodiment. <FIG> is a perspective view of the support device 100D, showing a state before mounting an Unmanned submarine ROV such as an underwater drone. <FIG> is a perspective view of the frame of the support device 100D. <FIG> is a plan view of the support device 100D, <FIG> is a front view thereof, and <FIG> is a side view thereof. The support device 100D can be equipped with at least one or more photographing camera CA (with a waterproof housing), an illumination light LT, a laser pointer LP, and the like. In the following description, each direction of up/down, front/back, and left/right is defined as shown in <FIG>.

The support device 100D is detachably attached to an unmanned submarine ROV such as an underwater drone, as in the first to fourth embodiments. Further, the support device 100D is lighter and smaller than the first to fourth embodiments. It is preferable that the size of the support device 100D is configured to fit, for example, <NUM> or less in the X-axis direction, <NUM> or less in the Y-axis direction, and <NUM> or less in the Z-axis direction, and can be stored in a travel suitcase. The photographing camera CA and the illumination light LT attached to the support device 100D can be freely changed according to the application.

In the fifth embodiment, up to two photographing cameras CA and four illumination lights LT are attached to the support device 100D. The support device 100D includes a support material <NUM> and a lighting mount <NUM> for an illumination light attached to the second frame 10V, and a shooting mount <NUM> for a photographing camera attached to the first frame <NUM> and the second frame 10V, respectively.

In the fifth embodiment, the laser pointer LP is not attached, but a pointer mount <NUM> for a laser pointer similar to that in the first embodiment may be attached to the support device 100D. In the fifth embodiment, the pointer mount <NUM> may be attached to the first frame <NUM>, the second frame 10V, or the support material <NUM>, which will be described later. The support material <NUM> of the fifth embodiment may be a buoyant body similar to that of the first embodiment and so on.

In particular, as shown in <FIG>, the support device 100D has a plate-shaped first frame <NUM> extending horizontally and a plate-shaped second frame 10V extending vertically so as to intersect the first frame 10U. The first frame <NUM> and the second frame 10V are formed of the same metal material or reinforced plastic by a 3D printer as the first frame 10U of the first embodiment.

The width D4 of the first frame <NUM> and the second frame 10V is, for example, <NUM> to <NUM>, and the length of the first frame 10U in the front-rear direction and the length of the second frame 10V in the vertical direction are, for example, <NUM> to <NUM>. In the fifth embodiment, the widths D4 of the first frame <NUM> and the second frame 10V are the same, but may be different from each other. One end of the first frame <NUM> and one end of the second frame 10V are reinforced with a brace material 10AA and joined at an angle of <NUM>-<NUM> degrees. The other end of the first frame <NUM> and the other end of the second frame 10V are reinforced by the first reinforcing arm 10A1.

Further, the first frame <NUM> has first mounting portions 10SH (10SH1, 10SH2) for mounting the support material <NUM> on the upper side (+ Z axis side) and the lower side (-Z axis side), respectively, and the second frame 10V has a second mounting portion 10SV (10SV2, 10SV1) for mounting the support material <NUM> in the front (+ X-axis side) and the rear (-X-axis side) each. A part of the lower first mounting portion 10SH2 and a part of the front second mounting portion 10SV2 are reinforced by the second reinforcing arm 10A2.

A rectangular support material <NUM> is attached to the first attachment portion 10SH1 and the second attachment portion 10SV1 when viewed from the Y-axis direction (XZ plane), and the first attachment portion 10SH2 and the second attachment portion 10SV2 can be attached the trapezoidal support material <NUM> when viewed from the Y-axis direction, but the shape is not limited to this. For example, the shape of the first mounting portion 10SH and the second mounting portion 10SV may be a semicircular shape or a triangular shape. The first mounting portion 10SH and the second mounting portion 10SV are formed so as to cover four surfaces of the rectangular or trapezoidal support material <NUM>, but have at least one surface, and it may be a structure to be tied up the support material <NUM> with a string or a rope.

The support member <NUM> is a buoyant body having a shape that matches the first mounting portion 10SH1 and the second mounting portion 10SV1, and is a buoyant body having a shape that matches the first mounting portion 10SH2 and the second mounting portion 10SV2. In <FIG> and <FIG>, the width (Y-axis direction) of the support material <NUM> coincides with the width D4 of the first mounting portion 10SH or the second mounting portion 10SH, but the support material <NUM> may be adjusted to be wide or narrow so that the weight of the attached photographing camera CA and lighting light LT, etc. can be offset.

Similarly to the first embodiment, the support device 100D of the fifth embodiment also adjusts the positional relationship between the illumination light LT and the photographing camera CA in order to reduce the backscatter. Two lighting mounts <NUM> for the illumination lights LT are arranged behind the shooting mount <NUM> of one photographing camera CA facing forward (in the -X-axis direction), and two lighting mounts <NUM> for the illumination light LT are arranged above the imaging mount <NUM> of one photographing camera CA facing downward (in the + Z-axis direction). Each illumination light LT will be installed at the rear portion of the photographing camera CA in the photographing direction, and the backscatter caused by the light hitting the floating matter in the water can be minimized.

The detachable mount <NUM> shown in <FIG> is a mount for attaching / detaching the unmanned submarine ROV. The support devices <NUM> (100A to 100C) of the first to fourth embodiments have an axial center of gravity connecting the cross-shaped intersections of the first frame 10U and the cross-shaped intersections of the first frame 10U. On the other hand, the support device 100D of the fifth embodiment is symmetrical in the left-right (Y-axis) direction, but is not configured symmetrically in the front-rear (X-axis) direction. Therefore, when the unmanned submarine ROV mounts the support device 100D via the detachable mount <NUM>, it may not be possible to balance in the front-rear direction. Therefore, the detachable mount <NUM> shown in <FIG> is provided with a rail <NUM> for moving the detachable mount <NUM> and a lock mechanism <NUM> for locking the detachable mount <NUM>.

The rail <NUM> is made of plastic or metal, and the detachable mount <NUM> is movable along the rail <NUM>. The operator attaches the photographing camera CA to the shooting mount <NUM> and the illumination light LT to the lighting mount <NUM> of the support device 100D, and then attaches the unmanned submarine ROV to the support device 100D via the detachable mount <NUM>. The unmanned submarine ROV attached to the support device 100D is submerged in water, while the position of the detachable mount <NUM> is determined by the lock mechanism <NUM> in consideration of the balance of the support device 100D.

In the fifth embodiment, the detachable mount <NUM> can be moved in the front-rear direction, but the detachable mount <NUM> may be fixed. In this case, it is preferable to provide the weight mount <NUM> described in <FIG> on the support device 100D. The weight mount <NUM> can move the weight WT in the front-rear direction to balance the support device 100D.

In the first embodiment, since five photographing cameras CA can be mounted on the support device <NUM>, photographs for photogrammetry can be taken only by moving the unmanned submarine ROV in one direction (for example, the + X-axis direction). On the other hand, in the fifth embodiment, since only two photographing cameras CA can be mounted, it is preferable that the unmanned submarine ROV reciprocates in one direction. For example, the unmanned submarine ROV moves in the + X-axis direction, rolls +<NUM> degrees to move in the -X-axis direction, and finally rolls -<NUM> degrees and moves in the + X-axis direction, and photographs for photogrammetry can be taken, which is almost the same as that of the first embodiment.

Claim 1:
A support device (<NUM>), comprising:
a detachable mount (<NUM>) for attaching and detaching an unmanned submarine (ROV);
a first frame (10U, <NUM>) on which the detachable mount (<NUM>) is provided;
a second frame (10B, 10V) provided corresponding to the first frame (10U, <NUM>);
a support material (<NUM>) coupled to the first frame (10U, <NUM>) and the second frame (10B, 10V) and formed of a small buoyancy material with a specific gravity of less than <NUM>;
a lighting mount (<NUM>) for illumination lights (LT) attached to the first frame (10U, <NUM>), second frame (10B, 10V) or support material (<NUM>); and
a shooting mount (<NUM>) for photographing cameras (CA) attached to the first frame (10U, <NUM>), the second frame (10B, 10V) or support material (<NUM>),
characterised in that the first frame (10U) is formed in a cross shape;
the second frame (10B) is formed in a cross shape with arranged facing the first frame (10U);
the support material (<NUM>) is arranged between the first frame (10U) and the second frame (10B) so as to connect the first frame (10U) and the second frame (10B).