Kyutai Panic Adventure!

"Orb Panic Adventure!" is a special crossover story featuring characters from One Piece, Dragon Ball and Astro Boy. It was created as part of many interactive crossovers screened at special events called Odaiba Boken-Oh to commemorate Fuji TV's 45th anniversary. It has yet to see a home release. In the following year it had a sequel called Kyutai Panic Adventure Returns!.

Short Summary
Frieza attacks Fuji TV's orb section, throws it at the ocean and eventually engages in a fight against Goku. The Straw Hat Pirates arrive to help, but end up having a cannonball battle against the Arlong Pirates. Astro Boy, witnessing the situation, rushes to the place and lifts the orb back at its place.