JP2006275920A - Underwater position detection system, sound source device, underwater position detection device and underwater position detection method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an underwater position detection system and its device and method enabling each device to reduce time to receive and send signals, allowing a diver to move around while acquiring his own position wherein the devices are made compact and not required to be installed at water bottom. <P>SOLUTION: A sound source device is equipped with a means for acquiring positioning information from an external positioning means, a means for calculating its own position and a sound source for irradiating sound wave of predetermined intensity which is calculated by superposing its own position in the water. An underwater position detecting device is equipped with a means for acquiring the irradiated sound wave, a means for acquiring the positions of and the distances to the plurality of sound source devices by conducting the process for acquiring the positions of the sound source devices superposed by the acquired sound wave and a process for obtaining the distances to the sound source devices on the basis of the intensity of the sound wave and a means for acquiring the position of its own by conducting a predetermined positioning process on the basis of the acquired positions of and the distances to the plurality of sound source devices. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an underwater position detection system, a sound source device, an underwater position detection device, and an underwater position detection method, and more particularly to an underwater position detection system, a sound source device, an underwater position detection device, and an underwater position detection method used as a diving navigator. .

Diving beginners or divers with little experience diving into points are worried about grasping the position. Therefore, development of a device that can detect the position in the water has been promoted so that divers can safely walk the diving course.
Conventionally, there is a technique in which a diver walks relying on surrounding scenery while confirming the direction using a compass. There is also a technique in which an ultrasonic signal is exchanged between a boat and a diver and the diver walks while checking the position of the boat.

Also, as another method, a plurality of devices that transmit ultrasonic waves are installed on the bottom of the water, each device transmits ultrasonic waves with a frequency unique to each device, and the arrival time difference between the multiple ultrasonic waves received by the device carried by the diver Discloses a technique for identifying the position of a diver (see Patent Document 1).
In addition, as another method, sound source for acoustic positioning, radio positioning device, acoustic transducer for transmitting sound source signal from sound source for acoustic positioning, and positioning information obtained by radio positioning device are transmitted to underwater vehicle to be guided The underwater acoustic vehicle is equipped with a plurality of buoys that float on the ocean, and the underwater vehicle has its own absolute position based on the acoustic positioning based on the acoustic signals from the plurality of buoys and the absolute position data of the buoys based on the positioning information. A technique for measuring the position in real time is disclosed (see Patent Document 2).
JP 2003-172629 A (paragraphs 0010 to 0018, FIGS. 1 and 2) JP-A-10-111352 (paragraphs 0022 to 0045, FIG. 1)

  However, with the conventional method, it is particularly difficult for divers to check their position using a compass and to check their position using the surrounding scenery as a clue. There is a problem that is difficult. In addition, in the method of confirming the position by exchanging ultrasonic signals between the boat and the diver, the diver can grasp the relative position with respect to the boat, and can grasp where the person is walking in the water. There is a problem that is not.

  Further, according to the technique disclosed in Patent Document 1, a diver can walk while confirming his / her position on an underwater map, but the work of installing and collecting a device for transmitting ultrasonic waves on the bottom of the water is complicated. There is a problem that there is. Furthermore, if sound waves are reflected by obstacles such as reefs at the bottom of the water, there is a problem that the accuracy of position detection is reduced.

  Furthermore, according to the technique disclosed in Patent Document 2, an acoustic signal transmitter including time information necessary for measuring a relative position from a buoy and a positioning signal transmitter including absolute position information of the buoy. Since it is necessary to attach to the buoy, there is a problem that the buoy becomes large. Moreover, since two receivers are also required for the underwater vehicle, there is a problem that the underwater vehicle becomes large. Even if it is configured to transmit a signal from one transmitter, it is necessary to transmit a signal including time information and absolute position information from one transmitter, and a lot of time is spent to transmit and receive the signal. There is a problem that it ends up.

  The present invention has been made in view of the above problems, and it is possible to walk while grasping which part of the diver is walking in the water, and it is necessary to install a device on the bottom of the water. Underwater position detection system, sound source device, underwater position detection device, and underwater position detection method capable of reducing the size of each device and reducing the time spent by each device to transmit and receive signals The purpose is to provide.

  The present invention was devised to achieve the above-described object, and the underwater position detection system of the present invention includes a sound source, and a plurality of sound source devices that notify the position of the self by sound waves irradiated toward the water, An underwater position detection system that is located underwater and includes an underwater position detection device that detects its own position in water by acquiring sound waves from the plurality of sound source devices, the sound source device comprising: A positioning information acquisition unit installed on the water surface for acquiring positioning information from an external positioning unit, and a self-position calculation unit for calculating a self-position by performing a positioning process based on the acquired positioning information; A sound source that superimposes the calculated self position and irradiates the sound as a sound wave of a predetermined intensity in water, and the underwater position detection device includes sound wave acquisition means for acquiring the irradiated sound wave in water, and the acquisition By performing a process of obtaining the position of the sound source device superimposed on the sound wave from the sound wave and a process of obtaining a distance to the sound source device based on the intensity of the sound wave, the position of the plurality of sound source devices and the plurality of sound sources A position / distance acquisition unit for acquiring a distance to the device, and a predetermined positioning process based on the acquired positions of the plurality of sound source devices and the distances to the plurality of sound source devices; And an underwater position calculating means for acquiring a position.

  According to such a configuration, each sound source device can be measured by an external means and the position is clearly determined. Therefore, the position is superimposed, and a sound wave is generated at a specific frequency in each sound source device. It is possible to calculate the distance to the sound source device by a device capable of detecting the strength of the sound wave and to detect the position in water together with the position of the superimposed sound source device. Therefore, the diver can take a walk while grasping the underwater position by carrying the underwater position detection.

  In addition, since the sound source device is provided on the water surface, a device to be installed on the bottom of the water is not necessary, and troublesome installation work and collection work for the device are eliminated. In addition, since sound waves are not reflected by obstacles such as reefs in the bottom of the water, it is possible to detect the position without reducing accuracy.

  Furthermore, since the underwater position detection device detects the position in water based on the position of the sound source device superimposed on the sound wave and the sound wave intensity, it is not necessary for the underwater position detection device to acquire time information from the outside. The amount of information included in the signal transmitted to the underwater position detection device is reduced.

  According to the present invention, a diver can take a walk while grasping a position in water. In addition, it is possible to omit the work of installing and collecting an ultrasonic transmission device on the bottom of the water, and it is possible to prevent a decrease in position detection accuracy due to a water bottom obstacle such as a reef. Furthermore, the information contained in the signal transmitted from the sound source device to the underwater position detection device is reduced, the size of each device can be reduced, and the time spent by each device to transmit and receive signals can be reduced. .

  Next, the best mode for carrying out the present invention (hereinafter referred to as “embodiment”) will be described with reference to the drawings.

(First embodiment)
First, with reference to FIG. 1, the structure of the underwater position detection system which concerns on embodiment of this invention is demonstrated. FIG. 1 is a block diagram of an underwater position detection system according to a first embodiment of the present invention. The underwater position detection system includes a GPS buoy 10 (10a, 10b) and an underwater position detection device 20.

  As shown in FIG. 1, the GPS buoy 10 (10a, 10b) includes positioning information acquisition means 101 (101a, 101b), own position calculation means 102 (102a, 102b), and a sound source 103 (103a, 103b). Hereinafter, the GPS buoy 10 is used to indicate both the GPS buoy 10a and the GPS buoy 10b. Similarly, the positioning information acquisition means 101a and 101b are expressed using the positioning information acquisition means 101, the local position calculation means 102a and 102b are expressed using the local position calculation means 102, and the sound sources 103a and 103b are the sound sources 103. Use to represent. Hereinafter, each means of the GPS buoy 10 will be described.

[Description of Positioning Information Acquisition Unit 101]
The positioning information acquisition unit 101 has a function of receiving a positioning signal from an external positioning unit such as the GPS satellite 2. The positioning information acquisition means 101 is preferably installed on the water surface or the like so that it can receive positioning signals.

[Explanation of Self-Position Calculation Unit 102]
The own position calculation means 102 has a function of calculating its own position from the positioning signal received by the positioning information acquisition means 101. Since the calculation method is known, it is omitted here.

[Description of the sound source 103]
The sound source 103 generates a sound wave by phase-modulating the position information calculated by the own position calculation means 102 from an electric signal having a specific frequency at a frequency specific to each buoy and applying a voltage to the phase of the GPS buoy 10. Transmit the modulated location information. The GPS buoy 10a generates a sound wave phase-modulated at the frequency f1, and the GPS buoy 10b generates a sound wave phase-modulated at the frequency f2. The sound wave itself can be output by a speaker using the piezoelectric element by inputting a voltage signal to the piezoelectric element. Although the directivity of the sound wave can be adjusted by a speaker, it is assumed to be omnidirectional here. Thus, the sound source 103 is configured.
Note that the positioning accuracy can be increased by reducing the distance between the positioning information acquisition means 101 and the sound source 103.
In the present embodiment, the GPS buoy 10 is used as a sound source device, but a GPS-equipped ship or the like can be used instead as a sound source device.

  The receiving-side underwater position detection device 20 includes a sound wave acquisition unit 210, a position / distance acquisition unit 220, an underwater position calculation unit 230, a water pressure measurement unit 240, and a display unit 250. Hereinafter, each means will be described. In addition, although this invention is implement | achieved by using the several GPS buoy 10, in order to simplify the calculation method of underwater position, the case where the water pressure measurement means 240 and GPS buoys 10a and 10b are used is a suitable example. Will be taken up and explained.

[Description of Sound Wave Acquisition Unit 210]
The sound wave acquisition unit 210 has a function of detecting a sound wave in water and converting the detected sound wave signal into an electric signal. Here, the sound wave acquisition unit 210 detects a sound wave using an underwater microphone or the like, and converts the sound wave signal into an electric signal using a piezoelectric element or the like. The sound wave acquisition unit 210 transmits the converted sound wave signal to the frequency determination unit 221 of the position / distance acquisition unit 220.

[Description of Position / Distance Acquisition Unit 220]
The position / distance acquisition unit 220 includes a frequency determination unit 221, a sound wave intensity detection unit 222, and a demodulation unit 223.
The frequency determination unit 221 has a function of determining whether the frequency of the sound wave signal received from the sound wave acquisition unit 210 is the frequency f1 of the GPS buoy 10a or the frequency f2 of the GPS buoy 10b. Here, the frequency determination unit 221 identifies the frequency using a frequency circuit filter or the like, and transmits the frequency identification result and the sound wave signal to the sound wave intensity detection unit 222.
The sound wave intensity detection unit 222 has a function of detecting the sound wave intensity from the sound wave signal sent from the frequency determination unit 221. The sound wave intensity detection unit 222 transmits the frequency identification result, the sound wave intensity, and the sound wave signal to the demodulation unit 223.
The demodulator 223 has a function of demodulating the position information of the GPS buoy 10a or 10b from the modulated sound wave signal received from the sound wave intensity detector 222. The frequency identification result, distance information, and position information are transmitted to the survey calculation unit 235 of the underwater position calculation means 230.

[Description of water pressure measuring means 240]
The water pressure measuring means 240 has a function of measuring the water pressure applied to the underwater position detection device 20. The water pressure measuring means 240 includes a water pressure gauge and the like. Further, the measured water pressure is transmitted to the survey calculation unit 235.

[Description of Underwater Position Calculation Unit 230]
The underwater position calculation unit 230 includes an initial condition input unit 231, a setting unit 232, a ROM 233, a RAM 234, and a survey calculation unit 235.
The initial condition input unit 231 has a function of inputting initial setting values of parameters used in the following calculation processing. It is possible to input from a terminal device 310 (see FIG. 3) outside the housing 200 using a technique such as a wireless LAN.
The setting unit 232 has a function of setting the initial setting value of the parameter input by the initial condition input unit 231 in the RAM 234. Here, the setting unit 232 inputs parameters in advance while on the ground from the terminal device 310 (see FIG. 3) or the like via the wireless communication interface 311 (see FIG. 3), and the setting unit 232 inputs the parameters to the RAM 234. To record. It should be noted that the initial condition input unit 231 and the setting unit 232 may be omitted by storing the parameter initial setting values in the ROM 233 area or the like.
The ROM 233 is an area for storing a program. Information in the ROM 233 is loaded into the RAM 234 as necessary.
The RAM 234 is an area that is necessary for the calculation by the surveying calculation unit 235.
The survey calculation unit 235 has a function of calculating the underwater position using the frequency identification result, the sound wave intensity, and the position information received from the demodulation unit 223.

Next, a survey calculation method in the survey calculation unit 235 will be described with reference to FIG. 2 (refer to FIG. 1 as appropriate). FIG. 2 is a diagram showing a positional relationship of devices constituting the underwater position detection system according to the first embodiment of the present invention.
Position of the GPS buoys _{10a (x 1, y 1,} z 1) and become known by the GPS position of the buoy _{10b (x 2, y 2,} z 2) and the demodulation unit 223, the distance between the GPS buoys 10a and GPS buoys 10b r ₀ is obtained by the following equation (0).

In addition, as shown in FIG. 2, the distance between the position (x ₁ , y ₁ , z ₁ ) of the GPS buoy 10a and the position (X, Y, Z) of the underwater position detection device 20 is r ₁ , and the GPS buoy 10b position _{(x 2, y 2, z} 2) and the position of the underwater position detecting device 20 (X, Y, Z) the distance between the r _2, underwater position detecting device to segment r ₀ 20 (X, Y, When the angle between r ₁ and the perpendicular from Z) is θ ₁ and the angle between r ₂ is θ ₂ , the following equations (1) and (2) are geometrically satisfied.

r ₀ = r ₁ * sinθ ₁ + r ₂ * sinθ ₂ ... Formula (1)
r ₁ * cosθ ₁ = r ₂ * cosθ ₂ ... Formula (2)

In addition, for r ₁ and r ₂ , the “Technical Report of Fisheries Engineering 2,1980 pp.11-29 About the analysis of underwater impact sound, Hiyama, Ishii”, the distance from the sound source is about 100m. Since the sound wave intensity is inversely proportional to the distance and is inversely proportional to the square of the distance when the distance is 100 m or more, the following expressions (3) and (4) are satisfied for a distance of 100 m or less as a simple positioning.

r ₁ = K ₁ * A ₁ / a ₁ ... Formula (3)
r ₂ = K ₂ * A ₂ / a ₂ ... Formula (4)

a ₁ and a ₂ represent the intensity of sound waves detected by the underwater position detection device 20 (X, Y, Z) at frequencies specific to each of the buoys of the GPS buoy 10a and the GPS buoy 10b, and K ₁ , K ₂ , A ₁ , a ₂ are each constant, the wave propagation within 100 m, and the default parameters using the values shown in the following formula (5) and (6).

K = K ₁ = K ₂ ... Formula (5)
A = A ₁ = A ₂ ... Formula (6)

From the relationships (5) and (6), the distances r ₁ and r ₂ from the underwater position detection device 20 from the GPS buoy 10a or the GPS buoy 10b can be calculated.
Thereby, the following formula (7) is established for θ ₁ from formula (2).

θ ₁ = arccos ((r ₂ / r ₁ ) * cos θ ₂ ) (7)

  Moreover, following Formula (8) is materialized from Formula (1) and Formula (2).

0 = r ₀ -r ₁ * sin [arccos ((r ₂ / r ₁ ) * cosθ ₂ )] + r ₂ * sinθ ₂ … (8)

Θ ₂ is obtained from equation (8) by the following method.
For arccos θ, cos θ, and sin θ, the calculation results between θ from 0 to 2π are recorded in advance in the ROM 233 of the underwater position detection device 20, and r ₀ is recorded in advance in the RAM 234 as the calculation result of equation (0). Keep it. Next, in the survey calculation unit 235 of the underwater position detection device 20 (X, Y, Z), r ₁ and r ₂ are calculated by the equations (3) and (4) based on the detection results, and θ ₂ is the ROM 233. Substituting into the right side of Equation (8) from 0 to 2π with the resolution of θ recorded in θ, θ that is equal to or smaller than the preset allowable value Threshold is set as a candidate for θ ₂ . When there are two GPS buoys, there are two geometrically symmetric solutions, so _two candidates for θ ₂ appear. Therefore, the solution closest to θ ₂ recorded last time is used as the new θ ₂ .
Further, the constant K * A used in the equations (3) and (4) when calculating r ₁ and r ₂ is obtained as follows.

r ₀ = K * A / b (9)

  Here, a sound wave having a specific frequency is generated from the GPS buoy 10a, and the measured value of the sound wave intensity when received by the GPS buoy 10b is used as b. Then, a constant K * A is obtained by the following equation, and is substituted into Equations (3) and (4) for use.

K * A = r ₀ * b ... Formula (10)

Thus, r ₁ , r ₂ , θ ₂ can be obtained, and then θ ₁ can be calculated from equation (7).
Further, according to FIG. 2, when the angle formed between the side r ₀ and the side r ₁ of the triangle is α and the angle formed between the side r ₀ and the side r ₂ is β, the following equations (11) and (12) are established.

α = π / 2 −θ ₁ Formula (11)
β = π / 2 -θ ₂ Formula (12)

Accordingly, (x ₁ , y ₁ , z ₁ ) 102, (x ₂ , y ₂ , z ₂ ) 112, (θ ₁ + θ ₂ ), α, β can be obtained. The position (X, Y, Z) can be determined. A calculation example of (X, Y, Z) is shown below.

  From the triangular positional relationship shown in FIG. 2, the following formulas (13) to (15) hold.

Now, the GPS buoy 10a and the GPS buoy 10b exist in the vicinity of the water surface, and it is assumed that the height position z ₁ = z ₂ = 0, and the atmospheric pressure value at the water pressure measuring means 240 is ATM [atm], and Z = ATM −1 As for Z, it is assumed to be known. Then, the following equation (16) is obtained from the equation (14).

  Substituting this into equation (15) yields the following equation (17).

  This is a quadratic equation for X. Equations (18) to (20)

とすると、式（１７）は、次式（２１）となる。

Then, Expression (17) becomes the following Expression (21).

  Therefore, a solution shown in the following equation (22) is obtained by solving this quadratic equation.

Two solutions can be obtained with plus or minus, but the one closer to the X value of the previous calculation result is used as the new X.
By substituting this into equation (16), the current location (X, Y, Z) of the underwater position detection device 20 is obtained.

Next, returning to FIG. 1, the configuration of the display means 250 will be described.
[Description of Display Means 250]
As shown in FIG. 1, the display unit 250 includes an electronic compass 251, a display unit 252, a magnification calculator 253, an underwater map 254, and an internal clock 255.
An electronic compass 251 is provided for measuring the orientation. The orientation measured by the electronic compass 251 is output to the magnification calculator 253.
For the underwater map 254, an electronic map having latitude, longitude, and depth information, which is created in advance by an expert diver specializing in points, is used. In addition, the underwater map 254 is described including information on the flow of the ocean current depending on the location, and is converted into electronic data using a combination of latitude, longitude, depth, flow direction, flow strength, time, and the like. Is output to the unit 253. In addition, as the contents of the map, it is possible to describe the depth of the terrain, the scale, the dangerous spots, fish and other information, and information on the diving route. This data can be collected by diving points. Further, in the present invention, “sea current” includes “tidal current” which is a flow of seawater caused by tidal seas.
The internal clock 255 is used to display the direction and size of the ocean current according to the diver's use time. Here, it is preferable that the internal clock 255 outputs the time to the magnification calculator 253, and the magnification calculator 253 reads the underwater map 254 that matches the received time.
The magnification calculator 253 converts an arbitrary position (x, y) by the following equations (23) to (24) using a variable parameter L, and converts an arbitrary display coordinate point (x ′, y ′). Is to be calculated.

x ′ = L * x Expression (23)
y '= L * y ... Formula (24)

Next, the interface of the underwater position detection device 20 will be described with reference to FIG. FIG. 3 is a schematic diagram of the underwater position detection device according to the first embodiment of the present invention.
3 includes a housing 200, an underwater map 254, a display unit 252, a display magnification button 303, an initial condition input unit 231, a sound wave acquisition unit 210, a current location 306, a flow direction 307, a terminal device 310, And a wireless communication interface 311 is shown.
On the display unit 252, the current location 306 of the underwater position detection device 20 is shown. By indicating the current location 306, the diver can grasp his / her position in the water.
In addition, since the flow direction 307 changes depending on the season and time, when a beginner performs diving or the like, the flow direction 307 is easily lost. Since the flow direction 307 can display the direction and strength of the ocean current according to the use time of the internal clock 255, a beginner can perform safe diving.
Further, as a navigation aid, a azimuth display based on the data of the electronic compass 251 and a time display using the internal clock 255 are possible on the screen.

  A display unit 252 such as a liquid crystal panel having a controller for display and a magnification calculation unit 253 are integrated to provide waterproofness by a housing 200 made of transparent plastic or the like. The waterproof property can be realized by rubber packing or the like, and the mechanical interface with the outside of the operation buttons such as the magnification setting button 301 can be realized by rubber sealing.

  An electronic compass 251 is incorporated, and in order to match the north direction γm of the underwater map 254 with the north direction γn of the electronic compass 251, the drawing point is

γ = (γn−γm) Equation (25)
The display coordinates (x ′, y ′) set by the display magnification button 303 are converted into the current location 306 (x ″, y ″) by the rotation matrix and displayed.

x ”= x ′ * cos γ−y ′ * sin γ Equation (26)
y ”= x ′ * sinγ + y ′ * cosγ Equation (27)

  In addition, it is possible to extend the function of easily changing the three-dimensional display direction based on the three-dimensional coordinates of the underwater map 254 and the current location 306 using a three-dimensional coordinate transformation matrix.

  Next, referring to FIG. 4 (refer to FIG. 1 as appropriate), a method for recording a diving route will be described. 4A and 4B are schematic diagrams showing a dive route recording method according to the first embodiment of the present invention, where FIG. 4A shows a history route and FIG. 4B shows a current route.

As shown in FIG. 4A, a user A who is an advanced person such as a diving instructor or a dive master walks in advance on a safe route. The first history path 501 and the second history path 502 of the user A are recorded in a storage unit such as the RAM 234 as a series of position data.
As shown in FIG. 4B, the user B is taking a walk through the current route 511. When the first history route 501 or the second history route 502 by the user A is selected by the initial setting, the user A is in a safe area determined from the first history route 501 or the second history route 502 or the like. Is considered safe.

Next, referring to FIG. 5 (refer to FIG. 1 as appropriate), an area where a diver is regarded as safe will be described. FIG. 5 is a diagram illustrating an area in which a diver according to the first embodiment of the present invention is regarded as safe.
Here, it is assumed that the recording position data of the first history path 501 or the second history path 502 is (XX, YY, ZZ), and a preset allowable clearance is a parameter (Tx, Ty, Tz).
FIG. 5 illustrates an area in which user B is considered safe when the recording position data of the first history path 501 is (XX, YY, ZZ). Here, x, y, z satisfying equations (28) to (30) described later are shown as the allowable range 601. In FIG. 5, for example, when the user B is outside the range indicated by the allowable range 601, the user B is regarded as dangerous, and processing at the time of warning or the like is performed.

  Next, a method of using the underwater position detection device 20 will be described with reference to FIG. 6 (refer to FIG. 1 as appropriate). FIG. 6 is a flowchart showing a method of using the underwater position detection device according to the first embodiment of the present invention.

  First, the underwater position detection device 20 is turned on (S101). Subsequently, the underwater position detection device 20 starts an underwater position detection process, that is, a process of periodically calculating its own position (S102).

  Subsequently, the diver selects whether to record the diving route in the RAM 234 (S103). In the case of recording (Yes in S103), the diving route recording process is performed, and the self position calculated in S102 is recorded in the diving route (S104). The diving route recording process in S104 is repeatedly performed until it is selected to end the recording (S105). If it is selected to end the recording (Yes in S105), the process proceeds to S113.

  If it is selected not to record in S103 (No in S103), history route data reading processing is performed, and the history route recorded in S104 is read (S107). Subsequently, a process for determining whether the expressions (28) to (30) are satisfied is performed, and a process for determining whether the user is in a safe area is performed (S108). Detailed description regarding the determination processing in S108 will be described later. When it is determined that the user is in a safe area (Yes in S109), the process proceeds to S113. If it is determined that it is not in the safe area (No in S109), the history route read in S106 is continuously read (S110). When the history route data is completed (Yes in S111), a warning process is performed (S111), and the process proceeds to S112. Detailed explanation regarding the warning processing in S111 will be described later. When the history route data is continuously read (No in S110), the process returns to the determination calculation process in S107.

  In the end determination of S112, whether or not to end is selected, and when the end is selected (Yes in S112), the end process is performed. If the selection is made not to end (No in S112), the process returns to the determination process of whether to start recording in S103.

[Description of determination calculation in S107]
In S107, the survey calculation unit 235 performs the following process in parallel with the position calculation.
When the current location of the user B is (x, y, z), data about the first history route 501 and the second history route 502 by the user A is read, and the following equations (28) to (30) Make the determination shown in.
XX-Tx <x <XX + Tx ... Formula (28)
YY-Ty <y <YY + Ty (29)
ZZ-Tz <z <ZZ + Tz ... Formula (30)

  There was no (x, y, z) that the present location of user B satisfies all the judgment formulas (28) to (30) at the same time in all history data (XX, YY, ZZ). When it is a warning. At this time, if at least one (x, y, z) satisfying all the judgment formulas (28) to (30) exists at the same time, the user is considered to be in a safe area. The continuation of the history route data is read and the process of performing the determination process is repeated. By doing so, it is possible to reduce the processing load of the surveying calculation unit 235 and to effectively use the history data even when the user shifts the dive start point or follows the reverse route.

[Description of warning processing in S111]
The warning process S111 can be realized by holding a buzzer in the underwater position detection device 20 to sound a warning sound, or displaying a warning on the display unit 252 with characters or the like.

  Information on the underwater position (x, y, z) is phase-modulated and transmitted to the underwater position detection device 20 at a specific frequency F predetermined for lifesaving purposes, and received by the phase-demodulated sound wave receiver. It is also possible to detect a lifesaving position with an underwater vehicle or a ship.

  According to the first embodiment, the underwater map 254 can be output to the display unit based on the magnification specified by the operation of the display magnification button 303. Further, when linked with the internal clock 255, it is possible to output information such as the direction of the ocean current and the size of the ocean current according to the diver's use time, so that the diver can safely walk in the water.

(Second Embodiment)
Next, a second embodiment will be described with reference to FIG. 7 (refer to FIG. 1 as appropriate). The second embodiment relates to an interface of the underwater position detection device 20. Accordingly, the same parts as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted. FIG. 7 is a schematic diagram of an underwater position detection device according to the second embodiment of the present invention.
A guide 403 that can fix the underwater map cell 401 is attached to the housing 200, and the underwater map cell 401 is fixed.
A transparent plastic sheet is prepared as the underwater map cell 401 to be set in the housing 200, a simple map is drawn in advance with magic, a sheet on which information such as fish that can be confirmed is added, and the sheet is placed in a guide 403 and fixed. The display magnification parameter L of the current location 306 is manually adjusted while comparing with the underwater map cell 401 by operating the display magnification button 303 under the known point water surface. Thereby, since the underwater map cell 401 can be seen through, the magnification of the current location 306 displayed on the display unit 252 can be arbitrarily adjusted.
At this time, the direction of the drawn map is determined in advance by clarifying the direction marking 402, and when checking the underwater position, the direction magnetic needle of the diving equipment gauge and the direction of the underwater map cell 401 are used.

  According to the second embodiment, the diver is adjusted by adjusting the magnification of the current location 306 based on the magnification designated by the operation of the display magnification button 303 and matching the direction of the underwater map cell 401 with the direction of the compass. Can take a walk while grasping his / her position output on the display unit 252 by using a simple map instead of the data of the underwater map 254.

1 is a block diagram of an underwater position detection system according to a first embodiment of the present invention. It is a figure which shows the positional relationship of the apparatus which comprises the underwater position detection system which concerns on 1st Embodiment of this invention. 1 is a schematic diagram of an underwater position detection device according to a first embodiment of the present invention. It is a schematic diagram which shows the recording method of the diving route which concerns on 1st Embodiment of this invention, (a) shows a log | history route, (b) shows a present route. It is a figure which shows the area where the diver which concerns on 1st Embodiment of this invention is considered safe. It is a flowchart showing the utilization method of the underwater position detection apparatus which concerns on 1st Embodiment of this invention. It is a schematic diagram of the underwater position detection apparatus which concerns on 2nd Embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Underwater position detection system 2 GPS satellite 10 (10a, 10b) GPS buoy 20 Underwater position detection apparatus 101 (101a, 101b) Positioning information acquisition means 102 (102a, 102b) Own position calculation means 103 (103a, 102b) Sound source 200 Housing 210 Sound wave acquisition unit 220 Position / distance acquisition unit 221 Frequency determination unit 222 Sound wave intensity detection unit 223 Demodulation unit 230 Underwater position calculation unit 231 Initial condition input unit 232 Setting unit 233 ROM
234 RAM
235 Survey calculation unit 240 Water pressure measurement unit 250 Display unit 251 Electronic compass 252 Display unit 253 Magnification calculation unit 254 Underwater map 255 Internal clock

Claims (14)

A plurality of sound source devices including a sound source and informing the position of the self by sound waves irradiated toward the water, and detecting the position of the self in the water by acquiring sound waves from the plurality of sound source devices located in the water An underwater position detection system including an underwater position detection device,
The sound source device is
Positioning information acquisition means installed on the surface of the water to acquire positioning information from an external positioning means;
By performing a positioning process based on the obtained positioning information, own position calculating means for calculating the own position;
A sound source that superimposes the calculated self position and irradiates the sound as a sound wave of a predetermined intensity,
The underwater position detection device includes:
Sound wave acquisition means for acquiring the irradiated sound wave in water;
By performing the process of obtaining the position of the sound source device superimposed on the acquired sound wave and the process of obtaining the distance to the sound source device based on the intensity of the sound wave, the positions of the plurality of sound source devices and the Position / distance acquisition means for acquiring distances to a plurality of sound source devices;
Underwater position calculation means for calculating a position in water by performing a predetermined positioning process based on the acquired positions of the plurality of sound source devices and distances to the plurality of sound source devices. Features an underwater position detection system. The underwater position detection device according to claim 1,
A water pressure measuring means for measuring the water pressure;
The underwater position calculating means performs a predetermined positioning process based on the positions of two sound source devices of the plurality of sound source devices, the distance to the two sound source devices, and the water pressure measured by the water pressure measuring means. Underwater position detection system.   The underwater position detection system according to claim 1 or 2, wherein at least one of the sound source devices is a buoy.   The underwater position detection system according to claim 1 or 2, wherein at least one of the sound source devices is a ship equipped with a GPS. In Claim 1 or Claim 2, the said underwater position detection device is provided with a display means, an underwater map, and an electronic compass,
An underwater position detection system that displays an underwater map and direction on the display means. In Claim 1 or Claim 2, the said underwater position detection device is provided with a display means and an electronic compass,
An underwater position detection system, wherein a handwritten underwater map is attached to the display means, and an orientation is displayed on the attached map. The underwater position detection device according to claim 1 or 2, further comprising display means, an underwater map in which an underwater current direction is written, and an electronic compass.
An underwater position detection system that displays an underwater map, an underwater current direction, and a direction on the display means.   3. The underwater position detection system according to claim 1 or 2, wherein the underwater position detection device determines a deviation from an allowable movement route by using a past movement history of the underwater moving body as a guide route, and performs a warning process at the time of departure.   3. The underwater position detection system according to claim 1 or 2, wherein the underwater position detection device is capable of transmitting position information of the device using sound waves in a frequency band set for lifesaving purposes. A sound source device equipped with a sound source and informing the position of itself by sound waves irradiated toward the water,
Positioning information acquisition means installed on the surface of the water to acquire positioning information from an external positioning means;
By performing a positioning process based on the obtained positioning information, own position calculating means for calculating the own position;
A sound source device comprising: a sound source that superimposes the calculated self position and irradiates the sound as a sound wave having a predetermined intensity. An underwater position detection device that is located in water and detects its own position in water by acquiring sound waves from a plurality of sound source devices,
The underwater position detection device includes:
Sound wave acquisition means for acquiring the irradiated sound wave in water;
By performing the process of obtaining the position of the sound source device superimposed on the acquired sound wave and the process of obtaining the distance to the sound source device based on the intensity of the sound wave, the positions of the plurality of sound source devices and the Position / distance acquisition means for acquiring distances to a plurality of sound source devices;
Underwater position calculation means for calculating a position in water by performing a predetermined positioning process based on the acquired positions of the plurality of sound source devices and distances to the plurality of sound source devices. An underwater position detection device. An underwater position detection device that is located in water and detects its own position in water by acquiring sound waves from two sound source devices,
The underwater position detection device includes:
Sound wave acquisition means for acquiring the irradiated sound wave in water;
By performing the process of obtaining the position of the sound source device superimposed on the acquired sound wave and the process of obtaining the distance to the sound source device based on the intensity of the sound wave, the positions of the two sound source devices and the Position / distance acquisition means for acquiring the distance to the two sound source devices;
Water pressure measuring means for measuring water pressure;
Underwater position calculation means for calculating the position of the device in water by performing a predetermined positioning process based on the acquired positions of the two sound source devices, the distance to the two sound source devices, and the water pressure. An underwater position detection device comprising: An underwater position detection method for detecting the position of an underwater device by acquiring sound waves from a plurality of sound source devices,
The underwater position detection method includes:
A first step in which sound wave acquisition means acquires the irradiated sound wave in water;
The position / distance acquisition means performs the process of obtaining the position of the sound source device superimposed on the acquired sound wave and the process of obtaining the distance to the sound source device based on the intensity of the sound wave. A second step of acquiring a position of the sound source device and a distance to the plurality of sound source devices;
A third step in which the underwater position calculating means calculates a position of the device in water by performing a predetermined positioning process based on the acquired positions of the plurality of sound source devices and the distances to the plurality of sound source devices; The underwater position detection method characterized by including. An underwater position detection method for detecting the position of an underwater device by acquiring sound waves from two sound source devices,
The underwater position detection method includes:
A first step in which sound wave acquisition means acquires the irradiated sound wave in water;
The position / distance acquisition means performs the process of obtaining the position of the sound source device superimposed on the acquired sound wave and the process of obtaining the distance to the sound source device based on the intensity of the sound wave. A second step of obtaining a position of the sound source device and a distance to the two sound source devices;
A third step in which the water pressure measuring means measures the water pressure;
Underwater position calculation means calculates the position of the device in water by performing a predetermined positioning process based on the acquired positions of the two sound source devices, the distance to the two sound source devices, and the water pressure. An underwater position detection method comprising: a fourth step.

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