JP2014020934A - Sea-bottom protrusion detection system, sea-bottom protrusion detection method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device for detecting an underwater vehicle sitting in the vicinity of a sea bottom by a sound wave.SOLUTION: A sea-bottom protrusion detection system comprises: an acoustic sensor 10 which outputs an exploring sound having the directivity of avoiding a sea bottom and which detects an acoustic echo of the exploring sound, in a state of being installed at a height above the sea bottom within a predetermined range; a transmission waveform generation section 123 for outputting a signal indicating the exploring sound for controlling the directivity of the exploring sound outputted by the acoustic sensor 10 in such a manner that the sea bottom is excluded from the range of the directivity of the exploring sound; and an azimuth calculation processing section 126 for detecting a sea-bottom protrusion on the basis of the acoustic echo detected by the acoustic sensor 10.

Description

  The present invention relates to a seabed protrusion detection system, a seabed protrusion detection method, and a program.

An underwater vehicle such as a submarine emits sound waves when it travels. Therefore, it is possible to detect the underwater vehicle by detecting the sound waves.
However, there are cases in which an underwater vehicle is seated on the bottom of a shallow sea such as a continental shelf. In this case, since the sound wave is not emitted from the underwater vehicle, it is difficult to detect the underwater vehicle.
In addition, when using a sonar acoustic sensor, it is difficult to distinguish between the echoes from the underwater vehicle sitting on the seabed and the echoes from the seabed. It was extremely difficult to do.

  For example, in order to enable discrimination between an echo corresponding to an object lying on the seabed and an echo corresponding to an object floating in the water, there is one that changes the radiation pattern in the depression direction of the sonar (see, for example, Patent Document 1).

Japanese Patent Laid-Open No. 01-320486

  However, when the detected reverberation sound includes reverberation from the sea floor other than the reverberation sound from the seabed protrusion, the detection accuracy of the seabed protrusion detected based on the reverberation sound may be lowered.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a submarine protrusion detection device, a submarine protrusion detection method, and a program that can solve the above-described problems.

  In order to solve the above problems, a seabed projection detection system according to an embodiment of the present invention has directivity based on a signal indicating a probe sound to be input in a state of being positioned at a predetermined height from the seabed. An acoustic sensor for detecting the echo sound of the probe sound, and the probe so that the seabed is excluded from a range of directivity of the probe sound output from the acoustic sensor. A transmission waveform generation unit that outputs a signal indicating the probe sound for controlling sound directivity, and an azimuth calculation processing unit that detects a submarine protrusion based on the echo sound detected by the acoustic sensor. .

  Further, the seabed projection detection method according to an embodiment of the present invention controls the directivity of the search sound so that the seabed is excluded from the directivity range of the search sound output from the acoustic sensor. A step of outputting a signal indicating the search sound and a step of outputting a search sound having directivity based on the signal indicating the search sound from the acoustic sensor located at a predetermined height from the seabed And receiving a reverberation sound of the search sound from the acoustic sensor, and detecting a seabed protrusion based on the received reverberation sound.

  The program of the present invention shows a search sound for controlling the directivity of the search sound so that the seabed is excluded from the directivity range of the search sound output from the acoustic sensor. Means for generating a signal; means for outputting a probe sound having directivity based on a signal indicating the probe sound from the acoustic sensor located at a predetermined height from the seabed; and detecting the probe from the acoustic sensor. It is a program for functioning as means for receiving a reflected sound of a belief and means for detecting a seabed protrusion based on the received sound.

  ADVANTAGE OF THE INVENTION According to this invention, the detection accuracy of the detection target detected based on a reverberation sound can be improved.

It is a figure for demonstrating the outline | summary of the seabed protrusion detection system which concerns on one Embodiment of this invention. It is a block diagram which shows an example of a function structure of the seabed protrusion detection system which concerns on one Embodiment of this invention. It is a figure for demonstrating an example of the directivity range of the search sound in the seabed protrusion detection system which concerns on one Embodiment of this invention. It is a figure which shows an example of the image displayed on a display part in the seabed protrusion detection system which concerns on one Embodiment of this invention. It is a sequence diagram which shows an example of the seabed protrusion detection method which concerns on one Embodiment of this invention. It is a block diagram which shows an example of a function structure of the seabed protrusion detection system which concerns on 2nd Embodiment of this invention. It is a figure for demonstrating the outline | summary of the seabed protrusion detection system which concerns on 3rd Embodiment of this invention. It is a block diagram which shows the basic composition of embodiment of the seabed protrusion detection system which concerns on this invention.

Hereinafter, an embodiment of a seabed protrusion detection system 1 according to the present invention will be described with reference to the drawings. FIG. 1 is a diagram for explaining an outline of a seabed protrusion detection system 1 according to an embodiment of the present invention.
As shown in FIG. 1, the seabed protrusion detection system 1 according to the present embodiment includes an acoustic sensor 10 and a buoy 11 arranged on the seabed side. For example, the acoustic sensor 10 and the buoy 11 are dropped from the aircraft 12 to the sea in advance. The length of the cable connecting the buoy 11 and the acoustic sensor 10 is adjusted according to the water depth of the sea area to be used. Thereby, the acoustic sensor 10 is positioned at a height position within a predetermined range from the seabed. In the present embodiment, the acoustic sensor 10 is preferably located at a height of several meters from the seabed.
The acoustic sensor 10 transmits a search sound and detects a reverberation sound that is a search sound reflected from an object.
An underwater control device 110 is mounted on the buoy 11. The underwater control device 110 is electrically connected to the acoustic sensor 10 and amplifies the electrical signal of the probe sound transmitted to the acoustic sensor 10.

  Moreover, the seafloor projection detection system 1 according to the present embodiment includes, for example, a seaside control device 120 mounted on the seaside aircraft 12. The aircraft 12 includes a helicopter and the like. When the aircraft 12 in flight enters a communication area where wireless communication with the underwater control device 110 is possible, the upper sea control device 120 wirelessly communicates with the underwater control device 110. In the present embodiment, the sea-side control device 120 transmits an analog signal representing the waveform of the search sound (hereinafter, the search sound signal) to the underwater control device 110. In addition, the sea-side control device 120 receives an analog signal (hereinafter, an echo signal) detected by the acoustic sensor 10 from the sea-side control device 110.

  In the present embodiment, the seabed protrusion detection system 1 is a system for detecting the underwater vehicle 15 sitting on the seabed based on the echo sound detected by the acoustic sensor 10. This underwater vehicle 15 is difficult to detect because it does not radiate sound waves when it is sitting on the seabed without traveling. Further, when the underwater vehicle 15 is detected based on the echo sound of the search sound, there is a high possibility that the echo sound includes the echo sound from the underwater vehicle 15 and the echo sound from the seabed. Thus, it has been difficult to determine whether the detected echo sound is an echo sound from the underwater vehicle 15 or an environmental sound from the seabed. The seafloor projection detection system 1 according to the present embodiment can improve the detection accuracy of the seafloor projection detection system 1 by separating the reverberation sound of the underwater vehicle 15 landing on the seabed from the reverberation from the seabed. it can.

Next, an example of a functional configuration of the seabed protrusion detection system 1 according to the present embodiment will be described with reference to FIG. FIG. 2 is a block diagram illustrating an example of a functional configuration of the seabed protrusion detection system 1 according to the present embodiment.
As described above, the seafloor projection detection system 1 according to the present embodiment includes the acoustic sensor 10, the underwater control device 110, and the seaside control device 120.

The acoustic sensor 10 includes a plurality of piezoelectric elements 101 and a transmission / reception switching unit 102. The acoustic sensor 10 converts an electric signal into an underwater sound wave and also converts the underwater sound wave into an electric signal.
The transmission / reception switching unit 102 is electrically connected to the underwater control device 110. The transmission / reception switching unit 102 switches the transmission of the probe sound from the piezoelectric element 101 according to the presence or absence of the probe sound signal input from the underwater control device 110.
More specifically, the transmission / reception switching unit 102 outputs the probe sound signal input from the amplifier 112 to the piezoelectric element 101 when the probe sound signal in which the directivity range is controlled is input from the underwater control device 110. To do. Thereby, the piezoelectric element 101 transmits a search sound into the sea.
In addition, the transmission / reception switching unit 102 does not output the probe sound signal to the piezoelectric element 101 when the probe sound signal in which the directivity range is controlled is not input from the underwater control device 110. Therefore, the piezoelectric element 101 does not transmit a search sound into the sea. In this case, the piezoelectric element 101 receives the reverberant sound and outputs a reverberant signal that is analog data of the reverberant sound to the transmission / reception switching unit 102. Then, the transmission / reception switching unit 102 outputs the reverberation signal input from the piezoelectric element 101 to the underwater wireless communication unit 111.

  For example, the piezoelectric element 101 transmits a search sound having directivity into the sea based on a search sound signal representing the search sound. In the present embodiment, the piezoelectric element 101 is a transmitting unit that transmits a sound wave having directivity with an elevation angle of 3 degrees, for example, in a state where the acoustic sensor 10 is positioned in the reference posture. Further, the probe sound signal representing the probe sound in which the directivity range is controlled has a characteristic indicating the traveling direction of the probe sound controlled by the seaside controller 120. That is, the directivity of the search sound from the piezoelectric element 101 is synthesized when the piezoelectric element 101 transmits a sound wave in the traveling direction controlled by the sea-side control device 120. In the present embodiment, the range of the elevation angle of 3 degrees with the traveling direction of the piezoelectric element 101 as the center is the range where the probe sound is transmitted strongly, that is, the directivity range (beam width).

  The piezoelectric element 101 converts the detected sound wave into an electric signal (analog signal) and outputs the electric signal to the transmission / reception switching unit 102. The piezoelectric element 101 converts an underwater sound wave signal including an echo sound that is a reflected sound of a search sound into an electrical signal, and outputs an analog signal including the echo sound to the transmission / reception switching unit 102.

The underwater side control device 110 includes an underwater side wireless communication unit 111 and an amplifier 112.
The underwater wireless communication unit 111 performs wireless communication with the seaside control device 120. The underwater side radio communication unit 111 receives a search sound signal from the upper sea side control device 120.
The amplifier 112 amplifies the probe sound signal input from the underwater wireless communication unit 111 and outputs the amplified probe sound signal to the acoustic sensor 10.

The sea-side control device 120 includes a sea-side radio communication unit 121, an operation unit 122, a transmission waveform generation unit 123, a D / A conversion unit 124, an A / D conversion unit 125, an azimuth calculation processing unit 126, A display unit 127.
The seaside radio communication unit 121 performs radio communication with the underwater side control device 110. The seaside radio communication unit 121 transmits the probe sound signal output from the D / A conversion unit 124 to the underwater control device 110. In addition, the seaside radio communication unit 121 receives an echo signal from the seaside control device 110.

The transmission waveform generator 123 generates digital data representing the waveform of the probe sound (hereinafter referred to as probe sound waveform data) and outputs the digital data to the seaside radio communication unit 121.
Based on the setting of the operation unit 122, the transmission waveform generation unit 123 generates probe sound waveform data having directivity of elevation angle and beam width instructed from the operation unit 122. More specifically, the transmission waveform generation unit 123 generates probe sound waveform data that causes a plurality of piezoelectric elements 101 included in the acoustic sensor 10 to transmit a probe sound whose phase is changed.
The acoustic sensor 10 transmits a sound wave having a controlled elevation angle and beam width by transmitting a sound wave having a controlled phase from a plurality of piezoelectric elements 101 arranged in an array based on the sound wave data. Send.
For example, when the directivity range (beam width) is 3 degrees, in order to transmit the probe sound avoiding the seabed, the probe angle is controlled to +1.5 degrees when the elevation angle in the center traveling direction of the probe sound is +1.5 degrees. Since the sound travels in the direction of the elevation angle of 0 to +3 degrees and does not travel toward the seabed, the influence of seabed reverberation can be reduced.
The D / A converter 124 converts the probe sound waveform data that is digital data output from the transmission waveform generator 123 into a probe sound signal that is an analog signal.

The A / D converter 125 converts the reverberation signal, which is an analog signal received from the underwater controller 110, into digital data.
The azimuth calculation processing unit 126 calculates the azimuth having the maximum value for each fixed period for the digital data of the reverberant sound received from the A / D conversion unit 125. For example, when the period of the azimuth calculation processing is 2 milliseconds, the sound speed in water is about 1500 m per second, so that the echo sound that is considered to be a submarine projection at a distance of 1.5 m from the acoustic sensor 10. The direction can be detected. The azimuth is information indicated by an azimuth angle with the acoustic sensor 10 as the center with respect to the direction of the seabed protrusion relative to the acoustic sensor 10. As the processing by the azimuth calculation processing unit 126, a general azimuth calculation technique can be used.
In addition, the direction calculation processing unit 126 calculates the distance to the detected object based on the digital data of the reverberant sound input from the underwater control device 110. The distance to the object is information indicating the distance between the acoustic sensor 10 and the seabed search object. The azimuth calculation processing unit 126 calculates, for example, by multiplying the time difference of the reverberant sound received by the acoustic sensor 10 by the underwater sound speed (about 1500 m / second).
As described above, the azimuth calculation processing unit 126 is based on the azimuth indicating the direction of the seabed search object from the acoustic sensor 10 and the distance from the acoustic sensor 10 to the seafloor projection, and the seafloor projection when the acoustic sensor 10 is the center. Information indicating the position of the object can be acquired.

  The display unit 127 displays the calculation result calculated by the azimuth calculation processing unit 126. For example, the display unit 127 expresses the position of the seafloor projection calculated by the azimuth calculation processing unit 126, with the acoustic sensor 10 as the center, by shading or color.

  Next, with reference to FIG. 3, an example of the directivity range of the probe sound controlled by the transmission waveform generation unit 123 of the underwater control device 110 will be described. FIG. 3 is a diagram for explaining an example of the directivity range of the search sound. FIG. 3 shows the directivity of the search sound transmitted when the acoustic sensor 10 is positioned in the reference posture.

The vertical directivity of the acoustic sensor 10 is, for example, an elevation angle of 3 degrees when the acoustic sensor 10 is positioned in the reference posture. For example, when the traveling direction of the probe sound from the piezoelectric element 101 of the acoustic sensor 10 is controlled to the elevation angle 0 ° (that is, the horizontal direction), the range of directivity of the probe sound is the elevation angle + 1.5 °. It is the range of -1.5 degree. That is, the elevation angle from the horizontal plane is 1.5 degrees, and the depression angle from the horizontal plane is 1.5 degrees.
On the other hand, when the traveling direction of the probe sound from the piezoelectric element 101 of the acoustic sensor 10 is controlled to the elevation angle +1.5 degrees as shown in FIG. 3, the range of directivity of the probe sound is the elevation angle. The range is from 0 ° to + 3 °. In other words, the directivity range of the search sound is in the range of 0 degree to +3 degrees with the horizontal plane being 0 degree. In this case, the directivity range of the search sound is excluded from the range below the horizontal plane. Therefore, the seabed in the direction of the elevation angle less than 0 degrees is out of the range of directivity of the search sound.
In this way, by controlling the elevation angle that determines the range of the directivity of the search sound by changing the traveling direction of the search sound by the directivity synthesis processing of the transmission waveform generation unit 123 of the seaside control device 120. Can do.

Here, with reference to FIG. 4, an example of the image displayed on the display part 127 of the seaside control apparatus 120 which concerns on this embodiment is demonstrated. FIG. 4 is a diagram illustrating an example of an image displayed on the display unit 127 of the sea-side control device 120.
As shown in FIG. 4, the display unit 127 shows a search area R <b> 1 that is an area where the seafloor projection detection system 1 can search for the seafloor projection centering on the buoy 11. When the seabed protrusion is detected, the display unit 127 displays the detected seabed protrusion R2 in the search area R1. Note that the display unit 127 expresses a portion where the seabed protrusion R2 is detected in a shade or color different from that of the search region R1. In the present embodiment, the position of the acoustic sensor 10 is displayed on the display unit 127 as the position of the buoy 11 on the horizontal plane.
That is, when the reverberation sound is detected by the azimuth calculation processing unit 126 of the sea-side control device 120 on the search region R1, the display unit 127 displays the seabed protrusion at the azimuth and distance where the reverberation sound is detected in the search region R1. The object R2 is displayed.

Next, an example of the seabed protrusion detection method according to the present embodiment will be described with reference to FIG. FIG. 5 is a sequence diagram illustrating an example of the seabed protrusion detection method according to the present embodiment.
(Step ST1)
For example, it is assumed that the directivity of the search sound (elevation angle and beam width in the traveling direction) is instructed via the operation unit 122. Thereby, the transmission waveform generation unit 123 of the sea-side control device 120 generates digital data (probing sound waveform data) having the directivity of the search sound based on the setting of the operation unit 122, and the D / A conversion unit It outputs to 124.
(Step ST2)
The D / A converter 124 converts the probe sound wave data that is digital data into a probe sound signal that is analog data, and outputs the probe sound signal to the seaside radio communication unit 121.
(Step ST3)
The seaside wireless communication unit 121 transmits the input search sound signal to the underwater control device 110.

(Step ST4)
The underwater wireless communication unit 111 of the underwater control device 110 receives the search sound signal from the upside control device 120 and outputs it to the amplifier 112.
(Step ST5)
The amplifier 112 amplifies the probe sound signal input from the underwater wireless communication unit 111 and outputs the amplified probe sound signal to the acoustic sensor 10.

(Step ST6)
The transmission / reception switching unit 102 of the acoustic sensor 10 receives a search sound signal from the underwater control device 110 and outputs the signal to the piezoelectric element 101.
In the piezoelectric element 101, the acoustic sensor 10 transmits sound waves in the traveling direction controlled by the directivity synthesis process of the transmission waveform generation unit 123 of the seaside control device 120. Thereby, the directivity of the search sound transmitted by the piezoelectric element 101 is synthesized.
(Step ST7)
The piezoelectric element 101 converts the received sound wave into an electrical signal and outputs the electrical signal to the transmission / reception switching unit 102. That is, the piezoelectric element 101 outputs to the transmission / reception switching unit 102 an echo sound signal that is an analog signal including an echo sound that is a reflected sound of the search sound.
The transmission / reception switching unit 102 outputs the input echo sound signal to the underwater wireless communication unit 111.
(Step ST8)
The underwater wireless communication unit 111 transmits the reverberation signal input from the transmission / reception switching unit 102 to the upstream control device 120.

(Step ST9)
The seaside wireless communication unit 121 of the seaside control device 120 outputs the received reverberation signal to the A / D conversion unit 125.
(Step ST10)
The A / D conversion unit 125 converts the reverberation sound signal, which is an analog signal including the reverberation sound, input from the seaside wireless communication unit 121 into digital data, and outputs the digital data to the direction calculation processing unit 126.
The azimuth calculation processing unit 126 calculates the azimuth of the detected seabed protrusion based on the input echo sound digital data.
Further, the azimuth calculation processing unit 126 calculates the distance to the detected seabed protrusion based on the echo sound digital data input from the A / D conversion unit 125.
(Step ST10)
The display unit 127 displays the calculation result calculated by the azimuth calculation processing unit 126. For example, the display unit 127 expresses the position of the seabed search object calculated by the azimuth calculation processing unit 126 with the buoy 11 (acoustic sensor 10) as the center, in shades or colors.

  As described above, the seafloor projection detection system 1 according to the present embodiment controls the reverberation sound from the seafloor by controlling the seabed to be excluded from the directivity range of the probe sound transmitted from the acoustic sensor 10. Can be prevented from being included. Therefore, it is possible to efficiently separate the reverberant sound from the underwater vehicle 15 landed on the seabed and sitting down from the reverberation from the seabed. Therefore, it is possible to improve the measurement accuracy for measuring the distance and azimuth to the detection target based on the echo sound, and to detect the seabed protrusion efficiently.

  In addition, the submarine protrusion detection system 1 according to the present embodiment is, for example, the case where the underwater vehicle 15 sits on the seabed of a shallow sea such as a large shelf and ambush the ship. 15 can be detected and the position thereof can be displayed on the display unit 127. For this reason, it is useful for avoiding the attack from the aquatic underwater vehicle 15 and the contact between the underwater vehicle 15 and the ship.

[Second Embodiment]
Next, an example of the seafloor projection detection system 2 according to the second embodiment of the present invention will be described with reference to FIG. FIG. 6 is a block diagram illustrating an example of a functional configuration of the seabed protrusion detection system 2 according to the second embodiment of the present invention.
As shown in FIG. 6, the seafloor projection detection system 2 according to the present embodiment includes an acoustic sensor 210, a seaside control device 110, and a seaside control device 120. The acoustic sensor 210 includes a transmission / reception switching unit 102, a piezoelectric element 101, and a posture sensor 211. In addition, since the seafloor protrusion detection system 2 according to the present embodiment has the same configuration as the seafloor protrusion detection system 1 according to the first embodiment, except that the acoustic sensor 210 includes the attitude sensor 211, The same reference numerals are assigned and detailed description will be omitted, and only different parts will be described.

The attitude sensor 211 is an acceleration sensor or the like, for example, and detects the attitude of the acoustic sensor 210. The transmission / reception switching unit 102 outputs the attitude data detected by the attitude sensor 211 to the underwater wireless communication unit 111.
The underwater wireless communication unit 111 transmits the input attitude data to the seaside wireless communication unit 121 of the seaside control device 120.

  The seaside radio communication unit 121 outputs the attitude data detected by the attitude sensor 211 input from the acoustic sensor 210 to the transmission waveform generation unit 123. The transmission waveform generation unit 123 determines whether or not the acoustic sensor 210 is in the reference posture or a state close to the reference posture based on the input posture data. Note that the reference posture is a posture in which the piezoelectric element 101 of the acoustic sensor 210 can emit a sound wave in the horizontal direction when a probe sound signal having an elevation angle of 0 degrees in the central direction of the directivity range is input. Say. The state close to the reference posture refers to a state where the traveling direction of the sound wave transmitted from the piezoelectric element 101 is shifted by an error range.

When it is determined that the acoustic sensor 210 is in the reference posture or a state close to the reference posture, the transmission waveform generation unit 123 outputs the probe sound waveform data in which the elevation angle in the traveling direction of the sound wave is controlled to the D / A conversion unit 124. To do.
As a result, the D / A conversion unit 124 converts the search sound waveform data, which is digital data, into a search sound signal, which is an analog signal, and passes through the seaside radio communication unit 121 and the underwater side radio communication unit 111. Transmit to amplifier 112. The amplifier 112 amplifies the probe sound signal of the analog signal and outputs the amplified probe sound signal to the acoustic sensor 210.
On the other hand, when it is determined that the acoustic sensor 210 is not in the reference posture or in a state close to the reference posture, the transmission waveform generation unit 123 converts the digital data of the probe sound in which the elevation angle in the sound wave traveling direction is controlled to the D / A conversion unit 124. Is not output.
The acoustic sensor 210 transmits the search sound based on the analog signal of the search sound into the sea only when the analog signal of the search sound is input from the underwater control device 110 (in other words, the input period). Send. That is, when the analog signal of the search sound is not input from the underwater control device 110, the acoustic sensor 210 does not transmit the search sound to the sea.

  Therefore, the acoustic sensor 210 can transmit the search sound when it is determined that the posture is the reference posture or a state close to the reference posture. That is, even when the buoy 11 is shaken by the waves and the posture of the acoustic sensor 210 may not be the reference posture, the seaside control device 120 is in a state where the acoustic sensor 210 is close to the reference posture or the reference posture. The submarine projection can be detected based on the echo sound of the search sound transmitted in the case. Therefore, when the acoustic sensor 210 is not in a reference posture or a state close to the reference posture, there is a possibility of detecting an echo sound including reverberation from the seabed. According to this embodiment, such an echo sound is detected by the acoustic sensor. The situation detected by 210 can be avoided. Therefore, it is possible to efficiently separate the reverberant sound from the underwater vehicle 15 landed on the seabed and sat down from the reverberation from the seabed, and the measurement accuracy for measuring the distance and direction to the detection target based on the reverberant sound. Can be improved.

[Third Embodiment]
Next, an example of the seabed protrusion detection system 3 according to the third embodiment of the present invention will be described with reference to FIG. FIG. 7 is a diagram for explaining the outline of the seafloor projection detection system 3 according to the third embodiment of the present invention.
As shown in FIG. 7, the seabed protrusion detection system 3 according to the present embodiment includes an acoustic sensor 10, a buoy 11, a weight 16, and a float 17 that are disposed on the seabed side.
The acoustic sensor 10 is connected to the weight 16 and the float 17 while being separated by a cable or the like. The weight 16 is connected to the buoy 11 while being separated by a cable or the like. The acoustic sensor 10, the buoy 11, the weight 16, and the float 17 are dropped on the sea from the aircraft 12 in advance, for example. In this case, as illustrated, the acoustic sensor 10 is pulled down to the seabed side by the weight 16 and is pulled up to the sea level side by the float 17. Therefore, the acoustic sensor 10 is positioned at a predetermined height position from the seabed. In the present embodiment, the acoustic sensor 10 is preferably located at a height of several meters from the seabed.

  Thus, in the seabed protrusion detection system 3 according to the present embodiment, the acoustic sensor 10 is positioned at a predetermined height position from the seabed by being pulled by the weight 16 and the float 17. Therefore, even when the acoustic sensor 10 is easily swept away by the ocean current, it can be relatively well positioned at a height position within a predetermined range from the sea floor. Further, by being pulled by the weight 16 and the float 17, the posture of the acoustic sensor 10 is also easily maintained in the reference position or a state close to the reference position. Therefore, it is possible to improve the measurement accuracy for measuring the distance and azimuth to the detection target based on the echo sound, and to detect the seabed protrusion efficiently.

  In addition, in 1st Embodiment, although the subsea side control apparatus 110 demonstrated the example mounted in the buoy 11, this invention is not limited to this. For example, the underwater control device 110 may be mounted on the weight 16. In this case, the communication function with the seaside control device 120 is preferably mounted on the buoy 11.

  Further, the minimum basic configuration of the embodiment of the seafloor projection detection system 1000 according to the present invention is a configuration as shown in FIG. That is, the seafloor projection detection system 1000 outputs a search sound having directivity based on a signal indicating a search sound to be input in a state positioned at a predetermined height from the seabed, and also detects the search sound. Sensor 1010 for detecting the reverberation sound and a search sound for controlling the directivity of the search sound so that the seabed is excluded from the directivity range of the search sound output from the acoustic sensor 1010. A transmission waveform generation unit 1123 that outputs a signal, and an azimuth calculation processing unit 1126 that detects a seafloor projection based on the echo sound detected by the acoustic sensor 1010.

Note that the acoustic sensor 10, the acoustic sensor 210, the underwater control device 110, and the underwater control device 120 according to the present embodiment have a computer system therein. The process of operation is stored in a computer-readable recording medium in the form of a program, and the above-described processing is performed by the computer system reading and executing this program. The “computer system” herein includes a CPU, various memories, an OS, and hardware such as peripheral devices.
Further, the “computer system” includes a homepage providing environment (or display environment) if a WWW system is used.

In addition, a program for realizing each step is recorded on a computer-readable recording medium, and a program for realizing this function is recorded on a computer-readable recording medium and recorded on the recording medium. The computer program may be read by the computer system and executed to calculate the estimated value of the shape information of the detection target.
The “computer-readable recording medium” means a flexible disk, a magneto-optical disk, a ROM, a writable nonvolatile memory such as a flash memory, a portable medium such as a CD-ROM, a hard disk built in a computer system, etc. This is a storage device.

Further, the “computer-readable recording medium” means a volatile memory (for example, DRAM (Dynamic DRAM) in a computer system that becomes a server or a client when a program is transmitted through a network such as the Internet or a communication line such as a telephone line. Random Access Memory)), etc., which hold programs for a certain period of time.
The program may be transmitted from a computer system storing the program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in the transmission medium. Here, the “transmission medium” for transmitting the program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line.
The program may be for realizing a part of the functions described above. Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, and what is called a difference file (difference program) may be sufficient.

DESCRIPTION OF SYMBOLS 10 ... Acoustic sensor, 11 ... Buoy, 12 ... Aircraft, 15 ... Underwater vehicle, 101 ... Piezoelectric element, 102 ... Transmission / reception switching part, 110 ... Underwater side control apparatus, 111 ... Underwater side wireless communication part, 112 ... Amplifier, DESCRIPTION OF SYMBOLS 120 ... Sea side control apparatus, 121 ... Sea side radio | wireless communication part, 122 ... Operation part, 123 ... Transmission waveform production | generation part, 124 ... D / A conversion part, 125 ... A / D conversion part, 126 ... Direction calculation processing part, 127 ... display section

Claims (7)

An acoustic sensor that outputs a probe sound having directivity based on a signal indicating a probe sound to be input and detects a reverberation sound of the probe sound in a state positioned at a predetermined height from the seabed; ,
A transmission waveform generator for generating a signal indicating the probe sound for controlling the directivity of the probe sound so that the seabed is excluded from the directivity range of the probe sound output from the acoustic sensor. When,
An azimuth calculation processing unit for detecting a seabed search object based on the echo sound detected by the acoustic sensor;
A submarine protrusion detection system comprising: The transmission waveform generation unit
The signal indicating the search sound for controlling the directivity of the search sound is generated so that the directivity range of the search sound becomes an elevation angle of 0 ° or more. The described seafloor projection system. The transmission waveform generation unit
The signal indicating the search sound for controlling the directivity of the search sound is generated so that the traveling direction of the search sound becomes an elevation angle of 0 ° or more. The described seafloor projection system. The acoustic sensor is
It is connected to a weight and a float, is pulled to the seabed side by the weight, and is pulled to the sea surface side by the float, and is located at a height within a predetermined range from the seabed. The seabed protrusion detection system according to any one of claims 1 to 3. The acoustic sensor is
A posture sensor for detecting the posture of the acoustic sensor;
The transmission waveform generation unit
Based on the detection result of the posture sensor, it is determined whether the acoustic sensor is in a reference posture or a state close to a reference posture, and when it is determined that the acoustic sensor is in a reference posture or a state close to a reference posture, The submarine protrusion detection system according to any one of claims 1 to 4, wherein a signal indicating a search sound is output to the acoustic sensor. Outputting a signal indicating a search sound for controlling the directivity of the search sound so that the seabed is excluded from the directivity range of the search sound output from the acoustic sensor;
Outputting from the acoustic sensor located at a predetermined height from the sea floor a probe sound having directivity based on a signal indicating the probe sound;
Receiving the echo sound of the search sound from the acoustic sensor;
Detecting a submarine projection based on the received reverberation;
A submarine protrusion detection method comprising: Computer
Means for generating a signal indicating a search sound for controlling the directivity of the search sound so that the seabed is excluded from the directivity range of the search sound output from the acoustic sensor;
Means for outputting a search sound having directivity based on a signal indicating the search sound from the acoustic sensor located at a predetermined height from the seabed;
Means for receiving the echo sound of the search sound from the acoustic sensor;
Means for detecting a submarine projection based on the received reverberation;
Program to function as.

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