JP2016151460A - Underwater survey/analysis method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an underwater survey/analysis method capable of accurately obtaining a surrounding state of an acoustic sonar over a wider range in real time without frequently moving a position of the acoustic sonar.SOLUTION: An underwater survey/analysis method surveys and analyzes an underwater environment surrounding an underwater three-dimensional (3D) acoustic sonar 23 by using a sonar system including: the underwater 3D acoustic sonar 23 which emits a sound wave into water so as to identify a targeted object and the size of the object by picking up a reflection wave of the sound wave; a video camera 25 for identifying a type of the object; and a controller 13 for analyzing data collected by the underwater 3D acoustic sonar 23 and data collected by the video camera 25.SELECTED DRAWING: Figure 5

Description

  The present invention relates to an underwater exploration analysis method, and more particularly to an underwater exploration analysis method for searching for and identifying a target object in an underwater environment and using the data.

  Conventionally, underwater and underwater (hereinafter collectively referred to as `` underwater '') objects such as fish and coral reefs, behavior and ecology, and the shape of riverbeds, lake bottoms, and seabeds have been used with underwater video cameras. For example, a method of recording and observing a video is known (for example, see Patent Document 1).

  Also, an acoustic sonar that emits sound waves in the water, captures the reflected waves and searches for the target object in the water, a control device for processing the data collected by the acoustic sonar and recognizing the target object in the water, A sonar system using this is known (for example, see Patent Document 2).

  The acoustic sonar known in Patent Document 2 is such that the acoustic sonar is rotated only in the horizontal direction and the reflected wave is captured to search for a target object in the water. Etc.) is not provided with a video camera or the like.

JP 2003-69864 A. Special table 2012-529047 gazette.

  As described above, the invention described in Patent Document 2 rotates the acoustic sonar only in the horizontal direction and captures the reflected wave to search for a target object in the water. In order to search around the sonar more widely, the position of the acoustic sonar must be frequently moved and processed, and workability is poor. Further, since there is no object identification means such as a video camera for identifying the type of object, there has been a problem that sufficient satisfaction has not been obtained in terms of discrimination.

  In order to provide an underwater exploration analysis method that can accurately grasp the state around the acoustic sonar over a wide range in real time without frequently moving the position of the acoustic sonar. The technical problem which should arise arises, and this invention aims at solving this problem.

  The present invention has been proposed in order to achieve the above object, and the underwater exploration analysis method according to the first aspect of the present invention emits a sound wave toward the water, captures the reflected wave, and captures the target object and the object. An underwater 3D acoustic sonar for identifying the size of an object, an object identifying means for identifying the type of the object, a control device for analyzing data collected by the underwater 3D acoustic sonar and data collected by the object identifying means, The underwater environment around the underwater 3D acoustic sonar is searched and analyzed using a sonar system comprising:

  According to this method, by using the underwater 3D acoustic sonar, the underwater environment data can be acquired and analyzed three-dimensionally without frequently changing the installation position of the sonar. This also makes it possible to accurately grasp the state around the underwater 3D acoustic sonar over a wide range.

  The invention according to claim 2 is the underwater exploration analysis method according to claim 1, characterized in that the underwater acoustic sonar data is acquired by rotating the underwater 3D acoustic sonar vertically and horizontally. To do.

  According to this method, by using the underwater 3D acoustic sonar that rotates vertically and horizontally, the underwater 3D acoustic sonar can be obtained by three-dimensionally acquiring the data of the underwater environment without frequently changing the installation position of the sonar. It is possible to accurately grasp the state in the whole circumference direction and in a wide range.

  According to a third aspect of the present invention, in the underwater exploration analysis method according to the second aspect, the tilt angle of the sound wave emitted from the underwater 3D acoustic sonar by changing the vertical direction of the underwater 3D acoustic sonar stepwise. The underwater 3D acoustic sonar is rotated in the horizontal direction every time the tilt angle is changed.

  According to this method, the tilt angle of the sound wave emitted from the underwater 3D acoustic sonar is changed stepwise, and the unit space is changed each time by rotating the underwater 3D acoustic sonar horizontally, for example, 360 ° after the change. It is cut out and a sonar image for each unit space can be obtained. Thereby, the density of data can be raised and the situation of a space can be grasped | ascertained more correctly.

  According to a fourth aspect of the present invention, in the underwater exploration analysis method according to the second or third aspect, the acoustic sonar includes a plurality of receiving devices arranged side by side in the vertical direction, and the plurality of receiving waves It is characterized in that the vertical rotation of the underwater 3D acoustic sonar is created by switching the devices in order.

  According to this method, a plurality of receiving devices arranged side by side in the vertical direction are sequentially switched to create the vertical rotation of the underwater 3D acoustic sonar, thereby simplifying the structure of the sonar system. to enable.

  According to a fifth aspect of the present invention, in the underwater exploration analysis method according to the second, third, or fourth aspect, the control device determines the width, depth, and height of the object from data collected by the underwater 3D acoustic sonar. Each is calculated and the volume of the object is measured.

  According to this method, the width, depth, and height of the target object can be calculated from the data collected by the underwater 3D acoustic sonar, and the volume of the object can be measured easily and accurately.

  A sixth aspect of the present invention is the underwater exploration analysis method according to the first, second, third, fourth, or fifth aspect, wherein the object identification means captures an underwater state in conjunction with the underwater 3D acoustic sonar. It is a camera, The said control apparatus analyzes the underwater video image image | photographed with this video camera, and the data collected by the said underwater 3D sound sonar, It is characterized by the above-mentioned.

  According to this method, in addition to the shape of the target object, the type of the object can be easily and accurately identified from the data collected by the underwater 3D acoustic sonar and the underwater video image captured by the video camera. Can do.

  The invention according to claim 7 is the underwater exploration analysis method according to claim 6, wherein the control device analyzes the underwater video image captured by the video camera and the data collected by the underwater 3D acoustic sonar, and The object size and the number of individuals are measured.

  According to this method, the individual size and the number of individuals of the target object can be easily and accurately measured from the data collected by the underwater 3D acoustic sonar and the underwater video image taken by the video camera.

  The invention according to claim 8 is the underwater exploration analysis method according to claim 1, 2, 3, 4, 5, 6 or 7, wherein the sonar system is used for exploration and measurement of a school of fish. .

  According to this method, the state of the school of fish gathering around the acoustic sonar can be accurately grasped over a wide range. Therefore, it is possible to effectively contribute to fish school exploration analysis such as fish school composition and school fish quantity.

  The invention according to claim 9 is the underwater exploration analysis method according to claim 8, wherein the control device calculates the width, depth, and height of the fish school from the data collected by the underwater 3D acoustic sonar, and the fish school. It measures the volume of this.

  According to this method, the width, depth, and height of the fish school can be calculated from the data collected by the underwater 3D acoustic sonar, and the volume of the fish school can be easily and accurately grasped.

  The invention according to claim 10 is the underwater exploration analysis method according to claim 8 or 9, wherein the species of fish school is identified from the data collected by the underwater 3D acoustic sonar and the underwater video image taken by the video camera. It is characterized by.

  According to this method, it is possible to easily and accurately grasp the school constituent species (fish type) from the data collected by the underwater 3D acoustic sonar and the underwater video image taken by the video camera.

  According to a tenth aspect of the present invention, in the underwater exploration analysis method according to the eighth, ninth or tenth aspect, the control device is an adult fish based on data collected by the underwater 3D acoustic sonar and an underwater video image captured by the video camera. It is characterized by measuring the individual size.

  According to this method, from the data collected by sonar and underwater video images taken with a video camera, the individual size of an adult fish (size of each fish, for example, size such as length and thickness) can be easily and accurately determined. Can grasp.

  According to the present invention, the underwater environment data is acquired using the underwater 3D acoustic sonar and the object identifying means for identifying the type of the object, so that the underwater 3D underwater can be changed without frequently changing the installation position of the acoustic sonar. The shape and type data of the acoustic sonar over the entire circumference and in a wide range can be acquired in detail and accurately and analyzed. These data can be used effectively.

  In addition, by using the underwater exploration analysis method for exploration and analysis of fish schools, it is possible to accurately grasp the size of the fish school, for example, the size of the fish school, the size of the constituent fish, the number of individuals, etc. Can be used.

It is a schematic block diagram shown as an example of the sonar system for implementing the underwater exploration analysis method which concerns on embodiment of this invention. It is a block diagram of the configuration of the sonar system. It is a schematic structure perspective view of the sonar apparatus in a sonar system tam same as the above. It is a figure which shows an example of the data which a control apparatus in a sonar system same as the above displays on a display. It is a figure explaining schematic operation | movement of a sonar apparatus same as the above. It is a flow figure explaining the method of searching and analyzing the size and constituent species of a school of fish collected around the underwater fishing reef using the underwater exploration analysis method concerning an embodiment of the invention. It is a flow figure explaining the method of searching and analyzing the individual size of the fish which constitute a school of fish collected around the underwater fishing reef using the underwater exploration analysis method concerning an embodiment of the invention. It is a flowchart explaining the method of exploring and analyzing the amount of fish which gathers around the underwater fishing reef using the underwater exploration analysis method which concerns on embodiment of this invention.

  An object of the present invention is to provide an underwater exploration analysis method capable of accurately grasping a state around an acoustic sonar over a wide range in real time without frequently moving the position of the acoustic sonar. To achieve this, an underwater 3D acoustic sonar that emits sound waves toward the water and captures the reflected waves to identify the target object and the size of the object; and an object identification means that identifies the type of the object; Searching and analyzing the underwater environment around the underwater 3D acoustic sonar using a sonar system comprising a data collected by the underwater 3D acoustic sonar and a control device for analyzing the data collected by the object identifying means. Realized by.

  Hereinafter, an example of an underwater exploration analysis method according to an embodiment of the present invention will be described in detail with reference to FIGS. 1 to 8 in the case of exploring and analyzing constituent fish of a school of fish gathered around a fishing reef. In the following description, the case where the target object is a fish school will be described. However, the present invention is not limited thereto, and the target object may be a coral reef, for example. Moreover, although the case where it uses in the sea is demonstrated, a river and a lake may be sufficient.

  FIG. 1 is a schematic configuration diagram showing an example of a sonar system for carrying out the underwater exploration analysis method according to the present invention, and FIG. 2 is a block diagram of a control system in the sonar system.

  1 and 2, a sonar system 10 includes a ship 11, a sonar device 12 that is mounted on the ship 11 and transported to a target sea area, and then dropped into the sea. A control device 13 that captures and processes data collected by the sonar device 12 and a power source 14 are provided. The sonar device 12 is connected to the rope 16 of the crane 15 mounted on the ship 11 and dropped into the sea. After the exploration, the rope 16 is taken up again by the crane 15 and can be collected in the ship 11. It is like that. In addition, the sonar device 12 can be variously controlled by a remote control unit 17 disposed on the ship 11. Further, the sonar device 12, the control device 13, and the remote control unit 17 are electrically connected by a communication cable 18. The communication cable 18 is wound around a predetermined position (not shown) on the ship 11 in synchronism with the winding of the rope 16 when the rope 16 is wound by the crane 15. In FIG. 1, reference numeral 31 indicates a fishing reef, and reference numeral 32 indicates a school of fish.

  More specifically, the control device 13 is a computer and includes a display 19. In addition, the control device 13 is provided with a memory 20 that stores data collected by the sonar device 12 and that has a built-in program for executing an analysis algorithm that is processed according to a predetermined procedure. . The control device 13 calculates and analyzes the type, number of individuals, and volume of the school of fish based on the information input from the sonar device 12, and outputs the analysis result and displays it on the display 19 for easy understanding. ing.

  The power source 14 serves as a power source for the sonar device 12, the control device 13, and the like, and includes a generator and a battery for storing electric power generated by the generator.

  FIG. 2 is a block diagram showing the internal configuration of the sonar device 12, and FIG. 3 is an external view thereof. As shown in FIG. 3, the sonar device 12 has a device frame 21 as a base, the thruster 22a, 22b, 22c, an underwater 3D acoustic sonar 23, an underwater 2D acoustic sonar 24, a video camera (underwater video). ) 25, LED light 26, manipulator 27, etc. are mounted. These units mounted on the device frame 21 are connected to the control device 13 and the remote control unit 17 via the communication cable 18, respectively. Accordingly, the operator can remotely control each device of the sonar device 12 via the remote control unit 17 while watching the video image displayed on the display 19 from the ship 11.

  The thruster 22a is a propulsion device for selectively moving the sonar device 12 upward and downward, and the thruster 22b is for selectively moving the sonar device 12 left and right. The thruster 22c is a thruster for moving the sonar device 12 forward and backward. Therefore, when the operator operates the remote control unit 17 on the ship 11 and drives and controls these thrusters 22a, 22b, and 22c individually and in conjunction with each other, the sonar device 12 is moved in the vertical and horizontal directions. It can be moved freely.

  The underwater 3D acoustic sonar 23 is a tool capable of 3D (stereoscopic view) measurement of the shape of a riverbed or the seabed, the shape of a reef, a school of fish, and the like. For example, the underwater 3D scanner BV5000 manufactured by Blueview is mounted.

  The underwater 3D acoustic sonar 23 rotates 45 ° in the vertical direction and 360 ° in the horizontal direction while emitting sound waves, and captures the reflected waves to measure the structure of the riverbed and the seabed in 3D. In addition, as a method of rotating the underwater 3D acoustic sonar 23 in the vertical direction, a method of changing the tilt angle by actually changing the direction of the acoustic sonar by shaking one acoustic sonar in the vertical direction (up and down direction), There is a method in which a plurality of acoustic sonars are arranged in a line in the vertical direction, and the plurality of arranged acoustic sonars are sequentially switched to create the rotation of the acoustic sonar in the vertical direction. In this embodiment, a method is used in which the latter plurality of acoustic sonars are arranged in a line in the vertical direction. However, the former method, that is, a method in which one acoustic sonar is actually swung in the vertical direction and rotated. There may be.

  The configuration of the underwater 3D acoustic sonar 23 according to the present embodiment will be described in more detail. The underwater 3D acoustic sonar 23 has 256 acoustic sonars in the vertical direction (up and down) (hereinafter referred to as “receiver”) although not shown. ) Are arranged in a line, and the 256 receiving devices are rotated 360 ° in the horizontal direction, and one receiving device is selected and switched in order from one side for each rotation. By this switching, the underwater 3D acoustic sonar 23 is rotated in the vertical direction so that the tilt angle is sequentially switched in the vertical direction in steps of about 0.1758 °.

  Therefore, this underwater 3D acoustic sonar 23 rotates 256 ° in the horizontal direction while switching and driving one of the 256 receiving devices in turn from one side to the other. When all the driving is completed, 256 scans with different tilt angles are completed. Further, each time the scan is performed, the unit space is cut out, and a sonar image for each unit space can be obtained. The vertical rotation is performed four times. Therefore, the scanning operation is also repeated four times, and the scan data of each time is output to the control device 13, respectively. And in the control apparatus 13, based on the scan data from the underwater 3D acoustic sonar 23, the data over the circumference direction and wide range of the underwater 3D acoustic sonar 23 are acquired, and the shape of the riverbed and the seabed and the shape of the reef And a three-dimensional analysis of the school of fish and the like, and the analysis result can be output and displayed on the display 19. FIG. 4 is a diagram showing an example in which the analysis result is displayed on the display 19. FIG. 4 shows the state of the fishing reef 31 and the school of fish 32 gathered around the fishing reef 31.

  The underwater 2D acoustic sonar 24 is a tool that detects an obstacle or the like in front of the sonar device 12 and assists the sonar device 12 to travel safely. For example, an underwater 2D sonar P900 manufactured by Blueview is mounted. The underwater 2D acoustic sonar 24 moves with the sonar device 12 while emitting sound waves, and outputs scan data to the control device 13. Then, the control device 13 detects an obstacle or the like in front of the sonar device 12 based on the data from the underwater 2D acoustic sonar 24, and travels safely by avoiding the sonar device 12 from colliding with the obstacle. To help.

  The video camera 25 is object identifying means for identifying the type of object. The video camera 25 takes a picture of the state in the sea and outputs it to the control device 13 as an underwater video image. The video camera 25 can take a picture of the state of the underwater space in front of the sonar device 12 scanned by the underwater 3D acoustic sonar 23. For example, a fish type of about 1.6 centimeters swimming 5 meters ahead can be selected. A high-resolution video camera that can be identified is used. The memory 20 of the control device 13 is prepared in advance with data for identifying the type of fish actually captured by the video camera 25, the individual size of the adult fish, and the like. In this embodiment, the video camera 25 is used as the object identifying means for identifying the type of the object. However, any device other than the video camera may be used as long as the type of the object can be identified. is there.

  The LED light 26 irradiates light in front of the sea where the video camera 25 takes a picture and assists the video camera 25 in shooting.

  The manipulator 27 is a device for searching for an obstacle or the like in front of the sonar device 12.

  Next, in the sonar system configured as described above, a processing method for exploring and analyzing the size and constituent species (type of fish) of the fish collected around the underwater fishing reef, the individual size of the constituent fish, the amount of fish (Kg), etc. This will be described with reference to the diagrams shown in FIGS. 2 to 5 and the flowcharts shown in FIGS.

(Basic operation of sonar system)
First, the basic operation of the sonar system will be described. The sonar device 12 and the control device 13 are driven to carry the sonar device 12 to a predetermined position in the sea (around the target fishing reef). At that time, the thrusters 22a to 22c, the underwater 2D acoustic sonar 24, the video camera 25, the LED light 26, the manipulator 27, and the like are driven, and the operator watches the underwater video image from the video camera 25 displayed on the display 19. Via the remote control unit 17, the sonar device 12 is moved to a predetermined position in the sea while avoiding a collision with an obstacle.

  When the sonar device 12 reaches a predetermined position, the underwater 3D acoustic sonar 23 is driven together with the video camera 25, the LED light 26, and the like. Then, the light of the LED light 26 illuminates the front of the underwater 3D acoustic sonar 23, and the video camera 25 takes a picture of the state in the sea in front of the underwater 3D acoustic sonar 23. Send to. The control device 13 temporarily stores the underwater video image in the memory 20 and displays it on the display 19. FIG. 5 schematically shows a state where the underwater 3D acoustic sonar 23 emits sound waves toward the reef 31 and the fishing group 32 and the video camera 25 images the reef 31 and the fishing group 32.

(Processing method for exploration analysis of fish size and constituent species)
Subsequently, the control device 13 enters a processing method for exploring and analyzing the size and constituent species of the fish school. In the process of exploring and analyzing the constituent species, the underwater 3D acoustic sonar 23 is photographed by the video camera 25 and the underwater 3D acoustic sonar 23 is driven. As described above, the underwater 3D acoustic sonar 23 rotates one of 256 receiving devices for each rotation 360 degrees in the horizontal direction while sequentially driving from one side, and has 256 different tilt angles. Each time the scan is performed, 256 sonar images for each unit space to be cut out are output to the control device 13 four times repeatedly. That is, as shown in FIG. 6, the control device 13 acquires measurement data over the entire circumference and wide range of the underwater 3D acoustic sonar 23 based on the scan data from the underwater 3D acoustic sonar 23, and measures the fishing reef 31. (Step S101).

  Further, in the processing of the control device 13 here, noise is removed from the measurement data (step S102), and a structure such as the reef 31 and a point group (fish group 32) that is not a structure are identified from the processed data (step S103). ). A point cloud other than the structure (fish reef 31) is the data of the fish school 32, and the width, depth, and height of the fish school 32 are calculated from the processed data to determine the volume (fish school size) of the fish school 32 (step). S104).

  At the same time, in the control device 13, underwater video image data obtained by photographing the state of the sea in front of the underwater 3D acoustic sonar 23 with the video camera 25, that is, the fish group 32 collected around the fishing reef 31, is stored in the memory 20 in advance. With reference to the fish school data, the fish school constituent species (fish type) are estimated (steps S105 and S106).

  The control device 13 estimates the fish school size (volume) and the constituent species (fish type) from the data in steps S101 to S104 and the data in steps S105 and S106 (step S107).

(Processing method for exploration analysis of individual size of constituent fish)
In the processing method for exploring and analyzing the constituent species of fish school, the control device 13 takes a picture of the underwater 3D acoustic sonar 23 in front of the underwater 3D acoustic sonar 23 with the video camera 25 as in the case of the processing for exploring and analyzing the size and constituent species of the fish school. At the same time, the underwater 3D acoustic sonar 23 is driven, and the control device 13 acquires measurement data over the entire circumference and wide range of the underwater 3D acoustic sonar 23 based on the scan data from the underwater 3D acoustic sonar 23. Obtain fish school measurement data.

  Further, as shown in FIG. 7, the control device 13 uses the underwater video image obtained by the video camera 25 for individual fish size (size of each fish, for example, size such as length and thickness) data and Then, data for each fish by the underwater 3D acoustic sonar 23 is stored in the memory 20 (step S201).

  On the other hand, for the 3D acoustic sonar 23, the control device 13 rotates 360 ° in the horizontal direction while sequentially driving one of the 256 receiving devices per rotation as described above, 256 scans with different tilt angles are performed, and for each scan, 256 sonar images for each unit space to be cut out are repeatedly output to the control device 4 four times to obtain measurement data of the fish school 32. Further, noise is removed from the measurement data of the fish school, an echo for each fish is extracted from the data after the noise processing, and an echo size (a size for each fish, that is, an individual size) is measured (step S202). .

  Next, the control device 13 calculates and estimates the individual size of the fish constituting the fish group obtained from the data in step S201 and the fish school measurement data in step S202 (step S203).

(Processing method for exploration analysis of fish school quantity)
In the processing method for exploring and analyzing the amount of fish, the control device 13 looks in the sea in front of the underwater 3D acoustic sonar 23 with the video camera 25, as in the case of the processing for exploring and analyzing the size, constituent species, and individual size of the fish school. And the underwater 3D acoustic sonar 23 is driven. And the control apparatus 13 acquires the measurement data over the perimeter direction and wide range of this underwater 3D acoustic sonar 23 based on the scan data from the underwater 3D acoustic sonar 23, and obtains fish school measurement data.

  Next, as shown in FIG. 8, the control device 13 removes noise from the fish data measured by the underwater 3D acoustic sonar 23, then obtains the width, depth, and height of the fish school 32 from the fish data, and the fish school 32 Is calculated (step S301).

  Next, a unit space in the fish school data is cut out, and the number of fish per unit space is counted. Further, this counting operation is performed a plurality of times, and the average value is taken (step S302).

  Subsequently, the unit space in the fish school data is cut out, the size of the individual existing in the unit space is measured from the coordinate value, and the distribution of the individual size and the number of fish is grasped (step S303). At this time, based on the individual size, a standard weight per individual is set in advance from documents and the like, and is stored in the memory 20 (step 304).

  Next, the fish group 32 is divided into individuals from the data obtained in steps S303 and S304, and further, fish fishing (Kg) is calculated from the number of fish per individual, size distribution, and standard weight by size (step S305).

  At the same time, in the control device 13, underwater video image data obtained by photographing the state of the sea in front of the underwater 3D acoustic sonar 23 with the video camera 25, that is, the fish school 31 collected around the fishing reef 31 is stored in the memory 20 in advance. With reference to the fish school data, the fish school constituent species (fish type) are estimated (step S306).

  Further, the fish catch (Kg) for each fish type is integrated from the data in step S305 and the data in step S306 to obtain the total amount of fish (step 307).

  In addition, since the size and constituent species (type of fish), the individual size of the constituent fish, the amount of fish (Kg), etc. gathered around the underwater fishing reef are instantaneous values, for example, measurement is performed at intervals of 4 hours for 24 hours, It is good to add it up and to make fish school data per 24 hours. In addition, calculation of the amount of fish per fishing season is performed by repeating measurements at times when the amount of fish changes, such as tides and changes in water temperature, and integrating the obtained amount of fish. Furthermore, the accuracy increases as the measurement frequency increases.

  As described above, the underwater exploration analysis method according to the present embodiment uses the underwater 3D acoustic sonar 23 that rotates in the vertical and horizontal directions and the object identifying means (video camera 25) for identifying the type of the object. Without changing the installation position of the acoustic sonar 23 frequently, the shape and type data of the underwater 3D acoustic sonar 23 underwater in the entire circumference direction and in a wide range can be acquired and analyzed in detail and accurately. These data can be used effectively.

  Further, the direction of the vertical direction of the underwater 3D acoustic sonar 23 is switched stepwise to change the tilt angle of the sound wave emitted from the underwater 3D acoustic sonar 23 step by step, and every time the tilt angle is changed, Since the 3D acoustic sonar 23 is rotated 360 ° in the horizontal direction, each time the underwater 3D acoustic sonar 23 is rotated in the horizontal direction, a unit space is cut out, and a sonar image for each unit space can be obtained. As a result, it is possible to increase the point cloud density of the data to more accurately grasp the situation of the space and to know the fish school size and the like accurately. Furthermore, in the case where a plurality of underwater 3D acoustic sonars are arranged in the vertical direction and the plurality of acoustic sonars are sequentially switched to produce rotation in the vertical direction as in this embodiment, the sonar system Simplification of the structure becomes possible.

  In addition, the sonar system includes a video camera as an object identification means for photographing an underwater state in conjunction with the underwater 3D acoustic sonar 23, and controls underwater video images photographed by the video camera and data collected by the acoustic sonar. Since the apparatus 13 can analyze and measure the type, volume, individual size, and number of individuals of the object, it can be applied to a wide range of fields.

  It should be noted that the present invention can be variously modified without departing from the spirit of the present invention, and the present invention naturally extends to the modified ones.

  In the above embodiment, the case where the target object is a school of fish has been described. However, the present invention is not limited to this, but can be applied to a case where the target object is a coral reef, and is not limited to being used in the sea. It can also be applied when used in rivers and lakes.

10 sonar system 11 ship 12 sonar equipment 13 control device 14 power supply (generator)
15 Crane 16 Rope 17 Remote control unit 18 Communication cable 19 Display 20 Memory 21 Equipment frames 22a, 22b, 22c Thruster 23 Underwater 3D acoustic sonar 24 Underwater 2D acoustic sonar 25 Video camera (object identification means)
26 LED light 27 Manipulator 31 Reef 32 Fish school

Claims (11)

  Underwater 3D acoustic sonar that emits sound waves toward the water and captures the reflected waves to identify the target object and the size of the object, object identifying means for identifying the type of the object, and the underwater 3D acoustic sonar An underwater exploration characterized by searching and analyzing an underwater environment around the underwater 3D acoustic sonar using a sonar system comprising: data collected by the control unit; and a control device for analyzing the data collected by the object identifying means. analysis method.   The underwater exploration analysis method according to claim 1, wherein the underwater 3D acoustic sonar is rotated in the vertical and horizontal directions to acquire data around the underwater 3D acoustic sonar.   The direction of the vertical direction of the underwater 3D acoustic sonar is changed stepwise to change the tilt angle of the sound wave emitted from the underwater 3D acoustic sonar, and the underwater 3D acoustic sonar is moved horizontally each time the tilt angle is changed. The underwater exploration analysis method according to claim 2, wherein the underwater exploration analysis method is rotated in a direction.   The underwater 3D acoustic sonar includes a plurality of receiving devices arranged side by side in the vertical direction, and the underwater 3D acoustic sonar is rotated in the vertical direction by sequentially switching the plurality of receiving devices. The underwater exploration analysis method according to claim 2, wherein the underwater exploration analysis method is configured to create the underwater exploration analysis method.   The control device calculates a width, a depth, and a height of the object from data collected by the underwater 3D acoustic sonar, and measures the volume of the object. 4. The underwater exploration analysis method according to 4.   The object identification means is a video camera that captures an underwater state in conjunction with the underwater 3D acoustic sonar, and the control device collects the underwater video image captured by the video camera and the underwater 3D acoustic sonar. 6. The underwater exploration analysis method according to claim 1, wherein the type of the object is identified by analyzing data.   The said control apparatus analyzes the data collected with the underwater video image image | photographed with this video camera, and the said underwater 3D sound sonar, The individual size and the number of individuals of the said object are measured, The Claim 6 characterized by the above-mentioned. The underwater exploration analysis method described.   The underwater exploration analysis method according to claim 1, wherein the sonar system is used for exploration / analysis of a school of fish.   The underwater exploration analysis according to claim 8, wherein the control device calculates the width, depth, and height of a school of fish from data collected by the underwater 3D acoustic sonar, and measures the volume of the school of fish. Method.   The underwater exploration analysis method according to claim 8 or 9, wherein the control device identifies a fish school constituent species from data collected by the underwater 3D acoustic sonar and an underwater video image captured by the video camera.   The underwater exploration according to claim 8, 9 or 10, wherein the control device measures an individual size of an adult fish from data collected by the underwater 3D acoustic sonar and an underwater video image taken by the video camera. analysis method.

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