JP2019020195A - Underwater position detection system and underwater position detection method - Google Patents

Abstract

To provide an underwater position detection system that enables simplified equipment and operations to quickly and pinpointly grasp an underwater position of divers when viewing from a reference object.SOLUTION: An underwater location detection system, which detects underwater positions of divers with a reference object in which at least one part is under water as a reference, comprises: a visible light emission unit that is provided in the diver, and emits visible light; a plurality of visible light reception units that is installed with an interval in an exterior face located underwater of the reference object, and receives the visible light; and a position detection device that detects an underwater position of the diver on the basis of an installation position in the reference object of the visible light reception unit selected as the visible light reception unit in which an amount of incidence light of the visible light is maximum, of the plurality of visible light reception units, an incidence angle with respect to a vertical axis of the visible light to be incident upon the selected visible light reception unit, a water depth of the diver, and a water depth of the reference object, in which the at least water depth of the diver is transmitted to the visible light reception unit due to the visible light emitted by the visible light emission unit.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an underwater position detection system for detecting position information of a diver in water.

  For example, in offshore civil works, when concrete blocks such as tetrapods and covering blocks are suspended in water by a crane equipped on a work boat and installed on the sea floor, a concrete block made by a diver is used. Positioning work is required. However, the concrete block suspended in the water not only moves up and down due to the lifting operation of the crane, but also rolls under the influence of the swing of the crane ship due to the waves. Is in a very prone environment.

  For this reason, crane operators and on-board supervisors need to keep track of the position and condition of divers in the water. However, the position of the diver is limited to a visual check using a breathing bubble by a supervisor on the ship and a call confirmation using a wired telephone. It takes a lot of time to grasp the position of the diver and it is difficult to grasp the exact position. It is.

  Thus, for example, Patent Document 1 discloses a method and apparatus for measuring the three-dimensional coordinate position of a diver using ultrasonic communication. Specifically, an ultrasonic transmitter is attached to the diver, and at least three receivers, a trigger device, and an analysis device are installed on the hull. And when the transmission request signal by electromagnetic waves is transmitted from the trigger device to the ultrasonic transmitter, the ultrasonic transmitter that has received the transmission request signal oscillates the ultrasonic wave, and each of the three receivers receives this ultrasonic wave, The three-dimensional coordinate position of the diver is calculated from the received signal.

  However, in Patent Document 1, the transmission request signal transmitted from the trigger device to the ultrasonic transmitter is an electromagnetic wave. As described above, since an electromagnetic wave having a large attenuation in water is used for the transmission request signal, accurate communication tends to be difficult when the distance between the hull and the diver is large. In addition, after receiving the transmission request signal, for the calculation of the three-dimensional coordinate position of the diver, ultrasonic waves capable of long-distance communication in water are used, although the speed is low. However, in ultrasonic communication, since bubbles, mechanical noise, electrical noise, echo noise of ultrasonic signals from seawalls, ships, etc. destroy water vibrations and hinder communication paths, However, it is not necessarily a suitable data communication means.

  Under such circumstances, as means suitable for underwater data communication, a method using visible light communication in addition to ultrasonic communication is known. For example, Patent Document 2 discloses a method and apparatus using visible light communication as a communication means between divers in water.

JP 2004-340883 A JP 2013-021413 A

  In the method of Patent Document 2, not only divers can communicate with each other, but it is also possible to perform two-way communication from underwater to a ship on the water at a water depth of 5 m. However, Patent Document 2 does not disclose a method for grasping the underwater position of a diver in water using visible light communication.

  The present invention has been made in view of such problems, and its main purpose is to be able to quickly and accurately grasp the underwater position of the diver viewed from the reference object with simple equipment and operation. An underwater position detection system is provided.

  In order to achieve this object, an underwater position detection system of the present invention is an underwater position detection system that detects an underwater position of a diver with reference to a reference object at least a part of which is in the water, and is provided in the diver. A visible light emitting unit that emits visible light, a plurality of visible light receiving units that receive the visible light, and are disposed on an outer surface of the reference object that are located in water, and a plurality of the visible light receiving units. Of the light receiving parts, the visible light receiving part selected as the largest incident light quantity of the visible light is installed on the reference object with respect to the vertical axis of the visible light incident on the selected visible light receiving part. A position detecting device that detects an underwater position of the diver based on an incident angle, a water depth of the diver, and a water depth of the reference object, and at least the water depth of the diver is By the visible light emitted by the visible light emitting portion, characterized in that it is transmitted to the visible light receiving unit.

  Further, in the underwater position detection system of the present invention, a plurality of the visible light receiving units are arranged at different angles with respect to the vertical axis to form a visible light receiving unit group, and the visible light receiving unit group includes the reference object. It installs with the space | interval in the said outer surface in the lower end part vicinity.

  The underwater position detection method of the present invention is an underwater position detection method using the underwater position detection system of the present invention, and relatively compares the incident light amount of the visible light received by each of the plurality of visible light receiving units. , Based on the installation position of the visible light receiving unit selected as the largest incident light amount in the reference object, the plan view position direction of the diver relative to the reference object is detected, and the water depth of the diver And the relative depth of the diver with respect to the reference object based on the water depth of the reference object, and the relative depth and the incident light that enters the visible light receiving unit selected as the largest amount of incident light. Based on an incident angle with respect to a vertical axis of visible light, a horizontal distance between the reference object and the diver is detected, and the planar view position direction, the relative depth, and the horizontal distance are detected. , And detecting the water position of the diver relative to the said reference object.

  According to the underwater position detection system and the underwater position detection method of the present invention described above, a diver is equipped with a visible light emitting unit, and a plurality of visible light receiving units are installed on the reference object, so that the diver can see the visible light emitting unit. The underwater position of the diver with reference to the reference object can be detected by a simple operation that only emits visible light toward the reference object. This makes it possible to grasp the diver's underwater position quickly and accurately compared to the conventional method in which the position of the diver is confirmed by visual confirmation using breathing bubbles by a supervisor on the ship and confirmation of a call using a wired telephone. It becomes possible.

  In addition, for example, when carrying out marine civil engineering work that requires underwater work by divers, such as revetment work or construction of underwater structures, it is used when installing work vessels, revetment walls, and concrete blocks underwater as reference objects. Select a submersible load swivel device, etc., and install a plurality of visible light receiving units on them, and can confirm the working position of the diver with a simple configuration that only allows the diver to carry the visible light emitting unit. . As a result, it is possible to improve work productivity of offshore civil engineering work while ensuring the safety of divers at a low cost without requiring complicated labor.

  According to the present invention, it is possible to quickly and accurately grasp the diver's underwater position with reference to the reference object by a simple operation in which the diver emits visible light from the visible light emitting unit toward the reference object. It becomes.

It is a figure which shows the outline of the underwater position detection system used for the installation work of the concrete block in embodiment of this invention. It is a figure which shows the visible light light-receiving part installed in the underwater hanging load turning apparatus in embodiment of this invention. It is a figure which shows the method of grasping | ascertaining the underwater position of the diver by the underwater position detection system in embodiment of this invention (1st Embodiment). It is a figure which shows the calculation method of the planar view position direction of the diver on the basis of the underwater suspended load turning apparatus in embodiment of this invention. It is a figure which shows the other example of the visible light light-receiving part installed in the underwater suspended load turning apparatus in embodiment of this invention (2nd Embodiment). It is a figure which shows the other example of the visible light light-receiving part installed in the underwater suspended load turning apparatus in embodiment of this invention (3rd Embodiment).

  The underwater position detection system and the underwater position detection method of the present invention use a visible light communication system that is generally used as a data communication means, and the diver such as the diver's plan view position direction, the horizontal distance, and the water depth relative to the reference object. It is the system and method which detect the information which concerns on the underwater position.

  In this embodiment, a case where concrete block installation work, which is one of the underwater civil works that require underwater work by divers, is taken as an example, and an underwater suspended load swiveling device is adopted as a reference object. Details of the underwater position detection system will be described with reference to FIGS.

  As shown in FIG. 1, the underwater suspended load swirl device 50 turns the concrete block B in a suspended state when turning the concrete block B such as a tetrapod or a rooting block on the seabed. It is a device for performing posture control such as holding and fine adjustment during positioning in water. For details of the underwater suspended load turning device 50, refer to Japanese Patent No. 5970946.

  In the underwater suspended load turning device 50 described above, the shackle 52 for mounting the wire 62 suspended from the crane 61 of the hoist ship 60 is provided on the upper surface of the outer shell 51, and the concrete block B is provided on the lower surface of the outer shell 51. Suspension jigs 53 for suspending the concrete block B are suspended, and the concrete block B is suspended by the suspension jig 53 and is suspended in water via the wire 62 attached to the shackle 52. .

  When installing the concrete block B on the seabed, first, the underwater diver D checks the position and orientation of the concrete block B while controlling the underwater suspended load swirling device 50 by wireless communication. While performing posture control such as changing the direction of B, fine adjustment of positioning is performed. After positioning the concrete block B in this way, the operator of the crane 61 pulls out the wire 62 to lower the underwater suspended load turning device 50 and the concrete block B, and installs the concrete block B on the seabed.

  At this time, the operator of the crane 61 and the work supervisor on the hoist ship 60 confirm the work position with respect to the diver D in advance, give an instruction, or if it is close to the concrete block B, or If it is, it is necessary to notify the danger. Therefore, in the present embodiment, the underwater position detection system 1 is employed as a means for the operator of the crane 61 and the work monitor on the hoist ship 61 to confirm the underwater position of the diver D.

  The underwater position detection system 1 is equipped with a visible light emitting unit 11 carried by the diver D, a plurality of visible light receiving units 12 installed in the underwater suspended load turning device 50, and an outer shell 51 of the underwater suspended load turning device 50. And the output device 14 installed in the operator room of the crane 61, the work management room on the hoist ship 60, and the like.

  As long as the visible light emitting unit 11 is a visible light solid-state light source capable of transmitting information by modulating the intensity of the visible light V to be emitted, any of a light emitting diode (hereinafter referred to as LED), an organic EL, a visible light laser, and the like is adopted. However, in the present embodiment, a pseudo white and 5000K LED is used. In addition, LED is not necessarily limited to the above-mentioned thing, It is suitably suitable according to construction environments, such as the sensitivity of the visible light light-receiving part 12 mentioned later, turbidity in water, the work range of the diver D, etc. What is necessary is just to set the color temperature and color tone (for example, LED with high blue energy when the turbidity in water is low).

  The visible light receiving unit 12 receives the visible light V emitted from the visible light emitting unit 11, demodulates it into an electrical signal, and outputs it to the position detection device 13. Adopted. Any optical sensor that can receive and modulate intensity-modulated visible light may be used for the visible light receiving unit 12, and for example, an image sensor may be used.

  The position detection device 13 is a device that calculates the underwater position of the diver D with reference to the underwater suspended load turning device 50 from the electrical signal output from the visible light receiving unit 12 and the water depth h2 of the underwater suspended load turning device 50. . And as shown in FIG.3 (b) and FIG. 4, the planar view position direction calculation means 131 which determines the planar view position direction A of the visible light emission part 11 on the basis of the underwater suspended load turning apparatus 50 is provided. .

  Moreover, as shown in FIGS. 3A and 3B, the relative depth calculation means 132 for calculating the relative depth H of the visible light emitting unit 11 with respect to the underwater suspended load turning device 50, the underwater suspended load turning device 50 and the visible light. Horizontal distance calculating means 133 for calculating the shortest horizontal distance L with respect to the light emitting unit 11. The details of the planar view position / direction calculating means 131, the relative depth calculating means 132, and the horizontal distance calculating means 133 are left to the first to third embodiments of the underwater position detection system 1 described later.

  A planar view position direction A of the visible light emitting unit 11 based on the underwater suspended load turning device 50 calculated by these position detection devices 13, a relative depth H of the visible light emitting unit 11 with respect to the underwater suspended load turning device 50, The horizontal distance L that is the shortest between the underwater suspended load turning device 50 and the visible light emitting unit 11 is output to the output device 14 as information on the underwater position of the diver D, as shown in FIG.

  The output device 14 is a device that displays information related to the underwater position of the diver D output from the position detection device 13, and adopts any of a smartphone, a tablet PC, a personal computer, or the like as long as it has at least a monitor. Also good. In this embodiment, a personal computer is employed.

  With the underwater position detection system 1 described above, whenever the operator of the crane 61 or the work monitor on the hoist ship 60 emits visible light from the visible light emitting unit 11 toward the underwater suspended load turning device 50, the diver D emits visible light. The underwater position of the diver D based on the underwater suspended load turning device 50 can be quickly and accurately grasped by the output device 14.

  As a result, the operator of the crane 61 and the work supervisor on the hoist ship 60 confirm with the output device 14 that the diver D has moved to an area where safety can be ensured when the concrete block B is installed. Then, operations such as lifting and lowering of the concrete block B by the crane 61 can be performed. Therefore, it is possible to greatly improve work productivity related to the installation work of the concrete block B while ensuring the safety of the diver D.

  Regarding the underwater position detection system 1 having the above-described configuration, three different types of installation patterns of the visible light receiving unit 12 with respect to the underwater suspended load turning device 50 are exemplified below as first to third embodiments, and visible light reception is performed. The calculation method of the underwater position of the diver D corresponding to the installation pattern of the unit 12 will also be described.

<First embodiment>
As shown in FIGS. 2 (a) and 2 (b), the plurality of visible light receivers 12 constituting the underwater position detection system 1 are the outer shell 51 of the underwater suspended load turning device 50, and the outer peripheral edge 511 near the lower surface. In order to avoid the attachment position of the hanging jig 53, a plurality of them are installed at the same height in a radial pattern.

  In the present embodiment, the dimensions of the underwater suspended load turning device 50 are a height of 2000 mm and a diameter of the outer peripheral edge 511 of the outer shell 51 of 2131 mm. Moreover, the visible light receiving part 12 installed radially with respect to the outer peripheral edge 511 of the outer shell 51 is separated by two visible light receiving parts 12 arranged at an interval of 20 degrees, and at an interval of 48 degrees so as to sandwich this. Four visible light receiving units 12 including the two visible light receiving units 12 are arranged in four directions at equal intervals, and a total of 16 visible light receiving units 12 are installed.

  Each of the visible light receiving portions 12 is installed toward the seabed at an installation angle of about 45 degrees with respect to the vertical axis in a state where the axis O of the outer shell 51 made of a cylindrical body is parallel to the vertical axis. The visible light V emitted from the visible light emitting unit 11 is stored in a storage kale 121 through which the visible light V can be transmitted so that the installation angle does not change due to contact with an obstacle in the sea.

  On the other hand, as shown in FIG. 3, the visible light emitting unit 11 that constitutes the underwater position detection system 1 can be a suit or a dive as long as the diver D can emit visible light toward the underwater suspended load turning device 50. You may equip it with an instrument etc. and carry it by the diver D. The visible light emitting unit 11 includes an angle sensor (not shown) for measuring the emission angle, and is wirelessly connected to at least a water depth gauge (not shown) installed in the diver D. The water depth h1 of the obtained diver D and the emission angle θ1 with respect to the vertical axis of the visible light V emitted from the visible light emitting unit 11 can be transmitted to the visible light receiving unit 12 via the visible light V.

  In the first embodiment, since the visible light receiving unit 12 is the outer shell 51 of the underwater suspended load turning device 50 and is fixed to the outer peripheral edge 511, the visible light emitted from the visible light emitting unit 11 is visible. The light emission angle θ <b> 1 with respect to the vertical axis of the light V is regarded as the incident angle with respect to the vertical axis of the visible light V incident on the visible light receiving unit 12.

  In addition, the visible light receiving unit 12 can be used for an accident or disaster when the diver D is working underwater under the underwater suspended load turning device 50 in the installation work of the concrete block B using the underwater suspended load turning device 50. In consideration of the tendency to occur, it is installed toward the seabed at an installation angle of about 45 degrees. Therefore, if the visible light receiving unit 12 is installed so as to face downward from the underwater suspended load turning device 50, the installation angle is not necessarily limited to about 45 degrees.

  And the calculation method of the planar view position direction A, the relative depth H, and the horizontal distance L, which is information related to the underwater position of the diver D executed by the position detection device 13 constituting the underwater position detection system 1, is as follows. It is as follows.

  First, as shown in FIG. 3B and FIG. 4A, each of the plurality of visible light receiving units 12 is based on the electrical signal output from the visible light receiving unit 12 in the planar view position / direction calculating unit 131. The incident light amount of the visible light V received by is detected and subjected to a relative comparison, and the visible light receiving unit 12 having the largest incident light amount is selected. The installation position of the outer peripheral edge 511 in the outer shell 51 of the selected visible light receiving unit 12 is calculated, and this is recognized as the light receiving position C of the visible light V in the underwater suspended load turning device 50.

  In addition, when detecting the incident light quantity of the visible light V received by each of the plurality of visible light receiving parts 12 and performing a relative comparison, the visible light receiving part 12 having the largest incident light quantity is shown in FIG. 4B. Are present, the intermediate position of the two visible light receiving parts 12 at the lower outer peripheral edge 51 of the underwater suspended load turning device 50 is calculated, and this is calculated as the visible light V of the underwater suspended load turning device 50. The light receiving position C is recognized.

  Similarly, when there are three visible light receiving units 12 having the largest incident light quantity, the position where the central visible light receiving unit 12 is arranged among the three is calculated, and this is used as the underwater suspended load turning device 50. Is recognized as a light receiving position C of visible light V.

  Thereafter, a direction in which a horizontal line connecting the light receiving position C and the axis O of the outer shell 51 extends is calculated, and this is defined as a planar view position direction A in which the diver D with the underwater suspended load turning device 50 as a reference is located. In addition, a geomagnetic sensor is mounted on the underwater suspended load turning device 50, and a plan view position direction A in which the diver D with respect to the underwater suspended load turning device 50 is located based on the information about the orientation acquired by the geomagnetic sensor. You may make it grasp | ascertain by direction.

  Next, as shown in FIGS. 3 (a) and 3 (b), in the relative depth calculation means 132, the water depth of the diver D carrying the visible light emitting unit 11 based on the electrical signal output from the visible light receiving unit 12. Get h1. The underwater suspended load turning device 50 is also provided with a water depth gauge (not shown), and the water depth h2 of the underwater suspended load turning device 50 is acquired from this depth gauge. And the difference (h2-h1) of both is calculated, and this is made into the relative depth H of the diver D with respect to the underwater suspended load turning apparatus 50.

  Finally, in the horizontal distance calculation means 133, based on the electrical signal output from the visible light receiver 12, the incident angle with respect to the vertical axis of the visible light V incident on the visible light receiver 12 as described above. The emission angle θ1 with respect to the vertical axis of the visible light V emitted from the visible light emitting unit 11 is acquired. Further, the relative depth H of the visible light emitting unit 11 with respect to the underwater suspended load turning device 50 calculated by the relative depth calculating means 132 is acquired.

  Based on the emission angle θ1 and the relative depth H, the horizontal distance (H · tan θ1) between the light receiving position C and the visible light emitting unit 11 is calculated, and this is recognized by the planar view position direction calculating unit 131. The horizontal distance L between the underwater suspended load turning device 50 and the diver D in the planar view position direction A.

<Second Embodiment>
In the second embodiment, as shown in FIG. 5 (a), a plurality of visible light receiving parts 12 installed on the outer peripheral edge 511 in the vicinity of the lower surface, which is the outer shell 51 of the underwater suspended load turning device 50, In a state where the axis O of the shell 51 is parallel to the vertical axis, the shell 51 is installed so as to be able to rotate and swing within a vertical plane including the axis O of the outer shell 51.

  Accordingly, the position detection device 13 includes a light receiving unit swinging unit 134 that rotates and swings the plurality of visible light receiving units 12. The light receiving unit swinging unit 134 uses the plurality of visible light receiving units 12. Are controlled so as to rotate and swing at the same speed and in synchronism so that the inclination angle with respect to the axis O becomes the same angle.

  As described in the first embodiment, the visible light receiving unit 12 is prone to accidents and disasters when the diver D is working underwater under the underwater suspended load turning device 50. In consideration, the range from the horizontal direction to the vertically downward direction is rotated and oscillated.

  Then, in the planar view position / direction calculating means 131 of the position detection device 13, first, the visible light received by each of the plurality of visible light receiving units 12 rotating and swinging based on the electrical signal output from the visible light receiving unit 12. Is detected continuously for each inclination angle with respect to the axis O in the visible light receiving unit 12.

  A relative comparison of the incident light amounts thus obtained is performed, the visible light receiving unit 12 that has detected the largest incident light amount among the plurality of visible light receiving units 12 is selected, and the installation position of the outer peripheral edge 511 in the outer shell 51 is calculated. This is recognized as the light receiving position C of the visible light V in the underwater suspended load turning device 50. Further, as shown in FIG. 5B, the inclination angle θ2 with respect to the vertical axis when the largest incident light quantity is detected is calculated. The inclination angle θ2 is regarded as an incident angle with respect to the vertical axis of the visible light V incident on the visible light receiving unit 12.

  If the axis O of the outer shell 51 is not parallel to the vertical axis at the time when the incident light quantity is detected by the planar view position / direction calculating means 131, the inclination angle with respect to the vertical axis is appropriately corrected. θ2 is calculated.

  Thereafter, as in the first embodiment shown in FIG. 4A, the direction in which the horizontal line connecting the light receiving position C and the axis O of the outer shell 51 extends is based on the underwater suspended load turning device 50. It is calculated as a planar view position direction A in which the diver D is located. Further, the relative depth H of the visible light emitting unit 11 with respect to the underwater suspended load turning device 50 is calculated by the relative depth calculation means 132 by the same method as in the first embodiment shown in FIG.

  Then, the horizontal distance calculation unit 133 acquires the inclination angle θ2 with respect to the vertical axis of the visible light receiving unit 12 selected as the detection of the largest incident light amount calculated by the planar view position / direction calculation unit 131, and relative The relative depth H of the visible light emitting unit 11 with respect to the underwater suspended load turning device 50 calculated by the depth calculating unit 132 is acquired.

  The horizontal distance (H · tan θ2) between the light receiving position C and the visible light emitting unit 11 is calculated based on the inclination angle θ2 and the relative depth H that are regarded as these incident angles, and this is calculated as a planar view position direction calculating means. The horizontal distance L between the underwater suspended load turning device 50 and the diver D on the plan view position direction A recognized in 131 is set.

  Therefore, in the second embodiment, the visible light emitting unit 11 transmits at least the water depth h1 of the diver D obtained from the depth meter equipped in the diver D to the visible light receiving unit 12 with the visible light V. Good.

<Third embodiment>
In the third embodiment, as shown in FIG. 6 (a), the plurality of visible light receiving parts 12 are made of the outer shell 51 in a state where the axis O of the outer shell 51 made of a cylindrical body is parallel to the vertical axis. Each visible light receiving unit group 12 ′ is configured by changing the angle with respect to the vertical axis in a vertical plane including the axis O. Then, a plurality of visible light receiving unit groups 12 ′ are prepared, and are installed at the same height with an interval between the outer peripheral edge 511 of the outer shell 51 of the underwater suspended load turning device 50 and in the vicinity of the lower surface.

  The plurality of visible light receiving units 12 constituting the visible light receiving unit group 12 ′ are configured such that the diver D is underwater below the underwater suspended load turning device 50 as described in the first and second embodiments. Considering that accidents and disasters are likely to occur when working, set different angles in the range from the horizontal direction to the vertical downward direction.

  In the planar position / direction calculation unit 131 of the position detection device 13, first, based on the electrical signal output from the visible light receiving unit 12, a plurality of visible lights constituting each of the plurality of visible light receiving unit groups 12 ′. About all the light-receiving parts 12, the incident light quantity of the visible light which each received is detected.

  A relative comparison of the incident light amounts thus obtained is performed, and the visible light receiving unit 12 that has detected the largest incident light amount is selected from among the plurality of visible light receiving units 12, and the visible light receiving unit configured by the selected visible light receiving unit 12 is selected. The installation position of the outer periphery 511 in the outer shell 51 of the group 12 ′ is calculated, and this is recognized as the light receiving position C of the visible light V in the underwater suspended load turning device 50.

  When the visible light receiving unit 12 having the largest incident light amount exists in each of the two adjacent visible light receiving unit groups 12 ′, the intermediate position between the two visible light receiving unit groups 12 ′ is calculated. This may be recognized as the light receiving position C of the visible light V in the underwater suspended load turning device 50.

  Further, as shown in FIG. 6B, an inclination angle θ3 with respect to the vertical axis of the visible light receiving unit 12 that has detected the largest incident light quantity is detected. The inclination angle θ3 is regarded as an incident angle with respect to the vertical axis of the visible light V incident on the visible light receiving unit 12.

  If the axis O of the outer shell 51 is not parallel to the vertical axis at the time when the incident light quantity is detected by the planar view position / direction calculating means 131, the inclination angle with respect to the vertical axis is appropriately corrected. θ3 is calculated.

  Further, when detecting the incident light amount of the visible light V received by each of the plurality of visible light receiving units 12 and performing a relative comparison, the visible light receiving unit 12 having the largest incident light amount is, for example, one visible light receiving unit. In the case where two groups are present side by side in the group 12 ′, an intermediate angle between the two visible light receiving units 12 is calculated, and this is calculated as an inclination angle θ 3 with respect to the vertical axis of the visible light receiving unit 12.

  Thereafter, as in the first embodiment shown in FIG. 4A, the direction in which the horizontal line connecting the light receiving position C and the axis O of the outer shell 51 extends is based on the underwater suspended load turning device 50. It is calculated as a planar view position direction A in which the diver D is located. Further, the relative depth H of the visible light emitting unit 11 with respect to the underwater suspended load turning device 50 is calculated by the relative depth calculation means 132 by the same method as in the first embodiment shown in FIG.

  Then, the horizontal distance calculation unit 133 acquires the inclination angle θ3 with respect to the vertical axis of the visible light receiving unit 12 selected as the detection of the largest incident light amount calculated by the planar view position / direction calculation unit 131, and relative The relative depth H of the visible light emitting unit 11 with respect to the underwater suspended load turning device 50 calculated by the depth calculating unit 132 is acquired.

  Based on the incident angle and the tilt angle θ3 and the relative depth H, the horizontal position between the light receiving position C and the visible light emitting unit 11 on the plan view position direction A recognized by the plan view position direction calculation unit 131 is determined. The distance (H · tan θ3) is calculated, and this is set as the horizontal distance L between the underwater suspended load turning device 50 and the diver D.

  Therefore, also in the third embodiment, similarly to the second embodiment, the visible light emitting unit 11 uses at least the water depth h1 of the diver D obtained from the water depth meter equipped in the diver D to the visible light V May be transmitted to the visible light receiving unit 12.

  According to the underwater position detection system 1 described above, the visible light emitting unit 11 is carried by the diver D, and the plurality of visible light receiving units 12 are installed at intervals at the same height of the underwater suspended load turning device 50. . Thus, since visible light is used as a communication means, for example, compared to the case where ultrasonic waves are employed, there is no influence of underwater acoustic noise generated in offshore construction or the like, and the communication quality in water is low. As a result, the data transfer speed can be increased.

  Accordingly, the diver D is simply operated to emit the visible light V from the visible light emitting unit 11 toward the underwater suspended load turning device 50, and the plan view position of the diver D with the underwater suspended load turning device 50 as a reference. The underwater position of the diver D based on the underwater suspended load turning device 50 such as the direction A, the relative depth H, and the horizontal distance L can be detected quickly and accurately.

  Therefore, the work supervisor on the hoist ship 60 confirms the work position and gives an instruction to the diver D, or is in danger when it is close to the concrete block B or in a single action. The work management of the diver D can be performed such as notification. For this reason, it is possible to greatly improve the work productivity of offshore civil works while ensuring the safety of the diver D.

  The underwater position detection system 1 of the present invention is not limited to the above embodiment, and various modifications can be made without departing from the spirit of the present invention.

  For example, in the present embodiment, the underwater turning device 50 is adopted as the reference object, but the present invention is not necessarily limited thereto. Any object may be adopted as long as it is at least partly submerged, such as an underwater floating body such as a hull or a buoy, an underwater structure such as a revetment wall or a dam.

  Further, in the present embodiment, the visible light receiving unit 12 is installed on the outer peripheral edge 511 in the vicinity of the lower surface of the outer shell 51 of the underwater suspended load turning device 50. However, the present invention is not necessarily limited thereto. Any outer surface of the outer shell 51 of the load turning device 50 may be installed.

  Further, in the present embodiment, the water depth h1 of the diver D and the emission angle θ1 with respect to the vertical axis of the visible light V emitted from the visible light emitting unit 11 are transmitted to the visible light receiving unit 12 with the visible light V. Data to be transmitted by visible light communication is not limited to these.

  For example, the water pressure gauge or timer carried by the diver D is wirelessly connected to the visible light emitting unit 11, and information relating to the diving time and water pressure of the diver D is transmitted to the visible light receiving unit 12 using the visible light V. May be. In this way, the work supervisor on the hoist ship 60 can objectively manage the health state and work state related to the diver D during work, so that the safety of diving work can be further improved.

  Further, in the present embodiment, the output device 14 is caused to output information related to the underwater position of the diver D with reference to the underwater suspended load turning device 50. However, the present invention is not limited to this. The warning information may be output.

  Specifically, as shown in FIG. 3B, the position detection device 13 is provided with warning information generating means 135. In addition, position information related to the underwater danger range when the crane 61 lifts or lowers the concrete block B is set in advance, and is stored in the warning information generating means 135.

  Then, in the warning information generating means 135, the diver D based on the underwater suspended load turning device 50 calculated by the planar view position / direction calculating means 131, the relative depth calculating means 132, and the horizontal distance calculating means 133 by the method described above. The underwater position and the position information related to the danger range are superimposed and output to the output device 14.

  When the diver D is working in the danger range underwater, the monitor of the output device 14 blinks or the warning buzzer is sounded, etc. , Warning information should be issued.

  In addition, the underwater suspended load turning device 50 has a machine control circuit for controlling the underwater suspended load turning device 50 in order to perform posture control such as a direction change of the concrete block B based on wireless communication from the diver D. (Not shown) is mounted. Therefore, you may mount the position detection apparatus 13 which comprises the underwater position detection system 1 in these machine control circuits.

DESCRIPTION OF SYMBOLS 1 Underwater position detection system 11 Visible light light-emitting part 12 Visible light light-receiving part 12 'Visible light light-receiving part group 121 Storage case 13 Position detection apparatus 131 Plane view position direction calculation means 132 Relative depth calculation means 133 Horizontal distance calculation means 134 Visible light reception Swinging means 135 Warning information generating means 14 Output device 50 Underwater suspended load turning device (reference object)
51 outer shell 511 outer peripheral edge (outer surface)
52 Shackle 53 Lifting jig 60 Hoist ship 61 Crane 62 Wire A Plane view position direction H Relative depth L Horizontal distance C Light receiving position V Visible light B Concrete block D Diver

Claims (3)

An underwater position detection system for detecting an underwater position of a diver based on a reference object at least a part of which is in water,
A visible light emitting unit that is provided in the diver and emits visible light;
A plurality of visible light receiving units that receive the visible light, and are installed with an interval on an outer surface of the reference object located in water;
Of the plurality of visible light receiving units, the visible light receiving unit selected as the largest incident light amount of the visible light is installed on the reference object, and the visible light incident on the selected visible light receiving unit A position detection device that detects an underwater position of the diver based on an incident angle with respect to a vertical axis of the diver, a water depth of the diver, and a water depth of the reference object,
At least the water depth of the diver is transmitted to the visible light receiving unit by the visible light emitted from the visible light emitting unit. The underwater position detection system according to claim 1,
A plurality of the visible light receiving units are arranged at different angles with respect to the vertical axis to constitute a visible light receiving unit group,
The underwater position detection system, wherein the visible light receiving unit group is installed at an interval at the same height position of the outer surface in the vicinity of the lower end of the reference object. An underwater position detection method using the underwater position detection system according to claim 1 or 2,
Relative comparison of the incident light amount of the visible light received by each of the plurality of visible light receiving units, based on the installation position of the visible light receiving unit selected as the largest incident light amount in the reference object, Detecting the plan view position direction of the diver with reference to a reference object,
Detecting the relative depth of the diver with respect to the reference object based on the water depth of the diver and the water depth of the reference object;
A horizontal distance between the reference object and the diver is detected based on the relative depth and an incident angle with respect to a vertical axis of the visible light incident on the visible light receiving unit selected as the largest incident light amount. And
An underwater position detection method, comprising: detecting an underwater position of the diver with respect to the reference object from the planar view position direction, the relative depth, and the horizontal distance.