JP2024025969A - Underwater monitoring system - Google Patents

Abstract

To provide an underwater monitoring system capable of improving a quality of optical information.SOLUTION: A underwater monitoring system 1 includes a first housing 12 that is open at the bottom and has a first opening 12a, has gas 10 enclosed therein, and is disposed underwater; a first weight 14 that is connected to the first opening side 12a and points the first opening side 12a downward underwater; a first float 16 that is connected to the opposite side of the first opening side 12a of the first housing 12 and suspends the first housing 12 underwater 22; and a first optical information acquisition device 20 which is installed in the gas 10 in the first housing 12 so as not to contact water, and which acquires optical information below the first opening 12a.SELECTED DRAWING: Figure 1

Description

The present invention relates to underwater monitoring systems.

As background technology in this technical field, there is Japanese Patent Application Laid-Open No. 9-281100 (Patent Document 1). This bulletin states, ``The photographing means and illumination means of the detection part of the water quality monitoring device are placed in a space above the water surface inside a light-shielding hood floating on the water surface. It supplies pressurized air to prevent fogging of the photographing means and illumination means.The measurement calculation section analyzes changes in the reflection spectrum of the observed area from the image signal observed by the detection section, and automatically detects water based on the analysis results. (See summary).

Japanese Patent Application Publication No. 9-281100

However, the technique disclosed in Patent Document 1 has room for improvement from the viewpoint of improving the quality of optical information acquired by the photographing means.
Therefore, an object of the present invention is to provide an underwater monitoring system that can improve the quality of optical information.

In order to solve the above problems, the present invention provides a first casing that is open on the lower side and forms a first opening, gas is sealed inside, and is disposed underwater, and a first casing that is connected to the first opening side, a first weight with the first opening side facing downward in the water; a first float connected to a side of the first housing opposite to the first opening side and suspending the first housing in the water; , a first optical information acquisition device that is installed in the gas in the first housing so as not to come into contact with water, and that acquires optical information below the first opening.

According to the present invention, it is possible to provide an underwater monitoring system that can improve the quality of optical information.
Problems, configurations, and effects other than those described above will be made clear by the following description of the embodiments.

1 is a schematic diagram of an underwater monitoring system according to Example 1 of the present invention. FIG. 2 is a schematic diagram of an underwater monitoring system according to Example 2 of the present invention. FIG. 3 is a schematic diagram of an underwater monitoring system according to Example 3 of the present invention. FIG. 4 is a schematic diagram of an underwater monitoring system according to Example 4 of the present invention. FIG. 3 is a schematic diagram of an underwater monitoring system according to Example 5 of the present invention. FIG. 6 is a schematic diagram of an underwater monitoring system according to Example 6 of the present invention. FIG. 7 is a schematic diagram of an underwater monitoring system according to Example 7 of the present invention. FIG. 8 is a schematic diagram of an underwater monitoring system according to Example 8 of the present invention. It is a schematic diagram of the underwater monitoring system based on Example 9 of this invention. FIG. 3 is a schematic diagram of an underwater monitoring system according to Example 10 of the present invention. FIG. 3 is a schematic diagram of an underwater monitoring system according to Example 11 of the present invention. FIG. 7 is a schematic diagram of an underwater monitoring system according to Example 12 of the present invention. FIG. 7 is a schematic diagram of an underwater monitoring system according to Example 13 of the present invention. FIG. 4 is a schematic diagram of an underwater monitoring system according to Example 14 of the present invention. FIG. 3 is a schematic diagram of an underwater monitoring system according to Example 15 of the present invention. FIG. 7 is a schematic diagram of an underwater monitoring system according to Example 16 of the present invention. FIG. 7 is a schematic diagram of an underwater monitoring system according to Example 17 of the present invention. FIG. 7 is a schematic diagram of an underwater monitoring system according to Example 18 of the present invention. FIG. 7 is a schematic diagram of an underwater monitoring system according to Example 19 of the present invention. FIG. 9 is a plan view showing an example of a display screen in Example 19; FIG. 7 is a schematic diagram of an underwater monitoring system according to Example 20 of the present invention. FIG. 7 is a schematic diagram of an underwater monitoring system according to Example 21 of the present invention. FIG. 7 is a schematic diagram of an underwater monitoring system according to Example 22 of the present invention. 1 is a block diagram of a computer appropriately used in each embodiment of the present invention. FIG.

Hereinafter, a plurality of examples (embodiments) of the present invention will be described using the drawings.
[Example 1]
First, in the technology of Patent Document 1, the photographing means is located above the water surface, and there is a distance from the photographing means to the underwater subject, so there is a problem that the quality of optical information obtained by the photographing means cannot be improved. .
In the following embodiments, an underwater monitoring system that can solve this problem will be described.

FIG. 1 is a schematic diagram of an underwater monitoring system according to Embodiment 1 of the present invention. In the underwater monitoring system 1, the first casing 12 is open at the bottom to form a first opening 12a, is placed underwater 22 (in the sea, etc.), and has a gas 10 sealed therein, for example, a bottom tube. (The gas 10 is sealed in the bottom cylinder by water). The first optical information acquisition device 20 is installed in the gas 10 sealed in the first housing 12 so as not to come into contact with water (seawater), and acquires optical information below the first opening 12a. The gas 10 is a gas whose solubility in air or water is the same as or lower than that of air. The first optical information acquisition device 20 can use, for example, an imaging device such as a CCD (Charge Coupled Device), a spectroradiometer, or the like. The first weight 14 is connected to the first opening 12a side of the first housing 12, and the first opening 12a side is directed downward in the water 22. The first float 16 is connected to the side of the first housing 12 opposite to the first opening 12a, and suspends the first housing 12 in the water 22. The underwater monitoring system 1 includes a power source 18 that supplies power to the first optical information acquisition device 20 and the like.

Here, the first weight 14 does not need to directly contact the first housing 12, and may be connected to the first housing 12 with a string, a wire, or the like. Although two first weights 14 are shown in FIG. 1, in order to prevent the gas 10 from leaking from the first opening 12a due to the tilting of the first housing 12, and within the angle of view of the first optical information acquisition device 20, It is desirable that two or three or more first weights 14 be connected in circularly symmetrical positions around the first housing 12 so as to avoid being reflected in the image as much as possible. Further, it is preferable that the power source 18 is provided on the first float 16 because replacement and maintenance are easier, but the installation location is not limited thereto, and it may be provided on the first casing 12 or the first weight 14. good. Although not shown, the power source 18 and the first optical information acquisition device 20 are connected by a cable for power supply. Note that, as will be described later, the power source 18 may be a battery or a power source having a function of generating electricity using sunlight, waves, or wind.

In the underwater monitoring system 1 of the first embodiment, since the first housing 12 and, by extension, the first optical information acquisition device 20 are submerged in the water 22 (because they are under the water surface), the first optical information acquisition device 20 is The distance to the subject 22 is short, and the quality of the optical information acquired by the first optical information acquisition device 20 can be improved. In other words, it is possible to photograph the seabed and seaweed with high precision even in deep water such as the ocean.
Furthermore, since the first float 16 and the first weight 14 are connected to both sides of the first casing 12, the first opening 12a side of the first casing 12 can maintain its downward position even when there are waves, and is not sealed. The leakage of the gas 10 can be prevented. As a result, it becomes possible to prevent the first optical information acquisition device 20 from getting wet. If the first optical information acquisition device 20 gets wet, there is a risk that the product will break down if it is not waterproof, but this risk can be reduced. If the optical system such as the lens of the first optical information acquisition device 20 gets wet with water, even if it dries afterwards, it will become dirty and the obtained optical information will deteriorate. can be reduced. Therefore, maintenance work for the first optical information acquisition device 20 can be reduced.

Since there is no light source inside the first housing 12, there is no path for the light from the light source to reflect on the water surface of the first housing 12 and enter the first optical information acquisition device 20. Therefore, even if waves occur on the water surface of the first housing 12, the reflected light from the illumination light waves will not enter the first optical information acquisition device 20 and become noise.
The first casing 12 is desirably made of a light-shielding material that is difficult for light to pass through, and in that case, light from above the first casing 12 passes through the first casing 12 and is exposed to the water surface of the first casing 12. It is possible to eliminate the possibility that the light is reflected by the light and enters the first optical information acquisition device 20 and becomes noise.

Furthermore, it is desirable that the inner surface of the first housing 12 be a matte black color that absorbs light. As a result, the light that has passed through the water surface inside the first housing 12 and entered the first housing 12 from below illuminates the inside of the first housing 12, and the light reaches the water surface inside the first housing 12. The possibility that the noise is reflected and becomes noise in the first optical information acquisition device 20 can be reduced.
Note that the timing of acquisition of the optical information by the first optical information acquisition device 20 is set as appropriate, such as at predetermined time intervals or at a fixed time every day. If the optical information to be acquired is an image, it may be a moving image or a still image. The acquired optical information may be retrieved by the administrator using a ship or the like using the first float 16 as a landmark and retrieved from the first optical information acquisition device 20, or as in the embodiment described later. Alternatively, the information may be transmitted by a communication means.

[Example 2]
In each example described below, the same reference numerals as those in the example are used for the same members as those appearing in the example described before each example, and detailed explanations are omitted. do.

FIG. 2 is a schematic diagram of an underwater monitoring system according to a second embodiment of the present invention. The second embodiment includes a first gas replenishing device 26 and a tube 28. The first gas replenishing device 26 is a device that replenishes the gas 10 inside the first housing 12 via the tube 28. In this example, the first gas replenishing device 26 is a device that supplies air above the water via a tube 28, for example. The tube 28 guides the gas (air) supplied by the first gas replenishing device 26 into the first housing 12 . Although it is desirable for the first gas replenishing device 26 to be provided on the first float 16 from the viewpoint of system maintenance and management, it is desirable that the first gas replenishing device 26 be able to inject air above the water surface into the first casing 12, which is a bottomless tube. For example, it may be provided anywhere in the underwater monitoring system 1.

Generally, a small amount of gas dissolves in water, so depending on the components of the gas 10, the amount of the gas 10 may decrease even if it does not leak from the first housing 12. When this decrease amount increases, the water surface inside the first housing 12 moves to a higher position inside the first housing 12, and the first optical information acquisition device 20 becomes more likely to get wet. Since this causes a decrease in the maintenance efficiency of the underwater monitoring system 1, it is desirable to seal off a gas whose solubility is the same as or lower than that of air. The configuration of the second embodiment is intended to reduce this risk by allowing the gas 10 to be replenished. Note that the first gas replenishing device may be a gas pump or a blower that additionally supplies the gas 10, or may be composed of a gas cylinder or a regulating valve. Power necessary for driving the gas pump, blower, and control valve is supplied from a power source 18. The gas 10 may be replenished periodically, or a sensor may be separately provided to monitor the water surface position within the first housing 12, and the gas 10 may be replenished as appropriate based on the measured value of the sensor.

[Example 3]
FIG. 3 is a schematic diagram of an underwater monitoring system according to Example 3 of the present invention. The third embodiment differs from the second embodiment in that a first gas replenishment device 30 is provided in place of the first gas replenishment device 26. The first gas replenishing device 30 is a device that electrolyzes water to generate gas. The first gas replenishing device 30 is provided, for example, on the inner surface of the first housing 12 so as to be able to electrolyze water. Although shown in a larger size in FIG. 3 for ease of understanding, it is desirable that the first gas replenishing device 30 be installed at a position that does not appear within the field of view of the first optical information acquisition device 20 as much as possible. The first gas replenishing device 30 receives power from the power source 18 to electrolyze water to generate, for example, hydrogen gas and oxygen gas. By introducing these gases as gases 10 into the first housing 12, the water surface within the first housing 12 is moved to a lower position, thereby preventing the first optical information acquisition device 20 from becoming easily wet. do. Of the gases generated by electrolysis, both hydrogen gas and oxygen gas may be used, or only one of the components may be used. By adopting such a configuration, for example, the tube 28 in the second embodiment, which is necessary for introducing air from above the water surface into the first housing 12, is unnecessary, and the configuration of the underwater monitoring system 1 is simplified. be able to. By eliminating the need for the tube 28, the influence of horizontal flows of water such as ocean currents can also be reduced.

With the configuration of the third embodiment, it is possible to prevent the first optical information acquisition device 20 from getting wet even in an environment where the gas 10 is dissolved and reduced. Management work can be reduced.

[Example 4]
In the technique disclosed in Patent Document 1, the illumination means is arranged in a space above the water surface in a light-shielding hood floating on the water surface, and light is irradiated obliquely. By irradiating the light obliquely, light is prevented from directly entering the photographing means from the illumination means, thereby suppressing noise from entering the image acquired by the photographing means.
Here, if the waves on the water surface are calm, even with such technical means it is possible to suppress noise from entering the image obtained by the photographing means to some extent.

However, there is room for improvement in that when the waves are rough, the light from the illumination means is reflected on the water surface and scattered in various directions, and the reflected light enters the photographic means and becomes noise in the image. .
In the following, a fourth embodiment will be described in which such improvement points are improved.
The underwater monitoring system 1 according to the fourth embodiment includes a lighting 32 located outside the first housing 12 to illuminate the lower side of the first opening 12a. More specifically, the lighting 32 is directly or indirectly suspended from the first housing 12 and illuminates the first opening 12a side.

As shown in FIG. 4, the illumination 32 may be directly connected to the first weight 14 by a linear body, or may be directly connected to the first housing 12. The lighting 32 receives power from the power source 18 .
The light emitted from the illumination 32 passes through the water 22 , enters the gas 10 from the water surface inside the first housing 12 , and reaches the first optical information acquisition device 20 . Therefore, this light will not be reflected on the water surface. Therefore, even if the waves are rough, this light can be prevented from becoming noise in the optical information acquired by the first optical information acquisition device 20. In particular, as described in Example 1, if the inner surface of the first casing 12 is a matte black color that absorbs light, the illuminated light inside the first casing 12 will be transmitted to the water surface inside the first casing 12. It is possible to particularly reduce the possibility that the noise is reflected by the noise and becomes noise in the first optical information acquisition device 20.

With such a configuration, optical information about the underwater 22 can be obtained more brightly. It becomes possible to increase the shutter speed of the first optical information acquisition device 20 accordingly, and as a result, it becomes possible to monitor the underwater 22 with higher accuracy. In addition, in the configurations of Examples 1 to 3, the lighting 32 is not provided, so the light source relies mainly on natural light sources such as the sun. Since the illumination conditions change significantly depending on the time of day and the like, it is not possible to monitor the underwater area 22 with high accuracy. Furthermore, since optical information can only be obtained when the sun is out, it is impossible to photograph nocturnal underwater creatures. On the other hand, in the fourth embodiment, since the lighting 32 is provided, the lighting 32 is turned on during the time when there is no natural light source, such as at night, and the first optical information acquisition device 20 obtains optical information. It becomes possible to monitor the underwater 22 with high accuracy under the same conditions. It is also possible to obtain optical information about nocturnal underwater creatures.

[Example 5]
FIG. 5 is a schematic diagram of an underwater monitoring system according to Example 5 of the present invention. The fifth embodiment is also similar to the fourth embodiment in that the illumination 32 is provided at a location other than the inside of the first housing 12 and illuminates the lower side of the first opening 12a.
The fifth embodiment is different from the fourth embodiment in that the lighting 32 includes a second float 101 suspended in the water via a linear body or the like, and the lighting 32 illuminates the first opening 12a side. Electric power for the illumination 32 is separately supplied from a power source 102 or the like provided in the second float 101 or the like.

According to the fifth embodiment, compared to the fourth embodiment, the optical information of the linear body connected from the first weight 14 or the first housing 12 to the illumination 32 is changed to the optical information acquired by the first optical information acquisition device 20. You can avoid being included. Furthermore, since maintenance of the lighting 32 and the like can be carried out individually without lifting the first housing 12, maintenance work for the system can be reduced in some cases.

[Example 6]
FIG. 6 is a schematic diagram of an underwater monitoring system according to Example 6 of the present invention. The sixth embodiment is also similar to the fourth embodiment in that the illumination 32 is provided at a location other than the inside of the first housing 12 and illuminates the lower side of the first opening 12a.
The sixth embodiment differs from the fourth embodiment in that the lighting 32 is provided on the outer side of the first housing 12.

By adopting such a configuration, the linear body connected to the illumination 32 is not required, and compared to the fifth embodiment, the second float 101 and the power source 102 can be reduced, so that the system has a simple configuration. Manufacturing costs can be reduced.

Furthermore, direct light from the illumination 32 can be prevented from being reflected within the field of view of the first optical information acquisition device 20. As a result, it is possible to suppress the occurrence of a situation in which the image in areas other than direct light becomes dark due to backlighting or halation, making accurate underwater monitoring difficult. Although two lights 32 are shown in FIG. 6, two or more lights 32 may be arranged in circular symmetry with respect to the cross section of the first case 12 so that the first case 12 does not tilt. desirable.

[Example 7]
FIG. 7 is a schematic diagram of an underwater monitoring system according to Example 7 of the present invention. The seventh embodiment is also similar to the fourth embodiment in that the illumination 32 is provided at a location other than the inside of the first housing 12 and illuminates the lower side of the first opening 12a.
The seventh embodiment differs from the fourth embodiment in that the illumination 32 is provided on the first weight 14.

In the example of the sixth embodiment, there is a possibility that some of the light emitted from the illumination 32 is blocked by the first weight 14, but in the seventh embodiment, some of the light is blocked by the first weight 14. It is possible to suppress the phenomenon caused by As a result, the water 22 and the water bottom can be illuminated more brightly with the illumination 32, and the first optical information acquisition device 20 can acquire optical information with higher precision.

[Example 8]
FIG. 8 is a schematic diagram of an underwater monitoring system according to Example 8 of the present invention. The eighth embodiment is also similar to the fourth embodiment in that the illumination 32 is provided at a location other than the inside of the first housing 12 and illuminates the lower side of the first opening 12a.
Embodiment 8 differs from Embodiment 4 in that it includes a second float 101 that suspends lighting 32 in water 22, and that lighting 32 illuminates the lower side.

According to the eighth embodiment, it is possible to prevent the linear body connected from the first weight 14 or the first housing 12 to the illumination 32 from being included in the optical information acquired by the first optical information acquisition device 20. Furthermore, direct light from the illumination 32 can be prevented from being reflected within the field of view of the first optical information acquisition device 20. As a result, it is possible to suppress the occurrence of a phenomenon in which the image in areas other than direct light becomes dark due to backlighting or halation, making accurate underwater monitoring difficult. Further, since maintenance work for the lighting 32 and the like can be carried out separately without lifting the first casing 12, the burden of system maintenance work can be reduced in some cases.

[Example 9]
FIG. 9 is a schematic diagram of an underwater monitoring system according to Example 9 of the present invention. Similar to the first casing 12, the second optical information acquisition device 40 is a third casing that is open at the bottom to form a third opening 34a, is placed underwater 22, and has a gas 10 sealed inside. It is installed within the body 34. The second optical information acquisition device 40 is installed in the gas 10 in the third housing 34 so as not to come into contact with water, and acquires optical information below the third opening 34a. The configuration of the second optical information acquisition device 40 is similar to that of the first optical information acquisition device 20. The composition of the gas 10 in the third housing 34 is the same as that in the first housing 12. The third weight 36 is connected to the third opening 34a side of the third housing 34, and the third opening 34a side faces downward in the water. The third float 111 is connected to the side of the third housing 34 opposite to the third opening 34a, and suspends the third housing 34 in the water 22. The power supply 112 supplies power to the second optical information acquisition device 40 . The configurations of the second float 101, lighting 32, and power source 102 are the same as in the eighth embodiment. The distance from the illumination 32 is different between the first optical information acquisition device 20 and the second optical information acquisition device 40.

Here, the third weight 36 does not need to be in direct contact with the third housing 34, and may just be connected to the third housing 34 with a string, wire, or the like. Although two third weights 36 are shown in FIG. 9, in order to prevent the third housing 34 from tilting and the gas 10 leaking from the third opening 34a, and within the viewing angle of the second optical information acquisition device 40, It is desirable that two or more third weights 36 be connected in circularly symmetrical positions around the third housing 34 so as to avoid being reflected in the image as much as possible. Further, it is preferable that the power source 112 is provided on the third float 111 because replacement and maintenance are easier, but the installation location is not limited thereto. good. Although not shown, a cable is provided to connect the power source 102 and the second optical information acquisition device 40 for power supply.

Each optical information acquired by the first optical information acquisition device 20 and the second optical information acquisition device 40 is given to the optical information correction unit 48, where correction calculation (calculation of the difference in brightness information of both optical information ) is applied, and the result is output from the optical information correction section 48. This output result is displayed on a display device (not shown) so that the operator can confirm it. Although the optical information correction unit 48 is shown on the water, it may be installed on the ground or on a ship.
Here, the illumination 32 may become dirty over time and its light amount may decrease. When the target to be monitored by the underwater monitoring system 1 is the underwater 22, and if there is only one optical information acquisition device, the first optical information acquisition device 20, the absorption of light by the underwater 22 decreases when the received light intensity decreases. It is not possible to distinguish whether it is large or the lighting 32 is dirty. In contrast, a second optical information acquisition device 40 is installed whose distance from the illumination 32 is different from that of the first optical information acquisition device 20, and the optical information acquired by the first optical information acquisition device 20 is combined with the second optical information acquisition device 40. By calculating the difference with the optical information acquired in , it is possible to obtain optical information of the underwater 22 corresponding to the distance between the first optical information acquisition device 20 and the second optical information acquisition device 40 .

For example, a case where it is desired to evaluate attenuation α [1/m] due to a substance in the water 22 as optical information of the water 22 will be described. Attenuation α takes a value between 0 and 1 and can be said to be an index of pollution. It is assumed that the original illuminance of the illumination 32 is A, and the maximum brightness value in a pixel as optical information acquired by the first optical information acquisition device 20 is X1. By using the distance L1 [m] from the illumination 32 to the first optical information acquisition device 20 and the coefficient k, these values have the following relationship.
X1=k・α・L1・A……(1)
Since the values of the coefficient k, distance L1, and illuminance A are known in advance, if the maximum brightness value X1 is known, the attenuation α can be uniquely determined.

On the other hand, when the illumination 32 is used underwater 22, dirt gradually adheres to the surface of the illumination 32, and the amount of light that can be emitted from the illumination 32 is attenuated. Let β·A be the illuminance after dirt adheres to the illumination 32. β takes a value between 0 and 1. In that case, the optical information X1 that can be acquired by the first optical information acquisition device 20 is expressed by the following formula.
X1=k・(1-α・L1)・β・A...(2)
Since the value β of light attenuation due to dirt on the illumination 32 changes over time and cannot be determined, as a result, the value of attenuation α cannot be uniquely determined.
On the other hand, if there is a second optical information acquisition device 40 at a distance of L2 [m] from the illumination 32, the maximum brightness value X2 can be obtained as the optical information acquired by the second optical information acquisition device 40 as the value of the following equation. It will be done.
X2=k・(1-α・L2)・β・A...(3)
By eliminating and transforming β in equations (2) and (3), the following equation for calculating attenuation α is obtained.
α=(x2-x1)/(L1・x2-L2・x1)...(4)
Since the values of L1 and L2 are known in advance, if X1 and X2 are known, the attenuation α can be uniquely determined by equation (4). This does not include the dirt-related parameter β.
These calculation processes can be performed by the optical information correction section 48.

With such a configuration, even if dirt occurs on the illumination 32, optical information of the underwater 22 can be obtained with high accuracy.
[Example 10]

FIG. 10 is a schematic diagram of an underwater monitoring system according to Example 10 of the present invention. The underwater monitoring system 1 of the tenth embodiment includes a start/stop control unit 50 that turns on the illumination 32 for a predetermined period of time to operate the first optical information acquisition device 20.
The first optical information acquisition device 20 may not need to continuously acquire optical information without taking a break, and consumption of the power source 18 can be suppressed by turning off the illumination 32 during periods when it is not necessary. As a result, maintenance work for the power source 18 can be reduced. In this way, the start/stop control section controls to turn off the first optical information acquisition device 20 and the illumination 32 during periods when they are not needed, and to activate the first optical information acquisition device 20 and the illumination 32 during periods when they are necessary. It is 50. Although not shown, the power supply 18, the start/stop control section 50, the first optical information acquisition device 20, and the illumination 32 are connected by a cable.

By adopting the configuration of the fifth embodiment in this manner, the first optical information acquisition device 20 can acquire optical information by turning on the illumination 32 only for a necessary period, and the maintenance work for the power source 18 can be reduced.
[Example 11]

FIG. 11 is a schematic diagram of an underwater monitoring system according to Example 11 of the present invention. The underwater monitoring system 1 of Example 11 includes a second housing 52 that is open at the bottom to form a second opening 52a, is placed underwater 22, and has a gas 10 sealed inside. The composition of the gas 10 is the same as in the first embodiment. The lighting 32 is installed so as not to come into contact with water in the gas 10 within the second housing 52. The second weight 54 is connected to the second opening 52a side of the second housing 52, and the second opening 52a side faces downward in the water. The second float 121 is connected to the second housing 52 on the side opposite to the second opening 52a, and suspends the second housing 52 in the water 22. It also includes a power source 122 that supplies power to the second optical information acquisition device 40 .

Here, the second weight 54 does not need to directly contact the second housing 52, and may be connected to the second housing 52 with a string, a wire, or the like. Although two second weights 54 are shown in FIG. 11, in order to prevent the second housing 52 from tilting and the gas 10 leaking from the second opening 52a, two or three or more second weights 54 are connected It is desirable to connect them at positions that are circularly symmetrical around the housing 52. Further, it is preferable that the power source 18 is provided on the first float 16 because replacement and maintenance are easier, but the installation location is not limited thereto. Good too. Although not shown, the power source 122 and the lighting 32 are connected by a cable for power supply.

With such a configuration, neither the first optical information acquisition device 20 nor the lighting 32 comes into contact with water and does not get dirty, so maintenance work for the lighting 32 can be reduced.
[Example 12]

FIG. 12 is a schematic diagram of an underwater monitoring system according to Example 12 of the present invention. In the twelfth embodiment, the first casing 12 and the second casing 52 are connected and integrated.
With such a configuration, the second float 121 and the power source 122 can be reduced compared to the eleventh embodiment, so the manufacturing cost of the system can be reduced due to the simple configuration.

[Example 13]
FIG. 13 is a schematic diagram of an underwater monitoring system according to Example 13 of the present invention. The thirteenth embodiment includes a second gas replenishing device 123 and a tube 124 for replenishing the decreased amount of gas 10 in the second housing 52. The configurations of the second gas replenishing device 123 and tube 124 are similar to those of the first gas replenishing device 26 and tube 28 in the second embodiment. That is, the second gas replenishing device 123 is installed, for example, on the second float 121, and the tube 124 extends from there to the position of the gas 10 in the second housing 52. It is desirable for the second gas replenishing device 123 to be provided on the second float 121 from the viewpoint of system maintenance and management, but if it is possible to inject air above the water surface into the second casing 52. , may be provided anywhere in the underwater monitoring system 1.

Generally, a small amount of gas dissolves in the water 22, so depending on the components of the gas 10, the amount of the gas 10 may decrease even if it does not leak from the second housing 52. When this amount of decrease increases, the water surface inside the second casing 52 moves to a higher position, making it easier for the lighting 32 to get wet with water. Since this causes a decrease in the maintainability of the system, it is desirable to seal off the gas 10 whose solubility is the same as or lower than that of air. The configuration of the thirteenth embodiment is designed to reduce this risk by allowing the gas 10 to be replenished. Note that the second gas replenishing device 123 may be a gas pump or a blower that additionally supplies the gas 10, or may be composed of a gas cylinder or a regulating valve. Power necessary for driving the gas pump, blower, and control valve is supplied from a power source 122. The gas 10 may be replenished periodically, and a sensor for monitoring the water surface position within the second housing 52 may be provided separately, and the second gas replenishment device 123 may be operated based on the measured value of the sensor.

[Example 14]
FIG. 14 is a schematic diagram of an underwater monitoring system according to Example 14 of the present invention. In the fourteenth embodiment, a second gas replenishing device 125 is provided in the second housing 52.

Although the second gas replenishing device 125 is drawn on a larger scale in FIG. 14 for ease of understanding, it is desirable to install the second gas replenishing device 125 in a position where it does not block the light of the illumination 32 as much as possible. The second gas replenishing device 125 is an electrolyzer that electrolyzes the water 22 by supplying electric power from the power source 122, and generates, for example, hydrogen gas and oxygen gas. By introducing these gases as gas 10 into the second housing 52, the water surface within the second housing 52 is moved to a lower position, thereby preventing the lighting 32 from becoming easily wet. As the gas generated by electrolysis, both hydrogen gas and oxygen gas may be used, or only one of the components may be used.

With the configuration of the 14th embodiment, the tube 124 is unnecessary compared to the 13th embodiment, and the system configuration can be simplified. By eliminating the need for the tube 124, the influence of horizontal flows of water such as ocean currents can also be reduced.
With the configuration of the fourteenth embodiment, the lighting 32 can be prevented from getting wet with water even in an environment where the gas 10 is dissolved in water and reduced, so that maintenance work for the lighting 32 can be reduced.

[Example 15]
FIG. 15 is a schematic diagram of an underwater monitoring system according to Example 15 of the present invention. In the fifteenth embodiment, a generator 60 is provided as the power source 18. Although the type of generator 60 is not limited here, it is preferable that it is a generator that generates electricity using renewable energy such as sunlight, wind flow, or seawater movement. When the underwater monitoring system shown in FIG. 15 is installed in the sea at a distance from the shore, in order to maintain and manage the system, it is necessary to move the system from the shore to the water by boat across the sea surface with waves. Considering time, cost, effort, and risk, it is desirable to reduce the frequency of maintenance management as much as possible. Therefore, it is preferable that the generator 60 is not a generator that requires battery replacement or fuel supply, but a generator that uses renewable energy that does not require these operations.

[Example 16]
FIG. 16 is a schematic diagram of an underwater monitoring system according to Example 16 of the present invention. The sixteenth embodiment includes a storage battery 62 in addition to the configuration of the fifteenth embodiment. Although the type of storage battery 62 is not limited here, it is desirable that the storage battery 62 is one that does not easily deteriorate in performance even after long-term use.
When using the generator 60 that uses renewable energy, the amount of power generated may become unstable depending on the weather, season, etc. Therefore, by providing a storage battery 62 that stores the surplus power generated by the generator 60, the instability can be reduced, and when the first optical information acquisition device 20 wants to acquire optical information, the first optical information acquisition device It becomes possible to supply power to 20.

[Example 17]
FIG. 17 is a schematic diagram of an underwater monitoring system according to Example 17 of the present invention. Embodiment 17 includes an anchor 64 that is directly or indirectly connected to the first casing 12 and comes into contact with the bottom of the water 22 .
In this example, the linear body 66 has one end connected to the anchor 64 and the other end connected to the first weight 14 or the first casing 12.

When the underwater monitoring system 1 is installed in the sea at a distance from the shore, the first float 16 and the first housing 12 may be washed away due to ocean currents, typhoons, turbulence, etc. There is a risk that you will not be able to obtain information.
In the seventeenth embodiment, since the anchor 64 having the above-mentioned configuration is provided, it is possible to reduce the possibility that the first float 16 and the first casing 12 will be washed away even when the sea is rough. As a result, fixed point observation of underwater 22 becomes possible for a long period of time.

[Example 18]
FIG. 18 is a schematic diagram of an underwater monitoring system according to Example 18 of the present invention. In the 18th embodiment, a transmitter 68 transmits the optical information acquired by the first optical information acquisition device 20 by means such as wireless transmission via the antenna 70, and a transmitter 68 transmits the optical information at a predetermined receiving destination. The receiver 78 includes a receiver 78 that receives radio reception via an antenna 76 or the like. The display device 82 displays an image based on the optical information received by the receiving section 78.

With the above configuration, optical information in the underwater 22 can be confirmed, for example, on the ground 72 (land). Note that it is desirable that the optical information can be recorded on a predetermined electronic medium. The receiving unit 78 and the display device 82 may be installed not on the ground 72 but on a ship or the like.

[Example 19]
FIG. 19 is a schematic diagram of an underwater monitoring system according to Example 19 of the present invention. This embodiment 19 includes a satellite positioning system 84 (GPS (Global Positioning System) receiver, etc.) that is connected to the first float 16 and detects position information of the first float 16. Further, the transmitter 68 transmits the position information detected by the satellite positioning system 84, the receiver 78 receives the position information from the transmitter 68, and the display device 82 displays the position information based on the position information received by the receiver 78. to display the position of the first float 16.

With the above configuration, the position information of the first float 16 can be confirmed on the ground 72, etc., and even if the first float 16 is washed away along with the first casing 12 due to the influence of ocean currents, typhoons, stormy weather, etc. It becomes possible to determine the position. Note that it is desirable to be able to record the obtained position information on a predetermined electronic medium. The receiving section 78, antenna 76, and display device 82 may be installed on board the ship instead of on the ground 72 or the like.
In such a configuration, the display device 82 displays the position of the first float 16 on the map, receives selection of a desired first float 16 from the user, and displays optical information corresponding to the first float 16. Display images based on .

FIG. 20 is a plan view showing an example of the display screen in this case. Here, it is assumed that a plurality of underwater monitoring systems 1 are installed within a certain area of the underwater 22, and marks of each first float 16 are displayed on the wide area map 142 of the map shown on the left side of the screen 141. When one of the marks is selected by clicking with the mouse cursor 146 or the like, an image of optical information 143 corresponding to the selected first float 16 is displayed on the right side of the screen 141. This optical information 143 allows the first optical information acquisition device 20 to be an imaging device such as a CCD to visually confirm the status of sea urchins 144, seaweed 145, and the like.

By enabling the position information of the first float 16 and the optical information 143 to be confirmed in association with each other in this way, the operator can easily grasp the overall situation of the underwater 22.

[Example 20]
FIG. 21 is a schematic diagram of an underwater monitoring system according to Example 20 of the present invention. In the present embodiment 20, the first optical information acquisition device 20 is an image sensor such as a CCD. The seaweed growth status calculation unit 91 performs image processing on the optical information obtained by the first optical information acquisition device 20 to calculate the growth status of seaweed in the water 22 . The display device 82 displays the calculated growth status of seaweed.
An example of the image processing procedure performed by the seaweed growth state calculation unit 91 is the following steps (1) to (4).

(1) Past optical information acquired by the same first optical information acquisition device 20 is stored in the seaweed growth situation calculation unit 91 or the like, and a plurality of pieces of optical information (image data) are extracted from this, and This time's optical information (image data) is also extracted.
(2) Matching is performed so that the objects to be photographed in the plurality of pieces of optical information match as much as possible, and the positions are corrected.
(3) Calculate the difference in optical information (difference in brightness information) between these plurality of sheets.

(4) The amount of this obtained difference becomes the growth status of the seaweed.
According to this Example 20, by being able to easily grasp the growth status of seaweed, it becomes easier and more accurate to formulate a plan to promote the growth of seaweed, such as whether or not to fertilize seaweed with nutrients. becomes.

[Example 21]
FIG. 22 is a schematic diagram of an underwater monitoring system according to Example 21 of the present invention. In the present embodiment 21, the first optical information acquisition device 20 is an image sensor such as a CCD, and the seaweed damaging organism extraction unit 92 converts the optical information (image data) obtained by the first optical information acquisition device 20 into an image. Process to extract harmful organisms that feed on seaweed. The display device 82 displays the extraction results of the seaweed-eating organisms calculated by the seaweed-eating organism extraction unit 92 .

An example of a procedure such as image processing performed by the seaweed damaging organism extraction unit 92 and the like is the following order (1) to (4).
(1) The optical information acquired by the first optical information acquisition device 20 is given to an AI (Artificial Intelligence) engine that has been trained in advance to learn the shape information and color information of seaweed damaging organisms (sea urchins, etc.), and the seaweed damaging organisms are extracted. Still another method is to calculate the difference (difference in brightness information) between the past optical information (image data) stored in advance and the optical information currently acquired by the first optical information acquisition device 20, and The aforementioned AI engine can also be applied to the difference. Alternatively, as yet another method, if the target seaweed-eating damaging organism is a sea urchin, the sea urchin's perimeter length is long compared to the area of the sea urchin reflected in the optical information (image data), without using an AI engine. It is also possible to extract images of sea urchins.

(2) The type and number of the extracted seaweed-eating organisms are displayed on the display device 82. The type and number of the seaweed-eating organisms extracted at this time are stored in the seaweed-eating organism extraction unit 92 or the like.
(3) Based on this data, the past trends in the types and numbers of seaweed-eating organisms are displayed on the screen as a graph.
According to Example 21, by being able to easily grasp the situation of seaweed-eating organisms, it is possible to more accurately formulate a plan to promote seaweed growth, such as whether or not to implement measures to remove seaweed-eating organisms. , it becomes easier.

[Example 22]
FIG. 23 is a schematic diagram of an underwater monitoring system according to Example 22 of the present invention. In Example 22, the first optical information acquisition device 20 is a spectroradiometer, and the concentration calculation unit 93 calculates the concentration of chlorophyll a based on the optical information obtained by the first optical information acquisition device 20. . The display device 82 displays the concentration of chlorophyll a calculated by the concentration calculation section 93.
The concentration of chlorophyll a contained in chloroplasts can be used as an indicator of phytoplankton. Since chlorophyll a has the property of absorbing light with wavelengths of 433 nm and 666 nm, a spectroradiometer is used as the first optical information acquisition device 20 to acquire optical information, and the spectral distribution is calculated by the concentration calculation unit 110. The concentration calculation result of chlorophyll a can be obtained.

By being able to easily determine the concentration of chlorophyll a in this way, it is possible to determine increases and decreases in phytoplankton. If you want to increase the number of fish that consume phytoplankton, it becomes easier and more accurate to formulate a plan to increase the amount of nutrient salts applied so that the amount of phytoplankton reaches the desired value. On the other hand, if you want to suppress the occurrence of red tides or blue tides, it is easier and more accurate to formulate a plan to reduce the amount of nutrients applied or to collect phytoplankton so that the phytoplankton reaches the desired value. becomes.

FIG. 24 is a block diagram of a computer 900 used as appropriate in each of the embodiments. The first optical information acquisition device 20, the second optical information acquisition device 40, the optical information correction section 48, the first gas replenishment device 26, etc. are equipped with such a computer 900 as appropriate. Further, the seaweed-eating damage organism extraction unit 92 performs various information processing and communication using such a computer 900.

In FIG. 24, a computer 900 includes a CPU 901, a RAM 902, a ROM 903, an HDD 904, a communication I/F 905, an input/output I/F 906, and a media I/F 907. Communication I/F 905 is connected to communication circuit 915. Input/output I/F 906 is connected to input/output device 916. The media I/F 907 reads and writes data from the recording medium 917. The ROM 903 stores control programs executed by the CPU, various data, and the like. The CPU 901 implements various functions necessary for the underwater monitoring system by executing application programs loaded into the RAM 902. Incidentally, in the first optical information acquisition device 20, the first gas replenishing device 26, etc., the configuration of the computer 900 can be omitted as appropriate.

Note that the present invention is not limited to the embodiments described above, and includes various modifications. For example, each of the embodiments described above has been described in detail to explain the present invention in an easy-to-understand manner, and the present invention is not necessarily limited to having all the configurations described. Furthermore, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. Furthermore, it is also possible to add, delete, or replace some of the configurations of each embodiment with other configurations.

1 Underwater monitoring system 12 First housing 12a First opening 14 First weight 16 First float 20 First optical information acquisition device 26 First gas replenishment device 30 First gas replenishment device 32 Lighting 34 Third housing 34a Third Aperture 36 Third weight 40 Second optical information acquisition device 48 Optical information correction unit 50 Start/stop control unit 52 Second housing 52a Second aperture 54 Second weight 64 Anchor 68 Transmitter 78 Receiver 82 Display device 84 Satellite positioning system 91 Seaweed growth status calculation section 92 Seaweed-eating damaging organism extraction section 93 Concentration calculation section 101 Second float 111 Third float 121 Second float 123 Second gas replenishment device 125 Second gas replenishment device

Claims (20)

a first casing whose lower side is open to form a first opening, gas is sealed inside, and the first casing is placed underwater;
a first weight connected to the first opening side and directing the first opening side downward in the water;
a first float connected to a side of the first housing opposite to the first opening side and suspending the first housing in the water;
An underwater monitoring system comprising: a first optical information acquisition device that is installed in the gas in the first housing so as not to come into contact with water, and acquires optical information below the first opening. The underwater monitoring system according to claim 1, further comprising a light provided at a location other than the inside of the first housing and illuminating a lower side of the first opening. The underwater monitoring system according to claim 2, wherein the lighting is directly or indirectly suspended from the first housing and illuminates the first opening side. further comprising a second float for suspending the lighting in the water,
The underwater monitoring system according to claim 2, wherein the illumination illuminates the first opening side. 3. The underwater monitoring system according to claim 2, wherein the lighting is provided on an outer side of the first housing. The underwater monitoring system according to claim 2, wherein the illumination is provided on the first weight. further comprising a second float for suspending the lighting in the water,
The underwater monitoring system according to claim 2, wherein the illumination illuminates the lower side. a second casing that is open at the bottom to form a second opening, has a gas sealed therein, and is placed underwater;
a second weight connected to the second opening side and directing the second opening side downward in the water;
further comprising a second float connected to a side of the second housing opposite to the second opening side and suspending the second housing in the water;
3. The underwater monitoring system according to claim 2, wherein the lighting is installed in the gas in the second housing so as not to come into contact with water. The underwater monitoring system according to any one of claims 2 to 8, further comprising a start/stop control unit that turns on the illumination only at night to operate the first optical information acquisition device. . The underwater monitoring system according to claim 1, wherein the inner surface of the first casing is a matte black color that absorbs light. The underwater monitoring system according to claim 1, further comprising a first gas replenishing device that replenishes the decreased amount of the gas in the first housing. 9. The underwater monitoring system according to claim 8, further comprising a second gas replenishing device that replenishes the decreased amount of the gas in the second housing. a third casing that is open at the bottom to form a third opening, has a gas sealed therein, and is placed underwater;
a third weight connected to the third opening side and directing the third opening side downward in the water;
a third float connected to a side of the third housing opposite to the third opening side and suspending the third housing in the water;
a second optical information acquisition device that is installed in the gas in the third housing so as not to come into contact with water, and that acquires optical information below the third opening;
further comprising: an optical information correction unit that corrects the optical information acquired by the first optical information acquisition device with the optical information acquired by the second optical information acquisition device;
3. The underwater monitoring system according to claim 2, wherein the distances from the illumination are different between the first optical information acquisition device and the second optical information acquisition device. The underwater monitoring system according to claim 1, further comprising an anchor that is directly or indirectly connected to the first casing and contacts the underwater bottom. a transmitter that transmits the optical information acquired by the first optical information acquisition device;
a receiving unit that receives the optical information from the transmitting unit at a predetermined receiving destination;
The underwater monitoring system according to claim 1, further comprising a display device that displays an image based on the optical information received by the receiving section. further comprising a satellite positioning system connected to the first float and detecting position information of the first float,
The transmitter transmits the position information,
The receiving unit receives the position information from the transmitting unit,
The underwater monitoring system according to claim 15, wherein the display device displays the position of the first float based on the position information. The display device displays an image based on the optical information corresponding to the first float by displaying the position of the first float on a map and accepting a selection of the first float. The underwater monitoring system according to claim 16. The first optical information acquisition device is an image sensor,
further comprising a seaweed growth status calculation unit that performs image processing on the optical information obtained by the image sensor to calculate the growth status of the seaweed;
The underwater monitoring system according to claim 17, wherein the display device displays the calculated growth status of the seaweed. The first optical information acquisition device is an image sensor,
further comprising a seaweed-eating organism extraction unit that performs image processing on the optical information obtained by the image sensor to extract seaweed-eating organisms;
18. The underwater monitoring system according to claim 17, wherein the display device displays the calculated extraction result of the seaweed-eating harmful organisms. The first optical information acquisition device is a spectroradiometer,
further comprising a concentration calculation unit that calculates the concentration of chlorophyll a based on the optical information obtained by the spectroradiometer,
18. The underwater monitoring system according to claim 17, wherein the display device displays the calculated concentration of chlorophyll a.

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