JP6915779B2 - Underwater position detection system and underwater position detection method - Google Patents

Description

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

For example, in offshore civil engineering work, when concrete blocks such as tetrapods and covering blocks are suspended underwater by a crane equipped on a work boat and installed on the seabed, divers use concrete blocks. Positioning work is required. However, concrete blocks suspended in water not only move up and down due to the lifting operation of the crane, but also roll under the influence of the swing of the crane vessel due to waves, resulting in diver accidents and disasters. Is in an environment where is extremely likely to occur.

For this reason, crane operators and onboard guards need to keep track of the position and condition of divers in the water. However, the position confirmation of the diver is limited to the visual confirmation by the breathing air bubbles by the onboard observer and the call confirmation by the wired telephone, and it takes a lot of time to grasp the position of the diver and it is difficult to grasp the accurate position. Is.

Therefore, for example, Patent Document 1 discloses a method and an apparatus for measuring a three-dimensional coordinate position of a diver using ultrasonic communication. Specifically, the diver will be equipped with an ultrasonic transmitter, and at least three receivers, a trigger device, and an analysis device will be installed on the hull. Then, when a transmission request signal by electromagnetic waves is transmitted from the trigger device to the ultrasonic transmitter, the ultrasonic transmitter that receives the transmission request signal oscillates ultrasonic waves, and each of the three receivers receives the ultrasonic waves. 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 electromagnetic waves with large attenuation in water are used for the transmission request signal, accurate communication tends to be difficult when the distance between the hull and the diver is large. Further, after receiving the transmission request signal, ultrasonic waves capable of long-distance communication underwater are used to calculate the three-dimensional coordinate position of the diver, although the speed is low. However, in ultrasonic communication, air bubbles, mechanical noise, electrical noise, reverberation noise of ultrasonic signals from seawalls, ships, etc. destroy the vibration of water and hinder the communication path. , It cannot always be said that it is a suitable data communication means.

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

Japanese Unexamined Patent Publication No. 2004-340883 Japanese Unexamined Patent Publication No. 2013-021413

In the method of Patent Document 2, not only divers can communicate with each other, but also bidirectional communication can be performed from underwater to a ship on the water at a depth of 5 m. However, Patent Document 2 does not disclose a method of grasping the underwater position of a diver in water using visible light communication.

The present invention has been made in view of such a problem, and a main object thereof is to be able to quickly and accurately grasp the underwater position of a diver as seen from a reference object with simple equipment and operation. It is to provide an underwater position detection system.

In order to achieve such an object, the underwater position detection system of the present invention is an underwater position detection system that detects the underwater position of a diver with reference to a reference object whose at least a part is submerged in 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 a plurality of the visible light emitting units that are installed at intervals on the outer surface of the reference object located in water. Among the light receiving parts, the installation position of the visible light receiving part selected as having the largest amount of incident light of the visible light in the reference object, and the vertical axis of the visible light incident on the selected visible light receiving part. A position detecting device for detecting the underwater position of the diver based on the incident angle, the water depth of the diver, and the water depth of the reference object is provided, and at least the water depth of the diver emits light at the visible light emitting unit. It is characterized in that the visible light 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 is the reference object. It is characterized in that it is installed at intervals on the outer surface in the vicinity of the lower end portion of the above.

Then, 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 the amount of incident light of the visible light received by each of the plurality of visible light receiving units is relatively compared. Based on the installation position of the visible light receiving unit in the reference object selected as having the largest amount of incident light, the diver's horizontal view position direction with respect to the reference object is detected, and the water depth of the diver is detected. And the water depth of the reference object, the relative depth of the diver with respect to the reference object is detected, and the relative depth and the visible light receiving portion selected as having the largest incident light amount are incident on the relative depth. The horizontal distance between the reference object and the diver is detected based on the incident angle of the visible light with respect to the vertical axis, and the reference object is used as a reference from the plan view position direction, the relative depth, and the horizontal distance. It is characterized by detecting the underwater position of a diver.

According to the underwater position detection system and the underwater position detection method of the present invention described above, the 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 be equipped with the visible light emitting unit. It is possible to detect the underwater position of the diver with reference to the reference object by a simple operation of emitting visible light toward the reference object. This makes it possible to quickly and accurately grasp the diver's underwater position compared to the conventional method in which the diver's position is confirmed by visual confirmation by breathing bubbles by a ship's observer or call confirmation by a wired telephone. It will be possible.

Also, for example, when performing marine civil engineering work that requires underwater work by divers, such as revetment work and underwater structure construction work, it is used when installing a work ship, revetment wall, or concrete block in water as a reference object. It is possible to confirm the working position of the diver with a simple configuration in which a submersible suspension swivel device or the like is selected, a plurality of visible light light receiving units are installed therein, and the visible light light emitting unit is carried by the diver. .. This makes it possible to improve the work productivity of offshore civil engineering work while ensuring the safety of divers at low cost without requiring complicated labor.

According to the present invention, it is possible to quickly and accurately grasp the underwater position of the diver with respect 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 suspension swivel device in embodiment of this invention. It is a figure which shows the method of grasping the underwater position of a diver by the underwater position detection system in embodiment of this invention (the first embodiment). It is a figure which shows the calculation method of the plan view position direction of the diver with reference to the underwater suspension swivel device 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 suspension swivel device in embodiment of this invention (second embodiment). It is a figure which shows the other example of the visible light light receiving part installed in the underwater suspension swivel device in embodiment of this invention (third embodiment).

The underwater position detection system and the underwater position detection method of the present invention utilize a visible light communication system generally used as a data communication means to determine a diver's plan view position direction, horizontal distance, and water depth with respect to a reference object. A system and method for detecting information related to the underwater position of the water.

In this embodiment, an underwater civil engineering work that requires underwater work by a diver, which is one of the underwater civil engineering works, is taken as an example, and an underwater suspension swivel device is adopted as a reference object. , The details of the underwater position detection system will be described with reference to FIGS. 1 to 6.

As shown in FIG. 1, the underwater suspension swivel device 50 changes the direction and posture of the suspended concrete block B by swiveling when installing 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 at the time of positioning underwater. For details of the underwater suspension swivel device 50, refer to Japanese Patent No. 5970946.

In the above-mentioned underwater suspension swivel device 50, a shackle 52 for mounting a wire 62 hanging from a crane 61 of a hoisting machine 60 is mounted on the upper surface of the outer shell 51, and a concrete block B is provided on the lower surface of the outer shell 51. Each of the hanging jigs 53 is provided with a hanging jig 53, and the concrete block B is suspended by the hanging jig 53 and hung in water via a wire 62 attached to the shackle 52. ..

When installing the concrete block B on the seabed, first, the underwater diver D controls the underwater suspension swivel device 50 by wireless communication while confirming the position and attitude of the concrete block B to control the concrete block. Attitude control such as changing the direction of B is performed, and fine adjustment of positioning is performed. After the positioning of the concrete block B is performed in this way, the operator of the crane 61 pays out the wire 62 to lower the underwater suspension swivel 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 observer on the hoisting vessel 60 confirm the work position and give an instruction to the diver D in advance, or when they are close to the concrete block B, or when they act alone. If so, it will be necessary to notify the danger. Therefore, in the present embodiment, the underwater position detection system 1 is adopted as a means for the operator of the crane 61 and the work observer on the hoisting vessel 61 to confirm the underwater position of the diver D.

The underwater position detection system 1 is provided on the visible light light emitting unit 11 carried by the diver D, a plurality of visible light receiving units 12 installed on the underwater crane vessel swivel device 50, and the outer shell 51 of the underwater crane vessel swivel device 50. The position detecting device 13 is provided, and the output device 14 installed in the operator room of the crane 61, the work management room on the hoisting vessel 60, and the like.

The visible light emitting unit 11 adopts any of a light emitting diode (hereinafter referred to as LED), an organic EL, a visible light laser, etc., as long as it is a visible light solid-state light source capable of transmitting information by intensity-modulating the emitted visible light V. However, in the present embodiment, a pseudo-white and 5000K LED is adopted. The LED is not necessarily limited to the above, and is appropriately suitable depending on the sensitivity of the visible light receiving unit 12 described later, the turbidity in water, the construction environment such as the working range of the diver D, and the like. Color temperature and color tone (for example, LED with high blue energy when the turbidity in water is low) may be set.

The visible light light receiving unit 12 receives the visible light V emitted from the visible light light emitting unit 11, demodulates it into an electric signal, and outputs it to the position detection device 13. In the present embodiment, the photodiode is used. It is 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 based on the underwater suspension swivel device 50 from the electric signal output from the visible light light receiving unit 12 and the water depth h2 of the underwater suspension swivel device 50. .. Then, as shown in FIGS. 3 (b) and 4, the plan view position direction calculation means 131 for determining the plan view position direction A of the visible light light emitting unit 11 with reference to the underwater suspension swivel device 50 is provided. ..

Further, as shown in FIGS. 3A and 3B, the relative depth calculation means 132 for calculating the relative depth H of the visible light light emitting unit 11 with respect to the underwater suspension swivel device 50, the underwater suspension swivel device 50 and the visible light. The horizontal distance calculation means 133 for calculating the shortest horizontal distance L with the light emitting unit 11 is provided. The details of the plan view position direction calculation means 131, the relative depth calculation means 132, and the horizontal distance calculation means 133 will be given to the first to third embodiments of the underwater position detection system 1 described later.

The horizontal view position direction A of the visible light light emitting unit 11 with reference to the underwater suspension swivel device 50 calculated by these position detection devices 13, and the relative depth H of the visible light light emitting unit 11 with respect to the underwater suspension swivel device 50. The shortest horizontal distance L between the underwater suspension swivel device 50 and the visible light emitting unit 11 is output to the output device 14 as information relating to 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 by the position detection device 13, and any of a smartphone, a tablet PC, a personal computer, or the like is adopted as long as it has at least a monitor. May be good. In this embodiment, a personal computer is used.

With the underwater position detection system 1 described above, the operator of the crane 61 and the work observer on the hoisting vessel 60 are notified each time the diver D emits visible light from the visible light emitting unit 11 toward the underwater suspension swivel device 50. The underwater position of the diver D with respect to the underwater suspension swivel 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 observer on the hoisting vessel 60 confirm with the output device 14 that the diver D has moved to an area where safety can be ensured when carrying out the installation work of the concrete block B. After that, the crane 61 can perform operations such as lifting and lowering the concrete block B. Therefore, it is possible to significantly improve the 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 types of different installation patterns of the visible light receiving unit 12 for the underwater suspension swivel device 50 are illustrated below as the first to third embodiments, and the visible light receiving is received. The method of calculating 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. 2A and 2B, the plurality of visible light receiving units 12 constituting the underwater position detection system 1 are the outer shell 51 of the underwater suspension swivel device 50 and are located on the outer peripheral edge 511 near the lower surface. , A plurality of the hanging jigs 53 are installed at the same height in a radial pattern so as to avoid the attachment position.

In the present embodiment, the size of the underwater suspension swivel device 50 is 2000 mm in height and 2131 mm in diameter of the outer peripheral edge 511 in the outer shell 51. Further, the visible light receiving units 12 radially installed with respect to the outer peripheral edge 511 of the outer shell 51 are two visible light receiving units 12 arranged at intervals of 20 degrees and at intervals of 48 degrees so as to sandwich the two visible light receiving units 12. Four visible light receiving units 12 composed of two arranged visible light receiving units 12 are installed in four directions at equal intervals, and a total of 16 are installed.

Each of the visible light receiving units 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 tubular body is parallel to the vertical axis. The visible light V emitted from the visible light emitting unit 11 is housed in a storage cage 121 capable of transmitting the visible light V so as not to be damaged or the installation angle is not changed due to contact with an obstacle in the sea.

On the other hand, as shown in FIG. 3, the visible light light emitting unit 11 constituting the underwater position detection system 1 is a suit or diving as long as the diver D can emit visible light by himself / herself toward the underwater suspension swivel device 50. It may be attached to an instrument or otherwise carried by the diver D. Further, the visible light light emitting unit 11 is provided with an angle sensor (not shown) for measuring the light emitting angle, and is wirelessly connected to at least a water depth gauge (not shown) equipped on the diver D, from the water depth gauge. The water depth h1 of the obtained diver D and the emission angle θ1 of the visible light V emitted from the visible light emitting unit 11 with respect to the vertical axis 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 suspension swivel 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 emission angle θ1 of the light V with respect to the vertical axis is regarded as the incident angle of the visible light V incident on the visible light receiving unit 12 with respect to the vertical axis.

Further, the visible light receiving unit 12 causes an accident or disaster when the diver D is working underwater under the underwater suspension swivel device 50 in the installation work of the concrete block B using the underwater suspension swivel device 50. It was installed toward the seabed with an installation angle of about 45 degrees in consideration of the fact that Therefore, if the visible light receiving unit 12 is installed so as to face downward from the underwater suspension swivel device 50, the installation angle is not necessarily limited to about 45 degrees.

Then, the calculation method of the plan view position direction A, the relative depth H, and the horizontal distance L, which are the 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. That's right.

First, as shown in FIGS. 3 (b) and 4 (a), in the plan view position direction calculation means 131, each of the plurality of visible light light receiving units 12 is based on the electric signal output from the visible light light receiving unit 12. Detects the amount of incident light of visible light V received by the camera, performs relative comparison, and selects the visible light receiving unit 12 having the largest amount of incident light. The installation position of the outer peripheral edge 511 on the outer shell 51 of the selected visible light light receiving unit 12 is calculated, and this is recognized as the visible light V light receiving position C in the underwater suspension swivel device 50.

When detecting the amount of incident light of visible light V received by each of the plurality of visible light receiving units 12 and performing relative comparison, as shown in FIG. 4B, the visible light receiving unit 12 having the largest amount of incident light When there are two, the intermediate position of these two visible light receiving units 12 on the lower outer peripheral edge 51 of the underwater suspension swivel device 50 is calculated, and this is calculated as the visible light V in the underwater suspension swivel device 50. It is certified as the light receiving position C.

Similarly, when there are three visible light receiving units 12 having the largest incident light amount, the position where the central visible light receiving unit 12 is arranged is calculated among the three, and this is calculated as the underwater suspension swivel device 50. It is recognized as the light receiving position C of the visible light V in.

After that, the direction in which the horizontal line connecting the light receiving position C and the axis O of the outer shell 51 extends is calculated, and this is set as the plan view position direction A in which the diver D with reference to the underwater suspension swivel device 50 is located. A geomagnetic sensor is mounted on the underwater suspension swivel device 50, and based on the information regarding the orientation acquired by the geomagnetic sensor, the plan view position direction A in which the diver D based on the underwater suspension swivel device 50 is located is located. May be grasped by the direction.

Next, as shown in FIGS. 3A and 3B, the water depth of the diver D carrying the visible light emitting unit 11 based on the electric signal output from the visible light receiving unit 12 in the relative depth calculating means 132. Get h1. Further, the underwater suspension swivel device 50 is also provided with a water depth gauge (not shown), and the water depth h2 of the submersible suspension swivel device 50 is acquired from this water depth gauge. Then, by calculating the difference (h2-h1) between the two, this is set as the relative depth H of the diver D with respect to the underwater suspension swivel device 50.

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

Then, the horizontal distance (H · tan θ1) between the light receiving position C and the visible light emitting unit 11 is calculated based on the light emitting angle θ1 and the relative depth H, and this is certified by the plan view position direction calculating means 131. Let the horizontal distance L between the underwater suspension swivel device 50 and the diver D on the plan view position direction A.

<Second embodiment>
In the second embodiment, as shown in FIG. 5A, a plurality of visible light receiving units 12 which are the outer shell 51 of the underwater suspension swivel device 50 and are installed on the outer peripheral edge 511 near the lower surface are outside. It is installed so as to be rotatable and swingable in a vertical plane including the axis O of the outer shell 51 in a state where the axis O of the shell 51 is parallel to the vertical axis.

Along with this, the position detection device 13 is provided with the light receiving unit swinging means 134 for rotating and swinging the plurality of visible light light receiving units 12, and the light receiving unit rocking means 134 is provided with the plurality of visible light light receiving units 12 Are constantly controlled to rotate and swing at the same speed and at the same time so that the inclination angles with respect to the axis O are the same.

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 suspension swivel device 50. In consideration of this, the range from the horizontal direction to the vertical downward direction is rotationally swung.

Then, in the plan view position direction calculation means 131 of the position detecting device 13, first, the visible light received by each of the plurality of visible light receiving units 12 that rotate and swing based on the electric signal output from the visible light receiving unit 12. The amount of incident light of the visible light receiving unit 12 is continuously detected for each inclination angle with respect to the axis O.

Relative comparison of the amount of incident light obtained in this way is performed, the visible light receiving unit 12 that detects the largest amount of incident light is selected from the plurality of visible light receiving units 12, and the installation position of the outer peripheral edge 511 in the outer shell 51 is calculated. Therefore, this is recognized as the light receiving position C of the visible light V in the underwater suspension swivel device 50. Further, as shown in FIG. 5B, the inclination angle θ2 with respect to the vertical axis when the largest amount of incident light is detected is calculated. Then, the inclination angle θ2 is regarded as the incident angle of the visible light V incident on the visible light receiving unit 12 with respect to the vertical axis.

If the axis O of the outer shell 51 is not parallel to the vertical axis at the time when the incident light amount is detected by the plan view position direction calculation means 131, the inclination angle with respect to the vertical axis is corrected appropriately. Calculate θ2.

After that, 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 suspension swivel device 50. Calculated as the plan view position direction A where the diver D is located. Further, the relative depth H of the visible light light emitting unit 11 with respect to the underwater suspension swivel device 50 is calculated by the relative depth calculating means 132 by the same method as that of the first embodiment shown in FIG.

Then, in the horizontal distance calculation means 133, the inclination angle θ2 with respect to the vertical axis of the visible light receiving unit 12 selected as the one that detected the largest incident light amount calculated by the plan view position direction calculation means 131 is acquired, and the relative angle is obtained. The relative depth H of the visible light light emitting unit 11 with respect to the underwater suspension swivel device 50 calculated by the depth calculation means 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 tilt angle θ2 regarded as the incident angle and the relative depth H, and this is calculated by the plan view position direction calculation means. Let it be the horizontal distance L between the underwater suspension swivel device 50 and the diver D on the plan view position direction A certified in 131.

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

<Third embodiment>
In the third embodiment, as shown in FIG. 6A, the outer shell 51 has a plurality of visible light receiving portions 12 in a state where the axis O of the outer shell 51 made of a tubular body is parallel to the vertical axis. One visible light receiving unit group 12'is formed by arranging the visible light receiving units 12'at different angles with respect to the vertical axis in the vertical plane including the axis O of the above. Then, a plurality of the visible light receiving unit groups 12'are prepared and installed at the same height with an interval on the outer peripheral edge 511 which is the outer shell 51 of the underwater suspension swivel device 50 and is near the lower surface.

The plurality of visible light receiving units 12 constituting the visible light receiving unit group 12'are such that the diver D is underwater under the underwater suspension swivel 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.

Then, in the plan view position direction calculation means 131 of the position detection device 13, first, based on the electric signal output from the visible light light receiving unit 12, a plurality of visible light constituting each of the plurality of visible light light receiving unit groups 12'is formed. For all the light receiving units 12, the amount of incident light of visible light received by each is detected.

Relative comparison of the amount of incident light obtained in this way was performed, the visible light receiving unit 12 that detected the largest amount of incident light was selected from among the plurality of visible light receiving units 12, and the visible light receiving unit 12 configured by the selected visible light receiving unit 12 received visible light. The installation position of the outer peripheral edge 511 on 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 suspension swivel device 50.

If the visible light receiving unit 12 having the largest incident light amount is present in each of the two adjacent visible light receiving unit groups 12', the intermediate position between these 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 suspension swivel device 50.

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

If the axis O of the outer shell 51 is not parallel to the vertical axis at the time when the incident light amount is detected by the plan view position direction calculation means 131, the inclination angle with respect to the vertical axis is corrected appropriately. Calculate θ3.

Further, when detecting the amount of incident light of visible light V received by each of the plurality of visible light receiving units 12 and performing relative comparison, the visible light receiving unit 12 having the largest amount of incident light is, for example, one visible light receiving unit. When two of them exist side by side in the group 12', the intermediate angle between these two visible light receiving units 12 is calculated, and this is calculated as the inclination angle θ3 of the visible light receiving unit 12 with respect to the vertical axis.

After that, 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 suspension swivel device 50. Calculated as the plan view position direction A where the diver D is located. Further, the relative depth H of the visible light light emitting unit 11 with respect to the underwater suspension swivel device 50 is calculated by the relative depth calculating means 132 by the same method as that of the first embodiment shown in FIG.

Then, in the horizontal distance calculation means 133, the inclination angle θ3 with respect to the vertical axis of the visible light receiving unit 12 selected as the one that detected the largest incident light amount calculated by the plan view position direction calculation means 131 is acquired, and is relative. The relative depth H of the visible light light emitting unit 11 with respect to the underwater suspension swivel device 50 calculated by the depth calculation means 132 is acquired.

The horizontal between the light receiving position C and the visible light emitting unit 11 on the plan view position direction A certified by the plan view position direction calculation means 131 based on the inclination angle θ3 regarded as the incident angle and the relative depth H. The distance (H · tan θ3) is calculated, and this is defined as the horizontal distance L between the underwater suspension swivel device 50 and the diver D.

Therefore, in the third embodiment as well as in the second embodiment, the visible light emitting unit 11 sets the visible light V at least the water depth h1 of the diver D obtained from the water depth gauge equipped by the diver D. It may be transmitted to the visible light receiving unit 12 at.

According to the underwater position detection system 1 described above, the diver D carries the visible light emitting unit 11 and installs a plurality of visible light receiving units 12 at the same height of the underwater suspension swivel device 50 at intervals. .. In this way, since visible light is used as the communication means, the communication quality in water is improved without being affected by underwater sound wave noise generated in marine construction, etc., as compared with the case of adopting ultrasonic waves, for example. At the same time, the data transfer speed can be increased.

As a result, the diver D simply emits visible light V from the visible light light emitting unit 11 toward the underwater suspension swivel device 50, and the position of the diver D in a plan view with respect to the underwater suspension swivel device 50. It is possible to quickly and accurately detect the underwater position of the diver D with reference to the underwater suspension swivel device 50 such as the direction A, the relative depth H, and the horizontal distance L.

Therefore, the work observer on the crane vessel 60 confirms the work position and gives an instruction to the diver D, and if he / she is close to the concrete block B or is acting alone, there is a danger. It is possible to manage the work of the diver D, such as notifying. Therefore, it is possible to significantly improve the work productivity of offshore civil engineering work 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 swivel device 50 is adopted as the reference object, but the present invention is not necessarily limited to this. Any object may be used as long as it is an object whose at least part is submerged, such as an underwater floating body such as a hull or a buoy, or 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 of the outer shell 51 of the underwater suspension swivel device 50 near the lower surface, but the present invention is not necessarily limited to this, and the underwater suspension is not necessarily limited to this. Any outer surface of the outer shell 51 of the load swivel device 50 may be installed.

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

For example, a water pressure gauge or timer carried by the diver D is wirelessly connected to the visible light emitting unit 11, and information related to the diving time and water pressure of the diver D is transmitted to the visible light receiving unit 12 by the visible light V. You may. By doing so, the work observer on the crane vessel 60 can objectively manage the health condition and the work condition of the diver D during the work, so that the safety of the diving work can be further improved.

Further, in the present embodiment, the output device 14 is made to output information relating to the underwater position of the diver D with reference to the underwater suspension swivel device 50, but the present invention is not limited to this, and the output device 14 is further limited to this. , It may be configured to output warning information.

Specifically, as shown in FIG. 3B, the position detecting device 13 is provided with the warning information generating means 135. Further, the position information related to the danger range in water when the concrete block B is lifted or lowered by the crane 61 is set in advance, and this is stored in the warning information generating means 135.

Then, in the warning information generating means 135, the diver D based on the underwater suspension swivel device 50 calculated by the plan view position direction calculating means 131, the relative depth calculating means 132, and the horizontal distance calculating means 133 by the above-mentioned method. The underwater position of the above 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 a dangerous area underwater, the output device 14 blinks the monitor or sounds a warning buzzer to inform the operator of the crane 61 or the work observer on the hoisting vessel 60. , It is good to issue warning information.

Further, the underwater suspension swivel device 50 has a mechanical control circuit for controlling the submersible suspension swivel device 50 in order to perform attitude control such as changing the direction of the concrete block B based on wireless communication from the diver D. (Not shown) is installed. Therefore, the position detection device 13 constituting the underwater position detection system 1 may be mounted on these machine control circuits.

1 Underwater position detection system 11 Visible light light emitting unit 12 Visible light light receiving unit 12'Visible light light receiving unit group 121 Storage case 13 Position detection device 131 Plane view position direction calculation means 132 Relative depth calculation means 133 Horizontal distance calculation means 134 Visible light light reception Part rocking means 135 Warning information generating means 14 Output device 50 Underwater suspension swivel device (reference object)
51 Outer shell 511 Outer peripheral edge (outer surface)
52 Shackle 53 Suspension jig 60 Hoisting machine 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 that detects the underwater position of a diver based on a reference object whose at least part is in the water.
A visible light emitting unit provided in the diver and emitting visible light,
A plurality of visible light receiving units for receiving visible light, which are installed at intervals on the outer surface of the reference object located in water, and
Among the plurality of visible light receiving units, the installation position of the visible light receiving unit selected as having the largest amount of incident light of the visible light in the reference object, and the visible light incident on the selected visible light receiving unit. A position detecting device for detecting the underwater position of the diver based on the incident angle with respect to the vertical axis, the water depth of the diver, and the water depth of the reference object.
An underwater position detection system characterized in that at least the water depth of the diver is transmitted to the visible light receiving unit by the visible light emitted by the visible light emitting unit. In 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 form a visible light receiving unit group.
An underwater position detection system characterized in that the visible light receiving unit group is installed at the same height position on the outer surface in the vicinity of the lower end portion of the reference object at intervals. An underwater position detection method using the underwater position detection system according to claim 1 or 2.
The amount of incident light of the visible light received by each of the plurality of visible light receiving units is relatively compared, and the visible light receiving unit is selected as having the largest amount of incident light based on the installation position of the visible light receiving unit in the reference object. Detecting the plan view position direction of the diver with reference to the reference object,
Based on the water depth of the diver and the water depth of the reference object, the relative depth of the diver with respect to the reference object is detected.
The horizontal distance between the reference object and the diver is detected based on the relative depth and the angle of incidence of the visible light incident on the visible light receiving unit selected as having the largest amount of incident light with respect to the vertical axis. death,
An underwater position detection method comprising detecting the underwater position of the diver with respect to the reference object from the plan view position direction, the relative depth, and the horizontal distance.

Images