JP7218615B2 - Underwater anomaly detection system and underwater anomaly detection device - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underwater anomaly detection system and an underwater anomaly detection device, and is suitable for application to, for example, an underwater anomaly detection system installed in fishing grounds.

Conventionally, an underwater anomaly detection system (fishing ground monitoring device) has been proposed in which an acoustic sensor such as a microphone is installed in the center of the fishing ground, for the purpose of preventing damage caused by poaching in the fishing ground. Based on the sound collected by the acoustic sensor, this underwater abnormality detection system detects abnormalities such as the screw sound of a ship (e.g. poacher) and the breathing sound of a diver (e.g. poacher) and notifies the administrator. can do.

Japanese Patent Application Laid-Open No. 2002-181618 (Fig. 1 etc.)

However, in an underwater anomaly detection system with such a configuration, when the weather worsens and the waves get louder, the sound of the waves included in the sound collected by the acoustic sensor also gets louder. The propeller sound of a nearby vessel is buried in the sound of waves, narrowing the distance at which anomalies can be detected.

In other words, the underwater anomaly detection system may not be able to detect an anomaly at a distance from the acoustic sensor, that is, at an outer peripheral portion away from the center of the fishing ground, depending on the state of the waves.

SUMMARY OF THE INVENTION The present invention has been made in consideration of the above points, and intends to propose an underwater anomaly detection system and an underwater anomaly detection device capable of accurately detecting anomalies regardless of changes in wave conditions.

In order to solve this problem, the underwater abnormality detection system of the present invention is an underwater abnormality detection system in which a beacon device and an acoustic sensor device are provided in water, and the beacon device is set in the water. A beacon transmitter that transmits a beacon signal from the beacon installation position is provided, and the acoustic sensor device has a sound collector that collects ambient sounds in the water an abnormality determination unit that determines whether there is an abnormality, a notification unit that notifies the determination result of the abnormality determination unit, a beacon reception unit that receives a beacon signal and generates a beacon reception signal according to the signal level of the beacon signal; A moving part that moves the acoustic sensor device in water, a wave state detection part that detects the state of waves generated on the water surface, and a target of the beacon reception signal based on the state of the waves detected by the wave state detection part. A setting unit for setting the range and a movement control unit for controlling the moving unit such that the beacon reception signal generated by the beacon reception unit matches the target range are provided.

Further, in the underwater anomaly detection device of the present invention, there are provided a sound collector for collecting ambient sounds in water, an anomaly determination unit for determining the presence or absence of an anomaly based on the sound collected by the sound collector, an anomaly A notification unit that notifies the determination result by the determination unit, a beacon reception unit that receives a beacon signal from a beacon device installed in water and generates a beacon reception signal according to the signal level of the beacon signal, and the device The target range of the beacon reception signal is set based on the movement unit that moves the beacon in the water, the wave state detection unit that detects the state of the waves generated on the water surface, and the wave state detected by the wave state detection unit. A setting unit and a movement control unit that controls the moving unit so that the beacon reception signal generated by the beacon reception unit matches the target range are provided.

According to the present invention, a target range is set according to wave conditions, and an abnormality is detected regardless of the size of the detection range by moving to a position where the signal level of the received beacon signal matches this target range. Anomalies can be appropriately detected from the appropriate anomaly detection range.

According to the present invention, it is possible to realize an underwater abnormality detection system and an underwater abnormality detection device that can accurately detect an abnormality regardless of changes in wave conditions.

1 is a schematic cross-sectional view showing the configuration of an underwater anomaly detection system; FIG. 1 is a schematic plan view showing the configuration of an underwater anomaly detection system; FIG. 1 is a schematic block diagram showing a block configuration of an underwater anomaly detection system; FIG. 4 is a flowchart showing an abnormal sound detection processing procedure; 4 is a flow chart showing a movement processing procedure; 10 is a flow chart showing a proximity movement processing procedure; It is a flow chart which shows a long-distance movement processing procedure. 4 is a schematic diagram showing the movement of the acoustic sensor device and the position of the detection range D; FIG.

EMBODIMENT OF THE INVENTION Hereinafter, the form (it is mentioned as embodiment below) for implementing invention is demonstrated using drawing.

[1. Configuration of underwater anomaly detection system]
As shown in the schematic cross-sectional view of FIG. 1, an underwater anomaly detection system 1 according to the present embodiment is installed, for example, in an underwater fishing ground F and its vicinity, and includes a beacon device 2, an acoustic sensor device 3, and a monitoring device 4 . This underwater anomaly detection system 1 is designed to detect the presence of a poacher or a poacher near the fishing ground F as an anomaly. Below, this fishing ground F is also referred to as an anomaly detection range.

The beacon device 2 is fixed to the bottom of the sea by an anchor or the like (not shown) in the approximate center of the fishing ground F, as shown in the schematic plan view of FIG. 2(A). For convenience of explanation, the position where the beacon device 2 is installed is also called a beacon installation position below. The beacon device 2 is composed of a control section 11 and a beacon transmission section 12, as shown in a schematic block configuration in FIG.

The control unit 11 has a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc., and a flash memory (not shown). The control unit 11 controls the beacon transmission unit 12 by reading out a predetermined beacon transmission control program from the ROM, flash memory, or the like by the CPU and executing it while using the RAM as a work area.

Under the control of the control unit 11, the beacon transmitting unit 12 transmits a beacon having a predetermined frequency and a predetermined strength (that is, signal level) into the sea at predetermined intervals (for example, one minute). After the beacon is output by the beacon device 2, the signal level attenuates as it is transmitted under the sea. That is, the relationship between the distance from the beacon device 2 and the signal level of the beacon can be represented, for example, as a characteristic curve Q shown in FIG. 2(B).

The acoustic sensor device 3 (FIG. 1) incorporates a float 3F as a floating part, so that a part of it is exposed above the water while the remaining part is submerged in the sea. As shown in FIG. 3, the acoustic sensor device 3 includes a control section 21, a communication section 22, a position detection section 23, an acceleration sensor 24, an acoustic sensor 25, a moving section 26, and a beacon reception section 27. FIG.

Control part 21 has CPU, ROM, RAM, etc. which are not illustrated, flash memory, etc. like control part 11 of beacon device 2 . The control unit 21 reads a predetermined program from a ROM, a flash memory, or the like by the CPU and executes it while using the RAM as a work area to execute various processes. A plurality of functional blocks such as a movement control unit 33 (details will be described later) are formed inside.

The communication unit 22 has an interface conforming to a predetermined wireless communication standard, and can transmit and receive various information to and from the monitoring device 4 by using radio. The position detection unit 23 is composed of, for example, a receiving circuit for receiving a GPS (Global Positioning System) signal, an antenna, and the like. Information about the position such as latitude, longitude and altitude is acquired and supplied to the control unit 21 as position information. The acceleration sensor 24 detects acceleration acting on the acoustic sensor device 3 mainly due to forces received from waves and ocean currents, and supplies an acceleration signal representing the obtained acceleration to the control unit 21 . The control unit 21 can estimate the size and strength of the wave based on this acceleration signal.

The acoustic sensor 25 is composed of, for example, a plurality of microphones or the like, and collects sounds transmitted through the sea from a plurality of directions, that is, ship screw sounds, etc., and generates a plurality of acoustic signals as the sound collection results. is supplied to the control unit 21 . Incidentally, these acoustic signals are converted into digital signals by processing such as A/D (Analog/Digital) conversion.

By the way, the acoustic sensor 25 also collects the sounds of surrounding waves. The sound of the waves is a hindrance to the detection of sounds that should be detected (hereafter referred to as detection target sounds), such as the sound of a ship's propeller and the sound of a diver's breathing. Therefore, the acoustic sensor 25 changes the size of the range in which the sound to be detected (hereinafter referred to as the detection range D) changes according to the size of the surrounding waves.

For example, the acoustic sensor 25 can detect the detection target sound from the wide detection range DL in FIG. 2A when the sea is calm, the surrounding waves are relatively small, and the sound of the waves is also relatively low. This wide detection range DL is wider than the fishing ground F. Therefore, if the acoustic sensor device 3 is located in the vicinity area AN, which is near the center of the fishing ground F (that is, the beacon device 2), for example, when the sea is calm, the acoustic sensor 25 can detect the area of the fishing ground F approximately. It becomes possible to detect the detection target sound from the entire range.

On the other hand, when the sea is rough, the surrounding waves are relatively loud, and the sound of the waves is also relatively loud, the acoustic sensor 25 detects the detection target sound from the narrow detection range DS in FIG. 2(A). . This narrow detection range DS is a range narrower than the fishing ground F. For this reason, when the acoustic sensor device 3 is located in the vicinity area AN near the center of the fishing ground F (that is, the beacon device 2) when the sea is rough, for example, the acoustic sensor 25 detects the center of the fishing ground F. The detection target sound can be detected only from a part of the range including . That is, the acoustic sensor 25 cannot detect the detection target sound from the outer peripheral portion of the fishing ground F at this time. However, as shown by the dashed line in FIG. 2(A), if the acoustic sensor device 3 is located somewhere in the far area AR slightly away from the center of the fishing ground F, the object to be detected from the outer peripheral portion of the fishing ground F Sound may be detected.

The moving unit 26 ( FIG. 3 ) is composed of, for example, a motor, a screw, etc., and moves the acoustic sensor device 3 in a desired direction along the sea surface based on the control of the control unit 21 . The beacon receiving unit 27 receives a beacon signal transmitted from the beacon device 2, generates a beacon reception signal indicating a signal level corresponding to the received strength, and indicates the direction in which the beacon signal is received, and controls it. It is supplied to the section 21.

An abnormality determination unit 31 formed in the control unit 21 performs predetermined signal processing and the like on the acoustic signal supplied from the acoustic sensor 25, and then performs determination processing to be described later. It is determined whether or not a sound to be detected such as a breathing sound of a diver has been extracted, that is, whether or not an abnormality has been detected.

The setting unit 32 sets the target, conditions, etc. for movement by the moving unit 26 using the signal level of the beacon reception signal generated by the beacon reception unit 27 (details will be described later). The movement control unit 33 moves the acoustic sensor device 3 by controlling the moving unit 26 based on the targets and conditions set by the setting unit 32 .

The monitoring device 4 (FIG. 1) is installed, for example, in a monitoring facility on the ground and used by a predetermined administrator. The monitoring device 4 is composed of a control section 41, a communication section 42 and a display section 43, as shown in FIG. Control part 41 has CPU, ROM, RAM, etc. which are not illustrated, flash memory, etc. like control part 11 grade of beacon device 2, and the like. The control unit 41 reads a predetermined program from a ROM, a flash memory, or the like by means of a CPU and executes various processes such as a monitoring process by executing the program while using the RAM as a work area.

Like the communication unit 22 of the acoustic sensor device 3, the communication unit 42 is an interface conforming to a predetermined wireless communication standard. Can send and receive. The display unit 43 is made up of, for example, a liquid crystal panel, and can display various information under the control of the control unit 41 .

[2. Underwater anomaly detection process]
Next, processing performed in the acoustic sensor device 3 when an abnormality is detected in the underwater abnormality detection system 1 will be described. In the acoustic sensor device 3, abnormal sound detection processing for detecting abnormal sounds in the sea and movement processing for moving the acoustic sensor device 3 are performed in parallel or sequentially.

[2-1. Abnormal sound detection processing]
First, an abnormal sound detection process for detecting abnormal sounds in the sea will be described. When the power is turned on, the control unit 21 of the underwater abnormality detection system 1 performs predetermined initialization processing and the like, and then reads out and executes an abnormal sound detection program from a flash memory (not shown) or the like, thereby Along with forming the abnormality determination unit 31 (FIG. 3) inside, the abnormal noise detection processing procedure RT1 shown in FIG. 4 is started, and the process proceeds to the first step SP11.

In step SP11, the control unit 21 acquires the acoustic signal generated by the acoustic sensor 25, and proceeds to the next step SP12. In step SP12, the control unit 21 performs signal processing such as bandpass filter processing and noise removal processing on the acoustic signal by the abnormality determination unit 31, and proceeds to the next step SP13. As a result, the abnormality determination unit 31 can accurately determine whether or not the acoustic signal includes an abnormal sound.

In step SP13, the control unit 21 causes the abnormality determination unit 31 to determine whether or not the acoustic signal includes an abnormal sound. If a positive result is obtained here, this indicates that there is a possibility that a ship, diver, etc., is present in the current detection range D (that is, wide detection range DL or narrow detection range DS, FIG. 2). . At this time, the control unit 21 proceeds to the next step SP14.

In step SP14, the control unit 21 transmits abnormal noise detection information indicating that abnormal noise has been detected as a result of determination by the abnormality determination unit 31 via the communication unit 22, and proceeds to the next step SP15 to perform abnormal noise detection processing. Terminate the procedure RT1. The abnormal sound detection information includes information indicating that an abnormality has been detected, an acoustic signal, the date and time when the abnormal sound was detected, position information obtained by the position detection unit 23, and the like.

When the control unit 41 of the monitoring device 4 (FIG. 3) receives abnormal sound detection information from the acoustic sensor device 3 via the communication unit 42, it extracts information such as an acoustic signal from the sound detection information, and detects a predetermined abnormal sound. By generating a display screen and displaying it on the display unit 43, the administrator is notified of information related to the detection of abnormal noise.

On the other hand, if a negative result is obtained in step SP13, this means that there is no evidence of the presence of a ship, diver, etc. in the current detection range D, and no notification is necessary. At this time, the control unit 21 proceeds to the next step SP15 and terminates the abnormal sound detection processing procedure RT1 without notifying the information.

Incidentally, the control unit 21 repeatedly executes the abnormal sound detection processing procedure RT1 at predetermined time intervals (for example, 10 seconds, 1 minute, etc.).

[2-2. Move process]
Next, movement processing for moving the acoustic sensor device 3 will be described with reference to FIGS. 5, 6 and 7. FIG. When the power is turned on, the control unit 21 of the underwater anomaly detection system 1 performs predetermined initialization processing, etc., and then reads out and executes a mobile program from a flash memory (not shown) or the like, thereby internally Along with forming the setting unit 32 and the movement control unit 33 (FIG. 3), the movement processing procedure RT2 shown in FIG. 5 is started, and the process proceeds to the first step SP21.

In step SP21, the control unit 21 acquires an acceleration signal from the acceleration sensor 24, performs predetermined signal processing, etc., thereby calculating the magnitude of the acceleration, and proceeds to the next step SP22. At step SP22, the control unit 21 determines whether or not the acceleration is equal to or greater than a predetermined acceleration threshold (hereinafter also referred to as a reference value).

If a negative result is obtained here, this means that the acceleration is relatively small, so the surrounding waves are relatively small, and the wave-induced noise contained in the acoustic signal produced by the acoustic sensor 25 (FIG. 3) is relatively small. Represents relatively small. Furthermore, this means that the current detection range D is about the same as the wide detection range DL (FIG. 2A), and is large enough to cover the entire range of the fishing ground F. This indicates that the beacon device 2 should be positioned within the neighborhood area AN (FIG. 2(A)). At this time, the control unit 21 proceeds to the next step SP23.

In step SP23, the control part 21 moves the acoustic sensor device 3 to the vicinity area AN which is the vicinity of the beacon device 2 by performing proximity movement processing. Specifically, the control unit 21 executes the proximity movement processing procedure RT3 shown in FIG. 6 as a subroutine, and proceeds to the first step SP31.

In step SP31, the control unit 21 sets the target range, which is the range in which the signal level of the received beacon signal should be matched, to a range equal to or greater than the neighborhood threshold value TN (hereinafter referred to as the neighborhood target range). This neighborhood threshold TN is a relatively large value, as shown in FIG. 2B, and is a value that can be detected when the acoustic sensor device 3 is positioned on the outer peripheral boundary line of the neighborhood area AN (FIG. 2). .

In step SP32, the control unit 21 receives the beacon transmitted from the beacon device 2 by the beacon receiving unit 27 (FIG. 3), generates a beacon reception signal according to the received signal level, and proceeds to the next step SP33. move.

In step SP33, the control unit 21 determines whether or not the signal level of the beacon reception signal is less than the neighborhood threshold TN. If a positive result is obtained here, since the signal level of the beacon reception signal is less than the neighborhood threshold TN, this means that the acoustic sensor device 3 is located outside the neighborhood area AN. .

At this time, the control unit 21 proceeds to the next step SP34, and the direction in which the beacon is received by the beacon receiving unit 27, that is, the direction in which the beacon device 2 is installed, is the direction toward the center of the fishing ground F (hereinafter referred to as the beacon The moving unit 26 is controlled by the moving control unit 33 (FIG. 3) so as to move in the approach direction). After that, the control unit 21 returns to step SP32 again and repeats a series of processes.

On the other hand, if a negative result is obtained in step SP33, this means that the signal level of the beacon reception signal is equal to or higher than the neighborhood threshold TN, that is, within the neighborhood target range. Furthermore, as shown in FIG. 8A, this means that the acoustic sensor device 3 is already located within the vicinity area AN and does not need to be moved. At this time, the control unit 21 proceeds to the next step SP35, ends the proximity movement processing procedure RT3 as a subroutine, and returns to step SP23 of the original movement processing procedure RT2 (FIG. 5). Subsequently, the control unit 21 proceeds to the next step SP25, and also ends this movement processing procedure RT2.

On the other hand, if an affirmative result is obtained in step SP22, this means that the acceleration is relatively large, the surrounding waves are relatively large, and the waves included in the acoustic signal generated by the acoustic sensor 25 (FIG. 3) This indicates that the noise caused is relatively large. Furthermore, this means that the current detection range D is about the same as the narrow detection range DS (FIG. 2(A)) and cannot cover the entire range of the fishing ground F. should be located in the far area AR (FIG. 2(A)). At this time, the control unit 21 proceeds to the next step SP24.

In step SP24, the control unit 21 moves the acoustic sensor device 3 to a distant area AR, which is far from the beacon device 2, by performing a distant movement process. Specifically, the control unit 21 executes the remote movement processing procedure RT4 shown in FIG. 7 as a subroutine, and proceeds to the first step SP41.

In step SP41, the controller 21 sets the target range of the beacon reception signal to a range less than the distant high threshold value TRH and equal to or greater than the distant low threshold value TRL (hereinafter referred to as a distant target range) by the setting unit 32. Of these, the far-field high threshold TRH is a value smaller than the near-field threshold TN, as shown in FIG. 2B. Detectable value. Further, as shown in FIG. 2B, the far-field low threshold TRL is a value smaller than the far-field high threshold TRH, and when the acoustic sensor device 3 is positioned on the outer peripheral boundary line of the far field AR (FIG. 2), Detectable value.

In step SP42, the control unit 21 receives the beacon transmitted from the beacon device 2 by the beacon receiving unit 27 (FIG. 3), similarly to step SP32 (FIG. 6), and generates a beacon reception signal according to the received signal level. Generate it and move to the next step SP43.

At step SP43, the control unit 21 determines whether or not the signal level of the beacon reception signal is equal to or higher than the remote high threshold value TRH. If a positive result is obtained here, it means that the signal level of the beacon reception signal is equal to or higher than the distant high threshold value TRH, so that the acoustic sensor device 3 is outside the range of the far area AR and is located inside the far area AR. indicates that it is located

At this time, the control unit 21 proceeds to the next step SP44, the direction in which the beacon is received by the beacon receiving unit 27, that is, the direction opposite to the direction in which the beacon device 2 is installed, and the direction away from the center of the fishing ground F ( The moving unit 26 is controlled by the moving control unit 33 (FIG. 3) so as to move in the beacon separation direction hereinafter. After that, the control unit 21 returns to step SP42 again.

On the other hand, if a negative result is obtained in step SP43, this means that the signal level of the beacon reception signal is less than the distant high threshold value TRH, so that the acoustic sensor device 3 detects the inner peripheral boundary line of the distant area AR (FIG. 2). It means that it is located outside of At this time, the control unit 21 proceeds to the next step SP45.

At step SP45, the control unit 21 determines whether or not the signal level of the beacon reception signal is less than the remote low threshold value TRL. If a positive result is obtained here, it means that the signal level of the beacon reception signal is less than the remote low threshold value TRL, so that the acoustic sensor device 3 is outside the range of the far area AR and is located on the outer peripheral side thereof. It means that

At this time, the control unit 21 proceeds to the next step SP46, and controls the movement control unit 33 (FIG. 3) to move in the beacon proximity direction, which is the direction in which the beacon is received by the beacon receiving unit 27, that is, to approach the center of the fishing ground F. ) to control the moving unit 26 . After that, the control unit 21 returns to step SP42 again.

On the other hand, if a negative result is obtained in step SP45, this means that the signal level of the beacon reception signal is less than the remote high threshold TRH and is greater than or equal to the remote low threshold TRL, that is, it is within the remote target range. , indicates that the acoustic sensor device 3 is already positioned within the range of the far area AR, as shown in FIG. 8B. At this time, the control unit 21 proceeds to the next step SP47.

In step SP47, the control unit 21 causes the movement control unit 33 (FIG. 3) to move the acoustic sensor device 3 so as to orbit around the beacon device 2 within the distant area AR, and proceeds to the next step SP48. Specifically, the control unit 21 selects a direction that intersects the beacon proximity direction, which is the direction in which the beacon is received by the beacon reception unit 27, for example, a direction rotated approximately 60 to 90 degrees clockwise with respect to the beacon proximity direction ( (indicated by an arrow C in FIG. 2) is the traveling direction, and the acoustic sensor device 3 is moved by the moving portion 26 .

At step SP48, the control unit 21 ends the remote movement processing procedure RT4 as a subroutine, and returns to step SP24 of the original movement processing procedure RT2 (FIG. 5). Subsequently, the control unit 21 proceeds to the next step SP25, and also ends this movement processing procedure RT2.

Incidentally, the control unit 21 repeatedly executes the movement processing procedure RT2 at predetermined time intervals (for example, 5 minutes, 30 minutes, etc.).

[3. effects, etc.]
In the above configuration, the underwater anomaly detection system 1 according to the present embodiment has the beacon device 2 installed near the center of the fishing ground F, which is the anomaly detection range (FIG. 2). Based on the magnitude of the acceleration obtained from the sensor 24, the magnitude of the surrounding waves is determined.

The control unit 21 of the acoustic sensor device 3 determines the signal level of the beacon signal received from the beacon device 2 based on the signal level of the beacon signal received from the beacon device 2 when the acoustic sensor 25 can detect abnormal noise in the wide detection range DL (FIG. 2) because the waves are relatively small. Next, the acoustic sensor device 3 is moved to the vicinity area AN which is in the vicinity of the beacon device 2 (Fig. 8(A)). As a result, the acoustic sensor device 3 can detect the detection target sound from almost the entire range of the fishing ground F with high accuracy.

On the other hand, the control unit 21 of the acoustic sensor device 3 controls the signal level of the beacon signal received from the beacon device 2 when the acoustic sensor 25 can detect abnormal noise in the narrow detection range DS (FIG. 2) because the waves are relatively large. , the acoustic sensor device 3 is moved to a distant area AR that is far from the beacon device 2 (FIG. 8(B)). Furthermore, the control unit 21 moves the acoustic sensor device 3 within the far area AR so as to orbit around the beacon device 2 . As a result, the acoustic sensor device 3 can set the narrow detection range DS so as to include a part of the outer circumference of the fishing ground F, and sequentially move the position along the outer circumference of the fishing ground F, in other words, the fishing ground F. It is possible to sequentially set the detection range D by time division so as to cover all the outer peripheral portions in .

That is, in the underwater anomaly detection system 1, although the magnitude of noise contained in the sound collected by the acoustic sensor 25 changes according to the magnitude of the waves, and accordingly the magnitude of the detection range D changes, the fishing ground F The acoustic sensor device 3 can be moved so that at least part of the outer circumference of is included in the detection range D (FIGS. 8A and 8B). As a result, the underwater anomaly detection system 1 may detect an anomaly by collecting the detection target sound before a poaching boat or a poacher approaching from the outside of the fishing ground F enters the fishing ground F. There is

From another point of view, the control unit 21 of the acoustic sensor device 3 determines the magnitude of the wave based on the magnitude of the acceleration detected by the acceleration sensor 24 in the movement processing procedure RT2 (FIG. 5). Accordingly, the process is automatically switched to near movement processing (FIG. 6) or far movement processing (FIG. 7). For this reason, the underwater anomaly detection system 1 does not require an administrator or the like to give an operation instruction to the acoustic sensor device 3 via the monitoring device 4, for example, to switch to the near movement processing or the far movement processing. A part of the outer circumference of the fishing ground F is included in the detection range D, and an abnormality can be appropriately detected.

According to the above configuration, the underwater anomaly detection system 1 sets the target range of the beacon reception signal to the near target range or the distant target range based on the magnitude of the waves around the acoustic sensor device 3, and the center of the fishing ground F. The acoustic sensor device 3 is moved based on the signal level of the beacon received from the beacon device 2 installed nearby. For this reason, the acoustic sensor device 3 changes the size of the noise contained in the sound collected by the acoustic sensor 25 according to the size of the waves, and the size of the detection range D also changes. part can be moved to be included in this detection range D. As a result, the underwater anomaly detection system 1 can detect an anomaly by collecting the detection target sound before poaching boats, poachers, etc. approaching the fishing ground F from outside enter the fishing ground F.

[4. Other embodiments]
In the above-described embodiment, in the long-distance movement processing (FIGS. 7 and 8B), the long-distance target range, which is the target range of the beacon reception signal, is set to be less than the long-distance high threshold TRH and equal to or greater than the long-distance low threshold TRL, A case has been described in which the acoustic sensor device 3 is moved within the annular distant area AR. However, the present invention is not limited to this, and the acoustic sensor device 3 may be moved within a relatively wide range including, for example, the distant area AR and its inner portion, with the distant target range set to be equal to or greater than the distant low threshold value TRL. In this case also, by appropriately moving the acoustic sensor device 3 within this range, it is possible to detect an abnormality while moving within the fishing ground F as appropriate.

In the above-described embodiment, the acoustic sensor device 3 recognizes the direction in which the beacon device 2 is installed, that is, the direction of the center of the fishing ground F, based on the direction in which the beacon is received, and detects the beacon proximity direction or the beacon separation direction. The case of moving in the direction has been described (FIGS. 6 and 7). However, the present invention is not limited to this. By combining with the information, the direction in which the beacon device 2 is installed may be recognized, and the beacon device 2 may move in the beacon approach direction or the beacon separation direction. In this case, the beacon receiving unit 27 does not need to detect the direction in which the beacon is received, and only needs to detect the signal level of the beacon.

Furthermore, in the above-described embodiment, based on the magnitude of acceleration detected by the acceleration sensor 24, the magnitude of the wave around the acoustic sensor device 3 is divided into two stages, and the near target range or the far target range is set. Thus, the case of moving the acoustic sensor device 3 to either the near area AN or the far area AR has been described (FIGS. 6, 7 and 8). However, the present invention is not limited to this. For example, the magnitude of waves around the acoustic sensor device 3 may be divided into three or more stages, and the acoustic sensor device 3 may be moved to three or more set areas. Alternatively, the magnitude of the wave may be represented by a numerical value, the distance from the beacon device 2 may be calculated based on this numerical value, the target range may be set, and the acoustic sensor device 3 may be moved.

Furthermore, in the embodiment described above, the case where the magnitude of the wave is determined based on the magnitude of acceleration detected by the acceleration sensor 24 has been described. However, the present invention is not limited to this. For example, an ultrasonic sensor or the like may be provided in the acoustic sensor device 3 to detect the state of surrounding waves and determine the magnitude thereof. Further, for example, an ultrasonic sensor is provided in the beacon device 2, and the sensor detects the magnitude of the wave and notifies the acoustic sensor device 3 of the information representing the magnitude of the wave. You may judge the size of the wave based on. Alternatively, for example, the monitoring device 4 acquires weather information from a predetermined server device connected to a network (not shown), transmits information about waves included in the weather information to the acoustic sensor device 3, and determines the magnitude of the waves. You can let me.

Further, in the above-described embodiment, a case has been described in which in the movement processing procedure RT2 (FIG. 5), switching to near movement processing or far movement processing is performed based on one acceleration signal. However, the present invention is not limited to this. You may make it switch to a movement process.

Furthermore, in the embodiment mentioned above, the case where one beacon device 2 was provided in the underwater abnormality detection system 1 was described (FIG. 1 etc.). However, the present invention is not limited to this. For example, when the fishing ground F is wider than the wide detection range DL, the underwater anomaly detection system 1 may be provided with two or more beacon devices 2 separated appropriately. In this case, it is preferable that the acoustic sensor device 3 can identify each beacon by differentiating the types of beacons transmitted from each beacon device 2 (for example, the frequency or the pattern when the intensity is changed on the pulse).

Furthermore, in the embodiment described above, the case where one acoustic sensor device 3 is provided in the underwater abnormality detection system 1 has been described (FIG. 1, etc.). However, the present invention is not limited to this. For example, when the fishing ground F is wider than the wide detection range DL, the underwater abnormality detection system 1 may be provided with two or more acoustic sensor devices 3 . In this case, after the acoustic sensor devices 3 notify each other of their positions, by moving so as to separate them appropriately, it is possible to detect an abnormality from a wider range.

Furthermore, in the embodiment described above, the case where the acoustic sensor device 3 is provided with the position detection unit 23 (FIG. 3) and the position information acquired by the position detection unit 13 is notified to the monitoring device 4 has been described. However, the present invention is not limited to this, and the position detection unit 23 may be omitted from the acoustic sensor device 3, for example.

Furthermore, in the embodiment described above, the case where the underwater anomaly detection system 1 is installed in the fishing ground F has been described (Fig. 1). However, the present invention is not limited to this, and the underwater anomaly detection system 1 is installed at various places where it is necessary to detect anomalies in the sea, such as aquaculture facilities for marine products and the surrounding waters of important facilities installed along the coast. can be

Furthermore, the invention is not limited to the embodiments described above and other embodiments. That is, the scope of the present invention also extends to embodiments obtained by arbitrarily combining part or all of the above-described embodiment and other embodiments described above, and to embodiments in which a part is extracted. be.

Furthermore, in the embodiment described above, the case where the underwater abnormality detection system 1 as an underwater abnormality detection system is configured by the beacon device 2 as a beacon device and the acoustic sensor device 3 as an acoustic sensor device has been described. In this case, the beacon device is configured by a beacon transmission unit 12 as a beacon transmission unit. The acoustic sensor device is composed of an acoustic sensor 25 as a sound collector, an abnormality determination unit 31 as an abnormality determination unit, a communication unit 22 as a notification unit, a beacon reception unit 27 as a beacon reception unit, and a moving unit. , an acceleration sensor 24 as a wave state detection unit, a setting unit 32 as a setting unit, and a movement control unit 33 as a movement control unit. However, the present invention is not limited to this, and an underwater anomaly detection system may be configured by a beacon device and an acoustic sensor device having various other configurations. In this case, the beacon device is composed of a beacon transmission section having various other configurations, and the acoustic sensor device is composed of a sound collection section, an abnormality determination section, a notification section, and a beacon reception section having various configurations. , a moving unit, a wave state detection unit, a setting unit, and a movement control unit.

INDUSTRIAL APPLICABILITY The present invention can be used, for example, when detecting abnormal sounds in water.

1... underwater anomaly detection system, 2... beacon device, 3... acoustic sensor device, 4... monitoring device, 11... control section, 12... beacon transmission section, 13... position detection section, 21... Control unit 22 Communication unit 23 Position detection unit 24 Acceleration sensor 25 Acoustic sensor 26 Moving unit 27 Beacon reception unit 31 Abnormality determination unit 32 Setting unit 33 Movement control unit 41 Control unit 42 Communication unit 43 Display unit AN near area AR distant area D detection range DL Wide detection range, DS: Narrow detection range, F: Fishing ground, TN: Near threshold, TRH: Far high threshold, TRL: Far low threshold.

Claims (7)

An underwater anomaly detection system in which a beacon device and an acoustic sensor device are provided in water,
The beacon device is
a beacon transmission unit that transmits a beacon signal from a beacon installation position set in the water;
The acoustic sensor device is
a sound collecting unit that collects ambient sounds in the water;
an abnormality determination unit that determines the presence or absence of an abnormality based on the sound collection result of the sound collection unit;
a notification unit that notifies the result of determination by the abnormality determination unit;
a beacon receiving unit that receives the beacon signal and generates a beacon reception signal according to the signal level of the beacon signal;
a moving unit that moves the acoustic sensor device in the water;
a wave state detector that detects the state of waves generated on the surface of the water;
a setting unit for setting a target range of the beacon reception signal based on the wave state detected by the wave state detection unit;
and a movement control section that controls the movement section so that the beacon reception signal generated by the beacon reception section matches the target range. The setting unit
If the magnitude of the wave is less than a predetermined reference value, the target range is set to a nearby target range that can be received in the vicinity of the beacon device;
2. The underwater anomaly detection system according to claim 1, wherein, if the magnitude of said wave is equal to or greater than said reference value, said target range is set to a distant target range that can be received at a distance from said beacon device. The sound collecting unit is
When the target range is set to the nearby target range by the setting unit, sound is collected from a range including an abnormality detection range in which an abnormality should be detected,
3. The underwater anomaly detection according to claim 2, wherein when the target range is set to the distant target range by the setting unit, sound is collected from a range including a part of an outer circumference of the anomaly detection range. system. The neighboring target range is a range equal to or higher than a neighboring threshold value, which is a relatively high value,
3. The underwater anomaly according to claim 2, wherein the distant target range is less than a distant high threshold lower than the near threshold and equal to or greater than a distant low threshold lower than the distant high threshold. detection system. When the target range is set to the distant target range, the movement control section moves the moving section in a direction crossing the direction toward the beacon device while adjusting the beacon reception signal to the distant target range. The underwater anomaly detection system according to claim 2, characterized by controlling the The acoustic sensor device is
further comprising a floating part that floats at least a part above the water,
The wave state detection unit is
The underwater anomaly detection system according to claim 1, wherein the state of the wave is detected based on acceleration detected by an acceleration sensor. A sound collecting part that collects ambient sounds in water,
an abnormality determination unit that determines the presence or absence of an abnormality based on the sound collection result of the sound collection unit;
a notification unit that notifies the result of determination by the abnormality determination unit;
a beacon receiving unit that receives a beacon signal from a beacon device installed in the water and generates a beacon reception signal according to the signal level of the beacon signal;
a moving part for moving the device in water;
a wave state detector that detects the state of waves generated on the surface of the water;
a setting unit for setting a target range of the beacon reception signal based on the wave state detected by the wave state detection unit;
and a movement control section that controls the movement section so that the beacon reception signal generated by the beacon reception section matches the target range.

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