Detection device and program

Abstract

To detect a marine organism by diffusion light of laser included in a sea surface image.SOLUTION: A detection device includes: a laser control unit that performs control so as to emit laser to a sea surface; an image acquisition unit that acquires a sea surface image obtained by imaging the sea surface; and a detection unit that detects a marine organism by diffusion light of the laser included in the sea surface image. The detection device includes: a radio wave control unit that performs control so as to emit radio waves to the sea surface; a radio wave information acquisition unit that acquires information on the reflected radio waves obtained by reflecting the radio waves; and a detection unit that detects a marine organism by the dielectric constant of the reflected radio waves.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a detection device and a program. [Background technology]

[0002] Patent Document 1 describes an underwater geological exploration system for exploring the underwater geology (underwater structure) based on sound waves that are emitted from a vibration source such as an air gun into the water and reflected from the seabed. [Prior art document] [Patent documents] [Patent Document 1] JP 2018-185206 A Summary of the Invention [Means for solving the problem]

[0003] According to one embodiment of the present invention, there is provided a detection device. The detection device may include a laser control unit that controls to irradiate a laser onto a sea surface. The detection device may include an image acquisition unit that acquires a sea surface image of the sea surface. The detection device may include a detection unit that detects marine life by diffused light of the laser included in the sea surface image.

[0004] In the detection device, the detection unit may determine that the marine organism is present within a shooting range of the ocean image when the diffused light of the laser diffused by the marine organism's gas is located on the ocean surface included in the ocean surface image. The detection device may include a learning model storage unit that stores a learning model that determines whether or not an input image includes a gas from a marine organism, the learning model being generated by machine learning using an image including the diffused light of the laser diffused by the marine organism's gas as learning data, and the detection unit may input the ocean surface image to the learning model to determine whether or not a marine organism is present within a range of the image.

[0005] In any of the detection devices, the laser control unit may control the laser to be irradiated in a plurality of directions based on the detection device, the image acquisition unit may acquire a plurality of sea surface images obtained by photographing the sea surface in a plurality of directions based on the detection device, and the detection unit may use the plurality of sea surface images to determine whether or not the marine life is present in each of the plurality of directions based on the detection device. The detection unit may detect a position of the marine life based on the detection device, and the detection device may include a control execution unit that executes control according to the position of the marine life when the detection unit detects the marine life.

[0006] Any of the detection devices may include a laser irradiation unit that irradiates the laser and an imaging unit that images the sea surface, the laser irradiation unit may be configured to be able to change the frequency of the irradiated laser, and the imaging unit may be configured to be able to perform imaging suitable for the frequency of the laser irradiated by the laser irradiation unit. The detection device may include a determination unit that determines the frequency of the laser irradiated by the laser irradiation unit based on at least one of location information of the detection device, weather information at the location of the detection device, and imaging time information when the sea surface image was captured, and the laser control unit may cause the laser irradiation unit to irradiate the laser having the frequency determined by the determination unit.

[0007] According to one embodiment of the present invention, there is provided a program for causing a computer to function as the detection device. The program may be a program for causing the detection device to function as a laser control unit that controls the detection device to irradiate a laser onto the sea surface. The program may be a program for causing the computer to function as an image acquisition unit that acquires a sea surface image of the sea surface. The program may be a program for causing the computer to function as a detection unit that detects marine life by the diffused light of the laser included in the sea surface image.

[0008] According to one embodiment of the present invention, there is provided a detection device. The detection device may include a radio wave control unit that controls the irradiation of radio waves to the sea surface. The detection device may include a radio wave information acquisition unit that acquires information on the reflected radio waves. The detection device may include a detection unit that detects marine life based on the dielectric constant of the reflected radio waves.

[0009] In the detection device, the detection unit may detect the marine life based on a difference between the dielectric constant of the irradiated radio waves under the control of the radio wave control unit and the dielectric constant of the reflected radio waves. The detection device may include a radio wave irradiator that irradiates the radio waves and a radio wave receiver that receives the reflected radio waves, and the radio wave irradiator may be configured to be able to change the frequency of the irradiated radio waves.

[0010] According to one embodiment of the present invention, there is provided a program for causing a computer to function as the detection device. The program may be a program for causing the computer to function as a radio wave control unit that controls the irradiation of radio waves to the sea surface. The program may be a program for causing the computer to function as a radio wave information acquisition unit that acquires information on the reflected radio waves. The program may be a program for causing the computer to function as a detection unit that detects marine life based on the dielectric constant of the reflected radio waves.

[0011] The above summary of the invention does not list all of the necessary features of the present invention. Also, subcombinations of these features may also be inventions. [Brief description of the drawings]

[0012] [Figure 1] An example of detection of marine life 20 by a detection device 100 using a laser 112 is shown generally. [Diagram 2] An example of the laser irradiation unit 120 and the imaging unit 130 is shown generally. [Diagram 3] An example of the laser irradiation unit 120 and the imaging unit 130 is shown generally. [Figure 4] 2 illustrates an example of a functional configuration of the detection device 100. [Diagram 5] 1 illustrates an example of a processing flow by the detection device 100. [Figure 6] An example of detection of marine life 20 by a detection device 200 using radio waves 212 is shown generally. [Figure 7] 2 illustrates an example of a functional configuration of the detection device 200. [Figure 8] 2 illustrates an example of a process flow performed by the detection device 200. [Figure 9] An example of a hardware configuration of a computer 1200 that functions as the detection device 100 or the detection device 200 is shown in schematic form. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Since the emission of sound waves underwater has a negative effect on marine life, especially marine mammals such as whales and dolphins, monitoring of marine mammals is mandatory during operation of the marine bottom geological exploration system, and visual monitoring has been performed. However, visual monitoring requires constant deployment of observers and is inefficient due to the risk of overlooking. In contrast, the exploration device according to this embodiment detects marine mammals, for example, by irradiating a laser toward the sea surface and detecting the light scattered by the steam with a camera.

[0014] The present invention will be described below through embodiments of the invention, but the following embodiments do not limit the scope of the invention according to the claims. Furthermore, not all of the combinations of features described in the embodiments are necessarily essential to the solution of the invention.

[0015] 1 shows an example of detection of marine life 20 by a detection device 100 using a laser 112. The detection device 100 is mounted on a ship 10, for example, to detect marine life 20 around the ship 10. The detection device 100 may also be installed on a coast and used to detect marine life 20 around the coast.

[0016] The detection device 100 detects the marine organism 20 by detecting the blowing 22 of the marine organism 20 with a laser 112. The marine organism 20 according to this embodiment may be a marine mammal that blows 22, such as a whale or a dolphin.

[0017] For example, the detection device 100 captures an image of the sea surface in a 360-degree direction around the detection device 100, while irradiating the laser 112 in the 360-degree direction. As a specific example, the detection device 100 captures an image of the 360-degree direction by using one 360-degree camera or two 180-degree cameras, while rotating the irradiation direction of the laser 112 to continuously irradiate the laser 112 in the 360-degree direction. The detection device 100 may capture an image of the sea surface in the irradiation direction of the laser 112 by rotating the shooting direction of the camera in synchronization with the rotation of the irradiation direction of the laser 112.

[0018] The detection device 100 may determine that marine life 20 is present when it detects diffused light 114 of the laser 112 diffused by the gas 22 in an ocean surface image captured of the ocean surface. For example, when the detection device 100 determines that marine life 20 is present, it notifies the crew of the ship 10 of that effect.

[0019] Conventionally, the basic method of monitoring whales, dolphins, etc. has been visual confirmation, which has been performed by checking the blowout 22 with binoculars from the bridge of the ship 10 or the marine mammal monitoring room. However, for example, when monitoring from a height of 20 m above sea level, the line of sight is about 17 km, and the area to be monitored is about 923 km. 2 This places a heavy burden on observers and also creates the possibility of overlooking something. In contrast, the detection device 100 according to this embodiment can automate the monitoring of the marine life 20 and can perform monitoring at all times, so that the monitoring burden can be significantly reduced and the possibility of overlooking the marine life 20 can be significantly reduced.

[0020] 2 and 3 show an example of the laser emitting unit 120 and the photographing unit 130. The detection device 100 may emit a laser 112 using the laser emitting unit 120 and photograph the sea surface using the photographing unit 130.

[0021] 2 and 3, the laser irradiation unit 120 includes a laser output unit 110, a reflecting mirror 122, a reflecting mirror 124, an angle adjustment screw 126, and a rotation motor 128. In the laser irradiation unit 120, the laser 112 output from the laser output unit 110 is reflected by the reflecting mirror 122 and the reflecting mirror 124, and is irradiated toward the outside. The reflecting mirror 124 is rotated by the rotation motor 128, thereby changing the horizontal irradiation direction of the laser 112. The angle adjustment screw 126 changes the inclination of the reflecting mirror 124, thereby changing the vertical irradiation direction of the laser 112.

[0022] 2 and 3, the image capturing section 130 includes a 180-degree camera 132 and a 180-degree camera 134. The 180-degree camera 132 and the 180-degree camera 134 can capture images in a 360-degree direction.

[0023] The configurations shown in FIG. 2 and FIG. 3 are merely examples, and the laser irradiation unit 120 and the image capturing unit 130 may have other configurations.

[0024] 4 illustrates an example of a functional configuration of the detection device 100. The detection device 100 includes a laser control unit 142, an image acquisition unit 144, a detection unit 146, a learning model storage unit 148, a learning execution unit 150, a control execution unit 152, and a determination unit 154.

[0025] It is not essential that the detection device 100 includes all of these. For example, the detection device 100 may not include the learning execution unit 150. For example, the detection device 100 may not include the learning model storage unit 148. For example, the detection device 100 may not include the determination unit 154.

[0026] The detection device 100 may control the laser irradiation unit 120. For example, the detection device 100 controls an external laser irradiation unit 120. The detection device 100 may be provided with the laser irradiation unit 120.

[0027] The detection device 100 may control the image capturing unit 130. For example, the detection device 100 controls an external image capturing unit 130. The detection device 100 may include the image capturing unit 130.

[0028] The laser irradiation unit 120 irradiates a laser. The laser irradiation unit 120 may be configured to be able to irradiate the laser in a 360-degree direction with the vertical direction as an axis. For example, the laser irradiation unit 120 is configured to be able to rotate the laser irradiation direction with the vertical direction as an axis, and irradiates the laser in a 360-degree direction with the vertical direction as an axis by continuously rotating the laser irradiation direction. For example, the laser irradiation unit 120 has a plurality of laser output units, and irradiates the laser in different directions at the same time, thereby irradiating the laser in a 360-degree direction with the vertical direction as an axis. The laser irradiation unit 120 may be configured to be able to change the vertical irradiation direction of the laser.

[0029] The laser irradiation unit 120 may be configured to be able to irradiate a sheet laser. The laser irradiation unit 120 may be capable of irradiating a sheet laser that spreads in the vertical direction. The laser irradiation unit 120 may be configured to rotate the sheet laser that spreads in the vertical direction around an axis in the vertical direction. The laser irradiation unit 120 may be configured to simultaneously irradiate the sheet laser that spreads in the vertical direction in different directions. The laser irradiation unit 120 may be capable of irradiating a sheet laser that spreads in the horizontal direction. The laser irradiation unit 120 may be configured to rotate the sheet laser that spreads in the horizontal direction around an axis in the vertical direction. The laser irradiation unit 120 may be configured to simultaneously irradiate the sheet laser that spreads in the horizontal direction in different directions. The laser irradiation unit 120 may be configured to change the vertical irradiation direction of the sheet laser that spreads in the horizontal direction.

[0030] The photographing unit 130 photographs the sea surface. The photographing unit 130 may be configured to be capable of photographing a 360-degree direction with the vertical direction as an axis. The photographing unit 130 is, for example, configured with a 360-degree camera. The photographing unit 130 may be configured with two 180-degree cameras. The photographing unit 130 may be configured to photograph a 360-degree direction by having a configuration for rotating a camera with a photographing range narrower than 360 degrees.

[0031] The laser control unit 142 controls the laser irradiation unit 120 to irradiate the sea surface with a laser. The laser control unit 142 causes the laser irradiation unit 120 to irradiate the sea surface with a laser.

[0032] The image acquiring section 144 acquires a sea surface image obtained by photographing the sea surface. The image acquiring section 144 may cause the photographing section 130 to photograph the sea surface, and acquire the sea surface image from the photographing section 130.

[0033] The detection unit 146 detects the marine organism 20 by the diffused light 114 of the laser 112 included in the sea surface image acquired by the image acquisition unit 144. When the detection unit 146 determines that the sea surface image includes the diffused light 114 of the laser 112 diffused by the blowing gas 22 of the marine organism 20, the detection unit 146 may determine that the marine organism 20 exists within the shooting range of the sea surface image. When the detection unit 146 determines that the diffused light 114 of the laser 112 diffused by the blowing gas 22 of the marine organism 20 is located on the sea surface included in the sea surface image, the detection unit 146 may determine that the marine organism 20 exists within the shooting range of the sea surface image.

[0034] The detection unit 146 may perform image analysis of the sea surface image to determine whether or not the sea surface image includes diffuse light 114 caused by the fumes 22. The detection unit 146 determines whether or not the sea surface image includes diffuse light 114 caused by the fumes 22 by using, for example, a feature amount of the diffuse light 114 of the laser 112 caused by the fumes 22 that is registered in advance.

[0035] The detection unit 146 may use a machine learning technique. The learning model storage unit 148 stores a learning model that is generated by machine learning using an image including the diffused light 114 of the laser 112 diffused by the blow 22 of the marine organism 20 as learning data, and that determines whether or not the input image includes the blow 22 of the marine organism 20. The detection unit 146 may input the sea surface image acquired by the image acquisition unit 144 into the learning model stored in the learning model storage unit 148, thereby determining whether or not the marine organism 20 exists within the range of the sea surface image.

[0036] The learning model storage unit 148 may store a learning model received from outside and generated by another device. The learning model storage unit 148 may store a learning model generated by the learning execution unit 150. The learning execution unit 150 may generate a learning model by collecting images including the diffused light 114 of the laser 112 diffused by the blowing gas 22 of the marine organism 20 and performing machine learning using the collected images as learning data.

[0037] The control execution unit 152 executes control according to the detection result of the detection unit 146. For example, the control execution unit 152 executes notification control to control the detection unit 146 to notify a predetermined notification destination such as a crew member of the ship 10 when the detection unit 146 detects a marine organism 20. The notification to the notification destination may be performed by display output on a display of a device installed in the ship 10, audio output from a speaker of a device installed in the ship 10, display output on a display of a communication terminal carried by a crew member of the ship 10, audio output from a speaker of a communication terminal carried by a crew member of the ship 10, or the like. The control execution unit 152 may execute these notifications by transmitting notification information notifying that a marine organism 20 has been detected to a device installed in the ship 10 or a communication terminal carried by a crew member of the ship 10.

[0038] The laser control unit 142 may control the laser irradiation unit 120 to irradiate the laser 112 in the traveling direction of the ship 10, for example, and the image acquisition unit 144 may acquire a sea surface image of the sea surface in the traveling direction of the ship 10, captured by the image capture unit 130. The detection unit 146 may determine whether or not a marine organism 20 exists in the traveling direction of the ship 10, using the sea surface image of the sea surface in the traveling direction of the ship 10. When the detection unit 146 determines that a marine organism 20 exists in the traveling direction of the ship 10, the control execution unit 152 may execute notification control to control to notify a predetermined notification destination such as a crew member of the ship 10. The control execution unit 152 may execute a traveling direction change control to change the traveling direction of the ship 10. The control execution unit 152 may execute a traveling speed change control to slow down the traveling speed of the ship 10. The control execution unit 152 may execute a traveling direction change control or a traveling speed change control by cooperating with a power unit of the ship 10.

[0039] The laser control unit 142 may control the laser irradiation unit 120 to irradiate the laser 112 in a plurality of directions based on the detection device 100, and the photographing unit 130 may acquire one or a plurality of sea surface images obtained by photographing the sea surface in a plurality of directions based on the detection device 100. The laser control unit 142 may control the laser 112 to irradiate in a plurality of directions by rotating the irradiation direction of the laser 112. The photographing unit 130 may acquire sea surface images obtained by photographing the sea surface in all directions based on the detection device 100 using a 360-degree camera or two 180-degree cameras, or may acquire a plurality of sea surface images obtained by photographing the sea surface in a plurality of directions based on the detection device 100 by rotating a camera with a photographing range narrower than 360 degrees. The detection unit 146 may use the one or a plurality of sea surface images to determine whether or not marine organisms 20 are present in each of a plurality of directions based on the detection device 100. This makes it possible to ascertain in which direction the marine organism 20 is present relative to the detection device 100.

[0040] The detection unit 146 may detect the position of the marine life 20 with respect to the detection device 100. The detection unit 146 may detect the position of the marine life 20 with respect to the detection device 100 by using image analysis of an ocean surface image or machine learning technology. When the detection unit 146 detects the position of the marine life 20, the control execution unit 152 may execute control according to the position of the marine life 20. For example, the control execution unit 152 executes notification control to notify the position of the marine life 20. For example, the control execution unit 152 controls the ship 10 to change the traveling direction so as to avoid the position of the marine life 20. For example, the control execution unit 152 controls the ship 10 to adjust the traveling speed according to the positional relationship between the ship 10 and the marine life 20.

[0041] The laser irradiation unit 120 may be configured to be able to change the frequency of the irradiated laser 112. The laser irradiation unit 120 may be configured to be able to irradiate lasers 112 of different frequencies, for example, by including a plurality of laser output units on the same axis, each of which outputs lasers 112 of different frequencies. The laser irradiation unit 120 may be configured to be able to irradiate lasers 112 of different frequencies, for example, by including laser output units capable of outputting lasers 112 of different frequencies.

[0042] The photographing section 130 may be configured to be capable of performing photographing suitable for the frequency of the laser 112 emitted by the laser irradiation section 120. The photographing section 130 may be configured to be capable of performing photographing suitable for the frequency of the laser 112, for example, by including a plurality of cameras on the same axis, each having sensitivity to a different frequency. The photographing section 130 may be configured to be capable of performing photographing suitable for the frequency of the laser 112, for example, by including a plurality of filters, each having characteristics for a different frequency.

[0043] The appearance of the laser 112 varies depending on the weather, the location (latitude and longitude), the time of day, etc. For example, even if there is no problem in fine weather, if the laser 112 is significantly attenuated in rainy weather and cuts off midway, this will adversely affect the detection of the marine life 20. In response to this, by configuring the frequency of the laser 112 to be changeable and the sensitivity of the image capturing unit 130 to be changeable, it is possible to adjust the frequency of the laser 112 and the sensitivity of the image capturing unit 130 to be suitable for the weather, location, time of day, etc., and the possibility of the occurrence of an event such as the laser 112 being cut off midway can be reduced.

[0044] The determination unit 154 determines the frequency of the laser 112 to be emitted by the laser emission unit 120 based on at least one of the position information of the detection device 100, the weather information at the position of the detection device 100, and the time information. The laser control unit 142 causes the laser emission unit 120 to emit the laser 112 having the frequency determined by the determination unit 154. This makes it possible to automatically emit the laser 112 having a frequency suitable for the position of the detection device 100, the weather of the detection device 100, the time, etc., and thus makes it possible to reduce the load of adjusting the frequency of the laser 112 and prevent a decrease in detection accuracy.

[0045] The laser control unit 142 may control the image capturing unit 130 so that the image acquiring unit 144 performs image capturing suitable for the frequency as the laser control unit 142 causes the laser emitting unit 120 to emit the laser 112 having the frequency determined by the determining unit 154. This can improve the accuracy with which the image capturing unit 130 captures the laser 112, compared to a case where the image capturing unit 130 is not controlled, and can contribute to improving the accuracy of detecting the marine organisms 20.

[0046] For example, the detection device 100 may have a GNSS (Global Navigation Satellite System) positioning function, and the determination unit 154 may acquire position information measured by the GNSS positioning function. The detection device 100 may acquire position information of the ship 10 from the ship 10, and handle the position information as the position information of the detection device 100. The detection device 100 may receive weather information for the position of the detection device 100 by satellite communication or the like from a weather information service that provides weather information for each position. The detection device 100 may acquire weather information measured by a weather radar mounted on the detection device 100 or the ship 10.

[0047] The frequency of the laser 112 suitable for each weather may be identified in advance by conducting an experiment in which the laser 112 is irradiated while changing the frequency in each weather and the irradiated laser 112 is measured. The frequency of the laser 112 suitable for each location may be identified in advance by conducting an experiment in each location. The frequency of the laser 112 suitable for each time period may be identified in advance by conducting an experiment in each time period. The frequency of the laser 112 suitable for each weather and each location may be identified in advance by conducting an experiment in each time period in each weather in each location. The frequency of the laser 112 suitable for each weather and each time period may be identified in advance by conducting an experiment in each time period in each weather. The frequency of the laser 112 suitable for each weather, each location, and each time period may be identified in advance by conducting an experiment in each time period in each weather in each location. The frequency of the laser 112 suitable for each location and each time period may be identified in advance by conducting an experiment in each time period in each location.

[0048] 5 is a schematic diagram showing an example of a processing flow by the detection device 100. Here, a processing flow will be described in which the detection device 100 searches for marine life 20 around the ship 10 and notifies the crew of the ship 10 when the detection device 100 detects the marine life 20.

[0049] In step (sometimes abbreviated to S) 102, the photographing unit 130 starts photographing the sea surface under the control of the image acquiring unit 144. In S104, the laser emitting unit 120 starts emitting the laser 112 under the control of the laser control unit 142.

[0050] In S106, the detection unit 146 detects marine life 20 using the sea surface image acquired by the image acquisition unit 144. If the detection unit 146 determines that the sea surface image contains diffuse light 114 of the laser 112 diffused by the gas 22 of the marine life 20, it may determine that the marine life 20 has been detected, and if it determines that the marine life 20 is not contained, it may determine that the marine life 20 has not been detected. If it is determined that the marine life 20 has been detected, the process proceeds to S108, and if it is determined that the marine life 20 has not been detected, the process proceeds to S110. In S108, the control execution unit 152 executes notification control for the crew of the ship 10.

[0051] In S110, it is determined whether or not an end instruction has been accepted. If not, the process returns to S106; if accepted, the process ends.

[0052] 6 shows an example of detection of marine life 20 by detection device 200 using radio waves 212. Detection device 200 is mounted on ship 10, for example, to detect marine life 20 around ship 10. Detection device 200 may also be installed on a coast and used to detect marine life 20 around the coast.

[0053] The detection device 200 detects the marine organism 20 by detecting the gas 22 of the marine organism 20 using radio waves 212. The radio waves 212 may be millimeter waves or microwaves with a narrow emission direction.

[0054] For example, the detection device 200 captures an image of the sea surface in a 360-degree direction around it, while emitting radio waves 212 in the 360-degree direction. As a specific example, the detection device 200 captures an image in a 360-degree direction by using one 360-degree camera or two 180-degree cameras, while rotating the emission direction of the radio waves 212 to continuously emit the radio waves 212 in a 360-degree direction. The detection device 200 may capture an image of the sea surface in the emission direction of the radio waves 212 by rotating the shooting direction of the camera in synchronization with the rotation of the emission direction of the radio waves 212.

[0055] When the detection device 200 receives reflected radio waves 214 resulting from the radio waves 212 being reflected by the steam 22 and the change in dielectric constant satisfies a condition, the detection device 200 may determine that marine life 20 is present. For example, when the detection device 200 determines that marine life 20 is present, the detection device 200 notifies the crew of the ship 10 of that effect.

[0056] 7 illustrates an example of a functional configuration of the detection device 200. The detection device 200 includes a radio wave control unit 242, a radio wave information acquisition unit 244, a detection unit 246, a learning model storage unit 248, a learning execution unit 250, a control execution unit 252, and a determination unit 254.

[0057] It is not essential that the detection device 200 includes all of these. For example, the detection device 200 may not include the learning execution unit 250. For example, the detection device 200 may not include the learning model storage unit 248. For example, the detection device 200 may not include the determination unit 254.

[0058] The detection device 200 may control the radio wave irradiating unit 220. For example, the detection device 200 controls an external radio wave irradiating unit 220. The detection device 200 may include the radio wave irradiating unit 220.

[0059] The detection device 200 may control the radio wave receiving unit 230. For example, the detection device 200 controls an external radio wave receiving unit 230. The detection device 200 may be provided with the radio wave receiving unit 230.

[0060] The radio wave irradiating unit 220 irradiates radio waves. The radio wave irradiating unit 220 may irradiate millimeter waves with a narrowed emission direction. The radio wave irradiating unit 220 may irradiate microwaves with a narrowed emission direction. The radio wave irradiating unit 220 may be configured to be able to irradiate radio waves in a 360-degree direction with the vertical direction as its axis. For example, the radio wave irradiating unit 220 is configured to be able to rotate the irradiation direction of the radio waves with the vertical direction as its axis, and irradiates radio waves in a 360-degree direction with the vertical direction as its axis by continuously rotating the irradiation direction of the radio waves. For example, the radio wave irradiating unit 220 has a plurality of radio wave output units, and irradiates radio waves in different directions at the same time, thereby irradiating radio waves in a 360-degree direction with the vertical direction as its axis. The radio wave irradiating unit 220 may be configured to be able to change the irradiation direction of the radio waves in the vertical direction.

[0061] The radio wave receiving unit 230 receives radio waves. The radio wave receiving unit 230 may be configured to be able to receive radio waves from 360-degree directions with the vertical direction as its axis. The radio wave receiving unit 230 may have multiple antennas arranged to be able to receive radio waves from 360-degree directions. The radio wave receiving unit 230 may have one or multiple antennas configured to rotate with the vertical direction as its axis.

[0062] The radio wave control unit 242 controls the radio wave irradiation unit 220 to irradiate the sea surface with radio waves. The radio wave control unit 242 causes the radio wave irradiation unit 220 to irradiate the sea surface with radio waves.

[0063] The radio wave information acquiring unit 244 acquires information on reflected radio waves that are radio waves reflected by the radio wave irradiating unit 220. The radio wave information acquiring unit 244 may acquire information on the reflected radio waves received by the radio wave receiving unit 230 from the radio wave receiving unit 230. The information on the reflected radio waves may include a dielectric constant.

[0064] The detection unit 246 detects marine life 20 based on the information acquired by the radio wave information acquisition unit 244. The detection unit 246 may detect marine life 20 based on the dielectric constant of the reflected radio waves. The detection unit 246 may detect marine life 20 based on the difference between the dielectric constant of the radio waves irradiated by the radio wave irradiator 220 under the control of the radio wave control unit 242 and the dielectric constant of the reflected radio waves.

[0065] The detection unit 246 may, for example, register in advance the difference between the dielectric constant of the irradiated radio waves and the dielectric constant of the reflected radio waves, which difference is determined by conducting an experiment in which radio waves are irradiated from the radio wave irradiating unit 220 toward the blowhole 22 of the marine organism 20 and the reflected radio waves received by the radio wave receiving unit 230, and may detect the marine organism 20 from the difference between the dielectric constant of the radio waves irradiated by the radio wave irradiating unit 220 and the dielectric constant of the reflected radio waves using the registered information under the control of the radio wave control unit 242.

[0066] The detection unit 246 may use machine learning technology. The learning model storage unit 248 stores a learning model that is generated by irradiating radio waves 212 to the gas 22 of the marine organism 20 and using information on the reflected radio waves received by the radio wave receiving unit 230 and information on the irradiated radio waves 212 as learning data, and that determines whether the dielectric constant of the input irradiated radio waves and the dielectric constant of the reflected radio waves are reflected by the gas 22. The detection unit 246 may determine whether the marine organism 20 is present by inputting information on the radio waves 212 irradiated by the radio wave irradiating unit 220 and information on the reflected radio waves 214 received by the radio wave receiving unit 230 into the learning model stored in the learning model storage unit 248.

[0067] The learning model storage unit 248 may store a learning model received from the outside and generated by another device. The learning model storage unit 248 may store a learning model generated by the learning execution unit 250. The learning execution unit 250 may generate a learning model by collecting information on the radio waves 212 and the reflected radio waves 214 in which the radio waves 212 are reflected by the blowing gas 22 of the marine organism 20, and by executing machine learning using the collected information as learning data.

[0068] The control execution unit 252 executes control according to the detection result of the detection unit 246. For example, the control execution unit 252 executes notification control such that, when marine organisms 20 are detected by the detection unit 246, a notification of the detection is sent to a predetermined notification destination such as a crew member of the ship 10. The control execution unit 252 may execute notification control similar to that of the control execution unit 152.

[0069] The radio wave control unit 242 may, for example, control the radio wave emitting unit 220 to emit radio waves 212 in the traveling direction of the ship 10. The detection unit 246 may determine whether or not marine life 20 is present in the traveling direction of the ship 10. When the detection unit 246 determines that marine life 20 is present in the traveling direction of the ship 10, the control execution unit 252 may execute notification control, traveling direction change control, and traveling speed change control similar to the control execution unit 152.

[0070] The radio wave control unit 242 may control the radio wave emitting unit 220 to emit radio waves 212 in a plurality of directions based on the detection device 200, and the radio wave receiving unit 230 may receive radio waves in a plurality of directions based on the detection device 100. The radio wave control unit 242 may control the radio wave emitting unit 220 to emit radio waves 212 in a plurality of directions by rotating the emission direction of the radio waves 212. The radio wave receiving unit 230 may receive radio waves in all directions based on the detection device 100 by using a plurality of antennas or by rotating the antennas. The detection unit 246 may determine whether or not marine life 20 is present in each of a plurality of directions based on the detection device 200.

[0071] The detection unit 246 may detect the position of the marine life 20 with respect to the detection device 200. The detection unit 246 may detect the position of the marine life 20 with respect to the detection device 200 by using the direction of irradiation of the radio wave 212, the time from emitting the radio wave 212 to receiving the reflected radio wave 214, and the like. When the detection unit 246 detects the position of the marine life 20, the control execution unit 252 may execute control according to the position of the marine life 20. For example, the control execution unit 252 executes notification control to notify the position of the marine life 20. For example, the control execution unit 252 controls the ship 10 to change the traveling direction so as to avoid the position of the marine life 20. For example, the control execution unit 252 controls the ship 10 to adjust the traveling speed according to the positional relationship between the ship 10 and the marine life 20.

[0072] The radio wave irradiating unit 220 may be configured to be able to change the frequency of the radio waves to be irradiated. The radio wave irradiating unit 220 may be configured to be able to irradiate radio waves 212 of different frequencies by, for example, having a plurality of radio wave output units on the same axis, each of which outputs radio waves 212 of different frequencies. The radio wave irradiating unit 220 may be configured to be able to irradiate radio waves 212 of different frequencies by, for example, having a radio wave output unit capable of outputting radio waves 212 of different frequencies.

[0073] The determination unit 254 determines the frequency of the radio waves to be radiated by the radio wave radiator 220 based on at least one of the location information of the detection device 200, the weather information at the location of the detection device 200, and the time information. The determination unit 254 may determine the frequency in the same manner as the determination unit 154. The radio wave control unit 242 causes the radio wave radiator 220 to radiate radio waves 212 having the frequency determined by the determination unit 254.

[0074] 8 is a schematic diagram showing an example of a processing flow by the detection device 200. Here, a processing flow will be described in which the detection device 200 searches for marine life 20 around the ship 10 and notifies the crew of the ship 10 when the detection device 200 detects the marine life 20.

[0075] In S202, under the control of the radio wave control unit 242, the radio wave emitting unit 220 starts emitting the radio waves 212. In S204, the detection unit 246 detects the marine life 20 using the radio wave information acquired by the radio wave information acquiring unit 244. The detection unit 246 may determine that the marine life 20 has been detected if the difference in dielectric constant between the radio waves 212 and the reflected radio waves 214 satisfies a condition, and may determine that the marine life 20 has not been detected if the condition is not satisfied. If it is determined that the marine life 20 has been detected, the process proceeds to S206, and if it is determined that the marine life 20 has not been detected, the process proceeds to S208. In S206, the control executing unit 252 executes notification control for the crew of the ship 10.

[0076] In S208, it is determined whether or not an end instruction has been accepted. If not, the process returns to S204; if accepted, the process ends.

[0077] 9 shows a schematic diagram of an example of a hardware configuration of a computer 1200 functioning as the detection device 100 or the detection device 200. A program installed on the computer 1200 can cause the computer 1200 to function as one or more "parts" of the device according to the present embodiment, or cause the computer 1200 to execute operations or one or more "parts" associated with the device according to the present embodiment, and / or cause the computer 1200 to execute a process or steps of the process according to the present embodiment. Such a program can be executed by the CPU 1212 to cause the computer 1200 to execute specific operations associated with some or all of the blocks of the flowcharts and block diagrams described herein.

[0078] The computer 1200 according to this embodiment includes a CPU 1212, a RAM 1214, and a graphics controller 1216, which are connected to each other by a host controller 1210. The computer 1200 also includes input / output units such as a communication interface 1222, a storage device 1224, a DVD drive 1226, and an IC card drive, which are connected to the host controller 1210 via an input / output controller 1220. The DVD drive 1226 may be a DVD-ROM drive, a DVD-RAM drive, or the like. The storage device 1224 may be a hard disk drive, a solid state drive, or the like. The computer 1200 also includes a legacy input / output unit such as a ROM 1230 and a keyboard, which are connected to the input / output controller 1220 via an input / output chip 1240.

[0079] The CPU 1212 operates according to a program stored in the ROM 1230 and the RAM 1214, thereby controlling each unit. The graphic controller 1216 acquires image data generated by the CPU 1212 into a frame buffer or the like provided in the RAM 1214 or into itself, and causes the image data to be displayed on the display device 1218.

[0080] The communication interface 1222 communicates with other electronic devices via a network. The storage device 1224 stores programs and data used by the CPU 1212 in the computer 1200. The DVD drive 1226 reads programs or data from a DVD-ROM 1227 or the like and provides the programs or data to the storage device 1224. The IC card drive reads programs and data from an IC card and / or writes programs and data to an IC card.

[0081] The ROM 1230 stores therein a boot program or the like that is executed by the computer 1200 upon activation, and / or a program that depends on the hardware of the computer 1200. The input / output chip 1240 may also connect various input / output units to the input / output controller 1220 via a USB port, a parallel port, a serial port, a keyboard port, a mouse port, and the like.

[0082] The programs are provided by a computer-readable storage medium such as a DVD-ROM 1227 or an IC card. The programs are read from the computer-readable storage medium, installed in the storage device 1224, the RAM 1214, or the ROM 1230, which are also examples of computer-readable storage media, and executed by the CPU 1212. Information processing described in these programs is read by the computer 1200, and brings about cooperation between the programs and the various types of hardware resources described above. An apparatus or method may be constructed by implementing operations or processing of information according to the use of the computer 1200.

[0083] For example, when communication is performed between the computer 1200 and an external device, the CPU 1212 may execute a communication program loaded in the RAM 1214 and instruct the communication interface 1222 to perform communication processing based on the processing described in the communication program. Under the control of the CPU 1212, the communication interface 1222 reads transmission data stored in a transmission buffer area provided in the RAM 1214, the storage device 1224, the DVD-ROM 1227, or a recording medium such as an IC card, and transmits the read transmission data to a network, or writes reception data received from the network to a reception buffer area or the like provided on the recording medium.

[0084] Furthermore, the CPU 1212 may cause all or a necessary portion of a file or database stored in an external recording medium such as the storage device 1224, the DVD drive 1226 (DVD-ROM 1227), an IC card, etc. to be read into the RAM 1214, and perform various types of processing on the data on the RAM 1214. The CPU 1212 may then write back the processed data to the external recording medium.

[0085] Various types of information, such as various types of programs, data, tables, and databases, may be stored in the recording medium and undergo information processing. The CPU 1212 may perform various types of processing on the data read from the RAM 1214, including various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, information search / replacement, etc., as described throughout this disclosure and specified by the instruction sequence of the program, and write back the results to the RAM 1214. The CPU 1212 may also search for information in a file, database, etc. in the recording medium. For example, when a plurality of entries each having an attribute value of a first attribute associated with an attribute value of a second attribute are stored in the recording medium, the CPU 1212 may search for an entry whose attribute value of the first attribute matches a specified condition from among the plurality of entries, read the attribute value of the second attribute stored in the entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

[0086] The above-described programs or software modules may be stored in a computer-readable storage medium on the computer 1200 or in the vicinity of the computer 1200. In addition, a recording medium such as a hard disk or a RAM provided in a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium, thereby providing the programs to the computer 1200 via the network.

[0087] The blocks in the flowcharts and block diagrams in the present embodiment may represent stages of a process in which an operation is performed or "parts" of an apparatus responsible for performing the operation. Particular stages and "parts" may be implemented by dedicated circuitry, programmable circuitry provided with computer-readable instructions stored on a computer-readable storage medium, and / or a processor provided with computer-readable instructions stored on a computer-readable storage medium. The dedicated circuitry may include digital and / or analog hardware circuits, and may include integrated circuits (ICs) and / or discrete circuits. The programmable circuitry may include reconfigurable hardware circuits, such as, for example, field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), and the like, including AND, OR, XOR, NAND, NOR, and other logical operations, flip-flops, registers, and memory elements.

[0088] A computer-readable storage medium may include any tangible device capable of storing instructions that are executed by a suitable device, such that a computer-readable storage medium having instructions stored thereon comprises an article of manufacture that includes instructions that can be executed to create means for performing the operations specified in the flowcharts or block diagrams. Examples of computer-readable storage media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, and the like. More specific examples of computer-readable storage media may include floppy disks, diskettes, hard disks, random access memories (RAMs), read-only memories (ROMs), erasable programmable read-only memories (EPROMs or flash memories), electrically erasable programmable read-only memories (EEPROMs), static random access memories (SRAMs), compact disk read-only memories (CD-ROMs), digital versatile disks (DVDs), Blu-ray disks, memory sticks, integrated circuit cards, and the like.

[0089] The computer readable instructions may include either assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk®, JAVA®, C++, etc., and conventional procedural programming languages ​​such as the “C” programming language or similar programming languages.

[0090] Computer readable instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, or to a programmable circuit, either locally or over a local area network (LAN), a wide area network (WAN), such as the Internet, etc., to cause the processor of the general purpose computer, special purpose computer, or other programmable data processing apparatus, or to a programmable circuit, to execute the computer readable instructions to generate means for performing the operations specified in the flowcharts or block diagrams. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, etc.

[0091] Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It is clear to those skilled in the art that various modifications and improvements can be made to the above embodiments. It is clear from the description of the claims that such modifications and improvements can also be included in the technical scope of the present invention.

[0092] It should be noted that the order of execution of each process, such as operations, procedures, steps, and stages, in the devices, systems, programs, and methods shown in the claims, specifications, and drawings is not specifically stated as "before" or "prior to," and that the process may be performed in any order unless the output of a previous process is used in a later process. Even if the operational flow in the claims, specifications, and drawings is described using "first," "next," etc. for convenience, it does not mean that the process must be performed in this order. [Explanation of symbols]

[0093] 10 ship, 20 marine life, 22 fumarole, 100 detection device, 110 laser output unit, 112 laser, 114 diffused light, 120 laser irradiation unit, 122 reflecting mirror, 124 reflecting mirror, 126 angle adjustment screw, 128 rotating motor, 130 photographing unit, 132 180-degree camera, 134 180-degree camera, 142 laser control unit, 144 image acquisition unit, 146 detection unit, 148 learning model storage unit, 150 learning execution unit, 152 control execution unit, 154 decision unit, 200 detection device, 212 radio wave, 214 reflected radio wave, 220 radio wave irradiation unit, 230 radio wave receiving unit, 242 radio wave control unit, 244 radio wave information acquisition unit, 246 detection unit, 248 learning model storage unit, 250 learning execution unit, 252 Control execution unit, 254 decision unit, 1200 computer, 1210 host controller, 1212 CPU, 1214 RAM, 1216 graphic controller, 1218 display device, 1220 input / output controller, 1222 communication interface, 1224 storage device, 1226 DVD drive, 1227 DVD-ROM, 1230 ROM, 1240 input / output chip

Claims

1. a laser control unit that controls the laser to be irradiated onto the sea surface; an image acquisition unit for acquiring an image of the sea surface; a detection unit that detects marine life using diffused light of the laser included in the sea surface image; A detection device comprising:

2. The detection device according to claim 1, wherein the detection unit determines that the marine organism is present within a shooting range of the sea surface image when the diffused light of the laser diffused by the marine organism's steam is located on the sea surface included in the sea surface image.

3. A learning model storage unit that stores a learning model that is generated by machine learning using an image including diffused light of a laser diffused by a marine organism's gas as learning data and that determines whether or not an input image includes a marine organism's gas. Equipped with The detection device according to claim 2 , wherein the detection unit determines whether or not marine life is present within the range of the sea surface image by inputting the sea surface image into the learning model.

4. The laser control unit controls the laser to be irradiated in a plurality of directions based on the detection device, The image acquisition unit acquires one or more sea surface images obtained by photographing the sea surface in a plurality of directions based on the detection device, The detection device according to claim 1 , wherein the detection unit is configured to determine whether or not the marine life is present in each of a plurality of directions based on the detection device, using the one or more sea surface images.

5. The detection unit detects a position of the marine life relative to the detection device, The detection device includes: a control execution unit that executes control according to a position of the marine life when the detection unit detects the marine life; The sensing device of claim 4 .

6. a laser irradiation unit that irradiates the laser; an imaging unit that captures an image of the sea surface; Equipped with The laser irradiation unit is configured to be able to change the frequency of the laser to be irradiated, The detection device according to claim 1 , wherein the imaging section is configured to be able to perform imaging suited to a frequency of the laser emitted by the laser irradiation section.

7. a determination unit that determines a frequency of the laser to be irradiated by the laser irradiation unit based on at least one of location information of the detection device, weather information at the location of the detection device, and time information; Equipped with The detection device according to claim 6 , wherein the laser control unit causes the laser irradiation unit to irradiate the laser having the frequency determined by the determination unit.

8. Computer, a laser control unit that controls the laser to irradiate the sea surface; an image acquisition unit for acquiring an image of the sea surface; and A detection unit that detects marine life using the diffused light of the laser included in the sea surface image. A program to function as a

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