Control device, control system, control method, and control program

Abstract

In order to enable the influences of interference to be reduced in communication by sound waves in water, this control device: estimates, for each of wireless communication devices, whether or not the influence of an interfering wave is suffered, on the basis of an influence range in which, when an interfering wave occurs that could interfere with wireless communication, interference is likely to occur to wireless communication under the influence of the interfering wave; identifies on the basis of the influence range a non-interfered wireless communication device that exists at a position unaffected by the interfering wave, from among the wireless communication devices using for wireless communication a sound wave of a frequency with which the influence of the interfering wave upon an interfered wireless communication device, which is a wireless communication device affected by the interfering wave, is reducible; determines a non-interfered wireless communication device of interest, the use frequency of which is to be exchanged with an interfered wireless communication device; and indicates a change of the use frequency to the interfered wireless communication device and the non-interfered wireless communication device of interest.

Description

[Technical Field]

[0001] The present invention relates to a control device and the like. [Background technology]

[0002] It is being considered to communicate using acoustic waves underwater. Hereinafter, communication using acoustic waves underwater will be referred to as underwater acoustic communication.

[0003] Radio wave communication cannot be used at deep water because radio waves are significantly attenuated underwater. Therefore, sound waves are more suitable for communication than radio waves at deep water.

[0004] Further, related techniques include those described in Patent Documents 1 to 4. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 2019-217835 [Patent Document 2] Japanese Patent Application Publication No. 2019-096111 [Patent Document 3] Japanese Patent Application Publication No. 2017-076877 [Patent Document 4] Japanese Patent Application Laid-Open No. 2009-260756 [Non-patent literature]

[0006] [Non-Patent Document 1] Takenobu Tsuchiya, "Numerical Analysis of Acoustic Wave Propagation in the Ocean," Information Processing Society of Japan Research Report, June 2019 Summary of the Invention [Problem to be solved by the invention]

[0007] Recently, a method has been known in which a control device on land or on water communicates with a communication device underwater via a base station floating on the water surface. In this case, communication between the base station and the communication device is carried out by underwater acoustic communication, while communication between the base station and the control device is carried out by radio wave communication or wired communication.

[0008] In such a case, if multiple communication devices are present underwater, each of the communication devices will communicate with a base station, which may cause interference between the sound waves transmitted from the multiple communication devices or base stations. Therefore, operators of underwater acoustic communications determine in advance the sound wave frequencies used by each communication device to minimize interference.

[0009] However, even if the frequencies to be used are determined to minimize interference, if an unexpected source of interference occurs, such as if another business operator is conducting a business using underwater acoustic communication in an area adjacent to the business area, or if construction work that makes noise is being carried out on water, on land, or underwater, interference may occur between the sound waves transmitted from the communication device or base station and the interference source, making communication impossible.

[0010] In view of the above-mentioned problems, an object of the present invention is to provide a control device and the like that can reduce the influence of interference in underwater communication using acoustic waves. [Means for solving the problem]

[0011] In one aspect of the present invention, the control device is a control device that connects to a base station that conducts wireless communication using sound waves with multiple wireless communication devices located underwater, and controls the operating frequencies that are the frequencies used by the wireless communication devices for the wireless communication.The control device is equipped with an influence estimation means that, when an interference wave that may interfere with the wireless communication occurs, estimates for each of the wireless communication devices whether or not the wireless communication device will be affected by the interference wave based on an influence range that is a range within which interference may occur in the wireless communication due to the influence of the interference wave, a determination means that, based on the influence range, identifies a non-interfering wireless communication device that is a wireless communication device that is located in a position not affected by the interference wave from among the wireless communication devices that use sound waves for their wireless communication at a frequency that can reduce the influence of the interference wave on the interfering wireless communication device that is the wireless communication device affected by the interference wave, and determines from the identified non-interfering wireless communication devices the non-interfering wireless communication device that is to exchange operating frequencies with the interfering wireless communication device, and an instruction means that instructs the interfering wireless communication device and the non-interfering wireless communication device that is to exchange operating frequencies to change the operating frequency to the exchanged frequency.

[0012] In another aspect of the present invention, a control system is a control system that connects to a base station that conducts wireless communication using sound waves with multiple wireless communication devices present underwater, and controls the operating frequencies that are the frequencies used by the wireless communication devices for the wireless communication, and is equipped with an influence estimation means that, when an interference wave that may interfere with the wireless communication occurs, estimates for each of the wireless communication devices whether or not it will be affected by the interference wave based on an influence range that is a range within which interference may occur in the wireless communication due to the influence of the interference wave, a determination means that, based on the influence range, identifies a non-interfering wireless communication device that is a wireless communication device that is located in a position not affected by the interference wave from among the wireless communication devices that use sound waves for their wireless communication at a frequency that can reduce the influence of the interference wave on an interfering wireless communication device that is a wireless communication device affected by the interference wave, and determines from the identified non-interfering wireless communication devices the non-interfering wireless communication device that is to exchange operating frequencies with the interfering wireless communication device, and an instruction means that instructs the interfering wireless communication device and the non-interfering wireless communication device that is to exchange operating frequencies to change the operating frequency to the exchanged frequency.

[0013] In another aspect of the present invention, a control method is a control method in a control device that connects to a base station that conducts wireless communication using sound waves with multiple wireless communication devices located underwater and controls the operating frequencies that the wireless communication devices use for the wireless communication.When an interference wave that may interfere with the wireless communication occurs, the control method estimates for each of the wireless communication devices whether or not it will be affected by the interference wave based on an influence range that is a range within which interference may occur in the wireless communication due to the influence of the interference wave, and based on the influence range, identifies a non-interfering wireless communication device that is a wireless communication device located in a position that is not affected by the interference wave from among the wireless communication devices that use sound waves for their wireless communication at a frequency that can reduce the influence of the interference wave on the interfering wireless communication device, which is the wireless communication device that is affected by the interference wave, and from among the identified non-interfering wireless communication devices, determines the non-interfering wireless communication device that is to exchange operating frequencies with the interfering wireless communication device, and instructs the interfering wireless communication device and the non-interfering wireless communication device that is to exchange operating frequencies to change the operating frequency to the exchanged frequency.

[0014] In another aspect of the present invention, a control program recorded on a computer-readable recording medium is a control program for a control device that connects to a base station that performs wireless communication using sound waves with multiple wireless communication devices present underwater, and controls the operating frequencies that the wireless communication devices use for the wireless communication.The computer is made to realize an influence estimation function that, when an interference wave that may interfere with the wireless communication occurs, estimates whether or not each of the wireless communication devices will be affected by the interference wave based on an influence range that is a range within which interference may occur in the wireless communication due to the influence of the interference wave; a determination function that, based on the influence range, identifies a non-interfering wireless communication device that is a wireless communication device that is located in a position not affected by the interference wave from among the wireless communication devices that use, for their wireless communication, sound waves of a frequency that can reduce the influence of the interference wave on an interfering wireless communication device that is a wireless communication device affected by the interference wave, and determines from the identified non-interfering wireless communication devices the non-interfering wireless communication device that is to exchange operating frequencies with the interfering wireless communication device; and an instruction function that instructs the interfering wireless communication device and the non-interfering wireless communication device that is the target of the exchange of operating frequencies to change the operating frequency to the exchanged frequency. [Effects of the Invention]

[0015] According to the above aspects of the present invention, it is possible to reduce the influence of interference in underwater communication using acoustic waves. [Brief explanation of the drawings]

[0016] [Figure 1] FIG. 2 is a diagram illustrating a configuration example of a control device according to the first embodiment of the present invention. [Figure 2] FIG. 4 is a diagram illustrating an example of an operation flow of the control device according to the first embodiment of the present invention. [Figure 3] FIG. 10 is a diagram illustrating an example of the configuration of a communication system including a control device according to a second embodiment of the present invention. [Figure 4] FIG. 10 is a diagram illustrating an example of the configuration of a control device according to a second embodiment of the present invention. [Figure 5]FIG. 10 is a diagram illustrating an example of an operation flow of a control device, a base station, and a wireless communication device according to the second embodiment of the present invention. [Figure 6] FIG. 2 is a diagram illustrating an example of a hardware configuration according to each embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0017] [First embodiment] A first embodiment of the present invention will be described. A specific example of the control device 10 in the first embodiment is a control device 20 in a second embodiment, which will be described later.

[0018] 1 shows an example of the configuration of a control device 10 according to this embodiment. The control device 10 includes an influence estimation unit 11, a determination unit 12, and an instruction unit 13.

[0019] The control device 10 is connected to a base station. The base station performs wireless communication using acoustic waves with multiple wireless communication devices. The multiple wireless communication devices are located underwater. The control device 10 also controls the frequencies used by the wireless communication devices. The frequencies used are frequencies used by the wireless communication devices for wireless communication.

[0020] The influence estimation unit 11 is connected to the determination unit 12. When an interference wave that may interfere with wireless communication occurs, the influence estimation unit 11 estimates whether or not each wireless communication device will be affected by the interference wave based on the influence range. The influence range is an area where interference may occur in wireless communication due to the influence of the interference wave.

[0021] The determination unit 12 is connected to the influence estimation unit 11 and the instruction unit 13. Based on the influence range, the determination unit 12 identifies a non-interfering wireless communication device from among wireless communication devices that use, for wireless communication, sound waves of a frequency that can reduce the influence of interference waves on the interfering wireless communication device. Furthermore, the determination unit 12 determines, from among the identified non-interfering wireless communication devices, a non-interfering wireless communication device that is to exchange frequencies with the interfering wireless communication device. The interfering wireless communication device is a wireless communication device that is affected by interference waves. The non-interfering wireless communication device is a wireless communication device that is located in a position that is not affected by interference waves.

[0022] The instruction unit 13 is connected to the determination unit 12. The instruction unit 13 instructs the interfering wireless communication device and the non-interfering wireless communication device with which the operating frequency is to be exchanged to change the operating frequency to the frequency after the exchange.

[0023] Next, FIG. 2 shows an example of an operation flow of the control device 10 of this embodiment.

[0024] When an interference wave that may interfere with wireless communication occurs, the influence estimation unit 11 estimates whether or not each wireless communication device is affected by the interference wave based on the range of influence (step S101).

[0025] Based on the influence range, the determination unit 12 identifies a non-interfering wireless communication device from among wireless communication devices that use, for wireless communication, sound waves of a frequency that can reduce the influence of the interference wave on the interfering wireless communication device (step S102).Furthermore, the determination unit 12 determines, from among the identified non-interfering wireless communication devices, a non-interfering wireless communication device that will exchange frequencies with the interfering wireless communication device (step S103).

[0026] The instruction unit 13 instructs the interfering radio communication device and the non-interfering radio communication device with which the operating frequency is to be exchanged to change the operating frequency to the frequency after the exchange (step S104).

[0027] As described above, in the first embodiment of the present invention, the control device 10 includes an influence estimation unit 11, a determination unit 12, and an instruction unit 13. The control device 10 is connected to a base station. The base station performs wireless communication using sound waves with multiple wireless communication devices. The multiple wireless communication devices are located underwater. The control device 10 also controls the operating frequencies of the wireless communication devices. The operating frequencies are frequencies used by the wireless communication devices for wireless communication. When an interference wave that may interfere with wireless communication occurs, the influence estimation unit 11 estimates, based on an influence range, whether each wireless communication device will be affected by the interference wave. The influence range is a range in which interference may occur in wireless communication due to the influence of the interference wave. The determination unit 12, based on the influence range, identifies a non-interfering wireless communication device from among wireless communication devices that use sound waves of a frequency that can reduce the influence of the interference wave on the interfering wireless communication device. Furthermore, the determination unit 12 determines, from the identified non-interfering wireless communication devices, a non-interfering wireless communication device that will exchange operating frequencies with the interfering wireless communication device. The interfering wireless communication device is a wireless communication device that is affected by the interference wave. The non-interfering wireless communication device is a wireless communication device that is located in a position that is not affected by the interference wave. The instruction unit 13 instructs the interfering radio communication device and the non-interfering radio communication device with which the operating frequency is to be exchanged to change the operating frequency to the frequency after the exchange.

[0028] As a result, the control device 20 detects a non-interference signal that is transmitted to the interfering wireless communication device and uses sound waves of a frequency that can reduce the influence of the interference wave on the interfering wireless communication device. interference Since the frequency used by the interfering wireless communication device is exchanged between the wireless communication device and the interfering wireless communication device, it is possible to reduce the influence of interference waves on the interfering wireless communication device.

[0029] Furthermore, because sound waves generally propagate farther underwater than radio waves, there is a possibility that interference waves may affect multiple wireless communication devices. Therefore, if the operating frequency of an interfering wireless communication device is simply exchanged with that of another wireless communication device, the other wireless communication device may be affected by interference waves after the exchange of operating frequencies. The control device 10 of this embodiment identifies a non-interfering wireless communication device located in a position that is not affected by interference waves based on the range of influence. Then, the control device 10 exchanges operating frequencies between the interfering wireless communication device and the non-interfering wireless communication device. Therefore, it is possible to prevent a wireless communication device that has exchanged operating frequencies with an interfering wireless communication device from being affected by interference waves after the exchange of operating frequencies.

[0030] Therefore, according to the control device 10 of this embodiment, it is possible to reduce the influence of interference in underwater communication using sound waves.

[0031] [Second embodiment] Next, a second embodiment of the present invention will be described. A specific example of the control device 10 in the first embodiment is a control device 20 in the second embodiment.

[0032] 3 shows an example of the configuration of a communication system 60 including the control device 20 of this embodiment. The communication system 60 includes the control device 20, a base station 40, and wireless communication devices 50-i (i is an integer from 1 to N, and N is an integer of 2 or more).

[0033] The base station 40 is located on the water and is capable of wireless communication with the wireless communication device 50-i using acoustic waves.

[0034] The wireless communication device 50-i exists underwater. The wireless communication device 50-i can perform wireless communication using acoustic waves with the base station 40. The wireless communication device 50-i can communicate with the control device 20 via the base station 40.

[0035] The control device 20 is connected to the base station 40. The control device 20 is located on water or on land. The control device 20 can perform wireless communication using radio waves or wired communication with the base station 40. The control device 20 also controls the frequency used by the wireless communication device 50-i. The frequency used is a frequency used by the wireless communication device 50-i for wireless communication using sound waves with the base station 40. The wireless communication may be communication using a band signal. In this case, the frequency used may be a frequency band. When the wireless communication is communication using a band signal, the term "frequency" refers to a "frequency band."

[0036] 4 shows an example of the configuration of the control device 20 of this embodiment. The control device 20 includes an influence estimation unit 21, a determination unit 22, an instruction unit 23, and an interference source position estimation unit 24.

[0037] The influence estimation unit 21 is connected to the determination unit 22 and the interference source position estimation unit 24. When an interference wave occurs, the influence estimation unit 21 estimates whether or not each of the wireless communication devices 50-1 to 50-N will be affected by the interference wave based on the influence range. The interference wave is a sound wave that can interfere with wireless communication by sound waves between the base station 40 and the wireless communication device 50-i. The influence range is a range in which interference by the interference wave can occur in wireless communication by sound waves between the base station 40 and the wireless communication device 50-i.

[0038] The method for detecting the occurrence of interference waves will be described later.

[0039] The influence estimation unit 21 can estimate the influence range based on, for example, location information of the interference source emitting the interference wave, the frequency of the interference wave, topographical information around the interference source, and the speed of sound around the interference source.

[0040] Of the information used to estimate the range of influence, the position information of the interference source emitting the interference wave is estimated by the interference source position estimation unit 24. The method for estimating the position of the interference source will be described later. Furthermore, information on the frequency of the interference wave is acquired when the generation of the interference wave is detected.

[0041] Topographical information about the area around the interference source is stored in advance in a storage unit (not shown) inside or outside the control device 20. In this embodiment, it is assumed that the base station 40 does not move, or if it does move, the distance it moves is short. The storage unit stores topographical information about the underwater area (for example, the seabed) around the base station 40.

[0042] The speed of sound around the interference source, for example, in the ocean, depends on water temperature, pressure (depth), and salinity. The influence estimation unit 21 may receive information acquired by an information acquisition device (not shown) from the information acquisition device and estimate the vertical and horizontal sound speed distributions based on the received information. At this time, the information acquisition device acquires information on the depth of the information acquisition device. The information acquisition device also acquires information on at least one of the water temperature and salinity around the information acquisition device. For example, the information collection device may include a depth sensor and acquire information on the depth of the information acquisition device. For example, the information acquisition device may include a water temperature sensor and acquire information on the water temperature around the information acquisition device. For example, the information acquisition device may include a salinity sensor and acquire information on the salinity around the information acquisition device. The information acquisition device may also be a wireless communication device 50-i. The information acquisition device may also be an underwater drone for information acquisition.

[0043] It should be noted that the Global Navigation Satellite System (GNSS) cannot be used underwater to determine the position of the information acquisition device. Therefore, the influence estimation unit 21 estimates the position of the information acquisition device based on the direction of arrival of sound waves emitted by the information acquisition device relative to the base station 40. For example, the influence estimation unit 21 receives information on the direction of arrival of sound waves emitted by the information acquisition device from the base station 40. The influence estimation unit 21 also receives information on the vertical position (depth) of the information acquisition device from the information acquisition device via the base station 40. Then, the influence estimation unit 21 can estimate the position of the information acquisition device based on the information on the direction of arrival and the information on the vertical position (depth).

[0044] Alternatively, the influence estimation unit 21 may receive information from an information server (not shown). The information server estimates the current water temperature and salinity concentration at a predetermined location based on, for example, information on past water temperature and salinity concentration.

[0045] Furthermore, the influence estimation unit 21 can receive information on the vertical position (depth) from the wireless communication device 50-i. The wireless communication device 50-i is equipped with a pressure (depth) sensor and acquires information on the vertical position (depth) of the wireless communication device 50-i. Furthermore, the influence estimation unit 21 estimates the position of the wireless communication device 50-i in the same manner as described above.

[0046] Furthermore, the influence estimation unit 21 can simulate the propagation of interference waves based on the sound speed distribution in the vertical and horizontal directions by using the method described in Non-Patent Document 1, for example, and estimate the range of influence.

[0047] Although the method in which the influence estimation unit 21 estimates the influence range has been described, the influence estimation unit 21 may receive information indicating the occurrence of interference waves and information on the influence range from another device (not shown). For example, the detection of the occurrence of interference waves and the estimation of the influence range may be performed by a device different from the control device 20.

[0048] The influence estimation unit 21 determines whether the operating frequency of the wireless communication device 50-i is a frequency that may be affected by the interference wave, based on the frequency of the interference wave and the operating frequency of the wireless communication device 50-i. For example, if part or all of the operating frequency of the wireless communication device 50-i is included in the frequency of the interference wave or is in an adjacent frequency band to the frequency of the interference wave, the influence estimation unit 21 determines that the operating frequency may be affected by the interference wave.

[0049] Furthermore, for a wireless communication device 50-i that uses a frequency that may be affected by an interference wave, the influence estimation unit 21 determines whether the wireless communication device is present within the influence range based on the location information of the wireless communication device, and if the wireless communication device is present within the influence range, estimates that the wireless communication device is affected by the interference wave.

[0050] The determination unit 22 is connected to the influence estimation unit 21 and the instruction unit 23. The determination unit 22 identifies a non-interfering wireless communication device based on the influence range. The non-interfering wireless communication device is a wireless communication device that is located in a position that is not affected by interference waves. At this time, the determination unit 22 identifies a non-interfering wireless communication device from among wireless communication devices that use, for wireless communication, sound waves of a frequency that can reduce the impact of interference waves on the interfering wireless communication device. The interfering wireless communication device is a wireless communication device that is affected by interference waves. Furthermore, the determination unit 22 determines, from among the identified non-interfering wireless communication devices, a non-interfering wireless communication device that is to exchange operating frequencies with the interfering wireless communication device.

[0051] That is, determination unit 22 determines which wireless communication devices among wireless communication devices 50-1 to 50-N will exchange operating frequencies with one another. Of the wireless communication devices whose operating frequencies will be exchanged, one is an interfering wireless communication device, and the other is a non-interfering wireless communication device.

[0052] The determination unit 22 determines, from among the non-interfering radio communication devices, a non-interfering radio communication device that satisfies both of the following two conditions as a non-interfering radio communication device that will exchange operating frequencies with the interfering radio communication device. The frequency used by the non-interference wireless communication device is a frequency that is not affected by interference waves. The frequency used by a wireless communication device within a predetermined distance of the non-interfering wireless communication device is a frequency that does not interfere with the frequency used by the interfering wireless communication device.

[0053] The instruction unit 23 is connected to the determination unit 22. The instruction unit 23 instructs the interfering wireless communication device and the non-interfering wireless communication device that is the target of exchanging the operating frequency to change the operating frequency to the exchanged frequency. At this time, the interfering wireless communication device may be unable to communicate with the base station 40 due to the influence of interference waves. Therefore, the instruction unit 23 may instruct the base station 40 to use a predetermined backup frequency (or frequency band) when wireless communication between the interfering wireless communication device and the base station 40 becomes impossible. In this case, the wireless communication device also uses the backup frequency when wireless communication with the base station 40 becomes impossible.

[0054] When there is no non-interfering radio device suitable for exchanging the operating frequency, the determination unit 22 may determine the operating frequency of the radio communication device 50-i by using, in addition to the available frequency of the radio communication device 50-i, adjacent frequencies adjacent to the available frequency as candidates for the operating frequency. The available frequency is a frequency that the radio communication device 50-i can use. At this time, the instruction unit 23 instructs the radio communication device 50-i to use the determined operating frequency.

[0055] A device that outputs sound waves usually outputs sound waves of a certain frequency (or frequency band) (for example, AHz, BHz, CHz). These frequencies are usable frequencies. A device that outputs sound waves can also output sound waves of frequencies adjacent to the certain frequency, although the output signal strength is lower.

[0056] Therefore, when there is no non-interfering radio device suitable for exchanging operating frequencies, the determination unit 22 may determine the operating frequency of the radio communication device 50-i by taking into consideration the available frequencies that are not set as operating frequencies. In this case, the determination unit 22 determines the operating frequency of the radio communication devices 50-1 to 50-N so that the radio communication devices 50-1 to 50-N do not interfere with each other and so as to reduce the impact of interference waves on the interfering radio communication device. The determination unit 22 may also take into consideration the use of adjacent frequencies when determining the operating frequency of the radio communication device 50-i. Note that adjacent frequencies have low output signal strength and therefore have short communication distances. Therefore, the determination unit 22 can set adjacent frequencies as candidates for the operating frequency for a radio communication device whose distance from the base station 40 is shorter than the communication distance at the adjacent frequency.

[0057] Furthermore, when interference occurs with underwater sonic communications carried out in other businesses, the decision unit 22 may adjust the operating frequency or signal strength between the underwater sonic communications carried out in other businesses. For example, when the influence of interference waves cannot be avoided even by exchanging frequencies between the wireless communication devices 50-1 to 50-N, the decision unit 22 may allocate operating frequencies including underwater sonic communications carried out in other businesses (other communication systems). In this case, for example, information may be transmitted and received between the control devices of the other businesses. Furthermore, the decision unit 22 may avoid interference not only by adjusting the operating frequency but also by adjusting the signal strength. Furthermore, the decision unit 22 may avoid interference by changing the output direction of the sound waves, for example, by narrowing the directivity.

[0058] Next, a method for detecting the occurrence of interference waves will be described. There are two methods for detecting the occurrence of interference waves: a method for detecting based on sound waves received by the base station 40, and a method for detecting based on sound waves received by the wireless communication device 50-i.

[0059] First, a method for detecting interference waves based on sound waves received by the base station 40 will be described.

[0060] In this case, base station 40 transmits information about the received sound waves to control device 20. The sound wave information includes information about the direction from which the sound waves arrive and information about the frequency of the sound waves. Note that base station 40 does not need to transmit information about sound waves used in communications with wireless communication devices 50-1 to 50-N or sound waves with frequencies that do not affect the frequencies used by wireless communication devices 50-1 to 50-N.

[0061] For example, when the base station 40 receives any of the following sound waves, the control device 20 can determine that an interference wave has occurred. Sound waves arriving from a direction where no wireless communication devices 50-1 to 50-N exist Sound waves coming from the direction in which the wireless communication devices 50-1 to 50-N are present, but with a frequency different from the frequency used by the wireless communication devices present in that direction Sound waves with unknown identity Next, a method for detecting an interference wave based on the sound wave received by the wireless communication device 50-i will be described.

[0062] In this case, the wireless communication device 50-i transmits information about the received sound waves to the control device 20 via the base station 40. The sound wave information includes information about the direction from which the sound waves arrive and information about the frequency of the sound waves. Note that the wireless communication device 50-i does not need to transmit information about sound waves used in communication with the base station 40 or sound waves with frequencies that do not affect the frequencies used by the wireless communication devices 50-1 to 50-N.

[0063] Furthermore, if the wireless communication device 50-i is affected by interference waves, it cannot communicate using the original frequency it is using, and therefore in that case it communicates with the base station 40 using one of the spare frequencies that is not affected by interference waves.

[0064] Next, a method for estimating the position of an interference source will be described. The position of an interference source is estimated by an interference source position estimator 24.

[0065] For example, the interference source position estimation unit 24 receives, from the base station 40, information on interference waves received by the base station 40. The information on the interference waves includes information on the direction of arrival and frequency of the interference waves. The interference source position estimation unit 24 also receives, from the wireless communication device 50-i, information on interference waves received by the wireless communication device 50-i. The position of the wireless communication device 50-i is estimated by the influence estimation unit 21. The interference source position estimation unit 24 then estimates the position of the interference source using, from the information on the received interference waves, information on interference waves that are estimated to be from the same interference source. For example, the interference source position estimation unit 24 can determine the position of the interference source as the intersection of lines drawn from the position of the device (base station 40 or wireless communication device 50-i) that received the interference waves in the direction of arrival of the interference waves. Note that the interference source position estimation unit 24 may, for example, regard interference waves of the same frequency as interference waves from the same interference source.

[0066] The interference source location estimation unit 24 may further estimate the location of the interference wave based on the received signal strength of the interference wave. In this case, the information on the interference wave further includes information on the received signal strength at the device that received the interference wave.

[0067] Next, an example of the operation flow of the wireless communication device 50-i, the base station 40, and the control device 20 will be described with reference to Fig. 5 and Fig. 2. Fig. 5 shows the operation flow of the wireless communication device 50-i, the base station 40, and the control device 20.

[0068] First, when the base station 40 receives sound waves, it transmits information about the sound waves to the control device 20 (steps S201 and S202 in FIG. 5). Also, when the wireless communication device 50-i receives sound waves, it transmits information about the sound waves to the control device 20 (steps S203 and S204).

[0069] The influence estimation unit 21 of the control device 20 determines whether an interference wave has occurred based on the received sound wave information (step S205). If an interference wave has occurred, the interference source position estimation unit 24 of the control device 20 estimates the position of the interference source (step S206). Furthermore, the influence estimation unit 21 of the control device 20 estimates the range of influence (step S207).

[0070] Then, the control device 20 determines a wireless communication device with which to exchange the operating frequency (step S208). The control device 20 determines a wireless communication device with which to exchange the operating frequency as follows.

[0071] The influence estimation unit 21 estimates whether each of the wireless communication devices 50-1 to 50-N is affected by an interference wave based on the influence range (step S101 in FIG. 1).

[0072] The determination unit 22 identifies a non-interfering wireless communication device based on the influence range (step S102). Furthermore, the determination unit 22 determines, from among the non-interfering wireless communication devices, a non-interfering wireless communication device that is to exchange operating frequencies with the interfering wireless communication device (step S103).

[0073] Then, the instruction unit 23 instructs the interfering radio communication device and the non-interfering radio communication device with which the operating frequency is to be exchanged to change the operating frequency to the exchanged frequency (step S104 in FIG. 1, step S209 in FIG. 5).

[0074] As described above, in the second embodiment of the present invention, the control device 20 includes an influence estimation unit 21, a determination unit 22, and an instruction unit 23. The control device 20 is connected to a base station. The base station performs wireless communication using sound waves with multiple wireless communication devices. The multiple wireless communication devices are located underwater. The control device 20 also controls the operating frequencies of the wireless communication devices. The operating frequencies are frequencies used by the wireless communication devices for wireless communication. When an interference wave that may interfere with wireless communication occurs, the influence estimation unit 21 estimates, based on the influence range, whether each wireless communication device will be affected by the interference wave. The influence range is a range in which interference may occur in wireless communication due to the influence of the interference wave. The determination unit 22 identifies a non-interfering wireless communication device from among wireless communication devices that use sound waves of a frequency that can reduce the influence of the interference wave on the interfering wireless communication device, based on the influence range. Furthermore, the determination unit 22 determines, from the identified non-interfering wireless communication devices, a non-interfering wireless communication device that will exchange operating frequencies with the interfering wireless communication device. The interfering wireless communication device is a wireless communication device that is affected by the interference wave. The non-interfering wireless communication device is a wireless communication device that is located in a position that is not affected by the interference wave. The instruction unit 23 instructs the interfering wireless communication device and the non-interfering wireless communication device with which the operating frequency is to be exchanged to change the operating frequency to the frequency after the exchange.

[0075] As a result, the control device 20 detects a non-interference signal that is transmitted to the interfering wireless communication device and uses sound waves of a frequency that can reduce the influence of the interference wave on the interfering wireless communication device. interference Since the frequency used by the interfering wireless communication device is exchanged between the wireless communication device and the interfering wireless communication device, it is possible to reduce the influence of interference waves on the interfering wireless communication device.

[0076] Furthermore, because sound waves generally propagate farther underwater than radio waves, there is a possibility that multiple wireless communication devices may be affected by interference waves. Therefore, if the operating frequency of an interfering wireless communication device is simply exchanged with that of another wireless communication device, the other wireless communication device may be affected by interference waves after the exchange of operating frequencies. The control device 20 of this embodiment identifies a non-interfering wireless communication device located in a position that is not affected by interference waves based on the range of influence. Then, the control device 20 exchanges operating frequencies between the interfering wireless communication device and the non-interfering wireless communication device. Therefore, it is possible to prevent a wireless communication device that has exchanged operating frequencies with an interfering wireless communication device from being affected by interference waves after the exchange of operating frequencies.

[0077] Therefore, according to the control device 20 of this embodiment, it is possible to reduce the influence of interference in underwater communication using sound waves.

[0078] Furthermore, the control device 20 of this embodiment exchanges frequencies used among the wireless communication devices 50-1 to 50-N included in the communication system 60. This allows for efficient use of the available frequency band of the communication system 60. In the case of sound waves, the available frequency band is narrower than that of radio waves. Therefore, it is desirable to be able to efficiently use the available frequency band.

[0079] Furthermore, the influence estimation unit 21 of the control device 20 of this embodiment estimates the influence range based on the position information of the interference source emitting the interference wave, the frequency of the interference wave, topographical information around the interference source, and the sound speed around the interference source, thereby enabling the control device 20 to estimate the influence range.

[0080] The influence estimation unit 21 receives information acquired by an information acquisition device that is present in the vicinity of the interference source and acquires information on at least one of the water temperature and salinity concentration around the interference source, and estimates the speed of sound based on the received information. This allows the control device 20 to estimate the influence range according to the water temperature and salinity concentration at the time of estimation.

[0081] The control device 20 also includes an interference source position estimation unit 24. The interference source position estimation unit 24 estimates the position of the interference source based on information about the interference wave received by the wireless communication device and position information about the wireless communication device. This allows the control device 20 to estimate the range of influence based on the position of the interference source.

[0082] Furthermore, when wireless communication between the interfering wireless communication device and base station 40 becomes impossible, instruction unit 23 instructs base station 40 to use a predetermined backup frequency and change the frequency in use. This allows control device 20 to avoid the instruction to change the frequency in use not reaching the interfering wireless communication device due to the influence of interference waves.

[0083] Furthermore, when there is no non-interfering wireless communication device suitable for exchanging the operating frequency, the determination unit 22 determines the operating frequency of each wireless communication device by using, as candidate operating frequencies, adjacent frequencies adjacent to the available frequencies in addition to available frequencies that the wireless communication device can use. Furthermore, the instruction unit 23 instructs each wireless communication device to use the determined operating frequency. In this way, when there is no non-interfering wireless communication device suitable for exchanging the operating frequency, it is more likely that the operating frequency of each wireless communication device can be determined so as to reduce the influence of interference waves.

[0084] [Hardware configuration example] An example of the configuration of hardware resources for realizing the control device (10, 20) in each of the above-described embodiments of the present invention using one information processing device (computer) will be described. Note that the control device may be physically or functionally realized using at least two information processing devices. The control device may also be realized as a dedicated device. Also, only some of the functions of the control device may be realized using an information processing device.

[0085] 6 is a diagram illustrating an example of the hardware configuration of an information processing device that can realize the control device of each embodiment of the present invention. The information processing device 90 includes a communication interface 91, an input / output interface 92, a calculation device 93, a storage device 94, a nonvolatile storage device 95, and a drive device 96.

[0086] 1 can be realized by a communication interface 91 and a computing device 93. The determination unit 12 can be realized by the computing device 93.

[0087] The communication interface 91 is a communication means for the control device of each embodiment to communicate with an external device via a wired or / and wireless connection. When the control device is realized using at least two information processing devices, the devices may be connected via the communication interface 91 so as to be able to communicate with each other.

[0088] The input / output interface 92 is a man-machine interface including a keyboard as an example of an input device and a display as an output device.

[0089] The arithmetic device 93 is realized by a general-purpose central processing unit (CPU), a microprocessor, or other arithmetic processing device, and a plurality of electric circuits. The arithmetic device 93 can, for example, read various programs stored in a nonvolatile storage device 95 into the storage device 94 and execute processing in accordance with the read programs.

[0090] The storage device 94 is a memory device such as a RAM (Random Access Memory) that can be accessed by the arithmetic device 93, and stores programs, various data, etc. The storage device 94 may be a volatile memory device.

[0091] The nonvolatile storage device 95 is a nonvolatile storage device such as a ROM (Read Only Memory) or a flash memory, and is capable of storing various programs, data, and the like.

[0092] The drive device 96 is, for example, a device that processes reading and writing of data from and to a recording medium 97, which will be described later.

[0093] The recording medium 97 is any recording medium capable of recording data, such as an optical disk, a magneto-optical disk, or a semiconductor flash memory.

[0094] Each embodiment of the present invention may be realized, for example, by configuring a control device using the information processing device 90 illustrated in FIG. 6 and supplying a program capable of realizing the functions described in each of the above embodiments to this control device.

[0095] In this case, the embodiment can be realized by having the arithmetic unit 93 execute a program supplied to the control unit. Also, it is possible to configure some, but not all, of the functions of the control unit in the information processing unit 90.

[0096] Furthermore, the control device may be configured so that the program is recorded on a recording medium 97 and is stored in the nonvolatile storage device 95 as appropriate when the control device is shipped or when it is in operation. In this case, the program may be supplied by installing it in the control device using an appropriate jig during the manufacturing stage before shipping or during operation. The program may also be supplied by a general procedure such as downloading it from an external source via a communication line such as the Internet.

[0097] Some or all of the above-described embodiments can be described as, but are not limited to, the following supplementary notes.

[0098] (Appendix 1) A control device that connects to a base station that performs wireless communication using sound waves with a plurality of wireless communication devices present underwater, and controls a usage frequency that is a frequency used by the wireless communication devices for wireless communication, an influence estimation means for estimating, when an interference wave that may cause interference with the wireless communication occurs, whether or not each of the wireless communication devices will be affected by the interference wave, based on an influence range that is a range within which interference may occur in the wireless communication due to the influence of the interference wave; a determination means for identifying a non-interfering wireless communication device that is a wireless communication device located at a position that is not affected by the interference wave from among the wireless communication devices that use, for wireless communication, sound waves of a frequency that can reduce the influence of the interference wave on the interfering wireless communication device that is the wireless communication device affected by the interference wave, based on the range of influence, and determining, from the identified non-interfering wireless communication devices, a non-interfering wireless communication device that is a target for exchanging operating frequencies with the interfering wireless communication device; an instruction means for instructing the interfering wireless communication device and the non-interfering wireless communication device with which the frequency is exchanged to change the frequency to a frequency after the exchange; A control device comprising:

[0099] (Appendix 2) the influence estimation means estimates the influence range based on position information of an interference source emitting the interference wave, a frequency of the interference wave, topographical information of the vicinity of the interference source, and a sound speed of the vicinity of the interference source; 10. The control device of claim 1.

[0100] (Appendix 3) The influence estimation means receives information acquired by an information acquisition device that is present in the vicinity of the interference source and acquires information on at least one of water temperature and salinity around the interference source, and estimates the sound speed based on the received information. 3. The control device according to claim 2.

[0101] (Appendix 4) an interference source position estimation means for estimating the position of the interference source based on information on the interference wave received by the wireless communication device and position information on the wireless communication device; 4. The control device according to claim 2 or 3, further comprising:

[0102] (Appendix 5) the instruction means, when the wireless communication between the interfering wireless communication device and the base station becomes impossible, causes the base station to use a predetermined backup frequency and instructs the base station to change the frequency in use. 5. The control device according to any one of Supplementary Note 1 to Supplementary Note 4.

[0103] (Appendix 6) when there is no non-interfering wireless communication device suitable for the exchange of the working frequency, the determination means determines the working frequency of each of the wireless communication devices by using, as candidates for the working frequency, adjacent frequencies adjacent to the available frequencies in addition to the available frequencies that the wireless communication device can use, the instruction means instructs each of the wireless communication devices to use the determined operating frequency. 6. The control device according to any one of Supplementary Note 1 to Supplementary Note 5.

[0104] (Appendix 7) A control system that connects to a base station that performs wireless communication using sound waves with a plurality of wireless communication devices present underwater, and controls a frequency used by the wireless communication devices for wireless communication, an influence estimation means for estimating, when an interference wave that may cause interference with the wireless communication occurs, whether or not each of the wireless communication devices will be affected by the interference wave, based on an influence range that is a range within which interference may occur in the wireless communication due to the influence of the interference wave; a determination means for identifying a non-interfering wireless communication device that is a wireless communication device located at a position that is not affected by the interference wave from among the wireless communication devices that use, for wireless communication, sound waves of a frequency that can reduce the influence of the interference wave on the interfering wireless communication device that is the wireless communication device affected by the interference wave, based on the range of influence, and determining, from the identified non-interfering wireless communication devices, a non-interfering wireless communication device that is a target for exchanging operating frequencies with the interfering wireless communication device; an instruction means for instructing the interfering wireless communication device and the non-interfering wireless communication device with which the frequency is exchanged to change the frequency to a frequency after the exchange; A control system comprising:

[0105] (Appendix 8) A control method for a control device that connects to a base station that performs wireless communication using sound waves with multiple wireless communication devices present underwater, and controls a usage frequency that is a frequency used by the wireless communication devices for wireless communication, comprising: When an interference wave that may cause interference with the wireless communication occurs, based on an influence range that is a range in which interference with the wireless communication may occur due to the influence of the interference wave, estimate whether or not each of the wireless communication devices will be affected by the interference wave; Based on the range of influence, from among the wireless communication devices that use, for their wireless communication, sound waves of a frequency that can reduce the influence of the interference wave on the interfering wireless communication device, which is the wireless communication device that is affected by the interference wave, a non-interfering wireless communication device that is a wireless communication device that is located at a position that is not affected by the interference wave is identified, and from among the identified non-interfering wireless communication devices, a non-interfering wireless communication device that is a target for exchanging operating frequencies with the interfering wireless communication device is determined; instructing the interfering wireless communication device and the non-interfering wireless communication device with which the frequency is exchanged to change the frequency to the exchanged frequency; Control method.

[0106] (Appendix 9) estimating the range of influence based on location information of an interference source emitting the interference wave, a frequency of the interference wave, topographical information around the interference source, and a sound speed around the interference source; 9. The control method according to claim 8.

[0107] (Appendix 10) A computer-readable recording medium having recorded thereon a control program for a control device that connects to a base station that performs wireless communication using sound waves with a plurality of wireless communication devices present underwater, and controls a usage frequency that is a frequency used by the wireless communication devices for wireless communication, On the computer, an influence estimation function that, when an interference wave that may cause interference with the wireless communication occurs, estimates whether or not each of the wireless communication devices will be affected by the interference wave based on an influence range that is a range within which interference may occur in the wireless communication due to the influence of the interference wave; a determination function for identifying, based on the range of influence, a non-interfering wireless communication device that is a wireless communication device located in a position that is not affected by the interference wave from among the wireless communication devices that use, for their wireless communication, sound waves of a frequency that can reduce the influence of the interference wave on the interfering wireless communication device that is the wireless communication device affected by the interference wave, and for determining, from among the identified non-interfering wireless communication devices, the non-interfering wireless communication device that is to exchange operating frequencies with the interfering wireless communication device; an instruction function for instructing the interfering wireless communication device and the non-interfering wireless communication device that is the target of the exchange of the usage frequency to change the usage frequency to the frequency after the exchange; A computer-readable recording medium on which a control program for realizing the above is recorded.

[0108] Although the present invention has been described above with reference to the embodiments, the present invention is not limited to the above embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention.

[0109] This application claims priority based on Japanese Patent Application No. 2023-029647, filed February 28, 2023, the disclosure of which is incorporated herein in its entirety. [Explanation of symbols]

[0110] 10, 20 Control device 11, 21 Impact Estimation Section 12, 22 Decision Section 13, 23 Instruction section 24 Interference source location estimation unit 40 base station 50-i wireless communication device 90 Information processing equipment 91 Communication Interface 92 Input / Output Interface 93 Arithmetic unit 94 Storage device 95 Non-volatile storage devices 96 Drive Device 97 Recording Media

Claims

1. A control device that connects to a base station that performs wireless communication using sound waves with a plurality of wireless communication devices present underwater, and controls a usage frequency that is a frequency used by the wireless communication devices for wireless communication, an influence estimation means for estimating, when an interference wave that may cause interference with the wireless communication occurs, whether or not each of the wireless communication devices will be affected by the interference wave based on an influence range that is a range within which interference may occur in the wireless communication due to the influence of the interference wave; a determination means for identifying a non-interfering wireless communication device that is a wireless communication device located at a position that is not affected by the interference wave from among the wireless communication devices that use, for wireless communication, sound waves of a frequency that can reduce the influence of the interference wave on the interfering wireless communication device that is the wireless communication device affected by the interference wave, based on the range of influence, and determining, from the identified non-interfering wireless communication devices, a non-interfering wireless communication device that is a target for exchanging operating frequencies with the interfering wireless communication device; an instruction means for instructing the interfering wireless communication device and the non-interfering wireless communication device with which the frequency is exchanged to change the frequency to a frequency after the exchange; A control device comprising:

2. the influence estimation means estimates the influence range based on location information of an interference source emitting the interference wave, a frequency of the interference wave, topographical information of the vicinity of the interference source, and a sound speed around the interference source; The control device according to claim 1 .

3. The influence estimation means receives information acquired by an information acquisition device that is present in the vicinity of the interference source and acquires information on at least one of water temperature and salinity around the interference source, and estimates the sound speed based on the received information. The control device according to claim 2 .

4. an interference source position estimation means for estimating the position of the interference source based on information on the interference wave received by the wireless communication device and position information on the wireless communication device; The control device according to claim 2 or 3, further comprising:

5. the instruction means, when the wireless communication between the interfering wireless communication device and the base station becomes impossible, causes the base station to use a predetermined backup frequency and instructs the base station to change the frequency in use. The control device according to claim 1 .

6. when there is no non-interfering wireless communication device suitable for the exchange of the working frequency, the determination means determines the working frequency of each of the wireless communication devices by using, as candidates for the working frequency, adjacent frequencies adjacent to the available frequencies in addition to the available frequencies that the wireless communication device can use, the instruction means instructs each of the wireless communication devices to use the determined operating frequency. The control device according to claim 1 .

7. A control system that connects to a base station that performs wireless communication using sound waves with multiple wireless communication devices present underwater, and controls the frequencies used by the wireless communication devices for wireless communication, an influence estimation means for estimating, when an interference wave that may cause interference with the wireless communication occurs, whether or not each of the wireless communication devices will be affected by the interference wave based on an influence range that is a range within which interference may occur in the wireless communication due to the influence of the interference wave; a determination means for identifying a non-interfering wireless communication device that is a wireless communication device located at a position that is not affected by the interference wave from among the wireless communication devices that use, for wireless communication, sound waves of a frequency that can reduce the influence of the interference wave on the interfering wireless communication device that is the wireless communication device affected by the interference wave, based on the range of influence, and determining, from the identified non-interfering wireless communication devices, a non-interfering wireless communication device that is a target for exchanging operating frequencies with the interfering wireless communication device; an instruction means for instructing the interfering wireless communication device and the non-interfering wireless communication device with which the frequency is exchanged to change the frequency to a frequency after the exchange; A control system comprising:

8. A control method for a control device that connects to a base station that performs wireless communication using sound waves with multiple wireless communication devices present underwater, and controls a usage frequency that is a frequency used by the wireless communication devices for wireless communication, comprising: When an interference wave that may cause interference with the wireless communication occurs, based on an influence range that is a range in which interference with the wireless communication may occur due to the influence of the interference wave, estimate whether or not each of the wireless communication devices will be affected by the interference wave; Based on the range of influence, from among the wireless communication devices that use, for their wireless communication, sound waves of a frequency that can reduce the influence of the interference wave on the interfering wireless communication device, which is the wireless communication device that is affected by the interference wave, a non-interfering wireless communication device that is a wireless communication device that is located at a position that is not affected by the interference wave is identified, and from among the identified non-interfering wireless communication devices, a non-interfering wireless communication device that is a target for exchanging operating frequencies with the interfering wireless communication device is determined; instructing the interfering wireless communication device and the non-interfering wireless communication device with which the frequency is exchanged to change the frequency to the exchanged frequency; Control method.

9. estimating the range of influence based on location information of an interference source emitting the interference wave, a frequency of the interference wave, topographical information around the interference source, and a sound speed around the interference source; The control method according to claim 8.

10. A control program for a control device that connects to a base station that performs wireless communication using sound waves with a plurality of wireless communication devices present underwater, and controls a usage frequency that is a frequency used by the wireless communication devices for wireless communication, On the computer, an influence estimation function that, when an interference wave that may cause interference with the wireless communication occurs, estimates whether or not each of the wireless communication devices will be affected by the interference wave based on an influence range that is a range within which interference may occur in the wireless communication due to the influence of the interference wave; a determination function for identifying, based on the range of influence, a non-interfering wireless communication device that is a wireless communication device located in a position that is not affected by the interference wave from among the wireless communication devices that use, for their wireless communication, sound waves of a frequency that can reduce the influence of the interference wave on the interfering wireless communication device that is the wireless communication device affected by the interference wave, and for determining, from among the identified non-interfering wireless communication devices, the non-interfering wireless communication device that is to exchange operating frequencies with the interfering wireless communication device; an instruction function for instructing the interfering wireless communication device and the non-interfering wireless communication device that is the target of the exchange of the usage frequency to change the usage frequency to the frequency after the exchange; A control program that realizes this.

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