Management system for underwater intrusions, underwater intrusions with transmitters, software for managing underwater intrusions, and method for managing underwater intrusions.

Abstract

To provide a managing system capable of adequately managing an extention state of an underwater extension with more accuracy, the underwater extension with a transmitter, software for management, and a managing method.SOLUTION: Abnormality is notified to a diver H1 and a manager H2 above water by activating an alarm lamp 7a and an alarm device 7b when: a receiver 4 receives ultrasonic waves W transmitted from a plurality of transmitters 2a to 2g installed in an air supply hose 10A with space in between; reception data of the respective ultrasonic waves W are inputted to a computer 5; positions of respective transmitters 2 are calculated based on respective reception data by the computer 5; an extending state based on an absolute position of the air supply hose 10A is detected based on calculated positions of the respective transmitters 2, installation position information of the respective transmitters 2 at the air supply hose 10A, and absolute position information of the receiver 4 measured by an absolute position measuring device 6; and the computer 5 is determined that the detected air supply hose 10A extends into a warning area R and is in an abnormality state.SELECTED DRAWING: Figure 8

Description

Technical Field

[0001] The present invention relates to a management system for managing underwater extensions such as long bodies and sheet bodies extending in water, an underwater extension with a transmitter, underwater extension management software, and a method for managing underwater extensions.

Background Art

[0002] In order to ensure the safety of divers, a method for managing the position of an air supply hose that supplies air to a diver has been proposed (see Patent Document 1). This air supply hose is connected to a pump device installed on a diver's ship and supplies air from the pump device to the diver. In the method proposed in Patent Document 1, the position of the diver's ship is grasped using a GNSS unit, and the position of the diver is grasped using a transponder installed on the diver. Then, a straight line segment connecting the position of the diver's ship and the position of the diver is grasped as the position where the air supply hose exists (paragraph 0033).

[0003] However, since the air supply hose does not necessarily extend linearly between the diver's ship and the diver, the state of the air supply hose cannot be accurately grasped by this method. Therefore, there is a risk that it is impossible to accurately determine whether the air supply hoses cross each other by this method.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Not only the air supply hoses mentioned above, but also other types of hoses and pipes that extend underwater can be accurately monitored, allowing for more precise management of these long objects. Similarly, accurately monitoring the extension of sheet materials that extend underwater is desirable for accurate management of such materials. Therefore, there is room for improvement in accurately monitoring the extension of underwater objects and managing them effectively.

[0006] Therefore, the object of the present invention is to provide a management system for underwater structures, such as long bodies and sheets, that can more accurately grasp and manage the extension status of underwater structures, underwater structures with transmitters, software for managing underwater structures, and a method for managing underwater structures. [Means for solving the problem]

[0007] The underwater extension management system of the present invention comprises a plurality of transmitters installed at intervals on the underwater extension, and a receiver that receives the transmission signals emitted from each of the transmitters. 3 or more Receiver and 3 or more The receiver and a computer are connected in a communicative manner, the computer teeth , Three or more of the transmission signals transmitted from the transmitter The aforementioned receiver each Receive Using the difference in arrival time The position of the aforementioned transmitter is calculated, For multiple transmitters calculation It will be done The location of each transmitter and the installation location information of each transmitter on the underwater indentation. and The method is characterized by using this to detect the extension state of the submerged object.

[0008] The present invention relates to an underwater structure with transmitters used in the above-mentioned underwater structure management system, characterized in that a plurality of transmitters are installed on the underwater structure at intervals.

[0009] The underwater inclusion management software of the present invention is used in the above-mentioned underwater inclusion management system, and in the state installed on the computer, the computer Using the aforementioned difference in arrival time The system is characterized by its ability to calculate the position of each of the aforementioned transmitters.

[0010] The present invention provides a method for managing underwater intrusions, which involves installing multiple transmitters at intervals around an underwater intrusion. The aforementioned The transmission signal emitted from the transmitter 3 or more receiver Each Received Time difference when doing so Enter the following into the computer, and the computer Using the aforementioned difference in arrival time The position of the aforementioned transmitter is calculated, For multiple transmitters calculation It will be done The position of each of the transmitters, and the installation position information of each of the transmitters on the underwater indented object. Using The method is characterized by detecting the extension state of the submerged object. [Effects of the Invention]

[0011] According to the present invention, the calculated extension state of the underwater extension reflects the position of each transmitter installed on the underwater extension, allowing for a more accurate understanding of the extension state of the underwater extension. As a result, it is advantageous for accurately managing the underwater extension that is actually submerged in water. [Brief explanation of the drawing]

[0012] [Figure 1] This is an explanatory diagram illustrating the overall configuration of an embodiment of a management system for underwater inclusions. [Figure 2] Figure 1 is an explanatory diagram illustrating the configuration of the computer. [Figure 3] Figure 1 is an explanatory diagram illustrating the installation location information of each transmitter on an underwater indentation. [Figure 4] This is an explanatory diagram illustrating the overall configuration of another embodiment of the management system. [Figure 5]It is an explanatory diagram illustrating the three-dimensional positions of each transmitter calculated by a computer. [Figure 6] It is an explanatory diagram illustrating the three-dimensional extended state of the air supply hose calculated based on the positions of each transmitter in FIG. 5. [Figure 7] It is an explanatory diagram showing a modified example of the extended state of the air supply hose in FIG. 6. [Figure 8] It is an explanatory diagram illustrating an embodiment in which a management system is applied to an air supply hose. [Figure 9] It is an explanatory diagram illustrating the step of installing a transmitter on an air supply hose. [Figure 10] It is an explanatory diagram illustrating the state in which a transmitter is installed on the air supply hose in FIG. 9. [Figure 11] It is a sectional view taken along line A-A in FIG. 10. [Figure 12] It is an explanatory diagram showing a modified example of the holder in FIG. 11. [Figure 13] It is an explanatory diagram illustrating the detected two-dimensional (X-Z plane) extended state of the air supply hose. [Figure 14] It is an explanatory diagram illustrating another two-dimensional (Y-Z plane) extended state of the air supply hose in FIG. 13. [Figure 15] It is an explanatory diagram illustrating yet another two-dimensional (X-Y plane) extended state of the air supply hose in FIG. 13. <00​​​​​​​​​​​​​​​This is an explanatory diagram illustrating an embodiment in which the management system is applied to a pollution control sheet. [Figure 22] This is an explanatory diagram illustrating the two-dimensional (XZ plane) extent of the pollution control sheet and the warning area as detected by computer in Figure 21. [Figure 23] This is an explanatory diagram illustrating an embodiment in which the management system is applied to a sand-proof sheet. [Figure 24] This is an explanatory diagram illustrating the two-dimensional (YZ plane) extension state and warning area of ​​the sand-prevention sheet as detected by computer in Figure 23. [Figure 25] This is an explanatory diagram showing variations in the installation positions of each transmitter on an underwater intrusion. [Modes for carrying out the invention]

[0013] The underwater intrusion management system, underwater intrusion with transmitter, underwater intrusion management software, and underwater intrusion management method of the present invention will be described below based on the embodiments shown in the figures.

[0014] The embodiment of the underwater submerged object management system 1 illustrated in Figure 1 comprises a plurality of transmitters 2 installed at intervals on the underwater submerged object 10, a receiver 4, and a computer 5 that is communicatively connected to the receiver 4. The management system 1 of this embodiment further comprises an absolute position measuring instrument 6, a warning device 7, and a display device (display) 8. Each transmitter 2 and receiver 4 is located underwater. The computer 5, absolute position measuring instrument 6, warning device 7, and display device 8 are located above the water. The warning device 7 may also be installed underwater.

[0015] The underwater extending object 10 is not particularly limited as long as it extends in water, and can be various long bodies or sheets. The underwater environment in which the underwater extending object 10 extends can be the sea, rivers, lakes, reservoirs, dam lakes, etc.Specific examples of underwater extending objects 10 will be described later, but examples of long underwater extending objects 10 include an air supply hose 10A that supplies air to diver H1, a power supply line 10B or communication line 10C connected to a portable device 9 carried by diver H1, a power supply line 10B or communication line 10C connected to an underwater operating device 21 that performs work underwater, an anchor rope 10D, and a pumping pipe 10E for pumping sediment.Examples of underwater extending objects 10 made of sheets include sheets that form compartments in the water (pollution prevention sheets 10F) and sheets that are laid in the water (sand prevention sheets 10G, erosion prevention sheets).Underwater extending objects 10 made of sheets also include net-like sheets.

[0016] Transmitter 2 has a function to indicate its own position. Transmitter 2 in this embodiment emits ultrasonic waves W as a transmission signal. These ultrasonic waves W contain identifying information (information that identifies transmitter 2 from other transmitters 2). For example, the frequencies of the ultrasonic waves W emitted by each transmitter 2 can be made different to form the above identifying information. Transmitter 2 emits ultrasonic waves W at predetermined transmission intervals. The frequency of these ultrasonic waves W (e.g., 100Hz to 90kHz), the transmission output, and the transmission interval are set to appropriate values ​​according to the usage conditions of the underwater object 10. The higher the transmission output, or the shorter the transmission interval, the more power is required to transmit the ultrasonic waves W. Transmitter 2 in this embodiment has a built-in battery 2Bt, as illustrated in Figure 9, and operates using this battery 2Bt. Therefore, the transmission output and transmission interval of the ultrasonic waves W are set taking into consideration the lifespan of the battery 2Bt. This transmission output is set so that the ultrasonic waves W can reach a location, for example, several tens of meters away, in the water area where transmitter 2 is used. This transmission interval should be, for example, between 1 and 60 seconds.

[0017] The smaller the size of the transmitter 2, the easier it is to install it on various underwater indentations 10, thus simplifying its handling. Furthermore, a smaller transmitter 2 experiences less force due to the water flow, which is advantageous in preventing unwanted forces from acting on the underwater indentation 10 where the transmitter 2 is installed. Therefore, it is preferable that the size of the transmitter 2 be 100 mm or less in length, and 20 mm or less in width and thickness.

[0018] To install the transmitter 2 on the underwater object 10, for example, the transmitter 2 can be fixed to the outer surface of the underwater object 10 using cable ties or strings. In this embodiment, the transmitter 2 is installed on the underwater object 10 via the holder 3.

[0019] Receiver 4 receives the ultrasonic waves W emitted by each transmitter 2. In this embodiment, there are four receivers 4. To determine the three-dimensional position of each transmitter 2, the number of receivers 4 should be three or more. Each receiver 4 is connected to a computer 5 for communication, and the received data of the ultrasonic waves W received by each receiver 4 is input to the computer 5. However, if, for example, the only purpose is to calculate the depth position of each transmitter 2 and manage the depth position of the underwater intruder 10, it is possible to use only one receiver 4.

[0020] Computer 5 performs various calculations using input data and stored data. As illustrated in Figure 2, computer 5 has an input unit (interface) into which various data are input, a central processing unit (CPU), a main memory unit (memory), an auxiliary storage unit (HDD), and an output unit (interface) to which processed data is output. The underwater submerged object management software 11 of the present invention (hereinafter referred to as software 11) is stored (installed) in the auxiliary storage unit.

[0021] Computer 5 receives and stores the installation position information Pi of each transmitter 2 on the underwater structure 10. As illustrated in Figure 3, in this embodiment, the installation position information Pi stored in computer 5 includes the arrangement order of each transmitter 2 on the underwater structure 10 (transmitters 2a, 2b, 2c, 2d, 2e, 2f, 2g) and the spacing L between adjacent transmitters 2 (L1, L2, L3, L4, L5, L6). The installation position information Pi preferably includes at least the arrangement order of each transmitter 2 on the underwater structure 10 and the spacing L between adjacent transmitters 2. Therefore, this installation position information Pi may be the position information of each transmitter 2 in a plan view (arrangement order and the position coordinates of each transmitter 2 relative to an arbitrary position).

[0022] The absolute position surveying instrument 6 is a device that measures three-dimensional absolute position (absolute coordinate system), and for example, a GNSS receiver (such as a GNSS compass or GNSS directional compass) is used. The absolute position surveying instrument 6 is connected to the computer 5 in a communication manner, and the three-dimensional absolute position of the location where the absolute position surveying instrument 6 is installed is input to the computer 5.

[0023] The warning device 7 is a device that issues a warning. The warning device 7 is controlled by the computer 5. The specific warning device 7 will be described later, but for example, at least one of the following is used: a warning light 7a, an alarm device 7b, a warning display device 7c, and a vibration device 7d.

[0024] The display device 8 is connected to the computer 5 in a communication manner. The display device 8 displays data input to the computer and data (calculation results) calculated by the computer 5.

[0025] Another embodiment of the management system 1 illustrated in Figure 4 is equipped with a separate computer 5a compared to the embodiment described above. Computer 5 and the other computer 5a are communicated with each other. In this embodiment, as in the embodiment described above, each receiver 4 is communicated with computer 5, and the received data of ultrasonic waves W received by each receiver 4 is input to computer 5. The absolute position measuring instrument 6 is communicated with the other computer 5a, and the three-dimensional absolute position of the location where the absolute position measuring instrument 6 is installed is input to the other computer 5a. The warning device 7 is communicated with the other computer 5a and is controlled by the other computer 5a. The display device 8 is communicated with the other computer 5a. For example, a ship may already have a system equipped with an absolute position measuring instrument 6, a computer 5a, a display device 8, etc., to grasp the absolute position information of the ship. In such a case, the configuration of the embodiment illustrated in Figure 4 can be achieved by adding a plurality of transmitters 2, receivers 4, a computer 5 communicated with the receivers 4, and a warning device 7 to the existing system of such a ship. Furthermore, the display device 8 can also be connected to the computer 5 in Figure 4 in a communication-enabled manner.

[0026] The submersible object with transmitters of the present invention is a submersible object 10 on which a plurality of transmitters 2 are installed at intervals. The software 11 is computer software for implementing this management system 1, and causes the computer 5 to perform calculation processing for implementing the management system 1. This software 11 can be provided by storing it on a storage medium such as a CD-ROM, or by downloading it via a communication network.

[0027] In this management system 1, computer 5 calculates the three-dimensional position of each transmitter 2a to 2g in water based on the received data of the transmitted signals from each transmitter 2a to 2g received by each receiver 4, 4, 4, 4. More specifically, since transmitter 2a transmits ultrasonic waves W at predetermined transmission intervals, receiver 4 repeatedly receives the ultrasonic waves W transmitted from transmitter 2a. The intersection of three hyperbolas obtained from the distance difference corresponding to the arrival time difference between the ultrasonic waves W transmitted from transmitter 2a and received by each receiver 4, 4, 4, 4 represents the three-dimensional position of transmitter 2a. In this way, the three-dimensional position of transmitter 2a is calculated using hyperbolic navigation. The three-dimensional positions of transmitters 2b to 2g other than transmitter 2a are calculated in the same manner. Note that the arrows X, Y, and Z in the figure indicate the width, depth, and height directions in the water (underwater), respectively, and are mutually orthogonal directions.

[0028] Figure 5 shows the three-dimensional positions of each transmitter 2a to 2g, calculated as described above, plotted and displayed on the display device 8. That is, as illustrated in Figure 5, the computer 5 calculates the three-dimensional positions of each transmitter 2a to 2g relative to each receiver 4, 4, 4, 4. Here, the computer 5 stores the arrangement order of each transmitter 2a to 2g on the underwater extension 10 as installation position information Pi for each transmitter 2a to 2g. Therefore, by connecting the plotted positions of each transmitter 2a to 2g, as illustrated in Figure 5, in their arrangement order based on the installation position information Pi, a simplified extension state of the underwater extension 10, as illustrated in Figure 6, can be displayed on the display device 8.

[0029] The extension state of the underwater intrusion 10 illustrated in Figure 6 is detected by connecting the positions of the respective transmitters 2a to 2g with straight lines in their order of arrangement. Since the actual underwater intrusion 10 may not be refracted at the positions of the respective transmitters 2a to 2g, the plotted positions of the respective transmitters 2a to 2g can also be smoothly connected in a curved line in their order of arrangement and displayed on the display device 8, as illustrated in Figure 7. Whether to connect the plotted positions of the respective transmitters 2a to 2g with straight lines or with a smooth curve should be selected according to the bending characteristics of the underwater intrusion 10.

[0030] In this way, the management system 1, the computer 5 calculates the position of each transmitter 2a to 2g based on the received data of the respective transmission signals received by each receiver 4, 4, 4, 4. Then, based on the calculated positions of each transmitter 2a to 2g and the installation position information Pi, the computer 5 detects the extension status of the underwater extension object 10 in virtually real time.

[0031] As described above, when detecting the extension state of the underwater object 10, the software 11 is activated and the computer 5 is instructed to perform the following multiple processes. First, the software 11 instructs the computer 5 to perform a calculation process to calculate the position of each transmitter 2 based on the ultrasonic W received by each receiver 4. Next, the software 11 instructs the computer 5 to perform a process to detect the extension state of the underwater object 10 by comparing the position of each transmitter 2 calculated by this calculation process with the installation position information Pi of each transmitter 2 on the underwater object 10. Next, the software 11 instructs the computer 5 to perform a process to display the extension state of the underwater object 10 detected by this process on the display device 8.

[0032] In the above-described embodiment, the three-dimensional position of the transmitter 2 is detected with respect to the receivers 4, 4, 4, 4. In the following embodiment, the three-dimensional position detection of the transmitter 2 with respect to the receivers 4, 4, 4, 4 is advanced, and the details of detecting the absolute position of the transmitter 2 in absolute coordinates are described. The three-dimensional absolute position of the installation location of the absolute position surveying device 6 is surveyed and input into the computer 5. The positional relationship between the absolute position surveying device 6 and each of the receivers 4, 4, 4, 4 is known. Therefore, by using the absolute position, which is the survey result of the absolute position surveying device 6, and the above positional relationship, the three-dimensional absolute position of each of the receivers 4, 4, 4, 4 is calculated by the computer 5. In this application, the process from the absolute position surveying of the installation location of the absolute position surveying device 6 to the calculation of the absolute positions of the receivers 4, 4, 4, 4 is referred to as the surveying of the absolute positions of the receivers 4, 4, 4, 4.

[0033] The positions of each transmitter 2a to 2g illustrated in Figure 5 are three-dimensional positions relative to the respective receivers 4, 4, 4, and 4 measured by ultrasonic measurement. By combining these positions with the three-dimensional absolute positions of the respective receivers 4, 4, 4, and 4 described above, the three-dimensional absolute positions of each transmitter 2a to 2g can be calculated. By linking the three-dimensional absolute positions (plot positions) of each transmitter 2a to 2g calculated in this way according to their arrangement order based on the installation position information Pi, the extension state based on the absolute position of the underwater extending object 10 can be detected, similar to the extension state illustrated in Figures 6 and 7. The display device 8 displays the detected extension state based on the absolute position of the underwater extending object 10.

[0034] Therefore, in this embodiment, the absolute position information of receivers 4, 4, 4, 4 measured by the absolute position measuring instrument 6 and the three-dimensional positions of transmitters 2a to 2g relative to each of the receivers 4, 4, 4, 4 are combined to calculate the absolute positions of transmitters 2a to 2g in virtually real time. By using the installation position information Pi of transmitters 2a to 2g, the computer 5 can detect the extension state of the underwater extension object 10 based on its absolute position in virtually real time.

[0035] As described above, when detecting the extension state of the underwater extension object 10 based on its absolute position, the software 11 instructs the computer 5 to perform the following processes. First, the software 11 instructs the computer 5 to perform a calculation process to calculate the position of each transmitter 2 relative to the receiver 4 based on the received ultrasonic W data received by each receiver 4. Next, the software 11 instructs the computer 5 to perform a calculation process to calculate the absolute position of each transmitter 2 using the three-dimensional position of the transmitter 2 calculated by this calculation process and the absolute position information of the receiver 4 measured by the absolute position measuring instrument 6. Next, the software 11 instructs the computer 5 to perform a calculation process to detect the extension state at the absolute position of the underwater extension object 10 based on the absolute position of each transmitter 2 calculated by this calculation process and the installation position information Pi of each transmitter 2 on the underwater extension object 10. Finally, the software 11 instructs the computer 5 to display the extension state at the absolute position of the underwater extension object 10 detected by this process on the display device 8.

[0036] In Figures 6 and 7, the three-dimensional extension state of the underwater extension object 10 is displayed on the display device 8, but the extension state displayed on the display device 8 is not limited to this. For example, the display device 8 may display at least one of the three types of two-dimensional extension states of the underwater extension object 10 (XZ plane, YZ plane, XY plane).

[0037] In this management system 1, the extension state of the underwater object 10 is defined as either a normal state or an abnormal state. An abnormal state is a state in which the underwater object 10 is unable to perform its function normally, or a state in which there is a high probability that it will be unable to perform its function normally. Specifically, examples include a state in which the long underwater object 10 itself is entangled, a state in which the long underwater object 10 is entangled with other long underwater objects 10, a state in which the underwater object 10 is excessively stretched (broken), a state in which the underwater object 10 is excessively bent (refracted), and a state in which the underwater object 10 has entered a warning area R (no entry area) set in the water body. Any state other than an abnormal state is considered a normal state.

[0038] Therefore, the computer 5 stores a parameter threshold that indicates whether the extension state of the underwater object 10 is considered abnormal. In other words, the computer 5 stores a threshold that indicates the boundary between the normal extension state and the abnormal extension state of the underwater object 10. The computer 5 determines whether the calculated extension state of the underwater object 10 is abnormal or normal based on this threshold. This threshold is set to an appropriate value considering the results of pre-tests and past performance values. If the computer 5 determines that the extension state of the underwater object 10 is abnormal, it activates the warning device 7 to issue a warning and inform the relevant parties that the extension state of the underwater object 10 is abnormal.

[0039] As described above, when determining whether the extension state of the underwater extension object 10 is abnormal or normal, the software 11 instructs the computer 5 to perform the following processes. First, it instructs the computer 5 to perform a process that compares the extension state of the underwater extension object 10 calculated by the computer 5 with the abnormal state set for the extension state of the underwater extension object 10 based on a threshold. Next, if the result of this process determines that the extension state of the underwater extension object 10 is abnormal, it instructs the computer 5 to perform a process that activates the warning device 7.

[0040] According to the present invention, the extension state of the underwater object 10 detected by the computer 5 reflects the positions of each transmitter 2 installed at intervals on the underwater object 10. Therefore, the extension state of the underwater object 10 can be grasped with greater accuracy than in the conventional method. Consequently, it is advantageous for accurate management of the underwater object 10 that is actually submerged in water. By reducing the spacing L of the transmitters 2 on the underwater object 10, the extension state of the underwater object 10 can be grasped with even greater accuracy.

[0041] The above explanation mainly describes the case using the embodiment illustrated in Figure 1, but the case using the embodiment illustrated in Figure 4 will be explained below.

[0042] In the embodiment illustrated in Figure 4, the configuration and procedure for detecting the three-dimensional position of the transmitter 2 relative to the receivers 4, 4, 4, 4 are the same as in the embodiment illustrated in Figure 1. In the embodiment illustrated in Figure 4, the three-dimensional absolute position of the installation location of the absolute position measuring instrument 6 is measured and input into another computer 5a. Using the measured absolute position of the absolute position measuring instrument 6 and the positional relationship (known positional relationship) between the absolute position measuring instrument 6 and each of the receivers 4, 4, 4, 4, the three-dimensional absolute position of each of the receivers 4, 4, 4, 4 is calculated by another computer 5a. Then, the three-dimensional position information of the transmitter 2 relative to the receivers 4, 4, 4, 4 calculated by computer 5 is input into another computer 5a and combined with the three-dimensional absolute positions of each of the receivers 4, 4, 4, 4 to calculate the three-dimensional absolute position of each of the transmitters 2a to 2g.

[0043] As described above, the three-dimensional absolute positions of each transmitter 2a to 2g are linked in their arrangement order based on the installation position information Pi input to another computer 5a. This allows the extension state of the underwater extension object 10 based on its absolute position to be detected, similar to the embodiment illustrated in Figure 1. The display device 8 displays the detected extension state of the underwater extension object 10 based on its absolute position. Therefore, the other computer 5a can detect the extension state of the underwater extension object 10 based on its absolute position in virtually real time.

[0044] In the embodiment illustrated in Figure 4, some of the functions of the software 11 described in the embodiment illustrated in Figure 1 (hereinafter referred to as software 11a) are installed on another computer 5a. As described above in the embodiment illustrated in Figure 4, when detecting the extension state based on the absolute position of the underwater extension 10, the software 11 causes the computer 5 to perform a calculation process that calculates the position of each transmitter 2 relative to the receiver 4 based on the received ultrasonic W data received by each receiver 4, similar to the embodiment illustrated in Figure 1.

[0045] The software 11a then causes another computer 5a to perform the following processes. First, the software 11a, while installed on the other computer 5a, performs a calculation process to calculate the absolute position of each transmitter 2, 2, 2, 2 by combining the positions of each transmitter 2, 2, 2, 2 calculated based on the receiver 4 transmitted from computer 5, and the absolute position of the receiver 4 measured by the absolute position measuring instrument 6. Next, it performs a process to detect the extension state of the underwater extension object 10 at its absolute position using the absolute position of each transmitter 2 calculated by this calculation process and the installation position information Pi of each transmitter 2 in the underwater extension object 10. Finally, it performs a process to display the extension state of the underwater extension object 10 at its absolute position, as detected by this process, on the display device 8.

[0046] In the embodiment illustrated in Figure 4, a separate computer 5a stores a parameter threshold that indicates whether the extension state of the underwater extension object 10 is considered abnormal. The separate computer 5a then determines whether the calculated extension state of the underwater extension object 10 is abnormal or normal based on this threshold. If the separate computer 5a determines that the extension state of the underwater extension object 10 is abnormal, it activates the warning device 7 to issue a warning, thereby informing the relevant parties that the extension state of the underwater extension object 10 is abnormal.

[0047] As described above, when determining whether the extension state of the submerged object 10 is abnormal or normal, the software 11a instructs another computer 5a to perform the following processing. First, it instructs the other computer 5a to perform a process that compares the extension state of the submerged object 10 calculated by the other computer 5a with the abnormal state set for the extension state of the submerged object 10 based on a threshold. Next, if the result of this process determines that the extension state of the submerged object 10 is abnormal, it instructs the computer 5a to perform a process that activates the warning device 7.

[0048] The following describes the case where this management system 1 is applied to the air supply hose 10A that supplies air to diver H1, as illustrated in Figure 8. In this embodiment, the underwater intrusion 10 is the air supply hose 10A. The following explanation uses the management system 1 illustrated in Figure 1, but it can be similarly applied to the management system 1 illustrated in Figure 4.

[0049] In the embodiment illustrated in Figure 8, a computer 5, an absolute positioning instrument 6, a warning light 7a, and an alarm device 7b are mounted on the vessel 25. Four receivers 4 are suspended underwater from the vessel 25. An air supply hose 10A extends from an air supply device 20 mounted on the vessel 25 to the diver H1.

[0050] As illustrated in Figure 8, obstacles P, such as rocks and coral reefs, protrude from the seabed G. If the air supply hose 10A gets caught on these obstacles P, there is a risk that the air supply hose 10A will not function properly. Therefore, areas where obstacles P exist are designated as warning areas R. The areas marked with a dashed line in the figure are warning areas R. Areas where construction work is being carried out are also designated as warning areas R because there is a risk that the air supply hose 10A may interfere with the machinery and materials used in the construction if it approaches, making it dangerous.

[0051] In this embodiment, diver H1 has a repeater 9a, a tablet terminal 9b, and a wristwatch terminal 9c as portable devices 9. Diver H1 carries other portable devices 9 as needed. The repeater 9a is connected to a power supply line 10B that supplies electricity from above the water and a communication line 10C used for communication with the computer 5. The electricity supplied through the power supply line 10B is supplied to various portable devices 9 of diver H1 and equipment installed around diver H1 via the repeater 9a. The tablet terminal 9b and wristwatch terminal 9c are configured to operate on their built-in batteries, but they can also be connected to the repeater 9a by wires so that electricity is supplied from the power supply line 10B via the repeater 9a. Furthermore, communication between the computer 5 installed above the water and the various portable devices 9 of diver H1 and equipment installed around diver H1 is conducted via the communication line 10C through the repeater 9a. This allows the computer 5 to control the portable devices 9. Communication between the tablet terminal 9b and the smartwatch terminal 9c and the repeater 9a is conducted wirelessly. Therefore, communication between the tablet terminal 9b and the smartwatch terminal 9 and the computer 5 is conducted wirelessly and via the communication line 10C.

[0052] The power supply line 10B and communication line 10C extend along the air supply hose 10A. In this embodiment, the transmitter 2 is installed at a desired position on the underwater extension 10 using the holder 3 illustrated in Figures 9 to 11, and the power supply line 10B and communication line 10C are bundled to the air supply hose 10A.

[0053] As illustrated in Figure 9, the holder 3 has an insertion hole 3a into which the transmitter 2 is inserted, and as illustrated in Figure 11, its cross-sectional shape is C-shaped. The transmitter 2 is held in the holder 3 by being inserted into the insertion hole 3a and can be removed from the holder 3 by being pulled out of the insertion hole 3a. Therefore, the transmitter 2 is detachably attached to the holder 3. Since the transmitter 2 is powered by a built-in battery 2Bt, the replacement of the transmitter 2 can be completed simply by replacing an old transmitter 2 whose battery 2Bt has reached the end of its life with a new transmitter 2 and inserting it into the insertion hole 3a. Because the transmitter 2, which is powered by the battery 2Bt, has no wiring, the replacement work can be performed quickly.

[0054] The holder 3 is made of resin or rubber, and its C-shaped arc is slightly elastically deformed so that it can be fitted onto the air supply hose 10A. Therefore, the holder 3 is detachable from the air supply hose 10A. Thus, by using this holder 3, the transmitter 2 can be easily installed at a desired position on the air supply hose 10A. In this way, each transmitter 2 should be detachably installed on the outer surface of the underwater indented object 10 via the holder 3.

[0055] A recessed housing section 3b is formed on the inner surface of the C-shaped arc, and this housing section 3b extends in the longitudinal direction of the holder 3. The power supply line 10B and the communication line 10C are inserted through the housing section 3b and housed within it. Therefore, by using this holder 3, the transmitter 2 can be installed on the air supply hose 10A, and the power supply line 10B and the communication line 10C can be held and bundled to the air supply hose 10A. If it is not necessary for the holder 3 to hold the power supply line 10B or the communication line 10C, the housing section 3b may be omitted. This holder 3 can be used as is to install the transmitter 2 on the air supply hose 10A even if the power supply line 10B and the communication line 10C are not present.

[0056] Furthermore, power can also be supplied to the transmitter 2 using this power supply line 10B. This makes it possible to use a transmitter 2 that does not have a built-in battery 2Bt. By configuring the transmitter 2 to operate using electricity supplied through the power supply line 10B, the transmission output and transmission interval of the ultrasonic W can be set without considering the lifespan of the battery 2Bt. Therefore, the transmission output and transmission interval of the ultrasonic W can be set to values ​​that are more suitable for the operating conditions of the air supply hose 10A (submersible object 10).

[0057] The ultrasonic waves W emitted by transmitter 2 are easily reflected by metal, generating reflected waves. Since these reflected waves are received as noise by receiver 4, it is desirable to have a structure that can reduce these reflected waves in order to accurately calculate the position of transmitter 2. As in this embodiment, forming the holder 3 from a non-metallic material (such as resin or rubber) is advantageous in reducing these reflected waves. Furthermore, most of the noise received by receiver 4 is removed by a noise filter stored in computer 5.

[0058] A holder 3, as illustrated in Figure 12, is used for the underwater intrusion 10 of the sheet body. This holder 3 has a flat flange portion instead of the C-shaped cross-section illustrated in Figure 11. By joining this flat flange portion to the surface of the underwater intrusion 10 of the sheet body with an adhesive or the like, the holder 3 can be installed at a desired position on the underwater intrusion 10. It is preferable that this holder 3 is also made of a non-metallic material (such as resin or rubber).

[0059] When detecting the extension state of the air supply hose 10A, as described above, ultrasonic waves W emitted from each transmitter 2a to 2g at predetermined transmission intervals are received by receivers 4, 4, 4, and 4, and the computer 5 calculates the position of each transmitter 2a to 2g based on the received data of each ultrasonic wave W. Then, based on the calculated positions of each transmitter 2a to 2g and the installation position information Pi of each transmitter 2a to 2g on the air supply hose 10A, the computer 5 detects the extension state of the air supply hose 10A in virtually real time. Alternatively, the computer 5 calculates the absolute position of each transmitter 2a to 2g from the positions of each transmitter 2a to 2g calculated based on the received data of ultrasonic waves W and the absolute position information of receiver 4. Using the absolute position information of the transmitters 2a to 2g and the installation position information Pi of each transmitter 2a to 2g on the air supply hose 10A, the computer 5 detects the extension state of the air supply hose 10A based on its absolute position in virtually real time.

[0060] Next, we will explain the procedure by which computer 5 determines whether the extension state of the air supply hose 10A is normal or abnormal.

[0061] First, to determine if the air supply hose 10A itself is entangled, for example, the computer 5 examines the extension state of the air supply hose 10A detected in three types of two-dimensional planes: the two-dimensional plane (XZ plane) exemplified in Figure 13, the two-dimensional plane (YZ plane) exemplified in Figure 14, and the two-dimensional plane (XY plane) exemplified in Figure 15. It is then determined whether or not there are points where the air supply hose 10A itself intersects in these three types of two-dimensional planes. If there are points of intersection, the three-dimensional distance between the points of intersection of the air supply hose 10A is calculated. If the calculated distance is less than a threshold, it is determined that the air supply hose 10A is entangled (abnormal state), and if it is above the threshold, it is determined that the air supply hose 10A itself is not entangled (normal state).

[0062] Since multiple divers H1, H1 may work simultaneously, the computer 5 detects the extension status of the air supply hoses 10A and 10A' connected to each diver H1, H1. In Figure 16, the extension status of the two air supply hoses 10A and 10A' detected by the computer 5 is displayed in three dimensions on the display device 8. The extension status of one air supply hose 10A is detected by the computer 5 as described above, using ultrasonic waves W emitted from each transmitter 2a to 2g at predetermined transmission intervals. The extension status of the other air supply hose 10A' is detected by the computer 5 as described above, using ultrasonic waves W emitted from each transmitter 2h to 2n at predetermined transmission intervals. Note that in Figures 14, 15, and 16, for convenience, the air supply hose located on the far side of the intersection is shown broken to make the intersection of the air supply hoses 10A and 10A' easier to see. In an actual system, the most important thing is to be able to identify that the hoses are crossing, so the intersection can be displayed as is without breaking the hoses. Alternatively, to make it easier to distinguish visually, the intersection area of ​​the air supply hose on the far side can be represented by breaking it using image processing, or instead of breaking it, the presence of the hose on the near side can be represented by changing the display color or line thickness of a certain area around the intersection of the air supply hose on the near side.

[0063] The determination of whether the air supply hoses 10A and 10A' are entangled can be made in the same way as the determination of whether air supply hose 10A itself is entangled. That is, the extent of the two air supply hoses 10A and 10A' detected by computer 5 is examined in three types of two-dimensional planes: two-dimensional (XZ plane), two-dimensional (YZ plane), and two-dimensional (XY plane). It is determined whether or not there are points where the air supply hoses 10A and 10A' intersect in these three types of two-dimensional planes. If there are points where the air supply hoses 10A and 10A' intersect, the three-dimensional distance between those intersection points is calculated. If the calculated distance is less than a threshold, it is determined that the air supply hoses 10A and 10A' are entangled (abnormal state), and if it is above the threshold, it is determined that the air supply hoses 10A and 10A' are not entangled (normal state).

[0064] To determine if the air supply hose 10A is excessively stretched (broken), the three-dimensional spacing L between adjacent transmitters 2 is calculated. If the calculated spacing L is greater than or equal to a threshold, it is considered that the submerged object 10 is excessively stretched (broken) between adjacent transmitters 2, and this is judged to be an abnormal condition. If it is less than the threshold, it is judged to be a normal condition.

[0065] To determine if the air supply hose 10A is excessively bent, for example, the computer 5 examines the extension state of the air supply hose 10A detected in three types of two-dimensional planes: two-dimensional (XZ plane), two-dimensional (YZ plane), and two-dimensional (XY plane). It is determined whether there are any points in these three types of two-dimensional planes where the air supply hose 10A is bent in a buckled state. If the air supply hose 10A is bent in a buckled state or a similar state, it is an abnormal state because sufficient air cannot be supplied through the air supply hose 10A. If such a bent point exists, the three-dimensional bending radius (bending angle) of that bent point is calculated. If the calculated bending radius (bending angle) is less than the threshold, it is determined that the air supply hose 10A is excessively bent (abnormal state), and if it is above the threshold, it is determined that the air supply hose 10A is not excessively bent (normal state).

[0066] In the above-mentioned states where the air supply hose 10A itself is entangled, where the air supply hoses 10A and 10A' are entangled with each other, where the air supply hose 10A is excessively stretched, or where the air supply hose 10A is excessively bent (flexed), determining whether it is an abnormal or normal state may be made using the extension state based on the absolute position of the air supply hose 10A, but is not limited to this. That is, it is also possible to determine whether this is an abnormal or normal state using the extension state of the air supply hose 10A detected by the computer 5 based on the three-dimensional position of each transmitter 2 relative to the receiver 4 obtained based on ultrasonic measurement and the installation position information Pi for the air supply hose 10A of each transmitter 2.

[0067] The determination of whether the air supply hose 10A has entered a warning area R set in the water body is made using the extension state based on the absolute position of the air supply hose 10A detected by the computer 5. The absolute position of the warning area R set in the water body is known from prior field surveys and simulations, and the data of the absolute position of the warning area R is input and stored in the computer 5. Then, the computer 5 compares the absolute position of the extension state of the air supply hose 10A detected by the computer 5 with the absolute position of the warning area R to determine whether there is a part of the air supply hose 10A that corresponds to the absolute position of the warning area R. In Figure 8, if the air supply hose 10A extends close to the seabed ground G, a part of the air supply hose 10A will be in the warning area R where obstacles P are scattered. Therefore, if the absolute position of the extended air supply hose 10A corresponds to the absolute position of the warning area R, it is determined that the air supply hose 10A has entered the warning area R (abnormal state). If no such position exists, it is determined that the air supply hose 10A has not entered the warning area R (normal state). The position of the line segment that demarcates the absolute position of the warning area R, as described above, is composed of a threshold that indicates the boundary between the normal extended state and the abnormal extended state of the air supply hose 10A.

[0068] When computer 5 determines that the extension status of the air supply hose 10A is abnormal, it activates the warning device 7. In Figure 8, computer 5 illuminates the warning light 7a and also causes an alarm device 7b, such as a speaker, to sound an alarm indicating that the extension status of the air supply hose 10A is abnormal. The display device 8 can also display a warning indicating that the extension status of the air supply hose 10A is abnormal. Therefore, the display device 8 can also be used as a warning display device 7c. This allows the supervisor H2 on board the vessel 25 to be aware that the extension status of the air supply hose 10A is abnormal. At least one warning device 7 is required on the vessel 25. Upon realizing the abnormality of the air supply hose 10A, supervisor H2 can quickly take corrective action, such as urging diver H1 to take evacuation to the surface. This is advantageous for accurately managing the air supply hose 10A extending underwater.

[0069] Furthermore, the computer 5 displays a warning on the underwater tablet terminal 9b indicating that the extension status of the air supply hose 10A is abnormal, and vibrates the wristwatch terminal 9c to indicate that the extension status of the air supply hose 10A is abnormal. In other words, the tablet terminal 9b is used as a warning display device 7c, and the wristwatch terminal 9c is used as a vibration device 7d. This allows diver H1 to understand that the extension status of the air supply hose 10A is abnormal. Diver H1 is equipped with at least one warning device 7. Upon understanding the abnormality of the air supply hose 10A, diver H1 can quickly confirm the appropriate course of action with the supervisor H2.

[0070] The embodiment illustrated in Figure 17 applies the management system 1 to the power supply line 10B that supplies power to the underwater drone, which is the underwater operating device 21, and the communication line 10C used for communication. In other words, in this embodiment, the underwater extension 10 is the power supply line 10B and the communication line 10C. The power supply line 10B and the communication line 10C are bundled together as a single unit. Since the underwater drone 21 moves to a desired location underwater to perform tasks such as photography, the power supply line 10B and the communication line 10C extend in various states. As a result, the power supply line 10B and the communication line 10C themselves may become entangled. There is also a risk that the power supply line 10B and the communication line 10C may get caught on underwater obstacles P and be damaged.

[0071] Therefore, the extension status of the power supply line 10B and communication line 10C is detected virtually in real time by the computer 5, as described above, by utilizing ultrasonic waves W emitted from transmitters 2a to 2g installed on the power supply line 10B and communication line 10C, respectively. Then, as described above, the computer 5 determines whether the extension status of the power supply line 10B and communication line 10C is normal or abnormal. When the warning device 7 is activated and the administrator H2 realizes that the extension status of the power supply line 10B and communication line 10C is abnormal, they can quickly take corrective actions such as changing the direction of travel of the underwater drone 21. This is advantageous for accurately managing the power supply line 10B and communication line 10C that extend underwater. Examples of underwater operating devices 21 that perform work underwater include, in addition to underwater drones, underwater backhoes, various underwater robots that move on the seabed G, and civil engineering and construction machinery.

[0072] In the embodiment illustrated in Figure 18, the management system 1 is applied to the anchor rope 10D. That is, in this embodiment, the underwater extension 10 is the anchor rope 10D. One end of the anchor rope 10D is connected to the anchor 22 and the other end is connected to the ship 25. The anchor rope 10D extends between the anchor 22, which is resting on the seabed G, and the ship 25. As previously described, the computer 5 detects the extension status of the anchor rope 10D in virtually real time by utilizing the ultrasonic waves W emitted from transmitters 2a to 2d installed on the anchor rope 10D.

[0073] Figure 18 shows the state in which the anchor rope 10D has broken, indicated by a dashed line. When the anchor rope 10D breaks in this way, the spacing L between adjacent transmitters 2b and 2c increases. As a result, the three-dimensional spacing L between transmitters 2b and 2c calculated by the computer 5 exceeds a threshold, so the computer 5 determines that the extension state of the anchor rope 10D is abnormal. The computer 5 then activates the warning device 7 to inform the administrator H2 that the extension state of the anchor rope 10D is abnormal. Administrator H2, having grasped that the anchor rope 10D is in an abnormal state, can quickly take corrective action to ensure the stable mooring of the vessel 25. This is advantageous for accurately managing the anchor rope 10D. In this embodiment, the anchor rope 10D of the vessel 25 is the target, but it can also be used for the mooring rope (anchor chain) of the anchor that moors a floating offshore wind power generation facility.

[0074] The embodiment illustrated in Figure 19 applies the management system 1 to a pumping pipe 10E that pumps sediment. In this embodiment, the underwater extension 10 is the pumping pipe 10E. Note that in Figure 19, only the transmitters 2a to 2d of the components of the management system 1 are shown, and the other components are not illustrated. This pumping pipe 10E is constructed by connecting multiple pipe bodies Dt via elastic joints Jt. Dredged sediment is pumped from one end to the other end of the pumping pipe 10E. This pumping pipe 10E extends while floating in the water, but if it extends across a shipping lane in that water, ships will not be able to navigate the lane. Therefore, in order to avoid the area corresponding to the shipping lane, a portion of the pumping pipe 10E is extended while submerged, as illustrated in Figure 19. In Figure 19, the area corresponding to the shipping lane is set as the warning area R.

[0075] As described above, the computer 5 detects the extension status of the pressure pipe 10E in virtually real time by utilizing the ultrasonic waves W emitted from transmitters 2a to 2d installed on the pressure pipe 10E. As illustrated in Figure 20, the display device 8 displays the detected extension status of the pressure pipe 10E. If the pressure pipe 10E, which is submerged along the seabed G, surfaces for any reason and enters the warning area R, there is a risk of interference between the pressure pipe 10E and ships navigating the shipping lane. Therefore, if the computer 5 finds that the pressure pipe 10E is located in the warning area R, it determines that the extension status of the pressure pipe 10E is abnormal and activates the warning device 7. Upon activation of the warning device 7 and realizing that the extension status of the pressure pipe 10E is abnormal, the administrator H2 can quickly take corrective actions such as temporarily prohibiting the use of the shipping lane or suspending the use of the pressure pipe 10E. This is advantageous for accurately managing the pressure pipe 10E that extends underwater.

[0076] Similar configurations to the soil and sand pumping pipe 10E include oil and water pipelines (hereinafter referred to as liquid transport pipelines) that connect distant landmasses. The management system 1 of the pumping pipe 10E can also be applied to these liquid transport pipelines.

[0077] Furthermore, fiber optic cables also connect geographically distant landmasses. By applying the management system 1 of the present invention to these fiber optic cables, it is possible to contribute to reducing accidents such as deterioration and breakage.

[0078] In the embodiment illustrated in Figure 21, the management system 1 is applied to the pollution prevention sheet 10F. That is, in this embodiment, the underwater intrusion 10 is the pollution prevention sheet 10F. Note that in Figure 21, only the transmitters 2a to 2l of the components of the management system 1 are shown, and the other components are not shown. The pollution prevention sheet 10F is a cylindrical sheet that hangs down from the pollution prevention frame 23, which is a floating body, and has openings at the top and bottom, forming a compartment in the water. In this embodiment, the underwater compartment is rectangular in plan view, but the shape of the compartment is not particularly limited. Work such as dumping sediment is carried out inside the compartment partitioned by the pollution prevention sheet 10F. The pollution prevention sheet 10F prevents sediment from spreading to the surrounding area and thus exhibits a pollution prevention effect.

[0079] In this embodiment, multiple transmitters 2a to 2l are installed at circumferential intervals on the lower end of the cylindrical pollution prevention sheet 10F. By utilizing the ultrasonic waves W emitted from each of the transmitters 2a to 2l, the computer 5 detects the extent of the pollution prevention sheet 10F in virtually real time, as described above. As illustrated in Figure 22, the display device 8 displays the detected extent of the pollution prevention sheet 10F. More specifically, Figure 22 shows the extent of the lower end of the surface on which transmitters 2a to 2d are installed on the pollution prevention sheet 10F. The extent of the lower end of the other surfaces on which transmitters 2e to 2l are installed on the pollution prevention sheet 10F can also be displayed on the display device 8 in the same way. In Figure 22, an area shallower than a predetermined water depth is set as the warning area R.

[0080] The pollution control sheet 10F will not fully exert its pollution control effect unless it is hanging in the water as set. For example, if the lower end of the pollution control sheet 10F is curled up, creating a large gap between that lower end and the seabed G, pollution will leak out through that gap and spread to the surrounding area. Therefore, if the lower end of the pollution control sheet 10F is located in the warning area R, the computer 5 determines that the extension state of the pollution control sheet 10F is abnormal and activates the warning device 7. Upon activation of the warning device 7 and realizing that the extension state of the pollution control sheet 10F is abnormal, the administrator H2 can quickly take corrective action, such as reinstalling the pollution control sheet 10F. This is advantageous for accurately managing the pollution control sheet 10F installed in the water.

[0081] The embodiment illustrated in Figure 23 is one in which the management system 1 is applied to the sand-preventing sheet 10G. That is, in this embodiment, the underwater extending object 10 is the sand-preventing sheet 10G. Note that in Figure 23, only the transmitters 2a to 2o of the components of the management system 1 are shown, and the other components are not shown. The sand-preventing sheet 10G is, for example, a sheet body that is laid underwater to cover the surface of the formed rubble mound 24. The sand-preventing sheet 10G extends from the surface underwater and prevents sediment from flowing out from the gaps in the rubble due to currents, etc.

[0082] In this embodiment, transmitters 2a to 2o are installed at intervals on the surface of the laid sand-proof sheet 10G. Transmitters 2a to 2e, transmitters 2f to 2j, and transmitters 2k to 2o each form a row extending in the Y direction. By utilizing the ultrasonic waves W emitted from each of the transmitters 2a to 2l, the computer 5 detects the extension state of the sand-proof sheet 10G in virtually real time, as described above. The detected extension state of the sand-proof sheet 10G is displayed on the display device 8, as illustrated in Figure 24. In Figure 24, the extension state of the sand-proof sheet 10G at the locations where transmitters 2a to 2e are installed is displayed on the display device 8. The extension state of the sand-proof sheet 10G at the locations where the other transmitters 2f to 2j and 2k to 2o are installed can be similarly displayed on the display device 8. In Figure 24, in the cross-section (XZ plane) of the rubble mound 24, an area that is more than a predetermined distance from the surface of the rubble mound 24 is set as a warning area R.

[0083] The sand-preventing sheet 10G will not be able to fully prevent soil erosion unless it is laid in contact with the surface of the rubble mound 24. Therefore, if the sand-preventing sheet 10G is located in the warning area R away from the surface of the rubble mound 24, the computer 5 determines that the extension state of the sand-preventing sheet 10G is abnormal and activates the warning device 7. Upon activation of the warning device 7 and realizing that the extension state of the sand-preventing sheet 10G is abnormal, the administrator H2 can quickly check the laying state of the sand-preventing sheet 10G and take corrective action, such as re-laying it if necessary. This is advantageous for accurately managing the sand-preventing sheet 10G laid in water.

[0084] In the various embodiments described above, a warning region R is set where the extension state of the submerged object 10 is considered abnormal. Alternatively, a non-warning region can be set where the extension state of the submerged object 10 is considered normal. The system is configured to activate the warning device 7 and issue a warning when the extension state of the submerged object 10 calculated by the computer 5 deviates from the non-warning region. For example, in the embodiment shown in Figure 22, the water depth range when the pollution prevention sheet 10F hangs down in the water as set is set as the non-warning region. If the lower end of the pollution prevention sheet 10F detected by the computer 5 is located outside the non-warning region, the computer 5 determines that the extension state of the pollution prevention sheet 10F is abnormal and activates the warning device 7.

[0085] Furthermore, the power supply line 10B or communication line 10C, anchor rope 10D, pressure pipe 10E for pumping sediment, liquid transport pipe, and optical fiber cable connected to the underwater operating device 21 may all remain submerged in water for extended periods after installation. It is preferable that the transmission signals from the transmitters 2 for these underwater submerged objects 10, which remain submerged for extended periods, allow for timely confirmation of the normal / abnormal state of their submerged condition over a long period. In such cases, instead of real-time transmission at predetermined intervals, the communication line 10C and the transmitters 2 can be connected, and commands to start and end the transmission of the transmission signals can be sent to each transmitter 2 in a timely manner for execution. This configuration extends the lifespan of the battery 2Bt used to operate the transmitters 2, making it possible to detect the submerged state of the underwater submerged objects 10 at any desired timing. Additionally, the transmitters 2 can be made larger than the preferred size described above, and the battery 2Bt can be increased to achieve higher output (extended communication range) and longer lifespan. The combination of the aforementioned timely transmission control and this large transmitter enables even longer-term monitoring of the submerged object's status. Furthermore, by combining this with the configuration of connecting the aforementioned power supply line 10B to each transmitter 2, timely monitoring of the submerged object 10's status can be performed over a long period, regardless of the battery 2Bt's lifespan.

[0086] In this invention, each transmitter 2 can be placed at equal intervals on the underwater structure 10, but the placement interval L of each transmitter 2 is not limited to this. By reducing the placement interval L between adjacent transmitters 2, the extent of the underwater structure 10 on which these transmitters 2 are installed can be calculated in more detail. Therefore, as illustrated in Figure 25, the placement interval L of adjacent transmitters 2 can be varied depending on their position on the underwater structure 10 and / or the environment of the water body on which the underwater structure 10 extends. In the underwater structure 10 illustrated in Figure 25, placement intervals L1 and L6 are the largest, and placement intervals L3 and L4 are smallest in the area closer to the longitudinal center of the underwater structure 10.

[0087] For example, the longitudinal center of the submerged object 10 is more prone to deformation and more frequently than the longitudinal front and rear ends. Therefore, the spacing L of the submerged object 10 is made smaller in the longitudinal center compared to the longitudinal front and rear ends. This allows for a more detailed understanding of the submerged object 10's extension state in the longitudinal center and enables more accurate management of the submerged object 10.

[0088] Alternatively, when an underwater object 10 is extended into the water, it may be possible to predict in advance the range of the underwater object 10 that is likely to enter a warning area R set in that water area. For example, if the warning area R is located near the rear end of the underwater object 10 extended into that water area, the rear end of the underwater object 10 will be more likely to enter the warning area R than other ranges. In such cases, the spacing L of the transmitters 2 is made smaller in the range of the underwater object 10 that is likely to enter the warning area R (the rear end) compared to other ranges. This allows for a more detailed understanding of the extension state of that range (the rear end) of the underwater object 10, enabling more accurate management of the underwater object 10.

[0089] This disclosure encompasses the following inventions. Invention 1: The system comprises a plurality of transmitters installed at intervals on an underwater object extending in water, a receiver that receives the transmission signals emitted from each of the transmitters, and a computer that is communicatively connected to the receivers. The computer calculates the position of each transmitter based on the received data of each of the transmitted signals received by the receiver. A management system for underwater structures that detects the extension status of an underwater structure using the calculated position of each of the aforementioned transmitters and the installation position information of each of the aforementioned transmitters on the underwater structure. Invention 2: The receiver has an absolute position measuring instrument for measuring its absolute position, Using the absolute position of the receiver measured by the absolute position measuring instrument, the positions of each transmitter calculated based on the receiver, and the installation position information of each transmitter, A management system for underwater extending objects according to Invention 1, which detects the extension state of the underwater extending object at its absolute position. Invention 3: A management system for underwater intruders according to invention 1 or 2, wherein the transmitter is configured to transmit the transmission signal at predetermined intervals. Invention 4: A management system for underwater intruders according to any one of inventions 1 to 3, wherein the system is operated by a battery built into the transmitter. Invention 5: A management system for underwater intruders according to any one of inventions 1 to 3, wherein the transmitter is operated by electricity supplied through a power line to which it is connected. Invention 6: A management system for underwater intruders according to any one of Inventions 1 to 5, wherein the transmission of the transmission signal is started and / or terminated by a command signal transmitted through a communication line to which the transmitter is connected. Invention 7: A management system for underwater inclusions according to any one of Inventions 1 to 6, wherein the length of the transmitter is 100 mm or less, and the width and thickness are each 20 mm or less. Invention 8: A management system for underwater indentations according to any one of inventions 1 to 7, wherein each of the transmitters is detachably installed on the outer surface of the underwater indentation via a holder. Invention 9: The warning device is controlled by the aforementioned computer, The extension state of the aforementioned submerged object is defined as either a normal state or an abnormal state. A management system for underwater intrusions according to any one of inventions 1 to 8, wherein the computer activates the warning device when it determines that the calculated extension state of the underwater intrusion is abnormal. Invention 10: The invention 9 relates to a management system for underwater intrusions, wherein the warning device is at least one of an alarm device, a warning light, a warning display device, and a vibration device. Invention 11: A management system for an underwater object according to any one of Inventions 1 to 10, wherein the underwater object is one of the following: an air supply hose for supplying air to a diver, a power supply line or communication line connected to a diver's portable equipment, a power supply line or communication line connected to an underwater operating device, an anchor rope, an anchor chain, a pressure pipe for pumping sediment, an optical fiber cable, or a fluid transport pipe. Invention 12: A management system for underwater objects according to any one of Inventions 1 to 10, wherein the underwater object is either a sheet body that forms a compartment in the water or a sheet body that is laid in the water. Invention 13: A submersible object with a transmitter used in a submersible object management system described in any of Inventions 1 to 12, A submersible object with transmitters, wherein multiple transmitters are installed at intervals on the submersible object. Invention 14: Software for managing underwater inclusions used in the underwater inclusion management system described in any of Inventions 1 to 12, With the computer installed, Software for managing underwater intruders that enables the computer to calculate the position of each transmitter based on each of the received data. Invention 15: With the computer installed, The computer calculates the absolute position of the transmitter by combining the position of each transmitter calculated based on the receiver and the absolute position of the receiver measured by the absolute position measuring instrument. Using the absolute position of the transmitter and the installation position information of each transmitter on the underwater extending object, the extending state at the absolute position of the underwater extending object is detected. Software for managing submerged submerged objects according to Invention 14, which enables the display of the submerged submerged object's extension state at its absolute position on a display device. Invention 16: Software for managing underwater inclusions used in a management system for underwater inclusions, The software for managing underwater inclusions described in Invention 14 is installed on a computer other than the computer on which it is installed, The absolute position of the transmitter is calculated by combining the position of each transmitter, which is calculated based on the receiver transmitted from the computer on which the underwater intrusion management software described in Invention 14 is installed, and the absolute position of the receiver, which is measured by an absolute position measuring instrument. Using the absolute position of the transmitter and the installation position information of each transmitter on the underwater extending object, the extension state at the absolute position of the underwater extending object is detected. Software for managing submerged submerged objects that enables the display of the submerged submerged object's extension status at its absolute position on a display device. Invention 17: By installing multiple transmitters at intervals on an underwater object that extends into the water, The receiver receives the transmission signal emitted from each of the aforementioned transmitters, and inputs the received data of each of the aforementioned transmission signals into the computer. A method for managing underwater structures, wherein the computer calculates the position of each transmitter based on the respective received data, and detects the extension status of the underwater structure based on the calculated positions of each transmitter and the installation position information of each transmitter on the underwater structure. Invention 18: Using the absolute position information of the receiver, the positions of each transmitter calculated by the computer based on the receiver, and the installation position information of the transmitters, A method for managing an underwater extension object according to Invention 17, wherein the computer detects the extension state of the underwater extension object in an absolute coordinate system. Invention 19: A method for managing submerged objects according to invention 17 or 18, wherein the extension state of the submerged object is defined as either a normal state or an abnormal state, and when the computer determines that the extension state of the submerged object is abnormal, the computer activates a warning device to notify of the abnormality. Invention 20: A method for managing an underwater structure according to any one of inventions 17 to 19, wherein the spacing between adjacent transmitters is varied according to their position in the underwater structure and / or the environment of the water body in which the underwater structure extends. [Explanation of symbols]

[0090] 1 Management System 2(2a~2o) Transmitter 2Bt Battery 3 holders 3a Insertion hole 3b Housing section 4 Receiver 5, 5a Computer 6. Absolute positioning instrument (GNSS receiver) 7 Warning device 7a warning light 7b Alarm device 7c Warning display device 7d vibration device 8 Display devices (displays) 9. Mobile devices 9a Repeater 9b Tablet device 9c Wristwatch Terminal 10 Underwater extensions 10A, 10A' Air supply hose 10B feeder line 10C communication line 10D Anchor Rope 10E Pressure pipe 10F Contamination prevention sheet 10G Sandproof Sheet 11, 11a, Software 20 Air supply device 21. Underwater operating devices (underwater drones) 22 Anchor 23 Pollution prevention frame 24. The Pitcher's Mound 25 Ships H1 Diver H2 Administrator G underwater ground P Obstacle R warning area

Claims

1. The system comprises a plurality of transmitters installed at intervals on an underwater object extending in water, three or more receivers that receive transmission signals from each of the transmitters, and a computer that is communicatively connected to the three or more receivers. The computer calculates the position of the transmitter using the difference in arrival times when the three or more receivers each receive the transmitted signal emitted from the transmitter. A management system for underwater structures that detects the extension status of an underwater structure using the position of each of the multiple transmitters calculated for each of the transmitters and the installation position information of each of the transmitters on the underwater structure.

2. The receiver has an absolute position measuring instrument for measuring its absolute position, Using the absolute position of the receiver measured by the absolute position measuring instrument, the positions of each transmitter calculated based on the receiver, and the installation position information of each transmitter, A management system for underwater extending objects according to claim 1, which detects the extension state of the underwater extending object at its absolute position.

3. The underwater intrusion management system according to claim 1 or 2, wherein the transmitter is configured to transmit the transmission signal at predetermined intervals.

4. The underwater object management system according to claim 1 or 2, wherein the transmitter is powered by a built-in battery.

5. The underwater submerged object management system according to claim 1 or 2, wherein the transmitter is configured to operate using electricity supplied through a connected power line.

6. A management system for underwater intruders according to claim 1 or 2, wherein the transmitter is configured to start and / or end the transmission of the transmission signal in response to a command signal transmitted through a communication line to which the transmitter is connected.

7. The underwater intrusion management system according to claim 1 or 2, wherein the length of the transmitter is 100 mm or less, and the width and thickness are each 20 mm or less.

8. The underwater intrusion management system according to claim 1 or 2, wherein each of the transmitters is detachably mounted on the outer surface of the underwater intrusion via a holder.

9. The warning device is controlled by the aforementioned computer, A normal state and an abnormal state are set for the extension state of the aforementioned submerged object. The underwater submerged object management system according to claim 1 or 2, wherein the computer activates the warning device when it determines that the calculated submerged submerged object's extension state is abnormal.

10. The management system for underwater intrusions according to claim 9, wherein the warning device is at least one of an alarm device, a warning light, a warning display device, and a vibration device.

11. The management system for an underwater object according to claim 1 or 2, wherein the underwater object is any of the following: an air supply hose for supplying air to a diver, a power supply line or communication line connected to a diver's portable equipment, a power supply line or communication line connected to an underwater operating device, an anchor rope, an anchor chain, a pressure pipe for pumping sediment, an optical fiber cable, or a fluid transport pipe.

12. The management system for underwater objects according to claim 1 or 2, wherein the underwater object is either a sheet body that forms a compartment in the water or a sheet body that is laid in the water.

13. A submersible object with a transmitter used in a submersible object management system according to claim 1 or 2, A submersible object with transmitters, wherein multiple transmitters are installed at intervals on the submersible object.

14. Software for managing underwater inclusions used in the underwater inclusion management system described in claim 1, With the computer installed, Software for managing underwater intruders that enables the computer to calculate the position of each transmitter using the difference in arrival time.

15. With the computer installed, The computer calculates the absolute position of the transmitter by combining the position of each transmitter calculated based on the receiver and the absolute position of the receiver measured by the absolute position measuring instrument. Using the absolute position of the transmitter and the installation position information of each transmitter on the underwater extending object, the extending state at the absolute position of the underwater extending object is detected. The software for managing submerged submerged objects according to claim 14, which enables the display of the submerged submerged object's extension status at its absolute position on a display device.

16. Software for managing underwater inclusions used in a management system for underwater inclusions, The software for managing underwater inclusions described in claim 14 is installed on a computer other than the computer on which the software is installed, The absolute position of the transmitter is calculated by combining the position of each transmitter, calculated based on the receiver transmitted from the computer on which the underwater intrusion management software described in claim 14 is installed, and the absolute position of the receiver, measured by an absolute position measuring instrument. Using the absolute position of the transmitter and the installation position information of each transmitter on the underwater extending object, the extension state at the absolute position of the underwater extending object is detected. Software for managing submerged submerged objects that enables the display of the submerged submerged object's extension status at its absolute position on a display device.

17. By installing multiple transmitters at intervals on an underwater object that extends into the water, The time difference in arrival of the transmission signal emitted from the aforementioned transmitter is input to a computer when three or more receivers each receive the signal. The computer uses the difference in arrival time to calculate the position of the transmitter. A method for managing an underwater structure, which detects the extension status of the underwater structure using the position of each of the multiple transmitters calculated for each of the transmitters and the installation position information of each of the transmitters on the underwater structure.

18. Using the absolute position information of the receiver, the positions of each transmitter calculated by the computer based on the receiver, and the installation position information of the transmitters, The method for managing an underwater extension object according to claim 17, wherein the computer detects the extension state of the underwater extension object in an absolute coordinate system.

19. A method for managing submerged objects according to claim 17 or 18, wherein a normal state and an abnormal state are set for the extension state of the submerged object, and when the computer determines that the extension state of the submerged object is in an abnormal state, the computer activates a warning device to notify of the abnormality.

20. A method for managing an underwater structure according to claim 17 or 18, wherein the spacing between adjacent transmitters is varied according to their position in the underwater structure and / or the environment of the water body in which the underwater structure extends.

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