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

Abstract

In communication using a sound wave underwater, when a change in the frequency being used occurs, the efficiency of the communication decreases due to the change in the frequency being used. Thus, according to the present invention, on the basis of the speed of an interference source that emits an interference wave interfering with wireless communication using sound waves by a wireless communication device located underwater, whether the influence of the interference wave is continuous or transient is estimated. If the influence of the interference wave is estimated to be continuous, control is performed to change the frequency being used for the wireless communication by an interfered device, which is the radio communication device using the wireless communication affected by the interference wave, to an interference reduction frequency, which is a frequency at which the influence of the interference wave can be reduced. If the influence of the interference wave is estimated to be transient, the use of the frequency being used by the interfered device is continued.

Description

Control device, control system, control method, and recording medium

[0001] The present invention relates to a control device, a control system, a control method, and a recording medium.

[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] Because radio waves are significantly attenuated underwater, sound waves are more suitable for communication than radio waves in deep water.

[0004] Recently, a method has been known in which a control device on land or on water communicates with an underwater communication device via a base station floating on the water surface. In this method, the communication between the base station and the underwater communication device is carried out by underwater acoustic communication. The communication between the base station and the control device is also carried out by radio communication, wired communication, or optical communication.

[0005] Related techniques include those described in Patent Documents 1 to 4.

[0006] JP 2017-181448 A JP 2016-215908 A JP 2004-085223 A JP 2001-147265 A

[0007] However, if an interference source occurs, interference may occur in the sound waves transmitted from the communication device or base station, possibly resulting in a deterioration in communication quality.

[0008] In order to avoid the influence of interference, it is conceivable to change the frequency used by a wireless communication device during operation.

[0009] However, when the frequency used is changed, a period of time during which communication is stopped occurs due to the change in frequency used, and this reduces the efficiency of communication.

[0010] In view of the above-mentioned problems, an object of the present invention is to provide a control device, a control system, a control method, and a recording medium that make it possible to improve communication efficiency in underwater communication using acoustic waves.

[0011] In one aspect of the present invention, the control device is equipped with an estimation means for estimating whether the influence of the interference wave is continuous or transient based on the speed of an interference source that emits an interference wave that interferes with the sound wave-based wireless communication of a wireless communication device located underwater, and a control means for controlling, when the influence of the interference wave is estimated to be continuous, changing the operating frequency used by the interfered device, which is the wireless communication device that performs the wireless communication and is affected by the interference wave, for the wireless communication to an interference reduction frequency, which is a frequency that can reduce the influence of the interference wave, and for continuing to use the operating frequency of the interfered device, when the influence of the interference wave is estimated to be transient.

[0012] In another aspect of the present invention, the control system comprises an estimation means for estimating whether the influence of the interference wave is continuous or transient based on the speed of an interference source that emits an interference wave that interferes with the sound wave-based wireless communication of a wireless communication device present underwater, and a control means for controlling, when the influence of the interference wave is estimated to be continuous, changing the operating frequency used by the interfered device, which is the wireless communication device that performs the wireless communication and is affected by the interference wave, for the wireless communication to an interference mitigation frequency, which is a frequency that can mitigate the influence of the interference wave, and for continuing to use the operating frequency of the interfered device, when the influence of the interference wave is estimated to be transient.

[0013] In another aspect of the present invention, the control method estimates whether the influence of the interference wave is continuous or transient based on the speed of an interference source that emits an interference wave that interferes with the sound wave-based wireless communication of a wireless communication device present underwater, and if it is estimated that the influence of the interference wave is continuous, controls the interfered device, which is the wireless communication device that performs the wireless communication affected by the interference wave, to change the operating frequency used for the wireless communication to an interference mitigation frequency, which is a frequency that can mitigate the influence of the interference wave, and if it is estimated that the influence of the interference wave is transient, continues to use the operating frequency of the interfered device.

[0014] In another aspect of the present invention, a control program recorded on a computer-readable recording medium causes a computer to realize an estimation function of estimating whether the influence of the interference wave is continuous or transient based on the speed of an interference source that emits an interference wave that interferes with the sound wave-based wireless communication of a wireless communication device present underwater, and a control function of, when the influence of the interference wave is estimated to be continuous, controlling the interfered device, which is a wireless communication device that performs the wireless communication affected by the interference wave, to change the operating frequency used for the wireless communication to an interference mitigation frequency that can mitigate the influence of the interference wave, and when the influence of the interference wave is estimated to be transient, continuing to use the operating frequency of the interfered device.

[0015] According to the above aspect of the present invention, it is possible to improve communication efficiency in underwater communication using sound waves.

[0016] FIG. 1 is a diagram illustrating an example of the configuration of a control device according to a first embodiment of the present invention. FIG. 2 is a diagram illustrating an example of an operation flow of the control device according to the first embodiment of the present invention. FIG. 3 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. FIG. 4 is a diagram illustrating an example of the configuration of a control device according to a second embodiment of the present invention. FIG. 5 is a diagram illustrating an example of the operation flow of control devices according to second and third embodiments of the present invention. FIG. 6 is a diagram illustrating an example of the configuration of a communication system including a control device according to a third embodiment of the present invention. FIG. 7 is a diagram illustrating an example of the configuration of a control device according to a third embodiment of the present invention. FIG. 8 is a diagram illustrating an example of the hardware configuration of each embodiment of the present invention.

[0017] [First Embodiment] A first embodiment of the present invention will be described. Specific examples of the control device 10 in the first embodiment are a control device 20 in a second embodiment and a control device 30 in a third 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 estimation unit 11 and a control unit 12.

[0019] The estimation unit 11 estimates whether the influence of the interference wave is continuous or transient based on the speed of the interference source. The interference source emits an interference wave that interferes with the wireless communication by sound waves of the wireless communication device present underwater. The interference wave is a wave that reduces the quality of the wireless communication of the wireless communication device. The interference source is also an object that emits the interference wave.

[0020] When it is estimated that the influence of the interference wave is continuous, the control unit 12 controls the interfered device to change the operating frequency used for wireless communication to an interference mitigation frequency. The interfered device is a wireless communication device that performs wireless communication that is affected by the interference wave. The interference mitigation frequency is a frequency that can mitigate the influence of the interference wave.

[0021] Furthermore, when it is estimated that the influence of the interference wave is transient, the control unit 12 allows the interfered device to continue using the operating frequency.

[0022] Next, FIG. 2 shows an example of an operation flow of the control device 10 of this embodiment.

[0023] The estimation unit 11 estimates whether the influence of the interference wave is continuous or transient based on the speed of the interference source (step S101).

[0024] If it is estimated that the influence of the interference wave is continuous (YES in step S102), the control unit 12 performs control to change the frequency used by the interfered device to a frequency for interference mitigation (step S103).

[0025] If it is estimated that the influence of the interference wave is transient (NO in step S102), the control unit 12 continues to use the frequency used by the interfered device (step S104).

[0026] As described above, in the first embodiment of the present invention, the control device 10 includes an estimation unit 11 and a control unit 12. The estimation unit 11 estimates whether the influence of an interference wave is continuous or transient based on the speed of the interference source. The interference source emits an interference wave that interferes with the sound-based wireless communication of a wireless communication device present underwater. When it is estimated that the influence of the interference wave is continuous, the control unit 12 performs control to change the operating frequency of the interfered device to an interference mitigation frequency. The interfered device is a wireless communication device that performs wireless communication that is affected by the interference wave. The interference mitigation frequency is a frequency that can mitigate the influence of the interference wave. When it is estimated that the influence of the interference wave is transient, the control unit 12 continues to use the operating frequency of the interfered device.

[0027] This allows the use of the operating frequency to continue if it is estimated that the effect of the interference wave is transient. As a result, if the effect of the interference wave is transient, it is possible to reduce the decrease in communication efficiency caused by changing the operating frequency. This makes it possible to improve communication efficiency in underwater communication using sound waves.

[0028] Furthermore, if it is estimated that the influence of the interference wave is continuous, the frequency used by the interfered device is changed to a frequency for interference mitigation, thereby reducing the influence of the interference wave.

[0029] 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.

[0030] 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 a wireless communication device 50-i (i is an integer from 1 to N, and N is an integer equal to or greater than 1).

[0031] 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.

[0032] The wireless communication device 50-i exists underwater. The wireless communication device 50-i can perform wireless communication using sound waves with the base station 40. The wireless communication device 50-i can communicate with the control device 20 via the base station 40. The wireless communication devices 50-1 to 50-N may be collectively referred to as the wireless communication device 50.

[0033] 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 band signals. In this case, the frequency used may be a frequency band. When the wireless communication is communication using band signals, the term "frequency" refers to a "frequency band."

[0034] 4 shows an example of the configuration of the control device 20 of this embodiment. The control device 20 includes an estimation unit 21, a control unit 22, a detection unit 24, and an interference source position estimation unit 25.

[0035] The detector 24 detects the occurrence of interference waves with respect to wireless communication performed by the wireless communication device 50. The detector 24 can detect the occurrence of interference waves by any method. Examples of methods for detecting the occurrence of interference waves will be described later.

[0036] Note that interference waves are waves that degrade the quality of wireless communication of the wireless communication device 50. For example, interference waves can be waves with frequencies close to the frequency used in wireless communication of the wireless communication device 50. In the case of wireless communication using sound waves, interference waves can also be sound waves used in communications by other operators, natural sounds, sounds of construction work being carried out on water, on land, or underwater, sounds emitted by ships, and the like.

[0037] The interference source position estimation unit 25 estimates the position information of the interference source that emits the interference wave detected by the detection unit 24. The method of estimating the position of the interference source will be described later.

[0038] An interference source is an object that emits interference waves, such as devices that communicate using sound waves, underwater creatures, construction equipment, or ships.

[0039] The estimation unit 21 estimates whether the influence of the interference wave on the wireless communication is continuous or transient based on the speed of the interference source of the interference wave. In this embodiment, when the detection unit 24 detects the occurrence of interference on the wireless communication performed by the wireless communication device 50, the estimation unit 21 estimates whether the influence of the interference wave is continuous or transient.

[0040] For example, the estimation unit 21 estimates that the influence of the interference wave is transient when the speed of the interference source is faster than a predetermined speed. Also, the estimation unit 21 estimates that the influence of the interference wave is continuous when the speed of the interference source is equal to or less than a predetermined speed. Furthermore, the estimation unit 21 may estimate that the influence of the interference wave is continuous even when the speed of the interference source decreases over time.

[0041] Furthermore, the predetermined speed may be, for example, a speed set based on the time during which communication is stopped due to a change in the operating frequency. When wireless communication device 50 changes the operating frequency, wireless communication is stopped, the operating frequency is changed, and wireless communication at the changed frequency is started, resulting in a time during which communication is stopped. For example, the predetermined speed may be a speed at which the interference source moves away to a position where the influence of the interference wave is reduced in a time shorter than the time during which communication is stopped.

[0042] Furthermore, for example, the estimation unit 21 can estimate the speed based on the change over time in the position of the interference source estimated by the interference source position estimation unit 25. Furthermore, the estimation unit 21 can grasp that the interference source is moving based on a change in the direction of arrival of the interference wave.

[0043] Furthermore, for example, the estimation unit 21 may estimate the continuity of the interference source using the ship's position information. The estimation unit 21 may receive the ship's position information from a server (not shown) that provides the ship's position information. The information provided from the server may be, for example, information from an Automatic Identification System (AIS). Furthermore, the ship's position information may be ship's position information visually confirmed by a land-based observer. Furthermore, the ship's position information may include a history of past position information.

[0044] In this case, the estimation unit 21 estimates the ship that is the interference source based on the ship's position information and the position of the interference source. The estimation unit 21 may, for example, estimate that a ship that is present within a predetermined range from the position of the interference source is the interference source. The position of the interference source is estimated by the interference source position estimation unit 25. When two or more ships are present within a predetermined range from the position of the interference source, the estimation unit 21 may narrow down the ships that are estimated as candidate interference sources based on changes in the position of the interference source over time.

[0045] The estimation unit 21 uses the speed of the ship estimated as the interference source as the speed of the interference source. For example, the estimation unit 21 can estimate the speed of the interference source based on changes over time in the position information of the ship estimated as the interference source. The estimation unit 21 may also use ship speed information included in the AIS information as information on the speed of the interference source.

[0046] Note that the interference source may not be a ship. Therefore, the estimation unit 21 may not be able to identify the ship that is the interference source. For example, there may be cases where no ship is present within a predetermined range from the position of the interference source. Therefore, when the estimation unit 21 is unable to identify the ship that is the interference source, it may be better to estimate the speed of the interference source using another method.

[0047] When it is estimated that the influence of the interference wave is continuous, the control unit 22 performs control to change the operating frequency of the interfered device to an interference mitigation frequency. The interfered device is a wireless communication device 50 that is affected by the interference wave. The interference mitigation frequency is a frequency that can mitigate the influence of the interference wave.

[0048] The control unit 22 can determine the interference mitigation frequency by any method. For example, when two or more frequencies that can be used for wireless communication are prepared, the control unit 22 may select a frequency from among the available frequencies that is different from the frequency that is affected by interference as the interference mitigation frequency. Furthermore, when three or more frequencies that can be used for wireless communication are prepared, the control unit 22 may select a frequency from among the available frequencies that is most different in value from the frequency that is affected by interference as the interference mitigation frequency.

[0049] Furthermore, the control unit 22 may estimate the interfered device based on the position of the interference source when the interference source is detected by the control device 20. For example, the control unit 22 may estimate the wireless communication device 50 that exists within a predetermined range from the interference source as the interfered device.

[0050] Furthermore, when an interference source is detected by the wireless communication device 50-i, the control unit 22 may determine that wireless communication device 50-i is an interfered device.

[0051] The control unit 22 instructs the interfered device to change the operating frequency to the interference mitigation frequency. At this time, the interfered device may not be able to perform wireless communication using the original operating frequency due to the influence of interference. In this case, the interfered device and the base station 40 may communicate using a backup frequency.

[0052] The interfered device that has received the instruction to change the operating frequency changes the operating frequency to the instructed frequency for interference mitigation. Note that when the interfered device receives the instruction to change the operating frequency, it may change the operating frequency to a frequency for interference mitigation that it has stored in advance.

[0053] Furthermore, when it is estimated that the influence of the interference wave is transient, the control unit 22 continues to use the frequency used by the interfered device. For example, the control unit 22 does not perform control to change the frequency used by the interfered device to an interference mitigation frequency.

[0054] When the cause of interference is noise from a moving interference source (such as a ship), waiting for the interference source to move away and the interference to be resolved may result in better communication efficiency than changing the frequency used by the wireless communication device 50. When the control unit 22 of this embodiment estimates that the effect of the interference wave is transient, it continues to use the frequency used, thereby reducing the occurrence of a period during which communication is stopped due to a change in the frequency used. Therefore, when the effect of the interference wave is transient, it is possible to reduce a decrease in communication efficiency due to a change in the frequency used, thereby improving communication efficiency.

[0055] When it is estimated that the influence of the interference wave is transient, the control unit 22 may further temporarily suspend wireless communication between the base station 40 and the interfered device. Furthermore, when the control unit 22 temporarily suspends wireless communication, the control unit 22 may resume wireless communication after a period of time has passed until the influence of the interference wave has been alleviated. For example, the control unit 22 can estimate, from the estimated speed of the interference source, the time required for the interference source to move away and the influence of the interference wave to be alleviated. Furthermore, when the influence of the interference wave continues even after the wireless communication is resumed, the control unit 22 may further resume wireless communication after a predetermined waiting time has passed.

[0056] 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.

[0057] First, a method for detecting interference waves based on sound waves received by the base station 40 will be described.

[0058] In this case, the base station 40 transmits information about the received sound waves to the control device 20. The sound wave information includes information about the direction from which the sound waves are coming and information about the frequency of the sound waves. Note that the base station 40 does not need to transmit information about sound waves used in communications with the wireless communication devices 50-1 to 50-N or sound waves with frequencies that do not affect the frequencies used by the wireless communication devices 50-1 to 50-N.

[0059] For example, the control device 20 can determine that an interference wave has occurred when the base station 40 receives any of the following sound waves: A sound wave that arrives from a direction in which no wireless communication device 50-1 to 50-N is present A sound wave that arrives from a direction in which no wireless communication device 50-1 to 50-N is present, but has a frequency that is different from the frequency used by a wireless communication device in that direction A sound wave that has unknown identification information Next, a method for detecting an interference wave based on the sound waves received by the wireless communication device 50-i will be described.

[0060] 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 of arrival of the sound waves 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.

[0061] Furthermore, if the wireless communication device 50-i is affected by interference waves, it cannot communicate using the original frequency it is using. Therefore, in that case, the wireless communication device 50-i communicates with the base station 40 using one of the spare frequencies that is not affected by interference waves.

[0062] 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 25.

[0063] For example, the interference source position estimation unit 25 receives information on interference waves received by the base station 40 from 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 25 also receives information on interference waves received by the wireless communication device 50-i from the wireless communication device 50-i. The interference source position estimation unit 25 then estimates the position of the interference source using information on interference waves that are estimated to be from the same interference source, among the information on the received interference waves. For example, the interference source position estimation unit 25 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 25 may, for example, consider interference waves of the same frequency to be interference waves from the same interference source.

[0064] The position of the wireless communication device 50-i may be measured based on an acceleration sensor provided in the wireless communication device 50-i.

[0065] Furthermore, the interference source position estimation unit 25 can estimate the position of the wireless communication device 50-i, for example, based on the direction of arrival of the sound waves emitted by the wireless communication device 50-i relative to the base station 40. For example, the interference source position estimation unit 25 receives information on the direction of arrival of the sound waves emitted by the wireless communication device 50-i from the base station 40. The interference source position estimation unit 25 also receives information on the vertical position (depth) of the wireless communication device 50-i from the wireless communication device 50-i via the base station 40. The interference source position estimation unit 25 can then estimate the position of the wireless communication device 50-i based on the information on the direction of arrival and the information on the vertical position (depth). In this case, the wireless communication device 50-i is equipped with a pressure (depth) sensor.

[0066] The interference source position estimation unit 25 may further estimate the position 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 control device 20 is shown in FIG.

[0068] The detector 24 detects the occurrence of an interference wave with respect to the wireless communication of the wireless communication device 50. The interference source position estimator 25 estimates the position information of the interference source that emits the interference wave detected by the detector 24 (step S201).

[0069] The estimation unit 21 estimates whether the influence of the interference wave on the wireless communication is continuous or transient based on the speed of the interference source of the interference wave (step S202). In this embodiment, when the detection unit 24 detects the occurrence of interference on the wireless communication device 50, the estimation unit 21 estimates whether the influence of the interference wave is continuous or transient.

[0070] If it is estimated that the influence of the interference wave is continuous (YES in step S203), the control unit 22 performs control to change the frequency used by the interfered device to a frequency for interference mitigation (step S204).

[0071] If it is estimated that the influence of the interference wave is transient (NO in step S203), the control unit 22 continues to use the frequency used by the interfered device (step S205).

[0072] As described above, in the second embodiment of the present invention, the control device 20 includes an estimation unit 21 and a control unit 22. The estimation unit 21 estimates whether the influence of an interference wave is continuous or transient based on the speed of the interference source. The interference source emits an interference wave that interferes with the sound-based wireless communication of a wireless communication device present underwater. When it is estimated that the influence of the interference wave is continuous, the control unit 22 performs control to change the operating frequency of the interfered device to an interference mitigation frequency. The interfered device is a wireless communication device that performs wireless communication that is affected by the interference wave. The interference mitigation frequency is a frequency that can mitigate the influence of the interference wave. When it is estimated that the influence of the interference wave is transient, the control unit 22 continues to use the operating frequency of the interfered device.

[0073] This allows the use of the operating frequency to continue if it is estimated that the effect of the interference wave is transient. As a result, if the effect of the interference wave is transient, it is possible to reduce the decrease in communication efficiency caused by changing the operating frequency. This makes it possible to improve communication efficiency in underwater communication using sound waves.

[0074] Furthermore, if it is estimated that the influence of the interference wave is continuous, the frequency used by the interfered device is changed to a frequency for interference mitigation, thereby reducing the influence of the interference wave.

[0075] Furthermore, the estimation unit 21 estimates that the influence of the interference wave is transient when the speed of the interference source is faster than a predetermined speed. This makes it possible to estimate that the influence of an interference wave that takes a short time for the interference source to leave the influence range of the wireless communication device 50 is transient.

[0076] Furthermore, the estimation unit 21 estimates that the influence of an interference wave is continuous when the speed of the interference source is equal to or less than a predetermined speed. This makes it possible to estimate that the influence of an interference wave that takes a long time for the interference source to leave the influence range of the wireless communication device 50 is continuous.

[0077] Furthermore, the estimation unit 21 may estimate that the influence of an interference wave is continuous if the speed of the interference source decreases over time. This makes it possible to estimate that the influence of an interference wave that takes a long time for the interference source to leave the influence range of the wireless communication device 50 is continuous.

[0078] The control device 20 further includes an interference source position estimation unit 25 that estimates the position of the interference source. The estimation unit 21 estimates the speed of the interference source based on changes in the position of the interference source over time. This allows the control device 20 to estimate the speed of the interference source.

[0079] The control device 20 further includes an interference source position estimation unit 25 that estimates the position of the interference source. The estimation unit 21 estimates the ship that is the interference source based on the ship's position information and the position of the interference source, and uses the speed of the ship estimated as the interference source as the speed of the interference source. This allows the control device 20 to more accurately estimate the speed of the interference source when the interference source is a ship.

[0080] Third Embodiment Next, a third embodiment of the present invention will be described. A specific example of the control device 10 in the first embodiment is a control device 30 in the third embodiment.

[0081] 6 shows an example of the configuration of a communication system 70 including the control device 30 of this embodiment. The communication system 60 includes a base station 40, wireless communication devices 50-i (i is an integer from 1 to N, and N is an integer equal to or greater than 1), and control devices 30-i. The control devices 30-i are connected to each of the wireless communication devices 50-i. The control devices 30-1 to 30-N may be collectively referred to as control devices 30.

[0082] The base station 40 and the wireless communication device 50 are the same as those in the second embodiment, and therefore a description thereof will be omitted.

[0083] The control device 30-i is connected to the wireless communication device 50-i. The control device 30-i is mounted on the same UUV (Unmanned Undersea Vehicle) as the wireless communication device 50-i, for example. The control device 30-i also controls the frequency used by the wireless communication device 50-i.

[0084] 7 shows an example of the configuration of the control device 30-i of this embodiment. The control device 30-i includes an estimation unit 31-i, a control unit 32-i, a detection unit 34-i, and an interference source position estimation unit 35-i.

[0085] The detector 34-i detects the occurrence of interference waves with respect to wireless communication performed by the wireless communication device 50-i. The detector 34-i can detect the occurrence of interference waves using any method. For example, in this embodiment, the detector 34-i detects interference waves based on sound waves received by the wireless communication device 50-i connected to the control device 30-i. Note that the detector 34-i does not need to detect as interference waves sound waves that do not affect the sound waves used in wireless communication between the wireless communication device 50-i and the base station 40.

[0086] The interference source position estimation unit 35-i estimates the position information of the interference source that emits the interference wave detected by the detection unit 34-i. The method of estimating the position of the interference source will be described later.

[0087] The estimation unit 31-i estimates whether the influence of the interference wave on the wireless communication is continuous or transient based on the speed of the interference source of the interference wave. The estimation method is the same as that in the second embodiment, so a description thereof will be omitted.

[0088] When it is estimated that the influence of the interference wave is continuous, the control unit 32-i controls to change the frequency used by the interfered device (wireless communication device 50-i) to a frequency for interference mitigation. In the present embodiment, when the detection unit 34-i detects an interference wave interfering with the wireless communication performed by the wireless communication device 50-i, it is estimated whether the influence of the interference wave is continuous or transient, and therefore the interfered device to be controlled is the wireless communication device 50-i.

[0089] The control unit 32-i instructs the interfered device (wireless communication device 50-i) to change the operating frequency to an interference mitigation frequency. The interfered device that receives the instruction to change the operating frequency changes the operating frequency to the instructed interference mitigation frequency. Note that when the interfered device receives the change instruction, it may change the operating frequency to an interference mitigation frequency that it has stored in advance.

[0090] When it is estimated that the influence of the interference wave is transient, the control unit 32-i continues to use the frequency used by the interfered device. For example, the control unit 32-i does not perform control to change the frequency used by the interfered device to the frequency for interference mitigation.

[0091] If it is estimated that the influence of the interference wave is transient, the control unit 32-i may further temporarily suspend wireless communication from the wireless communication device 50-i to the base station 40.

[0092] Next, a method for estimating the position of an interference source will be described. The position of an interference source is estimated by the interference source position estimator 35-i.

[0093] For example, the interference source position estimation unit 35-i estimates the position of the interference source based on the direction of arrival of the interference wave with respect to the wireless communication device 50-i and the position of the wireless communication device 50-i. At this time, the position of the interference source may be within a range in which the interference source may exist.

[0094] The interference source position estimating unit 35-i may also estimate the position of the interference wave based on the received signal strength of the interference wave.

[0095] The position of the wireless communication device 50-i may be measured based on an acceleration sensor provided in the wireless communication device 50-i.

[0096] The interference source position estimator 35-i can also estimate the position of the wireless communication device 50-i, for example, based on the direction of arrival of sound waves emitted by the base station 40 relative to the wireless communication device 50-i. For example, the interference source position estimator 35-i receives information on the direction of arrival of sound waves emitted by the base station 40 from the wireless communication device 50-i. The interference source position estimator 35-i also receives information on the vertical position (depth) of the wireless communication device 50-i from the wireless communication device 50-i. The interference source position estimator 35-i can then estimate the position of the wireless communication device 50-i based on the information on the direction of arrival, the information on the vertical position (depth), and the position information of the base station 40. In this case, the wireless communication device 50-i is equipped with a pressure (depth) sensor.

[0097] Next, an example of the operation flow of the control device 30-i will be described with reference to FIG.

[0098] The detector 34-i detects the occurrence of an interference wave for the wireless communication device 50-i. The interference source position estimator 35-i estimates the position information of the interference source that emits the interference wave detected by the detector 34-i (step S201).

[0099] The estimation unit 31-i estimates whether the influence of the interference wave on the wireless communication is continuous or transient based on the speed of the interference source of the interference wave (step S202). In this embodiment, when the detection unit 34-i detects the occurrence of interference with the wireless communication device 50-i, the estimation unit 31-i estimates whether the influence of the interference wave is continuous or transient.

[0100] If the control unit 32-i estimates that the influence of the interference wave is continuous (YES in step S203), it performs control to change the frequency used by the interfered device (wireless communication device 50-i) to a frequency for interference mitigation (step S204).

[0101] Furthermore, if it is estimated that the influence of the interference wave is transient (NO in step S203), the control unit 32-i continues to use the frequency used by the interfered device (step S205).

[0102] As described above, in the third embodiment of the present invention, the control device 30-i includes an estimation unit 31-i and a control unit 32-i. The estimation unit 31-i estimates whether the influence of an interference wave is continuous or transient based on the speed of the interference source. The interference source emits an interference wave that interferes with the sound-based wireless communication of a wireless communication device present underwater. When it is estimated that the influence of the interference wave is continuous, the control unit 32-i performs control to change the operating frequency of the interfered device to an interference mitigation frequency. The interfered device is a wireless communication device that performs wireless communication that is affected by the interference wave. The interference mitigation frequency is a frequency that can mitigate the influence of the interference wave. When it is estimated that the influence of the interference wave is transient, the control unit 32-i continues to use the operating frequency of the interfered device.

[0103] This allows the use of the operating frequency to continue if it is estimated that the effect of the interference wave is transient. As a result, if the effect of the interference wave is transient, it is possible to reduce the decrease in communication efficiency caused by changing the operating frequency. This makes it possible to improve communication efficiency in underwater communication using sound waves.

[0104] Furthermore, if it is estimated that the influence of the interference wave is continuous, the frequency used by the interfered device is changed to a frequency for interference mitigation, thereby reducing the influence of the interference wave.

[0105] [Hardware Configuration Example] An example of the configuration of hardware resources for realizing the control device (10, 20, 30) 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. Also, the control device may be realized as a dedicated device. Also, only some of the functions of the control device may be realized using an information processing device. Also, at least some of the functions of the control device may be realized on the cloud.

[0106] 8 is a diagram illustrating an example of the hardware configuration of an information processing device that can realize the control device according to each embodiment of the present invention. The information processing device 90 includes a communication interface 91, an input / output interface 92, a computing device 93, a storage device 94, a nonvolatile storage device 95, and a drive device 96.

[0107] 1 can be realized by a communication interface 91 and a computing device 93. The estimation unit 11 can be realized by the computing device 93.

[0108] 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 to each other via the communication interface 91 so as to be able to communicate with each other.

[0109] 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.

[0110] The arithmetic unit 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 unit 93 is capable of, for example, reading various programs stored in a nonvolatile storage device 95 into the storage device 94 and executing processing in accordance with the read programs.

[0111] 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.

[0112] 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.

[0113] 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.

[0114] 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.

[0115] Each embodiment of the present invention may be realized, for example, by configuring a control device using the information processing device 90 illustrated in Figure 8 and supplying this control device with a program capable of realizing the functions described in each of the above embodiments.

[0116] 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.

[0117] 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.

[0118] Some or all of the above-described embodiments can be described as, but are not limited to, the following supplementary notes.

[0119] (Supplementary Note 1) A control device comprising: an estimation means for estimating whether the influence of an interference wave is continuous or transient based on the speed of an interference source that emits an interference wave that interferes with the sound-based wireless communication of a wireless communication device present underwater; and a control means for controlling, when the influence of the interference wave is estimated to be continuous, changing the operating frequency used for wireless communication by an interfered device, which is a wireless communication device that performs the wireless communication and is affected by the interference wave, to an interference mitigation frequency, which is a frequency that can mitigate the influence of the interference wave; and, when the influence of the interference wave is estimated to be transient, continuing to use the operating frequency of the interfered device.

[0120] (Supplementary Note 2) The control device according to Supplementary Note 1, wherein the estimation means estimates that the influence of the interference wave is transient when the speed of the interference source is faster than a predetermined speed.

[0121] (Supplementary Note 3) The control device according to Supplementary Note 2, wherein the estimation means estimates that the influence of the interference wave is continuous when the speed of the interference source is equal to or less than a predetermined speed.

[0122] (Supplementary Note 4) The control device according to Supplementary Note 3, wherein the estimation means further estimates that the influence of the interference wave is continuous if the speed of the interference source decreases over time.

[0123] (Supplementary Note 5) The control device according to any one of Supplementary Note 1 to Supplementary Note 4, further comprising interference source position estimation means for estimating a position of the interference source, wherein the estimation means estimates a speed of the interference source based on a change in the position of the interference source over time.

[0124] (Supplementary Note 6) A control device described in any of Supplementary Note 1 to Supplementary Note 4, further comprising an interference source position estimation means for estimating the position of the interference source, wherein the estimation means estimates the ship that is the interference source based on ship position information and the position of the interference source, and uses the speed of the ship estimated as the interference source as the speed of the interference source.

[0125] (Supplementary Note 7) A control system comprising: an estimation means for estimating whether the influence of an interference wave is continuous or transient based on the speed of an interference source that emits an interference wave that interferes with the sound-based wireless communication of a wireless communication device present underwater; and a control means for, when it is estimated that the influence of the interference wave is continuous, performing control to change the operating frequency used for wireless communication by an interfered device, which is a wireless communication device that performs the wireless communication and is affected by the interference wave, to an interference mitigation frequency, which is a frequency that can mitigate the influence of the interference wave; and, when it is estimated that the influence of the interference wave is transient, continuing to use the operating frequency of the interfered device.

[0126] (Supplementary Note 8) A control method comprising: estimating whether the influence of the interference wave is continuous or transient based on the speed of an interference source that emits an interference wave that interferes with the sound-based wireless communication of a wireless communication device present underwater; if it is estimated that the influence of the interference wave is continuous, performing control to change the operating frequency used for wireless communication by an interfered device, which is a wireless communication device that performs the wireless communication and is affected by the interference wave, to an interference mitigation frequency, which is a frequency that can mitigate the influence of the interference wave; and if it is estimated that the influence of the interference wave is transient, continuing to use the operating frequency of the interfered device.

[0127] (Supplementary Note 9) The control method according to Supplementary Note 8, wherein when the speed of the interference source is faster than a predetermined speed, it is estimated that the influence of the interference wave is transient.

[0128] (Supplementary Note 10) A computer-readable recording medium having recorded thereon a control program that causes a computer to implement the following functions: an estimation function that estimates whether the influence of an interference wave is continuous or transient based on the speed of an interference source that emits an interference wave that interferes with the sound-based wireless communication of a wireless communication device present underwater; and a control function that, when it is estimated that the influence of the interference wave is continuous, performs control to change the operating frequency used for wireless communication by an interfered device, which is a wireless communication device that performs the wireless communication and is affected by the interference wave, to an interference mitigation frequency that can mitigate the influence of the interference wave, and, when it is estimated that the influence of the interference wave is transient, continues to use the operating frequency of the interfered device.

[0129] 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.

[0130] This application claims priority based on Japanese Patent Application No. 2023-115875, filed on July 14, 2023, the disclosure of which is incorporated herein by reference in its entirety.

[0131] 10, 20, 30-i Control device 11, 21, 31-i Estimation unit 12, 22, 32-i Control unit 24, 34-i Detection unit 25, 35-i Interference source position estimation unit 40 Base station 50-i Wireless communication device 60, 70 Communication system 90 Information processing device 91 Communication interface 92 Input / output interface 93 Arithmetic unit 94 Storage device 95 Non-volatile storage device 96 Drive device 97 Recording medium

Claims

1. An estimation means for estimating whether the effect of an interference wave is continuous or transient, based on the speed of an interference source that emits an interference wave that interferes with the wireless communication of a wireless communication device located underwater using sound waves, If the effect of the interference wave is estimated to be continuous, the affected device, which is a wireless communication device that performs the wireless communication affected by the interference wave, will perform control to change the frequency used for the wireless communication to an interference reduction frequency, which is a frequency that can reduce the effect of the interference wave. If the effect of the interference wave is estimated to be transient, a control means for continuing to use the operating frequency of the interfered device, A control device equipped with the following features.

2. The estimation means estimates that the effect of the interference wave is transient when the speed of the interference source is faster than a predetermined speed. The control device according to claim 1.

3. The estimation means estimates that the effect of the interference wave is continuous when the velocity of the interference source is below a predetermined velocity. The control device according to claim 2.

4. The estimation means further estimates that the effect of the interference wave is continuous when the velocity of the interference source decreases over time. The control device according to claim 3.

5. The system further comprises interference source location estimation means for estimating the location of the aforementioned interference source, The estimation means estimates the velocity of the interference source based on the change in the position of the interference source over time. A control device according to any one of claims 1 to 4.

6. The system further comprises interference source location estimation means for estimating the location of the aforementioned interference source, The estimation means estimates the vessel that is the interference source based on the position information of the vessel and the position of the interference source, and uses the speed of the vessel estimated to be the interference source as the speed of the interference source. A control device according to any one of claims 1 to 4.

7. An estimation means for estimating whether the effect of an interference wave is continuous or transient, based on the speed of an interference source that emits an interference wave that interferes with the wireless communication of a wireless communication device located underwater using sound waves, If the effect of the interference wave is estimated to be continuous, the affected device, which is a wireless communication device that performs the wireless communication affected by the interference wave, will perform control to change the frequency used for the wireless communication to an interference reduction frequency, which is a frequency that can reduce the effect of the interference wave. If the effect of the interference wave is estimated to be transient, a control means for continuing to use the operating frequency of the interfered device, A control system equipped with the following features.

8. Based on the speed of the interference source emitting interference waves that interfere with the sound wave-based wireless communication of a wireless communication device located underwater, it is estimated whether the effect of the said interference waves is continuous or transient. If the effect of the interference wave is estimated to be continuous, the affected device, which is a wireless communication device that performs the wireless communication affected by the interference wave, will perform control to change the frequency used for the wireless communication to an interference reduction frequency, which is a frequency that can reduce the effect of the interference wave. If the effect of the interference wave is estimated to be transient, the use of the frequency used by the interfered device will be continued. Control method.

9. If the speed of the interference source is faster than a predetermined speed, the effect of the interference wave is estimated to be transient. The control method according to claim 8.

10. On the computer, An estimation function that estimates whether the effect of interference waves is continuous or transient, based on the speed of the interference source emitting interference waves that interfere with the wireless communication of a wireless communication device located underwater, If the effect of the interference wave is estimated to be continuous, the affected device, which is a wireless communication device that performs the wireless communication affected by the interference wave, will perform control to change the frequency used for the wireless communication to an interference reduction frequency, which is a frequency that can reduce the effect of the interference wave. If the effect of the interference wave is estimated to be transient, a control function is provided to continue using the operating frequency of the interfered device. A control program that makes this possible.