Sound wave information output device, sound wave information output method, and recording medium

Abstract

In order to make it possible to improve the accuracy of information about a transmission frequency transmitted by a sending source, this sound wave information output device is provided with: a speed estimation unit that, on the basis of a target sound wave which is a sound wave transmitted in water, estimates a sending source velocity, which is the movement direction and the movement speed off the sending source emitting the target sound wave; a generation unit that generates sound wave information including information about the transmission frequency of the target sound wave on the basis of the sending source velocity, the reception frequency of the target sound wave at a reception device that received the target sound wave, a reception device velocity that is the movement direction and the movement speed of the reception device, and the speed of sound in the water around the reception device; and an output unit that outputs the sound wave information.

Description

SOUND WAVE INFORMATION OUTPUT DEVICE, SOUND WAVE INFORMATION OUTPUT METHOD, AND RECORDING MEDIUM

[0001] The present disclosure relates to a sound wave information output device, a sound wave information output 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. In addition, the communication between the base station and the control device is carried out by radio wave communication or wired communication.

[0005] Japanese Patent Application Laid-Open No. 2017-076877

[0006] Underwater, sound waves other than those transmitted from the communication device or base station may be generated, and the communication device or base station may perform some control depending on the information of the generated sound waves.

[0007] However, when at least one of the source of the generated sound waves and the detection device that detects the generation of the sound waves is moving, the transmission frequency of the sound waves at the source and the reception frequency of the sound waves at the detection device will be different values. For example, if control is performed by a communication device or a base station based on a reception frequency that is different from the transmission frequency, there is a possibility that appropriate control will not be performed.

[0008] Patent Document 1 describes a calculation formula for determining the transmission frequency of sound waves emitted from an underwater base station so that the observed frequency of an underwater robot is the target frequency. This calculation formula assumes that the movement speed of the underwater base station is zero. Therefore, if the movement speed of the sound wave source is unknown, the method described in Patent Document 1 will result in low accuracy in calculating the transmission frequency.

[0009] In view of the above-mentioned problems, the object of the present disclosure is to provide an acoustic wave information output device, an acoustic wave information output method, and a recording means that enable improving the accuracy of information on the transmission frequency of acoustic waves transmitted from a transmission source.

[0010] In one aspect of the present disclosure, an acoustic information output device includes a speed estimation means for estimating source speed, which is the direction and speed of movement of a source emitting the target sound wave, based on the generation of the target sound wave, which is a sound wave transmitted underwater; a generation means for generating acoustic information including information on the transmission frequency of the target sound wave based on the source speed, the reception frequency of the target sound wave at a receiving device that receives the target sound wave, receiving device speed, which is the direction and speed of movement of the receiving device, and the speed of sound in water around the receiving device; and an output means for outputting the acoustic information.

[0011] In another aspect of the present disclosure, a method for outputting acoustic information estimates the source speed, which is the direction and speed of movement of a source emitting the target sound wave, based on the generation of a target sound wave, which is a sound wave transmitted underwater, and generates acoustic information including information on the transmission frequency of the target sound wave based on the source speed, the reception frequency of the target sound wave at a receiving device that receives the target sound wave, the receiving device speed, which is the direction and speed of movement of the receiving device, and the speed of sound in water around the receiving device, and outputs the acoustic information.

[0012] In another aspect of the present disclosure, a sound wave information output program recorded on a computer-readable recording medium causes a computer to realize a speed estimation function that estimates the source speed, which is the direction and speed of movement of the source emitting the target sound wave, based on the generation of the target sound wave, which is a sound wave transmitted underwater; a generation function that generates sound wave information including information on the transmission frequency of the target sound wave based on the source speed, the reception frequency of the target sound wave at the receiving device that receives the target sound wave, the receiving device speed, which is the direction and speed of movement of the receiving device, and the speed of sound in water around the receiving device; and an output function that outputs the sound wave information.

[0013] According to the above aspects of the present disclosure, it is possible to improve the accuracy of information on the transmission frequency of sound waves transmitted from a transmission source.

[0014] FIG. 1 is a diagram illustrating an example of the configuration of a sonic information output device of the present disclosure. FIG. 2 is a diagram illustrating an example of the operation flow of a sonic information output device of the present disclosure. FIG. 3 is a diagram illustrating an example of the configuration of a communication system including a sonic information output device of the present disclosure. FIG. 4 is a diagram illustrating another example of the configuration of a sonic information output device of the present disclosure. FIG. 5 is a diagram illustrating the relationship between the transmission source speed and the receiving device speed. FIG. 6 is a diagram illustrating an example of sonic information. FIG. 7 is a diagram illustrating an example of an image showing sonic information. FIG. 8 is a diagram illustrating an example of the configuration of a communication system including a sonic information output device of the present disclosure. FIG. 9 is a diagram illustrating an example of the configuration of a sonic information output device of the present disclosure. FIG. 10 is a diagram illustrating an example of the hardware configuration of the present disclosure.

[0015] First Embodiment A first embodiment of the present disclosure will be described. A specific example of the sound wave information output device 10 in the first embodiment is a sound wave information output device 20 in a second embodiment described later.

[0016] 1 shows an example of the configuration of a sound wave information output device 10. The sound wave information output device 10 includes a speed estimation unit 11, a generation unit 12, and an output unit 13.

[0017] The velocity estimation unit 11 estimates the velocity of a source based on the generation of a target sound wave. The target sound wave is a sound wave transmitted underwater. The velocity of the source is the direction and speed of movement of the source that emits the target sound wave.

[0018] The generation unit 12 generates sound wave information based on the source speed, the reception frequency of the target sound wave at the receiving device that received the target sound wave, the receiving device speed, and the speed of sound in the water around the receiving device. The receiving device speed is the direction and speed of movement of the receiving device. The sound wave information is information about the target sound wave. The sound wave information also includes information about the transmission frequency of the target sound wave. The reception frequency is the frequency received (observed) by the receiving device for the sound wave received by the receiving device.

[0019] The output unit 13 outputs the sound wave information.

[0020] Next, FIG. 2 shows an example of the operation flow of the sound wave information output device 10.

[0021] The velocity estimation unit 11 estimates the velocity of the source based on the generation of the target sound wave (step S101).

[0022] The generator 12 generates sound wave information (step S102).

[0023] The output unit 13 outputs the sound wave information (step S103).

[0024] As described above, in the first embodiment of the present disclosure, the sonic information output device 10 includes a speed estimation unit 11, a generation unit 12, and an output unit 13. The speed estimation unit 11 estimates the source speed based on the generation of target sound waves. The target sound waves are sound waves transmitted underwater. The source speed is the direction and speed of movement of the source that emits the target sound waves. The generation unit 12 generates sonic information based on the source speed, the reception frequency of the target sound waves at the receiving device that receives the target sound waves, the receiving device speed which is the direction and speed of movement of the receiving device, and the speed of sound in the water around the receiving device. The sonic information includes information on the transmission frequency of the target sound waves. The output unit 13 outputs the sonic information.

[0025] This allows the velocity of the emission source to be estimated, and sound wave information including information on the transmission frequency of the target sound wave to be generated based on the estimated velocity of the emission source, thereby improving the accuracy of the information on the transmission frequency of the sound wave transmitted from the emission source.

[0026] Second Embodiment Next, a second embodiment of the present disclosure will be described. A specific example of the sound wave information output device 10 in the first embodiment is a sound wave information output device 20 in the second embodiment.

[0027] 3 shows an example of the configuration of a communication system 71 including the sonic information output device 20. The communication system 71 includes the sonic information output device 20, a base station 60, and wireless communication devices 50-i (i is an integer from 1 to N, and N is an integer equal to or greater than 1).

[0028] The base station 60 is located on the water and is capable of wireless communication with the wireless communication device 50-i using acoustic waves.

[0029] The wireless communication device 50-i exists underwater. The wireless communication device 50-i can perform wireless communication using sound waves with a base station 60. The wireless communication device 50-i can communicate with the sound wave information output device 20 via the base station 60. The wireless communication devices 50-1 to 50-N may be collectively referred to as wireless communication devices 50.

[0030] Furthermore, the frequency that the wireless communication device 50-i uses for wireless communication using sound waves with the base station 60 will be referred to hereinafter as the operating frequency. Note that the wireless communication using sound waves may be communication using band signals. In this case, the operating frequency may be a frequency band. When the wireless communication is communication using band signals, the term "frequency" refers to a "frequency band."

[0031] The sonic information output device 20 is connected to a base station 60. The sonic information output device 20 is located on water or on land. The sonic information output device 20 can communicate with the base station 60 wirelessly via radio waves or via wire.

[0032] 4 shows an example of the configuration of the sound wave information output device 20. The sound wave information output device 20 includes a speed estimation unit 21, a generation unit 22, an output unit 23, and a detection unit 24.

[0033] The detection unit 24 detects the generation of target sound waves. Target sound waves are sound waves transmitted underwater. Furthermore, target sound waves are sound waves that are the target of outputting sound wave information, which will be described later. The type of sound waves that are the target sound waves is determined in advance. For example, the target sound waves may be sound waves transmitted underwater. Furthermore, the target sound waves may be sound waves that are not used in wireless communication between the base station 60 and the wireless communication device 50. Furthermore, the target sound waves may be interference waves. If the target sound waves to be detected are interference waves, the detection unit 24 detects the generation of interference waves in wireless communication performed by the wireless communication device 50. The detection unit 24 can detect the generation of target sound waves using any method. Examples of methods for detecting target sound waves will be described later.

[0034] The interference waves are sound waves that can interfere with sound-based wireless communication between the base station 60 and the wireless communication device 50 located underwater. For example, interference waves can be waves with frequencies close to the frequency used for wireless communication by the wireless communication device 50. In the case of sound-based wireless communication, 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, and sounds emitted by ships.

[0035] The speed estimation unit 21 estimates the source speed based on the generation of the target sound waves. The source speed is the direction of movement and speed of movement of the source that emits the target sound waves. The source is an object that emits the target sound waves. For example, a device that communicates by sound waves, an underwater creature, construction equipment, a ship, etc. can also be a source. The speed estimation unit 21 considers that the target sound waves have been generated when the detection unit 24 detects the generation of the target sound waves. An example of a method for estimating the source speed will be described later. Note that estimating the source speed based on the generation of the target sound waves includes estimating the source speed based on the reception of the target sound waves.

[0036] The generation unit 22 generates sound wave information based on the source speed, the reception frequency of the target sound wave at the receiving device, the receiving device speed, and the speed of sound in the water around the receiving device. The receiving device speed is the direction and speed of movement of the receiving device. The receiving device is a device that receives the target sound wave. The receiving device is a base station 60, a wireless communication device 50, or an information collection device. The sound wave information is information about the target sound wave. The sound wave information also includes information about the transmission frequency of the target sound wave. The reception frequency is the frequency received (observed) by the receiving device for the sound wave received by the receiving device. An example of a method for generating sound wave information will be described later.

[0037] The output unit 23 outputs the sound wave information. The method for outputting the sound wave information will be described later.

[0038] Next, a method for detecting the generation of target sound waves will be described. The detection unit 24 may detect, as the target sound waves, the generation of interference waves in wireless communication performed by the wireless communication device 50. There are two methods for detecting target sound waves: a method for detecting based on sound waves received by the base station 60, and a method for detecting based on sound waves received by the wireless communication device 50.

[0039] First, a method for detecting target sound waves based on sound waves received by the base station 60 will be described.

[0040] In this case, the base station 60 transmits information about the sound waves to the sound wave information output device 20. The information about the sound waves includes information about the direction of arrival of the sound waves and information about the frequency of the sound waves (the reception frequency at the base station 60). Note that if the target sound waves are sound waves that are not used in communications with the wireless communication devices 50-1 to 50-N, the base station 60 does not need to transmit information about the sound waves that are being used in communications with the wireless communication devices 50-1 to 50-N. Also, if the target sound waves are interference waves, the base station 60 does not need to transmit information about the sound waves with frequencies that do not affect the frequencies used by the wireless communication devices 50-1 to 50-N.

[0041] For example, the detection unit 24 of the sound wave information output device 20 can determine that a target sound wave has been generated when the base station 60 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 that is present in that direction A sound wave that has unknown identification information Furthermore, the detection unit 24 can determine, for example, that, of the above sound waves, a sound wave with a frequency that affects the frequency used by the wireless communication devices 50-1 to 50-N is an interference wave.

[0042] Next, a method for detecting target sound waves based on sound waves received by the wireless communication device 50-i will be described.

[0043] In this case, the wireless communication device 50-i transmits information about the sound waves to the sound wave information output device 20 via the base station 60. The sound wave information includes information about the direction of arrival of the sound waves and information about the frequency of the sound waves (the reception frequency at the wireless communication device 50-i). Note that if the target sound waves are sound waves that are not used in communication with the wireless communication devices 50-1 to 50-N, the wireless communication device 50-i does not need to transmit sound wave information about the sound waves that are being used in communication with the base station 60. Also, if the target sound waves are interference waves, the wireless communication device 50-i does not need to transmit sound wave information about sound waves with frequencies that do not affect the frequencies used by the wireless communication devices 50-1 to 50-N.

[0044] Furthermore, if the wireless communication device 50-i is affected by interference waves, it cannot communicate using the original frequency it was using. Therefore, when it is unable to communicate using the original frequency it uses, the wireless communication device 50-i communicates with the base station 60 using one of the spare frequencies that is not affected by interference waves.

[0045] The detection unit 24 of the sound wave information output device 20 can determine that a target sound wave has been generated when the wireless communication device 50-i receives the target sound wave. Also, the detection unit 24 can determine that an interference wave has been generated when the wireless communication device 50-i receives a sound wave that may interfere with the wireless communication by sound waves between the base station 60 and the wireless communication device 50.

[0046] The detection unit 24 may detect the target sound waves based on sound waves received by an information acquisition device (not shown). The information acquisition device may be mounted on, for example, an unmanned underwater vehicle (UUV) used for information acquisition. In this case, the information acquisition device can detect the target sound waves in a manner similar to the method of detecting the target sound waves based on sound waves received by the wireless communication device 50-i.

[0047] Next, an example of a method for estimating the source velocity will be described.

[0048] For example, the speed estimation unit 21 may estimate the speed of the source using position information of a ship that is present within a predetermined range from the receiving device. The predetermined range is, for example, a range within which the receiving device is likely to receive sound waves emitted from that range. The predetermined range may be fixed and determined in advance. The speed estimation unit 21 may receive ship position information from a server (not shown) that provides ship position information. The information provided from the server may be, for example, information from an AIS (Automatic Identification System). The ship position information may also be ship position information visually confirmed by a land-based observer. The ship position information may also include a history of past position information. The speed estimation unit 21 may further receive ship identification information from the server.

[0049] When using the position information of the ship, the speed estimation unit 21 may estimate the ship that is the source of the target sound wave, for example, based on the position information of the ship and the arrival direction of the target sound wave. The arrival direction of the target sound wave is the arrival direction of the target sound wave with respect to the device that received the target sound wave.

[0050] For example, the speed estimation unit 21 may estimate a ship present in the direction of arrival of the target sound wave as the source of the target sound wave. When two or more ships are present in the direction of arrival of the target sound wave, the speed estimation unit 21 may estimate two or more ships as candidate sources. Furthermore, the speed estimation unit 21 may exclude a ship that is no longer present in the direction of arrival of the target sound wave from the candidate sources based on changes over time in the direction of arrival of the target sound wave.

[0051] Furthermore, the speed estimation unit 21 may estimate the ship that is the source of the sound wave, for example, based on the ship's position information and the position of the source. The speed estimation unit 21 may estimate, for example, that a ship that is present within a predetermined range from the position of the source is the source that emits the target sound wave. When two or more ships are present within a predetermined range from the position of the source, the speed estimation unit 21 may narrow down the ships that are estimated as candidate sources based on changes in the position of the source over time. The speed estimation unit 21 may also estimate two or more ships as candidate sources.

[0052] The position of the source is estimated by a source position estimation unit 35. The source position estimation unit 35 estimates the position of the source (source position) emitting the target sound wave detected by the detection unit 24. FIG. 5 shows an example of the configuration of a sound wave information output device 30 including the source position estimation unit 35. The sound wave information output device 30 includes the source position estimation unit 35 in addition to the speed estimation unit 21, the generation unit 22, the output unit 23, and the detection unit 24. The method of estimating the source position will be described later.

[0053] The speed estimation unit 21 uses the movement speed of the ship estimated as the source as the source speed. For example, the speed estimation unit 21 can estimate the source speed based on changes over time in the position of the ship estimated as the source. The speed estimation unit 21 may also use information on the movement speed of the ship included in information from the AIS as information on the source speed. When two or more ships are estimated as candidate sources, the speed estimation unit 21 may use the movement speed of each of the candidate sources as a candidate source speed.

[0054] Note that the source may not be a ship. Therefore, the speed estimation unit 21 may not be able to identify the ship that is the source. For example, there may be cases where no ship is present in the direction from which the target sound wave is arriving. Therefore, when the speed estimation unit 21 is unable to identify the ship that is the source, it may be better to estimate the source speed using another method.

[0055] For example, the velocity estimation unit 21 may estimate the velocity of the source based on the change over time of the source position estimated by the source position estimation unit 35. The velocity estimation unit 21 may also estimate the velocity of the source based on the change over time of the direction of arrival of the target sound wave.

[0056] Next, a method for estimating the position of the transmission source will be described. The position of the transmission source is estimated by the transmission source position estimator 35.

[0057] For example, the detection unit 24 receives information on target sound waves received by the base station 60 from the base station 60. The information on the target sound waves includes information on the direction of arrival and frequency (received frequency) of the target sound waves. The detection unit 24 also receives information on target sound waves received by the wireless communication device 50-i from the wireless communication device 50-i. The source position estimation unit 35 then estimates the position of the source using information on target sound waves that are estimated to be from the same source, among the information on the target sound waves received by the detection unit 24. For example, the source position estimation unit 35 can determine the position of the source as the intersection of a line extending from the position of the device (receiving device) that received the target sound waves in the direction of arrival of the target sound waves. Note that the source position estimation unit 35 may, for example, consider target sound waves of the same frequency to be target sound waves from the same source.

[0058] The position of the wireless communication device 50-i may be measured based on an inertial sensor provided in the wireless communication device 50-i.

[0059] Furthermore, the speed estimation unit 21 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 60. For example, the speed estimation unit 21 receives information on the direction of arrival of the sound waves emitted by the wireless communication device 50-i from the base station 60. The speed estimation unit 21 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 60. The speed estimation unit 21 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.

[0060] The source position estimation unit 35 may further estimate the position of the source based on the received signal level of the target sound wave. In this case, the information on the target sound wave further includes information on the received signal level at the device that received the target sound wave.

[0061] Next, an example of a method for generating sound wave information will be described. The generator 22 generates sound wave information based on the speed of the source, the reception frequency of the target sound wave at the receiving device, the speed of the receiving device, and the speed of sound in water around the receiving device. The receiving device is a wireless communication device 50, a base station 60, or an information acquisition device.

[0062] The generation unit 22 can calculate the transmission frequency f0 of the target sound wave at the transmission source, for example, using the following formula (1): where f is the reception frequency of the target sound wave at the receiving device, Vc is the speed of sound, r is the speed of the receiving device, and t is the speed of the transmission source.

[0063]

[0064] The generation unit 22 uses the component of the source speed t0 (vector) in the direction of the straight line from the source to the receiving device as the source speed t. If the direction of travel of the source with respect to the straight line from the source to the receiving device is θt, the source speed t is calculated by the following equation (2). Note that the generation unit 22 can determine the direction of the straight line from the source to the receiving device from information on the direction of arrival of the target sound wave relative to the receiving device. The source speed t0 is estimated by the speed estimation unit 21.

[0065]

[0066] Furthermore, the generation unit 22 uses the component of the receiving device speed r0 (vector) in the direction of the straight line from the transmission source to the receiving device as the speed r of the receiving device. If the direction of travel of the receiving device relative to the straight line from the transmission source to the receiving device is θr, the speed r of the receiving device is calculated by the following equation (3). Note that the receiving device speed r0 is acquired by the receiving device and transmitted to the ultrasonic information output device 20.

[0067]

[0068] FIG. 6 also shows the relationship between source speed and receiver speed.

[0069] The generator 22 also estimates the sound speed Vc and calculates the transmission frequency f0 using the estimated sound speed Vc. The method for estimating the sound speed will be described later.

[0070] Furthermore, when the speed estimation unit 21 estimates two or more speeds as candidate source speeds, the generation unit 22 calculates a transmission frequency f0 for each of the candidate source speeds. Then, the generation unit 22 sets each of the calculated transmission frequencies as candidate transmission frequencies. When an invalid transmission frequency (a transmission frequency outside a predetermined frequency range) is included among the calculated transmission frequencies, the generation unit 22 may exclude the invalid transmission frequency from the candidate transmission frequencies. Furthermore, the generation unit 22 may exclude the transmission source speed used in calculating the transmission frequency excluded from the candidate transmission frequencies from the candidate source speeds.

[0071] The generator 22 then generates sound wave information. The sound wave information includes information on the transmission frequency. When two or more transmission frequencies are estimated as candidate transmission frequencies, the sound wave information may include information on each of the candidate transmission frequencies. Furthermore, when two or more target sound waves are detected, the sound wave information may include information on each of the target sound waves, or may be generated for each of the target sound waves.

[0072] The acoustic information may also include information on the source speed used to calculate the transmission frequency. If the position information of a ship is used to estimate the source speed, the acoustic information may also include identification information of the ship whose position information was used to estimate the source speed. The acoustic information may also include metadata acquired from the target acoustic wave. The metadata is acquired by the receiving device and transmitted to the acoustic information output device 20. The acoustic information may also include information on the time the target acoustic wave was received by the receiving device.

[0073] The sound wave information may also include spectral information indicating the frequency spectrum of the target sound wave. The spectral information indicates the correspondence between frequency and intensity for the target sound wave. The spectral information of the reception frequency at the receiving device is acquired by the receiving device and transmitted to the sound wave information output device 20. The generation unit 22 may convert the spectral information of the reception frequency at the receiving device into spectral information of the transmission frequency using a method similar to that for calculating the transmission frequency described above.

[0074] Furthermore, the information on the transmission frequency may be associated with the speed of the source. If the source is a ship, the transmission frequency of the sound waves emitted by the ship may change depending on the speed of rotation of the screw as the speed of the ship's movement changes. Therefore, the sound wave information may include information on the transmission frequency associated with the speed of the source or a speed component of the speed of the source, so that, for example, a device to which the sound wave information is output can predict the transmission frequency according to the speed of the ship's movement.

[0075] Next, a method for estimating the speed of sound will be described.

[0076] Regarding the speed of sound around the receiving device, for example, the speed of sound in the ocean depends on the water temperature, pressure (depth), and salinity. Therefore, the generation unit 22 may estimate the vertical and horizontal sound speed distributions based on at least one of the water temperature and salinity around the receiving device. The generation unit 22 may receive information (water temperature, salinity, etc.) acquired by an information acquisition device (not shown) from the information acquisition device, and estimate the vertical and horizontal sound speed distributions based on the received information.

[0077] The information acquisition device acquires information about the depth of the information acquisition device. Also, the information acquisition device acquires information about at least one of the water temperature and salinity concentration around the information acquisition device. For example, the information collection device is equipped with a depth sensor and acquires information about the depth of the information acquisition device. Also, for example, the information acquisition device is equipped with a water temperature sensor and acquires information about the water temperature around the information acquisition device. Also, for example, the information acquisition device is equipped with a salinity concentration sensor and acquires information about the salinity concentration around the information acquisition device. Note that the information acquisition device may be a wireless communication device 50-i.

[0078] It should be noted that the Global Navigation Satellite System (GNSS) cannot be used underwater to estimate the position of the information acquisition device. Therefore, the generation unit 22 may estimate the position of the information acquisition device based on the direction of arrival of sound waves emitted by the information acquisition device relative to the base station 60. For example, the generation unit 22 receives information on the direction of arrival of sound waves emitted by the information acquisition device from the base station 60. The generation unit 22 also receives information on the vertical position (depth) of the information acquisition device from the information acquisition device via the base station 60. The generation unit 22 can then estimate the position of the information acquisition device based on the information on the direction of arrival and the information on the vertical position (depth).

[0079] Alternatively, the generation unit 22 may receive information from an information server (not shown). The information server may estimate the current water temperature and salinity at a predetermined location based on, for example, information on past water temperature and salinity.

[0080] The generation unit 22 can also receive information about the vertical position (depth) of the wireless communication device 50-i from the wireless communication device 50-i. The wireless communication device 50-i is equipped with a pressure (depth) sensor and acquires information about the vertical position (depth) of the wireless communication device 50-i. The generation unit 22 also estimates the position of the wireless communication device 50-i in the same manner as described above.

[0081] Next, a method for outputting sound wave information will be described.

[0082] The output unit 23 may output the sound wave information to a storage means inside or outside the sound wave information output device 20, for example, and store the sound wave information in the storage means.

[0083] Figure 7 shows an example of sound wave information stored in the storage means. In the example shown in Figure 7, information on the transmission frequency is stored for each target sound wave. The information on the transmission frequency is associated with a target sound wave ID (identification). The target sound wave ID is identification information assigned to each detected target sound wave. Furthermore, the ship ID is identification information for the ship.

[0084] The output unit 23 may output the sound wave information to a control device (not shown) that controls the base station 60 or the wireless communication device 50. The control device may then control the base station 60 or the wireless communication device 50 based on the sound wave information. The control device may take measures to avoid interference based on, for example, the transmission frequency of the target sound wave. The control device may, for example, predict the generation time of the target sound wave based on the sound wave information, and perform control based on the predicted generation time.

[0085] The output unit 23 may also output image information for displaying an image on a display means (not shown) as the sound wave information. The image displayed on the display means may be an image showing the source of the sound wave superimposed on a map.

[0086] FIG. 8 shows an example of an image showing sound wave information. In FIG. 8, black circles indicate the positions of wireless communication devices. White circles indicate the positions of the sources of target sound waves. Arrows indicate the directions of travel. In the example of FIG. 8, the sound wave information is shown on a two-dimensional map, but it may also be shown three-dimensionally. The image includes information on the transmission frequency of the source calculated by the generation unit 22.

[0087] As described above, the sound wave information output device 20 estimates the source velocity of the target sound wave, and can therefore estimate the transmission frequency at the source using the estimated source velocity, thereby improving the accuracy of the transmission frequency information.

[0088] Furthermore, by improving the accuracy of the transmission frequency information, control using the sound wave information (including the transmission frequency information) output from the sound wave information output device 20 can be performed more appropriately. For example, when the target sound wave is an interference wave, interference avoidance measures can be performed more appropriately. Furthermore, for example, when sound wave information about the same sound wave is estimated based on the transmission frequency from two or more pieces of sound wave information, the estimation accuracy can be improved.

[0089] Next, an example of the operation flow of the sound wave information output device 20 will be described with reference to FIG.

[0090] The detector 24 detects the generation of a target sound wave.

[0091] When the detection unit 24 detects the generation of a target sound wave, the velocity estimation unit 21 estimates the velocity of the source (step S101).

[0092] The generator 22 generates sound wave information (step S102).

[0093] The output unit 23 outputs the sound wave information (step S103).

[0094] As described above, in the second embodiment of the present disclosure, the sonic information output device 20 includes a speed estimation unit 21, a generation unit 22, and an output unit 23. The speed estimation unit 21 estimates the source speed based on the generation of target sound waves. The target sound waves are sound waves transmitted underwater. The source speed is the direction and speed of movement of the source that emits the target sound waves. The generation unit 22 generates sonic information based on the source speed, the reception frequency of the target sound waves at the receiving device that receives the target sound waves, the receiving device speed which is the direction and speed of movement of the receiving device, and the speed of sound in the water around the receiving device. The sonic information includes information on the transmission frequency of the target sound waves. The output unit 23 outputs the sonic information.

[0095] This allows the velocity of the emission source to be estimated, and sound wave information including information on the transmission frequency of the target sound wave to be generated based on the estimated velocity of the emission source, thereby improving the accuracy of the information on the transmission frequency of the sound wave transmitted from the emission source.

[0096] The speed estimation unit 21 may also estimate the source speed based on position information of ships present within a predetermined range from the receiving device. The speed estimation unit 21 may also estimate a ship present in the direction from which the target sound wave arrives at the receiving device as the source of the target sound wave. This allows the sound wave information output device 20 to estimate the source speed.

[0097] Furthermore, when there are multiple ships in the direction of arrival of the target sound wave, the speed estimation unit 21 may exclude ships that are no longer in the direction of arrival of the source from the candidates for the source based on changes over time in the direction of arrival of the target sound wave, thereby improving the accuracy of estimating the speed of the source.

[0098] The ultrasonic information output device 30 may further include a source position estimation unit 35 that estimates the source position, which is the location of the source. The speed estimation unit 21 may estimate the source speed based on changes in the source position over time. This allows the ultrasonic information output device 30 to estimate the source speed.

[0099] The generator 22 may also estimate the speed of sound based on the water temperature. The generator 22 may also estimate the speed of sound based on the salinity concentration around the receiving device. This allows the generator 22 to more accurately estimate the speed of sound and more accurately calculate the transmission frequency.

[0100] The target sound waves may also be sound waves that are not used in the sound-based wireless communication between the base station and the underwater wireless communication device. In this case, the output unit 23 can output sound wave information about the sound waves that are not used in the sound-based wireless communication between the base station and the underwater wireless communication device.

[0101] The target sound wave may also be an interference wave, which is a sound wave that can interfere with wireless communication between a base station and a wireless communication device located underwater. In this case, the output unit 23 can output sound wave information about the interference wave.

[0102] The sonic information output device 20 may also include a detection unit 24 that detects target sound waves. In this case, the sonic information output device 20 can detect the generation of target sound waves within the sonic information output device 20. Note that the detection of the generation of target sound waves may also be performed outside the sonic information output device 20.

[0103] Third Embodiment Next, a third embodiment of the present invention will be described. A specific example of the sound wave information output device 10 in the first embodiment is a sound wave information output device 40 in the third embodiment.

[0104] 9 shows an example of the configuration of a communication system 72 including a sonic information output device 40. The communication system 72 includes a base station 60, 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 sonic information output devices 40-i. The sonic information output devices 40-i are connected to each of the wireless communication devices 50-i. The sonic information output devices 40-1 to 40-N may be collectively referred to as sonic information output devices 40.

[0105] The base station 60 and the wireless communication device 50 are the same as those in the second embodiment, and therefore a description thereof will be omitted.

[0106] The sonic information output device 40-i is connected to the wireless communication device 50-i, and is mounted on the same UUV as the wireless communication device 50-i, for example.

[0107] 10 shows an example of the configuration of the sound wave information output device 40-i. The sound wave information output device 40-i includes a speed estimation unit 41-i, a generation unit 42-i, an output unit 43-i, and a detection unit 44-i.

[0108] The detection unit 44-i detects the generation of target sound waves. The target sound waves may be sound waves that are not used in the sound-based wireless communication between the base station 60 and the wireless communication device 50 located underwater. The target sound waves may also be interference waves with the wireless communication performed by the wireless communication device 50-i. The detection unit 44-i can detect the generation of target sound waves using any method. For example, the detection unit 44-i detects target sound waves based on sound waves received by the wireless communication device 50-i to which the sonic information output device 40-i is connected. Note that, if the target sound waves are interference waves, the detection unit 44-i does not need to detect as target sound waves sound waves that do not affect the sound waves used in the wireless communication between the wireless communication device 50-i and the base station 60.

[0109] The velocity estimation unit 41-i estimates the velocity of the source based on the generation of the target sound wave. When the generation of the target sound wave is detected by the detection unit 44-i, the velocity estimation unit 41-i considers that the target sound wave has been generated.

[0110] The speed estimation unit 41-i may estimate the source speed using the position information of the ship, as in the second embodiment. The speed estimation unit 41-i can receive the position information of the ship from a server that provides the position information of the ship, via the base station 60 and the wireless communication device 50-i.

[0111] The velocity estimation unit 41-i may also estimate the velocity of the source based on changes over time in the direction of arrival of the target sound wave. The velocity estimation unit 41-i may also estimate the velocity of the source based on changes over time in the position of the source. The sound wave information output device 40 may also include a source position estimation unit, similar to the sound wave information output device 30 (FIG. 5) described in the second embodiment.

[0112] The position of the wireless communication device 50-i may be measured based on an inertial sensor provided in the wireless communication device 50-i.

[0113] The speed estimation unit 41-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 60 relative to the wireless communication device 50-i. For example, the speed estimation unit 41-i receives information on the direction of arrival of sound waves emitted by the base station 60 from the wireless communication device 50-i. The speed estimation unit 41-i also receives information on the vertical position (depth) of the wireless communication device 50-i from the wireless communication device 50-i. The speed estimation unit 41-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 60. In this case, the wireless communication device 50-i is equipped with a pressure (depth) sensor.

[0114] The generator 42-i generates sound wave information based on the speed of the source, the reception frequency of the target sound wave at the receiving device that received the target sound wave, the speed of the receiving device, and the speed of sound in water around the receiving device. The sound wave information includes information on the transmission frequency of the target sound wave. In the case of this embodiment, the receiving device is the wireless communication device 50-i. The method of calculating the transmission frequency is the same as in the second embodiment, so a description thereof will be omitted.

[0115] The output unit 43-i outputs the sound wave information. The output unit 43-i may output the sound wave information to a storage means (not shown) connected to the base station 60 via the base station 60 and the wireless communication device 50-i.

[0116] Next, an example of the operation flow of the sound wave information output device 40-i will be described with reference to FIG.

[0117] The detector 44-i detects the generation of a target sound wave.

[0118] When the detection unit 44-i detects a target sound wave, the velocity estimation unit 41-i estimates the velocity of the source (step S101).

[0119] The generating unit 42-i generates sound wave information (step S102).

[0120] The output unit 43-i outputs the sound wave information (step S103).

[0121] As described above, in the third embodiment of the present disclosure, the sonic information output device 40-i includes a speed estimation unit 41-i, a generation unit 42-i, and an output unit 43-i. The speed estimation unit 41-i estimates the source speed based on the generation of target sound waves. The target sound waves are sound waves transmitted underwater. The source speed is the direction and speed of movement of the source that emits the target sound waves. The generation unit 42-i generates sonic information based on the source speed, the reception frequency of the target sound waves at the receiving device that received the target sound waves, the receiving device speed which is the direction and speed of movement of the receiving device, and the speed of sound in the water around the receiving device. The sonic information includes information on the transmission frequency of the target sound waves. The output unit 43-i outputs the sonic information.

[0122] This allows the velocity of the emission source to be estimated, and sound wave information including information on the transmission frequency of the target sound wave to be generated based on the estimated velocity of the emission source, thereby improving the accuracy of the information on the transmission frequency of the sound wave transmitted from the emission source.

[0123] [Hardware Configuration Example] An example of the configuration of hardware resources for realizing the sonic information output device (10, 20, 30, 40) in each of the above-described embodiments of the present disclosure using one information processing device (computer) will be described. Note that the sonic information output device may be physically or functionally realized using at least two information processing devices. Also, the sonic information output device may be realized as a dedicated device. Also, only some of the functions of the sonic information output device may be realized using an information processing device. Also, at least some of the functions of the sonic information output device may be realized on the cloud.

[0124] 11 is a diagram schematically illustrating an example of the hardware configuration of an information processing device that can realize the sonic information output device according to each embodiment of the present disclosure. 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.

[0125] 1 can be realized by the communication interface 91 and the arithmetic unit 93. The speed estimation unit 11 and the generation unit 12 can be realized by the arithmetic unit 93.

[0126] The communication interface 91 is a communication means for the sonic information output device of each embodiment to communicate with an external device via a wired or / and wireless connection. When the sonic information output device is realized using at least two information processing devices, the devices may be connected via the communication interface 91 so as to be able to communicate with each other.

[0127] 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.

[0128] 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.

[0129] 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.

[0130] 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.

[0131] 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.

[0132] 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.

[0133] Each embodiment of the present disclosure may be realized, for example, by configuring an acoustic information output device using the information processing device 90 illustrated in Figure 11 and supplying to this acoustic information output device a program capable of realizing the functions described in each of the above embodiments.

[0134] In this case, the embodiment can be realized by having the arithmetic unit 93 execute a program supplied to the sonic information output device. It is also possible to configure some, but not all, of the functions of the sonic information output device in the information processing unit 90.

[0135] Furthermore, the sonic information output device may be configured so that the program is recorded on the recording medium 97 and is stored in the nonvolatile storage device 95 as appropriate at the shipping stage, operation stage, etc. In this case, the method of supplying the program may be a method of installing the program in the sonic information output device using an appropriate jig at the manufacturing stage before shipping, operation stage, etc. Furthermore, the method of supplying the program may be a general method such as downloading the program from an external source via a communication line such as the Internet.

[0136] Some or all of the above-described embodiments can be described as, but are not limited to, the following supplementary notes.

[0137] (Supplementary Note 1) A sonic information output device comprising: a speed estimation means for estimating source speed, which is the direction and speed of movement of a source emitting the target sound waves, based on the generation of the target sound waves, which are sound waves transmitted underwater; a generation means for generating sonic information including information on the transmission frequency of the target sound waves, based on the source speed, the reception frequency of the target sound waves at a receiving device that receives the target sound waves, the receiving device speed, which is the direction and speed of movement of the receiving device, and the speed of sound in water around the receiving device; and an output means for outputting the sonic information.

[0138] (Supplementary Note 2) The sonic information output device according to Supplementary Note 1, wherein the speed estimation means estimates the speed of the source based on position information of a ship present within a predetermined range from the receiving device.

[0139] (Supplementary Note 3) The sound wave information output device according to Supplementary Note 2, wherein the speed estimation means estimates a ship present in the direction from which the target sound wave arrives at the receiving device as the source of the target sound wave.

[0140] (Appendix 4) The sound wave information output device described in Appendix 3, wherein, when there are multiple ships in the direction of arrival of the target sound wave, the speed estimation means excludes ships that are no longer present in the direction of arrival of the source from the candidates for the source based on changes in the direction of arrival of the target sound wave over time.

[0141] (Supplementary Note 5) The ultrasonic information output device according to any one of Supplementary Note 1 to Supplementary Note 4, further comprising a source position estimation means for estimating a source position, which is the position of the source, and the velocity estimation means for estimating the source velocity based on a change in the source position over time.

[0142] (Supplementary Note 6) The sound wave information output device according to any one of Supplementary Note 1 to Supplementary Note 5, wherein the generating means estimates the sound speed based on a water temperature.

[0143] (Supplementary Note 7) The sound wave information output device according to Supplementary Note 6, wherein the generating means further estimates the sound speed based on a salinity concentration in the vicinity of the receiving device.

[0144] (Supplementary Note 8) The sonic information output device according to any one of Supplementary Notes 1 to 7, wherein the target sound waves are sound waves that are not used in sonic wireless communication between a base station and a wireless communication device located underwater.

[0145] (Supplementary Note 9) The sound wave information output device according to any one of Supplementary Notes 1 to 7, wherein the target sound wave is an interference wave that can interfere with sound wave-based wireless communication between a base station and a wireless communication device located underwater.

[0146] (Supplementary Note 10) The sound wave information output device according to any one of Supplementary Notes 1 to 9, further comprising: a detection means for detecting generation of the target sound wave.

[0147] (Supplementary Note 11) A method for outputting sound information, comprising: estimating, based on the generation of a target sound wave, which is a sound wave transmitted underwater, a source speed, which is the direction and speed of movement of a source that emits the target sound wave; generating sound information including information on the transmission frequency of the target sound wave, based on the source speed, the reception frequency of the target sound wave at a receiving device that receives the target sound wave, a receiving device speed, which is the direction and speed of movement of the receiving device, and the speed of sound in water around the receiving device; and outputting the sound information.

[0148] (Supplementary Note 12) The acoustic information output method according to Supplementary Note 11, wherein the source speed is estimated based on position information of a ship present within a predetermined range from the receiving device.

[0149] (Supplementary Note 13) The sound wave information output method according to Supplementary Note 12, wherein a ship present in a direction from which the target sound wave arrives at the receiving device is estimated as the source of the target sound wave.

[0150] (Supplementary Note 14) The acoustic information output method described in Supplementary Note 13, wherein, when there are multiple ships in the direction of arrival of the target sound wave, ships that are no longer in the direction of arrival of the source are excluded from the candidates for the source based on changes in the direction of arrival of the target sound wave over time.

[0151] (Supplementary Note 15) The sound wave information output method according to any one of Supplementary Note 11 to Supplementary Note 14, further comprising: estimating a source position, which is the position of the source; and estimating a source velocity based on a change in the source position over time.

[0152] (Supplementary Note 16) The sound wave information output method according to any one of Supplementary Note 11 to Supplementary Note 15, wherein the sound speed is estimated based on a water temperature.

[0153] (Supplementary Note 17) The sound wave information output method according to Supplementary Note 16, further comprising estimating the sound speed based on a salinity concentration around the receiving device.

[0154] (Supplementary Note 18) The sound wave information output method according to any one of Supplementary Note 11 to Supplementary Note 17, wherein the target sound waves are sound waves that are not used in sound wave wireless communication between a base station and a wireless communication device located underwater.

[0155] (Supplementary Note 19) The acoustic information output method according to any one of Supplementary Notes 11 to 17, wherein the target acoustic wave is an interference wave that can interfere with acoustic wireless communication between a base station and a wireless communication device present underwater.

[0156] (Supplementary Note 20) The sound wave information output method according to any one of Supplementary Notes 11 to 19, further comprising detecting generation of the target sound wave.

[0157] (Supplementary Note 21) A computer-readable recording medium having recorded thereon a sound wave information output program that causes a computer to implement the following: a speed estimation function that estimates source speed, which is the direction and speed of movement of a source that emits the target sound waves, based on the generation of the target sound waves, which are sound waves transmitted underwater; a generation function that generates sound wave information including information on the transmission frequency of the target sound waves, based on the source speed, the reception frequency of the target sound waves at a receiving device that receives the target sound waves, receiving device speed, which is the direction and speed of movement of the receiving device, and the speed of sound in water around the receiving device; and an output function that outputs the sound wave information.

[0158] (Supplementary Note 22) A computer-readable recording medium having recorded thereon the acoustic information output program described in Supplementary Note 21, wherein the speed estimation function estimates the source speed based on position information of ships present within a predetermined range from the receiving device.

[0159] (Appendix 23) A computer-readable recording medium having recorded thereon the acoustic information output program described in Appendix 22, wherein the speed estimation function estimates a ship present in the direction from which the target acoustic wave arrives at the receiving device as the source of the target acoustic wave.

[0160] (Appendix 24) A computer-readable recording medium having recorded thereon the acoustic information output program described in Appendix 23, wherein the speed estimation function, when there are multiple ships in the direction of arrival of the target sound wave, excludes ships that are no longer in the direction of arrival of the source from the candidates for the source based on changes over time in the direction of arrival of the target sound wave.

[0161] (Appendix 25) A computer-readable recording medium having recorded thereon an acoustic information output program according to any one of Appendices 21 to 24, further comprising a source position estimation function for estimating the source position, which is the location of the source, and the velocity estimation function for estimating the source velocity based on changes in the source position over time.

[0162] (Supplementary Note 26) A computer-readable recording medium having recorded thereon the sound wave information output program according to any one of Supplementary Note 21 to Supplementary Note 25, wherein the generation function estimates the sound speed based on a water temperature.

[0163] (Supplementary Note 27) A computer-readable recording medium having the sound wave information output program according to Supplementary Note 26 recorded thereon, wherein the generating function further estimates the sound speed based on a salinity concentration in the vicinity of the receiving device.

[0164] (Appendix 28) A computer-readable recording medium having recorded thereon the sound wave information output program described in any one of Appendices 21 to 27, wherein the target sound waves are sound waves that are not used in sound wave wireless communication between a base station and a wireless communication device located underwater.

[0165] (Appendix 29) A computer-readable recording medium having recorded thereon the sound wave information output program described in any one of Appendices 21 to 27, wherein the target sound wave is an interference wave, which is a sound wave that can interfere with sound wave-based wireless communication between a base station and a wireless communication device located underwater.

[0166] (Supplementary Note 30) A computer-readable recording medium having recorded thereon the sound wave information output program according to any one of Supplementary Note 21 to Supplementary Note 29, which further causes a computer to realize a detection function of detecting the generation of the target sound wave.

[0167] Although the present disclosure has been described above with reference to the embodiments, the present disclosure is not limited to the above-described embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present disclosure within the scope of the present disclosure. Furthermore, each embodiment can be combined with other embodiments as appropriate.

[0168] This application claims priority based on Japanese Patent Application No. 2023-148124, filed on September 13, 2023, the disclosure of which is incorporated herein in its entirety by reference.

[0169] 10, 20, 30, 40-i Sound wave information output device 11, 21, 41-i Speed ​​estimation unit 12, 22, 42-i Generation unit 13, 23, 43-i Output unit 24, 44-i Detection unit 35 Source position estimation unit 60 Base station 50, 50-i Wireless communication device 71, 72 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. A sound information output device comprising: a speed estimation means for estimating source speed, which is the direction and speed of movement of a source emitting the target sound wave, based on the generation of a target sound wave, which is a sound wave transmitted underwater; a generation means for generating sound information including information on the transmission frequency of the target sound wave, based on the source speed, the receiving frequency of the target sound wave at a receiving device that receives the target sound wave, the receiving device speed, which is the direction and speed of movement of the receiving device, and the speed of sound in water around the receiving device; and an output means for outputting the sound information.

2. The sonic information output device according to claim 1, wherein the speed estimation means estimates the source speed based on position information of ships present within a predetermined range from the receiving device.

3. The sound wave information output device according to claim 2, wherein the speed estimation means estimates a ship present in the direction from which the target sound wave arrives at the receiving device as the source of the target sound wave.

4. The sound information output device of claim 3, wherein when there are multiple ships in the direction of arrival of the target sound wave, the speed estimation means excludes ships that are no longer in the direction of arrival of the source from the candidates for the source based on changes over time in the direction of arrival of the target sound wave.

5. The sound wave information output device of claim 1, further comprising a source position estimation means for estimating a source position, which is the location of the source, and the speed estimation means estimates the source speed based on changes in the source position over time.

6. The sound wave information output device according to any one of claims 1 to 5, wherein the generating means estimates the sound speed based on water temperature.

7. The sound wave information output device according to claim 6, wherein the generating means further estimates the sound speed based on the salinity concentration in the vicinity of the receiving device.

8. The sound wave information output device according to any one of claims 1 to 7, wherein the target sound waves are sound waves that are not used in sound wave wireless communication between a base station and a wireless communication device present underwater.

9. The sound wave information output device according to any one of claims 1 to 7, wherein the target sound wave is an interference wave, which is a sound wave that can interfere with wireless communication by sound waves between a base station and a wireless communication device present underwater.

10. The sound wave information output device according to any one of claims 1 to 9, further comprising a detection means for detecting the generation of the target sound wave.

11. A method for outputting acoustic information, comprising: estimating source speed, which is the direction and speed of movement of a source emitting the target sound wave, based on the generation of a target sound wave, which is a sound wave transmitted underwater; generating acoustic information including information on the transmission frequency of the target sound wave based on the source speed, the receiving frequency of the target sound wave at a receiving device that receives the target sound wave, the receiving device speed, which is the direction and speed of movement of the receiving device, and the speed of sound in water around the receiving device; and outputting the acoustic information.

12. The method for outputting acoustic information according to claim 11, wherein the speed of the source is estimated based on position information of ships present within a predetermined range from the receiving device.

13. The acoustic information output method according to claim 12, further comprising estimating a ship present in the direction from which the target acoustic wave arrives at the receiving device as the source of the target acoustic wave.

14. A method for outputting sound wave information as described in claim 13, wherein, when there are multiple ships in the direction of arrival of the target sound wave, ships that are no longer in the direction of arrival of the source are excluded from the candidates for the source based on changes over time in the direction of arrival of the target sound wave.

15. A method for outputting sound wave information according to any one of claims 11 to 14, further comprising estimating a source position, which is the position of the source, and estimating a source speed based on a change in the source position over time.

16. The sound wave information output method according to any one of claims 11 to 15, wherein the sound speed is estimated based on water temperature.

17. The method for outputting sound wave information according to claim 16, further comprising estimating the sound speed based on the salinity concentration in the vicinity of the receiving device.

18. The method for outputting sound wave information according to any one of claims 11 to 17, wherein the target sound waves are sound waves that are not used in sound wave wireless communication between a base station and a wireless communication device present underwater.

19. A method for outputting acoustic information as described in any one of claims 11 to 17, wherein the target acoustic wave is an interference wave, which is an acoustic wave that can interfere with wireless communication by acoustic waves between a base station and a wireless communication device present underwater.

20. A computer-readable recording medium having recorded thereon a sound information output program that causes a computer to realize the following: a speed estimation function that estimates source speed, which is the direction and speed of movement of a source emitting the target sound wave, based on the generation of the target sound wave, which is a sound wave transmitted underwater; a generation function that generates sound information including information on the transmission frequency of the target sound wave, based on the source speed, the receiving frequency of the target sound wave at a receiving device that receives the target sound wave, the receiving device speed, which is the direction and speed of movement of the receiving device, and the speed of sound in water around the receiving device; and an output function that outputs the sound information.

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