Control information output device, control information output method, and recording medium

Abstract

In order to make it possible to reduce the likelihood that the completion rate of a task performed by a communication device is reduced by the influence of a water flow, this control information output device: acquires task information, which is information pertaining to a plurality of tasks performed by a wireless communication device that performs wireless communication with sound waves in water, and water flow information including information pertaining to a present-position flow rate, which is the speed of the water flow at a position where the wireless communication device is present; determines, on the basis of the water flow information and the task information, task control, which is control pertaining to the plurality of tasks performed by the wireless communication device; and outputs control information, which is information pertaining to the task control.

Description

Control information output device, control information output method, and recording medium

[0001] The present disclosure relates to a control information output device, a control 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] In recent years, a method has become known in which an information collecting and providing device on land or on water communicates with an underwater communication device via a base station floating on the water surface. When an information collecting and providing device on land or on water communicates with an underwater communication device via a base station floating on the water surface, the communication between the base station and the communication device is carried out by underwater acoustic communication. Furthermore, the communication between the base station and the information collecting and providing device is carried out by radio wave communication or wired communication. Furthermore, an underwater communication device can communicate with another underwater communication device by underwater acoustic communication.

[0005] Furthermore, a related technique is disclosed in Japanese Patent Laid-Open No. 2003-222999.

[0006] Japanese Patent Application Laid-Open No. 2021-136965

[0007] A communication device performs some kind of work underwater. However, if there is a current in the water, the speed of the current may decrease the completion rate of the work performed by the communication device. The completion rate of a work is the proportion of work completed among multiple tasks performed by the communication device. For example, the power consumption of a communication device may vary depending on the speed of the current. More specifically, for example, when moving a communication device against a current or when the communication device is parked in a place with a current, the power consumption is greater than when there is no current. If the power consumption increases, the battery may run out before the communication device can complete the task, and the task may not be completed. Furthermore, the battery may run out by the time the communication device is desired, making it impossible to communicate. As a result, the completion rate of the work performed by the communication device may decrease.

[0008] Furthermore, for example, the travel time of the communication device may vary depending on the speed of the water current. More specifically, when the communication device is moved against the water current, the travel time may be longer than when there is no water current. Furthermore, a longer travel time increases the time required to complete a task. As a result, it may take the communication device longer than expected to complete a task, which may reduce the completion rate of the task performed by the communication device.

[0009] In the method described in Patent Document 1, the water flow is taken into consideration in the work, but it does not solve the above-mentioned problems.

[0010] In view of the above-mentioned problems, the object of the present disclosure is to provide a control information output device, a control information output method, and a recording medium that make it possible to reduce the possibility that the completion rate of work performed by a communication device will decrease due to the influence of water flow.

[0011] In one aspect of the present disclosure, a control information output device includes an acquisition means for acquiring job information, which is information regarding a plurality of jobs performed by a wireless communication device that performs wireless communication using sound waves underwater, and water flow information including information regarding a location flow velocity, which is the speed of the water flow at the location where the wireless communication device is located; a determination means for determining job control, which is control regarding the plurality of jobs performed by the wireless communication device, based on the water flow information and the job information; and an output means for outputting control information, which is information regarding the job control.

[0012] In another aspect of the present disclosure, a control information output method acquires job information, which is information regarding multiple jobs performed by a wireless communication device that performs wireless communication using acoustic waves underwater, and water flow information including information regarding the location flow velocity, which is the speed of the water flow at the location where the wireless communication device is located, and determines job control, which is control regarding the multiple jobs performed by the wireless communication device, based on the water flow information and the job information, and outputs control information, which is information regarding the job control.

[0013] In another aspect of the present disclosure, a control information output program recorded on a computer-readable recording medium causes a computer to realize an acquisition function for acquiring job information, which is information regarding multiple jobs performed by a wireless communication device that communicates wirelessly via acoustic waves underwater, and water flow information including information regarding the location flow velocity, which is the speed of the water flow at the location where the wireless communication device is located; a decision function for determining job control, which is control regarding the multiple jobs performed by the wireless communication device, based on the water flow information and the job information; and an output function for outputting control information, which is information regarding the job control.

[0014] According to the above aspect of the present disclosure, it is possible to reduce the possibility that the completion rate of a task performed by a communication device will decrease due to the influence of water flow.

[0015] FIG. 1 is a diagram illustrating an example of a configuration of a control information output device of the present disclosure. FIG. 2 is a diagram illustrating an example of an operation flow of a control information output device of the present disclosure. FIG. 3 is a diagram illustrating an example of a configuration of a communication system including a control information output device of the present disclosure. FIG. 4 is a diagram illustrating an example of a configuration of a communication system including a control information output device of the present disclosure. FIG. 5 is a diagram illustrating an example of a configuration of a control information output device of the present disclosure. FIG. 6 is a diagram illustrating an example of a hardware configuration of each embodiment of the present disclosure.

[0016] First Embodiment A first embodiment of the present disclosure will be described. Note that a specific example of the control information output device 10 in the first embodiment is a control information output device 20 in a second embodiment described later.

[0017] 1 shows an example of the configuration of a control information output device 10. The control information output device 10 includes an acquisition unit 11, a determination unit 12, and an output unit 13.

[0018] The acquisition unit 11 acquires task information and water flow information. The task information is information relating to a plurality of tasks performed by the wireless communication device. The wireless communication device performs wireless communication using sound waves underwater. The water flow information includes information relating to the location flow speed. The location flow speed is the speed of the water flow at the location where the wireless communication device is located. Specific examples of task information and water flow information will be described in the second embodiment.

[0019] The determination unit 12 determines work control based on the water flow information and the work information. The work control is control related to a plurality of works performed by the wireless communication device. A method for determining work control will be described in a second embodiment.

[0020] The output unit 13 outputs control information. The control information is information relating to work control.

[0021] Next, FIG. 2 shows an example of an operation flow of the control information output device 10.

[0022] The acquisition unit 11 acquires work information and water flow information (step S101).

[0023] The determination unit 12 determines work control based on the water flow information and the work information (step S102).

[0024] The output unit 13 outputs the control information (step S103). The control information is information related to work control.

[0025] As described above, in the first embodiment of the present disclosure, the control information output device 10 includes an acquisition unit 11, a determination unit 12, and an output unit 13. The acquisition unit 11 acquires job information and water flow information. The job information is information related to multiple jobs performed by the wireless communication device. The wireless communication device performs wireless communication using sound waves underwater. The water flow information includes information related to the presence position flow speed. The presence position flow speed is the speed of the water flow at the position where the wireless communication device is located. The determination unit 12 determines job control based on the water flow information and the job information. The job control is control related to the multiple jobs performed by the wireless communication device. The output unit 13 outputs control information. The control information is information related to job control.

[0026] In this way, the control information output device 10 determines control (job control) for the multiple jobs performed by the wireless communication device based on the location flow velocity. This allows the control information output device 10 to determine job control so as to reduce the possibility of a decrease in the completion rate of the multiple jobs performed by the wireless communication device due to the influence of water currents, when the completion rate of the multiple jobs performed by the wireless communication device may decrease due to the influence of water currents. Therefore, it is possible to reduce the possibility of a decrease in the completion rate of the jobs performed by the wireless communication device due to the influence of water currents.

[0027] Second Embodiment Next, a second embodiment of the present disclosure will be described. Note that a specific example of the control information output device 10 in the first embodiment is a control information output device 20-i (where i is an integer from 1 to N, and N is an integer equal to or greater than 1) in the second embodiment.

[0028] 3 shows an example of the configuration of a communication system 60 including a control information output device 20-i. The communication system 60 includes a control information output device 20-i, a base station 40, an information collecting and providing device 41, and a wireless communication device 50-i. The control information output device 20-i and the wireless communication device 50-i are included in a mobile unit 65-i.

[0029] 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.

[0030] The information collecting and providing device 41 is connected to the base station 40. The information collecting and providing device 41 is located on water or on land. The information collecting and providing device 41 can communicate with the base station 40 wirelessly via radio waves or via wire.

[0031] The mobile object 65-i can move underwater. The mobile object 65-i may be, for example, an unmanned underwater vehicle (UUV) or an autonomous underwater vehicle (AUV). The mobile object 65-i includes a wireless communication device 50-i and a control information output device 20-i.

[0032] The wireless communication device 50-i is included in the moving body 65-i. The wireless communication device 50-i is located underwater. The wireless communication device 50-i can perform wireless communication using acoustic waves with the base station 40. The wireless communication device 50-i can communicate with the information gathering and providing device 41 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. The wireless communication device 50 may also perform wireless communication using acoustic waves with other wireless communication devices (wireless communication devices 50 other than the wireless communication device 50-i).

[0033] The wireless communication device 50-i performs a task. The task may be, for example, underwater monitoring or collection of various underwater information. The wireless communication device 50-i may transmit to the information collecting and providing device 41, for example, an image taken by a camera (not shown) mounted on the mobile body 65-i at a designated underwater point. The wireless communication device 50-i may also transmit to the information collecting and providing device 41, for example, information acquired by various sensors (not shown) mounted on the mobile body 65-i while moving to a designated underwater point. In the following description, the task performed by the wireless communication device 50-i has the same meaning as the task performed by the mobile body 65-i.

[0034] The multiple tasks performed by the wireless communication device 50-i may include tasks that are part of a series of tasks that are related to each other, or may include tasks that are independent of other tasks. Furthermore, the unit of a task may be a unit that includes a series of tasks that are related to each other as a single task. Furthermore, the unit of a task may be a unit that includes each of multiple tasks that are included in a series of tasks that are related to each other as a single task. Furthermore, the tasks included in a series of tasks that are related to each other may correspond to each of multiple work steps performed in the task. For example, suppose the wireless communication device 50-i performs task A, which acquires measurement values ​​at multiple points. In this case, task A may be considered a series of tasks that acquire measurement values ​​at a certain point. In this case, each task within task A that acquires measurement values ​​at a single point may be considered as a single task. Furthermore, the multiple tasks performed by the wireless communication device 50-i may include task B, which is independent of task A.

[0035] Furthermore, the work performed by the wireless communication device 50-i is not limited to work requiring wireless communication. In addition to work requiring frequent wireless communication, there may be work requiring intermittent wireless communication or work not requiring wireless communication. For example, a work not requiring wireless communication may be work in which sensor information is stored in a storage means (not shown) within the mobile unit 65-i, and the sensor information is read from the storage means after the mobile unit 65-i is recovered on land.

[0036] The wireless communication device 50-i may receive information about a job to be performed by the wireless communication device 50-i from the information collecting and providing device 41 and perform the job based on the received information. The wireless communication device 50-i may also perform the job in accordance with control from the information collecting and providing device 41. The wireless communication device 50-i may also perform the job based on setting information that has been set in advance in the wireless communication device 50-i. In this case, the setting information may be set before the wireless communication device 50-i is immersed in water, or may be set after the wireless communication device 50-i is immersed in water.

[0037] Furthermore, the wireless communication device 50-i measures the speed of the water current at the location where the wireless communication device 50-i is located. The wireless communication device 50-i then outputs water current information. The water current information includes information about the speed of the water current at the location where the wireless communication device 50-i is located. Hereinafter, the speed of the water current at the location where the wireless communication device 50-i is located may be referred to as the location current speed. Note that the speed of the water current may also change depending on the time of day.

[0038] The wireless communication device 50-i measures the location flow velocity at predetermined time intervals and outputs water flow information, for example. The wireless communication device 50-i may measure the location flow velocity when requested by the control information output device 20-i or the information collection and provision device 41. The wireless communication device 50-i may also output water flow information when the measured location flow velocity has changed since the previous measurement. Note that the water flow information may refer to the latest location flow velocity information measured by the wireless communication device 50-i.

[0039] The wireless communication device 50-i may output the water flow information to the control information output device 20-i. The wireless communication device 50-i may also output the water flow information to the information collecting and providing device 41. Note that, when the control information output device 20-i is included in the mobile body 65-i, the location flow velocity may be measured by the control information output device 20-i.

[0040] Furthermore, the wireless communication device 50-i may measure the direction of the water flow in addition to the speed of the water flow. In other words, the wireless communication device 50-i may measure the speed (speed and direction) of the water flow. In this case, the water flow information includes information on the speed of the water flow at the location where the wireless communication device 50-i is located. A method for measuring the speed of the water flow will be described later.

[0041] The information collecting and providing device 41 may output water current distribution information to the control information output device 20-i. The water current distribution information is information on the distribution of water current speeds in water. The water current distribution information may be information on the distribution of water current speeds in water. The information collecting and providing device 41 may receive water current information from each of the wireless communication devices 50-1 to 50-N, and output the received water current information and water current distribution information based on the positions of the wireless communication devices 50-1 to 50-N to the control information output device 20-i.

[0042] Furthermore, the information collecting and providing device 41 may further receive information on the speed (or velocity) of the water current at the location of an information acquiring device (not shown) from the information acquiring device and reflect the information in the water current distribution information. The information acquiring device is a device that acquires underwater information. The information acquiring device may be a mobile device such as an underwater drone for acquiring information, or may be a device that is fixedly installed underwater.

[0043] The water current distribution information may include information on the location where the water current speed was measured and the water current speed at that location. The water current distribution information may also include information estimated based on the location where the water current speed was measured and the water current speed at that location. The information on the location where the water current speed was measured may be information on latitude and longitude, or information on latitude, longitude, and depth. The water current distribution information may be two-dimensional information that takes latitude and longitude into account, or three-dimensional information that takes latitude, longitude, and depth into account. The water current distribution information may also include information on the water current at the location where the work performed by the wireless communication device 50-i is performed. The water current distribution information may also include information on the water current within a range where the wireless communication device 50-i may move.

[0044] The information collecting and providing device 41 may output water flow distribution information to the control information output device 20-i at predetermined time intervals. Furthermore, the information collecting and providing device 41 may output water flow distribution information to the control information output device 20-i when there is a change in the water flow distribution. Furthermore, the water flow distribution information output to the control information output device 20-i may include water flow information measured by the wireless communication device 50-i.

[0045] It should be noted that the Global Navigation Satellite System (GNSS) cannot be used underwater to determine the position of the wireless communication device 50-i. Therefore, the information collecting and providing device 41 may estimate the position of the wireless communication device 50-i based on the direction of arrival of the sound waves emitted by the wireless communication device 50-i relative to the base station 40 and the position of the base station 40. For example, the information collecting and providing device 41 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 information collecting and providing device 41 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 information collecting and providing device 41 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). 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. The position of the wireless communication device 50-i may also be measured using an underwater positioning method such as LBL (Long Baseline). Furthermore, the information gathering and providing device 41 can estimate the location of the information acquisition device in the same manner as described above.

[0046] The control information output device 20-i outputs control information. The control information is information relating to control of multiple tasks performed by the wireless communication device 50-i. Note that the control of multiple tasks performed by the wireless communication device 50-i may hereinafter be referred to as task control. The control information output device 20-i, for example, outputs control information to the wireless communication device 50-i. The control information output device 20-i may control the wireless communication device 50-i by outputting the control information to the wireless communication device 50-i. Then, the wireless communication device 50-i may perform the task in accordance with the control information. Furthermore, the control information may be output from the control information output device 20-i to the information collecting and providing device 41. Then, the information collecting and providing device 41 may control the wireless communication device 50-i based on the control information.

[0047] The control information output device 20 may be connected to the base station 40 rather than being included in the mobile unit 65-i. FIG. 4 shows a configuration example of a communication system 61 in which the control information output device 20 is connected to the base station 40. The control information output device 20 is connected to the base station 40. The control information output device 20 is located on water or on land. The control information output device 20 can communicate with the base station 40 via radio waves or wired communication. The control information output device 20 may be connected to the information collection and provision device 41. Hereinafter, the communication system 60 ( FIG. 3 ) will be described, but unless otherwise specified, the description of the control information output device 20-i can be replaced with the description of the control information output device 20 in FIG. 4 . Furthermore, the control information output device 20 in FIG. 4 outputs control information for each of the wireless communication devices 50-1 to 50-N. In other words, the control information output device 20 in FIG. 4 plays the role of the control information output devices 20-1 to 20-N in FIG. 3 .

[0048] Next, an example of the configuration of the control information output device 20-i is shown in Fig. 5. The control information output device 20-i includes an acquisition unit 21-i, a determination unit 22-i, and an output unit 23-i.

[0049] The acquisition unit 21-i acquires work information and water flow information.

[0050] The task information is information relating to a plurality of tasks performed by the wireless communication device 50-i. The task information includes information about tasks performed during a predetermined period (for example, one day or a predetermined time period). The wireless communication device 50-i performs a plurality of tasks.

[0051] The acquisition unit 21-i may acquire the work information by receiving the work information from the information collecting and providing device 41 or the wireless communication device 50-i, for example. The acquisition unit 21-i may also acquire the work information when an instruction to decide on work control is received from the information collecting and providing device 41, or when the work information is updated.

[0052] The job information may include, for example, allowable water flow information for each of a plurality of jobs performed by the wireless communication device 50-i. The allowable water flow information is information related to the allowable water flow. The allowable water flow is the speed of the water flow that is allowable as the water flow when the wireless communication device 50-i is performing the job. The allowable water flow information may be different for each of the plurality of jobs performed by the wireless communication device 50-i, or may be common to the plurality of jobs performed by the wireless communication device 50-i.

[0053] The work information may also include, for example, information about the location where the wireless communication device 50-i performs work. For example, the work information may include information about the latitude, longitude, and depth of the location where the wireless communication device 50-i performs work. The information about the location where the wireless communication device 50-i performs work may be information about the spot where the work is performed, or information about the area where the work is performed.

[0054] The water flow information also includes information about the speed of the water flow at the location where the wireless communication device 50-i is located (location flow speed). The water flow information may also include information about the speed of the water flow at the location where the wireless communication device 50-i is located.

[0055] The acquisition unit 21-i may acquire water flow information by receiving the water flow information from the information collecting and providing device 41 or the wireless communication device 50-i, for example. Furthermore, if the acquisition unit 21-i is included in a moving object 65-i, the acquisition unit 21-i may acquire the water flow information by measuring the current velocity at the moving object's location. Furthermore, the acquisition unit 21-i may receive water flow distribution information from the information collecting and providing device 41.

[0056] The acquisition unit 21-i may also acquire water flow information when the information collecting and providing device 41 instructs the decision on job control, or when the water flow information is updated. The acquisition unit 21-i may also acquire new water flow information when the wireless communication device 50-i completes a job or starts a new job. The acquisition unit 21-i may also acquire water flow information each time the wireless communication device 50-i measures the location flow velocity. For example, the wireless communication device 50-i may periodically perform measurements, and the acquisition unit 21-i may receive the measurement results each time a measurement is performed.

[0057] The decision unit 22-i decides control (task control) regarding a plurality of tasks performed by the wireless communication device 50-i based on the water flow information and the task information.

[0058] The determiner 22-i may determine the work control when the acquirer 21-i acquires work information and water flow information. The determiner 22-i may also determine the work control when instructed to determine the work control by the information collecting and providing device 41. The determiner 22-i may also determine the work control when the acquirer 21-i acquires new water flow information. The determiner 22-i may also determine the work control when the newly acquired water flow information has changed from the previously acquired water flow information.

[0059] For example, the determination unit 22-i may determine, as the job control, to change the order in which jobs are performed by the wireless communication device 50-i. Note that, hereinafter, the control of changing the order in which jobs are performed by the wireless communication device 50-i may be referred to as job order change control.

[0060] For example, when a task is being performed by the wireless communication device 50-i, the decision unit 22-i may determine, as the task order change control, to temporarily suspend the task being performed by the wireless communication device 50-i and perform another task. Also, the decision unit 22-i may determine to resume the suspended task after the other task is completed.

[0061] For example, when the current velocity at the location is faster than the allowable water flow for the job being performed by the wireless communication device 50-i, the determination unit 22-i may determine the job order change control as the job control. Note that in this case, the job information may include allowable water flow information. The allowable water flow may also be predetermined based on the type of job, etc.

[0062] Furthermore, for example, when the wireless communication device 50-i has not yet started the next scheduled task, the decision unit 22-i may determine, as task order change control, to postpone the next scheduled task to be started by the wireless communication device 50-i and have the wireless communication device 50-i perform another task. Furthermore, the decision unit 22-i may determine to start the postponed task after the other task is completed. Note that the next task that the wireless communication device 50-i is scheduled to start may be referred to as a second task. The second task is a task that the wireless communication device 50-i is scheduled to start after the first task. The first task may be a task currently being performed by the wireless communication device 50-i, or may be a task that the wireless communication device 50-i was performing immediately before the second task.

[0063] In addition, the determination unit 22-i may determine work order change control as the work control, for example, when the current velocity at the location where the wireless communication device 50-i is located is faster than the allowable water flow for the next work scheduled to start.

[0064] When determining the task order change control, the determination unit 22-i may determine the following tasks as tasks to be performed before the task currently being performed by the wireless communication device 50-i. Furthermore, the determination unit 22-i may determine the following tasks as tasks to be performed before the next task scheduled to start by the wireless communication device 50-i. Hereinafter, a task to be performed before the task currently being performed by the wireless communication device 50-i or the next task scheduled to start may be referred to as a preceding task.

[0065] For example, the determination unit 22-i may determine, as a preceding task, a task that is performed in a location where the water current is slower than the current speed at the location where the wireless communication device 50-i is located, from among the multiple tasks performed by the wireless communication device 50-i. Note that the determination unit 22-i can determine the water current speed (or velocity) at the location where each of the multiple tasks performed by the wireless communication device 50-i is performed, based on the water current distribution information.

[0066] When the preceding tasks are determined as described above, the task that consumes less battery power is performed first. This reduces the possibility that the battery will be depleted during the task being performed earlier, preventing the task scheduled for later completion. Furthermore, this reduces the possibility that the travel time required for the task being performed earlier will increase, preventing the task scheduled for later completion. This reduces the possibility that the completion rate of the multiple tasks performed by the wireless communication device 50-i will decrease due to the influence of water currents. The task completion rate is the ratio of completed tasks to the multiple tasks performed by the wireless communication device. The task completion rate may be, for example, the ratio of the number of completed tasks to the total number of tasks performed by the wireless communication device. Furthermore, the task completion rate may be, for example, the ratio of the number of completed task steps to the total number of task steps included in the multiple tasks performed by the wireless communication device.

[0067] Furthermore, for example, the determination unit 22-i checks whether, among the multiple jobs performed by the wireless communication device 50-i, there is a job to be performed at the location where the wireless communication device 50-i is located. Note that the job to be performed at the location where the wireless communication device 50-i is located may be a job to be performed within a predetermined range from the location where the wireless communication device 50-i is located. Furthermore, the determination unit 22-i checks whether, among the jobs to be performed at the location where the wireless communication device 50-i is located, there is a job for which the allowable water flow is faster than the current velocity at the location. Then, if there is a corresponding job, the determination unit 22-i may determine the job for which the allowable water flow is faster than the current velocity at the location as the job to be performed first.

[0068] Furthermore, for example, the determination unit 22-i may check whether any of the multiple jobs performed by the wireless communication device 50-i has a water flow rate that is faster than the water flow rate at the location where the job is to be performed. If any such job is found, the determination unit 22-i may determine the job with a water flow rate that is faster than the water flow rate at the location where the job is to be performed as the job to be performed first.

[0069] When the preceding task is determined as described above, the task with a faster allowable water flow than the actual water flow speed at the location where the task is to be performed is performed first. If the actual water flow at the location where the task is to be performed is faster than the allowable water flow, the task may be delayed. Furthermore, if the previously performed task is delayed because the water flow is faster than the allowable water flow, the battery may run out, potentially preventing the later task from being completed. The above-described method reduces the possibility that the later task will not be completed by performing the task with a faster allowable water flow than the actual water flow at the location where the task is to be performed first. Furthermore, if the previously performed task requires travel, the longer travel time required for the previously performed task reduces the possibility that the later task will not be completed. This reduces the possibility that the completion rate of multiple tasks performed by the wireless communication device 50-i will decrease due to the influence of water flow.

[0070] Furthermore, for example, the decision unit 22-i may check whether the multiple tasks performed by the wireless communication device 50-i include tasks that are performed while moving. If there is a task that is performed while moving, the decision unit 22-i may determine that the task that is performed while moving is the preceding task. In this case, the decision unit 22-i may determine that the task control for the task that is performed while moving is to move the wireless communication device 50-i along the direction of the water flow. By moving along the direction of the water flow, the wireless communication device 50-i can reduce battery consumption and increase in travel time. In this case, the water flow information includes information on the speed of the water flow.

[0071] Furthermore, for example, the determination unit 22-i may determine the order in which the wireless communication device 50-i performs a plurality of tasks as part of the task control. For example, the determination unit 22-i may determine that tasks performed further upstream in the direction of water flow are to be performed earlier. This can prevent the battery of the wireless communication device 50-i from running out and the travel time from increasing.

[0072] Furthermore, for example, when there is a series of mutually related tasks among the multiple tasks performed by the wireless communication device 50-i, the determination unit 22-i may determine that, among the tasks in the series of tasks, tasks performed further upstream in the direction of water flow are to be performed earlier in the order of tasks. For example, a task in which the wireless communication device 50-i acquires measurement values ​​at multiple points is a series of tasks in which measurement values ​​are acquired at a certain point. For such a task series, the determination unit 22-i may determine task control such that the wireless communication device 50-i acquires measurement values ​​while moving from a point further upstream in the direction of water flow toward the downstream side.

[0073] Furthermore, for example, when the current velocity at the location where the wireless communication device 50-i is located is faster than the allowable water flow for the job being performed by the wireless communication device 50-i, the job being performed by the wireless communication device 50-i is one in which wireless communication can be performed by moving from the location where the wireless communication device 50-i is located. In this case, the determination unit 22-i may determine, as the job control, control to move the wireless communication device 50-i to a location with a weaker water flow. In this case, the job information may also include, for example, information indicating whether wireless communication can be performed at any location. For example, if the job being performed by the wireless communication device 50-i is one in which information acquired by a sensor at a predetermined location (sensor information) is transmitted to the information collecting and providing device 41, the job information may include information on the location where the sensor information is acquired and information indicating that wireless communication can be performed at any location. By performing wireless communication by the wireless communication device 50-i in a location with a weak water flow, it is possible to reduce battery consumption of the wireless communication device 50-i.

[0074] When the determination unit 22-i determines that the task control involves the movement of the wireless communication device 50-i, the determination unit 22-i may further determine a movement path. The determination unit 22-i may determine the movement path using a path search algorithm such as an A* (A-star) search algorithm based on water current distribution information. The movement path may be a two-dimensional path that takes into account latitude and longitude, or a three-dimensional path that takes into account latitude, longitude, and depth.

[0075] Furthermore, the decision unit 22-i may determine whether or not to perform task order change control for a task currently being performed by the wireless communication device 50-i, depending on information regarding whether task order change control is possible. For example, if task order change control is not possible for a task currently being performed by the wireless communication device 50-i, the decision unit 22-i may determine to continue the task currently being performed by the wireless communication device 50-i, or not to change the order in which the tasks are performed. In this case, the task information includes information regarding whether or not task order change control is possible. Whether or not task order change control is possible may be determined, for example, based on the priority or urgency of the task.

[0076] Furthermore, the decision unit 22-i may decide to cause the wireless communication device 50-i to perform wireless communication when the remaining battery charge of the wireless communication device 50-i has decreased to a predetermined level. If the water current is stronger than the allowable water current, the battery of the wireless communication device 50-i may run out before the work is completed, and information collected by the wireless communication device 50-i (e.g., sensor information, etc.) may not be transmitted. When the remaining battery charge of the wireless communication device 50-i has decreased to a predetermined level, the decision unit 22-i causes the wireless communication device 50-i to perform wireless communication, thereby reducing the amount of data not transmitted from the wireless communication device 50-i. Note that the work information may include information about the remaining battery charge at which wireless communication should be performed.

[0077] The output unit 23-i outputs control information. The control information is information relating to control (job control) of a plurality of jobs performed by the wireless communication device 50-i. For example, the control information may include information indicating the order in which the wireless communication device 50-i performs the plurality of jobs. Furthermore, when control involving movement of the wireless communication device 50-i is determined as the job control, the control information may include information on the destination and movement route of the wireless communication device 50-i.

[0078] Furthermore, the output unit 23-i may control the wireless communication device 50-i by outputting control information to the wireless communication device 50-i. Then, the wireless communication device 50-i may perform work in accordance with the control information. Furthermore, the output unit 23-i may output the control information to the information collecting and providing device 41. Then, the information collecting and providing device 41 may control the wireless communication device 50-i in accordance with the control information.

[0079] Next, an example of a method for measuring the velocity of a water flow will be described. Note that any method can be used to measure the velocity of a water flow.

[0080] The water flow speed is measured by the wireless communication device 50-i or the acquisition unit 21-i. Here, a case where the wireless communication device 50-i measures the water flow speed will be described, but the acquisition unit 21-i can measure the water flow speed in a similar manner. Alternatively, the wireless communication device 50-i may measure the water flow speed.

[0081] The wireless communication device 50-i may estimate the speed of the water current from the difference between the speed at which the wireless communication device 50-i intends to move (water speed: speed relative to water) and the actual moving speed (ground speed: speed relative to the ground). For example, the wireless communication device 50-i can estimate the speed of the water current from the difference between a target moving speed, which is a target moving speed, and the actual moving speed.

[0082] Furthermore, if the wireless communication device 50-i has the function of remaining at a fixed point, the power consumption required to remain at the fixed point increases as the water flow speed increases. Therefore, if the wireless communication device 50-i has the function of remaining at a fixed point, the speed of the water flow may be estimated based on the power consumption required to remain at the fixed point.

[0083] The wireless communication device 50-i can measure the actual moving speed, for example, by the following method: Note that any method can be used to measure the actual moving speed.

[0084] The wireless communication device 50-i may estimate the moving speed based on, for example, the transition of the position of the wireless communication device 50-i. The position of the wireless communication device 50-i may be determined by an underwater positioning method such as LBL, or may be determined by another method.

[0085] The wireless communication device 50-i may also transmit ultrasonic waves from the wireless communication device 50-i (mobile body 65-i) toward the bottom of the water and estimate the moving speed of the wireless communication device 50-i relative to the bottom of the water based on the Doppler shift of the waves reflected by the bottom of the water. The wireless communication device 50-i may also estimate the moving speed of the wireless communication device 50-i using an inertial navigation system (INS). The wireless communication device 50-i may also combine two or more of the above methods to improve the accuracy of measuring the moving speed.

[0086] Next, an example of the operation flow of the control information output device 20-i will be described with reference to FIG.

[0087] The acquisition unit 21-i acquires the work information and the water flow information (step S101).

[0088] The determination unit 22-i determines the work control based on the water flow information and the work information (step S102).

[0089] The output unit 23-i outputs the control information (step S103). The control information is information related to work control.

[0090] As described above, in the second embodiment of the present disclosure, the control information output device 20-i includes an acquisition unit 21-i, a determination unit 22-i, and an output unit 23-i. The acquisition unit 21-i acquires task information and water flow information. The task information is information relating to a plurality of tasks performed by the wireless communication device. The wireless communication device performs wireless communication using acoustic waves underwater. The water flow information includes information relating to the presence position flow speed. The presence position flow speed is the speed of the water flow at the location where the wireless communication device is located. The determination unit 22-i determines task control based on the water flow information and the task information. The task control is control relating to a plurality of tasks performed by the wireless communication device. The output unit 23-i outputs control information. The control information is information relating to task control.

[0091] In this way, the control information output device 20-i determines control (job control) for the multiple jobs performed by the wireless communication device based on the location flow velocity. As a result, when there is a possibility that the completion rate of the multiple jobs performed by the wireless communication device will decrease due to the influence of the water flow, the control information output device 20-i can determine job control so as to reduce the possibility that the completion rate will decrease. Therefore, it is possible to reduce the possibility that the completion rate of the jobs performed by the wireless communication device will decrease due to the influence of the water flow.

[0092] The determining unit 22-i may determine a job order change control for a plurality of jobs as the job control. The job order change control is a control for changing the order in which the jobs are performed by the wireless communication device 50-i.

[0093] Furthermore, as the task order change control, the decision unit 22-i may determine to temporarily suspend a task being performed by the wireless communication device 50-i so that another task can be performed. Furthermore, as the task order change control, the decision unit 22-i may determine to postpone a second task that is scheduled to start after a first task by the wireless communication device 50-i so that the other task can be performed.

[0094] Furthermore, the determination unit 22-i may determine work order change control as the work control when the presence location flow velocity is faster than the water flow speed allowed for the work currently being performed by the wireless communication device 50-i. Furthermore, the determination unit 22-i may determine work order change control as the work control when the presence location flow velocity is faster than the water flow speed allowed for a second work scheduled to start after the first work by the wireless communication device 50-i. Furthermore, the determination unit 22-i may determine a preceding work to be performed before the second work.

[0095] These task order change controls make it possible to change the order of tasks so as to reduce the possibility that the completion rate of multiple tasks performed by the wireless communication device will decrease due to the influence of water currents.

[0096] The work information may also include allowable water flow information. The allowable water flow information may include information on the allowable water flow, which is the speed of the water flow that is allowable when the wireless communication device is performing work. This makes it possible to determine work control based on the allowable water flow according to the work.

[0097] Furthermore, the determination unit 22-i may determine, among the multiple jobs, a job to be performed in a location where the water current is slower than the current speed at the location as the job to be performed first, thereby preventing the battery from being depleted or the travel time from increasing due to the influence of the water current.

[0098] The determination unit 22-i also checks whether any of the multiple jobs is to be performed at the location where the wireless communication device 50-i is located. The determination unit 22-i also checks whether any of the jobs to be performed at the location where the wireless communication device 50-i is located has a permissible water flow that is faster than the current location flow velocity. If any of the jobs has a permissible water flow that is faster than the current location flow velocity, the determination unit 22-i may determine the job with the faster permissible water flow as the job to be performed first. This makes it possible to prevent battery drain and increased travel time due to the current location flow velocity being faster than the permissible water flow.

[0099] Furthermore, the determination unit 22-i may check whether there is a job among the multiple jobs for which the allowable water flow is faster than the water flow speed at the location where the job is to be performed, and if there is a job for which the allowable water flow is faster than the water flow speed at the location where the job is to be performed, determine the job for which the allowable water flow is faster than the water flow speed at the location where the job is to be performed as the job to be performed first. This makes it possible to prevent battery drain and increased travel time due to the water flow speed at the location where the job is to be performed being faster than the allowable water flow.

[0100] Furthermore, the determination unit 22-i may check whether any of the multiple jobs is performed while moving, and if so, determine the job to be performed while moving as the preceding job. This makes it possible to prevent battery consumption and an increase in travel time by moving the wireless communication device 50-i along the direction of the water flow, for example.

[0101] Furthermore, the decision unit 22-i may decide whether or not to perform the work order change control depending on the information on whether or not the work order change control is possible. This makes it possible to prevent the work order change control from being performed for jobs that cannot be subjected to the work order change control, such as jobs with high priority or urgency.

[0102] Furthermore, when the current velocity at the location is faster than the allowable water flow for the work being performed by the wireless communication device 50-i, if the work being performed by the wireless communication device 50-i is work that can be performed by moving from the location where the wireless communication device 50-i is present to a location with a weaker water flow, the determination unit 22-i may determine, as the work control, control to move the wireless communication device 50-i to a location with a weaker water flow, which may reduce battery consumption of the wireless communication device 50-i.

[0103] [Hardware Configuration Example] An example of the configuration of hardware resources for realizing the control information output device (10, 20, 20-i) in each embodiment of the present disclosure described above using one information processing device (computer) will be described. Note that the control information output device may be physically or functionally realized using at least two information processing devices. Also, the control information output device may be realized as a dedicated device. Also, only some of the functions of the control information output device may be realized using an information processing device. Also, at least some of the functions of the control information output device may be realized on the cloud.

[0104] 6 is a diagram illustrating an example of a hardware configuration of an information processing device 90 that can realize the control 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.

[0105] 1 can be realized by a communication interface 91 and a computing device 93. Furthermore, the determining unit 12 can be realized by the computing device 93.

[0106] The communication interface 91 is a communication means for the control information output device of each embodiment to communicate with an external device via a wired or / and wireless connection. When the control information output 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.

[0107] 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.

[0108] 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.

[0109] 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.

[0110] 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.

[0111] 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.

[0112] 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.

[0113] Each embodiment of the present disclosure may be realized, for example, by configuring a control information output device using the information processing device 90 illustrated in FIG. 6 and supplying a program capable of realizing the functions described in each of the above embodiments to this control information output device.

[0114] In this case, the embodiment can be realized by having the arithmetic unit 93 execute a program supplied to the control information output device. It is also possible to configure some, but not all, of the functions of the control information output device in the information processing unit 90.

[0115] Furthermore, the control information output device may be configured so that the program is recorded on a recording medium 97 and stored in the nonvolatile storage device 95 as appropriate at the time of shipment or operation of the control information output device. In this case, the program may be supplied by installing it in the control information output device using an appropriate jig at the manufacturing stage before shipment or at the operation stage. 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.

[0116] Some or all of the above-described embodiments can be described as, but are not limited to, the following supplementary notes.

[0117] (Supplementary Note 1) A control information output device comprising: an acquisition means for acquiring task information, which is information relating to a plurality of tasks performed by a wireless communication device that performs wireless communication using sound waves underwater, and water flow information including information relating to a location flow velocity, which is the speed of the water flow at a location where the wireless communication device is located; a determination means for determining task control, which is control relating to the plurality of tasks performed by the wireless communication device, based on the water flow information and the task information; and an output means for outputting control information, which is information relating to the task control.

[0118] (Supplementary Note 2) The control information output device according to Supplementary Note 1, wherein the determining means determines, as the job control, job order change control, which is control for changing an order in which the jobs are performed by the wireless communication device, for the plurality of jobs.

[0119] (Supplementary Note 3) The control information output device according to Supplementary Note 2, wherein the determining means determines, as the task order change control, to temporarily suspend a task being performed by the wireless communication device and perform another task.

[0120] (Supplementary Note 4) The control information output device described in Supplementary Note 3, wherein the determination means determines the work order change control as the work control when the presence location flow velocity is faster than the water flow speed allowed for the work being performed by the wireless communication device, and determines a preceding work to be performed that is a work to be performed before the work being performed by the wireless communication device.

[0121] (Supplementary Note 5) The control information output device according to Supplementary Note 2, wherein the decision means decides to cause the wireless communication device to postpone a second task that is scheduled to start after a first task on the wireless communication device and perform another task as the task order change control.

[0122] (Supplementary Note 6) The control information output device described in Supplementary Note 5, wherein the determination means determines the work order change control as the work control when the presence location flow velocity is faster than the water flow speed allowed for a second work scheduled to start after a first work by the wireless communication device, and determines a preceding work to be performed before the second work.

[0123] (Supplementary Note 7) The control information output device described in Supplementary Note 4 or Supplementary Note 6, wherein the work information includes allowable water flow information, and the allowable water flow information includes information on allowable water flow, which is the speed of water flow that is allowable when the wireless communication device performs work.

[0124] (Supplementary Note 8) The control information output device according to any one of Supplementary Note 4, Supplementary Note 6, and Supplementary Note 7, wherein the determination means determines, among the plurality of jobs, a job to be performed in a location where the water flow is slower than the flow velocity at the location as the preceding job.

[0125] (Supplementary Note 9) The control information output device described in any one of Supplementary Note 4 and Supplementary Note 6 to Supplementary Note 8, wherein the determination means determines the work with the allowable water flow faster than the location flow velocity as the prior work to be performed when there is work performed at the location where the wireless communication device is located, for which the allowable water flow, which is the speed of the water flow that is allowable when the wireless communication device is performing work, is faster than the location flow velocity.

[0126] (Supplementary Note 10) The control information output device described in any one of Supplementary Note 4 and Supplementary Note 6 to Supplementary Note 9, wherein the determination means checks whether there is any job among the plurality of jobs for which the allowable water flow, which is the speed of water flow that is allowable when the wireless communication device performs work, is faster than the speed of water flow at the location where the work is performed, and if there is any job for which the allowable water flow is faster than the speed of water flow at the location where the work is performed, determines the job for which the allowable water flow is faster than the speed of water flow at the location where the work is performed to be the job to be performed first.

[0127] (Supplementary Note 11) The control information output device according to any one of Supplementary Note 4 and Supplementary Note 6 to Supplementary Note 10, wherein the determination means checks whether any of the plurality of jobs is performed while moving, and if any of the jobs is performed while moving, determines the job performed while moving as the preceding job to be performed.

[0128] (Supplementary Note 12) The control information output device according to any one of Supplementary Note 2 to Supplementary Note 11, wherein the decision means decides whether or not to perform the work order change control, depending on information relating to whether or not the work order change control is possible.

[0129] (Supplementary Note 13) The control information output device described in Supplementary Note 1, wherein the determination means determines, as the work control, a control to move the wireless communication device to a location with a weaker water flow, if the current velocity at the location is faster than the water flow speed allowed for the work being performed by the wireless communication device and the work being performed by the wireless communication device is a work that can be performed by moving from the location where the wireless communication device is present and performing wireless communication.

[0130] (Supplementary Note 14) A control information output method comprising: acquiring task information, which is information relating to a plurality of tasks performed by a wireless communication device that performs wireless communication using sound waves underwater; and water flow information, which includes information relating to a location flow velocity, which is the speed of the water flow at a location where the wireless communication device is located; determining task control, which is control relating to the plurality of tasks performed by the wireless communication device, based on the water flow information and the task information; and outputting control information, which is information relating to the task control.

[0131] (Supplementary Note 15) A computer-readable recording medium having recorded thereon a control information output program that causes a computer to realize the following functions: an acquisition function that acquires job information, which is information relating to a plurality of jobs performed by a wireless communication device that performs wireless communication using sound waves underwater, and water flow information including information relating to a location flow velocity, which is the speed of the water flow at the location where the wireless communication device is located; a decision function that determines job control, which is control relating to the plurality of jobs performed by the wireless communication device, based on the water flow information and the job information; and an output function that outputs control information, which is information relating to the job control.

[0132] Furthermore, some or all of the configurations described in Supplementary Notes 2 to 13, which are dependent on Supplementary Note 1, may also be dependent on Supplementary Notes 14 and 15 in the same dependent relationship as Supplementary Notes 2 to 13. Furthermore, not limited to Supplementary Notes 1, 14, and 15, some or all of the configurations described as Supplements may be made dependent on various hardware, software, various recording means for recording software, or systems, within the scope of each of the above-mentioned embodiments.

[0133] 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.

[0134] This application claims priority based on Japanese Patent Application No. 2024-049014, filed March 26, 2024, the disclosure of which is incorporated herein by reference in its entirety.

[0135] 10, 20, 20-i Control information output device 11, 21-i Acquisition unit 12, 22-i Decision unit 13, 23-i Output unit 40 Base station 41 Information collecting and providing device 50, 50-i Wireless communication device 60, 61 Communication system 65-i Mobile object 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 control information output device comprising: an acquisition means for acquiring task information, which is information relating to a plurality of tasks performed by a wireless communication device that performs wireless communication using sound waves underwater, and water flow information, which includes information relating to the location flow velocity, which is the speed of the water flow at the location where the wireless communication device is located; a determination means for determining task control, which is control relating to the plurality of tasks performed by the wireless communication device, based on the water flow information and the task information; and an output means for outputting control information, which is information relating to the task control.

2. The control information output device according to claim 1, wherein the determination means determines, as the job control, a job order change control that changes the order in which the jobs are performed by the wireless communication device for the plurality of jobs.

3. The control information output device according to claim 2, wherein the determining means determines, as the task order change control, that the task being performed by the wireless communication device be temporarily interrupted and another task be performed.

4. The control information output device according to claim 3, wherein the determination means determines the work order change control as the work control when the current velocity at the location is faster than the water flow speed allowed for the work being performed by the wireless communication device, and determines a preceding work to be performed, which is work to be performed before the work being performed by the wireless communication device.

5. The control information output device according to claim 2, wherein the determination means determines that, as the task order change control, the wireless communication device should postpone a second task that is scheduled to start after a first task on the wireless communication device and perform another task.

6. The control information output device according to claim 5, wherein the determination means determines the work order change control as the work control when the current velocity at the location is faster than the water flow speed allowed for a second job scheduled to start after a first job by the wireless communication device, and determines a preceding job to be performed before the second job.

7. A control information output device as described in claim 4 or claim 6, wherein the work information includes allowable water flow information, and the allowable water flow information includes information on allowable water flow, which is the speed of water flow that is allowable when the wireless communication device is performing work.

8. A control information output device as described in any one of claims 4, 6 and 7, wherein the determination means determines, among the plurality of jobs, a job to be performed in a location where the water flow is slower than the flow velocity at the location as the preceding job to be performed.

9. A control information output device as described in any one of claims 4 and 6 to 8, wherein the determination means determines, when there is work to be performed at the location where the wireless communication device is located, the work whose allowable water flow, which is the speed of the water flow that is allowable when the wireless communication device is performing work, is faster than the location flow velocity, as the prior work to be performed, the work whose allowable water flow is faster than the location flow velocity.

10. The control information output device described in any one of claims 4 and 6 to 9, wherein the determination means checks whether there is any job among the plurality of jobs for which the allowable water flow, which is the speed of the water flow that is allowable when the wireless communication device performs work, is faster than the speed of the water flow at the location where the work is performed, and if there is any job for which the allowable water flow is faster than the speed of the water flow at the location where the work is performed, determines the job for which the allowable water flow is faster than the speed of the water flow at the location where the work is performed to be the job to be performed first.

11. A control information output device as described in any one of claims 4 and 6 to 10, wherein the determination means checks whether any of the plurality of jobs is performed while moving, and if so, determines that the job performed while moving is the preceding job to be performed.

12. A control information output device according to any one of claims 2 to 11, wherein the decision means decides whether or not to perform the work order change control depending on information relating to whether or not the work order change control is possible.

13. The control information output device of claim 1, wherein the determination means determines that the work control is to move the wireless communication device to a location with a weaker water flow if the current velocity at the location is faster than the water flow speed allowed for the work being performed by the wireless communication device and the work being performed by the wireless communication device is work that can be performed by moving from the location where the wireless communication device is present and performing wireless communication.

14. A control information output method comprising: acquiring task information, which is information relating to a plurality of tasks performed by a wireless communication device that performs wireless communication using sound waves underwater; and water flow information, which includes information relating to the location flow velocity, which is the speed of the water flow at the location where the wireless communication device is located; determining task control, which is control relating to the plurality of tasks performed by the wireless communication device, based on the water flow information and the task information; and outputting control information, which is information relating to the task control.

15. The control information output method according to claim 14, wherein in determining the job control, a job order change control is determined as the job control, which is a control for changing the order in which the jobs are performed by the wireless communication device for the plurality of jobs.

16. The control information output method according to claim 15, wherein in determining the job control, it is determined that the job order change control is to temporarily suspend the job being performed by the wireless communication device and perform another job.

17. A control information output method as described in claim 16, wherein, in determining the work control, if the location flow velocity is faster than the water flow speed allowed for the work being performed by the wireless communication device, the work order change control is determined as the work control, and a preceding work to be performed is determined, which is work to be performed before the work being performed by the wireless communication device.

18. The control information output method according to claim 15, wherein in determining the job control, the job order change control determines that the wireless communication device will postpone a second job that is scheduled to start after a first job on the wireless communication device and perform another job.

19. A control information output method as described in claim 18, wherein, in determining the job control, if the location flow velocity is faster than the water flow speed allowed for a second job scheduled to start after a first job by the wireless communication device, the job order change control is determined as the job control, and a preceding job to be performed before the second job is determined.

20. A computer-readable recording medium having recorded thereon a control information output program that causes a computer to realize the following functions: an acquisition function that acquires task information, which is information relating to multiple tasks performed by a wireless communication device that performs wireless communication using sound waves underwater, and water flow information, which includes information relating to the location flow velocity, which is the speed of the water flow at the location where the wireless communication device is located; a decision function that determines task control, which is control relating to the multiple tasks performed by the wireless communication device, based on the water flow information and the task information; and an output function that outputs control information, which is information relating to the task control.

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