Underwater environment sensor and underwater environment sensor system

Abstract

An underwater environment sensor according to the present invention comprises a component measurement sensor, a position detection sensor, a movement detection sensor, an underwater disposition detection sensor, and a recording unit. The component measurement sensor measures an underwater to-be-measured component. The position detection sensor detects the two-dimensional position, of the component measurement sensor, in a planar direction in the atmosphere, and generates first position information. The movement detection sensor detects movement of the component measurement sensor that is underwater, and generates movement information. The underwater disposition detection sensor detects that the component measurement sensor is disposed underwater. The recording unit records a measurement result of the component to be measured, the first position information, and the movement information. The component measurement sensor starts measuring the component to be measured from an underwater disposition timing at which underwater disposition is detected. The recording unit records the first position information immediately before the underwater disposition timing. The recording unit records the movement information and the measurement result of the component to be measured starting from the underwater disposition timing.

Description

Underwater environmental sensor, underwater environmental sensor system

[0001] The present invention relates to a technique for measuring the environmental state in water in a predetermined area.

[0002] Patent Document 1 describes an environmental measurement device. The environmental measurement device of Patent Document 1 includes an environmental measurement sensor for measuring the environment, a GPS receiver, and a transmission unit.

[0003] When the environmental measurement sensor of the environmental measurement device of Patent Document 1 performs measurement a predetermined number of times, the environmental measurement device detects its position coordinates using the positioning signal received by the GPS receiver. The transmission unit transmits the measurement information and position information of the environmental measurement sensor.

[0004] Patent No. 6865450 specification

[0005] However, underwater, it is impossible to receive a positioning signal that is a radio wave. Therefore, the configuration of Patent Document 1 cannot be applied to a device arranged in water for measuring the environmental state in water, and the position cannot be detected.

[0006] Therefore, an object of the present invention is to enable detection of the measurement position in a device arranged in water for measuring the underwater environment.

[0007] An underwater environmental sensor according to an embodiment of this invention includes a component measurement sensor, a position detection sensor, a movement detection sensor, an underwater placement detection sensor, a recording unit, and a controller constituted by a processor.

[0008] The controller causes the component measurement sensor to start measuring the measurement target component at the timing when the underwater placement detection sensor detects that it has been placed in water. The controller records the first position information immediately before the underwater placement timing in the recording unit. The controller records the movement information and the measurement result of the measurement target component after the underwater placement timing in the recording unit.

[0009] With this configuration, the difference between the position when the underwater environmental sensor starts measuring the measurement target component in water and the position when it is taken out into the atmosphere can be obtained. Thereby, for example, it can be detected that although it existed within the measurement target area at the start of measurement of the measurement target component, it deviated outside the measurement target area at the end of measurement.

[0010] According to this invention, a device placed in water to measure the underwater environment can detect the measurement position.

[0011] Figure 1 is a perspective view showing an example of the structure of an underwater environmental sensor according to the first embodiment. Figure 2 is a functional block diagram showing an example of the configuration of an underwater environmental sensor according to the first embodiment. Figure 3 is a flowchart showing an example of the operation of an underwater environmental sensor according to the first embodiment. Figure 4 is a diagram showing an example of the operating state of each functional part when the underwater environmental sensor is in the atmosphere. Figure 5 is a diagram showing an example of the operating state of each functional part when the underwater environmental sensor is in water. Figure 6 is a flowchart showing an example of the determination of measurement continuation and measurement stop based on the amount of movement in water. Figure 7 is a flowchart showing an example of the determination of recording continuation and recording stop based on the amount of movement in water. Figure 8 is a flowchart showing an example of the operation of an underwater environmental sensor including the determination of invalid measurement. Figure 9 is a functional block diagram showing an example of the configuration of an underwater environmental sensor according to the second embodiment. Figure 10 is a flowchart showing an example of a warning determination based on the amount of movement in water. Figure 11 is a functional block diagram showing an example of the configuration of an underwater environmental sensor according to the third embodiment. Figure 12 is a functional block diagram showing an example of the configuration of an underwater environmental sensor according to the fourth embodiment. Figure 13 is a diagram showing an example of the configuration of an underwater environmental measurement system including an underwater environmental sensor according to the fourth embodiment. Figure 14 is a flowchart showing an example of the operation of the underwater environment measurement system according to the fourth embodiment.

[0012] [First Embodiment] An underwater environmental sensor according to the first embodiment of the present invention will be described with reference to the figures. Figure 1 is a perspective view showing an example of the structure of the underwater environmental sensor according to the first embodiment. Figure 2 is a functional block diagram showing an example of the configuration of the underwater environmental sensor according to the first embodiment.

[0013] As shown in Figure 1, the underwater environment sensor 10 comprises a housing 20, a gas balancer 21, and piping 22. The housing 20 has a waterproof structure and an internal space 200 that is a sealed space.

[0014] The gas balancer 21 is located outside the housing 20. The gas balancer 21 is connected to the housing 20 through piping 22. The gas balancer 21 functions to bring the concentration of the target component in the water (gas component concentration) and the concentration of the target component in piping 22 to approximately equal and reach equilibrium. The target component taken in by the gas balancer 21 is taken into the housing 20 through piping 22 and supplied to the component measurement sensor 32 (see Figure 2).

[0015] As shown in Figure 2, the underwater environment sensor 10 comprises a controller 31, a component measurement sensor 32, a position detection sensor 33, an inertial sensor 34, an underwater placement detection sensor 35, a communication device 37, a recording unit 38, a power supply 39, and a positioning antenna 330. The controller 31, component measurement sensor 32, position detection sensor 33, inertial sensor 34, communication device 37, recording unit 38, power supply 39, and positioning antenna 330 are arranged in the internal space 200 of the housing 20. The underwater placement detection sensor 35 is arranged on the wall surface of the housing 20.

[0016] The controller 31 is composed of a processor, such as a microcontroller. The controller 31 is connected to the component measurement sensor 32, position detection sensor 33, inertia sensor 34, underwater placement detection sensor 35, communication device 37, recording unit 38, and power supply 39. The controller 31 controls the overall operation of the underwater environment sensor 10.

[0017] The component measurement sensor 32 is composed of, for example, a gas concentration sensor. The component measurement sensor 32 measures the concentration of the target component supplied through the piping 22.

[0018] The position detection sensor 33 is composed of, for example, a GPS receiver. A positioning antenna 330 is connected to the position detection sensor 33. The position detection sensor 33 uses the positioning signal received by the positioning antenna 330 to position the underwater environment sensor 10. The position detection sensor 33 detects two-dimensional position coordinates on at least a plane perpendicular to the vertical direction (horizontal plane).

[0019] The inertial sensor 34 includes an acceleration sensor and an angular velocity sensor. The inertial sensor 34 measures the amount and direction of movement of the underwater environment sensor 10. Specifically, it calculates the amount of movement (distance traveled) from the acceleration and time information of the underwater environment sensor 10. The inertial sensor 34 measures the amount and direction of movement on at least a plane perpendicular to the vertical direction (horizontal plane). Movement information is composed of at least one of the amount of movement and direction of movement. Movement information is obtained from the acceleration and angular velocity data at each time point output from the inertial sensor 34 and refers to the distance traveled in a certain period of time, or a combination of distance traveled and direction of movement. Furthermore, by making the inertial sensor 34 a sensor capable of measuring in three orthogonal axes, it is also possible to measure the amount of movement of the underwater environment sensor 10 in the depth direction (direction perpendicular to the horizontal plane). Since the inertial sensor 34 can detect movement by the output of the acceleration sensor and angular velocity sensor, it is classified as a movement detection sensor.

[0020] The underwater placement detection sensor 35 is composed of at least one of a pressure sensor, a humidity sensor, and a conductivity meter. The underwater placement detection sensor 35 may use a different sensor, provided that it is configured to produce different outputs when the housing 20 is in the atmosphere and when the housing 20 is in water.

[0021] The communication device 37 includes a communication antenna (not shown) and a communication electronic circuit (or communication IC). The communication device 37 can wirelessly communicate with an external device via the communication antenna. The communication device 37 may communicate in the cellular band and directly transmit stored data to the cloud, or it may use short-range communication such as Bluetooth® to transmit data to a communication device such as a smartphone. Alternatively, the communication device may be omitted, and data may be accessed offline by connecting via a wired connection such as a USB terminal.

[0022] The recording unit 38 is composed of a recording medium such as a semiconductor memory.

[0023] The power supply 39 consists of a battery and a power supply circuit. The various functional parts of the underwater environment sensor 10 operate through the power supplied from the power supply 39.

[0024] In this configuration, the underwater environment sensor 10 performs the following control.

[0025] Figure 3 is a flowchart illustrating an example of the operation of the underwater environmental sensor according to the first embodiment. Figure 4 is a diagram illustrating an example of the operating state of each functional part when the underwater environmental sensor is in the atmosphere. Figure 5 is a diagram illustrating an example of the operating state of each functional part when the underwater environmental sensor is submerged in water. In Figures 4 and 5, dotted lines (with hatching) indicate a stopped state.

[0026] First, before submerging the underwater environment sensor 10 (housing 20) in water, the two-dimensional position coordinates of the underwater environment sensor 10 are detected in the atmosphere (S11). Positioning signals from the positioning satellite SAT propagate through the atmosphere and can be received by the positioning antenna 330. This allows the position detection sensor 33 to detect the two-dimensional position coordinates. The position detection sensor 33 detects the two-dimensional position coordinates at predetermined time intervals.

[0027] When the underwater environment sensor 10 (housing 20) is placed in the water, the underwater placement detection sensor 35 detects that the underwater environment sensor 10 (housing 20) has been placed in the water and outputs a signal to the controller 31.

[0028] When the controller 31 detects that the underwater environment sensor 10 has been placed in the water (S12: YES), it obtains the two-dimensional position coordinates immediately before this detection timing from the position detection sensor 33 as the first position coordinates and records them in the recording unit 38 (S13).

[0029] The controller 31 stops supplying power from the power supply 39 to the position detection sensor 33. As a result, the power to the position detection sensor 33 is turned off (S14).

[0030] The controller 31 starts supplying power from the power supply 39 to the component measurement sensor 32 and the inertial sensor 34. As a result, the power to the component measurement sensor 32 and the inertial sensor 34 is turned on (S15).

[0031] The component measurement sensor 32 measures the component to be measured (S161).

[0032] The inertial sensor 34 measures acceleration and angular velocity (S162). As shown in Figure 5, when the underwater environment sensor 10 (housing 20) is submerged in water, the positioning signal is difficult to propagate from the positioning satellite SAT to the positioning antenna 330. Therefore, even if the power to the position detection sensor 33 is turned on, it is difficult to perform positioning. On the other hand, the inertial sensor 34 can detect acceleration and angular velocity if it receives inertial force, so the controller 31 can calculate position information such as how far and in which direction the sensor has moved based on the acceleration and angular velocity at each time, even without a positioning signal. Therefore, by operating the inertial sensor 34, the two-dimensional movement information of the underwater environment sensor 10 (housing 20) while submerged can be measured by combining the first position coordinates before entering the water with the trajectory measured by the inertial sensor 34.

[0033] The measurement of the target component by the component measurement sensor 32 and the measurement of two-dimensional movement information by the inertial sensor 34 are performed in time synchronization. However, this time synchronization is not limited to perfect time synchronization; there may be a predetermined time difference based on measurement errors in the movement information, etc.

[0034] The controller 31 records the measurement results and movement information of the synchronized measurement target components as a set in the recording unit 38 (S17).

[0035] The measurement of the target component and the measurement of movement information are performed at predetermined sampling time intervals until the underwater environment sensor 10 (housing 20) is removed from the water into the atmosphere. The sampling time interval may be constant or not. Furthermore, the sampling interval of the inertial sensor 34 and the sampling interval of the component measurement sensor 32 do not have to be the same; for example, the component measurement sensor 32 may sample the target component once every five times the movement information is sampled by the inertial sensor 34.

[0036] When the underwater environment sensor 10 (housing 20) is removed from the water and exposed to the atmosphere, the underwater placement detection sensor 35 detects that the underwater environment sensor 10 (housing 20) has been removed from the water and exposed to the atmosphere, and outputs this to the controller 31 (S18: YES).

[0037] The controller 31 resumes supplying power from the power supply 39 to the position detection sensor 33. As a result, the power to the position detection sensor 33 is turned on, and the controller 31 uses the positioning signal to detect the two-dimensional position coordinates after the restart (S19). The controller 31 acquires the two-dimensional position coordinates after the restart from the position detection sensor 33 as second position information and records it in the recording unit 38 (S20).

[0038] Furthermore, when the underwater environment sensor 10 (housing 20) is removed from the water and exposed to the atmosphere, the controller 31 stops supplying power from the power supply 39 to the component measurement sensor 32 and the inertial sensor 34. As a result, the power to the component measurement sensor 32 and the inertial sensor 34 is turned off.

[0039] With this configuration, the underwater environment sensor 10 can record the two-dimensional position coordinates (first position coordinates) of the underwater environment sensor 10 at the time it is introduced into the water from the atmosphere (the actual start of measurement of the target component) and the two-dimensional position coordinates (second position coordinates) of the underwater environment sensor 10 at the time it is removed from the water back into the atmosphere (the actual end of measurement of the target component).

[0040] This allows the user to confirm the two-dimensional position coordinates of the underwater environment sensor 10 at the start of measurement of the actual target component, and the two-dimensional position coordinates at the end of measurement of the actual target component, and to confirm the difference between these positions.

[0041] Therefore, for example, it is possible to confirm whether the underwater environment sensor 10 is present within the measurement target area at the start and end of the measurement. Thus, for example, the positional validity, positional reliability, and any irregularities in the measurement results of the underwater environment sensor 10 can be detected.

[0042] Furthermore, the underwater environment sensor 10 stops supplying power to the position detection sensor 33 when the position detection sensor 33 cannot determine its position underwater, thereby suppressing unwanted power consumption.

[0043] Furthermore, the underwater environment sensor 10 stops supplying power to the component measurement sensor 32 when it is in the atmosphere, which is not the target of measurement, thus suppressing unwanted power consumption.

[0044] In addition, since the underwater environment sensor 10 stops supplying power to the inertial sensor 34 in the atmosphere where positioning by the position detection sensor 33 is possible, unnecessary power consumption can be suppressed.

[0045] Note that the underwater placement detection sensor 35 can also detect placement in water based on changes in humidity inside the pipe 22. In this case, the underwater placement detection sensor 35 may be arranged on the pipe 22 inside the housing 20.

[0046] The underwater environment sensor 10 can also perform the following control based on the movement information in water.

[0047] (Measurement continuation and measurement stop of the measurement target component) FIG. 6 is a flowchart showing an example of determination of measurement continuation and measurement stop based on the movement amount in water.

[0048] The controller 31 calculates the movement amount (underwater movement amount) from the position (first position coordinate) at the timing of being placed in water in the two-dimensional coordinate system of the underwater environment sensor 10 based on the movement information (acceleration and angular velocity) (S31).

[0049] The controller 31 compares the movement amount with a threshold distance. The threshold distance is preset and is based on the size in the two-dimensional coordinate system of the measurement target area.

[0050] When the movement amount is equal to or greater than the threshold distance (S32: YES), the controller 31 stops the measurement by the component measurement sensor 32 (S33A).

[0051] When the movement amount is less than the threshold distance (S32: NO), the controller 31 continues the measurement by the component measurement sensor 32 (S34A).

[0052] This allows the underwater environment sensor 10 to stop measuring, for example, when it moves outside the measurement target area. Alternatively, a threshold distance can be set to a length corresponding to the length of the rope to which the sensor is moored, and measurement by the component measurement sensor 32 can be stopped if the distance exceeds the threshold. By setting such a threshold, measurement can be stopped if there is a possibility that the sensor has been taken to a different area without authorization, or if the location has shifted from the target location due to the rope getting caught on the boat, etc. In this way, the underwater environment sensor 10 can suppress unnecessary and fraudulent measurements.

[0053] (Continuing and stopping recording of measured components) Figure 7 is a flowchart showing an example of determining whether to continue or stop recording based on the amount of movement in the water. Note that Figure 7 includes the same steps as Figure 6, and the explanation of these steps will be omitted.

[0054] The controller 31 calculates the amount of movement (amount of movement in water) from the position (first position coordinate) of the underwater environment sensor 10 at the time it was placed in the water in a two-dimensional coordinate system, based on the movement information (distance traveled in a certain period of time obtained from acceleration and angular velocity) (S31).

[0055] If the amount of movement is greater than or equal to the threshold distance (S32: YES), the controller 31 stops recording the component measurement results to the recording unit 38 (S33B).

[0056] If the amount of movement is less than the threshold distance (S32: NO), the controller 31 continues to record the component measurement results to the recording unit 38 (S34B).

[0057] This allows the underwater environment sensor 10 to stop recording component measurement results, for example, when it moves outside the measurement target area. Therefore, the underwater environment sensor 10 can suppress unnecessary or fraudulent recording.

[0058] In Figures 6 and 7, the amount of movement calculated in step S31 based on acceleration and angular velocity was used to compare the amount of movement with the threshold distance in step S32. However, thresholds (threshold acceleration, threshold angular velocity) could be set for acceleration and angular velocity, and a similar determination could be made in step S32 by comparing the angular velocity obtained by comparing acceleration with threshold acceleration with the threshold angular velocity. For example, if the underwater environment sensor 10 is moved by a boat or the like, it can detect that it has moved at a speed exceeding that of being carried away by waves and stop measurement and recording.

[0059] (Invalid Measurement Determination) Figure 8 is a flowchart showing an example of the operation of an underwater environmental sensor, including the invalid measurement determination. The flowchart in Figure 8 is the same as the flowchart in Figure 3 up to step S20, that is, the step of recording the second position information detected by the position detection sensor 33, and the explanation of the similar parts will be omitted.

[0060] The controller 31 calculates third position information (S41). Specifically, the controller 31 calculates third position information by performing a vector operation that adds movement information (amount of movement and direction of movement based on acceleration and angular velocity) to the first position information. The third position information calculated in this way represents the two-dimensional position coordinates when the underwater environment sensor 10 finishes measurement.

[0061] The controller 31 calculates the position difference between the second position information detected by the position detection sensor 33 and the third position information calculated as described above. The controller 31 compares the position difference with the invalidity determination threshold. The invalidity determination threshold is based on the size of the measurement target area in a two-dimensional coordinate system, similar to the threshold distance for the amount of movement.

[0062] If the position difference is greater than or equal to the invalidity determination threshold (S43: YES), the controller 31 determines that the measurement result is invalid (S44).

[0063] As a result, the underwater environment sensor 10 does not output data if it is unable to measure the components at the target location, thus maintaining a high level of positional reliability. The invalidity determination can be performed by the underwater environment sensor 10, but the data recorded in the recording unit can also be saved to a server or cloud (not shown) via a network (not shown), and the determination can be performed by the server or cloud. In this case, the server or cloud corresponds to an external control device.

[0064] [Second Embodiment] An underwater environmental sensor according to a second embodiment of the present invention will be described with reference to the figures. Figure 9 is a functional block diagram showing an example of the configuration of the underwater environmental sensor according to the second embodiment.

[0065] As shown in Figure 9, the underwater environment sensor 10A according to the second embodiment differs from the underwater environment sensor 10 according to the first embodiment in that it includes a warning unit 36.

[0066] The warning unit 36 ​​consists of electronic equipment that emits a warning to the outside. The warning consists of sound, light, and other elements that propagate underwater.

[0067] Figure 10 is a flowchart showing an example of a warning determination based on the amount of movement in the water. Note that Figure 10 includes the same steps as Figure 6, and the explanation of those steps will be omitted.

[0068] If the amount of movement is greater than or equal to a threshold distance (S32: YES), the controller 31 issues a warning indicating that the underwater environment sensor 10 has moved beyond the acceptable range (S33C).

[0069] This allows the underwater environment sensor 10 to notify the outside, for example, when it moves outside the measurement target area.

[0070] [Third Embodiment] A third embodiment of the underwater environmental sensor of the present invention will be described with reference to the figures. Figure 11 is a functional block diagram showing an example of the configuration of the underwater environmental sensor according to the third embodiment.

[0071] As shown in Figure 11, the underwater environmental sensor 10B according to the third embodiment differs from the underwater environmental sensor 10 according to the first embodiment in the placement of the power supply 39. The other components of the underwater environmental sensor 10B are the same as those of the underwater environmental sensor 10, and a description of the similar parts will be omitted.

[0072] In the underwater environmental sensor 10B, the power supply 39 is configured separately from the housing 20. The power supply 39 is connected to each functional unit of the housing 20, including the controller 31, via a waterproof cable.

[0073] With this configuration, the underwater environment sensor 10B can achieve the same effects as the underwater environment sensor 10. Furthermore, since the power supply 39 is not built into the housing 20 of the underwater environment sensor 10B, the housing 20 can be made smaller.

[0074] [Fourth Embodiment] The underwater environmental sensor according to the fourth embodiment of the present invention will be described with reference to the figures. Figure 12 is a functional block diagram showing an example of the configuration of the underwater environmental sensor according to the fourth embodiment. Figure 13 is a diagram showing an example of the configuration of an underwater environmental measurement system including the underwater environmental sensor according to the fourth embodiment.

[0075] As shown in Figure 12, the underwater environment sensor 10C according to the fourth embodiment differs from the underwater environment sensor 10 according to the first embodiment in that it omits the position detection sensor 33 and the positioning antenna 330 and is equipped with an RFID 360. The other components of the underwater environment sensor 10C are the same as those of the underwater environment sensor 10, and a description of the similar parts will be omitted.

[0076] The RFID 360 stores the identification information of the underwater environment sensor 10C. The RFID 360 corresponds to the "electronic tag" of the present invention.

[0077] As shown in Figure 13, the underwater environment measurement system 1 comprises an underwater environment sensor 10C, an information and communication terminal 40, and a server 50. The information and communication terminal 40 and the server 50 can communicate data via a data communication network NW. The information and communication terminal 40 corresponds to the "position-capable communication device" of the present invention.

[0078] The information and communication terminal 40 can perform contactless wireless communication with the RFID 360.

[0079] In this configuration, the underwater environment sensor 10 performs the following control.

[0080] Figure 14 is a flowchart showing an example of the operation of the underwater environment measurement system according to the fourth embodiment.

[0081] The information and communication terminal 40 launches the measurement application (S401). Before submerging the underwater environment sensor 10C (housing 20) in water, the information and communication terminal 40 communicates with the RFID 360 of the underwater environment sensor 10C in the atmosphere and performs authentication processing (S402).

[0082] If the authentication is successful, the information and communication terminal 40 generates first location information using its own positioning function (S403). By using this combination of RFID 360 and information and communication terminal 40, first location information can be generated without using a location detection sensor.

[0083] The information and communication terminal 40 transmits a pair of identification information and first location information from the underwater environment sensor 10C to the server 50 (S404).

[0084] Server 50 receives the first location information and identification information (S501) and stores it (S502).

[0085] When the underwater environment sensor 10C receives authentication from the information and communication terminal 40 (S101), it determines whether it is in water or air. If it is in water (S102: YES), the underwater environment sensor 10C measures the target component and its amount of movement (S103).

[0086] The underwater environmental sensor 10C continuously measures the target component and its movement until it is removed from the atmosphere (S104: NO).

[0087] After removing the underwater environment sensor 10C (housing 20) from the water, the information and communication terminal 40 communicates with the RFID 360 of the underwater environment sensor 10C in the atmosphere and performs authentication processing (S405).

[0088] The underwater environmental sensor 10C is certified by the information and communication terminal 40 (S105).

[0089] The information and communication terminal 40 generates second location information using its own positioning function (S407). By using this combination of RFID 360 and information and communication terminal 40, second location information can be generated without using a location detection sensor.

[0090] The information and communication terminal 40 transmits the measurement data and the second location information to the server 50 (S408). In this case, it is preferable that the information and communication terminal 40 automatically transmits the received measurement data and the calculated second location information without processing. This prevents the information and communication terminal 40 from changing, modifying, or tampering with the measurement data and the second location information.

[0091] The underwater environment sensor 10C may transmit measurement data, consisting of measurement data of the target component recorded in the recording unit 38 and a set of movement amount and time, to an information communication terminal 40 connected via a communication device (e.g., Bluetooth®) not shown. Alternatively, the underwater environment sensor 10C may connect to the information communication terminal 40 via a USB or other terminal for priority transmission.

[0092] Furthermore, the underwater environment sensor 10C may be equipped with Bluetooth® instead of RFID 360. The information and communication terminal 40 may communicate with the underwater environment sensor 10C via Bluetooth® to generate first and second location information. In this case, provided that the radio wave strength of the communication is above a certain level, it can be assumed that the information and communication terminal 40 and the underwater environment sensor 10C are in a relatively close location. Here, Bluetooth® corresponds to the short-range communication unit.

[0093] Server 50 receives the measurement data and the second position information (S503). Based on the first position information, the second position information, and the amount of movement of the measurement data, Server 50 determines whether the measurement data for the component to be measured is valid or invalid (S504). This determination of validity or invalidity is performed in the same way as the invalidity determination shown in Figure 8 above.

[0094] With this configuration, even if the underwater environment sensor does not have a position detection sensor, it is possible to determine whether the measurement data of the target component is valid or invalid.

[0095] In the embodiments described above, the method for calculating the amount of movement was shown. However, it is also possible to determine whether the measurement data of the target component is incorrect, valid, or invalid using only the first and second position information. Nevertheless, by calculating the amount of movement, the underwater environment sensor can more accurately determine whether the measurement data of the target component is incorrect, valid, or invalid.

[0096] Furthermore, although the embodiments described above show a method for measuring one type of target component, the apparatus can also be applied to devices that measure multiple types of target components.

[0097] Furthermore, the aforementioned functions such as stopping measurement, stopping recording, invalidation, and issuing warnings can be combined as appropriate.

[0098] Furthermore, the embodiments described above show methods for measuring components contained in the target object, such as carbon dioxide concentration. However, it is also possible to measure the state of the target object, such as temperature and conductivity.

[0099] Furthermore, the embodiments described above show a configuration in which a recording unit is provided in the underwater environment sensor. However, the recording unit may be configured as a recording device separate from the underwater environment sensor. The underwater environment sensor system is composed of the underwater environment sensor and the recording medium. In this case, the underwater environment sensor and the recording medium are capable of data communication.

[0100] Thus, even if the underwater environmental sensor and the recording medium are separate components, the same effects and advantages as the underwater environmental sensor equipped with the recording unit described above can be achieved.

[0101] <1> An underwater environment sensor comprising: a component measurement sensor for measuring a target component in water; a position detection sensor for detecting the two-dimensional position of the component measurement sensor in the planar direction in the atmosphere and generating first position information; a movement detection sensor for detecting the movement of the component measurement sensor in water and generating movement information; an underwater placement detection sensor for detecting that the component measurement sensor has been placed in the water; a recording unit capable of recording the measurement result of the target component, the first position information, and the movement information; and a controller configured by a processor, wherein the controller causes the component measurement sensor to start measuring the target component at the timing when the underwater placement detection sensor detects that it has been placed in the water; records the first position information immediately before the underwater placement timing in the recording unit; and records the movement information and the measurement result of the target component after the underwater placement timing in the recording unit.

[0102] <2> An underwater environment sensor according to <1>, comprising an underwater movement amount calculation unit that calculates the amount of movement of the component measurement sensor in the planar direction based on the movement information, wherein the controller stops measuring the target component of the component measurement sensor when the amount of underwater movement from the first position information is greater than or equal to a threshold distance.

[0103] <3> The underwater environment sensor according to <1> or <2>, further comprising an underwater movement amount calculation unit that calculates the amount of movement of the component measurement sensor in the planar direction based on the movement information, wherein the controller stops recording the measured component to the recording unit when the amount of underwater movement from the first position information is greater than or equal to a threshold distance.

[0104] <4> An underwater environmental sensor according to any one of <1> to <3>, comprising: an underwater movement amount calculation unit that calculates the amount of movement of the component measurement sensor in the planar direction based on the movement information; and a warning unit that issues a warning if the amount of underwater movement is greater than or equal to a threshold distance.

[0105] <5> An underwater environment sensor according to any one of <1> to <4>, comprising an invalidity determination unit for determining the invalidity of the measurement result of the component to be measured, wherein the position detection sensor detects second position information when the component measurement sensor moves from the water to the air, the invalidity determination unit calculates third position information when the component measurement sensor moves from the water to the air based on the first position information and the movement information, and determines the measurement result to be invalid if the difference between the second position information and the third position information is greater than or equal to an invalidity determination threshold.

[0106] <6> An underwater environmental sensor according to any one of <1> to <5>, comprising a power control unit that controls the power supply of the position detection sensor, wherein the power control unit supplies power to the position detection sensor during the period it is placed in the atmosphere and stops supplying power to the position detection sensor based on the underwater placement timing.

[0107] <7> The position detection sensor is arranged in a housing that houses the component measurement sensor and detects its position based on a positioning signal received from a positioning satellite, according to any one of <1> to <6>, an underwater environment sensor.

[0108] <8> The position detection sensor is arranged in a housing that houses the component measurement sensor and includes an electronic tag capable of transmitting identification information, the electronic tag is configured separately from the housing and is capable of communicating with a position-measuring communication device, the underwater environment sensor according to any one of <1> to <6>.

[0109] <9> The position detection sensor is a short-range wireless unit, the short-range wireless unit is configured separately from the housing and is capable of communicating with a position-capable information and communication terminal, as described in any of <1> to <6>, an underwater environment sensor.

[0110] <10> An underwater environment sensor system comprising an underwater environment sensor and an external control device, wherein the underwater environment sensor comprises: a component measurement sensor for measuring a target component in water; a position detection sensor for detecting the two-dimensional position of the component measurement sensor in the planar direction in the atmosphere and generating first position information; a movement detection sensor for detecting the movement of the component measurement sensor in water and generating movement information; an underwater placement detection sensor for detecting that the component measurement sensor has been placed in the water; and a controller configured by a processor, wherein the controller causes the component measurement sensor to start measuring the target component at the timing when the underwater placement detection sensor detects that the component measurement sensor has been placed in the water; and the external control device records the first position information immediately before the underwater placement timing and records the movement information and the measurement results of the target component after the underwater placement timing.

[0111] <11> The underwater environment sensor system according to <10>, wherein the external control device includes an invalidity determination unit that determines whether the measurement result of the component to be measured is invalid, the controller acquires second position information detected by the position detection sensor when the component measurement sensor moves from the water to the atmosphere, the invalidity determination unit calculates third position information when the component measurement sensor moves from the water to the atmosphere based on the first position information and the movement information, and determines that the measurement result is invalid if the difference between the second position information and the third position information is greater than or equal to an invalidity determination threshold.

[0112] 1: Underwater environment measurement system 10, 10A, 10B, 10C: Underwater environment sensors 20: Housing 21: Gas balancer 22: Piping 26: Warning unit 31: Controller 32: Component measurement sensor 33: Position detection sensor 34: Inertial sensor 35: Underwater placement detection sensor 36: Warning unit 37: Communication device 38: Recording unit 39: Power supply 40: Information and communication terminal 50: Server 200: Internal space 330: Positioning antenna 360: RFID NW: Data communication network SAT: Positioning satellite

Claims

1. An underwater environment sensor comprising: a component measurement sensor for measuring target components in water; a position detection sensor for detecting the two-dimensional position of the component measurement sensor in the planar direction in the atmosphere and generating first position information; a movement detection sensor for detecting the movement of the component measurement sensor in water and generating movement information; an underwater placement detection sensor for detecting that the component measurement sensor has been placed in the water; a recording unit capable of recording the measurement result of the target component, the first position information, and the movement information; and a controller configured by a processor, wherein the controller causes the component measurement sensor to start measuring the target component at the timing when the underwater placement detection sensor detects that it has been placed in the water; records the first position information immediately before the underwater placement timing in the recording unit; and records the movement information and the measurement result of the target component after the underwater placement timing in the recording unit.

2. The underwater environment sensor according to claim 1, further comprising an underwater movement calculation unit that calculates the amount of movement of the component measurement sensor in the planar direction based on the movement information, wherein the controller stops measuring the target component of the component measurement sensor when the amount of underwater movement from the first position information is greater than or equal to a threshold distance.

3. The underwater environment sensor according to claim 1 or claim 2, further comprising an underwater movement amount calculation unit that calculates the amount of movement of the component measurement sensor in the planar direction based on the movement information, wherein the controller stops recording the measured component to the recording unit when the amount of underwater movement from the first position information is greater than or equal to a threshold distance.

4. An underwater environmental sensor according to any one of claims 1 to 3, comprising: an underwater movement amount calculation unit that calculates the amount of movement of the component measurement sensor in the planar direction based on the movement information; and a warning unit that issues a warning when the amount of underwater movement is greater than or equal to a threshold distance.

5. An underwater environment sensor according to any one of claims 1 to 4, comprising an invalidity determination unit for determining the invalidity of the measurement result of the component to be measured, wherein the position detection sensor detects second position information when the component measurement sensor moves from the water to the air, the invalidity determination unit calculates third position information when the component measurement sensor moves from the water to the air based on the first position information and the movement information, and determines the measurement result to be invalid if the difference between the second position information and the third position information is greater than or equal to an invalidity determination threshold.

6. The underwater environmental sensor according to any one of claims 1 to 5, comprising a power control unit for controlling the power supply of the position detection sensor, wherein the power control unit supplies power to the position detection sensor during the period in which it is placed in the atmosphere, and stops supplying power to the position detection sensor based on the timing of placement in water.

7. The underwater environment sensor according to any one of claims 1 to 6, wherein the position detection sensor is arranged in a housing that houses the component measurement sensor and detects its position based on a positioning signal received from a positioning satellite.

8. The underwater environment sensor according to any one of claims 1 to 6, wherein the position detection sensor is disposed in a housing that houses the component measurement sensor and includes an electronic tag capable of transmitting identification information, and the electronic tag is configured separately from the housing and is capable of communicating with a position-measuring information communication terminal.

9. The underwater environment sensor according to any one of claims 1 to 6, wherein the position detection sensor is a short-range wireless unit, the short-range wireless unit is configured separately from the housing, and is capable of communicating with a position-capable information and communication terminal.

10. An underwater environment sensor system comprising an underwater environment sensor and an external control device, wherein the underwater environment sensor comprises: a component measurement sensor for measuring a target component in water; a position detection sensor for detecting the two-dimensional position of the component measurement sensor in the planar direction in the atmosphere and generating first position information; a movement detection sensor for detecting the movement of the component measurement sensor in water and generating movement information; an underwater placement detection sensor for detecting that the component measurement sensor has been placed in the water; and a controller configured by a processor, wherein the controller causes the component measurement sensor to start measuring the target component at the timing when the underwater placement detection sensor detects that the component measurement sensor has been placed in the water; and the external control device records the first position information immediately before the underwater placement timing and records the movement information and the measurement results of the target component after the underwater placement timing.

11. The underwater environment sensor system according to claim 10, wherein the external control device includes an invalidity determination unit that determines whether the measurement result of the component to be measured is invalid, the controller acquires second position information detected by the position detection sensor when the component measurement sensor moves from the water to the air, the invalidity determination unit calculates third position information when the component measurement sensor moves from the water to the air based on the first position information and the movement information, and determines that the measurement result is invalid if the difference between the second position information and the third position information is greater than or equal to an invalidity determination threshold.

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