JP2017194279A - Sonar device and method for detecting object by the sonar device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce labors for reducing adjusting the sound pressure level and the reception sensitivity of transmission waves.SOLUTION: A sonar device 100 includes: a transmission system circuit 101 for transmitting a transmission wave into water; a reception system circuit 103 for receiving a sound wave in the water and detecting an echo as the transmission wave reflected by an object in the water, from a reception wave; a control circuit 105 for outputting a transmission wave transmission instruction to the transmission system circuit 101 and then detecting an object in the water based on whether the echo has been detected by the reception system circuit 103; and a transmission system storage unit 102 for storing a transmission correction value for correcting the sound pressure level of the transmission wave. The transmission system circuit 101 transmits a transmission wave of the sound pressure level corrected by the transmission correction value in advance when receiving the transmission instruction.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a sonar device and an object detection method for the sonar device.

  A sonar device is a device that detects an object in water based on a sound wave propagating in water. Examples of the method include an active method and a passive method. The active method is a method in which a sonar device transmits a sound wave and receives an echo wave of the transmitted wave to detect an underwater object. The passive method is a method of detecting an underwater object using a sound wave that is radiated from an underwater object and propagates in the water without transmitting a sound wave by the sonar device itself.

  A sonar device generally includes an amplifier that amplifies a transmission wave and a reception wave. For example, a sonar device described in Patent Document 1 generates an excitation signal for generating and outputting an excitation signal for exciting each of a plurality of transmission elements, and each corresponding transmission element by amplifying the excitation signal individually. And an amplifier that individually feeds the The sonar device described in the document includes an amplifier that amplifies a reflected Doppler signal from a target received by each receiving element.

  In general, the sound pressure level and reception sensitivity of a transmitted wave may not conform to a predetermined standard due to manufacturing errors of parts and elements constituting the sonar device, aging deterioration, and the like. Therefore, the amplification factor of the amplifier may be adjusted so that the sonar device outputs a transmission wave having a sound pressure level conforming to a predetermined standard, or the sonar device realizes reception sensitivity conforming to the predetermined standard. Many. The amplification factor of an amplifier is generally determined by the resistance value of a resistance component mounted on the amplifier. Therefore, at the time of manufacturing and maintenance, the sound pressure level and reception sensitivity of the transmission wave are measured, and the resistance components are appropriately replaced so that the measurement result conforms to a predetermined standard.

  For example, the following operations are performed to adjust the sound pressure level and reception sensitivity of the transmission wave. First, when measuring the sound pressure level and reception sensitivity of a transmission wave, an operator houses the sonar device in a container that can withstand water pressure, and sinks the sonar device in water to actually transmit or receive sound waves to the sonar device. . Next, according to the measurement result, the operator lifts the container from the water, takes out the sonar device from the container, and replaces the resistance component. The operator repeats these operations until the sound pressure level and reception sensitivity of the transmission wave meet a predetermined standard.

JP 2012-168122 A

  However, the above-described method of repeatedly exchanging the resistance components of the amplifier based on the measurement result has a problem that it takes a lot of time to adjust the sound pressure level and reception sensitivity of the transmission wave. In particular, some sonar devices include 10 to 1000 transmitting elements and receiving elements, and amplifiers corresponding to the transmitting elements and the receiving elements. In such a sonar device including a plurality of transmitting elements and receiving elements, it is necessary to adjust the resistance components of each amplifier, and the effort is enormous.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide a sonar device that can reduce the effort for adjusting the sound pressure level and reception sensitivity of a transmission wave. .

The sonar device according to the first aspect of the present invention is:
A transmission circuit for transmitting a transmission wave into water,
A receiving system circuit that receives the underwater sound wave and detects an echo wave reflected by the underwater object from the received wave that is the received sound wave;
A control system circuit for outputting the transmission wave transmission instruction to the transmission system circuit and detecting the underwater object based on whether or not an echo wave is detected by the reception system circuit after outputting the transmission instruction; ,
A transmission system storage unit for storing a transmission correction value for correcting the sound pressure level of the transmission wave,
When the transmission instruction is received, the transmission system circuit transmits a transmission wave having a sound pressure level obtained by correcting a predetermined sound pressure level with the transmission correction value.

The sonar device according to the second aspect of the present invention is:
A transmission circuit for transmitting a transmission wave into water,
A receiving system circuit that receives the underwater sound wave and detects an echo wave reflected by the underwater object from the received wave that is the received sound wave;
A control system circuit for outputting the transmission wave transmission instruction to the transmission system circuit and detecting the underwater object based on whether or not an echo wave is detected by the reception system circuit after outputting the transmission instruction; ,
A reception system storage unit that stores a reception correction value for correcting the sound pressure level of the received wave,
When receiving the underwater sound wave, the reception system circuit corrects the sound pressure level of the reception wave with the reception correction value, and detects the echo wave from the corrected reception wave.

An object detection method for a sonar device according to a third aspect of the present invention includes:
The transmission system circuit transmits the transmission wave to the water,
A receiving system circuit that receives the underwater sound wave, and detects an echo wave reflected by the underwater object from the received wave that is the received sound wave;
The control system circuit outputs the transmission wave transmission instruction to the transmission system circuit, and detects the underwater object based on whether or not an echo wave is detected by the reception system circuit after outputting the transmission instruction. Including
When the transmission instruction is received, the transmission system circuit transmits a transmission wave having a sound pressure level obtained by correcting a predetermined sound pressure level with a predetermined transmission correction value.

An object detection method for a sonar device according to a fourth aspect of the present invention includes:
The transmission system circuit transmits the transmission wave to the water,
A receiving system circuit that receives the underwater sound wave, and detects an echo wave reflected by the underwater object from the received wave that is the received sound wave;
The control system circuit outputs the transmission wave transmission instruction to the transmission system circuit, and detects the underwater object based on whether or not an echo wave is detected by the reception system circuit after outputting the transmission instruction. Including
When receiving the underwater sound wave, the reception system circuit corrects a sound pressure level of the reception wave with a predetermined reception correction value, and detects the echo wave from the corrected reception wave. .

  According to the present invention, it is possible to reduce time and effort for adjusting the sound pressure level and reception sensitivity of a transmission wave.

It is a figure which shows the structure of the sonar apparatus which concerns on one embodiment of this invention. It is a flowchart which shows the flow of the transmission correction value setting process which concerns on one embodiment of this invention. It is a flowchart which shows the flow of the reception correction value setting process which concerns on one embodiment of this invention. It is a flowchart which shows the flow of the object detection process which concerns on one embodiment of this invention. It is a figure which shows the structure of the sonar apparatus which concerns on the modification 2. It is a figure which shows the structure of the sonar apparatus which concerns on the modification 3. It is a figure which shows the example of arrangement | positioning of the piezoelectric element for transmission which concerns on the modification 4. It is a figure which shows an example of the transmission correction table which concerns on the modification 4. It is a figure which shows an example of the reception correction table which concerns on the modification 4.

  An embodiment of the present invention will be described with reference to the drawings.

  A sonar device 100 according to an embodiment of the present invention is a device that detects an underwater object by receiving an underwater sound wave. Here, underwater includes the bottom of the water, and also includes the sea and the sea bottom. Examples of underwater objects include fish schools, submersibles, and sunken ships. The contents detected by the sonar device 100 for an underwater object include, for example, the orientation of the object and the distance to the object with respect to the sonar device 100.

  As shown in FIG. 1, the sonar device 100 includes a transmission system circuit 101, a transmission system storage unit 102, a reception system circuit 103, a reception system storage unit 104, and a control system circuit 105.

  The transmission system circuit 101 generates a sound wave and transmits (radiates) the generated sound wave to the water as a transmission wave. The transmission system storage unit 102 stores transmission correction values. The transmission correction value is a value for correcting the amplitude (sound pressure level) of the transmission wave from the transmission system circuit 101.

  The reception system circuit 103 receives an underwater sound wave and detects an echo wave from the received sound wave (reception wave). The reverberation wave is a sound wave that is transmitted from the transmission system circuit 101 and reflected by an underwater object.

  The reception system storage unit 104 is a storage unit for storing reception correction values. The reception correction value is a value for correcting the reception sensitivity of the reception system circuit 103. The reception sensitivity is, for example, the amplitude (sound pressure level) of a sound wave that can be received by the sonar device at a quality that is predetermined in advance by the S / N ratio or the like.

  For example, the control system circuit 105 outputs a transmission wave transmission instruction to the transmission system circuit 101 based on an instruction from the user. Then, the control system circuit 105 detects an underwater object based on whether or not an echo wave has been detected by the reception system circuit 103 within a predetermined period after the output of the transmission instruction. To do.

  Specifically, when receiving a transmission instruction, the transmission system circuit 101 transmits a transmission wave having a sound pressure level obtained by correcting a predetermined sound pressure level with a transmission correction value. As shown in FIG. 1, the transmission circuit 101 includes a transmission waveform generation circuit 106, a D / A (Digital / Analog) conversion circuit 107, a power amplifier 108, a boosting transformer 109, and a transmission piezoelectric element 110. including.

  When receiving a transmission instruction from the control system circuit 105, the transmission waveform generation circuit 106 refers to the transmission correction value stored in the transmission system storage unit 102.

  Then, the transmission waveform generation circuit 106 corrects the sound pressure level of the predetermined waveform with the referenced transmission correction value. Specifically, for example, the transmission waveform generation circuit 106 generates a waveform obtained by multiplying a reference transmission correction value by a predetermined sound pressure level of the waveform.

  The transmission waveform generation circuit 106 outputs digital data indicating a waveform whose sound pressure level is corrected. Digital data is an electrical signal, and the same applies to the following.

  The transmission waveform generation circuit 106 is realized by, for example, a processor such as a field-programmable gate array (FPGA), a central processing unit (CPU), and a digital signal processor (DSP).

  The D / A conversion circuit 107 converts the digital data output from the transmission waveform generation circuit 106 into an analog signal and outputs the analog signal. The analog signal is an electric signal, and the same applies to the following.

  The D / A conversion circuit 107 may be a general D / A converter or a circuit that converts 1-bit PWM (Pulse Width Modulation) waveform data into an analog signal.

  The power amplifier 108 amplifies and outputs the analog signal output from the D / A conversion circuit 107.

  The step-up transformer 109 steps up the analog signal output from the power amplifier 108 and outputs it.

  The transmitting piezoelectric element 110 transmits a transmission wave corresponding to the analog signal output from the boosting transformer 109 into the water.

  Specifically, the transmission system storage unit 102 is preset with a transmission correction value. For example, the transmission system storage unit 102 sets the transmission correction value based on an instruction from the correction value control device 111 via the control system circuit 105 and the transmission waveform generation circuit 106.

  In general, the power amplifier 108, the step-up transformer 109, the transmission piezoelectric element 110, and the like, which are analog parts constituting the transmission system circuit 101, have manufacturing errors and aging changes in electrical characteristics. Therefore, the transmission correction value is a correction value control that operates according to, for example, a pre-installed program so as to correct the influence of manufacturing errors and aging on the transmission level and conform the transmission level to a predetermined standard. Determined by device 111.

  The transmission system storage unit 102 is realized by a non-volatile memory such as a flash memory, for example. The correction value control device 111 is realized by a general-purpose personal computer, a terminal device, or the like.

  Specifically, when receiving the underwater sound wave, the reception system circuit 103 corrects the sound pressure level of the reception wave with the reception correction value, and detects an echo wave from the corrected reception wave. As shown in FIG. 1, the receiving circuit 103 includes a receiving piezoelectric element 112, a BPF (band pass filter) 113, a preamplifier 114, an A / D (Analog / Digital) conversion circuit 115, and an echo wave detection circuit. 116.

  The receiving piezoelectric element 112 receives an underwater sound wave and outputs an analog signal corresponding to the received sound wave (reception wave).

  Here, when an object is in the water in a predetermined range from the sonar device 100 when the transmission wave is transmitted, the transmission wave is reflected by the object. Therefore, in this case, the reception wave received by the reception piezoelectric element 112 includes an echo wave at the object.

  The BPF 113 outputs an analog signal indicating a sound wave in a predetermined frequency band among the analog signals output from the receiving piezoelectric element 112.

  The preamplifier 114 amplifies the analog signal output from the BPF 113. The preamplifier 114 amplifies the analog signal so as to match the input range of the A / D conversion circuit 115.

  The A / D conversion circuit 115 converts the analog signal amplified by the preamplifier into digital data and outputs the digital data.

  The echo wave detection circuit 116 corrects the sound pressure level of the reception wave indicated by the digital data output from the A / D conversion circuit 115 with the reception correction value.

  The echo wave detection circuit 116 performs various signal processing such as directivity synthesis processing, frequency analysis processing such as FFT (Fast Fourier Transform), and echo wave Doppler displacement detection processing. Thereby, the echo wave detection circuit 116 detects an echo wave from the corrected received wave.

  The echo wave detection circuit 116 outputs the result of detecting the echo wave to the control system circuit 105.

  The echo wave detection circuit 116 is realized by a processor such as an FPGA, a CPU, and a DSP, for example.

  Specifically, the reception system storage unit 104 is preset with a reception correction value. For example, the reception system storage unit 104 sets the reception correction value based on an instruction from the correction value control device 111 via the control system circuit 105 and the echo wave detection circuit 116.

  In general, the receiving piezoelectric element 112, the BPF 113, the preamplifier 114, and the like, which are analog parts constituting the receiving system circuit 103, have a manufacturing error or a secular change in electrical characteristics. Therefore, the transmission correction value is a correction value control that operates according to, for example, a pre-installed program so as to correct the influence of such manufacturing errors and changes over time on the transmission level, and so that the reception sensitivity conforms to a predetermined standard. Determined by device 111.

  The reception system storage unit 104 is realized by, for example, a nonvolatile memory such as a flash memory.

  The control system circuit 105 instructs the transmission system circuit 101 with a predetermined waveform.

  The control system circuit 105 controls transmission timing, which is the timing at which the transmission system circuit 101 transmits a transmission wave. A method for controlling the transmission timing may be selected as appropriate. For example, the transmission timing is controlled by the timing at which a transmission instruction is output to the transmission system circuit 101.

  Further, the control system circuit 105 acquires the detection result of the echo wave from the reception system circuit 103. When an echo wave is detected, the control system circuit 105 determines the distance between the sonar device 100 and the underwater object based on the transmission timing and the timing at which the reception system circuit 103 receives the echo wave (reception timing). Ask.

  Further, the control system circuit 105 acquires the sound pressure level of the detected echo wave from the reception system circuit 103, and displays the acquired sound pressure level on a display unit (not shown) such as a liquid crystal panel.

  So far, the configuration of the sonar device 100 according to the embodiment of the present invention has been described. From here, operation | movement of the sonar apparatus 100 which concerns on this Embodiment is demonstrated.

  When the sonar device 100 receives an instruction to set a transmission correction value from the correction value control device 111 that has been operated by the user, for example, the sonar device 100 executes a transmission correction value setting process shown in FIG. The transmission correction value setting process is a process for setting a transmission correction value for adapting the sound pressure level of the transmission wave to a predetermined standard. At the start of the transmission correction value setting process, a predetermined initial value is set in the transmission system storage unit 102 as a transmission correction value.

  The transmission system circuit 101 transmits a transmission wave (step S101). Specifically, the transmission waveform generation circuit 106, the D / A conversion circuit 107, the power amplifier 108, the step-up transformer 109, and the transmission piezoelectric element 110 operate in order as described above.

  The user measures the sound pressure level of the transmission wave transmitted from the transmission system circuit 101 using a measuring device or the like. And the correction value control apparatus 111 acquires the sound pressure level of the measured transmission wave based on a user's input, for example (step S102).

  The correction value control device 111 determines whether or not the sound pressure level of the transmission wave acquired in step S102 conforms to a predetermined standard (step S103).

  If the correction value control device 111 determines that it does not conform to the standard (step S103; NO), the correction value control device 111 refers to the sound pressure level input in step S102 and obtains a transmission correction value according to a program installed in advance. The correction value control device 111 stores the obtained transmission correction value in the transmission system storage unit 102 via the control system circuit 105 and the transmission waveform generation circuit 106. Thereby, the correction value control device 111 changes the transmission correction value of the transmission system storage unit 102 (step S104).

  Then, the transmission system circuit 101 and the correction value control device 111 repeatedly execute the processes of steps S101 to S104 until the sound pressure level of the transmission wave conforms to a predetermined standard.

  When the correction value control device 111 determines that it conforms to the standard (step S103; YES), the transmission correction value setting process ends. Thereby, a transmission correction value for adapting the sound pressure level of the transmission wave to a predetermined standard is set in the transmission system storage unit 102.

  When the sonar device 100 receives an instruction to set a reception correction value from the correction value control device 111 that has been operated by the user, for example, the sonar device 100 executes a reception correction value setting process shown in FIG. The reception correction value setting process is a process for setting a reception correction value for adapting the reception sensitivity to a predetermined standard. At the start of the reception correction value setting process, a predetermined initial value is set in the reception system storage unit 104 as a reception correction value. The reception correction value setting process is started in a state where an object that reflects a transmission wave is set in water in advance.

  Note that the reception correction value setting process is preferably executed in a state in which a transmission wave conforming to a predetermined standard can be transmitted, for example, after the above-described transmission correction value setting process is executed.

  The transmission system circuit 101 transmits a transmission wave having a predetermined sound pressure level (step S101). Specifically, the transmission waveform generation circuit 106, the D / A conversion circuit 107, the power amplifier 108, the step-up transformer 109, and the transmission piezoelectric element 110 operate in order as described above.

  The reception system circuit 103 receives a sound wave (step S202). Specifically, the receiving piezoelectric element 112 receives an underwater sound wave (step S202). The reception wave at this time includes an echo wave obtained by reflecting the transmission wave transmitted in step S201 by an object set in water in advance.

  The reception system circuit 103 detects an echo wave from the received wave that is the received sound wave (step S203). Specifically, the BPF 113, the preamplifier 114, the A / D conversion circuit 115, and the echo wave detection circuit 116 operate in order as described above, thereby detecting an echo wave from the received wave (step S203).

  The correction value control device 111 acquires the sound pressure level of the echo wave as a detection result from the echo wave detection circuit 116 (step S204).

  The correction value control apparatus 111 determines whether or not the sound pressure level of the echo wave acquired in step S204 conforms to a predetermined standard (step S205).

  When the correction value control device 111 determines that it does not conform to the standard (step S205; NO), the correction value control device 111 refers to the sound pressure level acquired in step S204 and obtains a reception correction value according to a preinstalled program. The correction value control device 111 stores the obtained reception correction value in the transmission system storage unit 102 via the control system circuit 105 and the echo wave detection circuit 116. As a result, the correction value control apparatus 111 changes the reception correction value in the reception system storage unit 104 (step S206).

  Then, the reception system circuit 103 and the correction value control device 111 repeatedly execute the processes of steps S201 to S206 until the sound pressure level of the reception wave conforms to a predetermined standard.

  When it is determined that the correction value control device 111 conforms to the standard (step S205; YES), the reception correction value setting process ends. As a result, a reception correction value that adapts the reception sensitivity to a predetermined standard is set in the reception system storage unit 104.

  When the control system circuit 105 receives an instruction to detect an underwater object from, for example, an operation unit (not shown) that has been operated by the user, the sonar device 100 receives the object shown in FIG. Repeat the detection process. The object detection process is a process for detecting an underwater object.

  It should be noted that the object detection process is in a state where a transmission wave conforming to a predetermined standard can be transmitted, such as after executing the transmission correction value setting process and the reception correction value setting process described above, and a predetermined standard. It is desirable to be executed with a reception sensitivity that conforms to

  In response to the transmission instruction of the transmission wave output from the transmission system circuit 101, the transmission system circuit transmits a transmission wave having a sound pressure level obtained by correcting a predetermined sound pressure level with a predetermined transmission correction value (step S1). S301). Specifically, the transmission waveform generation circuit 106, the D / A conversion circuit 107, the power amplifier 108, the step-up transformer 109, and the transmission piezoelectric element 110 operate in order as described above.

  The reception system circuit 103 receives a sound wave (step S302). Specifically, the receiving piezoelectric element 112 receives an underwater sound wave (step S302).

  The reception system circuit 103 corrects the sound pressure level of the received wave with a predetermined reception correction value, and detects an echo wave from the corrected received wave (step S303). Specifically, the BPF 113, the preamplifier 114, the A / D conversion circuit 115, and the echo wave detection circuit 116 operate in order as described above, thereby detecting an echo wave from the received wave (step S303).

  When acquiring the detection result in step S303, the control system circuit 105 determines whether or not an echo wave has been detected within a predetermined time from the output in step S301 based on the detection result ( Step S304).

  If it is determined that no echo wave is detected (step S304; NO), the control system circuit 105 ends the object detection process.

  When it is determined that an echo wave has been detected (step S304; YES), the control system circuit 105 detects an underwater object based on the detection result in step S303 (step S305).

  For example, the control system circuit 105 obtains the distance between the sonar device 100 and the underwater object based on the transmission timing and the reception timing. Specifically, for example, since the propagation speed of sound waves in water is about 1500 m / second, the time difference (seconds) × 1500 (m) / 2 is the distance between the sonar device 100 and an object in water. The time difference here is a time difference between the transmission timing and the reception timing.

  So far, one embodiment of the present invention has been described.

  According to the present embodiment, transmission system storage section 102 stores a transmission correction value, and transmits a transmission wave having a sound pressure level obtained by correcting a predetermined sound pressure level with the transmission correction value.

  According to such a configuration, it is possible to adjust the sound pressure level of the transmission wave by determining the transmission correction value and storing it in the transmission system storage unit 102. Therefore, for example, it is possible to repeatedly transmit a transmission wave and measure the sound pressure level of the transmission wave while the sonar device 100 is submerged in water. As a result, a transmission correction value can be determined so that the sound pressure level of the transmission wave conforms to a predetermined standard. For this reason, the effort for adjusting the sound pressure level of the transmission wave is reduced, for example, compared with the effort normally required when the replacement of the resistance component of the power amplifier 108 is repeated.

  Therefore, it is possible to reduce time and effort for adjusting the sound pressure level of the transmission wave.

  Further, according to the present embodiment, the reception system storage unit 104 stores a reception correction value, corrects the sound pressure level of the reception wave with the reception correction value, and detects an echo wave from the corrected reception wave. To do.

  According to such a configuration, the reception sensitivity can be adjusted by determining the reception correction value and storing it in the reception system storage unit 104. Therefore, for example, it is possible to repeatedly transmit a transmission wave and measure the sound pressure level of the echo wave while the sonar device 100 is submerged in water. As a result, a reception correction value can be determined so that the reception sensitivity conforms to a predetermined standard. For this reason, the labor for adjusting the reception sensitivity is reduced, for example, compared with the labor normally required when the replacement of the resistance component of the power amplifier 108 is repeated.

  Therefore, it is possible to reduce time and effort for adjusting the reception sensitivity.

  Furthermore, for example, a transmission correction value setting process and a reception correction value setting process may be executed during maintenance every 3 to 5 years. This makes it possible to easily manage the change of the sonar device 100 over time.

(Modification 1)
Although an example of the active method has been described, a passive method may be used. In this case, the sonar device may include the reception system circuit 103, the reception system storage unit 104, and the control system circuit 105 among the configurations included in the sonar device 100 according to the above-described embodiment. This also makes it possible to reduce the effort for adjusting the reception sensitivity as in the embodiment.

(Modification 2)
In the embodiment, the correction value control device 111 sets a transmission correction value via the control system circuit 105 and the transmission waveform generation circuit 106, and sets a reception correction value via the control system circuit 105 and the echo wave detection circuit 116. This is explained by an example. In addition, the transmission waveform generation circuit 106 and the echo wave detection circuit 116 have been described with reference to the transmission system storage unit 102 and the reception system storage unit 104, respectively.

  In the sonar device 200 according to this modification, as shown in FIG. 5, the correction value control device 111 sends the transmission correction value and the reception correction value to the transmission system storage unit 202 and the reception system via the control system circuit 205. Set in the storage unit 204.

  Further, the transmission waveform generation circuit 206 of the transmission system circuit 201 and the echo wave detection circuit 216 of the reception system circuit 203 refer to the transmission system storage unit 202 and the reception system storage unit 204 via the control system circuit 205, respectively. To do.

  Also by this, it is possible to achieve the same effect as the embodiment.

(Modification 3)
In the embodiment, the example in which the sonar device 100 includes the transmission piezoelectric element 110 for transmitting the transmission wave into the water and the reception piezoelectric element 112 for receiving the acoustic wave in water is described.

  As shown in FIG. 6, the sonar device 300 according to this modification includes a piezoelectric element 317 that is common to the transmission system circuit 301 and the reception system circuit 303. That is, the transmission piezoelectric element for transmitting the transmission wave that is an element of the transmission system circuit 301 to the underwater and the reception piezoelectric element for receiving the underwater sound wave that is an element of the reception system circuit 303 are common. A piezoelectric element is used.

  Also by this, it is possible to achieve the same effect as the embodiment.

(Modification 4)
In the embodiment, the example in which the sonar device 100 includes one transmission system circuit 101 and one reception system circuit 103 has been described. That is, the sonar device 100 according to the embodiment includes one transmission piezoelectric element 110 and one reception piezoelectric element 112. A transmission waveform generation circuit 106, a D / A conversion circuit 107, a power amplifier 108, a step-up transformer 109, and a transmission piezoelectric element 110 are connected to one transmission piezoelectric element 110, and one transmission system circuit 101 is connected. Form. In addition, the receiving piezoelectric element 112, the BPF 113, the preamplifier 114, the A / D conversion circuit 115, and the echo wave detecting circuit 116 are connected to one receiving piezoelectric element 112 to form one receiving system circuit 103. To do.

  However, a plurality of at least one of the transmitting piezoelectric element and the receiving piezoelectric element may be provided.

  The sonar device according to this modification includes a plurality of transmitting piezoelectric elements 410. The plurality of transmitting piezoelectric elements 410 are arranged in a cylindrical shape, for example, as shown in FIG.

  The sonar device according to this modification includes a plurality of transmission waveform generation circuits 106, a D / A conversion circuit 107, a power amplifier 108, and a boosting transformer 109 in association with each of the plurality of transmission piezoelectric elements 410. .

  That is, the sonar device according to this modification includes N transmission system circuits (N is an integer of 1 or more). In each transmission system circuit, one transmission piezoelectric element 410, one transmission waveform generation circuit 106, one D / A conversion circuit 107, one power amplifier 108, and one boosting transformer 109 are provided. Are connected in order.

  Similarly, the sonar device according to this variation includes a plurality of receiving piezoelectric elements 412. The plurality of receiving piezoelectric elements 412 are also arranged in a cylindrical shape, similar to the receiving piezoelectric element 410 (see FIG. 7).

  The sonar device according to this modification includes a plurality of BPFs 113, a preamplifier 114, an A / D conversion circuit 115, and an echo wave detection circuit 116 in association with each of the plurality of receiving piezoelectric elements 412.

  In other words, the sonar device according to the present modification includes N reception system circuits. In each reception system circuit, one reception piezoelectric element 412, one BPF 113, one preamplifier 114, one A / D conversion circuit 115, and one echo wave detection circuit 116 are connected in order. The

  At this time, as shown in FIG. 8, the transmission system storage unit stores a transmission correction table in which identification information for identifying each of the transmission piezoelectric elements 410 is associated with a transmission correction value. The identification information of the transmission piezoelectric element 410 illustrated in FIG. 8 is a unique number (for example, 1 to N) given to each of the transmission piezoelectric elements 410. The transmission correction table stored in the transmission system storage unit is referred to by each of the N transmission waveform generation circuits 106.

  As shown in FIG. 9, the reception system storage unit stores a reception correction table in which identification information for identifying each reception piezoelectric element 412 is associated with a reception correction value. The identification information of the receiving piezoelectric element 412 illustrated in FIG. 9 is a unique number (for example, 1 to N) given to each of the receiving piezoelectric elements 412. The reception correction table stored in the reception system storage unit is referred to by each of the N echo wave detection circuits 116.

  In the present modification, the transmission system storage unit 102 stores the transmission piezoelectric element 410 and the transmission correction value in association with each transmission system circuit. Each system of the transmission system circuit operates in the same manner as in the embodiment. At this time, each of the transmission waveform generation circuits 106 refers to a transmission correction value associated with the transmission piezoelectric element 410 of the same system. Thus, each of the plurality of transmitting piezoelectric elements 410 transmits a transmission wave having a sound pressure level obtained by correcting a predetermined sound pressure level with a corresponding transmission correction value.

  According to such a configuration, even when a plurality of transmission piezoelectric elements 410 are provided, for example, a transmission wave is transmitted in a state where the sonar device is submerged in water, and the sound pressure level of the transmission wave is reduced. The measurement can be repeated. As a result, it is possible to determine a plurality of transmission correction values such that the sound pressure level of the transmission wave conforms to a predetermined standard while the sonar device is submerged in water. For this reason, the effort for adjusting the sound pressure level of the transmission wave is reduced, for example, compared with the effort normally required when the replacement of the resistance component of the power amplifier 108 is repeated. Accordingly, it is possible to greatly reduce the effort for adjusting the sound pressure level of the transmission wave.

  In this modification, the reception system storage unit 104 stores the reception piezoelectric element 412 and the reception correction value in association with each other for each reception system. Each system of the reception system circuit operates in the same manner as in the embodiment. At this time, each of the echo wave detection circuits 116 refers to the reception correction value associated with the reception piezoelectric element 412 of the same system. As a result, each of the plurality of echo wave detection circuits 116 corrects the sound pressure level of the reception wave indicated by the digital data output from the A / D conversion circuit 115 of the same system using the corresponding reception correction value. The echo wave is detected from the received wave.

  According to such a configuration, even when a plurality of receiving piezoelectric elements 412 are provided, for example, a transmission wave is transmitted in a state where the sonar device is submerged in water, and the sound pressure level of the echo wave is reduced. The measurement can be repeated. As a result, it is possible to determine a reception correction value such that the reception sensitivity conforms to a predetermined standard while the sonar device is submerged in water. For this reason, the effort for adjusting the reception sensitivity is greatly reduced, for example, compared with the effort normally required when the replacement of the resistance component of the power amplifier 108 is repeated. Therefore, it is possible to greatly reduce the effort for adjusting the reception sensitivity.

  Although the embodiments and modifications of the present invention have been described above, the present invention is not limited to these embodiments and modifications. The present invention includes a form in which some or all of the embodiments and modifications are appropriately combined, and a form in which the form is appropriately changed.

Part or all of the above-described embodiments and modifications can be described as in the following supplementary notes, but are not limited thereto.
(Appendix 1)
A transmission circuit for transmitting a transmission wave into water,
A receiving system circuit that receives the underwater sound wave and detects an echo wave reflected by the underwater object from the received wave that is the received sound wave;
A control system circuit for outputting the transmission wave transmission instruction to the transmission system circuit and detecting the underwater object based on whether or not an echo wave is detected by the reception system circuit after outputting the transmission instruction; ,
A transmission system storage unit for storing a transmission correction value for correcting the sound pressure level of the transmission wave,
The transmission system circuit, when receiving the transmission instruction, transmits a transmission wave having a sound pressure level obtained by correcting a predetermined sound pressure level with the transmission correction value.
(Appendix 2)
The transmission system circuit
Upon receiving the transmission instruction, a transmission waveform generation circuit that corrects a sound pressure level of a predetermined waveform with the transmission correction value and outputs digital data indicating the waveform of the corrected sound pressure level;
A D / A conversion circuit that converts the digital data output from the transmission waveform generation circuit into an analog signal and outputs the analog signal;
A power amplifier that amplifies and outputs the analog signal output from the D / A conversion circuit;
A step-up transformer for stepping up and outputting an analog signal output from the power amplifier;
The sonar device according to appendix 1, further comprising: a transmitting piezoelectric element that transmits a transmission wave corresponding to an analog signal output from the boosting transformer to the water.
(Appendix 3)
The transmission system circuit is provided with a plurality of systems,
The transmission system storage unit stores the identification information of the piezoelectric element for transmission and the transmission correction value in association with each system of the transmission system circuit,
Each of the transmission waveform generation circuits corrects a sound pressure level of a predetermined waveform with the transmission correction value associated with the transmission piezoelectric element of the same system, and shows a waveform of the corrected sound pressure level The sonar device according to appendix 2, wherein the sonar device outputs digital data.
(Appendix 4)
A reception system storage unit that stores a reception correction value for correcting the sound pressure level of the received wave;
The supplementary note 1 is characterized in that, when receiving the underwater sound wave, the reception system circuit corrects the sound pressure level of the reception wave with the reception correction value, and detects the echo wave from the corrected reception wave. The described sonar device.
(Appendix 5)
The receiving circuit is
A receiving piezoelectric element that receives the underwater sound wave and outputs an analog signal corresponding to the received wave;
Among the analog signals output from the receiving piezoelectric element, a bandpass filter that outputs an analog signal indicating a sound wave in a predetermined frequency band;
A preamplifier for amplifying an analog signal output from the bandpass filter;
An A / D conversion circuit for converting the analog signal amplified by the preamplifier into digital data and outputting the digital data;
An echo wave detection circuit that corrects the sound pressure level of the reception wave indicated by the digital data output from the A / D conversion circuit with the reception correction value, and detects the echo wave from the corrected reception wave. The sonar device according to appendix 4, which is characterized.
(Appendix 6)
The reception system circuit is provided with a plurality of systems,
The reception system storage unit stores the identification information of the piezoelectric element for reception and the reception correction value in association with each system of the reception system circuit,
Each of the reverberation wave detection circuits has the reception correction value associated with the reception piezoelectric element of the same system for the sound pressure level of the reception wave indicated by the digital data output from the A / D conversion circuit of the same system. The sonar apparatus according to appendix 5, wherein the echo wave is detected from the corrected received wave.
(Appendix 7)
The transmission system circuit includes a transmission piezoelectric element for transmitting a transmission wave into water,
The sonar device according to appendix 4, wherein the receiving piezoelectric element and the transmitting piezoelectric element are configured by a common piezoelectric element.
(Appendix 8)
A transmission circuit for transmitting a transmission wave into water,
A receiving system circuit that receives the underwater sound wave and detects an echo wave reflected by the underwater object from the received wave that is the received sound wave;
A control system circuit for outputting the transmission wave transmission instruction to the transmission system circuit and detecting the underwater object based on whether or not an echo wave is detected by the reception system circuit after outputting the transmission instruction; ,
A reception system storage unit that stores a reception correction value for correcting the sound pressure level of the received wave,
When receiving the underwater sound wave, the reception system circuit corrects the sound pressure level of the reception wave with the reception correction value, and detects the echo wave from the corrected reception wave.
(Appendix 9)
The transmission system circuit transmits the transmission wave to the water,
A receiving system circuit that receives the underwater sound wave, and detects an echo wave reflected by the underwater object from the received wave that is the received sound wave;
The control system circuit outputs the transmission wave transmission instruction to the transmission system circuit, and detects the underwater object based on whether or not an echo wave is detected by the reception system circuit after outputting the transmission instruction. Including
When the transmission system circuit receives the transmission instruction, the transmission system circuit transmits a transmission wave having a sound pressure level obtained by correcting a predetermined sound pressure level with a predetermined transmission correction value. Object for a sonar device Detection method.
(Appendix 10)
The transmission system circuit transmits the transmission wave to the water,
A receiving system circuit that receives the underwater sound wave, and detects an echo wave reflected by the underwater object from the received wave that is the received sound wave;
The control system circuit outputs the transmission wave transmission instruction to the transmission system circuit, and detects the underwater object based on whether or not an echo wave is detected by the reception system circuit after outputting the transmission instruction. Including
When receiving the underwater sound wave, the reception system circuit corrects a sound pressure level of the reception wave with a predetermined reception correction value, and detects the echo wave from the corrected reception wave. Object detection method for sonar device.

100, 200, 300 Sonar device 101, 201, 301 Transmission system circuit 102, 202 Transmission system storage unit 103, 203, 303 Reception system circuit 104, 204 Reception system storage unit 105, 205 Control system circuit 106, 206 Transmission waveform generation circuit 107 D / A Conversion Circuit 108 Power Amplifier 109 Booster Transformer 110,410 Transmission Piezoelectric Element 111 Correction Value Control Device 112,412 Reception Piezoelectric Element 113 BPF
114 Preamplifier 115 A / D Conversion Circuit 116, 216 Echo Wave Detection Circuit 317 Piezoelectric Element

Claims (10)

A transmission circuit for transmitting a transmission wave into water,
A receiving system circuit that receives the underwater sound wave and detects an echo wave reflected by the underwater object from the received wave that is the received sound wave;
A control system circuit for outputting the transmission wave transmission instruction to the transmission system circuit and detecting the underwater object based on whether or not an echo wave is detected by the reception system circuit after outputting the transmission instruction; ,
A transmission system storage unit for storing a transmission correction value for correcting the sound pressure level of the transmission wave,
The transmission system circuit, when receiving the transmission instruction, transmits a transmission wave having a sound pressure level obtained by correcting a predetermined sound pressure level with the transmission correction value. The transmission system circuit
Upon receiving the transmission instruction, a transmission waveform generation circuit that corrects a sound pressure level of a predetermined waveform with the transmission correction value and outputs digital data indicating the waveform of the corrected sound pressure level;
A D / A conversion circuit that converts the digital data output from the transmission waveform generation circuit into an analog signal and outputs the analog signal;
A power amplifier that amplifies and outputs the analog signal output from the D / A conversion circuit;
A step-up transformer for stepping up and outputting an analog signal output from the power amplifier;
The sonar device according to claim 1, further comprising: a transmission piezoelectric element that transmits a transmission wave corresponding to an analog signal output from the boosting transformer to the water. The transmission system circuit is provided with a plurality of systems,
The transmission system storage unit stores the identification information of the piezoelectric element for transmission and the transmission correction value in association with each system of the transmission system circuit,
Each of the transmission waveform generation circuits corrects a sound pressure level of a predetermined waveform with the transmission correction value associated with the transmission piezoelectric element of the same system, and shows a waveform of the corrected sound pressure level The sonar device according to claim 2, wherein digital data is output. A reception system storage unit that stores a reception correction value for correcting the sound pressure level of the received wave;
The receiving circuit, when receiving the underwater sound wave, corrects the sound pressure level of the received wave with the reception correction value, and detects the echo wave from the corrected received wave. The sonar device described in 1. The receiving circuit is
A receiving piezoelectric element that receives the underwater sound wave and outputs an analog signal corresponding to the received wave;
Among the analog signals output from the receiving piezoelectric element, a bandpass filter that outputs an analog signal indicating a sound wave in a predetermined frequency band;
A preamplifier for amplifying an analog signal output from the bandpass filter;
An A / D conversion circuit for converting the analog signal amplified by the preamplifier into digital data and outputting the digital data;
An echo wave detection circuit that corrects the sound pressure level of the reception wave indicated by the digital data output from the A / D conversion circuit with the reception correction value, and detects the echo wave from the corrected reception wave. The sonar device according to claim 4, wherein The reception system circuit is provided with a plurality of systems,
The reception system storage unit stores the identification information of the piezoelectric element for reception and the reception correction value in association with each system of the reception system circuit,
Each of the reverberation wave detection circuits has the reception correction value associated with the reception piezoelectric element of the same system for the sound pressure level of the reception wave indicated by the digital data output from the A / D conversion circuit of the same system. The sonar apparatus according to claim 5, wherein the echo wave is detected from the corrected received wave. The transmission system circuit includes a transmission piezoelectric element for transmitting a transmission wave into water,
The sonar device according to claim 5, wherein the receiving piezoelectric element and the transmitting piezoelectric element are configured by a common piezoelectric element. A transmission circuit for transmitting a transmission wave into water,
A receiving system circuit that receives the underwater sound wave and detects an echo wave reflected by the underwater object from the received wave that is the received sound wave;
A control system circuit for outputting the transmission wave transmission instruction to the transmission system circuit and detecting the underwater object based on whether or not an echo wave is detected by the reception system circuit after outputting the transmission instruction; ,
A reception system storage unit that stores a reception correction value for correcting the sound pressure level of the received wave,
When receiving the underwater sound wave, the reception system circuit corrects the sound pressure level of the reception wave with the reception correction value, and detects the echo wave from the corrected reception wave. The transmission system circuit transmits the transmission wave to the water,
A receiving system circuit that receives the underwater sound wave, and detects an echo wave reflected by the underwater object from the received wave that is the received sound wave;
The control system circuit outputs the transmission wave transmission instruction to the transmission system circuit, and detects the underwater object based on whether or not an echo wave is detected by the reception system circuit after outputting the transmission instruction. Including
When the transmission system circuit receives the transmission instruction, the transmission system circuit transmits a transmission wave having a sound pressure level obtained by correcting a predetermined sound pressure level with a predetermined transmission correction value. Object for a sonar device Detection method. The transmission system circuit transmits the transmission wave to the water,
A receiving system circuit that receives the underwater sound wave, and detects an echo wave reflected by the underwater object from the received wave that is the received sound wave;
The control system circuit outputs the transmission wave transmission instruction to the transmission system circuit, and detects the underwater object based on whether or not an echo wave is detected by the reception system circuit after outputting the transmission instruction. Including
When receiving the underwater sound wave, the reception system circuit corrects a sound pressure level of the reception wave with a predetermined reception correction value, and detects the echo wave from the corrected reception wave. Object detection method for sonar device.

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