JPH05288855A - Scanning sonar and its detection display method - Google Patents

Abstract

PURPOSE:To display a plane image and a vertical image of entire periphery immediately by interrupting azimuth scanning in an azimuth to be selected properly and then allowing a reception beam to perform depression angle scanning of a proper depression width during interruption. CONSTITUTION:A transmitter 2 forms and transmits a specified transmission beam TB covering a detection zone in combination with a transmitter/receiver 3 and a depression angle scanner 5 and an azimuth scanner 6 are combined each other and form a specified reception beam at a properly set period being linked with control signals P4 and P5 from a scanner 4 and then scan entire periphery azimuth and detect a detection zone. When an azimuth phic is reached, a reception beam RB which is directed toward the azimuth phic with the horizontal beam width and vertical beam width being phiw2 and thetaw2, respectively, and then depression angles theta1-thetaq are changed in sequence for scanning depression angle and then for detecting a detection zone ZV. With a display 7, a control signal P6 is linked, thus performing PPI display of a reception signal which is obtained by detecting entire periphery on a plane screen of a display screen to be raster-displayed immediately. Also, the reception signal which is obtained by detecting depression angle is displayed as a vertical screen immediately.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention can detect a wide azimuth and can detect a wide depression angle in real time by using a transducer in which a plurality of longitudinally arranged transducers are arranged in a cylindrical shape. Regarding scanning sonar that can be detected and displayed by.

[0002]

2. Description of the Related Art FIG. 10 (a) is a block diagram showing the structure of a conventional scanning sonar, and FIG. 10 (b) is shown in FIG.
A drive signal for switching the reception beam in (a) in the depression direction,
FIG. 6 is a waveform diagram showing a drive signal and a transmission signal for scanning in the azimuth direction. FIG. 10C is a plan view and a vertical sectional view of the transmission beam, the reception beam, and the detection zone ZH, and FIG. 10D is an explanatory diagram showing a detection image displayed on the display.

The scanning sonar is composed of a transducer 3 composed of longitudinally arranged transducers arranged in a circumferential direction on a cylindrical surface.
The transmission signal TX is transmitted at each time t _X of the transmission cycle T ₀₀ of FIG. 10B via the reception beam TB having the depression angle θ and directed all around.

As shown in FIG. 10 (c), the reception is directed at the depression angle θ, and the entire circumference 36 is obtained at every azimuth scanning period T _H within the transmission period T ₀₀ .
It is carried out via a reception beam RB that swivels 0 ° in the direction of azimuth φ at high speed. FIG. 10 shows a reflection signal from a reflector such as a school of fish F (hereinafter simply referred to as a school of fish F) in the depression angle θ.
PPI is displayed on a flat screen (hereinafter referred to as an HG screen) which is flat-displayed as shown in (d). Then depth indicator of fish F to be detected during the 10 azimuth phi ₁ to [phi] ₂ shown in the orientation marker phi ₁ to [phi] ₂ is suitably selected in the direction of the fish F on HG screen as shown in (d) Each time the reception beam RB passes through, the reception signal of the school of fish F is taken out, and the school of fish is swept on the vertical screen VG (hereinafter referred to as VG screen) vertically displayed in FIG. It is displayed as an image F (average value or maximum value, etc.) and read by an appropriate depth scale (not shown). In this way, the inside of the detection zone ZH is detected and displayed for each transmission. Then, the detection display of the distribution and shape of the fish school in the depth direction is performed such that the depression angle θ of the transmission beam TB and the reception beam RB is an appropriate angle at each transmission cycle T _{00 at} a time t _y before the transmission and after the reception. sequentially _{(example: θ 1, θ 2 ·· θ} q) in switched by detection and display is performed, a plurality of depression (eg: θ ₁ ~θ _q) from the whole picture of fish obtained after direction detection, The distribution and shape of the school of fish in the depth direction are observed.

[0005]

In order to investigate the depth, vertical spread, and shape of a school of fish while tracking a school of fish that is thick and has a lot of ups and downs, it is possible to use a wide area in the vertical direction by a conventional scanning sonar. In addition, it is necessary to detect and display a large number of angles of depression, but since there is only one detection of one angle of depression and one fish image on a scanning line in the direction of depression in one transmission cycle, it is possible to display an indication of the entire fish school. Requires a large number of transmission cycles, and further requires a lot of time to detect and display the vertical movement of the school of fish.

In view of the problem of the detection display method of the scanning sonar for detecting and displaying the depression angle direction for each transmission cycle as described above, the object of the present invention is to provide a reception beam without a dedicated device for detecting the depression angle direction. Of the azimuth scanning during the azimuth scanning during the omnidirectional scanning, the azimuth scanning is interrupted for an appropriate period, and the reception beam is scanned at the depression angle in the interrupting period, and the reception signal obtained during the omnidirectional scanning is displayed on the HG screen in real time by PPI At the same time, the received signal obtained during the depression scan is VG
It is to provide a scanning sonar that can display an image on the screen in real time.

[0007]

The detection display method of the scanning sonar according to the present invention is a detection display method of the scanning sonar for detecting the entire circumference, and the detection beam is appropriately widely transmitted in the depression angle direction and the reception beam is adjusted to the appropriate depression angle. Azimuth scanning in all directions, and interrupt the azimuth scanning in the azimuth selected appropriately, scan the reception beam at an appropriate depression angle width depression angle at the time when the azimuth scanning is interrupted, on the display surface for raster display, during the omnidirectional scanning At least one of a flat screen in which the received signal obtained is a flat image of the entire circumference and a vertical screen in which the received signal obtained at the time of depression is a vertical image are displayed in real time.

Further, the scanning sonar according to the present invention is a transmission / reception system in which a plurality of vertically arranged transducers arranged on a cylindrical surface along a cylindrical axis are arranged in a plurality of rows so as to uniformly cover the cylindrical surface. A scanning sonar using a wave device, having a wide depression angle width, a transmission circuit for transmitting a transmission beam directed to the entire circumference facing the vertical array transducer, a depression scanner for receiving an echo for the transmission beam, and an azimuth scanning Device, an azimuth indicating means for indicating a desired azimuth as an indicated azimuth, and a first received beam having an appropriate azimuth width and narrow in the vertical direction in the indicated azimuth, and narrowed in the horizontal direction other than the indicated azimuth. The beam width forming means for forming a second receiving beam wide in the vertical direction, the depression angle scanner and the azimuth scanning device are driven so that the second receiving beam is used in directions other than the pointing direction indicated by the azimuth indicating means. Is known to interrupt temporarily direction scanning is indicated direction, it has to detect the depression angle direction in a first receive beam, and a scanning control means for displaying in real time on the display of the detection results.

[0009]

The transmitting beam is formed so as to be directed over the entire circumference with an appropriately wide depression angle width and is transmitted, and the receiving beam is scanned in the azimuth in all directions at an appropriately set cycle, but in the azimuth selected appropriately. Is interrupted, and the depression angle is selected to be selected as the depression angle, and the received signal by omnidirectional detection during azimuth scanning of the reception beam and the received signal by depression angle detection during the depression scanning are extracted in real time. ..
In the azimuth scanning cycle, the received signal is HG as a full-circle image.
It is displayed on the screen in real time, and the received signal is displayed as a vertical image on the VG screen in real time during the depression scanning period.

[0010]

Embodiments of the present invention will now be described with reference to the drawings. FIG. 1 is a block diagram showing a configuration of a scanning sonar to which an embodiment of the detection display method of the present invention is applied, and FIGS. 2 (a) and 2 (b) are detection zones detected by the scanning sonar shown in FIG. FIG. 2 shows a plan view and a vertical sectional view of ZH and ZV, and FIG.
FIG. 4 is a diagram showing a detection image displayed by the detection in (a) and (b), and FIG. 4 is a diagram showing a reception beam for each period for detection in FIGS. 2 (a) and (b) and formation of the image display in FIG. FIG. 4 is a waveform diagram of a drive signal for azimuth scanning or depression scanning by selecting a shape and a directing direction, and an explanatory diagram of names of reception beams for each period.

The controller 1 controls signals P ₁ , P ₂ , P of each device.
Output ₃ respectively. The transmitter 2 is combined with the transmitter / receiver 3 to form a transmission beam TB directed to the depression angle θ _C and directed over the entire circumference with a wide vertical beam width θ _W1 and covering the detection zone ZH. The scanner 4 outputs a drive signal P ₄ for controlling the depression angle, vertical beam width, and depression angle of the received beam to the depression angle scanner 5, and the azimuth scanner 6 performs vertical and horizontal beam width and azimuth scanning of the received beam. The drive signal P ₅ for controlling is output.
Further, the display device 7 outputs a control signal P ₆ for image display. The depression angle scanner 5 and the azimuth scanner 6 are combined with each other, in conjunction with the control signal P ₄ and P ₅ from scanner 4, the period T ₀ is set appropriately, the period T _H (T _H = T _H1 At + T _H2 ), a reception beam RB _H having a horizontal beam width φ _W1 and a vertical beam width θ _W1 and directed at a depression angle θ _C is formed, and the entire circumference is azimuthally scanned to detect a detection zone ZH. But the azimuth φ _C
When the horizontal axis reaches the vertical axis, that is, in the period T _V , the horizontal beam width φ _W2 , the vertical beam width θ _W2 , the reception beam RB _V directed to the azimuth φ _C are formed, and the depression angles θ _{1 to} θ _q are sequentially changed to scan the depression angle. Then, the detection zone ZV is detected. The display device 7 is interlocked with the control signal P ₆ , and the received signal obtained by detecting the entire circumference in the period T _H on the HG screen is displayed in real time as a PPI image on the display surface for raster display, as shown in FIG.
On the VG screen, the received signal obtained by detecting the depression angle in the cycle T _V is displayed in real time as a vertical image. The description of the amplification stage and the buffer stage included in the depression scanner 5 and the azimuth scanner 6 will be omitted. Markers φ _{1 to} φ ₂ on the HG screen in FIG. 3 indicate the horizontal beam width φ _W2 of the reception beam RB _V , and SL on the HG and VG screens.
_H and SL _V are the azimuth scan and the period T _V in the period T _H, respectively.
An example of the scanning line swept in synchronization with the depression angle scan in FIG.

FIG. 5 is a block diagram showing the configuration of the scanner 4. The distributor 41 creates the drive signal E _HV for switching the H side to the V side in the switch 44 using the FET for each cycle T _H and cycle T _{V of} FIG. 4 from the control signal P ₃ including the time signal. In addition to outputting, the drive signal Eθ for the depression angle scanning of the depression angle scanner 5 and the VG screen display of the display device 7 is created and output, and also for the azimuth scanning of the azimuth scanning device 6 and the HG screen display of the display device 7. Drive signal Eφ is generated and output. The separator 42 receives the control signal P ₂ from the reception beam R of FIG.
The depression angle of B _H and theta _C, also separates the signals for the vertical beam width and theta _W1, respectively output as the drive signal E _.theta.C and _E θW1. The signal generator 43 receives the reception beams RB _H and R
The following signals for setting the directivity of B _V to an appropriate value and the signal for noise removal of the display 7 are created and output. The drive signals to be created are E _{θW2 for setting} the vertical beam width of the receiving beam RB _V to θ _W2 , E _φC for setting the azimuth of the receiving beam RB _H to φ _C , and the receiving beams RB _H and RB _V in FIGS. 2 and 4. E _Faidaburyu1 to each horizontal beam width phi _W1 and phi _W2 and E _Faidaburyu2 and 8
Is the signal E _N created for noise removal of the display 7 as described above. Switcher 44, each of the driving signals distributor 41 and the separator 42 and the signal generator 43 outputs as shown in FIG. 2 and FIG. 4, in the period T _H, the depression angle for the scanning and formation of the receive beam RB _H and output to the scanner 5 the signal E _.theta.C and E _{Shitadaburyu1} as the signal P _4, and the signal E _phi in azimuth scanner 6 E? _W1
Is output as a signal P ₅ , and the signal E _φ is output to the display 7 as a signal P ₆ for HG screen display. In the subsequent period T _V , the depression beam scanner is used for forming and scanning the reception beam RB _V. 5 outputs the signals E _θ and E _{θ W2} as a signal P ₄ , and the azimuth scanner 6 outputs the signals E φ _C and E φ _W2 to the signal P ₅
Then, the signal E _θ is output to the display 7 as the signal P ₆ for displaying the VG screen. A control signal E _N is output to the display 7 in addition to the signal P ₆ for noise removal described later.

FIG. 6 is a block diagram showing the configuration of the depression angle scanner 5.

In the depression angle scanner 5, each of the M stages of vertical array transducers facing N azimuths of the transducer 2 has an appropriate depression angle θ.
Create M local oscillator outputs that make the phases between the received signals that receive and output the reflected waves incident from _P (θ _P = θ _{1 to} θ _q ) respectively, and receive each local oscillator output. The signals are modulated into in-phase signals, which are then combined to form a vertical reception beam that directs the depression angle θ _P and output as N reception signals. Further, the depression angle scan is performed by appropriately changing the phase difference between the _M local outputs L ₁ to LM at high speed. Input signal S ₁₁ , S ₁₂
, S _1M , ..., S _{N1 to} S _NM are one of N sets of vertically arranged vibrators.
The received signal received by each of the transducers from the stage to the stage M from the depression angle θ _{P is 2} to the received signal S _{11 to} S _N1 of the transducer of the first stage.
Received signals S _{12 to} S _N2 , ..., S _1M
Let each phase difference of S _{NM be} ψ _2P to ψ _MP . The local oscillation output L ₀₀ of the oscillator 50 is passed through a delay circuit network with taps or a delay circuit 51 composed of a CCD or the like and has a phase difference of 0, −ψ _{2P to} −.
It is output as a signal group E ₀ having ψ _MP ˜−2π. The controller 53 in response to the control signal P _4A for inputting the signal C _P for controlling the switching matrix 52 (C _P = C ₁ ~
C _q ) is output. The switching matrix 52 is
An input line of the signal groups E _0, the local oscillator output L ₁ and the output line ~L _M consisting local oscillation signal group E _L, the control signal group E _C of the controller 53 is composed of control signals C ₁ -C _q outputs Control circuit and an electronic switch S composed of an FET or the like that appropriately connects the input / output lines in accordance with the control signals C _{1 to} C _q , and the control signal C _P output from the controller 53 serves as a phase reference. local oscillator L ₁ (ψ = 0) to output the local oscillator output L ₂ ~L _M each having a phase difference -ψ _2P ~-ψ _MP simultaneously and instantaneously to. Each modulation circuit M of the modulators 54 to 55 outputs local signals L _{11 to} S _N1 , ..., S _{1M to} S _NM for each stage.
_The signals are modulated by _{1 to} L _M , aligned in phase, and output as signals S _{51 to} S ₅₂ . Here, the controller 53 produces and outputs the control signal C _C by the drive signal E _θC input as the control signal P _4A in the cycle T _H , and the switching matrix 5
2 picks up a local oscillation signal group E _L having each phase difference suitable for receiving the depression angle θ _C , and the modulator receives the reception signals S _{51 to} S ₅₂ having the depression angle θ _C.
Output as. Further, the controller 53 sequentially creates and outputs the control signals C _{1 to} C _q according to the drive signal E _θ input as the control signal P _4A in the cycle T _V , and the switching matrix 52 outputs the local signals L _{2 to} L. The phases of _M are sequentially shifted, and the modulators 54 to ₅₅ output the received signals as S _{51 to} S ₅₂ due to the depression of the depression angles θ ₁ to θ _q by the modulation. Each of the width changers 56 to 57 has a gate circuit and has a cycle T _V.
, The drive signal E input as the control signal P _{4B
Controlled} by _θW2, all input signals S _{51 to} S ₅₂ are passed and output as signals S _{53 to} S ₅₄ . Synthesizer 58〜
In FIG. 2, 59 is a combination of the input signals S _{53 to} S ₅₄ , respectively.
As shown in (b), N reception signals S _{V1 to} S _VN for forming a reception beam RB _V having a narrow vertical beam width θ _W2 and scanning at a depression angle.
Is output. Further, the width changers 56 to 57 receive the drive signal E _θW1 input as the control signal P _4B in the cycle T _{H from} the input receive signals S _{51 to} S ₅₂ of the vibrator of an appropriate number of stages (example: N in 16 and 7 out of 16
Received signals S _{17 to} S _N7 , ..., S of the transducers of 10 stages
_{110 to} S _{N10 which} are modulated to have the same phase as the received signal) are selected and passed, and output as outputs S _{53 to} S _54.
Reference numerals 8 to 59 combine N input signals S _{V1 to} S for forming reception beams RB _H having a wide vertical beam width θ _W1 and directing a depression angle θ _C as shown in FIG. 2A. Output as _VN .

FIG. 7 is a block diagram showing the configuration of the azimuth scanner 6. The azimuth selector 61 receives the drive signal Eφ which is input as the control signal P _5A and changes for azimuth scanning in the cycle T _H of FIG. 4, and receives the reception beams RB _{H of} FIG. 2 from the N reception signals S _{V1 to} S _VN . suitable number of the received signal to form a horizontal beam width phi _W1 of (eg as N = 36, S _V1 ~
S _{V1 2} ) is taken out, and the received signal is sequentially switched in the azimuth direction φ of FIG. 2 to scan the received beam RB _H in 360 ° azimuth, and the obtained received signal S ₆₁ is output. Also the period T _V
, The control signal P _5A is input to receive beam RB.
Upon receiving a driving signal E _φC for setting the _V azimuth to φ _C , the azimuth scanning is temporarily stopped at the azimuth φ _C. The width switching unit 62 has a gate circuit, receives the drive signal φ _W1 input as the control signal P _5B in the period T _H , passes all the received signals S ₆₁ , and outputs them as the output S ₆₂ . Then, the combiner 63 combines the reception signals S ₆₂ to form and output the reception signal S ₆ by the reception beam RB _{H that} scans the entire circumference with the horizontal beam width φ _W1 . Further, the width switch 62 has a proper number of received signals (eg, S _{V1 to} S _V12 ) among a plurality of input received signals (eg, signals of 12 channels of S _{V1 to} S _V2 ) in the cycle T _V. S _{V4 to} S _V9 ) are selected, input as a signal S ₆₁ , and output as a received signal S ₆₂ . Further, the combiner 63 combines the reception signals S ₆₂ and outputs a reception signal S ₆ by the reception beam RB _V which has a horizontal beam width φ _W2 and scans the depression angles θ _{1 to} θ _q . The display device 7 is a color cathode ray tube display or color liquid crystal display for TV for raster display, and a scan converter similar to a conventional scanning sonar,
As shown in FIG. 3, it has a VRAM and the like, and as shown in FIG. 3, the detection image is spirally displayed on the HG screen by the drive signal Eφ which is inputted as the control signal P _6A , the all-round detection signal S ₆ being inputted in the period T _H. PPI displayed through the scanning line L _H to sweep, also the period T of the vertical detection signal S ₆ by depression scanning depression angle width theta ₁ through? _q be entered in _V, the drive signal input E _theta as the control signal P _6A Thus, the vertical screen is displayed on the VG screen through the scanning line S _L that sweeps the detected image in an arc shape.

The azimuth φ _{C of the} HG screen and the display mark Mφ of the horizontal detection width by the reception beam RB _V (see FIG. 3)
Is displayed appropriately as in the conventional scanning sonar. In addition, if the switching noise that occurs when the received beam is switched to the depression angle interferes with the interpretation of the detected image,
As shown in FIG. 8, the signal generator 43 creates a control signal E _N having a period T _N for blocking the received signal at the switching time of the control signal E _θW for depression of the depression angle, and displays it on the display as the control signal P _6B. Then, the display 7 removes the switching noise by the control signal E _N. Note that the repetition period is set to T ₀ + 2T _N as shown in FIG. 8 with the addition of the control signal E _{N having} the period T _N.

As described above, as shown in FIG. 2, the detection zone ZH around the entire circumference.
4, a reception beam RB _H having a beam width of vertical θ _W1 horizontal φ _W1 is formed in a period T _H of a period T ₀ as shown in FIG. 4, and the entire detection zone ZH is detected by performing an omnidirectional scan. In the period T _V , a reception beam RB _V having a beam width of vertical θ _{W2 and} horizontal φ _W2 is formed and the depression angle widths θ _{1 to} θ _q.
The whole area of the detection zone ZV is detected by scanning the depression angle in FIG.
The received signal detected in real time in the cycle T _H is displayed on the HG screen shown in Fig. 7 as a full-circle image in real time, and the received signal detected in real time in the cycle T _V is displayed in real time on the VG screen as a vertical image. It

FIG. 9 shows an embodiment in which the entire circumference detection display, the vertical detection display in a plurality of directions, and the vertical detection display in which the same direction is switched by widening the horizontal beam width are performed in real time. In FIGS. 9A and 9C, the reception beam RB _H is formed in the cycles T _H1 , T _H2 , and T _H3 in the same manner as above and is scanned in the omnidirectional direction. Receive beam RB
_V1 and RB _V2 have a beam forming period and a depression angle scanning period of T _V1 and T _V2 , and have a wide horizontal beam width of φ _W2 and a narrow φ _W1 , but a vertical beam width θ _W2 and a pointing direction φ _C1 Are formed identically, and the same depression angle widths θ _{1 to} θ _q are depressed. Further, the reception beam RB _V3 is directed to the azimuth φ _C2 in the cycle T _V3 , is formed into a vertical beam width θ _W2 and a horizontal beam width φ _W2 , and is scanned with a depression angle width θ _{1 to} θ _q . The formation and scanning of these reception beams are performed by the drive signal E in FIG.
_{φ, E θW, E θ,} Eφ W is created in the same manner as above,
Further, similarly to the above, they are sequentially output and performed. The relationship between the names of the reception beams formed in each cycle and the cycles T _H and T _V is shown in the lower part of FIG. 9C. Further more each receive beam RB _H, in RB _V1 ~RB each received signal obtained is detected by _V3 each period T _H1, T _H2, T _H3, and T _V1, T _V2 and T _V3 9 (b), Thus, the HG screen and the VG ₁ , VG ₂ and VG ₃ screens are displayed in the same manner as described above. The fish image F _A 'on the VG ₂ screen is VG.
A cross-sectional image of the fish school azimuth φ _C1 displayed on _one screen is shown, and a fish school image F _A ”is obtained by slicing the reception signal of the fish school displayed on the VG ₁ screen at an appropriate level and extracting it on the VG ₂ screen. In this way, the whole circumference detection display, the vertical detection display in multiple directions and the vertical detection display in the same direction but with different azimuth widths are displayed in real time as described above. Both HG and VG screens are scroll-displayed in the same manner as the conventional one.

[0019]

The present invention has the following effects because it is constructed and operates as described above.

A detection zone in a three-dimensional space with a wide depression angle width is provided without changing the conventional transducer for the entire circumference of the scanning sonar and without adding a dedicated device for wide depression scanning in the depression angle direction. In addition to the real-time detection display, a detection zone having a wide depression angle with a wide azimuth that is appropriately selected is detected and displayed in real time, and new HG and VG screens are closed together for each transmission cycle.

As a result, the time required for the detection display to close the HG and VG screens is such that when the detection depression angle width is 40 degrees, the depression angle is switched 5 times for each transmission cycle by the conventional scanning sonar 9 times. It can be shortened to about one-ninth of the time required for detecting and displaying. In addition, the interval between scanning lines on the HG and VG screens is about 0.83 m, which is about 11% wider than the conventional scanning sonar of about 0.75 m when compared with the display distance. There is no practical problem.

Further, in a high frequency scanning sonar, etc., the azimuth scanning period is shortened to 1/4 of the conventional one, and H
If the spacing between the scanning lines on the G and VG screens is set to 1/2 of that of the conventional scanning sonar, the direction of vertical detection with a depression angle width of 40 degrees can be set to 8 to 9 directions, so a school of fish scattered over a wide sea area. The vertical distribution situation of can be investigated in a short time, and its effect is great.

As described above, a wide depression angle width of 3
The entire dimensional space is detected in real time and scrolled in real time, and the screen is completed at each transmission cycle, so even when tracking a thick and intensely swollen fish school at high speed, the depth, shape, and density of the school of fish It is possible to conduct surveys such as the degree in a short time.

[Brief description of drawings]

FIG. 1 is a block diagram showing the configuration of an embodiment of a scanning sonar according to the present invention.

2 (a) and 2 (b) are explanatory diagrams showing detection zones detected by the scanning sonar shown in FIG. 1 and shapes of a transmission beam and a reception beam, respectively.

FIG. 3 is a diagram showing a detected image of a detection zone shown in FIG.

4A and 4B are waveform diagrams of drive signals for forming directivity of the reception beam, azimuth scanning, and depression scanning in the embodiment of FIG. 1, and a diagram showing names of reception beams created for each period.

5 is a block diagram showing a configuration of a scanner of the embodiment of FIG.

6 is a block diagram showing a configuration of a depression angle scanner of the embodiment of FIG.

7 is a block diagram showing a configuration of an azimuth scanning device and a display device of the embodiment of FIG.

FIG. 8 is a waveform diagram of a drive signal for removing switching noise of a reception beam.

FIG. 9 is a diagram showing another embodiment of the detection and display method of the present invention, in which (a) is an explanatory diagram of formation of directivity of a reception beam for vertically detecting a plurality of directions. (B) is a figure which shows the display of the detection image by each receiving beam of (a). (C) is a waveform diagram of drive signals for forming directivity of each reception beam and for azimuth scanning and depression scanning in (a),
It is a figure which shows the name of the received signal for every period.

FIG. 10A is a block diagram showing a configuration of a conventional scanning sonar. (B) is a waveform diagram of a drive signal and a transmission signal for switching the depression angles of the transmission beam and the reception beam and a drive signal for azimuthally scanning the reception beam in (a). (C) is an explanatory view showing the shapes of the detection zone and the transmission beam and the reception beam in (a). (D) is explanatory drawing which shows the detection image displayed on the display in (a).

[Explanation of symbols]

 1 Controller 2 Transmitter 3 Transducer 4 Scanner 5 Depression Scanner 6 Direction Scanner 7 Display TB Transmit Beam RB Receive Beam ZH Detect Zone ZV Detect Zone HG Flat Screen VG Vertical Screen

Claims (2)

[Claims] 1. A detection display method of a scanning sonar for detecting the entire circumference, in which a wide beam is appropriately transmitted in the depression angle direction, the received beam is omnidirectionally scanned at an appropriate depression angle, and the azimuth scanning is interrupted at an orientation selected appropriately. However, the azimuth scanning is interrupted at an appropriate depression-angle-width-depression angle during the time when the azimuth scanning is interrupted, and the display surface for raster display has a plane screen and a depression angle which is a plane image of the reception signal obtained during the omnidirectional scanning. A detection and display method for a scanning sonar, characterized by displaying in real time at least one of vertical screens in which a received signal obtained during scanning is a vertical image. 2. A scanning sonar using a transducer in which a plurality of longitudinally arranged transducers arranged on a cylindrical surface along a cylindrical axis are arranged in a plurality of rows so as to uniformly cover the cylindrical surface. A transmitting circuit that transmits a transmitting beam that has a wide depression angle and that is directed to the entire circumference faced by the vertical array transducer; a depression scanner and an azimuth scanning device that receives an echo for the transmitting beam; And a second receiving beam that has a proper azimuth width and forms a narrow vertical receiving beam in the pointing azimuth, and narrows the horizontal direction in a direction other than the pointing azimuth and is wide in the vertical direction. The beam width forming means for forming a beam, the depression angle scanner, and the azimuth scanner are driven to detect by the second reception beam in directions other than the pointing direction indicated by the azimuth indicating means, and direction scanning is performed in the pointing direction. It interrupted when, was detected in the depression angle direction in a first receive beam, scanning sonar characterized in that it comprises a scanning control means for displaying in real time on the display of the detection results.