CN107544071A - Hydrospace detection system - Google Patents

Hydrospace detection system Download PDF

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Publication number
CN107544071A
CN107544071A CN201710473384.2A CN201710473384A CN107544071A CN 107544071 A CN107544071 A CN 107544071A CN 201710473384 A CN201710473384 A CN 201710473384A CN 107544071 A CN107544071 A CN 107544071A
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China
Prior art keywords
image
region
detection system
wave
horizontal face
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Granted
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CN201710473384.2A
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Chinese (zh)
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CN107544071B (en
Inventor
奥西哲
永井早苗
上山佳宏
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Furuno Electric Co Ltd
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Furuno Electric Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/96—Sonar systems specially adapted for specific applications for locating fish
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/56—Display arrangements
    • G01S7/62—Cathode-ray tube displays
    • G01S7/6281—Composite displays, e.g. split-screen, multiple images

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Transducers For Ultrasonic Waves (AREA)

Abstract

The present invention provides the overall cost of suppression system and the high hydrospace detection system of convenience for user.Form the hydrospace detection system (1) possessed with lower component：Transtation mission circuit portion (7a), the receipts wave emitter (2) for driving broader second send wave of the beam angle to the first send wave and compared with first send wave in vertical direction to be transmitted；Receiving circuit portion (11,12), the back wave based on the first send wave generate the first reception signal, and the back wave based on the second send wave generates the second reception signal；First control unit (7b), transtation mission circuit portion (7a) is set to generate the first basic drive signal as the first send wave；First image production part (16), the first image is generated based on the first reception signal；Second control unit (20), transtation mission circuit portion (7a) is set to generate the second basic drive signal as the second send wave；And second image production part (23), the second image is generated based on the second reception signal.

Description

Hydrospace detection system
Technical field
The present invention relates to the hydrospace detection system for being detected to thing mark.
Background technology
Such as in patent document 1, disclose and ultrasonic beam is sent into water and 3D region is scanned, be based on Received echo fills using information (such as shoal of fish) in the water in scanning area as 3-D view come the hydrospace detection shown Put (sonar).In sonar disclosed in patent document 1, non-direction transmission wave beam is formed to defined 3D region.Separately On the one hand, when receiving, the pencil beam of the reception wave beam narrow as beam angle is formed, scanning should in 3D region Receive wave beam.In addition, the sonar same with its is also disclosed in patent document 2, patent document 3 etc..In these sonars, The wide transmission wave beam of beam angle is formed, forms the narrow reception wave beam of beam angle.
In addition, in general scanning sonar, the narrow transmission wave direction of the beam angle of vertical direction is centered on this ship It is comprehensive sent once after, the reception wave beam that the beam angle of identical vertical direction is narrow is rotated centered on this ship.By This, can detect the existing shoal of fish near the desired inclination angular direction on the basis of being equipped with this ship of sonar.
In addition, in known scanning sonar, display it is seen from above based on the reception signal obtained from search coverage and The horizontal plane image that the image of generation is formed with signal.
Prior art literature
Patent document
Patent document 1：No. 5089319 publication of (Japan) franchise
Patent document 2：(Japan) JP 60-78372 publications
Patent document 3：No. 2885989 publication of (Japan) franchise
The content of the invention
However, wanting to detect the region with three-dimensional extension using above-mentioned in general scanning sonar Under, consider by gradually changing the inclination angle of the wave beam with narrow beam width in vertical direction, so as to scan space Domain.But computational load becomes very big compared with common scanning sonar.Then, larger-scale unit, manufacturing cost also uprise. On the other hand, it is also contemplated that 3D region is scanned as described above with not making larger-scale unit, still, due to the update cycle of image It is elongated, the problem of being difficult to obtain real-time information be present.
In addition, the level only formed like that by image seen from above with signal in known scanning sonar described above In the image of face, the shoal of fish it is overlapping in the vertical direction and in the presence of, there is the shoal of fish on the downside of over sight (OS).
The present invention is used for solving above-mentioned problem, its object is to the overall cost of, there is provided suppression system and for user The high hydrospace detection system of convenience.
In addition, the present invention is used for solving above-mentioned problem, its object is to, there is provided in the water of leakage detection that the shoal of fish can be prevented Detection system.
In order to solve above-mentioned problem, the hydrospace detection system involved by certain aspect of the invention possesses：Wave emitter is received, is had Multiple transmitting-receiving ripple elements；Transtation mission circuit portion, drive to the first send wave and compared with first send wave in vertical direction The multiple transmitting-receiving ripple element that broader second send wave of beam angle is transmitted；Receiving circuit portion, based on described first The back wave of send wave and generate the first reception signal, the back wave based on second send wave and generate the second reception letter Number；First control unit, the transtation mission circuit portion is set to generate the first basic drive signal as first send wave；First Image production part, based on first reception signal exported from the receiving circuit portion, generate the first image；Second control Portion, the transtation mission circuit portion is set to generate the second basic drive signal as second send wave；And second image life Into portion, based on second reception signal exported from the receiving circuit portion, the second image is generated.
In addition, in order to solve above-mentioned problem, the hydrospace detection system involved by certain aspect of the invention possesses：Receive and dispatch ripple Device, there are multiple transmitting-receiving ripple elements；Transtation mission circuit portion, drive what the three-dimensional send wave of the regional spread to three-dimensional was transmitted The multiple transmitting-receiving ripple element；Receiving circuit portion, the back wave based on the three-dimensional send wave and generate reception signal；Space Area image data generating section, 3D region image data are generated, the 3D region image is based on described receive with data to be believed Number it is generated, and with respective three-dimensional positional information obtained from corresponding with each position included in the three-dimensional region And echo strength information；And image production part, upper horizontal face image and lower horizontal face image are generated respectively, on this Side horizontal plane image is to the upside for being located at more top compared with the three-dimensional position of the 3D region image data Horizontal plane has projected the image that the 3D region image is formed with data, the lower horizontal face image be to the space Area image is compared with the three-dimensional position of data and has projected the 3D region image positioned at lower horizontal face further below The image formed with data.
In accordance with the invention it is possible to provide the overall cost of suppression system and the high hydrospace detection system of convenience for user System.In addition, in accordance with the invention it is possible to provide the hydrospace detection system for the leakage detection that can prevent the shoal of fish.
Brief description of the drawings
Fig. 1 is the block diagram for the structure for representing the hydrospace detection system involved by embodiments of the present invention.
Fig. 2 is to schematically show the figure from the range of transmission for receiving the first send wave that wave emitter is sent.
Fig. 3 is to schematically show the figure from the range of transmission for receiving the second send wave that wave emitter is sent.
Fig. 4 is the block diagram for the structure for representing receiver.
Fig. 5 is the figure of one for being shown schematically in the display picture shown in the first display device.
Fig. 6 is the block diagram for the structure for representing processing unit.
Fig. 7 is the figure of one for schematically showing upper horizontal face image.
Fig. 8 be generated during being shown schematically in generation lower horizontal face image look up horizontal plane image Figure.
Fig. 9 is the figure of one for schematically showing lower horizontal face image.
Figure 10 is to schematically show upper horizontal face image and the lower horizontal face that the second image production part is generated The figure of the generating process of image.
Figure 11 is the flow chart for illustrating the action of hydrospace detection system.
Figure 12 is the 3D region for representing to show in the second display device of the hydrospace detection system involved by variation The figure of one of image.
Figure 13 is the block diagram for the structure for representing the hydrospace detection system involved by variation.
Figure 14 is two three-dimensionals for representing to show in the second display device of the hydrospace detection system involved by variation The figure of one of area image, wherein (A) is the figure for representing upper horizontal face image, (B) is the figure for representing vertical face image.
Figure 15 is the upper horizontal for representing to show in the second display device of the hydrospace detection system involved by variation The figure of one of face image.
Figure 16 is vertical face image that is corresponding with the upper horizontal face image shown in Figure 15 and showing, wherein (A) is backsight Vertical face image, (B) are the vertical face image of left view.
Figure 17 is to represent that the backsight that is shown in the second display device of the hydrospace detection system involved by variation is vertical The figure of one of face image.
Figure 18 is upper horizontal face image that is corresponding with the vertical face image of the backsight shown in Figure 17 and showing.
Figure 19 is lower horizontal face image that is corresponding with the vertical face image of the backsight shown in Figure 17 and showing.
Figure 20 is the upper horizontal for representing to show in the second display device of the hydrospace detection system involved by variation The figure of one of face image.
Figure 21 is vertical face image that is corresponding with the upper horizontal face image shown in Figure 20 and showing, wherein (A) is backsight Vertical face image, (B) are the vertical face image of left view.
Figure 22 is the upper horizontal for representing to show in the second display device of the hydrospace detection system involved by variation The figure of one of face image.
Figure 23 is vertical face image that is corresponding with the upper horizontal face image shown in Figure 22 and showing, wherein (A) is backsight Vertical face image, (B) are the vertical face image of left view.
Figure 24 is the lower horizontal face figure shown in the second display device of the hydrospace detection system involved by variation The figure of one of picture.
Figure 25 is vertical face image that is corresponding with the lower horizontal face image shown in Figure 24 and showing, wherein (A) is backsight Vertical face image, (B) are the vertical face image of left view.
Figure 26 is the flow chart for other action examples for representing the hydrospace detection system involved by embodiment.
Label declaration：
1st, 1a hydrospace detections system
2 receive wave emitter
7a transtation mission circuits portion
The control units of 7b first
8th, 8a receivers (wherein possessing receiving circuit portion)
16 first image production parts
20 second control units
23 second image production parts
Embodiment
Hereinafter, with reference to the accompanying drawings of the hydrospace detection system 1 involved by embodiments of the present invention.
[structure of hydrospace detection system]
Fig. 1 is the block diagram for the structure for representing the hydrospace detection system 1 involved by embodiments of the present invention.Present embodiment The ship such as being arranged at fishing boat of hydrospace detection system 1.Hereinafter, the ship that will be provided with hydrospace detection system 1 is referred to as " this Ship ".In addition, the part among the structural element that only diagram receiver 8 and processing unit 5 have in Fig. 1.
As shown in figure 1, the hydrospace detection system 1 involved by present embodiment possesses scanning sonar 10, processing unit 5 and Two display devices 6.Hydrospace detection system 1 turns into external in general known scanning sonar 10 processing unit 5 and the The structure that two display devices 6 form.
Scanning sonar 10, which possesses, receives wave emitter 2, the display device 4 of transceiver 3 and first.
Receiving wave emitter 2 has the function that reception is transmitted to ultrasonic wave, is installed in the hull bottom of this ship.Such as one Example, receipts wave emitter 2 is substantially cylindrical shape, is configured as its direction of principal axis along vertical direction, and radial direction is along horizontal direction.
Specifically, receiving wave emitter 2 has the housing of substantially cylindrical shape and is installed in the more of the outer peripheral face of the housing The individual ultrasonic oscillator (omitting diagram) as transmitting-receiving ripple element.Ultrasonic oscillator sends ultrasonic wave into water, and is received back to Ripple, the echo is converted into electric signal and exported to receiver 8.In addition, in the present embodiment, receive wave emitter 2 and show shell Body is columnar situation, but shape is not defined especially, for example, such as spherical other shapes can also be set to.
Fig. 2 is to schematically show the figure from the range of transmission for receiving the first send wave that wave emitter 2 is sent.In addition, Fig. 3 is Schematically show the figure from the range of transmission for receiving the second send wave that wave emitter 2 is sent.In Fig. 2 and Fig. 3, from being carried This ship S receipts wave emitter 2 send send wave range of transmission by be applied in dot-hatched place Lai schematic earth's surface Show.
In the present embodiment, from receive wave emitter 2 to two kinds of send waves, specifically the first send wave as shown in Figure 2 And the second send wave as shown in Figure 3 is transmitted.Wave emitter 2 is received to the comprehensive right of the horizontal direction centered on this ship Send wave is transmitted.
First send wave is the beam angle θ in vertical direction1Narrow send wave.The beam angle of first send wave θ1Such as it is 8 degree or so as one, but not limited to this, less than 20 degree.The region that first send wave is sent is existed Hereinafter referred to as two-dimentional region Z1.The region that so the first send wave is sent be referred to as two dimension region Z1 the reasons why such as it is following Like that.That is, the beam angle θ in the vertical direction of the first send wave1Be can be realized in wave emitter 2 is received it is minimum vertical The beam angle in direction or value proximate to it.Therefore, the region that the first send wave is sent is that the extension in space is narrow Region, so in this manual, the region to be referred to as to the region Z1 of two dimension.
Second send wave is the beam angle θ in vertical direction2The broader send wave compared with the first send wave.Second hair Send the beam angle θ of ripple2Such as it is 30 degree or so as one, but not limited to this, it is more than 20 degree.Second is sent The region that ripple is sent hereinafter is referred to as the region Z2 of three-dimensional.So, the region the second send wave sent is referred to as three-dimensional The reasons why region Z2, is as described below.That is, it can be seen that：Beam angle θ in the vertical direction of first send wave1For as described above Beam angle narrow like that, in contrast, with more than 20 degree of beam angle θ2The second send wave with first send Ripple is fully wide compared to beam angle.Therefore, in this manual, the second fully wide send wave of such beam angle is sent The bigger region of three-dimensional extension be referred to as three-dimensional region Z2.
In wave emitter 2 is received, such as one, carry out the first send wave transmission and first send wave it is anti- The transmission of the reception of ejected wave is received by after multiple carried out, and carries out the transmission of the second send wave and the back wave of second send wave Reception transmission receive by carry out 1 time.I.e., in the present embodiment, the frequency and first that the second send wave is sent are sent The frequency that ripple is sent is compared to less.
Transceiver 3 possesses transmitting-receiving switching part 3a, transmitter 7 and receiver 8.Transceiver 3 is by hardware The equipment such as device 9 (for example, CPU, FPGA etc.), analog circuit and nonvolatile memory are managed to form.The conduct of hardware processor 9 First control unit 7b described further below, orthogonal detection portion 13, the first wave beam forming portion 14, the figure of wave filter portion 15 and first Played a role as generating unit 16.For example, program is read from nonvolatile memory by CPU and performed, so as to hardware handles Device 9 is as the first control unit 7b, orthogonal detection portion 13, the first wave beam forming portion 14, the generation of the image of wave filter portion 15 and first Portion 16 and play a role.
Transmitting-receiving switching part 3a is used to switch to be sent and received signal for receiving wave emitter 2.Specifically, switching part 3a is received and dispatched Sent by the drive signal that wave emitter 2 is received for driving to when receiving wave emitter 2, the drive signal that transmitter 7 is exported exports To receipts wave emitter 2.On the other hand, switching part 3a is received and dispatched from when receiving the reception reception signal of wave emitter 2, will be received wave emitter 2 and is received To reception signal export to receiver 8.
Transmitter 7 is used to generate the basic drive signal as from the send wave for receiving the transmission of wave emitter 2.Transmitter 7 has There are transtation mission circuit portion 7a and the first control unit 7b.
Second control unit 20 of processing units 5 of the transtation mission circuit portion 7a by the first control unit 7b and in detail as be described hereinafter is controlled System, so as to generate drive signal.Specifically, transtation mission circuit portion 7a has transmission electricity that is corresponding with each ultrasonic oscillator and setting Diagram (is omitted) in road, and each transtation mission circuit is by the first control unit 7b suitable controls, so as to generate the first drive signal.First driving letter Number it is, as from the first send wave that wave emitter 2 sends is received, (beam angle in vertical direction as described above is 8 degree or so Send wave) basic signal.In addition, in transtation mission circuit portion 7a, each transtation mission circuit is controlled by the second control unit 20, so as to raw Into the second drive signal.Second drive signal is, as (as described above vertical from the second send wave for receiving the transmission of wave emitter 2 Beam angle on direction is 30 degree or so of send wave) basic signal.
Each transtation mission circuit in multiple transtation mission circuits that first control unit 7b suitable control transtation mission circuits portion 7a has, from And transtation mission circuit portion 7a is set to generate the first drive signal.
Fig. 4 is the block diagram for the structure for representing receiver 8.Receiver 8 has simulation part 11, Analog to Digital Converter section 12, orthogonal inspection Ripple portion 13, the first wave beam forming portion 14, the image production part 16 of wave filter portion 15 and first.Simulation part 11 and Analog to Digital Converter section 12 It is arranged to generate the receiving circuit portion of reception signal based on the back wave of send wave.
Simulation part 11 is amplified to the electric signal from receipts wave emitter 2, and useless so as to remove by limiting its frequency band Frequency content.Simulation part 11 is to the electric signal obtained from the back wave of the first send wave and the reflection from the second send wave This both sides of the electric signal that ripple obtains are handled.
Analog to Digital Converter section 12 is converted to the electric signal generated by simulation part 11 the reception signal as data signal.Modulus Converter section 12 is handled the electric signal obtained from the back wave of the first send wave and generates the first reception signal, to from second The electric signal that the back wave of received wave obtains is handled and generates the second reception signal.
Orthogonal detection portion 13 is to the first reception signal obtained from each ultrasonic oscillator and the second reception signal using just Detection processing is handed over, generates I signal and Q signal.These signals are as being real part and letter in reply using Q signal as imaginary part using I signal Number and be processed.Orthogonal detection portion 13 the reception signal exported from Analog to Digital Converter section 12 be the first reception signal in the case of, Exported using the complex signal generated as the first complex signal to the first wave beam forming portion 14.On the other hand, orthogonal detection portion 13 In the case where the reception signal exported from Analog to Digital Converter section 12 is the second reception signal, using the complex signal generated as second Complex signal and export to processing unit 5.In addition, the second complex signal is exported from orthogonal detection portion 13 to processing unit 5, can also be These second complex signals are temporarily stored the storage part (omitting diagram) having to transceiver 3 and carried out afterwards.
In addition, here, after enumerating in orthogonal detection portion 13 and generating the second complex signal, by second complex signal export to The example of processing unit 5 is illustrated, but not limited to this.Specifically, can also be generated in Analog to Digital Converter section 12 After two reception signals are output to processing unit 5, orthogonal detection processing is carried out in processing unit 5.
First wave beam forming portion 14 carries out Wave beam forming to the first complex signal obtained from specific multiple ultrasonic oscillators Processing (specifically, phase adjustment is added), is generated and by having the single ultrasonic wave of sharp directive property in a particular direction Signal i.e. the first beam signal for the signal equivalence that oscillator obtains.First wave beam forming portion 14 is while change as progress wave beam shape Into the ultrasonic oscillator of the object of processing combination while the processing is repeated, there is directive property in each orientation so as to generate Multiple first beam signals.Reference picture 2, the first wave beam forming portion 14 generates has narrow wave beam wide in vertical direction Spend θ1First beam signal of (such as one be 8 degree or so).
The first beam signal that wave filter portion 15 is formed to the first wave beam forming portion 14 applies band limitation filter or arteries and veins The processing of compression filter is rushed, so as to generate the two dimensional image letter for being used to generate the first image described later (2 dimensional region image) Number.
Amplitude of first image production part 16 based on the two dimensional image signal generated by wave filter portion 15 is (specifically, The absolute value of complex signal), generation represents the 2 dimensional region image of the thing target distribution around this ship.Specifically, the first image Generating unit 16 generates the image that the position of the receipts wave emitter 2 seen from above using this ship forms as the distribution on the circular conical surface on summit (following, otherwise referred to as horizontal pattern image H1) or the image of the distribution on vertical face of the expression comprising receipts wave emitter 2 (with Under, otherwise referred to as vertical mode image V1).In addition, the image generated by the first image production part 16, is based on wide from wave beam Spend the signal that the first narrow send wave obtains and the image generated, be the two-dimentional planar of the never extension in space area The image that domain obtains.In addition, the region for obtaining horizontal pattern image H1 is the region for being applied in dot-hatched in Fig. 2.
Fig. 5 is the figure of one for being shown schematically in the display picture 4a shown in the first display device 4.It is aobvious first In the display picture 4a of showing device 4, the horizontal pattern image H1 and vertical mode generated by the first image production part 16 is shown Image V1.Such as one, user suitably operates the operation equipments such as the keyboard that this hydrospace detection system 1 has and (saves sketch map Show), so as to the switching display horizontal pattern image H1 and vertical mode image V1 in the first display device 4, or show simultaneously Show them.In Figure 5, it is illustrated that the example of the shoal of fish in the orientation at 2 o'clock on the basis of this ship S be present.
In the first display device 4, the region for having obtained the high signal of echo strength is cloudy addition of highdensity point-like The region of shadow represents, has obtained region that echo strength is moderate signal addition of the dot-hatched of Midst density Region represents, has obtained the region of the low signal of echo strength addition of the region of the dot-hatched of low-density to represent. Hereinafter, the region that addition of highdensity dot-hatched is referred to as high echo strength region, the point-like that addition of Midst density is cloudy Echo strength region during the region of shadow is referred to as, is referred to as low echo strength region by the region for the dot-hatched that addition of low-density. In addition, in the first display device 4 of reality, high echo strength region represents that middle echo strength region is with green with red To represent, low echo strength region is represented with blueness.
Processing unit 5 is the equipment being connected with the transceiver of scanning sonar 10 3 by cable etc., such as one Example and be made up of PC (personal computer).In detail as be described hereinafter, processing unit 5 is used to handle and connect by what transceiver 3 was handled A part among the collection of letters number.
However, the hydrospace detection system 1 involved by present embodiment can not only be generated by scanning sonar 10 and projected Image that the thing mark included in two-dimentional region Z1 near this ship forms (specifically, horizontal pattern image H1 and vertical Mode image V1), additionally it is possible to the region for having projected the three-dimensional shape near this ship is generated by processing unit 5 described further below That is the image that the thing mark included in three-dimensional region Z2 (reference picture 3) forms.In this hydrospace detection system 1, as long as no warp Regulation instruction is received from user by operation equipment (omitting diagram), the area of two dimension has just been projected by scanning sonar 10, generation The image that the thing mark included in the Z1 of domain forms.On the other hand, in the hydrospace detection system 1 involved by present embodiment, from In the case that user receives regulation instruction, processing unit 5 and the grade of scanning sonar 10 carry out action described below, so as to raw The image that the thing mark included into the three-dimensional region Z2 projected near this ship forms.In addition, the rule of user described herein Fixed instruction is to indicate as follows：Generation passes through the thing mark to be included in the three-dimensional region Z2 shown in dot-hatched for having projected Fig. 3 The image formed.Hereinafter, regulation instruction is referred to as the generation instruction of 3D region image.
Fig. 6 is the block diagram for the structure for representing processing unit 5.Processing unit 5 has the second control unit 20, the second Wave beam forming Portion 21, the image production part 23 of wave filter portion 22 and second.
Second control unit 20 receives the 3D region image generation instruction of user, and suitable control transtation mission circuit portion 7a has Each transtation mission circuit in multiple transtation mission circuits, so that transtation mission circuit portion 7a generates the second drive signal.Second control unit 20 Such as receive wave emitter 2 be shaped as it is columnar in the case of, turned into the function of masking (shading) coefficient of vertical direction The mode of sinc functions, the amplitude and phase of drive signal are controlled.
The second complex signal from orthogonal detection portion 13 is inputted to the second Wave beam forming portion 21.Second Wave beam forming portion 21 is right The second complex signal obtained from specific multiple ultrasonic oscillators carries out Wave beam forming processing (specifically, phase adjustment phase Add), generate the signal with the signal equivalence by having the single ultrasonic oscillator of sharp directive property to obtain in a particular direction That is the second beam signal.Second Wave beam forming portion 21 is while change the ultrasonic oscillator as the object for carrying out Wave beam forming processing Combination while the processing is repeated, so as to generate multiple second beam signals in each orientation with directive property.Second The generation of Wave beam forming portion 21 is with the beam angle θ with the second send wave2Compared to the second beam signal of narrower beam angle, And gradually change its inclination angle, so as to which the scope sent to the second send wave is scanned.In addition, based on according to the second transmission Ripple is sent to obtained from the time being received as only from wave emitter 2 is received to the distance of reflective object and the second wave beam letter Number orientation, to calculate the position of each 3D region image data (in detail as be described hereinafter) generated based on these beam signals Information.
The second beam signal that wave filter portion 22 is formed to the second Wave beam forming portion implements band limitation filter or pulse The processing of compression filter, used so as to generate the 3D region image for being used to generate the second image described later (3D region image) Data.The 3D region image with the signal that data are that each position that includes obtains from the region Z2 of three-dimensional, have obtain it is each The three-dimensional position of signal and echo strength are as information.Wave filter portion 22 is for example generated as 3D region image with data Portion plays function.
Second image production part 23 based on the 3D region image data generated by wave filter portion 22 amplitude (it is specific and Speech, the absolute value of complex signal), generation represents the image of the thing target distribution around this ship.Specifically, the second image production part 23 signals obtained based on the region Z2 (reference picture 3) from three-dimensional, generate the 3D region image as the second image.
Fig. 7 is to schematically show upper horizontal face image H2UThe figure of one.In addition, Fig. 8 is to be shown schematically in Generate lower horizontal face image H2LDuring generate look up horizontal plane image H2L' figure.In addition, Fig. 9 is schematic earth's surface Show lower horizontal face image H2LThe figure of one.In the present embodiment, the second image production part 23 generates conduct in the figure 7 One and represent upper horizontal face image H2UAnd the lower horizontal face image H2 represented in fig.9 as oneL, make For 3D region image.
Figure 10 is the upper horizontal face image H2 for schematically showing the generation of the second image production part 23UAnd lower horizontal Face image H2LGenerating process figure.In Fig. 10, it is illustrated that the 3D region image number drawn in three-dimensional orthogonal coordinate The section of plane (plane specifically, extended up in upper and lower front and back) cut-out is prescribed according to Sg.Three-dimensional shown in Figure 10 Area image is same with above-mentioned situation with data Sg, by representing (it is cloudy to addition of highdensity point-like in Fig. 10 with red Shadow) high echo strength region SH, with green come the middle echo of (dot-hatched that addition of Midst density in Fig. 10) that represents Intensity area SMAnd with blueness come the low echo strength region S of (dot-hatched that addition of low-density in Fig. 10) that representsL Form.
Upper horizontal face image H2UIt is projected to and the 3D region image number with data Sg by 3D region image Upper horizontal face P above is compared according to SgHUSo as to generate.On the other hand, lower horizontal face image H2LPass through 3D region Image is projected to the underlying lower horizontal face P compared with 3D region image data Sg with data SgHLSo as to raw Into.
More specifically, the second image production part 23 generates upper horizontal face image H2 as described belowU.Specifically, Reference picture 10, the second image production part 23, will be most nearby in the case where 3D region image seen from above is with data Sg Side (upside) visible color is attached to upper horizontal face PHU, so as to generate upper horizontal face image H2U.Wherein, in this implementation In mode, on green and blueness shown in region SM、SLAppropriate see-through is set, so as to which nearby side is covered by blueness Green region SMIt is projected to upper horizontal face PHU, nearby side is by the red of at least one party of blueness and green covering Region SHIt is projected to upper horizontal face PHU.In addition, covered on nearby side by least one party of blueness and green Red region SH, to be shown from red different color (such as one for loess color).Thus, generate shown in Fig. 7 Upper horizontal face image H2U。
In addition, the second image production part 23 generates lower horizontal face image H2 as described belowL.First, the second image is given birth to Lower horizontal face image H2 is used as into the generation of portion 23LBasic look up horizontal plane image H2L’。
Specifically, reference picture 10, the second image production part 23 are watching 3D region image with data Sg's from below In the case of, lower horizontal face P will be attached in nearest front side (downside) visible colorHL, horizontal plane image is looked up so as to generate H2L’.Wherein, in the present embodiment, it is same with above-mentioned situation, on green and the blue region S to representM、SL Appropriate see-through is set, so as to the green region S that nearby side is covered by bluenessMIt is projected to lower horizontal face PHL, nearby The red region S that side is covered by least one party of blueness and greenHIt is projected to lower horizontal face PHL.In addition, on The red region S that nearby side is covered by least one party of blueness and greenH, (such as to make from red different color For one it is loess color) show.Thus, generate shown in Fig. 8 and look up horizontal plane image H2L’。
Also, the second image production part 23 is based on looking up horizontal plane image H2L', generation lower horizontal face image H2L.Specifically For, reference picture 8, the second image production part 23 makes to look up horizontal plane image H2L', relative to looking up horizontal plane image H2L' in Mirror image is taken by position corresponding with this ship S and the antero posterior axis L that extends in the longitudinal direction.Thus, lower horizontal face figure is generated As H2L。
In the second display device 6, the 3D region image generated by the second image production part 23 is shown.In this embodiment party In the case of formula, in the second display device 6, upper horizontal face image H2 is shownUAnd lower horizontal face image H2L。
[action of hydrospace detection system]
Figure 11 is the flow chart for illustrating the action of hydrospace detection system 1.Hereinafter, reference picture 11, hydrospace detection is illustrated The scanning sonar 10 and the action of processing unit 5 that system 1 has.
First, if starting hydrospace detection system 1, scanning sonar 10 starts generally to act (step S1).Scanning sonar 10 Usual action be a series of action described below.In usual action, first, there is narrow ripple from receiving wave emitter 2 and sending Beam width θ1The first send wave, its back wave receives by receipts wave emitter 2.The back wave received by receipts wave emitter 2 passes through reception Each structural element of machine 8 is processed, so as to generate horizontal pattern image H1 and vertical mode image V1.In the first display device In 4, as shown in figure 5, showing these horizontal pattern image H1 and vertical mode image V1.In addition, in order to generate vertical mode Image V1 and the send wave that sends are the wider send waves of the beam angle in vertical direction.
In generally action as described above, in the case where the 3D region image for not receiving user generates instruction (step S3's is no), scanning sonar 10 continue generally to act.On the other hand, given birth in the 3D region image for receiving user Into (step S3's be) in the case of instruction, hydrospace detection system 1 enters action as shown in following step S4 to step S6 Make.Specifically, if there is the generation instruction of 3D region image in step s 2, the second control unit 20 gives birth to transtation mission circuit portion 7a Into the second drive signal.Then, in step s 4, wave emitter 2 is received to send out the second send wave based on second drive signal Send.After the back wave of second send wave is received by receipts wave emitter 2, pass through simulation part 11, Analog to Digital Converter section 12 and orthogonal detection Portion 13 is processed, generates the second complex signal (step S5).These second complex signals when being generated every time or is being temporarily stored Collected after to storage part (omitting diagram), be forwarded to the second Wave beam forming portion 21 (step S6) of processing unit 5.
In addition, in step s 6, the second complex signal is forwarded at least a portion and generally of the time of processing unit 5 At least a portion of the time of the image of generation first in action is overlapping.In the present embodiment, at the forwarding of the second complex signal Reason and generally action are parallel to be carried out.Scanning sonar 10 is generally moved during the forward process of second complex signal is carried out Make, so as to not reduce the image (specifically, horizontal pattern image H1 and the vertical mould that are generated in usual action substantially Formula image V1) renewal rate, and carry out the forward process of the data for generating 3D region image.
In the step s 7, the processing unit 5 for receiving the second complex signal carries out the processing of second complex signal.It is specific and Speech, in the step s 7, the second beam signal is generated from the second complex signal by the second Wave beam forming portion 21, passes through wave filter portion 22 3D region image data Sg obtained from generation implements filter process to second beam signal.Also, being based on should 3D region image data Sg, generation upper horizontal face image H2UAnd lower horizontal face image H2L.The upside so generated Horizontal plane image H2UAnd lower horizontal face image H2LIt is displayed in the second display device 6 (step S8).Thereafter, do not having Receive user 3D region image generation stopping instruction in the case of (step S9's is no), continue three dimensional area-graph The generation of picture.On the other hand, receive user 3D region image generate stopping instruction in the case of (step S9's It is), stop the generation of 3D region image.In addition, the second image of generation (upper horizontal face image H2UAnd lower horizontal face Image H2L) time at least a portion it is overlapping with least a portion of the time of the image of generation first in usual action. Thereby, it is possible to each image of parallel generation, so the reduction of the renewal rate of each image can be prevented.
In addition, in the past, disclose and ultrasonic beam is sent into water and the region of three-dimensional is scanned, based on being received To echo and using information (such as shoal of fish) in the water in scanning area as 3-D view come the hydrospace detection device (example that shows Such as sonar).In sonar disclosed in patent document 1, non-direction transmission wave beam is formed to defined three-dimensional region.Separately On the one hand, when receiving, the pencil beam of the reception wave beam narrow as beam angle is formed, the reception wave beam is in three-dimensional It is scanned in region.
In addition, in general scanning sonar, the narrow transmission wave direction of the beam angle of vertical direction is centered on this ship It is comprehensive sent once after, the reception wave beam that the beam angle of identical vertical direction is narrow is rotated centered on this ship.By This, can detect the existing shoal of fish near the desired inclination angular direction on the basis of being equipped with this ship of sonar.
In the case where wanting to detect the region with three-dimensional extension using above-mentioned in general scanning sonar, consider By gradually changing the inclination angle of the wave beam with narrow beam width in vertical direction, so as to be swept to the region of three-dimensional Retouch.If but so, computational load becomes very big compared with common scanning sonar.Then, larger-scale unit, manufacturing cost Also uprise.On the other hand, it is also contemplated that scan 3D region with not making larger-scale unit as described above, if but so, image Update cycle is elongated, so the problem of in the presence of being difficult to obtain real-time information.
[effect]
On the point, in the hydrospace detection system 1 involved by present embodiment, based on from have in vertical direction than Narrower beam angle θ1The first send wave obtained the first reception signal of back wave, can with conventional scanning sonar Horizontal pattern image H1 and vertical mode image V1 is generated with the renewal speed of degree.Moreover, in hydrospace detection system 1 In, based on from the beam angle θ with the first send wave1Compared to beam angle θ2What the back wave of broader second send wave obtained Second reception signal, additionally it is possible to obtain the thing target image H2 included in the region Z2 of three-dimensionalU、H2L.If in such manner, it is possible to with Horizontal pattern image H1 and vertical mode image V1 is obtained toward equivalent renewal speed, and also grasps and is wrapped in the region Z2 of three-dimensional The thing target distribution contained.
So as to according to hydrospace detection system 1, using the teaching of the invention it is possible to provide the overall cost of suppression system and the convenience height for user Hydrospace detection system.
In addition, according to hydrospace detection system 1, given birth to based on the first reception signal that the back wave from the first send wave obtains Into 2 dimensional region image (in this case, horizontal pattern image H1 and vertical mode image V1), the opposing party Face, generated based on the second reception signal that the back wave from beam angle second send wave different from the first send wave obtains 3D region image (in this case, upper horizontal face image H2UAnd lower horizontal face image H2L)。
In hydrospace detection system, the beam angle that thing target area depends on send wave can be detected, if so such as water Middle detection system 1 carries out thing mark detection using the wide send wave of beam angle like that, then can detect with three-dimensional extension The thing mark included in space.Further, it is possible to the thing mark for making to detect in the three dimensions projects to 3D region image.Cause This, can be based on from having each receive corresponding to each send wave of different beam angles to believe according to hydrospace detection system 1 respectively Number, echo of the generation with different characteristics.Specifically, according to by with narrow beam width θ1The first send wave Obtained from 2 dimensional region image, be capable of the two-dimentional region (in this case, two of the never extension in space The region Z1 of dimension) detection thing mark.Thereby, it is possible to grasp thing target position exactly.On the other hand, according to by with broad beam Width θ2The second send wave obtained from 3D region image, can be from the three-dimensional region of the extension with space (at this In the case of embodiment, three-dimensional region Z2) detection thing mark.Thereby, it is possible to thing mark is detected in large-scale space.That is, The position of the desired shoal of fish can roughly have been grasped in confirmation 3D region image according to hydrospace detection system 1, such as user Postpone, confirm 2 dimensional region image and grasp more accurately position of the shoal of fish etc., so can provide in the good water of convenience Detection system.
In addition, according to hydrospace detection system 1, (specifically, the beam angle of the first send wave is set to be less than 20 degree About 8 degree), on the other hand, the beam angle of the second send wave is set to more than 20 degree (specifically, about 30 degree).Thus, energy The three-dimensional region for being enough set by the two-dimentional region of the first send wave detection and being detected by the second send wave.
In addition, according to hydrospace detection system 1, on previously known scanning sonar 10, the processing being made up of PC etc. is connected Device 5, so as to easily based on the signal generation image (3D region image) obtained from the region of three-dimensional.That is, according to Hydrospace detection system 1, using the teaching of the invention it is possible to provide be not accompanied by significantly equipment changing just can generate 3D region image with low cost Hydrospace detection system.
In addition, in hydrospace detection system 1, during forwarding reception signal from scanning sonar 10 to processing unit 5, scanning Sonar 10 is generally acted.Thereby, it is possible to do not reduce the renewal speed of the 2 dimensional region image generated in usual action substantially Rate, just carry out the forward process of the data for generating 3D region image.
In addition, in hydrospace detection system 1, the 2 dimensional region image based on the obtained echo-signals of the region Z1 from two dimension It is displayed in the first display device 4, on the other hand, 3D region image is displayed in the second display device 6.Thus, use Family being capable of the image that is obtained from each region Z1, Z2 of visuognosis.
In addition, in hydrospace detection system 1, processing unit 5 is made up of PC (personal computer).Thereby, it is possible to more honest and cleaner Form processing unit 5 valency.
In addition, in hydrospace detection system 1, frequency that frequency and the first send wave that the second send wave is sent are sent Compared to less.Thereby, it is possible to not reduce the renewal rate of scanning sonar 10 significantly, 3D region image is just generated.
In addition, in hydrospace detection system 1, the first image is in the two-dimentional region Z1 sent based on the first send wave Comprising thing target echo obtained from image, the second image is wrapped in the three-dimensional region Z2 sent based on the second send wave Image obtained from the thing target echo contained.Thus, in hydrospace detection system 1, can obtain few based on the volume from three-dimensional Obtained the first images of echo of two-dimentional region Z1 and the second image based on the obtained echoes of the region Z2 from three-dimensional, So it can provide convenience good hydrospace detection system.
In addition, in the display device of conventional hydrospace detection system, it is shown that seen from above to be based on from search coverage Obtained reception signal and horizontal plane image that the image generated is formed with signal.But now, weighed in the vertical direction in the shoal of fish It is folded and in the presence of, there is the shoal of fish on the downside of over sight (OS).
On the point, in hydrospace detection system 1, in the case that fish school location is overlapping in vertical direction, on The position of the shoal of fish of upside, can be with upside horizontal plane image H2U, can be with to grasp, and the position of the shoal of fish on downside Lower horizontal face image H2LTo grasp.Specifically, returning in the echo-image A and Fig. 9 in reference picture 7 and Fig. 9, Fig. 7 Ripple is from the echo of the shoal of fish as C.As this hydrospace detection system 1, by upper horizontal face image H2UAnd lower horizontal Face image H2LShow in a display device, so as to which two overlapping in the vertical direction shoals of fish are all grasped.That is, according to Hydrospace detection system 1, it can prevent the leakage of the shoal of fish from detecting.In addition, the echo-image B in Fig. 7 is the echo for the flight path for representing this ship Picture.
In addition, look up horizontal plane image H2 simply watch 3D region image data Sg from belowL' in, In the image, the shoal of fish of this ship starboard side is displayed on the left side on picture, and the shoal of fish of this port side is displayed on picture Right side.Then, in the case where user watches the image, it is difficult to intuitively grasp the position of the shoal of fish.Specifically, represent to face upward Sensible horizon image H2L' Fig. 8 in echo-image C be physically located this port side, but looking up horizontal plane image H2L’ In be located at right side.
On the point, in hydrospace detection system 1, by looking up horizontal plane image H2 to as described aboveL' mirror image is taken, So as to generate lower horizontal face image H2L.If so, the shoal of fish of this ship starboard side is displayed on the right side on picture, this ship is left The shoal of fish of topside is displayed on the left side on picture.Thus, user is easy to intuitively grasp the position of the shoal of fish.
[variation]
Embodiments of the present invention are this concludes the description of, but the present invention is not limited to this, without departing from the master of the present invention Purport, then it can carry out various changes.
(1) Figure 12 is the space for representing to show in the second display device of the hydrospace detection system involved by variation The figure of one of area image.In the above-described embodiment, by upper horizontal face image H2UAnd lower horizontal face image H2LThis Both sides are shown in the second display device 6 as 3D region image, but not limited to this, can also only be upper horizontal face figures As H2UAnd lower horizontal face image H2LEither one.Or oblique-view image H2 shown in Figure 12 can also be shownTAs space Area image.Oblique-view image H2TIt is that 3D region image is projected to data Sg and intersected with vertical face and horizontal plane this both sides Inclined plane obtained from image.That is, oblique-view image H2TIt is to be formed from incline direction viewing 3D region image with data Sg Image.So, by oblique-view image H2TIt is shown in the second display device 6, so as to be easy to more intuitively grasp the position of the shoal of fish Put.In addition, oblique-view image H2TBoth it can be the image formed from oblique upper viewing 3D region image with data Sg, or also might be used To be from the image that is formed with data Sg of obliquely downward viewing 3D region image.
(2) Figure 13 is the block diagram for the structure for representing the hydrospace detection system 1a involved by variation.In above-mentioned embodiment In, enumerate the processing unit 5 being made up of PC with the previously known split of scanning sonar 10 etc. be connected with scanning sonar 10 from And the example for forming hydrospace detection system 1 is illustrated, but not limited to this.Specifically, as shown in figure 13, can also be set to Each structural element that the processing unit 5 illustrated in hydrospace detection system 1 involved by above-mentioned embodiment is had is embedded in scanning Structure in sonar 10a.Transceiver 3b shown in Figure 13 have in transmitter 7c embedded second control unit 20 and The structure of embedded second image production part 23 in receiver 8a.In addition, the diagram in Figure 13 is eliminated, but in above-mentioned embodiment The second Wave beam forming portion 21 and wave filter portion 22 be embedded into receiver 8a.In addition, in hydrospace detection system 1a, two-dimentional area Area image and 3D region image are displayed in the first display device 4.
Above like that, the hydrospace detection system 1a according to involved by this variation, it is not necessary to involved by above-mentioned embodiment And hydrospace detection system 1 in required for the processing unit 5 being made up of PC etc., can will form each knot of the processing unit 5 In structure key element insertion scanning sonar 10a.Thereby, it is possible to by hydrospace detection system compact.
(3) Figure 14 is represent to show in the second display device of the hydrospace detection system involved by variation two three The figure of one of area image is tieed up, (A) is expression upper horizontal face image H2 in Figure 14UFigure, (B) is represents vertical in Figure 14 Face image V2 figure.
In second display device of this variation, upper horizontal face image H2 is shownUAnd the vertical face image V2 of backsightB。 The vertical face image V2 of backsightBIt is to be projected onto and the 3D region image data Sg phases with data Sg by 3D region image Than being located behind in the vertical face just extended up up and down so as to the image of generation.
Also, in the hydrospace detection system involved by this variation, in reference picture 14 (A), if user uses mouse etc. The upper horizontal face image H2 that operation equipment selection is shown in the second display deviceUIn arbitrary 1 point (such as in Figure 14 (A) point P1), then in the image H2 of both sidesU、V2BUpper display highlighting.Specifically, in upper horizontal face image H2UOn, display By the point P1 selected by user upper horizontal face tracking cross CS1 (the first mark), and in the vertical face image V2 of backsightB On, show the vertical cursor CS extended in the vertical direction on picture by position corresponding with point P1BH(the second mark). Upper horizontal face tracking cross CS1 is by the vertical thick stick Bv that extends in the vertical direction on picture and extends in the lateral direction Horizon bar Bh form.
Above like that, according to this variation, based on 3D region image data Sg, generation upper horizontal face image H2U And vertical face image V2, so by the way that they are corresponding and visuognosis, so as to grasp the desired shoal of fish in water Position.
In addition, according to this variation, upper horizontal face is displayed on by the point P1 selected by user tracking cross CS1 Image H2UIn, and by the vertical cursor CS of position corresponding with point P1BHIt is displayed on the vertical face image V2 of backsightBIn.By This, based on these cursors, can grasp the position of the desired shoal of fish exactly.
(4) Figure 15 is the upside water for representing to show in the second display device of the hydrospace detection system involved by variation Plane picture H2UThe figure of one.In addition, Figure 16 is and the upper horizontal face image H2 shown in Figure 15UIt is corresponding and display vertical (A) is the vertical face image V2 of backsight in face image V2, Figure 16B, (B) is the vertical face image V2 of left view in Figure 16L。
In second display device of this variation, upper horizontal face image H2 is shownU, the vertical face image V2 of backsightB, with And the vertical face image V2 of left viewL.The vertical face image V2 of left viewLIt is projected to and the three-dimensional with data Sg by 3D region image Area image is compared positioned at the vertical face that left (port side) extends up in upper and lower front and back with data Sg so as to generate.
Also, in the hydrospace detection system involved by this variation, reference picture 15, if user is set using operations such as mouses The upper horizontal face image H2 that alternative is shown in the second display deviceUIn arbitrary 1 point (such as point P2 in Figure 15), Then in above-mentioned all three image H2U、V2B、V2LMiddle display highlighting.Specifically, in upper horizontal face image H2UIn, show Show the upper horizontal face tracking cross CS1 (the first mark) of the point P2 by being selected by user.In addition, in the vertical face image of backsight V2BAnd the vertical face image V2 of left viewLIn, show respectively by position corresponding with point P2 and on picture in the vertical direction The vertical cursor CS of extensionBH、CSLH(the second mark).
Above like that, according to this variation, based on 3D region image data Sg, generation upper horizontal face image H2U、 The vertical face image V2 of backsightBAnd the vertical face image V2 of left viewL, so by the way that they are corresponding and visuognosis, so as to It is enough to grasp position of the desired shoal of fish in water exactly.
In addition, according to this variation, upper horizontal face is displayed on by the point P2 selected by user tracking cross CS1 Image H2UIn, and by the vertical cursor CS of position corresponding with point P2BH、CSLHIt is displayed on the vertical face image V2 of backsightB And the vertical face image V2 of left viewLIn.Thereby, it is possible on the basis of these cursors, more accurately grasp the position of the desired shoal of fish Put.
(5) Figure 17 is the backsight lead for representing to show in the second display device of the hydrospace detection system involved by variation Face image V2 directlyBThe figure of one.In addition, Figure 18 is and the vertical face image V2 of backsight shown in Figure 17BCorresponding and display upside Horizontal plane image H2U.In addition, Figure 19 is and the vertical face image V2 of backsight shown in Figure 17BCorresponding and display lower horizontal face figure As H2L。
In this variation, if the desired depth bounds of detecting fish school is wanted in user's input, the depth bounds is represented Depth bounds scale R is displayed on the vertical face image V2 of backsightBIn, and on upper horizontal face image H2UAnd lower horizontal Face image H2L, only show the echo-image included in the depth bounds.If the in such manner, it is possible to depth model for detection being wanted in user The existing shoal of fish or unwanted echo-image (such as echo-image B caused by the flight path in Fig. 7) remove from display picture beyond enclosing Go, so the echo-image of the desired shoal of fish can reliably be shown, and the echo-image that need not be shown is deleted from picture.
(6) Figure 20 is the upside water for representing to show in the second display device of the hydrospace detection system involved by variation Plane picture H2UThe figure of one.In addition, Figure 21 is and the upper horizontal face image H2 shown in Figure 20UIt is corresponding and display vertical (A) is the vertical face image V2 of backsight in face image V2, Figure 21B, (B) is the vertical face image V2 of left view in Figure 21L。
In this variation, if the desired bearing range of detecting fish school is wanted in user's input, then it represents that the bearing range Straight line L1 and straight line L2 be displayed on upper horizontal face image H2UIn, and on the vertical face image V2 of backsightBIt is and left Depending on vertical face image V2L, only show the echo-image included in the bearing range.If in such manner, it is possible to detection will be wanted in user The existing shoal of fish removes from display picture beyond bearing range, so the echo-image of the desired shoal of fish can be reliably shown, and The echo-image that need not be shown is deleted from picture.
(7) in the above-described embodiment, included untill enumerating defined distance range of the display on the basis of this ship The example of echo-image is illustrated, but not limited to this.For example, it is also possible to form following hydrospace detection system：If user inputs Want the desired distance range of detecting fish school, then the echo-image only included in the distance range is displayed on each three dimensional area-graph As in.
(8) in above-mentioned embodiment and variation, make the coloring in each image corresponding with echo level and show, But not limited to this.Specifically, though omitting diagram, the coloring in each image can also be made corresponding with depth.If so, lead to Display such as horizontal plane image and oblique-view image are crossed, so as to easily grasp the depth of each shoal of fish.
(9) in the above-described embodiment, included untill enumerating the defined distance range on the basis of this ship complete The example that portion's reception signal carries out signal transacting as object is illustrated, but not limited to this.Specifically, such as can also It is user pre-enters distance range, bearing range, depth bounds of desired detecting fish school etc., will be only included in these scopes Object of the echo-signal as signal transacting.Thereby, it is possible to omit the echo-signal for being set to unwanted scope from user and obtaining Signal transacting, so the computational load that transceiver is spent can be reduced.
(10) Figure 22 is the upside for representing to show in the second display device of the hydrospace detection system involved by variation Horizontal plane image H2UThe figure of one.In addition, Figure 23 is and the upper horizontal face image H2 shown in Figure 22UCorresponding and display lead Face directly in image V2, Figure 23 (A) is the vertical face image V2 of backsightB, (B) is the vertical face image V2 of left view in Figure 23L.In addition, Figure 24 It is the lower horizontal face image H2 for representing to show in the second display device of the hydrospace detection system involved by this variationL's The figure of one.In addition, Figure 25 is and the lower horizontal face image H2 shown in Figure 24LCorresponding and display vertical face image V2, figure (A) is the vertical face image V2 of backsight in 25B, (B) is the vertical face image V2 of left view in Figure 25L。
In this variation, clicked in user in any one 3D region image with mouse pointer etc. and want to recognize it In the case of the echo-image of the shoal of fish of position, its position is shown in other 3D region images.For example, referring to Figure 22 and figure 23, if user clicks on the upper horizontal face image H2 shown in Figure 22UPoint P3 position, then display with the upper horizontal face image H2UPoint P3 centered on upper horizontal face tracking cross CS1 (first mark).Upper horizontal face tracking cross CS1 by The vertical thick stick Bv extended in the vertical direction on picture and the horizon bar Bh extended in the lateral direction are formed.Now, in Figure 23 In the vertical face image V2 of backsight shown in (A)BIn coordinate position corresponding with point P3 on, show centered on the coordinate position The vertical face tracking cross CS2 of backsight (second mark), and the vertical face image V2 of left view in fig 23 shown in (B)LIn with Corresponding to point P3 on coordinate position, the vertical face tracking cross CS3 of left view (the second mark) centered on the coordinate position is shown. Thereby, it is possible to more easily grasp the corresponding relation of the shoal of fish shown in each 3D region image.In addition, the depth as point P3 Position, echo strength scope of the selection comprising selected point P3 is (in the case of the example shown in Figure 22, shown in cross-hatched Echo strength scope) in the top side depth location.
Equally, reference picture 24 and Figure 25, if user clicks on the lower horizontal face image H2 shown in Figure 24LPoint P4 position Put, then display is with lower horizontal face image H2LPoint P4 centered on lower horizontal face tracking cross CS4 (first mark). Now, the vertical face image V2 of backsight in fig. 25 shown in (A)BIn coordinate position corresponding with point P4 on, show with the seat The vertical face tracking cross CS2 of backsight (the second mark) centered on cursor position, and the vertical face figure of left view in fig. 25 shown in (B) As V2LIn coordinate position corresponding with point P4 on, show the vertical face tracking cross CS3 of left view centered on the coordinate position (the second mark).In addition, the depth location as point P4, echo strength scope of the selection comprising selected point P4 is (in Figure 24 In the case of shown example, the echo strength scope shown in cross-hatched) in bottom side depth location.
In addition, here, enumerate in upper horizontal face image H2UOr lower horizontal face image H2LIn have selected the feelings of certain position Under condition, in the vertical face image V2 of backsightBAnd the vertical face image V2 of left viewLIn the position with the position correspondence of the selection on Show that each tracking cross CS2, CS3 example are illustrated, but not limited to this.Specifically, can also be in multiple spaces In the case of certain position is have selected in any one among area image, the position with the selection in other 3D region images Corresponding to putting on position, the second tracking cross is shown.
In addition, here, enumerate the first mark and second be illustrated labeled as the example of tracking cross, but be not limited to This.Such as one, the first mark and the second mark can also be zero mark or × mark etc..
(11) Figure 26 is the flow chart for other action examples for representing the hydrospace detection system 1 involved by above-mentioned embodiment. In the above-described embodiment, reference picture 11, enumerate until the stopping for receiving the 3D region image generation of user is designated as Only, the example for continuing the generation of 3D region image is illustrated, but not limited to this.Specifically, can also be such as figure Shown in 26 flow chart, after temporarily 3D region image is generated, until newly receiving three dimensional area-graph from user next time Untill as generation instruction, the 3D region image is not updated.Or can also be the renewal that user is capable of specified three-dimensional area image Cycle.
(12) in the hydrospace detection system 1 involved by above-mentioned embodiment, can also set can detect this ship The sensor of roll angle and the angle of pitch, processing unit 5 are being implemented and the roll angle that is detected by these sensors and bowed 3D region image is shown on coordinate after the corresponding Coordinate Conversion in the elevation angle.Thereby, it is possible to by hull wobble effects inaccurate Grasp the spatial distribution of the shoal of fish.
(13) in hydrospace detection system 1, used has in vertical direction involved by above-mentioned embodiment The send wave of wider beam angle, as the send wave for generating vertical mode image V1.The send wave is for life The send wave sent into vertical mode image V1.But even if not sending the send wave, it can also use to generate three-dimensional Area image and the second send wave sent, as the send wave for generating vertical mode image V1.Second send wave be The wider send wave of beam angle in vertical direction, so can convert as the transmission for generating vertical mode image V1 Ripple.So, by will be converted for generating the second send wave of 3D region image as the transmission of vertical mode image generation Ripple, without sending the send wave sent only for generation vertical mode image V1.Thereby, it is possible to suppress scanning sonar Usual action when image renewal rate reduction, and show 3D region image.
Industrial applicibility
The present invention can be widely applied for detecting thing target hydrospace detection system.

Claims (19)

1. a kind of hydrospace detection system, it is characterised in that possess：
Wave emitter is received, there are multiple transmitting-receiving ripple elements；
Transtation mission circuit portion, driving send the multiple transmitting-receiving ripple element of the first send wave and the second send wave, second hair Send the beam angle in the vertical direction of ripple more wider than first send wave；
Receiving circuit portion, the back wave based on first send wave and generate the first reception signal, based on described second send The back wave of ripple generates the second reception signal；
First control unit, the transtation mission circuit portion is set to generate the first basic drive signal as first send wave；
First image production part, based on first reception signal exported from the receiving circuit portion, generate the first image；
Second control unit, the transtation mission circuit portion is set to generate the second basic drive signal as second send wave；With And
Second image production part, based on second reception signal exported from the receiving circuit portion, generate the second image.
2. hydrospace detection system as claimed in claim 1, it is characterised in that
Beam angle in the vertical direction of first send wave is less than 20 degree,
Beam angle in the vertical direction of second send wave is more than 20 degree.
3. the hydrospace detection system as described in claim 1 or claim 2, it is characterised in that be also equipped with：
Scanning sonar, there is the transtation mission circuit portion, the receiving circuit portion, first control unit and described first image Generating unit；And
Processing unit, there is second control unit and second image production part,
The processing unit and the scanning sonar split settings.
4. hydrospace detection system as claimed in claim 3, it is characterised in that
At least a portion and generation described first image of the time of second reception signal is forwarded to the processing unit At least a portion of time is overlapping.
5. the hydrospace detection system as described in claim 3 or claim 4, it is characterised in that
The scanning sonar also has the first display device of display described first image,
The hydrospace detection system is also equipped with showing the second display device of second image.
6. the hydrospace detection system as described in any one of claim 3 to claim 5, it is characterised in that
The processing unit is personal computer.
7. the hydrospace detection system as described in any one of claim 1 to claim 6, it is characterised in that
Generate at least a portion weight of time of at least a portion of the time of described first image with generating second image It is folded.
8. the hydrospace detection system as described in any one of claim 1 to claim 7, it is characterised in that
The frequency that second send wave is sent is smaller than the frequency that first send wave is sent.
9. the hydrospace detection system as described in any one of claim 1 to claim 8, it is characterised in that
Described first image is given birth to based on first reception signal obtained from the region that first send wave is sent Into 2 dimensional region image,
Second image is based on described in being obtained from the three-dimensional region in the region sent as second send wave Second reception signal and the 3D region image generated.
10. hydrospace detection system as claimed in claim 9, it is characterised in that
The three dimensional area-graph seems 3D region image is projected to vertical face image, the Yi Jisuo that vertical face forms with data State at least one party that 3D region image is projected to data in the horizontal plane image that horizontal plane forms, the 3D region image It is generated with data based on second reception signal, and it is each that there is each position included from the three-dimensional region to obtain From three-dimensional positional information and echo strength information.
11. hydrospace detection system as claimed in claim 10, it is characterised in that
The 3D region image includes upper horizontal face image and lower horizontal face image,
Upper horizontal face image is by making the 3D region image data projection be used to the 3D region image The horizontal plane image formed positioned at the upper horizontal face of more top is compared in the three-dimensional position of data,
Lower horizontal face image is by making the 3D region image data projection be used to the 3D region image Compare the horizontal plane image formed positioned at lower horizontal face further below in the three-dimensional position of data.
12. hydrospace detection system as claimed in claim 11, it is characterised in that
Lower horizontal face image, be by make the 3D region image with data be projected to the lower horizontal face and Into the horizontal plane image figure that takes mirror image to form relative to the regulation axle just upwardly extended in the face in the lower horizontal face Picture.
13. hydrospace detection system as claimed in claim 10, it is characterised in that
The 3D region image includes：
The vertical face image, the horizontal plane image and the 3D region image are projected to and the lead with data Face directly and oblique-view image that inclined plane that the horizontal plane this both sides are intersected forms among at least two.
14. hydrospace detection system as claimed in claim 13, it is characterised in that
By selecting any one figure among the vertical face image, the horizontal plane image and the oblique-view image by user Assigned position as in, so as to the mark of display first on the assigned position in selected image, and described vertical Beyond the image for showing first mark among face image, the horizontal plane image and the oblique-view image at least In any one image, the second mark is shown on position corresponding with the assigned position.
15. a kind of hydrospace detection system, it is characterised in that possess：
Wave emitter is received, there are multiple transmitting-receiving ripple elements；
Transtation mission circuit portion, driving send the multiple transmitting-receiving ripple element of the three-dimensional send wave of the regional spread to three-dimensional；
Receiving circuit portion, the back wave generation reception signal based on the three-dimensional send wave；
3D region image data generating section, generates 3D region image data, and the 3D region image is based on data The reception signal is generated, and with respective three-dimensional obtained from corresponding with each position included in the three-dimensional region Positional information and echo strength information；And
Image production part, generating upper horizontal face image and lower horizontal face image, upper horizontal face image respectively is Described in being projected to the upper horizontal face for being located at more top compared with the three-dimensional position of the 3D region image data The image that 3D region image is formed with data, lower horizontal face image be by the 3D region image number According to the three-dimensional position compare and project what the 3D region image was formed with data positioned at lower horizontal face further below Image.
16. hydrospace detection system as claimed in claim 15, it is characterised in that
Lower horizontal face image, be by make the 3D region image with data be projected to the lower horizontal face and Into the image image that takes mirror image to form relative to the regulation axle just upwardly extended in the face in the lower horizontal face.
17. the hydrospace detection system as described in claim 15 or claim 16, it is characterised in that
Described image generating unit also generates：The 3D region image is projected to the vertical face figure that vertical face forms with data Picture and the 3D region image are projected to and the upper horizontal face, the lower horizontal face and the lead with data Face at least one party in the oblique-view image that the inclined plane of intersection forms directly.
18. hydrospace detection system as claimed in claim 17, it is characterised in that
By selecting upper horizontal face image, lower horizontal face image, the vertical face image and institute by user The assigned position in any one image among oblique-view image is stated, so as to show on the assigned position in selected image Show the first mark, and in upper horizontal face image, lower horizontal face image, the vertical face image and described Among oblique-view image show it is described first mark image beyond at least any one image in, with the assigned position The mark of display second on corresponding position.
19. the hydrospace detection system as described in any one of claim 15 to claim 18, it is characterised in that be also equipped with：
Display device, show upper horizontal face image and lower horizontal face image.
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