JP2000147117A - Plotter system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain a plotter system by which the position, the depth in the water and the wake of a trawlnet towed by a towing ship are displayed precisely on a screen. SOLUTION: In this plotter system, ultrasonic transponders 24, 26, and 28 which trigger an ultrasonic signal transmitted from a towing ship 12 and which transmit ultrasonic signals are attached to a trawlnet 12 which is towed by the towing ship 12, and buoys 20, 22 are arranged on the sea. In addition, a plotter device is carried on the towing ship 12. On the basis of position data on the towing ship 12 and the buoys 20, 22 which are measured by respective GPS reception means and on the basis of data acquired by receiving the ultrasonic signals transmitted from the ultrasonic transponders 24, 26, 29 by using the towing ship 12, ultrasonic reception time data as well as positions and depths in the sea of the ultrasonic transponders 24, 26, and 28 are calculated, and they are displayed on the plotter device as the position and the depth in the sea of the trawlnet 14.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a plotter system including a plotter device installed on a vessel (towing vessel) for towing a trawl net for catching fish and organisms in the sea for fishing and marine research. In particular, the present invention relates to a plotter system for displaying the position, water depth, and wake of a trawl net along with the position and wake of a towing ship on a display constituting the plotter device.

[0002]

2. Description of the Related Art For fishing and marine surveys, a towing vessel is used to tow a trawl net to a desired water depth and position to detect fish in the sea,
Capture of living things is being done. In these towed vessels, the position and wake of the ship are displayed on the plotter device, and the trawl net position, water depth, and wake are drawn on the plotter device so that the trawl network is towed at the desired water depth and sea area. Observations are being made.

[0003] In general, techniques for operating a towing net or the like for fishing use include a net expanding device for expanding the towing net and a change in the relative elevation angle of the water in a water depth position changing device for changing the water depth position. Technology for enabling remote control (Japanese Patent Application Laid-Open No. 47-38489), technology for easily and quickly floating and sinking a container at a desired water depth position by injecting and discharging a liquid into a buoyant container. 54-602
No. 00), an upper shelf is formed on an upper side of a gauze net, and a lower shelf is formed on a lower side. A buoyant body is disposed on the upper shelf, and the lower shelf is used as a cord.
A technology to connect underwater weighted towing lines to the front upper end of the gill net in the towing direction and to connect front weights and rear weights to the front and rear lower ends to reduce the total underwater weight excluding the towing lines and front weights (special technology) Japanese Unexamined Patent Publication No. 9-70242) is known.

However, when observing the state of towing of the trawl net, there is no suitable equipment for plotting the position, water depth, and wake of the trawl net in the plotter device. Flow, towing speed, position,
The position of the trawl net is estimated based on the water depth and the input position of the net, and as shown in FIG. 6, the estimated position 3, 3 ', 3 "of the trawl net together with the current position 1 of the towing ship and the wake 2 of the towing ship.
Has been manually marked and displayed on the screen (plotter screen) 150 of the plotter device.

[0005]

However, in the above-mentioned conventional method, the position of the trawl net and the accuracy of the towing trace of the net are poor, and the target place (position and water depth) cannot be accurately towed. The inconvenience existed. Also, when towing the same place next time, the trawl net is dropped and towed based on the previous marking positions 3, 3 ', 3 "displayed on the plotter device and the previous towing trace. The problem was that it was difficult to tow.

The present invention has been made in consideration of such problems, and utilizes a satellite positioning system and an ultrasonic transponder installed on a trawl network to accurately determine the position, wake, and water depth of the trawl network. It is an object of the present invention to provide a plotter system capable of calculating and displaying.

[0007]

SUMMARY OF THE INVENTION The present invention relates to a tow vessel for towing a trawl network, and an ultrasonic transponder installed on the trawl network for transmitting an ultrasonic signal to an ultrasonic signal transmitted from the tow vessel. And at least two buoys, a plotter system device including a GPS receiving unit and an ultrasonic receiving unit mounted on the buoy, a GPS receiving unit, an ultrasonic transmitting / receiving unit, and an arithmetic processing unit mounted on the towing ship. And a plotter system device comprising a plotter device.

According to the present invention, the position data of the towed ship and the buoy measured by the GPS receiving means, the ultrasonic wave is transmitted from the towed ship to the ultrasonic transponder and the ultrasonic wave is transmitted, and at least two buoys are towed. Three hyperboloids (underwater three-dimensional space) are obtained from the ultrasonic reception time data received by the ship, and the position of the intersection of the three hyperbolas is determined by the arithmetic processing means to the position of the ultrasonic transponder, the water depth, That is, by calculating the position and the water depth of the trawl net, the accurate position and the water depth of the trawl net can be displayed on the screen of the plotter device.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below in detail.

FIG. 1 is a schematic diagram showing a configuration of a plotter system 10 according to an embodiment of the present invention, and FIG. 2 is an electric circuit block diagram showing a detailed configuration of the plotter system 10 shown in FIG.

In FIG. 1, reference numeral 12 denotes a towed vessel of a trawl net, 14 denotes a trawl net, 16 and 18 denote towing lines for towing the trawl net, 20 and 22 denote marine buoys arbitrarily drifted on the sea surface, Reference numerals 24, 26, and 28 denote ultrasonic transponders installed at the front upper and rear upper ends and the rear upper end of the trawl net 14. The ultrasonic transponders transmit ultrasonic signals by using the ultrasonic signals transmitted from the towing ship 12 as triggers.

Plotter system devices 200 and 220 are mounted on the marine buoys 20 and 22, respectively. The plotter system devices 200 and 220 are provided with GPS receiving means as satellite positioning means for measuring the positions of the marine buoys 20 and 22. , And ultrasonic receiving means for receiving ultrasonic signals from the ultrasonic transponders 24, 26, and 28.

The towing vessel 12 includes a plotter system device 12.
0 to carry the GP for measuring the position of the towing vessel 12
S receiving means and ultrasonic transponders 24, 26, 28
And an ultrasonic transmission / reception means for transmitting ultrasonic waves to and receiving ultrasonic signals from the ultrasonic transponders 24, 26, and 28, and receiving GPS signals mounted on the marine buoys 20, 22 and the towing ship 12. Based on the position data of the towing ship 12 and the marine buoys 20 and 22 measured by the means, the ultrasonic transmission time from the towing ship 12 and the reception time of the ultrasonic signal received from the ultrasonic transponders 24, 26 and 28. It is composed of arithmetic processing means for calculating the position and the water depth of the trawl net 14, and a plotter device having a display for displaying the calculated position and the water depth of the trawl net.

The calculation method in the arithmetic processing means is, for example, the same as a well-known method for obtaining a position from the sound of a cannon firing. In this embodiment, the cannons correspond to the ultrasonic transponders 24, 26, and 28, respectively. Marine buoys 20, 2
2 and the towing ship 12 correspond to ears (sonic wave sensors). Ultrasonic waves are transmitted from the towing ship 12 to the ultrasonic transponders 24, 26 and 28, and the ultrasonic waves are transmitted from the ultrasonic transponders 24, 26 and 28 using this as a trigger, and the two marine buoys 20 and 22 of the ultrasonic waves are transmitted. And three hyperboloids (underwater three-dimensional space) from the ultrasonic reception time at the towing ship 12 and
It is based on the principle that the position of the intersection of these three hyperboloids is the position and the water depth of the ultrasonic transponders 24, 26 and 28, that is, the position of the trawl net 14 and the water depth.

Next, the plotter system devices 120 and 20
The detailed configuration and operation of 0 and 220 will be described.

As shown in FIG. 2, the plotter system 10 includes a plotter system device 120 mounted on the trawl towing vessel 12, plotter system devices 200 and 220 mounted on the marine buoys 20 and 22, and a trawl network 14. Ultrasonic transponders 24, 2 installed on both front upper ends
6 and an ultrasonic transponder 2 installed at the upper rear end
8 and the ultrasonic transponders 24, 26,
Numeral 28 is configured to transmit the ultrasonic signal in synchronization with the ultrasonic signal transmitted from the ultrasonic signal transmitter / receiver (ultrasonic transmitting / receiving means) of the plotter system device 120 mounted on the towing ship 12. I have.

As shown in FIGS. 3 and 4, the plotter system devices 200 and 220 mounted on the marine buoys 20 and 22 receive satellite signals from GPS satellites (not shown) through GPS antennas 216 and 226, respectively. And GPS receivers 202 and 222 for measuring the positions of the marine buoys 20 and 22, and a GPS synchronized with the clock of a GPS satellite
Synchronous clocks 204 and 224 and GPS receivers 202 and 22
The ultrasonic signals from the ultrasonic transponders 24, 26, and 28 installed in the trawl network 14 are transmitted through the ultrasonic sensors 214 and 234, respectively. Ultrasonic receivers 208 and 238 for receiving as signals and generating a position / time storage trigger signal, and a position / time storage memory 2
06, 236, the wireless antenna 218,
228, the plotter system equipment 12 of the towing vessel 12
0, and transmitters 212 and 232 for wireless transmission.

As shown in FIG. 2, the trawl towing ship 12
A GPS receiver 122 that receives satellite signals from GPS satellites through a GPS antenna 138 and measures the position of the towing ship 12.
And a GPS synchronization clock 124 synchronized with a GPS satellite clock
And a position for storing the position and time information measured by the GPS receiver 122, the ultrasonic transmission time from the ultrasonic transceiver 128 described later, and the reception time of the ultrasonic signal from the ultrasonic transponders 24, 26 and 28. A time storage memory 126, an ultrasonic transceiver 128 for transmitting an ultrasonic signal in synchronization with a trigger signal generated from the GPS synchronous clock 124 at a preset time based on the GPS synchronous clock 124, and a marine buoy 20 , 22 through a wireless antenna 140 to receive and convert the radio signals into digital signals, and temporarily store the position / time information stored in the position / time storage memory 126 and the data received by the receiver 130. And a temporary position / time storage memory 132 for storing the information.

Reference numeral 134 indicates an ultrasonic signal transmitted to the ultrasonic transponders 24, 26 and 28 installed on the trawl network 14, and the ultrasonic transponder 24,
It is a transducer that converts the ultrasonic signals from 26 and 28 into electric signals.

The plotter system equipment 120 mounted on the trawl towed ship 12 further receives the ultrasonic transponders 24 and 26 installed on the trawl net 14 from the position and time information stored in the temporary position / time storage memory 132. ,
A trawl net position / water depth calculation unit 142 for calculating the position and the water depth of the 28, the position of the towing vessel 12, and the positions and the water depths of the ultrasonic transponders 24, 26 and 28 are displayed on a display unit of the plotter device (called a plotter display unit or a plotter screen). .) 150
Conversion unit 144 for converting the display screen into x, y coordinates
And the towing ship 12 whose coordinates have been converted by the coordinate conversion unit 144.
, The positions of the ultrasonic transponders 24, 26, and 28 and the water depth data in the display memory 148 to be written and written.

A plotter system 1 according to this embodiment
0 is basically configured as described above. Next, the operation will be described in detail.

The GPS receivers 122, 202, 222 mounted on the towing vessel 12 and the marine buoys 20, 22 are GPS
It receives satellite signals from satellites, constantly measures the positions of the towing ship 12, and the marine buoys 20, 22, and sends the measured position data to the position / time storage memories 126, 206, 236.
At the same time, the time data synchronized with the clock of the GPS satellite is transmitted to the GPS synchronized clocks 124, 204 and 224.

Since this time data is synchronized with the time of the GPS satellite, the towing ship 12 and the marine buoys 20 and 22
GPS synchronous clocks 124, 204, and 224 all count the same time. As a result, the positions and times of the towing vessel 12 and the marine buoys 20 and 22 are constantly measured and synchronized, so that the marine buoys 20 and 22 may be in a state of being strayed at an arbitrary position on the sea surface.

In such a state, the GPS synchronous clock 124 of the plotter system equipment 120 installed on the towing ship 12
, A transmission trigger signal is generated at a predetermined time, and transmitted to the ultrasonic transceiver 128. Based on the transmission trigger signal, an ultrasonic signal is generated from the ultrasonic transmitter / receiver 128, the ultrasonic signal is transmitted into the sea through the transmitter / receiver 134, and the position / time storage memory 126
The trigger signal for storing the transmission time is transmitted, and the transmission time of the ultrasonic signal is stored in the position / time storage memory 126.

The ultrasonic transponders 24, 26 and 28 installed on the trawl net 14 placed under the sea receive the ultrasonic signals transmitted from the transducer 134 and transmit the ultrasonic signals under the sea.

The ultrasonic signals transmitted from the ultrasonic transponders 24, 26, and 28 are received by the ultrasonic receivers 208 and 238 through the ultrasonic sensors 214 and 234 provided on the marine buoys 20 and 22, respectively. The signals are converted into position / time storage trigger signals for the transponders 24, 26, and 28 and sent to the position / time storage memories 206, 236.

The position / time storage memories 206 and 236
In synchronization with the timing of the position / time storage trigger signal for each of the ultrasonic transponders 24, 26, and 28, the GPS position at that time and the time of the GPS synchronous clock are set to the GPS position of each ultrasonic transponder 24, 26, and 28. The data is stored as GPS time, and when the storage is completed, the stored data is transmitted to transmitters 212 and 232 for wireless transmission. Transmitter 212, 2
32, the GPS position of the ultrasonic transponders 24, 26 and 28 and the G
The PS time data is transmitted to the towing ship 12. The processing of the ultrasonic signals from these ultrasonic transponders 24, 26, 28 is performed in a time-division manner.

Similarly, the ultrasonic transceiver 128 of the towing ship 12
But the ultrasonic transponder 2 through the transducer 134
4, 26, and 28, and receives and converts them into position / time storage trigger signals for the ultrasonic transponders 24, 26, and 28, and stores the position / time storage memory 1.
26.

The position / time storage memory 126 synchronizes with the timing of the position / time storage trigger signal for each of the ultrasonic transponders 24, 26 and 28, and stores the GPS at that time.
The position and the time of the GPS synchronous clock are stored as the GPS position and the GPS time of each of the ultrasonic transponders 24, 26, and 28. When the storage is completed, the stored data is temporarily stored together with the transmission time data of the ultrasonic signal. Memory 1
32.

On the other hand, the position / time data wirelessly transmitted from the marine buoys 20 and 22 is received by the receiver 130 via the wireless antenna 140 in the towed vessel 12, converted into digital data, and temporarily stored in the towed vessel 12. The data is sent to the storage memory 132.

The ultrasonic transmission time stored in the temporary position / time storage memory 132, the GPS position / GPS of the towing ship 12
Time data, ultrasonic transponders 24, 26, 28
GPS position and GPS time data are
It is sent to the water depth calculator 142.

The trawl net position / depth calculating unit 142 receives the ultrasonic transmission time (GPS time) from the towing ship 12 and receives the ultrasonic transponders 24, 26, 28 from the towing ship 12 and the marine buoys 20, 22. From the time (GPS time), the distances from the towing ship 12, the marine buoys 20, 22 and the ultrasonic transponders 24, 26, 28 are calculated.

The trawl net position / water depth calculator 142
Is the distance between the towed ship 12, the marine buoys 20, 22 and each of the ultrasonic transponders 24, 26, 28,
The positions and water depths of the ultrasonic transponders 24, 26, 28 are calculated from the positions of the towing ship 12 and the marine buoys 20, 22.

As described above, this calculation method is to transmit the ultrasonic waves from the towing ship 12 to the ultrasonic transponders 24, 26, and 28 to transmit the ultrasonic waves, and the two marine buoys 20,
The three hyperboloids (underwater three-dimensional space) are obtained from the ultrasonic reception time of the towed ship 12 and the position of the intersection of the three hyperboloids and the water depth, that is, the ultrasonic transponders 24 and 2.
The position and water depth of 6, 28 are calculated.

The positions of the towing ship 12 and the marine buoys 20 and 22 can be known from time to time by measuring the GPS satellite signals, and the clock for measuring the transmission / reception time of the ultrasonic signal is determined by the GPS synchronous clock mounted on each satellite. The time synchronized with the time can be accurately measured. Therefore, at least two marine buoys 20 and 22 are required, and if the number is three or more, the ultrasonic transponders 24 and
It is also possible to further improve the measurement accuracy of the geometric calculation of the positions of 6, 28, that is, the position calculation of the trawl net 14.

The time data calculated by the trawl net position / depth calculation unit 142, the towing vessel 12, and the marine buoy 2
0, 22 position data, towing vessel 12, marine buoy 20,
22 and distance data between the ultrasonic transponders 24, 26, 28, and the ultrasonic transponders 24, 26, 28
Is sent to the coordinate conversion unit 144, and the coordinate conversion unit 144 displays these data on the plotter display unit 15.
The data is converted into x and y coordinates so that the image can be displayed at 0 and sent to the display control unit 146.

The display control unit 146 controls the towing vessel 1 based on the x and y coordinate data converted by the coordinate conversion unit 144.
2 position / track, each ultrasonic transponder 24, 26,
The position / depth 28 is written as the position / depth / track of the trawl net 14 in the display memory 148, and the plotter display unit 1
50 is displayed.

FIG. 5 shows the plotter screen 1
FIG. 5 is a diagram showing the state of the towed vessel 12 and the trawl net 14 displayed at 50, and the current position P and wake T of the towed vessel 12, the position PN and wake TN of the trawl network 14, and the water depth D are displayed on the plotter screen 150. Is done.

[0039]

As described above, according to the present invention, the GP
The position data of the towed vessel and the marine buoy measured by the S receiving means, and the ultrasonic wave transmitted from the towed vessel to the ultrasonic transponder to transmit the ultrasonic wave, and the ultrasonic reception time received from the two marine buoys and the towed vessel From the data, three hyperboloids (underwater three-dimensional space) are obtained, and the position of the intersection of the three hyperbolas is determined by the arithmetic processing means with the position of the ultrasonic transponder and the water depth, that is, the position of the trawl net and the water depth. By calculating as, the accurate position and water depth of the trawl net can be displayed on the plotter device based on the calculation result.

[Brief description of the drawings]

FIG. 1 is a schematic diagram showing a configuration of a plotter system according to an embodiment of the present invention.

FIG. 2 is an electric circuit block diagram showing a detailed configuration of the plotter system shown in FIG.

FIG. 3 is a block diagram illustrating a configuration of a plotter system device mounted on a buoy.

FIG. 4 is a block diagram illustrating a configuration of a plotter system device mounted on another buoy.

FIG. 5 is a diagram showing a drawing example of a trawl net position, water depth, and wake displayed by the plotter system of the present invention.

FIG. 6 is a diagram showing a display example of a position and a wake of a conventional trawl network.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 10 ... Plotter system 12 ... Towing ship 14 ... Troll net 16, 18 ... Towing line 20, 22 ... Marine buoy 24, 26, 28 ... Ultrasonic transponder 120 ... Plotter system equipment mounted on towing ship 122, 202, 222 ... GPS reception ... 124, 204, 224 ... GPS synchronous clock 126, 206, 236 ... position / time storage memory 128 ... ultrasonic transceiver 130 ... receiver 132 ... temporary position / time storage memory 134 ... transducer 138, 216, 226 ... GPS antennas 140, 218, 228 Radio antenna 142 Troll net position / depth calculation unit 144 Coordinate conversion unit 146 Display control unit 148 Display memory 150 Plotter display unit (plotter screen) 200, 220 Plotter system equipment 214, 234 ... Ultrasonic sensor

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification code FI Theme coat ゛ (Reference) G01S 7/62 G01S 15/74 15/74 7/62 C

Claims (3)

[Claims] 1. A trawl network arranged in the sea, a tow ship towing the trawl network, and an ultrasonic signal transmitted by using an ultrasonic signal transmitted from the tow ship as a trigger installed on the trawl network An ultrasonic transponder, and at least two buoys arranged on the sea, the buoy mounted with a plotter system device including a GPS receiving unit and an ultrasonic receiving unit; And a plotter system device including an ultrasonic transmission / reception unit, an arithmetic processing unit, and a plotter device, and the position data of the towing ship and the buoy measured by each of the GPS receiving units, and an ultrasonic signal transmission time from the towing ship, ,
Based on the reception time of the ultrasonic signal received from the ultrasonic transponder, the arithmetic processing unit calculates the position and the water depth of the trawl net, and displays the position and the water depth of the trawl net on the screen of the plotter device. A plotter system. 2. The plotter system according to claim 1, wherein said plotter system equipment mounted on said buoy receives a GPS satellite signal for measuring a time synchronized with a position of said buoy and a GPS satellite time. An ultrasonic receiver that receives an ultrasonic signal from the ultrasonic transponder; and a transmitter that transmits position data of the buoy and ultrasonic signal reception time data from the ultrasonic transponder, A plotter system device mounted on the towed vessel includes a GPS receiver that receives a GPS satellite signal to measure a time synchronized with the position of the towed vessel and GPS satellite time, and transmits an ultrasonic signal into the sea at a predetermined time. An ultrasonic transceiver for transmitting and receiving ultrasonic signals from the ultrasonic transponder; and a position of the buoy transmitted from the buoy. And a receiver for receiving ultrasonic signal reception time data from the ultrasonic transponder, and an ultrasonic signal transmission / reception time between the data transmitted from the buoy, the position data of the towing vessel, and the ultrasonic transponder. A trawl net position / depth calculating unit for calculating the trawl net position / water depth from the data, based on the data calculated by the trawl net position / water depth calculating unit, the position of the towing vessel, the wake, and the position of the trawl net. A plotter display unit for displaying a wake and a water depth. 3. The plotter system according to claim 1, wherein the ultrasonic transponders are installed at both front upper ends and rear upper ends of the trawl net.