JP2000292539A - System and device for three-dimensional visualization for fish finder - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable a system and device for three-dimensional visualization to process volume data which are successively updated as a ship advances. SOLUTION: A system for three-dimensional visualization is provided with a volume memory in which a plurality of plane memories is formed along the advancing direction of a ship, transmits a pulse wave toward the sea bottom from an ultrasonic wave transducer provided on the bottom of the ship, and forms plane data from received echo data. At the time of successively writing the plane data in each plane memory of the volume memory, the system successively updates volume data by clearing the data in the last plane memory of the volume memory and writing new plane data in the last plane memory.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional visualization system for a fish finder to which a new three-dimensional object visualization technique (volume visualization) is applied, and in particular, volume data (numerical data defined in a three-dimensional space) therefor. For the sequential update process.

[0002]

2. Description of the Related Art One of rendering techniques using CG (computer graphics) is a technique called a ray casting method. In this technique, first, a target object constituted by poxels is arranged in a virtual three-dimensional space defined on a memory space of a volume memory. Each voxel is given internal information of the target object as a plurality of voxel values.

[0003] In order to visualize the contents of the volume memory, rendering is performed in the line of sight to visualize the contents of the volume memory, and the result is temporarily stored on the side or bottom surface of the volume memory called a base plane.
Next, the contents of the base plane are projected onto a projection plane perpendicular to the line of sight, and a graphic is displayed based on the projected data.

According to the ray casting method, since various internal information of the object can be freely visualized according to the purpose, it is used as a new visualization technique (volume visualization) of a three-dimensional object such as a living body. In recent years, it has attracted attention.

However, a large-capacity memory is required to accommodate the voxels in the three-dimensional space, and the memory must be read out at a high speed in order to calculate and output the data in real time. In order to realize this, a large-capacity memory for storing the progress of the calculation is required. Therefore, a lot of processing time is required, and even when the viewpoint and the target object move in virtual three dimensions, high-speed drawing processing by hardware is required to generate an image reflecting these movements in real time. It has been proposed (Japanese Patent Application No. 9-251024).

Further, in the conventional volume visualization, only fixed data once taken in is visualized from various angles, and processing of volume data that is successively updated has not been performed. As a specific example of such a sequential update, there is an application of a volume visualization to a fish finder.

A fish finder is a device that emits an ultrasonic wave, measures its echo, and displays the position, size, shape, shape of the seabed, and the like of a fish school in the sea. Since this fish finder is mainly used for finding a school of fish, it displays mainly the underwater in the traveling direction of the ship from the ship in progress. When volume visualization is applied to a fish finder, data measured from a ship in progress is accumulated as volume data, and this is visualized three-dimensionally.

[0008]

In such a three-dimensional visualization system for a fish finder, data is added one after another in the direction of travel as the ship progresses. Considering that such data is stored in a memory which is a finite resource, every time new data is added in the traveling direction, it is necessary to discard old data on the rear side. For this reason, in order to apply the volume visualization to a fish finder or the like, it is necessary to sequentially update the volume data.

Furthermore, since the ship equipped with the fish finder shakes as it progresses, its measurement becomes unstable, and it is particularly difficult to perform interpolation processing when interpolating data.

Therefore, the present invention makes it possible to process volume data that is sequentially updated in accordance with the progress / stop state of a ship, and to perform data interpolation processing when the measurement is unstable due to swaying of the ship or the like. 3 for fish finder that can easily perform
An object is to provide a dimensional visualization system.

[0011]

According to a first aspect of the present invention, there is provided a three-dimensional visualization system for a fish finder, comprising: a volume memory having a plurality of surface memories formed along a traveling direction of a ship; A pulse wave is transmitted from the transmitter / receiver to the bottom of the sea, surface data is formed from the received echo data, and the surface data is sequentially written to each surface memory of the volume memory. It is characterized in that the volume data is sequentially updated by clearing the data in the memory and writing new surface data to the surface memory.

According to this configuration, when new surface data is acquired, the data of the next surface memory among the surface memories constituting the volume memory is cleared, and the surface memory becomes the first. And new data is written. As a result, this process is repeated according to the progress of the ship, so that the volume data is sequentially updated, and three-dimensional visualization by the fish finder can be performed in real time.

According to a three-dimensional visualization system for a fish finder according to a second aspect of the present invention, in the three-dimensional visualization system for a fish finder according to the first aspect, the surface memory along the traveling direction of the ship of the volume memory is obtained by obtaining the inclination of the obtained surface data. It is characterized in that the plane data is sequentially written into each plane memory at an angle.

According to this configuration, it is necessary to consider the inclination of the volume memory itself in the actual three-dimensional visualization display. However, the capacity of the volume memory is sufficient for the area actually used for display. Can be reduced.

The three-dimensional visualization system for a fish finder according to a third aspect of the present invention is the three-dimensional visualization system for a fish finder according to the first aspect of the present invention. It is characterized in that surface data obtained by arranging vertically regardless of the angle is shifted and sequentially stored in a plurality of surface memories of the volume memory according to the inclination.

According to this configuration, when the surface data obtained in a state shifted by the angle of the scanner is stored in the volume memory, the data is sequentially shifted and stored in each of the surface memories of the volume memory. Although a capacity larger than the area actually used for display is required, rendering processing for display can be performed by ordinary processing without having to consider the inclination. In addition, since the volume memory has a large capacity in the forward and backward direction with respect to the direction of travel of the ship, when you want to see the situation just below when the ship stops, the volume data accumulated during the progress By using it, you can immediately see the state directly below, so that the display performance as a fish finder is improved.

According to a third aspect of the present invention, there is provided a three-dimensional visualization system for a fish finder, wherein a pulse wave is transmitted from an ultrasonic transducer provided on a ship bottom toward the sea floor, and surface data is formed from received echo data. An interpolated plane inclination signal and a plane address interpolation signal are obtained from the position and inclination of the ship at the time of data acquisition, and interpolation is performed based on the interpolated plane inclination signal from two plane data that approximate the plane data to the same plane shape. Surface data is formed, and the interpolated surface data is stored in a volume memory as surface data according to the surface address interpolation signal.

According to this configuration, the data surface shapes for one scan pulse emitted for measuring one surface are all approximated to the same fan-shaped planar shape, and interpolation for surface interpolation in various states is performed. By performing the coordinate assignment of the two target data planes, it is possible to easily perform interpolation between the two sector-shaped plane data.

According to a third aspect of the present invention, there is provided a three-dimensional visualization device for a fish finder, wherein three surface buffers to which surface data from a scanner are sequentially written, detection means for detecting the position and inclination of a ship,
Interpolation plane calculation means for receiving the position and inclination of the ship from the detection means and calculating the interpolation plane inclination and the plane address interpolation at the time of acquiring each plane data, and the planes from two plane buffers among the three plane buffers. Surface data interpolation calculation for approximating the same plane shape to the data based on the interpolation surface tilt signal from the interpolation surface calculation means, determining the position in the three-dimensional volume space, and calculating the interpolation surface data between the surface data. Means, and a volume memory for storing the interpolation plane data of the plane data interpolation calculation section as plane data in accordance with the plane address interpolation signal from the interpolation plane calculation section.

According to this configuration, the same effect as that of the fourth aspect is obtained, and three plane buffers are provided for the interpolation calculation, and the interpolation calculation and the acquisition of new plane data are simultaneously performed, thereby improving the processing efficiency. Can be achieved.

[0021]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described.
This will be described with reference to the drawings.

First, surface data input by a scanner for a fish finder will be described with reference to FIG. Sea level 13
Ultrasonic transducer 1 attached to the bottom of the upper ship 11
From 2, an arc-shaped pulse is fired toward the sea floor. The transducer 12 takes in echo data for the emitted pulse in an arc shape from the inside to the outside in order. The arc-shaped data collected as echoes for one firing pulse ultimately forms one sector-shaped surface data. At this time, the open angle of the circular arc of the echo data is θ, and the distance from the center (transmitter / receiver 12) to the outermost captured data is r.

When considering volume visualization with a fish finder, different data processing is required when the ship is moving forward and when it is stopped. First, data processing during traveling, which is the main usage pattern, will be described.

As shown in FIGS. 2 and 3, the scanner of the ship 11 is fixed toward the seabed 14 in front of the ship 11, and the data in front of the ship 11 is successively adjusted as the ship 11 advances. can get. At this time, it is necessary to write new data for one surface into the volume memory in addition to the data accumulated so far. The volume visualization during the progress of the ship requires a sequential update process in which new data obtained from the front of the ship is added to the volume memory, and the data in the rear memory is discarded accordingly.

FIG. 4 shows the state of the fetched volume data at the time of progress. The volume data is taken in as polar coordinates, but is converted to an XYZ rectangular coordinate system when stored in the volume memory. In addition, the traveling direction of the ship is defined as the Z axis,
The horizontal direction is defined as the X axis (in the following description, the same definition is used).

Next, with reference to FIGS. 5 to 7, a description will be given of a method of configuring a memory for performing a sequential update process of volume data.

Assuming that the size of the volume memory is n × n × n as shown in FIG. 5, this volume memory is perpendicular to the traveling direction Z of the ship as shown in FIG. 6, ie, parallel to the surface of the scanner. Is divided for each surface. In FIG. 6, surface numbers 0 to n-1 are sequentially assigned to the divided surfaces.

As the ship progresses, the data on the last surface of the volume memory is cleared, the surface is brought to the front, and new data is written. This process is repeated according to the progress of the ship, and the volume data is sequentially updated. Note that the sequential update state shown in FIG. 7 indicates a position where the k-1th surface of the volume memory comes to the front.

The following two methods are conceivable for the actual configuration of the volume memory when the ship is moving forward.
That is, as shown in FIG. 8, the volume memory itself is tilted by the tilt angle of the scanner, that is, the tilt of the input data, and the surface data to be input is sequentially stored in the n × n × n memory, and the volume rental is directly performed. As shown in FIGS. 9 (a) and 9 (b), a double memory is provided in the Z direction which is the traveling direction of the ship, and the volume memory itself is 2n × n without tilting. Two of the second methods of processing with × n memories are possible. here,
For the purpose of illustration as a volume memory, it is represented by a cube,
Although 2n is used, it is needless to say that these can be arbitrary. Note that FIG. 9A shows a diagram viewed from the side, and FIG. 9B shows a diagram viewed from above.

In the first method shown in FIG. 8, it is necessary to consider the inclination of the volume memory itself in the actual display, but the capacity of the volume memory is equal to the n × n × n area actually used for the display. Only the capacity is needed. The sequential update processing of the volume data according to the progress of the ship is performed only by inclining the input plane data and the plane memory of the volume memory by the inclination angle of the scanner, that is, the inclination of the input data. 7 can be performed similarly to the volume memory configuration of FIG.

However, since the volume memory has only the capacity corresponding to the area to be displayed, when switching from the traveling mode to the stop mode, all the volume data is cleared once, the inclination angle of the memory is changed, and all the data is re-inserted. The need comes out. In this case, after switching the mode,
The display is waited for a while only for the time required to register all the volume data.

In the second method shown in FIGS. 9A and 9B,
When storing the surface data obtained in the state shifted by the angle of the scanner in the volume memory, since the angle of the surface of the obtained surface data and the surface angle of the stored volume memory are different,
One surface data is sequentially shifted to each surface memory of the volume memory to be distributed and stored. For this reason, the capacity of the volume memory needs to be twice as large as the area of n × n × n actually used for display.

In the successive updating of the volume data in accordance with the progress of the ship, one surface data is sequentially shifted and stored in a plurality of surface memories of the volume memory. In order to store the data in the memory, it is necessary to clear a plurality of necessary surface memories in the back of the volume memory and bring the surface to the front so that new data can be written. .

According to the second method, the rendering process in the progress mode can be performed by a normal process without considering the inclination. In addition, since the volume memory has twice the capacity in the front-rear direction, when the ship stops and wants to see the state immediately below, the volume data accumulated during the process is used as it is, Will be able to see the situation. For this reason, the display performance as a fish finder is improved, and usability is further improved.

Next, data processing when volume visualization is performed by the fish finder when the boat stops will be described.

FIG. 10 is a view showing a state where the scanner angle is changed when the boat is stopped, and FIG. 11 is a view showing volume data obtained when the boat is stopped. When the ship stops, the position of the ship is fixed, and in order to visualize the situation directly below the ship, the fan-shaped surface data spreading in the lateral direction of the ship as shown in FIG. 1 described above is obtained in the longitudinal direction of the ship. Therefore, the angle of the scanner swings in the front-back direction, and the volume data is captured. Data processing at the time of stopping can be performed by a fixed memory, similarly to the conventional volume visualization.

FIG. 12 shows the state of the fetched volume data at the time of the stop. The data is taken in as polar coordinates of r and θ, but is converted to an XYZ rectangular coordinate system when stored in the volume memory. In FIG. 12, φ represents the angle swung in the front-rear direction of the scanner, and θ represents the open angle of the arc of the sector data as described above.

The sequential update processing of the volume data is as described above. Interpolation of plane data for this purpose will be described below.

When the ship is traveling straight and stably, the data from the transducer provided on the bottom of the ship is attached to a registered volume by attaching a sheet of paper as shown in FIG. They are input in order as they go. At this time, if there is a gap between the newly input plane data and the previous plane data, it is necessary to perform an interpolation calculation to obtain data that fills the gap.

The number of dots to be interpolated between two plane data is determined by the relationship between the traveling speed of the ship and the size registered in the volume memory. When the ship is traveling straight ahead stably, as shown in FIG. 13, the input data surface and the immediately preceding data surface are parallel, so that the same point on the two data surfaces is connected, and Interpolation data is obtained from the data by interpolation processing such as linear interpolation. In this case, since the X and Y coordinates of the two points to be interpolated are the same, it is sufficient to perform the interpolation calculation only on the Z coordinate of the volume memory. Since a pulse is emitted from the ultrasonic transducer in a constant cycle, the interval between the obtained surface data is temporally constant. When the speed of the ship changes,
In order to store data in the volume memory without distortion, the interval between the input data surface and the immediately preceding data surface must be changed according to the change in speed. Change.

The fish finder scanner mounted on the bottom of the ship is fixed in a specific direction while the ship is moving, but when the ship stops and the sea under the ship is measured, As shown in FIG. 14, the scanner is swung in the longitudinal direction of the ship to obtain fan-shaped data. In this case as well, the interpolation calculation is performed on the input data plane and the data plane immediately before, but the two planes are not parallel.
Many interpolation points are required. In this case, perform interpolation 2
Since the X coordinates of the points are equal, it is necessary to perform the interpolation calculation of the Y and Z coordinates of the volume memory.

As a method of interpolation between these surface data,
There is a method in which the maximum number of interpolation dots is determined and interpolation calculation is performed for the number of times. This method uses two data A and B and a clock (12 MHz) as shown in FIG.
And an interpolation calculation is performed by sequentially connecting the two-input averaging circuit I. In this example, a seven-dot interpolation circuit that outputs signals A to I using seven two-input averaging circuits I1 to I7 is shown. This method has a drawback that unnecessary calculation is performed when the number of interpolated dots between surfaces is less than the number. However, this method can reliably perform interpolation between two surfaces.

Next, a description will be given of the interpolation of data when the ship on which the fish finder is mounted shakes. If the ship experiences pitching and rolling, and large waves come in, the vertical position of the ship will also be large and move. In a state where the ship moves greatly,
It is difficult to use a fish finder to determine the exact situation in the sea, but the angle of the pulse emitted from the ultrasonic transducer relative to the ship can be easily known, The direction of movement and the sway of the ship are measured using a vertical gyro, and the three-dimensional position of the ship can be known using the GPS. Data can be created.

The data plane of the plane data input when the ship is shaking is shifted from the original plane, and the plane data of the original data plane is interpolated from the previous plane data and the current plane data. You will get.

First, when the ship pitches while the ship is moving, as shown in FIG. 16, the input data plane is parallel to the immediately preceding data plane which is the interpolation calculation partner. And the entire surface cannot be interpolated with the same interpolation dot number as in the case of stable running. In this case, if there is no roll, the X coordinate of the two points for performing the interpolation between the immediately preceding plane data and the current plane data is equal, so it is necessary to perform the interpolation calculation of the Y and Z coordinates of the volume memory. Yes.

In the case where the ship sways along with the pitching while the ship is moving, the data plane is not parallel as shown in FIG. As shown at the time of the roll in FIG. 17B, it also shifts to the side. If the data plane also shifts horizontally, the two planes to be interpolated are shifted, and the X, Y, and Z coordinates of the two points to be interpolated are all different. Needs to be calculated.

As described above, the interpolation calculation between the input data planes needs to be able to perform the interpolation calculation for all the coordinates of X, Y, and Z in consideration of the sway of the ship. In addition, pitching and rolling are considered separately up to this point, but in reality, pitching and rolling are mixed, and the ship moves in a complicated manner. Furthermore, the data surface obtained as a response of the pulse is not necessarily strictly flat because the ship shakes while waiting for the response of the pulse, and the data obtained from the scanner mounted on the bottom of the ship is more complicated. It will be. Therefore, it is extremely difficult to accurately specify the position of individual data obtained from the scanner and perform interpolation between the data, which is practically impossible.

Therefore, it is effective to adopt the following method as a method of simplifying the interpolation calculation to the extent that there is no practical problem. In other words, no matter whether it rolls or pitches,
The response to one scan pulse emitted to measure one surface is approximated to one sector plane, and the data surface shapes are all the same sector shape. Then, regarding the surface interpolation in various states described above, the two surface shapes to be interpolated are matched as shown in FIG.
Interpolation between the two sectors is easily performed by assigning coordinates to two data planes.

One method is to assign the coordinates of the data plane to the two farthest points as pulse reflection data, that is, the two points forming the fan-shaped tip and the three points of the position of the transducer that emits the pulse. Can be calculated by calculating a plane on which the data is to be taken and by regarding all surface data of this data surface as data on that surface.

When the plane interpolation is performed, the relative positions of the two planes are parallel, as shown in FIGS.
Various relationships such as opening, shifting, and crossing are possible.
In FIG. 19, since the two-dimensional representation is used, these are combined between the actual three-dimensional planes, but the interpolation is performed by connecting the corresponding positions of the same sector shape.

Hereinafter, the data interpolation method will be specifically described with reference to the block control diagram for writing volume data shown in FIG.

In FIG. 20, data input from a scanner 21 is converted by a coordinate converter 22 into a polar coordinate system (r, θ,
φ) to the orthogonal coordinate system (X, Y, Z), and then the three surface buffers 23-1 to 23-3.
Is written for each plane data acquired.

The interpolation plane tilt calculator 28 receives the ship position / tilt signal from the ship position / tilt detector 26, and the scanner tilt angle and pulse firing angle signals from the scanner tilt angle / pulse firing angle detector 27. Then, the coordinates of the plane data, the inclination calculation of the interpolation plane, and the like are performed, and the results are supplied to the coordinate converter 22, the plane data interpolation calculator 24, and the plane address interpolation calculator 29.

The plane data interpolation calculator 24 has a plane buffer 23
Based on the data of the two surface buffers among the surface buffers -1 to 23-3 and the interpolated surface inclination data from the interpolated surface inclination calculator 28, interpolated surface data is created, and the volume memory 2
5 The volume memory 25 writes the interpolation plane data from the plane data interpolation calculator 24 based on the plane address interpolation signal from the plane address interpolation calculator 29.

Basic data for interpolation, such as the position and inclination of the ship, the inclination angle of the scanner, etc., are supplied to the interpolation plane inclination calculator 28, and each data necessary for the interpolation of the plane data by the interpolation plane inclination calculator 28 is provided. Is calculated. Scanner 21
Are coordinated by the coordinate converter 22 on the basis of the data from the interpolation plane inclination calculator 28, and are converted from the polar coordinate system (r, θ, φ) to the rectangular coordinate system (X, Y, Z). After the conversion, the data is written to the surface buffers 23-1 to 23-3 for each of the obtained surface data.

At this time, the data captured by the reflected wave of one pulse, that is, all the surface data are all approximated to the same sector. Then, the acquired plane data is sequentially written to one of the three plane buffers 23-1 to 23-3. While input data is being written to one of the three surface buffers (for example, surface buffer 0), data is read from the other two buffers (surface buffer 1 and surface buffer 2), and the surface interpolation calculation is performed. Is performed.

When writing to one surface buffer is completed, interpolation calculation is performed between the surface buffer holding the immediately preceding data and the surface buffer whose writing has just finished. At this time, the interpolation calculation time for one surface is shorter than the data input time for one surface. When data input to one surface is completed, using this surface and the previous surface,
An interpolation calculation is performed. Since the data of the two previous planes is no longer needed, the next data is written to that plane buffer. In this way, by moving the write buffer and the read buffer one after another, data can be input without a break.

The interpolation calculation at this time will also be described with reference to FIG. 21. The interpolation plane inclination signal from the interpolation plane inclination calculator 28 is applied to the sector data of each of the plane buffers 23-1 to 23-3. , A position in the three-dimensional volume space that matches the position, inclination, and scanner inclination of the ship is determined. As a result, the volume memory addresses of the two sector data to be subjected to the interpolation calculation are determined.

Then, in the data interpolation calculation between the surface buffers, data at the same i-th row and j-th column are read out from the two surface buffers (surface buffer 0 and surface buffer 1). Perform interpolation calculation with.

The write address of the interpolation data obtained by the interpolation calculation in the plane data interpolation calculator 24 to the volume memory is determined by the plane address interpolation signal from the plane address interpolation calculator 29 in the i-th row of the two sector data. Eyes j
The volume memory address at the position corresponding to the column position is obtained by interpolation.

As described above, in the volume memory 25,
The sector data supplied from the plane data interpolation calculator 24 is sequentially aligned and stored by the plane address interpolation signal from the plane address interpolation calculator 29, and as a result, the sector is superimposed on the volume memory. Shape data is written.

According to this plane data interpolation method, the data plane shapes for one scan pulse emitted for measuring one plane are all approximated to the same fan-shaped plane shape, and the planes in various states are obtained. By performing the interpolation on the two data planes to be interpolated, the interpolation can be easily performed between the two sector-shaped plane data.

Even if this interpolation method is used, the volume data shape stored in the memory will be slightly distorted when the shaking is severe, when the ship changes course rapidly, etc. The fish finder only needs to know the approximate size and position, so it is not a practical problem in practice. In particular, when it is necessary to perform detailed measurement, it is sufficient to stop the measurement and perform the measurement straight forward.

This interpolation method can be measured when stable data can be obtained. Therefore, even if this method is applied to underground resource surveys, etc., when the shaking is severe, it should be limited to rough measurement and accurate. Where the measurement is necessary, the above interpolation method can be effectively used by devising an operation method such as performing detailed measurement again later.

[0065]

According to the first aspect of the present invention, when new surface data is acquired, the data of the last surface memory among the surface memories constituting the volume memory is cleared, and the new surface data is cleared. The memory is brought to the front and new data is written. As a result, this process is repeated according to the progress of the ship, so that the volume data is sequentially updated, and three-dimensional visualization by the fish finder can be performed in real time.

According to the configuration of claim 2, it is necessary to consider the inclination of the volume memory itself in the actual three-dimensional visualization display, but the capacity of the volume memory is sufficient for the area actually used for display. Thus, the memory capacity can be reduced.

According to the third aspect of the present invention, when the plane data obtained in a state shifted by the angle of the scanner is stored in the volume memory, the data is sequentially shifted to the respective plane memories of the volume memory and distributed and stored. The capacity of the memory needs to be larger than the area actually used for display. However, rendering processing for display can be performed by ordinary processing without having to consider inclination. In addition, since the volume memory has a large capacity in the forward and backward direction with respect to the direction of travel of the ship, when you want to see the situation just below when the ship stops, the volume data accumulated during the progress By using it, you can immediately see the state directly below, so that the display performance as a fish finder is improved.

According to the configuration of the fourth aspect, the data surface shapes for the pulses for one scan emitted for measuring one surface are all approximated to the same fan-shaped planar shape,
With respect to the surface interpolation in various states, by performing the coordinate assignment of the two data surfaces to be interpolated, the interpolation can be easily performed between the two sector-shaped surface data.

According to the configuration of claim 5, the same effect as in claim 4 is obtained, and three plane buffers are provided for interpolation calculation, and interpolation calculation and acquisition of new plane data are performed simultaneously. Processing efficiency can be improved.

[Brief description of the drawings]

FIG. 1 is a view for explaining surface data input by a scanner for a fish finder.

FIG. 2 is a diagram showing an ultrasonic emission direction during traveling.

FIG. 3 is a diagram showing acquired volume data at the time of progress.

FIG. 4 is a diagram showing a state of volume data taken in at the time of progress.

FIG. 5 is a diagram showing a volume memory size.

FIG. 6 is a diagram showing an initial state of a volume memory performing a sequential update process.

FIG. 7 is a diagram showing a state at the time of a sequential update of a volume memory performing a sequential update process.

FIG. 8 is a diagram showing a volume memory in which a memory surface is inclined in accordance with a scanner angle.

FIG. 9 is a diagram showing a volume memory in which the memory in the traveling direction is increased without tilting the memory surface.

FIG. 10 is a diagram showing a state in which the scanner angle when the boat is stopped is changed.

FIG. 11 is a diagram showing volume data obtained when the ship is stopped.

FIG. 12 is a view showing a state of volume data taken in when the ship is stopped.

FIG. 13 is a diagram showing a data interpolation state during stable progress.

FIG. 14 is a diagram showing a data interpolation state when the boat is stopped.

FIG. 15 is a diagram showing an example of an interpolation method between data.

FIG. 16 is a view for explaining a displacement of a data surface when the ship pitches.

FIG. 17 is a view for explaining a displacement of a data surface when the ship rolls.

FIG. 18 is a view for explaining interpolation of a data plane by approximating the data plane to the same shape and corresponding to the plane.

FIG. 19 is a diagram showing a relative positional relationship between two interpolation planes.

FIG. 20 is a block diagram of a volume data write control.

FIG. 21 is a view for explaining interpolation calculation between data at the same position in the surface buffer.

[Explanation of symbols]

 Reference Signs List 21 scanner 22 coordinate converter 23-1 to 23-3 surface buffer 24 surface data interpolation calculator 25 volume memory 26 ship position / tilt detector 27 scanner tilt angle / pulse emission angle detector 28 interpolation surface tilt calculator 29 surface Address interpolation calculator

Claims (5)

[Claims] 1. A volume memory in which a plurality of surface memories are formed along a traveling direction of a ship, a pulse wave is transmitted from an ultrasonic transducer provided on the bottom of the ship toward the sea floor, and a received echo is provided. Surface data is formed from the data, and when this surface data is sequentially written to each surface memory of the volume memory, the data of the last surface memory of the volume memory is cleared and new surface data is written to this surface memory. A three-dimensional visualization system for a fish finder, wherein the volume data is sequentially updated. 2. The three-dimensional visualization system for a fish finder according to claim 1, wherein the surface memory along the traveling direction of the ship in the volume memory is tilted by an inclination angle of the obtained surface data, and the surface memory is provided in each of the surface memories. A three-dimensional visualization system for a fish finder, characterized by sequentially writing data. 3. The three-dimensional visualization system for a fish finder according to claim 1, wherein the surface memory of the volume memory along the traveling direction of the ship is vertically arranged regardless of the inclination angle of the obtained surface data, and is tilted. A three-dimensional visualization system for a fish finder, wherein obtained surface data is sequentially shifted and stored in a plurality of surface memories of a volume memory according to its inclination. 4. A pulse wave is transmitted in the direction of the sea floor from an ultrasonic transducer provided on a ship bottom, and surface data is formed from received echo data. An interpolation plane inclination signal and a plane address interpolation signal are obtained. Interpolation plane data is formed based on the interpolation plane inclination signal from two plane data obtained by approximating the plane data to the same plane shape. A three-dimensional visualization system for a fish finder, wherein the three-dimensional data is stored in a volume memory as surface data according to the surface address interpolation signal. 5. Surface buffers to which surface data from a scanner are sequentially written, detecting means for detecting the position and inclination of the ship, and receiving the position and inclination of the ship from the detecting means, and obtaining each surface data. Interpolation plane calculation means for calculating the interpolation plane inclination and the plane address interpolation, and the same plane data from the two plane buffers among the three plane buffers as described above, using the interpolation plane inclination signal from the interpolation plane calculation means. Surface data interpolation calculating means for determining a position in the three-dimensional volume space by approximating the plane shape and calculating interpolation surface data between the surface data; A three-dimensional visualization device for a fish finder, comprising: a volume memory for storing as surface data in accordance with a surface address interpolation signal from a calculation means.