JP2009210491A - Sonar receiving device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To obtain acoustic information in all azimuth ranges in real time, and to improve the temporal efficiency by shortening the time required for target discrimination. <P>SOLUTION: In an active sonar device 20, an acoustic system 9 includes a central CH setting section 10 for calculating the azimuth of a cursor on B scope display and setting acoustic central channel information, a by-CH sound volume-time difference setting section 11 for calculating the sound volume difference corresponding to the directive difference between the right and left ears, and the arrival time difference between the right and left ear positions for the azimuth shifted from the cursor azimuth for each received signal of all beam channels, a by-CH sound volume-time difference providing section 12 for providing the by-CH sound volume-time difference to each of the received signals for the right and left of all the beam channels based on the by-CH sound volume-time difference setting information, and acoustic processing sections 14 and 15 for the right and left for composing the sum of outputs of the received signals for the right and left previously branched to two systems and converting it to an acoustic signal of an audible band. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a sonar receiver, and more particularly, a sonar receiver for improving an audio system in a configuration having two systems of a video display system (video display system) and an audio system as in an active sonar apparatus. Relates to the device.

  An active sonar device, which is representative of a sonar receiver device, has two systems, a video display system and a sound system, as a function to constantly monitor the search information during the search. That is, the device displays the search information as a starting video on the video display system based on the received signal obtained from the target by the search search, and the operator designates a specific signal on the video with the cursor in the listening system. Thus, the target is discriminated by using the two functions of obtaining the listening signal and listening. In this way, by utilizing not only the visual sense of the operator but also the auditory sense, the goal is determined more reliably.

  FIG. 4 is a block diagram showing a schematic configuration of a conventional active sonar apparatus having such two functions. As shown in the figure, the active sonar apparatus 100 emits a sound wave obtained by converting a transmission signal from a transmission / reception element into water, and transmits / receives a wave transmission / reception unit 101 that converts an echo sound wave from a target into a reception signal. A beam forming unit 102 that forms a plurality of standby beams formed continuously over a range, a signal processing unit 103 that performs signal processing such as noise removal from the standby beams, and a display processing unit 104 that performs signal processing necessary for display And B scope display section for displaying the received signal after the display processing as shown in FIG. 5 (the horizontal axis is the azimuth, the vertical axis is the time, and the signals in each direction are swept in time series) 105, a listening channel selection unit 106 for selecting a signal CH (channel) to be listened to, a cursor direction calculation unit 107 for calculating a cursor direction on the B scope display, A hearing unit 108 for converting the stomach signal CH audible band listening signal, and an hearing output unit 109 for listening to the operator listening signal such as the headset.

  Here, the signal processing unit 103, the display processing unit 104, and the B scope display unit 105 constitute a video display system 110. On the other hand, the listening sound CH selection unit 106, the cursor direction calculation unit 107, the listening processing unit 108, and the listening output unit 109 constitute an listening system 111. Further, as shown in the image of FIG. 4, the beam forming unit 102 phasing the outputs of the plurality of transmitting and receiving elements to form a plurality of standby beams that are continuously formed over the entire azimuth range. Is received by the video display system 110 and the listening system 111.

  The video display system 110 synchronizes the acoustic signals received by a plurality of standby reception beams formed so as to cover the omnidirectional range in synchronism with the sound wave propagation speed for each probe as shown in FIG. The B scope display is performed on the B scope display unit 105 so as to display the bright spot corresponding to the signal intensity by sweeping in the time direction. On the other hand, the listening system 111 converts an acoustic signal received by the standby reception beam channel corresponding to the cursor direction on the B scope display into a sound as a listening signal in synchronization with the sweep on the B scope display, and so on. The sound is output to the sound output unit 109 and the operator listens.

  When searching for a target, the search is performed while determining the presence / absence of a target based on the presence / absence of a bright spot swept and displayed in the B scope display and the presence / absence of an audio signal corresponding to the displayed bright spot. Here, the reception signal is constantly monitored in real time (real time) because the bright spot image showing the intensity of the reception signals of a plurality of standby reception beams over the omnidirectional range swept by the B scope display, This is a standby reception beam corresponding to the cursor direction on the B scope display, that is, a listening sound of a reception signal in a specific direction by a single beam.

By the way, in the conventional active sonar apparatus 100 shown in FIG. 4, when searching for the omnidirectional range, first, the target is determined based on the bright spot video in the B scope display that can always monitor the omnidirectional range in real time. Although noise removal measures are taken by signal processing, not only the target signal but also a bright spot video other than the target of reverberation and noise may be displayed, and a scene that is not sufficient as information for target discrimination occurs. In this case, the target is determined by placing the cursor at the position of the displayed bright spot and confirming the signal state by listening to sound in the next search and comparing it with the previous search of the display state of the bright spot. .
However, when many bright spot images other than the target of reverberation and noise are displayed on the bright spot video in the B scope display, the cursor is moved with respect to bright spot information other than the cursor direction for judgment by listening sound. It is necessary to wait for the next search and perform work for target discrimination. Therefore, since the listening information of the omnidirectional range cannot be obtained in real time, it takes time to discriminate the target in the search range, and there is a problem that time efficiency is poor.

  In order to solve such a problem, in order to give sound source direction identification information to the operator, four speakers arranged in a pair of left and right headed listeners correspond to the direction of the receiving beam. There has been provided an active sonar device configured to form a sound image (Patent Document 1). The active sonar device decomposes a received signal from a plurality of standby beams continuously formed over an omnidirectional range into vector components in arbitrary four azimuth directions orthogonal to each other, and synthesizes the vector components in the four azimuth directions. In response to the quadrants that exist in the four azimuth directions, the received signals synthesized are distributed to the four speakers arranged in the pair of left and right headed listeners so that the operator can listen to them. It has become.

There is also provided an underwater exploration apparatus that has an ultrasonic exploration function and an underwater audible sound listening function and enables a simple and inexpensive configuration (Patent Document 2). Furthermore, an acoustic localization control device configured to give acoustic localization to each of a plurality of series of sounds output from a plurality of sound sources is provided (Patent Document 3).
Japanese Utility Model Publication No. 03-110391 JP 2003-322679 A JP 07-271357 A

In addition, Patent Document 2 shows a configuration having two functions of a video display system and a listening system, but it deviates from this with the cursor direction on the B scope display as the center as in the present invention. It is not disclosed to improve the listening system by reflecting the difference in volume corresponding to the difference in directivity between the left and right ears and the time difference due to the positions of the left and right ears with respect to the azimuth.
Patent Document 3 discloses an acoustic localization control device configured to give acoustic localization to each of a plurality of series of sounds output from a plurality of sound sources. No mention is made of problems that arise when such an acoustic localization control device is combined with an active sonar device having two systems of functions.

However, the conventional active sonar apparatus has the following problems.
That is, in the conventional active sonar device disclosed in Patent Document 1, an operator always listens to a received signal over an omnidirectional range with four speakers arranged in a pair of left and right head-type listeners. Therefore, even when searching only within the limited azimuth range, it searches for the extra direction range outside the limitation and listens to the received signal, so that the time efficiency is not improved and the search is hindered. become. Further, the active sonar apparatus has no means for matching the reference orientation on the screen display in the video display system with the orientation that becomes the reference of the sound image, so that the image displayed in the video display system and the listening system are heard. Deviation from the position of the sound image is inevitable.

  The present invention has been made in view of the above-described circumstances, and is capable of obtaining listening information of an omnidirectional range in real time, shortening the time required for target discrimination, and improving time efficiency. The object is to provide a sonar receiver.

  In order to solve the above-described problems, the configuration of the present invention relates to a sonar receiver that outputs a received signal obtained from a target by searching and searching an omnidirectional range using sound waves, and outputs the received signal to a video display system and an audio system. The left and right branching means for branching the received signal into two systems for left and right, and calculating the cursor direction controlled on the B scope display in the video display system, and setting the listening center channel information Center channel setting means, and a volume difference corresponding to the difference between the directivity of the left ear and the directivity of the right ear, and the left ear and the right Based on the volume / time difference information for each channel and the volume / time difference setting means for each channel for calculating the arrival time difference depending on the position of the ear and setting the volume / time difference information for each channel, the two systems are branched. In addition, a channel-by-channel volume / time difference providing unit for applying a channel-by-channel volume / time difference to each of the left and right channels of the received signal, and each of the left and right received signals to which the channel-by-channel volume / time difference has been applied. A left sound processing unit and a right sound processing means for synthesizing the sum of outputs and converting the sound into an audible band sound signal; and a sound output means for inputting the two left and right sound signals and causing the operator to listen in stereo. It is a feature.

As described above, according to the configuration of the present invention, the cursor direction on the B scope display in the video display system is calculated, and the left and right ears are respectively detected with respect to the direction deviated from the cursor direction for all the channels of the received signal. The volume difference corresponding to the difference in directivity and the time difference depending on the positions of the left and right ears are calculated to set the volume and time difference information for each channel, and the left and right systems are branched in advance based on the volume and time difference information for each channel. Since the left and right signals of all channels of the received signal are given a volume and time difference for each channel, and the sum of the outputs of the left and right signals is synthesized to output the listening signal, the sound source direction identification information is given to the operator. Since the included listening sound information can be given, the sound can be heard with a pseudo stereophonic expression in which the azimuth direction of the sound source is expressed in the azimuth direction.
Therefore, it is possible to obtain the audible sound information in all directions in real time, and it is possible to improve the time efficiency by reducing the time required for the target discrimination.

  In the active sonar device 20, the listening system 9 calculates the azimuth of the cursor on the B scope display and sets the audible center channel information, and the received signals of all beam channels are shifted from the cursor azimuth. Based on the volume / time difference setting unit 11 for each CH that calculates the difference in sound volume corresponding to the difference in directivity between the left and right ears and the arrival time difference depending on the positions of the left and right ears, and the sound volume / time difference setting information for each CH In addition, each CH channel volume / time difference adding unit 12 for applying a CH volume / time difference to the left and right channels of the reception signals of all beam channels, and the reception signals of all beam channels are branched into two systems, left and right. A left and right branching unit 13, a left listening processing unit 14 and a right listening processing unit 15 that synthesize the sum of outputs of the left and right reception signals and convert them into an audible band listening signal; And a listening output unit 16 for stereo listening to the operator to input listening signal of the right two systems.

Embodiment 1

FIG. 1 is a block diagram showing a schematic configuration of a sonar receiving apparatus according to Embodiment 1 of the present invention, and FIG. 2 is a schematic diagram for explaining the operating principle of a sound system of the sonar receiving apparatus. In the first embodiment, an example applied to an active sonar device is shown.
As shown in FIG. 1, an active sonar apparatus 20 as a sonar receiving apparatus according to the first embodiment includes a transmission / reception unit 1, a beam forming unit 2, a video display system 3, and an audio system 9.
The transmission / reception unit 1 has a plurality of transmission / reception elements, emits sound waves obtained by converting transmission signals from these transmission / reception elements into the water over all azimuth ranges, and converts echo waves from the target into reception signals. Output to 2. The beam forming unit 2 phasing the outputs of a plurality of transmitting / receiving elements to form a plurality of standby beams formed continuously over an omnidirectional range, and a video display system 3 and a sound system 9 as reception signals of the respective beam channels. Output to.

  The video display system 3 includes a signal processing unit 4, a display processing unit 5, and a display unit 6. The signal processing unit 4 performs processing for removing the noise signal from the reception signal that is the output of the beam forming unit 2 and extracting an echo signal, and outputs the result to the display processing unit 5. The display processing unit 5 performs a process of generating a video signal for displaying video in the time series of all reception directions of the signal-processed signal, and outputs the signal to the display unit 7 as a B scope display. The display unit 6 receives the video signal from the signal processing unit 4 and displays a B scope display 7 as shown in FIG. 5 and a cursor control unit 8 for controlling the cursor C on the B scope display. Consists of

  The listening system 9 includes a central CH setting unit 10, a volume / time difference setting unit 11 for each CH, a volume / time difference giving unit 12 for each CH, a left / right branching unit 13, a left listening processing unit 14, and a right listening processing unit. 15 and the listening sound output unit 16. The center CH setting unit 10 calculates the direction of the cursor controlled by the cursor control unit 8 on the B scope display, sets the listening center channel information, and outputs it to the CH volume / time difference setting unit 11. The volume / time difference setting unit 11 for each CH outputs the left ear directivity and the right ear directivity shown in FIG. 2 for each of the reception signals of all beam channels output from the beam forming unit 2 with respect to the direction shifted from the cursor direction. The volume difference corresponding to the directivity difference and the arrival time difference depending on the positions of the left and right ears are calculated, and the volume / time difference information for each CH is set and output to the volume / time difference adding unit 12 for each CH. The CH volume / time difference assigning unit 12 assigns the CH volume / time difference to the left and right of the received signals of all beam channels based on the CH volume / time difference setting information. The left / right branching unit 13 branches the received signals of all the beam channels output from the beam forming unit 2 into two systems for left and right. The left listening processing unit 14 and the right listening processing unit 15 synthesize the sum of the outputs for the left and right outputs from the volume and time difference providing unit 12 for each CH, and convert the sum into an audible listening signal. The sound output unit 16 is composed of a headset or the like, and inputs two sound signals from left and right to make the operator listen in stereo.

When an operator wearing the headset constituting the sound output unit 16 operates the cursor and hears a beam signal formed corresponding to the cursor direction, as shown in FIG. A volume difference DV and a time difference DT are generated between the directivity AL and the directivity AR of the right ear.
Here, the volume difference DV is represented by the difference between the directivity AL of the left ear and the directivity AR of the right ear. On the other hand, the time difference DT is expressed by (distance between both ears × sin θ) / c (where, θ: deviation angle from the cursor direction LC, c: sound velocity).

Next, with reference to FIG.1 and FIG.2, operation | movement of the active sonar apparatus 20 by this Embodiment 1 is demonstrated.
First, a sound wave obtained by converting transmission signals from a plurality of wave transmitting / receiving elements in the wave transmitting / receiving unit 1 is launched into water, and an echo sound wave from a target is converted into a received signal and output to the beam forming unit 2. 2 phasing the outputs of a plurality of transmission / reception elements to form a plurality of standby beams formed continuously over an omnidirectional range, and to the video display system 3 and the sound system 9 as reception signals of the respective beam channels. Output.

  Next, the received signal output to the video display system 3 is swept and displayed as a B scope display image on the display unit 7 of the display unit 6 via the signal processing unit 4 and the display processing unit 5. On the other hand, the received signal output from the beam forming unit 2 to the listening system 9 is divided into two left and right systems in the left and right branching unit 13 for each beam signal, and the volume / time difference providing unit for each channel. 12 is output. Here, the center CH setting unit 10 calculates the direction of the cursor controlled by the cursor control unit 8 on the B scope display, sets the listening center channel information, and outputs it to the volume / time difference setting unit 11 for each CH.

  Next, the volume / time difference setting unit 11 for each CH outputs the directivity AL of the left ear shown in FIG. And the arrival time difference DT depending on the position of the left and right ears, and the volume difference DV corresponding to the difference between the directivity AR between the right ear and the right ear. Output to the time difference assigning unit 12.

  Next, the volume / time difference giving unit 12 for each CH sets the volume / time difference for each channel to the left system and the right system of the received signals of all the beam channels input from the left / right branching unit 13 based on the volume / time difference setting information for each CH. The time difference is given and output to the left listening processing unit 14 or the right listening processing unit 15.

  Next, the left sound processing unit 14 and the right sound processing unit 15 synthesize the sum of the outputs in the left system and the right system output from the volume and time difference providing unit 12 for each CH, and convert them into an audio signal in the audible band. Then, it outputs to the listening sound output part 16 which consists of a headset etc. as a sound signal of 2 systems of right and left. Thus, the operator can make two left and right stereo listening sounds by listening to the listening signal with the headset.

Thus, according to the configuration of the active sonar device 20 according to the first embodiment, the listening system 9 calculates the azimuth of the cursor on the B scope display and sets the listening center channel information, and the entire CH setting unit 10. A volume / time difference setting unit for each CH that calculates a difference in sound volume corresponding to the difference in directivity between the left and right ears and a difference in arrival time depending on the positions of the left and right ears with respect to each direction of the received signal of the beam channel that deviates from the cursor direction. 11, a volume-by-CH volume / time-difference adding unit 12 that gives a volume-by-CH volume / time difference to the left and right of the received signal of all beam channels based on the volume-by-CH volume / time difference setting information, and reception of all beam channels Left and right branching section 13 for branching each signal into two systems for left and right, and left for synthesizing the sum of the outputs of the left and right reception signals and converting them to an audible audio signal Since the sound processing unit 14 and the right sound processing unit 15 and the sound output unit 16 that inputs the two left and right sound signals and causes the operator to listen in stereo, the sound information including the sound source direction identification information is provided to the operator. Therefore, the sound can be heard with a pseudo stereophonic expression in which the azimuth direction of the sound source is expressed in the azimuth direction.
Therefore, it is possible to obtain the sound information of the omnidirectional range in real time, which eliminates the need to move the cursor direction and wait for the next search to discriminate the target as before, improving time efficiency. Can be made.

Embodiment 2

FIG. 3 is a block diagram showing a schematic configuration of a sonar receiving apparatus according to the second embodiment of the present invention. The configuration of the sonar receiving apparatus of the second embodiment is greatly different from that of the first embodiment described above in that a bright spot CH detection unit and a mute control unit are added to the listening system.
That is, in the active sonar device 22 as the sonar receiving device according to the second embodiment, as shown in FIG. 3, the bright spot CH detection unit 17 and the mute control unit 18 are added before the left and right branching unit 13 in the listening system 9. Has been. The bright spot CH detection unit 17 detects an azimuth and timing displayed as a bright spot on the display unit 7 of the video display system 3, and outputs a beam CH and timing information corresponding to the azimuth to the mute control unit 18. The mute control unit 18 inputs the beam signal for each CH output from the beam forming unit 2, the beam CH output from the bright spot CH detection unit 17, and timing information.
Except this, it is substantially the same as the first embodiment described above. Therefore, in FIG. 3, the same reference numerals are given to the respective parts corresponding to the constituent parts in FIG. 1, and the description thereof is omitted.

Next, the operation of the active sonar device 22 according to the second embodiment will be described with reference to FIG.
The video signals for each reception direction output from the display processing unit 5 of the video display system 3 are input to the display unit 6 and two systems input to the bright spot CH detection unit 17 as in the second embodiment. Fork. The bright spot CH detection unit 17 detects the azimuth and timing displayed as the bright spot on the display unit 7, and outputs the beam CH and timing information corresponding to the azimuth to the mute control unit 18. The mute control unit 18 inputs the standby beam signal for each CH output from the beam forming unit 2 and the beam CH and timing information output from the bright spot CH detection unit 17.

  Based on the beam CH and timing information, the mute controller 18 among the input received beam signals, the beam CH corresponding to the direction in which the bright spot is displayed on the display unit 7 and the amplitude of the received beam signal other than the timing thereof. Is forced to "0". In other words, the amplitude when the light is input to the mute control unit 18 is maintained only at the timing when the bright spot is displayed on the display 7 and only in the beam signal in that direction. The beam signal for each CH output from the mute control unit 18 is input to the volume / time difference providing unit 12 for each CH, and the subsequent operation is the same as that of the second embodiment.

With such a configuration, the mute of the listening sound output to the listening sound output unit 16 is released only in the direction and timing at which the bright spot is displayed on the display device 7. That is, sounds other than those detected as signals by signal processing are muted, and a decrease in S / N can be suppressed when used in a high noise situation.

  As described above, according to the active sonar device 22 according to the second embodiment, since only a part of the configuration in the listening system is different, it is possible to obtain substantially the same effect as in the first embodiment, and in addition, in a high noise situation. In use, it is possible to obtain an effect that a decrease in S / N can be suppressed.

  Although the embodiments of the present invention have been described in detail with reference to the drawings, the specific configuration is not limited to these embodiments, and even if there is a design change or the like without departing from the gist of the present invention. Included in the invention. For example, in each embodiment, the active sonar device has been described as an example of the sonar receiving device. However, the present invention is not limited to this and can be similarly applied to a passive sonar device.

It is a block diagram which shows schematic structure of the sonar receiver which is Embodiment 1 of this invention. It is the schematic explaining the operating principle of the listening system of the sonar receiver. It is a block diagram which shows schematic structure of the sonar receiver which is Embodiment 2 of this invention. It is a block diagram which shows schematic structure of the conventional sonar receiver. It is a figure which shows an example of the B scope display in the sonar receiver.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Transmission / reception part 2 Beam forming part 3 Video display system 4 Signal processing part 5 Display processing part 6 Display part 7 Display 8 Cursor controller 9 Hearing system 10 Central CH setting part 11 Volume for every CH and time difference setting part 12 Volume for every CH Time difference giving unit 13 Left / right branching unit 14 Left sound processing unit 15 Right sound processing unit 16 Sound output unit 17 Bright spot CH detection unit 18 Mute control unit 20, 22 Active sonar device (sona receiver)

Claims (5)

A sonar receiver that outputs a received signal obtained from a target by searching and searching an omnidirectional range using sound waves to a video display system and an audio system,
The listening system is
Left and right branching means for branching the input received signal into two systems for left and right;
Center channel setting means for calculating a cursor direction controlled on the B scope display in the video display system and setting listening center channel information;
A difference in volume corresponding to the difference between the directivity of the left ear and the right ear, and the arrival time difference due to the positions of the left ear and the right ear, with respect to the direction deviated from the cursor direction for each channel of the received signal. Channel-by-channel volume / time difference setting means for calculating and setting volume-by-channel volume / time difference information;
Based on the volume and time difference information for each channel, a volume and time difference providing unit for each channel that gives a volume and time difference for each channel to the left and right of all the channels of the received signal branched into the two systems,
The left sound processing unit and the right sound processing means for synthesizing the sum of the outputs of the left and right reception signals to which the volume and time difference for each channel is given, and converting them into an audible band sound signal;
An audio output means for inputting the audio signals of the left and right systems and causing the operator to listen in stereo;
A sonar receiver comprising:   The received signal obtained from the target is input to the front stage of the video display system and the audio system, and the signals of all channels of the received signal are phased, and a plurality of continuously formed over the omnidirectional range. 2. The sonar receiver according to claim 1, further comprising beam forming means for forming a standby beam and outputting the beam to the video display system and the listening system.   The listening system further detects a azimuth and timing displayed as a luminescent spot on the B scope display in the video display system, and outputs a luminescent spot channel detection means that outputs a beam channel and timing information corresponding to the azimuth. 2. The standby beam for each channel outputted from the beam forming means, and the mute control means for inputting the beam channel outputted from the bright spot channel detecting means and the timing information. Or the sonar receiver of 2.   And a transmission / reception unit that has a plurality of transmission / reception elements, emits sound waves from the transmission / reception elements over an omnidirectional range, and converts echo waves from the target into the reception signals and outputs them. The sonar receiver according to claim 1, 2 or 3.   The sonar receiving apparatus according to any one of claims 1 to 4, wherein the sonar receiving apparatus comprises an active sonar apparatus.

Images