JP2011002413A - Ultrasonic underwater video capture device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an ultrasonic underwater video capture device for recognizing underwater targets independent of safety, high efficiency and underwater turbidity, without depending on divers.SOLUTION: The ultrasonic underwater video capture device includes a transmitter for transmitting ultrasonic waves of different frequencies in an azimuth direction; a receiver for receiving reflection waves from ultrasonic targets transmitted from the transmitter; a processing means for processing information of the reflection waves from the targets as three-dimensional measurement results; and a display section for displaying the three-dimensional measurement results as video. The device includes a video processing means for being rotatably displayed so as to display the video from optional visual points.

Description

  The present invention relates to an ultrasonic underwater image acquisition apparatus, and more particularly to an ultrasonic underwater image acquisition apparatus that can easily and safely perform underwater civil engineering work with a simple apparatus configuration due to sludge and the like.

  Conventionally, in underwater work such as underwater, after underwater civil engineering work was performed from the ground using a backhoe or the like, confirmation of the construction status was performed by a diver underwater, level surveying or visual inspection. However, when the construction distance is long, etc., it has been desired to ensure the safety of divers' work and to improve the work efficiency. Further, in the conventional confirmation method, there is a problem that it is difficult to judge an appropriate situation when the transparency in water is low and the viewing distance in water by a diver is short. Against this background, in recent years, there has been a demand for a technology for underwater visual recognition that is safe, highly efficient, and does not depend on turbidity in water, regardless of divers. As another method for confirming the construction status, it is conceivable to use a camera using a widely known optical lens, but if the transparency in water is low, the construction status can be confirmed using an optical lens. There was a problem that it was difficult to do.

  Further, as described in Patent Document 1, there is known a measuring apparatus that can directly measure a three-dimensional space using a transmitter having different transmission directions depending on frequencies.

  As shown in FIG. 10, this measuring apparatus includes a transmitter 110 that transmits ultrasonic waves 120 having different frequencies in the azimuth direction X, and converges the ultrasonic waves 120 only in a one-dimensional direction, and forms a fan-shaped ultrasonic beam. A cylindrical acoustic lens 111 for transmitting the object 121 to the object 131 and a received wave that forms the reflected wave 122 from the object 131 as an object image on the received wave detection surface 142 divided in the Z-axis direction. And an acoustic lens 141.

  Further, as shown in FIG. 11, the wave receiving detection surface 142 is divided in the Z-axis direction by arranging the wave receiving elements 143 formed elongated in the azimuth direction X in the Z direction. Is forming.

  As described above, in the conventional measuring apparatus 100, the frequency of the fan-shaped ultrasonic beam 121 that irradiates the object 131 differs depending on the position in the azimuth direction X. Therefore, as shown in FIG. The position in the azimuth direction X can be known from the signal frequency component intensity at the output of each receiving element 143. On the other hand, the position in the Z direction can be known as the position of the wave receiving element 143 where the signal appears. Therefore, the two-dimensional shape of the object 131 can be known from these two pieces of position information.

  Further, the distance to the object 131 can be known from the propagation speed of the ultrasonic beam 121 and the round trip time from the transmission time to the reception time. Thus, in addition to the two-dimensional shape of the object 131, the conventional measuring apparatus 100 can know the entire shape of the object 131 in the three-dimensional space.

JP 47-26160 A

However, according to the configuration of the conventional measuring apparatus 100 described above, only the viewpoint of the transmission direction of the fan-shaped ultrasonic beam transmitted from the transmitter is displayed, and when confirming the construction status Therefore, it is necessary to move the measuring device to an arbitrary position and perform measurement again, which requires very laborious work.

  In addition, since the conventional measuring apparatus 100 performs measurement by one transmission, it is difficult to remove noise generated in a series of measurement operations such as transmission, reflection, and reception of a fan-shaped ultrasonic beam. there were.

  Therefore, the present invention has been made in view of the above problems, and the object thereof is to realize work safety and high work efficiency even when the construction work distance is long. An object of the present invention is to provide an ultrasonic underwater image acquisition device that can be used.

  An ultrasonic underwater image acquisition device according to the present invention receives a reflected wave from a transmitter that transmits ultrasonic waves having different frequencies in the azimuth direction, and an ultrasonic object transmitted from the transmitter. In an ultrasonic underwater image acquisition apparatus comprising: a wave receiver; a processing unit that processes information of a reflected wave from the object as a three-dimensional measurement result; and a display unit that displays the three-dimensional measurement result as an image The image processing means is characterized in that it comprises a video processing means that can be rotated so that the video can be displayed from an arbitrary viewpoint.

  In the ultrasonic underwater image acquisition device according to the present invention, the image can be displayed as a three-dimensional image.

  In the ultrasonic underwater image acquisition device according to the present invention, it is preferable that the image is displayed with the direction of the depth of water in the vertical direction of the display unit.

  In the ultrasonic underwater image acquisition device according to the present invention, it is preferable that the image displays a two-dimensional image having one dimension as a time axis.

  Further, in the ultrasonic underwater image acquisition device according to the present invention, the ultrasonic underwater image acquisition device includes an underwater work unit that performs work in water, and displays position information of the underwater work unit on the display unit. It is preferable.

  Further, in the ultrasonic underwater image acquisition device according to the present invention, the ultrasonic underwater image acquisition device includes a work information output unit that outputs work information related to underwater work, and the display unit includes the work Information can be displayed.

  In the ultrasonic underwater image acquisition device according to the present invention, it is preferable that the work information is a position and a shape before and after construction of an underwater construction target.

  In the ultrasonic underwater image acquisition device according to the present invention, the work information can output a spherical marker that enables measurement of the size of an underwater construction target.

  Moreover, in the ultrasonic underwater image acquisition device according to the present invention, the ultrasonic underwater image acquisition device includes three or more acoustic markers installed in the vicinity of an underwater construction target, and position information of the acoustic marker is obtained. By performing cumulative processing of the three-dimensional measurement result as a reference, noise in the three-dimensional measurement result can be removed.

  Since the ultrasonic underwater image acquisition apparatus according to the present invention can display the image based on the acquired three-dimensional measurement result from an arbitrary viewpoint so as to be rotatable, the ultrasonic underwater image acquisition is possible. With the apparatus fixed at a fixed point, the shape of the object can be confirmed, and the construction status can be confirmed efficiently. In addition, since the ultrasonic underwater image acquisition device according to the present invention acquires the three-dimensional measurement result using ultrasonic waves, even if the underwater transparency is low, it is not affected by underwater sludge, etc. The situation can be confirmed and the safety of divers can be ensured.

  Moreover, since the ultrasonic underwater image acquisition apparatus according to the present invention can display a two-dimensional image having one dimension as a time axis, it is possible to grasp the progress of the construction status of the object.

  Furthermore, the ultrasonic underwater image acquisition device according to the present invention includes an underwater work unit that performs work underwater, and can display position information of the underwater work unit on the display unit. The construction status can be confirmed in real time.

  Furthermore, since the ultrasonic underwater image acquisition device according to the present invention can display the position and shape of the underwater construction object before construction and after construction, the progress of civil engineering work in water can be displayed in real time. Can be confirmed.

  In addition, since the ultrasonic underwater image acquisition device according to the present invention can output a spherical marker for measuring the size of an underwater construction object, it is possible to easily grasp the size of the construction object. it can.

  Furthermore, the ultrasonic underwater image acquisition device according to the present invention performs a process of accumulating the three-dimensional measurement result on the basis of the positional information obtained by the acoustic marker installed on the underwater construction object, thereby reducing the noise of the three-dimensional measurement result. Can be removed, so that a high-quality three-dimensional image can be displayed.

It is the schematic explaining the structure of the ultrasonic type underwater image acquisition apparatus which concerns on this embodiment. It is the schematic explaining the structure of the transmitter which comprises the ultrasonic type underwater image acquisition apparatus which concerns on this embodiment. It is a figure for demonstrating the direction of the ultrasonic wave transmitted from the transmitter which comprises the ultrasonic type underwater image acquisition apparatus which concerns on this embodiment. It is a figure for demonstrating the relationship between the drive signal applied to the transmitter which comprises the ultrasonic underwater image acquisition apparatus which concerns on this embodiment, and the ultrasonic wave transmitted. It is a figure for demonstrating another form of the transmitter which comprises the ultrasonic type underwater image acquisition apparatus which concerns on this embodiment. It is a figure for demonstrating the one measuring method of the ultrasonic type underwater image acquisition apparatus which concerns on this embodiment. It is a figure for demonstrating the state of the display by the display part of the ultrasonic type underwater image acquisition apparatus which concerns on this embodiment. It is a figure for demonstrating the case where a spherical marker is displayed on the display part of the ultrasonic type underwater image acquisition device concerning this embodiment. It is a figure for demonstrating the noise removal method of the ultrasonic type underwater image acquisition apparatus which concerns on this embodiment. It is the schematic for demonstrating the structure of the conventional measuring device. It is a figure for demonstrating the structure of the received wave detection surface of the conventional measuring device.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments for carrying out the invention will be described with reference to the drawings. The following embodiments do not limit the invention according to each claim, and all combinations of features described in the embodiments are not necessarily essential to the solution means of the invention. .

  FIG. 1 is a schematic diagram illustrating a configuration of an ultrasonic underwater image acquisition apparatus according to the present embodiment, and FIG. 2 is a configuration of a transmitter configuring the ultrasonic underwater image acquisition apparatus according to the present embodiment. FIG. 3 is a diagram for explaining the direction of ultrasonic waves transmitted from a transmitter constituting the ultrasonic underwater image acquisition device according to the present embodiment, and FIG. These are the figures for demonstrating the relationship between the drive signal applied to the transmitter which comprises the ultrasonic type underwater image acquisition apparatus which concerns on this embodiment, and the ultrasonic wave transmitted, FIG. It is a figure for demonstrating another form of the transmitter which comprises the ultrasonic type underwater image acquisition apparatus which concerns on embodiment, FIG. 6 is one measurement of the ultrasonic type underwater image acquisition apparatus which concerns on this embodiment. FIG. 7 is a diagram for explaining the method, and FIG. 7 is a display of the ultrasonic underwater image acquisition device according to the present embodiment. FIG. 8 is a diagram for explaining a case where a spherical marker is displayed on the display unit of the ultrasonic underwater image acquisition device according to the present embodiment. These are the figures for demonstrating the noise removal method of the ultrasonic type underwater image acquisition apparatus which concerns on this embodiment, FIG. 10 is the schematic for demonstrating the structure of the conventional measuring device, FIG. FIG. 10 is a diagram for explaining a configuration of a wave detection surface of a conventional measurement device.

  As shown in FIG. 1, the ultrasonic underwater image acquisition device 1 according to this embodiment includes a transmitter 10 that transmits ultrasonic waves having different frequencies in the azimuth direction X, and the ultrasonic waves only in a one-dimensional direction. And the cylindrical acoustic lens 11 for transmitting the object 30 with the fan-shaped ultrasonic beam 21 and the reflected wave 22 from the object 30 on the received wave detection surface 42 divided in the Z-axis direction. A receiving acoustic lens 41 that forms an object image, a processing unit 50 that processes the imaged object image as a three-dimensional measurement result, and a three-dimensional measurement result processed by the processing unit 50 is displayed as an image. And a display unit 51. In addition, the processing unit 50 includes a video processing unit 50a that rotates the video so that the video based on the three-dimensional measurement result can be freely displayed from an arbitrary viewpoint.

  As shown in FIG. 2, the transmitter 10 constituting the ultrasonic underwater image acquisition device 1 according to the present embodiment is arranged by alternately inverting the polarization axes 15a and 15b of the piezoelectric element 15, It is formed as an array transmitter in which a common electrode composed of the ground electrode 12 and the hot electrode 13 is formed on both end faces in the Y-axis direction. When a drive signal 14 is applied between the ground electrode 12 and the hot electrode 13, the ultrasonic beam 21a can be transmitted in different directions according to the signal frequency.

  Next, the direction in which the ultrasonic beam 21a is transmitted will be described with reference to FIG.

  When a drive signal 14 is applied between the ground electrode 12 and the hot electrode 13 as shown in FIG. 3A, the drive signal 14 indicated by an arc as shown in FIG. A wavefront having a wavelength λ corresponding to the frequency of is formed and transmitted. Here, FIGS. 3 to 5 show a state in which waveforms having a phase difference of 180 degrees are transmitted between the solid line and the broken line. As apparent from FIG. 3A, the phases of adjacent wavefronts at the same time are inverted, so that the transmitted wavefront is canceled in the normal direction of the wavefront, and the radiation direction of the ultrasonic beam 21a. Is transmitted in a direction inclined by a radiation angle θ from a direction orthogonal to the arrangement direction of the piezoelectric elements 15.

  Here, when the frequency of the applied drive signal 14 is high, since the wavelength is short, as shown in FIG. 6A, the ultrasonic beam 21a is radiated in the vicinity of the front direction, while the drive signal When the frequency of 14 is low, the wavelength λ ′ increases, so that a wavefront is formed in a direction in which the radiation angle is further inclined as shown in FIG. Here, the radiation angle θ is given by Equation 1 from the pitch d of the piezoelectric elements 15, the frequency f of the drive signal 14, and the wavelength λ of the drive signal 14.

(Equation 1)
θ = sin ⁻¹ (λ / (2d))

  Further, the long-distance sound field directivity characteristic R (θ) at this time is given by Equation 2.

(Equation 2)
R (θ) = sin (0.5n (φ−γ)) / sin (0.5 (φ−γ))
φ = π, γ = 2πdsin (θ) / λ

  The transmitter 10 of the ultrasonic underwater image acquisition device 1 according to the present embodiment uses these relationships to scan the ultrasonic beam 21a in the azimuth direction X. As shown in FIG. By performing the frequency sweep by applying the drive signal 14 through one signal line, the ultrasonic beam 21a can be scanned in a fan shape. In FIG. 4, only the radiation direction of the ultrasonic beam 21a is shown, and the wavefront of the arc radiated from each piezoelectric element 15 is omitted.

  Further, in order to realize the spatial resolution of the entire transmission surface of the transmitter 10, the wavefronts from all the piezoelectric elements need to contribute, and as shown in FIG. 4, the total number of piezoelectric elements (because the phase is inverted). A drive signal 14 having a half wave number (five periods in FIG. 4) is required.

  Further, as shown in FIG. 5, the transmitter 10 is divided and formed as partial apertures 13a and 13b, and short drive signals 14a and 14b having a time difference T are applied to the partial apertures 13a and 13b, respectively. A short ultrasonic signal may be transmitted in the direction of the ultrasonic beam 21a to form a high distance resolution.

  In this way, if transmission with different frequencies in the azimuth direction is performed, the azimuth X can be known from the frequency of the reflected wave. For example, by transmitting a waveform whose frequency changes with time or broadband noise, All three-dimensional space can be measured by one ultrasonic propagation time.

  Next, with reference to FIG. 6, the acquisition method of the three-dimensional measurement result of the ultrasonic underwater image acquisition device 1 according to the present embodiment will be described.

  As shown in FIGS. 6A and 6B, the ultrasonic underwater image acquisition device 1 according to the present embodiment is installed in the hull 2 and ultrasonic waves are directed from the bottom of the hull 2 toward the object 30 on the seabed. A three-dimensional measurement result as shown in FIG. 6C can be obtained by transmitting the beam 21 and receiving the reflected wave. Further, the transmission direction of the ultrasonic beam 21 is not limited to the above-described direction, and the transmitter and the receiver are submerged from the hull 2 into the water and are transmitted in the horizontal direction with respect to the object. It doesn't matter.

  Here, when the viewing angle α from the ship bottom is about 30 degrees as shown in FIG. 6B, the length of one side of the measurement result in FIG. 6C is half of the water depth. For example, at a water depth of 100 m, the seabed situation with a side of 50 m can be obtained as a three-dimensional measurement result that is three-dimensionally depicted including the degree of unevenness.

  Here, the three-dimensional measurement result obtained by the above method receives not only the two-dimensional shape obtained from the horizontal direction and the azimuth direction but also the distance to the object 30 from the propagation speed and transmission time of the ultrasonic beam 121. Since it can be known from the round trip time up to the wave time, it has information on the three-dimensional shape of the object 30. The three-dimensional measurement result is rotated and displayed by the image processing means 50a for processing the three-dimensional image freely in the processing means 50, so that the ultrasonic underwater image acquisition device 1 is fixed and measured at a fixed point. It is possible to display a three-dimensional image from the viewpoint, and it is possible to easily check the construction status of civil engineering work in water.

  That is, as shown in FIG. 6C, the object can be rotated and displayed at an arbitrary viewpoint such as a front view (A view), a side view (B view), and a perspective view (C view). It is possible to easily and safely confirm the construction status of the underwater object.

  In order to measure such a seabed condition, the time required for one measurement is about 0.1 seconds. Therefore, in order to measure the seabed with an accuracy of 10 cm, 500 times of ultrasonic beam Transmission and reception are required, and a measurement time of 50 seconds is required to obtain a single three-dimensional measurement result. That is, when the ultrasonic underwater image acquisition apparatus 1 according to this embodiment is used to monitor underwater civil engineering work, for example, as shown in FIG. 6, an end effector that performs underwater work from the hull 2. When the civil engineering work is performed by operating the underwater working unit 31 such as, a time difference of 50 seconds is generated between the operation of the underwater working unit 31 and the image displayed on the display unit 51, and the underwater working unit 31 is appropriately controlled. Further, there is a possibility that the hull 2 may collide with surrounding structures such as the seabed due to the swing of the hull 2.

  Here, the ultrasonic underwater image acquisition device 1 according to the present embodiment can acquire and display the position information of the underwater working unit 31 at the same time. This position information is displayed as work information by the work information output unit 51a. Thus, if the position information of the underwater work unit 31 can be acquired in this way, it is possible to observe the underwater work unit 31 as dynamics in real time. In addition, it is possible to appropriately grasp the mutual relationship between the underwater situation and the underwater working unit 31 and safely perform underwater civil engineering work.

  Further, when displaying the position information of the underwater working unit 31 in this way, as shown in FIG. 7A, by rotating the display on the display unit so as to be a front view (view A), An operator of the underwater working unit 31 can easily grasp the positions of the object 30 and the underwater working unit 31. Further, in the display of the object 30 in front view, for example, the near part is displayed in red and the distant object is displayed in blue, and the distance from the underwater working unit 31 to the object 30 is displayed in correspondence with the hue, thereby further easily. It becomes possible to grasp the positional relationship between the object 30 and the underwater working unit 31.

  The ultrasonic underwater image acquisition device 1 according to the above-described embodiment has been described with respect to an end effector that hangs the underwater work unit 31 from the hull 2, but the underwater work unit 31 is not limited thereto. Alternatively, an underwater bulldozer or an underwater backhoe that is remotely operated from land can be used. In this case, by rotating the viewpoint so as to coincide with the traveling direction of the underwater bulldozer and displaying the image, the operator can easily grasp the position of the underwater bulldozer and efficiently perform the underwater civil engineering work. .

  Further, since the ultrasonic underwater image acquisition device 1 according to the present embodiment displays a three-dimensional measurement result including three-dimensional coordinate data as an image, the AA cross section of FIG. As described in (b), it is possible to display two-dimensionally as a cross-sectional shape of the object 30 and display the remaining one axis as a time axis. In this case, the construction status of the object 30 is confirmed in real time by displaying the target position 52 as the position and shape of the object 30 at the time of completion of construction as shown by the two-dot chain line in FIG. It becomes possible. Moreover, the target position 52 may display the position and shape of the target object 30 before construction.

  Furthermore, when the underwater work unit 31 reaches the target position 52 described above, the work information output unit 51a may output work information such as an alarm. Thus, by outputting an alarm or the like, the construction status can be confirmed more safely.

  Furthermore, as shown in FIG. 8, the work information output unit 51a may be configured to display a spherical marker 53 on the video of the object 30 as work information. By outputting such work information, the size of the object 30 is measured by adjusting the diameter of the spherical marker 53 so that the object 30 is included in the spherical marker 53 on any projection plane. And the operability is improved.

  Since the ultrasonic underwater image acquisition device 1 according to the present embodiment is used by being installed on the hull 2 as described above, the three-dimensional measurement result is influenced by the swing of the hull 2, sludge in water, and the like. May contain noise. Next, a method for removing this noise will be described.

  As shown in FIG. 9, the ultrasonic underwater image acquisition device 1 according to this embodiment includes acoustic markers 61 a, 61 b, 61 c such as transponders installed in the vicinity of the object 30. As shown in FIG. 9B, the acoustic markers 61a, 61b, and 61c are arranged such that, for example, one point on the top of the object 30 and two points on the bottom surface are arranged so as not to line up in a straight line. Yes. The reason why the acoustic markers are not arranged on a straight line is to clarify the positional relationship between the acoustic markers 61a, 61b, and 61c in the accumulation process described later.

  When an ultrasonic beam is transmitted to the object 30 on which the acoustic markers 61a, 61b, and 61c are arranged, the three-dimensional measurement result by the reflected wave has position information of the acoustic markers 61a, 61b, and 61c. It becomes. When each three-dimensional measurement result obtained by performing this three-dimensional measurement a plurality of times is processed and accumulated in the processing means 50 by averaging the respective three-dimensional measurement results with reference to the positional information of the acoustic markers 61a, 61b, 61c. The position information included in all the three-dimensional measurement results can be extracted as the position information of the object 30, and the remaining position information can be suppressed and removed as noise. By performing such an accumulation process, the shape of the object 30 can be grasped in more detail. However, since the accumulation process needs to perform three-dimensional measurement a plurality of times as described above, it is difficult to perform measurement in real time. Therefore, the ultrasonic underwater image acquisition apparatus 1 according to the present embodiment is used according to the usage mode by enabling switching between the high image quality mode when performing the cumulative processing and the normal mode when not performing the cumulative processing. And the operability can be remarkably improved.

  The ultrasonic underwater image acquisition device 1 configured in this way can display an image based on the acquired three-dimensional measurement result so that the image can be displayed from an arbitrary viewpoint. Even when the underwater image acquisition device 1 is fixed to a fixed point, the shape of the object 30 can be confirmed, and the construction status can be efficiently confirmed.

  As described above, the preferred embodiment of the present invention has been described. However, as described above, the ultrasonic underwater image acquisition device according to the present invention can be used not only for confirming the construction status of underwater civil engineering work but also for various aspects. It is.

  For example, the ultrasonic underwater image acquisition device 1 according to the present embodiment can be used as a detector in fishing. In this case, by rotating the image displayed on the display unit 51 in the direction of looking at the mouth of the fishnet, it is possible to grasp the three-dimensional position of a school of fish or a reef in real time, and the work efficiency is dramatically improved. To do.

  Moreover, the ultrasonic underwater image acquisition device 1 according to the present embodiment can be used for sweeping out the bottom mine. Conventionally, the method of detecting the presence of iron bottomed mines by magnetic detection has been used, but since detection by magnetic detection cannot grasp the shape of the object, other than mines sinking to the seabed. There was a problem that objects could not be detected and sorted out from the bottom mine. Therefore, by using the ultrasonic underwater image acquisition device 1 according to this embodiment together, the shape of the detected object can be grasped, and the shape of the bottom object can be identified by observing the shape of the object. It becomes possible. In this case, the ultrasonic underwater image acquisition device 1 is made of a nonmagnetic material in consideration of the combined use with a magnetic detector, and is effective without affecting the magnetic search of the combined magnetic detector. It will be possible to conduct exploration work for bottomed mines.

  Furthermore, the ultrasonic underwater image acquisition device 1 according to the present embodiment can be used for navigation support of an underwater moving body. Since the ultrasonic underwater image acquisition device 1 according to the present embodiment uses an ultrasonic beam as described above, by adding a configuration capable of measuring a frequency change due to Doppler shift of an ultrasonic signal. It is possible to measure a relative speed with an object that is a moving body in water. By displaying this relative speed on the display unit 51 together with the shape of the underwater moving body, it can be used for navigation support of the underwater moving body.

  Furthermore, since the ultrasonic underwater image acquisition device 1 according to the present embodiment can acquire a three-dimensional image in real time, the suspicious person who approaches the guard object from underwater and rises above the water can be obtained. It can be used for security measures. As described above, the ultrasonic underwater image acquisition apparatus 1 according to the present embodiment performs measurement using an ultrasonic beam, so that specular reflection occurs on the water surface, and a specular reflection false image due to the water surface occurs. This specular reflection false image coincides with the distance between the object and the specular reflection false image gradually reaching the water surface when the object floats on the water. Thereafter, when the object is landed, the specular reflection false image disappears. By detecting this series of processes, a suspicious person who intends to land from the water can be detected, and the safety efficiency can be improved.

  DESCRIPTION OF SYMBOLS 1 Ultrasonic underwater image acquisition device, 2 Hull, 10 Transmitter, 11 Acoustic lens for transmission, 12 Ground electrode, 13 Hot electrode, 14 Drive signal, 15 Piezoelectric element, 15a, 15b Polarization axis, 21 Ultrasonic beam , 22 reflected wave, 30 object, 31 underwater working unit, 41 receiving acoustic lens, 42 receiving detection surface, 50 processing unit, 50a video processing unit, 51 display unit, 51a work information output unit, 52 target position, 53 Spherical marker, θ radiation angle, d piezoelectric element pitch, f drive frequency, λ wavelength, T signal time difference, α viewing angle.

Claims (9)

A transmitter for transmitting ultrasonic waves having different frequencies in the azimuth direction;
A receiver that receives a reflected wave from an object of ultrasonic waves transmitted from the transmitter; and
Processing means for processing reflected wave information from the object as a three-dimensional measurement result;
In the ultrasonic underwater image acquisition device including a display unit that displays the three-dimensional measurement result as an image,
An ultrasonic underwater image acquisition apparatus, comprising: an image processing means capable of rotating the image so that the image can be displayed from an arbitrary viewpoint. The ultrasonic underwater image acquisition device according to claim 1,
An ultrasonic underwater image acquisition apparatus, wherein the image is displayed as a three-dimensional image. The ultrasonic underwater image acquisition device according to claim 2,
The ultrasonic video underwater image acquisition device, wherein the video displays the direction of water depth in water as the vertical direction of the display unit. The ultrasonic underwater image acquisition device according to claim 2,
2. The ultrasonic underwater image acquisition apparatus according to claim 1, wherein the image is a two-dimensional image having a one-dimensional time axis. The ultrasonic underwater image acquisition device according to any one of claims 1 to 4,
The ultrasonic underwater image acquisition device includes an underwater operation unit that performs underwater work, and displays position information of the underwater operation unit on the display unit. The ultrasonic underwater image acquisition device according to any one of claims 1 to 5,
The ultrasonic underwater image acquisition device includes a work information output unit that outputs work information related to underwater work,
An ultrasonic underwater image acquisition apparatus, wherein the work information is displayed on the display unit. The ultrasonic underwater image acquisition device according to claim 6,
The said work information is the position and shape before construction of a construction target object under water, and after construction, The ultrasonic type underwater image acquisition apparatus characterized by the above-mentioned. The ultrasonic underwater image acquisition device according to claim 6,
The ultrasonic wave underwater image acquisition apparatus characterized in that the work information outputs a spherical marker that enables measurement of the size of a construction object in water. The ultrasonic underwater image acquisition device according to claim 6,
The ultrasonic underwater image acquisition device includes three or more acoustic markers installed in the vicinity of an underwater construction target,
An ultrasonic underwater image acquisition apparatus, wherein noise of the three-dimensional measurement result is removed by performing cumulative processing of the three-dimensional measurement result with reference to position information of the acoustic marker.

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