JP2012529047A - Sonar system - Google Patents

Abstract

To provide a sonar system capable of being mounted on a ship which facilitates operation during movement of the ship and provides a high resolution image from a moving sidewalk on the ship.
An integrated sonar system that can be mounted on a ship is provided. The shipboard integrated system includes at least one image sonar data acquisition device and at least one processing system electrically and removably connected to the at least one image sonar data acquisition device. The sonar data collection device preferably provides acoustic data to the processing system and uses the acoustic data to generate a sonar image. The system also provides digital tilt and azimuth directions for accurate geographical reference of data to locate the target of interest.
[Selection] Figure 1

Description

  The present invention provides a sonar system that can be mounted on a ship, in particular, where the operator of the ship deploys the sonar system to navigate, identify and investigate various targets in the underwater environment, and navigates through them. The present invention relates to a high resolution image sonar system that can be mounted on a ship with homing and / or geo-referencing functions.

  A number of marine sonar systems are known in the art. Examples of such systems are depth sounders, simple obstacle avoidance sonar, side scan sonar, mechanical scan sonar, and manual pole mount. The display methods of these shipable sonar systems do not facilitate navigation with sonar images. Also, these systems are difficult to understand and difficult to operate while the ship is moving. Furthermore, these shipable sonar systems do not have the ability to provide high resolution images from a moving walk on the ship.

US Pat. No. 7,035,166 US Pat. No. 7,173,879 US Pat. No. 7,123,546

  US Pat. No. 7,035,166 discloses at least one sonar emitter and a series of sonar sensors configured to generate a raw data signal in response to an output signal generated by the sonar emitter. , At least one roll / tilt / yaw sensor and an input device from the sensor to determine the latitude and longitude position of the sonar emitter, and collect and process raw signal data A sonar system including circuitry suitable for providing image data. The image is rotated in response to the sonar system roll, tilt and yaw directions determined by each sensor. The roll / tilt / yaw sensor and image processing allow a continuous display of multiple images from continuous transmission to be directed to the earth in the same reference system.

  U.S. Pat. No. 7,173,879 discloses a sonar system including a wide beam transmitter, a phased array receiver, and a processor utilizing non-Fourier based beam former and correlation based processing techniques; An effective target is extracted from the beam-formed data based on a numerical value obtained from an adaptive target population estimator processing technique. The numerical value of the gradient between the eigenvalue and the continuous eigenvalue is used to determine the number of targets determined by the beam former.

  US Pat. No. 7,123,546 discloses at least two transmitters with different fields of view, a receiver with a field of view encompassing all fields of view generated by the transmitter, and electronics between the transmitters. Discloses a sonar system including a control system designed for and a processing parameter set to correspond to the transmitter, the controller transmitting and receiving a single active sonar sound before the next transmission And each transmission can be shifted in time.

  A marine-mountable high-resolution image sonar system includes homing, localization, and / or geographic reference functions. This ship-mountable system is small and can be disassembled and stored for portability, convenience, and safety. This system provides a simple operator interface and allows the operator to navigate the vessel quickly towards the target of interest. The system also provides a directional image display arrangement so that the operator can easily maintain a sense of direction on board.

  The system further provides digital tilt and / or azimuth direction feedback for accurate localization and geographic reference of data for target localization and / or image mosaic generation. Precise localization and geographic reference of the target and image is improved by tracking the target and overlaying the active sonar image via coherent or incoherent image and 3D (3D) mosaic generation. Allows to generate resolution. This system uses a navigation tool such as a compass or global positioning system (GPS) to enable automated sonar to aim at the target position in tilt and azimuth, so that the sonar is continuous. The target position can be selected on the display by the operator to aim at the target's geographic reference position. This allows for an appropriate sonar arrangement independent of the vessel arrangement and position. In addition, this ship-installable sonar system provides a sunlit readable touch screen display for control and image display devices, allowing operators to maintain balance on board and minimize seasickness Make it possible.

  In one embodiment, the shipboard sonar system includes at least one high resolution sonar data acquisition and imaging system and at least one processing system with data storage and display capabilities. In many embodiments, the marine mountable sonar system also includes a controllable positioning device. In this embodiment, the positioning device may include a pan and tilt mechanism, and the sonar data acquisition system may be removably connected to the positioning device by a clamping mechanism. The sonar data acquisition system and positioning device or pan / tilt sonar module can be removably connected to columns, bars, shafts, posts, etc. to form a pan / tilt sonar module that can be mounted. . The mountable pan / tilt sonar module includes a sonar system and a positioning device and is connectable to the processing system electronically and preferably removably. The processing system may also be electronically connected to an integrated or independent navigation system, or to elements of a navigation system such as a compass, sounding instrument, global positioning system (GPS), etc.

  The methods and systems of the present invention can be used with or incorporate many different types of sonar data acquisition and imaging systems that can generate various types of images. Numerous types of sonar systems are known in the art and can be incorporated into the systems of the present invention. The sonar data acquisition image system preferably provides a high-definition two-dimensional (2D) or three-dimensional (3D) sonar image using a plurality of light beams. Such a sonar system operated at the frequency described in co-pending US Patent Application Publication No. 2005/0007882 A1, which is incorporated herein by reference in its entirety, is preferably of the present invention. Used in many methods and systems. The sonar system may include, for example, a 2D or 3D forward-facing sonar system of the type described in co-pending US Patent Application Publication No. 2005/0007882 A1, and a view of the object or surface of interest. It may include a 2D depth sonar system that produces a relatively thin fan beam for applying 3D side and bottom scans to optimize, or may include a number of other 2D or 3D sonar systems. In one embodiment, the sonar system includes at least one tilt roll sensor. The at least one tilt roll sensor can provide tilt feedback to the processing system.

  The positioning device can be controlled to position and orient the sonar data acquisition system, preferably targeting the sonar data acquisition system in the direction of interest by the processing system and / or operator. On the other hand, direction information such as tilt and roll information, homing and / or georeference feedback can be provided to the processing system. The positioning device may be a pan / tilt device, a pan-only device, a tilt-only device, a multi-axis positioning device, a tilt associated with the vessel direction for panning, or the like. The positioning device may provide a pivoting movement of the sonar data acquisition system via one or more axes, may provide scanning along a line on one or more axes, or various An arc sonar data acquisition system rotation may be provided. In one embodiment, the positioning device may be a ball joint type positioning device.

  The processing system includes at least one processing unit having a data storage display function and controlling an attachable pan / tilt sonar module. The processing system also collects, stores, calculates and processes and provides sonar data, signals, sonar images, navigation data, and processing. In one embodiment, the processing system is a personal computer type known in the art and designed to operate in a marine environment. In another embodiment, the processing system is a processing system integrated with an attachable pan / tilt sonar module. The processing system includes or is linked to at least one image display device and a plurality of control input devices.

  The image display device presents a sonar image to the operator, and displays a predetermined or selected target and positioning information to the operator. In some embodiments, the image display device may have a command input function or a touch screen having an input function. In another embodiment, the image display device can be read in sunlight. The image display device may be installed on a ship ceiling, a console, a wall, or an operator control station, and may include a head-up image display device system. In another embodiment, the image display device may include a portable display that is worn or held by an operator or attached elsewhere on the ship and can be interlocked with the portable display. In yet another embodiment, the image display device can be installed in another larger image display device system having additional image display device components.

  The processing system is incorporated in the system of the present invention, or is linked to a navigation system or a navigation component that is an independent system or a component group linked to the processing system, or acquires an input from the navigation system or the navigation component. Is preferred. In many embodiments, for example, a compass and / or global positioning system (GPS) works in conjunction with the processing system to provide position coordinates for various locations of the vessel or target.

  The present invention will be described in more detail in the following detailed description with reference to the accompanying drawings.

An example of an interface between a shipboard sonar system and various other systems is shown. It is a disassembled perspective view of one Example of a sonar positioning pan / tilt module that can be mounted on a ship. FIG. 3 is a plan view of the pan / tilt sonar module that can be mounted on a ship shown in FIG. 2. FIG. 3 is a front view of the mountable pan / tilt sonar module shown in FIG. 2. FIG. 3 is a side view of the mountable pan / tilt sonar module shown in FIG. 2. FIG. 3 is a perspective view of the mountable pan / tilt sonar module shown in FIG. 2. The relationship between the sonar image direction, the sonar device, the sonar image direction in the intuitive target display device provided on the image display device, the sonar device and the positioning module is shown. Fig. 4 shows the sonar image direction and another relationship between the sonar device and the positioning module in another intuitive target display provided in the image display device.

  A marine-mountable high-resolution image sonar system having functions such as homing, position measurement, and / or georeferencing is provided. Shipboard systems are preferably small and can be disassembled and housed for portability, convenience, and safety. These systems provide a simple operator interface and allow the operator to quickly identify the target of interest and navigate the vessel towards that target. These systems also allow the operator to track the target of interest selected on the sonar image and provide a directional image display array so that the sonar image can be captured by the sonar acquisition and positioning device. It is displayed at a certain angle with respect to the ship corresponding to the orientation. This provides a more intuitive interface for the operator, allowing the operator to easily track and steer in the direction while maintaining a sense of direction on the ship.

  These systems further provide digital tilt and / or azimuth direction feedback from the sonar data acquisition system, combined with navigation equipment for accurate georeferencing of selected targets within the sonar system. This allows for an accurate geographical reference of the selected target. Accurate geographic reference of the target allows the system to generate an image mosaic to track the target and / or spatial coordinates or to execute a predetermined or selected underwater monitoring program. Accurate geographic reference of targets and images also allows multiplex target tracking and multiplex image overlays to produce improved image resolution through coherent or incoherent images and 3D mosaic generation. .

  These systems also allow the target position to be automatically aimed at tilt or azimuth using a navigation tool such as a compass or global positioning system (GPS), so that the target position is The operator can point to and select a target coordinate or a spatial position on the image display device. Once one or more underwater targets are identified or geographically referenced, the sonar system may be instructed to continually track or target the geographically referenced location of the target. . This maintains a proper sonar directional alignment and maintains a sonar image for one or more target positions independent of the vessel alignment and position. Further, the disclosed marine-mountable system can provide a sunlight readable touch screen display for the control device and the image display device.

  FIG. 1 shows one embodiment of an integrated sonar system 10 that can be mounted on a ship. Shipboard integrated sonar system 10 includes at least one high resolution image sonar data acquisition device 20, at least one computer controllable positioning device 30, at least one computer system 40, and a data storage device. 50 and display 60 parts. The system also preferably incorporates or interacts with at least one navigation system 70 or one or more navigation components or tools. The terms processing system and computer system are used interchangeably herein and there is no distinction between these terms. The processing or computer system is preferably digital and has data processing capabilities. The data storage device is either built into the computer system or provided in the auxiliary data storage device or system. Similarly, the display may be built in the computer system, or may be provided as a separate display device linked to the computer system.

  As shown in FIG. 2, the sonar data collection device 20 is detachably connected to the positioning device 30 by a clamp mechanism or the like to form a pan / tilt sonar module 90. In one embodiment, the sonar data collection device 20 is removably connected to the positioning device 30 by a plurality of brackets 80, 120. The bracket 120 secures the sonar data collection device 20 to the bracket 80 with screws 130, but other types of fasteners may be used. Collectively, the bracket 120, the sonar data collection device 20, and the bracket 80 are fixed and fastened to the positioning device 30 by screws 140 and a rotor arm 150. The rotor arm 150 is rotatably connected to the bracket 80 and the positioning device 30 by a screw 160 in order to freely rotate the positioning device 30. The pan / tilt mount 170 is also connected to the positioning device 30 to allow the positioning device 30 to pan and tilt freely.

  FIG. 2 shows that a pan / tilt sonar module 90 is removably connected to the pole 100 by means of a plate mount 180 and screws 190 and 200 to form a mountable pan / tilt sonar module 110. As shown, rods, shafts, posts, etc. may be used. In one embodiment, the mountable pan / tilt sonar module 110 is detachably installed on the ship via a simple attachment / detachment attachment mechanism 210 disposed near the tip of the pole 100. The mountable pan / tilt sonar module 110 may be bolted so that it cannot be removed from, for example, a swim step at the stern of the ship. When fully disposed, the clamp mechanism 210 holds the pole 100 firmly in the water. In the rear position, the mountable pan / tilt sonar module 110 can also be loosened so that the pole 100 can be lifted from the water. The clamp mechanism 210 can also be rotated over the mountable pan tilt sonar module 110 to place the lifted pole 100 across the ship's swim step in another rearward position. These two rearward positions allow the vessel to move quickly without having to completely remove and retract the mountable pan / tilt sonar module 110. If necessary, the pole 100 can be completely removed from the pan / tilt sonar module 90 and stowed in a safe place. In one embodiment, the mountable pan / tilt sonar module 110 is installed on the inner wall of the vessel's cabin cabin by at least one mounting bracket. In another embodiment, the mountable pan / tilt sonar module 110 is secured to the hull or stern crosspiece.

  The mountable pan / tilt sonar module 110 includes a sonar data collection device 20 and a positioning device 30 and is electronically and removably connected to the computer system 40. In one embodiment, the sonar data collection device 20 of the mountable pan / tilt sonar module 110 includes the mountable pan / tilt sonar module 110 connected to a computer system via, for example, an Ethernet connection. Includes at least one port. In another embodiment, positioning device 30 is electronically and wirelessly connected to computer system 40. Any radio frequency protocol or standard wireless internet protocol well known in the art can be used. Computer system 40 is also electronically connected to navigation system 70. Target angle feedback is provided from an internal sensor located in the positioning device 30 and the feedback is sent digitally to the computer system 40.

  The sonar data collection device 20 preferably provides acoustic data to the computer system 40 using a plurality of beams, and the computer system 40 uses a high definition two-dimensional (2D) or 3 using acoustic data. A dimensional (3D) sonar image is generated. The sonar image can be generated by, for example, a multi-beam 2D image, a multi-beam 3D image, a mechanical scanning 2D image sonar system, 2D depth surveying, or the like. The sonar data collection device 20 preferably includes at least one tilt roll sensor (not shown) and can provide tilt feedback to the computer system 40. In one embodiment, the sonar data collection device 20 may be any frequency steering acoustic array system such as that disclosed in US Patent Application Publication No. 2005/007882 A1. The entire US Patent Application Publication is incorporated herein by reference. In one example, the sonar data collection device 20 includes an acoustic array that includes a plurality of acoustic transducer elements having aperiodic spacing and / or phase matching, and a frequency steering acoustic beam having a field of view that is adjustable by frequency band selection. Can be sent and received. In another example, sonar data collection device 20 includes an acoustic array capable of transmitting and receiving a frequency steering acoustic beam in at least two fields of view oriented in different directions, the array comprising a plurality of acoustic transducer elements. Each element is phase shifted relative to neighboring elements, and each element switches the polarity, phase shift, or interconnection of at least a portion of the plurality of elements to select an active frequency steering field of view. Can communicate with the controller.

  In yet another example, the sonar data collection device 20 includes a combination of acoustic arrays having a plurality of spaced acoustic transducer elements, the acoustic transducer elements being at an angle with respect to at least one additional acoustic array. The array combination is a single plane because it can transmit and receive a frequency steered acoustic beam with a field of view adjustable by frequency band selection arranged in substantially the same plane as the additional acoustic array. Can transmit and receive acoustic pulses with different fields of view. In yet another example, the sonar data collection device 20 includes a combination of acoustic arrays having a plurality of spaced acoustic transducer elements, the acoustic transducer elements being at an angle relative to at least one additional acoustic array. And a frequency band selection arranged in substantially the same plane as the acoustic transducer element, at an angle with respect to the plane of at least one additional acoustic array and substantially perpendicular to the plane By having a plurality of acoustic transducer elements capable of transmitting and receiving a frequency steering acoustic beam having a field of view that can be adjusted by the frequency band selection arranged, the array combination is acoustic with different fields of view in two substantially orthogonal planes. Pulses can be sent and received.

  The positioning device 30 can provide positioning and directional feedback to the computer system 40 while aiming the sonar data collection device 20 in the direction of interest. The positioning device 30 may be a pan / tilt device, a pan dedicated device, a tilt dedicated device, a multi-axis positioning device, a tilt with pan ship orientation, and the like. In one embodiment, the shipable sonar system 10 can utilize a tilt-only implementation to perform a pan function by changing the direction of travel of the ship. Alternatively, the system 10 may also use a fixed image sonar data acquisition device 20 without pan and tilt as long as the vertical field of view is suitable to provide acoustic effects to the bottom or water column in a wide range of depth environments. it can.

  The computer system 40 includes at least one processing device that controls the mountable pan / tilt sonar module 110. The computer system 40 also collects, stores, calculates, processes and provides sonar data and signals, sonar images, and navigation data and processes. The computer system 40 works with at least one storage system 50 and / or at least one image display 60. The computer system 40 preferably includes a user interface such as a keyboard, a bidirectional image display device 60 such as a touch screen, or other user interface. Preferably, the operator controls the direction of the sonar by manipulating the positioning device 30 from the interface, selects the image mode and the sonar image from the image display device 60 from the interface, selects the target, Using the interface, the sonar system 10 can be steered to locate, identify, display, inspect, and track other sonar targets. In one embodiment, a joystick controller is provided as an interface, but the joystick controller can control both the sonar data collection device 20 and the positioning device 30.

  The computer system 40 may be integral with the mountable pan / tilt sonar module 110, but is preferably a separate device in communication with the sonar data collection device 20 and the positioning device 30. The communication between the computer system 40 and the positioning device 30 and / or the sonar data collection device 20 is performed by the user of the computer that controls the positioning device 30 and the data collected by the sonar data collection device 20 by the operator. It is preferably bi-directional so that instructions can be entered through the interface. The computer system 40 includes or can be linked to at least one image display device 60 and a plurality of control input devices. The image display device 60 presents an image to the operator, and in one embodiment, the image display device 60 has an input function and may include a touch screen having the input function. In another embodiment, the image display device 60 may include a sunlight readable screen. The image display device 60 may be installed on a ship's ceiling, console, wall, or another part of the ship, and is a head-up image display system that displays data and / or images on an attached screen or device. It may be. In another embodiment, the image display device 60 or the attached image display device 60 may include a portable display that can be worn or carried by an operator. In yet another embodiment, the image display device 60 is installed in another, larger image display device system.

  The data storage device 50 is connected to or connected to the computer system 40 to store, for example, collected acoustic data, sonar images, target data and images, sonar device direction data, and navigation data. Part of This data may also be transmitted electronically to a remote location and optionally transmitted wirelessly for display, processing, or longer term or additional storage via wired or wireless transmission systems and protocols well known in the art. Can do.

  The processing or computer system 40 of the present invention preferably includes or is linked to one or more navigational devices, such as a global positioning system (GPS) that forms part of a compass and / or ship navigation system 70. Any compass and global positioning system known in the art can be integrated into the navigation system 70 and linked to a wired or wireless protocol processing or computer system 40. The navigation system 70 also incorporates navigation data such as detailed latitude, longitude, depth, navigational hazards and relief information, three-dimensional charts including weather information, etc. It may be individually incorporated in the processing / computer apparatus that forms part of the sonar apparatus of the invention or may be linked to the processing / computer apparatus. The navigation system 70 or component preferably comprises spatial coordinates relating to the position of the vessel, preferably in conjunction with sonar and processing systems, and can also provide spatial coordinates relating to various sonar targets. When having navigation data and an interface, the navigation system 70 can also provide spatial coordinates for the location of various navigational obstacles, auxiliary equipment, and the like.

  An operator may use the computer system 40 and data storage device 50 to store raw or processed data such as acoustic sonar data, positioning device data, navigation data, etc. for later retrieval and review. Or a variety of programmed storage protocols can be provided and selected by the operator. For example, navigation data is collected and combined with the sonar data collection device 20 positioning information provided by the pan / tilt sonar module 90 to identify the spatial position (ie, pixel) indicated on the sonar image. It can be clearly drawn for a geographical reference location. That is important for accurately creating distances and creating overlays of geographic reference mosaics and collected data.

  In operation, the operator preferably controls the mountable pan / tilt sonar module 110 as part of the computer system 40 from a user interface displayed on the image display device 60. The operator can thus “point” the sonar data collection device 20 to various desired underwater areas or targets. Alternatively, various automatic inspection or monitoring routines can be selected by the operator, and when selected, a predetermined or selectable sonar inspection routine covering a predetermined underwater area associated with the vessel is performed. Real-time data regarding the orientation of the positioning device 30 and the sonar module orientation is preferably communicated to the computer system 40 and can be displayed on the image display device 60. For example, the relative pitch and yaw information is known to the sonar data collection device 20 and the positioning device 30 and may be displayed. In addition, since the sonar data acquisition module 90 is fixed with respect to the vessel and the direction of the module 90 is known, the pitch and yaw direction of the vessel can be calculated and displayed to the operator. it can.

  In the preferred embodiment, the sonar data collection device 20 and / or the positioning device 30 incorporates one or more tilt roll sensors, the absolute position is referenced and linked to the sonar system 10, so that the image display The target shown in the device 60 will have a true latitude and longitude associated with the target. Targets can thus be accurately and geographically referenced using the sonar system 10 of the present invention, and once a target is selected for tracking, the computer system 40 can automatically In particular, the pan / tilt sonar module 90 continues to aim and point to the target regardless of the position and orientation of the vessel. Even if the target moves out of range, the pan / tilt sonar module 90 will aim and point to the target and tell the operator where to navigate the vessel to locate the target. And the desired direction of travel relative to the target is provided to the operator and displayed. Once the target is identified on the image display device 60 and its location is referenced geographically, the system also maintains the selected target for the user in the field of view of the sonar system and the image display device 60. And automatically position the sonar data collection device 20 in the appropriate direction to maintain the selected target in the appropriate field of view, thereby providing automatic tracking of the selected target. In this way, the sonar system of the present invention can provide continuous maintenance and tracking of the target.

  Furthermore, the operator can detect the target at the same position and mark the target on the sonar image display device 60. Since the target of interest and the vessel are geographically referenced via the vessel mountable system 10, for example, in a local coordinate system, the sonar data collection device 20 always points to the target and aims Some display is possible, for example by an icon on the screen at the expected screen position of the last known position of the target. In this way, the system 10 may be subject to occlusion of the target due to operator attention, the target moving outside the range or field of view of the sonar system, or acoustic disturbances such as wind backflow by the propeller. Even if the target is lost, it has the effect of constantly monitoring and rapidly reacquiring the target of interest.

  The absolute position and angle data of the sonar collection device is also used to provide a large area that can be overlaid on the chart or displayed on the image display device 60 in a mosaic manner, with information on the latitude, longitude, and depth of the target. Provide geographical reference information of the target. Sonar data acquired from the system by multiple pings can be shown on the above-described chart as a larger mosaic image with a special dimension that is geographically referenced and accurately located in space. Each mosaic image is assigned a specific identification name, and the operator can have the ability to selectively turn on or off individual mosaic images or select from a plurality of mosaic images. A relatively large mosaic image can be compiled or created at the operator's option and by manipulation of multiple mosaic images.

  Steering a marine vessel can be used to autopilot towards a target of interest. In this operational state, the operator can adjust the orientation of the sonar module to quickly approach the target of interest. Since this image is within the visual range of the operator of the ship, the operator can use the target image to adjust the traveling direction of the ship until the ship is directed to the target. As the ship approaches the target of interest, the pan, tilt, sonar module 90 can be easily repositioned (eg, set to a maximum range) to maintain the desired display image. It may be guided to a selected target, visualized using a sonar system, or it may be done automatically when the ship's navigation / steering system is compatible with the system.

  In one embodiment, the sonar image on the image display device 60 is oriented to match the rotation angle of the sonar data collection device 20 and the pan / tilt sonar module 90 as shown in FIGS. 4A and 4B. It is preferable to be attached. If the pan / tilt sonar module 90 is oriented as shown in FIG. 4A or shown “directly” to the target, for example, the sonar image on the display device 60 is in the same direction relative to the target. And the target appears on the image display device 60 from top to bottom. As shown in FIG. 4B, when the pan / tilt sonar module 90 rotates to show an angle with respect to the vessel centerline 250 or to the vessel centerline 250 side, the sonar image is also imaged. On the display device 60, it is rotated at the same angle with respect to the centerline 250 of the ship. Because of this feature, the observer can observe the target being directed toward the observer and the ship and provides intuitive display features so that the operator can understand the information on the image display device 60 and dynamically It is possible to significantly improve the ability to react to the ship, and as a result, it is possible to navigate the ship comfortably based on the image.

  The sonar system 10 can also be used to avoid navigational hazards. In one embodiment, for example, when the sonar system is determined that a target having a unique size or shape or characteristic is within the system or at a specific distance from the system and the vessel, It may be programmed to give instructions such as issuing an alarm. The operator is thereby warned to inspect the sonar image and can investigate the target to confirm the position, features, etc. of the target.

  In other embodiments, the sonar system is linked to a navigation system, such as a (digital) chart, that locates and confirms dangerous locations on the navigation, but is optionally linked to an automated ship steering system. Also good. In one embodiment, for example, navigational hazard locations shown on a chart or another navigation aid are geographically referenced and entered into a computer system that controls the sonar data collection device and the image display device. The When the vessel and sonar data collection device approach a confirmed and geographically referenced navigational hazard, the system indicates that the navigational hazard is within the range of the sonar system and the vessel. , You can give a message to alert you. The various alarm ranges are programmed or programmable in the computer system. In an integrated system, the ship's steering system can be linked to the sonar system so that once the navigational hazard is within range of the sonar data collection device, the vessel is identified from the identified navigational hazard. It is possible to steer away, or to maintain a predetermined distance, or a programmed or programmable distance, between the ship and the identified navigational hazard. The sonar system can also be programmed to provide automatic identification and alerting.

  The sonar collection device is generally provided in a forward and / or downward direction. If there is a limit in adjusting the orientation of the sonar collector using pan / tilt or similar mechanism, the pan / tilt sonar module 90 field of view may be rotated as necessary to provide the desired field of view. Also good. The sonar data collection device may be positioned, for example, in a generally downward position or may be rotated 90 degrees about the central axis of the sonar system housing to redirect it in a forward direction. This can be achieved by holding the sonar data collection device 20 with respect to the positioning device 30 and loosening the bracket 120 that physically rotates the sonar data collection device 20 by 90 degrees.

  Further, during operation, the sonar data collection device 20 may act like a turn indicator via the rotated image on the image display device 60 (FIGS. 4A and 4B). In that case, the sonar data collection device 20 is always aimed and aimed at the identification displayed on the sonar image or the closest point of approach to the selected target. In one embodiment, if the latitude and longitude data of the identified target of interest is known and the ship is approaching the target of interest, the pan / tilt sonar module 90 Steering guidance is provided to the vessel operator to steer towards the target and is automatically directed to the target. In one embodiment, the ship-installable sonar system can incorporate a notification or alarm feature, which is when the target is close to the ship's location or when the ship has deviated from the course and started to the target. To be up and running. In other embodiments, multiple waypoints can be used to investigate the entire area of interest in detail.

  As described above, navigational and real-time location information is input or linked to computer system 40 to provide a sonar image that is mapped to a geographically referenced location. The geographically referenced position and navigation data allow the user to point to and click on the target of interest to know the actual position and / or depth of the target. Alternatively, the target of interest can be selected on the sonar image, and the navigation system 70 docks at the target and causes the vessel to be steered toward the target. The navigation system 70 can also automatically track moving targets with geographically referenced locations and navigation data.

  In other embodiments, navigation data, object georeference routine data, and the location of moving targets such as divers are integrated into the computer system and displayed on the image display device 60. Using automated tracking routines, the computer system 40 can automatically track a moving target and obtain continuous position and target vector data. For example, in one embodiment, an operator can touch a soft key on the image display device 60 to operate the positioning device 30. This allows the operator to manually aim the sonar data collection device 20 to the target of interest. In this example, the vessel is near a rest position and the system 10 can still monitor activity. For example, a ship can be tethered to a dock, and the pan / tilt sonar module 90 can be directed toward a target of interest for a diving business. The diver then enters the water and the operator watches the diver approaching the target while repositioning the pan / tilt sonar module 90 to provide the best image or range target tracking outside the field of view. be able to. The operator can also move the pan / tilt sonar module 90 back and forth between scenes within the image range of the system. Furthermore, the operator can instruct the diver by means of sonic communication or other techniques while monitoring the progress of the diver to the target by the ship-mounted system 10. It should be understood that the foregoing description of various embodiments of the method and apparatus of the present invention is merely illustrative of the invention and its various embodiments. Modification of various aspects of the method and apparatus of the present invention is easy for those skilled in the art and is within the scope of this disclosure and the following claims.

Claims (32)

(A) at least one sonar data collection device;
(B) at least one user interface that allows an operator to select a desired target for tracking;
(C) a sonar system including the at least one sonar data collection device and at least one processing system electrically and removably connected to the at least one user interface;
The sonar data collection device provides acoustic data and direction and / or positioning feedback to the processing device based on the position of the sonar data collection device, and the processing device is tracked from the user interface. So that the at least one image sonar data acquisition device is aimed at the desired target regardless of the position and orientation of the vessel on which the sonar system can be mounted. Maintaining a sonar system.   The sonar system of claim 1, wherein the processing device automatically tracks the desired target and obtains a continuous position and vector data for the desired target.   The sonar of claim 1, wherein the processing device includes an automatic tracking routine that automatically tracks a desired moving target and obtains continuous position and vector data for the desired moving target. system.   The sonar system of claim 1, wherein the at least one sonar data collection device includes at least one tilt roll sensor that is referenced to an absolute position of the sonar data collection device during operation.   The sonar system of claim 1, wherein the processing system associates a desired target for tracking with latitude and longitude.   The sonar system of claim 1, further comprising a navigation system in conjunction with the ship mountable sonar system.   The sonar system according to claim 1, wherein the steering system is further linked to the marine mountable sonar system.   The sonar system of claim 1, wherein a digital chart that identifies navigational hazards is further linked to the shipboard sonar system. (A) at least one sonar data collection device;
(B) a sonar system comprising at least one processing system electrically and removably connected to said at least one sonar data collection device;
The sonar data collection device provides acoustic data based on the position of the sonar collection device and direction and / or positioning feedback to the at least one processing system, the at least one processing system comprising the sonar data collection device. A sonar system capable of executing a predetermined or selectable sonar inspection routine that includes a predetermined target area for a ship on which the system can be mounted.   The sonar system of claim 9, wherein the at least one processing system is programmed with a plurality of automatic monitoring routines selectable by the operator. An on-board pan / tilt sonar module, a user interface allowing the operator to select the desired underwater target, and a computer for communicating with the sonar module and user interface and for processing the collected data A method for providing continuous underwater target maintenance and tracking using a sonar system incorporating the system,
Refer to and link the absolute position of the sonar data collection device,
Selecting an underwater target,
Geographically referencing the selected underwater target;
Obtaining real-time data regarding the direction of the sonar data collection device;
A method comprising automatically maintaining the sonar module aiming at the target regardless of the position and orientation of the vessel. (A) at least one image sonar data acquisition device utilizing a plurality of beams;
(B) Electrically and removably connected to the at least one image sonar data acquisition device to generate a high definition 2D (2D) or 3D (3D) sonar image based on the collected sonar data. At least one processing system provided;
(C) a sonar system including at least one processing system for displaying sonar images and a display in conjunction with the sonar image,
The sonar collector provides acoustic data and orientation feedback based on orientation and / or position of the sonar collector relative to the processing system, the processing system including a selected target and a 2D or 3D sonar image. A sonar system that provides an accurate geographic reference to.   The sonar system of claim 12, wherein the sonar image is generated using a multi-beam 2D image.   The sonar system of claim 12, wherein the sonar image is generated using a multi-beam 3D image.   The sonar system of claim 12, wherein the sonar image is generated using a mechanical scanning 2D image sonar system.   The sonar system of claim 12, wherein the sonar image is refined using 2D bathymetry.   The sonar system of claim 12, wherein the sonar system further incorporates a multi- ping target tracking function.   The sonar system of claim 12, wherein the sonar image is generated using a multiplex image overlay. (A) at least one image sonar data collection device;
(B) at least one positioning device having at least one internal position sensor, wherein the sonar data collection device is removably connected to the positioning device;
(C) at least one electrically and removably connected to the at least one image sonar data collection device, interlocked with a display for displaying sonar images, and interlocked with at least one navigation device; A sonar system including two processing systems,
The sonar data collection device provides acoustic data and direction and / or positioning feedback based on the position of the sonar collection device with respect to the processing system, the processing system including the sonar collection device with respect to a ship centerline. A sonar system that displays a sonar image at an angle relative to the vessel centerline corresponding to the angular direction.   20. The system of claim 19, wherein the sonar data acquisition device is a multi-beam 2D or multi-beam 3D imager.   The system of claim 19, wherein the sonar system is a 2D forward-facing sonar system.   The system of claim 19, wherein the sonar system is a 3D forward-facing sonar system.   The system of claim 19, wherein the sonar system is a 2D abyssal survey sonar system.   The system of claim 19, wherein the processing system stores position coordinates of a ship and a target position.   The target location selected by the operator is geographically referenced using the position coordinates of the target location, the target location selected by the operator is confirmed and displayed by the sonar system. system.   26. The system of claim 25, wherein the spatial location of the selected target location is mapped to a geographically referenced location on the display.   27. The system of claim 26, wherein the sonar system provides automatic tracking of a selected, geographically referenced target location independent of ship arrangement and location.   The system of claim 19, wherein the sonar data collection device is programmed to aim at an approach point displayed on the sonar image that is closest to a selected target.   The system of claim 19, wherein the data collection device is a frequency-operated acoustic array system.   20. The system of claim 19, wherein the processing system further incorporates an automated inspection routine that is selectable by an operator to perform a predetermined sonar inspection routine that occupies a predetermined underwater area for the vessel.   20. The system of claim 19, wherein the sonar system is further coupled with an automatic ship steering system that steers the ship away from selected targets that are within the range of the sonar system.   The sonar system is further coupled to an automatic ship steering system that maintains a predetermined or programmed distance between the ship and the identified navigational hazard within the sonar system. The system of claim 19.

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