JP2013007638A - Sonar of sector scan system - Google Patents

Sonar of sector scan system Download PDF

Info

Publication number
JP2013007638A
JP2013007638A JP2011140107A JP2011140107A JP2013007638A JP 2013007638 A JP2013007638 A JP 2013007638A JP 2011140107 A JP2011140107 A JP 2011140107A JP 2011140107 A JP2011140107 A JP 2011140107A JP 2013007638 A JP2013007638 A JP 2013007638A
Authority
JP
Japan
Prior art keywords
unit
transmission
return time
image
scan
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP2011140107A
Other languages
Japanese (ja)
Other versions
JP5838400B2 (en
Inventor
Shigeo Yamamoto
重雄 山本
Takahiro Hoshina
貴裕 保科
Kiwa Muramatsu
喜和 村松
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Honda Electronics Co Ltd
Original Assignee
Honda Electronics Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honda Electronics Co Ltd filed Critical Honda Electronics Co Ltd
Priority to JP2011140107A priority Critical patent/JP5838400B2/en
Publication of JP2013007638A publication Critical patent/JP2013007638A/en
Application granted granted Critical
Publication of JP5838400B2 publication Critical patent/JP5838400B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

PROBLEM TO BE SOLVED: To solve the problems in which: a display image cannot be updated, and display of the image is not smooth enough to see since transmission and reception of ultrasonic waves cannot be performed for several seconds for returning an oscillator.SOLUTION: A signal for performing sector scan and return drive of an ultrasonic oscillator 5 is transmitted from a drive pulse transmission part 12a of a main control part 12 to a motor drive part 6; return time is detected by a return time detection part 12b of the main control part 12; the return time is assigned for every scan of the sector scan by a return time assignment part 12c; a transmission pulse is transmitted from a transmission pulse transmission part 12d to a transmitter 8 with output from the drive pulse transmission part 12a; the return time assignment part 12c transmits assignment time to an assignment time adjustment part 13; the assignment time adjustment part 13 adjusts a digital signal read from a memory 11 with time assigned from the return time assignment part 12c of the main control part 12; and an image signal conversion part 14 converts the digital signal output from the assignment time adjustment part 13 into an image signal to display on a display part 15.

Description

本発明は、セクタースキャンした水中探知画像の表示をスムーズにするセクタースキャン方式のソナーに関するものである。   The present invention relates to a sector scan type sonar that smoothly displays a sector-scanned underwater detection image.

従来、スキャンニングソナーのような電子走査式の振動子駆動装置が知られているが、装置が大型になるため、小型漁船においては、図２に示すようなセクタースキャン方式が使用されており、モータのような動力源２を使用して、５度〜１０度の指向角のビーム３を持った超音波振動子１を例えば５度ずつ回転移動させて、超音波を送受信し、図３に示すように、１番目の超音波の送受信で画像４−１を表示し、2番目の超音波の送受信で画像４−２を表示し、順に3番目の超音波の送受信で画像４−３を表示し、・・・１３番目の超音波の送受信で画像４−１３をそれぞれ表示して、扇状形の水中探知画像４を表示している。   Conventionally, an electronic scanning type vibrator driving device such as a scanning sonar is known, but since the device becomes large, a small fishing boat uses a sector scanning method as shown in FIG. Using a power source 2 such as a motor, the ultrasonic transducer 1 having a beam 3 with a directivity angle of 5 degrees to 10 degrees is rotated and moved, for example, by 5 degrees to transmit and receive ultrasonic waves. As shown, the image 4-1 is displayed by transmission / reception of the first ultrasonic wave, the image 4-2 is displayed by transmission / reception of the second ultrasonic wave, and the image 4-3 is displayed by transmission / reception of the third ultrasonic wave in order. ..., And the image 4-13 is displayed by transmission / reception of the thirteenth ultrasonic wave, and the fan-shaped underwater detection image 4 is displayed.

しかしながら、このような方式の魚群探知装置では、第１回目の第１番目のスキャンをして画像４−１、第２番目のスキャンをして画像４−２、・・・第１３番目のスキャンをして画像４−１３を表示した後、スキャン最終位置（画像４−１３の最終位置）から第２回目のスキャン開始位置（画像４−１の開始位置）まで、振動子を戻す必要があり、その戻りの数秒間は超音波の送受信はできないため、表示画像を更新できず、画像の表示がスムーズでなく、見にくいという問題があった。   However, in this type of fish finder, the first scan of the first time is the image 4-1, the second scan is the image 4-2, ... the thirteenth scan. After displaying the image 4-13, it is necessary to return the transducer from the final scan position (final position of the image 4-13) to the second scan start position (start position of the image 4-1). Since the ultrasonic wave cannot be transmitted / received for a few seconds after the return, the display image cannot be updated, and the display of the image is not smooth and difficult to see.

特開平５−２８８８５１号公報Japanese Patent Laid-Open No. 5-288851

解決しようとする問題点は、セクタースキャン方式のソナーでは、振動子を戻す数秒間は超音波の送受信はできないため、表示画像を更新できず、画像表示がスムーズでなく、見にくいという点である。   The problem to be solved is that the sector scan type sonar cannot transmit and receive ultrasonic waves for a few seconds when the vibrator is returned, so that the display image cannot be updated and the image display is not smooth and difficult to see.

本発明は、超音波振動子をセクタースキャン駆動した後、戻り時間をかけて戻り駆動するモータと、該モータを駆動するモータ駆動部と、前記超音波振動子に発信出力を入力する発信器と、前記モータ駆動部にセクタースキャンするための信号を送信する駆動パルス送信部と、該駆動パルス送信部から戻り時間を検出する戻り時間検出部、該戻り時間検出部からの戻り時間をセクタースキャンのスキャン毎に割り当てる戻り時間割り当て部、及び前記発信器に発信パルスを送信する発信パルス送信部を設けたメイン制御部と、該メイン制御部の前記発信パルス送信部からの送信パルスを受けた前記発振器からの発信出力で前記超音波振動子から超音波を照射し、水中で反射して戻ってきた反射波を前記超音波振動子で受波し、この受波信号を受信器で増幅してデジタル信号に変換するＡ／Ｄ変換器と、該Ａ／Ｄ変換器からのデジタル信号を記憶するメモリと、該メモリからの読み出されたデジタル信号を前記メイン制御部の前記戻り時間割り当て部からセクタースキャンのスキャン毎に割り当てられた割り当て信号で調整される割り当て時間調整部と、該割り当て時間調整部から出力されたデジタル信号を画像信号に変換する画像信号変換部と、該画像信号変換部で変換された画像信号を表示する表示部とからなるものである。   The present invention provides a motor that drives a return drive over sector scan after the ultrasonic transducer is driven by a sector scan, a motor drive unit that drives the motor, and a transmitter that inputs a transmission output to the ultrasonic transducer. A drive pulse transmitter for transmitting a sector scan signal to the motor driver, a return time detector for detecting a return time from the drive pulse transmitter, and a return time from the return time detector for the sector scan. A main control unit provided with a return time allocation unit that is allocated for each scan, and a transmission pulse transmission unit that transmits a transmission pulse to the transmitter, and the oscillator that has received a transmission pulse from the transmission pulse transmission unit of the main control unit The ultrasonic wave is emitted from the ultrasonic vibrator with the transmission output from and the reflected wave reflected and returned in water is received by the ultrasonic vibrator. An A / D converter that amplifies and converts the digital signal from the A / D converter, a memory that stores the digital signal from the A / D converter, and a digital signal read from the memory An allocation time adjustment unit that is adjusted by an allocation signal allocated for each scan of the sector scan from the return time allocation unit, an image signal conversion unit that converts a digital signal output from the allocation time adjustment unit into an image signal, And a display unit for displaying the image signal converted by the image signal conversion unit.

本発明のセクタースキャン方式のソナーでは、メイン制御部の駆動パルス送信部からセクタースキャンをするための信号をモータ駆動部に送信して、モータを駆動するとともに、駆動パルス送信部から戻り時間検出部で戻り時間を検出して戻り時間割り当て部から割り当て信号を割り当て時間調整部に出力し、セクタースキャンのスキャン毎に割り当て時間を割り当てることにより、表示されたセクタースキャンした水中探知画像信号はセクタースキャンの最終のスキャン画像の表示が終わると、次のセクタースキャンのスキャン画像が続けて表示されるので、表示更新が停止することなく、スムーズに画像が表示されるという利点がある。   In the sector scan type sonar according to the present invention, a signal for sector scanning is transmitted from the drive pulse transmission unit of the main control unit to the motor drive unit to drive the motor, and the return time detection unit from the drive pulse transmission unit. The return time is detected and the allocation signal is output from the return time allocation unit to the allocation time adjustment unit, and the allocated time is allocated for each sector scan scan, so that the displayed sector-scanned underwater detection image signal is When the display of the final scan image is completed, the scan image of the next sector scan is continuously displayed, so that there is an advantage that the image is displayed smoothly without stopping the display update.

図１は本発明の実施例のセクタースキャン方式のソナーのブロック図である。FIG. 1 is a block diagram of a sector scan sonar according to an embodiment of the present invention. 図２はモータで超音波振動子を駆動する状態を示した図である。FIG. 2 is a diagram showing a state in which the ultrasonic transducer is driven by the motor. 図３は従来のセクタースキャンした画像である水中探知画像を示した図である。FIG. 3 is a view showing an underwater detection image which is a conventional sector-scanned image.

本発明では、駆動パルス送信部から戻り時間を検出する戻り時間検出部、該戻り時間検出部からの戻り時間をセクタースキャンのスキャン毎に割り当てる戻り時間割り当て部、及び発信器に発信パルスを送信する駆動パルス送信部を設けたメイン制御部を構成し、メイン制御部の前記駆動パルス送信部からの発信パルスを受けた前記発信器の発信出力で前記超音波振動子から超音波を照射し、受信した超音波の反射波による受波信号をＡ／Ｄ変換器でデジタル信号に変換し、前記Ａ／Ｄ変換器からのデジタル信号をメモリで記憶し、割り当て時間調整部は前記メモリからの読み出されたデジタル信号を前記メイン制御部の戻り時間割り当て部からスキャン毎に割り当てられた割り当て信号で調整され、画像信号変換部は前記割り当て時間調整部から出力されたデジタル信号を画像信号に変換し、表示部は画像信号変換部で変換された画像信号を表示するものである。   In the present invention, a return time detection unit that detects a return time from the drive pulse transmission unit, a return time allocation unit that allocates the return time from the return time detection unit for each scan of the sector scan, and a transmission pulse to the transmitter Configure the main control unit provided with a drive pulse transmission unit, irradiate the ultrasonic wave from the ultrasonic transducer with the transmission output of the transmitter that receives the transmission pulse from the drive pulse transmission unit of the main control unit, and receive The received signal of the reflected ultrasonic wave is converted into a digital signal by an A / D converter, the digital signal from the A / D converter is stored in a memory, and the allocation time adjustment unit reads out from the memory The adjusted digital signal is adjusted by the allocation signal allocated for each scan from the return time allocation unit of the main control unit, and the image signal conversion unit adjusts the allocation time. The digital signal output from the converting an image signal, the display unit displays the image signal converted by the image signal conversion unit.

図１は本発明の実施例のセクタースキャン方式のソナーのブロック図で、超音波振動子５はモータ駆動部６からの信号によりモータ７でセクタースキャン駆動及び戻り駆動され、発信器８からの発信出力で超音波振動子５からセクタースキャンのスキャン毎に超音波が照射され、その反射波を受波した超音波振動子５の受波信号は受信器９で受信され、増幅されてＡ／Ｄ変換器１０でデジタル信号に変換され、メモリ１１で記憶され、又、メイン制御部１２の駆動パルス送信部１２ａからセクタースキャンするためのパルス信号をモータ駆動部６に送信し、メイン制御部１２の戻り時間検出部１２ｂで戻り時間を検出し、戻り時間割り当て部１２ｃで戻り時間をセクタースキャンスキャン毎に割り当て、さらに、駆動パルス送信部１２ａからの出力で、発信パルス送信部１２ｄから発信器８に発信パルスを送信し、戻り時間割り当て部１２ｃは割り当て時間調整部１３に割り当て時間を送信し、割り当て時間調整部１３はメモリ１１からの読み出されたセクタースキャンしたデジタル信号をメイン制御部１２の戻り時間割り当て部１２ｃから割り当てられた割り当て時間信号で調整され、画像信号変換部１４は割り当て時間調整部１３から出力されたセクタースキャンしたデジタル信号を画像信号に変換し、表示部１５は画像信号変換部１４で変換された画像信号を表示するものである。   FIG. 1 is a block diagram of a sector scan type sonar according to an embodiment of the present invention. An ultrasonic transducer 5 is sector-scan driven and returned by a motor 7 in response to a signal from a motor drive 6, and is transmitted from a transmitter 8. An ultrasonic wave is emitted from the ultrasonic transducer 5 at every output of the sector scan as an output, and the received signal of the ultrasonic transducer 5 that receives the reflected wave is received by the receiver 9, amplified, and A / D The signal is converted into a digital signal by the converter 10 and stored in the memory 11, and a pulse signal for sector scanning is transmitted from the drive pulse transmitter 12 a of the main controller 12 to the motor driver 6. The return time detection unit 12b detects the return time, the return time allocation unit 12c allocates the return time for each sector scan, and further from the drive pulse transmission unit 12a. At the output, a transmission pulse is transmitted from the transmission pulse transmission unit 12d to the transmitter 8, the return time allocation unit 12c transmits the allocation time to the allocation time adjustment unit 13, and the allocation time adjustment unit 13 is read from the memory 11. The sector-scanned digital signal is adjusted by the allocation time signal allocated from the return time allocation unit 12c of the main control unit 12, and the image signal conversion unit 14 converts the sector-scanned digital signal output from the allocation time adjustment unit 13 into an image. The signal is converted into a signal, and the display unit 15 displays the image signal converted by the image signal conversion unit 14.

このように構成された本実施例のセクタースキャン方式のソナーでは、メイン制御部１２の駆動パルス送信部１２ａからセクタースキャンするためのパルス信号が出力されると、５度〜１０度の指向角のビーム３を持った超音波振動子５を例えば５度ずつ回動移動させ、その回動毎にメイン制御部１２の発信パルス送信部１２ｄから発信器８に発振パルスが出力されることにより、超音波振動子５はセクタースキャンする毎に超音波を照射して、受信した超音波の反射波による受波信号は受信器９で増幅され、Ａ／Ｄ変換器１０でデジタル信号に変換され、メモリ１１で記憶され、メモリ１１から読み出されて、順次デジタル信号を割り当て時間調整部１３に送信する。   In the sector scan type sonar of this embodiment configured as described above, when a pulse signal for sector scan is output from the drive pulse transmission unit 12a of the main control unit 12, the directivity angle of 5 degrees to 10 degrees is output. The ultrasonic transducer 5 having the beam 3 is rotated and moved by, for example, 5 degrees, and an oscillation pulse is output from the transmission pulse transmission unit 12d of the main control unit 12 to the transmitter 8 for each rotation. The ultrasonic transducer 5 emits ultrasonic waves every time sector scanning is performed, and a received signal based on a reflected wave of the received ultrasonic waves is amplified by the receiver 9 and converted into a digital signal by the A / D converter 10. 11, read from the memory 11, and sequentially transmits digital signals to the allocation time adjustment unit 13.

そこで、予めメイン制御部１２の駆動パルス送信部１２ａから出力される戻り時間が戻り時間検出部１２ｂで検出されているので、この戻り時間を検出し、戻り時間割り当て部１２ｃで戻り時間をセクタースキャンのスキャン毎に割り当てて調整し、画像信号変換部１４は割り当て時間調整部１３から出力されたセクタースキャンしたデジタル信号を画像信号に変換し、表示部１５は画像信号変換部１４で変換された画像信号を表示することにより、表示されたセクタースキャンした水中探知画像は、超音波振動子５の戻り駆動が終わるまでに順次画像が表示されるので、最終スキャン画像の表示が終わると、次のセクタースキャンの最初のスキャン画像が続けて表示されので、表示更新が停止することなく、スムーズに画像が表示されるという利点がある。   Therefore, since the return time output from the drive pulse transmission unit 12a of the main control unit 12 is detected in advance by the return time detection unit 12b, this return time is detected, and the return time is detected by the return time allocation unit 12c. The image signal conversion unit 14 converts the sector-scanned digital signal output from the allocation time adjustment unit 13 into an image signal, and the display unit 15 converts the image converted by the image signal conversion unit 14. By displaying the signal, the displayed sector-scanned underwater detection image is displayed sequentially until the return drive of the ultrasonic transducer 5 is completed, so when the display of the final scan image is completed, the next sector is displayed. Since the first scan image of the scan is displayed continuously, if the image is displayed smoothly without stopping the display update Cormorants has the advantage.

なお、上記実施例は、繰り返し表示をする装置にも適用することができる。   The above embodiment can also be applied to an apparatus that repeatedly displays.

５ 超音波振動子
６ モータ駆動部
７ モータ
８ 発信器
９ 受信器
１０ Ａ／Ｄ変換器
１１ メモリ
１２ メイン制御部
１２ａ 駆動パルス送信部
１２ｂ 戻り時間検出部
１２ｃ 戻り時間割り当て部
１２ｄ 発信パルス送信部
１３ 割り当て時間調整部
１４ 画像信号変換部
１５ 表示 DESCRIPTION OF SYMBOLS 5 Ultrasonic transducer 6 Motor drive part 7 Motor 8 Transmitter 9 Receiver 10 A / D converter 11 Memory 12 Main control part 12a Drive pulse transmission part 12b Return time detection part 12c Return time allocation part 12d Transmission pulse transmission part 13 Allocation time adjustment unit 14 Image signal conversion unit 15 Display

Claims (1)

超音波振動子をセクタースキャンして戻すモータと、該モータを駆動するモータ駆動部と、前記超音波振動子に発信出力を入力する発信器と、前記モータ駆動部にセクタースキャンするための信号を送信する駆動パルス送信部と、該駆動パルス送信部から戻り時間を検出する戻り時間検出部と、該戻り時間検出部からの戻り時間をセクタースキャンのスキャン毎に割り当てる戻り時間割り当て部と、前記発信器に発信パルスを送信する発信パルス送信部を設けたメイン制御部と、該メイン制御部の前記発信パルス送信部からの送信パルスを受けた前記発信器からの発信出力で前記超音波振動子から超音波を照射し、水中で反射して戻ってきた反射波を前記超音波振動子で受波し、この受波信号を受信器で増幅してデジタル信号に変換するＡ／Ｄ変換器と、該Ａ／Ｄ変換器からのデジタル信号を記憶するメモリと、該メモリからの読み出されたデジタル信号を前記メイン制御部の前記戻り時間割り当て部からセクタースキャンのスキャン毎に割り当てられた割り当て信号で調整される割り当て時間調整部と、該割り当て時間調整部から出力されたデジタル信号を画像信号に変換する画像信号変換部と、該画像信号変換部で変換された画像信号を表示する表示部とからなることを特徴とするセクタースキャン方式のソナー。   A motor for returning the ultrasonic transducer by sector scanning, a motor driving unit for driving the motor, a transmitter for inputting a transmission output to the ultrasonic transducer, and a signal for sector scanning to the motor driving unit. A drive pulse transmitting unit for transmitting, a return time detecting unit for detecting a return time from the drive pulse transmitting unit, a return time assigning unit for assigning a return time from the return time detecting unit for each scan of the sector scan, and the transmission A main control unit provided with a transmission pulse transmission unit for transmitting a transmission pulse to the transmitter, and a transmission output from the transmitter that has received a transmission pulse from the transmission pulse transmission unit of the main control unit from the ultrasonic transducer A / W that receives ultrasonic waves and receives reflected waves that have been reflected back in water by the ultrasonic transducer and amplifies the received signals by a receiver to convert them into digital signals. A converter, a memory for storing a digital signal from the A / D converter, and a digital signal read from the memory are allocated for each sector scan from the return time allocation unit of the main control unit. An allocation time adjustment unit that is adjusted by the allocation signal, an image signal conversion unit that converts a digital signal output from the allocation time adjustment unit into an image signal, and an image signal that is converted by the image signal conversion unit A sector scan sonar comprising a display unit.
JP2011140107A 2011-06-24 2011-06-24 Sector scan sonar Active JP5838400B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2011140107A JP5838400B2 (en) 2011-06-24 2011-06-24 Sector scan sonar

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2011140107A JP5838400B2 (en) 2011-06-24 2011-06-24 Sector scan sonar

Publications (2)

Publication Number Publication Date
JP2013007638A true JP2013007638A (en) 2013-01-10
JP5838400B2 JP5838400B2 (en) 2016-01-06

Family

ID=47675109

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2011140107A Active JP5838400B2 (en) 2011-06-24 2011-06-24 Sector scan sonar

Country Status (1)

Country Link
JP (1) JP5838400B2 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015087160A (en) * 2013-10-29 2015-05-07 本多電子株式会社 Searchlight sonar

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61259649A (en) * 1985-05-10 1986-11-17 エヌ・ベ−・フイリツプス・フル−イランペンフアブリケン Ultrasonic fan saped scanner
JPS6321045A (en) * 1986-07-15 1988-01-28 松下電器産業株式会社 Mechanical scanning type ultrasonic probe
JPS6345580A (en) * 1986-08-13 1988-02-26 Unyusho Daiyon Kowan Kensetsu Kyokucho Scan controller for submarine topography detection sonar
JPH0197887A (en) * 1987-10-09 1989-04-17 Furuno Electric Co Ltd Image display device in scanning sonar
JPH05288851A (en) * 1992-04-08 1993-11-05 Furuno Electric Co Ltd Underwater detection apparatus
JPH0815432A (en) * 1994-06-24 1996-01-19 Suzuki Giyotan Kk Image-information display device
US6226227B1 (en) * 1998-03-25 2001-05-01 Board Of Regents, The Universiity Of Texas System Manual scan imaging sonar

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61259649A (en) * 1985-05-10 1986-11-17 エヌ・ベ−・フイリツプス・フル−イランペンフアブリケン Ultrasonic fan saped scanner
JPS6321045A (en) * 1986-07-15 1988-01-28 松下電器産業株式会社 Mechanical scanning type ultrasonic probe
JPS6345580A (en) * 1986-08-13 1988-02-26 Unyusho Daiyon Kowan Kensetsu Kyokucho Scan controller for submarine topography detection sonar
JPH0197887A (en) * 1987-10-09 1989-04-17 Furuno Electric Co Ltd Image display device in scanning sonar
JPH05288851A (en) * 1992-04-08 1993-11-05 Furuno Electric Co Ltd Underwater detection apparatus
JPH0815432A (en) * 1994-06-24 1996-01-19 Suzuki Giyotan Kk Image-information display device
US6226227B1 (en) * 1998-03-25 2001-05-01 Board Of Regents, The Universiity Of Texas System Manual scan imaging sonar

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015087160A (en) * 2013-10-29 2015-05-07 本多電子株式会社 Searchlight sonar

Also Published As

Publication number Publication date
JP5838400B2 (en) 2016-01-06

Similar Documents

Publication Publication Date Title
US20120226160A1 (en) Ultrasound diagnostic apparatus and ultrasound image producing method
JP5443309B2 (en) Ultrasonic diagnostic apparatus and method
JP2012050603A (en) Ultrasonic diagnostic apparatus and method
JP6307460B2 (en) Ultrasonic diagnostic apparatus and control program therefor
US20120232392A1 (en) Ultrasound diagnostic apparatus
JP2012165893A (en) Ultrasonic diagnostic apparatus and ultrasonic image generation method
JP6263447B2 (en) Ultrasonic diagnostic apparatus and program
JP5481334B2 (en) Ultrasonic diagnostic equipment
JP5838400B2 (en) Sector scan sonar
JP2012024426A5 (en)
JP2012161569A (en) Ultrasound diagnostic apparatus and ultrasound image producing method
JP5711647B2 (en) Ultrasonic diagnostic apparatus and ultrasonic image generation method
JP4065760B2 (en) Marine equipment network system
JP2006255102A (en) Ultrasonic probe and ultrasonic diagnostic apparatus
JP2013090827A (en) Ultrasonic diagnostic equipment and ultrasonic image generation method
JP5669631B2 (en) Ultrasonic diagnostic apparatus and method for operating ultrasonic diagnostic apparatus
JP6243249B2 (en) Ultrasonic diagnostic apparatus and program
JP2015128532A (en) Ultrasonic diagnostic equipment
JP5215426B2 (en) Ultrasonic diagnostic equipment
US11640665B2 (en) Methods and apparatuses for detecting degraded ultrasound imaging frame rates
JP2012196256A (en) Ultrasound diagnostic apparatus and method of producing ultrasound image
JP2016022249A (en) Ultrasonic diagnostic device and program
JP2009213593A (en) Ultrasonic diagnostic apparatus
JP2022122409A (en) Ultrasonic diagnostic apparatus, ultrasonic diagnostic system, and control program for ultrasonic diagnostic apparatus
JP2005312837A (en) Ultrasonic diagnosis apparatus

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20140428

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20150115

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20150127

A521 Written amendment

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20150316

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20150820

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20150826

R150 Certificate of patent or registration of utility model

Ref document number: 5838400

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250