JP2014228521A - Searchlight sonar - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a searchlight sonar capable of efficiently changing a plurality of set angles.SOLUTION: A searchlight sonar comprises: an oscillator 31 that transmits ultrasound in water and is capable of receiving its reflected wave; motors 27, 33 that operate the oscillator 31 to change a transmission direction in which the ultrasound is transmitted by the oscillator 31; a set angle change part 59 that changes a plurality of set angles for determining a plurality of transmission regions to which the ultrasound is transmitted by the oscillator 31, based on one operation at an operating part 14; a motor control part 55 that controls drive of the motors 27, 33 to transmit the ultrasound to each transmission region based on each set angle; a detection image forming part 56 that forms a detection image for each transmission region based on a received signal generated by the oscillator 31 receiving the reflected wave of the ultrasound transmitted by the oscillator 31; and a display control part 57 that displays the formed detection image for each transmission region on a display part 15.

Description

  The present invention relates to a searchlight sonar that is mounted on a ship and detects a detection target such as a school of fish while changing the transmission direction of ultrasonic waves.

  Searchlight sonar is widely known as a type of device for detecting an object to be detected such as an underwater fish school by transmitting and receiving ultrasonic waves (for example, Patent Document 1). A searchlight sonar is a sonar system in which ultrasonic waves are transmitted and received by a vibrator arranged on the bottom of a ship, etc., using the same thin beam. A predetermined angle range (for example, a detection range of about 6 degrees) in one direction can be detected.

  In other words, the searchlight sonar has a mechanism that can freely change the depression angle and azimuth angle of the transducer that transmits and receives ultrasonic waves. Underwater is detected by sequentially transmitting and receiving ultrasonic waves while rotating by a predetermined angle around the ship. And the underwater detection result performed in this way is sequentially displayed on the screen as a detection image.

Japanese Patent Laid-Open No. 5-126938

  By the way, in the searchlight sonar as described above, for example, when a plurality of depression angles of the vibrator are set, and when changing the setting of these depression angles, the setting change operation is usually repeated by the number of depression angles set. There is a problem that it takes time to change the setting because it must be done.

  The present invention has been made paying attention to such problems existing in the prior art. The object is to provide a searchlight sonar capable of efficiently changing a plurality of set angles.

Hereinafter, means for solving the above-described problems and the effects thereof will be described.
A searchlight sonar that solves the above problem is a searchlight sonar that is mounted on a ship and detects underwater around the ship while changing the transmission direction of ultrasonic waves transmitted in one direction. A vibrator capable of transmitting a sound wave into water and receiving the reflected wave; a drive source of driving force for operating the vibrator so that a transmission direction of the ultrasonic wave by the vibrator changes; and the vibrator A plurality of setting angles that determine a plurality of transmission areas of the ultrasonic wave based on a setting angle changing unit that changes based on a single operation on the operation unit; A drive control unit configured to control driving of the drive source so that a sound wave is transmitted; and the transmission region based on a reception signal generated by the vibrator receiving a reflected wave of the ultrasonic wave transmitted from the vibrator. Comprising: a sensed image forming unit that forms a sensed image, and a display control unit for displaying the sensed image of the transmission each region where the sensed image forming portion is formed on the display unit.

  According to this configuration, the setting angle changing unit can change a plurality of setting angles that determine a plurality of ultrasonic transmission areas by the vibrator based on one operation on the operation unit. The setting angle can be changed efficiently.

  In the searchlight sonar, it is preferable that the set angle changing unit changes the set angles while maintaining an angle difference between the set angles based on one operation on the operation unit.

According to this configuration, the set angle changing unit can change each set angle while maintaining an angle difference between the set angles.
In the searchlight sonar, an upper limit value and a lower limit value are set for the set angle, and the set angle changing unit is configured such that any one of the set angles reaches the upper limit value or the lower limit value. In addition, it is preferable that the change of all the set angles to the side where any one of the set angles has reached the upper limit value and the lower limit value is preferably regulated.

According to this configuration, even when any one of the set angles reaches the upper limit value or the lower limit value, the angle difference between the set angles can be maintained.
In the searchlight sonar, the set angle is preferably a depression angle in a transmission direction of the ultrasonic wave by the vibrator.

According to this configuration, it is possible to efficiently change the depression angle in the transmission direction of ultrasonic waves by a plurality of set transducers.
In the searchlight sonar, the set angle is preferably an angle with respect to a traveling direction of the ship in a changing direction that is a direction in which a transmission direction of the ultrasonic wave by the vibrator is changed.

According to this configuration, it is possible to efficiently change the angle of a plurality of set change directions with respect to the traveling direction of the ship.
In the searchlight sonar, it is preferable that the display control unit divides and displays the detection image for each transmission area formed by the detection image forming unit on a display unit.

  According to this configuration, the detection image for each transmission area can be viewed on the display unit at a time.

  According to the present invention, it is possible to efficiently change a plurality of set angles.

The schematic block diagram of the searchlight sonar of embodiment. The model side view which shows a state when performing underwater detection with the ship carrying the searchlight sonar. FIG. 3 is a schematic perspective view showing a state when underwater detection is performed in a sonar mode by a ship equipped with the searchlight sonar. The model perspective view which shows the state when performing detection in water by bottom sonar mode with the ship carrying the searchlight sonar. The schematic cross section of the transmission / reception unit of the searchlight sonar. The block diagram which shows the control part of the searchlight sonar. The block diagram which shows the electric constitution of the searchlight sonar. The flowchart which shows a setting angle change process routine. (A) is a schematic diagram which shows a state when the depression angle of each detection image is set in sonar mode, (b) is a schematic diagram which shows a state when the depression angle of each detection image of (a) is changed. (A) is a schematic diagram which shows a state when the scanning angle of each detection image is set in bottom sonar mode, (b) is a schematic diagram which shows a state when the scanning angle of each detection image of (a) is changed.

Hereinafter, an embodiment of a searchlight sonar will be described with reference to the drawings.
As shown in FIG. 1 and FIG. 2, the searchlight sonar 12 is mounted on a ship 11 and detects a detection target S such as an underwater fish school around the ship 11. The searchlight sonar 12 includes a main body 13, an operation unit 14 formed integrally with the main body 13, a display unit 15 formed integrally with the main body 13, and a transmission / reception unit 16 that transmits and receives the ultrasonic beam TB. And a lifting device 17 that lifts and lowers the wave transmitting / receiving unit 16. The main body 13 is electrically connected to the operation unit 14, the display unit 15, the wave transmission / reception unit 16, and the lifting device 17.

  The main body 13, the operation unit 14, and the display unit 15 are disposed in the steering chamber of the ship 11, and the wave transmitting / receiving unit 16 and the lifting device 17 are disposed in the bottom of the ship 11. The wave transmission / reception unit 16 is raised and lowered by the elevating device 17 so that the wave transmitting and receiving unit 16 can freely move in and out of the water from the ship bottom. The operation unit 14 includes a mode button 14a for switching a detection mode, which will be described later, a turning button 14b, and a tilt button 14c.

  The searchlight sonar 12 has two detection modes, a sonar mode and a bottom sonar mode. As shown in FIGS. 2 and 3, in the sonar mode, the transmission direction of the ultrasonic beam TB transmitted in one direction from the transmission / reception unit 16 is set with the transmission / reception unit 16 protruding from the bottom of the ship 11. Underwater detection is performed while sequentially changing by a predetermined angle so as to draw a circle in the clockwise direction (clockwise).

  On the other hand, as shown in FIGS. 2 and 4, the bottom sonar mode is the state of the ultrasonic beam TB transmitted in one direction from the transmission / reception unit 16 with the transmission / reception unit 16 protruding from the bottom of the ship 11. Underwater detection is performed while sequentially changing the transmission direction by a predetermined angle in a direction (change direction) along the diameter of a virtual circle centered on the ship 11 when the ship 11 is viewed from directly above. The underwater detection result is displayed on the display unit 15 as a detection image regardless of the sonar mode or the bottom sonar mode.

Next, the configuration of the transmission / reception unit 16 will be described in detail.
As shown in FIG. 5, the wave transmitting / receiving unit 16 includes a bottomed cylindrical lower case 21 whose upper end is open and whose lower end is hemispherical, and a covered cylinder whose lower end is open and whose upper end is disk-shaped. And a disc-shaped lid 23 that closes the lower end opening of the upper case 22 and the upper end opening of the lower case 21. Accordingly, the upper housing space 24 is formed by the upper surface of the lid body 23 and the upper case 22, and the lower housing space 25 is formed by the lower surface of the lid body 23 and the lower case 21.

  A through hole 26 is formed in the center of the lid body 23. A scan motor 27 composed of a stepping motor is fixed to the central portion on the lid 23. An output shaft 27a of the scan motor 27 extends downward from the lower surface of the scan motor 27 in a state where the output shaft 27a is rotatably inserted into the through hole 26. The tip (lower end) of the output shaft 27 a reaches the upper part of the lower accommodation space 25.

  A circular support plate 28 is provided at the tip of the output shaft 27a. That is, the distal end of the output shaft 27 a is connected to the center portion on the upper surface of the support plate 28. A support frame 29 having a substantially inverted U shape is provided on the lower surface of the support plate 28. Between the lower ends of the support frame 29, a horizontally extending rotary shaft 30 is rotatably mounted.

  A transducer 31 capable of transmitting an ultrasonic beam TB (see FIG. 2) in one direction and receiving a reflected wave of the transmitted ultrasonic beam TB is fixed to the central portion of the rotating shaft 30. A substantially semicircular tilt gear 32 is fixed to a position adjacent to the vibrator 31 on the rotating shaft 30. Therefore, the rotating shaft 30, the vibrator 31, and the tilt gear 32 rotate together with each other.

  A tilt motor 33 composed of a stepping motor is fixed to the upper end portion of the support frame 29. The tilt motor 33 includes an output shaft 33a extending toward the tilt gear 32 side. A small gear 33b is provided at the tip of the output shaft 33a. The small gear 33 b meshes with the tilt gear 32.

  When the scan motor 27 is driven, the transducer 31 rotates through the support plate 28, the support frame 29, and the rotation shaft 30 with the rotation of the output shaft 27a. The transmission direction is changed from left to right.

  That is, since the direction in which the transducer 31 faces is changed by driving the scan motor 27, the direction of the ultrasonic beam (see FIG. 2) transmitted by the transducer 31 is changed. Therefore, the scan motor 27 functions as a drive source of the driving force that operates the transducer 31 so that the transmission direction of the ultrasonic beam (see FIG. 2) by the transducer 31 changes from side to side.

  On the other hand, when the tilt motor 33 is driven, the vibrator 31 rotates around the rotation shaft 30 via the small gear 33b, the tilt gear 32, and the rotation shaft 30 as the output shaft 33a rotates. As a result, the depression angle, which is the angle formed by the direction in which the transducer 31 faces and the horizontal plane of the transducer 31 is changed, so that the direction of the ultrasonic beam (see FIG. 2) transmitted by the transducer 31 is changed up and down. Changed to Therefore, the tilt motor 33 functions as a drive source of the driving force that operates the transducer 31 so that the transmission direction of the ultrasonic beam (see FIG. 2) by the transducer 31 changes up and down.

Next, the electrical configuration of the searchlight sonar 12 will be described.
As shown in FIG.1 and FIG.6, the main-body part 13 of the searchlight sonar 12 is provided with the control part 50 comprised with a microcomputer. The control unit 50 includes a CPU 51, a ROM 52, and a RAM 53.

  The ROM 52 stores various control programs including a program for changing the setting angle shown in the flowchart of FIG. 8 and various setting data such as an upper limit value A and a lower limit value B of the setting angle K described later. The RAM 53 temporarily stores program data executed by the CPU 51 and various setting data, calculation results and processing results by the CPU 51, and the like.

  As shown in FIGS. 6 and 7, the control unit 50 causes the CPU 51 to execute a program for changing the setting angle stored in the ROM 52, so that the motor control unit 55 as an example of the main control unit 54 and the drive control unit. The detection image forming unit 56, the display control unit 57, the set angle setting unit 58, and the set angle changing unit 59 are constructed.

  As shown in FIG. 7, the control unit 50 is electrically connected to the scan motor 27 and the tilt motor 33 via the motor driver 60 and electrically connected to the vibrator 31 via the transmission / reception circuit 61. ing. Further, the control unit 50 is electrically connected to the display unit 15, the operation unit 14, and the lifting device 17.

  The main control unit 54 controls the transmission / reception circuit 61 to transmit the ultrasonic beam TB (see FIG. 2) from the vibrator 31 and controls the driving of the lifting device 17. The motor control unit 55 controls driving of the scan motor 27 and the tilt motor 33 via the motor driver 60.

  The detection image forming unit 56 receives a reception signal generated when the transducer 31 receives the reflected wave of the ultrasonic beam TB (see FIG. 2) transmitted from the transducer 31 via the transmission / reception circuit 61, and receives the received signal. Based on the received signal, detected image data is formed for each transmission region of the ultrasonic beam TB and stored in a partial storage region of the RAM 53 (see FIG. 6).

  The display control unit 57 causes the display unit 15 to display a detection image based on the detection image data formed by the detection image forming unit 56 and stored in a partial storage area of the RAM 53 (see FIG. 6). When there are a plurality of detected images, the display control unit 57 divides each detected image on the display unit 15 and displays it.

  The setting angle setting unit 58 sets a plurality of setting angles K that determine a plurality of transmission areas of the ultrasonic beam TB (see FIG. 2) by the transducer 31 based on the operation of the operation unit 14. The setting angle changing unit 59 changes a plurality of different setting angles K set by the setting angle setting unit 58 based on one operation on the operation unit 14.

  Next, the setting angle changing process routine executed by the control unit 50 will be described based on the flowchart shown in FIG. The set angle change processing routine is executed by the control unit 50 when a plurality of set angles K are set by operating the operation unit 14 so that the user starts underwater detection. In the set angle change processing routine, when the detection mode is the sonar mode, one change operation of the set angle K on the operation unit 14 is a single pressing operation of the tilt button 14c, and the detection mode is the bottom sonar mode. In this case, one change operation of the setting angle K at the operation unit 14 is one pressing operation of the turning button 14b.

  When the set angle change processing routine is executed, first, the control unit 50 determines whether or not the operation unit 14 has changed the set angle K (step S1). When the determination result of step S1 is negative, the control unit 50 repeatedly performs the process of step S1 until the determination result of step S1 becomes a positive determination. And if the determination result of step S1 becomes affirmation determination, the control part 50 will determine whether any one among the several setting angles K has reached the upper limit value A or the lower limit value B (step S2).

  If the determination result in step S2 is negative, the control unit 50 changes the scan motor 27 or the tilt motor so as to change all the setting angles K by an angle of 1 degree while maintaining the difference between the angles. After controlling the drive of 33 (step S3), the process proceeds to step S1. On the other hand, if the determination result of step S2 is affirmative, the control unit 50 ends the set angle change processing routine.

Next, the operation of the searchlight sonar 12 configured as described above will be described with reference to FIGS.
When the searchlight sonar 12 is used in the plural (four in the present embodiment) screen mode in which the depression angles in the transmission direction of the ultrasonic beam TB in the sonar mode are plural (four in the present embodiment), first, The mode button 14a is pressed to change the detection mode to the sonar mode.

  In the sonar mode, the set angle K is a depression angle in the transmission direction of the ultrasonic beam TB by the vibrator 31. Subsequently, the operation unit 14 is operated to set the four-screen mode in which four depression angles in the transmission direction of the ultrasonic beam TB by the transducer 31 are set as illustrated in FIG. In the present embodiment, the transmission region (transmission range) of the ultrasonic beam TB is set to an angular range of 360 degrees around the ship 11. Accordingly, there are four transmission areas of the ultrasonic beam TB in an angular range of 360 degrees around each ship 11 at four depression angles.

  For example, if the set four depression angles are 10 degrees, 20 degrees, 30 degrees, and 40 degrees, as shown in FIG. Each detected image corresponding to the depression angle is displayed. That is, each detected image is divided and displayed on the display unit 15 in 2 rows and 2 columns, and each depression angle is displayed on the right end of the display unit 15 in 2 rows and 2 columns so as to correspond to each detected image. Each detection image displayed on the display unit 15 is an image with a depression angle of 10 degrees on the upper left, an image with a depression angle of 20 degrees on the upper right, an image with a depression angle of 30 degrees, and an image with a depression angle of 40 degrees on the lower left. In this case, the four detection images (four screens) displayed on the display unit 15 are detected and sequentially formed by one transducer image 31 for one detection image (one screen).

  Here, when it is desired to change the depression angles of the four detection images at once, the tilt button 14c is pressed. In this case, when the upper end portion of the tilt button 14c is pressed once, the depression angles of the four detection images are all reduced by 1 degree, and when the lower end portion of the tilt button 14c is pressed once, the depression angles of the four detection images are all once. growing. For example, when it is desired to increase the depression angles of the four detection images by 50 degrees, the lower end of the tilt button 14c is pressed 50 times. Then, as shown in FIG. 9B, the detection images displayed on the display unit 15 are an image with an upper left corner having a depression angle of 60 degrees, an upper right portion having an depression angle of 70 degrees, a lower right portion having an depression angle of 80 degrees, and a lower left portion. Becomes an image with a depression angle of 90 degrees.

  In this case, the upper limit value A and the lower limit value B of each depression angle are set to 90 degrees and 0 degrees, respectively. For this reason, even if the lower end of the tilt button 14c is further pressed, the depression angle of the lower left detection image has already reached the upper limit A of 90 degrees, so that the depression angles of the four detection images do not increase any more. In addition, when one of the four detection images has reached the lower limit B of 0 degree by pressing the upper end of the tilt button 14c, the four more The depression angle of the detected image does not become any smaller.

  In this way, by simply pressing the tilt button 14c, the depression angles of the four detection images are uniformly changed by an angle of 1 degree by the amount of the depression of the tilt button 14c. Therefore, it is efficient to change the depression angles of the four detection images. Can be done well. Incidentally, when the depression angles of the four detection images are individually increased by 50 degrees, it is necessary to press the respective buttons for changing the depression angles of the four detection images 50 times, a total of 200 times.

  On the other hand, the searchlight sonar 12 is set in a plurality (four in this embodiment) in which a plurality of angles (four in the present embodiment) are set with respect to the traveling direction of the ship 11 in the changing direction, which is the direction in which the transmission direction of the ultrasonic beam TB is changed in the bottom sonar mode. In the embodiment, 4) When using in the screen mode, first, the mode button 14a is pressed to set the detection mode to the bottom sonar mode.

  In this bottom sonar mode, when the above-described set angle K is viewed from directly above the ship 11 in the changing direction (direction indicated by the arrow in FIG. 4), which is the direction in which the transmission direction of the ultrasonic beam TB by the vibrator 31 is changed The angle with respect to the traveling direction of the ship 11 (hereinafter referred to as “scan angle”). Subsequently, the operation unit 14 is operated to enter the four-screen mode in which four scan angles are set as shown in FIG. In the present embodiment, the transmission region (transmission range) of the ultrasonic beam TB is set to an angular range of 60 degrees in the changing direction centered directly below the ship 11. Therefore, there are four transmission regions of the ultrasonic beam TB, each having an angular range of 60 degrees in the four scan angle change directions.

  For example, if the four set scan angles are 25 degrees, 45 degrees, 65 degrees, and 85 degrees, as shown in FIG. Each detected image corresponding to each scan angle is displayed. That is, each detected image is divided and displayed on the display unit 15 in 2 rows and 2 columns, and each scan angle is displayed on the right end portion of the display unit 15 in 2 rows and 2 columns so as to correspond to each detected image. Each detection image displayed on the display unit 15 is an image with a scan angle of 25 degrees on the upper left, an image with a scan angle of 45 degrees on the upper right, an image with a scan angle of 65 degrees on the lower right, and an image with a scan angle of 85 degrees on the lower left. ing. In this case, the four detection images (four screens) displayed on the display unit 15 are detected and sequentially formed by one transducer image 31 for one detection image (one screen).

  Further, in the right end portion of the display unit 15 in FIGS. 10A and 10B, that is, the region indicating each scan angle, the direction from the bottom to the top is the traveling direction of the ship 11, and The direction toward the mark indicates the direction of change. A pentagonal graphic displayed between the ● mark and the ○ mark indicates the ship 11.

  Here, when it is desired to change the scan angles of the four detection images all at once, the turning button 14b is pressed. In this case, when the upper end portion of the turn button 14b is pressed once, the scan angles of the four detection images are all increased once, and when the lower end portion of the turn button 14b is pressed once, the scan angles of the four detection images are all increased. Decrease once. For example, when it is desired to increase the scan angles of the four detection images by 25 degrees, the upper end portion of the turn button 14b is pressed 25 times. Then, as shown in FIG. 10B, each detection image displayed on the display unit 15 has an upper left image with a scan angle of 50 degrees, an upper right image with a scan angle of 70 degrees, and a lower right image with a scan angle of 90 degrees. The image, the lower left is an image with a scan angle of 110 degrees.

  In this case, the upper limit value A and the lower limit value B of each scan angle are set to 180 degrees and 0 degrees, respectively. For this reason, for example, if any one of the scan angles reaches the upper limit value A of 180 degrees, the scan angles of the four detection images are the same even if the upper end of the turn button 14b is further pressed. It doesn't get bigger. FIG. 4 shows a state in which the traveling direction and the change direction of the ship 11 coincide with each other, and the scan angle in this state is 0 degree.

  In this way, simply by pressing the turn button 14b, the scan angles of the four detection images are uniformly changed by an amount corresponding to the press of the turn button 14b, so that the scan angles of the four detection images are changed. Can be performed efficiently. Incidentally, when the scan angles of the four detection images are individually increased by 25 degrees, it is necessary to press the respective buttons for changing the scan angles of the four detection images 25 times, a total of 100 times.

According to the embodiment detailed above, the following effects are exhibited.
(1) Since the four setting angles K that determine the four transmission areas of the ultrasonic beam TB by the transducer 31 can be changed based on one operation on the operation unit 14, the four setting angles K Changes can be made efficiently.

(2) Each set angle K can be changed while maintaining the angle difference between the set angles K based on one operation on the operation unit 14.
(3) When any one of the set angles K reaches the upper limit value A or the lower limit value B, all of the upper limit value A and the lower limit value B to which one of the set angles K has reached The change of the setting angle K is restricted. For this reason, even when any one of the set angles K reaches the upper limit value A or the lower limit value B, the angle difference between the set angles K can be maintained.

  (4) When the set angle K is the depression angle in the transmission direction of the ultrasonic beam TB by the transducer 31, the depression angle in the transmission direction of the ultrasonic beam TB by the four transducers 31 is efficiently changed. be able to.

  (5) When the set angle K is a scan angle (an angle with respect to the traveling direction of the ship 11 that is a direction in which the transmission direction of the ultrasonic beam TB by the transducer 31 is changed), four scans are set. The angle can be changed efficiently.

  (6) Since the display control unit 57 divides the detection image for each transmission area formed by the detection image forming unit 56 into the display unit 15 and displays the detection image at a time, the display unit 15 displays the detection image for each transmission area at once. It can be visually recognized.

(Example of change)
In addition, the said embodiment can also be changed and actualized as follows.
The display control unit 57 does not necessarily need to divide the detection image for each transmission area formed by the detection image forming unit 56 into the display unit 15 and display it at a time. For example, the display control unit 57 may cause the display unit 15 to sequentially display the detection images for each transmission area formed by the detection image forming unit 56 on the display unit 15.

-At least one of the upper limit value A and the lower limit value B of the set angle K is not necessarily set.
-When changing each setting angle K by one operation with the operation part 14, it is not necessary to always maintain the angle difference between each setting angle K. FIG.

The operation unit 14 may be configured by not only buttons but also levers and knobs.
A plurality of setting angles K other than four may be set. That is, the set number of set angles K may be two, or may be three or six.

The set angle K may be changed by an arbitrary angle other than 1 degree (for example, an angle for 2 degrees or an angle for 3 degrees) every time one operation is performed on the operation unit 14.
The lifting device 17 may be a manual type. In this case, when the user manually operates the lifting device 17, the wave transmitting / receiving unit 16 is lifted and lowered.

-The transmission area (transmission range) of the ultrasonic beam TB in the sonar mode is not limited to the angular range of 360 degrees around the ship 11, but may be changed to an arbitrary angular range (0 degrees to 360 degrees).
-The transmission region (transmission range) of the ultrasonic beam TB in the bottom sonar mode is not limited to the angular range of 60 degrees in the changing direction centered directly below the ship 11, but in an arbitrary angular range (0 to 180 degrees). It may be changed. In this case, the center of the angle range does not necessarily have to be directly below the ship 11, and may be, for example, obliquely below the ship 11.

  DESCRIPTION OF SYMBOLS 11 ... Ship, 12 ... Searchlight sonar, 14 ... Operation part, 15 ... Display part, 31 ... Vibrator, 27 ... Scan motor as an example of a drive source, 33 ... Tilt motor as an example of a drive source, 55 ... Drive A motor control unit as an example of a control unit, 56 ... a detection image forming unit, 57 ... a display control unit, 59 ... a setting angle changing unit, A ... an upper limit value, B ... a lower limit value, K ... a setting angle.

Claims (6)

A searchlight sonar that is mounted on a ship and detects underwater around the ship while changing the transmission direction of ultrasonic waves transmitted in one direction,
A transducer capable of transmitting the ultrasonic wave into water and receiving the reflected wave;
A driving source of driving force for operating the vibrator so that the transmission direction of the ultrasonic wave by the vibrator changes;
A setting angle changing unit that changes a plurality of setting angles that determine a plurality of transmission areas of the ultrasonic waves by the vibrator based on one operation on the operation unit;
A drive control unit that controls driving of the drive source so that the ultrasonic waves are transmitted to the transmission regions based on the set angles;
A detection image forming unit that forms a detection image for each transmission region based on a reception signal generated by receiving the reflected wave of the ultrasonic wave transmitted from the transducer;
A searchlight sonar comprising: a display control unit configured to display on the display unit the detected image for each of the transmission areas formed by the detected image forming unit.   2. The search according to claim 1, wherein the setting angle changing unit changes the setting angles while maintaining an angle difference between the setting angles based on one operation on the operation unit. Light sonar. In the set angle, an upper limit value and a lower limit value are set,
The set angle changing unit is configured such that, when any one of the set angles reaches the upper limit value or the lower limit value, any one of the set angles among the upper limit value and the lower limit value has reached. The searchlight sonar according to claim 2, wherein a change in all of the set angles to is restricted.   The searchlight sonar according to any one of claims 1 to 3, wherein the set angle is a depression angle in a transmission direction of the ultrasonic wave by the vibrator.   The said setting angle is an angle with respect to the advancing direction of the said ship of the change direction which is a direction which changes the transmission direction of the said ultrasonic wave by the said vibrator. Searchlight sonar according to item.   The said display control part divides | segments and displays the said detection image for every said transmission area | region which the said detection image formation part formed on the display part, The Claim 1 characterized by the above-mentioned. Searchlight sonar described.