JP2859514B2 - Doppler shift correction pulse type fishing net depth gauge - Google Patents
Doppler shift correction pulse type fishing net depth gaugeInfo
- Publication number
- JP2859514B2 JP2859514B2 JP15287593A JP15287593A JP2859514B2 JP 2859514 B2 JP2859514 B2 JP 2859514B2 JP 15287593 A JP15287593 A JP 15287593A JP 15287593 A JP15287593 A JP 15287593A JP 2859514 B2 JP2859514 B2 JP 2859514B2
- Authority
- JP
- Japan
- Prior art keywords
- frequency
- pulse
- receiver
- fishing net
- ultrasonic pulse
- 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.)
- Expired - Lifetime
Links
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- Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明は、水圧の大小に応じて周
波数を変化させる周波数変調超音波パルスを用いた漁網
深度計のドップラーシフトによる誤差を補正する技術に
関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a technique for correcting an error due to a Doppler shift of a fishing net depth meter using a frequency-modulated ultrasonic pulse whose frequency is changed according to the magnitude of water pressure.
【０００２】[0002]
【従来の技術】従来、漁網の深度は、図５に示すように
漁網の底部に送信器１を取り付け、この送信器１の発す
る超音波を船底下に吊り下げられた受波器２で受波する
ことにより行われていた。送信器１は、図６に示すよう
なプリパルスと呼ばれる周波数が既知で固定の超音波パ
ルスＰ1,Ｐ2,Ｐ3,……とそれに続いて深度即ち水圧によ
って周波数が変化する周波数変調を受けている超音波パ
ルス（主パルス）Ｆ1,Ｆ2,……を繰り返し送信する。即
ち水圧を周波数に変換して送信しているのである。プリ
パルスは受信側で同期をとるための信号である。2. Description of the Related Art Conventionally, as shown in FIG. 5, a transmitter 1 is attached to the bottom of a fishing net, and an ultrasonic wave emitted from the transmitter 1 is received by a receiver 2 suspended below the bottom of the boat. It was done by waves. The transmitter 1 receives fixed ultrasonic pulses P 1 , P 2 , P 3 ,... Having a known frequency called a pre-pulse as shown in FIG. 6, followed by frequency modulation in which the frequency changes depending on the depth, that is, the water pressure. The ultrasonic pulses (main pulses) F 1 , F 2 ,... That is, the water pressure is converted into a frequency and transmitted. The pre-pulse is a signal for synchronizing on the receiving side.
【０００３】プリパルスと周波数変調超音波は受波器２
で受波され、受波信号は船内の受信器へ導かれて、周波
数変調超音波信号の周波数を検出することにより網底の
深度を知るようになっている。網が大きい場合には、更
に送信器１′、受波器２′のように、複数組用いられる
こともある。この場合、相互の干渉を避けるため周波数
を離して用いることになる。The pre-pulse and the frequency-modulated ultrasonic wave are received by a receiver 2
The received signal is guided to a receiver in the ship, and the depth of the net bottom is known by detecting the frequency of the frequency-modulated ultrasonic signal. When the network is large, a plurality of sets such as a transmitter 1 'and a receiver 2' may be used. In this case, the frequencies are used apart to avoid mutual interference.
【０００４】[0004]
【発明が解決しようとする課題】ところが、漁網は潮流
の影響を受けて上昇したり下降したり移動したりするの
で送信器も同様の動きをするし、漁船の方も波によって
ピッチングやローリングをするので吊り下げている受波
器も揺動することになる。その結果、送信器と受波器と
の相対位置関係が時間的に変動することになり両者間に
相対速度（ｖで表すことにする）を生じる。However, since the fishing net rises, descends and moves under the influence of the tide, the transmitter operates in the same manner, and the fishing boat also performs pitching and rolling by waves. Therefore, the suspended receiver also swings. As a result, the relative positional relationship between the transmitter and the receiver fluctuates with time, and a relative speed (denoted by v) is generated between the two.
【０００５】そのため、送信器１から送波される周波数
変調超音波がドップラー効果の影響を受けることとな
り、受波器２で受波された超音波の周波数が送信器の送
波時の周波数からシフトすることになり、これが深度測
定の精度を低下させるという問題がある。Therefore, the frequency-modulated ultrasonic wave transmitted from the transmitter 1 is affected by the Doppler effect, and the frequency of the ultrasonic wave received by the receiver 2 is changed from the frequency at the time of transmission by the transmitter. As a result, there is a problem that the accuracy of the depth measurement is reduced.
【０００６】本発明の目的は、上記従来技術の問題点に
鑑みて、このドップラーシフトを補正して精度のよい漁
網深度測定が可能な漁網深度計を提供することにある。An object of the present invention is to provide a fishing net depth gauge capable of correcting the Doppler shift and accurately measuring the fishing net depth in view of the above-mentioned problems of the prior art.
【０００７】[0007]
【課題を解決するための手段】本発明は、上記の目的を
達成するために次の手段構成を有する。即ち、本発明の
ドップラーシフト補正パルス式漁網深度計は、水圧の大
小に応じて周波数が変化する周波数変調超音波パルス
（主パルスと言う）と周波数が既知固定の同期用超音波
パルス（プリパルスと言う）を定められた周期で水中へ
送波する水中送信器と； 該水中送信器の発する前記超
音波パルスを受波する受波器と； 該受波器から、同期
用超音波パルス（プリパルス）信号を受信して同期をと
り、周波数変調超音波パルス（主パルス）信号を受信し
てその周波数を検出することにより水中送信器の位置す
る深度を知る受信器と； からなるパルス式漁網深度計
において、前記同期用超音波パルス（プリパルス）信号
からドップラー周波数を検出して、漁網に取り付けられ
た水中送信器と前記受波器間の相対速度を算出する相対
速度算出手段と； 前記相対速度と水中音速とで前記周
波数変調超音波パルス（主パルス）信号の周波数を補正
する演算を行う補正演算手段と； を有することを特徴
とするドップラーシフト補正パルス式漁網深度計であ
る。The present invention has the following means in order to achieve the above object. That is, the Doppler shift-correcting pulse type fishing net depth meter of the present invention includes a frequency-modulated ultrasonic pulse (referred to as a main pulse) whose frequency changes according to the level of water pressure and a synchronous ultrasonic pulse (pre-pulse and An underwater transmitter for transmitting the ultrasonic pulse emitted from the underwater transmitter at a predetermined period; and a synchronization ultrasonic pulse (pre-pulse) from the receiver. A) receiving a signal, synchronizing the signal, receiving a frequency-modulated ultrasonic pulse (main pulse) signal, and detecting the frequency to know the depth at which the underwater transmitter is located; A relative speed calculator for detecting a Doppler frequency from the synchronization ultrasonic pulse (pre-pulse) signal and calculating a relative speed between an underwater transmitter attached to a fishing net and the receiver. A Doppler shift correction pulse type fishing net depth meter, comprising: a stage; and a correction operation means for performing an operation of correcting the frequency of the frequency-modulated ultrasonic pulse (main pulse) signal based on the relative speed and the underwater sound speed. It is.
【０００８】[0008]
【作用】以下、上記手段構成を有する本発明の作用を説
明する。本発明は、従来の漁網深度計と較べて、受信側
に同期用超音波パルス（プリパルス）信号からドップラ
ー周波数を検出して水中送信器と受波器との間の相対速
度ｖを算出する相対速度算出手段と、この相対速度に基
づいて周波数変調超音波信号の周波数を補正する補正演
算手段を有する点に特徴を有する。The operation of the present invention having the above configuration will be described below. The present invention provides a receiver for detecting a Doppler frequency from a synchronization ultrasonic pulse (pre-pulse) signal and calculating a relative velocity v between an underwater transmitter and a receiver, as compared with a conventional fishing net depth meter. It is characterized in that it has a velocity calculating means and a correction calculating means for correcting the frequency of the frequency-modulated ultrasonic signal based on the relative velocity.
【０００９】まず、相対速度算出手段について述べる。
プリパルスの既知固定の周波数がｆであり、これが相対
速度ｖの移動によりドップラーシフトを受けた周波数を
ｆ′とし、水中音速をＶとすれば、ドップラー効果によ
り数式１が成立する。First, the relative speed calculating means will be described.
Assuming that the known fixed frequency of the prepulse is f, the frequency subjected to the Doppler shift due to the movement of the relative speed v is f ′, and the underwater sound speed is V, Expression 1 is established by the Doppler effect.
【００１０】[0010]
【数１】 (Equation 1)
【００１１】数式１より相対速度ｖは数式２のように求
められる。From equation (1), the relative speed v is obtained as shown in equation (2).
【００１２】[0012]
【数２】 (Equation 2)
【００１３】即ち、相対速度算出手段は受信したプリパ
ルスの周波数ｆの検出と数式２の演算を行って相対速度
ｖを算出する。次に、補正演算手段は、この相対速度ｖ
を用いて、受信された周波数変調超音波信号の周波数を
補正する。今、送信器から送波された周波数変調超音波
の周波数をＦとし、それがドップラーシフトを受けて受
波器で受波され受信器内の周波数検出手段で検出された
周波数をＦ′とすれば、ドップラー効果により数式３が
成立する。That is, the relative speed calculating means calculates the relative speed v by detecting the frequency f of the received pre-pulse and performing the operation of equation (2). Next, the correction calculation means calculates the relative speed v
Is used to correct the frequency of the received frequency-modulated ultrasonic signal. Now, assume that the frequency of the frequency-modulated ultrasonic wave transmitted from the transmitter is F, and that the frequency is received by the receiver after receiving the Doppler shift, and the frequency detected by the frequency detecting means in the receiver is F '. For example, Equation 3 holds due to the Doppler effect.
【００１４】[0014]
【数３】 (Equation 3)
【００１５】数式３より、ドップラーシフトを受けてい
ない周波数Ｆは数式４のように求められる。From equation (3), the frequency F not subjected to the Doppler shift is obtained as in equation (4).
【００１６】[0016]
【数４】 (Equation 4)
【００１７】即ち、受信器内の周波数検出手段で検出さ
れたドップラーシフトのある周波数Ｆ′に対し数式４の
演算を行うことによりドップラーシフトのない周波数Ｆ
が得られ、ドップラーシフトが補正されたことになる。
こうして周波数Ｆが得られた後は、従来同様に深度に変
換することにより、相対速度によるドップラーシフトの
影響のない正確な漁網深度が得られることになる。That is, the frequency F 'having a Doppler shift detected by the frequency detecting means in the receiver is subjected to the operation of Expression 4 to obtain the frequency F without the Doppler shift.
Is obtained, and the Doppler shift is corrected.
After the frequency F is obtained in this manner, by converting into a depth as in the conventional case, an accurate fishing net depth free from the influence of the Doppler shift due to the relative speed can be obtained.
【００１８】[0018]
【実施例】以下、本発明深度計の実施例を図面を参照し
て説明する。図１は本発明深度計の実施例の構成を示す
ブロック図である。送信器１は周波数がｆのプリパルス
および周波数がＦの主パルスを繰り返し送波する。受波
器２はこれらの超音波パルスを受波するが、受波時点
で、送信器１と受波器２との間の相対速度ｖがある場合
には、それによるドップラーシフトを受けて、周波数ｆ
はｆ′にシフトし、周波数ＦはＦ′にシフトする。これ
ら超音波パルスは受波器で電気信号に変換された後、受
信増幅器４で必要なレベルまで増幅される。増幅された
信号は２分岐されその一方は主パルス周波数検出器５へ
送られ、ここで主パルスの周波数Ｆ′が検出される。こ
こまでは従来の技術と同じである。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the depth gauge according to the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing the configuration of an embodiment of the depth gauge of the present invention. The transmitter 1 repeatedly transmits a pre-pulse of frequency f and a main pulse of frequency F. The receiver 2 receives these ultrasonic pulses. At the time of reception, if there is a relative speed v between the transmitter 1 and the receiver 2, the receiver 2 receives a Doppler shift thereby, Frequency f
Shifts to f ', and the frequency F shifts to F'. These ultrasonic pulses are converted into electric signals by a receiver, and then amplified by a receiving amplifier 4 to a required level. The amplified signal is split into two, one of which is sent to the main pulse frequency detector 5, where the frequency F 'of the main pulse is detected. Up to this point, it is the same as the conventional technology.
【００１９】分岐された他方の信号は、本発明では新た
に設けた相対速度検出手段６へ送られる。ここではまず
プリパルス周波数検出器９によってプリパルスの周波数
ｆ′が検出される。検出された周波数ｆ′は速度算出器
１０へ送られる。速度算出器１０へは周波数ｆ′の他、
既知固定のプリパルスの周波数ｆ及び同じく既知の水中
音速Ｖが入力されており、前述の数式２により相対速度
ｖが算出される。The other branched signal is sent to a relative speed detecting means 6 newly provided in the present invention. Here, the pre-pulse frequency detector 9 first detects the frequency f 'of the pre-pulse. The detected frequency f 'is sent to the speed calculator 10. In addition to the frequency f ', the speed calculator 10
The frequency f of the known fixed pre-pulse and the known underwater sound velocity V are input, and the relative velocity v is calculated by the above-described equation (2).
【００２０】こうして得られた相対速度ｖは補正演算手
段７へ送られる。補正演算手段７へは、他に、主パルス
周波数検出器５から主パルスの周波数Ｆ′と水中音速Ｖ
が入力されており、これらを用いて、前述の数式４によ
り、主パルスのドップラーシフトを受ける前の周波数Ｆ
が算出される。こうして算出された周波数Ｆは、従来と
同様の漁網深度表示手段へ送られ、ドップラーシフトの
影響が除去補正され漁網深度を表示することになる。The relative speed v thus obtained is sent to the correction calculating means 7. The correction calculating means 7 also receives the main pulse frequency F ′ and the underwater sound velocity V from the main pulse frequency detector 5.
Are input, and using these, the frequency F before receiving the Doppler shift of the main pulse is calculated by the above-described equation (4).
Is calculated. The frequency F calculated in this way is sent to the same conventional fishing net depth display means, and the effect of the Doppler shift is removed and corrected, and the fishing net depth is displayed.
【００２１】図２は、プリパルス周波数検出器９の具体
例１を示すブロック図である。その動作を図４の波形図
を参照しつつ説明する。図４の（ａ）は受信増幅器４の
出力に現れる受信パルスである。この受信パルスが図２
のプリパルス検出部１１と整形部１２へ入力される。そ
うするとプリパルス検出部１１は図４の（ｂ）に示すよ
うなプリパルスのタイミングパルスを出力する。このタ
イミングパルスは整形部１２へ送られる。FIG. 2 is a block diagram showing a specific example 1 of the pre-pulse frequency detector 9. The operation will be described with reference to the waveform diagram of FIG. FIG. 4A shows a reception pulse appearing at the output of the reception amplifier 4. This received pulse is shown in FIG.
Are input to the pre-pulse detection unit 11 and the shaping unit 12. Then, the pre-pulse detecting unit 11 outputs a pre-pulse timing pulse as shown in FIG. This timing pulse is sent to the shaping unit 12.
【００２２】整形部１２では入力されている周波数ｆ′
のプリパルスとプリパルスタイミングパルスとにより周
波数ｆ′の１波長幅のゲートを出力する。図を拡大して
説明すれば、周波数ｆ′のプリパルスＰ1 、Ｐ2 を拡大
すると図４の（ｃ）のようになる。そして各プリパルス
の最初の１波長分の時間幅のゲートが（ｄ）のように出
力される。このゲートは周波数カウント部１４へ加えら
れるとともにラッチタイミング発生器１３へも送られて
いる。周波数カウント部１４へは発振回路１５から図４
の（ｅ）に示すようにプリパルスの周波数よりも遥かに
高い既知周波数のクロック信号が加えられており、ゲー
ト幅の時間の間クロックの個数を計数する。この計数は
図４の（ｆ）、（ｇ）で示されるタイミングで行われ
る。In the shaping section 12, the input frequency f '
And a pre-pulse timing pulse outputs a gate having a frequency f 'and a wavelength width of one. Explaining in an enlarged manner, the pre-pulses P 1 and P 2 of the frequency f ′ are enlarged as shown in FIG. Then, a gate having a time width corresponding to the first wavelength of each pre-pulse is output as shown in FIG. This gate is applied to the frequency counting section 14 and also sent to the latch timing generator 13. As shown in FIG.
(E), a clock signal of a known frequency much higher than the frequency of the pre-pulse is added, and the number of clocks is counted during the gate width time. This counting is performed at the timings indicated by (f) and (g) in FIG.
【００２３】この計数値をｍとする。この計数値ｍはラ
ッチ部１６へ送られ、計数完了後にラッチタイミング発
生器１３から出力されるラッチタイミング信号によって
ラッチ部１６へラッチされる。ラッチされた計数値ｍは
周波数出力部１７へ入力されここから周波数ｆ′として
出力される。This count value is defined as m. The count value m is sent to the latch unit 16 and is latched by the latch unit 16 by the latch timing signal output from the latch timing generator 13 after the count is completed. The latched count value m is input to the frequency output unit 17 and is output therefrom as the frequency f '.
【００２４】今、発振回路１５の周波数をｆ0 とすれば
クロック１個当りの時間は１／ｆ0である。従ってゲー
ト幅時間内のクロック計数値がｍ個であったとすればゲ
ート幅時間はｍ／ｆ0 ということになる。この時間がプ
リパルスの周波数ｆ′の１波長分の時間ということにな
るからその逆数ｆ0 ／ｍが周波数ｆ′ということにな
る。即ち周波数出力部１７は、ｆ0 ／ｍの演算によって
プリパルスの周波数ｆ′を出力しているのである。Now, assuming that the frequency of the oscillation circuit 15 is f 0 , the time per clock is 1 / f 0 . Therefore, if the number of clock counts within the gate width time is m, the gate width time is m / f 0 . 'Its inverse f 0 / m the frequency f from it comes to one wavelength of time' it comes to the time frequency f of the pre-pulse. That frequency output unit 17, with each other to output a frequency f 'of the pre-pulse by the calculation of f 0 / m.
【００２５】図３は、プリパルス周波数検出器９の具体
例２を示すブロック図である。これは相対速度が変化し
ていて、プリパルスＰ1 とＰ2 とでは周波数が異なって
しまうような場合に両者の平均を求めてそれをプリパル
スの周波数ｆ′として扱う場合の構成である。図２の動
作と較べた場合、プリパルス検出部１１、整形部１２、
周波数カウント部１４、発振回路１５の各動作は図２の
場合と同じである。今プリパルスＰ1のクロック計数値
をｍ1 とし、プリパルスＰ2 のクロック計数値をｍ2 と
する。FIG. 3 is a block diagram showing a specific example 2 of the pre-pulse frequency detector 9. This is a configuration in a case where the relative speed is changed and the frequencies of the pre-pulses P 1 and P 2 are different from each other, and the average of the two is calculated and treated as the pre-pulse frequency f ′. When compared with the operation of FIG. 2, the pre-pulse detection unit 11, the shaping unit 12,
The operations of the frequency counting section 14 and the oscillation circuit 15 are the same as those in FIG. Now, assume that the clock count value of the pre-pulse P 1 is m 1 and the clock count value of the pre-pulse P 2 is m 2 .
【００２６】そして計数値ｍ1 はラッチ部１６ａへラッ
チされ、計数値ｍ2 はラッチ部１６ｂへラッチされる。
これは図２の場合に加えてラッチタイミング発生器１
３′がプリパルス検出部１１の出力（図４の（ｂ））を
受けてラッチタイミング信号をラッチ部１６ａと同１６
ｂへ交互に送るようにすることにより行われる。The count value m 1 is latched by the latch section 16a, and the count value m 2 is latched by the latch section 16b.
This is the same as the case of FIG.
3 'receives the output of the pre-pulse detector 11 (FIG. 4B) and outputs the latch timing signal to the latch 16a.
This is done by alternately sending to b.
【００２７】ラッチされた計数値ｍ1 とｍ2 は周波数出
力部１７′へ送られる。図２の説明で述べたと同様に計
数値ｍ1 に対する周波数はｆ0 ／ｍ1 となり、計数値ｍ
2 に対する周波数はｆ0 ／ｍ2 となるから両者の平均周
波数数ｆ′は数式５で表される。The latched count values m 1 and m 2 are sent to the frequency output section 17 '. As described in the description of FIG. 2, the frequency for the count value m 1 is f 0 / m 1 and the count value m
Since the frequency for 2 is f 0 / m 2 , the average frequency number f ′ of both is expressed by Equation 5.
【００２８】[0028]
【数５】 (Equation 5)
【００２９】周波数出力部１７′は数式５の演算を行っ
てプリパルスの周波数ｆ′を出力する。The frequency output unit 17 'performs the operation of Equation 5 and outputs the frequency f' of the pre-pulse.
【００３０】[0030]
【発明の効果】以上説明したように、本発明の漁網深度
計は、同期用のプリパルスを利用して、漁網に取り付け
られた水中の送信器と漁船から吊り下げられた受波器と
の相対速度を求め、この相対速度に基づいて深度測定用
の主パルスの周波数に生じているドップラーシフトを補
正除去して深度を求めるようにしているので、漁網の上
昇、下降或いは潮流による移動があっても、また、漁船
のローリングやピッチングによって受波器が揺動しても
それらによるドップラー効果の影響を受けることなく正
確な漁網深度を計測することができるという利点があ
る。As described above, the fishing net depth meter according to the present invention uses the prepulse for synchronization to determine the relative position between the underwater transmitter attached to the fishing net and the receiver suspended from the fishing boat. The speed is obtained, and the Doppler shift occurring in the frequency of the main pulse for depth measurement is corrected and removed based on the relative speed to obtain the depth, so that the fishing net moves up, down, or moves due to tide. Also, there is an advantage that even if the receiver swings due to the rolling or pitching of the fishing boat, the fishing net depth can be accurately measured without being affected by the Doppler effect.
【図１】本発明深度計の実施例の構成を示すブロック図
である。FIG. 1 is a block diagram showing a configuration of an embodiment of a depth gauge of the present invention.
【図２】本発明の実施例におけるプリパルス周波数検出
器の具体例１を示すブロック図である。FIG. 2 is a block diagram showing a specific example 1 of a pre-pulse frequency detector according to the embodiment of the present invention.
【図３】本発明の実施例におけるプリパルス周波数検出
器の具体例２を示すブロック図である。FIG. 3 is a block diagram showing a specific example 2 of a pre-pulse frequency detector according to the embodiment of the present invention.
【図４】本発明の実施例におけるプリパルス周波数検出
器の動作タイミング波形図である。FIG. 4 is an operation timing waveform diagram of the pre-pulse frequency detector according to the embodiment of the present invention.
【図５】漁網深度計が用いられている状況図である。FIG. 5 is a diagram showing a situation where a fishing net depth gauge is used.
【図６】深度計の送信器の発するプリパルスと主パルス
を示す図である。FIG. 6 is a diagram showing a pre-pulse and a main pulse emitted from a transmitter of the depth gauge.
１ 送信器 １′ 送信器 ２ 受波器 ２′ 受波器 ３ 受信器 ４ 受信増幅器 ５ 主パルス周波数検出器 ６ 相対速度検出手段 ７ 補正演算手段 ８ 漁網深度表示手段 ９ プリパルス周波数検出器 １０ 速度算出器 １１ プリパルス検出部 １２ 整形部 １３ ラッチタイミング発生器 １３′ ラッチタイミング発生器 １４ 周波数カウント部 １５ 発振回路 １６ ラッチ部 １６ａ ラッチ部 １６ｂ ラッチ部 DESCRIPTION OF SYMBOLS 1 Transmitter 1 'Transmitter 2 Receiver 2' Receiver 3 Receiver 4 Receiver amplifier 5 Main pulse frequency detector 6 Relative speed detection means 7 Correction calculation means 8 Fishing net depth display means 9 Prepulse frequency detector 10 Speed calculation Unit 11 Pre-pulse detection unit 12 Shaping unit 13 Latch timing generator 13 'Latch timing generator 14 Frequency counting unit 15 Oscillation circuit 16 Latch unit 16a Latch unit 16b Latch unit
Claims (1)
波数変調超音波パルスと周波数が既知固定の同期用超音
波パルスを定められた周期で水中へ送波する水中送信器
と； 該水中送信器の発する前記超音波パルスを受波す
る受波器と；該受波器から、同期用超音波パルス信号を
受信して同期をとり、周波数変調超音波パルス信号を受
信してその周波数を検出することにより水中送信器の位
置する深度を知る受信器と； からなるパルス式漁網深
度計において、前記同期用超音波パルス信号からドップ
ラー周波数を検出して、漁網に取り付けられた水中送信
器と前記受波器間の相対速度を算出する相対速度算出手
段と； 前記相対速度と水中音速とで前記周波数変調超
音波パルス信号の周波数を補正する演算を行う補正演算
手段と； を有することを特徴とするドップラーシフト
補正パルス式漁網深度計。An underwater transmitter for transmitting a frequency-modulated ultrasonic pulse whose frequency changes in accordance with the magnitude of water pressure and a synchronization ultrasonic pulse having a fixed frequency to the water at a predetermined cycle; A receiver for receiving the ultrasonic pulse from the receiver; receiving a synchronization ultrasonic pulse signal from the receiver for synchronization; receiving a frequency-modulated ultrasonic pulse signal and detecting the frequency thereof; And a receiver that knows the depth at which the underwater transmitter is located. In a pulse-type fishing net depth meter, a Doppler frequency is detected from the synchronization ultrasonic pulse signal, and an underwater transmitter attached to the fishing net and A relative speed calculating means for calculating a relative speed between the receivers; and a correction calculating means for performing a calculation for correcting the frequency of the frequency-modulated ultrasonic pulse signal based on the relative speed and the underwater sound speed. Doppler shift correction pulsed fishing net depth gauge characterized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15287593A JP2859514B2 (en) | 1993-05-31 | 1993-05-31 | Doppler shift correction pulse type fishing net depth gauge |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15287593A JP2859514B2 (en) | 1993-05-31 | 1993-05-31 | Doppler shift correction pulse type fishing net depth gauge |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH06341838A JPH06341838A (en) | 1994-12-13 |
| JP2859514B2 true JP2859514B2 (en) | 1999-02-17 |
Family
ID=15550033
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP15287593A Expired - Lifetime JP2859514B2 (en) | 1993-05-31 | 1993-05-31 | Doppler shift correction pulse type fishing net depth gauge |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2859514B2 (en) |
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| DE102009055989B4 (en) | 2009-11-20 | 2017-02-16 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
| DE102009057101A1 (en) | 2009-11-20 | 2011-05-26 | Faro Technologies, Inc., Lake Mary | Device for optically scanning and measuring an environment |
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| US9628775B2 (en) | 2010-01-20 | 2017-04-18 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations |
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| JP2011185661A (en) * | 2010-03-05 | 2011-09-22 | Japan Radio Co Ltd | Radar system and sensor interface system |
| DE102010020925B4 (en) | 2010-05-10 | 2014-02-27 | Faro Technologies, Inc. | Method for optically scanning and measuring an environment |
| US9168654B2 (en) | 2010-11-16 | 2015-10-27 | Faro Technologies, Inc. | Coordinate measuring machines with dual layer arm |
| DE102012100609A1 (en) | 2012-01-25 | 2013-07-25 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
| US8997362B2 (en) | 2012-07-17 | 2015-04-07 | Faro Technologies, Inc. | Portable articulated arm coordinate measuring machine with optical communications bus |
| US9513107B2 (en) | 2012-10-05 | 2016-12-06 | Faro Technologies, Inc. | Registration calculation between three-dimensional (3D) scans based on two-dimensional (2D) scan data from a 3D scanner |
| US10067231B2 (en) | 2012-10-05 | 2018-09-04 | Faro Technologies, Inc. | Registration calculation of three-dimensional scanner data performed between scans based on measurements by two-dimensional scanner |
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-
1993
- 1993-05-31 JP JP15287593A patent/JP2859514B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH06341838A (en) | 1994-12-13 |
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