JP3127019B2 - Underwater detector - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underwater detection device for transmitting an ultrasonic signal over a wide area and projecting a transducer for receiving a signal arriving from a wide area from below the bottom of the ship to perform underwater detection. It is.

[0002]

2. Description of the Related Art This underwater detection device is installed in the water under the bottom of a ship, and mainly displays the distribution of fish schools and the density on a CRT. Conventionally, as shown in FIG. In FIG. 4 (b), the transmitter / receiver is turned while maintaining a specific elevation angle from substantially horizontal to vertical with respect to 360 degrees around the entire circumference, and detects the horizontal or diagonal direction and displays the entire circumference. )
As shown in the figure above, the transducer is raised and lowered by approximately 180 degrees from substantially horizontal to vertical and approximately horizontal to the opposite side for a specific turning angle from the bow, and a cross section is displayed just below or diagonally downward. There are things.

[0003] An example of the configuration of the underwater detection device for displaying the entire circumference will be described with reference to the perspective view of FIG. The transducer 1 is rotatably supported by a U-shaped frame 10 with rotating shafts 9 protruding from both side surfaces thereof. The U-shaped frame 10 is turned by a gear 12 fixedly mounted on a vertical shaft 11 projecting vertically from the rear surface thereof and a pinion 13 driven by a turning motor M1. The vertical shaft 11 is hollow, and an arm 16 that moves up and down is inserted into the hollow. The arm 16 has an upper end connected to the rack 14, and the pinion 1 driven by the rack 14 and the elevating motor M2.
5 to move up and down. The lower end of the arm 16 is connected to a crank 17, and converts the vertical movement of the arm 16 into a vertical movement of the transducer 1 via the rotating shaft 9. As a result, the transducer 1 sets the horizontal to 0 °, the elevation angle side is represented by −, and the depression angle side is represented by +, and moves up and down from −10 ° to + 90 °. As described above, by controlling the turning motor M1 and the elevating motor M2, the transducer 1 can be turned and elevated to detect a wide horizontal or diagonal downward direction. The transmitter / receiver 1 and the like below the vertical axis 11 are mounted in a dome 21 in a liquid-sealed state and sealed with a lid 20, and the vertical axis 11 is
At 0, it is supported to be free to turn. The motors M1, M2, and the like above the vertical axis 11 are mounted in a container (not shown), and are integrated by joining the container, the lid 20, and the dome 21, so that the transducer 1 is about the size of a lunch box. Is
20cm in diameter x 50cm in height for the whole container and cap 21
It will be of the order of magnitude.

[0004] Next, the operation of the above-described full-circle display underwater detection device will be described. First, the elevation angle (θ) as shown in FIG. 4 (a ′) is determined, and the transducer 1 is turned to the target direction. That is, by driving the elevation motor M2, the transducer 1 is elevated to the target elevation angle (θ) via the rack 14, the arm 16, and the crank 17. Next, by driving the turning motor M1, the transducer 1 is turned continuously or discontinuously together with the vertical shaft 11, the U-shaped frame 10, and the like, and the information in the entire circumferential direction is converted into a single round shape. The signal is sent to a controller (not shown) via the core cable 8 and is displayed on a cathode ray tube. Also, the vertical display mode is added to the controller without changing the drive mechanism, and the transducer 1 is placed directly below (the depression angle is 90 °).
In some models, the cross section in this direction can be displayed, and the depth of fish schools and the scale of layers can be searched in more detail. However, even with this model, cross sections other than those directly below cannot be displayed.

On the other hand, an example of a cross-section display underwater detection device capable of displaying cross-sections in all directions, such as left, right, diagonal, front and rear, of the ship will be described with reference to FIG. Although the size and shape of the dome 21 are the same as those of the underwater detection device of the full-circle display in FIG. 6, the transmitter / receiver 31 in FIG. 7 is small because the amount of information is small. Instead, the transducer 31 becomes -10
Since the robot moves up and down from ° to 190 °, the peripheral devices are large. That is, the gear 35 is inserted above the arm 16 inserted into the hollow of the vertical shaft 11, and the gear 35 and a pinion 36 driven by the second turning motor M3.
With this, the arm 16 is individually turned separately from the U-shaped frame 30. At the lower end of the arm 16, a set of bevel gears 32,
One 32 of the 33 is fitted, and the other 33 is inserted into one of the rotating shafts 9 protruding from both side surfaces of the transducer 31. By these bevel gears 32 and 33, the transducer 31 can be largely moved up and down between 200 ° from substantially horizontal (−10 °) forward to approximately horizontal (190 °) rearward through vertical (90 °). . In addition, the length of one round multi-core cable 34 is given an allowance in accordance with the large elevation angle, and the external control is performed via the wiring inside the vertical shaft 11 along the U-shaped frame 30. To communicate information to the container. Note that the swing motor M1 is 0
The vertical shaft 11 can be rotated within a range of up to 180 °.

Next, the operation of the underwater detection device for displaying the cross section will be described. Unlike the underwater detection device that displays the cross section, the underwater detection device that displays the cross section first determines a turning angle (φ) as shown in FIG. 4B ′, and turns the transducer 31 toward the target. That is, by first driving the turning motor M1, the transducer 31 is turned to the target turning angle (φ) together with the vertical shaft 11, the U-shaped frame 30, and the like. Next, by driving the second turning motor M3, the transducer 3 is transmitted via the arm 16 and the bevel gears 32 and 33.
1 is continuously or discontinuously raised and lowered, and information on a cross section in a specific direction is sent to a controller (not shown) via one round multi-core cable 34 and displayed on a cathode ray tube.

The cable structure of the above two types of underwater detection devices will be further described. Both
One round multi-core cable is used, which is directly connected to the transducer 1 or 31 and serves to transmit information to a controller (not shown). And in the underwater detection device of the all around display,
Since the transducer 1 ascends and descends between −10 ° and 90 °, and further turns continuously or discontinuously, the length of the cable 8 is adjusted to the minimum necessary length, and during the turning, Dome 2
The inner wall 1 is prevented from being worn out or caught on the U-shaped frame 10, the crank 17, or the like. Further, in the underwater detection device in cross-section display, since the transducer 31 moves up and down between −10 ° and 190 °, the length of the cable 34 is longer than that of the underwater detection device in full-circle display. Since the transducer 31 is small and does not normally turn, there is no inconvenience such as the cable 34 rubbing on the inner wall of the dome 21 as in the underwater detection device of the full circumference display.

[0008]

As described above, there are two types of underwater detectors, one of a type that turns to detect the entire circumference and the other that detects a cross section by raising and lowering. Since the size of the transducer is different, the movement is different, and the wiring configuration is also different, they originally play a different role.These are the most suitable equipment depending on the characteristics of the school of fish to be detected and the form of the ship. Was a separate underwater detector that could sort out However, in recent years, quick and reliable detection of fish schools has been demanded, and a need has arisen to install these two types of underwater detection devices side by side. However,
A special structure is required to attach the underwater detector to the bottom of the ship, and it is difficult to attach a large number of underwater detectors as a practical problem.

[0009] The present invention has been made in view of such problems of the prior art, it is an object of the entire circumference display a cross-sectional view both detectors capable underwater detection system It is something to offer. In addition, when the dual-purpose type is used , the structure is simple and compact, the cable in the dome does not interfere with the inner wall of the dome and internal equipment, and the transducer can smoothly and continuously perform swiveling and elevation movement. An object of the present invention is to provide a detection device.

[0010]

Means for Solving the Problems Claims for achieving the above object
Item 1. The underwater detection device according to item 1 is a turning device for horizontal detection.
Free and up and down for vertical detection
A transducer for controlling the attitude of the transducer,
Water comprising a controller for processing information from the transducer
In the middle detector, the rotating shaft protruding from the side of the transducer
It is pivotally supported on the U-shaped frame and protrudes from above the U-shaped frame.
The vertical axis is rotatably supported on the lid, and the lid is
The transmitting and receiving wave by driving the rotating shaft.
The vessel is placed in the dome from substantially horizontal to vertical,
It is possible to move up and down to flat and rotate the vertical axis
More said transducer is pivotable movement within the dome, feed
A bendable cable between the back of the receiver and the U-shaped frame
The transducer is almost horizontal from vertical through the other side almost horizontal
Wiring with enough length margin to move up and down
Then, connect this cable to the wiring inside the vertical axis and the rotary
Connected to the controller via a contact, at least to the controller
Can be switched between full-circle display mode and cross-section display mode.
In the full-circle display mode, the transducer is set at a specific elevation angle.
Turn while exploring sequentially within multiple predetermined angle ranges while maintaining the degree
In the cross-section display mode, the transducer
While exploring sequentially within multiple predetermined angle ranges while maintaining the angle,
And elevation movement until substantially horizontal opposite to the horizontal through vertical, the
When the all-around display mode is selected,
The section display mode is selected, and the section display mode is selected.
Display the state of the cross section at a specific turning angle.
Display means is provided. Claim 2
The underwater detector according to claim 1, wherein the controller is
In addition to full-circle display mode and cross-section display mode,
Provided vertical display mode to direct vessels to beneath freely switching, this
If the vertical display mode is selected, the display means
The lower state is displayed.

According to a third aspect of the present invention, there is provided an underwater detection device, comprising:
Swivels freely for knowledge and for vertical detection
Controls the transducer that can move up and down and the attitude of the transducer
Controller for processing information from the transducer
In underwater detection device including bets, the transducer side
The projecting rotation shaft is supported by a U-shaped frame, and the U-shaped
A vertical axis protruding from the top of the frame is rotatably supported on the lid
Then, cover the lid with a dome and drive the rotating shaft.
The transducer from substantially horizontal to vertical in the dome
Through the vertical axis to the substantially horizontal position on the opposite side.
By rotating the transducer in the dome.
It can be swiveled freely, and the back of the transducer and the U-shaped frame
A flexible cable that can be bent between the transducers is almost horizontal
From vertical to the opposite side, almost horizontal
With enough length to allow for this flat cable
At least one holding member that is bent halfway
And attach the flat cable along the transducer side
To the controller at least for the full-circle display mode.
The screen display mode can be switched freely, and the
Is to move the transducer at a predetermined angle while maintaining a specific elevation angle.
Can be turned by the step operation of
Is to move the transducer at a predetermined angle while maintaining a specific turning angle.
In the step operation, from almost horizontal to vertical through the opposite side almost horizontal
It is characterized by being able to move up and down.

[0012]

According to the first aspect of the present invention, first, a U-shape is provided.
The transducer supported by the frame is placed almost horizontally inside the dome.
It can be raised and lowered to almost horizontal on the opposite side via vertical
In addition, adopting a mechanical structure that can rotate around the whole circumference,
In addition, a wiring structure that can cope with such
Third, a plurality of predetermined angles while maintaining a specific elevation angle
Turn around while sequentially exploring the degree range to display the state of the entire circumference
Display mode and the transducer at a specific turning angle.
From a substantially horizontal position while sequentially searching a plurality of predetermined angle ranges.
Move up and down to almost horizontal on the opposite side via vertical to change the state of the cross section
Control to switch and display the section display mode to be displayed
By adopting the structure, the swing movement of one transducer
The elevating motion is controlled by the controller, and two displays, the full circumference display and the cross section display,
A multi-functional underwater detector that can switch modes
Becomes According to the second aspect of the present invention, all-around display and cross-section
Display and vertical display can switch modes.
It becomes a multifunctional underwater detection device.

According to the third aspect of the present invention, the transmitter / receiver is
Use these cables as flat cables and the back side of the transducer
And move the transducer up and down by driving the rotating shaft on the side
The flat cable can be
Provide a holding member along the back of the wave, and rotate the wave
Sometimes prevent the flat cable from touching the dome,
Therefore, in the all-around display mode, a specific elevation angle is maintained.
Swivel from almost horizontal to vertical by step operation at fixed angle
In the cross-section display mode, the transducer is
Maintain the degree and move from horizontal to vertical by step operation at predetermined angles
To be able to move up and down to almost horizontal on the other side
It is possible to respond freely to this.

[0014]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a cross-sectional side view of the underwater detection device of the present invention,
FIG. 2 is a cross-sectional view of the back surface of the underwater detection device of the present invention, and FIG. 3 is a flowchart showing the operation of the controller.

In FIG. 1, the controller 28 has at least a full-circle display mode selection button 28a and a cross-section display mode selection button 28b, and a microcomputer incorporated in the controller 28 controls the controller 26 for the swing motor M1. The controller 27 for the raising / lowering motor M2 is respectively controlled.

The algorithm controlled by the controller 28 will be described with reference to FIG. First, the operator performs a mode switching operation as needed (step # 1).
In response to this, the display of the entire circumference or the cross-section is determined (step # 2). If the display mode is the all-around display mode, the operator is prompted to input a specific elevation angle, and the specific elevation angle is input (step # 3). Then, the controller 27 stops driving the M2 motor by a predetermined amount (step # 1).
4), the elevation angle of the transducer 1 is specified (step ♯)
5). Next, the M1 motor starts to be driven by the controller 26 (step # 6).
It turns in each step operation (step # 7). If the mode is the section display mode, the operator is prompted to input a specific turning angle, and the specific turning angle is input (step # 10). Then, the controller 26 sets M1
The motor stops driving by a predetermined amount (step # 11), and the turning angle of the transducer 1 is specified (step # 12).
Next, the M2 motor starts to be driven by the controller 27 (step # 13), and the transmitter / receiver 1 is raised and lowered by dividing 180 ° into seven (step # 14). Controller 2
8 may have a third mode in addition to these modes. In the third mode, there is a type in which the transducer 1 performs vertical display with the transducer 1 facing directly below.

Next, the operation of the underwater detection device of the present invention will be described with reference to FIG. FIG. 4 shows a case where all-around display is selected.
The elevation angle (θ) is then determined as in (a ′), and the transducer 1 is turned while maintaining the elevation angle (θ). The transducer 1 turns continuously or discontinuously in a step operation every 30 °, and displays the state of the entire circumference as a CRT display. When the section display is selected, the turning angle (φ) is next determined as shown in FIG. 4B ′, and the transducer 1 is turned to the turning angle (φ).
And move it up and down. Transmitter / receiver 1 is 7
It is divided and the step operation is continuously or discontinuously raised and lowered, and the state of the cross section is displayed on a CRT.

Next, a mechanism for raising and lowering the transducer 1 by 180 ° or more will be described with reference to FIGS. FIG.
Portions that operate in the same manner as in the prior art described above are denoted by the same reference numerals, and description thereof is omitted. 6 is different from FIG. 6 in that the first gear 2 and the second gear 3 are interposed between the lower end of the rank 17 and the rotating shafts 9 protruding from both sides of the transducer 1. The point is that such a round cable is changed to a flat cable 4 which is arranged in a row in a horizontal direction and has a band shape.

The structure related to this changed part will be described.
The crank 17 is formed by fixing a pair of crank plates 18 in a U-shape with a horizontal plate 19, and a shaft 22 penetrating above the pair of crank plates 18 passes through a hole at a lower end of the arm 16 to swing the crank 17. It is pivotally supported. In addition, retaining rings 29 for retaining are stopped at both ends of the shaft 22,
The shaft 22 passes through the elongated hole 10a of the U-shaped frame 10,
Since the guide is guided by this, even if the rack 14 rotates in response to the pivoting movement of the pinion 13, the U-shaped frame 10 and the crank 17 are not twisted, so that the lifting movement is not affected. Rotating shafts 9 projecting from both side surfaces of the transducer 1 are rotatably supported by a U-shaped frame 10, and the first gear 2 is provided between the transducer 1 and the U-shaped frame 10. It is fitted. Also,
The second gear 3 meshing with the first gear is a U-shaped frame 10.
The second gear 3 is rotatably supported by a shaft 23 on an inner surface of the second gear 3. Since the first gear 2 and the second gear 3 are interposed between the crank 17 and the rotating shaft 9 as described above, the space is the same as the conventional one, and the arm 16 moves up and down with the conventional stroke. The tilting angle can be changed from -10 ° to 90 ° to -10 ° to 190 °.

Next, a description will be given of a cable holding structure in which the cable does not interfere with the dome or other internal equipment even when the transducer 1 is raised and lowered by 180 ° or more. That is, in the conventional example of FIG. 6, if the cable 8 is lengthened, the cable 8 may be rubbed against the inner wall or the like of the dome 21 and cut.
When the cables are wired so as not to be rubbed as in the conventional example, there is no room for the space. In particular, with the recent speeding-up of fishing boats, there is a demand to minimize the resistance applied when the boat travels and the generation of bubbles that give noise to the ultrasonic waves, and to reduce the size of the dome as much as possible. Therefore, as shown in FIG. 1 and FIG. 2, it is provided between the back surface of the transducer 1 and the U-shaped frame 10 and is wired with a length capable of coping with a 180 ° or more elevating movement. A flat cable 4 is used, and the extra bending of the flat cable 4 due to the angle of the upward and downward movement is forced to bend in a direction that does not interfere with the dome or other internal devices.

Hereinafter, the wiring structure of the flat cable 4 will be described. The flat cable 4 is held vertically and connected to the rear surface by a guide 24 adhered to the rear surface of the transducer 1. Further, information is transmitted to the controller via the wiring inside the vertical shaft 11 and the rotary contact, which is held horizontally by the bracket 7 and the guide 25 on the lower surface thereof. A buckle-shaped clip 5 that holds the flat cable 4 bent in a mountain shape is fitted so that the flat cable 4 is along the transducer 1 side in the middle of the guides 24 and 25, and a pressing member 6.
, So as not to approach the dome 21 side. The clip 5 is not limited to the buckle shape, but may be any as long as it can hold the cable bent in a mountain shape using a wire or the like.

The form of the cable using the clip 5 will be described with reference to FIG. (A) is -10 °, (b) is 90
(C) and (c) are diagrams showing the state of the flat cable 4 when it is raised and lowered by 190 °. The clip 5 and the holding member 6 cause the flat cable 4 to extend along the transducer 1 side, so that the flat cable 4 does not hit the dome 21 or be caught between the crank 17 and the transducer 1. For example, as shown by a dotted line, in FIG. 3A, the excessive slack is covered on the front surface 1a of the transducer 1 to prevent a possibility of obstructing the transmission and reception of ultrasonic waves. 4B, a flat cable 4 is provided between the transducer 1 and the side of the dome 21.
Prevents the risk of being pinched. In (c), it turns while hitting the dome 21 or the crank 17 and the transducer 1
The flat cable 4 does not get caught between them.

[0023]

According to the first aspect of the present invention, there is provided one underwater detection device.
Control of the turning and elevating movement of the transmitter / receiver
Switching between full-circle display mode and cross-section display mode
The number of attachments for underwater detectors on the bottom of the ship has been increased.
Various detections can be performed without doing anything.
ing. The underwater detection device according to claim 2 is further vertical.
You can add a display mode and perform various detections.
Swelling.

According to a third aspect of the present invention, there is provided an underwater detection device.
Attach the holding member to the flat cable and send the flat cable
The receiver and receiver are aligned along the receiver side,
By step operation, it turns continuously or discontinuously, and
Elevation by more than 180 ° continuously or discontinuously
Even the cable rubbed against the dome of the same size as before
Without interfering with other devices or other equipment.
Can withstand.

[Brief description of the drawings]

FIG. 1 is a side sectional view of an underwater detection device according to the present invention.

FIG. 2 is a cross-sectional view of the back surface of the underwater detection device of the present invention.

FIG. 3 is a flowchart showing the operation of the controller.

FIG. 4 is a detection state diagram in an all-round display mode and a cross-section display mode.

FIG. 5 is a diagram showing a change in the state of the flat cable due to a change in the elevation angle.

FIG. 6 is a perspective view of a main part of a conventional full-circle display underwater detection device.

FIG. 7 is a cross-sectional view of a main part of a conventional cross-section-displayed underwater detection device.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 transducer 2 first gear 3 second gear 4 flat cable 5 clip (holding member) 9 rotating shaft 10 U-shaped frame 11 vertical shaft M1 swing motor M2 elevating motor 20 lid 21 dome

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-54-66869 (JP, A) JP-A-2-35388 (JP, A) JP-A-57-26770 (JP, A) 40165 (JP, U) Fully open 1987-28080 (JP, U) Fully open 1987-46382 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) G01S 7/52-7 / 64 G01S 15/00-15/96

Claims (3)

(57) [Claims] (1) It is possible to turn freely for horizontal detection.
A transducer that can be moved up and down for vertical detection;
Controlling the attitude of the transducer, and controlling the attitude of the transducer
An underwater detection device comprising a controller for processing information
And a rotating shaft protruding from the side of the transducer is supported by a U-shaped frame.
Then, the vertical axis protruding from above the U-shaped frame is used as the lid.
Rotatably supported, cover the lid with a dome, and rotate
By driving a shaft, the transducer is moved in the dome.
It is possible to move up and down from almost horizontal to vertical through the vertical
And, by rotating the vertical axis, the transducer
A cable that is freely rotatable within the dome and that is bendable between the rear surface of the transducer and the U-shaped frame.
The transmitter / receiver moves from approximately horizontal to vertical
Wiring with sufficient length margin to move up and down to flat
Then, connect this cable to the wiring inside the vertical axis and the rotary
The controller is connected to the controller via a contact, and the controller is provided with at least a full-circle display mode and a cross-section display mode.
And switchable in the display mode.
Keeping the waver at a specific elevation angle within multiple predetermined angle ranges
It turns while searching sequentially.
Keep the receiver at a specific turning angle and within a plurality of predetermined angle ranges
While exploring sequentially, from substantially horizontal to vertical through the opposite side substantially horizontal
If you derricking motion, the entire circumference display mode is selected to the particular elevation angle
The state of the entire circumference at is displayed, and the section display mode is selected.
If selected, shows the state of the cross section at a specific turning angle.
Underwater detection characterized by providing display means for indicating
apparatus. 2. The controller according to claim 1 , further comprising:
In addition to the plane display mode, the vertical
The display mode can be switched freely, and this vertical display mode can be selected.
When selected, the display means requests to display a state directly below.
The underwater detection device according to claim 1. 3. A co to be pivotable movement for horizontal detection
A transducer that can be moved up and down for vertical detection;
It controls the orientation of the transducer, from the transducer
An underwater detection device comprising a controller for processing information
And a rotating shaft protruding from the side of the transducer is supported by a U-shaped frame.
Then, the vertical axis protruding from above the U-shaped frame is used as the lid.
Rotatably supported, cover the lid with a dome, and rotate
By driving a shaft, the transducer is moved in the dome.
It is possible to move up and down from almost horizontal to vertical through the vertical
And, by rotating the vertical axis, the transducer
A pivotable fan is provided between the rear surface of the transducer and the U-shaped frame so as to be freely rotatable within the dome.
Transducer with rat cable opposite from almost horizontal to vertical
With enough length to accommodate the case when the side
, And bend the middle of this flat cable into a chevron
At least one holding member to be
Cut cables along the transmitter / receiver side, and provide the controller with at least the full-circle display mode and the cross-section display mode.
And switchable in the display mode.
Stepping the waver at a specific angle while maintaining a specific elevation angle
In the cross-section display mode, the transmission and reception
Stepping operation at a predetermined angle while maintaining a specific turning angle of the vessel
Can be raised and lowered from almost horizontal to almost horizontal on the opposite side via vertical
An underwater detection device, characterized in that: