JP6722521B2 - Underwater detection system - Google Patents

Description

The present invention relates to an underwater detection system for detecting a target.

For example, in Patent Document 1, an underwater detection device that transmits an ultrasonic beam into water to scan a three-dimensional area and displays underwater information (eg, a school of fish) in the scan area as a three-dimensional image based on the received echo ( Sonar) is disclosed. In the sonar disclosed in Patent Document 1, an omnidirectional transmission beam is formed in a predetermined three-dimensional area. On the other hand, at the time of reception, a pencil beam is formed as a reception beam having a narrow beam width, and the reception beam is scanned within the three-dimensional area. Further, sonar similar to this is also disclosed in Patent Document 2, Patent Document 3, and the like. These sonars also form a transmission beam with a wide beam width and a reception beam with a narrow beam width.

Also, in a general scanning sonar, a transmitted wave with a narrow vertical beam width is transmitted once in all directions around the ship and then a received beam with a narrow vertical beam width Rotated as the center. As a result, it is possible to detect a school of fish existing in the vicinity of a desired tilt angle direction with respect to the own ship equipped with the sonar.

Further, in the known scanning sonar, a horizontal plane image in which the image signal generated based on the received signal obtained from the detection area is viewed from above is displayed.

Patent No. 5089319 JP, 60-78372, A Japanese Patent No. 2885989

By the way, when an area having a three-dimensional spread is detected using the above-described general scanning sonar, the tilt angle of a beam having a narrow beam width in the vertical direction is gradually changed to obtain a three-dimensional area. Think of scanning. However, in that case, the calculation load becomes extremely large as compared with a normal scanning sonar. Then, the device becomes large and the manufacturing cost becomes high. On the other hand, it is conceivable to scan the three-dimensional area as described above without increasing the size of the apparatus, but this causes a problem that it becomes difficult to obtain real-time information because the image update cycle becomes long.

Further, like the known scanning sonar described above, only the horizontal plane image of the image signal viewed from above may cause the fishes on the lower side to be overlooked if the fishes are vertically overlapped. is there.

The present invention is intended to solve the above problems, and an object thereof is to provide an underwater detection system that is highly convenient for the user while suppressing the cost of the entire system.

Moreover, this invention is for solving the said subject, The objective is to provide the underwater detection system which can prevent the detection omission of a school of fish.

In order to solve the above-mentioned problems, an underwater detection system according to an aspect of the present invention has a transducer having a plurality of transducers, a first transmission wave, and a beam width in the vertical direction relative to the first transmission wave. A transmission circuit unit that drives the plurality of wave transmitting/receiving elements that transmit a wide second transmission wave, and a first reception signal that is generated based on a reflection wave of the first transmission wave to generate a reflection wave of the second transmission wave. A reception circuit section for generating a second reception signal based on the first transmission signal; a first control section for causing the transmission circuit section to generate a first drive signal which is a basis of the first transmission wave; A first image generation unit that generates a first image based on a first reception signal, a second control unit that causes the transmission circuit unit to generate a second drive signal that is a basis of the second transmission wave, and the reception circuit A second image generation unit that generates a second image based on the second received signal output from the unit.

Further, in order to solve the above-mentioned problems, an underwater detection system according to an aspect of the present invention transmits and receives a three-dimensional transmission wave propagating in a three-dimensional region, with a transducer having a plurality of transmission and reception elements. A transmission circuit unit that drives a plurality of wave transmitting/receiving elements, a reception circuit unit that generates a reception signal based on a reflected wave of the three-dimensional transmission wave, and a reception circuit unit that is generated based on the reception signal and included in the three-dimensional region. A three-dimensional region image data generation unit that generates three-dimensional region image data having respective three-dimensional position information and echo intensity information obtained corresponding to each of the three positions, and the three-dimensional region image. Upper horizontal plane image in which the three-dimensional region image data is projected on the upper horizontal plane located above the three-dimensional position of the use data, and the three-dimensional position of the three-dimensional region image data. An image generation unit that generates a lower horizontal plane image in which the three-dimensional region image data is projected on a lower horizontal plane located below.

According to the present invention, it is possible to provide an underwater detection system which is highly convenient for the user while suppressing the cost of the entire system. Further, according to the present invention, it is possible to provide an underwater detection system capable of preventing detection leakage of a school of fish.

It is a block diagram showing composition of an underwater detection system concerning an embodiment of the present invention. It is a figure which shows typically the transmission range of the 1st transmission wave transmitted from a wave transceiver. It is a figure which shows typically the transmission range of the 2nd transmission wave transmitted from a wave transceiver. It is a block diagram which shows the structure of a receiver. It is a figure which shows typically an example of the display screen displayed on a 1st display apparatus. It is a block diagram which shows the structure of a processing apparatus. It is a figure which shows an example of an upper side horizontal plane image typically. It is a figure which shows typically the downward horizontal plane image produced|generated in the process which produces|generates a lower side horizontal plane image. It is a figure which shows an example of a lower horizontal plane image typically. It is a figure which shows typically the production|generation process of the upper side horizontal plane image and lower side horizontal plane image which a 2nd image generation part produces|generates. It is a flow chart for explaining operation of an underwater detection system. It is a figure which shows an example of the three-dimensional area image displayed on the 2nd display device of the underwater detection system which concerns on a modification. It is a block diagram which shows the structure of the underwater detection system which concerns on a modification. It is a figure which shows an example of two three-dimensional area|region images displayed on the 2nd display device of the underwater detection system which concerns on a modification, (A) is a figure which shows an upper side horizontal image, (B) is a vertical surface image. FIG. It is a figure which shows an example of the upper side horizontal plane image displayed on the 2nd display device of the underwater detection system which concerns on a modification. It is a vertical surface image displayed corresponding to the upper horizontal plane image shown in FIG. 15, (A) is a rear view vertical surface image, (B) is a left view vertical surface image. It is a figure which shows an example of the rear view vertical surface image displayed on the 2nd display device of the underwater detection system which concerns on a modification. FIG. 18 is an upper horizontal plane image displayed in correspondence with the rear-view vertical plane image shown in FIG. 17. FIG. 18 is a lower horizontal plane image displayed corresponding to the rear-view vertical plane image shown in FIG. 17. It is a figure which shows an example of the upper side horizontal plane image displayed on the 2nd display device of the underwater detection system which concerns on a modification. It is a vertical surface image displayed corresponding to the upper horizontal surface image shown in FIG. 20, (A) is a rear view vertical surface image, (B) is a left view vertical surface image. It is a figure which shows an example of the upper side horizontal plane image displayed on the 2nd display device of the underwater detection system which concerns on a modification. It is a vertical surface image displayed corresponding to the upper horizontal plane image shown in FIG. 22, (A) is a rear view vertical surface image, (B) is a left view vertical surface image. It is a figure which shows an example of the lower horizontal plane image displayed on the 2nd display device of the underwater detection system which concerns on a modification. It is a vertical surface image displayed corresponding to the lower side horizontal plane image shown in FIG. 24, (A) is a rear view vertical surface image, (B) is a left view vertical surface image. It is a flowchart which shows the other operation example of the underwater detection system which concerns on embodiment.

Hereinafter, an underwater detection system 1 according to an embodiment of the present invention will be described with reference to the drawings.

[Underwater detection system configuration]
FIG. 1 is a block diagram showing the configuration of an underwater detection system 1 according to the embodiment of the present invention. The underwater detection system 1 of the present embodiment is provided, for example, on a ship such as a fishing boat. Below, a ship equipped with the underwater detection system 1 is referred to as "own ship". Note that FIG. 1 illustrates only a part of the components included in the receiver 8 and the processing device 5.

As shown in FIG. 1, the underwater detection system 1 according to the present embodiment includes a scanning sonar 10, a processing device 5, and a second display device 6. The underwater detection system 1 has a configuration in which a processing device 5 and a second display device 6 are externally attached to a generally known scanning sonar 10.

The scanning sonar 10 includes a wave transmitter/receiver 2, a transmission/reception device 3, and a first display device 4.

The transceiver 2 has a function of transmitting and receiving ultrasonic waves, and is attached to the bottom of the ship. For example, as an example, the wave transmitter/receiver 2 has a substantially cylindrical shape and is arranged such that its axial direction is along the vertical direction and its radial direction is along the horizontal direction.

In detail, the wave transmitter/receiver 2 has a substantially cylindrical casing and ultrasonic transducers (not shown) as a plurality of transmitting/receiving elements attached to the outer peripheral surface of the casing. The ultrasonic transducer transmits ultrasonic waves into water, receives an echo, converts the echo into an electric signal, and outputs the electric signal to the receiver 8. Note that, in the present embodiment, the case where the housing of the wave transmitter/receiver 2 is a cylinder is shown, but the shape is not particularly limited, and may be another shape such as a sphere. ..

FIG. 2 is a diagram schematically showing the transmission range of the first transmission wave transmitted from the wave transmitter/receiver 2. Further, FIG. 3 is a diagram schematically showing a transmission range of the second transmission wave transmitted from the wave transmitter/receiver 2. 2 and 3, the transmission range of the transmission wave transmitted from the wave transmitter/receiver 2 mounted on the ship S is schematically represented by the dot-hatched portions.

In the present embodiment, the transmitter/receiver 2 transmits two types of transmission waves, specifically, a first transmission wave as shown in FIG. 2 and a second transmission wave as shown in FIG. The wave transmitter/receiver 2 transmits a transmission wave in all horizontal directions centering on the ship itself.

The first transmission wave is a transmission wave having a relatively narrow beam width θ ₁ in the vertical direction. The beam width θ ₁ of the first transmission wave is, for example, about 8 degrees, but is not limited to this and may be less than 20 degrees. The area in which the first transmission wave is transmitted is hereinafter referred to as a two-dimensional area Z1. The reason why the region in which the first transmission wave is transmitted is called the two-dimensional region Z1 is as follows. That is, the vertical beam width θ ₁ of the first transmitted wave is the minimum vertical beam width that can be realized by the wave transmitter/receiver 2, or a value close thereto. Therefore, the region in which the first transmission wave is transmitted is a region in which the spatial expansion is relatively narrow, and therefore, in this specification, this region is referred to as a two-dimensional region Z1.

The second transmission wave is a transmission wave whose beam width θ ₂ in the vertical direction is wider than that of the first transmission wave. The beam width θ ₂ of the second transmission wave is, for example, about 30 degrees, but is not limited to this and may be 20 degrees or more. The area in which the second transmission wave is transmitted is hereinafter referred to as a three-dimensional area Z2. The reason why the region in which the second transmission wave is transmitted is called the three-dimensional region Z2 is as follows. That is, the beam width θ ₁ in the vertical direction of the first transmission wave is a relatively narrow beam width as described above, whereas the second transmission wave having a beam width θ ₂ of 20 degrees or more is transmitted in the first transmission wave. It can be considered that the beam width is sufficiently wider than that of waves. Therefore, in this specification, a region having a relatively large three-dimensional spread in which the second transmission wave having a sufficiently wide beam width is transmitted is referred to as a three-dimensional region Z2.

In the transceiver 2, for example, the transmission of the first transmission wave and the reception of the reflected wave of the first transmission wave are performed multiple times, and then, the transmission of the second transmission wave and the transmission of the second transmission wave are performed. Transmission/reception is performed once, in which reflected waves of waves are received. That is, in the present embodiment, the frequency of transmitting the second transmission wave is lower than the frequency of transmitting the first transmission wave.

The transmission/reception device 3 includes a transmission/reception switching unit 3a, a transmitter 7, and a receiver 8. The transmission/reception device 3 is configured by devices such as a hardware processor 9 (for example, CPU, FPGA, etc.), an analog circuit, and a non-volatile memory. The hardware processor 9 functions as a first controller 7b, a quadrature detector 13, a first beam former 14, a filter 15, and a first image generator 16, which will be described in detail below. For example, when the CPU reads the program from the nonvolatile memory and executes the program, the hardware processor 9 causes the first control unit 7b, the quadrature detection unit 13, the first beam forming unit 14, the filter unit 15, and the first image. It functions as the generation unit 16.

The transmission/reception switching unit 3a is for switching between transmission and reception of a signal to/from the wave transceiver 2. Specifically, when transmitting/receiving a drive signal for driving the wave transmitter/receiver 2 to the wave transmitter/receiver 2, the transmission/reception switching unit 3 a outputs the drive signal output from the transmitter 7 to the wave transmitter/receiver 2. On the other hand, the transmission/reception switching unit 3a outputs the reception signal received by the transceiver 2 to the receiver 8 when receiving the reception signal from the transceiver 2.

The transmitter 7 is for generating a drive signal which is a basis of the transmission wave transmitted from the wave transceiver 2. The transmitter 7 has a transmission circuit section 7a and a first control section 7b.

The transmission circuit unit 7a generates a drive signal by being controlled by the first control unit 7b and the second control unit 20 of the processing device 5, which will be described in detail later. Specifically, the transmission circuit unit 7a has a transmission circuit (not shown) provided corresponding to each ultrasonic transducer, and each transmission circuit is appropriately controlled by the first control unit 7b. Thus, the first drive signal is generated. The first drive signal is a signal that is a basis of the first transmission wave (transmission wave having a beam width in the vertical direction of about 8 degrees as described above) transmitted from the wave transceiver 2. Further, the transmission circuit unit 7a generates a second drive signal by controlling each transmission circuit by the second control unit 20. The second drive signal is a signal that is the basis of the second transmission wave (transmission wave having a beam width in the vertical direction of about 30 degrees as described above) transmitted from the wave transceiver 2.

The first control unit 7b causes the transmission circuit unit 7a to generate the first drive signal by appropriately controlling each of the plurality of transmission circuits included in the transmission circuit unit 7a.

FIG. 4 is a block diagram showing the configuration of the receiver 8. The receiver 8 includes an analog unit 11, an A/D conversion unit 12, a quadrature detection unit 13, a first beam forming unit 14, a filter unit 15, and a first image generation unit 16. The analog section 11 and the A/D conversion section 12 are provided as a reception circuit section that generates a reception signal based on the reflected wave of the transmitted wave.

The analog section 11 amplifies the electric signal from the wave transmitter/receiver 2 and removes unnecessary frequency components by limiting its band. The analog unit 11 processes both the electric signal obtained from the reflected wave of the first transmission wave and the electric signal obtained from the reflected wave of the second transmission wave.

The A/D converter 12 converts the electric signal generated by the analog unit 11 into a reception signal as a digital signal. The A/D converter 12 processes the electric signal obtained from the reflected wave of the first transmitted wave to generate the first received signal, and processes the electric signal obtained from the reflected wave of the second received wave. A second received signal is generated.

The quadrature detection unit 13 applies quadrature detection processing to the first reception signal and the second reception signal obtained from each ultrasonic transducer to generate an I signal and a Q signal. These signals are processed as a complex signal having an I signal as a real part and a Q signal as an imaginary part. When the reception signal output from the A/D conversion unit 12 is the first reception signal, the quadrature detection unit 13 outputs the generated complex signal to the first beam forming unit 14 as the first complex signal. On the other hand, when the reception signal output from the A/D conversion unit 12 is the second reception signal, the quadrature detection unit 13 outputs the generated complex signal to the processing device 5 as the second complex signal. The output of the second complex signal from the quadrature detection unit 13 to the processing device 5 may be performed after the second complex signals are temporarily stored in the storage unit (not shown) included in the transmission/reception device 3. ..

Note that here, an example in which the quadrature detection unit 13 generates the second complex signal and then outputs the second complex signal to the processing device 5 has been described, but the present invention is not limited to this. Specifically, the quadrature detection processing may be performed in the processing device 5 after the second reception signal generated by the A/D conversion unit 12 is output to the processing device 5.

The first beam forming unit 14 performs a beam forming process (specifically, phasing addition) on the first complex signal obtained from a plurality of specific ultrasonic transducers to form a sharp directivity in a specific direction. A first beam signal, which is a signal equivalent to that obtained by a single ultrasonic transducer having the same, is generated. The first beam forming unit 14 repeatedly performs this process while changing the combination of ultrasonic transducers to be subjected to the beam forming process, thereby generating a large number of first beam signals having directivity in each direction. Referring to FIG. 2, the first beam forming unit 14 generates a first beam signal having a relatively narrow beam width θ ₁ (for example, about 8 degrees) in the vertical direction.

The filter unit 15 generates a first image (two-dimensional region image) described later by performing a band limiting filter or pulse compression filter process on the first beam signal formed by the first beam forming unit 14. 2D image signal is generated.

The first image generation unit 16 is a two-dimensional image that indicates the distribution of targets around the ship based on the amplitude (specifically, the absolute value of the complex signal) of the two-dimensional image signal generated by the filter unit 15. Generate a region image. Specifically, the first image generation unit 16 is an image of the distribution on the conical surface with the position of the transducer 2 of its own ship as the apex viewed from above (hereinafter, also referred to as horizontal mode image H1). Alternatively, an image showing the distribution on the vertical plane including the wave transmitter/receiver 2 (hereinafter sometimes referred to as vertical mode image V1) is generated. The image generated by the first image generation unit 16 is an image generated based on a signal obtained from the first transmission wave having a relatively narrow beam width, and is a two-dimensional surface with no spatial expansion. It is an image obtained from the region of the shape. The area in which the horizontal mode image H1 is obtained is the dot-hatched area in FIG.

FIG. 5 is a diagram schematically showing an example of the display screen 4 a displayed on the first display device 4. The horizontal mode image H1 and the vertical mode image V1 generated by the first image generation unit 16 are displayed on the display screen 4a of the first display device 4. For example, as an example, the user appropriately operates an operation device (not shown) such as a keyboard included in the underwater detection system 1 to switch the horizontal mode image H1 and the vertical mode image V1 to the first display device 4. They can be displayed, or they can be displayed simultaneously. In FIG. 5, an example is shown in which a school of fish is present at the 2 o'clock direction with respect to own ship S.

In the first display device 4, an area where a signal with a high echo intensity is obtained is indicated by a high density dot hatching area, and an area where a signal with a moderate echo intensity is obtained is a medium density dot hatching. The area indicated by a black circle is shown, and the area where a signal having a low echo intensity is obtained is shown by a low density dot hatched area. In the following, the area with high density dot hatching is called the high echo intensity area, the area with medium density dot hatching is called the medium echo intensity area, and the area with low density dot hatching is This is called a low echo intensity area. In the actual first display device 4, the high echo intensity area is shown in red, the medium echo intensity area is shown in green, and the low echo intensity area is shown in blue.

The processing device 5 is a device connected to the transmission/reception device 3 of the scanning sonar 10 by a cable or the like, and is configured by, for example, a PC (personal computer). The processing device 5, which will be described later in detail, is for processing a part of the reception signal processed by the transmission/reception device 3.

By the way, the underwater detection system 1 according to the present embodiment is an image (specifically, a horizontal mode image H1 and a vertical mode image) on which the target included in the two-dimensional area Z1 near the ship is projected by the scanning sonar 10. V1) is not only generated, but also an image in which a target included in a three-dimensional area Z2 (see FIG. 3), which is a three-dimensional area near the ship, is projected by the processing device 5 described in detail below. Can also be generated. In the present underwater detection system 1, an image in which a target included in the two-dimensional area Z1 is projected is generated by the scanning sonar 10 unless a user gives a predetermined instruction via an operating device (not shown). .. On the other hand, in the underwater detection system 1 according to the present embodiment, when there is a predetermined instruction from the user, the processing device 5, the scanning sonar 10, and the like perform the operations described below, so that An image in which the target included in the three-dimensional area Z2 is projected is generated. Note that the user's predetermined instruction described here is an instruction to generate an image in which the target included in the three-dimensional area Z2 as shown by the dot hatching in FIG. 3 is projected. Hereinafter, this predetermined instruction is referred to as a three-dimensional area image generation instruction.

FIG. 6 is a block diagram showing the configuration of the processing device 5. The processing device 5 includes a second control unit 20, a second beam forming unit 21, a filter unit 22, and a second image generating unit 23.

The second control unit 20 receives the user's three-dimensional area image generation instruction and appropriately controls each of the plurality of transmission circuits included in the transmission circuit unit 7a to generate a second drive signal for the transmission circuit unit 7a. Let The second control unit 20 controls the amplitude and phase of the drive signal so that the function of the shading coefficient in the vertical direction becomes the sink function when the transducer 2 has a cylindrical shape, for example.

The second complex signal from the quadrature detection unit 13 is input to the second beam forming unit 21. The second beam forming unit 21 performs a beam forming process (specifically, phasing addition) on the second complex signal obtained from a plurality of specific ultrasonic transducers to form a sharp directivity in a specific direction. A second beam signal, which is a signal equivalent to that obtained by a single ultrasonic transducer having the same, is generated. The second beam forming unit 21 repeats this process while changing the combination of ultrasonic transducers to be subjected to the beam forming process, thereby generating a large number of second beam signals having directivity in each direction. The second beam forming unit 21 generates a second beam signal having a beam width narrower than the beam width θ ₂ of the second transmission wave, and gradually changes the tilt angle to transmit the second transmission wave. To scan the area. The position information of each three-dimensional area image data (described in detail later) generated based on these beam signals is obtained from the time from the transmission of the second transmission wave to the reception thereof. It is calculated based on the distance from the transceiver 2 to the reflection target and the azimuth of the second beam signal.

The filter unit 22 performs a band limiting filter or a pulse compression filter process on the second beam signal formed by the second beam forming unit to generate a second image (three-dimensional region image) described later. Data for a three-dimensional area image is generated. The data for the three-dimensional area image is a signal obtained from each position included in the three-dimensional area Z2, and has the three-dimensional position where each signal is obtained and the echo intensity as information.

The second image generation unit 23 is an image showing the distribution of targets around the ship based on the amplitude (specifically, the absolute value of the complex signal) of the three-dimensional region image data generated by the filter unit 22. To generate. Specifically, the second image generation unit 23 generates a three-dimensional area image as the second image based on the signal obtained from the three-dimensional area Z2 (see FIG. 3).

Figure 7 is a diagram schematically showing an example of an upper horizontal plane image H2 _U. 8 is a diagram schematically showing a downward gaze horizontal image H2 L _'generated in the process of generating the lower horizontal image H2 _L. 9 is a diagram schematically showing an example of the lower horizontal surface image H2 _L. In this embodiment, the second image generating unit 23 as a three-dimensional region image to generate a _lower horizontal plane image H2 L showing upper horizontal image H2 _U, and in FIG. 9 as an example, shown as an example in FIG.

FIG. 10 is a diagram schematically showing a generation process of the upper horizontal plane image H2 _U and the lower horizontal plane image H2 _L generated by the second image generation unit 23. FIG. 10 shows a cross section in which the three-dimensional region image data Sg plotted in the three-dimensional Cartesian coordinates is cut on a predetermined plane (specifically, a plane that extends in the vertical and longitudinal directions). Similar to the case described above, the three-dimensional region image data Sg shown in FIG. 10 is shown in red (high density dot hatching in FIG. 10) high echo intensity area S _H and in green. A medium echo intensity area S _M (shown with medium density dot hatching in FIG. 10) and a low echo intensity area S _L shown in blue (shown with low density dot hatching in FIG. 10); Composed of.

The upper horizontal surface image H2 _U is generated by the data Sg for a three-dimensional area image is projected to the upper horizontal plane P _HU located above the data Sg for the 3-dimensional region image. Meanwhile, the lower horizontal surface image H2 _L, is generated by data Sg for a three-dimensional area image is projected to the lower horizontal plane P _HL which is located below the data Sg for the 3-dimensional region image.

More specifically, the second image generator 23 generates an upper horizontal plane image H2 _U as follows. Specifically, with reference to FIG. 10, the second image generation unit 23 sets the color that appears closest to the front side (upper side) to the upper horizontal plane _PHU when the three-dimensional region image data Sg is viewed from above. by subjecting, to generate an upper horizontal plane image H2 _U. However, in the present embodiment, area S _M which are shown in green and _blue, by setting an appropriate permeability for S _L, green area S _M of the front side is covered with blue projection in the upper horizontal plane P _HU Then, the red area S _H whose front side is covered with at least one of blue and green is projected onto the upper horizontal plane P _HU . Incidentally, this side for the red area S _H covered to either blue and green at least, is displayed in a different color than the red (e.g. ocher as an example). Thus, the upper horizontal image H2 _U as shown in FIG. 7 is generated.

The second image generator 23 generates a lower horizontal plane image H2 _L as follows. First, the second image generator 23 generates a downward gaze horizontal image H2 L _'underlying the lower horizontal image H2 _L.

Specifically, with reference to FIG. 10, the second image generation unit 23, when viewing the three-dimensional area image data Sg from below, determines that the color that appears closest to the front side (lower side) is the lower horizontal plane P. by subjecting the _HL, it generates a downward gaze horizontal image H2 _L '. However, in the present embodiment, as in the case described above, the area S _M which are shown in green and _blue, by setting an appropriate permeability for S _L, a green area S _M of the front side is covered with blue The red area S _H projected on the lower horizontal plane P _HL and the front side being covered with at least one of blue and green is projected on the lower horizontal plane P _HL . Incidentally, this side for the red area S _H covered to either blue and green at least, is displayed in a different color than the red (e.g. ocher as an example). Thus, the downward gaze horizontal image H2 L _'as shown in FIG. 8 is generated.

The second image generating unit 23, based on the down gaze horizontal image H2 _L ', to generate a lower horizontal plane image H2 _L. Specifically, the second image generating unit 23, with reference to FIG. 8, in the lower view horizontal image H2 L _', with respect to the longitudinal axis L extending in the position as and longitudinal direction corresponding to the ship S, downward gaze horizontal image H2 L _'to the mirrored. Accordingly, the lower horizontal surface image H2 _L is generated.

The three-dimensional region image generated by the second image generation unit 23 is displayed on the second display device 6. In this embodiment, the second display unit 6, the upper horizontal image H2 _U and the lower horizontal surface image H2 _L is displayed.

[Operation of underwater detection system]
FIG. 11 is a flow chart for explaining the operation of the underwater detection system 1. Hereinafter, the operations of the scanning sonar 10 and the processing device 5 included in the underwater detection system 1 will be described with reference to FIG. 11.

First, when the underwater detection system 1 is activated, the scanning sonar 10 starts normal operation (step S1). The normal operation of the scanning sonar 10 is a series of operations described below. In normal operation, first, the transmitter/receiver 2 transmits the first transmitted wave having a narrow beam width θ ₁ , and the reflected wave is received by the transmitter/receiver 2. The reflected wave received by the wave transmitter/receiver 2 is processed by each component of the receiver 8 to generate a horizontal mode image H1 and a vertical mode image V1. As shown in FIG. 5, the first display device 4 displays these horizontal mode image H1 and vertical mode image V1. The transmission wave transmitted to generate the vertical mode image V1 has a relatively wide beam width in the vertical direction.

During the normal operation as described above, if the user does not give a three-dimensional area image generation instruction (No in step S3), the scanning sonar 10 continues the normal operation. On the other hand, when there is a three-dimensional area image generation instruction from the user (Yes in step S3), the underwater detection system 1 operates as shown in steps S4 to S6 below. Specifically, when there is a three-dimensional area image generation instruction in step S2, the second control unit 20 causes the transmission circuit unit 7a to generate the second drive signal. Then, in step S4, the wave transmitter/receiver 2 transmits the second transmission wave based on the second drive signal. The reflected wave of the second transmission wave is received by the transmitter/receiver 2, and then processed by the analog section 11, the A/D conversion section 12, and the quadrature detection section 13 to generate a second complex signal (step S5). These second complex signals are transferred to the second beam forming unit 21 of the processing device 5 each time they are generated or after being temporarily stored in the storage unit (not shown) (step S6).

In step S6, at least part of the time during which the second complex signal is transferred to the processing device 5 and at least part of the time during which the first image is generated during normal operation overlap. In the present embodiment, the transfer process of the second complex signal and the normal operation are performed in parallel. By performing the normal operation of the scanning sonar 10 during the transfer process of the second complex signal, the update rate of the images (specifically, the horizontal mode image H1 and the vertical mode image V1) generated during the normal operation is set. Data transfer processing for generating a three-dimensional region image can be performed with almost no deterioration.

In step S7, the processing device 5, which has received the second complex signal, processes the second complex signal. Specifically, in step S7, the second beam forming unit 21 generates a second beam signal from the second complex signal, and the filter unit 22 filters the second beam signal to obtain a three-dimensional region. Image data Sg is generated. Then, based on the 3 for dimensional area image data Sg, the upper horizontal image H2 _U and the lower horizontal surface image H2 _L is generated. The thus generated above the horizontal plane images H2 _U and the lower horizontal surface image H2 _L is displayed on the second display unit 6 (step S8). After that, if there is no instruction to stop the generation of the three-dimensional region image by the user (No in step S9), the generation of the three-dimensional region image is continued. On the other hand, when the user gives an instruction to stop the generation of the three-dimensional area image (Yes in step S9), the generation of the three-dimensional area image is stopped. Incidentally, at least part of the time that the second image (the upper horizontal image H2 _U and the lower horizontal surface image H2 _L) is generated, and at least part of the time when the first image during the normal operation is generated, overlaps ing. As a result, each image can be generated in parallel, so that it is possible to prevent the update rate of each image from decreasing.

By the way, conventionally, an underwater detection apparatus (for example, an underwater detection apparatus that transmits an ultrasonic beam into water to scan a three-dimensional area and displays underwater information (for example, a school of fish) in the scan area as a three-dimensional image based on the received echo. Sonar) is disclosed. In the sonar disclosed in Patent Document 1, an omnidirectional transmission beam is formed in a predetermined three-dimensional area. On the other hand, at the time of reception, a pencil beam is formed as a reception beam having a narrow beam width, and the reception beam is scanned within the three-dimensional area.

Also, in a general scanning sonar, a transmitted wave with a narrow vertical beam width is transmitted once in all directions around the ship and then a received beam with a narrow vertical beam width Rotated as the center. As a result, it is possible to detect a school of fish existing in the vicinity of a desired tilt angle direction with respect to the own ship equipped with the sonar.

When trying to detect a region having a three-dimensional spread using the above-described general scanning sonar, the tilt angle of a beam having a narrow beam width in the vertical direction is gradually changed to form a three-dimensional region. Consider scanning. However, in that case, the calculation load becomes extremely large as compared with a normal scanning sonar. Then, the device becomes large and the manufacturing cost becomes high. On the other hand, it is conceivable to scan the three-dimensional area as described above without increasing the size of the apparatus, but this causes a problem that it becomes difficult to obtain real-time information because the image update cycle becomes long.

[effect]
With respect to this point, in the underwater detection system 1 according to the present embodiment, based on the first reception signal obtained from the reflected wave of the first transmission wave having the beam width θ ₁ which is relatively narrow in the vertical direction, the conventional scanning sonar is used. It is possible to generate the horizontal mode image H1 and the vertical mode image V1 at the same update speed as. Moreover, in the underwater detection system 1, based on the second received signal obtained from the reflected wave of the second transmitted wave whose beam width θ ₂ is wider than the beam width θ ₁ of the first transmitted wave, the three-dimensional area Z2 is generated. image _H2 U of target object that contains, can also be obtained H2 _L. By doing so, it is possible to grasp the distribution of the targets included in the three-dimensional area Z2 while obtaining the horizontal mode image H1 and the vertical mode image V1 at the same update speed as the conventional one.

Therefore, according to the underwater detection system 1, it is possible to provide an underwater detection system that is highly convenient for the user while suppressing the cost of the entire system.

Further, according to the underwater detection system 1, a two-dimensional area image (in the present embodiment, the horizontal mode image H1 and the vertical mode image V1) is generated based on the first reception signal obtained from the reflected wave of the first transmission wave. while that is generated from the first transmission wave when the 3-dimensional area image (the embodiment based on the second received signal obtained from the reflected wave of the second transmission wave beam width is different, the upper horizontal image H2 _U and A lower horizontal plane image H2 _L ) is generated.

In the underwater detection system, the area in which the target can be detected depends on the beam width of the transmitted wave. Therefore, if the target wave is detected using the transmitted wave with a wide beam width as in the underwater detection system 1, three-dimensional spread will occur. The target included in the space with can be detected. Then, the target detected in the three-dimensional space can be projected on the three-dimensional area image. Therefore, according to the underwater detection system 1, it is possible to generate an echo image having different characteristics based on each reception signal corresponding to each transmission wave having a different beam width. Specifically, according to the two-dimensional region image obtained by the first transmission wave having the narrow beam width θ ₁ , a two-dimensional region without spatial expansion (in the case of the present embodiment, the two-dimensional region) The target can be detected from Z1). Thereby, the position of the target can be accurately grasped. On the other hand, according to the three-dimensional region image obtained by the second transmission wave having the wide beam width θ ₂ , the three-dimensional region having the spatial expansion (in the present embodiment, the three-dimensional region Z2) Can detect the target. Thereby, the target can be detected in a wide space. That is, according to the underwater detection system 1, for example, the user roughly confirms the position of a desired school of fish by confirming the three-dimensional region image, and then confirms the two-dimensional region image to grasp a more accurate position of the school of fish. Therefore, it is possible to provide an underwater detection system with excellent convenience.

Further, according to the underwater detection system 1, the beam width of the first transmission wave is set to less than 20 degrees (specifically, about 8 degrees), while the beam width of the second transmission wave is 20 degrees or more (specifically, Specifically, it is set to about 30 degrees). Thereby, the two-dimensional area detected by the first transmission wave and the three-dimensional area detected by the second transmission wave can be set.

Further, according to the underwater detection system 1, an image based on a signal obtained from a three-dimensional area can be easily obtained by connecting the processing device 5 composed of a PC or the like to the conventionally known scanning sonar 10. It becomes possible to generate (three-dimensional region image). That is, according to the underwater detection system 1, it is possible to provide an underwater detection system capable of generating a three-dimensional region image at low cost without requiring a large change in equipment.

Further, in the underwater detection system 1, the scanning sonar 10 performs a normal operation while the reception signal is being transferred from the scanning sonar 10 to the processing device 5. As a result, the data transfer process for generating the three-dimensional region image can be performed with almost no decrease in the update rate of the two-dimensional region image generated during the normal operation.

In the underwater detection system 1, the two-dimensional area image based on the echo signal obtained from the two-dimensional area Z1 is displayed on the first display device 4, while the three-dimensional area image is displayed on the second display device 6. It As a result, the user can visually recognize the images obtained from the areas Z1 and Z2.

In the underwater detection system 1, the processing device 5 is composed of a PC (personal computer). As a result, the processing device 5 can be constructed at a relatively low cost.

In the underwater detection system 1, the frequency of transmitting the second transmission wave is lower than the frequency of transmitting the first transmission wave. This makes it possible to generate a three-dimensional region image without significantly reducing the update rate of the scanning sonar 10.

In the underwater detection system 1, the first image is an image obtained based on the echo of the target included in the two-dimensional area Z1 in which the first transmission wave is transmitted, and the second image is the second image. It is an image obtained based on the echo of the target included in the three-dimensional area Z2 in which the transmission wave is transmitted. As a result, in the underwater detection system 1, the first image based on the echo obtained from the two-dimensional area Z1 with a small three-dimensional volume and the second image based on the echo obtained from the three-dimensional area Z2 are displayed. As a result, an underwater detection system with excellent convenience can be provided.

By the way, in a display device of a conventional underwater detection system, a horizontal plane image in which an image signal generated based on a received signal obtained from a detection area is viewed from above is displayed. However, in this case, when the schools of fish are vertically overlapped, there is a possibility of overlooking the school of fish on the lower side.

In this regard, the water detection system 1, even when they are located overlap fish in the vertical direction, the position of the upper fish can be grasped by the upper horizontal plane image H2 _U, and the position of the fish in the lower It can be grasped in the lower horizontal plane image H2 _L for. Specifically, referring to FIGS. 7 and 9, echo image A in FIG. 7 and echo image C in FIG. 9 are both echoes from the school of fish. As the underwater detection system 1, by displaying the upper horizontal image H2 _U and the lower horizontal surface image H2 _L on the display device, it is possible to both grasp the two fish overlapping in the vertical direction. That is, according to the underwater detection system 1, it is possible to prevent omission of detection of a school of fish. The echo image B in FIG. 7 is an echo image showing the track of the ship.

Incidentally, just in downward gaze horizontal image H2 L _'viewed from below the data Sg for a three-dimensional area image, in the image, fish of the ship starboard side is displayed on the left side on the screen, fish of the ship port side It is displayed on the right side of the screen. Then, when the user looks at this image, it becomes difficult to intuitively grasp the position of the school of fish. Specifically, downward gaze horizontal image H2 L _'echo image C in FIG. 8 showing a is actually located on the port side of the ship, downward gaze horizontal image H2 _L' be located on the right in become.

In this regard, the water detection system 1, by causing imaged downward gaze horizontal image H2 L _'a mirror as described above, and generates the lower horizontal image H2 _L. In this way, the fish group on the starboard side of the own ship is displayed on the right side on the screen, and the fish group on the port side of the own ship is displayed on the left side on the screen. This makes it easier for the user to intuitively understand the position of the school of fish.

[Modification]
Although the embodiments of the present invention have been described above, the present invention is not limited to these, and various modifications can be made without departing from the spirit of the present invention.

(1) FIG. 12 is a diagram showing an example of a three-dimensional area image displayed on the second display device of the underwater detection system according to the modification. In the above embodiment, as the three-dimensional area image has been displayed both upper horizontal image H2 _U and the lower horizontal surface image H2 _L on the second display unit 6 is not limited thereto, the upper horizontal image H2 _U and the lower it may be only one of the horizontal image H2 _L. Alternatively, a three-dimensional area image may be displayed perspective image H2 _T as shown in FIG. 12. The perspective image H2 _T, data Sg for a three-dimensional area image, an image obtained by projecting the inclined surface intersecting with both the vertical surface and the horizontal surface. That is, the perspective image H2 _T, an image viewing the data Sg for a three-dimensional area image from an oblique direction. In this way, by displaying the perspective image H2 _T on the second display device 6 becomes easy to grasp the position of the fish more intuitive. The perspective image H2 _T may be an image of the three-dimensional area image data Sg viewed obliquely from above, or may be an image of the three-dimensional area image data Sg viewed obliquely from below.

(2) FIG. 13 is a block diagram showing the configuration of the underwater detection system 1a according to the modification. In the above embodiment, an example in which the underwater detection system 1 is configured by connecting the processing device 5 configured by a PC or the like, which is separate from the conventionally known scanning sonar 10, to the scanning sonar 10 has been described. However, it is not limited to this. Specifically, as shown in FIG. 13, each component included in the processing device 5 described in the underwater detection system 1 according to the above-described embodiment may be incorporated in the scanning sonar 10a. The transmitter/receiver 3b shown in FIG. 13 has a configuration in which the second controller 20 is incorporated in the transmitter 7c and the second image generator 23 is incorporated in the receiver 8a. Although not shown in FIG. 13, the second beam forming unit 21 and the filter unit 22 in the above embodiment are incorporated in the receiver 8a. In the underwater detection system 1 a, the two-dimensional area image and the three-dimensional area image are displayed on the first display device 4.

As described above, according to the underwater detection system 1a according to the present modified example, the processing device 5 configured by the PC or the like, which is required in the underwater detection system 1 according to the above-described embodiment, is unnecessary, and the processing device 5 is Each constituent element can be incorporated into the scanning sonar 10a. As a result, the underwater detection system can be downsized.

(3) FIG. 14 is a diagram showing an example of a two dimensional area image displayed on the second display device of the underwater detection system according to a modification, FIG. 14 (A) is the upper horizontal plane image H2 _U FIG. 14B is a diagram showing the vertical plane image V2.

The second display device of the present modification, the upper horizontal image H2 _U and rear Minamari face image V2 _B is displayed. Rear Minamari face image V2 _B, the data Sg for a three-dimensional area image is generated by being projected on a vertical plane extending in the vertical and horizontal directions are positioned behind the data Sg for the three-dimensional area image It is an image.

Then, in the underwater detection system according to this modified example, with reference to FIG. 14 (A), the user, an arbitrary point in the upper horizontal plane image H2 _U displayed on the second display device (e.g., FIG. 14 (A) When the point P1) is selected using the operation device such as a mouse in both the image H2 _U, cursor V2 _B is displayed. Specifically, on the upper horizontal surface image H2 _U, together with the upper horizontal surface cross cursor CS1 passing point P1 selected by the user (first mark) is displayed at the rear Minamari face image V2 _B is the point A vertical cursor CS _BH (second mark) that passes through the position corresponding to P1 and extends vertically on the screen is displayed. The upper horizontal cross cursor CS1 is composed of a vertical bar Bv extending vertically on the screen and a horizontal bar Bh extending horizontally.

As described above, according to this modification, based on the three-dimensional area image data Sg, since the upper horizontal image H2 _U and a vertical plane image V2 is produced, by viewing them in association with each other, the desired It is possible to grasp the position of the school of fish in water.

Further, according to the present modification, along with cross cursor CS1 passing point P1 selected by the user is displayed on the upper horizontal surface image H2 _U, the vertical cursor CS _BH which passes through a position corresponding to the point P1 behind It is displayed in the vertical plane image V2 _B viewing. Thereby, the position of the desired school of fish can be accurately grasped with reference to those cursors.

(4) Figure 15 is a diagram showing an example of an upper horizontal plane image H2 _U which is displayed on the second display device of the underwater detection system according to a modification. Further, FIG. 16, there a vertical plane image V2 that is displayed corresponding to the upper horizontal surface image H2 _U shown in FIG. 15, FIG. 16 (A) is the rear Minamari face image V2 _B, FIG. 16 (B) is It is a left-view vertical plane image V2 _L.

The second display device of the present modification, the upper horizontal image H2 _U, rear Minamari face image V2 _B, and leftward Minamari face image V2 _L is displayed. In the left-view vertical plane image V2 _L , the three-dimensional region image data Sg is projected on the vertical plane that is located on the left side (port side) of the three-dimensional region image data Sg and extends in the vertical and longitudinal directions. It is generated by

Then, in the underwater detection system according to the present modification, with reference to FIG. 15, the user refers to an arbitrary one point (for example, point P2 in FIG. 15) in the upper horizontal plane image H2 _U displayed on the second display device by the mouse. selecting with the operating device etc., all images _H2 U three described _above, V2 B, cursor is displayed at V2 _L. Specifically, on the upper horizontal surface image H2 _U, the upper horizontal cross cursor CS1 (first mark) which passes through the point P2 is selected by the user is displayed. Further, in the backward-view vertical plane image V2 _B and the left-side vertical plane image V2 _L , vertical cursors CS _BH and CS _LH (second mark) that pass through the position corresponding to the point P2 and extend in the vertical direction on the screen, respectively. ) Is displayed.

As described above, according to this modification, on the basis of the data Sg for a three-dimensional area image, the upper horizontal image H2 _U, rear Minamari face image V2 _B, and leftward Minamari face image V2 _L is generated Therefore, by visually recognizing them in association with each other, it is possible to more accurately grasp the position of the desired school of fish in water.

Further, according to the present modification, along with cross cursor CS1 passing point P2 selected by the user is displayed on the upper horizontal surface image H2 _U, the vertical cursor CS BH which passes through a position corresponding to the point _P2, CS _LH is displayed on the rear Minamari face image V2 _B and leftward Minamari face image V2 _L. Thereby, the position of the desired school of fish can be more accurately grasped with reference to those cursors.

(5) Figure 17 is a diagram showing an example of a rear Minamari face image V2 _B to be displayed on the second display device of the underwater detection system according to a modification. Further, FIG. 18 is an upper horizontal plane image H2 _U to be displayed corresponding to the rear Minamari face image V2 _B shown in FIG. 17. Further, FIG. 19 is a lower horizontal plane image H2 _L displayed corresponding to the backward-view vertical plane image V2 _B shown in FIG.

In this modification, when the user inputs a desired depth range desired to be detected fish school, with its depth depth range scale R indicating a range is displayed on the rear Minamari face image V2 _B, upper horizontal plane image H2 the _U and the lower horizontal surface image H2 _L, only echo image included in the depth range is displayed. By doing so, it is possible to exclude a group of fish existing outside the depth range that the user wants to detect, or an unnecessary echo image (for example, the echo image B due to the track in FIG. 7) from the display screen, and thus an echo of the desired group of fish. It is possible to delete the unnecessary echo image from the screen while surely displaying the image.

(6) FIG. 20 is a diagram showing an example of an upper horizontal plane image H2 _U which is displayed on the second display device of the underwater detection system according to a modification. Further, FIG. 21, there a vertical plane image V2 that is displayed corresponding to the upper horizontal surface image H2 _U shown in FIG. 20, FIG. 21 (A) is the rear Minamari face image V2 _B, FIG. 21 (B) is It is a left-view vertical plane image V2 _L.

In this modification, when the user inputs a desired azimuth range desired to be detected fish, together with the straight line L1 and the straight line L2 shows the azimuth range is displayed on the upper horizontal surface image H2 _U, rear Minamari face image V2 _B and For the left-view vertical plane image V2 _L , only the echo image included in the azimuth range is displayed. By doing this, it is possible to exclude from the display screen a school of fish that exists outside the azimuth range that the user wants to detect, so that the echo image of the desired school of fish can be displayed reliably while deleting the unnecessary echo image from the screen. be able to.

(7) In the above-described embodiment, an example in which an echo image included within a predetermined distance range with respect to the own ship is displayed has been described, but the present invention is not limited thereto. For example, when the user inputs a desired distance range in which the fish school is desired to be detected, the underwater detection system may be configured such that only the echo image included in the distance range is displayed in each three-dimensional area image.

(8) In the above-described embodiment and modification, the coloring in each image is displayed in correspondence with the echo level, but the present invention is not limited to this. Specifically, although not shown, coloring in each image may correspond to depth. In this case, the depth of each school of fish can be easily grasped by displaying, for example, a horizontal plane image and a perspective image.

(9) In the above-described embodiment, an example in which signal processing is performed on all received signals included in a predetermined distance range with respect to the own ship has been described, but the present invention is not limited to this. Specifically, for example, the user may previously input a distance range, an azimuth range, a depth range, and the like at which a fish school is desired to be detected, and only echo signals included in these ranges may be subjected to signal processing. As a result, the signal processing of the echo signal obtained from the range not required by the user can be omitted, and the calculation load on the transmission/reception device can be reduced.

(10) FIG. 22 is a diagram showing an example of an upper horizontal plane image H2 _U which is displayed on the second display device of the underwater detection system according to a modification. Further, FIG. 23, there a vertical plane image V2 that is displayed corresponding to the upper horizontal surface image H2 _U shown in FIG. 22, FIG. 23 (A) is the rear Minamari face image V2 _B, FIG. 23 (B) is It is a left-view vertical plane image V2 _L. In addition, FIG. 24 is a diagram showing an example of a lower horizontal plane image H2 _L displayed on the second display device of the underwater detection system according to the present modification. Further, FIG. 25, there a vertical plane image V2 that is displayed corresponding to the lower horizontal surface image H2 _L shown in FIG. 24, FIG. 25 (A) is the rear Minamari face image V2 _B, FIG. 25 (B) Is a left-view vertical plane image V2 _L.

In this modification, when the user clicks on the echo image of the fish school whose position is to be identified in any of the three-dimensional region images with the mouse cursor or the like, the position is displayed in another three-dimensional region image. For example, with reference to FIGS. 22 and 23, when the user clicks the position of the upper horizontal plane image H2 point _U P3 shown in FIG. 22, the upper horizontal crosshair centered on the point P3 of the upper horizontal surface image H2 _U CS1 (first mark) is displayed. The upper horizontal cross cursor CS1 is composed of a vertical bar Bv extending vertically on the screen and a horizontal bar Bh extending horizontally. At this time, the coordinate position corresponding to the point P3 in the rear Minamari face image V2 _B shown in FIG. 23 (A), rear Minamari faced cross cursor CS2 centered the coordinate position (second mark) is displayed, and, the coordinate position corresponding to the point P3 in the left Minamari face image V2 _L shown in FIG. 23 (B), the left Minamari face crosshairs CS3 centered the coordinate position (second mark) is displayed It This makes it possible to more easily understand the correspondence relationship between the fish schools displayed in each three-dimensional area image. As the depth position of the point P3, the depth position on the uppermost side in the echo intensity range (the echo intensity range indicated by cross hatching in the example shown in FIG. 22) including the selected point P3 is selected. To be done.

Similarly, with reference to FIGS. 24 and 25, when the user clicks the position of point P4 of the lower horizontal plane image H2 _L shown in FIG. 24, the lower point centered on point P4 of the lower horizontal plane image H2 _L is displayed. The horizontal cross cursor CS4 (first mark) is displayed. At this time, in the rear Minamari face image V2 _B shown in FIG. 25 (A), the coordinate position corresponding to the point P4, the rear Minamari faced cross cursor CS2 centered the coordinate position (second mark) is displayed In addition, at the coordinate position corresponding to the point P4 in the left-view vertical plane image V2 _L shown in FIG. 25B, the left-view vertical crosshair cursor CS3 (second mark) centered on the coordinate position is displayed. Is displayed. As the depth position of the point P4, the lowest depth position in the echo intensity range including the selected point P4 (echo intensity range indicated by cross hatching in the example shown in FIG. 24) is selected. To be done.

In addition, here, when a certain position is selected in the upper horizontal plane image H2 _U or the lower horizontal plane image H2 _L, it is located at the selected position in the rear-view vertical plane image V2 _B and the left-side vertical plane image V2 _L. The example in which the cross cursors CS2 and CS3 are displayed at the corresponding positions has been described, but the present invention is not limited to this. Specifically, when a position is selected in any of the plurality of three-dimensional region images, the second cross cursor is displayed at a position corresponding to the selected position in the other three-dimensional region image. May be done.

In addition, here, an example in which the first mark and the second mark are cross cursors has been described, but the present invention is not limited to this. For example, as an example, the first mark and the second mark may be circles or crosses.

(11) FIG. 26 is a flowchart showing another operation example of the underwater detection system 1 according to the above embodiment. In the above-described embodiment, an example in which the three-dimensional region image is continuously generated until the user gives a stop instruction to generate the three-dimensional region image has been described with reference to FIG. Specifically, as shown in the flowchart of FIG. 26, after the three-dimensional region image is once generated, the three-dimensional region image is not updated until the user newly gives a three-dimensional region image generation instruction. You may Alternatively, the user may be allowed to specify the update cycle of the three-dimensional area image.

(12) The underwater detection system 1 according to the above-described embodiment is provided with sensors capable of detecting the roll angle and the pitch angle of the ship, and the processing device 5 responds to the roll angle and the pitch angle detected by those sensors. The three-dimensional area image may be displayed on the coordinates subjected to the coordinate conversion. As a result, the spatial distribution of the school of fish can be correctly grasped without being affected by the motion of the ship.

(13) In the underwater detection system 1 according to the above-described embodiment, a transmission wave having a relatively wide beam width in the vertical direction is used as the transmission wave for generating the vertical mode image V1. This transmission wave is a transmission wave that is transmitted to generate the vertical mode image V1. However, instead of transmitting this transmission wave, the second transmission wave transmitted to generate the three-dimensional region image may be used as the transmission wave to generate the vertical mode image V1. Since the second transmission wave is a transmission wave having a relatively wide beam width in the vertical direction, it can also be used as a transmission wave for generating the vertical mode image V1. By thus diverting the second transmission wave for generating the three-dimensional region image as the transmission wave for generating the vertical mode image, the transmission wave transmitted only for generating the vertical mode image V1 is generated. Eliminates the need to transmit. This makes it possible to display a three-dimensional area image while suppressing a decrease in the image update rate during normal operation of the scanning sonar.

The present invention can be widely applied as an underwater detection system for detecting a target.

1,1a Underwater detection system 2 Transducer/receiver 7a Transmission circuit section 7b First control section 8,8a Receiver (reception circuit section)
16 1st image generation part 20 2nd control part 23 2nd image generation part

Claims (12)

A transducer having a plurality of transducer elements,
A transmission circuit unit for driving the plurality of transmitting/receiving elements for transmitting a first transmission wave and a second transmission wave having a beam width wider in the vertical direction than the first transmission wave;
A reception circuit unit that generates a first reception signal based on a reflected wave of the first transmission wave and a second reception signal based on a reflected wave of the second transmission wave;
A first control unit that causes the transmission circuit unit to generate a first drive signal that is a basis of the first transmission wave;
A first image generation unit that generates a first image based on the first reception signal output from the reception circuit unit;
A second control unit that causes the transmission circuit unit to generate a second drive signal that is a basis of the second transmission wave;
A second image generation unit that generates a second image based on the second reception signal output from the reception circuit unit;
Equipped with
The first image is a two-dimensional region image generated based on the first reception signal obtained from a region in which the first transmission wave is transmitted,
The second image is a three-dimensional region image generated based on the second reception signal obtained from a three-dimensional region that is a region in which the second transmission wave is transmitted,
The three-dimensional area image is generated based on the second received signal and has three-dimensional position information and echo intensity information obtained from each position included in the three-dimensional area. An underwater detection system, wherein the image data is at least one of a vertical plane image projected on a vertical plane and the three-dimensional area image data is a horizontal plane image projected on a horizontal plane . The underwater detection system according to claim 1,
The beam width in the vertical direction of the first transmission wave is less than 20 degrees,
An underwater detection system, wherein the beam width of the second transmission wave in the vertical direction is 20 degrees or more. In the underwater detection system according to claim 1 or 2,
A scanning sonar including the transmission circuit unit, the reception circuit unit, the first control unit, and the first image generation unit;
A processing device having the second controller and the second image generator;
Further equipped with,
The underwater detection system, wherein the processing device is provided separately from the scanning sonar. The underwater detection system according to claim 3,
The underwater detection system, wherein at least a part of a time when the second reception signal is transferred to the processing device and at least a part of a time when the first image is generated overlap with each other. In the underwater detection system according to claim 3 or 4,
The scanning sonar further includes a first display device on which the first image is displayed,
The underwater detection system, further comprising a second display device for displaying the second image. The underwater detection system according to any one of claims 3 to 5,
The underwater detection system, wherein the processing device is a personal computer. The underwater detection system according to any one of claims 1 to 6,
The underwater detection system, wherein at least a part of a time when the first image is generated and at least a part of a time when the second image is generated overlap each other. The underwater detection system according to any one of claims 1 to 7,
The underwater detection system is characterized in that the frequency of transmitting the second transmission wave is lower than the frequency of transmitting the first transmission wave. The underwater detection system according to claim 1 ,
In the three-dimensional area image,
An upper horizontal plane image as the horizontal plane image obtained by projecting the three-dimensional area image data onto an upper horizontal plane located above the three-dimensional position of the three-dimensional area image data;
A lower horizontal plane image as the horizontal plane image obtained by projecting the three-dimensional region image data onto a lower horizontal plane located below the three-dimensional position of the three-dimensional region image data;
The underwater detection system is characterized by including. The underwater detection system according to claim 9 ,
The lower horizontal plane image is an image in which the horizontal plane image obtained by projecting the three-dimensional region image data onto the lower horizontal plane is mirrored with respect to a predetermined axis extending in the in-plane direction of the lower horizontal plane. An underwater detection system characterized by The underwater detection system according to claim 1 ,
In the three-dimensional area image,
At least two of the vertical plane image, the horizontal plane image, and a perspective image in which the three-dimensional region image data is projected on an inclined plane intersecting both the vertical plane and the horizontal plane are included. A feature of the underwater detection system. The underwater detection system according to claim 11 ,
By selecting a predetermined position in any one of the vertical plane image, the horizontal plane image, and the perspective image by the user, the first mark is displayed at the predetermined position in the selected image, A second mark is displayed at a position corresponding to the predetermined position in at least one of the vertical plane image, the horizontal plane image, and the perspective image other than the image in which the first mark is displayed. characterized in that, underwater detection system.

Images