JPH0213755B2 - - Google Patents

Description

[Detailed Description of the Invention] This invention detects the underwater situation in a wide range of directions.
Regarding the wide-range underwater detection display device that displays PPI, in particular, it displays the ship's wake and the trace of the net towed by the ship on the same display screen, and also displays the area where the net will pass over time in a different display area. The present invention relates to a device that facilitates the capture of detected schools of fish.

Examples will be described below with reference to the drawings.

In FIG. 1, a transducer 1 transmits ultrasonic pulses in a wide range of directions and receives reflected waves from each direction. The transducer 1 is, for example, as shown in FIG.
Directional transducers T ₁ , T ₂ , T ₃ , ...Tn whose directivity directions are slightly different from θ ₁ , θ ₂ , θ ₃ , ... θn are arranged along the circumferential direction. In the transducer 1, when transmitting ultrasonic pulses, all the directional transducers are simultaneously excited by the transmitter 2, and the ultrasonic pulses are transmitted in a wide range of directions. The reflected waves returning from each direction are sent to each directional transducer.
After being received by T ₁ , T ₂ , T ₃ , . . . Tn, the signals are sent to the time series circuit 3. The time series circuit 3 electronically switches and transmits the received signals of the directional transducers T ₁ , T ₂ , ...Tn, and, for example, as shown in FIG. 2, the movable terminal S ₀ and the fixed Each of the directional transducers T ₁ , T ₂ , T ₃ ...Tn is composed of terminals S ₁ , S ₂ , S ₃ ...Sn, and is guided to each of the fixed terminals S ₁ , S ₂ , S ₃ ...Sn. The movable terminal _S0 sequentially switches and extracts the received signal.

The above switching operation of the time series circuit 3 is performed by the azimuth counter 4. The azimuth counter 4 counts the clock pulse train sent out from the clock pulse source 5, and the time series circuit 3 sends out a received signal of the directional transducer in the azimuth indicated by the count value of the azimuth counter 4. And the direction counter 4 is
Count the n pulse trains of the clock pulse source 5,
The time series circuit 3 is a directional transducer T ₁ , T ₂ , T ₃ ...Tn
An output pulse is sent to the distance counter 6 each time each received signal is sent out in one round. The distance counter 6 counts the output pulses of the azimuth counter 4 and sends out an output pulse when a certain count value is reached. This output pulse is sent to the clock pulse source 5 to stop sending clock pulses. Therefore, for example, if the repetition period of the output pulse sent out from the azimuth counter 4 is 1 m,
If the distance is set equal to the time required for a round trip, when the count value of the distance counter 6 reaches 500, the time series circuit 3 sends out reflected waves from the detected object within a range of 500 m. . Note that the clock pulse source 5 sends out a pulse train at the same time as the ultrasonic pulse is sent by the transmitter 2, and stops sending out the clock pulse when the output pulse is sent out from the distance counter 6.

The reflected waves in each direction sent out from the time series circuit 3 are guided to an A/D converter 28, where the analog level is converted into a digital value. A/D converter 28
The output converted into a digital value is sent to the write circuit 7, and at the same time, it is also sent to another write circuit 9 via the gate circuit 8.

The write circuit 7 writes the digital data sent from the A/D converter 28 to the storage circuit 10,
Further, the write circuit 9 performs an operation of writing the digital data passed through the gate circuit 8 into the memory circuit 11. At this time, the write circuit 7 writes the digital data of the A/D converter 28 to the specified address sent by the coordinate converter 12 among the memory addresses of the memory circuit 10. On the other hand, the write circuit 9 writes the digital data sent from the gate circuit 8 to the memory address specified by the address counter 13 and the distance counter 6 among the memory addresses of the memory circuit 11.

The coordinate converter 12 converts the direction and distance position corresponding to the digital data sent out by the A/D converter 28.
Convert to position on XY coordinates. That is, the direction of the reflected wave transmitted from the time series circuit 3 is determined by the direction counter 4, and the distance thereof is determined by the distance counter 6. Therefore,
Since the position of the reflected wave at this time is given as a polar coordinate position, the coordinate converter 12 converts this into a position on the XY coordinates and transmits it. This coordinate transformation can be performed, for example, by storing in advance a position on the XY coordinates corresponding to the polar coordinate position in a storage element. The memory circuit 10 has memory addresses in m rows and n columns, and performs coordinate transformation using the memory addresses in m/2 rows and n/2 columns as the center position on polar coordinates.

On the other hand, the gate circuit 8 selects the comparator circuit 1 from among the digital data sent out from the A/D converter 28.
When the output is sent from 8, the azimuth data is sent. The comparison circuit 18 sends out an output when the azimuth data of the azimuth counter 4 matches the azimuth data sent out by the azimuth setter 15. Direction setter 15
is the A/D based on the output signal of the arithmetic circuit 35.
Among the azimuth data of the converter 28, the azimuth to be passed through the gate circuit 8 is specified. The arithmetic circuit 35 calculates a designated direction based on the output signals of the net position detector 37 and the shipowner direction detector 38, and sends it out. That is, the azimuth setter 15 specifies a desired azimuth from among the directions specified by the azimuth counter 4.

The signal data sent from the gate circuit 8 is guided to the write circuit 9 and written to a designated address in the memory circuit 11. The write circuit 9 sequentially specifies the first to i columns of the storage circuit 11 each time the transmitter 2 sends out a transmission pulse, and in each specified column, each of the first to m rows corresponds to the distance of the distance counter 6. Specified in order according to the data. Here, a subtraction counter is used in the address counter 13 to specify the column of the memory circuit 11, and the count value decreases from i to 1 every time an output pulse is sent from the transmitter 2. Accordingly, the write circuit 9 specifies each column address of the memory circuit 11 as i, (i-1), (i-2), . . . 1 in the opposite direction to the column number.

After the data stored in the storage circuits 10 and 11 are read out by the respective readout circuits 19 and 20,
It is guided to the A converter 21. The D/A converter 21 converts the read digital data into an analog signal and sends it to the luminance terminal of the cathode ray tube display 22.

The cathode ray tube display 22 is composed of pixels arranged in m rows and (n+i) columns, and displays the data stored in the memory circuit 10 in the pixel areas of the 1st to nth columns, and displays the storage data in the pixel areas of the (n+1) to (n+i) columns. 11 stored data is displayed. The cathode ray tube display 22 is scanned with an electron beam by an X-axis sweep circuit 23 and a Y-axis sweep circuit 24. The X-axis sweep circuit 23 scans in the row direction, and the Y-axis sweep circuit 24 scans in the column direction. Do each. Further, the X-axis sweep circuit 23 positions the electron beam at a position in the row direction indicated by the count value of the X-axis counter 25. The Y-axis sweep circuit 24 positions the electron beam at a position in the column direction indicated by the count value of the Y-axis counter.

The X-axis counter 25 counts the clock pulse train sent from the clock pulse source 27, and sends an output pulse to the Y-axis counter 26 every time the count value changes from 1 to m. The Y-axis counter 26 counts the output pulses of the X-axis counter 25, and its count value repeatedly changes from 1 to (n+i). Therefore, the count value of the Y-axis counter 26 changes from 1 to (n+
1 on the cathode ray tube display 22 when it changes to i).
The first surface scan is completed.

As described above, the CRT display 22
While XY-axis scanning is performed, the X-axis counter 2
5. Each count value of the Y-axis counter 26 is switched and led to one of the readout circuits 19, 34 and 20 via the changeover switch 31. Changeover switch 31
The switching operation is performed by the switching circuit 29. The switching circuit 29 changes the count value of the Y-axis counter 26 from 1 to n.
During this period, the counts of the X-axis counter 25 and the Y-axis counter 26 are led to the readout circuits 19 and 34. Then, the count value of the Y-axis counter 26 is (n
+1) to (n+i), the respective counts of the X-axis counter 25 and Y-axis counter 26 are led to the readout circuit 20. At this time, the count value of the Y-axis counter 26 guided to the readout circuit 20 is
After the following calculation is performed at 0, the readout circuit 2
sent to 0.

The arithmetic circuit 30 first subtracts the value n from the count value Y of the Y-axis counter 26. The switching circuit 29 is Y
The count value of the axis counter 26 is from (n+1) to (n+
Since the above switching is performed while at i), the subtraction value (Y-n) changes between 1 and i. Then, the arithmetic circuit 30 adds the count value j of the address counter 13 to this subtracted value (Y-n). Therefore, the addition value (Y-n)+j is j+1, j+2, j+
3...changes like 1, and this value is read out by the readout circuit 2.
0, and column designation of the memory circuit 11 is performed. Therefore, the memory circuit 11 has the address counter 1
Based on the count value j of 3, j+1, j+2, j
The stored data in each column of +3...i is read out in sequence.

Furthermore, the arithmetic circuit 30 calculates the above added value (Y-n)
When +j exceeds the number i, the additional value (Y-n) +
The value i is subtracted from j and sent. Therefore, the calculation outputs at this time are 1, 2, 3, .

As a result of the above, the count value of the Y-axis counter 26 is (n
+1) to (n+i), the memory circuit 11 reads the stored data of each column starting from the (j+1) column in order of the column number. As for the stored data in each column, the newest signal data is written in the count value j column of the address counter 13, and the oldest data is written in the order of the column number, so the readout circuit 20 reads the data from the newest to the oldest. Data is read out in order.

On the other hand, the readout circuit 19 reads the memory circuit 1 when the count value of the Y-axis counter 26 changes from 1 to n.
Specify the column storage addresses of 0 in order from 1 to n. Therefore, when the count value of the Y-axis counter 26 changes from 1 to (n+i), the stored data at all addresses in the memory circuits 10 and 11 is read out and displayed at the corresponding pixel position on the cathode ray tube display 22.
That is, in the first to n columns of the cathode ray tube display 22, underwater detection signals in a wide range of directions stored in the storage circuit 10 are displayed. And the (n+
Between columns 1) to (n+i), the data stored in the memory circuit 11 is read out and displayed as described above. Therefore, as is clear from the above, on the cathode ray tube display 22, the newest stored data is displayed at the (n+1) column position, and the oldest stored data is displayed in the order of column numbers.

Next, a case will be described in which a ship's wake and a net's trace are displayed on the PPI display screen.

FIG. 3 is a diagram showing the relative relationship between the boat and the net, with FIG. 3A showing a plan view and FIG. 3B showing a longitudinal side view.

FIG. 4 shows an explanatory diagram used when calculating the distance of the net position to the own ship.

In FIG. 3, a net 40 is being towed by a boat 41. The net 40 is located at a straight line distance L from the ship 41 to the net, a vertical direction θ _V , and a horizontal direction θ _H . The horizontal distance L _H from the ship to the net can be calculated as L _H = L cosθ _V.

In Fig. 4, 43 indicates the current position of the ship,
44 indicates the current position of the network. Assume that the ship is moving in the absolute direction θ _N , and the orientation of the net with respect to the ship's traveling direction is θ _H. Distance of the net to the ship in the X-axis direction
L _X is calculated by Lx = L cos θ _V sin (θ _N - θ _H ), and distance L _Y in the Y-axis direction is calculated by Lx = L cos θ _V cos (θ _N - θ _H ). Therefore, the net position relative to own ship position is
It is expressed on the Y coordinate axis.

As the navigation device 36, for example, one of a Loran receiver, an Omega receiver, an NNSS receiver, etc. is used,
It measures the navigational position of its own ship and sends out the measured position as, for example, latitude and longitude data. Navigation device 36
The latitude and longitude data sent from the CPU are sent to a microprocessor 47 (hereinafter referred to as CPU) via an interface 46.

The net position detector 37 sends the straight line distance L from the boat to the net, the vertical direction θ _V and the horizontal direction θ _H of the net with respect to the boat to the CPU 47 via the interface 46 . The net position detector 37 sends the horizontal direction θ _H of the net with respect to the ship to the arithmetic circuit 35 . The ship owner's direction detector 38 is composed of, for example, a gyro compass, and detects the ship's heading _θN via an interface 46.
It is sent to the CPU 47 and also to the arithmetic circuit 35.

Based on the latitude and longitude data of the current position of the own ship sent from the navigation device 36 and the latitude and longitude data of a certain reference point, the CPU 47 calculates the absolute positional relationship of the current position of the own ship with respect to this reference point. ,X
The points determined by converting the distances in the axial direction and the Y-axis direction are sequentially written into the memory circuit 48 as the current position of the own ship. The CPU 47 receives latitude and longitude data of the current position of the ship sent from the navigation device 36, L, θ _V , θ _H signals sent from the net position detector 37, and θ _N sent from the heading detector 38. Based on the signal
The net position relative to the current position of the own ship on the X-Y coordinate axis is calculated and sequentially written into the storage circuit 48.

The memory circuit 49 has memory addresses in m rows and n columns. The memory address in the m/2 row and n/2 column of the memory circuit corresponds to the center of the PPI display screen of the display 22. The CPU 47 sequentially reads out the wake and net tracks stored in the memory circuit 48 and writes them into the memory circuit 49 so that the latest own ship position is written in the center of the memory circuit 49.

The wake and network trace data written in the memory circuit 49 are erased at predetermined time intervals, and then stored in the memory circuit 48.
The track and net track data stored in the storage circuit 49 are newly read out, and these data are written into the storage circuit 49 so that the latest own ship position data is written in the center of the storage circuit 49.

The data stored in the storage circuit 49 is stored in the readout circuit 34.
The signal is read out by the D/A converter 21 and sent to the brightness terminal of the cathode ray tube display 22. Each count value of the X-axis counter 25 and Y-axis counter 26 is
While the count value of the Y-axis counter 26 changes from 1 to n, it is sent to the readout circuit 34. On the other hand, each count value of the X-axis counter 25 and Y-axis counter 26 is
Since the data is supplied to the X-axis sweep circuit 23 and the Y-axis sweep circuit 24, the data stored in the storage circuit 49 is displayed in the pixel areas of columns 1 to n of the display 22.

In the display area of columns 1 to n of the cathode ray tube display 22, a wake 51 and a dashed line trace 52 are displayed. The circular variable distance marker 53 is set to match the current position mark of the net. The intersection point P between the distance marker 53 and the azimuth marker 54, which is displayed offset in the θ _H direction with respect to the ship's traveling direction, is the expected point where the net will pass. Display 2
In the display area from the (n+1) column to the (n+i) column of 2, reflected waves returning from the direction of the orientation marker 54 are continuously displayed. 56 indicates the oscillation point of the detection pulse, and 57 indicates the ocean floor.

Note that the CPU 47 may display a marker 58 indicating the network depth on the left half of the display surface of the display 22 by receiving a synchronization signal from the transmitter 2 and supplying the network depth signal to the writing circuit 9, for example. It is possible.

As described above, the present invention displays the wide-range underwater situation, the ship's wake, and the traces of the net being towed by the ship on a part of the display surface of the same display, and displays the wide-range underwater situation on different parts of the display surface. To provide a wide range underwater detection display device that can easily grasp the relative relationship between a net and a school of detected fish by continuously displaying underwater conditions in a specific direction.

[Brief explanation of drawings]

FIG. 1 shows an embodiment of the invention. FIG. 2 is a partially detailed view of FIG. 1. FIG. 3 is a diagram showing the relative relationship between the boat and the net. FIG. 4 is an explanatory diagram used when calculating the distance of the net position to the own ship. DESCRIPTION OF SYMBOLS 1... Transducer/receiver, 2... Transmitter, 3... Time series circuit, 4... Direction counter, 5... Clock pulse source, 6... Distance counter, 7... Writing circuit, 8... Gate circuit, 9...Writing circuit, 1
0, 11, 48, 49...Storage circuit, 12...Coordinate converter, 13...Address counter, 15...
... Direction setter, 18... Comparison circuit, 19, 20,
34... Readout circuit, 22... Braun tube display, 23... X-axis sweep circuit, 24... Y-axis sweep circuit, 25... X-axis counter, 26... Y-axis counter, 27... Clock pulse source, 28 ...A/D
Converter, 29... Switching circuit, 30, 35... Arithmetic circuit, 31... Changeover switch, 36... Navigation device, 37... Net position detector, 38... Heading direction detector, 40... Net, 41...Ship, 46...Interface, 47...Microprocessor.

Claims (1)

[Claims] 1. Wave transmission and reception in which ultrasonic pulses are transmitted in a wide range of directions, and the reflected waves returning from each direction are separately captured and received by receiving beams that are formed to be directed in each direction. a time series circuit that converts the reflected waves in each direction received by the transducer into a time series and sends them out; a navigation device that measures the own ship's position and sends a ship position data signal; and a network for the own ship's position. a net position measuring device that sends out a data signal representing the position of the ship; a heading detector that detects the heading of the ship and sends out a heading data signal; A net position that calculates the ship position that forms a wake and sends out the obtained ship position signal, and forms a net trace based on data signals sent from the navigation device, the net position measuring device, and the heading detector. a calculation means for calculating and transmitting the obtained net position signal; and a first means for storing the ship position signal and the net position signal.
a memory circuit having m rows and n columns of memory addresses and storing the reflected wave signal sent from the time series circuit, and the ship position signal and the net position signal sent from the first memory circuit. means, and writing means for writing the time-series signal sent from the time-series circuit and the ship position signal and net position signal sent from the first storage circuit to a memory address represented by XY coordinates of the storage means. and a direction setting circuit that determines a specific direction for detecting the underwater situation in the area where the net will pass based on the output signals of the net position measuring device and the heading detector; a second storage circuit having memory addresses in m rows and i columns and storing the signals selected by the selection circuit; and a second storage circuit for storing the signals selected by the selection circuit. a write circuit for writing a reflected signal into a memory address of the second memory circuit determined by the distance to the point where the reflected signal is generated and the number of times the ultrasonic pulse is transmitted; and m rows (n+i) columns of pixels. a display device configured to display data stored in the storage means and a second storage circuit; a readout circuit; and storage data of the second storage circuit for displaying the data read out by the first readout circuit of the display in a pixel area in m rows and i columns different from the display area where the data is displayed. The second
A wide range underwater detection display device comprising: a readout circuit; and a switching circuit that switches the readout operation of the first readout circuit and the second readout circuit in synchronization with the display operation of the display.