JPH0315789A - Oscillation eliminated sonar device - Google Patents

Abstract

PURPOSE:To eliminate a need of inclinometers of rolling and pitching and synthesizing calculation of their measured angles with an inexpensive device to which a simple constitution is added by coupling an oscillation sensor, which detects oscillation, to a turning shaft. CONSTITUTION:An acoustic wave is approximately uniformly sent from a transducer 1 with this transducer 1 as the center, and the echo signal due to scanning of the reception beam reflected and returned from an object is stored in a means 10, and its contents are repeatedly read out and the obtained signal is displayed on a means 14, and oscillation of a ship body is detected to control the echo signal. At this time, the transducer 1 which forms the reception beam whose scanning is in the sector range is turned by a turning shaft 2 to turn the direction of the sector. An oscillation sensor 8 to detect oscillation is coupled to the shaft 2 to detect the oscillation in the direction of the sector to which the transducer 1 is directed.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a motion-eliminating sonar device that eliminates echo signals from unnecessary directions due to motion of a ship.

[Conventional technology]

An echo signal obtained by transmitting sound waves and scanning a receiving beam for detecting schools of fish, etc. is stored in a memory circuit, and a signal obtained by repeatedly reading out the memory contents of the memory circuit is displayed on a display. The sonar device that gives and displays information was developed in Japanese Patent Application Laid-open No. 5
6-162068, etc., and to explain an example of such a sonar device, a sonar device using a transducer in which ceramic or ferrite elements are arranged in a circular arc shape, uses one or all of the above elements during wave transmission. The unit is excited with sound wave power and a sound wave beam is transmitted to a predetermined sector. When the turtle receives an echo, it adjusts the amplitude and phase of the echo signals received by the above elements so as to obtain a sharp receiving beam, synthesizes them, and scans the above elements in a progressive manner. By doing so, a sharp reception beam is scanned within a predetermined sector.

After storing the echo signal captured by scanning the receiving beam described above in the memory circuit, in order to display the echo image on the cathode ray tube, the address for reading the echo signal into the memory circuit and the address for reading the echo signal are set in the memory circuit. control so that the relative position of the object is displayed on the cathode ray tube.

When using the sonar device described above to detect schools of fish, etc., the direction of the receiving beam fluctuates due to the shaking of the fishing boat, and the position of the echo image on the cathode ray tube changes. Images of the ocean floor and waves are mixed in, making it difficult to identify schools of fish.As a means of removing echo signals from unnecessary directions, the inclination angles of the hull in the rolling and pitching directions are measured with an inclinometer and set in advance. Only when the predetermined single inclination angle and the inclination angle of the hull measured by the inclinometer match, by transmitting sound waves, echo signals in unwanted directions can be obtained from the receiving beam. JP-A-53-64060 discloses a device that uses means to remove contamination while preventing it from being contaminated.

[Problem to be solved by the invention]

In the above-mentioned means for removing echo signals in unnecessary directions, it is necessary to measure the ship's motion in both the rolling and pitching directions, and the waves are received in a diagonal direction with respect to the direction in which the ship is traveling. When the scanning direction of the beam is directed, the angle values measured by both inclinometers are combined and
The inclination angle of the diagonal direction in which the receiving beam is directed must be calculated by calculation, which is disadvantageous in that the structure must be complicated and expensive.

Therefore, there is a problem in that it is expected to provide a device that solves these inconveniences with a simple structure.

[Means to solve the problem]

The present invention stores an echo signal obtained by transmitting sound waves and scanning a reception beam for detecting schools of fish, etc. in a memory circuit, and repeatedly reads out the contents of the memory circuit to obtain a signal. is applied to a display and displayed, and the motion elimination device is configured to control the echo signal by detecting the motion of the ship, wherein the scanning of the receiving beam is within the range of the sector, and the receiving beam is A sector scanning transducer rotating means for rotating a beam-forming transducer by a rotating shaft, and a vibration sensor for detecting the vibration described above coupled to the rotation shaft, thereby controlling the direction of the sector to which the transducer points. The above-mentioned problem can be solved by providing a working sensor coupling means for detecting the above-mentioned movement and spreading.

〔Example〕

Examples will be described below with reference to the drawings.

In Fig. 1, reference numeral 1 is a transducer, which is assembled into a circular arc shape as shown in the figure with a large number of elements.
It is connected to the receiving circuit shown in . The transducer 1 is protruded from the bottom of the ship into the water and transmits and receives sound waves.

Lead! Although 101 is not shown in the drawings, in an actual device, the wire is routed through the axis of the swing shaft shown at 2 or the tilting shaft shown at 3.

Further, the transducer 1 is housed in a waterproof dome called a radome.

When a transducer consisting of elements arranged in a circular arc is excited with power having substantially the same phase and amplitude, sound waves are transmitted substantially uniformly to a sector centered on the transducer 1. In this transmission, the pulsed power by the transmission circuit 5 is converted into a sound wave, which propagates through the water, and the pulse width and emission interval are determined so that the echoes that hit an object and are reflected back can be distinguished. It is being

When receiving echoes, the phase and amplitude of the echoes induced in each element are adjusted to create sharp directivity as if each element were arranged on a plane. The scanning circuit included in the receiving circuit 6 switches the elements used for wave reception to progressive mode, thereby rotating the sharp directivity to the range of the sector.

In sonar devices, the above rotation is called scanning.

Reference numeral 201 denotes a rotation motor of the rotation shaft 2, and 301 a tilt angle motor of the tilt angle shaft 3. The rotation angle of the transducer 1 (
Aim in the direction you want to detect (horizontally) and angle of inclination (vertically).

Reference numeral 7 denotes a transmission/reception control circuit that controls the transmission/reception timing, turning, and inclination angle of the transmitting circuit 5 and the receiving circuit 6. The speed of sound waves transmitted underwater is approximately 1,500 meters per second, so while receiving echoes within the distance required for detection, for example, if the detection distance is 750 meters, the repetition period of the transmission should be reduced to 1. It is necessary to maintain the temperature for more than a second. When the transmitting circuit 5 finishes transmitting waves, the receiving circuit 6 starts operating.

As mentioned above, the phase of the echo signal appearing on the lead wire 101 of each of the elements of the transducer 1 and ri@
The echo signals are combined by an amplifier and a phase shifter in the receiving circuit 6 so that the echo signals are approximately equal. Then, by switching the above amplifier to progressive mode, the sharp receiving beam is scanned.

If the frequency of the sound wave is several tens of kilohertz, the above scanning is performed at several hundred hertz. The oscillating sensor shown in 8 is a so-called inclinometer, for example, in which the rotary shaft of a variable resistor is attached to the fulcrum of a rod from which a weight is suspended. By installing it, the amount of agitation is detected. For example, the value of the variable resistor increases in response to agitation, and its resistance value indicates the amount of agitation.

In the present invention, the amount of oscillation described above is applied to the transmission/reception control circuit 7, but when a predetermined amount of oscillation, for example, an amount of oscillation of ±5 degrees or more is applied, the amount of oscillation described above is applied to the main memory circuit 10 from the receiving circuit 6. The echo signal added to the main memory circuit 10 is erased, or the memory contents of the main memory circuit 10 are controlled not to be updated by the echo signal.

By this operation, according to the above example, only the echo signals when the oscillation is ±5 degrees or less are stored in the main memory circuit 10, and the cathode ray tube modulation circuit shown at 11 is stored in the main memory circuit 10. added to.

The diagram of the cabinet is not shown, but is it upset? 8 is connected to the rotating shaft 2 directly or indirectly via a gear, etc., to generate the amount of vibration in the direction of the sector to which the transducer 1 is directed, and to transmit/receive control circuit 7 or main memory circuit 1O. In addition to the casing or both, it is possible to update and store in the main memory circuit 10 only the echo signals when the oscillation is less than a predetermined amount, as described above.

Reference numeral 9 denotes a memory address control circuit, which is controlled by the display address control circuit shown at 12 and the transmission/reception control circuit 7, and is controlled by the display address control circuit shown at 12 and the transducer LT- to the cathode ray tube shown at 14.
An address in the main memory circuit 10 is determined to correctly display the relative position of the object that produced the echo, viewed from the origin.

It goes without saying that the echo signal of the receiving circuit 6 is stored in the main memory circuit 10 after being converted into a digital signal as is well known.

The modulation circuit of the cathode ray tube shown in 11 is the main memory circuit 1.
The output of 0 is converted into an analog signal, amplified, and the density of the electron beam of the cathode ray tube 14 is modulated. That is, the level of the echo signal is determined so that a strong echo signal creates a dense electron beam, and the object that caused the echo is displayed in a bright image.

If a CRT 14 is used, the output of the main memory circuit 10 is divided according to intensity, and the three primary color electron guns of the color CRT are modulated to make the intensity of the echo signal correspond to the color.

This technology is called color matrix and is widely used in color television. In this case, strong echo signals are colored red, and echo signals of medium intensity are colored yellow. If we turn a weak echo signal into a color image close to green, our eyes can easily recognize the intensity of the echo. The deflection circuit 13 of the cathode ray tube converts the output of the display address control circuit 12 into the electron beam of the cathode ray tube 14. This circuit converts the electron beam into an analog value corresponding to the irradiation position and deflects the electron beam to the relative position of the object that generated the echo signal.

This deflection is performed by underwater deflection power and vertical deflection power supplied from the deflection circuit 13 to orthogonal deflection coils provided on the cathode ray tube 14. , recognized by angles and distances within predetermined fan-shaped sectors. That is, by scanning the receiving beam in the angular direction of the sector and measuring the arrival time of the returning echo, the position of the object that produced the echo within the sector can be confirmed.

In this way, the cathode ray tube 1 corresponds to the angular scanning of the sector.
When obtaining the electron beam deflection of No. 4 with the horizontal and vertical deflection powers described above, it is necessary to incorporate a conversion circuit from polar coordinates to rectangular coordinates in the address control circuit 9.

The scanning of the received beam within the sector described for the IQ is also called a spiral scan, and the deflection by the horizontal and vertical deflection coils of the cathode ray tube l4 is also called a rask scan.

Therefore, the address control circuit 9 performs address control such that the position of the echo signal received by the spiral scan is displayed on the display surface of the cathode ray tube 14 by the rask scan, and the relative position of the object that generated the echo is displayed. be.

In FIG. 2, 15 is the display surface of the cathode ray tube, l6 is the range of the image, and 17 is the origin of the image.The image of the 0-shaped image range l6, which corresponds to the position of the transducer l, is substantially from the origin 17 of the image. It is located by the distance in the arc 1 of the image area 16 and the angle measured from the center 22 of the sector.

Such a display is generally called a plane position indicator (PPI), but according to the present invention, when the tilt angle of the transducer 1 is tilted obliquely from the horizontal due to the rotation of the tilt angle motor 301, the tilt angle is 018 is an image of waves at a short distance, and 19 is an image of a school of fish. If the transducer 1 is installed on a ship, images of waves 18, The position where the image 19 of the fish school appears varies depending on the pitching and rolling of the vessel.

That is, when the sector to which the two-striped snake 1 is directed is toward the sea surface, an image of waves appears at a long distance 1 as shown at 21, and an image of a school of fish becomes unclear as shown at 20.

According to the present invention, by limiting the output of the agitation sensor 8, it is possible to select and visualize only the echo signals arriving from the target inclined surface in the water.
Can clearly recognize objects such as

〔Effect of the invention〕

According to the present invention, as described above, in a device in which the receiving beam is scanned in a sector range and the transducer for forming the receiving beam is rotated by a rotating shaft, the oscillation for detecting the oscillation is Since the sensor is coupled to the pivot shaft, no matter which direction the transducer is oriented, it can directly detect the swing angle in that direction, thus eliminating the rolling tilt angle and pitching angle as with conventional ones. It is no longer necessary to provide two inclinometers for measuring the inclination angle of the direction, or to combine and calculate the measurement angles of the two inclinometers in the case of an oblique direction.

Although a slight deviation from the actual inclination angle in the off-center direction of the scanning sector of the receiving beam occurs, this deviation does not significantly affect the actual detection.

Therefore, by adding a very simple configuration in which the vibration sensor is a rotating shaft, an inexpensive device can be used. It has the advantage of being able to provide a device that overcomes the inconveniences of conventional devices.

[Brief explanation of the drawing]

FIG. 1 shows the configuration of the main part of the present invention. FIG. 2 shows an example of displaying an echo signal according to the present invention. DESCRIPTION OF SYMBOLS 1... Transducer, 2... Transducer rotation shaft, 3... Transducer inclination shaft, 4... Rotation and inclination angle control circuit, 301...
・Incline motor, 201... Swivel motor, 5. ．．・Transmission circuit, 6...Reception circuit, 7...Transmission/reception control circuit, 8.
...Agitated Senna, 9...Memory address control circuit, 1
0... Main memory circuit, 11... Plaque/tube modulation circuit, l2... Display address control circuit, 13... Braun tube deflection circuit, 14... Braun tube, engineering 5...
CRT display surface, l6...image range, l7...
・The origin of the image corresponding to the transducer position, 18
...Image of nearby waves, 19...Image of a school of fish, 2o.
...Image of a school of fish expanded by the agitation, 2nd...Image of the wave caused by the agitation, 101...Lead line of the element, 22...Center of the sector. Figure 1 Manual amendment Figure 2 Patent application filed on October 30, 1989
7-119833 division @)2. Name of the invention: Motion removal sonar device 3. Relationship with the case of the person making the amendment Patent applicant: 2-to-45 Kamiosaki, Shinagawa-ku, Tokyo 141 The scope of claim 6 of the specification, the contents of the amendment, the attached sheet, the contents of the amendment, the contents of the amendment 1. The scope of claims is amended as follows. "An echo signal obtained by transmitting sound waves and scanning a receiving beam for detecting schools of fish, etc. is stored in a memory circuit, and the signal obtained by repeatedly reading out the memory contents of the memory circuit is displayed on a display. 1. A motion removal sonar device configured to control the echo signal by detecting motion of the ship and displaying the motion given to sector-scanning transducer pivoting means configured to pivot in the direction of said sector by pivoting a transducer forming a transducer on a pivot shaft; b. by coupling an agitation sensor for detecting said agitation to said pivot shaft; , and agitation sensor coupling means for detecting the agitation in the direction of the sector toward which the transducer is directed.''

Claims (1)

[Claims] An echo signal obtained by transmitting a sound wave and scanning a reception beam for detecting schools of fish, etc. is stored in a memory circuit, and the echo signal obtained by repeatedly reading out the memory contents of the memory circuit is obtained. The vibration-reducing sonar device is configured to provide a signal transmitted to a display and display the same, and to control the echo signal by detecting vibration of the ship, wherein: a) the receiving beam scans within a sector; , a sector scanning transducer rotating means configured by rotating the transducer for forming the received wave beam by a rotating shaft; b. a vibration sensor for detecting the vibration coupled to the rotation shaft, so that the transducer is rotated by a rotation shaft; and oscillation sensor coupling means for detecting said oscillation in the direction of the directed sector.