JPH045153B2 - - Google Patents

Description

[Detailed Description of the Invention] (Industrial Application Field) This invention is an underwater detection device that transmits and receives ultrasonic pulses in a wide range of directions, even when the display of the detection signal is unstable due to the movement of the ship, etc. To realize a device that can clearly identify and display a detection signal.

(Conventional technology) An underwater detection device that simultaneously detects a wide range of directions is
Generally, ultrasonic pulses are simultaneously transmitted in a wide range of directions, and the reflected waves returning from each direction are received by an ultrasonic receiver having a directivity direction in each direction. The reception signal of each receiver is time-seriesized at high speed to sample the reflected waves on the equidistant line, and the sampling signal is used to brightness-modulate the electron beam of the cathode ray tube that performs spiral scanning. The reflected waves of are displayed at each corresponding azimuth position.

However, in such a display device, reflected waves returning from a wide range of directions are sampled in each direction and converted into a time series, resulting in a mosaic-like display on the cathode ray tube. Furthermore, since the reflected waves returning from the water are relatively unstable due to the movement of the ship, etc., the displayed image on the cathode ray tube tends to blink, making it difficult to identify the displayed image. In particular, when the object to be detected is a small object, a dotted display image is displayed blinking on the display, making it impossible to distinguish whether the display is due to noise or the display of the detected object.

Furthermore, because conventional display devices display the detected object instantaneously, the operator must rely on the operator to determine the movement of the detected object over time, making it difficult to accurately grasp the continuous movement of the detected object. Can not do it.

(Problems to be Solved by the Invention) In order to deal with the above-mentioned drawbacks, the present invention divides the reflected waves returning from a predetermined specific section into n parts in the depth direction or horizontal direction, and By integrating and displaying the detected object and displaying the elapsed time of the detected object, an underwater detection device that can clearly identify the presence or absence of the detected object is realized.

(Means for solving the problem) Ultrasonic pulses are transmitted in a wide range of directions underwater, and the reflected waves returned from each direction by the ultrasonic pulses are calculated by changing the transmission range angle of the ultrasonic pulses to m, etc. Reception is performed using m reception beams each having very narrow directivity in each direction. Then, the strength of the received detection signal is temporarily stored in the detection memory together with the distance from the own ship and the direction from the own ship. This detection signal is not directly displayed as PPI on the display as in the past, but is integrated in the depth or horizontal direction, and the detection signal from one transmission is displayed as one display line. Then, this display line is sequentially moved from one end to the other end on the display screen.

(Function) Figure 2 shows an example of the wave transmission/reception operation using ultrasonic pulses, and the reflected waves in each direction returning from within a semicircular area are transmitted by m receiving beams from "0" to "m-1". An example will be shown in which received signals of each received beam are stored in the detection memory shown in FIG. 4. In this detection memory, memory addresses along the vertical axis correspond to the receiving beams in each direction, and storage addresses along the horizontal axis correspond to the distance to the object to be detected in each receiving beam. Therefore,
The vertical axis of the detection memory corresponds to angle on polar coordinates, and the horizontal axis corresponds to distance.

The received signal written in the polar coordinate position in the detection memory is read out using the XY coordinate data. That is, in FIG. 2, the section from the water surface to a specific depth D ₀ is divided at constant depth intervals, and the horizontal reception signal for each divided section is read out from the detection memory. Then, the read reception signals are integrated for each section. Therefore,
When the depth D ₀ is divided into n sections at each constant depth,
n integrated outputs are obtained. These n integrated outputs are written into the display memory shown in FIG. When writing to the display memory, the n integrated outputs are written to storage addresses "0" to "n-1" in the vertical axis direction.
This writing position changes in the horizontal axis direction over time. Further, although the above integration output is divided into n parts in the depth direction, it is also possible to obtain an integration output by dividing the set distance 2H ₀ in the horizontal direction.

(Example) In FIG. 1, Z ₀ to Z _n-1 indicate ultrasonic transducers. The ultrasonic transducers Z ₀ to Z _n-1 have a directivity angle of 180°/m, and as shown in Figure 2, the directivity direction is sequentially 180°/m from sea surface S toward seabed B. They are arranged differently in a range of angles of 180°.

The ultrasonic transducers Z ₀ to Z _n-1 are simultaneously excited by the transmitter 1 and transmit ultrasonic pulses in an angular range of 180° as shown in FIG. Note that the transmission output of the transmitter 1 is guided to the ultrasonic transducers Z ₀ to Z n-1 via transmission/reception switching devices 2 ₀ to 2 _{n-1 .}

Ultrasonic pulses transmitted in a 180° angular direction on the ocean floor are reflected by detection objects in each direction, and the ultrasonic transducers Z0 to _Z0 point in each direction.
The wave is received by each of Z _n-1 . The detection signals received by each of the ultrasonic transducers _Z0 to Zn _-1 are transmitted to the transmitter/receiver switchers ₂₀ to 2n _-1 and the amplifier _30.
3 _n-1 to the switching device 4.

The switching device 4 time-series the received signals of the ultrasonic transducers Z ₀ to Z _n-1 and sends them out. This time-series operation is performed by the angle counter 24, and reception signals of the ultrasonic transducers _Z0 to Zn _-1 corresponding to the count value of the angle counter 24 are sent out. The received signal time-seriesized by the switch 4 is converted into a digital signal by the A/D converter 5, and then guided to the detection memory 6 and stored therein. The storage address of the detection memory 6 is specified by an angle counter 24 and a distance counter 25.

The switch 4 performs a switching operation using an angle counter 24, and transmits the reflected waves from the detected object located on the equidistant line in a time series. Therefore, the switch 4
The time-series data sent from is expressed as polar coordinate data of angle data and distance data, and the time-series received signal is stored in the memory address of the detection memory 6 specified by the angle data and distance data. be done. As shown in FIG. 4, the storage addresses of the detection memory 6 are specified by the angle counter 24 in the vertical axis direction, and by the distance counter 25 in the horizontal axis direction.

The stored data written in the detection memory 6 is read out when a storage address is specified by the coordinate converter 28. Writing and reading of the detection memory 6 is performed by the Q output of the flip-flop 27, and as shown in _FIG . The signal is read out during the _TR period from the signal acquisition completion pulse b to the transmission pulse a. That is, during the T _W period, the Q output of the flip-flop 27 is maintained at a high level.
The detection memory 6 is switched to the write mode, and the address data of the angle counter 24 and the distance counter 25 are led to the detection memory 6 via the changeover switch 7. Then, in the _TR period, the Q output of the flip-flop 27 changes to a low level, the detection memory 6 switches to the read mode, and at the same time, the changeover switch 7 performs a switching operation, and the coordinate converter 28
The stored data is read out using the address data.

The coordinate converter 28 converts the position on the X, Y coordinates to the position on the polar coordinates and sends it out. The x counter 30 and the y counter 31 specify the position on the XY coordinates, Convert a coordinate position to a polar coordinate position. As shown in Figure 2,
The detection memory 6 stores the received signal on the equidistant line L _I as the fourth
It is written in the vertical axis direction of the figure. On the other hand, the x counter 30 sends position designation data on the contour line _Ld . The coordinate converter _28d converts the position designation data on the contour line L into position data on polar coordinates and sends the data. Therefore, when the stored data is read out according to the specified data of the coordinate converter 28, the contour line
The data stored on L _d is read.

The stored data read from the detection memory 6 is integrated by the integration circuit 40, and then sent to the display memory 13 and stored therein.

The integration circuit 40 includes an addition circuit 8 and latch circuits 9 and 1.
0 and delay circuits 11 and 12.

The stored data read out from the detection memory 6 is latched into a latch circuit 9 via an adder circuit 8. The latch data of the latch circuit 9 is further transferred to the latch circuit 10.
After being latched, the adder circuit 8 adds the data stored in the detection memory 6 to be read next.
The added data is latched in the latch circuit 9.
Further, the latch data of the latch circuit 9 is sent to the latch circuit 10, and is again added to the next read addition data in the adder circuit. Thereafter, in the same manner, every time the stored data in the detection memory 6 is read out, it is added to the previous latch data, and the second
One integration operation is completed when all of the stored data on the contour depth line _Ld shown in the figure is read out. Then, the integrated data is written into one storage address of the display memory 13. In the above, delay circuit 1
Reference numerals 1 and 12 are used to smoothly read data stored in the detection memory 6 and to latch the latch circuits 9 and 10. After the stored data No. 6 is read out, the latch circuit 9 latches it. Furthermore, by introducing a clock pulse to the latch circuit 10 via the delay circuit 11, the latch circuit 9 latches the added data of the adder circuit 8, and then the latch circuit 10 latches the added data of the latch circuit 9.

After the integrating circuit 40 integrates the stored data on the contour depth line _Ld shown in FIG.
The latch data is reset by the carry pulse of the x counter 30. The x counter 30 detects the constant depth line L _d of the data stored in the detection memory 6 (FIG. 2).
An output pulse is sent every time all of the above stored data is read out. Therefore, when the output pulse is sent out n times from the x counter 30, the detection memory 6 outputs:
n that differs in the depth direction of the constant depth line L _d shown in Figure 2
Seed contour data is read out. Then, the integrating circuit 40 sends out the integrated data n times. This n
The accumulated data of times is sent to the display memory 13,
As shown in FIG. 5, the data is stored at storage addresses "0" to "n-1" in the vertical axis direction of the display memory 13.
Therefore, the display memory 13 stores the detection signal obtained by one detection at storage addresses "0" to "n-1" in the vertical axis direction of the display memory 13. or,
Each memory address stores integrated data on the contour depth line _Ld . Further, the write address of the storage data in the display memory 13 is changed from storage address "0" to "k-1" in the horizontal axis direction every time a detection operation is performed, and therefore every time the storage data of the detection memory 6 is updated. ” address changes sequentially.

The designation of the write address in the display memory 13 is y
This is done based on the count values of the counter 31 and z counter 32. The count value of the y counter 31 is x
It changes every time the carry pulse of the counter 30 and therefore the integration output is sent out from the integration circuit 40. Then, when the count value of the y counter 31 changes from "0" to "n-1", a carry pulse is sent from the y counter 31 to the z counter 32.
As a result, the write address in the display memory 13 changes by one address in the horizontal axis direction of FIG.
Therefore, ultrasonic pulses are transmitted from the ultrasonic transducers _Z0 to Zn _-1 , and the write address in the detection memory 13 changes sequentially in the horizontal axis direction in FIG.

In the above, the x counter 30 is the gate circuit 3
3, the pulse train led from the frequency dividing circuit 34 is counted. The gate circuit 33 is conductive based on the Q output of the flip-flop 27 while the data stored in the detection memory 6 is being read, and the frequency dividing circuit 34 is turned on.
The pulse train of

The display memory 13 is read out according to the count values of the horizontal scanning counter 37 and the vertical scanning counter 38. Horizontal scanning counter 37, vertical scanning counter 3
The count value of 8 is switched by the changeover switch 14 and guided to the display memory 13. The horizontal scanning counter 37 counts the pulse train of the clock pulse source 36, and uses the counted value to designate the read address of the display memory 13 in the vertical axis direction of FIG. The horizontal scanning counter 37 sends a carry pulse to the vertical scanning counter 38 every time its counted value increases, thereby changing the counted value of the vertical scanning counter 38. At this time, the vertical scanning counter 38 uses a subtraction counter, and the count value changes in the subtraction direction. The vertical scanning counter 38 changes the read address of the display memory 13 in the horizontal axis direction of FIG. 5 every time its count value changes. Also, vertical scanning counter 3
The count value of 8 is added to the count value of the z counter 32 in an adder circuit 39 and sent to the display memory 13. Therefore, the readout address of the display memory 13 in the horizontal axis direction shown in FIG. 5 is determined by the sum of the count value of the z counter 32 and the count value of the vertical scanning counter 38. Therefore, when the vertical scanning counter 38 performs subtraction counting,
The display memory 13 is read in the direction opposite to the writing direction by the z counter 32, with the read address in the horizontal axis direction shown in FIG. That is, among the data stored in the display memory 13, the stored data is read out in order from the newest stored data to the oldest stored data.

The stored data read from the display memory 13 is converted into an analog signal by the D/A converter 15, and then sent to the display 16 for display. For example, a cathode ray tube display is used as the display 16, and pixel scanning is performed by a horizontal scanning circuit 17 and a vertical scanning circuit 18. The horizontal scanning circuit 17 and the vertical scanning circuit 18 perform pixel scanning in accordance with the count values of the horizontal scanning counter 37 and the vertical scanning counter 38, and the scanning position is determined by the count values of the horizontal scanning counter 37 and the vertical scanning counter 38. be done.
Therefore, pixels on the display 16 are scanned horizontally from the top to the bottom of the screen or in the opposite direction. In this case, horizontal scanning does not necessarily have to be performed in the horizontal direction, but may be performed in the vertical direction. Therefore, when horizontal scanning is performed in the vertical direction of the display screen, vertical scanning is performed from the right end to the left end or from the left end to the right end of the display screen. Therefore, since pixel scanning always starts from the right or left end of the display screen, the newest stored data is displayed at the scanning start position on the display screen, and the oldest stored data is displayed along with the pixel scanning. In the above description, writing and reading of the display memory 13 are switched by the clock pulse train of the clock pulse source 36, and for example, the mode is switched to the read mode during half the cycle of the clock pulse, and the write mode is switched during the other half cycle. In conjunction with this switching, the changeover switch 14 performs a switching operation, and the y counter 31 and the z counter 3
The write address data of No. 2 and the read address data by the horizontal scanning counter 37 and the vertical scanning counter 38 are switched and guided. Further, the pulse train of the clock pulse source 36 is frequency-divided by the frequency dividing circuit 34 and guided to the x counter 30 and y counter 31, thereby smoothly switching between the write mode and the read mode.

As described above, the integrated output of the detection signals from the transducers Z ₀ to Z _n-1 is displayed, but in this case,
The display range of the integrated output is set by the depth and distance setter 29.

The depth and distance setter 29 sets a depth D ₀ and a distance H ₀ in the detection range shown in FIG.

When the depth D ₀ and the distance H _{0 are set, the integrating circuit 40 calculates the depth D 0} , the distance H ₀ from the detection range shown in FIG.
The detection signals within the range of distance 2H ₀ are integrated and sent to the display memory 13. Therefore, the storage capacity of the detection memory 6 is set so as to store at least the received signals within the range of depth D ₀ and distance 2H ₀ . In FIG. 4, when the memory address of the detection memory 6 is set to the distance along the horizontal axis and the angular direction along the vertical axis,
The number l of addresses in the distance direction is set to be larger than the maximum distance √D ² / ₀ + H ² / ₀ /Δr determined by the set depth D ₀ and distance H ₀ . Here, Δr is given by equation (3) described later.

The setting data of the depth and distance setter 29 is sent to the read-only memory 21 and the coordinate converter 28. As described above, when converting a position on the XY coordinates to a position on the polar coordinates, the coordinate converter 28 converts the set depth
Convert the position on the XY coordinates within the range of D ₀ and H ₀ to the position on the polar coordinates.

On the other hand, the read-only memory 21 stores the set depth.
Distance data indicating the maximum detection distance √D ² / ₀ + H ² / ₀ / △r determined by D ₀ and distance H is written in advance, and the maximum detection distance corresponding to the setting data of the depth distance setting device 29 is Data is read. The maximum detection distance data read out from the read-only memory 21 is sent to the comparator circuit 26 and the distance counter 25
compared with the distance data of When both distance data match, a matching output is sent from the comparison circuit 26, and the flip-flop 27 is reset by this matching output, and at the same time, the angle counter 24 and the distance counter 25 are reset.

Flip-flop 27 is set by the output pulse of y counter 31. As explained above, the y counter 31 sends out an output pulse when the reading of the storage data for integration from the detection memory 6 is completed. This output pulse sets the flip-flop 27 and simultaneously drives the transmitter 1. At this time, the x counter 30 and y counter 31 are reset. When the flip-flop 27 is set, the Q output is inverted to a high level and the output is inverted to a low level. FIG. 3C shows the Q output, and shows the output.

When the flip-flop 27 is set, its Q output turns on the gate circuit 23 and sends the clock pulse train from the clock pulse source 22 to the angle counter 24. The angle counter 24 and the distance counter 25 are reset in advance by the coincidence output of the comparison circuit 26, and after the gate circuit 23 is turned on, a new counting operation is performed. Further, the Q output C of the flip-flop 27 is sent to the detection memory 6, the changeover switch 7, and the gate circuit 33. The detection memory 6 is switched to the write mode from when the flip-flop 27 is set until it is reset, and at the same time, the changeover switch 7 is turned on so that the address data of the angle counter 24 and the distance counter 25 are guided to the detection memory 6. Perform switching. Further, the gate circuit 33 is cut off after the flip-flop 27 is set, and when the flip-flop 27 is reset and therefore, when the writing of the received wave signal to the detection memory 6 is completed, the Q output is used to write the detection memory. 6 is switched to the read mode, and at the same time, the changeover switch 7 is switched so that the address data of the coordinate converter 28 is guided to the detection memory 6.

As explained above, the coordinate converter 28 is specified by the x counter 30 and the y counter 31.
Converts the position on the XY coordinates to the position on the polar coordinates and sends it. At this time, when the position on the XY coordinates is converted to the position on the contour line L _d as shown in FIG. 2, the received signals on the contour line L _d are integrated, and
When the position is converted to a position on the vertical equiposition line L _k , the received signal on the equiposition line L _k is integrated.

The coordinate transformation in the above is performed as follows.

If the distance from the polar coordinate center point of an arbitrary point P within the detection range in FIG. 2 is R and the angle with respect to the vertical direction is Θ, the relationship between the count value θ of the angle counter 24 and the count value r of the distance counter 25 is as follows. R=r×△r+△r/2...(1) Θ=θ×180°/m-90°+360°/m...(2) It is expressed as follows. However, Δr is expressed as Δr=m×t ₀ ×C ₀ /2 (3) where t ₀ is the pulse train period of the clock pulse source 22 and C ₀ is the underwater sound speed.

Next, let the depth of point P be D and the horizontal distance be H, then D=RcosΘ...(4) H=RsinΘ...(5) Furthermore, the depth D, the horizontal distance H, and the position x, y on the XY coordinates The relationship is expressed as: D=y×ΔD+ΔH/2 (6) H=x×ΔH−H ₀ +ΔH/2 (7). However, △D=D ₀ /n △H=2H ₀ /j where n is the counting capacity of the y counter 31 and j
indicates the counting capacity of the x counter 30.

From the above, the relationship between x, y, r, θ r=f ₁ (x, y) ...(8) θ=f ₂ (x, y) ...(9) Or, x=f ₃ (r, θ ) ...(10) y=f ₄ (r, θ) ...(11) By finding
Coordinate transformation on L _d can be performed.

In addition, when performing coordinate transformation in the depth direction, the relational expression between the depth D and horizontal distance H of point P and the positions x and y on the XY coordinates D=x×△D+△D/2 ... (12) H= Using y×△H−H ₀ +△H/2 ...(13), the relationship between x, y and r, θ is r=g ₁ (x, y) ...(14) θ=g ₂ (x, y) ...(15) Or, x=g ₃ (r, θ) ...(16) y=g ₄ (r, θ) ...(17). That is, in the embodiment shown in FIG. 1, coordinate transformation is performed using equations (8), (9), (14), and (15), and in the embodiment shown in FIG. ), (11), (16), and (17) are used to perform coordinate transformation.

(Effect of the invention) Since the received signals within a predetermined range are integrated and displayed horizontally or in the depth direction, even when the ship body sways relatively significantly, the depth and horizontal distance of the detected object can be measured relatively easily. It can be easily observed. As a result of displaying the elapsed time of integration output two-dimensionally along with the movement of the ship, when integrating in the horizontal direction, an image of the underwater detected object is projected onto the water surface, and when integrating in the depth direction, an image of the underwater object is projected onto the water surface. An image projected onto a vertical plane can be obtained.

In FIG. 1, only one set of integration circuits 40 is used, but if n sets of integration circuits are used to perform integration separately for each integration interval, the integration operation can be performed at high speed. I can do it. Further, the integration operation can also be performed by software using a microprocessor. Furthermore, although the integration operation has been described as integrating a range of set depths from the water surface, it may also be possible to set a specific depth range and perform integration. In addition, in Fig. 1, the ultrasonic transducers Z ₀ to
Although the transmission beam of Z _o-1 has been described as a semicircle, it is not necessarily limited to a semicircle and may be fan-shaped. Alternatively, a conical ultrasonic beam may be transmitted and received in the entire circumferential direction. When the transmission beam is formed into a fan shape, the set depth D ₀ and the distance in Fig. 2 are
Although a non-applicable area of H ₀ occurs, this does not cause any problem in the integration operation.

(Other Embodiments of the Invention) FIG. 6 shows another example, in which the same numbers as in FIG. 1 perform the same operations. In Figure 6, the first
A coordinate converter 28' is provided in place of the coordinate converter 28 shown in the figure. That is, the coordinate converter 28' converts the position on the polar coordinates specified by the angle counter 24 and the distance counter 25 into a position on the XY coordinates, and sends it to the detection memory 6'. Even in this case, the same effects as in FIG. 1 can be obtained. or,
FIG. 7 shows a configuration for preventing writing of seafloor reflected waves into the detection memory 6 in the embodiment of FIG. 1 or FIG. FIG. 7 shows one of the amplifiers provided on each output side of the amplifiers ₃₀ to _3n-1 in FIG. 1 or 6. In FIG. 7, one of the amplifiers 30 to _{3n -1} in FIG. 1 or 6 is led to the gate circuit 4, and the gate circuit 41 is controlled by the output of a flip-flop 42. The flip-flop 42 is set by a transmission trigger that activates the transmitter 1 (FIGS. 1 and 6), and is reset by the output of the seabed discriminating circuit 43. The gate circuit 41 is made conductive between the time it is set and the time it is reset, and its input is sent to the output side. Seabed discrimination circuit 4
3 detects seafloor reflected waves from the input signals of the gate circuit 41, that is, the received signals of the transducers _Z0 to Zn _-1 . Therefore, since the gate circuit 41 blocks the seabed reflected waves, the underwater detection signal from which the seabed reflected waves have been removed is stored in the detection memory 6.

[Brief explanation of drawings]

Fig. 1 shows an embodiment of the present invention, Fig. 2 shows the detection situation by the transducer, Fig. 3 is a time chart for explaining its operation, and Fig. 4 shows the memory address of the detection memory. Diagram to explain,
FIG. 5 is a diagram for explaining the storage address of the display memory, FIG. 6 shows another embodiment, and FIG. 7 shows a submarine reflected wave removal circuit used in FIG. 1 or FIG. 6. . 1... Transmitter, 2... Transmission/reception switch, 3... Amplifier, 4... Switch, 5... A/D converter, 6...
Detection memory, 7...Switch switch, 8...Adder, 9, 10...Latch circuit, 11, 12...Delay circuit, 13...Display memory, 14...Switch switch, 15...D/A conversion device, 16...display device,
17...Horizontal scanning circuit, 18...Vertical scanning circuit,
21... Read-only memory, 22... Clock pulse source, 23... Gate circuit, 24... Angle counter, 25... Distance counter, 26... Comparison circuit, 27... Flip-flop circuit, 28... Coordinate converter, 29...Depth distance setting device, 30...x
Counter, 31...y counter, 32...z counter, 33...gate circuit, 34...frequency dividing circuit,
36... Clock pulse source, 37... Horizontal scanning counter, 38... Vertical scanning counter, 39... Adding circuit, 40... Integrating circuit, 41... Gate circuit, 42... Flip-flop, 43... Seabed discrimination circuit, Z ₀ to Z _o-1 ... Ultrasonic transducer.

Claims (1)

[Scope of Claims] 1. A transmitter that sequentially transmits a plurality of ultrasonic pulses in a wide range of angular directions underwater, and a transmitter that sequentially transmits a plurality of ultrasonic pulses in a wide range of angular directions underwater, and a directivity direction for each division angle obtained by dividing the transmission range angle of the ultrasonic pulse into m equal parts. a receiving means for forming respective receiving beams, and receiving reflected waves from a detection object within a transmission range of the ultrasonic pulses with the corresponding receiving beams; The reflected waves returning from a predetermined specific section of the received signal are divided into n parts in the depth direction or horizontal direction,
It is equipped with an integrating circuit that integrates for each division, and (n×k) memory elements having n memory addresses in the Y-axis direction and k memory addresses in the Z-axis direction, and the integrating circuit The integrated received signals in each of the 0th to n-1th division directions are written to a memory element having one memory address in the Z-axis direction and n corresponding addresses in the Y-axis direction, And, each time writing of the n received signals accumulated by the integration circuit into the n storage elements in the Y-axis direction is completed, the Z-axis is transferred to one memory address in the Z-axis direction. a memory device for writing the received signal into a memory element having n memory addresses in the Y-axis direction and with an address changed by one in the Y-axis direction; and reading out the memory signal in the memory circuit in synchronization with pixel scanning of a display screen; A detection signal integration display device for a wide range underwater detection device, comprising a display device that displays the read storage signal at a corresponding pixel address on a display screen.