JPH05107356A - Device for guiding underwater floating body - Google Patents

Abstract

PURPOSE:To guide an underwater floating body so that the floating body approaches only a goal position on the water surface or an underwater moving body by identifying the kind of an object moving above the water surface or the underwater moving body. CONSTITUTION:A means 3 for transmitting and receiving waves is provided with a low-pass filter 16, a fast Fourier transformation circuit 17, a spectrum checking circuit 18, a database circuit 19 and an AND circuit 20. The spectrum checking circuit 18 checks the result of frequency spectrum analysis by the fast Fourier transformation circuit 17 with frequency spectrum data which indicate the kind of the moving object of the database circuit 19 and a signal output from the circuit 18 and the level of a received signal are subjected to logical multiplication and when the moving body is the target object a weight 6 is separated from an underwater floating body 1 by a separation means 5.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underwater floating body guiding apparatus which receives a traveling sound or a reflected sound of a moving object on water or underwater and guides an underwater floating body toward the moving object.

[0002]

2. Description of the Related Art Conventionally, this type of underwater floating body guiding apparatus is
As shown in FIG. 3, the underwater levitation body 21 that guides the moving object 100 on the water or the underwater moving object 101 to approach and the separating device 25 that separates the weight 26 of the underwater levitation body 21 are configured. Then, on the underwater floating body 21, based on a steering signal from the transceiver 23, a transceiver 22 that transmits and receives a sound wave, a transceiver 23 that transmits and receives to and from the transceiver 22, and controls the separation device 25. A steering device 24 for steering the underwater floating body 21 is provided.

In such a conventional underwater floating body guiding apparatus, the transceiver 23 has the structure shown in FIG.
In the figure, 31 is a transmitter that outputs a transmission / reception signal to the transceiver 22, and 32 is a band-pass filter that filters the reception signal from the transceiver 22. Band pass filter 3
An azimuth detecting device 33 is provided in the subsequent stage of 2, and the azimuth of the water or underwater moving object 100 or 101 is detected from the filtered reception signal, and the steering signal is output to the steering device 24. Further, a level determination circuit 35 is provided after the band pass filter 32, and the detection circuit 3
The level of the received signal detected in 4 is determined, and when the level is equal to or higher than the specified level, the disconnection signal is output to the disconnection device 25.

With such a configuration, the transmitter / receiver 22 receives the traveling sound of the moving object 100 or 101 on the water or underwater, and the level determination circuit 35 of the transmitter / receiver 23 determines the level of the received signal and disconnects it. 25 is operated, and the separating device 25 separates the weight 26 from the underwater floating body 21. The underwater levitation body 21 transmits a sound wave while floating, and receives a reflected sound from the moving object 100 or 101 on the water or underwater.
The azimuth detection circuit 33 detects the azimuth of the moving object 100 or 101 on the water or underwater based on the received reflected sound, and the underwater floating body 21 approaches the moving object 100 or 101 on the water or underwater by steering the steering device 24. It is supposed to do.

[0005]

In the above-mentioned conventional underwater floating body guiding apparatus, the moving object 100 or 1 on or under water is used.
Since only the level 01 of the running sound can be determined, the presence of the water or underwater moving object 100 or 101 can be determined. However, whether the moving object 100 or 101 is a surface ship, a submarine, or a fishing boat. It is impossible to discriminate the type. Therefore, the conventional underwater levitation body guiding device has a drawback in that the underwater levitation body is guided toward a moving object that is not the target.

The present invention has been made in order to solve the above-mentioned problems, and determines the type of a moving object on water or underwater and guides the underwater floating body to approach the underwater floating body only to the target moving object. The purpose is to provide a device.

[0007]

In order to achieve the above object, the present invention provides a wave transmitting / receiving means for transmitting / receiving a sound wave to / from a moving object on water or underwater, and for transmitting / receiving the wave to / from the wave transmitting / receiving means. Transmitting and receiving means for detecting the azimuth of the above-mentioned moving object on the water or underwater based on the received signal of the sound wave received by the means and for judging the level of the received signal, and steering the underwater floating body in the azimuth detected by the transmitting and receiving means. In the underwater floating body guiding device, the steering means, and the separating means for separating the weight of the underwater floating body under the control of the transmitting / receiving means, in the transmitting / receiving means, a low-pass filter for extracting a low-pass component of the received signal, , A high-speed Fourier transform circuit that performs high-speed Fourier transform on the output signal of this low-pass filter,
A database circuit that stores frequency spectrum data indicating the type of the moving object on the water or underwater, a spectrum matching circuit that matches the frequency spectrum data of the database circuit with the frequency spectrum analysis result output by the high-speed Fourier transform circuit, and The logical product operation of the output signal of the spectrum matching circuit and the judgment level of the received signal is performed, and when the level of the received signal is equal to or higher than a specified level and the output signal indicates a match with the frequency spectrum data, the disconnection means A logical product circuit for controlling is provided.

[0008]

According to the present invention, the low frequency component of the received signal of the sound wave received by the transmitting / receiving means is taken out by the low pass filter of the transmitting / receiving means, is subjected to the high speed Fourier transform by the high speed Fourier transform circuit, and the frequency spectrum is obtained. Be analyzed. Then, this frequency spectrum analysis result and the frequency spectrum data of the database circuit are collated by the spectrum collating circuit. The output signal of the spectrum matching circuit is logically ANDed by the logical AND circuit together with the determination level of the received signal. As a result of the logical product operation, when it is determined that the received signal level is equal to or higher than the specified level and the output signal of the spectrum matching circuit matches the frequency spectrum data of the database circuit, the underwater floating body is controlled by the control of the logical product circuit. The weight is cut off. Then, the steering means steers the underwater floating body in the direction detected by the transmitting / receiving means, and the underwater floating body approaches the target moving object.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing an underwater floating body guiding apparatus of this embodiment. Reference numeral 2 denotes a wave transmitter / receiver of the underwater floating body 1, which transmits a sound wave, receives a sound wave from an object, and outputs the received signal to the transmitter / receiver 3. The transmitter / receiver 3 has a transmitter 1 that outputs a transmission signal to the transceiver 2.
1 is provided, and the transmitter / receiver 2 transmits a sound wave when this transmission signal is input. Further, the transmitter / receiver 3 includes a bandpass filter 12 for filtering the reception signal input from the transmitter / receiver 2 in a predetermined frequency band, and a moving object 100 or 101 on the water or underwater from the filtered reception signal (see FIG. 3). ) And an azimuth detecting circuit 13 for detecting the azimuth and outputting a steering signal. The steering signal from the azimuth detection circuit 13 is output to the steering device 4, and the underwater floating body 1 is moved by the steering device 4 to the moving object 100 or 10.
Steered to No. 1. The reception signal filtered by the bandpass filter 12 is also input to the detection circuit 14, and the reception signal is detected by the detection circuit 14 and then output to the level determination circuit 15. The level determination circuit 15 determines the level of the input received signal, and outputs the level signal a to the steering device 4 when the level is equal to or higher than a preset specified level.

From the above points, the structure is almost the same as that of the conventional transceiver 23 shown in FIG. 2, but the transceiver 3 of this embodiment further includes a low-pass filter 16 and a high-speed Fourier transform circuit 17. , A spectrum matching circuit 18, a database circuit 19, and an AND circuit 20 are provided.
The low-pass filter 16 is a filter for taking out a low-frequency component of the reception signal input from the transmitter / receiver 2.

The high-speed Fourier transform circuit 17 has a function of performing high-speed Fourier transform on the reception signal filtered by the low-pass filter 16 and outputting a frequency spectrum analysis signal showing the frequency spectrum thereof to the spectrum matching circuit 18. The database circuit 19 stores several types of frequency spectrum data corresponding to the types of moving objects 100 or 101 such as surface ships, submarines, and fishing boats. The spectrum matching circuit 18 matches the frequency spectrum analysis signal from the high-speed Fourier transform circuit 17 with the frequency spectrum data of the database circuit, and when the frequency spectrum analysis signal matches any of the frequency spectrum data, a match signal. b is output to the AND circuit 20.

The logical product circuit 20 is a spectrum matching circuit 1
It has a function of inputting the coincidence signal b of 8 and the level signal a of the level determination circuit 15 described above, performing a logical product operation and outputting a separation signal c. Specifically, the AND circuit 20
The disconnection signal c is output when both the level signal a and the coincidence signal b are input, and the disconnection signal c is output when only one of the level signal a and the coincidence signal b is input, or when both signals are not input. Do not output. Reference numeral 5 denotes a separating device, which separates the weight 6 from the underwater floating body 1 when the separation signal c is input from the AND circuit 20.

Next, the operation of this embodiment will be described.
When the moving object 100 on the water or the moving object 101 in the water is traveling on the water surface or in the water (see FIG. 3), the traveling sound is received by the transmitter / receiver 2, and the received signal passes through the band of the transceiver 3. It is output to the filter 12 and the low pass filter 16. The reception signal filtered by the band pass filter 12 is input to the azimuth detection circuit 13, and the azimuth detection circuit 13 outputs a steering signal indicating the azimuth of the moving object 100 or 101 on the water or underwater. The received signal input from the bandpass filter 12 to the detection circuit 14 is detected and then output to the level determination circuit 15. The level determination circuit 15 determines that the level of the input received signal has reached a specified level or higher, and outputs the level signal a to the AND circuit 20.

On the other hand, the received signal input to the low-pass filter 16 has its low-frequency component extracted, output to the high-speed Fourier transform circuit 17, and subjected to high-speed Fourier transform in the high-speed Fourier transform circuit 17, to obtain its frequency spectrum. The analysis signal is output from the high-speed Fourier transform circuit 17 to the spectrum matching circuit 18. The frequency spectrum analysis signal input to the spectrum matching circuit 18 is matched with the frequency spectrum data in the database circuit 19. Then, when the frequency spectrum analysis signal matches any of the frequency spectrum data, the match signal b is output from the spectrum matching circuit 18 to the AND circuit 20. In this case, since the coincidence signal b and the level signal a are both input to the AND circuit 20, the disconnection signal c is output from the AND circuit 20 to the disconnecting device 5, and the weight 6 is disconnected from the underwater floating body 1. .. Therefore, the underwater levitation body 1 floats and is steered in the direction of the moving object 100 or 101 on the water or underwater by the steering device 4 which inputs the steering signal.
The subsequent steering is performed by receiving the reflected sound of the sound wave transmitted from the wave transmitter / receiver 2.

On the other hand, when the frequency spectrum analysis signal from the fast Fourier transform circuit 17 does not match all the spectrum data of the database circuit 19, the match signal b is not output from the spectrum matching circuit 18. Therefore, in this case, since the AND circuit 20 inputs only the level signal a from the level determination circuit 15, the separation signal c is not output, and the underwater floating body 1 moves the moving object 100.
Or do not approach 101.

[0016]

As described above, according to the present invention, since the transmitting / receiving means is provided with the low-pass filter, the high-speed Fourier transform circuit, the database circuit, the spectrum matching circuit and the logical product operation circuit, There is an effect that the underwater levitation body can be approached and guided only to the target object by discriminating the type, and as a result, the performance and reliability of the underwater levitation body guiding apparatus can be improved.

[Brief description of drawings]

FIG. 1 is a block diagram showing an underwater floating body guiding apparatus according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a conventional underwater floating body guiding apparatus.

FIG. 3 is a schematic overall view showing an entire conventional example shown in FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Submersible body 2 ... Transceiver (transmission / reception means) 3 ... Transceiver (transmission / reception means) 4 ... Steering device (steering means) 5 ... Separation device (separation means) 6 ... Weight 11 ... Transmitter 12 ... Band pass Filter 13 ... Direction detection circuit 14 ... Detection circuit 15 ... Level determination circuit 16 ... Low pass filter 17 ... High-speed Fourier transform circuit 18 ... Spectrum matching circuit 19 ... Database circuit 20 ... AND circuit

Claims (1)

[Claims] 1. A transmitting / receiving means for transmitting / receiving a sound wave to / from a moving object on the water or in water, and the above-mentioned water surface on the basis of a reception signal of the sound wave received by the transmitting / receiving means. Alternatively, transmitting / receiving means for detecting the azimuth of an underwater moving object and determining the level of a received signal, steering means for steering an underwater floating body to the azimuth detected by the transmitting / receiving means, and the underwater levitation by the control of the transmitting / receiving means. In an underwater floating body guiding device having a separating means for separating a body weight, a low-pass filter for extracting a low-pass component of the received signal and a high-speed Fourier transform of an output signal of the low-pass filter in the transmitting / receiving means. A high-speed Fourier transform circuit, a database circuit that stores frequency spectrum data indicating the type of moving object above or underwater, and the frequency of this database circuit. A spectrum collation circuit that collates the spectrum data with the frequency spectrum analysis result output by the high-speed Fourier transform circuit, and performs a logical product operation between the output signal of this spectrum collation circuit and the determination level of the received signal to obtain the received signal An underwater levitation body guiding apparatus, comprising: a logical product circuit for controlling the disconnecting means when the level is equal to or higher than a specified level and the output signal indicates coincidence with the frequency spectrum data.