JPH0693030B2 - Underwater probe - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of use] The present invention relates to an underwater probe used for exploring a target or an obstacle in water.

[Prior art]

As an example of exploration technology for detecting obstacles in the sea, Ocean Acoustics “Basics and Applications” Ocean Acoustics Research Group (1984-3-1) P.16
8 to 169 have been disclosed.

Figure 2 (a). It is a figure which shows the system structure of the underwater exploration apparatus implement | achieved by the sonar which has the turning device disclosed by the said literature. In the figure, reference numeral 1 is a transmitter, and the transmitter 1 creates an ultrasonic electric signal and adds it to a transmitter 2.
Ultrasonic waves are emitted from the transmitter 2 into the water 3. The ultrasonic wave propagates in the water 3, and when it hits the object 4, it is reflected by the object 4, propagates in the water 3 again, is received by the wave receiver 5, and is converted back into an electric signal. The electric signal from the wave receiver 5 is amplified to a certain level by the receiver 6, then amplified by the video amplifier 7 and applied to the CRT (cathode ray tube) 8. On the other hand, the wave transmitter 2 and the wave receiver 5 are
It is connected to the turning device 9 and the azimuth detector 10 by one axis, and is structured to rotate in association with the turning of the turning device 9.

The slewing device 9 directs the transmitter 2 in a fixed direction to emit ultrasonic waves as described above to perform exploration, then changes the angle slightly and sequentially performs similar exploration. The deflection circuit 11 is operated based on the azimuth angle Θ detected in step S1, and the screen of the CRT 8 is swept.

FIG. 2 (b) is a diagram showing a display example of the screen of the CRT8 of the underwater exploration device. Assuming that the target object 4 is at the distance r in the azimuth of the azimuth angle Θ, as shown in the screen of the CRT8. Is displayed. That is, the bright point P as a received signal is obtained at a position separated by r in the Θ direction from the reference coordinate axis. If the bright points P are continuously obtained by the turning device 9, the shape of the target object 4 can be recognized.

[Problems to be solved by the invention]

However, since the underwater exploration device having the above-described configuration is equipped with a large-sized turning mechanism including the turning device 9 and the azimuth detector 10, a vessel or similar moving body must be prepared in order to attach the turning mechanism. However, for a person who does not have a special mounting means such as a diver, the large-sized underwater exploration device as described above cannot be used. Further, since the underwater exploration part excluding the turning mechanism including the turning device 9 and the direction detector 10 is also large and heavy, if the driving means has only its own limbs underwater like a diver. However, there is a problem that the underwater probe part is too heavy to use, and there has been a demand for an underwater probe that can be easily handled by humans underwater and is easy to operate.

The present invention has been made in view of the above points, and it is easy for a person who has no driving means other than his own limbs, such as a diver, to detect the target person or obstacle in the water. It is to provide a small and lightweight underwater probe that can be operated at any time.

[Means for solving problems]

In order to solve the above-mentioned problems, the present invention provides a transmitter that emits an ultrasonic electric signal at a predetermined timing in a waterproof structure, emits an ultrasonic wave when receiving an electric signal from the transmitter, and is reflected by an object. A transducer that receives incoming ultrasonic waves,
A receiver for receiving the signal received by the transmitter / receiver, an analog / digital converter for converting an analog output signal from the receiver into a digital signal, and a digital signal value from the analog / digital converter from the time of transmission A memory that stores at an address that sequentially changes according to the timing, a CRT that includes a deflection circuit, and the stored content that is stored in the memory according to a deflection signal that corresponds to the timing from the deflection circuit of the CRT is read and displayed on the CRT. An underwater probe was constructed by incorporating a readout circuit.

[Action]

By configuring the underwater probe as described above, for example, when a diver turns the underwater probe in water at a constant speed, the address of the memory is proportional to the distance to the object on the straight line of the transducer. The received signal received by the transmitter / receiver and converted into a digital signal through the receiver and the analog-digital converter is stored, and the content can be displayed on the CRT, and the direction of the CRT is proportional to the distance in one direction. Since the bright spot of the received signal is obtained and the bright spot of the received signal at a point proportional to the turning speed in the other direction is obtained, the distance and shape of the target can be grasped on the CRT. In particular, since ultrasonic waves are used, the shape of the target and the distance to the target can be easily grasped even in turbid water where visible light cannot reach.

〔Example〕

 An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram showing the system configuration of an underwater probe 40 according to the present invention. In the figure, reference numeral 20 denotes a waterproof casing of the underwater probe 40. In the casing 20, a timing circuit 21 for issuing a timing signal and a transmitter for receiving an electrical signal of ultrasonic waves in response to the timing signal from the timing circuit 21. 22 、 Transmission / reception switch 23 that switches the transmission and reception of ultrasonic waves of the underwater probe
Transducer 24 for transmitting and receiving ultrasonic waves, said transducer 24
A receiver 27 which receives the received signal received by the receiver and transmitted through the transmission / reception switch 23, an analog / digital converter 28 for converting an analog signal from the receiver 27 into a digital signal, and the analog / digital converter A memory 29 for storing the digital signal value from the timing circuit 21 in accordance with the signal from the timing circuit 21, and a CRT 31 for storing the contents of the memory 29.
Readout circuit 3 for reading out according to the signal from the deflection circuit 32 of
0, CRT 31, deflection circuit 32, and an electron 25 for supplying power to each part in the underwater probe.

On the surface of the casing 20 facing the CRT 31, a glass window 34 having a structure for transmitting visible light is provided for viewing the screen of the CRT 31.

In the underwater probe 40 having the above structure, the timing circuit 21
Creates a timing signal to transmit ultrasonic waves and transmitter
Send an ultrasonic wave transmission command to 22. The transmission output of the transmitter 22 passes through the duplexer 23 and is applied to the transceiver 24. As a result, when the ultrasonic wave is emitted from the transmitter / receiver 24 into the water 26 and the object 35 exists in the water, the ultrasonic wave is reflected by the object 35 and is received by the transmitter / receiver 24 again. Here, the received signal is converted into an electric signal again, and is input to the receiver 27 through the transmission / reception switch 23. The received signal is amplified to a certain level by the receiver 27, input to the analog / digital converter 28, converted into a digital signal by the analog / digital converter 28, and input to the memory 29.

In the memory 29, the address in the X direction is sequentially changed by the timing signal from the timing circuit 21 as shown in FIG. The ultrasonic wave transmission time is the address, and the address changes from time to time, etc. with the passage of time. For example, when a certain time is reached, the address is composed of, and at this time, "1" is input to the address that the received signal is lower than the low value. If it is less than the predetermined value, "0" is input.

If attention is paid only to this time point, as shown in FIG. 3B, the data of the value "1" is input only to the address, which indicates that there is a received signal at this time point. The content stored in the memory 29 is incremented by 1 in the Y-direction address each time an ultrasonic wave is transmitted. The point at which "1" is set on the memory 29 is proportional to the distance between the transducer 24 and the object 35. Become.

If the contents stored in the memory 29 are read by the reading circuit 30 at the timing of the deflection circuit 32 and displayed on the screen of the CRT 31, the address position stored in the memory 29 and the bright spot position displayed on the screen of the CRT 31 correspond. Will be done. This state is shown in FIG. As shown in the figure, the length of the bright spot P on the screen of the CRT 31 in the X direction is proportional to the distance between the transducer 24 and the object 35, and the Y direction is displayed in proportion to the number of transmissions.

The circuits and devices that make up the underwater probe 40 are housed in the waterproof casing 20 as described above, and the image displayed on the screen of the CRT 31 can be seen from the outside through the glass window 34.

FIGS. 4 (a) and 4 (b) are views showing an example of use of the underwater probe 40, FIG. 4 (a) is a diagram showing an arrangement state of the underwater probe 40, and FIG. 4 (b) is an underwater probe. It is a figure which shows the example of a display of the screen of 40 CRT31. First, when the underwater probe 40 is directed in the direction A and ultrasonic waves are emitted from the transducer 24, the distance la to the target object 36 is reduced.
Displayed on the right edge of the CRT screen 31a. Next, turn the underwater probe 40 to the left at a constant speed, and when it reaches the B direction, the underwater probe 40
The distance lb between 40 and target 36 is displayed on screen 31a. Also, when reaching the C direction, the distance between the underwater vehicle 40 and the target 36
lc is displayed on the screen. In this way, the diver etc. turn the underwater probe 40 at a constant speed in the water, and the CR
An image proportional to the shape of the target object 36 is displayed on the screen 31a of T31, and the rough shape of the target object and its distance can be easily grasped. In addition, in FIG. 4 (b), A, B, C respectively correspond to directions A, B, C in FIG. 4 (a), and the respective underwater probes 4
A point indicating the distance between 0 and the target object 36 is shown.

That is, the read content is stored in the memory 29 by the read circuit 30 at the timing of the deflection circuit 32 and is output to the CRT 31, so that the read signal is displayed on the display screen of the CRT 31 in accordance with the timing signal of the timing circuit 21. Memory at a position displaced in the direction (horizontal direction in FIG. 4) and in a direction (vertical direction in FIG. 4) orthogonal to the predetermined direction.
It will be displayed at the position corresponding to 29 address positions.

However, in the above embodiment, the diver is underwater
Although an example in which the 40 is manually turned at a constant speed to perform underwater exploration has been shown, a simple structure, such as a simple support such as a tripod, is used to turn the 40 at a constant speed. It goes without saying that the underwater probe 40 may be turned underwater by using turning means.

By configuring the underwater explorer 40 as described above, for example, if the diver turns the underwater explorer 40 in the water 26 at a constant speed, it is proportional to the distance to the object 35 on the straight line of the transducer 24. The received signal which is received by the transmitter / receiver 24 at the address of the memory 29 and converted into the digital signal through the receiver 27 and the analog / digital converter 28 is stored, and the contents can be displayed on the screen of the CRT31X. In the direction, the bright point of the received signal is obtained at a point proportional to the distance, and in the Y direction, the bright point of the received signal at a point proportional to the turning speed is obtained. The shape can be displayed. In particular, since ultrasonic waves are used, the shape of the target and the distance to the target can be easily grasped even in turbid water where visible light cannot reach.

Although the CRT31 was used as a display in the above-mentioned embodiment,
It goes without saying that the display device is not limited to this.

〔The invention's effect〕

As described above, according to the present invention, the following excellent effects can be obtained.

(1) A position corresponding to an address position of the memory, which is a position where the stored contents stored in the memory are read in accordance with the timing and which is displaced in a predetermined direction in response to the timing signal on the screen and which is orthogonal to the predetermined direction. Since it is displayed on the screen, an image showing the distance and shape of the target object is displayed on the screen, and the shape and the distance of the target object or obstacle of the water column can be easily grasped by looking at the image.

(2) Further, according to the present invention, for example, a diver can rotate the underwater probe according to the present invention at a constant speed in water without providing a conventional turning mechanism including a turning device and a direction detector. As a result, an image showing the distance and shape of the target object is displayed on the screen, so that the shape and distance of the target object or obstacle can be easily grasped. In particular, since ultrasonic waves are used, it is possible to easily grasp the shape and distance of a target or obstacle even in turbid water where visible light cannot reach.

[Brief description of drawings]

FIG. 1 is a block diagram showing the system configuration of an underwater probe according to the present invention, FIG. 2 (a) is a diagram showing the system configuration of an underwater probe having a conventional turning device, and FIG. The figure which shows the example of the display of the screen of the underwater probe, Figure 3 (a),
FIG. 4 (b) is a diagram showing a format of a memory constituting the underwater probe according to the present invention, FIG. 14 (c) is a diagram showing a display example of a screen of a CRT constituting the underwater probe, and FIG. 4 (a). ) Is a diagram showing an example of use of the underwater probe according to the present invention, and FIG. 8B is a diagram showing a display example of the screen of the CRT. In the figure, 20 ... Casing, 21 ... Timing circuit, 22 ... Transmitter, 23 ... Transmit / receive switch, 24 ... Transceiver, 25 ... Battery,
26: underwater, 27: receiver, 28: analog / digital converter, 29 ... memory, 30 ... readout circuit, 31 ... CR
T, 32 ... Deflection circuit, 34 ... Glass surface, 35 ... Object, 40
...... Underwater probe.

Claims (2)

[Claims] 1. An ultrasonic wave transmitting / receiving means for emitting an ultrasonic wave at a predetermined timing and receiving an ultrasonic wave reflected from an object, and an analog reception signal from the ultrasonic wave transmitting / receiving means. An analog / digital converter for converting into a digital signal, means for storing a digital signal value from the analog / digital converter in an address position which sequentially changes in accordance with the timing from the transmission time point of the ultrasonic wave in the memory, The memory contents stored in the memory are read in accordance with the timing, and the read signal is displaced on the display screen in the predetermined direction corresponding to the timing signal, and the address position of the memory is in the direction orthogonal to the predetermined direction. The underwater explorer is characterized by accommodating display means for displaying at a position corresponding to. 2. The underwater explorer according to claim 1, further comprising means for turning the underwater explorer together with the casing at a constant speed.