JPH09243735A - Underwater sensor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To plainly display information extending over a wide range by displaying echo data from the sensing area at present and echo data of the probed area by a plan view, a cross-sectional view and the combination thereof while leaving the echo data of the probed area. SOLUTION: A display system control part 12 supplies setting data for turning range and depth range to a transmitter-receiver system control part 5. It also supplies data inputted from a sea bottom data memory 11a, an underwater data memory 11b, a vertical sectional data memory 11c and a fish school data memory 11d to a PPI image drawing part 14, a time series plan view drawing part 18, and a time series vertical sectional view drawing part 20. The semicircular PPI image of the area in front of one's own ship is displayed in a first display area, and a picture in which the plan view seen through just above of the echo of a vertical section having a right angle or an optional angle to the advancing direction is arranged in time series is displayed with renewing in a second display area while the echo data of the probed area is left.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underwater detecting apparatus, and more particularly to an apparatus for exploring a wide area and displaying an underwater condition.

[0002]

2. Description of the Related Art Conventionally, scanning is performed by emitting ultrasonic waves into the water and displaying information about the seabed, fish schools, etc. obtained from echoes reflected from underwater objects on the display screen as a PPI image centering on the ship. Sonar and searchlight sonar are known.

Further, in Japanese Patent Laid-Open No. 7-63852,
An "underwater detection device" has been proposed which displays a wide range of seabed and underwater objects centering on the ship itself as PPI images on a display screen. In this device, as shown in FIG. 1, ultrasonic waves are emitted into water by using a linear array type transducer 1 formed by linearly arranging a plurality of transducer elements 1A on a substantially rectangular surface. The received beam is scanned in a vertical search region passing directly below the ship Q shown in FIG. 3 to search this region, and an underwater object and a belt-shaped seabed region S1 are detected.

In fact, since the received beam has a divergence, the seabed region S1 to be probed is, as shown in FIG.
It becomes a long and narrow fan shape centering right under the ship. In one transmission / reception cycle, the echo signal obtained by receiving the reflected echo from the vertical survey area including the seabed area S1 below the ship is A / D converted, and then the echo data D ( r, θ) is converted into echo data D (X, Y) in the orthogonal coordinate system, and is temporarily stored in the vertical sectional image memory.

FIG. 9 schematically shows the contents of echo data stored in a two-dimensional array vertical section image memory. The echo data stored in the vertical cross-sectional image memory is read line by line in the depth direction (vertical direction L1 to L2 in the drawing) from the horizontal address H1 of the memory, and the echo level peak value detection timing in each line is read. The seafloor depth is determined from. Even when the echo data of each line includes fish school data, since the echo level of the seabed Z is high, the echo from the seabed Z is detected as the seafloor value from the peak value or the front-rear correlation, which results in the seafloor depth. Is determined. Based on the seabed depth information obtained in this way, the seabed of the region S1 in FIG. 4 is drawn on the display screen in gray shades of different colors or single colors depending on the depth.

When the search / drawing of the seabed area S1 is completed, the transducer 1 is swung by a predetermined step angle by the transducer turning mechanism 2 including a motor M and a reduction gear G as shown in FIG. To be done. As a result, the direction of the cross section for scanning the received beam is changed, and in the same manner as above, a search for a vertical search area including the seabed area S2 below the own ship shown in FIG. Drawn on top. When the cumulative turning angle of the wave transmitter / receiver 1 reaches 180 ° by repeating such search / drawing / turning operations, the circular seabed region S0 centered on the own ship Q is searched for all over, and FIG. As shown in, the depth distribution of the seabed Z around the ship Q is PP
It is displayed as I stroke.

In the above, the data was read from the vertical sectional image memory in the range of L1-L2 including the echo data of the seabed Z, but it is vertical in the range of L1 to L2 'which does not include the echo data of the seabed Z. When the data is read from the cross-sectional image memory, the distribution of the underwater object T such as a school of fish in the exploration area centering on the ship Q is displayed as a PPI image as shown in FIG.

Further, in the above-mentioned conventional underwater detection apparatus, the depth range for reading the echo data is switched, and the PPI image of the fish bed T is drawn so as to be overlaid on the PPI image of the seabed Z, thereby performing the drawing of FIG. As shown in E, both the seabed Z and the school of fish T are displayed. In this case, in order to clearly distinguish the seabed Z and the fish school T from each other, for example, the seabed Z
Can be displayed in a single-color shade according to the depth, and the fish school T can be displayed for each color according to the echo level. Further, as shown in FIG. 7, a desired direction or the latest vertical sectional view F is also written together with PPIME so that the horizontal and vertical positional relationships between the seabed Z and the school of fish T can be displayed easily. You can also

[0009]

In the scanning sonar, the phase synthesizing method is generally used to scan the surroundings of the ship by controlling the tilt angle and horizontal direction of the received beam. The configuration of the wave generator and the circuit for beam forming becomes complicated, and the cost of the apparatus also increases.
The all-around scanning sonar, which uses a cylindrical array transducer, is capable of exploring the surrounding area of the ship at a high speed in a fairly wide range, but it retains echo data of the area that has already been explored, and also allows a wider area of the seabed and underwater. The situation of the object was not displayed in time series.

Further, since the variable range of the tilt angle is limited, the received beam cannot be directed directly below the ship. In the searchlight sonar, the structure of the transmitter / receiver and the control circuit is simple, but since it uses a single beam, it takes a lot of time to search a wide area, and moreover, the own ship is in flight. In the search, some areas will be missed.

The above-mentioned underwater detecting apparatus using the linear array type transducer 1 has a relatively simple structure and keeps track of information on the depth and distribution of the seabed and underwater objects in a fairly wide area centered on the ship Q. Although it can be displayed as an updated PPI image, it was not possible to display the situation of a wider range of seabed and underwater objects while leaving echo data of the probed region.

The present invention has been made in order to solve the above-mentioned problems in the conventional apparatus utilizing ultrasonic waves, and it is possible to obtain information on the depth and distribution of the seabed and underwater objects in the searched area. To provide an underwater detection device capable of displaying the echo data from the currently searched area and the echo data of the searched area over a wide range by displaying a plane image, a cross-sectional image, and a combination thereof while leaving the echo data of It is an object.

[0013]

In order to achieve the above object, the underwater detecting apparatus according to the invention of claim 1 is a display device in which a display surface is divided into at least two, and an underwater cross section which is substantially vertical in an arbitrary horizontal direction. A transducer for transmitting and receiving an ultrasonic signal so as to search for, a transducer driving means for intermittently rotating the transducer at a predetermined step angle, and each water submerged by the transducer. Storage means for storing the echo signal returning from the cross section, horizontal wide-area plane image creating means for creating a plane image in the horizontal wide-area direction based on the reception signal stored in the storage means, and reception stored in the storage means A temporal plane image generating means for generating a temporal plane image when the transducer is positioned at a predetermined horizontal angle based on a signal; and the display device based on an output signal from the horizontal wide area plane image producing means. Means for displaying a plane image in a horizontal wide-range direction on one display surface and displaying a plane image at a predetermined horizontal angle on the other display surface over time based on the output signal of the temporal plane image generating means. Is characterized by. Accordingly, a horizontal plane image and a temporal plane image when the transducer is positioned at a predetermined horizontal angle can be displayed on each of the two divided display surfaces.

According to a second aspect of the present invention, in the underwater detection apparatus according to the first aspect, the horizontal wide-area plane image creating means is located above the seabed and a seabed data memory that stores the seabed echo signal and the seabed depth. It is characterized by including an underwater data memory for storing signals of an underwater object and its depth, and a video memory for storing a signal representing a horizontal wide-area plane image based on output signals of these memories.

A third aspect of the present invention is the underwater detection apparatus according to the first aspect, wherein the temporal plane image generation means is a seabed data memory for storing temporal seabed signals of the seabed and a position above the seabed. It is characterized by including an underwater data memory for storing a temporal signal of an underwater object to be stored and a video memory for storing a signal representing a planar image over time based on output signals of these memories.

The invention according to claim 4 is the underwater detection apparatus according to claim 1, characterized in that the transmitter / receiver is mounted on a moving object.

A fifth aspect of the present invention is the underwater detecting apparatus according to the fourth aspect, wherein the temporal plane image generation means converts the echo signal obtained by exploring a cross section in a direction perpendicular to the traveling direction of the moving object. The present invention is characterized in that a two-dimensional image generated based on it is displayed over time.

An underwater detecting apparatus according to the invention of claim 6 is a display in which a display surface is divided into three parts, and a transducer for transmitting and receiving an ultrasonic signal so as to search an underwater section in a substantially vertical direction in an arbitrary horizontal direction. A transmitter / receiver drive means for intermittently rotating the transmitter / receiver at a predetermined step angle; storage means for storing echo signals returning from each underwater cross section captured by the transmitter / receiver; Based on the received signal stored in the means, a horizontal wide-area plane image creating means for creating a plane image in the horizontal wide-area direction, and based on the received signal stored in the storage means, the transducer is set at a predetermined horizontal angle. A time-dependent plane image generating means for generating a time-dependent plane image when positioned, and a horizontal wide-area direction plane image is displayed on the first display surface of the display based on an output signal from the horizontal wide-area plane image generating means. The above A means for displaying a plane image at a predetermined horizontal angle on the second display surface over time based on the output signal of the temporal plane image generating means and displaying the output signal of the storage means on the third display surface. It is characterized by being done.

According to a seventh aspect of the underwater detection apparatus of the present invention, a display device whose display surface is divided into three parts, and a transducer for transmitting and receiving an ultrasonic signal so as to search an underwater cross section in a substantially vertical direction in an arbitrary horizontal direction. And a transducer driving means for intermittently rotating the transducer at a predetermined step angle, and a first storage means for storing an echo signal returned from each underwater cross section captured by the transducer. , A plane image in the horizontal wide-range direction is created based on the second storage means for storing the echo signal returned from each underwater cross section captured by the transducer and the reception signal stored in the first storage means. A horizontal wide-area plane drawing creating unit, and a time-dependent plane that generates a time-based plane image when the transducer is located at a predetermined horizontal angle based on the received signal stored in the first storage unit. Image generation means, A plane image in the horizontal wide range direction is displayed on the first display surface of the display device based on the output signal of the horizontal wide-area plane image creating means, and is horizontally displayed on the second display surface based on the output signal of the temporal plane image generating means. A plane image at a predetermined angle in the direction is displayed over time, and an output signal of the second storage means is displayed as a third signal.
And means for displaying on the display surface.

The underwater detecting apparatus of the invention of claim 8 is characterized in that a wave transmitter / receiver is mounted on a moving object.

The invention according to claim 9 is the underwater detection apparatus according to claim 8, wherein the temporal plane image generation means converts the echo signal obtained by exploring a cross section in a direction perpendicular to the traveling direction of the moving object. The present invention is characterized in that a two-dimensional image generated based on it is displayed over time.

The underwater detecting apparatus according to the invention of claim 10 is equipped with a display unit having a display surface divided into at least two parts and a moving object, and searches an underwater section which is substantially vertical in a direction perpendicular to the traveling direction of the moving object. Based on the received signal stored in the storage means, the transducer that transmits and receives the ultrasonic signal, the storage means that stores the echo signal returned from the underwater section captured by the transducer, the longitudinal section A longitudinal section image generating means for generating an image, a longitudinal section image storing means for sequentially storing output signals of the longitudinal section image generating means, and a time series longitudinal section image, and a reception signal stored in the storage means. Based on the plane image generating means for generating the plane image, the plane image storing means for sequentially storing the output signals of the plane image generating means and storing the time series plane image, and the signal read out from the longitudinal section image storing means. Based on Display means for displaying a time-series longitudinal cross-sectional image on one display surface of the display device, and displaying a time-series planar image on the other display surface of the display device based on a signal read from the plan-image storage means. It is characterized by being configured.

The underwater detecting apparatus according to the invention of claim 11 is equipped with a display unit whose display surface is divided into three parts and a moving object, and searches an underwater cross section which is substantially vertical in a direction perpendicular to the traveling direction of the moving object. Based on the received signal stored in the storage means, the transducer that transmits and receives the ultrasonic signal, the storage means that stores the echo signal returned from the underwater section captured by the transducer, the longitudinal section A longitudinal section image generating means for generating an image, a longitudinal section image storing means for sequentially storing output signals of the longitudinal section image generating means, and a time series longitudinal section image, and a reception signal stored in the storage means. Based on the plane image generating means for generating the plane image, the plane image storing means for sequentially storing the output signals of the plane image generating means and storing the time series plane image, and the signal read out from the longitudinal section image storing means. Based on the above table A time-series longitudinal section image is displayed on the first display surface of the display unit, and a time-series plane image is displayed on the second display surface of the display unit based on the signal read from the plane image storage unit, and the storage unit is displayed. Display means for displaying an echo signal returned from the underwater section on the third display surface.

The underwater detecting apparatus of the invention of claim 12 is a display device having a display surface divided into at least three parts, and a transmitting / receiving wave for transmitting / receiving an ultrasonic signal so as to search an underwater cross section in a substantially vertical direction in an arbitrary horizontal direction. A device, a transducer driving means for intermittently rotating the transducer at a predetermined step angle, a storage means for storing an echo signal returning from each underwater cross section captured by the transducer, Based on the received signal stored in the storage means, a horizontal wide-area plane image creating means for creating a plane image in the horizontal wide-area direction, and based on the received signal stored in the storage means, the transmitter / receiver has a predetermined horizontal angle. A time-dependent plane image generating means for generating a time-dependent plane image when positioned at, and a time-dependent time when the transducer is positioned at a predetermined horizontal angle based on the received signal stored in the storage means. A time-dependent planar image generation means for generating a cross-sectional image, and a horizontal planar image in the horizontal wide-area direction is displayed on the first display surface of the display based on an output signal from the horizontal wide-area planar image generation means. Based on the output signal of the generating means, a plane image of a predetermined horizontal direction is displayed on the second display surface with time, and based on the output signal of the temporal plane image generating means, a horizontal direction of a predetermined angle is displayed on the third display surface. And a means for displaying cross-sectional images over time.

[0025]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the accompanying drawings. FIG. 13 is a block diagram of an underwater detection apparatus according to an embodiment of the present invention. In the figure, 1 is a wave transmitter / receiver for transmitting and receiving ultrasonic waves, and 2 is a wave transmitter / receiver rotating mechanism for rotating the wave transmitter / receiver 1 in a horizontal plane. As shown in the plan view of FIG. 1, the wave transmitter / receiver 1 is a linear array type wave transmitter / receiver in which a plurality of transducer elements 1A are linearly arranged on a substantially rectangular wave transmitting / receiving surface. As shown in FIG. 2, the wave transmitter / receiver swivel mechanism section 2 is composed of a motor M, a reduction gear G, etc., and is supported by the ultrasonic wave transmitter / receiver surface facing downward. It is possible to turn. By giving a constant delay amount or phase difference between the adjacent transducer elements to the received signal of each transducer element 1A forming the wave transmitter / receiver 1, the phase of the received signal of each transducer element 1A As a result, the received beam having directivity in a specific direction is formed. Therefore, by continuously changing the delay amount or the phase difference, the signal is received within a fan-shaped region that passes directly below the transducer 1 and extends in the arrangement direction of the transducer elements 1A of the transducer 1. The wave beam can be scanned.

Reference numeral 2a is a wave transmitter / receiver drive unit for driving the motor M. Reference numeral 3 denotes a transmission unit that supplies a drive signal for ultrasonic transmission to each transducer element 1A of the wave transmitter / receiver 1, and supplies a transmission drive signal capable of obtaining a wide range of directivity. Reference numeral 4 amplifies and detects the echo signal received by the wave transmitter / receiver 1 and, in order to scan the received beam as described above, a predetermined delay amount or position is added to the detection signal from each transducer element 1A. It is a receiver that gives a phase difference.
Reference numeral 5 controls the transmitter 3 and the receiver 4 described above.
It is a transmission / reception system control unit that controls the control of.

Reference numeral 6 is an A / D converter for converting the received signal obtained from the receiving section 4 from an analog format to a digital format, and the converted digital signal is a buffer memory 7
Stored in. 8 is echo data D (r,
θ) is a coordinate conversion unit for converting the rectangular coordinate system echo data D (X, Y), and the echo data converted by the coordinate conversion unit is a two-dimensional array vertical cross-section memory 9 and vertical cross-section video memory. 9a. These A /
The D converter 6, the buffer memory 7, and the coordinate conversion unit 8 are
It operates in synchronization with the clock signal supplied from the transmission / reception system control unit 5.

Reference numeral 10 denotes a sampling circuit, which stores echo data for one vertical section in the vertical section image memory 9 from the vertical section image memory 9 depending on the setting of the display mode in the depth direction or in the horizontal direction. The data is read line by line in the direction, and the peak value or logical sum of the echo signals is detected from the data. Reference numeral 11a denotes a seabed data memory for storing a data peak value corresponding to a seabed echo detected from echo data for one vertical section and a depth at that time, 1
Reference numeral 1b is an underwater data memory that stores a data peak value corresponding to an echo of an underwater object such as a school of fish (hereinafter, represented by "fish school") and the depth at that time. 11c shows an echo for one vertical cross section obtained when the vertical cross section scanned by the received beam is oriented at a right angle to the traveling direction of the own ship Q when viewed directly from the side of the own ship Q. Seabed Z
And a longitudinal section data memory that stores longitudinal section data including echo data of the school of fish T, 11d is only a school of fish when an echo for one vertical section perpendicular to the traveling direction of the ship Q is seen from directly above. Is a school of fish data memory that stores the data of.

Reference numeral 12 denotes a display system control unit, which is an operation unit 13
Based on various display data set and input by the above, setting data such as a turning range and a depth range are supplied to the transmission / reception system control unit 5, and information on a sampling method and a range is supplied to the sampling circuit 10. Furthermore, the data input from the seabed data memory 11a, the underwater data memory 11b, the longitudinal section data memory 11c, and the school of fish data memory 11d is used for the PPI image drawing unit 14 and the time-series plane image drawing unit 18 according to the setting of the display mode. , Or to the time-series vertical cross-section image drawing unit 20. Further, the character / symbol drawing unit 16 is supplied with signals relating to the characters and symbols to be displayed on the display device 23 composed of a CRT. Further, the display system control unit 12 is provided with a memory 12a for storing the setting data from the operation unit 13.

Reference numeral 15 is a PPI image video memory for storing the display data of the PPI image created by the PPI image drawing unit 14, and 17 is a character and symbol for screen display sent from the character / symbol drawing unit 16. Characters that store the data of
It is a symbol image video memory. Reference numeral 19 is a time series for storing the data of the plane image when the echo of the vertical section perpendicular to the traveling direction of the ship Q created by the time-series plane image drawing unit 18 is seen through from above. Reference numeral 21 is a plane image video memory, and reference numeral 21 is data of a vertical section when a vertical section echo similarly perpendicular to the traveling direction of the own ship Q, which is created by the time-series vertical section drawing unit 20, is seen from right side. It is a time-series vertical section image video memory for storing in time series.

Reference numeral 22 is a video signal conversion unit, which corresponds to each of the video memories 9a, 15, 17, according to the display mode setting.
The video data from 19 and 21 is converted into color data or monochromatic grayscale display data according to the depth (or echo level). 24 is each video memory 9a, 15, 1
It is a video clock unit that supplies a clock signal to 7, 19, 21 and the video signal conversion unit 22. The video signal output from the video signal conversion unit 22 is supplied to the display unit 23 and displayed on its screen.

FIGS. 11 and 12 show first and second display examples obtained by the underwater detection apparatus configured as described above, respectively. Hereinafter, the operation of the underwater detecting apparatus for obtaining the first and second display examples will be described with reference to FIG.
4 and the flow chart of FIG. 15, a detailed description will be given.

First, the operation of the underwater detecting apparatus for obtaining the first display example shown in FIG. 11 will be described with reference to the flowchart of FIG. In this first display example, the display screen of the display 23 is vertically divided into three areas P1 to P3, and an echo of the seabed Z and the fish school T shown in E of FIG. 7 is displayed in the upper display area P1. In the PPI image including the data, a semicircular portion in front of the ship Q is seen in the central display area P2 when an echo of a vertical section perpendicular to the traveling direction of the ship Q is seen from directly above. A time series plane image in which data of the plane image is arranged in time series is displayed, and a vertical sectional image is displayed in the lower display area P3.

In FIG. 14, first, as an initial setting,
In step S1, the display mode, the depth ranges L1 and L2 to be searched, the step turning angle of the wave transmitter / receiver 1, and the like are set according to the input from the operation unit 13. Here, as L2, as shown in FIG. 8, the depth L of the seabed Z is approximately known.
A value larger than 0 is adopted. In the next step S3,
Ultrasonic waves are transmitted from the transducer 1 over a wide range.
In step S4, as shown in FIG. 8, the received beam is scanned within the fan-shaped region passing directly below the ship Q, so that the echo from this fan-shaped region is received. The echo data D received one after another by such scanning is A / D
After being converted from analog data to digital data by the converter 6, the coordinate conversion unit 8 is passed through the buffer memory 7.
Is transmitted to the echo data D (r, θ) of the polar coordinate system by the coordinate conversion unit 8 and the echo data D of the orthogonal coordinate system.
While being converted into (X, Y), it is stored in the vertical sectional image memory 9 and the vertical sectional image video memory 9a (step S
5). When the echo data for one vertical section is stored in the vertical section image memory 9, the process proceeds from step S5 to step S6.

FIG. 9 shows a two-dimensional array vertical sectional image memory 9.
3 schematically shows the contents of the echo data stored in. In step S6, the sampling circuit 10 reads the echo data for each line in the depth direction (vertical direction L1 to L2 in the drawing) sequentially from the horizontal address H1 in the vertical sectional image memory 9, and in step S7, The seafloor depth is determined from the detection timing of the echo level peak value in the line. In the figure,
At addresses H1 to H10, only the seabed Z is detected, but at address H11, echo data D of the school of fish is detected.
2 is also detected. However, since the echo from the seabed Z has a higher level than the echo of the fish school, the echo from the seabed Z is detected as the peak value. In step S8,
The seabed depth data thus detected is stored in the seabed data memory 11a.

When the reading of the echo data of all the lines in the depth direction from the addresses H1 to Hn is completed in this way, the process proceeds from step S9 to step S10, and the seabed for one vertical section stored in the seabed data memory 11a. Based on the depth data, the PPI image drawing unit 14 creates a PPI image of the seabed Z and displays it on the display area P1 above the display unit 23. However, here, only the part in front of the own ship Q, that is, only the upper half circle area of the PPI image shown in E of FIG. 7 is displayed. In step S11, the above 1
From the seafloor depth data of the vertical section, the seafloor depth L immediately below the ship Q
0 is recognized. In the next step S12, L2 = L0−α = L2 ′ is adopted as the depth L2. Where α
Is a value for preventing the seabed Z expanded in the depth direction on both sides of the received beam scanning region from being read out, as shown in FIG. In this way, the echo of the seabed Z spreads in the depth direction on both sides of the scan area of the received beam, even if the beam angle of the received beam is constant, on both sides where the incident angle on the seabed Z becomes shallow. , Due to the spread of the received beam,
This is because the seafloor echo appears above the true depth.

In the next step S13, echo data for each line is read again from the vertical sectional image memory 9, and the read depth range at that time is L1 or L2 (=
Since it is L0-α), only the echo data from the school of fish T is read, the peak value of the echo level in each line is detected in step S14, and the school of fish data is stored in the underwater data memory 11b in step S15.

When the reading of the echo data of all the lines in the depth direction from the addresses H1 to Hn is completed in this way, the process proceeds from step S16 to step S17, and a group of fish for one vertical section stored in the underwater data memory 11b. Based on the data, the PPI image drawing unit 14 causes the fish school T
The PPI image of the fish group T is created, and the PPI image of the seabed Z displayed in the display area P1 on the upper portion of the display 23 is filled in from above, and the information of the fish school T is preferentially displayed.
However, here, only the part in front of the own ship Q, that is, only the upper half circle area of the PPI image shown in E of FIG. 7 is displayed.

Next, in step S18, it is judged whether or not the vertical cross section which is currently scanned by the received beam is oriented in a direction perpendicular to the traveling direction of the ship Q. If not, the process returns to step S2, the transducer 1 is turned by one step angle, and the next 1
The same operations as above are performed on the vertical section. on the other hand,
In step S18, if the vertical cross section is oriented at a right angle to the traveling direction of the ship Q, the process proceeds to the next step S19. In step S19, as shown in FIG. 10, V1 that does not include sea surface reflection or echo data of the seabed Z
Echo data for each line in the horizontal direction (horizontal direction in the drawing) is read in the depth range from 1 to Vm.
Then, the peak value or the logical sum (OR) of the echo data up to the read line is calculated, and this peak value or the logical sum is stored in the fish school data memory 11d in step S21. When the reading of the echo data of all lines in the depth range from V1 to Vm is completed in this way, step S
Then, the process proceeds from Step 22 to Step S23.

In step S23, the seabed data memory 1
Based on the seabed depth data of the vertical section perpendicular to the traveling direction of the ship Q stored in 1a, the time-series planographic image drawing unit 18 creates a plan view of the seabed Z in the vertical section, and displays it. It is displayed in the display area P2 at the center of 23. At this time, if a time-series plan view of the vertical cross section that has already been searched is displayed in the display area P2, it is sent out by one line (downward in FIG. 11) and the seabed of the newly searched vertical cross section is displayed. Display the Z plane drawing.

Subsequently, in step S24, the time-series planar image drawing unit 18 causes the fish school of the vertical cross section to be stored in the fish school data memory 11d based on the fish school data of the vertical cross section perpendicular to the traveling direction of the ship Q. A plane image of T is created and is displayed in the display area P2 at the center of the display unit 23 in a form of overwriting the plane image of the seabed Z that has already been displayed.

In step S25, 1 is directly supplied from the vertical sectional image video memory 9a to the video signal conversion section 22.
The echo data of the vertical section is displayed in the display area P3 below the display 23. After that, the process returns to step S2, the operations from step S2 to step S25 are repeated, and the display is updated each time transmission is performed. However, the time-series plan view of the display area P2 is updated by sending line by line in the direction of the arrow shown in FIG. 11 every time transmission is performed in a vertical cross section perpendicular to the traveling direction of the ship Q.

Here, in order to clearly distinguish the seabed Z and the school of fish T from each other, for example, the seabed Z is displayed in a shade of a single color according to its depth, and the school of fish T is displayed in different colors according to its echo level. Preferably. In the first display example, the display screen of the display unit 23 is divided into three, and a semicircular PPI image in front of the ship Q is displayed in the upper display area P1 and a time is displayed in the central display area P2. Although the vertical plane image is displayed in the lower display area P3 as the series plane image, it is not necessary to display the vertical plane image with only two display areas P1 and P2. Also, by superimposing on the echo data, or by providing a dedicated display area as shown in FIG. 12,
Character data such as the seabed depth may be displayed.
Further, in the flowchart of FIG. 14, the vertical cross-sectional image when the scanning direction of the receiving beam is perpendicular to the traveling direction of the ship Q is displayed in the display area P3, but the receiving beam is scanned. The latest vertical section image may be displayed. In the above-described embodiment, in the central display area P2, the plane image data when the echo of the vertical section perpendicular to the traveling direction of the ship Q is seen through from above is arranged in time series. A time series plan view was displayed. However, the present invention is not limited to this, and in the display area P2, plane view data when the echo of the vertical section at an arbitrary angle with respect to the traveling direction of the ship Q is seen through from above is arranged in time series. A time series plan view can be displayed.

Next, the operation of the underwater detecting apparatus for obtaining the second display example shown in FIG. 12 will be described with reference to the flowchart of FIG. In this second display example, the display screen of the display 23 is vertically divided into three areas P4 to P6, and the upper display area P4 has a vertical cross section perpendicular to the traveling direction of the ship Q. A time-series longitudinal cross-section image in which the data of the longitudinal cross-section when seen through from the side is viewed in a time-series manner is arranged in a time-series manner, and the echo of the vertical cross-section perpendicular to the traveling direction of the ship Q is displayed in the central display area P5. A time series plane image in which data of plane images when viewed through from above is arranged in time series is displayed, and the latest vertical cross-sectional image is displayed in the lower display area P6. In this display example, a sub-area for displaying the water depth value is provided in a part of the lower display area P6.

In FIG. 15, first, as an initial setting,
In step S41, the display mode, the depth range L1 to L2 to be searched, and the like are set according to the input from the operation unit 13, and the vertical cross section scanned by the received beam is perpendicular to the traveling direction of the ship Q. The orientation of the transducer 1 is fixed so that Here, as L2, as shown in FIG. 8, a value larger than the generally known depth L0 of the seabed Z is adopted. In the next step S42, the transceiver 1
The ultrasonic waves are transmitted over a wide range from. Step S
At 43, as shown in FIG. 8, the received beam is scanned within the fan-shaped region passing directly below the ship Q, so that the echo from this fan-shaped region is received. The echo data D received one after another by such scanning is the A / D converter 6
After being converted from analog data to digital data by the, the data is sent to the coordinate conversion unit 8 via the buffer memory 7, and the coordinate conversion unit 8 causes the data echo D of the polar coordinate system.
Echo data D (X, Y) in Cartesian coordinate system from (r, θ)
And is stored in the vertical cross-section image memory 9 and the vertical cross-section image memory 9a (step S44). When the echo data for one vertical section is stored in the vertical section image memory 9, the process proceeds from step S44 to step S45.

In step S45, as shown in FIG. 9, the sampling circuit 10 echoes one line at a time in the depth direction (vertical direction L1 to L2 in the drawing) from the horizontal address H1 in the vertical sectional image memory 9. The data is read out, and the seabed depth is determined from the detection timing of the peak value of the echo level in each line in step S46. In the figure, addresses H1 to H
Up to 10, only the seabed Z is detected, but the address H1
When it reaches 1, echo data D2 of the school of fish is also detected. However, since the echo from the seabed Z has a higher level than the echo of the fish school, the echo from the seabed Z is detected as the peak value. In step S47, the seabed depth data thus detected is stored in the seabed data memory 11a. When the reading of the echo data of all lines in the depth direction from the addresses H1 to Hn is completed in this way, the process proceeds from step S48 to step S49.

In step S49, the seafloor depth L0 immediately below the own ship Q is recognized from the seafloor depth data of one vertical section. In the next step S50, the depth L2 is L2 =
L0−α = L2 ′ is adopted. Here, α is a value for preventing the seabed Z expanded in the depth direction from being read on both sides of the received beam scanning region, as shown in FIG. 8.

Next, in step S51, as shown in FIG. 10, by the sampling circuit 10, one line at a time from the horizontal address H1 in the vertical sectional image memory 9 in the depth direction (vertical direction L1 to L2 in the drawing). Echo data is read, and in step S52, the peak value or logical sum (OR) of the echo data of the seabed Z and the fish school T up to the read line is calculated, and in step S53, this peak value or logical sum is longitudinally crossed. It is stored in the surface data memory 11c. When the reading of the echo data of all the lines from the address H1 to Hn is completed in this way, the process proceeds from step S54 to step S55.

In step S55, based on the echo data of one vertical section perpendicular to the traveling direction of the ship Q, which is stored in the vertical section data memory 11c, the time-series longitudinal section drawing unit 20 causes the same vertical section to be drawn. A vertical cross-section image is created and displayed in the display area P4 above the display unit 23. At this time, if a time-series vertical cross-sectional image of a vertical cross-section that has already been searched is displayed in the display area P4, it is sent out by one line (to the left in FIG. 12) and the newly searched vertical cross-section is displayed. Display a vertical section image.

Next, in step S56, as shown in FIG. 10, V1 which does not include sea surface reflection or echo data of the seabed Z is included.
Echo data for each line in the horizontal direction (horizontal direction in the figure) is read in the depth range from 1 to Vm, and then step S57.
Then, the peak value or the logical sum (OR) of the echo data up to the read line is calculated, and this peak value or the logical sum is stored in the fish school data memory 11d in step S58. When the reading of the echo data of all lines in the depth range from V1 to Vm is completed in this way, step S
From 59, proceed to step S60.

In step S60, the seabed data memory 1
Based on the seabed depth data of the vertical section perpendicular to the traveling direction of the ship Q stored in 1a, the time-series planographic image drawing unit 18 creates a plan view of the seabed Z in the vertical section, and displays it. It is displayed in the display area P5 at the center of 23. At this time, if a time-series plan view of the vertical cross section that has already been searched is displayed in the display area P5, it is sent out for one line (to the left in FIG. 12), and the seabed of the newly searched vertical cross section is displayed. Display the Z plane drawing.

Then, in step S61, the time-series planographic image drawing unit 18 causes the fish school of the vertical cross section to be stored in the fish school data memory 11d based on the fish school data of the vertical cross section perpendicular to the traveling direction of the ship Q. A plane image of T is created, and is displayed in the display area P5 at the center of the display unit 23 in a manner of overwriting the plane image of the seabed Z already displayed.

In step S62, 1 is directly supplied from the vertical sectional image video memory 9a to the video signal conversion section 22.
The echo data of the vertical section is displayed in the display area P6 below the display unit 23. After that, the process returns to step S42, the operations from step S42 to step S62 are repeated, and the display is updated each time transmission is performed.
At this time, the time-series cross-sectional image of the display area P4 and the time-series planar image of the display area P5 are sent out and updated one line at a time in each transmission in the direction of the arrow shown in FIG.

Also in the second display example, the seabed Z and the fish school T can be clearly distinguished from each other, for example, the seabed Z.
Is preferably displayed in a shade of a single color according to its depth, and the school of fish T is displayed for each color according to its echo level. In this display example, the display screen of the display unit 23 is divided into three, and the upper display area P4 shows a time-series longitudinal sectional view, the central display area P5 shows a time-series plan view, and the lower display. Although the vertical cross-section image is displayed in the area P6, it is not necessary to display the vertical cross-section image with only two display areas P4 and P5. Further, in this display example, a dedicated sub-area for displaying the water depth value is provided in a part of the lower display area P6, but it may be displayed by being superimposed on the echo data.

With reference to the display of FIG. 12, in the above-described embodiment, the display screen of the display unit 23 is vertically divided into three areas P4 to P6, and the ship Q Of the vertical cross-section of the vertical cross-section perpendicular to the traveling direction of the ship, the time-series longitudinal cross-section images in which the data of the longitudinal cross-section are arranged in time series are displayed in the central display area P5 in the ship Q
A time-series plan view in which the data of the plan view when the echo of the vertical section perpendicular to the traveling direction of X is seen through from above is displayed in time series is displayed. It is not limited to this,
In the upper display area P4, a time-series vertical cross-section image in which the data of the vertical cross-section when the echo of the vertical cross-section at an arbitrary predetermined angle with respect to the traveling direction of the ship Q is seen from right side is arranged in time series, In the central display area P5, a time-series plan view in which plane view data when the echo of a vertical cross section at the same arbitrary predetermined angle with respect to the traveling direction of the ship Q is seen through from above is arranged in time series. Can be displayed.

As described above with reference to the first and second display examples of FIGS. 11 and 12, the combination display of the semicircular PPI image and the time series plane image, or the combination of the time series plane image and the time series longitudinal section image is performed. Compared with conventional underwater detectors, information about depth and horizontal / vertical distributions of underwater objects such as the seabed and fish schools is displayed by updating the echo data of the already searched area. be able to. Further, by additionally displaying the vertical cross-sectional image display, it is possible to more easily grasp the undulations of the seabed and the three-dimensional distribution of underwater objects.

In the above embodiment, C is used as the indicator 23.
Although RT is used, other suitable display elements such as a liquid crystal display (LCD) and a plasma display may be used.

[0058]

As described above, the first embodiment according to the present invention is described.
In the above display example, every time the linear array type transducer is sequentially rotated at a predetermined step angle, a wide area is explored by exploring a vertical cross section of a fan shape that passes below the ship. The echo data of an underwater object such as a water bottom and a school of fish obtained by is displayed on a screen divided into a plurality of display areas. The first display area displays a semi-circular PPI image of the area in front of the ship including echo data of the water bottom and the underwater object, and the second display area is perpendicular to the traveling direction of the ship Q or arbitrary. By displaying the time series plane image in which the plane images when the echo of the vertical cross section of the angle is viewed from directly above are arranged in time series while updating the echo data of the area already searched, Information about the depth and ups and downs of the water bottom and the distribution of underwater objects over a wide range below the ship and in front of and behind the ship can be displayed in an easy-to-understand manner.

At this time, for example, if the bottom of the water is displayed in a shade of a single color according to its depth and the underwater object is displayed in different colors according to its echo level, the bottom of the water and the underwater object can be clearly distinguished from each other. It will be possible. In addition, if a vertical cross-sectional image is also written in the third display area, it is possible to more easily grasp the undulations of the seabed and the three-dimensional distribution of underwater objects.

In the second display example according to the present invention, the orientation of the linear array type transducer is set so that the vertical section scanned by the receiving beam is at a right angle or an arbitrary angle with respect to the traveling direction of the ship. It is fixed, and a wide area is searched as the ship advances. The echo data of the underwater object such as the bottom of the water and the school of fish obtained by this is displayed on the screen divided into a plurality of display areas. In the first display area, a time-series plan view in which longitudinal cross-sections are arranged in time series when a vertical cross-section echo at a right angle or an arbitrary angle with respect to the traveling direction of the ship is seen from right side, In the display area of, the time-series plan images, which are the time-series plan images when the echoes of the vertical cross section perpendicular to the own ship's traveling direction or at an arbitrary angle are seen from directly above, have been searched. By displaying while updating the echo data of the area while updating it, information about the depth and undulation of the water bottom over a wide area below and behind the ship, horizontal and vertical distribution of underwater objects, etc. is displayed in an easy-to-understand manner. can do.

Also in this case, for example, if the underwater object is displayed in a shade of a single color according to its depth and the underwater object is displayed in different colors according to its echo level, the underwater object and the underwater object can be clearly distinguished from each other. Will be possible. In addition, if a vertical cross-sectional image is also written in the third display area, it is possible to more easily grasp the undulations of the seabed and the three-dimensional distribution of underwater objects.

[Brief description of drawings]

FIG. 1 is a plan view showing an array of transducer elements on a bottom surface of a linear array type wave transmitter / receiver used in a conventional or underwater detecting apparatus of the present invention.

FIG. 2 is a side view showing a structure of a wave transmitter / receiver rotating mechanism for rotating the wave transmitter / receiver with the ultrasonic wave transmitting / receiving surface of the conventional wave transmitter / receiver shown in FIG. 1 facing downward. .

FIG. 3 is a diagram showing a region searched by one wave transmission / reception cycle of the conventional or the wave transceiver of the present invention.

FIG. 4 is a diagram showing an exploration region when the conventional transducer or the transducer according to the present invention is rotated at a predetermined step angle.

FIG. 5 is a display example of a PPI image on the seabed obtained by a conventional underwater detection device.

FIG. 6 is a display example of a PPI image of a school of fish obtained by a conventional underwater detection device.

FIG. 7 is a display example in which one vertical cross-sectional image is additionally shown in addition to a PPI image in which a fish echo is superimposed on a seabed echo obtained by a conventional underwater detection device.

FIG. 8 is a diagram showing a state in water which is scanned by a wave transmitter / receiver of a conventional device or a device of the present invention in one wave transmitting / receiving cycle.

FIG. 9 shows a conventional underwater detection apparatus according to the present invention,
It is the figure which showed the mode of reading of the data from the vertical cross-section image memory at the time of drawing the PPI image of the seabed or a school of fish.

FIG. 10 is a diagram showing how data is read from a vertical cross-section image memory when a time-series plan view and a time-series vertical cross-section image are drawn in the underwater detection apparatus according to the present invention.

FIG. 11 is a diagram showing a first display example by the underwater detection device according to the present invention.

FIG. 12 is a diagram showing a second display example by the underwater detection device according to the present invention.

FIG. 13 is a block diagram of an underwater detection device according to the present invention.

FIG. 14 is a flowchart showing an operation of the underwater detection apparatus for obtaining the first display example.

FIG. 15 is a flowchart showing an operation of the underwater detection apparatus for obtaining the second display example.

[Explanation of symbols]

 1 Transducer 1A Transducer Element 2 Transducer Swing Mechanism 2a Transducer Drive 3 Transmitter 4 Receiver 5 Transceiver Controller 6 A / D Converter 7 Buffer Memory 8 Coordinate Converter 9 Vertical Section Memory 9a Vertical section video memory 10 Sampling circuit 11a Seabed data memory 11b Underwater data memory 11c Vertical section data memory 11d Fish school data memory 12 Display system control section 12a Memory 13 Operation section 14 PPI image drawing section 15 PPI image video memory 16 Characters / symbols Drawing unit 17 Character / symbol image video memory 18 Time-series plane image drawing unit 19 Time-series plane image video memory 20 Time-series vertical section image drawing unit 21 Time-series vertical section image memory 22 Video signal conversion unit 23 Display 24 Video clock Department

Claims (12)

[Claims] 1. A display device in which a display surface is divided into at least two parts, a transducer for transmitting and receiving an ultrasonic signal so as to search an underwater cross section in a substantially vertical direction in an arbitrary horizontal direction, and the predetermined transducer. Transducer drive means for intermittently rotating at a step angle of, storage means for storing echo signals returning from each underwater cross section captured by the transducer, and reception signals stored in the storage means Based on a horizontal wide-area plane drawing creating means for creating a horizontal wide-area plane drawing, and a plane with time when the transducer is positioned at a predetermined horizontal angle based on the received signal stored in the storage means. A time-dependent plane image generation means for generating an image, and a plane image in the horizontal wide-area direction is displayed on one display surface of the display based on the output signal of the horizontal wide-area plane image generation means. An underwater detecting apparatus, which is configured to display a plane image at a predetermined angle in the horizontal direction on the other display surface over time based on the output signal of the step. 2. A horizontal wide-area plane drawing creating means includes a seabed data memory for storing a seabed echo signal and a seabed depth, an underwater data memory for storing a signal of an underwater object located above the seabed and its depth, and these. The underwater detection apparatus according to claim 1, further comprising: a video memory that stores a signal representing a horizontal wide-area plane image based on an output signal of the memory. 3. A time-dependent plane image generating means includes a seabed data memory for storing time-dependent seabed signals of the seabed, an underwater data memory for storing time-dependent signals of an underwater object located above the seabed, and these. The underwater detection apparatus according to claim 1, further comprising: a video memory that stores a signal representing a plane image over time based on an output signal of the memory. 4. The underwater detection apparatus according to claim 1, wherein the wave transmitter / receiver is mounted on a moving object. 5. A time-dependent plane image generating means displays a time-dependent plane image generated based on an echo signal obtained by searching a cross section of the moving object in a direction perpendicular to the traveling direction. The underwater detection device according to claim 4. 6. A display device whose display surface is divided into three parts, a transducer which transmits and receives an ultrasonic signal so as to search an underwater cross section in a substantially vertical direction in an arbitrary horizontal direction, and the predetermined transducer. Based on the received and stored signals stored in the storage means, a transducer driving means for intermittently rotating at a step angle, a storage means for storing an echo signal returned from each underwater cross section captured by the transducer. A horizontal wide-area plane image creating means for creating a horizontal wide-area plane image, and a time-dependent plane image when the transducer is located at a predetermined horizontal angle based on the received signal stored in the storage means. For generating a horizontal plane image on the first display surface of the display based on an output signal from the horizontal wide-area plane image generating unit, Output signal of Second based on the issue
Means for displaying a plane image at a predetermined angle in the horizontal direction on the display surface over time and displaying the output signal of the storage means on the third display surface. 7. A display device whose display surface is divided into three parts, a transducer which transmits and receives an ultrasonic signal so as to search an underwater cross section in a substantially vertical direction in an arbitrary horizontal direction, and the predetermined transducer. Transducer / receiver drive means for intermittently rotating at a step angle, first storage means for storing echo signals returning from each underwater cross section captured by the transducer / receiver, and transducer / receiver captured by the transducer Second storage means for storing an echo signal returned from each underwater section, and horizontal wide-area plane image creating means for creating a plane image in the horizontal wide-area direction based on the received signal stored in the first storage means, A temporal plane image generation unit that generates a temporal plane image when the transducer is located at a predetermined horizontal angle based on the received signal stored in the first storage unit; Drawing means Display plane image in the horizontal wide direction on the first display surface of the display unit based on the output signal, the second based on the output signal of the temporal plane image generating means
Means for displaying a plane image at a predetermined horizontal angle on the display surface over time and displaying the output signal of the second storage means on the third display surface. . 8. The underwater detecting apparatus according to claim 7, wherein the wave transmitter / receiver is mounted on a moving object. 9. A time-dependent plane image generating means displays a time-dependent plane image generated based on an echo signal obtained by exploring a cross section of a moving object in a direction perpendicular to the traveling direction. The underwater detection device according to claim 8. 10. A display device having a display surface divided into at least two parts, and an ultrasonic signal which is mounted on a moving object and which transmits and receives ultrasonic signals so as to search an underwater cross section in a direction substantially perpendicular to a traveling direction of the moving object. And a storage unit for storing an echo signal returned from the underwater section captured by the transducer, and a vertical section image generation section for generating a vertical section image based on the received signal stored in the storage section. Means, a vertical cross-section image storage means for sequentially storing output signals of the vertical cross-section image generation means, and a time-series longitudinal cross-section image, and a plane for generating a plane image based on the received signal stored in the storage means. An image generation unit, a plane image storage unit that sequentially stores output signals of the plane image generation unit and stores a time-series plane image, and a signal read from the longitudinal section image storage unit,
Display a time-series longitudinal sectional image on one display surface of the display,
An underwater detection apparatus comprising: a display unit that displays a time-series plane image on the other display surface of the display unit based on a signal read from the plane image storage unit. 11. A display device having a display surface divided into three parts, and an ultrasonic signal which is mounted on a moving object and transmits and receives ultrasonic signals so as to search an underwater cross section in a direction substantially perpendicular to a traveling direction of the moving object. A transducer, a storage unit that stores an echo signal returned from the underwater section captured by the transceiver, and a vertical section generation unit that generates a vertical section image based on the reception signal stored in the storage section. And a vertical section image storage unit that sequentially stores the output signals of the vertical section image generation unit and stores a time-series vertical section image, and a plane image that generates a plane image based on the received signal stored in the storage unit. A generation unit, a plane image storage unit that sequentially stores output signals of the plane image generation unit and stores time-series plane images, and a signal read from the longitudinal section image storage unit,
Displaying a time series longitudinal sectional image on the first display surface of the display,
A time series plane image is displayed on the second display surface of the display based on the signal read from the plane image storage means, and an echo signal returning from the underwater section read from the storage means is displayed on the third display surface. An underwater detection device comprising a display means for displaying. 12. A display device having a display surface divided into at least three parts, a transducer for transmitting and receiving an ultrasonic signal so as to search an underwater cross section in a substantially vertical direction in an arbitrary horizontal direction, and the predetermined transducer. Transducer drive means for intermittently rotating at a step angle of, storage means for storing echo signals returning from each underwater cross section captured by the transducer, and reception signals stored in the storage means Based on a horizontal wide-area plane drawing creating means for creating a horizontal wide-area plane drawing, and a plane with time when the transducer is positioned at a predetermined horizontal angle based on the received signal stored in the storage means. A temporal plane image generating means for generating an image, and a temporal plane for generating a temporal sectional image when the transducer is located at a predetermined horizontal angle based on the received signal stored in the storage means. A horizontal plane image in a wide horizontal direction on the first display surface of the display unit based on an output signal from the horizontal wide-area plane image generating unit; Two
A horizontal plane image at a predetermined angle in the horizontal direction is displayed on the display surface of the second display plane, and the third plane image is generated based on the output signal of the temporal plane image generation means.
And a means for displaying a cross-sectional image at a predetermined angle in the horizontal direction over time on the display surface of the underwater detecting device.