JPS5868681A - Broad range underwater detection indicator - Google Patents

Abstract

PURPOSE:To enable clear identification of the presence of an underwater object by controlling indication after the memorization of a rectangular coordinate information into which polar coordinate information of time-series reflected ultrasonic waves from directional wave receiver is converted and information of distance of a specified bearing for each transmission of waves. CONSTITUTION:Sector-like ultrasonic waves are transmitted in a wide range and received with a directional wave receiver set for various directions to control a writing circuit 7 via a time series circuit 3 and an analog-digital converter 28 by the information of the reflected ultrasonic waves according to the information of the received waves is converted into rectangular coordinate with a coordinate conversion circuit 12 and memorized into a memory circuit 10. A writing circuit 9 is controlled by the information of waves received from the converter 28 via a gate 8 controlled with a bearing setting circuit 14 and distance information coverted depthwise through a distance converter 29 is memorized in a memory circuit 11 rowwise sequentially for each transmission of waves. A cathode ray tube indicator 19 is controlled according to the contents of these circuits 10 and 11 to indicate the sea bottom at the fixed position regardless of bearings and even a small object without blinks. Thus, the presence of the underwater object can be identified clearly.

Description

DETAILED DESCRIPTION OF THE INVENTION An object of the present invention is to display the presence or absence of a detected object in an underwater detection device that detects a wide range of directions so as to clearly identify the presence or absence of a detected object.

This type of underwater detection device is configured, for example, by transmitting omnidirectional ultrasonic pulses in a wide range of directions and receiving the reflected waves returning from each direction with a receiver having a directional direction in each direction. When displaying the reflected waves in each direction, the reflected waves on equidistant lines are sampled by chronologically converting the reflected waves returning from each direction at high speed.

The round key electron beam that performs spiral scanning is intensity-modulated using this sampling signal, and reflected waves in each direction are displayed at corresponding azimuth positions.

In such a display device, reflected waves on the display are often displayed in a mosaic pattern due to the directivity of the ultrasonic receiver. In addition, the reflected waves returning from the water are relatively stable due to the shaking of the ship, etc. Therefore, it is relatively difficult to determine whether the displayed image is a noise display or a detected object is displayed. It is. In particular, if the detected object is a small object, it will be displayed in the form of a dot on the display F, and the display will blink due to the movement of the ship, etc., making it even more difficult to identify the detected object.

As a way to eliminate such unknown and 1ψ displays, it is possible to display detection results in a wide range of directions, select only detection signals in a desired direction, and display the time course of the selected signals on the same display. That is what is being considered. In this way, the time course of the detection signal in the selected direction is displayed, so that - as above, the ship's! ; ] 2] The detected object can be identified extremely easily even during shaking. In this case, it is desirable that the detection signals from the same depth underwater be displayed at the same position regardless of the selected direction.

For example, in 1E21:a, when an ultrasonic beam 2 having a fan-shaped directional pattern is transmitted and received from a ship 1, the reflected wave from the seabed 3 at a water depth θ is 4! A submarine line 3' as shown in Figure J2 3' is displayed. That is, the first
In the figure, the distance from the ship 1 to the seabed 3 differs depending on the direction θm, so if it is displayed at the position from the reference line 4 as shown in Figure 2, the distance from the ship 1 to the seabed 3 will be the same as the seabed 3 depending on the selected direction θm. As described above, when transmitting and receiving a fan-shaped ultrasonic beam, the reflected waves from the same depth underwater are always displayed at the same position regardless of the selected direction. Provide an indicator that will be displayed.

Examples of the present invention will be described below.

First, to explain the principle of this invention, in Fig. 1, the depth from the water surface 4' to the seabed 3 is determined by
The selected direction with respect to the seabed directly below is 0m, the beam width in the 10m direction is θBY, the distance in the θm direction is R, and the distance to 3 is R.
o, beam width θBY 7, assuming that the shortest distance at the base 3'1 is R1 and the longest distance is R1, ■. =□・・・・・・
・・・・・・・・・・・・(1) Displayed as residence θm - Therefore, when displaying the same number 100 on θm, the display position of the detection signal is compressed to (0m 28m) times. Then, the seabed, the display f direction of term 3 is J@ direction θm
It remains constant regardless of.

Fig. 3 shows an embodiment based on the above principle, which will be explained below.The transducer 1 transmits and receives all fan-shaped directional ultrasonic pulses in a wide range of directions and receives reflected waves from each direction. . For example, as shown in FIG. 4, the transducer 1 is a semicircular directional transducer T1, T1, TI...1 whose directional directions are slightly different from θ1, θ2, θ,...θn. It is arranged and arranged around the circumference. When the transducer 1 transmits an ultrasonic pulse, all the directional transducers are simultaneously excited by the transmitter 2 to transmit a fan-shaped directional beam in a wide range of directions. The reflected waves returning from each direction are received by the respective directional transducers T1, T, ST, . . . and sent to the time series circuit 3. The time series circuit 3 electronically switches and transmits the directional transmission/reception signals g5TI, T1, T1, and stop.For example, as shown in FIG. 4, the movable terminal S0 and the fixed terminal S1 ,S,,S,...
・Consists of fixed terminals S1, S, *, Sl...
The directional transducer T1%T,,T,・ guided by each of those
The movable terminal S0 sequentially switches and extracts each received signal of -. Note that the transducer 1 transmits and receives ultrasonic pulses in the direction of the array plane, but the transducer 1 can be moved arbitrarily within the array plane, and can also be moved arbitrarily in the direction perpendicular to the array plane. It is arranged so that it can rotate, thereby making it possible to detect in any direction.

In FIG. 3, the above switching operation of the time series circuit 3 is performed by an azimuth counter 4. The azimuth counter 4 counts the clock pulse train sent out from the clock pulse source 5, and the time series circuit 3 sends out a received signal of the directional transducer in the azimuth indicated by the count value of the azimuth counter 4.

Then, the azimuth counter 4 counts n pulse trains of the clock pulse source 5, and the time series circuit 3 receives each received signal of the directional transducer r1, T3, T, . . . An output pulse is sent to the distance counter 6 every time it is sent out.

The distance counter 6 counts the output pulses of the azimuth counter 4 and sends out an output pulse when a certain count value is reached. This output pulse is sent to the clock pulse source 5 to stop sending clock pulses. Therefore, for example,
If the repetition period of the output pulse sent from the azimuth counter 4 is set equal to the time required for the ultrasonic pulse car to travel a distance of 1 m back and forth, when the count value of the distance counter 6 reaches 500 (time series circuit 3 is 500m &
9, 11 Send out the reflected waves from leafy objects within the area. Note that the clock pulse source 5 transmits the entire pulse train at the same time that the ultrasonic pulse is transmitted by the transmitter 2, and completely stops transmitting the clock pulse when the output pulse is transmitted from the distance counter 6.

The reflected waves in each direction sent out from the time series circuit 3 are guided to the Y/f converter 28, where the analog level is converted into a digital value. The output converted into a digital value by the A4 converter 28 is sent to the write circuit 7, and at the same time, is also sent to the storage circuit 9 via the gate circuit 8.

The potato circuit 7 is ~? The digital data sent from the converter 28 is input into the storage circuit 10, and the pledge circuit 9
performs the operation of inputting the digital data passed through the gate circuit 8 into the storage circuit 11. At this time, the write circuit 7 selects the designated leased land sent by the coordinate converter 12 from among the memory addresses of the memory circuit 10. The digital data of the converter 6 is processed. On the other hand, the embedding circuit 9 selects the address counter 13 and the distance conversion circuit 2 among the memory addresses of the memory circuit 11.
The storage address designated by 9 receives the digital data sent from the gate circuit 8.

The sitting image converter 12 converts the azimuth and distance position corresponding to the digital data sent by the dictionary converter 28 into an XY position i- on the seat collar.
Convert to That is, the direction of the reflected wave sent out from the time series circuit 3 is determined by the direction counter 4, and the distance thereof is determined by the distance counter 6. Therefore, since the position of the reflected wave at this time can be given as a polar coordinate position, the coordinate converter 12 converts it to an XY coordinate position and sends it out. This coordinate transformation can be performed by storing in advance the xyq drift position 1d corresponding to the polar coordinate position in the i-I pi unique element.

The memory circuit 10 has memory addresses in m rows and n columns, and performs coordinate transformation using the memory addresses in the 2nd row and 3rd column as the center position on all polar coordinates.

On the other hand, the gate circuit 8 is ~? Of the digital data sent out from the Henkei Rabbit 8, only the digital data in the direction set by the direction setting device 14 is selected entirely. Direction setter 1
4 is for selecting a specific direction signal + from among the direction signals sent by the time series circuit (), and sets the direction to be selected.The direction setting is based on the count value of the direction counter 4. The same value as the direction indicated by Ft7.
This is done by EF. The first shift of the azimuth setter 14 is set by the azimuth counter 40 total N in the comparator circuit 15.
1j+, and the comparison circuit 15 conducts the gate circuit 188 every time the image error values match, thereby allowing the output τ of the Ha converter 6 to pass through.

As a result, only the azimuth signal set by the azimuth setting device 14 is sent out from the gate circuit 8.

The orientation signal selected by the gate circuit 8 is written into the memory circuit 11 by the write circuit 9. The memory circuit 11 has m rows 1
The selection signal sent from the gate circuit 8 selects the distance conversion circuit 2 from among the memory addresses of the first to i columns.
It is stored in the line position specified by 9. The distance conversion circuit 29 converts the distance position of the detected object indicated by the count value of the distance counter 6 into the distance position indicated by the +4fl expression (2) and sends it out. After the selection signal of each distance position is stored in each correspondence, when the next detection pulse is transmitted, the count value of the address counter 13 is updated by the output of the transmitter 2, and accordingly The specified column of the memory circuit 11 is switched to the next column and specified.

Therefore, in the memory circuit 11, the azimuth signal selected by the gate circuit 8 is written in a row corresponding to each distance position, and an i-memory signal is written every time an ultrasonic pulse is transmitted. Column position is updated.

The stored data in the memory circuits 10 and 11 are stored in the ambiguous memory device 18, which is sequentially outputted by the respective sequential output circuits 16 and 17.
Brown α display 1 by converting digital data into analog signals
Output to the brightness terminal of 9.

Brown-ge indicator 19v'i, m line CII + i
) rows +1ti, R, and the pixel chain acids of 1st to nth columns are provided with the memory circuit loO storage data, and the Cn+1) to (n+i) columns l[i1i elementary area n storage i of the fertilization circuit 11 Display the meaning data. The brown display 19 shows the X-axis sweep times 20. Y, the X-Y axis scan of the electron beam is carried out by the 1st trolley 21, that is, the X-sweep sweep 11.82o performs pixel scanning in the direction
III] Sweep rotation 21 Sweep rotation 21 element rotation is performed.

Also, the X-axis subtracting circuit 20 calculates X=I+X+? indicated by the fault value of the counter 220. iI] position the electron beam in the direction t1 +6, and the Y-pack 1 sweep circuit 21
] The electron beam is moved to the Y-axis force plane position 1 indicated by the count value of the counter 23.

The X-axis counter 22 counts the clock pulse train sent from the clock pulse source 24, and the count value ranges from 1 to m''.
! , the output pulse k Y ++i+b is sent to the counter 23 as it changes. The YqQ counter 23 counts the output pulses of the X-axis counter 22, and the count value is 1.
It changes repeatedly from (o+i)'j. Therefore, one surface scan of the cathode ray tube display 19 is completed when the count value of the Y-axis counter 23 changes from 1 to (n + i).

Just like the climber, Brown had a total of 19 XSY! 111
1Il scanning is performed while the X-axis counter 22, Y
Each count value of the J counter 23 is switched and guided to either of the heave setting circuits 16 and 17 via a changeover switch 25.

The changeover switch 25 performs a switching operation by a changeover circuit 26. The switching circuit 26 indicates that the count value of the Y-axis counter 23 is 1.
While changing from to n, X1ll] counter 22,
Each count value of the Y@ counter 23 is led to the readout circuit 16. Then, the count value of the Y-axis counter 23 is Cn + 1
) to (n+i)'t, XItI[II
The count values of the counter 22 and the YIl+llll counter 23 are led to the threading circuit 17. Therefore, the stored data of the primary circuit 10 is displayed on the pixels in the first to nth columns of the cathode ray tube display 19, and the pixels in the J(n+1)th column to the (nth) column are displayed.
The data stored in the storage circuit 11 is displayed in the pixels in the +i) column.

The readout time 1 16 sequentially specifies the memory addresses in the 1st to nth columns of the memory circuit IO in accordance with the counts of the X-1 count counter 22 and the Y field counter 23 and reads the memory data therefrom. .

On the other hand, while the count value of the Y-axis counter 23 changes from (n + 1) to Ir++i), the thread setting circuit 17
In the first column of the memory circuit 11, the first column is I, and the address is 1.
．． outputs data FF1f. The column location of the storage circuit 11 corresponding to the count value of the Y-axis counter 23 is determined by the subtraction circuit 27 and the performance circuit 30. That is,
When the switching circuit 26 performs the switching operation, the count value of the Y-axis counter 23 is sent to the subtraction circuit 27. The subtraction circuit 27 subtracts a constant n from the counted value Y of the Y-axis counter 23.
Sent out numb. Therefore, when the count value of the Y-axis counter 23 changes from (n+1) to (n+i), the subtraction output changes from 1 to 1. This subtraction value is the performance circuit 3
0, and using the calculation time 1430 id address counter 13 count value, it converts into a numerical value like a subtraction number and sends it out. In other words, the subtraction circuit is 1.41...
When the numerical value changes to J, the arithmetic circuit 30 converts this numerical change into j
, j-1, j-2, . . . 1 and sends it out. Then, the subtracted value exceeds the number digit J, ``+1,''
While changing to j+λj+3...i, the arithmetic circuit 3
0 is this numerical change money, i, i-1, i-2...
It is converted into a numerical change of j+1 and sent. Therefore, the bladder ejecting circuit 17 performs one cycle in the reverse direction from the first column to eject each memory address of the memory circuit 11 while the count value of the Y-axis counter 23 changes from ω+1) to (n+i).

As a result, on the cathode ray tube display 19, the data 1 in the j column of the memory circuit 11 is '1' at the pixel position in the (n+1) column.
→ will be displayed. Since the latest detection information is stored in the "column" of the memory circuit 11, the Brownian display 1
9, strict detection information is displayed at the pixel position of the (n+1) column, and old detection/use rIV information is displayed in order in the direction of the (n+i) column. In addition, since the displayed position of the seabed 3' on the display screen is converted by the distance conversion circuit 29 to a distance that corresponds to the water depth θ, it is always at a constant position 1 d regardless of the direction set by the multi-position setting device 14. displayed in

[Brief explanation of the drawing]

Fig. 1 is a diagram showing a wide range underwater detection system, Fig. 2 shows all display examples thereof, and Fig. 3 shows an embodiment of the present invention.
FIG. 4 is a diagram which does not fully explain the structure of the wave transmitting/receiving terminal J. Patented/1 singer Yoshino Ichiki Co., Ltd.

Claims (1)

[Claims] Ultrasonic pulses with fan-shaped directivity are transmitted in a wide range of directions underwater, and reflected waves returning from each direction are received separately by receivers having directivity in each direction. a wave transmitting/receiving device; a time series circuit that time-series the reflected waves in each direction received by the wave transmitting/receiving device and transmits the time-series signals; a selection circuit that selects reflected waves in a specific direction from among the time-series signals; A coordinate converter that converts the azimuth and distance position of the time-series signal sent by the above-mentioned time-series circuit to a position on the XY coordinates, and a distance that calculates the vertical component with respect to the horizontal line from the distance on the selected azimuth of the above-mentioned selection circuit. an arithmetic circuit, and a first circuit having memory addresses of m rows and n columns and storing selected number 1g of the time series circuit.
The above-mentioned fast output circuit has a memory circuit of 1 and a memory address of m rows and 1 column;
A second memory circuit stores the signal selected by the user, and writes the time series 1M transmitted from the time series circuit to the memory location of the first memory circuit designated by the one-tooth coordinate converter. and a selection signal sent out by the selection circuit. a second write circuit that writes to address 11 determined by the distance position calculated by the calculation circuit and the number of times the ultrasonic pulse is transmitted; 2
a display device for displaying data stored in the storage circuit;
a first output circuit that reads data stored in the memory circuit and displays the read data in a pixel area of m rows and n columns of the display; a second blinding circuit for displaying the read data in a pixel area different from the display area displayed by the first blinding circuit of the display; A wide range underwater detection display device comprising: a switching circuit for switching between a reading circuit and a second accent extraction circuit;