JPS6011185A - Underwater detector - Google Patents

Abstract

PURPOSE:To display underwater circumstances with a horizontal image and a sectional image in an optional direction of this horizontal image by displaying the output signal of the first reading means on one half part of a display face and displaying the output signal of the second reading means on the other half part. CONSTITUTION:A vertical sectional image in the bearing of a marker 10 which is determined by a bearing signal thetar1 trasmitted from a bearing setter 44 is displayed on the right half part of the display face. The certain bearing signal thetar1 from the bearing setter 44 and a reading tilt angle signal Tr1 and a reading length signal Rr1, which are changed on the basis of counted values of a vertical counter 36 and an underwater counter 40, from a coordinate converter 38 are sent to a storage device 25. A stored signal is read out from a storage element in the address, which is determined by signals thetar1, Tr1, and Rr1, of the storage device 25 and is supplied to a CRT 34 and is displayed with colors. The horizontal image where the signal coming from the direction of a tilt angle marker 14 determined by a tilt angle signal Tr2 sent from a tilt setter 33 is obtained on the left half part of the display face.

Description

DETAILED DESCRIPTION OF THE INVENTION This invention detects the underwater situation around one's own ship, and displays this underwater situation as a horizontal plane image on one half of the display surface of the display unit, which is divided into two parts, just like the conventional horizontal sonar. This invention relates to an underwater detection device that displays a vertical image of a horizontal image in any direction on the other half of the display.

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

FIG. 1 shows a state diagram in which an underwater situation is detected.

FIG. 2 shows an example of a display on a display of an underwater detection device according to a practical example of the present invention.

FIG. 3 shows a professional diagram of one embodiment of the present invention.

FIG. 4 shows a memory device used in the embodiment of FIG.

FIG. 5 shows the display surface of the display used in the embodiment of FIG.

In FIG. 1, a transducer 2 is provided on the bottom of a ship 1. The transducer 2 emits a detection pulse in a wide range of directions and captures the reflected signal from the object to be detected with a directional reception beam 3. The directivity direction of this received beam is controlled to vary from the horizontal direction (0°) to the 900° direction in the four directions of arrows.

In FIG. 2, a horizontal plane image is displayed on the left half 6 of the display surface, and a school of fish 7, 8, 9 and a marker 1° are displayed. The direction of arrow 11 indicates the bow direction, and the radius on the left half of the display screen indicates the distance. On the right half 13 of the display screen, a cross section in the direction indicated by the marker 10 on the horizontal plane image is displayed. The X direction indicates horizontal distance, and the Z direction indicates depth. A school of fish 7 and a marker 14 are displayed. Marker 14 indicates the tilt angle of the received beam that depicts the horizontal plane image of the left half of the display surface.

FIG. 6 shows a transducer used in the embodiment of FIG.

In FIG. 3, a clock pulse generator 20 supplies a pulse train of a constant period to a frequency divider 21. In FIG. The frequency divider 21 is
The frequency of the input pulse train is divided and sent to the direction counter 22.

The direction counter 22 performs a counting operation based on the human pulse, and the counted value is supplied to one input terminal of the receiving beamformer 23 and to one input terminal of the memory 25 via the switch 24. Further, the direction counter 22 sends an output pulse to the distance counter 26 when counting corresponding to the 360° direction is performed. The distance counter 26 performs a counting operation every time a human power pulse is applied, and sends the counted value to one input terminal of the receiving beamformer 23 and to the memory 2 via the switch 24.
5 to one input terminal. Still, the distance counter 26 sends an output pulse to the transmitter 27 and the tilt controller 28 when it has counted corresponding to the detected distance. The tilt controller 28 sequentially supplies a specific tilt angle signal to one input terminal of the reception beamformer 23 and to one input terminal of the storage device 25 via the switch 24 each time an input pulse is applied. . Transmitter 27 supplies a probe pulse lasting a predetermined time to transmit beamformer 29 .

The transmitting beamformer 29 is composed of, for example, many delay circuits, and supplies the input detection pulse to the corresponding transducer of the transducer 30 after being delayed by each delay circuit. As shown in FIG. 6, the transducer 30 has many vibrators arranged side by side on a cylindrical surface at equal intervals in the vertical and horizontal directions. Also,
A large number of vibrators are arranged radially on the bottom of the cylinder.

The transducer 30 emits ultrasonic detection pulses under the water surface in a hemispherical manner.

The reflected signal from the object to be detected is captured by an oscillator placed above the cylinder of the transducer 300, and transmitted to the receiving beamformer 2.
Sent to 3. The reception beamformer 23 is composed of, for example, a large number of delay circuits, and generates the reception signal based on the output count value from the direction counter 22, the output count value from the distance counter 26, and the tilt angle signal from the tilt controller 28. are phase-combined to sequentially form reception beams in a predetermined direction in a predetermined order. The receiving beamformer 23U first moves in the horizontal (0°) direction determined based on the tilt angle signal.
Based on the output count value from the direction counter 22, a receiving beam is sequentially formed at high speed along the cylindrical surface of the transducer 30 and in a direction perpendicular to the cylindrical surface. When the receiving beam is intentionally formed on the cylindrical surface and the circumference, the output count value of the distance counter 26 increases by one. The receiving beam forming operation is repeated until the count value of the distance counter 26 reaches a value corresponding to the detection distance. Therefore, reflected signals from objects to be detected that exist on substantially concentric circles at equal intervals are captured by the receiving beam and sent to the analog-to-digital converter 32. When the horizontal detection operation is completed, the receiving beam is tilted downward by, for example, 6 degrees from the horizontal direction by the tilt angle signal, and the same receiving beam forming operation as described above is performed. That is, each time the count value of the distance counter 2G increases by 1, the received beam is made to go around the cylindrical surface once, and the distance counter 26
The receiving beam is repeatedly formed along the cylindrical surface until the argument value of reaches the value corresponding to the detection pressure section. Similarly, each time the receiving beam forming operation at each tilt angle is completed, the directivity angle of the receiving beam is directed downward every 6 degrees, and this receiving beam forming operation is repeated until the tilt angle reaches 90°. It is done. The reflected signal captured by the receive beam is provided to an analog-to-digital converter 32. The analog-to-digital converter 32 converts the input signal into a digital quantity and supplies this output signal to the input terminal of the total storage unit 25 .

As shown in FIG. 4, the memory 25 stores JX of J in the distance r direction, L in the tail It direction, and K in the horizontal θ direction from the bow.
Consists of KXL bits. In addition, when the detection signal is divided into 23 levels of intensity and stored in a memory device, three memory devices shown in FIG. 4 are connected in parallel.

The memory 25 stores the output signal of the analog-to-digital converter 32 as the count value 0w1 of the direction counter 22 and the distance counter 2.
6 and the tilt angle signal W of the tilt controller 28.

The display surface of the display 34 is as shown in FIG. 5, and the number of pixels is (3N+1) in the h direction and (2M+'l) in the V direction.
Therefore, there are (3N+1X2M+1) pieces, and NX (2M+1) pieces on the inner fabric side are used for vertical cross-sectional image display. The clock pulse generator 35 sends out a train of clock pulses to the vertical counter 36 , the switching terminal of the switch 24 and the write/read terminal of the memory 25 .

Vertical counter 36 counts input clock pulses and supplies the counted value to one input terminal of deflection circuit 37 and coordinate conversion circuits 38 and 39. Further, when the vertical counter 36 counts the number of clocks corresponding to the number of pixels in the V direction on the display surface of the display 34, it sends an output pulse to the horizontal counter 40. Horizontal counter 40 counts input pulses and sends the counted value to deflection circuit 37 , one input terminal of coordinate conversion circuits 38 and 39 , and comparator 41 . The deflection circuit 37 is
The electron beam of the display 34 is not deflected in the V direction, but is deflected in the H direction. In other words, the electron beam is directed in the V direction (3N+
1) Scanning the surface twice by deflection is performed.

The coordinate conversion circuit 38 determines the address of the storage element in which the signal to be displayed on a predetermined pixel of the vertical cross-sectional image display section of the display surface is stored, based on the count values from the vertical counter 36 and the horizontal counter 40. Perform coordinate transformation for Coordinate conversion circuit 38. supplies the reading tilt angle signal Try and the reading distance signal Rr1 to the memory 25 via the switches 43 and 24.

The azimuth setter 44 supplies the read azimuth signal θr□ (corresponding to the marker 10 in FIG. 2) to the memory 125 via the switches 43 and 24. The comparator 41 has N set in advance by the N setting device 45, and when the count value N is supplied from the horizontal counter 4o, it sends out a coincidence signal to the switch 43 and changes the input signal to the switch 41. The data is selected and sent to the memory 25. That is, until the count value of the horizontal counter 4o reaches N, the output signals Tr1. Rr1 and θr1 are supplied to the memory device 25, and the stored signals are read out from the memory element at the address determined based on these signals and are supplied to the display device 34 via the color converter 47, and a vertical cross-sectional image is displayed on the display surface.

The coordinate conversion circuit 39 determines the address of a storage element in which a signal to be displayed on a predetermined pixel of the horizontal image display section of the display surface is stored, based on the counts from the vertical counter 36 and the horizontal counter 40. Perform coordinate transformation.

The coordinate conversion circuit 39 supplies the read distance signal and the read direction signal θr to the memory 25 via the switches 43 and 24. At this time, the tilt angle signal Tr 2 is supplied from the tilt setter 33 to the memory 25 via the switches 43 and 24 . The tilt setting device 33 sets the tilt angle of the horizontal plane image to be displayed. When the matching signal is supplied from the comparator 41 to the switch 43, the input signals are switched, and the coordinate conversion circuit 39 sends out the reading distance signal Rr2, the azimuth signal θr2, and the tilt angle signal Tr2.
is supplied to the memory 25 via the switch 24. A storage signal is read out from the storage element at an address determined based on these signals Rr2θr2, Ill, . . . and supplied to the display 34 via the color converter 47, and a horizontal plane image is displayed on the left side of the display surface.

When the potential of the clock pulse from the clock pulse generator 35 is positive, for example, the output of the analog-digital converter 32 is written into the memory 25, and when the polarity changes and the potential becomes negative, the switch 24 is switched and the memory is stored. The stored Iz number stored in 25 is read out and supplied to the display 34.

The output signal θr1 of the direction setting device 44 is
is supplied to one input terminal of the The other input terminals of the comparator 51 are supplied with direction signals θr1 and θr2 from the switch 43. The comparator 51 supplies an output signal to the input terminal of the gate 50 when the read azimuth signal θr1 from the azimuth setter 44 and the azimuth signal θr2 supplied from the coordinate converter 39 match. The output signal of the comparator 41 is sent to the gate 5
0 control terminal and the inverter 53. gate 50
When a signal is supplied to the control terminal, the output signal of the comparator 51 is passed through the color converter 47 to the display 34.
supply to. As a result, marker 10 is displayed.

The tilt angle signal Tr2 from the tilt setter 33 is supplied to one input terminal of the comparator 55. The other input terminal of the comparator 55 is supplied with the read tilt angle signal Tr1 from the coordinate conversion circuit 38 and the tilt angle signal Tr2 from the tilt angle setter 33. The comparator 55 supplies an output signal to the input terminal of the gate 54 when the tilt angle signal Tr2 from the tilt angle setter 33 and the tilt angle signal Tr1 supplied from the coordinate converter 38 match. Inverter 53 inverts the input signal and supplies the resulting output signal to the control terminal of gate 54 . When gate 54 receives a signal at its control terminal, it passes the output signal of comparator 55 and supplies it to display 34 via color converter 47.

As a result, marker 14 is displayed.

Next, the operation will be explained. First, a detection pulse is emitted from the transducer 30 in a hemispherical shape. The reflected wave from the detected object is
It is captured by the receiving beam sequentially formed in the horizontal (0°) direction by the beam former 23, and is supplied to the memory via the analog-to-digital converter 32, and is input to the direction counter 22.
The count value θW1 is sequentially written into storage elements of overlapping addresses based on the count value Rw of the distance counter 26 and the tilt angle signal W of the tilt controller 28. When the horizontal detection operation is completed, the detection pulse is fired again into the water in a hemispherical manner.

The received beam is formed by the beam former 23 at a tilt angle of 6°.
The reflected waves are sequentially formed in the same direction as above and are stored in the memory 25. When the detection operation at this tilt angle of 6° is completed, the detection pulse is again emitted from the transducer 30 into the water. The received beam is sequentially formed in the direction of the 12° angle, and the reflected waves are captured and stored in the memory 25. Thereafter, similarly, the tilt angle of the delivery beam is changed every time the detection norus is emitted, and the tilt angle is changed up to 90 degrees to perform the detection operation. Thereafter, the tilt angle of the receiving beam is similarly changed from 0° to 90°1, and the detection operation is repeated.

On the right half of the display screen, a vertical cross-sectional image of the orientation of the marker 10 overlaid by the orientation signal θr1 sent by the orientation setter 44 is displayed. A fixed azimuth signal θr1 is sent from the azimuth setting device 44 to the storage device 25, and a readout tilt angle signal Tr1 and a readout tilt angle signal Tr1 that change based on the count values of the vertical counter 36 and the horizontal counter 40 are sent from the coordinate converter 38. A distance signal Rrl is sent out.

From the memory 25, the signals 6rl, s'1''l and 1
A storage signal is read from the storage element at the address determined by Lr1 and is supplied to C1 (7r34) for color display.

On the left half of the display screen, there is a tilt angle marker 14 determined by the tilt angle signal T r 2 sent out by the tilt setting device 33.
The signal returning from the direction of the horizontal plane image to be displayed is obtained. A constant tilt angle signal Tr2 is supplied from the tilt setting device 33 to the storage device 25, and a readout azimuth signal θr2 is supplied from the coordinate converter 39 based on the count values of the vertical counter 36 and the horizontal counter 40. And a read distance signal Rrt is sent out. From the memory device 25,
The stored newsletter is read from the storage element at the address determined by the signals T r 2, θr, and Rrt and supplied to 01 (7P34), and as a result, a horizontal plane image is displayed.

Note that when the azimuth signal θ11 within a predetermined azimuth angle range is sequentially supplied to the clipper 43 and the comparator 51, the marker 10 moves within the azimuth angle range, and the right half of the display screen is displayed. An underwater vertical cross-sectional image determined by the marker 10 is displayed. One example of how to do this is horizontal
The output signal of the inputter 40 is divided by 1 and 6, and the divided output is supplied to a counter that repeatedly counts a predetermined number of times. are supplied to the adder and added, and the obtained added value is supplied to the switch 43 and the upper 4 switch (51).

In the above embodiment, the output signal Tr2 of the tilt angle setting controller 33 is supplied to the switch 43 and the comparator 55.
Instead, a tilt angle signal W from the tilt controller 28
can also be supplied to the switch 43 and the comparator 55.

In this case, the marker 14 changes every time a detection pulse is emitted from the transducer 30. A signal returning from the direction of the tilt angle marker 14 is displayed on the left half of the display screen,
Changing horizontal plane images are obtained sequentially.

In the above embodiment, the transducer 30 has vibrators arranged on a cylindrical surface, but it is also possible to use a hemisphere with vibrators arranged at equal density. In this case, the detection pulse sent out by the transmitter 27 may be directly supplied to the transducer.

Furthermore, the beam former 23 sequentially forms a received beam in a predetermined direction by phase-combining the received signals captured by a predetermined group of transducers.

As described above, according to the present invention, it is possible to display a horizontal plane image of an underwater situation on one half of the display surface that is divided into two parts, and a vertical cross-sectional image of the horizontal plane image in an arbitrary direction on the other half.

[Brief explanation of the drawing]

FIG. 1 is a state diagram in which an underwater situation is detected. FIG. 2 is a display example of the display of the underwater exploration port device according to the embodiment of the present invention. FIG. 3 is a block diagram of one embodiment of the invention. FIG. 4 shows a memory device used in the embodiment of FIG. FIG. 5 shows the display surface of the display used in the embodiment of FIG. FIG. 6 shows a transducer used in the embodiment of FIG. Applicant Furuno Electric Co., Ltd. Figure 1 Figure 6 Figure 2 Figure 3

Claims (1)

[Claims] A transmitter that emits a detection pulse in a wide range of directions, and a transmitter that receives reflected signals arriving from successively increasing distances r while repeatedly changing the direction θ of the receiving beam, a receiving means for changing the tilt angle t of the receiving beam after completing the above-described operation and repeating the same operation as described above, and thereafter repeating the same operation within a predetermined tilt range angle; A means for storing a received signal into a memory element of a memory device having an address determined by θ, r, and t;
, a first reading means for reading from the memory element of the memory device at an address determined by θ, r;
a second readout means that reads from the memory element of the memory device at the address determined by rlt; the output signal of the first readout means is displayed on one half thereof, and the output signal of the second readout means is displayed on the other half; An underwater detection device consisting of a display device.