JPS60259978A - Integrating display apparatus of detection signal in wide range underwater detection equipment - Google Patents

Abstract

PURPOSE:To make it possible to clearly discriminate the presence and absence of an object to be detected, by integrating ultrasonic receiving signals within a determined range in a horizontal or depth direction and displaying the timewise elapse of the integrated result. CONSTITUTION:Ultrasonic reflective wave information is written in detection memory 6 accessed by an angle counter 24 and a distance counter 25 on the basis of the change-over of ultrasonic transmitter-receivers Z0, Z1... each having directionality at every split angles by a change-over device 4. This memory 6 is accessed by a coordinates converting circuit 28 responding to a depth distance setting device 29 and ultrasonic reflected wave informations, divided into n- components in a depth or horizontal direction, arriving from a specific section are read and integrated by an integrator 40. The timewise elapse of this integrated result is displayed on a display device 16 and the presence or absence of an abject to be detected is clearly discriminated even when a detection signal is unstable by the shaking of a ship.

Description

[Detailed description of the invention] (Industrial application field) This invention transmits and receives ultrasonic pulses in a wide range of directions.

To realize an underwater detection device capable of clearly identifying and displaying a detection signal even when the display of the detection signal is unstable due to the movement of a ship or the like.

(Prior Art) Underwater detection devices that simultaneously detect a wide range of directions generally transmit ultrasonic pulses simultaneously in a wide range of directions and convert the reflected waves returning from each direction into ultrasonic waves with directional directions in each direction. Receive the wave with a receiver. The reception signal of each receiver is time-seriesized at high speed to sample the reflected waves on the equidistant line, and the sampling signal is used to brightness-modulate the electron beam of the cathode ray tube that performs spiral scanning. The reflected waves of are displayed at each corresponding azimuth position.

However, in such a display device, reflected waves returning from a wide range of directions are sampled in each direction and converted into a time series, resulting in a mosaic-like display on the cathode ray tube. Also,
Since the reflected waves returning from the water are relatively unstable due to the movement of the ship, etc., the displayed image on the cathode ray tube tends to blink, making it difficult to identify the displayed image. In particular, when the detected object is a small object, a dotted display image is displayed blinking on the display, so it is difficult to distinguish whether the display is due to noise or the display of the detected object.

In addition, because conventional display devices display the detected object instantaneously, the operator must rely on the operator to determine the movement of the detected object over time.Therefore, it is difficult to accurately grasp the continuous movement of the detected object. I can't.

(Problems to be Solved by the Invention) In order to deal with the above-mentioned drawbacks, the present invention divides the reflected waves returning from a predetermined specific section into n parts in the depth direction or horizontal direction, and By integrating and displaying the detected object and displaying the elapsed time of the detected object, an underwater detection device that can clearly identify the presence or absence of the detected object is realized.

(Means for solving the problem) Ultrasonic pulses are transmitted in a wide range of directions underwater, and the reflected waves returned from each direction by the ultrasonic pulses are divided into m equal parts by the transmission range angle of the ultrasonic pulses. Reception is performed using m reception beams each having very narrow directivity characteristics in each direction. Then, the strength of the received detection signal is temporarily stored in the detection memory together with the distance from the own ship and the direction from the own ship. This detection signal is not directly displayed as PPI on a display as in the past, but is integrated in the depth or horizontal direction, and the detection signal from one transmission is displayed as one display line. Then, this display line is sequentially moved from one end to the other end on the display screen.

(Function) Figure 2 shows an example of wave transmission and reception operation using ultrasonic pulses.
The reflected waves in each direction returning from within the semicircular range are received by m-tree receiving beams from "0" to r+a-IJ, and the receiving signals of each receiving beam are stored in the detection memory shown in Fig. 4. An example is shown below. In this detection memory, memory addresses along the vertical axis correspond to the receiving beams in each direction, and storage addresses along the horizontal axis correspond to the distance to the object to be detected in each receiving beam. Therefore, the vertical axis of the detection memory corresponds to the angle on the polar coordinates, and the horizontal axis corresponds to the distance number, 7.

The received signal written in the detection memory at the polar coordinate position is read out using the XY coordinate data. That is, in Figure 2,
A certain depth from the water surface. The section is divided at constant depth intervals, and the horizontal reception signal for each divided section is read out from the detection memory. Then, the read reception signals are integrated for each section. Therefore, depth. When divided into n sections at each constant depth, n integrated outputs are obtained. These n integrated outputs are written into the display memory shown in FIG. When writing to the display memory, the above n integrated outputs are stored at memory address "0" in the vertical axis direction.
to rn-I J address. This writing position changes in the horizontal axis direction over time. In addition, although the above integration output is divided into n in the depth direction, the set distance in the horizontal direction is 2H.
It is also possible to obtain integrated output by dividing o.

(Practical example) As shown in Figure 2, the sea is 180 m from sea level S.
1' They are arranged in an angular range of 180° so that the pointing directions are sequentially different by □ toward the bottom B direction.

The ultrasonic transducer ZaJ'J-1 is simultaneously excited by the transmitter 1 and transmits ultrasonic pulses in an angular range of 180 DEG as shown in FIG. Note that the transmission output of the transmitter I is sent to the ultrasonic transducer Z via the transmitter/receiver switcher 2-1. 7hl-1.

The ultrasonic pulses transmitted in the angular directions 1806 on the ocean floor are reflected by detection objects in the respective directions, and are received by each of the ultrasonic transducers 4-1 directed in the respective directions. 1. To the ultrasonic transducer Z♂-
1, the detection signal received by each transmitter/receiver switch 2
゜7'17 to 2rn-1, amplifier 3゜JtJ to 3ffl
-1 to the switching device 4.

The switching device 4 converts each received signal of the ultrasonic transducer Z to 4-1 into a time series and sends it out. This time-series operation is performed by the angle counter 24, and a reception signal of -1 is sent to the ultrasonic transducer corresponding to the count value of the angle counter 24. The received signal converted into time series by the switch 4 is A.
After being converted into a digital signal by the /D converter 5, it is led to a detection memory 6 and stored therein. The storage address of the detection memory 6 is designated by an angle counter 24 and a distance counter 25.

The switch 4 performs a switching operation using an angle counter 24, and transmits the reflected waves from the detected object located on the equidistant line in a time series. Therefore, the time-series data sent from the switch 4 is represented by polar coordinate data of angle data and distance data, and the time-series received waves are stored at the memory address of the detection memory 6 specified by the angle data and distance data. The signal is stored.

As shown in FIG. 4, the storage address of the detection memory 6 is specified by the angle counter 24 in the vertical axis direction.
A storage address in the horizontal axis direction is designated by the distance counter 25.

The stored data written in the detection memory 6 is read out when a storage address is designated by the coordinate converter 2. Writing and reading of the detection memory 6 is performed by the Q output of the flip-flop 27, and as shown in FIG. Then, signals are read out during the TFP period from the signal acquisition completion pulse b to the transmission pulse a. That is, the Q output of the flip-flop 27 is maintained at a high level during the T- period, the detection memory 6 is switched to the write mode, and the address data of the angle counter 24 and distance counter 25 are introduced to the detection memory 6 via the changeover switch 7. It will be destroyed. Then, at TJ, the Q output of the flip-flop 27 changes to a low level, the detection memory 6 switches to the read mode, and at the same time, the changeover switch 7 performs a switching operation, and according to the address data of the coordinate converter 28, Reading of stored data is performed.

The coordinate converter 28 converts a position on the X and Y coordinates into a position on polar coordinates and sends the result. The X counter 30 and the X counter 31 designate a position on the XY coordinates, and the coordinate converter 28 converts the position on the XY coordinates to a position on the polar coordinates. As shown in FIG. 2, in the detection memory 6, received signals of h are written in equidistant lines in the vertical axis direction of FIG. On the other hand,
The X counter 30 sends out position designation data on a contour line. Coordinate converter 28. converts the position designation data on the constant depth line into position data on polar coordinates and sends it. Therefore, when the stored data is read out according to the specified data of the coordinate converter 28, the stored data of the constant depth line Ld) is read out.

The stored data read from the detection memory 6 is sent to the integration circuit 40.
After being integrated, it is sent to the display memory 13 and stored.

The integration circuit 40 is composed of an addition circuit 8, a latch circuit 9.10, and a delay circuit 11.12.

The stored data read from the detection memory 6 is latched into a latch circuit 9 via an adder circuit 8. The latch data of the latch circuit 9 is further latched by the latch circuit 1O, and then added to the stored data of the detection memory 6 to be read next in the adder circuit 8, and the added data is latched by the latch circuit 9. Further, the latch data of the latch circuit 9 is sent to the latch circuit 10, and added to the next read addition data in the adder circuit. Thereafter, in the same manner, every time the data stored in the detection memory 6 is read out, it is added to the previous latch data, and the constant depth line L shown in FIG.
One integration operation is completed when the stored data of dJ: has been read out negative times. Then, the integrated data is written into one storage address of the display memory 13. In the above, the delay circuits 11 and 12 are used to smoothly read out data stored in the detection memory 6 and to latch the latch circuits 9 and 10. By leading, the data stored in the detection memory 6 is latched by the latch circuit 9 after being read out. Furthermore, by guiding the clock pulse to the latch circuit IO via the delay circuit 11, the launch circuit 9 causes the adder circuit 8 to
After latching the added data, the latch circuit 10 latches the added data of the latch circuit 9.

After the integration circuit 40 integrates the stored data of the contour depth line L7 shown in FIG. The X counter 30 sends out an output pulse every time all stored data on the constant depth line (FIG. 2) of the stored data in the detection memory 6 is read out.

Therefore, when the output pulse is sent out eight times from the X counter 30, the depth contour line L shown in FIG.
/) N types of constant depth line data different in the depth direction are read out. Then, the integration circuit 40 sends out n times of integrated data. This n-time cumulative data is sent to the display memory 13 and stored in storage addresses "0" to rn-IJ in the vertical axis direction of the display memory 13, as shown in FIG. Therefore,
The display memory 13 stores the detection signal obtained by one detection at memory addresses "0" to rn in the vertical axis direction of the display memory 13.
-I Store it in J. Further, each memory address stores integrated data on the constant depth line Ld. Further, the writing address of the storage data in the display memory 13 is changed to the storage address "0" to rk-IJ address in the horizontal axis direction every time a detection operation is performed, and therefore every time the storage data in the detection memory 6 is updated. Changes sequentially.

The writing address in the display memory 13 is specified by the count values of the X counters 31 and 32.

The count value of the X counter 31 changes every time the X counter 30 carries a carry pulse, and thus the integration circuit 40 outputs the integrated value. Then, when the count value of the X counter 31 changes from "0" to rn-IJ, a carry pulse is sent from the X counter 31 to the 2 counter 32. As a result, the write address in the display memory 13 changes by one address in the horizontal axis direction of FIG. Therefore, ultrasonic pulses are transmitted from -1 to the ultrasonic transducers Zo through -1, and the write addresses in the detection memory 13 change sequentially in the horizontal axis direction in FIG.

In the above, the X counter 30 counts the pulse train led from the frequency dividing circuit 34 via the gate circuit 33. The gate circuit 33 is conductive based on the Q output of the flip 20 tube 27 while the data stored in the detection memory 6 is being read out, and passes the pulse train of the frequency dividing circuit 34.

The display memory 13 is read out according to the count values of the horizontal scanning counter 37 and vertical scanning counter 38. The count values of the horizontal scanning counter 37 and the vertical scanning counter 38 are switched by the changeover switch 14 and guided to the display memory 13. horizontal scanning counter 37 clock pulse source 36
The pulse train is counted, and the readout address of the display memory 13 is specified in the vertical axis direction of FIG. 5 based on the count value. The horizontal scanning counter 37 outputs a carry pulse every time its counted value is completed.

The data is sent to the surface scan counter 38 and the 31 value of the vertical scan counter 38 is changed. At this time, the vertical scanning counter 3
8, a subtraction counter is used, and the count value changes in the direction of subtraction. The vertical scanning counter 38 changes the read address of the display memory 13 in the horizontal axis direction of FIG. 5 every time its count value changes. Further, the count value of the vertical scanning counter 38 is added to the count value of the X counter 32 in an adding circuit 38 and sent to the display memory 13. Therefore, the readout address of the display memory 13 in the horizontal axis direction shown in FIG.
It is determined by the addition value of the count value of 8. Therefore,
When the vertical scanning counter 38 performs subtraction counting, the readout address in the horizontal axis direction of the display memory 13 shown in FIG.
Reading is performed in a direction opposite to the writing direction by the two counters 32, with reference to the read address in the horizontal axis direction by the two counters 32. That is, among the data stored in the display memory 13, the stored data is read out in order from the newest stored data to the oldest stored data.

The stored data read from the display memory 13 is converted into an analog signal by the Il/A converter 15, and then sent to the display 16 for display. For example, a cathode ray tube display is used as the display 16, and pixel scanning is performed by a horizontal scanning circuit 17 and a vertical scanning circuit 18. Horizontal scanning circuit 1
7. The vertical scanning circuit 18 performs pixel scanning in accordance with the count values of the horizontal scanning counter 37 and the vertical scanning counter 38, and the scanning position is determined by the count values of the horizontal scanning counter 37 and the vertical scanning counter 38. Therefore, pixels on the display 16 are scanned horizontally from the top to the bottom of the screen or in the opposite direction. In this case, horizontal scanning does not necessarily need to be performed in the horizontal direction, but may be performed in the vertical direction. Therefore, when horizontal scanning is performed in the vertical direction of the display screen, vertical scanning is performed from the right end to the left end or from the left end to the right end of the display screen. Therefore, since pixel scanning always starts from the right or left end of the display screen, the newest stored data is displayed at the scan start position on the display screen, and the oldest stored data is displayed along with the pixel scanning. Note that in the above, writing and reading of the display memory 13 are switched by a clock pulse train of clock pulses 1ij36, and for example, the mode is switched to the read mode during a half cycle period of the clock pulse, and the write mode is switched during the other half cycle period. In conjunction with this switching, the changeover switch 14 performs a switching operation, and the write address data of the X counter 31, 2 counter 32, and the read address data of the horizontal scanning counter 37 and vertical scanning counter 38 are switched and guided. Further, the pulse train of the clock pulse source 36 is transmitted to the frequency dividing circuit 3.
The frequency is divided by 4 to the X counter 30 and the X counter 31.
This allows smooth switching between write mode and read mode.

As described above, the integrated output of the detection signal by the transducer ZoJ1J to 4-1 is displayed, but in this case, the display range of the integrated output is set by the depth distance setting device 28.

The depth and distance setter 28 is configured to cover the detection range shown in FIG.
Depth. , distance #, and Ho are set.

The integration circuit 40 has depth. , when the distance #H is set, the second
Depth from the detection range shown in the figure. , the detection signals within a range of two distances are integrated and sent to the display memory 13. Therefore, the detection memory 6 is at least deep. , the storage capacity is set to store received signals within a distance of 2. In FIG. 4, when the memory address of the detection memory 6 is set to the distance along the horizontal axis and the angular direction along the vertical axis,
The address prose in the distance direction is set deep. , distance #, and the maximum pressure determined by Ho, Δr is given by equation (3) described later.

The setting data of the depth distance setting device 29 is stored in the read-only memory 2.
1, sent to the coordinate converter 28. Coordinate converter 2nd day is
As mentioned above, when converting a position on the XY coordinates to a position on the polar coordinates, the above-mentioned set depth. , XY within the range of Ho
Convert a coordinate position to a polar coordinate position.

Distance data is written in advance, and maximum detection distance data corresponding to the setting data of the depth and distance setting device 29 is read out. The maximum detection distance data read from the read-only memory 21 is sent to the comparison circuit 26 and compared with the distance data of the distance counter 25. When both distance data match, a matching output is sent from the comparator circuit 26, and this negative output resets the flip-flop 27, and at the same time, the angle counter 24 and the distance counter 25 are reset.

Flip-flop 27 is set by the output pulse of X counter 31. As explained above, the X counter 31 sends out an output pulse when reading of the storage data for integration from the detection memory 6 is completed. This output pulse sets the flip-flop 27 and at the same time drives the transmitter l.

At this time, the X counter 30 and the X counter 31 are reset. When the flip-flop 27 is set, the Q output is inverted to high level and the output to low level.

FIG. 3C shows the Q output, and FIG. 3C shows the mutual output.

When the flip-flop 27 is set, the gate circuit 23 is made conductive by its Q output, and the clock pulse source 22 is turned on.
A clock pulse train of 1 is sent to the angle counter 24.

The angle counter 24 and the distance counter 25 are reset in advance by the coincidence output of the comparison circuit 26, and after the gate circuit 23 is turned on, a new counting operation is performed. Further, the Q output C of the flip-flop 27 is sent to the detection memory 6, the changeover switch 7, and the gate circuit 33. Detection memory 6
The selector switch 7 is switched so that the address data of the angle counter 24 and the distance counter 25 are guided to the detection memory 6 at the same time as the flip-flop 27 is set to the write mode until the flip-flop 27 is set. conduct. Further, the gate circuit 33 includes a flip-flop 27
After setting, it is shut off, and when the flip-flop 27 is set, the writing of the received signal to the detection memory 6 is completed, the detection memory 6 is switched to the read mode by the Q output, and at the same time The changeover switch 7 is switched so that the address data of the converter 28 is guided to the detection memory 6.

As explained above, the coordinate converter 28 converts the X counter 30 into
, converts the position on the XY coordinates designated by the X counter 31 to a position on polar coordinates, and sends the result.゛At this time, X
As shown in FIG. 2, when the position on the Y coordinate is converted to the position on the isodepth line Ld, the received signal on the isodepth line Ld is integrated, and the vertical isoposition line Lk), When converted to the position of , the received signals on the equilocated line type are integrated.

The coordinate transformation in the above is performed as follows.

If the distance from the center point of the polar coordinates of an arbitrary point P within the detection range in FIG. =rXΔr−・・・・・・・・・
・・・・・・・・・・・・ It is expressed as (1). However, Δr is the pulse train period of the clock pulse source 22 t
. , let the underwater sound speed be C6.

It is expressed as

Next, if the depth of point P is D and the horizontal distance is H, then D=R
cosO・・・・・・・・・・・・・・・・・・
・・・・・・・・・ (4) H=RsinO・・・・・・
・・・・・・・・・・・・・・・・・・・・・・・・
(5) Furthermore, the relationship between the depth D, the horizontal distance H, and the positions x and y on the XY coordinates is expressed as follows. However, O ΔD=−□ 2H0 ΔH=−7− is expressed, n indicates the counting capacity of the X counter 31, and j indicates the counting capacity of the X counter 30.

From the above, the relationship between x, y and r, 0 r = f1 (X, y)...
... (8) 0 = f2 (x, y>...
・・・・・・・・・・・・・・・・・・ (8) Or, x=f(r,θ)・・・・・・・・・・・・・・・・・・
...(10)y=f (r, 0)...
By substituting (11), the coordinates of the constant depth line Ld''- in FIG. 2 can be converted.

In addition, when performing coordinate transformation in the depth direction, x, y is calculated using the relational expression % (12) (13) between the depth D of point P, the water distance #H, and the position x, y on the XY coordinates. Relationship between r and θ: r=g(x,y)・・・・・・・・・・・・・・・・・・
...(14) θ= g2(x,,y)...
・・・・・・・・・・・・・・・(15) Or x = g3(r, , , θ)・・・・・・・・・・・・
・・・・・・・・・・・・(16)y=g4(r,0)・
・・・・・・・・・・・・・・・・・・・・・・・・ (17) That is, in the embodiment shown in FIG.
8), (9), (14), (15), coordinate transformation is performed using the equations (10), (11), (16), (17) in the example shown in FIG. 6, which will be described later. ) coordinate transformation is performed using the equation.

(Effect of the invention) Since the received signals within a predetermined range are integrated and displayed horizontally or in the depth direction, even when the ship body sways relatively significantly, the depth and horizontal distance of the detected object can be measured relatively easily. It can be easily observed. As a result, the elapsed time of the integration output is displayed two-dimensionally along with the ship's movement.
When integrating in the horizontal direction, an image of the underwater object projected onto the water surface is obtained, and when integrating in the depth direction, an image is obtained projected onto the vertical plane underwater.

In FIG. 1, only one set of integration circuits 40 is used, but if n sets of integration circuits are used to perform integration separately for each integration interval, the integration operation can be performed at high speed. I can do it. Further, the integration operation can also be performed by software using a microprocessor. Furthermore, although the integration operation has been described as integrating a range of set depths from the water surface, it may also be possible to set a specific depth range and perform integration.

Also, in FIG. 1, an ultrasonic transducer Z. 7+J to -
Although the transmission beam of No. 1 has been described as having a semicircular shape, it is not necessarily limited to the semicircular shape and may be fan-shaped.

Alternatively, a conical ultrasonic beam may be transmitted and received in the entire circumferential direction. When the transmission beam is formed into a fan shape, the second
Setting depth in the figure. , a non-applicable area of distance #Ho occurs, but this does not cause any problem in the integration operation.

(Other Embodiments of the Invention) FIG. 6 shows another example, in which the same numbers as in FIG. 1 perform the same operations. In FIG. 6, a coordinate converter 28' is provided in place of the coordinate converter 28 in FIG. That is, the coordinate converter 28' includes the angle counter 24 and the distance counter 2.
The position on the polar coordinates specified by 5 is converted into a position on the XY coordinates and sent to the detection memory 6'. Even in this case, the same effects as in FIG. 1 can be obtained. or,
FIG. 7 shows a configuration for preventing writing of seafloor reflected waves into the detection memory 6 in the embodiment of FIG. 1 or FIG.

FIG. 7 shows one of the amplifiers provided on each output side of the amplifiers 3° to 3ffl-1 in FIG. 1 or 6. In FIG. 7, either the amplifier 3°717"m-1 in FIG. 1 or 6 is led to the gate circuit 4, and the gate circuit 41 is connected to the flip-flop
controlled by the output of The flip-flop 42 is set by a transmission trigger that activates the transmitter I (FIGS. 1 and 6) and reset by the output of the seabed discrimination circuit 43. The gate circuit 41 is made conductive during the period from when it is set until it is reset to send its input to the output side. The seabed discrimination circuit 43 is the gate circuit 41
The seabed reflected waves are detected from the input signal of 4-1, that is, the received signal of 4-1 to the transducer. Therefore, gate circuit 4
1 blocks the seabed reflected waves, so the underwater detection signal from which the seabed reflected waves have been removed is stored in the detection memory 6.

[Brief explanation of the drawing]

Fig. fB1 shows an embodiment of the present invention, Fig. 2 shows the detection situation by the transducer, Fig. 3 is a time chart for explaining its operation, and Fig. 4 shows the memory address of the detection memory. FIG. 5 is a diagram for explaining the storage address of the display memory, FIG. 6 shows another embodiment, and FIG. 7 shows the seabed reflection used in FIG. 1 or FIG. 6. A wave removal circuit is shown. 1...Transmitter, 2...Transmission/reception switch, 3
......Amplifier 4...Switcher, 5...
...A/D converter, 6...Detection memory, 7...
...Selector switch, 8...Adder, 9゜1
0...Latch circuit, 11, 12...
Delay circuit, 13...Display memory, 14...
...Selector switch, 15...Il/A converter,
・1B...Display device, 17...Horizontal scanning circuit, 18...Vertical scanning circuit, 21...
- Read-only memory, 22... Clock pulse source, 23... Gate circuit, 24... Angle counter, 25... Distance counter, 26...
Comparison circuit for... 27... Flip-flop circuit, 28... Old coordinate converter, 29... Depth distance setting device, 30... Old... X counter, 31... ...
X counter, 32...X counter, 33...
...Gate circuit, 34... Frequency division circuit, 36.
Old...Clock pulse source, 37...Horizontal scanning counter, 38...Vertical scanning counter, 38...
... Addition circuit, 40. Old... Integration circuit, 41...
... Gate circuit, 42 ... Flip-flop, 43 ... Seabed discrimination circuit, Z♂ to 7. l-1・
...Ultrasonic transducer patent applicant Furuno Electric Co., Ltd. (1 off 0

Claims (1)

[Claims] A transmitter that transmits ultrasonic pulses in a wide range of angular directions underwater; and a transmitter that transmits ultrasonic pulses in a wide range of angular directions underwater; a first to m-th receivers each separately receiving a receiving beam having a directivity direction for each dividing angle into m equal parts; and among the receiving signals received by the receiving beam; It has an integration circuit that divides the reflected waves returning from a specific section predetermined in advance into n parts in the depth direction or horizontal direction and integrates them for each division, and a memory address with n addresses in the Y-axis direction and addresses in the Z-axis direction. Then, the received wave signals in the O-th to n-1-th division directions integrated by the integration circuit are written to the corresponding addresses in the Y-axis direction, and the Y-axis write addresses change in the Z-axis direction as time passes. A wide area display device comprising: a memory circuit that changes the memory circuit; and a display device that reads the memory signal of the memory circuit in synchronization with pixel scanning of the display screen, and displays the read memory signal at a corresponding pixel address of the display screen. A detection signal integration display device for underwater detection equipment.