JPS6033074A - Underwater detector - Google Patents

Abstract

PURPOSE:To indentify easily by displaying a horizontal image in underwater condition at one half part of a display screen and a vertical cross section image in an optional direction at the other half part, and further displaying a specific position of a net in different color. CONSTITUTION:A receiving means 2 receives an arrival reflected signal of distance (r) over a specific range and a specific tilt range while varying the direction theta and tilt angle (t) of a receive beam. Writing means 42, 32, 36, and 38 write the receive signal in a storage element of a storage device 35 corresponding to an address determined by theta, (r), and (t). Reading means 48 and 49 reads a stored signal out of a storage element of the storage device 35 according to an address determined by theta, (r), and (t) while varying (t) and theta within a predetermined range, and a color converter 57 is supplied with the output signals of the means 48 and 49 and sends out a color signal corresponding to the amplitudes of the signals. Then, the display device 44 displays the output signal of the converter 57 based upon the output of the means 48 at one half part, and the output signal of the converter 57 based upon the output signal of the means 49 at the other half part.

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 image on one half of the display surface of the display unit, which is divided into two parts, just like the conventional horizontal sonar. The present invention relates to an underwater detection device that displays a horizontal image on the other half of the display and also displays a vertical plane of a cross section in an arbitrary direction of the horizontal image.

In particular, a transponder that responds to a detection pulse emitted from a transducer installed on the ship and emits a response signal toward the transducer is installed at a suitable location on the net to detect and display a specific position on the net. Regarding devices that can be used.

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 a diagram illustrating the state in which the net is cast from a purse seiner.

FIG. 3 shows an example of the display of the underwater detection device according to the embodiment of the present invention.

FIG. 4 shows a block diagram of essential parts of an embodiment of the present invention.

FIG. 5 shows a storage device used in the embodiment of FIG.

FIG. 6 shows the display surface of the display used in the embodiment of FIG.

FIG. 7 shows a transducer used in the embodiment of FIG.

FIG. 8 shows a block diagram of the transponder.

In FIG. 1, a transducer 2 is provided on the bottom of a purse seiner 1. The transducer 2 emits a detection pulse in a wide range of directions and converts the reflected signal from the object to be detected into a directional reception beam 3.
Capture with. The directivity direction of this received beam is controlled to vary from the horizontal direction (0°) to the 90° direction in the four directions of arrows.

In FIG. 2, the nets 6 are sequentially cast from the own ship 1.

The floats 7.7.7... are installed along the upper part of the net 6. A transponder 8 is installed in the middle and lower parts of the network.

In FIG. 3, a horizontal plane image is displayed on the left half 10 of the display screen.
5.16.17...24 markers 25 are displayed.

The direction of the arrow 26 indicates the bow direction, and the radius on the left half of the display screen indicates the distance. A cross section in the direction indicated by the marker 25 on the horizontal plane image is displayed on the right half 27 of the display screen. The X direction indicates horizontal distance, and the two directions indicate depth. A school of fish 11 and a marker 28 are displayed. Marker 28 indicates the tilt angle of the received beam that depicts the horizontal plane image of the left half of the display surface.

In FIG. 4, a clock pulse generator 30 supplies a pulse train of a constant period to a frequency divider 31. The frequency divider 31 is
The frequency of the input pulse train is divided and sent to the direction counter 32.

The direction counter 32 performs a counting operation based on the input pulse, and the counted value is supplied to one input terminal of the receiving beamformer 33 and to one input terminal of the memory 35 via the switch 34. Further, the direction counter 32 sends an output pulse to the distance counter 36 when counting corresponding to the 360° direction is performed. The distance counter 36 performs a counting operation on the 4U to which the input pulse is applied, and the counted value is transferred to the switch 34.
The signal is supplied to one input terminal of the memory 35 via. Still, the distance counter 36 sends an output pulse to the transmitter 37 and the tilt controller 38 when it performs a division corresponding to the detected distance. The tilt controller 38 sequentially receives different tilt angle signals each time an input pulse is applied to the beamformer 3.
3 and to one input terminal of the memory 35 via the switch 34. Transmitter 37 supplies a probe pulse lasting a predetermined time to transmit beamformer 39 . The transmission beam former 39 is composed of, for example, many delay circuits, and supplies the input detection pulse to the corresponding transducer of the transducer 2 after being delayed by each delay circuit. Transducer/receiver 2
As shown in FIG. 7, many vibrators are arranged side by side on a cylindrical surface at equal intervals in the vertical and horizontal directions. Further, a large number of vibrators are arranged radially on the bottom surface of the cylinder. The transducer 2 has a carrier frequency f. It emits ultrasonic detection pulses in a hemispherical pattern beneath the water surface.

In FIG. 8, the transponder 8 receives the ultrasonic detection pulse sent out by the transducer 2 using a transducer 81.

The output signal of the vibrator 81 is amplified by an amplifier 82 and then supplied to a comparator 83 . If the amplitude of the received detection signal exceeds a certain value, the comparator 83 determines that <( is not a sound and sends the output signal to the pulse generator 84. When received, a pulse signal that lasts for a certain period of time is supplied to one input terminal of the transmitter 85 .

Oscillator 86 has a frequency f. is supplied to the other input of the transmitter 85. The transmitter 85 transmits a frequency f modulated with a pulse signal. The vibrator 81 is driven by the signal and this pulse signal is sent to the ship side.

The response pulse signal sent by the transponder 8 and the reflected signal from the object to be detected are captured by a vibrator arranged on the cylindrical surface of the transducer 2 and sent to the receiving beamformer 33. . The reception beamformer 33 is composed of, for example, a large number of delay circuits, and combines the reception signals in a predetermined order based on the output count value from the direction counter 32 and the tilt angle signal from the tilt controller 38. to sequentially form a received beam in a predetermined direction. The reception beamformer 33 first directs the beam to the cylindrical surface of the transducer 2 based on the output count value from the direction counter 32 in the horizontal (0°) direction determined based on the tilt angle signal. The received beams are sequentially formed at high speed in the direction perpendicular to the direction. When the received beam is formed around the cylindrical surface, the output count value of the distance counter 36 increases by one. The receiving beam 4 forming operation is repeated until the count value of the distance counter 36 reaches a value corresponding to the detection distance. Therefore, the reflected signals from objects to be detected existing on substantially concentric circles at equal intervals are captured by the receiving beam and sent to the analog-to-digital converter 42. When the horizontal detection operation is completed, the receiving beam is tilted by the tilt angle signal, for example, by 6° from the horizontal direction.
Downward: It is tilted and performs the same receiving beam forming operation as above. In other words, each time the count value of the distance counter 36 increases by 1, the received beam goes around the cylindrical surface, and the received beam continues until the count value of the distance counter 36 reaches a value corresponding to the detection distance. It forms nine times over the cylindrical surface. Similarly, each time the receiving beam forming operation at each tilt angle is completed, the receiving beam is directed downward at every 6° directivity angle, and the receiving beam forming operation is repeated until the tilt angle reaches 90°. The reflected signal captured by the receiver beam is provided to an analog-to-digital converter 42. The analog-to-digital converter 42 converts the input signal into a digital quantity and then supplies this output to the input terminal of the memory 35 .

As shown in FIG. 5, the memory unit 35 has a J1 tilt in the direction of distance r and a direction of K (7) in the direction of water from the bow.
Consists of JXKXL bits. In addition, the detection signal is 23
Since the intensity is divided into stages and stored in the memory, three memory units shown in FIG. 5 are connected in parallel.

The memory 35 converts the output signal of the analog-digital converter 42 into the count value θW1 of the direction counter 32 and the distance counter 3.
6 is counted and sequentially written into the memory element at the address determined based on the tilt angle signal W of the tilt control unit 38.

The display on the display 44]nj is as shown in FIG.
The number of pixels is (3N+1) in the h direction and (2M+1) in the V direction.
), so there are (3N+1)(2M+1) pieces, of which NX(2M+1) pieces on the inner fabric side are used for vertical cross-sectional image display. The clock pulse generator 45 sends out a clock pulse train to the vertical counter 46 , the switching terminal of the switch 34 , and the input/read terminal of the recorder 35 .

Vertical counter 46 counts input clock pulses and supplies the counted value to one input terminal of deflection circuit 47 and coordinate conversion circuits 48 and 49. Further, the vertical counter 46 sends an output pulse to the horizontal counter 50 when counting clock blocks corresponding to the number of pixels in the V direction on the display surface of the display 44. Horizontal counter 50 counts input pulses and sends the counted value to deflection circuit 47 , one input terminal of coordinate conversion circuits 48 and 49 , and comparator 51 . The deflection circuit 47 is
The electron beam of the display 44 is first deflected in the tv direction and then in the h direction. In other words, the electron beam is directed in the V direction (3N
+ 1 ) times of deflection scanning to perform one surface scan.

The coordinate conversion circuit 48 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 46 and the horizontal counter 50. Perform the coordinate transformation of ζ. The coordinate conversion circuit 48 receives a tilt angle signal T for protrusion.
rl, read distance/ais number Rrl switch 53
and 34 to the storage device 35.

The azimuth setter 54 supplies the read azimuth signal 0r□ (corresponding to the marker 25 in FIG. 3) to the memory 35 via the switches 53 and 34. The comparator 51 has N set in advance by the N setting device 55, and when the count value N is supplied from the horizontal counter 50, it sends a coincidence signal to the switch 53 and switches the manual signal to the switch 53 for selection. and sends it to the storage device 35. That is, until the count value of the horizontal counter 50 reaches N, the output signals 1゛r1, Rr and θr of the coordinate conversion circuit 48 and the direction setter 54 are supplied to the memory 35, and the address determined based on these signals is The stored signal is read out from the storage element and supplied to the display 44 via the color converter 57, and a vertical cross-sectional image is displayed on the display surface. The color converter 57 supplies a color signal to the display 44 according to the amplitude of the input signal.

The coordinate conversion circuit 49 stores signals to be displayed on predetermined pixels of the horizontal image display section of the display surface. C The address of the element is sent to the vertical counter 46 and the horizontal counter 5.
Coordinate transformation to be determined based on the count value starting from 0 is performed. The coordinate conversion circuit 49 converts read distance signals R, r
2 and readout azimuth signal θr, switchers 53 and 34
The data is supplied to the storage device 35 via the. At this time, the tilt angle signal Tr is supplied from the tilt setter 43 to the memory 35 via the switches 53 and 34. The tilt setting device 43 is
Set the tilt angle of the displayed horizontal plane image. Comparator 5
When the coincidence signal from 1 is supplied to the switch 53, the input signal is switched, and the read distance signal Rr2, the azimuth signal θr2, and the tilt angle signal Tr sent out by the coordinate conversion circuit 49 are sent to the storage device via the switch 34. 35. These signals T1. A storage signal is read from the storage element at the address determined based on r2θr2 and Tr2, and is supplied to the display 44 via the color converter 57, and a horizontal plane image is displayed on the left side of the display surface.

For example, when the potential of the clock pulse from the clock pulse generator 45 is positive, the output of the analog-to-digital converter 42 is stored in the memory 35, and when the polarity changes and the potential becomes negative, the switch 34 is activated. Switched notes 1. The storage signal stored in the K (device 35) is read out and supplied to the display 44.

The output signal θr1 of the direction setter 54 is supplied to one input terminal of the comparator 61. The other input terminals of the comparator 61 are supplied with direction signals θr1 and θr2 from the switch 53. The comparator 61 supplies an output signal to the input terminal of the gate 60 when the azimuth signal θr1 for a-1 and protrusion from the azimuth setter 54 and the azimuth signal θr2 supplied from the coordinate converter 49 match. The output signal of comparator 51 is supplied to a control terminal of gate 60 and to inverter 63. gate 6
0, when a signal is supplied to the control terminal, the output signal of the comparator 61 is passed through the color converter 57 to the display 4.
4. As a result, marker 25 is displayed.

The tilt angle signal 'T''r2 from the tilt setting device 43 is supplied to one input terminal of the comparator 65, and the tilt angle signal for reading from the coordinate conversion circuit 48 is supplied to the other input terminal of the comparator 65. Signal Tr1 and tilt angle setter 43
A tilt angle signal 1゛r2 from . Comparator 6
5 is a tilt angle signal Tr from the tilt angle setter 43;
When the tilt angle signal 2 and the tilt angle signal 2 supplied from the coordinate conversion circuit 48 match, an output signal is supplied to the input terminal of the gate 64. The inverter 63 inverts the input signal and supplies an output signal to the gate 640 control terminal. gate 64
When it receives a signal at its control terminal, it passes the output E of the comparator 65 and supplies it to the display 44 via the color converter 57.

As a result, marker 28 is displayed.

Next, the operation will be explained. First, the carrier frequency f is transmitted from the transducer 2 in a hemispherical manner. A detection pulse is emitted.

The response pulse signal from the transponder 8 and the reflected wave from the object to be detected are sequentially captured by a receiving beam formed horizontally (0° 1 direction) by a beamformer 33, and are captured by an analog-to-digital converter 42. The signal is supplied to the memory 35 via the direction counter 32, and is sequentially written into memory elements at addresses determined based on the count value θW of the direction counter 32, the count value θW of the distance counter 36, and the tilt angle signal of the tilt controller 38.Horizontal direction When the detection operation of It is stored in the memory 35. When the detection operation at the tilt angle of 6° is completed, the detection pulse is emitted from the transducer 2 into the water.
The reflected waves formed sequentially in the 2° direction are captured and recorded (;ER'
Stored in AI:35. Thereafter, similarly, the tilt angle of the receiving beam is changed every time a detection pulse is emitted, and the tilt angle is changed up to 90° to perform a detection operation.

After that, the tilt angle of the receiving beam is changed from 0° to 90° in the same way.
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 25 determined by the orientation signal θr1 sent by the orientation setter 54 is displayed. A constant azimuth signal θr is sent from the azimuth setter 54 to the storage device 35, and a read tilt angle signal 'J, which changes based on the count values of the vertical counter 46 and the horizontal counter 50, is sent from the coordinate converter 48. ” r 1 and reading distance + Im signals R and rl are sent out.

From the memory device 35, a memory signal is read out from the memory element at the address determined by the signals θ11.1゛r1 and 几r1.
'The signal is supplied to the LCRT 44 and displayed in color. As a result, the amplitudes of the response pulse signal from the transponder 8, the reflected signal from the fish school, and the marker signal are different from each other.
The school of fish 11 and the marker 28 are displayed in different colors and can be easily identified.

On the left half of the display surface, a horizontal plane image is obtained in which a signal returning from the direction of the tilt angle marker 28, which is constant with the tilt angle signal 1'r2 sent out by the tilt setting device 43, is displayed. The storage device 35 is supplied with a constant tilt angle signal Tr2 from the tilt setting device 43, and a readout azimuth signal or which changes based on the count values of the vertical counter 46 and the horizontal counter 50 from the dimension coordinate converter 49, and The number Rr2 is sent to the reading distance A. From the memory device 35, a memory signal is read out from the memory element at the address determined by the signals 'l' r 2, or, and Rr 2 (supplied to the RT 44, and as a result, a horizontal plane image is displayed. Since the amplitudes of the response pulse signal, the reflected signal from the fish school, and the marker signal are different from each other, the transponder 15.16.17
...24 and fish school 11, 12, 13 and marker 2
5 are displayed in different colors and can be easily identified.

Note that the azimuth θr1 within a predetermined azimuth angle range is sequentially sent to the switch 53 and the comparator 61. ', the marker 25 moves within the azimuth angle range, and the underwater jFl: vertical cross-sectional image determined by the marker 25 is displayed on the right half of the display screen. As an example for doing this,
The output signal of the horizontal counter 50 is divided by a frequency divider, the divided output is supplied to a counter that repeatedly counts a predetermined number of times, and this counted value and the output signal from the direction setting device 54 are added to an adder. The added value obtained is supplied to the switch 53 and the comparator 61.

In the above embodiment, the output signals 'I'r and l of the tilt angle setter 43 are supplied to the switch 53 and the comparator 65, but instead, the tilt angle signal +1-1w from the tilt controller 38 is supplied. It can also be supplied to the switch 53 and the comparator 65. In this case, the marker 28 changes every time a detection pulse is emitted from the transducer 2. No. 18 returning from the direction of the tilt angle marker 28 is displayed on the left half of the display surface, and a changing horizontal plane image is obtained in the IIE fourth order.

In the above embodiment, a transducer 2 in which the transducers are arranged on a cylindrical surface is used, but it is also possible to use a transducer in which the transducers are arranged at equal density on a hemisphere. In this case, the detection pulse sent out by the transmitter 37 may be directly supplied to the transducer.

Further, the beam former 33vi sequentially forms a received beam in a predetermined direction by phase-synthesizing the received signals captured by a predetermined group of transducers.

As described above, according to the present invention, one half of the display screen that is divided into two displays a horizontal plane image of the underwater situation, and the other half displays a vertical cross-sectional image of the horizontal plane image in any direction, and a screen is placed on the base. To provide an underwater detection device which detects a specific position and displays this position in a color different from that of other objects to be detected or markers so that it can be easily identified.

[Brief explanation of drawings]

Figure 1 is a diagram showing the state in which the underwater situation is being detected. Figure 2 is a diagram to explain the state in which the net is cast from a purse seiner. This is an example of the display of the display of the underwater detection device according to the embodiment of the invention. Fig. 4 is a block diagram of the main part of the embodiment of the invention. Fig. 5 is
This is a memory device used in the embodiment of FIG. 4. Figure 6 shows
1 which is an indicator of the indicator which is connected to the embodiment of FIG.
゜1 Figure 7 shows a transducer used in the embodiment shown in Figure 4. FIG. 8C; 11 is a block diagram of the transponder. Applicant Furuno Electric Co., Ltd. Figure 1, Figure 2, Figure 3, Figure 6, Figure 5, Figure q''

Claims (1)

[Claims] A transmitter that emits a detection pulse in a wide range of directions, and a transmitter that is attached to a network and transmits a pulse signal having the same frequency as the frequency of the detection pulse to the transmitter in response to the detection pulse. The transponder receives reflected signals arriving from a distance R1r that increases sequentially while repeatedly changing the direction θ of the receiving beam, and after completing the detection within a predetermined section lUj, changes the tilt angle t of the receiving beam and A wave receiving means that repeatedly performs the same operation within a predetermined tilt range angle after repeating the same operation, a memory that stores the received signal, and an address determined by θ, rl t for the received wave 1. a first reading means for reading a stored signal from the storage element of the storage device at an address determined by t1θ and r by varying the storage signal t within a predetermined range; By varying the storage signal θ within a predetermined range, θ,
a second readout means for reading out from the storage element of the memory device with addresses determined by r and t; and a color converter that is supplied with the output signals of the first and second readout means and sends out a color signal according to the amplitude of the signal. and displaying the output signal of the color converter based on the output signal of the first reading means on one half thereof, and displaying the output signal of the color converter based on the output signal of the second reading means on the other half. An underwater detection device consisting of a display device.