JPS6195266A - Underwater detection apparatus - Google Patents

Abstract

PURPOSE:To make it possible to positively perform the discrimination of detection signals, by setting markers in a horizontal direction and a depth direction and displaying the marker coinciding with the detection signal calculated from an ultrasonic wave reflected signal on a display picture. CONSTITUTION:Ultrasonic wave reflected signals arriving from wide range directions are received by using scanning sonar to successively perform operation for calculating the detection signals of an underwater state with the movement of a ship and the ultrasonic wave reflected signals at a present position are subjected to A/D conversion to be stored in memory. A marker setting means for setting a proper marker to a horizontal or depth direction is provided. The memory content of the memory is read and a detection signals are compared with the marker of the marker setting means when detection signals 0, 1 at a plurality of positions are simultaneously displayed to simultaneously display a corresponding marker m0 or m1.

Description

[Detailed description of the invention] The explanation will be given below in the following order.

(a) Technical field (b) Prior art and its drawbacks (Summary of C1 invention - (d) Object of the invention.

(e) Structure of the invention (f) Effects of the invention (GLExamples, [Explanation] (ALTechnical field) This invention uses a scanning sonar that detects a wide range of directions to three-dimensionally detect the time course of returning detection signals. This invention relates to an underwater detection device that is capable of displaying information such as Regarding movement over time, the operator cannot accurately grasp the continuous movement of the object to be detected.In order to solve this problem, the applicant has developed a scanning sonar system. We proposed a device that displays the detection signals of each transmission three-dimensionally while shifting them on the display screen. However, this device displays the detection signals three-dimensionally while shifting the detection signals of several to ten times There is a drawback that if the signals overlap or intersect, it becomes difficult to understand the correspondence between the detection signal and the underwater position.

(C1 Purpose of the Invention The purpose of this invention is to display markers of detection signals to ensure identification between detection signals, and to quickly and accurately grasp the state of fish schools and the seabed, etc., to facilitate fishing.

The purpose of the present invention is to provide an underwater detection device useful for navigation, seafloor surveying, etc.

(D1 invention) A scanning sonar is used as a sonar that emits ultrasonic waves in a wide range of directions and receives reflected signals. The sonar uses two groups of transducers, one for transmitting and one for receiving, using the Nikros fan beam method to form a detection beam. FIG. 2 shows the detection beam, and FIG. 3 shows the arrangement of the vibrator group. FIG. 3 is a view of the transducer group 2.3 attached to the bottom of the ship l, seen from above. The transducer group 2 has a number of transducers 20 to Zk-1 arranged vertically in the bow direction of the ship, and has a receiving beam 4 that is wide in the direction of movement of the ship and narrow in the vertical direction.
form. This receiving beam 4 is moving from starboard to port as shown by arrow 6 (.

The width of receiving beam 4 in the direction perpendicular to the ship's traveling direction is Δθ,
shall be. The transducer group 3 has one transducer zo in the bow direction.
'+zt-t' are arranged in parallel to form a transmission beam 5 that is narrow in the direction of movement of the ship and wide in the vertical direction. The width of the transmission beam 5 in the ship's traveling direction is assumed to be Δθ. The detection beam is constituted by M (M is an odd number) small beams that are fan-shaped directly below the ship and have a beam width of Δθ1 in the direction of travel and Δθ in the direction perpendicular to the direction of travel.

Here, if the fan-shaped beam width is 2θ, then 2θ=Δθ, XM. The beam forming method described above is called the cross-fan-heam method, and by moving the receiving beam 4 from starboard to port every Δθ, the underwater situation within a fan-shaped portion with a beam width of 2θ directly below the ship is detected. It is possible to detect every narrow range of Δθゎ perpendicular to the direction of travel. 7 in Figure 2 shows the submarine line to be detected. The detected signal is displayed as shown in FIG. This figure shows detection signals based on the past four transmissions displayed in color on a CRT.

Next, a method of displaying FIG. 4 will be explained.

Now, in order to express the underwater position as shown in Figure 2,
Use X-Y-Z coordinates. The current transducer position l is the origin, the vertical direction is Y, the traveling direction Z, and the direction perpendicular to Z is X.
shall be. FIG. 4 shows the underwater situation when looking toward the rear of the ship from above the ship with the eyes positioned on the Y-Z plane. Among the four submarine lines in FIG. 4, the bottom line is the submarine line based on the latest transmission, and the one displayed at the top is the submarine line based on the past transmission.

In the display screen shown in FIG. 4, the vertical direction of the screen is y.

When the horizontal direction is represented by X, the X direction represents the horizontal distance, and the X direction represents the depth. Horizontal distance is the horizontal distance from directly below own ship. Detection signals are color-coded according to their strength.
The intensity increases in the order of white, green, yellow, and red. Fifth
The figure is a partial - scaled view of FIG. 4. The number of pixels of the CRT is IXI. 100-103 are rectangular areas for displaying detection signals. Each detection signal moves Δ to the right of the screen each time it is sent.
It moves upward by Δy, and when the old and new detection signals overlap, a new ° signal is displayed. Therefore, the latest detection signal is displayed in the rectangle at the bottom left of the screen.

Depth or horizontal distance markers are used to identify each detection signal. This marker can be set arbitrarily using the marker setting tool, but the setting contents also vary.

The following methods are available.

■Fixed depth marker ■Variable depth marker ■Fixed marker for horizontal distance ■Variable marker for horizontal distance FIGS. 6 to 9 show examples of display of the variable depth marker (■).

6 and 7 are displays in which the detection signals are color-coded according to their intensity, and FIGS. 8 and 9 are displays in which each detection signal is numbered and the color is changed according to the number. The variable depth marker setting device (not shown) is composed of seven digital switches that can arbitrarily set the position of the CRT in the y direction.

The display colors in FIGS. 6 and 8 are determined based on Table 1 or Table 2 below.

Table 1 Table 2 In Table 1, the detection strength signal is represented by 2 bits, ie O~3, where 0 indicates no signal. P, G, Y, B, and W in the table are respectively pink, green, yellow, blue, and white. Top position and y1 direction (depth direction)
This is a signal that is output when the count values of the read counter (not shown) match. When "match O output" is "H", a marker with detection signal number 0 is displayed. When "match 1 output" is "H", a marker with detection signal number 1 is displayed.

In Table 2, the detection depth intensity is represented by 1 bit, i.e. 0 and 1, where O indicates no signal, again “match O output °,”
, when the match l output ° is "H", a marker for each detection signal number is displayed.

In FIGS. 6 to 9, two detection signals with detection signal number 0.1 and two markers with variable depth marker numbers mO and ml targeted at these signals are displayed. By changing the setting value of the variable ti degree marker setter, the two markers can be moved up and down together while maintaining the interval between them. When the set position of the depth marker and the depth data value in the y direction (depth direction) fail, the marker of that detection signal number is displayed.

In FIGS. 6 and 8, the detection signal at the marker position is displayed in a different color from other detection signals. In FIGS. 7 and 9, the portion below the marker is displayed in different colors. Note that there are the following methods for setting markers.

■For α detection signals, set by moving α markers up and down at the same time using one variable depth marker setter, or moving α markers left and right at the same time using one variable horizontal distance marker setter. do.

■In response to α detection signals, α markers can be moved up and down independently using α variable depth marker setters, or α markers can be moved left and right independently using α variable horizontal distance marker setters. Set it by moving it to

■In response to α detection signals, two variable depth marker setters can be used to simultaneously move α markers up and down,
Settings are made by moving α markers left and right using two variable horizontal distance marker setting devices.

The depth or horizontal distance of the marker set with the above setting device may be numerically displayed on a CRT or a position display.

a memory that stores the A/D converted values of the ultrasonic reflection signals at the positions, a marker setting means that sets markers in the horizontal direction and the depth direction, and a detection signal that matches the marker set by the marker setting means. and means for displaying the marker on the display screen.

ff) Embodiment FIGS. 1A and 1B show an underwater detection device according to the present invention. This example is constructed under the following conditions.

(1) It is assumed that the past four detection signals are displayed on the display screen.

(2) The detection beam is based on the aforementioned cross fan beam method. (See Figures 2 and 3) '(3) Display four markers and display the depth of the marker in numbers. (4) The four variable depth markers shall be set by simultaneously moving them up and down using one variable depth marker setting device.

Each of the transducers of the transducer group 3 simultaneously emits ultrasonic pulses into the water using a transmitter 21 in a predetermined direction. The emitted ultrasonic pulses are reflected by objects such as schools of fish and the ocean floor, and are received by individual transducer groups 2 as detection signals. The received detection signal is sent to a preamplifier group 29.
After being amplified, the signals are sequentially sent to an A/D converter 31 via a phase synthesizer 30. The phase synthesizer 30 synthesizes the count output of the θ counter 23 and the received beams in the θ direction, switches the received data from each vibrator, and outputs the received data to the A/D converter 31 . The θ counter 23 is a counter that counts the output pulses of the comparator 24, and is an M-adic acounter of the number of beams in the sector shown in FIG.
The detection signal corresponding to the count value of 3 (see figure 2) is A/
It is output to the D converter 31. A counter 26 counts clock pulses output from a CP (clock pulse) circuit 28. The ROM 25 stores the frequency division ratio corresponding to the display range.6 The display range setter 32 sets the display range in the ROM 25. The output of the counter 26 and the output of the ROM 25 are introduced into the comparator 24, and the clock pulse is divided by the frequency division ratio set by the display range setter 32. The switch 27 switches the counter 2 based on the output of the flip-flop 70.
Switch between glue/lock supply and stop to 6. - The r counter 22 is an R-adic up counter. Here, R is a value that allows sufficient storage of detection signals up to the depth set by the display range setter 32.

The detection signal digitized by the A/D converter 31 is sent to a signal memory 33. r counter 22 and θ
The output of counter 23 is introduced into signal memory 33 via switch 94. The output of the flip-flop 70 is “
A detection signal is written in the signal memory 33 when the signal is L',
- When "■■", the data stored in the signal memory 33 is written into the display memory 34. That is, writing to the signal memory 33 and writing to the display memory 34 are performed alternately.

The output of flip-flop 70 is input to signal memory 33 and switch 27.94 via inverter 95. When the output of the flip-flop 7o is "L", the R/W input of the display memory 34 and the switch 27.94
The human power becomes "H", and the r counter 2 is stored in the signal memory 33.
A detection signal is written at an address corresponding to the count value of 2 and θ counter 23. The signal memory 33 can store detection signals for one transmission, and its capacity is MXR e [bits]. e corresponds to the number of output bits of the A/D converter 31. Detection signals are written into the signal memory 33 using polar coordinates. When the r counter 22 counts up to R-1, the next carry pulse from the tide counter 23 causes the flip-flop 70 and the latch 63.6 to be described later.
A carry pulse of the γ counter 22 is output to the delay circuit 68 and the delay circuit 68. The flip-flop 70 is set by this carry pulse (its output becomes "H"). As a result, the switch 2.7.94 is turned off, and the signal memory 3
The R/W input to 3 becomes "L". When writing to the signal memory 33 is stopped, the count values of the r counter 22 and the θ counter 23 also stop at 0.

The configuration of the display memory 34 is shown in FIG. The capacity of this memory is NXNX (e + 5b) (bits).sb
is the number of bits for storing the detection signal number of the storage signal. Four detection signals are displayed on the CRT screen.
b is 2. The detection signal taken out from the signal memory 33 is stored in the display memory 34 as Cartesian coordinate data.

The display memory 34 may store the depth of the signal instead of storing the detection signal number. It is also possible to use four display memories each having a memory capacity of WDo xi)0xe bits as shown in FIG. 10 for each detection signal number, and to superimpose each detection signal with priority on the display.

The display memory 34 has display frames 100 to 103 shown in FIG.
The respective 'fM regions are stored in a shifted state. The storage area of each frame is stored shifted by Δx in the x4 direction and Δy in the yH direction.

Next, writing of the detection signal from the signal memory 33 to the display memory 34 will be explained.

X counter 53. The y counter 52 is a counter for specifying a write address in the display memory 34, and is a D0-base up counter. When the output of the flip-flop 70 becomes H'' due to the carry pulse of the r counter 22, the switch 54 is turned on and a clock pulse is supplied from the CP circuit 57 to the X counter 53 and the y counter 52.At this time, the signal memory 33 R/W manpower is “L”
'' and enters the reading state.X counter 53 and y
Both counters 52 start counting from a count value O, and output the count value to the coordinate converter 51.

The coordinate converter 51 converts the orthogonal coordinate data output from each counter into polar coordinate data. The signal memory 33 stores the polar coordinate position (r.

The detection signal is extracted from address θ).

The detection signal taken out from the signal memory 33 is written into the display memory 34, and the writing address is X and y in the count values of the X counter 53 and the y counter 52.
, is the value obtained by adding . Here, Xs and y are the 10th
Corresponds to the upper limit position coordinates on the right side of the detection signal storage area in the figure. -The writing position is shifted to the left by ΔX and downward by Δy every time transmission is made, so the values of X and y change every time transmission is made. Adder 67, latch 64.6-5 and delay circuit 6
8 constitutes a circuit for determining X. Adder 66, latches 62 and 63, and delay circuit 68 constitute a circuit for determining y3. By these circuits, XS and .y are updated by .DELTA.X and .DELTA..gamma. when the r counter 22 outputs a carry pulse. The carry pulse of the r counter 22 is introduced into the latch 62.64 via the delay circuit 68, but its delay time is sufficiently smaller than the output pulse period of the CP circuit 57.

Since the display memory 34 includes NXN coordinate positions as shown in FIG. 10, the output value of the adders 66 and 67 cannot exceed N, and when it exceeds N, N is subtracted from the value. Output/output the value.

The display memory 34 stores not only the detection signal output from the signal memo 1/33 (but also the detection signal number), so the count value of the quaternary counter 69 is also input to the data input of the display memory 34. The advance counter 69 is a y counter; 5.
Count and count the 2 carry pulses. The switch 39 is for switching the write and read addresses of the display memory 34. Display memo・S34R
The black and black pulses of the CP circuit 57 are input to the /W input and switch 39, and writing is performed when these pulses are "H", and reading is performed when these pulses are "L". This is CR even when writing to the display memory 34.
This is because it is necessary to display the detection and signal on the T screen.

The output pulses of the CP circuits 5 and 7 are introduced into the R/W input via the switch 37. The signal presence/absence determination circuit 35 is a circuit that determines whether the output of the signal memory 33 is no signal. The output of this signal presence/absence determination circuit 35 is output from the at circuit 36.
is applied to the switch 37 via. Ann, do circuit 3
6 is also given the output of a flip-flop 70. 6
The output pulse of the CP circuit 57 is not always applied to the R/W input of the display memory 34, and the output signal of the signal memory 33 is not always applied to the R/W input of the display memory 34. When there is no signal, the output of the signal presence/absence determination circuit 35 becomes "L", the switch 37 is turned off, and no pulse is applied to the R/W human power. The reason for introducing the above-mentioned switch 37 is that it is not necessary to write to the display memory 34 while writing to the signal memory 33, and if no signal is written while writing to the display memory 34, the detection signal 1 or 2 before transmission will be erased. This is because you end up doing it.

When the count value of the X counter 52 reaches Do 1, writing of the detection signal to the display memory 34 ends. At the same time, with the next carry pulse of the X counter 53, the transmitter 21. X counter 5 to flip-flop 70 and quaternary counter 69
A 5 digit □ raising pulse is output. This carry-over pulse causes an ultrasonic pulse to be emitted into the water through the transmitter 21 and the transducer group 3, and the flip-flop 70
is reset and its output becomes "L", so writing of the detection signal to the signal memory 33 is restarted. Writing to the display memory 34 is stopped, and the counts of the X counters 53 and 52 also stop at zero. At this time 4
The count value of the advance counter 69 increases by 1.

Next, the display of the detection signal and the variable depth marker will be explained.

The variable depth marker setter 87 is a digital switch for setting the position of the display screen in the yD direction shown in FIG. 5 to 8°8 in the ROM. This setting device outputs the set marker depth to the marker depth display 89. Marker depth indicator 8
9 displays a numerical value of the marker depth.

The detection signal is read out from the display memory 34 by X. This is done by the counter 56 and the '10 counter 55. The Xo counter 56 and the yD 55 are binary up counters that count the output pulses of the CP circuit 57, and these counted values correspond to the coordinate positions on the display screen in FIG. Furthermore, C.P.
The output pulse period of the circuit 57 is the same as the time it takes to display one pixel on a CRT screen.

Reading from the display memory 34 starts from the upper right corner position (x's 3ΔL+)'s-3Δy) of the oldest signal among the detection signals currently stored in the display memory 34. The circuit for defining the upper right corner of the oldest signal mentioned above consists of a subtractor 42.45 and an adder 43.44. The output values of the subtracters 42.45 and adders 43.44 are in the range of 0 to Nl, and if the output values exceed this range, N is subtracted or added from the added/subtracted value.

The output values of the adders 43 and 44 are input to the display memory 34 via the switch 39 as a read address. The signal read from the display memory 34 is input to the color conversion ROM 46 through the latch 38, and the ROM 46 is a circuit that performs signal strength and color conversion to display the output signal from the display memory 34' in color on the CRT. . The output of the ROM 46 is introduced into the CRT 50 via D/Δ converters 47-49. 58.59 is the y deflection co-il of CRT50.

It is the X deflection coil, and 6.0.61 are the respective deflection amplifiers. The coordinates (x, y) on the display screen are Xtl
It is defined by the count values of counter 56 and yD counter 55.

The number of bits of the output of the A/D converter 31 is 2 in Table 1 above.
This is a bit, and is set to 1 bit in Table 2 above.

The capacity of the mata signal memory 33 is M×R×2 (in the case of Table 1)
, MXRXl (in the case of Table 1). In addition, when the signal presence/absence determination circuit 35 is 2 bits in Table 1, both bits are “L”.
'', an OR circuit is used that outputs "L", and in the case of 1 bit in Table 2, a discrimination circuit is not necessary, and the output of the signal memory 33 and the AND circuit 36 may be directly connected.

The circuit for determining the position of the set marker is subtracters 71 to 7.
4. It is comprised of switchers 75-78 and adders 79-82. Comparators 83 to 86 match Table 1 or Table 2.
It is used to obtain output. Now the latest detection signal □
If the count value of the quaternary counter 69 that outputs the number is 2, then the marker with number 2 is yo=3Δy+yD 'The marker with number 1 is y0=2Δy+yD', and the marker with number 0 is y, =Δy+)'o ”, the marker with number 3 is )'o
=) Displayed in 'o'. Here, y,' is a set value of the variable depth marker setter 87. Addition of these yD force direction coordinates is performed by adders 79 to 82. yo'
The subtracter 7 selects 0, Δy, 2Δy, and 3Δy to be added to
1 to 74 and switching devices 75 to 78.

The outputs of the subtracters 71 to 74 are θ to 3, and if the subtracted value is negative, a value obtained by adding 4 to that value is output. Further, the output values of the adders 79 to 82 do not exceed 1, and if the sum of the two input values is 1 or more, a value obtained by subtracting 1 from that value is output. The switching devices 75 to 78 have movable contacts connected to the output value contacts of the subtracters 7.1 to 74, and Fig. 1θ shows the state when the count value of the quaternary counter 69 is 2. . Δ'j+3'o'', 2Δ
The values of y+yo', 3ΔV"In'", y,' are obtained as the output values of the adders 79-82. These values are compared with y and the count value of the counter 55 by comparators 83 to 86, and when one loss occurs, a one loss output "H" is output.

This match output corresponds to the match output in Table 1 or Table 2, and the match output of detection signal number 0 is output from the comparator 83, the match output of detection signal number 1 is output from the comparator 84, and the match output of detection signal number 1 is output from the comparator 83. The coincidence output of detection signal number 2 is output from the comparator 85, and the coincidence output of detection signal number 3 is output from the comparator 86 to the ROM 46.
is output to. Since the detection signal number and matching output are manually entered in the ROM 46, the detection signal to which the marker is set is displayed with a marker in a different color from other detection signals as shown in FIG. 6 or 8.

When displaying as shown in FIG. 7 or 9, flip-flops 90 to 93 are used as shown by broken lines. After flip-flops 90-93 are set with matching outputs,
The output of the yD counter 55 remains "H" until it is reset by the carry pulse output by the vertical synchronization signal. The outputs of flip-flops 90 to 93 are also RO.
Since it is input to M46, the display of FIG. 7 or FIG. 9 becomes possible. However, the display color determination table for outputting the marker signal is different from Tables 1 and 2.

In the above embodiment, the circuit for erasing part of the display memory 34 when the display memory 34 is in the write mode is omitted. In FIG. 10, it is necessary to erase the shaded area, ie, write no signal, before writing the signal. however%
If the display memory of D, x[), and xe bits is to be displayed as many times as the number of display detection signals, an erasing circuit is not required □. □ In the above embodiment, one marker is displayed for each detection signal, but it is also possible to display two markers for each detection signal and change the color of the detection signal between the markers. Alternatively, a setting device for setting the detection signal number may be used, and the setting device may be input into the ROM 46 to display only the signal and marker of that number. Furthermore, the CPU and RA are used as coordinate converters.
M may be used to manually input the CPU's calculated values to the RAM. Coordinate transformation can also be performed as (x, y) - (r, θ) or vice versa (r, θ) → (x, y), and if this inverse transformation is performed at high speed, it can be written directly to the display memory. This eliminates the need to use a signal memory, eliminates the need to transfer signals from the signal memory to the display memory, and simplifies the circuit configuration.

(g) Effects of the Invention As described above, according to the present invention, even if old and new detection signals are displayed overlapping each other, a marker is displayed for the detection signal for which a marker has been set, so that the detection signal can be reliably detected. It is possible to quickly and accurately grasp the correspondence between the identified detection signal and the underwater position □.

[Brief explanation of drawings]

FIGS. 1(A) and 1(B) are configuration diagrams of an underwater detection device according to the present invention. Figures 2 to 9 are diagrams for explaining the present invention in detail. Figure 2 is a diagram showing the beam emitted from the ultrasonic transducer, and Figure 3 is a diagram showing the beam emitted from the ultrasonic transducer. Layout diagram, Figure 4 is a diagram showing an example of the display screen, Figure 5 is a diagram showing the display area of the CRT screen, Figures 6 to 9 are diagrams showing examples of marker display, and Figure 10 is the above-mentioned underwater detection. FIG. 3 is a configuration diagram of a detection signal storage memory of the device.

Claims (1)

[Claims] (1) In an underwater detection device that displays a detection signal of the underwater situation obtained by receiving ultrasonic reflection signals from a wide range of directions, the ultrasonic reflection signal at the current position and past positions including the previous position as the ship moves. a memory for storing A/D conversion values of each, a marker setting means for setting markers in the horizontal direction and the depth direction, and a marker setting means for displaying the marker on the display screen when the detection signal matches the marker set by the marker setting means. an underwater detection device having means for