JPS6237348B2 - - Google Patents

Description

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

This type of underwater detection device is configured, for example, by transmitting omnidirectional ultrasonic pulses in a wide range of directions and receiving the reflected waves returning from each direction with a receiver having a directional direction in each direction. ing. and,
When displaying reflected waves in each direction, reflected waves on equidistant lines are sampled by chronologically converting reflected waves returning from each direction at high speed. The reflected waves in each direction are displayed at respective corresponding azimuth positions by brightness modulating the cathode ray tube electron beam that performs spiral scanning using this sampling signal.

In such a display device, reflected waves on the display are often displayed in a zaic pattern due to the directivity of the ultrasonic receiver. Furthermore, the reflected waves returning from the water are relatively unstable due to the movement of the ship, etc. Therefore, it is relatively difficult to determine whether the displayed image shows noise or a detected object. In particular, when the detected object is a small object, it is displayed as a dot on the display and the display blinks due to the movement of the ship, etc., making it even more difficult to identify the detected object.

This invention aims to improve these drawbacks.
At the same time as displaying detection results in a wide range of directions, detection signals returning from a desired range direction are selected and the time course of the selected signals is displayed on the same display, making it easy to identify detection signals. Provided is a display device that can be adjusted.

This will be explained below with reference to the embodiments shown in the drawings.

In FIG. 1, a transducer 1 transmits ultrasonic pulses in a wide range of directions and receives reflected waves from each direction. As shown in FIG. 2, the transducer 1 is, for example, a directional transducer T ₁ , T ₂ , T ₃ ...T _o whose directional directions are slightly different from θ ₁ , θ ₂ , θ ₃ ...θ _o are arranged along the circumferential direction. When the transducer 1 transmits ultrasonic pulses, all the directional transducers are simultaneously excited by the transmitter 2 to transmit the ultrasonic pulses in a wide range of directions. The reflected waves returning from each direction are received by the respective directional transducers T ₁ , T ₂ , T ₃ , . . . _To , and then sent to the time series circuit 3. The time series circuit 3 electronically switches and transmits the received signals of the directional transducers T ₁ , T ₂ . . _{. To} , and for example, as shown in FIG _. Fixed terminals S ₁ , S ₂ , S ₃ ...S _o
The movable terminal S ₀ receives the received signals of _the directional transducers _{T 1 , T 2 , T 3 .} Switch them in order and take them out.

The above switching operation of the time series circuit 3 is performed by the azimuth counter 4. The azimuth counter 4 counts the clock pulse train sent out from the clock pulse source 5, and the time series circuit 3 sends out a received signal of the directional transducer in the azimuth indicated by the count value of the azimuth counter 4. And the direction counter 4 is
Count the n pulse trains of the clock pulse source 5,
The time series circuit 3 is a directional transducer T ₁ , T ₂ , T ₃ ...T _o
An output pulse is sent to the distance counter 6 each time each received signal is sent out in one round. The distance counter 6 counts the output pulses of the azimuth counter 4 and sends out an output pulse when a certain count value is reached. This output pulse is sent to the clock pulse source 5 to stop sending clock pulses. Therefore, for example, if the repetition period of the output pulse sent from the azimuth counter 4 is 1 m,
If the distance is set equal to the time required for a round trip, when the count value of the distance counter 6 reaches 500, the time series circuit 3 will send out the reflected wave from the detected object within a range of 500 m. . Note that the clock pulse source 5 sends out a pulse train at the same time as the ultrasonic pulse is sent by the transmitter 2, and stops sending out the clock pulse when the output pulse is sent out from the distance counter 6.

The reflected waves in each direction sent out from the time series circuit 3 are guided to an A/D converter 28, where the analog level is converted into a digital value. A/D converter 28
The output converted into a digital value is sent to the write circuit 7, and at the same time, it is also sent to another write circuit 9 via the gate circuit 8. Write circuit 7
writes the digital data sent from the A/D converter 28 into the memory circuit 10, and the write circuit 9 writes the digital data passed through the gate circuit 8 into the memory circuit 11. At this time,
The write circuit 7 sends an A/D signal to a specified address sent by the coordinate converter 12 among the memory addresses of the memory circuit 10.
Write digital data of converter 6. On the other hand, the write circuit 9 writes the address counter 13 and the distance counter 6 out of each memory address of the memory circuit 11.
The digital data sent from the gate circuit 8 is written to the storage address specified by the .

The coordinate converter 12 converts the direction and distance position corresponding to the digital data sent out by the A/D converter 28.
Convert to position on XY coordinates. That is, the direction of the reflected wave transmitted from the time series circuit 3 is determined by the direction counter 4, and the distance thereof is determined by the distance counter 6. Therefore,
Since the position of the reflected wave at this time is given as a polar coordinate position, the coordinate converter 12 converts this into a position on the XY coordinates and transmits it. This coordinate transformation can be performed, for example, by storing in advance a position on the XY coordinates corresponding to the polar coordinate position in a storage element. The memory circuit 10 has memory addresses in m rows and n columns, and performs coordinate transformation using the memory addresses in m/2 rows and n/2 columns as the center position on polar coordinates.

On the other hand, the gate circuit 8 selects the comparator circuit 1 from among the digital data sent out from the A/D converter 28.
When the output is sent from 8, the azimuth data is sent. This comparison circuit 18 sends out an output when the azimuth data of the azimuth counter 4 matches the azimuth data calculated by the arithmetic circuit 14. Therefore, the arithmetic circuit 14 specifies the azimuth data to be passed through the gate circuit 8 from among the azimuth data of the A/D converter 28, and the designated azimuth is the azimuth set by the azimuth setter 15 and the angle setter 16. Calculation is performed based on the set angle of. That is, the azimuth setter 15 specifies a desired azimuth from among the azimuths specified by the azimuth counter 4. Also, the angle setting device 16 is the direction setting device 15.
Set the desired angle range centered on the direction specified by . Then, the arithmetic circuit 14
The specified directions are sequentially specified within the set angle of the angle setting device 16. The sequential designation of designated directions is performed by the output of the number setting device. For example, direction setter 1
When the direction θ is set in step 5 and the angle α is set in the angle setting device 16, the arithmetic circuit 14 sequentially specifies the direction from (θ+α/2) to (θ−α/2), and the number setting device 17 Each time the output is sent out, the designated direction changes by a fixed angle.

The number setting device 17 sends out one output in response to multiple output pulses from the transmitter 2, and for example,
A frequency divider circuit is used. By arbitrarily setting the frequency division ratio, the number of output pulse transmissions of the transmitter 2 relative to the output of the number setter 17 can be arbitrarily set. For example, the number of times setting device 17
When the set number of times is set to "5", an output pulse is sent out from the number setter 17 every time the transmitter 2 transmits a transmission pulse five times. This output pulse is guided to the arithmetic circuit 14. The arithmetic circuit 14 changes the specified direction by a fixed angle every time the output pulse of the number setting device 17 is input. The designated orientation after the change is maintained until the next output pulse is input, that is, until the transmitter 2 outputs the transmission pulse five times.

The designated direction of the arithmetic circuit 14 is compared with the direction data of the direction counter 4 in the comparator circuit 18, and when both directions match, the gate circuit 8 becomes conductive and the A/
The output of the D converter 28 is guided to the write circuit 9.

The write circuit 9 writes the output of the gate circuit 8 into the memory circuit 11. The memory circuit 11 has memory addresses in m rows and i columns, and the address counter 13 specifies the memory addresses in the column direction, and the distance counter 6 specifies the memory addresses in the row direction. The address counter 13 uses a subtraction counter,
Each time the transmitter 2 sends out an output pulse, the count value decreases from i to 1. The write circuit 9 specifies the storage address in the column direction of the storage circuit 11 corresponding to the subtracted value of the address counter 13. On the other hand, the distance counter 6 that specifies the row direction memory address changes the count value from 1 to m by the output pulse of the direction counter 4.
changes up to. This change in the count value is performed while the count value of the address counter 13 is changing to the next value.

Therefore, the output signal of the gate circuit 8 is transmitted to the memory circuit 1.
When written to 1, the row direction storage addresses 1 to m correspond to the distance of the received signal returning from the specific direction. The column direction memory address is switched to the adjacent memory address each time the transmitter 2 sends out an output pulse, but the gate circuit 8 switches the memory address in the same direction while the same number of transmission pulses as the set value of the number setting device 17 is transmitted. Outputs received signal data. Therefore, the memory circuit 11
On the upper side, received signal data in the same direction is repeatedly written in memory addresses in the same number of columns as the number set in the number of times setter 17.

After the data stored in the storage circuits 10 and 11 are read out by the respective readout circuits 19 and 20,
It is guided to the A converter 21. The D/A converter 21 converts the read digital data into an analog signal and sends it to the luminance terminal of the cathode ray tube display 22.

The cathode ray tube display 22 is composed of pixels arranged in m rows and (n+i) columns, and displays the data stored in the memory circuit 10 in the pixel areas of the 1st to nth columns, and displays the storage data in the pixel areas of the (n+1) to (n+i) columns. 11 stored data is displayed. The cathode ray tube display 22 is scanned with an electron beam by an X-axis sweep circuit 23 and a Y-axis sweep circuit 24. The X-axis sweep circuit 23 scans in the row direction, and the Y-axis sweep circuit 24 scans in the column direction. Do each. Further, the X-axis sweep circuit 23 positions the electron beam at a position in the row direction indicated by the count value of the X-axis counter 25. The Y-axis sweep circuit 24 positions the electron beam at a position in the column direction indicated by the count value of the Y-axis counter.

The X-axis counter 25 counts the clock pulse train sent from the clock pulse source 27, and sends an output pulse to the Y-axis counter 26 every time the count value changes from 1 to m. The Y-axis counter 26 counts the output pulses of the X-axis counter 25, and its count value repeatedly changes from 1 to (n+i). Therefore, the count value of the Y-axis counter 26 changes from 1 to (n+
When it changes to i), one surface scan of the cathode ray tube display 22 is completed.

As described above, the CRT display 22
While XY-axis scanning is performed, the X-axis counter 2
5. Each count value of the Y-axis counter 26 is switched and led to either the readout circuit 19 or 20 via the changeover switch 31. The changeover switch 31 is the changeover circuit 2
9 performs the switching operation. The switching circuit 29 guides each count value of the X-axis counter 25 and the Y-axis counter 26 to the readout circuit 19 while the count value of the Y-axis counter 26 changes from 1 to n. Then, the count value of the Y-axis counter 26 changes from (n+1) to (n+i)
During this period, the counts of the X-axis counter 25 and the Y-axis counter 26 are led to the readout circuit 20. At this time, the count value of the Y-axis counter 26 led to the readout circuit 20 is calculated as follows in the arithmetic circuit 30 and then sent to the readout circuit 20.

The arithmetic circuit 30 first subtracts the value n from the count value Y of the Y-axis counter 26. The switching circuit 29 changes the count value of the Y-axis counter 26 from (n+1) to (n
+i), the subtraction value (Y-m) changes between 1 and i. Then, the arithmetic circuit 30 adds the count value j of the address counter 13 to this subtracted value (Y-n). Therefore, the addition value (Y-n)+j is j+1, j+2, j+
3 . Therefore, the memory circuit 11 has the address counter 1
Based on the count value j of 3, j+1, j+2, j
+3...i storage data in each column is read out in sequence.

Furthermore, the arithmetic circuit 30 calculates the above added value (Y-n)
When +j exceeds the number i, the additional value (Y-n) +
The value i is subtracted from j and sent. Therefore, the calculation outputs at this time are 1, 2, 3, . . .

As a result of the above, the count value of the Y-axis counter 26 is (n
+1) to (n+i), the memory circuit 11 reads the stored data of each column starting from the (j+1) column in order of the column number. As for the stored data in each column, the newest signal data is written in the count value j column of the address counter 13, and the oldest data is written in the order of the column number, so the readout circuit 20 reads the data from the newest to the oldest. Data is read out in order.

On the other hand, the readout circuit 19 reads the memory circuit 1 when the count value of the Y-axis counter 26 changes from 1 to n.
Specify the column storage addresses of 0 in order from 1 to n. Therefore, when the count value of the Y-axis counter 26 changes from 1 to (n+i), the stored data at all addresses in the memory circuits 10 and 11 is read out and displayed at the corresponding pixel position on the cathode ray tube display 22.
That is, in the first to n columns of the cathode ray tube display 22, underwater detection signals in a wide range of directions stored in the storage circuit 10 are displayed. And the (n+
Between columns 1) and (n+i), the data stored in the memory circuit 11 is read out and displayed as described above. Therefore, as is clear from the above, on the cathode ray tube display 22, the newest stored data is displayed at the (n+1) column position, and the oldest stored data is displayed in the order of column numbers. The column direction storage address corresponds to the arrival direction of the received signal, and
Since the received signals in the same direction are displayed repeatedly in multiple rows, even when the detected object is a small object, it can be clearly displayed.

[Brief explanation of the drawing]

FIG. 1 shows an embodiment of the invention, and FIG. 2 shows a specific example of the transducer.

Claims (1)

[Scope of Claims] 1. A wave transmitting/receiving device that transmits ultrasonic pulses in a wide range of directions and separately receives reflected waves returning from each direction with a receiver having a directivity direction in each direction; a time-series circuit that time-series the reflected waves in each direction received by the wave device and transmits the time-series signals; a selection circuit that sequentially changes every time the detection pulse is applied within the corner; and an azimuth of a time-series signal sent by the time-series circuit;
a coordinate converter that converts a distance position to a position on XY coordinates; a first storage circuit that has memory addresses in m rows and n columns and stores signals sent out from the time series circuit; and a memory address in m rows and i column. a second storage circuit that stores the signal selected by the selection circuit; and a second storage circuit that stores the signal selected by the selection circuit, and stores the time-series signal sent from the time-series circuit at a storage address of the first storage circuit specified by the coordinate converter. a first write circuit for writing, and a memory that stores the selection signal sent by the selection circuit, which is determined by the distance position of the selection signal among the memory addresses of the second storage circuit and the number of times the ultrasonic pulse is transmitted. a second write circuit for writing to the address; a display configured of m rows and (n+i) columns of pixels and displaying the data stored in the first and second storage circuits; and a display for displaying the data stored in the first storage circuit. a first readout circuit that reads out and displays the readout data in the m-row n-column pixel area of the display; and a first readout circuit that reads out the memory data of the second storage circuit and displays the readout data on the pixel area of the display. a second readout circuit that displays in a pixel area different from the display area displayed by the first readout circuit; A wide range underwater detection display device comprising a switching circuit for switching readout operations.