JPS6319579A - Device for locking scanning direction of sonar - Google Patents

Abstract

PURPOSE:To surely catch a target by automatically fixing the scanning direction of ultrasonic waves when a required target is detected. CONSTITUTION:In case of no existence of a target within the scanning range of an ultrasonic wave transmitter/receiver (b), a deciding means (c) outputs a decision signal indicating that a receiving signal does not exceed signal level to a scanning advancing means (e). The means (e) outputs a command signal for scanning a scanning driving part (d) in the same direction to change the scanning direction of the transmitter/receiver (b) in the same direction. When the target exists in the scanning range of the transmitter/receiver (b), the receiving signal exceeds the set signal level, so that the means (c) outputs a decision signal indicating the excess of the receiving signal to a scanning locking means (f). The means (f) responds to the decision signal and outputs a command signal for fixing the scanning direction to the driving part (d). Consequently, the scanning direction of the transmitter/receiver (b) is fixed in the target searching direction and an information means (g) is simultaneously driven to inform the detection of the target to the user, so that sure catch of the target can be attained.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a scanning direction locking device for fixing the scanning direction of ultrasonic waves in a sonar mainly installed on a fishing boat and used for detecting schools of fish.

<Conventional technology> Sonar conventionally used for fish detection on fishing boats has an ultrasonic transducer installed in a dome on the bottom of the ship, and the azimuth and elevation angle of this transducer are controlled by a mechanical device such as a motor. It is known that the change can be made using a driving means.

This sonar normally performs ultrasonic scanning by rotating the transducer all the way around in a horizontal plane.

When a target school of fish is detected, the user is notified of the detection of the fish school by operating an alarm such as a buzzer. In response to this notification operation, the user
Manually operate the operating section to direct the scanning direction of the ultrasonic transducer in the direction in which the school of fish has been detected.

<Problems to be Solved by the Invention> By the way, with conventional sonar, when a target such as a school of fish is detected, it is only notified by a buzzer or the like, and the ultrasonic scanning direction is not fixed. Therefore, if the user is away from the operation panel or unable to use both hands for other tasks, the transducer will continue to rotate and the scanning direction will deviate from the position where the target exists.

After that, when the scanning direction goes around once and the scanning line reaches the direction in which the school of fish was detected by face-to-face scanning, it appears that the school of fish has moved out of the sonar scanning range because the fishing boat is navigating. In many cases, you end up losing sight of the school of fish you detected.

The present invention was made in view of the above-mentioned problems, and when a required target such as a school of fish is detected,
The purpose is to automatically fix the scanning direction of ultrasonic waves to the target detection direction at that time, so that the target can be captured reliably.

Means for Solving the Problems> In order to achieve the above object, the present invention, as shown in the functional block diagram of FIG. determining means C for determining whether or not the received signal of the ultrasonic transducer exceeds the set signal level set by the setting means a; and a scanning drive section for the ultrasonic transducer when the received signal does not exceed the set signal level. scan advancing means O for outputting a command signal to advance the scanning direction in a predetermined direction to the scanning driving section d; Scan locking means f for outputting a command signal to fix the direction of the line or within a required narrow width range including the scanning line;
A sonar scanning direction locking device is comprised of the following: and a notification means g for notifying when the scanning direction of the ultrasonic transducer is fixed.

According to the above configuration, when there is no target within the scanning range of the ultrasonic transducer, the determining means C outputs a determining signal indicating that the received signal does not exceed the set signal level. . In response to this judgment signal, the scanning progressing means e
A command signal is output to the scan drive unit d to advance scanning in the same direction. Therefore, the scanning direction of the ultrasonic transducer changes in the same direction, but if a target exists within the scanning range of the ultrasonic transducer, the received signal will exceed the set signal level, and the judgment will be made. Means C outputs a determination signal indicating this. The scanning locking means r responds to this judgment signal and outputs a command signal to the scanning driving section d to fix the scanning direction.

As a result, the scanning direction of the ultrasonic transducer is fixed to the direction in which the target is detected. Further, at the same time as the scanning direction is fixed, the notification means g is activated to notify the user that the target has been detected.

<Example> Hereinafter, the present invention will be described in detail based on an example shown in FIG. FIG. 2 shows the overall structure of a sonar equipped with the scanning direction locking device of the present invention.

The sonar of this embodiment includes an ultrasonic transducer ta, a transceiver section 2, a scanning drive section 3 that scans and drives the transducer l,
It includes a CPU 4 as a central control unit, a display unit 5, a CRT 6 as a display, and switches 7a, 7b, and 7c as operating units for locking operation. The switch 7a is a lock switch that instructs the start of the lock operation, the switch 7b is a mode selection switch that selects one lock mode, and the switch 7C is a level switch that instructs the start of the lock operation, and a switch 7C is a level switch that instructs the start of the lock operation. This is a setting switch. These switches 7a, 7b, 7
c is connected to the CPU 4 via an input interface 8.

The transmitting/receiving section 2 includes a receiving circuit 9 that detects and amplifies the echo signal obtained by the transducer 1, an A/D converter 10 that converts the output of the receiving circuit 9 into a digital signal and supplies it to the CPU 4, and the CPU 4. a transmission/reception control interface 11 that generates transmission pulses and control signals to the reception circuit 9 based on command signals to control the transmission/reception timing; and a transmission/reception control interface 11 that receives transmission pulses from the transmission/reception control interface 11 and vibrates the transducer l. It consists of a circuit 12.

The scan drive unit 3 also includes a rotation motor 13 that drives the transducer 1 in the rotation direction, an elevation motor 14 that changes the elevation angle of the transducer 1, and a vertical movement motor 14 that changes the vertical position of the transducer 1. It consists of a motor 15 and a motor control interface 16 that controls the driving of these motors 13, 14, 15 based on command signals from the CPU 4.

The CPU 4 performs signal processing, image processing, and coordinate conversion based on the received signal obtained by the A/D converter lO, and generates a video signal corresponding to the received signal, as well as determining that a target has been detected. , and control the scanning direction of the transducer.By executing a predetermined program, the judgment means C1 functions as the scanning locking means r and the scanning progressing means e shown in FIG. 17 is a program ROM that stores programs for the CPU 4, and 18 is a work RAM.

The display unit 5 stores the sonar image video RAM 19 and the recorded image video RAM 20 into which the image signals generated by the CPU 4 are written, and the digital image signals read out from both video RAMs 19 and 20 and converts them into images suitable for the CRT 6. A video signal converter 21 that converts into a signal, and each video RAM 19
．． 20 and a video crotter circuit 22 that controls reading of video signals from the CRT 6 and displaying them on the CRT 6.

As shown in FIG. 3, on the screen 6a of the CRT 6, a sonar image 6b is displayed by rotating scanning similar to the scanning operation of the transducer, and a sonar image 6b is displayed by vertical display scanning for each ultrasonic scanning line. The recording side 6C is displayed. A lock display section 6d is set in one corner of the screen 6a of the CRT 6, and is designed to continuously light to indicate that the lock function is working, and to blink to indicate that the target is locked. Therefore, C.R.T.
6 also serves as the notification means g shown in FIG.

In the above configuration, to operate the scanning direction lock device, first turn on the lock switch 7a, select the first or second lock mode with the mode selection switch 7b, and select the second lock mode with the level setting switch 7C. Set the signal level using the . Here, the first lock mode is a mode in which the ultrasonic scanning direction is fixed at the position of the scanning line where the target is detected, and the second lock mode is a mode in which the ultrasonic scanning direction is fixed at the required narrow width where the target is present. This is a mode that limits the range. The operation will be explained below based on the flowchart of FIG.

■When there is no target First, we will describe the operation when there is no target within the scanning range.

Routine R1 from step S1 to step S4 is as follows:
This is, so to speak, an initial setting routine. In step S1,
Specify the next turning angle. If the transducer l had been rotating in the forward rotation direction until then, the rotation angle will be advanced in the normal rotation direction, and if the transducer l had been rotating in the reverse rotation until then, the rotation angle will be advanced in the reverse rotation direction. Become. In step S2, corresponding to the setting input of the level setting switch 7c, if the input signal level is "6", the setting signal level is set to "6". In step S3, the locked flag is turned off. This locking flag indicates that there was a received signal exceeding a set signal level, and is set in a step described later. In step S4, the data count number n, which is the number of received data, is set to "1". In this example,
Since 120 pieces of data are taken in for one scanning line, n ranges from rlJ to r120J.

Routine R2 from step S5 to step S10 is a routine for checking received data for one scanning line. In step S5, n-th data Dn is read. Then, in step s6, the data Dn is compared with the set signal level "6". If the data is less than the set signal level, the process jumps to step S8. If the data is equal to or higher than the set signal level, the next step S7
Then, a lock flag is set to indicate that there is received data exceeding the set signal level. In step s8, "l" is added to the data count number n. Then, in step S9, the data count number n is a constant number, in this case r
120j is reached.

At the initial stage, r12Lj has not been reached, so in that case, the process returns to step S5.

In this way, it is checked whether each data Dn, from the (2)-th data D1 to the 120th data DI20, exceeds the set signal level. Then, once all data of the scanning line has been checked,
In step SIO, it is determined whether the lock flag is set. If each data Dn of the scanning line does not exceed the set signal level, the locking flag is not set, so the judgment in step SIO becomes No, and the process moves to step Sll.

Routine R from step SI 1 to step SI9
3 is a routine that performs processing when the locking flag is not set, in other words, when there is no data exceeding the set signal level in the checked data for one scanning line. In step S11, it is determined whether the locked count number Lc is "0". This lock count number Lc is the transducer! is a numerical value given in step 320 described below in connection with fixing the scanning direction of
Indicates the number of times the scanning direction is further rotated in the forward rotation direction (number of rotation angles) when the target is no longer detected after the scanning direction is fixed. Here, it is not a state where the upward running direction should be fixed, and the lock count number L
c is “OJ,” and the judgment in step S11 is “Yes.”
s, in which case the process moves to step S15.

In step 315, it is determined whether the reverse rotation count number Bc is "0". This reversal count failure BC is a numerical value given in steps 23 and 24 described later in connection with fixing the scanning direction of the transducer l, and if the target is no longer detected after fixing the scanning direction, It indicates the number of times the scanning direction is rotated in the reverse direction (number of rotation angles). Here, the scanning direction is not yet in a state where the scanning direction should be fixed, and the reverse count failure Bc has not been given (Bc=rOJ), so the determination in step S15 is Yes, and in that case, step Return to S1.

Note that steps 812 to 14 and steps S16 to 19, which were not mentioned here, are steps that are involved when the target is no longer detected after the scanning direction is fixed once, and the details thereof will be described later.

Returning to step S1, the next turning angle is specified, so
The received data is checked while the scanning line is advanced by one in the forward rotation direction. As a result, scanning is sequentially advanced in the normal rotation direction.

■Target present/10th pick mode Next, the case where there is received data that exceeds the set signal level in the 10th pick mode will be described.

If there is data exceeding the set signal level, the locked flag is set in step S7, and accordingly, the determination in step SIO becomes Yes, and step S20
Proceed to.

Routine R4 from step 820 to step S24
is a routine involved in processing after detecting a target. In step S20, the locked count number L
c is set to "3", and in step S21, the lock display section 6d in the CRT screen 6a is made to blink.

This indicates to the user that the scanning direction is fixed. Then, in step S22, it is determined which lock mode is selected. If the first lock mode is selected, the process advances to step S23, sets the reverse rotation count number Be to "l", and returns to step S2.

Since step S2 is the step after the step of specifying the next turning angle, by returning to step S2, the received data is checked for the scanning line having the same turning angle as the previous one. If the target continues to exist on the scanning line, the process returns to step S2 through steps 82 to 1O and steps 620 to 23, and the scanning direction is fixed at the same turning angle.

While the scanning direction is fixed in this way, if the target is no longer detected on the scanning line, step SlO
The judgment becomes No, and routine R3 is entered. At this time,
In step S20, the locked count number Lc has already been set to "3".
is given, the determination in step Stt is No, and the process advances to step S12. In step S12, the locked count number Lc is decremented. Then, in step S13, it is determined again whether the locked count number Lc is "0". Immediately after entering routine R3, the locked count Lc is still not Oj, so the process jumps to step S24.

In step S24, the reversal count defeat Bc is incremented. Since this reverse count number Bc has already become "1" in step S23, this step S24
Then, the reverse count number becomes "2". Then, the process returns to step St.

In step 31, the next turning angle is specified, so that the scanning direction turns in the forward rotation direction. If there is no target in that scanning direction, step SIO to step Sll
By proceeding to step S12, the locked count number Lc is further decremented, and the process returns to step S24.

Then, in step 324, after incrementing the reverse rotation count number Bc, the process returns to step St, and the scanning direction is further rotated in the forward rotation direction.

In this way, the same loop is run until the locking count number Lc becomes "0", and after the target is no longer detected, the scanning direction continues to rotate for two more rotation colors in the forward rotation direction. In the meantime, the reversal count number is “3”.
"become.

In this way, when the target is no longer detected and the vehicle continues forward in the normal rotation direction by two turning angles, the determination in step S13 becomes Yes, and the process proceeds to step S14. In step S+4, the direction of turning is reversed and the process returns to step S1.

In step Sl, the next turning angle is specified,
In this case, since the turning direction has already been reversed, the scanning direction will be reversed. And step SlO
In each step up to, the received data for the scan line reversed by one rotation angle is checked. Here, if a target exists, the scanning direction is fixed, but if there is still no target, the process proceeds from step SIO to step St1.

At this time, the locked count number Lc has already become "0" due to the decrement, so the determination in step 311 is Yes, and the process moves to step S15. In step S15, the reversal count number Bc is checked, but since the reversal count loss Bc is "3", the determination in step S15 is NO and the process proceeds to step 516.

In step S16, the reverse rotation count number Bc is decremented, and in step S17, the reverse rotation count number Bc is set to "0" again.
”. Reversal count defeat Be is “0”
”, the process returns to step St and the scanning direction is rotated in the reverse direction.

In this way, Steps 31 to 1O1 Steps St1.1
If the target is not detected even after repeating loops 5 to 17 and advancing the scanning direction in the reverse direction by 3 rotation angles, the reverse count count BC is set to "0" by passing through step S16 during that time. becomes. Therefore, the determination in step S17 is Yes, and step S1B
Proceed to. In step S18, the lock display section 6d is switched to continuous lighting. As a result, the user visually confirms that the locking operation has been completed. And step S19
Then, the turning direction is switched to normal rotation and the process returns to step Sl.

In short, in the first lock mode, after a target is detected and the scanning direction is fixed, when the target is no longer detected, the target is rotated two rotation angles in the forward direction, and then three It reverses by the rotation angle and then returns to normal scanning.

■Target present/20th pick mode In the 20th pick mode, if a target exists on the scanning line, the process moves from step SIO to step S20.21, and then from step S22 to step S24. In step S24, the reverse rotation count number Bc is incremented. Until then, the reversal count number Bc has not been given and is rOB, so the reversal count number Bc is "1".
”. Then, the process returns to step St, and the scanning direction is rotated in the normal rotation direction. .

Therefore, in this 20th pick mode, the target -
Even if detected, the scanning direction is not immediately fixed, but the scanning direction is still rotated in the forward rotation direction. If the target is still detected even in the scanning direction that rotates in the normal rotation direction, the process moves from step SIO to step S20.21.2.
2 and proceeds to step 5211, so as long as the target appears on the scanning line, the scanning direction rotates in the forward rotation direction.
Every time the turning angle increases, the reverse rotation count number Bc is incremented.

When the target no longer appears on the scanning line while the scanning direction is rotated in the normal rotation direction, the judgment in step SIQ becomes No, and the process moves to step SIl. At this time, "3" is given as the lock count number Lc, and the same value as the number of turning angles in the forward rotation direction after detecting the target is given as the reverse rotation count number Bc.

Since the locked count number Lc is not "0", the determination in step Sll is No, and the process proceeds to step St2. Then, in step S12, the locking count Lc is decremented, the process jumps from step S13 to step S24, and in step S24, the scanning direction is rotated in the forward rotation direction while further counting up the reverse rotation count Bc,
When the scanning direction has advanced by two turning angles, the locking count number Lc is decremented to "0". Therefore, the decision 1 analysis in step S13 is Yes, and step S13 is Yes.
14 and reverse the turning direction. At this point, the reverse direction loss Bc is the sum of the number of turns m lost in the forward rotation direction after detecting the target and the number of turning angles made in the same direction after the target was no longer detected. .

If the target is not detected after the turning direction is reversed, the process proceeds from step SIO to step Sll, but since the locking count number Lc has already become rOJ due to decrement, the judgment in step Sll is Yes.
The process moves to step S15. Then, since the reversal count number Bc is not "0", steps 315 to 31
The process proceeds to step 6, where the reversal count loss Bc is decremented, and the process returns from step 317 to step St.

In this way, step 5l-101 step Stt
, the loop of steps S15 to S17 is repeated as many times as the reversal count number Bc that has been up-counted up to that point,
This causes the scanning direction to return to the position of the turning angle at which the target was first detected.

If no target is detected there, step S1
7, the process proceeds to step 318, and in step 818, the lock display section 6d is switched to continuous lighting, and in step S19, the turning direction is returned to normal rotation, and the process returns to step S1. After that, the scanning operation becomes normal.

In short, in the second lock mode, as shown in Figure 6, after detecting a target, it turns in the forward direction, and when the target is no longer detected, it turns in the forward direction for another two turning angles. Afterwards, it reverses to the turning angle position where it first detected the target, and then returns to normal scanning.

<Effects of the Invention> As described above, according to the present invention, when a target is detected during normal scanning operation, the scanning direction is changed to the direction of the scanning line,
Alternatively, it is automatically fixed in a narrow range including the scanning line, and this is notified to the user by the notification means. Therefore, even if the user leaves the operation unit, the detection state of the target is maintained, and the target can be reliably captured without losing sight of the detected target as in the conventional case.

[Brief explanation of the drawing]

FIG. 1 is a functional block diagram showing the configuration of the present invention, FIGS. 2 to 6 relate to an embodiment of the present invention, and FIG. 2 shows the overall configuration of a sonar equipped with the scanning direction locking device of the present invention. FIG. 3 is an explanatory diagram showing the display screen, and FIG. 4 is a block diagram showing the display screen.
FIG. 5 is a flowchart showing the fixing operation in the scanning direction, and FIGS. 5 and 6 are explanatory diagrams showing changes in the scanning direction. FIG. The figures each show the case of the second lock mode. l... Ultrasonic transducer, 3... Scanning drive unit, 1.
...CPU, 6...CRT, 7C...Level setting switch (setting means).

Claims (1)

[Claims] (1) A setting means for setting a signal level, a judgment means for determining whether a received signal from an ultrasonic transducer exceeds a signal level set by the setting means, and a determination means for determining whether a received signal exceeds a set signal level by the setting means; scanning advancing means outputting a command signal to advance the scanning direction in a predetermined direction to the scanning drive unit of the ultrasonic transducer when the received signal does not exceed the set signal level; a scanning lock means for outputting a command signal for fixing the scanning direction to the scanning line at that time or within a required narrow width range including the scanning line; A scanning direction locking device for a sonar, characterized in that it is equipped with a notification means for notifying the user when a sonar is detected.