WO2004099815A1 - 超音波送受信装置 - Google Patents
超音波送受信装置 Download PDFInfo
- Publication number
- WO2004099815A1 WO2004099815A1 PCT/JP2004/005445 JP2004005445W WO2004099815A1 WO 2004099815 A1 WO2004099815 A1 WO 2004099815A1 JP 2004005445 W JP2004005445 W JP 2004005445W WO 2004099815 A1 WO2004099815 A1 WO 2004099815A1
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- WIPO (PCT)
- Prior art keywords
- signal
- transbonder
- transmission beam
- reception
- transmission
- Prior art date
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- 230000005540 biological transmission Effects 0.000 claims abstract description 112
- 230000004044 response Effects 0.000 claims abstract description 42
- 238000001514 detection method Methods 0.000 claims description 106
- 230000004913 activation Effects 0.000 claims description 35
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 7
- 230000015572 biosynthetic process Effects 0.000 claims description 6
- 241000251468 Actinopterygii Species 0.000 description 25
- 235000019688 fish Nutrition 0.000 description 25
- 238000010586 diagram Methods 0.000 description 20
- 238000000034 method Methods 0.000 description 14
- 230000008569 process Effects 0.000 description 11
- 238000001914 filtration Methods 0.000 description 4
- 230000003111 delayed effect Effects 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 241000555825 Clupeidae Species 0.000 description 1
- 241001233242 Lontra Species 0.000 description 1
- 230000003213 activating effect Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 235000019512 sardine Nutrition 0.000 description 1
- 230000007480 spreading Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/87—Combinations of sonar systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/87—Combinations of sonar systems
- G01S15/876—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/96—Sonar systems specially adapted for specific applications for locating fish
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/56—Display arrangements
- G01S7/62—Cathode-ray tube displays
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/56—Display arrangements
- G01S7/62—Cathode-ray tube displays
- G01S7/6281—Composite displays, e.g. split-screen, multiple images
Definitions
- the present invention relates to an ultrasonic transmitting / receiving apparatus that detects underwater by transmitting / receiving ultrasonic waves.
- a scanning sonar For example, in trawl fishing, it is more efficient to use a scanning sonar to search for a school of fish, find and track it, and then catch it.
- the search for a school of fish depends on the size of the school, but for example, a school of fish such as sardines and nishin can be searched from hundreds to thousands of meters away. If you find a school of fish, you will follow it while turning around so that the school of fish is located in the bow direction of your own ship, catch up with the school of fish, ride right above the school of fish, and move the school of fish behind your ship as your ship progresses Drive into the trawl net and capture it. At that time, it is important to guide the trawl net to the school of fish.
- the position and depth of the net mouth can be controlled by maneuvering and towing speed. However, for that purpose, it is necessary to know the exact position and speed of the mouth. Therefore, it is not an exaggeration to say that the performance of the equipment that monitors the position and depth of the net mouth in trawl fishing affects the fishing efficiency.
- Patent Documents 1 and 2 have the following problems to be solved.
- Patent Document 2 requires another display device for a transbonder to display an echo signal.
- a special unit such as a pressure sensor and a VF conversion circuit is required for frequency detection.
- a high SN ratio cannot be obtained because the transbonder is detected with a wide vertical beam.
- Patent Document 1 there is a problem in that the echo signal and the response signal of the transbonder have the same frequency, and therefore cannot be distinguished from each other.
- both Patent Documents 1 and 2 if the receiving frequency band is narrowed for the purpose of increasing the probability of detecting the response signal of the transbonder, it becomes more susceptible to Doppler footing. In other words, the SN ratio and the Doppler foot resistance have a trade-off relationship.
- Patent Document 1 has a problem that it is difficult to grasp the depth information of the transbonder.
- Patent Document 1 shares the activation for the transbonder and the one for the detection, and therefore cannot optimize both independently. For example, it was necessary to transmit and receive at the same tilt angle for the trans-bonder activation and detection. Also, there is a problem that the sound pressure on the transbonder decreases as the distance increases, and it becomes difficult to start the transbonder.
- an object of the present invention is to solve the above-described problem and to search a predetermined detection area. It is an object of the present invention to provide an ultrasonic transmission / reception apparatus that can accurately monitor the position of a transbonder put in water. Disclosure of the invention
- the present invention includes a sonar mounted on a ship for detecting underwater by a transmission beam and a reception beam of a detection signal, and a transbonder put into the water, and the transbonder is activated by the sonar transmitted from the sonar.
- the transbonder transmits a response signal in a frequency band different from the frequency band of the detection signal transmitted from the sonar, so that it is possible to identify and process the echo signal and the response signal.
- the present invention is characterized in that the start signal is a signal in a frequency band different from the frequency band of the detection signal.
- the transbonder can be activated independently of the detection by the detection signal, and the detection process and the transbonder activation can be optimized.
- the present invention is characterized in that the transmission beam forming means includes means for separately forming a transmission beam of a detection signal to a detection range and a transmission beam of an activation signal to a transbonder. This makes it possible to independently detect fish schools and activate the transbonder.
- the present invention is characterized in that the transmission beam forming means forms a transmission beam of a starting signal to the transbonder according to an azimuth or a tilt angle from the sonar to the transbonder. This allows you to go very far Even a certain transbonder can receive a start signal higher than the sound pressure required for starting, greatly extending the usable distance of the transbonder.
- the present invention is characterized in that the transmission beam forming means forms a transmission beam of a detection signal and a transmission beam of an activation signal to a transbonder in one transmission / reception sequence.
- the detection and the activation of the transbonder can be processed independently without changing the update period of the detection image updated by repeating transmission and reception.
- the transmission beam forming means may be configured to detect a transmission plane that is substantially perpendicular to the water surface and includes a position of the transponder and a plane that includes a position of the transponder at a predetermined tilt angle.
- the transbonder since the transbonder transmits a response signal having a frequency different from the frequency band of the detection signal transmitted from the sonar, it is possible to identify and process the echo signal and the response signal.
- the transbonder by setting the activation signal of the transbonder to a signal in a frequency band different from the frequency band of the detection signal, the transbonder can be activated independently of the detection by the detection signal.
- the detection process and the transbonder activation can be optimized respectively.
- the scanning sonar includes means for separately forming a transmission beam of a detection signal to a detection range and a transmission beam of an activation signal to a transbonder.
- Starting the transbonder Can be performed independently.
- the transmission beam forming means forms the transmission beam of the activation signal to the transbonder according to the azimuth or tilt angle from the sonar to the transbonder.
- a distant transbonder can also receive a start signal that exceeds the sound pressure required for activation, greatly extending the usable distance of the transbonder.
- transmission and reception are performed by forming the transmission beam of the detection signal in the detection range and forming the transmission beam of the start signal to the transbonder in one transmission and reception sequence.
- the detection and the activation of the transbonder can be independently processed without changing the update cycle of the detection image that is repeatedly updated.
- the transmission beam and the reception beam that are respectively detected in a plane substantially perpendicular to the water surface and including the position of the transbonder, and in a plane including the position of the transbonder at a predetermined tilt angle are formed. It is possible to easily understand the depth information of the transbonder by providing the means for forming and displaying the echo signal and the response signal images in the vertical plane and the plane at the predetermined tilt angle. . BRIEF DESCRIPTION OF THE FIGURES
- Figure 1 shows the relationship between the ship, the detection range, and the position of the transbonder.
- FIG. 2 is a diagram showing an example of the detected image and the position display of the transbonder in the H mode.
- FIG. 3 is a diagram showing an example in which the detected images in the H mode and the V mode and the position of the transbonder are displayed together.
- FIG. 4 shows the detected image in H mode, the detected image in two directions in V mode
- FIG. 8 is a diagram showing an example in which the position of the transbonder in the mode and the V mode is also displayed.
- FIG. 5 is a perspective view showing a configuration example of the transducer.
- FIG. 6 is a diagram for explaining formation of a transmission beam.
- FIG. 7 is a diagram for explaining formation of a reception beam.
- FIG. 8 is a diagram illustrating a relationship between a transmission beam, a reception beam, and a detection range.
- FIG. 9 is a diagram illustrating an example of a detection range at the time of detection in the V mode.
- FIG. 10 is a block diagram showing the configuration of a transmission / reception channel and a reception signal processing unit of the scanning sonar.
- FIG. 11 is a block diagram showing a configuration of the transbonder.
- FIG. 12 is a diagram showing the relationship of various signals between the transducer, the transbonder, and the target of the scanning sonar.
- FIG. 14 is a diagram illustrating a relationship between various signals among a transducer, a transbonder, and a sunset of the scanning sonar according to the second embodiment.
- FIG. 15 is a block diagram showing a configuration of the received signal processing unit.
- FIG. 17 is a flowchart of a scanning sonar according to the third embodiment.
- a scanning sonar according to the first embodiment will be described with reference to FIG. 1 to FIG.
- FIG. 1 shows an example of applying the ultrasonic transmitting and receiving device to trawling fishing.
- a transducer 1 of a scanning sonar for forming a predetermined transmission beam and a reception beam and detecting a predetermined detection range is provided at the bottom of the ship (trawl fishing boat) 6.
- Trollnet 2 is towed by warp 4 behind vessel 6.
- a transbonder 5 is attached to the mouth of the trolley net 2.
- an otter board 3 is provided at the engagement portion between the warp 4 and the trolling net 2, so that the opening of the net mouth can be controlled by the towing speed of the trolling net 2.
- the transbonder 5 may be attached to these two twitter ports 3.
- TB is an umbrella-shaped transmission beam.
- the detection range is formed by the transmission beam T B and the reception beam.
- the transbonder 5 receives the detection signal or the activation signal for the transbonder, the transponder 5 transmits a response signal in the direction along the rope 4, that is, in the direction of the vessel 6.
- T PB indicates a transmission beam of the response signal.
- the ultrasonic transceiver receives the response signal from the transbonder 5 via the transducer 1.
- the tape length of the warp 4 is, for example, 1 km, and the water depth of the trawl net 2 is, for example, about 100 m. Therefore, the tilt angle of the detection signal transmission beam TB is almost horizontal. Will be turned.
- Figure 2 shows a display example on the display screen of Sona.
- (A) shows the detection image of the ship's stern direction in the upper half, and the transponder's position looking in the same direction at the bottom of the screen.
- the upper half of the detected image shows fish schools along with the quay, the sea floor, and sea surface reflections.
- the transponder position display image in the lower half displays only the position of the transbonder unlike the detection image in the upper half. In this example, the range of 180 ° in the stern direction is displayed.
- Both the image and the transponder position display image can be displayed at 360 °. In this case, the transponder position display is superimposed on the detected image and displayed.
- the position of the transponder is displayed as an image with a different color tone in the detected image by making the curve of the color change with respect to the signal strength different between the detected image and the transponder position display image. This makes it possible to clearly grasp the position of the transbonder in the detected image.
- the example shown in (B) of Fig. 2 is an example in which the detected image and the position display of the transbonder are displayed in a superimposed manner.
- the upper side is the bow direction.
- a white transponder position display image TP appears behind the port.
- the image of the school of fish S F 1 appears in the bow direction, and the image of the school of fish S F 2 appears near the transbonder at the stern.
- he catches up with the fish school in the bow direction shown in the image S F 1 passes just above the school of fish, and steers to drive the school of fish into the trolley net.
- FIG. 3 shows an example in which both the H mode for detecting in a substantially horizontal plane at a predetermined tilt angle and the V mode for detecting in a vertical plane are displayed together.
- S S indicates the position of own ship.
- the H mode display screen shows the fish school S F 1 in the bow direction, the fish school S F 2 in the stern direction, and the transponder position display image T P in the same manner as that shown in Fig. 2 (B).
- the display screen in V mode is a vertical cross section of the straight line L in the display screen in H mode.
- Figure 4 shows an example in which the detected image and the position of the transbonder are displayed separately on the same screen.
- the upper left of the screen is the detected image in H mode
- the lower left is the detected image in V mode.
- the lower right is the trans-bonder position display in V mode
- the upper right is the trans-bonder position display in H mode.
- the straight line L l, L 2 and L 3 represent the azimuth in H mode and the tilt angle in V mode, respectively.
- the screen in V mode is a vertical cross-sectional image along straight lines LI, L2, and L3 in H mode.
- FIG. 5 shows the configuration of the transducer used for scanning sonar.
- the transducer 1 is composed of an ultrasonic transducer array having a plurality of stages and a plurality of rows.
- the transducer 1 is installed at the bottom of the vessel so that the axis of the cylinder is vertical.
- FIG. 6 is a diagram illustrating a transmission beam.
- A of the same figure shows the directivity of the transmitted beam formed when searching in all horizontal directions.
- B shows a transmission beam formed when searching in all directions at a predetermined tilt angle.
- the umbrella-shaped transmission beam is tilted downward by a predetermined angle by increasing the delay time in the lower stage of the transducer 1.
- FIG. 7 is a diagram illustrating a reception beam.
- a series of transducers in the transducer 1 in the circumferential direction are used as a set.
- the phase is delayed toward the center of the continuous rows, as shown in (B).
- sharpen the directivity in the horizontal direction by setting the delay time in the step direction of the transducer 1, the tilt angle is controlled and the directivity in the vertical direction is sharpened. This forms a so-called pencil-type receiving beam.
- (C) is an example in which the delay time is fixed, and the receiving beam is directed horizontally as shown in (D).
- (E) shows an example in which the delay time is longer in the lower row. As shown in (F), the received beam tilts downward.
- An umbrella-shaped transmission beam is formed in this manner, and a predetermined azimuth in the transmission beam is received by a pencil-type reception beam, thereby detecting an umbrella-shaped detection range.
- FIG. 8 is a diagram showing a detection range by the transmission beam and the reception beam.
- T B is an umbrella-shaped transmit beam
- RB is a pencil-type receive beam.
- a reception beam RB is formed with a resolution corresponding to the number of transducers in the row direction of the transducer 1.
- detection image data is sequentially generated for an arbitrary section P in the transmission beam TB at a resolution corresponding to a sampling cycle on the time axis.
- FIG. 6 shows an example in which an umbrella-type transmission beam is formed, as will be described later, when optimizing the activation signal of the transbonder, a pencil-type transmission beam is formed in the transbonder. I do.
- the phase control shown in Fig. 7 is applied at the time of transmission. In other words, as shown in (A) of FIG. 7, by oscillating with the phase delayed toward the center of a plurality of continuous rows,
- the directivity in the horizontal direction is sharpened.
- the tilt angle is controlled and the directivity in the vertical direction is sharpened. This forms a pencil-type transmit beam.
- a transducer in which a plurality of transducers are arranged on a cylindrical surface is used.
- a transducer in which a plurality of transducers are arranged on the entire surface of a spherical surface or a partial surface thereof may be used.
- FIG. 9 is a diagram showing an example of detecting the V mode using the above transducer.
- (A) and (B) in Fig. 9 correspond to the heading indicated by the arrows.
- the detection range of the vertical plane forming the bearing angle ⁇ is shown.
- ( ⁇ ) shows an example in which a cylindrical transducer 1 is used, and
- ( ⁇ ) shows an example in which a spherical transducer 1 'is used.
- a range extending in a fan shape along the vertical plane is detected.
- a transmission beam that spreads in a fan shape along the vertical plane having the predetermined bearing angle ⁇ shown in Fig. 9 is formed, and the tilt angle of the pencil-type reception beam is gradually increased along the fan shape in this order.
- the V mode is detected by changing the speed to, that is, by scanning the reception beam.
- FIG. 10 is a block diagram showing the configuration of the transmitting and receiving channels of the scanning sonar.
- a programmable transmission beamformer 21 provides transmission control data (X data) to each transmission / reception channel.
- the interface 11 performs switching control of each drive element of the driver circuit 12 based on the transmission control data supplied from the programmable transmit beamformer 21 via the interface 20.
- the driver circuit 12 outputs a pulse width modulated transmission signal.
- the X amplification circuit 13 amplifies the transmission signal and drives the vibrator 10 via the transmission matching circuit 14 and the transmission / reception switching circuit 15.
- the transmission / reception switching circuit 15 guides the output signal of the amplifying circuit 13 to the vibrator 10 during the transmission period, and converts the signal output by the vibrator 10 into the reception matching circuit 16 and the preamplifier 1 during the reception period. Guide to 7 as a received signal.
- the preamplifier 17 amplifies the received signal, and the non-pass filter 18 removes noise components other than the frequency band of the received signal.
- the AZD comparator 19 samples the signal in the reception frequency band at a predetermined sampling period, and converts the signal into a digital sequence.
- the above part constitutes transmission / reception channel ch1.
- the transmitting and receiving channels are provided by the number of the vibrators 10.
- the programmable transmission beamformer 21 controls the phases and weights at which each transmission / reception channel drives the vibrator so that an umbrella-shaped transmission beam is formed at a predetermined tilt angle.
- each transmission / reception channel drives the vibrator so that a transmission beam spreading in a fan shape along the vertical plane having the predetermined bearing angle ⁇ shown in Fig. 9 is formed. Generates transmission control data for controlling phase and weight.
- each transmission / reception channel when optimizing the activation signal of the transbonder, a pencil-type transmission beam having a predetermined direction and a predetermined tilt angle is formed in order to form a transmission beam of the activation signal to the transbonder.
- each transmission / reception channel generates transmission control data for controlling the phase and weight for driving the vibrator.
- FIG. 4 is a block diagram of a received signal processing unit for the present invention.
- the receive beamformer 22 controls the phase and the weight of the received signal by each transducer and combines them based on the received data for N channels input from the interface 20 shown in (A).
- a pencil beam type reception beam is formed in a predetermined direction, and the reception signal is obtained.
- the filter 23 extracts the reception signal H 1 of the echo detection transmission / reception beam from the reception signal by filtering (digital filter operation) of a band-pass filter having a center frequency of 25 kHz.
- the received signal H 2 from the transponder detection receiving beam is extracted by band-pass filtering using a center frequency of 24 kHz.
- the Envelope detection circuit 24 detects each of the two received signals H 1 and H 2 and obtains the signal strength of each.
- the image processing unit 25 displays the detected image and the position of the transbonder according to the detected signal strengths of HI and H 2. To generate image data for use.
- the display operation unit 26 is composed of a display unit and a user interface input operation unit.
- the operation contents of the operator are read from the control unit 27, and the image display is performed based on the signal output from the image processing unit 25.
- the display operation unit 26 controls each unit shown in FIG. For example, it sets the tilt angle 0 of the detection range when displaying in H mode, sets the bearing angle with respect to the heading when displaying in V mode, and switches the display mode.
- FIG. 11 is a block diagram showing a configuration of the transbonder.
- the vibrator 30 receives the detection signal or the activation signal from the sonar, and transmits a response signal.
- the transmission / reception switching circuit 36 normally stands by in the reception mode, and supplies a signal received by the oscillator 30 to the preamplifier 31.
- the preamplifier 31 amplifies this, and the bandpass filter 32 passes a signal in a predetermined band centered on the frequency band (25 kHz) for starting the transbonder.
- the control circuit 33 activates the pulse generation circuit 34 when the output signal of the bandpass filter 32 exceeds a predetermined threshold.
- the pulse generation circuit 34 generates a tone burst wave of 24 kHz, which is a response signal.
- the transmission circuit 35 amplifies this, and switches the transmission / reception switching circuit 36 to the transmission side to drive the vibrator 30. This sends a response signal.
- Figure 12 shows the relationship between the signals transmitted and received between the scanning sonar and the target such as the transducer, transbonder, and school of fish.
- a scanning signal f 1 of 25 kHz is transmitted from the scanning sonar transducer.
- the transbonder starts up and transmits a response signal f 2 of 24 kHz.
- the target passively reflects the detection signal f 1.
- the scanning sonar transducer receives a signal in which the echo signal f1 and the transponder response signal f2 are spatially superimposed.
- Figure 13 shows the timing chart of the scanning sonar during the detection operation.
- “transmission signal” represents a drive waveform (transmission signal) given to one of a plurality of transducers of the transducer.
- the detection signal fl 25 kHz
- Received AZD data is time-series data converted by the AZD converter 19 shown in FIG. It processes time-series data from each channel during the receive beamforming period.
- a reception beam for receiving an echo detection signal and a response signal from the transbonder is formed by the processing of the programmable reception beamformer 22 shown in FIG.
- the receive beam for echo detection and transbonder detection is formed by 64 beams.
- a frequency filter of 25 kHz for echo detection mode (HI mode) and two for trans-bonder detection mode (H2 mode) are available. 4 kHz frequency filtering is performed.
- the envelope detection unit 24 shown in FIG. 10 detects the envelope of the detection signal and the response signal obtained in this manner, and the image processing unit 25 detects the image data of the detection signal and the response signal. It generates the image data of the signals and displays them on the display operation unit 26.
- the transmission beam forming period described above and the subsequent reception beam forming period constitute one transmission / reception sequence, and this is repeated.
- the detection signal is also used as the transponder activation signal.
- the transbonder activation signal is a signal having a frequency different from the detection signal.
- Figure 14 shows the scanning sonar transducer and transformer in that case. This figure shows the relationship between transmitted and received signals between the target such as Bonda and schools of fish. From the transducer of the scanning sonar, a detection signal fl of 25 kHz and a start signal f 4 of 26 kHz are transmitted. Upon receiving this, the transbonder starts up and transmits a response signal ⁇ 3 of 27 kHz. The target passively reflects the detection signal fl. As a result, the scanning sonar transducer receives a signal in which the echo signal f 1 and the transponder response signal f 3 are spatially superimposed.
- the target such as Bonda and schools of fish.
- FIG. 15 is a block diagram showing the configuration of the reception signal processing unit in this case.
- the configuration of each transmission / reception channel and transmission beamformer is the same as that shown in (A) of FIG. However, the transmit beamformer forms a transmit beam for transponder activation separately from the transmit beam for echo detection.
- the reception beam former 22 forms a reception beam for echo detection, and forms a reception beam for receiving a response signal from the transbonder.
- the filter 23 passes a predetermined band centered at 25 kHz with respect to the reception signal HI from the echo detection reception beam, and filters the reception signal H 2 from the transponder reception signal reception beam. Pass a predetermined band centered at 27 kHz. Others are the same as those shown in (B) of FIG.
- Figure 16 shows the timing chart of the scanning sonar during the detection operation.
- transmission signal represents a drive waveform (transmission signal) given to one of the transducers of the transducer.
- the detection signal f 1 25 kHz
- the signal ⁇ ⁇ ⁇ ⁇ 4 26 kHz
- Received A / D data is time-series data converted by the AZD converter 19 shown in FIG. During the receive beamforming period, each channel Process these time series data.
- a receive beam for echo detection and reception of a transbonder response signal is formed by the processing of the programmable receive beamformer 22 shown in FIG. If the programmable receive beamformer 22 has a receive beamforming capability of 128, 64 beams with beam numbers 1 to 64 are allocated for the echo detection mode (HI mode). For the trans-bonder detection mode (H 2 mode), 64 beams with beam numbers 65 to 128 are assigned.
- frequency filtering is performed according to the detection signal and the response signal.
- the envelope detection unit 24 shown in FIG. 10 detects the envelope of the detection signal and the response signal thus obtained, and the image processing unit 25 detects the image data and response of the detection signal. It generates the image data of the signals and displays them on the display operation unit 26.
- the transmission beam forming period described above and the subsequent reception beam forming period are regarded as one transmission / reception sequence, and this is repeated. Note that the transmission timing of the detection signal f1 and the transmission timing of the transbonder activation signal f4 are not the same, so that during the drawing process for displaying the detection image and the transbonder position, The time difference is corrected.
- the transbonder when forming the transponder activation signal separately from the transmission beam of the detection signal, the transbonder can be easily detected by transmitting the activation signal with the transmission beam whose beam spreads in the vertical direction.
- a modulated wave such as FM, PSK, or FSK may be transmitted as a signal for starting a transbonder.
- the transbonder may transmit modulated waves such as FM, PSK, and FSK as response signals.
- two transmission signals for transmission beam formation are transmitted in a time-division manner during the transmission beam formation period, but they may be transmitted simultaneously. That is, the combined signal of the detection signal f1 and the activation signal f4 may be transmitted as one burst wave at a time.
- the echo is detected in the H mode and the transponder is activated.
- the echo is detected in the V mode and the transbonder is activated.
- echo detection and trans-bonder activation in H and V modes can be performed substantially simultaneously.
- a transmit beam is formed in H mode for echo detection and transbonder activation
- a transmit beam is formed in V mode for echo detection and transbonder activation.
- a reception beam is formed for echo detection and transponder position detection in H mode, and a reception beam for echo detection and transbonder position detection in V mode.
- the presence of the transbonder within the predetermined detection range causes the trans- mission bonder to be activated by forming a transmission beam in the detection range. did.
- the position of the transponder is tracked to optimize the start signal to the transbonder. You.
- FIG. 17 shows the process related to the tilt angle.
- a detection image is generated in a vertical plane in a given direction, and the vertical position of the transbonder (the tilt angle of the response signal from the transbonder) is detected. Then, the tilt angle of the transmission beam of the activation signal and the tilt angle of the reception beam are adjusted to the tilt angle of the response signal.
- B) in Fig. 17 is the process related to the bearing. First, detection image data in a predetermined substantially horizontal plane is generated, and the position of the transbonder in the horizontal plane direction (direction of the response signal from the transbonder) is detected. Then, the direction of the transmission beam and the direction of the reception beam of the activation signal are adjusted to the direction of the response signal.
- the programmable transmit beamformer 21 shown in Fig. 10 oscillates each transmit / receive channel so that the transmit beam of the start signal to the transponder becomes a pencil-type transmit beam with the azimuth and tilt angle set above. Transmission control data for controlling the phase and weight for driving the child is given to each transmission / reception channel.
- the reception beamformer 22 controls the phase and the weight of the reception signal by each transducer based on the reception data from each transmission / reception channel and synthesizes them to obtain the direction of the transbonder. Then, a pencil beam type reception beam is formed, and the reception signal is obtained.
- both the tilt angle and the azimuth of the start signal transmission beam are controlled to be directed to the direction of the transbonder, but only one of the tilt angle and the azimuth is controlled. You may do so.
- the present invention is applicable to an ultrasonic transmitting / receiving apparatus that detects underwater by transmitting / receiving ultrasonic waves.
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB0522759A GB2418020B (en) | 2003-05-09 | 2004-04-16 | Ultrasonic transmitting and receiving system |
US10/554,995 US7460433B2 (en) | 2003-05-09 | 2004-04-16 | Ultrasonic wave transmitting and receiving system for detecting underwater objects |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003-131986 | 2003-05-09 | ||
JP2003131986A JP4354736B2 (ja) | 2003-05-09 | 2003-05-09 | 超音波送受信装置 |
Publications (1)
Publication Number | Publication Date |
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WO2004099815A1 true WO2004099815A1 (ja) | 2004-11-18 |
Family
ID=33432151
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2004/005445 WO2004099815A1 (ja) | 2003-05-09 | 2004-04-16 | 超音波送受信装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US7460433B2 (ja) |
JP (1) | JP4354736B2 (ja) |
GB (1) | GB2418020B (ja) |
WO (1) | WO2004099815A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111133494A (zh) * | 2017-09-01 | 2020-05-08 | 本多电子株式会社 | 海图图像显示装置 |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4354736B2 (ja) * | 2003-05-09 | 2009-10-28 | 古野電気株式会社 | 超音波送受信装置 |
US8086551B2 (en) * | 2007-04-16 | 2011-12-27 | Blue Oak Mountain Technologies, Inc. | Electronic system with simulated sense perception and method of providing simulated sense perception |
JP5260068B2 (ja) * | 2008-01-31 | 2013-08-14 | 古野電気株式会社 | 探知装置および探知方法 |
US7961552B2 (en) * | 2008-08-28 | 2011-06-14 | Airmar Technology Corporation | Fan beam transducer assembly |
US9253536B2 (en) * | 2009-03-18 | 2016-02-02 | Microsoft Technology Licensing, Llc | Updating data-consuming entities |
JP5911004B2 (ja) * | 2009-06-22 | 2016-04-27 | 国立研究開発法人港湾空港技術研究所 | 超音波式撮像計量方法 |
US20110208060A1 (en) * | 2010-02-24 | 2011-08-25 | Haase Wayne C | Non-contact Biometric Monitor |
JP2016090452A (ja) * | 2014-11-07 | 2016-05-23 | 古野電気株式会社 | 探知装置及び水中探知装置 |
US20190090842A1 (en) * | 2016-04-19 | 2019-03-28 | Koninklijke Philips N.V. | Acoustic registration of internal and external ultrasound probes |
JP6722521B2 (ja) * | 2016-06-23 | 2020-07-15 | 古野電気株式会社 | 水中探知システム |
JP6835412B2 (ja) * | 2018-02-15 | 2021-02-24 | Necネットワーク・センサ株式会社 | ソナー装置、応答装置、識別システム、識別方法、応答方法及びプログラム |
JP7219640B2 (ja) * | 2018-07-11 | 2023-02-08 | 古野電気株式会社 | 水中探知装置及び水中探知方法 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6033074A (ja) * | 1983-08-03 | 1985-02-20 | Furuno Electric Co Ltd | 水中探知装置 |
JPS6352715B2 (ja) * | 1981-12-11 | 1988-10-19 | Kaijo Denki Kk | |
JPH0112220Y2 (ja) * | 1983-12-27 | 1989-04-10 | ||
JPH0316072Y2 (ja) * | 1984-10-23 | 1991-04-08 | ||
JP2003185746A (ja) * | 2001-12-21 | 2003-07-03 | Nichimo Co Ltd | トロール操業方法およびこれに用いる魚群動態監視装置 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
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JPS5946876A (ja) | 1982-09-11 | 1984-03-16 | Furuno Electric Co Ltd | 網位置検出装置 |
JPS608883U (ja) | 1983-06-29 | 1985-01-22 | 古野電気株式会社 | 水中の位置検出装置 |
US5377163A (en) * | 1993-11-01 | 1994-12-27 | Simpson; Patrick K. | Active broadband acoustic method and apparatus for identifying aquatic life |
JP4354736B2 (ja) * | 2003-05-09 | 2009-10-28 | 古野電気株式会社 | 超音波送受信装置 |
-
2003
- 2003-05-09 JP JP2003131986A patent/JP4354736B2/ja not_active Expired - Fee Related
-
2004
- 2004-04-16 GB GB0522759A patent/GB2418020B/en not_active Expired - Fee Related
- 2004-04-16 WO PCT/JP2004/005445 patent/WO2004099815A1/ja active Application Filing
- 2004-04-16 US US10/554,995 patent/US7460433B2/en not_active Expired - Fee Related
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6352715B2 (ja) * | 1981-12-11 | 1988-10-19 | Kaijo Denki Kk | |
JPS6033074A (ja) * | 1983-08-03 | 1985-02-20 | Furuno Electric Co Ltd | 水中探知装置 |
JPH0112220Y2 (ja) * | 1983-12-27 | 1989-04-10 | ||
JPH0316072Y2 (ja) * | 1984-10-23 | 1991-04-08 | ||
JP2003185746A (ja) * | 2001-12-21 | 2003-07-03 | Nichimo Co Ltd | トロール操業方法およびこれに用いる魚群動態監視装置 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111133494A (zh) * | 2017-09-01 | 2020-05-08 | 本多电子株式会社 | 海图图像显示装置 |
Also Published As
Publication number | Publication date |
---|---|
GB2418020B (en) | 2006-12-13 |
US20060236770A1 (en) | 2006-10-26 |
JP4354736B2 (ja) | 2009-10-28 |
GB0522759D0 (en) | 2005-12-14 |
JP2004347319A (ja) | 2004-12-09 |
US7460433B2 (en) | 2008-12-02 |
GB2418020A (en) | 2006-03-15 |
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