WO2021010082A1 - 水中探知装置および水中探知方法 - Google Patents

水中探知装置および水中探知方法 Download PDF

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Publication number
WO2021010082A1
WO2021010082A1 PCT/JP2020/023730 JP2020023730W WO2021010082A1 WO 2021010082 A1 WO2021010082 A1 WO 2021010082A1 JP 2020023730 W JP2020023730 W JP 2020023730W WO 2021010082 A1 WO2021010082 A1 WO 2021010082A1
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Prior art keywords
beamforming
vertical plane
underwater
unit
image
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PCT/JP2020/023730
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English (en)
French (fr)
Japanese (ja)
Inventor
光平 岩田
康平 上月
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古野電気株式会社
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Priority to JP2021532736A priority Critical patent/JPWO2021010082A1/ja
Publication of WO2021010082A1 publication Critical patent/WO2021010082A1/ja

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    • 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

Definitions

  • the present invention relates to an underwater detector and related technology.
  • PPI Plan Position Indicator
  • the applicant of the present application has also devised a so-called three-dimensional display technology. For example, beamforming based on received signals is executed in a plurality of depression angle directions in each of a plurality of vertical planes that are not parallel to each other, and an image based on the processing result of the beamforming (specifically, one type of image (three-dimensional)). We are devising a technology to display only the detection image).
  • Patent Document 1 also discloses a technique in which the results of beamforming in each of the directions of a plurality of tilt angles (depression angles) are compositely displayed on the display screen while being distinguished from each other by color (Patent Document 1). See Fig. 2 etc.). Such a technique can be said to be a kind of three-dimensional detection information display technique (three-dimensional display technique) because a detection image using the results of beam forming in a plurality of depression angle directions is displayed. It is just a technology that displays only the detected image (one type of image).
  • PPI display 2D display
  • advantages obtained by PPI display (2D display) may not be obtained. More specifically, since it is difficult to specify the specific depression angle direction, what kind of depression angle direction (tilt angle) the target such as a school of fish exists, and how far the target is from the ship's position. There is a problem that it is not always easy to grasp whether it exists at the position.
  • an object of the present invention to provide an underwater detector capable of realizing a display that is easier to see and a technique related thereto.
  • the underwater detection device receives based on a wave transmitting unit that transmits a transmitted wave and a reflected wave including reflection of the transmitted wave from an underwater target.
  • a wave receiving unit having a plurality of receiving elements that generate signals, a beamforming unit that executes beamforming processing based on the received signal, and first image data and second image data based on the processing result of the beamforming processing.
  • the beamforming unit includes an image generating unit that generates data, and the beamforming unit executes first beamforming in a plurality of tilting directions based on the received signal, at least in the first vertical plane and the second vertical plane.
  • the second beamforming in one specific inclination direction is executed based on the received signal, and the first vertical plane and the second vertical plane are executed.
  • the image generation unit generates the first image data based on the first beamforming data acquired by the first beamforming, and is acquired by the second beamforming.
  • the second image data is generated based on the second beamforming data.
  • the first beamforming and the second beamforming may be different processes from each other.
  • the reception beam formed in at least one of the plurality of inclination directions by the first beamforming is more vertical than the reception beam formed in the one specific inclination direction by the second beamforming. May have high resolution in the direction.
  • the first beamforming may be adaptive beamforming, and the second beamforming may be delayed sum beamforming.
  • the image generation unit may add a display portion indicating the one specific tilt direction in the second beamforming to the first image data.
  • the underwater detection device further includes a drive unit that rotates the wave receiving unit, and the drive unit further includes the first beamforming in the first vertical plane and the first beam forming in the second vertical plane. In the period between 1 beamforming, the receiving portion may be rotated.
  • the image generation unit may add a display portion indicating the direction in which the wave receiving unit is facing to the first image data.
  • the underwater detection device further includes a transmission control unit that controls the transmission timing of the transmission wave, the drive unit is configured so that the wave transmission unit can also be rotated, and the transmission control unit is configured.
  • the first transmitted wave is transmitted before the first beamforming is performed in the first vertical plane, and the second beamforming is performed before the first beamforming is performed in the second vertical plane.
  • the transmission timing of the transmitted wave is controlled so that the transmitted wave of the above is transmitted.
  • the first beamforming and the second beamforming may be the same type of beamforming processing.
  • the plurality of receiving elements are arranged in at least two dimensions, and the beamforming unit performs the first beamforming in the first vertical plane to be the first of the plurality of receiving elements. It is executed based on the received signal from the element group related to the combination, and the first beamforming in the second vertical plane is changed to a second combination different from the first combination among the plurality of receiving elements. It may be executed based on the received signal from the element group.
  • the beamforming unit obtains the first beamforming executed in the first vertical plane and the second beamforming executed in the first vertical plane from the same transmitted wave. It may be executed based on the received signal.
  • the underwater detection device may further include a user interface unit that changes the inclination angle in the specific inclination direction.
  • the beamforming unit uses the third beamforming in a specific tilt direction different from the one specific tilt direction as the received signal, at least in the first vertical plane and in the second vertical plane.
  • the image generation unit may generate the third image data based on the third beamforming data acquired by the third beamforming.
  • the received beam formed by the second beamforming in the one specific inclination direction may have a shape symmetrical with respect to the one specific inclination direction.
  • the received beam formed by the second beamforming in the one specific inclination direction may have an asymmetrical shape with respect to the one specific inclination direction.
  • the underwater detection method transmits a transmitted wave, and a plurality of receiving elements are based on the reflected wave including the reflection of the transmitted wave from the underwater target.
  • the beamforming process includes generating a received signal from the receiver, executing a beamforming process based on the received signal, and generating a first image data and a second image data based on the processing result of the beamforming process. , At least in the first vertical plane and in the second vertical plane, the process of executing the first beamforming in a plurality of tilt directions based on the received signal, and at least in the first vertical plane and the second vertical plane.
  • the first vertical plane and the second vertical plane are not parallel to each other and include the process of executing the second beamforming in one specific tilt direction based on the received signal.
  • the 1 image data is generated based on the 1st beamforming data acquired by the 1st beamforming
  • the 2nd image data is generated based on the 2nd beamforming data acquired by the 2nd beamforming. Will be done.
  • FIG. 10 is a diagram similar to FIG. 10 (however, it is a diagram showing a detection image displayed during processing for vertical planes having different azimuth angles).
  • FIG. 10 is a diagram similar to FIG. 10 (however, it is a diagram showing a detection image displayed during processing for a vertical plane having yet another azimuth angle).
  • It is a figure which shows another transmission / reception part.
  • It which shows another transmission / reception part.
  • It is a figure which shows another transmission / reception part.
  • FIG. 1 is a block diagram showing a schematic configuration of an underwater detection device 1 according to an embodiment of the present invention.
  • the underwater detection device 1 is configured as a general pulse type underwater detection device.
  • the receiving unit 3 receives the reflected wave of the transmission pulse wave while the transmission pulse wave reciprocates in the detection range. Then, after the time for the transmitted pulse wave to reciprocate in the detection range has elapsed, the next transmitted pulse wave is transmitted.
  • the underwater detection device 1 is not limited to this, and may be a so-called multi-ping type underwater detection device.
  • the multiping method is also referred to as a multi-pulse method.
  • the transmission pulse wave of the predetermined frequency band is first transmitted, the transmission pulse wave has a frequency band different from the predetermined frequency band before reciprocating in the detection range.
  • the transmitted pulse wave of is transmitted.
  • the reflected wave of each transmitted pulse wave is extracted by a filter corresponding to each frequency band.
  • the transmission interval of the transmitted pulse wave can be narrowed, so that the detection speed of the target can be increased compared to the general pulse type underwater detection device. is there.
  • the underwater detection device 1 is installed on the bottom of the own ship as a ship, for example, and is mainly used for detecting target targets such as fish and schools of fish.
  • the underwater detection device 1 is also used for detecting undulations on the seabed such as reefs and structures such as artificial reefs.
  • the underwater detection device 1 includes a wave transmitting unit 2, a receiving unit 3, a motor 4a as a rotation driving unit, a rotation angle detecting unit 4b, a transmitting / receiving device 5, and a signal processing unit 10. And a display unit 8.
  • FIG. 2 is a diagram schematically showing a transmission beam TB formed by the wave transmission unit 2.
  • the wave transmitting unit 2 is for transmitting pulsed ultrasonic waves into water, and is installed so that the transmitting surface for transmitting the ultrasonic waves is arranged below the sea surface.
  • the wave transmitting unit 2 has one or a plurality of ultrasonic vibrators, and is configured to be capable of forming a three-dimensional transmitted beam TB as shown in FIG.
  • the wave transmitting unit 2 is provided on the bottom of the ship so that the central axis Ax of the transmitted beam TB is oblique to the vertical direction (the z-axis direction in FIG. 2). As shown in FIG.
  • the shape of the transmission beam TB has a certain thickness (angle ⁇ a) when viewed from the vertical direction, and is formed in a substantially fan shape when viewed from the thickness direction. is there.
  • the angle ⁇ a is, for example, 30 degrees, but is not limited to this, and may be a value in the range of, for example, 6 degrees to 90 degrees.
  • the angle range (depression angle range) that can be taken in the vertical direction of the substantially fan-shaped transmission beam TB is, for example, a range from 0 degrees (vertically downward) to 90 degrees (horizontal direction).
  • the angle range is not limited to this, and the angle range may be a range of 30 degrees to 90 degrees (horizontal direction) or a range of 45 degrees to 90 degrees (horizontal direction).
  • the angle range may range from -60 degrees to 60 degrees, which is a range including vertically downward.
  • FIG. 3 is a view of the own ship S equipped with the underwater detection device 1 as viewed from above.
  • a transmission beam TB formed by the wave transmission unit 2 and a reception beam RB are schematically shown.
  • the wave transmitting unit 2 and the receiving unit 3 are driven by the motor 4a (see also FIG. 5).
  • the motor 4a rotates the transmitting unit 2 and the receiving unit 3 with the central axis extending in the vertical direction as the center of rotation.
  • the transmission beam TB shown in FIG. 3 is rotated in all directions in the horizontal direction centered on the own ship S.
  • the motor 4a repeats rotation and stop so that the wave transmitting unit 2 and the receiving unit 3 rotate at a predetermined angle at predetermined time intervals and stop for a predetermined time after the rotation.
  • the present invention is not limited to this, and the motor 4a may continuously rotate the transmitting portion 2 and the receiving portion 3.
  • the rotation angle detection unit 4b is attached to the motor 4a.
  • an encoder is used as the rotation angle detecting unit 4b.
  • the present invention is not limited to this, and the signal controlling the rotation of the motor 4a may be analyzed and converted into angle information.
  • the number of command pulses input to the stepping motor may be counted and converted into angle information.
  • the angle positions of the transmitting unit 2 and the receiving unit 3 in the ⁇ direction are calculated based on the rotation angle of the motor 4a detected by the rotation angle detecting unit 4b.
  • the receiving unit 3 is an element that receives the reflected wave including the reflection of the transmitted wave from the underwater target.
  • the receiving unit 3 has an ultrasonic vibrator 3a as a plurality of receiving elements.
  • the wave receiving unit 3 is provided separately from the wave transmitting unit 2.
  • Each ultrasonic vibrator 3a is installed so that the receiving surface 3b that receives ultrasonic waves is arranged below the sea surface. As shown in FIG. 1, the receiving surface 3b of each ultrasonic vibrator 3a is formed in a rectangular shape. Note that FIG. 1 illustrates an embodiment in which the number of ultrasonic vibrators 3a is eight, but the number is not limited to this, and the number of ultrasonic vibrators 3a may be another number. Further, in FIG.
  • each ultrasonic transducer 3a receives the reflected wave of each transmission pulse wave, which is an ultrasonic wave transmitted from the transmission unit 2, as a reception wave and converts it into an echo signal as an electric signal.
  • These ultrasonic vibrators 3a are arranged in a straight line. That is, the receiving unit 3 is a linear array.
  • the angle formed by the horizontal plane and the direction perpendicular to the receiving surface of the linear array on the side where the receiving beam is formed is, for example, 30 degrees (assuming the depression angle direction is positive). However, the angle is not limited to this, and the angle is an angle when the linear array is arranged along the horizontal direction from 0 degree which is an angle when the linear array is arranged along the vertical direction. It may be any other angle within the range up to 90 degrees.
  • the wave receiving unit 3 is rotationally driven by the motor 4a.
  • the motor 4a rotationally drives the receiving portion 3 with the central axis extending in the vertical direction as the center of rotation. As a result, the receiving portion 3 rotates along the horizontal plane perpendicular to the vertical direction.
  • the motor 4a repeats rotation and stop so that the receiving unit 3 rotates by a predetermined angle at predetermined time intervals and stops for a predetermined time after the rotation.
  • the present invention is not limited to this, and the motor 4a may continuously rotate the receiving portion 3.
  • the motor 4a rotates the transmitting unit 2 and the receiving unit 3 in synchronization with each other. That is, the transmitting unit 2 and the receiving unit 3 cannot move relative to each other.
  • the rotation angle detection unit 4b is attached to the motor 4a as described above.
  • the angle position of the wave receiving unit 3 in the ⁇ direction is calculated based on the rotation angle of the motor 4a detected by the rotation angle detecting unit 4b.
  • the transmission / reception device 5 includes a transmission unit 6 and a reception unit 7.
  • the transmission unit 6 amplifies the transmission pulse signal generated by the signal processing unit 10, and applies the amplified signal to the transmission unit 2 as a transmission pulse signal after amplification. As a result, each transmission pulse wave corresponding to each amplified transmission pulse signal is transmitted from the wave transmission unit 2.
  • the receiving unit 7 amplifies the echo signal as an electric signal output by the receiving unit 3, and A / D converts the amplified echo signal. After that, the receiving unit 7 outputs the echo signal converted into the digital signal to the signal processing unit 10. More specifically, the receiving unit 7 has a plurality of receiving circuits, and each receiving circuit converts each echo obtained by converting the received wave received by the corresponding ultrasonic vibrator 3a into an electric signal. The above-mentioned predetermined processing is performed on the signal, and each echo signal is output to the signal processing unit 10.
  • the signal processing unit 10 generates a transmission pulse signal as a transmission signal and inputs it to the transmission unit 6. Further, the signal processing unit 10 processes the echo signal output from the receiving unit 7 and performs a process of generating image data of the target.
  • the signal processing unit 10 includes a hardware processor (for example, CPU (Central Processing Unit), GPU (Graphics Processing Unit), FPGA (field-programmable gate array), etc.), various memories (volatile memory, non-volatile memory), and the like. Equipped with the device.
  • CPU Central Processing Unit
  • GPU Graphics Processing Unit
  • FPGA field-programmable gate array
  • various memories volatile memory, non-volatile memory
  • various processing units for example, beamforming unit 11, transmission control unit 13, image generation unit 15, etc.
  • the beamforming unit (beam forming unit) 11 is a processing unit that executes beamforming processing based on the received signals acquired by the receiving unit 3 and the receiving unit 7.
  • the transmission control unit 13 is a processing unit that controls the transmission timing of the transmitted wave by the wave transmission unit 2.
  • the transmission control unit 13 controls the operation of transmitting the transmitted wave immediately before the received beamforming with respect to each vertical plane Pi. For example, the transmission control unit 13 transmits the first transmitted wave in the vertical plane P1 (see FIG. 10) before the first beamforming is performed, and in the vertical plane P2 (see FIG. 12).
  • the transmission timing of the transmitted wave is controlled by the wave transmitting unit 2 so that the second transmitted wave is transmitted before the first beamforming is performed.
  • the image generation unit 15 is a processing unit that generates various image data (D1, D2, etc.) based on the processing result of the beamforming process.
  • the display unit 8 displays an image corresponding to the image data output from the signal processing unit 10 on the display screen.
  • the display unit 8 displays two types of detection images M1 and M2 side by side in the left-right direction.
  • one detection image M1 is a three-dimensional detection image.
  • the other detection image M2 is a two-dimensional detection image (PPI (Plan Position Indicator) type detection image).
  • PPI Plan Position Indicator
  • these two detection images M1 and M2 are arranged and displayed in parallel in the display screen of the display unit 8. Specifically, as shown in FIG. 9, an image 210 in which the detected images M1 and M2 are arranged in the left-right direction and combined is displayed. Note that FIG. 10 is a diagram showing only the detection image M1 taken out, and FIG. 11 is a diagram showing only the detection image M2 taken out.
  • the three-dimensional detection image M1 (see FIGS. 9 and 10) is a screen that displays the underwater state below the ship in three dimensions as a bird's-eye view.
  • the user can check the underwater condition (for example, single fish and school of fish, undulations of the seabed, presence / absence and position of structures such as artificial reefs) below the ship S. It can be grasped three-dimensionally.
  • the surface F1 represents the seabed.
  • the portion 51 with sandy hatching and diagonal hatching represents a school of fish.
  • the two-dimensional detection image M2 is a screen that displays the distance and the direction radially (so to speak, two-dimensionally) around the own ship S.
  • the two-dimensional detection image M2 specifically, M21
  • the underwater state in the specific depression angle (tilt angle) ⁇ s (see FIG. 8) direction from the own ship S over the omnidirectional angle ⁇ is displayed two-dimensionally. Will be done.
  • the two-dimensional detection image M2 is also referred to as a PPI (Plan Position Indicator) type detection image.
  • color-coded display is performed according to the echo signal intensity.
  • the high echo intensity area is shown in red
  • the medium echo intensity area is shown in green
  • the low echo intensity area is shown in blue.
  • the high echo intensity area is provided with dark hatching
  • the medium echo intensity area is provided with light dot hatching
  • the low echo intensity area is provided with even lighter dots. It has hatching. According to such a display, the user can determine the intensity of the reflected wave from the target and grasp the density of the target (fish school or the like).
  • Each detection image M1 and M2 is generated based on the beamforming data acquired by beamforming.
  • beamforming is a signal processing technique for controlling the directivity (selectivity with respect to direction) of the receiving unit 3. Signals whose phase and amplitude are controlled by delays and filters interfere with each other to emphasize or reduce signals from a specific direction.
  • the three-dimensional detected image M1 is displayed based on the image data D1.
  • the image data D1 is generated based on the first beamforming data acquired by the first beamforming (here, adaptive beamforming).
  • the first beamforming is executed in each of a plurality of tilt directions (depression directions) in each vertical plane Pi.
  • FIG. 7 it is a concept that the first beamforming is executed in each of a plurality of tilt directions (tilt angle ⁇ (depression angle) direction) ( ⁇ 1, ⁇ 2, ⁇ 3, ...) In a certain vertical plane Pi. Is shown.
  • the process (process of executing the first beamforming in a plurality of tilting directions within each vertical plane Pi) is executed for each of the plurality of vertical planes Pi. More specifically, the process is executed for a plurality of vertical planes Pi (at least two vertical planes) whose azimuths are changed for each angle ⁇ (see FIG. 4).
  • the plurality of vertical planes Pi are a plurality of vertical planes corresponding to different azimuth angles ⁇ , and at least two vertical planes (P1, P2, etc.) are not parallel to each other (angles oblique to each other (angles oblique to each other). A plane with an angle other than zero degrees). It is preferable that the process is performed on a larger number of vertical planes.
  • the three-dimensional detection image M1 is preferably generated by using beamforming having a high angular resolution ⁇ (see FIG. 7) in the depression angle (tilt angle) ⁇ direction.
  • FIG. 7 is a diagram showing how the first beamforming is performed in a plurality of tilting directions.
  • the angular resolution ⁇ in the depression angle (tilt angle) ⁇ direction is relatively high (value ⁇ is small) (fine), the surface shape of the seabed or the like should be expressed relatively sharply (sharply). Is possible.
  • the beamforming having high angular resolution in the depression angle (tilt angle) ⁇ direction for example, adaptive beamforming (Capon method, MUSIC method, etc.) is preferably used.
  • the two-dimensional detection image M2 is displayed based on the image data D2.
  • the image data D2 is generated based on the second beamforming data acquired by the second beamforming (here, delayed sum beamforming).
  • the second beamforming is executed in one inclination direction (specific tilt angle ⁇ s (depression angle) direction) in each vertical plane Pi.
  • FIG. 8 is a diagram showing how the second beamforming is performed in one inclination direction.
  • FIG. 8 conceptually shows how the second beamforming is performed in one tilt direction (specific tilt angle ⁇ s (depression angle) direction) in a certain vertical plane Pi.
  • the process (process of executing the second beamforming in one inclination direction in each vertical plane Pi) is executed for each of the plurality of vertical planes Pi. More specifically, the process is executed for a plurality of vertical planes Pi (at least two vertical planes) whose azimuths are changed for each angle ⁇ (see FIG. 4).
  • the plurality of vertical planes are a plurality of vertical planes corresponding to different azimuth angles, and at least two of them are a plurality of two vertical planes that are not parallel to each other. It is preferable that the process is performed on a larger number of vertical planes.
  • the two-dimensional detection image M2 is a display image used by many users of conventional underwater detection devices. By visually recognizing the (familiar) two-dimensional detection image M2, the user can appropriately recognize the existence position (distance and direction) of the school of fish in the specific tilt angle ⁇ s direction.
  • beamforming in which the echo intensity changes smoothly, for example, delayed sum beamforming (beamforming that delays and adds) in order to grasp the density of the school of fish. ..
  • FIG. 6 is a flowchart showing the operation of the underwater detection device 1.
  • the transmitting unit 2 and the receiving unit 3 are driven by the motor and rotate around the vertical axis, the processes related to the plurality of vertical planes Pi are sequentially executed. Specifically, as described above, the motor 4a rotates and stops so that the transmitting unit 2 and the receiving unit 3 rotate at a predetermined angle at predetermined time intervals and stop for a predetermined time after the rotation. And repeat.
  • processing related to the vertical plane P1 having an azimuth angle of ⁇ 1 is executed (steps S11 to S13).
  • the beamforming data is generated by performing the wave transmitting process and the wave receiving process using the transmitting unit 2 and the receiving unit 3 and the like (step S11).
  • ultrasonic waves are transmitted into the water from the transmitting unit 2, and the receiving unit 3 facing the azimuth ⁇ 1.
  • the received wave is received by the receiving surface 3b.
  • the first and second beamforming are performed in the vertical plane P1 (see FIG. 10) existing along the azimuth angle ⁇ 1.
  • the transmission timing of such a transmission wave is controlled by the transmission / reception device 5 and the signal processing unit 10.
  • a process of forming a so-called received beam is executed.
  • the first beamforming for generating the detected image M1 is executed in a plurality of depression angles ⁇ ( ⁇ 1, ⁇ 2, ⁇ 3, ...)
  • the second beamforming for generating the detected image M2 is performed. Is executed in the direction of one depression angle ⁇ s.
  • the first beamforming executed in the vertical plane P1 along the azimuth angle ⁇ 1 and the second beamforming executed in the vertical plane are based on the received signals obtained from the same transmitted wave. Will be executed. In this way, two types of beamforming (for generating the detected images M1 and M2) are executed in the vertical plane P1 in the azimuth angle ⁇ 1 direction.
  • the detection images M1 and M2 are generated (updated) based on the processing results of the two types of beamforming processing (step S12). Specifically, in each of the detected images M1 and M2, the image of the portion where the latest echo information is obtained by the beamforming process in the specific azimuth angle ⁇ 1 direction is updated.
  • the portion has a substantially fan-shaped cross section (received beam RB in FIG. 3) having a linear direction extending from the own ship S toward a specific azimuth angle ⁇ 1 as a radial direction and a central angle ⁇ in the azimuth direction ( ⁇ direction).
  • the image 210 including the updated detection images M1 and M2 is displayed on the display unit 8 (step S13). Specifically, the detection image M1 is displayed based on the processing result of the first beamforming and the like, and the detection image M2 is displayed based on the processing result and the like of the second beamforming (see FIG. 9).
  • the vertical plane (vertical cross section) P1 to be processed by the beamforming process and the drawing update process is drawn.
  • the vertical plane P1 is drawn as, for example, a translucent thin plate upper part.
  • the boundary line 69 is a line of intersection between the seabed F1 and the vertical plane Pi (P1, etc.).
  • the vertical plane P1 to be processed is drawn (in other words, the display portion (vertical plane P1) indicating the direction ( ⁇ 1) in which the receiving portion 3 in the first beamforming is facing is in the first image data D1. According to (generated), it is possible to easily grasp the direction in which the receiving unit 3 is facing at that time. That is, the user can easily know the vertical plane P1 that is currently being processed for beamforming processing and the like.
  • the three-dimensional detection image M1 has one tilt direction (tilt angle) in the second beamforming executed for the generation of the two-dimensional detection image M2. ⁇ s) is shown.
  • the image generation unit 15 is a display portion 61 indicating one specific inclination direction in the second beamforming in the vertical plane P1 (specifically, the depression angle ⁇ s from directly below the own ship S toward the outer peripheral side). A line segment inclined downward) is added to the first image data D1. Then, a three-dimensional detection image M1 (see FIGS. 9 and 10) is displayed based on the first image data D1.
  • the display portion (also referred to as a display part) 61 is not limited to a linear shape (line segment shape), and as shown in FIG. 8, expands ( ⁇ ) in the depression angle direction around one specific inclination direction ⁇ s. It may have a shape (specifically, an elongated substantially fan shape). According to this, the user can grasp the directivity characteristic of the second beamforming (search range by the second beamforming) more clearly (including the degree of expansion in the depression angle direction).
  • the wave transmitting unit 2 and the receiving unit 3 rotate by a predetermined angle ⁇ around the vertical axis by the motor drive.
  • the beam forming at the time of execution
  • the transmitting unit 2 and the receiving unit 3 rotate around the vertical axis by being driven by the motor 4a (driving unit).
  • step S11 to S13 the processing related to the vertical plane P2 having the azimuth angle ⁇ 2 is executed (steps S11 to S13).
  • the received wave is received by the receiving surface 3b of the receiving portion 3.
  • the first and second beamforming are performed in the vertical plane P2 existing along the azimuth angle ⁇ 2. More specifically, the first beamforming for generating the detected image M1 is executed in a plurality of depression angles ⁇ ( ⁇ 1, ⁇ 2, ⁇ 3, ...), And the second beam for generating the detected image M2 is executed. Forming is performed in the direction of one depression angle ⁇ s. In this way, two types of beamforming (for generating the detected images M1 and M2) are executed in the vertical plane P2 in the azimuth angle ⁇ 2 direction (step S11).
  • the detection images M1 and M2 are updated based on the processing results of the two types of beamforming processing (step S12), and the image 210 including the updated detection images M1 and M2 is displayed on the display unit 8 (step S13). ..
  • the detection image M1 shows one tilt direction (tilt angle ⁇ s) in the second beamforming executed for generating the two-dimensional detection image M2.
  • a display portion 61 indicating one specific inclination direction in the second beamforming in the vertical plane P2 (specifically, a line segment inclined downward by a depression angle ⁇ s from directly below the own ship S toward the outer peripheral side). ) Is displayed in the three-dimensional detection image M1.
  • the predetermined angle ⁇ is about 30 degrees is shown, but the present invention is not limited to this, and the predetermined angle ⁇ is another value (smaller value or larger value). ) May be.
  • the wave transmitting unit 2 and the receiving unit 3 rotate again by a predetermined angle ⁇ around the vertical axis by the motor drive.
  • ⁇ T time interval
  • the wave transmitting unit 2 and the receiving unit 3 rotate again by a predetermined angle ⁇ around the vertical axis by the motor drive.
  • the transmitting unit 2 and the receiving unit 3 rotate around the vertical axis by being driven by the motor 4a.
  • step S11 to S13 relating to the vertical plane P3 (FIG. 13) having an azimuth angle of ⁇ 3 are executed.
  • the received wave is received by the receiving surface 3b of the wave unit 3, and two types of beamforming (for generating the detected images M1 and M2) are executed in the vertical plane P3 in the azimuth angle ⁇ 3 direction.
  • the detection images M1 and M2 are updated based on the processing results of the two types of beamforming processing (step S12), and the image (composite image) 210 including the updated detection images M1 and M2 is displayed on the display unit 8. (Step S13).
  • the vertical plane P3 to be processed by the beamforming process and the drawing update process is drawn. Further, a display portion 61 (specifically, a line segment inclined downward by a depression angle ⁇ s from directly below the own ship S toward the outer peripheral side) indicating one specific inclination direction in the second beam forming in the vertical plane P3 is provided. It is displayed on the three-dimensional detection image M1.
  • step S11 to S13 the processes related to the corresponding vertical plane Pi (steps S11 to S13) are executed for the plurality of azimuth angles ⁇ i over all directions.
  • the inclination direction ⁇ s in the above embodiment can be changed by the user. Specifically, the user sets one tilt direction ⁇ s in the second beamforming for generating the two-dimensional detection image M2 to a predetermined user interface (setting screen (not shown) displayed on the display unit 8 or the like). It is possible to change the setting using. For example, by inputting a new tilt angle ⁇ s (for example, “30 degrees”) after changing the setting numerically (input as a digital value), the new tilt angle direction is set to a predetermined angle (for example, 1 degree). It can be changed in increments.
  • a new tilt angle ⁇ s for example, “30 degrees”
  • a predetermined angle for example, 1 degree
  • the user sets the one inclination direction ⁇ s independently of the plurality of inclination directions ⁇ ( ⁇ 1, ⁇ 2, ⁇ 3, ...) In the first beamforming for generating the three-dimensional detection image M1. It is possible to do. Specifically, the user can change only the one inclination direction ⁇ s without changing the plurality of inclination directions ⁇ ( ⁇ 1, ⁇ 2, ⁇ 3, ).
  • the image data D1 is data generated based on the first beamforming data acquired by the first beamforming (here, adaptive beamforming).
  • the first beam forming is performed in a plurality of tilt directions (tilt angle ⁇ direction) in at least two vertical planes Pi (for example, in the vertical plane P1 and in the vertical plane P2) that are not parallel to each other (corresponding to different azimuth angles). (Depression direction)) is the received beam forming process executed.
  • the image data D2 is data generated based on the second beamforming data acquired by the second beamforming (here, delayed sum beamforming).
  • the second beam forming is one specific tilt direction (eg, tilt angle) in each of at least two non-parallel vertical planes Pi (eg, in the vertical plane P1 and in the vertical plane P2) (corresponding to different azimuth angles). It is a received beam forming process executed in the ⁇ s direction.
  • the advantages obtained with the PPI display image (two-dimensional detection image) M2 may not be obtained. More specifically, since it is difficult to specify the specific depression angle direction, what kind of depression angle direction (tilt angle) the target such as a school of fish exists, and how far the target is from the ship's position. There is a problem that it is not always easy to grasp whether it exists at the position.
  • the PPI display image M2 it is easy to grasp the state of the target (fish school, etc.) with respect to the designated specific depression angle direction. Specifically, it is relatively easy to grasp in what depression angle direction (tilt angle) the target is located and how far the target is from the ship's position. ..
  • the user can grasp desired information by appropriately using these images M1 and M2.
  • the first beamforming and the second beamforming are different processes from each other. Specifically, adaptive beamforming is executed as the first beamforming, and delayed sum beamforming is executed as the second beamforming.
  • delayed sum beamforming is used to generate a PPI display image (two-dimensional detection image), in which the echo intensity changes smoothly and responds linearly to the target. Therefore, it is possible to acquire an image that more appropriately reflects the density of the school of fish. More specifically, the difference in echo intensity for each school of fish is expressed as a difference in color level, so that the user can easily determine the density of each school of fish.
  • adaptive beamforming with high resolution in the vertical direction is used to generate a three-dimensional display image (three-dimensional detection image).
  • the received beam formed in at least one of a plurality of tilt directions in the first beamforming is the second beamforming (here, delayed sum beamforming). It has higher resolution in the depression angle direction (tilt angle ⁇ direction) than the received beam formed in one specific tilt direction.
  • the resolution ⁇ by the first beamforming has a smaller value (that is, higher resolution) than the resolution ⁇ by the second beamforming (see FIG. 8). Therefore, it is possible to grasp the surface shape of the object in each vertical cross section Pi relatively accurately.
  • adaptive beamforming with high resolution in the depression angle direction is used to generate the image for 3D display, so that the undulating shape of the seabed and the shape of the school of fish can be displayed as a relatively sharp image. It is possible to get it.
  • the detection images M1 and M2 are updated and displayed each time the beamforming process and the image data generation process for each of the plurality of vertical planes Pi are completed.
  • the detection images M1 and M2 are gradually updated every predetermined angle ⁇ .
  • the update display of the detected images M1 and M2 may be performed every time all the processes relating to the plurality of vertical planes in all directions are completed.
  • the detection images M1 and M2 for all directions may be updated at once.
  • the vertical plane Pi in the detection image M1 may be displayed asynchronously with the processing timing.
  • a vertical plane Pi extending in the direction of the azimuth angle ⁇ specified by the user may be displayed according to the operation of the user or the like.
  • the mechanical scanning type sonar is exemplified as the underwater detection device 1, but the present invention is not limited to this.
  • the underwater detector 1 may be a scanning sonar.
  • a wave transmitting / receiving unit (also referred to as a transmitter / receiver) is configured by integrating the transmitting unit 2 and the receiving unit 3. ) 20 is provided.
  • the transmitting / receiving unit 20 has a plurality of receiving elements 33a arranged in two dimensions.
  • a substantially cylindrical wave transmitting / receiving unit 20 is illustrated.
  • the wave transmitting / receiving unit 20 of FIG. 17 has a substantially cylindrical housing and ultrasonic vibrators 33a as a plurality of transmitting / receiving elements attached to the outer peripheral surface of the housing.
  • the ultrasonic vibrator 33a transmits ultrasonic waves into water, receives echoes, converts the echoes into electrical signals (received signals), and outputs the echoes to the receiving unit 7.
  • a transmitting / receiving unit 20 (also referred to as 20A) having a substantially cylindrical shape is exemplified, but the present invention is not limited to this, and the transmitting / receiving unit 20 has another shape (see FIGS. 18 to 20).
  • the transmission / reception unit 20 (20B) shown in FIG. 18 may be used
  • the transmission / reception unit 20 (20C) shown in FIG. 19 may be used
  • the transmission / reception unit 20 (20D) shown in FIG. 20 may be used.
  • the wave transmitting / receiving portion 20B (FIG. 18) has a housing formed in a substantially cylindrical shape and a hemispherical lower portion.
  • a plurality of ultrasonic vibrators 33a are attached to the outer peripheral surface of the cylinder and the hemisphere of the housing.
  • the wave transmitting / receiving unit 20C (FIG. 19) has a housing formed in a downward hemisphere.
  • a plurality of ultrasonic vibrators 33a are attached to the hemisphere of the housing.
  • the wave transmitting / receiving unit 20D (FIG. 20) has a spherical housing.
  • a plurality of ultrasonic vibrators 33a are attached to the entire surface of the housing.
  • the transmission / reception unit 20 transmits the transmission wave in all directions in the horizontal direction centered on the own ship S. Further, the transmission / reception unit 20 is driven by the transmission / reception device 5 to transmit the transmission wave, and generates a reception signal based on the reflected wave including the reflection of the transmission wave from the underwater target such as the fish school 51 and the seabed F1.
  • the beamforming unit 11 performs beamforming processing (first beamforming and second beamforming) on complex signals obtained from a plurality of specific ultrasonic transducers 33a (at least a part of the ultrasonic transducers 33a). As a result, the beamforming unit 11 generates a received beam signal which is a signal equivalent to that obtained by a single ultrasonic oscillator having a sharp directivity in a specific direction. The region where this beam signal is formed is also referred to as a reception beam region. The beamforming unit 11 repeatedly performs this process while changing the combination of the ultrasonic transducers 33a to be subjected to the beam forming process, thereby generating a large number of received beam signals having directivity in each direction.
  • beamforming processing first beamforming and second beamforming
  • the beamforming unit 11 receives from a group of elements (for example, two or more receiving elements facing the azimuth ⁇ 1 direction) related to the first combination of a plurality of receiving elements (ultrasonic transducers 33a). Based on the signal, the first beamforming and the second beamforming in the first vertical plane P1 of the plurality of vertical planes are executed. Further, the beamforming unit 11 is from an element group (for example, two or more receiving elements facing the azimuth ⁇ 2 direction) related to a second combination different from the first combination among the plurality of receiving elements. Based on the received signal, the first beamforming and the second beamforming in the second vertical plane P2 of the plurality of vertical planes are executed. The same applies to the other vertical planes among the plurality of vertical planes.
  • a group of elements for example, two or more receiving elements facing the azimuth ⁇ 1 direction
  • the beamforming unit 11 is from an element group (for example, two or more receiving elements facing the azimuth ⁇ 2 direction) related to a second combination different from the first
  • the beamforming unit 11 In the first beamforming, the beamforming unit 11 generates a received beam signal having a beam width narrower than the beam width of the transmitted wave in the depression angle direction, and the transmitted wave is transmitted by gradually changing the tilt angle thereof. Scan the area. In this way, the beamforming unit 11 executes the first beamforming (adaptive beamforming) in a plurality of inclination directions (depression angle directions) in each vertical plane Pi.
  • the position information of each three-dimensional data (detailed later) generated based on these received beam signals is reflected from the transmitting / receiving unit 20 obtained from the time from the transmission of the transmitted wave to the reception. It is calculated based on the distance to the target and the direction of the received beam signal.
  • the beamforming unit 11 executes the first beamforming (adaptive beamforming) in a plurality of inclination directions ⁇ i (depression angle directions) in each vertical plane Pi, and based on the amplitude of the received beam signal and the like, the first beam. Get forming data.
  • the image generation unit 15 generates three-dimensional data showing the distribution of the underwater targets around the ship based on the first beamforming data. Further, the image generation unit 15 generates 3D image data D1 for displaying the 3D detection image M1 by projecting the 3D data on a 2D plane (display surface).
  • the beamforming unit 11 executes the second beamforming (delayed sum beamforming) in one inclination direction ⁇ s (depression angle direction) in each vertical plane Pi, and is based on the amplitude of the received beam signal and the like. Acquire the second beamforming data.
  • the image generation unit 15 generates image data D2 (image data for PPI display) showing the distribution of the underwater target in one inclination direction ⁇ s around the ship based on the second beamforming data.
  • the beamforming unit 11 performs first beamforming (adaptive beamforming) in a plurality of inclination directions (depression angle directions) in each of a plurality of vertical planes Pi that are not parallel to each other (corresponding to different azimuth angles). Is executed to acquire the first beamforming data. Further, the image generation unit 15 generates the first image data D1 (display data of the detected image M1) based on the first beamforming data. Then, the detection image M1 based on the first image data D1 is displayed on the display unit 8.
  • the beamforming unit 11 executes the second beamforming (delayed sum beamforming) in one inclination direction (depression angle direction) in each of the plurality of vertical planes Pi, and acquires the second beamforming data. .. Further, the image generation unit 15 generates the second image data D2 (display data of the detected image M2) based on the second beamforming data. Then, the detection image M2 based on the second image data D2 is displayed on the display unit 8.
  • the third embodiment is a modification of the first and second embodiments. Hereinafter, the differences from the first embodiment and the like will be mainly described.
  • FIG. 14 is a diagram showing a display screen according to the third embodiment.
  • a two-dimensional PPI display (detection image M22) relating to the tilt angle ⁇ u different from the tilt angle ⁇ s is further added.
  • the third beamforming is beamforming at one tilt angle ⁇ u.
  • the third beamforming for example, beamforming (delay sum beamforming) of the same method as the second beamforming may be executed.
  • the third beamforming data acquired by the third beamforming performed in the tilt angle ⁇ u direction is generated, and the third image data D3 is generated based on the third beamforming data.
  • the two-dimensional PPI display image (detection image) M22 relating to the tilt angle ⁇ u is further displayed.
  • the two-dimensional PPI display image (detection image) M21 relating to the tilt angle ⁇ s is also displayed (see FIG. 14). According to this, since the two-dimensional PPI display images (detection images) M21 and M22 relating to the two tilt angles ⁇ s and ⁇ u are displayed in parallel at the same time, the user can use the two types of depression angle directions ( ⁇ s direction and ⁇ u direction). It is possible to grasp the state of water at the same time.
  • a display portion (line segment) 61 indicating one specific tilt direction (tilt angle ⁇ s) on a certain vertical plane Pi is displayed, and the specific tilt on the vertical plane Pi is displayed.
  • a display portion (line segment) 62 indicating the direction (tilt angle ⁇ u) is also displayed.
  • the two tilt angles ⁇ s and ⁇ u are shown by using the numerical values in the two-dimensional PPI display images (detection images) M21 and M22 in addition to the display portions 61 and 62 in the three-dimensional detection image M1.
  • two images M41 and M42 (sub-images showing tilt angles ⁇ s, ⁇ u, etc.) as shown in FIG. 15 may be additionally displayed in the image 210.
  • the images M41 and M42 are diagrams showing the state in the cut plane obtained by cutting the three-dimensional detection image M1 on a certain vertical plane Pi (a vertical plane along a certain azimuth angle ⁇ i), respectively.
  • the image M41 is an image showing echo information in the vertical plane Pi and an image showing a tilt angle ⁇ s or the like with respect to the image M21.
  • the set tilt angle ⁇ s direction is indicated by a straight line (line segment) 71.
  • the image M42 is an image showing echo information in the vertical plane Pi and an image showing a tilt angle ⁇ u or the like with respect to the image M22.
  • the set tilt angle ⁇ u direction is indicated by a straight line (line segment) 72.
  • the image M5 as shown in FIG. 16 may be further added in the image 210.
  • the image M5 is an image similar to the conventional fishfinder image.
  • the echo information may be acquired by using either the first beamforming or the second beamforming.
  • the first beamforming and the second beamforming are different processes (specifically, different methods of processing), but the first beamforming and the second beamforming are not limited thereto.
  • the two-beamforming may be the same method of processing (adaptive beamforming, etc.).
  • the received beam formed by the second beam forming (delayed sum beam forming) in one specific inclination direction in each of the plurality of vertical planes is the one in each vertical plane. It has a shape that is symmetric with respect to a specific inclination direction (a shape that is axisymmetric with respect to the straight line extending in the specific direction).
  • Such beamforming is executed by using, for example, the Chebyshev window as a window for amplitude window processing in signal processing using a complex function. Further, according to the delayed sum beamforming using the Chebyshev window, it is possible to make the beam width in the depression angle direction relatively narrow in the delayed sum beamforming. Therefore, in the two-dimensional PPI display, it is possible to express the edge of the seabed ring relatively sharply.
  • the present invention is not limited to this, and another window for amplitude window processing may be used in the second beamforming.
  • the SINC function may be used as a window for amplitude window processing.
  • the delayed sum beamforming using the SINC function it is possible to make the beam width in the depression angle direction relatively wide. Therefore, in the two-dimensional PPI display, it is possible to grasp the existence of a wreck sinking on a flat seabed relatively clearly. Specifically, the user can relatively clearly grasp the existence of a wreck sinking on a flat seabed by visually recognizing a wide range of echo images including a part corresponding to the wreck and a part corresponding to the shadow of the wreck. It is possible.
  • a window that forms a desired amplitude shape may be used.
  • a beam formed in one specific inclination direction in each of a plurality of vertical planes Pi has an asymmetric shape with respect to the one specific inclination direction (a shape that is not axisymmetric with respect to a straight line extending in the one specific direction). It may be a beam to have. More specifically, the reception beam similar to the cosecant square beam (the signal strength in the depression angle direction (tilt angle 90 degrees direction) on the side closer to the vertical lower side is reduced and the depression angle direction on the side closer to the horizontal direction (sea surface direction)).
  • a window may be used to generate (a received beam that increases the signal strength in the direction of the tilt angle of 0 degrees).
  • the echo levels of the flat seafloor are almost equal regardless of the depression angle, so that the height of the flat seafloor and the structure (seafloor structure) protruding from the seafloor is high. The difference becomes clear. Therefore, the user can detect the submarine structure relatively easily.
  • the display unit 8 may alternately display two types of detection images M1 and M2.
  • the detection image M1 an image displayed from a bird's-eye view from diagonally above is exemplified, but the present invention is not limited to this, and an image viewed from directly above (an image based on the first beamforming). May be displayed as the detection image M1.
  • All processes described herein can be embodied and fully automated by software code modules executed by a computing system that includes one or more computers or processors.
  • the code module can be stored on any type of non-transitory computer-readable medium or other computer storage device. Some or all methods may be embodied in dedicated computer hardware.
  • any particular action, event, or function of any of the algorithms described herein may be performed in different sequences and may be added, merged, or excluded altogether. (For example, not all described actions or events are required to execute the algorithm). Further, in certain embodiments, operations or events are performed in parallel rather than sequentially, for example through multithreading, interrupt handling, or through multiple processors or processor cores, or on other parallel architectures. Can be done. In addition, different tasks or processes can be performed by different machines and / or computing systems that can work together.
  • the various exemplary logical blocks and modules described in connection with the embodiments disclosed herein can be implemented or executed by a machine such as a processor.
  • the processor may be a microprocessor, but instead, the processor may be a controller, a microcontroller, or a state machine, or a combination thereof.
  • the processor can include an electrical circuit configured to process computer executable instructions.
  • the processor includes an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable device that performs logical operations without processing computer executable instructions.
  • ASIC application specific integrated circuit
  • FPGA field programmable gate array
  • Processors can also be a combination of computing devices, such as a combination of a digital signal processor (digital signal processor) and a microprocessor, multiple microprocessors, one or more microprocessors in combination with a DSP core, or any other of that. It can be implemented as such a configuration. Although described primarily with respect to digital technology herein, the processor may also include primarily analog devices. For example, some or all of the signal processing algorithms described herein can be implemented by analog circuits or mixed analog and digital circuits. Computing environments include, but are not limited to, any type of computer system that is based on a microprocessor, mainframe computer, digital signal processor, portable computing device, device controller, or computing engine within the device. be able to.
  • conditional languages such as “can,” “can,” “will,” or “may” include other features, elements, and / or steps in a particular embodiment. Embodiments are understood in the context commonly used to convey that they do not include. Thus, such conditional languages are generally any method in which features, elements and / or steps are required for one or more embodiments, or one or more embodiments are these features. It does not mean that the elements and / or steps are included in any particular embodiment or necessarily include logic to determine whether they are performed.
  • Disjunctive languages such as the phrase "at least one of X, Y, Z" have items, terms, etc. of X, Y, Z, or any combination thereof, unless otherwise stated. It is understood in the context commonly used to indicate that it can be (eg X, Y, Z). Thus, such a disjunctive language generally requires at least one of X, at least one of Y, or at least one of Z, each of which has a particular embodiment. Does not mean.
  • a numeral such as “one” should generally be construed as containing one or more described items.
  • terms such as “one device configured to” are intended to include one or more listed devices.
  • One or more of such enumerated devices can also be collectively configured to perform the described citations.
  • processors configured to run A, B, and C below are a first processor configured to run A and a second processor configured to run B and C.
  • processors with are typically at least the enumerated number (eg, other modifiers).
  • a mere enumeration of "two enumerations” without the use should be interpreted to mean at least two enumerations, or two or more enumerations).
  • the terms used herein should generally be construed as “non-limiting” terms (eg, the term “including” should be construed as “not only that, but at least including” and “...
  • the term “has” should be interpreted as “having at least”, and the term “including” should be interpreted as “including, but not limited to,”). Those skilled in the art will judge that this is the case.
  • the term “horizontal” as used herein refers to a plane or plane parallel to the floor or surface of the area in which the system being described is used, regardless of its orientation. The method to be done is defined as the plane on which it is carried out.
  • the term “floor” can be replaced with the term “ground” or “water surface”.
  • the term “vertical / vertical” refers to the direction perpendicular / vertical to the defined horizon. Terms such as “upper”, “lower”, “lower”, “upper”, “side”, “higher”, “lower”, “upper”, “beyond”, and “lower” are defined for the horizontal plane. ing.
  • connection means removable, movable, fixed, adjustable, unless otherwise noted. And / or should be construed as including removable connections or connections. Connections / connections include direct connections and / or connections with intermediate structures between the two components described.
  • the numbers preceded by terms such as “approximately,” “about,” and “substantially” as used herein include the enumerated numbers, and further. Represents an amount close to the stated amount that performs the desired function or achieves the desired result. For example, “approximately,” “about,” and “substantially” mean values less than 10% of the stated values, unless otherwise stated.
  • features of embodiments in which terms such as “approximately,” “about,” and “substantially” are previously disclosed perform further desired functions. Or represents a feature that has some variability to achieve the desired result for that feature.

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