JPH0529076B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an obstacle probe that detects underwater obstacles using an ultrasonic generator such as a boomer.

(Conventional technology) Conventionally, as a technology in this field, "Marine Acoustics - Fundamentals and Applications" (1983-
3-1) There was something described on pages 190-191.
The configuration will be explained below using figures.

FIG. 2 is a circuit diagram showing the principle of a conventional obstacle probe.

This obstacle probe is mounted on a measurement ship and has Booma 1 as an ultrasonic generator.
The boomer 1 includes a coil 1a and a diaphragm 1b, and is connected to a boomer transmitter 2. The boomer transmitter 2 is composed of a resistor 2a, a capacitor 2b, and a switch 2c. In addition, although not shown, the obstacle probe is also equipped with a wave receiver, a receiver, and the like. In addition, in FIG. 2, +DC is a direct current high voltage, and 3 is underwater.

In the above configuration, a high DC voltage +DC is applied to the capacitor 2b through the resistor 2a. next,
When the switch 2c is closed, the charge stored in the capacitor 2b is rapidly discharged through the coil 1a. At this time, a strong electromagnetic force is generated in the coil 1a, and the diaphragm 1b is attracted to the coil 1a.
An impulse ultrasonic wave is generated underwater 3. Using this impulse's ultrasonic waves, a receiver receives the reflected waves from the boundary surface of the strata, amplifies them, and then displays them on a display device such as a cathode ray tube (CRT) to deeply explore the strata. do.

(Problems to be Solved by the Invention) However, with the device having the above configuration, not only is it not possible to automatically measure the position of the measurement vessel during exploration, but it is also difficult to detect obstacles in the strata using the received signals. Much of it depended on human intuition, and it was not technically satisfactory.

The present invention provides an obstacle probe that solves the problems of the prior art, such as the inability to simultaneously measure the position of a measuring vessel during exploration and the inability to easily and accurately determine obstacles from received signals. It is.

(Means for Solving the Problems) In order to solve the above-mentioned problems, the present invention emits ultrasonic waves into the water from an ultrasonic generator mounted on a measurement vessel, receives reflected waves from the bottom of the water, and detects waves reflected from the bottom of the water. In an obstacle probe for discovering obstacles on the underwater bottom, a position measuring device that measures the position of the measurement vessel and outputs position data; a first display device that displays received data of the reflected waves as an image; a switch that generates a mark signal corresponding to the obstacle when it is displayed on the screen of a first display device, a timer that outputs time data when the mark signal is generated, and time data when the mark signal is generated. and storage means for storing the position data and received data; and an image for reproducing other stored data based on the time data stored in the storage means and for displaying graphics such as edge emphasis and noise removal of the stored data. The image processing apparatus includes a reproduction means for performing processing, and a second display device for graphically displaying the data after the image processing.

(Function) According to the present invention, since the obstacle probe is configured as described above, if the switch is operated when an obstacle is displayed on the screen of the first display device, a mark signal is generated. Based on the mark signal, the time data of the timer, the position data of the position measuring device, and the received data of the reflected wave are stored in the storage means. The reproduction means reproduces the data stored in the storage means,
The data is displayed as an image on the first display device, and image processing such as edge enhancement and noise removal is performed on the data in the storage means to make it easier for humans to see, and the data is displayed graphically on the second display device. Therefore, based on the time marked when the obstacle was discovered,
By viewing the images played back on the first display device before and after that time, it is possible to confirm that the obstacle has been found, and also to confirm that the obstacle has been found.
Obstacles can be easily identified using the graphical images on the display device. Therefore, the above-mentioned problems can be eliminated.

(Embodiment) FIG. 1 is a block diagram of an obstacle probe showing an embodiment of the present invention.

In Fig. 1, 10 is underwater, 11 is the bottom surface of the water,
For example, on the seabed surface, reference numeral 12 is an obstacle under the seabed, and a measurement vessel for discovering this obstacle 12 is equipped with the obstacle probe of this embodiment, and further measures the position of the measurement vessel by radio waves. For two slave stations 13,1
4 is installed on land.

The obstacle probe has a position measuring device, for example a radio wave positioning device 20, that measures the position of the measurement ship. The radio wave positioning device 20 is a device that transmits and receives microwaves to and from the slave stations 13 and 14 to measure the position of the measurement ship.

Further, the obstacle probe is provided with an ultrasonic generator, such as a boomer 21, and a wave receiver 22, which are dropped into the water 10. The boomer 21 is composed of a coil 21a and a diaphragm 21b, as in the conventional case.
It is connected to a boomer transmitter 23 consisting of a resistor, a capacitor, a switch, etc., and the operation of the boomer transmitter 23 is controlled by a control section 24. On the other hand, receiver 2
Reference numeral 2 receives reflected waves of ultrasonic waves and converts them into electrical signals, and the output side of the receiver 22 is connected to a receiver 25 for signal amplification.

On the output side of the receiver 25, there is a changeover switch 2.
6. Write memory 27 and read memory 2
8 are connected, and a memory control unit 29 that controls the operations of these memories 27 and 28 is connected to the output side of the control unit 24. An amplifier 30 is connected to the output side of the memory 28, a deflection unit 31 is connected to the output sides of the control unit 24 and the memory control unit 29, and furthermore, the output side of the amplifier 30 receives the received data of the receiver 25 in color etc. A first display device 32 such as a CRT is connected.

A magnetic tape data recorder 33 is connected to the output side of the receiver 25 for storing the received data, time data, and mark signals of the receiver 25, and the magnetic tape data recorder 33 is further connected to a switch receiving switch that supplies mark signals to the magnetic tape data recorder 33. 34 and a switch 35 are connected. The magnetic tape data recorder 33 includes an analog-to-digital converter (hereinafter referred to as an A/D converter) 36 that converts the analog output signal of the recorder 33 into a digital signal.
is connected, and also a timer 37 that outputs time data.

Connected to the output sides of the A/D converter 36 and timer 37 are an input control section 38, a computer 39 serving as a reproducing means, a magnetic tape device 40, a magnetic tape 41, and a second display device 42. The computer 39 is a circuit that reproduces the stored data of the magnetic tape data recorder 33 provided through the A/D converter 36 and the input control unit 38 and processes it into an image. The second display device 42, which is a device for storing time data and position data of the radio wave positioning device 20, is a graphic display that graphically displays the image processing results by the computer 39 in color or the like. In addition,
The magnetic tape data recorder 33 and the magnetic tape device 40 constitute storage means.

3 1 and 2 are the first display device 32 in FIG.
FIG. 1 is a perspective view of the entire device, and FIG. 2 is a perspective view of essential parts.

The first display device 32 includes a CRT main body 50,
There is a white line 52a on the screen 51 of the CRT main body 50.
An acrylic plate 52 is provided. An undersea image 53 and an obstacle image 54 are displayed on the acrylic board 52.
is displayed, and these images are sequentially displayed from right to left as indicated by the arrows.

Next, the operation will be explained.

In FIG. 1, a radio positioning device 20 on the measurement ship
When the substations 13 and 14 transmit microwaves to the substations 13 and 14, the substations 13 and 14 send back the radio waves, respectively. With these three combinations, the radio positioning device 20 measures the propagation time or phase difference of the microwave, measures the distances L1 and L2, measures the position of its own ship, and inputs the position data to the control unit 38.
give to

The control unit 24 generates a transmission pulse according to a command from the timer 37 and sends it to the Boomer transmitter 23 . The boomer transmitter 23 supplies a high-power current to the boomer 21 and sends out a powerful monopulse transmission pulse to the underwater 10. This ultrasonic signal is partially reflected by the seabed surface 11, but propagates through the seabed, reaches the obstacle 12, and is reflected there.

These reflected signals are received by the receiver 22 and converted back into electrical signals. The output signal of the receiver 22 is amplified to a certain level by the receiver 25, and is applied to the memory 27 through the changeover switch 26, and the received signal for each transmission is stored in the memory 27. Furthermore, this stored data is sent to the memory 28 for each transmission, where one screen is stored with the horizontal axis as the time axis and the vertical axis as the depth axis. A memory control unit 29 controls the operations of these memories 27 and 28.

The contents of the memory 28 are read out at regular intervals and in synchronization with the timing of the deflection unit 31, and after being amplified to a certain level by the amplifier 30, the first display device 32 displays an image.

On the other hand, the output of the receiver 25 is applied to the magnetic tape data recorder 33 and recorded together with the time data of the timer 37. At the same time, when the obstacle image 54 is found on the first display device 32 and the switch 35 is pressed, this signal is received by the switch receiver 34, and the signal is transmitted to the magnetic tape data encoder 33.
is recorded as a mark signal and input to the input control unit 38, and the input control unit 38 causes the computer 39 to read the time at which the obstacle 12 was discovered,
It is stored on the magnetic tape 41 of the magnetic tape device 40.

Through such operations and movements, the obstacle 12 under the seabed surface 11 is searched. However, in determining the obstacle 12 when pulling up the obstacle 12, a more detailed investigation is required. Therefore, the time data of the obstacle discovery recorded on the magnetic tape 41 is applied to the magnetic tape device 40,
The computer 39 reads it out. The computer 39 reads data from the magnetic tape data recorder 33 from a little before this time. This magnetic tape data recorder 33
The image is confirmed by setting the changeover switch 26 to the magnetic tape data recorder side and displaying the data again on the first display device 32 through the memories 27, 28 and the amplifier 30. Also,
The data from the recorder 33 is converted into a digital signal by an A/D converter 36 and input into a computer 39 through an input control section 38 . The computer 39 performs general image processing such as edge enhancement and noise removal on the same data displayed on the first display device 32 and displays it on the second display device 42 to make it easier for humans to see. indicate. At the same time, the position of the measurement ship is displayed on the display device 42 by the radio wave positioning device 20 through the input control unit 38 and the computer 39, so that the location where the obstacle 12 is finally discovered can be known.

Next, the operation of the first display device 32 in FIG. 3 will be explained.

On the screen 51 of the first display device 32, when the horizontal axis is the time axis (increases by one for each transmission) and the vertical axis is the depth, the submarine image 53 and the obstacle image 54
is displayed as shown in FIG. 3. Time progresses from the right to the left as shown by the arrow.

New data will appear on the right side of screen 51,
It is difficult to determine whether or not the obstacle 12 is really the obstacle 12 when only a portion of the obstacle 12 is displayed. Therefore, the user has no choice but to press the discovery switch 35 when the entirety of the obstacle 12 is displayed. Therefore, an acrylic board 52 with a vertical white line 52a near the center is attached on the screen 51, and when the image 54 of the obstacle 12 passes over the white line 52a, the obstacle detection switch 35 is pressed. This allows the mark signal to be transferred to the magnetic tape data recorder 33.
can be recorded accurately.

The advantages of this embodiment can be summarized as follows.

To give humans more time to find obstacles,
A white line 5 is placed near the center of the screen of the first display device 32 that displays data so that the data is updated in one direction.
2a, and when the switch 35 is pressed when the image passes through this point, the time data and position data of the measurement ship are taken into the computer 39. Based on this time data, the data recorded on the magnetic tape data recorder 33 and the discovery of the obstacle 12 can be confirmed. Furthermore, when data is reproduced, the position data of the measurement ship is also reproduced together with the time data, so the location where the obstacle was found becomes clear. Moreover, since the obstacle 12 is image-processed and displayed on the second display device 42, , the obstacle 12 can be easily determined. Furthermore, since the computer 39 only needs to process data before and after the obstacle is discovered, the burden on the computer 39 is light.

Note that the present invention is not limited to the illustrated embodiments,
Various modifications are possible. As a variation example,
For example:

(i) In the first display device 32, an acrylic board 52 with a white line 52a is used to detect obstacles, but since it is only necessary to know when to press the switch 35, Alternatively, an acrylic plate may be provided to mark the screen 51, or an electronic mark may be placed at an appropriate position on the screen 51.

(ii) The magnetic tape data recorder 33 and magnetic tape device 40, which constitute the storage means, can also be constituted by other storage devices. Furthermore, it is also possible to configure the reproducing means with a circuit other than the computer 39 accordingly.

(iii) The first and second display devices 32 and 42 can be switched and used as a single display device.
In addition, the circuit configuration of the obstacle probe can be modified to other configurations.

(Effects of the Invention) As explained in detail above, according to the present invention,
When an obstacle is found from the image displayed on the first display device and a mark signal is generated by operating a switch, the time data, position data, and received data at that time are stored in the storage means. Therefore, when checking the obstacle later, it is not necessary to reproduce all of the stored data, but the reproduction means reproduces the stored data before and after the time marked when the obstacle was found, and the first
If the image is displayed on the second display device, it is easy to reconfirm that the obstacle has been found, and the stored data is subjected to image processing such as edge enhancement and noise removal to make it easier for humans to see and display graphics on the second display device. By displaying the information, it is possible to easily and accurately judge obstacles at the recorded obstacle discovery location.

[Brief explanation of the drawing]

Fig. 1 is a block diagram of the structure of an obstacle probe showing an embodiment of the present invention, Fig. 2 is a circuit diagram showing the principle of a conventional obstacle probe, and Fig. 3 is a block diagram showing the principle of a conventional obstacle probe. FIG. 2 is a perspective view of a first display device. 10... Underwater, 11... Seabed surface, 12... Obstacle, 20... Radio positioning device, 21... Boomer, 2
2...Receiver, 23...Booma transmitter, 25...
Receiver, 26... Selector switch,... First display device, 33... Magnetic tape data recorder, 3
5...Switch, 37...Timer, 39...Computer, 40...Magnetic tape device, 42...Second display device, 52a...White line.

[Claims]

1. A light projector 2 that projects light onto a detection area, a light receiver 3 that receives reflected light of the light projected from this light projector 2 onto the detection area, a first integrating circuit 12 connected to the output side of this light receiver 3, and A second integrating circuit 13 is connected to the output side of the light receiver 3 via a switch, and a first integrating circuit 13 outputs a detection signal when the output of the first integrating circuit 12 is larger than the output of the second integrating circuit 13 by more than a threshold value. and a second means for outputting a detection signal when the output of the second integrating circuit 13 is larger than the output of the first integrating circuit 12 by more than a threshold value, and the first integrating circuit 12 is controlled by a resistor and a capacitor. The second integrating circuit 1 has a very small constant that captures the average value of the input voltage over several tens of milliseconds.
3 has a large time constant and captures the average value of the input voltage over several seconds using a resistor and a capacitor, and a switch connecting the output side of the light receiver 3 and the second integrating circuit 13 is normally closed to An intruding object detection device characterized in that it is configured to be opened in response to a detection signal from the means.