JPH0545461A - Detecting and displaying method of scanning sonar - Google Patents

Abstract

PURPOSE:To display the detected images in all depression-angle directions on vertical and flat screens by switching the depression angle of a beam every time when the receiving beam is scanned by specified times, and sequentially obtaining the received signals from at all-around pattern for every depression-angle direction in real time. CONSTITUTION:A control device 1 outputs a control signal into each device. A transmitting device 2 is combined with a wave transceiver 3. A transmitting device 2 forms a transmitting beam directed to an all-around pattern with the beam width, which is broad in the depression-angle direction, and transmits the beam. A depression-angle scanner 4 controls the phases of all received signals from each piezoelectric transducer of the wave transceiver 3, forms the directivity of the receiving beam in the longitudinal direction and switches the depression angle of the receiving beam at every period of 360-degree scanning of the receiving beam. A bearing scanner 5 obtains the appropriate number of the received signals for every bearing from the scanner 4, forms the beams in the circumferential direction of the receiving beam and performs the bearing scanning for all around turning of the receiving beam. In a display device 6, the received signals inputted from the scanner 5 are displayed on the vertical and flat screens in real time.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a scanning sonar, and more particularly to a scanning sonar detecting and displaying method for detecting and displaying the entire circumference in real time in the depression angle direction.

[0002]

2. Description of the Related Art FIGS. 12 (a) and 12 (b) are a plan view and a vertical sectional view, respectively, showing a detection zone detected by a conventional scanning sonar, and FIG. 12 (c) shows a detection image displayed on a display. FIG. 12D is a waveform diagram showing a drive signal for scanning the reception beam in the azimuth direction and a drive signal for scanning in the depression angle direction.

The scanning sonar transmits from a transducer 3 composed of transducers arranged in a circumferential direction and a longitudinal direction on a cylindrical surface through a transmission beam TB having a depression angle .theta. Reception is performed at a depression angle θ as shown in FIGS. 12 (b) and 12 (c).
, A reflector such as a school of fish F in the depression direction is performed via a reception beam RB that swivels and scans the entire circumference 360 degrees in the direction of azimuth φ at high speed for each azimuth scanning period T _H within the transmission period T _X. A reflection signal from (hereinafter, simply referred to as a school of fish F) is PPI-displayed on a flat screen HG (hereinafter, referred to as an HG screen) which is flatly displayed as shown in FIG. 12C. The detected depth of the school of fish F is, as shown in FIG. 12A, an azimuth mark φ ₁ to which is appropriately selected in the direction of the school of fish F on the HG screen.
Each time the reception beam RB passes between φ _n , the reception signal of the school of fish F is taken out and swept in the depression angle θ direction on the vertical screen VG (hereinafter referred to as VG screen) displayed on the vertical plane of FIG. 12C. The image is displayed as a fish school image F on the scanning, and is read by an appropriate depth scale (not shown).

Next, in detecting and displaying the distribution and shape of the school of fish in the depth direction, the depression angle θ of the transmission beam TB and the reception beam RB is sequentially switched by an appropriate angle for each transmission cycle, and detection and display are performed. The distribution and shape in the depth direction of the school of fish can be observed from the overall image of the school of fish obtained after detection in the depression direction.

[0005]

In order to investigate the depth, vertical spread and shape of a school of fish while tracking a school of fish that is thick and has significant ups and downs by using a conventional scanning sonar, a wide vertical It is necessary to detect and display a large number of angles in the depression direction, but in one transmission cycle, only one detection in the depression angle direction and an image of the fish school on one scanning line in the depression angle direction can be obtained. The display requires a large number of transmission cycles, and more time is required to track and detect the vertical movement of the school of fish.

In view of the problem of the detection display method of the scanning sonar for detecting and displaying the depression angle direction for each transmission cycle as described above, the object of the present invention is to eliminate the need for adding a plurality of dedicated devices for detecting the depression angle direction. , The receiving beam is sequentially switched for each azimuth direction in a plurality of depression angles, and the entire circumference is repeatedly detected in real time in a plurality of depression angles in real time, and the obtained reception signals are displayed on the HG screen in real time.
In addition to the I display, a detection display method capable of extracting a reception signal within an azimuth width appropriately selected from the above reception signals and displaying the image in real time on a plurality of scanning lines for each depression angle direction of the VG screen is provided. To try to provide.

Further, in the conventional scanning sonar, the depression angle is switched by switching the phases of a large number of received signals, and switching noise is generated, but since the depression angle switching time is outside the detection display time before transmission, no reception failure occurs. It was

In the first aspect of the present invention, when the depression angle switching time width is extremely small with respect to the azimuth scanning period, the reception signal is cut off at the depression angle switching to remove the depression angle switching noise. It should be noted that although a blank portion is generated on the display screen due to the cutoff of the received signal, the width is small and there is no problem in practical use. On the other hand, when the detection display method of the first invention is used and the azimuth scanning period is significantly shortened for the purpose of increasing the number of detections in the depression angle direction, the depression angle switching time width cannot be ignored with respect to the azimuth scanning period. Due to the removal of the depression angle switching noise, the blank portion of the receiving screen is relatively enlarged and displayed, which hinders the recognition of the detected image and causes the azimuth error, and causes a problem that the high definition display is not suitable.

The object of the second invention is to implement the detection display method of the first invention as described above, and since the depression angle switching time width is not so small as to be negligible with respect to the azimuth scanning period, the depression angle switching noise is displayed on the image. In view of the problem that gives an obstacle to, the azimuth scanning cycle of an appropriate time width including the depression angle switching time and the azimuth scanning cycle for performing azimuth scanning of the entire circumference are alternately arranged, and the azimuth scanning and the depression angle switching are performed in different time zones. Independently, and by selecting only the received signal in the azimuth scanning cycle and extracting and displaying the image, switching noise is eliminated, and real-time detection of the entire circumference without excess or deficiency in the azimuth direction and real-time detection. There is a need to provide a detection image display method capable of displaying the image.

[0010]

The detection display method of the scanning sonar according to the present invention is a scanning sonar in which transmission is performed widely in the depression angle direction. The depression angle is sequentially switched by an appropriate angle, and the switching is repeated at an appropriate cycle, and the reception signals from the entire circumference in each depression angle direction are sequentially acquired in real time, and the azimuth appropriately selected in the reception signal to be acquired. The received signal taken out from within the width, on the display surface displayed orthogonally, on the vertical screen displayed at the position corresponding to the distance and depression angle of the received signal, and at the position corresponding to the distance and azimuth at which the received signal is acquired. At least one of the displayed flat screens is displayed as an image in real time.

Further, the detection display method of the scanning sonar according to the present invention is a scanning sonar in which transmission is appropriately widely performed in the depression direction, and in the scanning sonar, the azimuth scanning period of the entire circumference in which the reception beams are alternately arranged in the reception period and the appropriate time. In the depression angle scanning cycle of the width, the depression angle switching is repeated at an appropriate angle in the appropriate depression angle scanning cycle, and the azimuth scanning of the entire circumference is performed in the azimuth scanning cycle, and the received signal in the azimuth scanning cycle is real-time. The received signal that is selected and acquired and that is extracted from within the azimuth width that is appropriately selected in the acquired received signal is displayed at a position corresponding to the distance and the depression angle of the received signal on the display surface displayed orthogonally. Image display in real time on at least one of a vertical screen and a flat screen displayed at a position corresponding to the distance and direction where the received signal is acquired. To.

[0012]

By changing the depression angle each time the receiving beam is turned a predetermined number of times, that is, each time the detection point advances by a predetermined distance, detection is performed, but even if the data density for each depression angle is rough, a large number of real-time depression angles can be obtained. The change can be acquired and reflected in the image display.

[0013]

Embodiments of the present invention will now be described with reference to the drawings.

FIG. 1 is a block diagram showing the configuration of a scanning sonar to which the embodiment of the detection display method of the present invention is applied, and FIGS. 2 (a) and 2 (b) are respectively detected by the scanning sonar shown in FIG. 2A is a plan view and a longitudinal sectional view showing a detected zone DZ to be detected, and FIG.
FIG. 3B is a diagram showing a detected image displayed by the detection shown in FIG. 3B, and FIG. 3B is a drive signal for scanning the reception beam in the azimuth direction in order to form the image shown in FIG. FIG. 7 is a waveform diagram showing a drive signal for scanning in the depression direction.

The controller 1 sends control signals P ₁ , P ₂ ,
The transmitter 2 outputs P ₃ and P ₄ , respectively, and the transmitter 2 is combined with the wave transmitter / receiver 3 to form and transmit a transmission beam TB that directs the entire circumference with a wide beam width θ _w in the depression angle direction. Depression scanner 4
Controls the phases of all the received signals from the respective transducers of the wave transmitter / receiver 3 to form the vertical directivity of the received beam RB as shown in FIGS. As shown in a), the depression angle θ of the reception beam RB is set to θ ₁ , θ ₂ , ..., θ _{q at} every azimuth scanning period T _{H in} which the reception beam RB is azimuthally scanned by 360 degrees.
And switch. The azimuth scanner 5 sequentially extracts the reception signals for each azimuth from the depression scanner 4 by an appropriate number and sequentially receives the received beam R.
Azimuth scanning is performed in which a beam in the circumferential direction of B is formed and the received beam RB is rotated all around. Display 6 is azimuth scanner 5
The received signal input from the device is displayed in real time on the display screen, which is raster-displayed as shown in FIG. 3B, like the HG screen and the VG screen shown in FIG. 2C.

FIG. 4 is a block diagram showing the configuration of the depression scanner 4.

The depression scanner 4 is a vertical array transducer (for example, k
The transducers in each stage ()) receive reflected waves from the direction of depression angle θ.
The phase difference between the received signals that are output as
Create k local outputs with a phase difference and change the received signal.
To the in-phase signal and then combine them to indicate the depression angle θ.
It forms and outputs a reception signal by the reception beam that is directed. This
Signal S here₁₁, S₁₂, ~, S_1k, ~, S_n1.S_n2, ~,
S_nkAre n sets of vertically arranged oscillators T each pointing in the n direction.₁, T
₂, ~, T_n Received output of 1, 2, ..., k-stage transducer
And the depression angle θ₁ Output S of each first stage transducer received from
₁₁~ S_n1Output S of each stage₁₂~ S_n2, ~,
S_1k~ S_nkThe phase difference of₂ ~ Ψ_kIs. Local departure
41 delay circuit 43 and switching matrix 4
4 is the depression angle θ ₁ An example of forming a reception beam directed to the beam is shown. Departure
Local oscillator output L of shaker 42_o Is a delay network with taps
Phase via a delay circuit 43 having an appropriate signal delay circuit
Difference 0, ψ₂, ψ₃, ~, Ψ_k Is output as a local signal
Be done. Delay circuit 4 in switching matrix 44
Output line 3 and modulator 46₁ ~ 46_n Local signal L ₂ 
~ L_k Output line is electronic switch C₂ ~ C_k Due to
Adjuster 46₁ ~ 46_n Local output L to₂ ~ L_k Phase difference of
Local output L₁ For ψ₂ ~ Ψ_k Is connected to
It The control signal P input from the controller 1 by the controller 45₁ 
From depression angle θ₁ Control signal P generated by detecting the signal of₁₁To
More electronic switch C₂ ~ C_k Are turned on in parallel and immediately
From the switching matrix 44 to the phase difference ψ₂ ~
ψ_k Local signal L with₂ ~ L_k Are output in parallel,
Station transmission output directly from the Itching Matrix 44
Issue L₁ With modulator 46₁ ~ 46_n Is output to. Vertical
Array transducer T₁ ~ T_n Each received signal S₁₁~ S_1k, ~, S
_n1~ S_nkIs the modulator 46₁ ~ 46_n Each modulation circuit M₁ ~ M
_k Local output at L₁ ~ L_k Respectively modulated by
Vertical array transducer T₁ ~ T_k In-phase signal S for each output of
_A11 ~ S_A1k, ~, S_{An 1} ~ S_Ank Is output as
Bowl 47₁ ~ 47_n Depression angle θ₁ 
Received signal S by the receive beam pointing toward₁ ~ S_n Output as
To be done.

Next, a description will be given of a local oscillator signal generation circuit for making the phases of the respective reception signals received from the depression angles θ _{2 to} θ _q, which are abbreviated in the delay circuit 43 and the switching matrix 44 of FIG. 4, in-phase. Each depression angle θ ₂ to the delay circuit 43
An output line for a local oscillator signal having each phase difference for making the received signals from θ _q in phase is provided as appropriate, and the modulator 4
The local output line to 6 _{1 to} 46 _n and the delay circuit 43 described above.
The local oscillator signal lines from the electronic switch to the controller 45 is suitably connected to the control signal P ₁₂ to P _1q which corresponds to the signal of the depression angle theta ₂ through? _Q which sequentially detects from the control signal P ₁ Each control line is provided.

The depression scanner 4 is constructed as described above,
The control signals P ₁ to be entered for each azimuth scanning period T _H, the control signal corresponding to the sequential depression θ ₁ ~θ _q P ₁₁ ~P _1q
Is generated by the controller 45, the switching matrix 44 is actuated, the phases of all the stations are switched at the same time, and the modulated reception signals are sequentially output as signals by the reception beams directing the depression angles θ _{1 to} θ _q. As a result, both beam forming in the depression angle direction of the reception beam and switching of the depression angle are performed in real time.

FIG. 5 is a block diagram showing the configuration of the azimuth scanner 5, and FIG. 6 is an explanatory diagram showing the operation of the azimuth scanner 5 of FIG.

The controller 51 controls the control signal P from the controller 1.₂ 
In response to this, the control signal P is sent to the switch 52 and the interpolator 53._{twenty one}Oh
And P_{twenty two}Are output respectively. The switch 52 has a control signal P
_{twenty one}In response to this, the pair of signal outputs for receiving beam direction switching and interpolation are output.
As a force, as shown in FIG.
_S , Pair take-out signal S_B1~ S_BmAnd S_C1~ S_cmSwitching
2T each time_S , The phase difference of alternate switching is T_S As
Time t_o Signal S_B1Is the signal S₁, S₃ , ~, S_n-1 , Belief
Issue S_c1Is the signal S₂, S_Four , ~, S_n , Signal S_B2Is the signal S₂,
S_Four , ~, S_n , Signal S_C2Is the signal S₃, S_Five , ~, S
_n-1 , ~, Take every other input signal and output
It The interpolator 53 has a pair of inputs as shown in FIG.
Signal S_B1And S_C1, S_B2And S_C2, To 2 cycle each_S 
After being converted to the triangular amplitude of
The signal S is obtained by synthesizing each pair of signals_D1, S_D2，
~, S_DmOutput as. Signal S_D1, S_D2, ~, S_DmIs
The phase shifter 54 linearly arranges the received signals of the circular array transducers.
After being appropriately phase-shifted to correct the received signal of
And the period T_H The whole circumference is scanned
And the cycle T_H The depression angle is switched for each
Signal S received in real time by receive beam RB
_E Is output as. Noise generation due to depression angle switching
Time width T_c (Example: 6 μs) is the azimuth scanning period (Example: 100
0 μs), the time T_o On the display screen for
Azimuth width (example: 2.2 degrees) is the receiving beam width (example: 12 degrees)
Small for time T_c Received signal S during_E Shut off
However, if there is no practical problem with the omnidirectional detection display,
The control signal P from the controller 51 is applied to the gate circuit 56._{twenty three}By
Received signal S_E Is time T as shown in FIG._c Only suppressed
Signal S _F Is output as. The depression angle switching time T_c of
The time setting should be set for engine noise and
Proper azimuth corresponding to the stern direction where the lopera noise is coming
The inspection time is set.

Next, a second embodiment will be described in which depression angle switching noise is suppressed and the entire circumference is detected in real time without excess or deficiency in real time under the condition that the depression angle switching time T _c is not so small as to be negligible with respect to the azimuth scanning period T _H. .. FIG. 7 is a block diagram showing the configuration of a scanning sonar to which the second embodiment of the present invention is applied, and FIG. 8 is a waveform diagram showing the operation of the scanning sonar of FIG.

The controller 1A causes the depression angle scanner 4 to perform depression angle switching in the depression angle scanning period T _V as shown in FIG. 8 and causes the azimuth scanning device 5 to perform azimuth scanning over the entire circumference in the azimuth traveling period T _H. As it is performed, the control signals P _1A and P _2A are output to the depression angle scanner 4 and the azimuth scanner 5 for control at each pace cycle T _B. Further, the depression angle scanning cycle T _V is set to an appropriate time width which is equal to or more than the depression angle switching time width T _c (described later), and the azimuth scanning cycle T _H is the time width in which the received beam is azimuthally scanned in the azimuth direction without excess or deficiency. Is set to. As the received signal, the received beam is transmitted in real time in the azimuth scanning period T _H , and the received signal is transmitted in real time, and the azimuth scanning period T is displayed on the display surface of the display 6 as shown in the HG screen and the VG screen of FIG. Displayed in real time in _H.
As described above, since the received signal is not taken out in the depression angle scanning cycle T _V , noise at the time of depression of the depression angle does not appear on the HG screen and the VG screen.

9A and 9B show the base period T_B , One
Scanning period T_H , Depression scanning period T_V, Azimuth switching cycle T_S 
And interpolation cycle 2T_S Time relationship and figure in each cycle
A pair of switching outputs S by the switch 52 of the azimuth scanner 5 of No. 4_B1
~ S_BmAnd S_C1~ S_CmS in _B1And S_C1For example, and
The signal S interpolated by the interpolator 53_D1~ S_DmOf S_D1And S
_D2And the received signal S included in each signal as an example.₁~ S_n of
The time series arrangement is shown. Cycle T by the depression angle scanner 4_V smell
Signal S for which the depression angle is switched₁ ~ S_n Of the azimuth scanner 5
As shown in FIG. 9A, the switching unit 52 causes a cycle T_V At
Is time 4T_S, Cycle T_H At phase difference T_S Time width 2
T_S The signal S of the pair is switched alternately in the cycle of_B1~ S_BmOh
And S_C1~ S_CmAre output in parallel as. Then interpolator
The signal S interpolated by 53_D1~ S_DmAs a phase shifter 54
To the same phase in the phase shifter 54,
The signal S is input to the synthesizer 55 and is synthesized._E Output as
To be done. Then signal S_E Is the control signal P_{twenty three}Controlled by
The scanning angle T of the depression angle T_V Blocked for
Signal S in FIG. 9 (c)_F Is output as. as mentioned above
Received signal S obtained by_F Is the base period T_BSwitch every
It can be obtained by detecting the entire circumference in the direction of depression
It is a received signal and does not include depression angle switching noise. Again
Scanning period T_H , Depression scanning period T_V , Azimuth switching cycle T
_S , Interpolation cycle 2T_S And the base period T_B Figure 9
Set as appropriate integer multiples as in (a) and (b).
Therefore, all controls can be systematically synchronized.
To control and design and maintain each circuit conveniently
Be done. In FIG. 9, the depression angle scanning cycle T_V Interpolation cycle 2T_S 
Although the case where it is set to the above is shown, the width can be selected as necessary.
Wear.

FIG. 10A is a block diagram showing the structure of the display 6.
10B and 10C show the operation of the display device 6.
FIG. The display unit 61 is a TV display for raster display.
Ra cathode ray tube display or LCD color display
10) by the processor 62 as will be described later.
The HG screen and the VG screen of (b) are displayed. HG picture
The depression angle is θ on the surface₁ , Θ₂ ~, Θ_qIs switched in sequence
However, the received signal S obtained by detecting the entire circumference_F But the depression angle θ
₁ ~ Θ_q Scanning line H swept all around corresponding to
₁ , H₂ , ~, H_q Images are sequentially displayed on the screen and displayed on the VG screen.
Is the azimuth width φ₁ ~ Φ_h The received signal inside is extracted and
Angle θ₁ , Θ₂ ~, Θ_q Each scanning line V swept corresponding to
₁ , V₂ , ~, V_q School of fish image G₁ , G₂ , ~, G_q 
Are sequentially displayed. Processor 62 is included
Received signal S applied_F Detection points shown in Fig. 10 (c)
Coordinates of P (distance: r, direction: φ, depression angle: θ, θ: θ₁ ，
θ ₂ ~, Θ_q ) To the controller 1 or 1A (hereinafter simply referred to as 1A
Control signal P output from₃ Or P_3A(Below
Below, simply P_3A10), H in FIG. 10 (b)
Address to display like G screen and VG screen
x and y are calculated by the equations (1) and (2), respectively.

X = X ₁ + k ₁₁ · r · sin φ (1a) y = Y ₁ + k ₁₂ · r · cos φ (1b) x = X ₂ + k ₂₁ · r · cos θ (2a) y = Y ₂ + k ₂₂ · r · sin θ (2b) Here, X ₁ , Y ₁ and X ₂ , Y ₂ are constants for determining the display positions of the HG screen and the VG screen on the display surface, respectively, k ₁₁ , k ₁₂ and k _21. , K ₂₂ are coefficients indicating the ratio of the display scale and the underwater distance on the HG screen and the VG screen, respectively, and the constants and the positive / negative signs included in the coefficients are appropriately selected according to the arrangement of the display screens. It should be noted that although constants and coefficients similar to those used in the equations (1a) and (1b) and the equations (2a) and (2b) are used in the following arithmetic expressions for addresses, their explanations are omitted.

Next, the processor 62 A / D converts the received signal S _F input from the azimuth scanner 5 to digitize it, and forms the signal P in accordance with the synchronizing signal P ₃₁ from the display 61.
_The signal to be written to, read from, and read from the address of the formula (1) and the formula (2) on the VRAM of the memory 63 via ₃₂ is D / A converted into the signal S _G , and the display 61
Is displayed as on the HG / VG screen of FIG. As described above, the received signal obtained by sequentially detecting the entire circumference in each direction of depression angles θ ₁ to θ _q in real time is
On the HG screen, it is displayed in real time as a omnidirectional detection image in all depression directions, and on the VG screen, all received signals detected within the selected azimuth width in each depression direction are displayed in real time for each depression angle direction. Displayed in parallel. Further, these screen displays are scrolled as in the conventional case.

FIG. 11 (a) is a block diagram showing another configuration of the display device 6, and FIGS. 11 (b), 11 (c) and 11 (d) are FIG.
It is explanatory drawing which shows operation | movement of the display 6 of (a). That is, the detected image is projected and displayed on a horizontal plane and a vertical plane along an appropriately selected azimuth φ _c while being scroll-displayed on the HG screen and the VG screen. The processor 64 is shown in FIG.
1 the opening angle of the azimuth angle phi and azimuth phi _c of the detection point P of the received signal as in (c) as phi _P, HG screen and VG screen address for display x, y to the equation of FIG. 11 (b) ( 3a),
Calculation is performed using (3b) and equations (4a) and (4b).

X = X₃ + K₃₁・ R ・ cos θ ・ sin φ (3a) y = Y₃ + K₃₂・ R ・ cos θ ・ cos φ (3b) x = X_Four + K₄₁・ R ・ cos θ ・ cos φ_P (4a) y = Y_Four + K₄₂.. (r) sin .theta.
As shown in (b), the depression angle θ is displayed on the HG screen.₁ ~ Θ_q Against the scan of
Accordingly, the scan line H whose radius decreases toward the inside₁ ~ H _q Up
The received image is scrolled and displayed on the VG screen.
Screen scan line V₁ ~ V_q It is on the screen and is for receiving the VG screen.
Azimuth width φ for extracting signal₁ ~ Φ_h Arc within (eg scan line
H_q Upper arc A_q ) Is Oφ_o Length projected on the line (eg w
_q ) Received image G in the range₁ ~ G_q (Example: G_q Length w
_q ) Is scrolled. Processor 64 is a scroll table
Each VRAM of a pair of memory 65 and memory 66 for illustration (Fig.
11 (d) MA and MB) are switched alternately for each transmission cycle
Eh, one of the memories (eg MA in Figure 11) in real time
Used to display a new screen by writing the other memory
(Example: MB in Figure 11) is written in the previous detection period,
The old screen display that keeps and erases sequentially during the current detection period
use. While scrolling, V as shown in Fig. 11 (d)
In the RAM / MA area M of signal for new screen display₁ 
For the old screen display in VRAM / MB
Signal area M₂ The width of is gradually reduced. Also new screen display
Write to VRAM (example: memory 65) in
The signal at the planned write address is read and written
Signal and strength are compared, and the stronger signal is written.
It Further, the reception signal S to the memories 65 and 66 is_F 
The processor 64 can write and read the data from the controller 1A.
Control signal P_3ASignal P formed by₃₃And P₃₄By
It is carried out. As described above, it is written in the memory.
Causes the image of a strong signal to be the same as the depression scan is repeated.
It is erased by a weak received signal that is input to the dress later.
The projected image looks as if it were viewed with the naked eye.
Can be recognized. In this way, multiple depression angles
Detecting by omnidirectional scanning is repeated in real time.
The received signal obtained is displayed on the HG screen in the direction of full depression.
All-round detection image is also selected on the VG screen by all depression angles
All detected images within the specified azimuth width are displayed simultaneously in real time.
Shown.

[0030]

As described above, according to the detection display method of the present invention, the received beam is sequentially scanned over the entire circumference in each depression angle direction, and the received signal obtained in real time is obtained in all depression angles in the HG screen. As a detection image of the circumference, it is displayed on the entire surface in real time, and on the VG screen, received signals from within the selected azimuth width are displayed in parallel as detection images in parallel on each scan for each depression direction. The distance interval corresponding to the azimuth scanning period is 0.
Since it is about 75 m, if the number of depression angles to be detected is 4 directions, the distance distance to be detected for each depression angle will be about 3 m, but there is no practical problem for general fish school detection HG for all-round detection image in the direction of 4 depressions per cycle
The effect displayed on the screen in real time is extremely large.

Further, the received beam is scanned in all directions and H
The azimuth scanning period displayed on the G screen and the VG screen and the depression angle switching period for changing the depression angle are alternately arranged, and both scannings are independently performed in different time zones. Is performed in the azimuth direction without any excess or deficiency, the obstacle of the received image due to the depression angle switching is eliminated, and a high-precision and high-quality detected image is obtained. A survey can be conducted. Further, in a high frequency scanning sonar, etc., the azimuth scanning period is shortened to one-third of that in the conventional case, and the number of detection directions in the depression angle direction is 12 when the distance interval for detection in each depression angle direction is about 3 m as above. During reception, twelve angles of depression and image display are performed in real time during reception. When the depression angle switching width is 3 degrees, the total depression angle width is 33 degrees, and the fish school images are displayed in parallel on 12 scanning lines at a depression angle of 33 degrees on the VG screen in real time in each transmission cycle. Also, the three-dimensional position, shape, position of the core, etc. of the school of fish can be grasped instantly on the VG screen. The scanning lines on the screen are not scanned in the depression angle scanning cycle, but the time width is very small and the entire circumference is scanned without omission, so there is no problem in observation and the display position of the screen is Since the position is calculated using the time detection distance, no position error occurs.

In the above, the case where the switching frequency in each depression angle direction is made equal is shown. On the other hand, in the case where the depression angle direction is 12, the depression angle switching frequency in the inner 6 directions and the 2 × 3 directions in both outer sides are set. If the ratio of the depression angle switching frequency is set to 2: 1 and the detection display is performed, the fish school image is displayed at a double density on the 6 scanning lines inside the 12 scanning lines of the VG screen, so that the fish school image is displayed. The structure and the like can be observed in detail, and the fish school image is displayed at a density of one-half on each of the three outer scanning lines, but the signs of the fish school can be sufficiently monitored. In this way, it is possible to detect sparseness and denseness for different purposes and display parallel images in real time. Also, instead of switching the depression angle direction by a fixed angle, the inside angle is changed at a small angle and the outside angle is changed at a large angle. Can be done.

Further, the reception level of reflected waves in the sea changes every moment due to disturbance of water temperature distribution due to tidal current, etc.
Since a plurality of depression angles are simultaneously detected in real time, and the received signals obtained are displayed side by side at the same time, the detection images in each depression direction are displayed under substantially the same conditions, and the detection images in each depression direction can be easily compared.

The HG screen and the VG screen are both 3
Since the dimensional space is widely displayed, different frequencies (for example, 24
・ Uses HG screens or VG screens by frequency for ecological research (eg, research on the relationship between fish school and DSL) by multiple scanning sonars with 50 · ~ kHz), or as a single repeater for research on fish school can do.

Further, as shown in FIGS. 1 (a) and 1 (b), instead of the transmitting beam TB which has the beam width θ _{w and} which is directed to the entire circumference, the beam width in the depression angle direction is the same as that of the receiving beam RB and the entire circumference is the same. A transmitter having a small peak value can be used by transmitting a beam which is directed to a beam while being appropriately scanned during depression so as to cover the transmission range corresponding to the transmission beam width θ _w .

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a scanning sonar to which an embodiment of a detection display method of the present invention is applied.

2A and 2B are respectively a plan view and a vertical sectional view showing a detection zone detected by the scanning sonar shown in FIG.

3A is a diagram showing a display of a detection image in the detection zone shown in FIG. 2. FIG. (B) is a waveform diagram showing a drive signal for scanning the reception beam in the azimuth direction and a drive signal for scanning in the depression angle direction.

FIG. 4 is a block diagram showing a configuration of a depression angle scanner 4.

5 is a block diagram showing a configuration of an azimuth scanner 5. FIG.

FIG. 6 is a waveform diagram showing the operation of the azimuth scanner 5.

FIG. 7 is a block diagram showing a configuration of a scanning sonar to which a second embodiment of the present invention is applied.

8 is a waveform diagram showing an operation of the scanning sonar of FIG.

9 (a), (b) and (c) are base periods T_B , One
Scanning period T_H , Depression scanning period T_V , Azimuth switching cycle T_S 
And interpolation cycle 2T_S Time relationship and figure in each cycle
A pair of switching outputs S by the switch 52 of the azimuth scanner 5 of No. 4_B1
~ S_BmAnd S_C1~ S_CmS in_B1And S_C1For example, and
The signal S interpolated by the interpolator 53_D1~ S_DmOf S _D1And S
_D2And the received signal S included in each signal as an example.₁ ~ S_n of
The time series arrangement is shown.

FIG. 10A is a block diagram showing a configuration of a display device 6. (B), (c) is an explanatory view showing the operation of the display device 6.

11A is a block diagram showing another configuration of the display device 6. FIG. (B), (c), (d) is explanatory drawing which shows operation | movement of the indicator 6. FIG.

12 (a) and 12 (b) are respectively a plan view and a vertical sectional view showing a detection zone detected by a conventional scanning sonar. (C) is an explanatory view showing a detected image displayed on the display. (D) is a waveform diagram showing a drive signal for scanning the reception beam in the azimuth direction and a drive signal for scanning in the depression direction.

[Explanation of symbols]

 1, 1A Controller 2 Transmitter 3 Transmitter 4 Depression scanner 5 Depth scanner 6 Display TB Transmit beam RB Receive beam DZ Detection zone HG Horizontal screen VG Vertical screen φ Azimuth θ Depression angle

Claims (2)

[Claims] 1. In a scanning sonar in which transmission is performed widely in the depression angle direction, the depression angle of the reception beam is sequentially switched by an appropriate angle every time the reception beam scans the entire circumference in an appropriate number of times, and the switching is performed at an appropriate cycle. Repeatedly, the received signals from the entire circumference for each depression angle direction are sequentially acquired in real time, and the received signals extracted from within the azimuth width appropriately selected in the acquired received signals are displayed in orthogonal display. At least one of a vertical screen displayed at a position corresponding to the distance and the depression angle of the received signal on the surface and a flat screen displayed at a position corresponding to the distance and the azimuth at which the received signal is acquired is displayed in real time. A method for detecting and displaying a scanning sonar, which is characterized in that 2. A scanning sonar in which transmission is appropriately wide in the depression angle direction, in which the azimuth scanning period of the entire circumference in which the reception beams are alternately arranged in the reception period and the depression angle scanning period of an appropriate time width The depression angle is repeatedly switched by an appropriate angle in the depression scanning cycle, and the azimuth scanning of the entire circumference is performed in the azimuth scanning cycle, and the received signal during the azimuth scanning cycle is selected and acquired in real time, and the acquired reception signal is obtained. The received signal extracted from within the azimuth width that is appropriately selected is acquired on the display screen orthogonally displayed, on the vertical screen displayed at the position corresponding to the distance and the depression angle of the received signal, and the received signal. Detecting and displaying method of scanning sonar characterized by displaying at least one of the plane screens displayed at positions corresponding to distance and direction in real time .