JPH08313630A - Underwater detection device and tilt detection device - Google Patents

Abstract

PURPOSE: To correct the positional relationship highly accurately and reliably. CONSTITUTION: The submersible searching system comprises a transmitter/ receiver 1 fixed to the bottom of a vessel, a display 19 for determining the positional relationship of horizontal distance and depth in a predetermined area around the transmitter/receiver using an ultrasonic wave transmitted/ received at an arbitrary tilt angle with respect to the reference plane of the transmitter/receiver 1 and displaying the positional relationship through a vertical cross-section video memory 9a or a PPI image video memory 16, and a display system 19 control section 12 for determining the inclination angle in the rolling direction and pitching direction of the transmitter/receiver 1 and correcting the positional relationship based on the inclination angle.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underwater detecting device for detecting underwater while obtaining and correcting an inclination angle of a wave transmitter / receiver and an inclination detecting device for obtaining an inclination angle of a wave transmitter / receiver installed on a ship bottom. Is.

[0002]

2. Description of the Related Art An underwater detection device such as a scanning sonar has a transducer that can transmit and receive ultrasonic waves at an arbitrary tilt angle with respect to a reference plane. This transducer is attached to the bottom of the ship so that the reference plane is parallel to the water surface, and the underwater detector uses the transducer based on the detection distance when ultrasonic waves are transmitted and received at a predetermined tilt angle. The horizontal distance from and the depth at this horizontal distance are obtained, and the positional relationship between the water bottom and the school of fish in a predetermined area centered on the hull is displayed.

By the way, it is desirable that the underwater detecting device can detect the above-mentioned positional relationship with high accuracy. However, for example, if the hull is tilted due to an uneven load, the transducer will be tilted together with the hull. The parallelism between the surface and the water surface is lost, and the tilt angle of the reference surface makes it impossible to obtain the positional relationship including the horizontal distance and the depth with respect to the water surface with high accuracy. Therefore, conventionally, the inclination angle of the hull with respect to the roll direction and the pitch direction is obtained by visual inspection by a crew member, and the inclination angle is input to the underwater detection device to correct the above-mentioned positional relationship. .

[0004]

However, when the inclination angle of the hull is manually obtained by visual inspection by the sailor as in the above-mentioned conventional method, a large measurement error is included in the inclination angle due to the physical condition of the sailor or individual difference. Since an input error of the inclination angle may occur, there is a problem that the positional relationship cannot be corrected with high reliability and high accuracy.

Therefore, the first object of the present invention is to provide an underwater detecting apparatus capable of accurately correcting the positional relationship with high reliability, and to accurately obtain the inclination angle of the hull. A second object is to provide a tilt detecting device that can be used.

[0006]

In order to solve the above-mentioned object, the invention of claim 1 uses a transducer mounted on the bottom of a ship and ultrasonic waves transmitted and received by the transducer. Area display means for obtaining and displaying a positional relationship consisting of horizontal distance and depth of a predetermined area centered on the vessel, and inclination angle measuring means for obtaining inclination angles in the roll direction and the pitch direction with respect to the reference plane of the transducer. And a correction means for correcting the positional relationship based on the inclination angle.

According to a second aspect of the present invention, the tilt angle measuring means of the first aspect uses the horizontal distance and the depth obtained by the area indicating means when the water bottom is flat, in the roll direction and the pitch direction. The feature is that the inspection distance and the depth difference between the points are obtained, and the inclination angle is obtained based on the inspection distance and the depth difference.

The invention according to claim 3 is characterized in that the tilt angle measuring means according to claim 2 is arranged so that the two positions are located at left and right positions with respect to the transducer. .

According to a fourth aspect of the present invention, the position when the tilt angle measuring means of the second aspect transmits and receives ultrasonic waves at tilt angles of a predetermined angle on each of the right and left sides with respect to the transducer.
The feature is that it is set as a point.

According to a fifth aspect of the present invention, the inclination angle measuring means of the first aspect obtains the inclination angle by transmitting and receiving ultrasonic waves to and from the transducer in a horizontal direction. Is characterized by.

According to a sixth aspect of the present invention, the tilt angle measuring means of the first aspect has an angle detecting means including an angular velocity sensor, and the tilt angle is obtained based on an angular velocity signal from the angular velocity sensor. It is characterized by that.

According to a seventh aspect of the invention, the inclination angle measuring means of the first aspect has an angle detecting means composed of an electrode immersed in an electrolytic solution, and the inclination detecting means is based on the capacitance of the electrode. The feature is that the inclination angle is obtained.

According to an eighth aspect of the present invention, in the tilt angle measuring means according to the first aspect, a support member having an intermediate portion rotatably supported and a lower end provided with a weight is connected to an upper end of the support member. And an angle detecting means having a sliding resistor that changes to a resistance value according to the amount of rotation of the supporting member, and obtains the tilt angle based on the resistance value of the sliding resistor. It is characterized by that.

The invention of claim 9 is characterized in that the angle detecting means of claim 6, 7 or 8 is provided in the transducer.

According to a tenth aspect of the present invention, the transducer mounted on the bottom of the ship and the ultrasonic wave transmitted and received at an arbitrary tilt angle from the transducer when the water bottom is flat are used for roll direction and An inclination angle measuring means for obtaining an inspection distance and a depth difference between two points in the pitch direction, and for obtaining an inclination angle of the transducer in the roll direction and the pitch direction based on the inspection distance and the depth difference. It is characterized by

[0016]

According to the present invention, the tilt angle measuring means measures the tilt angle in the roll direction and the pitch direction, and the correcting means determines the predetermined angle centered on the transducer according to the tilt angle. Since the positional relationship consisting of the horizontal distance and depth of the area is corrected, the physical condition of the sailors and individual differences can be seen, as in the case where the angle of inclination was obtained manually by the seafarers' eyes and manually input as in the past. It is possible to correct the positional relationship with high reliability and with high accuracy without causing a large measurement error or input error.

Further, according to the structures of claims 2 to 5, the inclination angle is obtained by the ultrasonic waves transmitted and received by the transducer, and according to the structure of claim 9, the inclination angle is obtained in the transducer. Inclination angle measuring means is provided. Therefore, according to the configurations of claims 2 to 5 and 9, since the inclination angle of the transducer is directly measured, the transducer is not attached to the hull as designed. Even in this case, the inclination angles of the wave transmitter / receiver in the roll direction and the pitch direction can be accurately obtained, and the positional relationship can be corrected with higher accuracy.

Further, according to the fifth to ninth aspects, the inclination angle measuring means obtains the inclination angle with reference to the water surface, so that the inclination angle is always obtained and corrected regardless of the state of the water bottom. be able to.

Further, according to the structure of claim 10, since the inclination angle can be obtained by the inclination angle measuring means, the inclination angle can be obtained by the visual observation of the seafarer as in the conventional case. A large measurement error due to physical condition and individual difference does not occur, and the tilt angle can be obtained with high reliability and high accuracy.

[0020]

【Example】

[Embodiment 1] An embodiment of the present invention will be described with reference to FIGS. The underwater detection apparatus according to the present embodiment has a wave transmitter / receiver 1 attached to the bottom of a ship, as shown in FIG. The wave transmitter / receiver 1 has a plurality of transducers for transmitting and receiving ultrasonic waves in an array, and a certain amount of delay between the transducers adjacent to the received signal of each transducer or A received beam in a specific direction is formed by giving a phase shift amount and aligning the received signals of the transducers with the echo signal from the specific direction. As a result, the wave transmitter / receiver 1 can transmit and receive ultrasonic waves at an arbitrary tilt angle with the surface on which the transducer is disposed as a reference plane, and the underwater detection device has a function as a scanning sonar. It has become.

The above-mentioned wave transmitter / receiver 1 is rotatably attached to the wave transmitter / receiver turning mechanism 2. The wave transmitter / receiver swivel mechanism unit 2 is controlled by a display system control unit 12 to be described later via a wave transmitter / receiver drive unit 2a to control the swivel angle of the wave transmitter / receiver 1. Also, the transceiver 1
Is connected to the transmitting unit 3 and the receiving unit 4, and the transmitting unit 3 supplies a drive signal for ultrasonic transmission to the transducer 1. On the other hand, the receiving unit 4 amplifies and detects the received signal received by the wave transmitter / receiver 1 and adds a predetermined delay amount to each detected signal.

The receiving section 4 is connected to the buffer memory 7 via the A / D converting section 6 for converting the received signal into the digital value from the analog value. The buffer memory 7 is
The received signal converted into a digital value is stored as polar coordinate system data, and the polar coordinate system data is converted into a coordinate conversion unit 8 (region display means) and a vertical cross-section image video memory 9a.
(Area display means) and the vertical cross-sectional image memory 9 (area display means). Further, the coordinate conversion unit 8 is adapted to convert the polar coordinate system data into the orthogonal coordinate system data, and the converted orthogonal coordinate system data is subjected to the vertical sectional image video memory 9a and the vertical sectional image memory 9 respectively.
It is designed to output to.

The vertical cross-section video memory 9a is adapted to correct the orthogonal coordinate system data by a correction value from the display system control unit 12 which will be described later, and the corrected orthogonal coordinate system data is converted into a video signal. The data is output to the section 18 (area display means). Then, the video signal conversion unit 18 is configured to display on the display unit 19 (area display means) a vertical cross-sectional image that is color-coded based on the corrected Cartesian coordinate system data. On the other hand, the vertical sectional image memory 9
The orthogonal coordinate system data for one vertical section is read by the sampling circuit 10 (area display means) line by line in the depth direction (vertical direction of the data group of the two-dimensional array). The maximum value of the Cartesian coordinate system data in one line is detected, and the address value of the Cartesian coordinate system data showing the maximum value is output to the water bottom data memory 11 (area display means) as depth data.

The water bottom data memory 11 is connected to a display system control unit 12 (region display means, inclination angle measurement means). The display system control unit 12 has a memory 12a that stores various data set and input by the operation unit 13, depth data from the water bottom data memory 11, and the like.
The setting data such as the turning range and the depth within a are output to the transmission / reception system control unit 5. Then, the transmission / reception system control unit 5 controls the transmission unit 3 and the reception unit 4 based on the setting data, and at the same time, outputs a clock signal so as to synchronize the A / D conversion unit 6, the buffer memory 7, and the coordinate conversion unit 8. It is designed to output.

Further, the display system control unit 12 executes the tilt angle measurement routine to use the distance and the depth difference between two points in the depth data of one vertical section to determine the tilt angle in the roll direction and the pitch direction. Is calculated, and a correction value based on these inclination angles is added to the depth data of the memory 12a for correction. As a result, the underwater detection device also has a function as a tilt detection device that detects the tilt of the wave transmitter / receiver 1 and the hull by the display system control unit 12 executing the tilt angle measurement routine. Further, the display system controller 12 also corrects the orthogonal coordinate system data in the vertical section video memory 9a by outputting the correction value to the vertical section video memory 9a.

Incidentally, the correction value based on the inclination angle in the roll direction and the pitch direction may be updated when the sailor gives a command through the operation section 13, or 1 in the roll direction or the pitch direction. When the depth data of the vertical cross section is obtained, it may be updated when it is determined from these depth data that the water bottom is flat.

The display system control unit 12 is adapted to output the corrected depth data to the PPI image drawing unit 14 (area display means), and at the same time, to the character / symbol drawing unit 15 for character data and symbol data. It is designed to output to.
These PPI image drawing unit 14 and character / symbol drawing unit 1
Reference numeral 5 is connected to the PPI image video memory 16 (area display means) and the character / symbol image video memory 17, respectively. These video memories 16 and 17 are connected to the display device 19 via the above-mentioned video signal conversion unit 18, and are configured to display color-coded PPI images on the display device 19 and to display characters. And symbols are displayed. A clock signal from the video clock unit 20 is supplied to the PPI image video memory 16 and the character / symbol image video memory 17. A clock signal is also supplied to 9, the sampling circuit 10, and the display device 19.

The operation of the underwater detecting apparatus having the above-mentioned structure will be described. When the ship is located above the flat bottom of the water, the correction values for the orthogonal coordinate system data of the vertical cross-sectional image video memory 9a and the depth data of the memory 12a are updated according to a command from the operation unit 13 or a judgment of the display system control unit 12. Thus, the tilt angles in the roll direction and the pitch direction are obtained. Specifically, the display system control unit 12
2 executes the tilt angle measurement routine, and after the transducer 1 is fixed at a predetermined turning angle so that ultrasonic waves are transmitted and received in the roll direction (S1), the tilt angle is calculated. The subroutine is executed (S2).

That is, as shown in FIG. 3, the ultrasonic waves are transmitted and received while the tilt angle of the transducer 1 with respect to the reference plane is detected (S10). The ultrasonic wave received by the transmitter / receiver 1 is input to the A / D conversion unit 6 via the reception unit 4, converted into a digital value by the A / D conversion unit 6, and then converted into a buffer memory as polar coordinate system data. It is output to the coordinate conversion unit 8 via 7. Then, this polar coordinate system data is converted into Cartesian coordinate system data by the coordinate conversion unit 8 and then output to the vertical section image video memory 9a and the vertical section image memory 9.

When the orthogonal coordinate system data for one vertical cross section is stored in the vertical sectional image memory 9 as a data group of a two-dimensional array, the orthogonal coordinate system data for one line in the vertical direction of these data groups is sampled by the sampling circuit. The address value of the Cartesian coordinate system data that is read out by 10 and indicates the maximum value in one line is stored in the water bottom data memory 11 as depth data.

The above-mentioned depth data is read by the display system controller 12 and stored in the memory 12a, and then expanded from the logical image of FIG. 4 to the echo image of FIG. 5 (S11). Then, the horizontal distance OP (w ₁ ) is set so that the left and right target positions are obtained with the transducer 1 as the center O.
After the inspection positions P and Q at which OQ (w ₂ ) is equal are obtained, the inspection distance PQ (w ₁ + w ₂ ) between the two points indicated by these inspection positions P and Q and the depth PP ′ of the two points (D ₁ ) ・
QQ '(d ₂₎ and so that is required (S12).
After that, the depth difference (Δd = d ₁ −d ₂ ) between the two points is obtained (S13), and after the execution of S2 to S5 is repeated N times (S14), the average value of the depth difference (Δd). (Δd _mean )
Is required (S15). Then, based on the average value (Δd _mean ) and the inspection distance (w ₁ + w ₂ ), the inclination angle in the roll direction θr = tan ⁻¹ (Δd _mean / (w ₁ + w)
₂ )) is required (S16).

When the tilt angle calculation subroutine is completed by executing S16, as shown in FIG. 2, the transducer 1 is rotated 90 ° so that ultrasonic waves are transmitted and received in the pitch direction (S3). ). After that, the inclination angle calculation subroutine is re-executed to obtain the inclination angle θp = tan ⁻¹ (Δd _mean / (w ₁ + w ₂ )) in the pitch direction (S4).

Inclination angle θr in the roll direction as described above
When the inclination angle θp in the pitch direction and the inclination angle θp in the pitch direction are obtained, a correction value at each position in the horizontal direction is obtained using these inclination angles θr · θp.
The depth data and the orthogonal coordinate system data of the vertical section video memory 9a are corrected. As a result, the display device 19 displays the PPI image and / or the vertical cross-sectional image corrected in the roll direction and the pitch direction.

In this embodiment, the horizontal distance OP (w ₁ ) · OQ (w from the transmitter / receiver 1 to the inspection position P · Q.
₂ ) Depth PP 'at the same point (left and right target positions)
The inclination angle θ is obtained based on (d ₁ ) · QQ ′ (d ₂ ), but the invention is not limited to this, and any inspection position P · Q (in addition to the horizontal direction, The horizontal distance OP (w ₁ ) · OQ (w ₂ ) and the depth P between the two points in either the left direction or the right direction (may be only one direction)
It suffices that the tilt angle θ be obtained using P ′ (d ₁ ) · QQ ′ (d ₂ ).

Further, in this embodiment, the inspection position P
The inclination angle θ is determined with reference to Q, but the present invention is not limited to this, and the inclination angle θ can be determined with reference to the tilt angle of the ultrasonic wave with respect to the reference plane of the transducer 1. It may be.

That is, as shown in FIG. 6, when a tilt angle (90 ° ± α °) is set equal to the left and right with respect to the perpendicular to the reference plane of the transducer 1, the tilt angle (90 ° + 90 ° +
α °), the depth is QQ '= OT' = OQ'co
The horizontal distance is OQ = T'Q '= OQ'si.
On the other hand, at the tilt angle (90 ° -α °), the depth is indicated by PP ′ = OT 2 = OP ′ cos α and the horizontal distance is indicated by OP = TP ′ = OP ′ sin α. The inclination angle θ may be obtained as in the equation (1) using the horizontal distance and the depth.

Θ = tan ⁻¹ SP ′ / SQ ′ = tan ⁻¹ (QQ′−PP ′) / (P′Ttan ⁻¹ + T′Q ′) = tan ⁻¹ (OQ′cosα−OP′cosα) / (OP'sin α + OP'sin α) (1)

Further, in the present embodiment, the wave transmitter / receiver 1
The inclination angle θ may be obtained by transmitting and receiving ultrasonic waves in the horizontal direction with respect to the reference plane. That is, when ultrasonic waves are transmitted and received from the transducer 1 in the horizontal direction, as shown in FIG. 7, if the hull is tilted with respect to the water surface, it is possible to catch sea surface reflection, The inclination angle θ may be obtained as in the equation (2).

Θ = tan ⁻¹ PP ′ / OP ′ = tan ⁻¹ QQ ′ / OQ ′ = tan ⁻¹ QT / PT = tan ⁻¹ (PP ′ + QQ ′) / (OP ′ + OQ ′) (2)

[Embodiment 2] Another embodiment of the present invention will be described with reference to FIGS. The same members as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted.

As shown in FIG. 8, the underwater detecting apparatus according to this embodiment has a roll angle sensor 22 (angle detecting means) and a pitch angle sensor 23 (angle detecting means) arranged in the roll direction and the pitch direction. ) And an inclination angle calculator 30 connected to these angle sensors 22 and 23 to obtain inclination angles θr and θp in the roll direction and the pitch direction. As shown in FIG. 9, the roll angle sensor 22 and the pitch angle sensor 23 are composed of acceleration sensors 22a and 23a (angular velocity sensors) fixed to the vibrator 21, and the transducer 1 is arranged in the roll direction and When inclining together with the hull in the pitch direction, an angular velocity signal indicating the angular velocity associated with the inclination is output.

The roll angle sensor 22 and the pitch angle sensor 23 are connected to the CPU circuit 25 via A / D conversion circuits 24a and 24a, as shown in FIG. The A / D conversion circuits 24a and 24a are adapted to convert the angular velocity signals from the angle sensors 22 and 23 into digital values and output them to the CPU circuit 25 as angular velocity data. The CPU circuit 25 is configured to execute an operation based on an instruction signal from the internal setting switch 26. For example, a test mode, an operation mode for calculating and outputting tilt angles θr · θp in the roll direction and the pitch direction are output. Ready to run. That is, when the operation mode is executed, the angular velocity data in the roll direction and the pitch direction are set to A /
By acquiring from the D conversion circuits 24a and 24a and integrating the angular velocity data, the tilt angles θr and θp in the roll direction and the pitch direction are calculated and output.

The CPU circuit 25 has a tilt angle θr · θ.
Two signal output systems 28 and 29 are provided so as to output the output data of p respectively. Each output system 28 ・ 29
Are digital signal systems 28b and 29b that output the tilt angles θr and θp in a digital value state and an analog signal system 28a that outputs the tilt angles θr and θp in an analog signal state by the D / A converter 27.
.29a and digital signal system 28b.2
As shown in FIG. 10, 9b is connected to the display system control unit 12 and outputs the output data of the tilt angles θr · θp to the display system control unit 12. Then, the display system control unit 12 obtains the correction value at each position using the input inclination angles θr and θp, and the depth data of the memory 12a and the vertical cross-sectional image video memory 9 are obtained from these correction values.
The orthogonal coordinate system data of a is corrected. Other configurations are the same as those in the first embodiment.

The operation of the underwater detecting apparatus having the above structure will be described. As shown in FIG. 11, when the transducer 1 is tilted together with the hull, as shown in FIG. 8, the roll angle sensor 22 and the pitch angle sensor 23 indicate angular velocities associated with the roll direction and the pitch direction tilt. It will output a signal. These angular velocity signals are A
It is input to the CPU circuit 25 via the / D conversion circuits 24a and 24a, and is used by the CPU circuit 25 to calculate the tilt angles θr and θp in the roll direction and the pitch direction. The calculated tilt angles θr · θp are shown in FIG.
As shown in FIG. 5, the output is output to the display system control unit 12, and the display system control unit 12 obtains the correction value at each position using these tilt angles θr and θp, and the memory 12a is obtained based on these correction values. Will be corrected and the orthogonal coordinate system data of the vertical sectional image video memory 9a will be corrected.
Other operations are the same as those in the first embodiment.

The roll angle sensor 22 and the pitch angle sensor 23 in this embodiment are composed of the acceleration sensors 22a and 23a fixed to the vibrator 21, but the present invention is not limited to this. Figure 12 (a)
As shown in (b), it may be composed of a pair of electrodes 32, 32 immersed in the electrolytic solution 31. According to this structure, when the transducer 1 is tilted together with the hull, the contact area between the electrode 32 and the electrolytic solution 31 changes as shown in FIG. It is possible to obtain the values corresponding to the inclination angles θr · θp in the roll direction and the pitch direction.

[Embodiment 3] Another embodiment of the present invention is shown in FIG.
Will be explained. The same members as those in the second embodiment are designated by the same reference numerals and the description thereof will be omitted.

As shown in FIG. 14, the underwater detecting apparatus according to this embodiment has an inclination angle θr in the roll direction and the pitch direction.
The angle detectors 40, 40 (angle detection means) provided in the wave transmitter / receiver 1 are provided so as to detect θp. In these angle detectors 40, an intermediate portion is rotatably supported, and a conductive support member 42 having a weight 41 at its lower end is connected to an upper end of the support member 42.
And a sliding resistor 43 that changes its resistance value according to the amount of rotation. One end of the sliding resistor 43 is grounded while the other end is connected to the power source 44, and the support member 42 detects the amount of electricity (voltage, current) that changes with the resistance value. Has become. Then, the support member 42 is
It is connected to the inclination angle calculator 30 of the same configuration of the second embodiment, and the inclination angle calculator 30 obtains and outputs the inclination angles θr · θp in the roll direction and the pitch direction based on the amount of electricity. ing. Other configurations are the same as those in the second embodiment.

The operation of the underwater detecting apparatus having the above-mentioned structure will be described. When the wave transmitter / receiver 1 tilts, the sliding resistor 43 tilts together with the wave transmitter / receiver 1, while the weight 41 maintains the vertical direction, so that the support member 42 moves the sliding resistor 43.
The rotation of the sliding resistor 43 changes the resistance value of the sliding resistor 43. This change in the resistance value is a change in the amount of electricity (voltage, current) via the support member 42 and the inclination angle calculator 3
Therefore, the inclination angle calculator 30 determines that the inclination angle θr in the roll direction and the pitch direction is based on the amount of electricity.
-Θp will be calculated. Other operations are the same as those in the second embodiment.

The angle detector 40 of the third embodiment and the angle sensors 22 and 23 of the second embodiment described above are provided in the transducer 1 so that the inclination angle of the transducer 1 can be directly measured. However, it may be attached to the hull.

[0050]

As described above, the invention of claim 1 uses the transducer mounted on the bottom of the ship and the ultrasonic wave transmitted and received by the transducer to provide a predetermined region centered on the transducer. Area display means for obtaining and displaying a positional relationship consisting of horizontal distance and depth, inclination angle measuring means for obtaining inclination angles in the roll direction and the pitch direction with respect to the reference plane of the transducer, and based on the inclination angle. It is a configuration including a correction unit that corrects the positional relationship.

As a result, the inclination angle measuring means measures the inclination angles in the roll direction and the pitch direction, and based on the inclination angles, the correcting means has a positional relationship consisting of the horizontal distance and the depth of a predetermined area centered on the transducer. Since it is designed to compensate for this, a large measurement error or erroneous input occurs due to the physical condition of the sailors and individual differences, as in the case where the inclination angle was obtained manually by the sailors' eyes and manually input as in the past. Therefore, the positional relationship can be corrected with high reliability and high accuracy.

According to the invention of claim 2, as described above, when the inclination angle measuring means of claim 1 has a flat water bottom,
The horizontal distance and the depth obtained by the area display means are used to obtain the inspection distance and the depth difference between two points in the roll direction and the pitch direction, and the inclination angle is obtained based on the inspection distance and the depth difference. It is a structure that has become.

As a result, in addition to the effect of the first aspect, since the inclination angle of the transducer is directly measured, even if the transducer is not attached to the hull as designed, The roll angle and pitch direction inclination angles of the wave transmitter / receiver can be accurately obtained, and the positional relationship can be corrected with higher accuracy.

As described above, the invention according to claim 3 is such that the tilt angle measuring means according to claim 2 has the above-mentioned two points at the left and right positions with respect to the transducer. It is a composition. As a result, similar to the effect of the second aspect, it is possible to accurately obtain the inclination angles of the wave transmitter / receiver in the roll direction and the pitch direction, and it is possible to correct the positional relationship with higher accuracy.

According to the invention of claim 4, as described above, the position when the tilt angle measuring means of claim 2 transmits and receives ultrasonic waves at tilt angles of a predetermined angle on each of the left and right sides of the transducer. This is a configuration in which the above two points are set.
As a result, similar to the effect of the second aspect, it is possible to accurately obtain the inclination angles of the wave transmitter / receiver in the roll direction and the pitch direction, and it is possible to correct the positional relationship with higher accuracy.

According to the invention of claim 5, as described above, the tilt angle measuring means of claim 1 obtains the tilt angle by transmitting and receiving ultrasonic waves in the horizontal direction with respect to the transducer. It is a structure that has become.

As a result, in addition to the effect of claim 1, since the inclination angle of the transducer is directly measured, even when the transducer is not attached to the hull as designed, The inclination angle of the wave transmitter / receiver in the roll direction and the pitch direction can be accurately obtained, and the positional relationship can be corrected with higher accuracy. Furthermore, since the inclination angle measuring means is adapted to obtain the inclination angle with reference to the water surface,
This has the effect that the inclination angle can always be obtained and corrected regardless of the state of the water bottom.

According to the sixth aspect of the invention, as described above, the tilt angle measuring means of the first aspect has the angle detecting means including the angular velocity sensor, and based on the angular velocity signal from the angular velocity sensor. The configuration is such that the tilt angle is obtained.

As a result, in addition to the effect of claim 1, since the angle detecting means is composed of the angular velocity sensor, the angle detecting means can be miniaturized and easily accommodated in the transducer. .

According to the invention of claim 7, as described above, the tilt angle measuring means of claim 1 has an angle detecting means consisting of an electrode immersed in an electrolytic solution, and the capacitance of the electrode. The inclination angle is obtained based on the above.

With this, in addition to the effect of the first aspect, since the angle detecting means is composed of the electrode immersed in the electrolytic solution, the angle detecting means can be downsized and easily accommodated in the transducer. It has the effect of being able to.

According to the invention of claim 8, as described above, the tilt angle measuring means of claim 1 is provided with a support member having a middle portion rotatably supported and a weight at the lower end, and the support member. An upper end of the member is connected, and an angle detection unit having a sliding resistor that changes to a resistance value according to the amount of rotation of the supporting member is provided, and based on the resistance value of the sliding resistor. The configuration is such that the tilt angle is obtained.

As a result, similar to the effect of the first aspect, a large measurement error or an input error due to the physical condition of the seafarer or individual differences does not occur, and the positional relationship can be corrected with high reliability and high accuracy. It has the effect of being able to.

As described above, the invention of claim 9 has a construction in which the angle detecting means of claim 6, 7 or 8 is provided in the transducer.

As a result, in addition to the effect of claim 1, since the inclination angle of the transducer is directly measured, even if the transducer is not attached to the hull as designed. The inclination angle of the wave transmitter / receiver in the roll direction and the pitch direction can be accurately obtained, and the positional relationship can be corrected with higher accuracy. Furthermore, since the inclination angle measuring means is adapted to obtain the inclination angle with reference to the water surface,
This has the effect that the inclination angle can always be obtained and corrected regardless of the state of the water bottom.

According to the tenth aspect of the present invention, as described above, the ultrasonic wave transmitted and received at an arbitrary tilt angle from the transducer installed on the bottom of the ship and the transducer when the water bottom is flat. Inclination angle measurement for obtaining the inspection distance and the depth difference between two points in the roll direction and the pitch direction, and for obtaining the inclination angle of the transducer in the roll direction and the pitch direction based on the inspection distance and the depth difference. And means.

As a result, since the inclination angle can be obtained by the inclination angle measuring means, a large measurement error due to the physical condition of the seafarer or individual differences, as in the conventional case where the inclination angle is obtained by visual inspection of the seafarer. There is an effect that the inclination angle can be obtained with high reliability and with high accuracy.

[Brief description of drawings]

FIG. 1 is a block diagram of an underwater detection device.

FIG. 2 is a flowchart of a tilt angle measurement routine.

FIG. 3 is a flowchart of a tilt angle calculation subroutine.

FIG. 4 is an explanatory diagram showing a logical image.

FIG. 5 is an explanatory diagram showing an echo image.

FIG. 6 is an explanatory diagram showing an echo image.

FIG. 7 is an explanatory diagram showing a logical image.

FIG. 8 is a block diagram of a tilt angle calculator.

FIG. 9 is a perspective view of an angle sensor.

FIG. 10 is a block diagram of an underwater detection device.

FIG. 11 is an explanatory view showing a state where the hull is inclined.

12A and 12B show an angle sensor, in which FIG. 12A is a plan view and FIG. 12B is a cross-sectional view taken along line X-X of FIG.

FIG. 13 is an explanatory diagram showing a state in which the angle sensor is tilted.

FIG. 14 is a schematic configuration diagram of an angle sensor.

[Explanation of symbols]

 1 wave transmitter / receiver 2 wave transmitter / receiver swivel mechanism part 3 transmitter part 4 receiver part 5 transmission / reception system control part 9 vertical section image memory 12 display system control part 19 display device 22 roll angle sensor 22a acceleration sensor 23a acceleration sensor 30 tilt angle calculation Instrument 31 Electrolyte 32 Electrode 40 Tilt angle measuring instrument

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yoshiki Tominaga 9-52 Ashihara-cho, Nishinomiya-shi, Hyogo Furuno Electric Co., Ltd.

Claims (10)

[Claims] 1. A positional relationship consisting of a horizontal distance and a depth of a predetermined region centered on the transducer using the ultrasonic wave transmitted and received by the transducer attached to the bottom of the ship. Area display means for displaying, inclination angle measuring means for obtaining inclination angles in the roll direction and pitch direction with respect to the reference plane of the transducer, and correction means for correcting the positional relationship based on the inclination angle. Underwater detection device characterized by 2. The tilt angle measuring means uses the horizontal distance and the depth obtained by the area display means when the water bottom is flat, to determine the inspection distance and the depth difference between two points in the roll direction and the pitch direction. The underwater detecting apparatus according to claim 1, wherein the tilt angle is obtained based on the inspection distance and the depth difference. 3. The underwater detecting apparatus according to claim 2, wherein the tilt angle measuring means is arranged so that the two positions are located at left and right positions with respect to the transducer. 4. The tilt angle measuring means is adapted to set the above-mentioned two points when ultrasonic waves are transmitted / received at tilt angles of right and left with respect to the transducer, respectively. The underwater detection device according to claim 2. 5. The tilt angle measuring means is adapted to obtain the tilt angle by transmitting and receiving ultrasonic waves in a horizontal direction with respect to the transducer. Underwater detection device. 6. The tilt angle measuring means has an angle detecting means composed of an angular velocity sensor, and the tilt angle is obtained based on an angular velocity signal from the angular velocity sensor. The underwater detection device according to claim 1. 7. The tilt angle measuring means has an angle detecting means composed of an electrode immersed in an electrolytic solution, and the tilt angle is obtained based on the capacitance of the electrode. The underwater detection apparatus according to claim 1, wherein 8. The tilt angle measuring means comprises a support member having an intermediate portion rotatably supported and a weight at the lower end, and an upper end of the support member connected to each other to adjust the rotation amount of the support member. And an angle detecting means having a sliding resistor that changes to a corresponding resistance value, and the inclination angle is obtained based on the resistance value of the sliding resistor. The underwater detection device according to claim 1. 9. The angle detecting means is provided in the wave transmitter / receiver.
Underwater detection device described. 10. A transducer mounted on a ship bottom and two points in a roll direction and a pitch direction using ultrasonic waves transmitted and received at an arbitrary tilt angle from the transducer when the water bottom is flat. Find the inspection distance and depth difference between
An inclination detecting device, comprising: an inclination angle measuring means for obtaining an inclination angle in the roll direction and the pitch direction of the transducer based on the inspection distance and the depth difference.