JPS6021809Y2 - Distance counting device in underwater detection equipment - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to a device for measuring the horizontal distance or depth to a detected object in an underwater detection device that performs underwater detection by transmitting and receiving ultrasonic pulses in oblique directions.

When performing underwater detection by transmitting and receiving ultrasonic pulses in diagonal directions, by measuring the time from when the detection pulse is transmitted until the reflected wave from the detected object is received, the straight line to the detected object can be determined. You can know the distance.

When determining the horizontal distance or depth to the detected object, the measured straight-line distance must be converted into the horizontal distance or depth.

This invention provides a device that measures horizontal distance or depth by controlling the pulse interval of a pulse train used to measure the straight-line distance to a detected object according to the inclination angle of the ultrasonic beam.

This will be explained below with reference to the embodiments shown in the drawings.

In FIG. 1, reference numeral 1 denotes an ultrasonic transceiver, which transmits ultrasonic pulses at regular intervals based on the transceiver 2.

Then, it receives reflected waves from the detected object. The ultrasonic transducer 1 is configured to be able to transmit and receive ultrasonic pulses in any diagonal direction by means of a drive mechanism 3.

The reflected wave returning to the transducer 1 is guided to the receiver 4, amplified and detected, and then sent to the display 5.

As the display 5, a well-known display such as a cathode ray tube display or a sweep type recorder can be used.

The display 5 displays the marker pulse sent from the marker pulse generation circuit 6 at the same time as displaying the detection signal.

The marker pulse generation circuit 6 sends out a pulse wave after an arbitrary time with reference to the time when the transmitter 2 transmits the ultrasonic pulse.

This pulse wave is superimposed on the detection signal on the display 5 and displayed as a bright spot or dotted record.

The marker pulse of the marker pulse generation circuit 6 is transmitted to the transmitter 2
The signal is sent to the gate wave generator 7 along with the transmission pulse.

The gated wave rawhide circuit 7 sends out a gated wave that lasts from the transmission pulse of the transmitter 2 until the marker pulse is sent out.

Therefore, by matching the sending time of the marker pulse with the detection signal displayed on the display 5, the gate wave skin circuit 7 will be able to detect It sends out a gate wave that lasts for a long time.

This gate wave is sent to the gate circuit 8, and only the duration of the gate wave causes the gate circuit 8 to conduct.

A pulse train from a pulse generating circuit 9 is guided to the gate circuit 8, and while the gate circuit 8 is conductive, this pulse train passes through the gate circuit 8 and is sent to the counter 10.

A counter 10 counts and displays the number of pulses passed through the gate circuit 8.

Therefore, if the pulse interval of the pulse train counted by the counter 10 is set to, for example, 1.33m5ec, the ultrasonic waves will reciprocate over a distance of 1m every 1.33m5ec, so the straight line distance from the count value of the counter 10 to the detected object can be calculated. Can be directly connected.

When the straight line distance to the detected object is L, and if the directivity angle of the ultrasonic wave 1 with respect to the horizontal plane is θ, then the horizontal distance to the detected object is LH=IJcO3θ −−−−−
−(1).

Also, the depth LD of the detected object is Lo=Lsinθ
......It is expressed as (2).

Therefore, when reading the horizontal distance or depth of a detected object, the cos θ or si
All you have to do is multiply it by nθ.

In this case, instead of multiplying the count value of the counter 10, the same effect can be obtained by multiplying the number of pulse trains guided to the counter 10 by COS θ times or sin θ times.

To increase the number of pulse trains by COSθ or sinθ, change the pulse interval by 111 times or 1 times COSθ.
It is only necessary to convert it into S1nθ.

As described above, the functional voltage generation circuit 11 and the comparison circuit 12 change the pulse interval when measuring the horizontal distance or depth of the detected object.

To explain this below, the pulse train led from the pulse generating circuit 9 to the counter 10 has a pulse duration γ as shown in FIG. 2a.

and a pause time t.

and the pulse duration τ. is held constant, and the pause time t is varied from zero to the maximum time depending on the directivity angle of the ultrasonic transceiver 1.

Therefore, the repetition period T of the pulse train a is T=Tocosa"τo+t, and thus t=ro(icosθ-1)...
・(3) is obtained.

Therefore, if the pause time t is changed according to equation (3) using the directivity angle of the ultrasonic transceiver 1 as a function, the horizontal distance or depth of the detected object can be directly read from the count value of the counter 10.

The functional voltage generation circuit 11 generates a functional wave voltage according to equation (3).

The functional voltage generating circuit 11 generates a pulse wave a as shown in FIG.
A function wave voltage according to equation (3) is sent out based on the falling edge of .

FIG. 3 shows a specific example of the functional voltage generating circuit 11.

In the figure, a pulse wave a is applied to the input end pi,
T when the high level of pulse wave a continues.

The transistor Tr is made conductive for only a period.

Then, after the fall of the pulse wave a, the transistor Tr becomes non-conductive, and charging of the capacitor C starts, resulting in -E.

The charging voltage changes from +Eo to +Eo.

This charging current flows through resistor R8 and resistor R□ connected in parallel.

It is supplied via R2, R3, R4, etc.

Therefore, the capacitor C is charged by these threat resistances and the time constant of the capacitor C, and this charging characteristic is set to match the function wave voltage shown in FIG.

Parallel resistance 'jjcR1* R2, R3, R4, etc. are connected to switch S1. S2. S3. S4 and further switches s, , s2 . s3. s4 is a timer T1°T2. T3. Opening and closing are performed by T.

Timer 'r1. T21 T3t'r, are activated simultaneously at the falling edge of the pulse wave a applied to the input 91, and each tire -T□, T2. T3. T4 startup time is tu t2
vt3? t, (however, tl<cherry blossoms<t3<t4), respectively.

Then, each switch S1. S2. S3. S, are respective timers T□, T2. T3. It is designed to close only while T4 is activated.

Therefore, when charging of the capacitor C starts, the charging current is initially supplied through the combined resistance of the resistors RO9R19R2=R3=R4.

During the time period, the charging current is supplied through the combined resistance excluding the resistor R□.

At the same time, a charging current is supplied from t2 to t3 via a composite resistance excluding resistors R□ and R2.

Furthermore, by sequentially switching the resistance values such that the charging current is supplied except for the resistors R1 and R2 from t3, the charging voltage of the capacitor C is made to match the functional voltage shown in Figure 2. ing.

The output of the functional voltage generating circuit 11 is sent to a comparison circuit 12 and compared with the voltage delivered from the switching switch 13.

The changeover switch 13 is used to switch and send out the output voltage of the potentiometer 14, and when measuring the horizontal distance of the detected object, the movable terminal P is used.

is switched to the switching terminal P1, and the output voltage of the slider 15 is taken out.

The slider 15 divides the voltage across the sliding resistor 16 into voltages corresponding to the directivity angle of the ultrasonic transducer 1, and sends out the voltage when the ultrasonic transducer 1 is oriented in the horizontal direction. The voltage is +E, and the voltage is -E when pointing toward the seabed directly below.
Also, when the sensor is oriented at 45 degrees with respect to the horizontal plane, zero voltage is sent out.

Therefore, when measuring the horizontal distance of a detected object, the changeover switch 13 sends the output voltage of the potentiometer 14 to the comparison circuit 12 from the changeover terminal P□.

The comparison circuit 12 compares the output voltage of the changeover switch 13 and the function voltage of the function voltage generation circuit 11, and sends out an output pulse (FIG. 2C) when the two voltages match.

Therefore, the comparator circuit 12 compares (
3) It is expressed by the formula.

Output pulse C is sent out after a time of .

This output pulse C is sent to the pulse generation circuit 9, and the pulse generation circuit 9 has a pulse width τ based on the output pulse C.

A pulse wave a is sent out.

As a result of the above, the period T from the pulse generation circuit 9 is t=min.

Since a pulse train of (ε62-)θ is sent out, as explained above, by counting this pulse train, the horizontal distance to the detected object can be directly read from the counted value.

Next, when counting the depth of the detected object, the period T' of the pulse train is as follows: T=deO1 hill, 6:ro+t;

(, -1) ...... (4) Si
It may be controlled to nθ.

The functional voltage generation circuit 11 may generate the functional voltage of equation (4).

In this case, cos θ=sin (9Q'-〇), so when the directivity angle of the ultrasonic transducer 1 is θ, the voltage corresponding to (90'-C) from the potentiometer 14, that is, the slider Comparing the voltage obtained by inverting the polarity of the output voltage of No. 15 with the functional voltage of equation (3), it is possible to obtain the same result as when generating the functional voltage of equation (4).

Therefore, when measuring the depth of a detected object, the changeover switch 13 is switched to the changeover terminal P2, and after the voltage polarity of the slider 15 is inverted by the inverting amplifier 17, the comparator circuit 12
sent to.

The changeover switch 13 is configured to change over the horizontal distance and depth, and at the same time, change over the straight distance.

Movable terminal P. When the voltage is switched to the switching terminal P3, the voltage -E is sent to the comparator circuit 12.

Therefore, in this case, since the comparison circuit 12 sends out an output pulse at the same time as the falling of the pulse wave a, the pulse generation circuit 9
is the pulse width γ.

The pulse train is sent out continuously without any pause period.

Therefore, the pulse width τ of the pulse wave a.

If it is set to 1.33 m5eC as explained above, the straight line distance to the detected object can be directly read from the pulse number count.

Note that in the above, the pulse width T0 of the pulse wave a is 13
When set to 3 μsec, the distance to the detected object can be measured in units of 3 μsec.

Therefore, the pulse width τ.

may be set appropriately depending on the measurement accuracy of the detection distance.

As explained above, according to this invention, the pulse interval of the pulse train is controlled according to the directivity angle of the ultrasonic transceiver, so the linear distance, horizontal distance, and Depth can be easily read directly.

In the above description, the pulse train period T is changed by controlling the rest period t of the pulse wave a, but the pulse width γ.

Even if the pulse train period T is controlled, the pulse train period T can be similarly controlled.

In this case, the functional voltage generation circuit 11 may be activated at the rising edge of the pulse wave a, and the fall position of the pulse wave a may be controlled by the output of the comparison circuit 12.

[Brief explanation of drawings]

FIG. 1 shows an embodiment of this invention, FIG. 2 is a waveform diagram for explaining its operation, and FIG. 3 shows a specific example of the functional voltage generating circuit. In Fig. 1, 1 is an ultrasonic transducer, 2 is a transmitter, and 3
is a drive mechanism, 4 is a receiver, 5 is a display, 6 is a marker pulse generation circuit 1. 7 is a gate wave generation circuit, 8 is a gate circuit, 9 is a pulse generation circuit, 10 is a counter, 11 is a function voltage generation 12 is a comparison circuit, 13 is a changeover switch, 14 is a potentiometer, 15 is a slider, 16 is a sliding resistor, and 17 is an inverting amplifier.

Claims (1)

[Scope of Claim for Utility Model Registration] An underwater detection device that performs underwater detection by transmitting and receiving ultrasonic pulses in diagonal directions with an angle of θ relative to the horizontal plane to measure the horizontal distance or depth at the detected object, which transmits the detection pulses. A gate wave survival circuit generates a gate wave that lasts from the time the wave is generated until the reflected wave from the detected object is received, and the pulse width T is defined as the duration of the gate wave. a pulse train sending circuit that sends out a pulse train; a counting circuit that counts the sent pulse trains; a potentiometer that sends out a voltage output corresponding to an angle θ with respect to a horizontal plane that transmits and receives the ultrasonic pulse waves; and a pulse train of the pulse train. A function voltage generation circuit that generates a function voltage that starts at the falling (rise) of a wave and whose starting time t changes approximating the characteristic of t=To(co311), and the function voltage and the output voltage of the potentiometer. When both voltages match, the rise of the pulse wave of the above pulse train (
A distance counting device for an underwater detection device, comprising: a comparison circuit for controlling the falling edges (falling edges) to coincide with each other.