JPS6182110A - Depth display device - Google Patents

Abstract

PURPOSE:To confirm depth speedily and accurately by setting the position of an optional point nearby a ship, and finding the depth from sounding data on the set position nearby the ship which are stored in a storage means and displaying the depth. CONSTITUTION:The position measuring device 1 of a depth display device measures the latitudue and longitude of the ship position S on a map, and the latitude and longitude are converted by a coordinate converter 4 into position coordinate data Xs and Ys, which are inputted to an ROM 6 for submarine depth storage. Further, the distance L1 from the ship position S to the optional point P and its direction B are set in setters 2 and 3, and the set values from those setters 2 and 3 and coordinate data Xs and Ys from the converter 4 are applied to a coordinate converter 5, which calculates position coordinates Xp and Yp of the point P. Then, the depth at the point P is calculated under the control of a CPU 7 by using the ROM 6 for submarine depth storage which is stored with depth based upon a depth contour line chart as coordinate positions, and the depth is displayed on a depth display device 9 speedily and accurately.

Description

[Detailed description of the invention] This [Description] column is +al technology field (b) Prior art and its drawbacks (C) Purpose of the invention (d1 Overview of the invention Structure of te1 invention (Effects of f1 invention (gl example It consists of

〔explanation〕

TECHNICAL FIELD This invention relates to a depth display device capable of determining and displaying the depth of an arbitrary point near one's own ship.

(bl Conventional technology and its drawbacks) Confirming the depth of shallow water in the direction of the ship's movement, positioning the own ship by comparing the depth measured by a depth sounder with the depth on the contour map near the own ship, checking the depth near the target point for casting nets, etc. In order to search for a destination based on depth, etc., it is necessary to accurately recognize the depth near one's own ship.In the past, depth maps were color-coded based on depth,
Depths are made easier to read by using solid lines or broken lines depending on the depth, or by writing depth numbers, but there is a problem in that the exact depth of a desired point cannot be read immediately.

(C1 Purpose of the Invention The purpose of the present invention is to provide a depth display device that can display the depth of any point around the own ship by specifying the position of that point, and can confirm the depth accurately and quickly. There is a particular thing.

(d) Outline of the invention 1) Storage of depth data First, in order to find the depth of point P, depth measurement data around the own ship is stored in advance, such as a contour map, a depth map (simply a map with the depth written discretely), etc. Read and memorize. Hereinafter, a method will be described in which a contour map is used and the contour line data is stored in a readable storage device. There are two ways to remember this:

■Use the submarine topographic map issued by the Japan Coast Guard.

The contour green on the seafloor topographic map is read by a reading device (device for measuring the position on the plane, such as a digitizer), and the position is stored in the storage device along with the depth of the contour line. Record f! The equipment includes magnetic tape, Moita-ki Drano, and so on.

Use a magnetic disk, etc.

■Positioning and depth measurements are carried out using the positioning equipment and depth sounder installed on the ship.

The ship travels in detail through the sea area that requires a contour map, and measures the location and depth of many points. Using these measured values, a computer determines the equi-depth positions, creates an equi-depth map, and stores this in a storage device.

2) How to find the depth of the point P When the point P is on the isotropic line, the depth of the iso-dark green becomes the desired depth. Therefore, one method for determining the depth when point P is located between isonormal lines will be described.

Figure 2 is an example of a contour green map, drawn north-up. Point P is surrounded by four equal dark greens a, b, c, and d. The depths of a and C are equal D,.

The depths of binding, b, , :d are also equal and are set to 2. Draw several lines (four in the figure) passing through point P. Let the four lines passing through point P be 0-4.1-5.2-6.3-7. 0-4 runs north-south, 2-6 runs east-west. ■-5 is northeast-
3-7 runs northwest-southeast. The distance between the point where each line crosses the contour green and point 2 is 1°, 1+, lz, l
Let s, ls, ls, β6, l.

An example of a formula for determining D is as follows.

Here d. is the depth of the equal deep green that the straight line Pk crosses for the first time. In Figure 2, deo”do+=Ln=des=da?=Da++d
1lz= d @3= d e &= Dot. (
Equation 1) is given weights that are inversely proportional to the distances from the eight directions. Due to this weight, (1) the depth changes smoothly even if the P point moves.

■DP can be calculated using a relatively simple formula. For example, finding point P from the equation of a plane passing through three points requires a step of solving the equation.

(2) DP is the same as or intermediate to the depth of the iso-dark green around point P, and does not significantly exceed the depth of the iso-dark green.

There are advantages such as

Based on the above equation (1), it is possible to obtain from the depth and distance in eight directions centered on point P. In addition to this method (112), there are also the following methods.

(1) Determine from the depth and distance in the J direction (J is an integer other than 1.8) using equation (1). That is, in addition to 8 directions, 2 directions, 3 directions
direction, 4 directions, or 16 directions.

■ (Using formula 11, calculate from the depth and distance in the ■ direction (I is an integer other than 1), and do not use north as a reference, but use a direction other than north, for example, the direction of the point on the isotropic line closest to point P. shall be.

■Using formula (1), find it from the depth and distance in the ■direction (■ is an integer other than 1), and (1) Even if the 360° around point P is not equally divided into 45° increments in 2, but unjustly divided. good.

For example, select the 4 points closest to the 4 equal dark green colors and find . In this method, a depth map whose depth is discretely known may be used instead of a contour map.

It is determined by the equation of the plane that passes through three points on the iso-located line near the 02 point. In this case, there is no need to use a contour map as in ■.

■Find by approximating a straight line or curve using the least squares method. That is, the equation of a straight line or curve passing through point P is calculated by approximation using the least squares method, and the depth of point P is determined from the equation. 1
Instead of approximating only the direction, ■direction (l is an integer other than 1)
It is also possible to calculate the average by approximating .

3) How to specify point P The following methods are available for specifying the position of point P.

■Display the contour map and specify point P on the contour map. Depending on how you specify: (1) By direction and distance from own ship; (II) By direction and distance from any target (including cross bearing from two directions); (III) By latitude and longitude; rV) Depending on the position on the display, it can be divided into the following methods.

■Specify point P on the track recorder, radar, and sonar screen. In this case, the contour map does not need to be displayed. Depending on how it is specified, it can be divided into (2) ([) to (2), as well as those based on the position on the display (track recording device, radar, sonar), etc.

■Simply specify the P point using the setting device without displaying the contour map. This also depends on how it is specified, from (1) to (In) of ■.
etc.

In addition, in (I) and (II) of ■～■, the latitude and longitude of the own ship must be known, and the latitude and longitude of any target can also be determined based on the direction and distance from the own ship. It must be clear.

As described above, by storing depth data around the ship in advance and specifying any point around the ship, the depth can be automatically determined and displayed on the display.

(e) Structure of the invention FIG. 1 is a block diagram of the present invention.

First, as a premise, depth data is stored in advance according to 1)-(2) above. 1 is a positioning device that measures the latitude, ..., longitude L os of the ship's position (three points) on the map. Latitude L a m + longitude determined by this positioning device. 8 is converted into position coordinate data (Xs + '!s) by the coordinate converter 4. 2.3 is a setting device for setting the distance and direction B from three points to an arbitrary point P with respect to own ship position S. From the setting value of this setting device and the coordinates of own ship position, the position coordinates of point P (Xp, yp) are determined by coordinate converter 5.
seek. Reference numeral 6 denotes a seafloor depth storage ROM which stores the depth of each contour line as a coordinate position as shown in FIG. This R
The depth of the point P is determined using the OM under the control of the CPU 1 using the method 2) above. When the position coordinates (xr, yp) of point P are determined and given to ROM6,
Draw lines in eight directions centering on those coordinates. Distances 1 to e7 at the intersection with each contour line and depth d. ~da? Search for. Next, the depth DP is calculated using the fi1 formula.

The depth is displayed on the numerical display 9 through 108. By setting the position of any point P through the above operations, the depth of that point can be determined and displayed.

(f) Effects of the Invention As described above, according to the present invention, just by setting a point, the depth at that point is immediately determined and displayed, so there is no need to calculate or read the depth on a depth map. In addition, the depth can be confirmed quickly.

(gl Embodiment FIGS. 3(A) and 3(B) show a specific example of the above-mentioned depth display device. This embodiment is constructed under the following conditions.

(11) Read the seabed depth from the contour map and store it in the seabed depth ROM 20 in advance (see (1)-■ above).

(2) Determine the depth Dp from distances and directions in eight directions based on the fi1 formula (see method 2) above).

(3) Specify the point P by setting the distance and direction from the own ship's position (see 3)-■(I) above).

(4) Depth Dlp is displayed on the numerical display, and the contour map, own ship, and the position of the set point are displayed on the CRT screen.

FIG. 4 is an example of an iso-dark green map displayed on the CRTIO.

In the same figure, ■Display range: L on each side (1C mile) The display screen is square, and the iso-dark green map shows north-south and east-west Lo.
Displays a range of (miles) north up.

■Number of pixels on the display screen: nxn ■Position of point P on the display screen: (XP, yp) ■Position of own ship (8 points) on the display screen: (x,.

ys) ■Position on the map of the center position (0 point) of the displayed contour map:
(L, ., Lo.) However, L ai + Loj indicates latitude and longitude.

■Location of own ship on the map: (L□, L,,) Distance from point 03 to point P: L [Direction of point P as seen from mile 308 point: B(') This direction is clockwise from north The seabed depth ROM 20 stores the depth of the seafloor on the north-south and east-west Lo [mile] contour lines centered on the zero point on the map. FIG. 5 shows the configuration of the ROM 20. CRT2
In order to store the depth of nxn points corresponding to each pixel on 0, the number of storage elements is nXnX 1. That is, R.O.
M20 stores the depth d8 within the n×n point, but n
Since all of the Xn points do not have isolines, values d, which are unrelated to the CRTIO display, are stored at points where there are no isolines. Note that the number of memory points nXn in the ROM is the number of pixels n on the display screen.
The value is set to be the same as xn, because one ROM can be used for both iso-location display and depth search.

The iso-search lines stored in the ROM 20 are connected vertically and horizontally for depth search, as shown in FIG. 6(A). The fold lines in the figure indicate each pixel, and the O marks indicate iso-locating lines.

In the same figure (B), since the iso-search lines are connected diagonally, the depth cannot be searched.

The positioning device 11 is Loran, Omega, Detsuka, NN5S, etc., and the positioning device 11 measures the latitude of own ship's position, 3. Outputs longitude Log in minutes. The coordinate conversion circuit for own ship position is subtractor 12, 13
, 18, 19. Multiplier 14~16°cosin ROM
It consists of 17. Subtractors 12 and 13 calculate the position difference between the 0 point and the 8 point on the map. 0 point position (L, ., L
o. ) is also input in minutes, so the output unit of the subtracter 121 and multiplier 14 is minutes. The latitude difference output from the subtracter 12 is multiplied by the number of unit pixels (nl)/Lo, and then the subtracter 18
Subtract the position (n-1)/2 of the 0 point via y coordinate y
Find 5. On the other hand, the longitude difference of the subtractor 13 output is c.

After multiplying the cos output of sROM17, the unit pixel number (n
1) Multiply by /Lo, and further add 0 via the subtracter 19.
Subtract the position (n-1)/2 of the point to find the X coordinate. The setting devices 21 and 22 are used to set the distance and direction (angle B) from the eight points P, respectively. The position coordinate conversion circuit for point P includes multipliers 23 to 25, 27 . Subtractor 26, 28° cosROM 29 and sinROM 30
It consists of The multiplier 23 and the cosROM 29 obtain Lcos B, and the multiplier 27 multiplies this by the number of unit pixels (n-1)/LO to obtain the difference in the y direction. This difference is subtracted from the y-coordinate y5 of the eight points via the subtractor 28 to obtain the y-coordinate yp. On the other hand, the multiplier 24 and the sinROM
30 to obtain L sin B, and multiplier 25 multiplies this by the number of unit pixels (n 1)/LO to obtain the difference in the X direction. This difference is subtracted from the X coordinate x5 of the eight points via the subtracter 26 to obtain the X coordinate xp.

In order to obtain the depth DP, (11 dll and l) are obtained by hardware, and these values are calculated by +112 by the CPU 31.The hardware configuration will be described below.

FIG. 8 is a timing chart during depth search.

The CP (clock pulse) circuit 32 has a period [. This is a pulse generator that generates pulses. to corresponds to the display time of one pixel on the CRT screen. k counter 33. The β counter 34 is a counter for searching iso-located lines in 8 directions from the point P from the data stored in the ROM 20, and is an octal,
CK, CLK, and C in Figure 1, which are n-ary up counters.
,D.

I Do is the clock input of the counter, and manual clearing.

Indicates carry output, data input, counter count value, or data output. ROMa 5 calculates the CR between point P and the point where the iso-locating line is searched based on the count values of counter 33 and z counter 34.
The positional differences ΔX and Δy on the T screen are output. Position difference ΔX
, Δy are added to xp+)'p by adders 36 and 37, respectively, and introduced into a switch 38.

Ternary counter 38. Decoder 39. The switch 43 is d,5
A circuit that generates timing pulses for determining and l is constructed. The ternary counter 38 is an up counter that counts up at the rising edge of the clock of the CP circuit 32. The delay circuit 44 changes the clock of the CP circuit 32 to t0.
/4 delay circuit, the output values 1 and 2 of the decoder 39 are introduced into the switch 43 along with the output of the delay circuit 44 via AND circuits 41 and 42. l counter 33. The l counter 34 counts up at the rising edge of the output pulse of the delay circuit 44. The output value O of the decoder 39 is the delay circuit 4
It is introduced into the latch 63 via the AND circuit 40 along with the output of 4. Further, the output of the delay circuit 44 is transmitted to the inverter 4
The signal is inputted to the U-nochi 64 via 5.

The latches 63 and 64 transfer the output value of the ROM 20 to the delay circuit 44.
It is memorized at the rising edge of the output pulse.

When the clock of the CP circuit 32 is at H (high) level, the movable contact of the switch 38 falls to the opposite side of the figure, and the adder 36
．． The depth at the point indicated by 37 is read out and stored in the latch 63 at the rise of the output pulse of the delay circuit 44.

The comparator 71 determines whether the depth data transferred to the latch 63 is a depth on a contour line. Based on this determination result, the contacts of the switch 43 are switched and the counter 33. β
Controls the counting operation of the counter 34.

Next, the operation to obtain dak and l will be explained.

FIG. 7 shows the equal dark green data in the ROM 20.

As mentioned above, the ROM 20 stores the seabed depths d and d, which correspond to each pixel on the CRT screen, so when the position of point P (xp, Yp) is manually determined, the position d of point P is determined. Or output d, I. Even if data d1 is output, it is not displayed on the CRT screen. When the position of point P is input, iso-search lines are searched in eight directions with point P as the center. In FIG. 7, 0°1.2, 3. The number of ... is l counter 3
Indicates a count value of 4. The direction of this count value corresponds to one of eight directions. For example, when the count value of the counter 33 is 0, that is, =0, search for an iso-route line northward according to the count value of the β counter 34, and when an iso-route line is found, do from the depth of the iso-route line. However, β from the count value of l counter 34 at that time. are determined respectively. d8
When degrees .degree. and 2.degree. are found, the counter 33 increments by 1 and the count value becomes 1. On the other hand, the count of the 2 counter 34 is reset to zero. Next, by the count of the l counter 34, an equal dark green search is performed in the northeast direction, and dat and 11 are obtained. Repeat the above operations until the count value of the counter 33 reaches 7, and then
Find l.

When the count value of the ternary counter 38 is 0, the depth is read from the ROM 20 and stored in the latch 63. A comparator 71 determines whether the depth transferred to the latch 63 is on the contour line. When the count value is 1, data reading is notified through the interrupt line between the switch 43 and the CPU 3i. As a result, the input device 4
d of latch 63 through 8. Load it. At the same time, the count value of the counter 33 and the count value of the second counter 34 are read. The switch 47 switches the count output of the β counter 34 to be input to the input device 48 depending on the count value of the counter 33. When the count value of the l counter 33 is an odd number, the direction is other than north, south, east, west, and so on, so 1k, which is 21/2 times the count value of the β counter 34 compared to when it is an even number, is read. When the count value of the ternary counter 38 is 2, the counter 33 is counted up and the β counter 34 is reset if the depth transferred to the latch 63 is a depth on the isoprospect line. When the depth is not on the contour line, the l counter 34 is counted and amplified.

CPU31. RAM49. The ROM 50 constitutes an arithmetic unit for equation (1). This calculation unit calculates the depth Dp from da6 to d, ..., f, to β inputted through the input device 48 by (1)2. When the depth is calculated, it is sent to the depth display 52 via the output device 51 to display the calculated depth.

X counter 57. The X counter 58 is an n-ary up counter for reading out the memory depth of the ROM 20 in synchronization with the scanning of the CRTIO and displaying contour lines on the CRT screen. These counters display coordinates (X, 3
F). As shown in FIG. 8, when the clock of the CP circuit 32 is L (low) level, the movable contact of the switch 38 falls to the right side of the figure, and the X counter 57. X counter 5
The depth of the coordinate specified by the count value of 8 is read from the ROM 20. The depth read from ROM20 is inverter 4.
5 is stored in the latch 64 when the output rises. ROM
53 is a color conversion circuit that performs color conversion to display data stored in the latch 64 in color on a CRT. The output of the ROM 53 is converted into red (R) and green (
G) and blue (B) signals are sent to CRTIO. 61.
62 is an X deflection coil on the CRT screen and an X deflection coil, and 59 and 60 are respective deflection amplifiers.

AND circuit 65. Comparison circuits 67 and 68 are circuits for displaying the position of point S on the CRT. Subtractor 18.19
output value) 't+Xs, X counter 58, X counter 5
The display coordinates (xs, ys) of point S are obtained by comparing the count values of 7 and input into the ROM 53. The AND circuit 66 and comparison circuits 69 and 70 are circuits for displaying the position of point P on the CRT. Output values XF, 3'P and X of subtractor 26.28
Counter 57. The display coordinates (Xp, yy) of point P are determined by comparing the count values of the X counter 58 and input into the ROM 53. By determining the display coordinates of points p and s above, P and S are displayed on the CRT screen along with a contour map as shown in Figure 4.
Show points. When only the depth Dp is displayed on the depth display device 52, it is not necessary to display the contour map or points P and S using CRTIO.

On the other hand, when the depth is increased, the CRT can be used without using the depth display 52.
It may be displayed on the screen. As the display device, a display such as a liquid crystal, plasma, or LED may be used instead of CRT.

In the above embodiment, the ROM 20 is used to store contour line data.
d, which uses RAM and CPU to write the contour line data to RAM under the control of CPU. ~
d@7. A! The search for I'''f7 and the calculation of the depth according to equation 11 may be processed by a program.

[Brief explanation of drawings]

FIG. 1 is a block diagram of a depth display device according to the present invention. FIG. 2 is a diagram for explaining the present invention in detail. 3(A) and 3(B) are diagrams showing a specific example of the above-mentioned depth display device, FIG. 4 is a diagram showing a display example of a contour map, and FIG.
The figure is a configuration diagram of the ROM for seafloor depth storage, Figure 6 (A),
(B) is a diagram for explaining the storage state of contour lines in the ROM, FIG. 7 is a storage coordinate diagram of the ROM for explaining the depth search in the depth display device of FIG. 3, and FIG. 2 is a timing chart for explaining the operation of the depth display device of FIG.

Claims (4)

[Claims] (1) A position setting means for setting the position of an arbitrary point around the ship; a sounding data storage means for storing sounding data around the own ship; and a sounding data storage means for storing the depth at the position set by the position setting means. A depth display device having means for determining and displaying depth. (2) The depth display device according to claim 1, wherein the position of an arbitrary point is set based on the direction and distance from the own ship's position. (3) The depth display device according to claim 1, wherein the position of an arbitrary point is set using latitude and longitude. (4) The depth display device according to any one of claims 1 to 3, wherein the sounding data is based on data of a contour map.