JPH1090411A - Underwater detecting and displaying device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To display the horizontal positions, depths, extents, etc., of schools of fish, etc., detected by means of sonars mounted on a plurality of ships in an easily understandable state by displaying the underwater conditions, etc., detected by a master ship and slave ships on the screen of the display of the master ship. SOLUTION: A sonar 16 mounted on a master ship investigates underwater conditions over a wide range of directions and sonars mounted on slave ships also investigate underwater condition over wide ranges of directions. Measured signals obtained by means of the sonars, speedometers, and azimuth measuring instruments of the slave ships are transmitted to the master ship through the antenna 201 of the master ship. The sailing speed, etc., of the master ship is measured by means of the sonar 16, speedometer 17, position measuring instrument, and an azimuth measuring instrument 19 of the master ship and the measured signals are displayed on the display of the master ship. Namely, the present locations of the master ship and slave ships, tracks of the ships, and schools of fish, etc., detected by means of the sonars of the ships are displayed on a map displayed on the screen as if they are overlooked from the upper air.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underwater detection display device for detecting and displaying a wide range of underwater conditions. Especially,
The underwater detection display device according to the present invention displays the wakes of the own ship and the companion ship (child ship) on the display screen of an indicator mounted on the own ship (parent ship), and the scanning provided on the own ship and the companion ship, respectively. The sonar (hereinafter simply referred to as sonar) searches underwater conditions around the ship and displays the detected objects such as schools of fish along the wakes of the own ship (parent ship) and the companion ship (child ship). . As a result, the horizontal position, depth, spread, and the like of a school of fish detected by sonars mounted on a plurality of ships are displayed in an easily understandable manner.

[0002]

2. Description of the Related Art Conventionally, a sonar mounted only on a ship itself has been used to search for underwater conditions around the ship, and to detect and display an object to be detected such as a school of fish. Unlike the fish finder that detects the underwater situation directly below the ship, the sonar image displays the echo signal caused by this detection signal every time the detection signal is transmitted, so it is detected, for example, The horizontal position, depth, spread, etc. of the school of fish depended on the memory of the operator. For this reason, it was not easy to grasp them accurately. Further, the underwater condition of the school of fish detected by the sonar mounted on the consort ship could not be displayed on the indicator of the sonar mounted on the own ship.

[0003]

SUMMARY OF THE INVENTION Accordingly, the present invention displays the wakes of the own ship and the mate ship (child ship) on the display screen of an indicator mounted on the own ship (parent ship), so that The underwater situation around the ship is searched by the sonars provided respectively, and the detected objects such as the school of fish detected are displayed along the wakes of the own ship and the consort ship. As a result, the horizontal position, depth, etc. of fish schools detected by sonars
It is an object of the present invention to provide an underwater detection display device that displays a spread or the like in an easily understandable manner.

[0004]

In order to solve this problem, an underwater detection display device according to the first aspect of the present invention includes a first scanning sonar mounted on a main ship for exploring underwater in a wide range of directions, and a main ship. A first position measuring device for measuring the position of
A second scanning sonar mounted on at least one slave vessel for exploring underwater in a wide range of directions, a second position measuring device for measuring the position of the slave vessel, and underwater information obtained by the second scanning sonar of the slave vessel Transmitting means for transmitting ship position information obtained by the second position measuring device of the slave ship to the main ship side; receiving means provided on the main ship for receiving a transmission signal from the transmitting means; Equipped, based on the output signal of the receiving means, the output signal of the first scanning sonar of the master ship and the output signal of the first position measuring device of the master ship, the wakes of the master ship and the slave ship on its display surface. And an echo signal captured by the first scanning sonar of the main ship along the wake of the main ship and a second
And a display for displaying each of the echo signals captured by the scanning sonar.

According to a second aspect of the present invention, in the underwater detection display device according to the first aspect, the display device displays the underwater information obtained by the scanning sonar in a north-up display mode. An underwater detection display device according to a third aspect of the present invention is a first scanning sonar mounted on a main ship for exploring underwater in a wide range of directions and a first scanning sonar for measuring the position of the main ship.
Position measuring device, a second scanning sonar mounted on the slave ship for exploring underwater in a wide range of directions, a second position measuring device for measuring the position of the slave ship, and a second scanning sonar of the slave ship. Transmitting means for transmitting the underwater information obtained and the ship position information obtained by the second position measuring device of the secondary ship to the main ship side; receiving means provided on the main ship and receiving a transmission signal from the transmitting means; A first storage unit that is provided on the main ship and stores underwater information obtained by the first scanning sonar; a first reading unit that reads a stored signal from the first storage unit; A second storage unit that stores underwater information obtained by the second scanning sonar; and a second storage unit that reads a storage signal from the second storage unit.
And a signal which is provided on the main ship and indicates the wake of the main ship based on the output signal of the first position measurement device and the signal indicating the wake of the slave ship based on the output signal of the second position measurement device Wake signal generation means for generating the first and second reading means,
And a display for displaying the output signals sent by the second reading means and the wake signal generating means.

According to a fourth aspect of the present invention, in the underwater detection display device according to the third aspect, the latest detection signal read by the first reading means and the second reading means is changed to a different color depending on the magnitude of the signal. The present invention is characterized in that the past detection signals are displayed in different colors according to the depth and in shades according to the magnitude of the signals.

According to a fifth aspect of the present invention, there is provided an underwater detection and display device which is provided on a main ship and which scans underwater in a wide range of directions, and a first position measuring device which measures the position of the main ship. A second scanning sonar mounted on one of the hull vessels for exploring underwater in a wide range of directions, a second position measuring device for measuring the position of the hull vessel, and underwater information obtained by the second scanning sonar of the hull vessel Transmitting means for transmitting the ship position information obtained by the second position measuring device of the slave ship to the main ship side, receiving means provided on the main ship and receiving a transmission signal from the transmitting means, Equipped, based on the output signal of the receiving means, the output signal of the first scanning sonar of the main ship and the output signal of the first position measuring device of the main ship, the positions of the main ship and the slave ship on the display surface thereof. The first ship of the main ship Characterized by comprising a display unit for respectively sequentially displaying the captured echo signal by a second scanning sonar of captured echo signal and 従船 by Yaningusona.

[0008]

FIG. 1 shows a display example according to the present invention. Using the north-up display mode in which the upper part of the screen is displayed as north, the current positions A and B of the parent ship 1 and the child ship 2, the wakes of the parent ship 1 and the child ship 2, and the current Fish schools and the like detected in the past are respectively displayed on the map on the display screen as if viewed from above. The center position in the figure is 38 ° 20'00 ”north latitude, 133 ° 15 ′ east longitude.
30 ", and the display range is 4 km (lateral direction). In the upper right of the screen, the ship position, heading, and ship speed of the parent ship and the child ship are displayed in characters.

FIG. 2 shows how to search underwater using sonar mounted on a ship. The parent ship 1 is equipped with a sonar. A transducer 3 is installed on the bottom of the parent ship 1. The transmitter / receiver 3 forms a transmission beam at a preset tilt angle B from the horizontal plane over the entire circumference of the parent ship 1 as shown in FIG. 4 and performs ultrasonic detection in an umbrella shape as shown by a solid line. Transmits a pulse signal. Then, as shown in FIG. 5, one conical receiving beam is formed at the tilt angle B from the horizontal plane as shown by the broken line, and the entire circumference of the transmitting beam 4 in the umbrella is rotated at high speed. And reflected waves from a school of fish. In this way, a school of fish and the like located in the umbrella shape around the parent ship 1 is detected. Note that the tilt angle B of the transmitted and received beams can be set from a horizontal direction (0 °) to about 60 °. Similarly, the child ship 2 is equipped with sonar, and this sonar is configured and operates in the same manner as the sonar mounted on the parent ship 1.

FIG. 3 is a diagram showing a schematic configuration of an embodiment of the present invention, and shows a configuration of an apparatus mounted on a submarine. The sub-ship 2 has a sonar 11, a speedometer 12, and a positioning device 13
And an azimuth measuring device 14. In addition, a radio transmitter 15 and an antenna 42 for transmitting a signal obtained by measurement from the child ship 2 to the parent ship 1 are also mounted.
FIG. 4 is a diagram showing a schematic configuration diagram of an embodiment of the present invention.
2 shows a configuration of a device mounted on the parent ship. The parent ship 1 is equipped with a sonar 16, a speedometer 17, a positioning device 18, and a direction measurement device 19. Further, a radio receiver 20 and an antenna 201 for receiving a measurement signal transmitted from the child ship 2 to the parent ship 1 are also mounted on the parent ship 1.

FIG. 5 shows a block diagram of a device mounted on the child ship shown in FIG. This device comprises a sonar 11,
The speedometer 12, the positioning device 13, the direction measurement device 14, the wireless transmitter 15, and the antenna 42 are configured. The wireless transmitter 15 includes a multiplexer 40 and a modulation / amplifier 41.
And an antenna 42. Clock generator 27
Indicates that a pulse train (CP ₀ ) having a constant period is supplied to the direction counter 2
8 One cycle of this pulse train is the same as the time for sampling the echo signal captured by the transducer 3. The direction counter 28 is provided on the entire circumference 36 of the transducer 3.
An input pulse train corresponding to 0 °, for example, 360 pulses is counted, and the count value θB is sent to the receiving beamformer 22 and the coordinate conversion ROM 34. The count value of the direction counter 28 is 0
Corresponds to the bow direction, and the count value 150 corresponds to an azimuth of 150 ° with respect to the bow direction. Also, the direction counter 28
Sends a heading pulse B to the distance counter 29 and the multiplexer 40 when the count corresponding to the bow direction of 360 ° is performed, and the count value becomes zero.

The distance counter 29 counts the input heading pulse B and sends the count value rB to the comparator 30 and the coordinate conversion ROM 34. The comparator 30 compares the count value rB sent by the distance counter 29 with the range B sent by the setting unit 31, and sends a trigger pulse B to the transmission beamformer 32, the distance counter 29 and the multiplexer 40 when they match. . The count value of the distance counter 29 is reset to 0 by the trigger pulse B. As is well known, the transmission beamformer 32 includes, for example, many delay circuits, generates a pulse signal having a predetermined carrier frequency and a predetermined pulse width based on the input trigger pulse B, and , And is transmitted to the transmission amplifier 33 by being delayed by the respective delay circuits so that a transmission beam is formed in the direction of the tilt angle B. After amplifying the input transmission pulse, the transmission amplifier 33 transmits the amplified transmission pulse to the corresponding transducer of the transducer 3. Transmission beamformer 32, transmission amplifier 33
The configuration of the transducer 3 is the same as that used conventionally.

As shown in FIG. 9, the transducer 3 has a large number of transducers arranged at equal intervals in the vertical and horizontal directions on a cylindrical surface. Then, the supplied transmission pulse is converted into an ultrasonic pulse signal and transmitted into water. In addition, the transducer 3
Receives an echo signal reflected by an object to be detected, such as a school of fish or the sea floor, with a vibrator, and sends a reception signal received by each vibrator to the reception amplifier 21. The receiving amplifier 21
Amplify the signal received from each transducer and receive the beamformer 2
Send to 2. The reception beamformer 22 includes, for example, a number of delay circuits, and delays and combines the echo signals captured by the transmitter / receiver 3 for a predetermined time in the directions indicated by the input azimuth θB and tilt angle B. A receiving beam is formed, an echo signal arriving from the direction and captured by the transmitter / receiver 3 is extracted and sent to the A / D converter 23. A
The / D converter 23 converts the input analog detection signal to L
The digital signal is converted into a digital signal of bits and transmitted to the image memory 24 and the multiplexer 40. The image memory 24 is a memory having a memory capacity of J × K × L bits of J bits in the horizontal direction (X direction) and K bits in the vertical direction (Y direction). The display 26 is a color display including, for example, a CRT, a liquid crystal, and the like. The number of pixels is J in the horizontal direction (X direction).
K × J × K in the vertical direction (Y direction).

The coordinate conversion ROM 34 converts a polar coordinate position into a rectangular coordinate position, and previously stores signals representing rectangular coordinate positions X and Y corresponding to various combinations of the distance rB and the azimuth angle θB as a table. , The orthogonal coordinate positions X and Y to the input polar coordinate position distance rB and azimuth angle θB,
The data is sent to the image memory 24 through the address switch 35. In the coordinate conversion, the input value of the range B is also taken into consideration, and the own ship is positioned at the center of the display, and is displayed on the screen (Y).
An area where the direction is the bow direction and the radius is range B is displayed. This display method is the same as the conventional one.

An address switch 35 switches between a write address and a read address supplied to the image memory 24. The write address X, Y and the X counter 37 and the Y counter 38 sent from the coordinate conversion ROM 34 are provided. The read addresses X and Y sent from the switch are switched. The switching is performed by the clock pulse (CP1) sent from the clock pulse generator 36. For example, when the clock pulse is "H", the image memory 24 is in the writing state, and is switched to the coordinate conversion ROM 34 side. "
At the time of "L", the image memory 24 is in the reading state, and is switched to the X counter 37 and the Y counter 38. Thereby, the echo signal A / D converted by the A / D converter 23 is stored in the image memory 24 in rectangular coordinates. The received signal written in the image memory 24 is read out, supplied to the display 26 via the color conversion ROM 25, and displayed at a predetermined position on the screen. The ROM 25 has a table that outputs color signals corresponding to various amplitudes of the echo signal input in advance.
When the detection signal read from the image memory 24 is supplied, the detection signal is converted into a color signal corresponding to the intensity, and the RGB signal is transmitted to the display 26.

The clock pulse generator 36 converts the pulse train CP1 having a constant period into an X counter 37 and an address switch 35.
And to the image memory 24. One cycle of the pulse train CP1 corresponds to a display time of one pixel. X counter 37
Counts the input pulse train and sends the count value X to the address switch 35. After counting up to J-1, the X counter 37 sends a horizontal synchronization pulse to the Y counter 38 and the deflection circuit 39 when the count value returns to 0.
The Y counter 38 counts the input horizontal synchronizing pulses, and sends out the count value Y to the address switch 35. Also Y
The counter 38 sends a vertical synchronization pulse to the deflection circuit 39 when the count value returns to 0 after counting up to K-1. The deflection circuit 39 deflects the electron beam of the display 26 according to the input horizontal and vertical synchronization pulses.

The setting device 31 is a setting device for setting a tilt angle B and a detection range B according to a region to be searched by the user.
The tilt angle B, which is the output, is transmitted to the reception beamformer 22, the transmission beamformer 32, and the multiplexer 40. Further, the detection range B is calculated by comparing the detection range B with the comparator 30 and the coordinate transformation R.
Send to OM34. The boat speedometer 12 is composed of, for example, a GPS receiver, measures the boat speed of the child boat 2, and sends it to the multiplexer 40. The positioning device 13 is composed of, for example, a GPS receiver, measures the position of the child ship 2,
Send to 0. The azimuth measuring device 14 is composed of, for example, a gyro device, measures the heading of the child ship 2, and sends it to the multiplexer 40.

The multiplexer 40 is connected between the child ship 2 and the parent ship 1
A switch for converting various signals to be transmitted to the parallel input into a serial output for transmitting the signals on one line, and sends out the serial output signal to the modulation / amplifier 41. Modulation / Amplifier 41
Modulates and amplifies the input signal, and transmits the signal to the master ship 1 through the antenna 42.

FIG. 6, FIG. 7, and FIG. 8 are block diagrams of the equipment mounted on the master ship 1. FIG. 6 shows a portion of the sonar mounted on the master ship 1, that is, a portion for exploring the underwater situation around the master ship 1. FIG. FIG. 7 is a part related to the display of the detection signal transmitted from the child ship 2. FIG. 8 shows a part commonly related to both. In FIG. 6, a clock generator 57 includes a pulse train CP having a constant cycle.
_"0" is sent to the direction counter 58 and the direction counter 91. One cycle of this pulse train is the same as the time for sampling the echo signal captured by the transducer 6.
The direction counter 58 counts an input pulse train corresponding to the entire circumference 360 ° of the transducer 6, for example, 360 pulses,
The count value θA is sent to one input terminal of the receiving beamformer 52 and the adder 70. The adder 70 is used to display the captured echo signal on a display with the north facing upward, and the heading A is supplied from the heading measuring device 19 to the other input terminal. The azimuth measuring device 19 is composed of, for example, a gyro device. The adder 70 adds the input value from the direction counter 58 and the input value from the azimuth measuring device 19, and sends out the obtained addition value to the coordinate conversion ROM 64. The count value 0 of the direction counter 58 corresponds to the bow direction, and the count value 1
50 corresponds to an azimuth of 150 ° with respect to the bow direction. When the direction counter 58 performs counting corresponding to the bow direction of 360 °, the direction counter 58 sends the heading pulse A to the distance counter 59 and the count value becomes zero.

The distance counter 59 counts the input heading pulse A, and sends the count value rA to the comparator 60, the coordinate conversion ROM 64 and the depth ROM 77. The comparator 60 calculates the count value rA transmitted from the distance counter 59.
Is compared with the range A sent from the setting unit 61, and when they match, the trigger pulse A is sent to the transmission beamformer 62, the distance counter 59, and the write pulse generator 72. The count value of the distance counter 59 is reset to 0 by the trigger pulse A.

As is well known, the transmission beamformer 62 is composed of, for example, many delay circuits, and outputs a pulse signal having a predetermined carrier frequency and pulse width based on an input trigger pulse A. At the same time, it is generated and delayed by each delay circuit so that a transmission beam is formed in the direction of the tilt angle A, and transmitted to the transmission amplifier 63. After amplifying the input transmission pulse, the transmission amplifier 63 transmits the amplified transmission pulse to the corresponding transducer of the transducer 6.

As shown in FIG. 9, the transducer 6 has a large number of transducers arranged at equal intervals in the vertical and horizontal directions on a cylindrical surface. Then, the supplied transmission pulse is converted into an ultrasonic pulse signal and transmitted into water. In addition, the transducer 6
Receives an echo signal reflected by an object to be detected, such as a school of fish or the sea floor, with a transducer, and sends a reception signal received from each transducer to the reception amplifier 51. The reception amplifier 51 amplifies a reception signal from each transducer and receives a reception beamformer 52
Send to The receiving beamformer 52 is composed of, for example, many delay circuits, and receives an azimuth angle θA and a tilting angle A in a direction indicated by the input azimuth θA by delaying the echo signal captured by the transmitter / receiver 6 for a predetermined time. A beam is formed, an echo signal arriving from the direction and captured by the transducer 6 is taken out, and sent to the A / D converter 53. The A / D converter 53 converts the input analog detection signal into an L-bit digital signal, and, for example, an image memory group A-00 (image memory 54 ₀ ), A comprising 20 memories.
-01 (image memory 54 ₁ ), A-02 (image memory 5
4 ₂ ),..., A-19 (image memory 54 ₁₉ ). The image memory 54, 20 is composed of memory planes 54 ₀ through 54 _19, J in the horizontal direction (X direction), respectively, and K in the vertical direction (Y-direction) J × K × M
It has a memory capacity of × 20 bits and stores detection signals for 20 transmissions for each transmission by the sonar of the parent ship. First, 5
4 _0, 54 ₁ to 10 seconds, is further stored in the 54 _second image memory after 10 seconds. When it is stored in the image memory 54 _19, it is stored in the 54 ₀ image memory after 10 seconds. Here, M = L + P. P is the number of bits for storing the depth of the detection signal, and is the number of bits transmitted from the depth ROM 77.

The clock pulse generator 93 sends a clock pulse train having a one-second cycle to the counters 94 and 96. The boat speedometer 17 is composed of, for example, a GPS receiver,
The ship speed of the master ship 1 is measured and sent to the CPU 98. The positioning device 18 is composed of, for example, a GPS receiver, measures the position of the parent ship 1, and sends it to the CPU 98 and the sonar center ROM 71.

A setting unit 61 is used by the user to set a tilt angle A, a detection range A, a display depth range, and an image center position (latitude and longitude) according to a detection purpose. , A transmission beamformer 62, a coordinate conversion ROM 64, and a depth ROM 77. The image center position is determined by the sonar center ROM 71 and the sonar center ROM 8.
1 and to the CPU 98. The detection range A is compared with the comparator 6
0, coordinate conversion ROM 64, sonar center ROM 71, coordinate conversion ROM 84, sonar center ROM 81, and sonar center ROM 81. Also, the display depth range is changed by the color conversion R
Send to OM55. The sonar center ROM 71 is a ROM for obtaining differences dXA and dYA of the current position of the ship from the image center position on the horizontal and vertical images, and is sent to the adders 75 and 76. Difference dXA and dYA
Is obtained using the input values of the ship position, the image center position, and the range. Adders 75 and 76 are coordinate conversion ROMs
64 delivery value X, Y and difference DXA, and dYA respectively added, and sends the 20 write address of the image memory 54 ₀ to 54 ₁₉ through switch 65. Depth ROM 77
Is used to determine the depth from the count value rA of the distance counter 59 and the tilt angle A, and the depth is stored in the image memory 54.
Is transmitted with the P bit. For example, every 10m a depth of 15
P is 4 when transmitting depths up to 0 m.

The clock pulse generator 66 generates a pulse train CP ₁ having a constant period, and outputs this pulse train to the X counter 6.
7, and sent to the switch 65, also switch 73 ₀ to 73 ₁₉
And it sends to the image memory 54 ₀ to 54 ₁₉ through. In addition, this pulse train CP ₁ is sent to the switch 85, also sent to the image memory 83 ₀ to 83 ₁₉ via the switch 89 ₀ to 89 _19. The X counter 67 counts the input pulse train and sends the count value X to the address switch 65. The X counter 67 sends a horizontal synchronization pulse to the Y counter 68 and the deflection circuit 69 when the count value returns to 0 after counting up to J-1. Y counter 68
Counts the input horizontal synchronization pulse, and sends out the count value Y to the address switch 65. The Y counter 68
When the count value returns to 0 after counting up to K-1,
The vertical synchronization pulse is sent to the deflection circuit 69. Deflection circuit 6
9 deflects the electron beam of the display 56 by the input horizontal and vertical synchronization pulses.

The clock pulse generator 93 has a one second period.
Send clock pulse train to counter 94 and counter 96
I do. The counter 96 is a decimal counter having a period of 10 seconds.
The pulse train is sent to the counter 97. The counter 97
Write the count value to the write pulse generator 72 with a decimal counter
Send out. Write pulse generator 72 has its output signal KA
₀Or KA₁₉The switch 73₀To 73₁₉Supply to
These switches are controlled. The write pulse generator 72
After the input count value changes, the first trigger pulse A
Next, the input count value changed from the input time
After that, input for 10 seconds until the first trigger pulse A input time
Switch 73 indicating force count value₀To 73₁₉One of
Is turned on, and writing to the corresponding image memory 54 is performed.
And priority reading from the image memory to make the latest detection
Read the signal. Switch 73₀To 73₁₉Each of the calligraphy
A certain switch, for example,
Switch 73₁₉Is ON, the corresponding image memory 5
4₁₉Of a fixed period generated by the clock generator 66
Row CP ₁Is supplied. Therefore, the output of the A / D converter 53 is
The force signal is transmitted to the image memory 54.₁₉Is written to
The signal stored in the memory is read and the switch 73₁₉
The latest detection signal PA to the color conversion ROM 55 via the₁As
Sent out. Also, a certain switch, for example, a switch 73₁₉But
When it is OFF, the corresponding image memory 54₁₉Signal to
No writing is performed, only reading is performed and past
Knowledge signal PA₀Switch 74 as₁₉Through color conversion ROM
55.

For example, as shown in FIG. 10, when the input count value changes from 6 to 7 and the first trigger pulse A is input thereafter, the signal of KA ₇ becomes “H” and the switch 73 ₇ Becomes ON. Thus, the image memory 54 ₇ set to the write-read state, the detection signal due to a plurality of detection signals are sequentially written, the switch 74 ₇ ON / O
Regardless of the detection signal PA ₁ of the image memory 54 ₇ via the switch output to the color converter 55 into FF. Then type the count value changes from 7 to 8, then the first trigger pulse A is inputted, KA ₇ becomes "L" becomes, KA ₈ is "H". Thus in the image memory 54 _7, the input count value is 7
The detection signal at the time that changes from to 8 is finally written and stored for about 190 seconds thereafter. Thus, detection signals every 10 seconds, the image memory 54 ₀ to 54
₁₉ is stored in turn. The address switch 65 is a switch for switching between a write address and a read address supplied to the image memory 54. The address switch 65 is a switch for writing addresses X and Y sent from adders 75 and 76, an X counter 67 and a Y counter 68. The read addresses X and Y to be transmitted are switched. The switching is performed by the clock pulse (CP1) transmitted from the clock pulse generator 66. For example, when the clock pulse supplied via the switch 73 is "H", the image memory 54 is in the writing state, and the addition is performed. When the clock pulse is "L", the image memory 5
4 is in the read state, and the X counter 67 and the Y counter 68
Switch to the side.

The counter 94 is a decimal counter of 0 to 1
The count of 9 is repeated. And through the decoder 95,
Switch 74 indicated by the count value of the counter 94 ₀ to 74
₁₉ are sequentially turned on. As a result, the past detection signal PA0 captured by the sonar mounted on the parent ship every second and stored in the image memory 54 is sent to the color conversion ROM 55 and displayed on the display 56 in sequence.

In FIG. 7, the demultiplexer 48,
The demodulator / amplifier 49 and the antenna 50 form the radio receiver 20
Is configured. The demodulation / amplifier 49 amplifies and demodulates the sonar detection signal and other various signals received by the antenna 50 and transmitted from the submarine 2, and demultiplexes the signal.
Send to The demultiplexer 48 separates various signals transmitted on one line by converting a serial input into a parallel output, and outputs the separated signals. The heading B, which is the output signal, is sent to one input terminal of the adder 80 and the CPU 98, and the position B is sent to one input terminal of the sonar center ROM 81 and the CPU 9.
8, the trigger B is sent to one input terminal of the write pulse generator 82 and the distance counter 92. The detection signal B is sent to the image memory 83, the tilt angle B is sent to one input terminal of the coordinate conversion ROM 84 and the depth ROM 88, the heading B is sent to one input terminal of the bearing counter 91 and the distance counter 92, and the boat speed B is sent to the CPU 98. I do.

The clock pulse generator 57 sends a pulse train CP ₀ having a constant period to one input terminal of the direction counter 91. The direction counter 91 adds the count value θB to the adder 80.
To one input terminal. The adder 80 is used to display the captured echo signal on a display with the north side up, and the heading B is supplied from the demultiplexer 48 to the other input terminal. The adder 80 adds the input value θB from the bearing counter 91 and the heading B, and sends out the obtained added value to the coordinate transformation ROM 84.

The distance counter 92 counts the input heading pulse B and outputs the count value rB to the coordinate conversion ROM.
84 and the depth ROM 88. Distance counter 92
Is reset to 0 by the trigger pulse B. The sonar center ROM 81 stores a difference dX in the horizontal and vertical images of the current position of the child ship with respect to the image center position.
A ROM for calculating B and dYB.
7 is sent. The differences dXB and dYB are obtained using the input values of the ship position, the image center position, and the range. The adders 86 and 87 determine the output value X of the coordinate conversion ROM 84,
Y and the differences dXB and dYB are respectively added, and a switch 85
The write address of the image memory 83 is sent out through. The depth ROM 88 is used to determine the depth from the count value rB of the distance counter 92 and the tilt angle B, and the depth is sent to the image memory 83 in P bits. For example, 10m
P is 4 when transmitting a depth of up to 150 m every time. The image memory 83, 20 is composed of memory planes 83 ₀ through 83 _19, J in the horizontal direction (X direction), respectively, J × the K in the vertical direction (Y direction) K × M × 20
It has a bit memory capacity and stores the detection signals for 20 transmissions for each transmission by the sonar of the child ship. First, 83
_{The value} is stored in the image memory of ₀ , 83 ₁ after 10 seconds, and 83 ₂ after 10 seconds. When it is stored in the image memory 83 _19, it is stored after 10 seconds 83 ₀ image memory. Here, M = L + P. P is the number of bits for storing the depth of the detection signal, and is the number of bits transmitted from the depth ROM 88.

The X counter 67 counts the input pulse train and sends the count value X to the address switch 85. The Y counter 68 counts the input horizontal synchronization pulses, and sends out the count value Y to the address switch 85. The clock pulse generator 93 sends a clock pulse train having a one-second cycle to the counters 94 and 96. The counter 96 is 1
A pulse train having a period of 10 seconds is transmitted to the counter 97 by a zero-decimal counter. The counter 97 sends a count value to the write pulse generator 82 using a 20-digit counter.

Write pulse generator 82 has its output signal K
Supplies B ₀ through KB ₁₉ to the respective switch 89 ₀ to 89 ₁₉ to control these switch. Write pulse generator 82
Is 10 seconds from the time when the first trigger pulse B is input after the input count value changes to the time when the first trigger pulse A is input after the next input count value changes.
ON the one switch of the switch 89 ₀ to 89 ₁₉ indicated by the input count value, and write to the corresponding image memory 83, reads the latest detection signal to perform the priority read from the image memory . Each switch 89 ₀ to 89 _19,
Is controlled by the write pulse generator 82, there switch, for example, when switch 89 ₁₉ is ON, the pulse train CP1 with a constant period of the clock generator 66 to the corresponding image memory 83 ₁₉ occurs is supplied. Therefore, the demultiplexer 4
The output signal of 8 is written in the image memory 83 _19, also,
Signal has been stored in the memory is read, the latest detection signal PB1 to the color conversion ROM55 through the switch 89 ₁₉
Is sent as Also, a certain switch, for example, a switch 8
9 ₁₉ When OFF, the write signal to the corresponding image memory 83 ₁₉ is not performed, is sent via the switch 90 ₁₉ as a read only performed last probing signal PB0 to the color conversion ROM 55.

For example, as shown in FIG. 10, when the input count value changes from 6 to 7, and then the first trigger pulse B is input, the signal of KB ₇ becomes “H” and the switch 89 ₇ Becomes ON. Thus, the image memory 83 ₇ set to the write-read state, the detection signal due to a plurality of detection signals are sequentially written, the switch 89 ₇ ON / OF
The detection signal PB1 stored independently of the image memory 83 ₇ F output via the switch to the color converter 55. Next, when the input count value changes from 7 to 8 and the first trigger pulse B is input thereafter, KB ₇ becomes “L” and K ₇
B ₈ becomes "H". Thus in the image memory 83 _7, detection signals of the time when the input count value changes from 7 to 8 was last written, then becomes about 190 seconds, stored by it. As a result, the detection signal is stored in the image memory 8 every 10 seconds.
3 ₀ to 83 ₁₉ are stored in sequence. The address switch 85 switches between a write address and a read address supplied to the image memory 83.
7 and the write addresses X and Y and the X counter 67
And read addresses X and Y sent from Y counter 68
And switch. Switching is performed by the clock pulse generator 66.
It is performed by the clock pulse (CP1) transmitted from
For example, when the clock pulse supplied via the switch 89 is "H", the image memory 83 is in the write state, and is switched to the adder side. When the clock pulse is "L", the image memory 83 is in the read state. X counter 67 and Y
It switches to the counter 68 side.

The counter 94 is a decimal counter of 0 to 1
The count of 9 is repeated. And through the decoder 95,
Switch 90 indicated by the count value of the counter 94 ₀ to 90
₁₉ are sequentially turned on. As a result, the past detection signal PB0 captured by the sonar mounted on the child boat every second and stored in the image memory 83 is sent to the color conversion ROM 55, and is displayed on the display 56 in sequence.

The CPU 98 has a heading signal B sent from the heading measuring device 14, a heading signal A input from the heading measuring device 19, a ship position B sent from the positioning device 13, and a ship position input from the positioning device 18. The wake and bow vector displayed on the display 56 based on the signal A, the boat speed B sent from the speedometer 12 and the boat speed signal A input from 17 and the image center position input from the setting unit 61. (Heading and speed), latitude lines, longitude lines, characters, and the like are written in the image memory 100. The write address is written through the address switch 99, and the written contents are written directly into the image memory 10.
Send to 0.

The CPU 98 controls the image center position input from the setting device 61 and the ship position signal A output from the positioning device 18.
Based on the above, a signal indicating the wake of the parent ship is generated and sequentially written to the image memory 100. Further, the CPU 98 includes the setting device 61
A signal representing the wake of the child ship is generated on the basis of the image center position input from, the ship position signal B sent from the positioning device 13, and the like, and is sequentially written into the image memory 100.

The image memory 100 is in the horizontal direction (X direction).
The memory has a memory capacity of J × K × N bits of J and K in the vertical direction (Y direction). Clock generator 66
Generates a pulse train CP1 having a constant period, and supplies the pulse train to the switch 99 and the image memory 100. The X counter 67 also counts the input pulse train and sends the count value X to the address switch 99. Y counter 68
Counts the input horizontal synchronization pulse, and sends out the count value Y to the address switch 99. The address switch 99
A switch for switching between a write address and a read address supplied to the image memory 100, the write address X and Y transmitted from the CPU 98 and the read addresses X and Y transmitted from the X counter 67 and the Y counter 68 are used. Switch. The switching is performed by the clock pulse (CP1) sent from the clock pulse generator 66. For example, when the clock pulse is “H”, the image memory 100 is in the write state, and is switched to the CPU 98 side, and the clock pulse is “L”. "", The image memory 100 is in the read state,
It switches to the X counter 67 and the Y counter 68 side.

The count values of the direction counter 91 and the distance counter 92 are always the same as the count values of the direction counter 28 and the distance counter 29 of the child ship 1. Direction counter 91
Is reset by the heading pulse B, and the distance counter 9 is reset.
2 is reset by the trigger pulse B. Color conversion ROM 5
5 is a figure and character signal from the image memory 100 as input values, the latest detection signal (PA1) of the parent ship, the past detection signal (PA0) of the parent ship, the latest detection signal (PB1) of the child ship,
Based on the past detection signal (PB0) of the child ship and the display depth range setting signal, the RGB signals are transmitted to the display 56 by a ROM for converting the colors into colors with a preset priority. The priority order is the graphic and character signals, the latest detection signal of the parent ship, the latest detection signal of the child ship, the past detection signal of the parent ship, the past detection signal of the child ship, and the latest detection signal of the parent ship, The latest detection signal of the child ship is reflected intensity color at all depths, and the past detection signal of the parent ship and the past detection signal of the child ship are only the detection signals of the specified depth range and the reflection intensity by depth color (The colors are divided according to the depth, and those with high reflection intensity are displayed dark and those with low reflection intensity are displayed lightly.)

Next, the operation of this embodiment will be described. As shown in FIG. 2, the underwater condition in a wide range direction is detected by the sonar mounted on the parent ship 1. On the other hand, the underwater condition in a wide range direction is searched for by the sonar mounted on the child ship 2.

As shown in FIG. 3, the measurement signals obtained by the sonar 11, the speedometer 12, the positioning device 13, and the azimuth measuring device 14 mounted on the child ship 2 are transmitted to a radio transmitter 15 Is transmitted to the parent ship 1 via the antenna 42.
As shown in FIG. 4, the signal transmitted from the child ship 2 is received by the antenna 201 and the radio receiver 20 provided on the parent ship. The sonar 16, the speedometer 17, the positioning device 18, and the azimuth measuring device 19 mounted on the parent ship 1 measure the ship speed and the like, respectively. These measurement signals are
The information is displayed on a display 56 mounted on the master ship 1 as shown in FIG. FIG. 1 shows the current positions A and B of the parent ship 1 and the child ship 2, the wakes of the parent ship 1 and the child ship 2, and the two ships are equipped with the north-up display mode in which the upper part of the screen is displayed as north. Fish schools and the like detected at present and in the past by the sonar are displayed on the map on the display screen as if viewed from above.

As shown in FIG. 5, in the child ship 2, a detection pulse signal is emitted from the transducer 3 in a wide range direction at a predetermined cycle. The echo signal from the detected object is captured by the received beam formed, temporarily stored in the image memory 24, and then displayed on the display 26. Multiplexer 4
0, the echo signal B, the trigger signal B, the heading signal B, the tilt angle B, the heading B, the boat position B, and the boat speed B from the captured detected object supplied to the master ship 1 from the antenna 42.
Send to the side.

The configuration and operation of the above-described sonar for exploring a wide range of underwater are well known. In FIG. 6, in the parent ship 1, a detection pulse signal is emitted from the transmitter / receiver 6 in a wide range direction at a predetermined cycle. An echo signal from the detected object is captured by the formed receiving beam.
The captured echo signal is temporarily stored in the image memory 54 and then displayed on the display 56.

In FIG. 7, an echo signal B, a trigger signal B, a heading signal B, a tilt angle B, a heading B, a ship position B, and a ship speed B from an object to be detected transmitted from the child ship 2 are shown.
Is received by the antenna 50. The echo signal B is
Once stored in the image memory 83, it is displayed on the display 56 together with the echo signal A captured by the sonar of the parent ship 1.

Next, storage in the image memory every 10 seconds, 1
The display by the display every second will be described. 6 and 8, a control signal KA ₀ from the write pulse generator 72 is output.
To KA ₁₉ every 10 seconds.
It is supplied to the ₀ to 73 _19. The output signal of the A / D converter 53 is the image memory 5 corresponding to the switch 73 turned ON.
4 is sequentially written for 10 seconds. At the same time, the switch 73
The latest detection signal P from the image memory 54 selected by
A1 is supplied to the color conversion ROM 55.

On the other hand, the control signals K _{0 to} K ₁₉ are supplied from the decoder 95 every one second to the corresponding switches 74 _{0 to} 74 7.
Is supplied to the 4 _19, therefore, each switch is sequentially turned on every second. Via the switch 74 ₀ to 74 ₁₉ corresponding to sequentially every second from each of the image memories 54 ₀ through 54 _19, past detection signals PA0 is supplied to the color conversion ROM 55.

[0047] In FIG 7 and FIG 8, the control signal KB ₀ through KB ₁₉ from the write pulse generator 82 every 10 seconds, is supplied to the corresponding switch 89 ₀ to 89 _19. The echo signal from the detected object transmitted from the child ship to the parent ship is stored in the image memory 83 corresponding to the switch 89 turned on.
Is sequentially written for 10 seconds. At the same time, the latest detection signal PA from the image memory 83 selected by the switch 89
1 is supplied to the color conversion ROM 55. On the other hand, the decoder 9
Control signal K ₀ to K ₁₉ are every second from 5, is supplied to the switch 90 ₀ to 90 ₁₉ corresponding, therefore, each switch is sequentially turned on every second. Image memory 83 _{0 to} 8
3 ₁₉ each via a switch 90 ₀ to 90 ₁₉ corresponding to sequentially every second, the past detection signal PA0 color conversion ROM
55.

Also, signals representing the wakes of the parent ship and the child ship, the bow vector (heading direction and speed), latitude lines, longitude lines, characters, etc. are supplied from the image memory 100 to the color conversion ROM 55. The display 56 displays underwater conditions and the like in a wide range direction based on the output signal of the color conversion ROM 55 as shown in FIG. The color conversion ROM 55 performs signal conversion such that the latest detection signal of the sonar of the parent ship and the latest detection signal of the sonar of the child ship are displayed in different colors according to the magnitude of the signal. The past detection signal of the parent ship and the past detection signal of the child ship are signaled by the color conversion ROM 55 so as to be displayed in different colors depending on the depth and in different shades depending on the reflection intensity. Convert. With respect to the past detection signal of the parent ship and the past detection signal of the child ship, only the detection signal of the specified depth in the range specified by the color conversion ROM 55 is different in color depending on the depth and different according to the reflection intensity. The signal is converted so that it is displayed in different shades.

In the above-described embodiment, there is only one slave ship, but the present invention is not limited to this, and two or more slave ships may be used. In this case, each slave ship is equipped with a device configured as shown in the block diagram of FIG. 5, and the parent ship is provided with a corresponding device configured as shown in the block diagram of FIG. do it.

[0050]

According to the underwater detection display device of the first or third aspect, the wakes of the own ship and the child ship are displayed on the display screen of the indicator mounted on the parent ship, and the parent ship and the child ship are respectively displayed. Exploring underwater conditions around the ship with the equipped scanning sonar,
Since the detected objects such as the detected school of fish are displayed along the wakes of the parent ship and the child ship, the horizontal position, depth, spread, etc. of the school of fish detected by the sonars mounted on a plurality of ships can be easily understood. Can be displayed. According to the underwater detection display device of claim 2, since the display unit displays the underwater information obtained by the scanning sonars mounted on a plurality of ships in the north-up display mode, the horizontal position and the spread of the fish school etc. with respect to the earth surface are displayed. Etc. can be displayed.

According to the underwater detection display device of the fourth aspect, the latest detection signal is displayed in a different color according to the magnitude of the signal, and the past detection signal is displayed in a different color according to the depth and Since the gray scale is displayed according to the size of the signal, much information can be displayed in an easily understandable manner. According to the underwater detection display device of the fifth aspect, on the display screen of the indicator mounted on the parent ship, the underwater situation around the ship is searched and detected by the scanning sonars respectively mounted on the parent ship and the child ship. Since the detected object such as the school of fish is displayed, the horizontal position, depth, spread, and the like of the school of fish detected by the sonars mounted on a plurality of ships can be displayed in an easily understandable manner.

[0052]

[Brief description of the drawings]

FIG. 1 is a diagram showing a display example obtained by the present invention.

FIG. 2 is a diagram illustrating a state of exploring underwater using an underwater detection device.

FIG. 3 is a view showing one embodiment of the present invention, and is a view showing a schematic configuration of a device mounted on a submarine.

FIG. 4 is a view showing one embodiment of the present invention, and is a view showing a schematic configuration of a device mounted on a parent ship.

FIG. 5 is a block diagram of a device mounted on the sub-ship shown in FIG. 3;

FIG. 6 is a block diagram of a part of a device mounted on the parent ship shown in FIG.

FIG. 7 is a block diagram of a part of a device mounted on the master ship shown in FIG. 4 and relating to a signal captured by a sonar of the slave ship.

FIG. 8 is a block diagram of a part of a device mounted on the master ship shown in FIG. 4 and related to display of a signal.

FIG. 9 is a diagram illustrating a configuration of a transducer.

FIG. 10 is a diagram for explaining the operation of the block diagrams shown in FIGS. 6 and 7;

Claims (5)

[Claims] 1. A first scanning sonar mounted on a main ship for exploring underwater in a wide direction, a first position measuring device for measuring a position of a main ship, and at least one secondary ship mounted on a secondary ship. A second scanning sonar for exploring underwater, a second position measuring device for measuring a position of the slave ship, underwater information obtained by a second scanning sonar of the slave ship, and a second Transmitting means for transmitting ship position information obtained by the position measuring device to the main ship side; receiving means provided on the main ship and receiving a transmission signal from the transmitting means; Based on the output signal, the output signal of the first scanning sonar of the main ship, and the output signal of the first position measuring device of the main ship, the wakes of the main ship and the slave ship and the wakes of the main ship are displayed on the display surface. Along the first ship Underwater detection display device characterized by comprising a display for displaying each echo signal captured by the second scanning sonar 従船 along track of captured echo signal and the 従船 by Yaningusona. 2. The underwater detection display device according to claim 1, wherein the display device displays underwater information obtained by a scanning sonar in a north-up display mode. 3. A first scanning sonar mounted on a main ship for exploring underwater in a wide direction, a first position measuring device for measuring a position of a main ship, and a submersible mounted for exploring underwater in a wide direction. Scanning sonar, a second position measuring device for measuring the position of the slave ship, underwater information obtained by the second scanning sonar of the slave ship, and a second position measuring device for the slave ship Transmitting means for transmitting ship position information to the main ship side; receiving means provided on the main ship to receive a transmission signal from the transmitting means; and underwater information provided on the main ship and obtained by the first scanning sonar. First reading means for reading a stored signal from the first storing means; and a second reading means provided on the main ship and storing underwater information obtained by a second scanning sonar. Memory A second reading means for reading a stored signal from the second storage means; a signal indicating a wake of the main ship based on an output signal of the first position measuring device, provided on the main ship, and a second position. Wake signal generation means for generating a signal indicating the wake of the trailing ship based on the output signal of the measuring device; and output signals sent by the first reading means, the second reading means and the wake signal generation means, respectively. An underwater detection display device comprising: a display. 4. The latest detection signal read by the first reading means and the second reading means is displayed in different colors according to the magnitude of the signal, and the past detection signals are displayed in different colors according to the depth. 4. The underwater detection display device according to claim 3, wherein the display is shaded according to a signal size. 5. A first scanning sonar mounted on a main ship for exploring underwater in a wide range of directions, a first position measuring device for measuring a position of the main ship, and at least one slave ship mounted on a main ship. A second scanning sonar for exploring underwater, a second position measuring device for measuring a position of the slave ship, underwater information obtained by a second scanning sonar of the slave ship, and a second Transmitting means for transmitting ship position information obtained by the position measuring device to the main ship side; receiving means provided on the main ship and receiving a transmission signal from the transmitting means; Based on the output signal, the output signal of the first scanning sonar of the main ship, and the output signal of the first position measuring device of the main ship, the main ship and the position of the slave ship are centered on the display surface. 1st scanning sonar Therefore underwater detection display device characterized by comprising the captured echo signal and an echo signal captured by the second scanning sonar of the 従船 and display for sequentially displaying, respectively.