ultrasonic sonar device

Abstract

The ultrasonic sonar device 1 comprises a first mark drawing means 15a that draws a first mark 31 at a predetermined position on the first detection result image 22 based on operation by the user, and a second mark drawing means 16a that draws a second mark 32 at a position on the second detection result image 23 and / or the third detection result image 24 that corresponds to the underwater depth or distance from the transmitting and receiving unit 50 at the predetermined position where the first mark 31 is drawn on the first detection result image 22 by the first mark drawing means 15a.

Description

[Technical Field]

[0001] The present invention relates to an ultrasonic sonar device that is mounted on a ship and performs underwater detection over a predetermined range around the ship. [Background technology]

[0002] Ultrasonic sonar devices are known that detect targets, such as schools of fish, over a predetermined underwater area by transmitting and receiving ultrasonic waves. While typical fish finders detect targets in the vertical direction from the ship, ultrasonic sonar devices can detect targets around the ship using horizontal detection and vertical cross-sectional detection. Known ultrasonic sonar devices include PPI sonar (searchlight sonar) and scanning sonar.

[0003] PPI sonar emits (transmits) a thin beam of ultrasonic waves and uses a rotatable transducer that receives the reflected waves from the object being detected, and performs underwater detection around the ship while changing the direction of the ultrasonic waves (see, for example, Patent Document 1). Because the transducer has a simple structure, it can be constructed at low cost, but it takes time to complete a single detection over a specified range.

[0004] Scanning sonars form an array of multiple minute transducers on the surface of a cylinder, sphere, or the like, and simultaneously transmit ultrasonic waves from each transducer and receive the reflected waves to perform simultaneous underwater detection around a ship (see, for example, Patent Document 2). While a single detection over a predetermined range can be performed in a short time, the transducer array is complex and the transmitting and receiving circuits for transmitting and receiving ultrasonic waves in each transducer are large, making it expensive. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 2019-066208 [Patent Document 2] Japanese Patent Application Publication No. 2019-200204 Summary of the Invention [Problem to be solved by the invention]

[0006] When performing horizontal detection with such an ultrasonic sonar device, the transmission and reception direction of ultrasonic waves is generally set to a plurality of directions over a predetermined range relative to the azimuth direction while being fixed at a predetermined depression angle. In other words, horizontal detection with an ultrasonic sonar device is generally performed in a diagonally downward direction from the ship.

[0007] On the other hand, ultrasonic sonar devices display the results of horizontal detection as a circular image projected onto a plane parallel to the horizontal. This image can easily show the user whether or not there are detection targets, such as schools of fish, within a specified area, as well as the direction in which the detection targets are located and how far they are from the ship in the horizontal direction. However, this image has the drawback of making it difficult for the user to intuitively grasp the depth at which the detection targets are located.

[0008] The present invention has been made to solve the above problems, and aims to provide an ultrasonic sonar device that allows a user to intuitively grasp the depth of a detection target in horizontal detection. [Means for solving the problem]

[0009] In order to achieve this object, a first aspect of the present invention is an ultrasonic sonar device comprising: a wave transmitting and receiving unit configured at least to transmit ultrasonic waves into water over a predetermined range and to be capable of receiving reflected waves of the ultrasonic waves reflected from each position in the water for each predetermined direction including at least a plurality of directions set in the azimuth direction; received signal generating means for generating received signals for each of the predetermined directions based on the reflected waves received by the wave transmitting and receiving unit; first detection result image generating means for generating a first detection result image that shows the latest detection results over the predetermined range by projecting them onto a plane parallel to a horizontal plane based on the received signals for each of the predetermined directions generated by the received signal generating means; and a detection result display means for displaying the detection results in the distance direction from the wave transmitting and receiving unit based on the received signals for at least one direction. The apparatus comprises a second detection result image generating means for generating second detection result images arranged in chronological order, and a display means for displaying the first detection result image generated by the first detection result image generating means and the second detection result image generated by the second detection result image generating means together, wherein the first detection result image generating means comprises a first mark drawing means for drawing a first mark at a predetermined position on the first detection result image based on an operation from a user, and the second detection result image generating means comprises a second mark drawing means for drawing a second mark at a position on the second detection result image corresponding to the underwater depth or the distance from the transmitting and receiving unit at the predetermined position where the first mark is drawn on the first detection result image by the first mark drawing means, based on the depth or the distance from the transmitting and receiving unit.

[0010] A second aspect of the present invention is an ultrasonic sonar device according to the first aspect, wherein the second detection result image generation means synthesizes the received signals in the specified direction included in a first range of the specified range to generate a detection result in the distance direction in the first range, and arranges the detection results in the first range in chronological order to generate the second detection result image.

[0011] A third aspect of the present invention is an ultrasonic sonar device according to the first or second aspect, wherein the transmitting and receiving unit is configured to receive reflected waves of the ultrasonic waves reflected from each position in the water in the vertical direction as one of the predetermined directions, and the second detection result image generating means generates a detection result in the distance direction based on the received signal in the vertical direction, and arranges the detection results in chronological order to generate the second detection result image.

[0012] A fourth aspect of the present invention is an ultrasonic sonar device according to any one of the first to third aspects, wherein the first mark drawing means draws the first mark in a ring shape on the first detection result image, with the center being a point that represents the assumed position of the transmitting and receiving unit.

[0013] A fifth aspect of the present invention is an ultrasonic sonar device according to any one of the first to fourth aspects, wherein the second mark drawing means draws the second mark in a straight line along the time axis on the second detection result image.

[0014] A sixth aspect of the present invention is an ultrasonic sonar device according to any one of the first to fifth aspects, comprising an operation means for accepting operations from a user, and the first mark drawing means changes the position of the first mark to be drawn on the first detection result image based on operation of the operation means by the user. [Effects of the Invention]

[0015] According to the ultrasonic sonar device of the first aspect of the present invention, a wave transmitting and receiving unit transmits ultrasonic waves into water over a predetermined range, and receives reflected waves of the ultrasonic waves reflected from various positions underwater in each predetermined direction, including at least a plurality of directions set in the azimuth direction. A received signal generating means generates a received signal for each predetermined direction based on the reflected waves received by the wave transmitting and receiving unit. A first detection result image, which shows the latest detection results over the predetermined range projected onto a plane parallel to the horizontal plane, is generated by a first detection image generating means based on the received signals for each predetermined direction generated by the received signal generating means. Furthermore, a second detection result image, which chronologically arranges the detection results in the distance direction from the wave transmitting and receiving unit, is generated by a second detection result image generating means based on the received signals from at least one direction. The first detection result image generated by the first detection result image generating means and the second detection result image generated by the second detection result image generating means are displayed together on a display means. The first detection result image allows the user to determine whether a detection target is present within a predetermined range, as well as the direction and horizontal distance of the detection target. Furthermore, the second detection result image retains a history of detection results in the direction of the received signal that was the basis for generating the second detection result image, thereby preventing the user from overlooking a detection target in that direction. The second detection result image also shows the detection result in the distance direction from the wave transmitting and receiving unit, allowing the user to grasp the depth at which the detection target is present. Here, a first mark drawing means provided in the first detection result image generating means draws a first mark at a predetermined position on the first detection result image based on a user operation. Furthermore, based on the underwater depth or distance from the wave transmitting and receiving unit at the predetermined position where the first mark is drawn on the first detection result image, a second mark drawing means provided in the second detection result image generating means draws a second mark at a position on the second detection result image corresponding to that depth or distance. As a result, when the user draws a first mark at a desired position specified on the first detection result image, the second mark is drawn in conjunction with it on the second detection result image, so that the depth of the first mark can be intuitively grasped from the second mark drawn on the second detection result image.Therefore, there is an effect that the depth of the object to be detected in horizontal detection can be intuitively grasped.

[0016] The ultrasonic sonar device according to the second aspect achieves the following effect in addition to the effect achieved by the ultrasonic sonar device according to the first aspect. Specifically, the second detection result image generating means combines received signals from a predetermined direction included in a first range of the predetermined range to generate a detection result for the distance direction in the first range, and then arranges the detection results for the first range in chronological order to generate a second detection result image. This ensures that all detection results of the detection target based on the transmission and reception of ultrasonic waves in each of the multiple predetermined directions included in the first range are included in the second detection result image, and the history of the detection results remains in the second detection result image. This effectively prevents the detection target from being overlooked. Furthermore, by drawing a second mark in such a second detection result image, it effectively allows the user to intuitively grasp the depth of the first mark drawn in the first detection result image. The first range may be a portion of the predetermined range or the same range as the predetermined range.

[0017] The ultrasonic sonar device according to the third aspect achieves the following effect in addition to the effects achieved by the ultrasonic sonar device according to the first or second aspect. Specifically, the wave transmitting and receiving unit receives reflected ultrasonic waves reflected from various underwater positions in the vertical direction, which is one of the predetermined directions. The second detection result image generating means then generates a distance direction detection result based on the vertical direction received signal from the wave transmitting and receiving unit, and generates a second detection result image by arranging the detection results in chronological order. This second detection result image is a fish detection result image similar to the image output by a so-called conventional fish finder. The ultrasonic sonar device can show the user the results of both horizontal detection and fish detection by displaying the second detection result image, which is a conventional fish detection result image, together with the first detection result image, which is a horizontal detection result image. Furthermore, by drawing the second mark on the second detection result image, which is the fish detection result image, the depth of the first mark drawn on the first detection result image can be more intuitively grasped.

[0018] The ultrasonic sonar device according to the fourth aspect achieves the following effect in addition to the effect achieved by the ultrasonic sonar device according to any one of the first to third aspects. That is, the first mark drawing means draws a ring-shaped first mark on the first detection result image, centered on a point that is assumed to be the position of the wave transmitting and receiving unit. In the first detection result image, the ring-shaped first mark is a line connecting points of the same depth (so-called contour lines). In other words, the user can easily grasp the position of the same depth in the first detection result image from the ring-shaped first mark. This has the effect of allowing the user to intuitively grasp the depth of this ring-shaped first mark from the second mark drawn on the second detection result image.

[0019] The ultrasonic sonar device according to the fifth aspect achieves the following effect in addition to the effect achieved by the ultrasonic sonar device according to any one of the first to fourth aspects. That is, the second mark drawing means draws the second mark in a straight line along the time axis on the second detection result image. This improves the visibility of the second mark displayed on the second detection result image, thereby enabling the depth of the detection target in horizontal detection to be more intuitively grasped from the second mark.

[0020] The ultrasonic sonar device according to the sixth aspect achieves the following effect in addition to the effect achieved by the ultrasonic sonar device according to any one of the first to fifth aspects. That is, when the user operates the operation means, the first mark drawing means changes the position of the first mark drawn in the first detection result image based on the operation. Then, in conjunction with the change in the first mark, the second mark drawing means also changes the position of the second mark drawn in the second detection result image. This allows the user to easily grasp the degree of change in the position of the second mark drawn in the second detection result image relative to the change in the position of the first mark drawn in the first detection result image while operating the operation means, thereby achieving the effect of intuitively grasping changes in depth within the first detection result image. [Brief explanation of the drawings]

[0021] [Figure 1] 1 is a schematic diagram illustrating the configuration of an ultrasonic sonar device according to an embodiment of the present invention; [Figure 2] 1 is a schematic side view showing a state in which underwater detection is performed by a ship equipped with the ultrasonic sonar device. FIG. [Figure 3] 1A is a schematic cross-sectional view showing the wave transmitting and receiving unit of the ultrasonic sonar device, and FIG. 1B is a schematic perspective view showing the arrangement of a plurality of first transducers and second transducers that make up the wave transmitting and receiving unit. [Figure 4] (a) is a diagram showing a schematic diagram of the first central axis of each of the first transducers when viewed vertically from above the ship, (b) is a diagram showing a schematic diagram of the first central axis when viewed horizontally from the front side of the ship, (c) is a diagram showing a schematic diagram of the directional characteristics of the ultrasound transmitted from the first transducer, and (d) is a diagram showing the directional characteristics of the ultrasound transmitted from the first transducer when viewed from the front side of the ship. [Figure 5] FIG. 2 is a block diagram showing the electrical configuration of the ultrasonic sonar device. [Figure 6] 10A and 10B are diagrams showing an example of a display screen displayed on the display device of the ultrasonic sonar device, where (a) is a diagram showing the first mark displayed in its initial position, and (b) is a diagram showing the first mark displayed with its diameter expanded from its initial position. [Figure 7] 10 is a flowchart showing a mark drawing process executed by a control device of the ultrasonic sonar device. DETAILED DESCRIPTION OF THE INVENTION

[0022] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. Each of the embodiments described below illustrates a preferred specific example of the present invention. Therefore, the numerical values, shapes, materials, components, component placement and connection configurations, etc., shown in the following embodiments are merely examples and are not intended to limit the present invention. Therefore, among the components in the following embodiments, components that are not recited in the independent claims that represent the highest concept of the present invention will be described as optional components. Furthermore, in each drawing, substantially identical components are assigned the same reference numerals, and redundant explanations will be omitted or simplified.

[0023] First, an ultrasonic sonar device 1 according to an embodiment of the present invention will be described with reference to Figures 1 and 2. Figure 1 is a schematic diagram showing the configuration of the ultrasonic sonar device 1, and Figure 2 is a schematic diagram showing a side view of a vessel 71 equipped with the ultrasonic sonar device 1 performing underwater detection.

[0024] 1 and 2, the ultrasonic sonar device 1 is mounted on a ship 71 and has at least a sonar function for horizontally detecting detection targets GF, such as schools of fish, within a predetermined range around the ship 71 in the waters of the sea, lake, river, or other area on which the ship 71 is floating. Horizontal detection is a predetermined range in all directions in the azimuth direction as seen from the ship 71, and detects detection targets GF that fall within that predetermined range. The ultrasonic sonar device 1 may have a sonar function for performing vertical cross-sectional detection in addition to horizontal detection, and may also have a fish detection function for detecting detection targets GF that exist in the vertical direction directly below the ship 71 and displaying the detection results in a chronological order.

[0025] The ultrasonic sonar device 1 includes a main body 5, an operation button 6 provided on the main body 5, a display device 21 as display means formed integrally with the main body 5, a wave transmission / reception unit 50 that transmits and receives ultrasonic waves TB for detecting a detection target GF, and an elevator 41 that raises and lowers the wave transmission / reception unit 50. The main body 5, operation button 6, and display device 21 are disposed in the wheelhouse of the ship 71, while the wave transmission / reception unit 50 and the elevator 41 are disposed in the bottom of the ship 71. The wave transmission / reception unit 50 is raised and lowered by the elevator 41, so that it can freely appear and disappear underwater from the bottom of the ship 71. Note that the ultrasonic sonar device 1 does not necessarily have to include the elevator 41, and the wave transmission / reception unit 50 may be fixed to the ship 71 in a position where it can transmit and receive ultrasonic waves TB into the water.

[0026] The operation button 6 is a button that can be operated by the user, and is operated when the user issues various instructions or settings to the ultrasonic sonar device 1. For example, the user operates the operation button 6 to turn the power of the ultrasonic sonar device 1 on / off, set the brightness of the image displayed by the display device 21, give instructions to start / end execution of horizontal detection using the sonar function, and set the detection range indicated by the second detection result image 23 (hereinafter referred to as the "first range") and the detection range indicated by the third detection result image 24 (hereinafter referred to as the "second detection group"), which will be described later.

[0027] Furthermore, as will be described in detail later, the ultrasonic sonar device 1 according to this embodiment, based on an instruction from the user, draws a first mark 31 as a ring marker at a predetermined position on a first detection result image 22, which shows the latest detection result from horizontal detection projected onto a plane parallel to the horizontal plane, and then displays the first detection result image 22 on the display device 21 (see FIG. 6). The instruction to display the first mark 31 and the change of the display position of the first mark 31 are performed by the "up" button and "down" button provided on the operation button 6. The operation button 6 corresponds to the "operation means" of the present invention.

[0028] 2, the ultrasonic sonar device 1 transmits (radiates) ultrasonic waves TB in a cone shape within a predetermined range from the wave transmitting and receiving unit 50, with the wave transmitting and receiving unit 50 protruding from the bottom of the ship 71. The wave transmitting and receiving unit 50 is configured to be able to receive reflected waves of the ultrasonic waves TB reflected from a detection target GF within the predetermined cone-shaped range, the bottom of the sea or lake (hereinafter collectively referred to as the "bottom SB"), etc. The detailed configuration of the wave transmitting and receiving unit 50 will be described later with reference to FIGS. 3 and 4.

[0029] The display device 21 displays the detection result based on the received signal generated by receiving units 13a-13g (described later) and a filter 14 (see FIG. 5) when the wave transmitting and receiving unit 50 receives the reflected wave of the ultrasonic wave TB, and is configured, for example, by a liquid crystal display or an organic EL (Electro-Luminescence) display. When the ultrasonic sonar device 1 performs horizontal detection using the search function, a first detection result image 22, a second detection result image 23, and a third detection result image 24 are displayed as detection result images on the display device 21. Details of these detection result images will be described later with reference to FIG. 6.

[0030] Next, the detailed configuration of the wave transmitting and receiving unit 50 will be described with reference to Fig. 3 and Fig. 4. Fig. 3(a) is a schematic cross-sectional view showing the wave transmitting and receiving unit 50, and Fig. 3(b) is a schematic perspective view showing the arrangement of a plurality of first vibrators 52 (52a to 52f) and a second vibrator 53 that constitute the wave transmitting and receiving unit 50.

[0031] 4(a) is a diagram schematically showing the first center axes C1a to C1f of the first transducers 52a to 52f when viewed vertically from above the ship 71, and FIG. 4(b) is a diagram schematically showing the first center axes C1a to C1f of the first transducers 52a to 52f when viewed horizontally from the front side of the ship 71. FIG. 4(c) is a diagram schematically showing the directional characteristics of ultrasonic waves TB transmitted from adjacent first transducers 52a, 52b, and 52f, and FIG. 4(d) is a diagram showing the directional characteristics of ultrasonic waves TB transmitted from each of the first transducers 52a and 52d when viewed from the front side of the ship 71.

[0032] As shown in FIG. 3, the wave transmitting / receiving unit 50 has a structure in which a plurality of (six in the example shown in FIG. 3) first oscillators 52 (first oscillator 52a, first oscillator 52b, first oscillator 52c, first oscillator 52d, first oscillator 52e, and first oscillator 52f) that transmit ultrasonic waves TB in a predetermined direction and receive the reflected waves are housed in a case 51 and molded. The individual first oscillators 52 are disk-shaped structures having the same size and shape. Similarly to the first oscillators 52, the second oscillators 53 also have a disk-like shape. However, the size of the second oscillators 53 is determined according to the desired characteristics. That is, the second oscillators 53 may be the same size as the first oscillators 52, or may be a different size from the first oscillators 52.

[0033] Each of the first vibrator 52 and the second vibrator 53 includes a base material 54 and a piezoelectric element 55. The base material 54 is a circular resin plate material that also serves as an acoustic matching layer, and is made of, for example, glass epoxy.

[0034] The piezoelectric element 55 is a plate-like object made of piezoelectric ceramic, and for example, a disk-shaped plate-like object made of lead zirconate titanate (PZT) is used. The piezoelectric element 55 has a front electrode (not shown) formed on its front surface, which is entirely bonded to the substrate 54 via an adhesive layer (not shown), and a back electrode (not shown) formed on its back surface opposite the front surface. Lead wires are electrically connected to the front electrode and the back electrode, respectively.

[0035] When a drive voltage is applied to the piezoelectric element 55 by a front electrode and a back electrode from the transmitting unit 11a or the transmitting unit 11b (see FIG. 5), which will be described later, the piezoelectric element 55 deforms in the thickness direction and vibrates the base material 54. This vibration of the base material 54 causes the first vibrator 52 and the second vibrator 53 to generate ultrasonic waves TB.

[0036] Furthermore, when the substrate 54 of each of the first oscillator 52 and the second oscillator 53 is vibrated by the reflected waves of the ultrasonic waves TB, the vibrations deform the piezoelectric element 55, generating a voltage between the front electrode and the back electrode. The first oscillators 52a to 52f and the second oscillator 53 output the voltage generated between the front electrode and the back electrode to the corresponding receiving units 13a to 13g, which will be described later, thereby generating reception signals corresponding to the reflected waves received by each of the first oscillators 52a to 52f and the second oscillator 53.

[0037] The case 51 has an opening at one end, and houses a plurality of first vibrators 52 and second vibrators 53 inside the case 51. The second vibrator 53 is disposed at the center of the case 51. Six first vibrators 52 are disposed around the second vibrator 53 in the order of first vibrator 52a, first vibrator 52b, first vibrator 52c, first vibrator 52d, first vibrator 52e, and first vibrator 52f, in a counterclockwise direction as viewed from the front surface of the base material 54. The acoustic radiation surfaces formed on the front surface of the base material 54 of each of the first vibrators 52 and the acoustic radiation surface formed on the front surface of the base material 54 of the second vibrator 53 are all located on a single imaginary spherical surface.

[0038] In this embodiment, the number of first oscillators 52 is six, but the number of first oscillators 52 may be any number of three or more, preferably four or more, and more preferably six or more. However, if the number of first oscillators 52 is large, the configuration of the ultrasonic sonar device 1 becomes complicated, larger, and more expensive, so the number of first oscillators 52 is preferably ten or less, and more preferably eight or less.

[0039] Here, the direction of the first oscillator 52a's first central axis C1a (which can also be considered the direction of the normal vector of the first oscillator 52a) is the central axis that is perpendicular to the center of the front surface (sound radiation surface) of the base material 54. Similarly to the first oscillator 52a, the first oscillator 52b is defined as having a first central axis C1b, the first oscillator 52c as having a first central axis C1c, the first oscillator 52d as having a first central axis C1d, the first oscillator 52e as having a first central axis C1e, and the first oscillator 52f as having a first central axis C1f. The first central axes C1b to C1f can be understood to be the sound radiation directions of the corresponding first oscillators 52b to 52f.

[0040] Furthermore, the direction of the second central axis C2 (which can also be said to be the direction of the normal vector of the second oscillator 53), which is a central axis perpendicular to the center of the front surface (acoustic radiation surface) of the base material 54, can be understood to be the acoustic radiation direction of the second oscillator 53.

[0041] That is, the first central axes C1a to C1f of the first oscillators 52a to 52f and the second central axis C2 of the second oscillator 53 are in a predetermined direction for transmitting ultrasonic waves TB to a predetermined range, which is the detection range of the detection target GF, and for receiving the reflected waves.

[0042] Here, the wave transmitting and receiving unit 50 is attached to the ship 71 so that the direction of the second central axis C2 of the second transducer 53 is vertical. That is, the second transducer 53 transmits (radiates) ultrasonic waves TB in the vertical direction directly below the ship 71. The presence of this second transducer 53 enables the ultrasonic sonar device 1 to detect the detection target GF in the vertical direction with high accuracy. Note that it is preferable that the directional characteristics of the ultrasonic waves TB transmitted from the second transducer 53 be a narrow beam with a small directivity angle. This can further increase the accuracy of detection of the detection target GF in the vertical direction.

[0043] 3, in the wave transmitting and receiving unit 50, the first transducers 52a to 52f are arranged with the sound emitting surface of each of the first transducers 52a to 52f inclined such that the first central axes C1a to C1f form a predetermined angle θ with respect to the second central axis C2 (i.e., the vertical direction when the wave transmitting and receiving unit 50 is attached to the ship 71). As a result, the sound emitting direction of each of the first transducers 52a to 52f is oriented in a direction different from the vertical direction directly below the ship 71, as shown in FIG. 4(b).

[0044] In this embodiment, the first transducers 52a to 52f are tilted with their acoustic radiation surfaces facing inward (toward the second transducer 53) (see FIG. 3). Preferably, each of the first central axes C1a to C1f forms a predetermined angle θ with respect to the second central axis C2, the predetermined angle θ being an angle selected from the range of 20° to 50°. In this embodiment, the predetermined angle θ is 30°. As shown in FIG. 3(a), the first central axes C1a to C1f and the second central axis C2 converge at one point.

[0045] 4(a), when the wave transmitting and receiving unit 50 is attached to the ship 71 and viewed vertically from above the ship 71, the first center axes C1a to C1f of the first oscillators 52a to 52f are arranged at equal intervals in the azimuth direction so that the angles formed between adjacent first center axes C1a to C1f are the same angle δ. When the number of first oscillators 52 is n, the angle δ is (360 / n)° (when the number of first oscillators 52 is six, the angle δ is 60°).

[0046] As a result, the transmitting and receiving unit 50 can simultaneously transmit ultrasonic waves TB in each of the predetermined directions indicated by the first center axes C1a to C1f using at least the first transducers 52a to 52f over a predetermined range set in all directions of the ship 71, and can also receive reflected waves in each of the predetermined directions.

[0047] 4(a) and 4(b), when the ship 71 is viewed vertically from above, the wave transmitting and receiving unit 50 is attached to the ship 71 so that the first central axis C1a faces rightward with respect to the longitudinal direction of the ship 71 and the first central axes C1b to C1f are aligned counterclockwise from the first central axis C1a at intervals of an angle δ. In addition, in this embodiment, an example is shown in which the first transducers 52a to 52f are arranged so that the first central axes C1a to C1f of the first transducers 52a to 52f are equally spaced apart in the azimuth direction, but it is sufficient that ultrasonic waves TB can be simultaneously transmitted by at least the first transducers 52a to 52f in each of the predetermined directions indicated by the first central axes C1a to C1f over a predetermined range set in all azimuth directions of the ship 71, and the intervals between the first central axes C1a to C1f may vary. The directions of the first central axes C1a to C1f set as described above correspond to "a plurality of directions set in at least the azimuth direction" of the present invention.

[0048] The directional characteristics of the ultrasonic waves TB transmitted from each of the first transducers 52a to 52f are set to include the first central axes C1a to C1f of the adjacent first transducers 52. For example, as shown in Fig. 4(c), the directional characteristics of the ultrasonic waves TB transmitted from the first transducer 52a are set to include the first central axis C1b of the adjacent first transducer 52b and the first central axis C1f of the first transducer 52f.

[0049] On the other hand, the directional characteristics of the ultrasonic waves TB transmitted from the first transducer 52b and the directional characteristics of the ultrasonic waves TB transmitted from the first transducer 52f are both set to include the first central axis C1a of the first transducer 52a. Although not shown, the directional characteristics of the ultrasonic waves TB transmitted from the first transducer 52b are also set to include the first central axis C1c of the first transducer 52c that is adjacent to the first transducer 52a on the opposite side, and the directional characteristics of the ultrasonic waves TB transmitted from the first transducer 52f are also set to include the first central axis C1e of the first transducer 52e that is adjacent to the first transducer 52a on the opposite side.

[0050] Furthermore, the directional characteristics of the ultrasonic waves TB transmitted from each of the first transducers 52a to 52f are set to include the vertical direction when the wave transmitting and receiving unit 50 is attached to the ship 71, as shown in FIG. 4(d).

[0051] As described above, the directivity of the ultrasonic waves TB transmitted from each of the first transducers 52a to 52f is set so as to include the first central axes C1a to C1f of the adjacent first transducers 52 and also to include the vertical direction when the transducer unit 50 is attached to the ship 71. As a result, by simultaneously driving each of the first transducers 52a to 52f, the transducer unit 50 irradiates ultrasonic waves TB from each of the first transducers 52a to 52f in the direction of the respective first central axes C1a to C1f, and due to the directivity of the ultrasonic waves TB, it is possible to simultaneously transmit the ultrasonic waves TB to a predetermined range set in all directions of the ship 71 using a small number of first transducers 52.

[0052] Furthermore, the directions of the first central axes C1a to C1f of the first transducers 52a to 52f and the directional characteristics of the ultrasonic waves TB emitted from the first transducers 52a to 52f are fixed so that the ultrasonic waves TB are emitted over a predetermined range from the wave transmitting and receiving unit 50. This eliminates the need for circuits for controlling the directions of the first central axes C1a to C1f of the first transducers 52a to 52f and circuits for controlling the directional characteristics of the ultrasonic waves TB emitted from the first transducers 52a to 52f.

[0053] The wave transmitting and receiving unit 50 can receive the reflected waves of the ultrasonic waves TB reflected from the detection target GF present within the predetermined range by the first oscillators 52a to 52f corresponding to each of the first center axes C1a to C1f, which are predetermined directions. As described above, the ultrasonic sonar device 1 can be constructed to perform high-speed detection in a small size and at low cost.

[0054] The wave transmitting / receiving unit 50 is arranged and housed in the case 51 with the first transducers 52a-52f and the second transducer 53 closely spaced so that the first central axes C1a-C1f and the second central axis C2 are oriented in the above-mentioned directions, and is fixed in place by a filler. This filler is made of a waterproof resin material (such as urethane resin) that has a lower specific acoustic impedance than the base material 54, which is the acoustic matching layer for the first transducers 52 and the second transducers 53. The filler is filled so that the outer surface is flush with the opening of the case 51, thereby sealing the opening of the case 51.

[0055] Next, the electrical configuration of the ultrasonic sonar device 1 will be described with reference to Fig. 5. Fig. 5 is a block diagram showing the electrical configuration of the ultrasonic sonar device 1. The ultrasonic sonar device 1 has a control device 10 inside its main body 5, which is provided with transmitting units 11a and 11b, diodes 12a to 12g, receiving units 13a to 13g, a filter 14, a first detection result image generating means 15, a second detection result image generating means 16, and a display control means 18.

[0056] Each of the transmitting units 11a, 11b, receiving units 13a to 13g, filter 14, first detection result image generating means 15, second detection result image generating means 16, and display control means 18 may be configured as hardware, may be realized by software, or may be realized by a combination of hardware and software.

[0057] Although not shown, the control device 10 has a CPU (Central Processing Unit), which is an arithmetic device, a flash memory which is a rewritable non-volatile memory that stores programs executed by the CPU and fixed values ​​referenced by the programs, and / or a ROM (Read Only Memory), which is a non-rewritable non-volatile memory, and a RAM (Random Access Memory), which is a readable and writable volatile memory that temporarily stores various data when the CPU executes a program, and these are connected via a bus line.

[0058] Of the transmitting units 11a, 11b, receiving units 13a to 13g, filter 14, first detection result image generating means 15, second detection result image generating means 16, and display control means 18, the parts that are realized by software or by a combination of hardware and software are realized by the CPU executing a program.

[0059] Based on instructions from the CPU, the transmission unit 11a generates one drive signal for transmitting ultrasound waves TB from the first transducers 52a to 52f. The output of the one drive signal generated by the transmission unit 11a is branched between the transmission unit 11a and the diodes 12a to 12f and distributed to each of the first transducers 52a to 52f. That is, after branching, one signal is input to the first transducer 52a via the diode 12a, one signal is input to the first transducer 52b via the diode 12b, one signal is input to the first transducer 52c via the diode 12c, one signal is input to the first transducer 52d via the diode 12d, one signal is input to the first transducer 52e via the diode 12e, and one signal is input to the first transducer 52f via the diode 12f.

[0060] The diodes 12a to 12f are elements that pass the drive signals generated by the transmitting unit 11a and input them to the corresponding first oscillators 52a to 52f, and also block the signals (voltages) generated by receiving reflected waves in each of the first oscillators 52a to 52f from being transmitted to the transmitting unit 11a or the branching points of the drive signals output from the transmitting unit 11a to each of the first oscillators 52a to 52f.

[0061] A single drive signal generated by the transmission unit 11a is branched and input to the first transducers 52a-52f via the diodes 12a-12f, so that the first transducers 52a-52f, which have the same shape and size, are driven simultaneously and can output ultrasonic waves TB of the same intensity at the same time. Therefore, ultrasonic waves TB can be transmitted uniformly in predetermined directions (i.e., in the directions of the first central axes C1a-C1f) included in a predetermined range set in all directions with respect to the ship 71, making it possible to make detection sensitivity uniform in all predetermined directions.

[0062] Furthermore, since one transmission unit 11a is provided for the plurality of first oscillators 52a to 52f, it is possible to achieve significant cost reduction and size reduction compared to the case where a transmission unit 11a is provided for each of the first oscillators 52a to 52f.

[0063] Furthermore, since the diodes 12a-12f are provided between the transmitting unit 11a and each of the first oscillators 52a-52f and downstream of the branching points where the drive signal output from the transmitting unit 11a branches toward each of the first oscillators 52a-52f, it is possible to prevent the signals (voltages) output by each of the first oscillators 52a-52f upon receiving the reflected waves of the ultrasonic waves TB from flowing back to the transmitting unit 11a or from entering the signal lines of the other first oscillators 52a-52f via the branching points, causing interference. Therefore, even if one transmitting unit 11a is provided for multiple (six) first oscillators 52a-52f, it is possible to ensure the independence of the signals (voltages) output from each of the first oscillators 52a-52f.

[0064] The transmitting unit 11b generates a drive signal for transmitting ultrasonic waves TB from the second oscillator 53 based on instructions from the CPU. The output of the drive signal generated by the transmitting unit 11b is input to the second oscillator 53 via a diode 12g. The diode 12g is an element that passes the drive signal generated by the transmitting unit 11b and inputs it to the second oscillator 53, and also blocks a signal (voltage) generated by receiving a reflected wave at the second oscillator 53 from being transmitted to the transmitting unit 11b. This diode 12g makes it possible to prevent the signal (voltage) output by the second oscillator 53 by receiving a reflected wave of the ultrasonic waves TB from flowing back to the transmitting unit 11b.

[0065] In the ultrasonic sonar device 1, the transmission unit 11b that generates a drive signal for the second transducer 53 that transmits ultrasonic waves TB in the vertical direction directly below the ship 71 is provided separately from the transmission unit 11a that generates drive signals for the first transducers 52a to 52f. This allows the ultrasonic sonar device 1 to function as a normal fish finder by turning off the transmission of ultrasonic waves TB from the first transducers 52a to 52f and transmitting ultrasonic waves TB only from the second transducer 53, or when performing horizontal detection as a sonar function, to control the transmission of ultrasonic waves TB from the second transducer 53 independently of the transmission of ultrasonic waves TB from the first transducers 52a to 52f.

[0066] In this embodiment, separate transmission units 11a corresponding to the first transducers 52a to 52f and transmission unit 11b corresponding to the second transducer 53 are provided, but if the specifications of the ultrasonic sonar device 1 are such that transmission of ultrasonic waves TB from the second transducer 53 can always be performed at the same timing as the first transducers 52a to 52f, then only one transmission unit 11a may be provided for the first transducers 52a to 52f and the second transducer 53, and one drive signal may be generated from this transmission unit 11a. This allows the ultrasonic sonar device 1 to be made even more compact and at a much lower cost.

[0067] Receiving units 13a to 13g are provided for each of the multiple (six) first transducers 52a to 52f and second transducers 53, and when the corresponding first transducers 52a to 52f and second transducers 53 receive the reflected waves of the ultrasonic waves TB, they capture signals (voltages) output according to the intensity of the reflected waves, and perform predetermined processing on the captured signals.

[0068] That is, receiving unit 13a is connected to first oscillator 52a and performs predetermined processing on a signal (voltage) output in accordance with the intensity of the reflected wave received by first oscillator 52a. Further, receiving unit 13b is connected to first oscillator 52b, receiving unit 13c is connected to first oscillator 52c, receiving unit 13d is connected to first oscillator 52d, receiving unit 13e is connected to first oscillator 52e, receiving unit 13f is connected to first oscillator 52f, and receiving unit 13g is connected to second oscillator 53. Each of receiving units 13b to 13g also performs predetermined processing on a signal (voltage) output in accordance with the intensity of the reflected wave received by first oscillator 52b to 52f or second oscillator 53 connected thereto.

[0069] Each of the receiving units 13a to 13g has an amplifier circuit and an analog-to-digital conversion circuit, and as a predetermined process, the received signal (voltage) is amplified by the amplifier circuit and then converted into a digital signal (digital value) by the analog-to-digital conversion circuit (AD conversion circuit).

[0070] Then, the receiving unit 13a outputs a digital signal obtained by an AD conversion circuit as a reception signal received by the first oscillator 52a (a reception signal of a reflected wave of the ultrasonic wave TB) to the filter 14. Similarly, the receiving unit 13b outputs a digital signal obtained by each AD conversion circuit as a reception signal of the first oscillator 52b, the receiving unit 13c outputs a digital signal obtained by the first oscillator 52c, the receiving unit 13d outputs a digital signal obtained by the first oscillator 52d, the receiving unit 13e outputs a digital signal obtained by the first oscillator 52e, the receiving unit 13f outputs a digital signal obtained by the first oscillator 52f, and the receiving unit 13g outputs a digital signal obtained by the second oscillator 53 to the filter 14.

[0071] As described above, one transmitting unit 11a is provided for multiple (six) first transducers 52a-52f to reduce costs and size, while receiving units 13a-13f are provided for each of the multiple first transducers 52a-52f, making it possible to perform predetermined processing on each signal (voltage) while maintaining the independence of the signals (voltages) output from each of the first transducers 52a-52f. On the other hand, because ultrasonic sonar device 1 is configured with fewer transducers than conventional scanning sonars, even if receiving units 13a-13f are provided for each of the first transducers 52a-52f, the overall receiving unit can be made smaller and costs can be reduced compared to conventional scanning sonars.

[0072] The reception signals output from the reception units 13a to 13g are original reception signals that indicate the raw intensity values ​​of the reflected waves of the ultrasonic waves TB received by the corresponding first oscillators 52a to 52f and second oscillator 53. These original reception signals are reception signals before filtering by the filter 14, which will be described next.

[0073] The filter 14 performs predetermined filtering on the received signals (original received signals) output from the receiving units 13a to 13g to the first oscillators 52a to 52f and the second oscillator 53. The predetermined filtering includes spatial filtering and may also include temporal filtering.

[0074] As for spatial filtering, filtering is performed in the azimuth direction and the distance direction on the original received signals of the first transducers 52a to 52f that receive the reflected waves of the ultrasonic waves TB for each predetermined direction, for the purpose of reducing noise and / or improving resolution, etc. The spatial filtering also includes filtering in the distance direction on the original received signals of the second transducer 53 that receive the reflected waves of the ultrasonic waves TB from the vertical direction directly below the ship 71.

[0075] Here, the azimuth direction is the direction in which the first central axes C1a to C1f of the first transducers 52a to 52f, i.e., the respective acoustic radiation directions, are aligned, in other words, the circumferential direction centered on the ship 71. Furthermore, the distance direction is the direction in which ultrasonic waves TB are transmitted from the first central axes C1a to C1f of the first transducers 52a to 52f and the second central axis C2 of the second transducer 53, i.e., the respective acoustic radiation directions themselves.

[0076] Furthermore, when performing horizontal detection using the sonar function, the ultrasonic sonar device 1 performs detection using a small number of transducers, the first transducers 52a to 52f (six in this embodiment), resulting in a significant decrease in azimuth resolution. Therefore, in horizontal detection, the filter 14 sets a virtual direction at a position midway between adjacent first central axes C1a to C1f of the first transducers 52a to 52f, which are predetermined directions in which ultrasonic waves TB are transmitted and received, and generates reception signals from the reception signals of the first transducers 52a to 52f, assuming that ultrasonic waves TB are virtually transmitted and received in that virtual direction.

[0077] By generating virtual reception signals in virtual directions, the number of directions in which ultrasonic waves TB are transmitted and received can be doubled (12 directions in this embodiment) as the number of actual first transducers 52, including the virtual directions, thereby improving the azimuth resolution.

[0078] On the other hand, temporal filtering refers to filtering a received signal indicating the intensity of a reflected wave reflected from a certain depth in a certain direction, together with at least one received signal received earlier in time from the same direction and the same depth and / or at least one received signal received later in time. This temporal filtering allows detection result images (first detection result image 22, second detection result image 23, and third detection result image 24) described below, displayed on display device 21, to be changed smoothly over time, allowing the user to view the detection result images without any sense of discomfort.

[0079] The filter 14 performs a predetermined filter process on the original reception signals of each of the first oscillators 52a to 52f and the second oscillator 53, and outputs the values ​​obtained by the filter process as the reception signals of each of the first oscillators 52a to 52f and the second oscillator 53, and also outputs the virtual reception signals, if any, in the case where a virtual reception signal is generated for a virtual direction, to a first detection result image generating means 15 and a second detection result image generating means 16, which will be described next. The reception units 13a to 13g and the filter 14 correspond to the reception signal generating means of the present invention.

[0080] When the ultrasonic sonar device 1 performs horizontal detection as its sonar function, the first detection result image generation means 15 generates a first detection result image 22, which is one of the detection result images to be displayed on the display device 21. When the horizontal detection is performed, the second detection result image generation means 16 generates a second detection result image 23, which is one of the detection result images to be displayed on the display device 21 together with the first detection result image 22. The second detection result image generation means 16 can also generate a third detection result image 24, which is one of the detection result images to be displayed on the display device 21 together with the first detection result image 22 and the second detection result image 23.

[0081] Here, the first detection result image 22, the second detection result image 23, and the third detection result image 24 will be described with reference to Fig. 6. Fig. 6(a) and (b) are diagrams that schematically show an example of a display screen that is displayed on the display device 21 when the ultrasonic sonar device 1 performs horizontal detection as a sonar function.

[0082] 6, when the ultrasonic sonar device 1 performs horizontal detection as a sonar function, it displays a first detection result image 22 on the display device 21. Furthermore, when performing horizontal detection, the ultrasonic sonar device 1 is configured so that the user can operate the operation button 6 to display not only the first detection result image 22, but also a second detection result image 23 and a third detection result image 24 on the display device 21.

[0083] The first detection result image 22 is a generally known detection result image as a result image of horizontal detection, and is a circular detection result image obtained by projecting onto a plane parallel to the horizontal plane the latest detection results in each azimuth direction for detection in all directions of the ship 71. Specifically, the first detection result image 22 is displayed on the display device 21 as the first detection result image 22, which shows the latest detection results over a predetermined range set in all directions of the ship 71 projected onto a plane parallel to the horizontal plane, based on the reception signals for each direction of the first central axes C1a to C1f of the first oscillators 52a to 52f output from the filter 14 and the virtual reception signals for each direction set virtually between those directions.

[0084] The first detection result image generating means 15 generates a first detection result image 22 using the filtered reception signals of the first oscillators 52a to 52f input from the filter 14 and the virtual reception signals for each virtually set direction. From the first detection result image 22 displayed on the display device 21, the user can easily determine in which direction the detection target GF currently exists relative to the ship 71, how far away it is from the ship 71 in the horizontal direction (how far the horizontal distance is), and so on.

[0085] The second detection result image 23 is a time series of detection results in the distance direction from the wave transmitting and receiving unit 50 based on received signals in at least one direction. In this embodiment, the second detection result image 23 is a time series of detection results in the distance direction from the wave transmitting and receiving unit 50 in a first range, which is a predetermined direction included in a first range among predetermined ranges set in all directions relative to the ship 71, based on received signals from the first transducers 52a-52f having first center axes C1a-C1f included in the first range among the first center axes C1a-C1f. The second detection result image 23 may also be a time series of detection results in the distance direction from the wave transmitting and receiving unit 50 in the vertical direction based on received signals from the second transducer 53 having a second center axis C2 in the vertical direction, i.e., a fish detection result image itself as displayed by a conventional fish finder.

[0086] The third detection result image 24, together with the second detection result image 23, corresponds to the "second detection result image" of the present invention. The third detection result image 24 is a fish detection result image in which detection results for a second range are arranged in chronological order, like a fish finder, based on the reception signals of the first transducers 52a-52f having the first central axes C1a-C1f included in the second range, i.e., the first central axes C1a-C1f included in the second range, among the predetermined ranges set in all directions relative to the ship 71. This "second range" also corresponds to the "first range" of the present invention. If the second detection result image 23 is not a fish detection result image based on the reception signals of the second transducer 53, the third detection result image 24 may be a fish detection result image itself in which detection results in the distance direction from the wave transmitting / receiving unit 50 in the vertical direction are arranged in chronological order based on the reception signals of the second transducer 53 having the second central axis C2 in the vertical direction.

[0087] Since the first detection result image 22 only includes detection results at a certain point in time for at least each of the predetermined directions (first center axes C1a to C1f), there is a risk that detection targets GF will be frequently overlooked. Also, it is difficult to separate and grasp detection targets GF that are located vertically below the ship 71 in the first detection result image 22.

[0088] In contrast to this, a second detection result image 23 in which the detection results of the first range are arranged in time series based on the received signal in a predetermined direction included in a first range of the predetermined range can be generated by the second detection result image generating means 16 and displayed on the display device 21. Also, a third detection result image 24 in which the detection results of the second range are arranged in time series based on the received signal in a predetermined direction included in a second range of the predetermined range can be generated by the second detection result image generating means 16 and displayed on the display device 21.

[0089] As a result, the history of the detection results of the detection target GF that was present in the first range remains in the second detection result image 23, and the history of the detection results of the detection target GF that was present in the second range remains in the third detection result image 24. This makes it possible to prevent the detection target GF from being overlooked, which would be the case if only the first detection result image 22 were displayed. Furthermore, since not only the second detection result image 23 corresponding to the first range but also the third detection result image 24 corresponding to the second range can be generated and displayed on the display device 21, it is possible to prevent the detection target GF from being overlooked, while making it easier to grasp in which range the detection target GF was present, including in the past.

[0090] It is also possible to display a fish detection result image in which vertical detection results are arranged in chronological order in the second detection result image 23 or the third detection result image 24. In this way, the ultrasonic sonar device 1 can show the user the results of both horizontal detection and fish detection by displaying a conventional fish detection result image as the second detection result image 23 or the third detection result image 24 together with the first detection result image 22, which is the result image of horizontal detection. This allows the user to identify and grasp the detection target GF located vertically below the ship 71.

[0091] Here, the first range and the second range may be set as ranges that do not overlap within a predetermined range, or may be set as ranges that partially overlap each other.

[0092] For example, the first range may be set to half of the range on the starboard side of the ship 71 among all directions relative to the ship 71, and the second range may be set to half of the range on the port side of the ship 71 among all directions relative to the ship 71. In this case, the predetermined directions included in the first range are the first center axes C1b, C1a, and C1f, and the predetermined directions included in the second range are the first center axes C1c, C1d, and C1e (see FIG. 4(a)).

[0093] Therefore, in this case, the second detection result image generating means 16 generates a single detection result line by combining the reception signals of the first transducers 52b, 52a, and 52f for each depth, and arranges the detection result line in chronological order with the oldest detection result line on the right and the newest detection result line on the left to generate a second detection result image 23 similar to the fish detection result image of a fish finder. The second detection result image generating means 16 also generates a single detection result line by combining the reception signals of the first transducers 52c, 52d, and 52e for each depth, and arranges the detection result line in chronological order with the oldest detection result line on the right and the newest detection result line on the left to generate a third detection result image 24 similar to the fish detection result image of a fish finder.

[0094] As a result, the second detection result image 23 retains the history of the detection results of the detection target GF that was present in the range on the starboard side of the ship 71, and the third detection result image 24 retains the history of the detection results of the detection target GF that was present in the range on the port side of the ship 71. Therefore, it is possible to easily grasp whether the detection target GF was present on the starboard side or the port side of the ship 71, including in the past.

[0095] Here, the combination of received signals performed by the second detection result image generating means 16 is performed by selecting the maximum level from the levels of the multiple received signals to be combined for each depth. This allows reflected waves with high reflection intensity, which are likely to be a detection target GF, to be reliably displayed in the second detection result image 23 or the third detection result image 24. This more reliably prevents the detection target GF from being overlooked. Note that the combination of received signals may be performed by selecting the average value or median value of the multiple received signals to be combined for each depth, or the user may be able to set one of the maximum level, average value, or median value.

[0096] Furthermore, the first range may be set to the forward half of the range of all directions relative to the ship 71, and the second range may be set to the aft half of the range of all directions relative to the ship 71. In this case, the predetermined directions included in the first range are the first center axes C1b and C1c, and the predetermined directions included in the second range are the first center axes C1e and C1f (see FIG. 4(a)).

[0097] Therefore, in this case, the second detection result image generating means 16 generates a single detection result line by combining the reception signals of the first transducers 52b and 52c for each depth, and arranges the detection result line in chronological order with the oldest detection result line on the right and the newest detection result line on the left to generate a second detection result image 23 similar to the fish detection result image of a fish finder. The second detection result image generating means 16 also generates a single detection result line by combining the reception signals of the first transducers 52e and 52f for each depth, and arranges the detection result line in chronological order with the oldest detection result line on the right and the newest detection result line on the left to generate a third detection result image 24 similar to the fish detection result image of a fish finder.

[0098] As a result, the second detection result image 23 retains the history of the detection results of the detection target GF that existed in the range ahead of the ship 71, and the third detection result image 24 retains the history of the detection results of the detection target GF that existed in the range behind the ship 71. This makes it easy to know whether the detection target GF existed in the range ahead of the ship 71 or behind the ship 71, including in the past.

[0099] In this case, the predetermined direction included in the first range may be defined as the first center axis C1a, C1b, C1c, and C1d, and the second detection result image 23 may be generated using the received signals of the first transducers 52a, 52b, 52c, and 52d. Alternatively, the predetermined direction included in the second range may be defined as the first center axis C1d, C1e, C1f, and C1a, and the third detection result image 24 may be generated using the received signals of the first transducers 52d, 52e, 52f, and 52a. In this case, either the second detection result image 23 or the third detection result image 24 may include the received signals of the first transducers 52a and 52d, or both the second detection result image 23 and the third detection result image 24 may include the received signals of the first transducers 52a and 52d. The latter case corresponds to an example where the first range and the second range are set to ranges that partially overlap each other. As a result, the detection results from all directions in which the reflected waves of the ultrasonic waves TB are received can be included in at least one of the second detection result image 23 and the third detection result image 24.

[0100] Alternatively, the first range or the second range may be set in all directions relative to the ship 71, with all of the first center axes C1a to C1f being included in the first range or the second range. That is, the first range, which is the detection range of the detection result shown in the second detection result image 23, or the second range, which is the detection range of the detection result shown in the third detection result image 24, may be the same as the predetermined range, which is the detection range of the detection result shown in the first detection result image 22. In this case, the second detection result image generating means 16 generates one detection result line by combining the received signals of all the first transducers 52a to 52f for each depth, and arranges the detection result lines in chronological order, with the oldest detection result line on the right and the most recent detection result line on the left, to generate the second detection result image 23 or the third detection result image 24, which are similar to the fish detection result image of a fish finder.

[0101] As a result, the history of the detection results of the detection target GF that existed within the detection range (i.e., the specified range) of the detection result shown by the first detection result image 22 remains in the second detection result image 23 or the third detection result image 24, thereby preventing the detection target GF from being overlooked within that specified range.

[0102] When the first range or second range is set to cover all directions relative to the ship 71, the second detection result image generating means 16 may combine the received signals of not only all of the first transducers 52a to 52f but also the received signal of the second transducer 53 for each depth to generate one detection result line, and generate the second detection result image 23 or the third detection result image 24 that is similar to the fish detection result image of a fish finder. The received signals of the first transducers 52a to 52f also include detection results in the vertical direction directly below the ship 71, but by generating the second detection result image 23 or the third detection result image 24 including the received signal of the second transducer 53, the detection results in the vertical direction can be reflected with high sensitivity in the second detection result image 23 or the third detection result image 24.

[0103] Furthermore, when the first range is set to all directions relative to the ship 71, the second detection result image generating means 16 may not generate the third detection result image 24 and may hide the third detection result image 24 on the display device 21. Furthermore, the second detection result image generating means 16 may generate a fish detection result image, which is a detection result image in the vertical direction directly below the ship 71, as the third detection result image 24 based on the received signal of the second transducer 53, and display the third detection result image 24 on the display device 21. In the latter case, the user can use the third detection result image 24 to determine whether or not there was a detection target GF in the vertical direction directly below the ship 71, going back in time.

[0104] Similarly, when the second range is set to all directions relative to the ship 71, the second detection result image generating means 16 may not generate the second detection result image 23 and may hide the second detection result image 23 on the display device 21, or may generate a fish detection result image based on the received signal of the second transducer 53 as the second detection result image 23 and display the second detection result image 23 on the display device 21.

[0105] When the first range indicated by the second detection result image 23 is set to cover all directions relative to the ship 71, the user may be able to set whether or not the detection result of the second transducer 53 is included in the second detection result image 23. Furthermore, when the first range indicated by the second detection result image 23 is set to cover all directions relative to the ship 71, the ultrasonic sonar device 1 may be able to set whether or not the third detection result image 24 is displayed as the detection result in the vertical direction directly below the ship 71. Similarly, when the second range indicated by the third detection result image 24 is set to cover all directions relative to the ship 71, the user may be able to set whether or not the second detection result image 23 is displayed as the detection result in the vertical direction directly below the ship 71.

[0106] In addition, the ultrasonic sonar device 1 may allow the user to set whether the first range shown by the second detection result image 23 and the second range shown by the third detection result image 24 are on the starboard side / port side of the ship 71, or the front side / rear side of the ship 71, and whether the first range shown by the second detection result image 23 or the second range shown by the third detection result image 24 are in all directions relative to the ship 71.

[0107] Here, the first detection result image generating means 15 is provided with a first mark drawing means 15a, and the second detection result image generating means 16 is provided with a second mark drawing means 16a.

[0108] Based on the user's operation of the operation button 6, the first mark drawing means 15a draws a first mark 31 at a predetermined position on the first detection result image 22. The first mark 31 is a ring-shaped marker (ring marker) centered on the center of the circular first detection result image 22, i.e., the ship 71, in other words, a point that is assumed to be the position of the wave transmitting and receiving unit 50.

[0109] When the first mark drawing means 15a detects that the user has operated the "up" button or the "down" button (neither of which is shown) on the operation button 6 while the first mark 31 is not displayed, it draws the first mark 31 on the first detection result image 22 so that the first mark 31 is displayed as a ring marker at a predetermined position (initial position) on the first detection result image 22, as shown in Figure 6(a).

[0110] For the initial position, fixed coordinates are predetermined with respect to the coordinate system set in the first detection result image 22. As a result, when the user operates the "up" button or the "down" button to start displaying the first mark 31 in the first detection result image 22, even if the scale of the first detection result image 22 (the number of dots per 1 meter of distance on a surface parallel to the horizontal plane (horizontal distance)) is changed, the first mark 31 can always be displayed at the same apparent position in the first detection result image 22.

[0111] Furthermore, the initial position may be predetermined as a position in the first detection result image 22 that is a predetermined horizontal distance (for example, 10 m) from the ship 71. As a result, when the user operates the "up" button or the "down" button to start displaying the first mark 31 in the first detection result image 22, even if the scale of the first detection result image 22 is different, the first mark 31 can always be displayed in the first detection result image 22 at a position that is a predetermined horizontal distance from the ship 71 in accordance with the scale.

[0112] The initial position may also be determined in advance in the first detection result image 22 at a slant distance (distance along the first central axes C1a to C1f) from the ship 71 or at a position at a predetermined depth (e.g., 10 m). In this embodiment, the first central axes C1a to C1f are fixed at a predetermined depression angle, but some ultrasonic sonar devices allow the depression angle of the transmission and reception direction of the ultrasonic waves TB to be changed. When the user operates the "up" button or the "down" button to start displaying the first mark 31 in the first detection result image 22, even if the scale of the first detection result image 22 or the depression angle of the transmission and reception direction of the ultrasonic waves TB is different, the first mark 31 can always be displayed in the first detection result image 22 at a position at a predetermined slant distance from the ship 71 or at a predetermined depth in accordance with the scale or depression angle.

[0113] When the first mark 31 is displayed and the first mark drawing means 15a detects that the "up" button (not shown) provided on the operation button 6 has been operated by the user, the first mark drawing means 15a increases the diameter of the first mark 31, which is a ring marker, by a predetermined number of dots (for example, 10 dots) and draws it on the first detection result image 22. This makes it possible to increase the diameter of the first mark 31 displayed on the first detection result image 22, as shown in FIG. 6(b), based on the user's operation.

[0114] Furthermore, when the first mark drawing means 15a detects that the user has operated a "down" button (not shown) provided on the operation button 6 while the first mark 31 is displayed, it narrows the diameter of the first mark 31, which is a ring marker, by a predetermined number of dots (for example, 10 dots) and draws it on the first detection result image 22. This makes it possible to narrow the diameter of the first mark 31 displayed on the first detection result image 22 based on the user's operation.

[0115] The relationship between the "up" button and the "down" button may be reversed. That is, when the "up" button is operated, the diameter of the first mark 31 displayed in the first detection result image 22 may be narrowed, and when the "down" button is operated, the diameter of the first mark 31 displayed in the first detection result image 22 may be widened. Also, although the case where the "up" button and the "down" button are used to operate the display of the first mark 31 has been described, the operation related to the display of the first mark 31 may be assigned to any operation button 6.

[0116] When drawing the first mark 31 on the first detection result image 22, the first mark drawing means 15a calculates the underwater depth at the drawing position (predetermined position) of the first mark 31 on the first detection result image 22, or the distance (slant distance) from the ship 71 (in other words, the wave transmitting and receiving unit 50). Specifically, the first mark drawing means 15a extends the first mark 31 drawn on the first detection result image 22 in the vertical direction, and calculates the underwater depth at the intersection between the extended surface (side surface of the cylinder) and the first central axes C1a to C1f, or the distance (slant distance) from the ship 71 (wave transmitting and receiving unit 50) to the intersection. This calculated information on the underwater depth at the drawing position of the first mark 31, or information on the distance from the ship 71 (wave transmitting and receiving unit 50), is used by the second mark drawing means 16a.

[0117] The second mark drawing means 16a draws the second mark 32 in a straight line along the time axis on the second detection result image 23 and / or the third detection result image 24 so that when the first mark 31 is drawn and displayed on the first detection result image 22, the second mark 32 is displayed in conjunction with the first mark 31 on the second detection result image 23 and / or the third detection result image 24.

[0118] Specifically, the second mark drawing means 16a draws the second mark 32 at a position in the second detection result image 23 and / or the third detection result image 24 corresponding to the depth or distance (slant distance) from the ship 71 (transmitting and receiving unit 50) calculated by the first mark drawing means 15a at the underwater depth at the drawing position (predetermined position) of the first mark 31 in the first detection result image 22, as shown in Figure 6(a).

[0119] In addition, when the specified position (drawing position) at which the first mark 31 is drawn is changed by the first mark drawing means 15a, the second mark drawing means 16a draws the second mark 32 at a position in the second detection result image 23 and / or the third detection result image 24 corresponding to the changed depth of the first mark 31 or the distance (slant distance) from the ship 71 (transmitting and receiving unit 50), so as to be linked to the first mark 31, as shown in Figure 6(b).

[0120] Here, for example, if the second detection result image 23 and / or the third detection result image 24 are generated based on the received signals of the first transducers 52a-52f having the first central axes C1a-C1f included in the first range or the second range of the first central axes C1a-C1f, they are chronologically arranged detection results for each slant distance in the distance direction along the first central axes C1a-C1f. Therefore, for such second detection result image 23 and / or third detection result image 24, the second mark drawing means 16a can easily draw the second mark 32 at a position in the second detection result image 23 and / or the third detection result image 24 corresponding to that distance (slant distance) by receiving information on the distance (slant distance) from the ship 71 (transmit / receive unit 50) to the drawing position (predetermined position) of the first mark 31 from the first mark drawing means 15a. Then, from the second mark 32 displayed in the second detection result image 23 and / or the third detection result image 24, the user can intuitively grasp the depth at the first mark 31 displayed in the first detection result image 22, as shown in Figure 6.

[0121] The second mark drawing means 16a can also receive depth information at the drawing position (predetermined position) of the first mark 31 from the first mark drawing means 15a, and calculate, based on the received depth information, the distance (slant distance) from the ship 71 (transmitting and receiving unit 50) to the drawing position (predetermined position) of the first mark 31. The second mark drawing means 16a can also draw the second mark 32 at the calculated distance (slant distance) on the second detection result image 23 and / or the third detection result image 24.

[0122] Furthermore, for example, if the second detection result image 23 and / or the third detection result image 24 are generated based on the received signal of the second transducer 53 having the second central axis C2 in the vertical direction, as described above, they are fish detection result images in which the detection results for each depth are arranged in chronological order. Therefore, for such second detection result image 23 and / or third detection result image 24, the second mark drawing means 16a can easily draw the second mark 32 at a position in the second detection result image 23 and / or the third detection result image 24 corresponding to that depth by receiving depth information at the drawing position (predetermined position) of the first mark 31 from the first mark drawing means 15a. Then, from the second mark 32 displayed in the second detection result image 23 and / or the third detection result image 24, the user can intuitively grasp the depth at which the first mark 31 is displayed in the first detection result image 22.

[0123] The second mark drawing means 16a can also receive information on the distance (slant distance) from the ship 71 (transmitting / receiving unit 50) to the drawing position (predetermined position) of the first mark 31 from the first mark drawing means 15a, and calculate the depth at the drawing position (predetermined position) of the first mark 31 based on the received information. The second mark drawing means 16a can also draw the second mark 32 at the calculated depth position on the second detection result image 23 and / or the third detection result image 24.

[0124] The display control means 18 performs control to display the first detection result image 22 generated by the first detection result image generation means 15, the second detection result image 23 generated by the second detection result image generation means 16, and / or the third detection result image 24 on the display device 21. For example, the display control means 18 adjusts the size and display position of the first detection result image 22, the second detection result image 23, and the third detection result image 24, and also combines characters, symbols, figures, etc. with these images to display one image on the display device 21.

[0125] Next, a method for performing horizontal detection using the sonar function of the ultrasonic sonar device 1 of this embodiment configured as described above will be described with reference mainly to FIG.

[0126] When the user turns on the power to the ultrasonic sonar device 1 via the operation button 6, or when an instruction is given to start performing horizontal detection using the sonar function while the power is on, the ultrasonic sonar device 1 first drives the lifting device 41 to make the wave transmitting and receiving unit 50 appear in the water from the bottom of the ship 71. Note that in an ultrasonic sonar device 1 that does not have the lifting device 41 and in which the wave transmitting and receiving unit 50 is fixed to the ship 71 in a position where it can transmit and receive ultrasonic waves TB into the water, the driving operation of the lifting device 41 is omitted.

[0127] Next, the ultrasonic sonar device 1 outputs drive signals from the transmitting units 11a and 11b, and transmits ultrasonic waves TB in the directions of the first central axes C1a to C1f and the second central axis C2, respectively, from the first transducers 52a to 52f and the second transducer 53 of the wave transmitting and receiving unit 50 for a predetermined time. Due to the directional characteristics of the ultrasonic waves TB transmitted from each of the first central axes C1a to C1f, the ultrasonic waves TB are transmitted in all directions to the ship 71.

[0128] The ultrasonic waves TB transmitted from the first oscillators 52a to 52f and the second oscillator 53 are reflected from the detection target GF and the water bottom SB that are present within a predetermined range from which the ultrasonic waves TB are transmitted. The reflected waves are received by the first oscillators 52a to 52f and the second oscillator 53, and signals (voltages) are output from the first oscillators 52a to 52f and the second oscillator 53 as the intensities of the reflected waves received in the directions of the first central axes C1a to C1f and the second central axis C2, respectively.

[0129] The signals (voltages) output from the first oscillators 52a to 52f and the second oscillator 53 are amplified by the corresponding receiving units 13a to 13g, converted into digital signals (digital values), and output as received signals (original received signals) in the directions of the first center axes C1a to C1f and the second center axis C2.

[0130] These original reception signals are subjected to spatial (and temporal) filtering by the filter 14. Furthermore, the filter 14 sets a virtual direction at a midpoint between adjacent first center axes C1a to C1f with respect to each of the first center axes C1a to C1f, and reception signals assuming that ultrasonic waves TB are virtually transmitted and received in the virtual direction are generated from the reception signals of the first transducers 52a to 52f.

[0131] The filtered received signals in the directions of the first center axes C1a to C1f and the second center axis C2 output by the filter 14, and the virtual received signals in virtual directions virtually set between each of the first center axes C1a to C1f, are input to the first detection result image generating means 15 and the second detection result image generating means 16.

[0132] Then, for the omnidirectional detection of the ship 71, a first detection result image 22 is generated by the first detection result image generation means 15, which is a circular detection result image that shows the latest detection results in each azimuth direction projected onto a plane parallel to the horizontal plane.

[0133] In addition, based on the received signals in the direction of the first center axis C1a to C1f included in the first range set by the user out of the predetermined range set in all directions relative to the ship 71, the second detection result image 23 in which the detection results of the first range are arranged in chronological order like a fish finder is generated by the second detection result image generation means 16.

[0134] Furthermore, based on the received signals in the direction of the first center axis C1a to C1f, which is included in a second range set by the user among a predetermined range set in all directions relative to the ship 71, a third detection result image 24 is generated by the second detection result image generating means 16, in which the detection results of the second range are arranged in chronological order like a fish finder.

[0135] In addition, based on user instructions, the second detection result image generating means 16 can also generate a fish detection result image as the second detection result image 23 or the third detection result image 24, in which the detection results in the vertical direction are arranged in chronological order based on the received signals in the direction of the second center axis C2, which is the vertical direction, instead of the received signals in the direction of the first center axis C1a to C1f included in the first range or the second range.

[0136] The first detection result image 22, as well as the second detection result image 23 and the third detection result image 24, which have been set for display by the user, are displayed on the display device 21 by the display control means 18 as shown in FIG. 6.

[0137] Furthermore, according to the ultrasonic sonar device 1, when the user views a detection result image such as the first detection result image 22 and finds a concerning reaction (a reflected wave of the ultrasonic wave TB), the user can operate the "up" button or the "down" button (not shown) provided on the operation button 6, and a first mark 31 will be displayed at the position of the first detection result image 22 where the concerning reaction occurred. Furthermore, according to the ultrasonic sonar device 1, when the first mark 31 is displayed on the first detection result image 22, a second mark 32 will be displayed on the second detection result image 23 and / or the third detection result image 24 in conjunction with the first mark 31.

[0138] Here, referring to Fig. 7, a description will be given of processing related to drawing the first mark 31 on the first detection result image 22, and drawing the second mark 32 on the second detection result image 23 and / or the third detection result image 24. Fig. 7 is a flowchart showing the mark drawing processing executed by the CPU of the control device 10 of the ultrasonic sonar device 1. This mark drawing processing is executed periodically, for example, at predetermined time intervals, but is not necessarily limited to this, and may also be executed when buttons related to drawing markers (the "up" button and the "down" button) are operated.

[0139] When the execution of the mark drawing process is started, the control device 10 first determines whether or not the first mark 31 is being displayed in the first detection result image 22 (S11). As a result, if the first mark 31 is not being displayed in the first detection result image 22 (S11: No), the control device 10 determines whether the "up" button or the "down" button provided on the operation button 6 has been operated (S12).

[0140] If the first mark 31 is not displayed in the first detection result image 22 and neither the "up" button nor the "down" button is operated (S12: No), the control device 10 ends the mark drawing process.

[0141] On the other hand, if the "up" button or the "down" button is operated when the first mark 31 is not displayed on the first detection result image 22 (S12: Yes), the first mark drawing means 15a of the control device 10 draws the first mark 31 at a predetermined position (initial position) on the first detection result image 22 (S13), and the process proceeds to the process of S18 described below. By the process of S13, the first mark 31 is displayed at the initial position on the first detection result image 22.

[0142] On the other hand, if the result of the process in S11 is that the first mark 31 is being displayed on the first detection result image 22 (S11: Yes), the control device 10 then determines whether the "up" button has been operated (S14).

[0143] If the "up" button is operated while the first mark 31 is being displayed on the first detection result image 22 (S14: Yes), the first mark drawing means 15a of the control device 10 increases the diameter of the first mark 31 being displayed on the first detection result image 22 by a predetermined number of dots and draws it anew on the first detection result image 22 (S15), and the process proceeds to the processing of S18 described below. By the processing of S15, the user can increase the diameter of the first mark 31 that was being displayed on the first detection result image 22 by operating the "up" button.

[0144] On the other hand, if the determination in S14 shows that the "up" button has not been operated (S14: No), the control device 10 then determines whether the "down" button has been operated (S16). As a result, if neither the "up" button nor the "down" button has been operated while the first mark 31 is being displayed in the first detection result image 22 (S16: No), the control device 10 ends the mark drawing process. As a result, the first mark 31 remains displayed in the same position in the first detection result image 22.

[0145] On the other hand, if the result of the determination in S16 is that the "Down" button is operated while the first mark 31 is being displayed on the first detection result image 22 (S16: Yes), the first mark drawing means 15a of the control device 10 narrows the diameter of the first mark 31 being displayed on the first detection result image 22 by a predetermined number of dots and draws it anew on the first detection result image 22 (S17), and the process proceeds to the processing of S18 described below. By the processing of S17, the user can narrow the diameter of the first mark 31 that was displayed on the first detection result image 22 by operating the "Down" button.

[0146] In this way, by operating the "up" button and the "down" button of the operation button 6, the user can display the first mark 31 on the first detection result image 22 and can also change the position of the first mark 31 drawn on the first detection result image 22 by, for example, enlarging or reducing the diameter of the first mark 31. Therefore, by operating the "up" button and the "down" button of the operation button 6, the user can align and display the first mark 31 at the position on the first detection result image 22 where a reaction of interest was found.

[0147] In the process of S18, the first mark drawing means 15a of the control device 10 calculates the underwater depth at the drawing position (predetermined position) of the first mark 31 displayed on the first detection result image 22, or the distance (slant distance) from the ship 71 (in other words, the wave transmitting and receiving unit 50) (S18). Then, the second mark drawing means 16a of the control device 10 draws the second mark 32 on the second detection result image 23 and / or the third detection result image 24 at the underwater depth at the drawing position (predetermined position) of the first mark 31, or the distance (slant distance) from the ship 71 (in other words, the wave transmitting and receiving unit 50), calculated by the first mark drawing means 15a in the process of S18 (S19), and the control device 10 ends the mark drawing process.

[0148] By the processing of S19, the second mark 32 is displayed in the second detection result image 23 and / or the third detection result image 24 in conjunction with the first mark 31 displayed in the first detection result image 22. Then, from the second mark 32 displayed in the second detection result image 23 and / or the third detection result image 24, the user can intuitively grasp the depth at the first mark 31 displayed in the first detection result image 22.

[0149] The ultrasonic sonar device 1 configured as above provides the following advantageous effects.

[0150] (1) According to the ultrasonic sonar device 1, the wave transmitting and receiving unit 50 transmits ultrasonic waves TB into the water over a predetermined range, and receives reflected waves of the ultrasonic waves TB reflected from various positions underwater in each predetermined direction (the directions of the first center axes C1a to C1f and the second center axis C2) including at least a plurality of directions set in the azimuth direction (the directions of the first center axes C1a to C1f). Based on the reflected waves received by the wave transmitting and receiving unit 50, received signals for each predetermined direction are generated by the receiving units 13a to 13g and the filter 14. Based on the generated received signals for each predetermined direction, a first detection result image 22 is generated by the first detection result image generating means 15, which projects and displays the latest detection results over the predetermined range onto a plane parallel to the horizontal plane.

[0151] Further, based on the received signals in at least one direction out of the directions of the first central axes C1a to C1f and the second central axis C2, a second detection result image 23 and / or a third detection result image 24 in which detection results in the distance direction from the wave transmitting and receiving unit 50 are arranged in time series are generated by the second detection result image generating means 16. The first detection result image 22 generated by the first detection result image generating means 15 and the second detection result image 23 and / or the third detection result image 24 generated by the second detection result image generating means 16 can be displayed together on the display device 21.

[0152] The user can determine the presence or absence of a detection target GF within a predetermined range, as well as the direction and horizontal distance at which the detection target GF is located, from the first detection result image 22. Furthermore, the second detection result image 23 and the third detection result image 24 retain a history of the detection results in the direction of the received signal that was the basis for generating the second detection result image 23 and the third detection result image 24, so the user can prevent overlooking the detection target GF in that direction. Furthermore, the second detection result image 23 and the third detection result image 24 show the detection results in the distance direction from the wave transmitting and receiving unit 50, allowing the user to grasp the depth at which the detection target GF is located.

[0153] (2) According to the ultrasonic sonar device 1, the first mark drawing means 15a provided in the first detection result image generating means 15 draws the first mark 31 at a predetermined position on the first detection result image 22 based on an operation by the user. Furthermore, based on the underwater depth or the distance from the wave transmitting and receiving unit 50 at the predetermined position where the first mark 31 is drawn on the first detection result image 22, the second mark 32 is drawn by the second mark drawing means 16a provided in the second detection result image generating means 16 at a position on the second detection result image 23 and / or the third detection result image 24 that corresponds to that depth or distance.

[0154] As a result, when the user draws the first mark 31 at a desired position designated on the first detection result image 22, the second mark 32 is drawn in conjunction with this on the second detection result image 23 and / or the third detection result image 24, so that the depth of the first mark 31 can be intuitively grasped from the second mark 32 drawn on the second detection result image 23 and / or the third detection result image 24. Thus, the ultrasonic sonar device 1 allows the depth of the detection target GF in horizontal detection to be intuitively grasped.

[0155] (3) According to the ultrasonic sonar device 1, the second detection result image generating means 16 combines the received signals in the direction of the first central axes C1a to C1f included in a first range of the predetermined range to generate a detection result in the distance direction in the first range, and the detection results in the first range are arranged in chronological order to generate the second detection result image 23. Also, the second detection result image generating means 16 combines the received signals in the direction of the first central axes C1a to C1f included in a second range of the predetermined range to generate a detection result in the distance direction in the second range, and the detection results in the second range are arranged in chronological order to generate the third detection result image 24.

[0156] As a result, all of the detection results of the detection target GF based on the transmission and reception of ultrasonic waves TB in each of the directions of the plurality of first central axes C1a to C1f included in the first range are included in the second detection result image 23, and the history of the detection results remains in the second detection result image 23. Also, all of the detection results of the detection target GF based on the transmission and reception of ultrasonic waves TB in each of the directions of the plurality of first central axes C1a to C1f included in the second range are included in the third detection result image 24, and the history of the detection results remains in the third detection result image 24. This has the effect of more reliably preventing the detection target GF from being overlooked.

[0157] Furthermore, by drawing the second mark 32 on such second detection result image 23 and / or third detection result image 24, the depth of the first mark 31 drawn on the first detection result image 22 can be intuitively grasped.

[0158] (4) According to the ultrasonic sonar device 1, the wave transmitting and receiving unit 50 receives reflected waves of ultrasonic waves TB reflected from various underwater positions in the direction of the second central axis C2, which is the vertical direction as one of the predetermined directions. Then, the second detection result image generating means 16 generates a detection result in the distance direction based on the vertically received signal from the wave transmitting and receiving unit 50, and can generate a second detection result image 23 or a third detection result image 24 in which the detection results are arranged in chronological order. The second detection result image 23 or the third detection result image 24 is a so-called conventional fish detection result image.

[0159] The ultrasonic sonar device 1 can show the user the results of both horizontal detection and fish detection by displaying the second detection result image 23 or the third detection result image 24, which are conventional fish detection result images, along with the first detection result image 22, which is a horizontal detection result image. Furthermore, by drawing the second mark 32 on the second detection result image 23 or the third detection result image 24, which are fish detection result images, the depth of the first mark 31 drawn on the first detection result image 22 can be more intuitively grasped.

[0160] (5) According to the ultrasonic sonar device 1, the first mark drawing means 15a draws the first mark 31 in a ring shape on the first detection result image 22, with the center at a point that is assumed to be the position of the ship 71 (transmitting / receiving unit 50). In the first detection result image 22, the ring-shaped first mark 31 is a line connecting points of the same depth (so-called contour lines). In other words, the user can easily grasp the position of the same depth in the first detection result image 22 from the ring-shaped first mark 31. The depth of this ring-shaped first mark 31 can then be intuitively grasped from the second mark 32 drawn on the second detection result image 23 or the third detection result image 24.

[0161] (6) According to the ultrasonic sonar device 1, the second mark drawing means 16a draws the second mark 32 in a straight line along the time axis on the second detection result image 23 or the third detection result image 24. This improves the visibility of the second mark 32 displayed on the second detection result image 23 or the third detection result image 24, and therefore the depth of the detection target GF in horizontal detection can be more intuitively grasped from the second mark 32.

[0162] (7) According to the ultrasonic sonar device 1, when the user operates the “up” button or the “down” button of the operation buttons 6, the position of the first mark 31 drawn on the first detection result image 22 is changed by the first mark drawing means 15a based on the operation. Then, in conjunction with the change in the first mark 31, the position of the second mark 32 drawn on the second detection result image 23 and / or the third detection result image 24 is also changed by the second mark drawing means 16a. This allows the user to easily grasp the degree of change in the position of the second mark 32 displayed on the second detection result image 23 and / or the third detection result image 24 relative to the change in the position of the first mark 31 displayed on the first detection result image 22 while operating the “up” button and the “down” button of the operation buttons 6, and thus allows the user to intuitively grasp the change in depth within the first detection result image 22.

[0163] The ultrasonic sonar device 1 according to this embodiment achieves the above-described effects through other configurations.

[0164] Although the present invention has been described above based on the embodiments, it is readily apparent that the present invention is not limited to the above embodiments and that various improvements and modifications are possible within the scope of the present invention. For example, each embodiment may be modified by adding or replacing a part or parts of the configuration of another embodiment, including the modifications described below. Furthermore, the numerical values ​​given in the above embodiments are merely examples, and other numerical values ​​may of course be adopted.

[0165] In the above embodiment, the case where the wave transmission and reception unit 50 is provided with the second transducer 53 whose second central axis C2 is the vertical direction directly below the ship 71 has been described. However, at least when performing horizontal detection as a sonar function, there may be cases where detection in the vertical direction directly below the ship 71 is not necessarily required. Furthermore, in the above embodiment, the directional characteristics of the ultrasonic waves TB transmitted from the first transducers 52a to 52f include the vertical direction directly below the ship 71, so that although the detection sensitivity and / or accuracy decreases, it is also possible to detect a detection target GF present in the vertical direction directly below the ship 71 using only the first transducers 52a to 52f. Therefore, the second transducer 53 may be omitted from the wave transmission and reception unit 50.

[0166] In the above embodiment, the first transducers 52a to 52f are tilted and arranged with their acoustic radiation surfaces facing inward (toward the side where the second transducer 53 is located), but this is not necessarily limited to this, and the first transducers 52a to 52f may also be tilted and arranged with their acoustic radiation surfaces facing outward (toward the side opposite to the side where the second transducer 53 is located). In this case, too, it is preferable that the first central axes C1a to C1f each form a predetermined angle θ with the second central axis C2 (the vertical direction when the wave transmitting and receiving unit 50 is attached to the ship 71) selected from the range of 20° to 50°.

[0167] In the above embodiment, the case where the first transducers 52a to 52f are arranged around the second transducer 53 in the transmission and reception unit 50 has been described. However, the method of arranging the first transducers 52a to 52f and the second transducer 53 in the transmission and reception unit 50 may be arbitrary, from a broad perspective, as long as, when the transmission and reception unit 50 is attached to the ship 71, the second central axis C2 is in the vertical direction, the first central axes C1a to C1f form a predetermined angle θ with respect to the second central axis C2 (in other words, the vertical direction), and the first central axes C1a to C1f are in a predetermined direction. For example, the first oscillators 52a to 52f and the second oscillator 53 may be arranged in one row or two rows, or the first oscillators 52a to 52f may be arranged in two rows and the second oscillator 53 may be arranged at any position between the two rows of the first oscillators 52a to 52f.

[0168] In the above embodiment, a case has been described in which detection is performed over a predetermined range set in all directions of the ship 71, but the predetermined range may be set in a portion of all directions of the ship 71. In this case, too, the first range may be set as part or all of the predetermined range. Furthermore, the second range may be set as part or all of the predetermined range as long as it is different from the first range.

[0169] In the above embodiment, the first mark 31 is displayed as a ring marker on the first detection result image 22, but this is not necessarily limited to this. For example, the first mark 31 may be represented by a semicircle or an arc drawn within a predetermined range (predetermined angle) instead of a complete ring (circle). In this case, the diameter of the first mark 31 can be enlarged or reduced by using the "up" and "down" buttons provided on the operation button 6, and the position where the first mark 31 is displayed can be moved on the circle represented by the diameter set by the "up" and "down" buttons provided on the operation button 6.

[0170] The first mark 31 may also be an "X" mark, a "+" mark, or the like, which indicates a predetermined point. In this case, the first mark 31 may be displayed while moving up, down, left, and right within the first detection result image 22 by pressing the "up," "down," "left," and "right" buttons provided on the operation button 6.

[0171] In the above embodiment, the second mark 32 is described as being drawn in a straight line along the time axis on the second detection result image 23 and / or the third detection result image 24, but the length of the line may be arbitrary. Also, the second mark 32 may be represented by a point such as an "X" mark or a "+" mark instead of a straight line. In this case, when the position of the first mark 31 is changed, the second mark 32 may move in conjunction with the first mark 31 along the distance direction of the detection result at a certain time.

[0172] In the above embodiment, a case has been described in which the number of first transducers 52 in the transmitter-receiver unit 50 is reduced, and ultrasonic waves TB are transmitted and received from the first transducers 52 simultaneously over a predetermined range set in all directions of the ship 71 to perform horizontal detection. However, the present invention, in which not only the first detection result image 22 but also the second detection result image 23 and the third detection result image 24 are displayed on the display device 21, and the second mark 32 is displayed in the second detection result image 23 and / or the third detection result image 24 based on the underwater depth of the position of the first mark 31 displayed in the first detection result image 22 or the distance from the transmitter-receiver unit, can also be applied to detection using PPI sonar or scanning sonar. [Explanation of symbols]

[0173] 1. Ultrasonic sonar device 6 Operation buttons 10 Control device 11a Transmitting unit 11b Transmitting unit 13a Receiving unit 13b Receiving unit 13c receiving unit 13d Receiving unit 13e receiving unit 13f receiving unit 13g receiving unit 14 Filters 15 First detection result image generating means 15a First mark drawing means 16 Second detection result image generating means 16a Second mark drawing means 18 Display control means 21 Display device 22 First detection result image 23 Second detection result image 24 Third detection result image 31 First Landmark 32 Second Landmark 50 Transmitting and receiving unit 52 First oscillator 52a First oscillator 52b First oscillator 52c First oscillator 52d First oscillator 52e First oscillator 52f 1st oscillator 53 Second oscillator 71 Ship C1a 1st central axis C1b 1st central axis C1c 1st central axis C1d 1st central axis C1e 1st center axis C1f 1st central axis C2 2nd central axis TB ultrasound

Claims

1. a wave transmitting / receiving unit configured to transmit ultrasonic waves into water over a predetermined range and receive reflected waves of the ultrasonic waves reflected from each position in the water in each predetermined direction including at least a plurality of directions set in azimuth directions; a reception signal generating means for generating a reception signal for each of the predetermined directions based on the reflected wave received by the wave transmitting and receiving unit; a first detection result image generating means for generating a first detection result image by projecting the latest detection result across the predetermined range onto a plane parallel to a horizontal plane, based on the reception signals for each of the predetermined directions generated by the reception signal generating means; a second detection result image generating means for generating a second detection result image in which detection results in a distance direction from the wave transmitting and receiving unit are arranged in time series based on the received signal in at least one direction; a display means for displaying the first detection result image generated by the first detection result image generating means and the second detection result image generated by the second detection result image generating means together; an operation means for receiving an operation from a user, The first detection result image generating means a first mark drawing means for drawing a first mark at a predetermined position on the first detection result image based on an operation of the operation means by a user, and for changing a position of the first mark drawn on the first detection result image based on an operation of the operation means by a user; The second detection result image generating means an ultrasonic sonar device comprising: a second mark drawing means for drawing a second mark at a position on the second detection result image corresponding to the depth or distance based on the underwater depth or the distance from the transmission and reception unit at the specified position where the first mark is drawn on the first detection result image by the first mark drawing means; and when the position of the first mark to be drawn on the first detection result image is changed, a second mark is drawn at a position on the second detection result image corresponding to the depth or distance based on the underwater depth or the distance from the transmission and reception unit at the changed position where the first mark is drawn, in conjunction with the change.

2. 2. The ultrasonic sonar device according to claim 1, wherein the second detection result image generation means generates a detection result for the distance direction in the first range by synthesizing the received signals in the specified direction included in a first range of the specified range, and generates the second detection result image by arranging the detection results for the first range in chronological order.

3. the wave transmitting and receiving unit is configured to receive reflected waves of the ultrasonic waves reflected from various positions in the water in a vertical direction as one of the predetermined directions, 2. The ultrasonic sonar device according to claim 1, wherein the second detection result image generating means generates a detection result in the distance direction based on the received signal in the vertical direction, and arranges the detection results in time series to generate the second detection result image.

4. 2. The ultrasonic sonar device according to claim 1, wherein the first mark drawing means draws the first mark in a ring shape on the first detection result image, with the center being a point that is assumed to be the position of the wave transmitting and receiving unit.

5. 2. The ultrasonic sonar device according to claim 1, wherein said second mark drawing means draws said second mark linearly along a time axis on said second detection result image.

Images