Ultrasonic sonar device

Abstract

An ultrasonic sonar device 1 comprises: a first mark drawing means 15a for drawing a first mark 31 at a prescribed position of a first detection result image 22 on the basis of an operation from a user; and a second mark drawing means 16a for, on the basis of the depth in water at the prescribed position where the first mark 31 is drawn on the first detection result image 22 by the first mark drawing means 15a or the distance from a wave transmission / reception unit 50, drawing a second mark 32 at a position, in a second detection result image 23 and / or a third detection result image 24, corresponding to the depth or the distance.

Description

Ultrasonic Sonar Device

[0001] The present invention relates to an ultrasonic sonar device mounted on a ship for detecting underwater over a predetermined range around the ship.

[0002] An ultrasonic sonar device that detects detection targets such as fish schools over a predetermined range in water by transmitting and receiving ultrasonic waves is known. A general fish school detection device detects a detection target in the vertical direction from a ship, whereas an ultrasonic sonar device can detect detection targets existing around the ship such as horizontal detection and vertical cross-section detection. As the ultrasonic sonar device, for example, a PPI sonar (searchlight sonar) and a scanning sonar are known.

[0003] The PPI sonar irradiates (transmits) a thin beam-shaped ultrasonic wave, and a vibrator that receives a reflected wave from the detection target of the ultrasonic wave is configured to be rotatable or pivotable, and detects underwater around the ship while changing the irradiation direction of the ultrasonic wave (for example, Patent Document 1). Since the structure of the vibrator is simple, it can be configured at a low cost, but it takes time until one detection over a predetermined range is completed.

[0004] The scanning sonar forms a plurality of fine vibrators in an array on the surface of a cylinder, a sphere, etc., transmits ultrasonic waves simultaneously from each vibrator, and receives the reflected waves, thereby detecting underwater around the ship at once (for example, Patent Document 2). While one detection over a predetermined range can be performed in a short time, the vibrator array becomes complicated, and also, since the transmission / reception circuit for transmitting and receiving ultrasonic waves in each vibrator becomes large-scale, it becomes expensive.

[0005] Japanese Unexamined Patent Application Publication No. 2019-066208, Japanese Unexamined Patent Application Publication No. 2019-200204

[0006] When performing horizontal detection in such an ultrasonic sonar device, it is general that the transmission / reception direction of the ultrasonic wave is set in a plurality of directions over a predetermined range with respect to the azimuth direction in a state fixed at a predetermined depression angle. That is, horizontal detection in an ultrasonic sonar device is generally performed in a diagonally downward direction from a ship.

[0007] On the other hand, ultrasonic sonar displays the detection results of horizontal detection as a circular image projected onto a plane parallel to the horizontal. This image can easily show the user the presence or absence of detected objects such as schools of fish within a predetermined range, as well as the direction in which the detected objects are located and how far they are horizontally from the vessel. However, there was a problem in that it was difficult for the user to intuitively grasp the depth at which the detected objects were located from this image.

[0008] This invention was made to solve the above-mentioned problems, and aims to provide an ultrasonic sonar device that allows for an intuitive understanding of the depth of an object being detected in horizontal detection.

[0009] To achieve this objective, a first aspect of the present invention provides an ultrasonic sonar device comprising: a transmitter / receiver unit configured to transmit ultrasonic waves into water over a predetermined range and to receive reflected ultrasonic waves reflected from each position in the water for each predetermined direction including at least a plurality of directions set in the azimuthal direction; a receiving signal generation means for generating received signals for each predetermined direction based on the reflected waves received by the transmitter / receiver unit; a first detection result image generation means for generating a first detection result image that projects the latest detection results over the predetermined range onto a plane parallel to the horizontal plane based on the received signals for each predetermined direction generated by the receiving signal generation means; and a first detection result image generation means that generates a first detection result image showing the latest detection results over the predetermined range projected onto a plane parallel to the horizontal plane based on the received signals in at least one direction. The system comprises a second detection result image generation means for generating a second detection result image arranged in chronological order, and a display means for displaying together the first detection result image generated by the first detection result image generation means and the second detection result image generated by the second detection result image generation means, wherein the first detection result image generation means includes a first marker drawing means for drawing a first marker at a predetermined position in the first detection result image based on an operation from the user, and the second detection result image generation means includes a second marker drawing means for drawing a second marker at a position in the second detection result image corresponding to the depth in the water or the distance from the transmitting / receiving unit at the predetermined position where the first marker is drawn on the first detection result image by the first marker drawing means.

[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 predetermined direction included in the first range from the predetermined range to generate detection results in the distance direction in the first range, and generates the second detection result image by arranging the detection results of the first range in chronological order.

[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 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 generation means generates detection results in the distance direction based on the received signal in the vertical direction, and generates the second detection result image by arranging the detection results in chronological order.

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

[0013] A fifth aspect of the present invention is an ultrasonic sonar device according to any of the first to fourth aspects, wherein the second marker drawing means draws the second marker linearly 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 of the first to fifth aspects, comprising an operating means for receiving operations from a user, wherein the first marker drawing means changes the position of the first marker to be drawn on the first detection result image based on the operation of the operating means by the user.

[0015] According to the ultrasonic sonar device of the first aspect of the present invention, a transmitting / receiving unit transmits ultrasonic waves into the water over a predetermined range, and reflected ultrasonic waves reflected from each position in the water are received for each predetermined direction, which includes at least a plurality of directions set in the azimuth direction. Based on the reflected waves received by the transmitting / receiving unit, a received signal is generated for each predetermined direction by a received signal generation means. Based on the received signals for each predetermined direction generated by the received signal generation means, a first detection result image is generated by a first detection image generation means, which projects the latest detection results over a predetermined range onto a plane parallel to the horizontal plane. Furthermore, based on the received signal from at least one direction, a second detection result image is generated by a second detection result image generation means, which arranges the detection results in the distance direction from the transmitting / receiving unit in chronological order. The first detection result image generated by the first detection result image generation means and the second detection result image generated by the second detection result image generation means are displayed together by a display means. The user can determine from the first detection result image whether or not there is a target object within a predetermined range, as well as the direction and horizontal distance of the target object. Furthermore, the second detection result image retains a history of detection results in the direction of the received signal that formed the basis for generating the second detection result image, thus reducing the user's risk of overlooking a target object in that direction. The second detection result image also shows the detection result in the distance direction from the transmitting / receiving unit, allowing the user to understand the depth at which the target object is located. Here, a first marker drawing means provided in the first detection result image generation means draws a first marker at a predetermined position in the first detection result image based on user input. Furthermore, based on the underwater depth at the predetermined position where the first marker is drawn in the first detection result image, or the distance from the transmitting / receiving unit, a second marker is drawn by a second marker drawing means provided in the second detection result image at the position in the second detection result image corresponding to that depth or distance. As a result, when the user draws a first marker at a desired position specified on the first detection result image, a second marker is drawn on the second detection result image in conjunction with it, allowing the user to intuitively understand the depth of the first marker from the second marker drawn on the second detection result image.Therefore, it has the effect of allowing users to intuitively grasp the depth of the object being detected in horizontal detection.

[0016] The ultrasonic sonar device according to the second embodiment provides the following effects in addition to the effects of the ultrasonic sonar device according to the first embodiment. Specifically, the second detection result image generation means synthesizes the received signals in a predetermined direction included in the first range from a predetermined range, generates detection results in the distance direction in the first range, and generates a second detection result image by arranging the detection results of the first range in chronological order. As a result, the detection results of the object to be detected based on the transmission and reception of ultrasound performed for each of the multiple predetermined directions included in the first range are included in the second detection result image without omission, and furthermore, the history of the detection results is recorded in the second detection result image. Therefore, it has the effect of more reliably suppressing the oversight of the object to be detected. Furthermore, by drawing a second marker on such a second detection result image, it has the effect of allowing the depth of the first marker drawn on the first detection result image to be intuitively grasped. Note that the first range may be a part of the predetermined range, or it may be the same range as the predetermined range.

[0017] The ultrasonic sonar device according to the third embodiment provides the following effects in addition to those of the ultrasonic sonar device according to the first or second embodiment. Specifically, the transmitting and receiving unit receives reflected ultrasonic waves reflected from various positions in the water in the vertical direction as one of a predetermined directions. Then, the second detection result image generation means generates detection results in the distance direction based on the vertically received signals in the transmitting and receiving unit, and the detection results are arranged in chronological order to generate a second detection result image. This second detection result image is a fish finder result image similar to the image output by a so-called conventional fish finder device. The ultrasonic sonar device can show the user both horizontal detection and fish finder results by displaying the second detection result image, which is a conventional fish finder result image, together with the first detection result image, which is a horizontal detection result image. Furthermore, by drawing the second marker on the second detection result image, which is the fish finder result image, it becomes possible to more intuitively grasp the depth of the first marker drawn on the first detection result image.

[0018] The ultrasonic sonar device according to the fourth embodiment provides the following effects in addition to the effects of the ultrasonic sonar device according to any of the first to third embodiments. Specifically, the first marker drawing means draws a first marker in the shape of a ring on the first detection result image, centered on a point that is assumed to be the position of the transmitting and receiving unit. In the first detection result image, the first marker shown in the shape of a ring 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 first marker in the shape of a ring. Furthermore, the depth of this first marker in the shape of a ring can be intuitively grasped from the second marker drawn on the second detection result image.

[0019] The ultrasonic sonar device according to the fifth embodiment provides the following effect in addition to the effect of the ultrasonic sonar device according to any of the first to fourth embodiments. Specifically, the second marker is drawn linearly along the time axis on the second detection result image by the second marker drawing means. This improves the visibility of the second marker displayed on the second detection result image, and thus has the effect of allowing the depth of the object to be detected in horizontal detection to be grasped more intuitively from the second marker.

[0020] The ultrasonic sonar device according to the sixth embodiment provides the following effects in addition to the effects of the ultrasonic sonar device according to any of the first to fifth embodiments. Specifically, when the operating means is operated by the user, the position of the first marker drawn on the first detection result image is changed by the first marker drawing means based on that operation. Then, in conjunction with this change of the first marker, the position of the second marker drawn on the second detection result image is also changed by the second marker drawing means. As a result, the user can easily grasp the degree of change in the position of the second marker displayed on the second detection result image in relation to the change in the position of the first marker displayed on the first detection result image while operating the operating means, and has the effect of being able to intuitively grasp the change in depth within the first detection result image.

[0021] This is a schematic diagram illustrating the configuration of an ultrasonic sonar device according to one embodiment of the present invention. This is a schematic diagram showing the state when a ship equipped with the ultrasonic sonar device performs underwater detection, viewed from the side. (a) is a schematic cross-sectional view showing the transducer unit of the ultrasonic sonar device, and (b) is a schematic perspective view showing the arrangement of a plurality of first transducers and second transducers constituting the transducer unit. (a) is a schematic diagram showing the first central axis of each of the first transducers when viewed vertically from above the ship, (b) is a schematic diagram showing the first central axis when viewed horizontally from the front of the ship, (c) is a schematic diagram showing the directional characteristics of the ultrasonic waves transmitted from the first transducers, and (d) is a diagram showing the directional characteristics of the ultrasonic waves transmitted from the first transducers when viewed from the front of the ship. This is a block diagram showing the electrical configuration of the ultrasonic sonar device. This diagram schematically shows an example of a display screen shown on the display device of the ultrasonic sonar device, where (a) is a diagram showing the case when the first marker is displayed in its initial position, and (b) is a diagram showing the case when the diameter of the first marker is widened from its initial position. This is a flowchart showing the marker drawing process performed by the control device of the ultrasonic sonar device.

[0022] Hereinafter, embodiments for carrying out the present invention will be described with reference to the accompanying drawings. The embodiments described below are all preferred specific examples of the present invention. Therefore, the numerical values, shapes, materials, components, arrangement positions of components, and connection configurations shown in the following embodiments are examples and are not intended to limit the present invention. Accordingly, among the components in the following embodiments, those not described in the independent claims representing the highest-level concept of the present invention will be described as optional components. Furthermore, in each figure, substantially identical components are denoted by the same reference numerals, and redundant explanations are omitted or simplified.

[0023] First, an ultrasonic sonar device 1 according to one 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 the state when underwater detection is performed by a ship 71 equipped with the ultrasonic sonar device 1, viewed from the side.

[0024] As shown in Figures 1 and 2, the ultrasonic sonar device 1 is mounted on a vessel 71 and has at least a sonar function that horizontally detects objects GF, such as schools of fish, in a predetermined range around the vessel 71 in the water such as the sea, lake, or river in which the vessel 71 is floating. Horizontal detection is performed by defining a predetermined range in all directions with respect to the azimuth direction as viewed from the vessel 71, and detecting objects GF that are included in that predetermined range. In addition to horizontal detection, the ultrasonic sonar device 1 may also have a sonar function that performs vertical cross-sectional detection, or it may have a fish finder function that detects objects GF that are located in the vertical direction directly below the vessel 71 and displays the detection results in chronological order.

[0025] The ultrasonic sonar device 1 comprises a main body 5, an operation button 6 provided on the main body 5, a display device 21 integrally formed on the main body 5 as a display means, a transmitter / receiver unit 50 for transmitting and receiving ultrasonic waves TB for detecting the object GF, and a lifting device 41 for raising and lowering the transmitter / receiver unit 50. The main body 5, the operation button 6, and the display device 21 are located in the wheelhouse of the ship 71, while the transmitter / receiver unit 50 and the lifting device 41 are located in the bottom of the ship 71. The transmitter / receiver unit 50 can be raised and lowered by the lifting device 41, allowing it to extend and retract from the bottom of the ship 71 into the water. The ultrasonic sonar device 1 does not necessarily have to have the lifting device 41, and the transmitter / receiver unit 50 may be fixed to the ship 71 in a position where ultrasonic waves TB can be transmitted and received toward the water.

[0026] Operation button 6 is a button that can be operated by the user, and is used when the user gives various instructions or settings to the ultrasonic sonar device 1. For example, the user can 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 / stop the execution of horizontal detection by the sonar function, and set the detection range shown by the second detection result image 23 (hereinafter referred to as the "first range") and the detection range shown by the third detection result image 24 (hereinafter referred to as the "second detection range"), etc., via operation of operation button 6.

[0027] As will be described in more detail later, the ultrasonic sonar device 1 according to this embodiment, based on instructions from the user, projects the latest detection result from horizontal detection onto a plane parallel to the horizontal plane and displays a first detection result image 22. A first marker 31, acting as a ring marker, is then drawn at a predetermined position on this image, and the first detection result image 22 is displayed on the display device 21 (see Figure 6). The instruction to display the first marker 31 and the change in the display position of the first marker 31 are performed by the "up" button and the "down" button provided on the operation button 6. The operation button 6 corresponds to the "operating means" of the present invention.

[0028] As shown in Figure 2, the ultrasonic sonar device 1 transmits (irradiates) ultrasonic waves TB in a conical shape over a predetermined range from the transmitting / receiving unit 50, with the transmitting / receiving unit 50 protruding from the bottom of the ship 71. The transmitting / receiving unit 50 is configured to receive reflected ultrasonic waves TB reflected from objects to be detected GF, or from the seabed or lakebed (hereinafter collectively referred to as "seabed SB"), etc., within that predetermined conical range. The detailed configuration of the transmitting / receiving unit 50 will be described later with reference to Figures 3 and 4.

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

[0030] Next, the detailed configuration of the transmitting / receiving unit 50 will be described with reference to Figures 3 and 4. Figure 3(a) is a schematic cross-sectional view showing the transmitting / receiving unit 50, and Figure 3(b) is a schematic perspective view showing the arrangement of the multiple first transducers 52 (52a to 52f) and the second transducer 53 that constitute the transmitting / receiving unit 50.

[0031] Furthermore, Figure 4(a) schematically shows the first central axes C1a to C1f of the first transducers 52a to 52f as viewed vertically from above the ship 71, and Figure 4(b) schematically shows the first central axes C1a to C1f of the first transducers 52a to 52f as viewed horizontally from the front side of the ship 71. Furthermore, Figure 4(c) schematically shows the directional characteristics of the ultrasonic TB transmitted from adjacent first transducers 52a, 52b, and 52f, and Figure 4(d) shows the directional characteristics of the ultrasonic TB transmitted from the first transducer 52a and the first transducer 52d as viewed from the front side of the ship 71.

[0032] As shown in Figure 3, the transmitting and receiving unit 50 has a structure in which multiple (six in the example shown in Figure 3) first transducers 52 (first transducer 52a, first transducer 52b, first transducer 52c, first transducer 52d, first transducer 52e, first transducer 52f) and second transducers 53, which transmit ultrasonic TB in a predetermined direction and receive the reflected waves, are housed in a case 51 and molded. Each first transducer 52 is a disc-shaped structure having the same size and shape as the others. The second transducer 53 also has a disc shape similar to the first transducers 52. However, the size of the second transducer 53 is determined according to the required characteristics. That is, the second transducer 53 may be the same size as the first transducer 52, or it may be a different size from the first transducer 52.

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

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

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

[0036] Furthermore, when the substrate 54 vibrates due to the reflected waves of the ultrasonic TB, the piezoelectric element 55 of each of the first transducer 52 and the second transducer 53 deforms due to the vibration, and a voltage is generated between the front electrode and the back electrode. The first transducers 52a to 52f and the second transducer 53 each 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 a received signal corresponding to the reflected waves received by each of the first transducers 52a to 52f and the second transducer 53.

[0037] The case 51 has an opening at one end, and a plurality of first resonators 52 and second resonators 53 are housed inside the case 51. The second resonator 53 is positioned in the center of the case 51. Six first resonators 52 are arranged around the second resonator 53 in the order of first resonator 52a, first resonator 52b, first resonator 52c, first resonator 52d, first resonator 52e, and first resonator 52f, in a counterclockwise direction when viewed from the front side of the base material 54. The acoustic radiation surfaces formed on the front surface of the base material 54 of each first resonator 52 and the acoustic radiation surfaces formed on the front surface of the base material 54 of the second resonator 53 are all located on a single virtual sphere.

[0038] In this embodiment, six first transducers 52 are used, but the number of first transducers 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 transducers 52 increases, the configuration of the ultrasonic sonar device 1 becomes more complex, larger, and more expensive, so it is preferable that the number of first transducers 52 be 10 or less, and more preferably 8 or less.

[0039] Here, for the first transducer 52a, the direction of the first central axis C1a, which is a central axis perpendicular to the center of the front surface (acoustic radiation surface) of the substrate 54 (which can also be called the direction of the normal vector of the first transducer 52a), can be understood as the acoustic radiation direction. Similarly to the first transducer 52a, the first transducer 52b has a first central axis C1b, the first transducer 52c has a first central axis C1c, the first transducer 52d has a first central axis C1d, the first transducer 52e has a first central axis C1e, and the first transducer 52f has a first central axis C1f. Then, each of the first central axes C1b to C1f can be understood as the acoustic radiation direction of the corresponding first transducers 52b to 52f.

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

[0041] That is, the first central axes C1a to C1f of each of the first transducers 52a to 52f and the second central axis C2 of the second transducer 53 are in a predetermined direction for transmitting ultrasonic waves TB and receiving their reflected waves within a predetermined range which is the detection range of the object GF to be detected.

[0042] Here, the transmitting and receiving unit 50 is mounted on the ship 71 such that the direction of the second central axis C2 of the second transducer 53 is vertical. That is, the second transducer 53 transmits (irradiates) ultrasonic TB in the vertical direction directly below the ship 71. Due to the presence of this second transducer 53, the ultrasonic sonar device 1 can detect objects GF in the vertical direction with high accuracy. It is preferable that the directional characteristics of the ultrasonic TB transmitted from the second transducer 53 be such that its directional angle is small and it forms a narrow beam. This further improves the accuracy of detecting objects GF in the vertical direction.

[0043] On the other hand, as shown in FIG. 3, in the transmitting and receiving unit 50, the acoustic radiation surfaces of the respective first vibrators 52a to 52f are inclined such that the first central axes C1a to C1f form a predetermined angle θ with respect to the second central axis C2 (that is, the vertical direction in the situation where the transmitting and receiving unit 50 is attached to the ship 71), and the first vibrators 52a to 52f are respectively arranged. As a result, as shown in FIG. 4(b), the acoustic radiation directions of the respective first vibrators 52a to 52f are directed in directions different from the vertical direction directly below the ship 71.

[0044] In the present embodiment, the respective first vibrators 52a to 52f are inclined and arranged with their acoustic radiation surfaces facing inward (toward the side where the second vibrator 53 is located) (see FIG. 3). At this time, it is preferable that the first central axes C1a to C1f form one angle selected from the range of 20° or more and 50° or less as a predetermined angle θ with respect to the second central axis C2 respectively. In the present embodiment, the predetermined angle θ is 30°. As shown in FIG. 3(a), the respective first central axes C1a to C1f and the second central axis C2 are in a state of converging at one point.

[0045] In addition, when the transmitting and receiving unit 50 is attached to the ship 71 and viewed vertically from above the ship 71, the respective first central axes C1a to C1f of the first vibrators 52a to 52f are arranged at equal intervals in the azimuth direction such that the angle formed by adjacent first central axes C1a to C1f is the same angle δ, as shown in FIG. 4(a). When the number of the first vibrators 52 is n, the angle δ is (360 / n)° (when the number of the first vibrators 52 is 6, the angle δ is 60°).

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

[0047] In addition, in the present embodiment, as shown in FIGS. 4(a) and 4(b), when the ship 71 is viewed vertically from above, the first central axis C1a is directed to the right in the longitudinal direction of the ship 71, and the first central axes C1b to C1f of the transmitting and receiving wave units 50 are arranged at intervals of an angle δ counterclockwise in order from the first central axis C1a. Further, in the present embodiment, an example is shown in which the first vibrators 52a to 52f are arranged such that the first central axes C1a to C1f of the respective first vibrators 52a to 52f are equally spaced in the azimuth direction. However, as long as the ultrasonic wave TB can be simultaneously transmitted in each predetermined direction indicated by the first central axes C1a to C1f by at least the first vibrators 52a to 52f over a predetermined range set in all directions of the ship 71, there may be variations in the intervals between the first central axes C1a to C1f. The directions of the first central axes C1a to C1f set as described above correspond to the "plurality of directions set at least in the azimuth direction" of the present invention.

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

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

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

[0051] As described above, the ultrasonic TB transmitted from each of the first transducers 52a to 52f is set to have directional characteristics that include the first central axes C1a to C1f of adjacent first transducers 52, and also include the vertical direction when the transmitting / receiving unit 50 is attached to the ship 71. As a result, the transmitting / receiving unit 50 drives each of the first transducers 52a to 52f simultaneously, so that ultrasonic TB is irradiated from each of the first transducers 52a to 52f in the direction of their respective first central axes C1a to C1f, and the directional characteristics of the ultrasonic TB allow the ultrasonic TB to be transmitted simultaneously to a predetermined range set in all directions of the ship 71 with a small number of first transducers 52.

[0052] Furthermore, each of the first transducers 52a to 52f has a fixed direction of the first central axis C1a to C1f and a fixed directional characteristic of the ultrasonic TB emitted from each of the first transducers 52a to 52f, so that ultrasonic TB is irradiated from the transmitting / receiving unit 50 over a predetermined range. Therefore, circuits for controlling the direction of the first central axis C1a to C1f in the first transducers 52a to 52f, and circuits for controlling the directional characteristic of the ultrasonic TB emitted from each of the first transducers 52a to 52f, can be eliminated.

[0053] Furthermore, the transmitting and receiving unit 50 can receive the reflected waves of ultrasonic waves TB reflected from the object GF to be detected within a predetermined range, for each of the first central axes C1a to C1f, which are in a predetermined direction, using the first transducers 52a to 52f corresponding to each of the first central axes C1a to C1f. As a result, the ultrasonic sonar device 1 can be constructed to perform high-speed detection in a compact and low-cost manner.

[0054] The transmitting and receiving unit 50 is arranged and housed in a case 51 with the first transducers 52a to 52f and the second transducer 53 closely packed together, such that the first central axes C1a to C1f and the second central axis C2 are oriented in the directions described above, and are fixed in place with a filler. The filler used is a resin material (for example, urethane resin) that has a lower inherent acoustic impedance than the base material 54, which is the acoustic matching layer of the first transducer 52 and the second transducer 53, and is waterproof. The outer surface of the filler is filled so that it is flush with the opening of the case 51, thereby closing the opening of the case 51.

[0055] Next, the electrical configuration of the ultrasonic sonar device 1 will be described with reference to Figure 5. Figure 5 is a block diagram showing the electrical configuration of the ultrasonic sonar device 1. Inside the main body 5 of the ultrasonic sonar device 1 is a control device 10, which is equipped with transmitting units 11a, 11b, diodes 12a to 12g, receiving units 13a to 13g, a filter 14, a first detection result image generation means 15, a second detection result image generation 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 generation means 15, second detection result image generation means 16, and display control means 18 may be configured in hardware, implemented in software, or implemented through the cooperation of hardware and software.

[0057] Although not shown in the diagram, the control device 10 includes a CPU (Central Processing Unit), a flash memory (a rewritable, non-volatile memory) and / or a ROM (Read Only Memory) (a non-rewritable, non-volatile memory) that stores programs executed by the CPU and fixed values ​​referenced by those programs, and a RAM (Random Access Memory) (a read-write, volatile memory) that temporarily stores various data when the CPU executes a program. 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 generation means 15, second detection result image generation means 16, and display control means 18, the parts that are implemented by software or by the cooperation of hardware and software are implemented by the CPU executing a program.

[0059] Based on instructions from the CPU, the transmitting unit 11a generates a single drive signal to transmit ultrasonic TB from the first transducers 52a to 52f. The output of the single drive signal generated by the transmitting unit 11a is branched between the transmitting unit 11a and diodes 12a to 12f and distributed to each of the first transducers 52a to 52f. Specifically, one branch is input to the first transducer 52a via diode 12a, one via diode 12b to the first transducer 52b, one via diode 12c to the first transducer 52c, one via diode 12d to the first transducer 52d, one via diode 12e to the first transducer 52e, and one via diode 12f to the first transducer 52f.

[0060] Diodes 12a to 12f each allow the drive signal generated by the transmitting unit 11a to pass through and input to the corresponding first oscillators 52a to 52f, and are also elements that block the signal (voltage) generated by receiving the reflected wave in each of the first oscillators 52a to 52f from being transmitted to the transmitting unit 11a or to the branching point of the drive signal output from the transmitting unit 11a to each of the first oscillators 52a to 52f.

[0061] A single drive signal generated by the transmitting unit 11a is branched and input to the first transducers 52a to 52f via diodes 12a to 12f. As a result, each of the first transducers 52a to 52f, which have the same shape and size, are driven simultaneously and can output ultrasonic TB of the same intensity at the same timing. Therefore, ultrasonic TB can be transmitted uniformly in a predetermined direction (i.e., the direction of the first central axis C1a to C1f) within a predetermined range set in all directions relative to the ship 71, making the detection sensitivity uniform in all predetermined directions.

[0062] Furthermore, since one transmitting unit 11a is provided for multiple first transducers 52a to 52f, significant cost reduction and miniaturization can be achieved compared to the case where each first transducer 52a to 52f has its own transmitting unit 11a.

[0063] Furthermore, diodes 12a to 12f are provided at the downstream side of the branching point between the transmitting unit 11a and each of the first transducers 52a to 52f, where the drive signal output from the transmitting unit 11a branches out toward each of the first transducers 52a to 52f. This prevents the signals (voltages) output by each of the first transducers 52a to 52f upon receiving the reflected waves of the ultrasonic TB from flowing back to the transmitting unit 11a or from interfering with the signal lines of other first transducers 52a to 52f via the branching point. Therefore, even if one transmitting unit 11a is provided for multiple (six) first transducers 52a to 52f, the independence of the signals (voltages) output from each of the first transducers 52a to 52f can be ensured.

[0064] The transmitting unit 11b generates a drive signal to transmit ultrasonic TB from the second transducer 53 based on instructions from the CPU. The output of the drive signal generated by the transmitting unit 11b is input to the second transducer 53 via the diode 12g. The diode 12g is an element that allows the drive signal generated by the transmitting unit 11b to pass through and input to the second transducer 53, and also blocks the signal (voltage) generated when the second transducer 53 receives the reflected wave from being transmitted to the transmitting unit 11b. This diode 12g prevents the signal (voltage) output by the second transducer 53 when it receives the reflected wave of ultrasonic TB from flowing back to the transmitting unit 11b.

[0065] The ultrasonic sonar device 1 is provided with a transmitting unit 11b that generates a drive signal for the second transducer 53, which transmits ultrasonic TB in the vertical direction directly below the ship 71, independently of the transmitting 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 TB from the first transducers 52a to 52f and transmitting ultrasonic TB only from the second transducer 53, or to control the transmission of ultrasonic TB from the second transducer 53 independently of the transmission of ultrasonic TB from the first transducers 52a to 52f when performing horizontal detection as a sonar function.

[0066] In this embodiment, a transmitting unit 11a corresponding to the first transducers 52a to 52f and a transmitting unit 11b corresponding to the second transducer 53 are provided separately. However, if the specifications of the ultrasonic sonar device 1 allow for the transmission of ultrasonic TB from the second transducer 53 to always occur at the same timing as the first transducers 52a to 52f, then only one transmitting unit 11a may be provided for the first transducers 52a to 52f and the second transducer 53, and a single drive signal may be generated from this transmitting unit 11a. This would allow for further significant cost reduction and miniaturization of the ultrasonic sonar device 1.

[0067] Receiving units 13a to 13g are provided for each of the multiple (6) first transducers 52a to 52f and second transducer 53. The corresponding first transducers 52a to 52f and second transducer 53 receive the reflected waves of the ultrasonic TB, and the receiving units capture a signal (voltage) output according to the intensity of the reflected waves, and perform predetermined processing on the captured signal.

[0068] Specifically, receiving unit 13a is connected to the first oscillator 52a and performs predetermined processing on the signal (voltage) output according to the intensity of the reflected wave received by the first oscillator 52a. Similarly, receiving unit 13b is connected to the first oscillator 52b, receiving unit 13c is connected to the first oscillator 52c, receiving unit 13d is connected to the first oscillator 52d, receiving unit 13e is connected to the first oscillator 52e, receiving unit 13f is connected to the first oscillator 52f, and receiving unit 13g is connected to the second oscillator 53. Each receiving unit 13b to 13g also performs predetermined processing on the signal (voltage) output according to the intensity of the reflected wave received by the connected first oscillators 52b to 52f or the second oscillator 53.

[0069] Each receiving unit 13a to 13g has an amplification circuit and an analog-to-digital conversion circuit. As a predetermined process, the received signal (voltage) is amplified by the amplification 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 the digital signal obtained by the AD conversion circuit to the filter 14 as the received signal (received signal of the reflected wave of the ultrasonic TB) received by the first transducer 52a. Similarly, the receiving unit 13b outputs the digital signal obtained by the respective AD conversion circuit to the filter 14 as the received signal of the first transducer 52b, the receiving unit 13c outputs the digital signal obtained by the first transducer 52c, the receiving unit 13d outputs the digital signal obtained by the first transducer 52d, the receiving unit 13e outputs the digital signal obtained by the first transducer 52e, the receiving unit 13f outputs the digital signal obtained by the first transducer 52f, and the receiving unit 13g second transducer 53.

[0071] As described above, one transmitting unit 11a is provided for each of the multiple (six) first transducers 52a to 52f to reduce costs and miniaturize the device. In contrast, by providing a receiving unit 13a to 13f for each of the multiple first transducers 52a to 52f, the independence of the signals (voltages) output from each of the first transducers 52a to 52f can be maintained while applying predetermined processing to each signal (voltage). On the other hand, since the ultrasonic sonar device 1 has fewer transducers than conventional scanning sonars, even if a receiving unit 13a to 13f is provided for each of the first transducers 52a to 52f, the overall receiving unit can be made smaller and costs can be reduced compared to conventional scanning sonars.

[0072] The received signals output from the receiving units 13a to 13g are original received signals that represent the raw intensity values ​​of the reflected ultrasonic TB waves received by the corresponding first transducers 52a to 52f and the second transducer 53, respectively. This means that the original received signals are the received signals before filtering by the filter 14, which will be described next.

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

[0074] As for spatial filtering, for the purpose of reducing noise and / or improving resolution, filtering is performed in the azimuth and distance directions on the original received signals of each first transducer 52a to first transducer 52f that have received reflected ultrasonic TB waves for each predetermined direction. Furthermore, spatial filtering also includes filtering in the distance direction on the original received signal of the second transducer 53 that has received reflected ultrasonic TB waves 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, that is, the direction in which their respective acoustic radiation directions are aligned, or in other words, the circumferential direction centered on the ship 71. The distance direction is the direction in which the ultrasonic TB is transmitted at the first central axes C1a to C1f of the first transducers 52a to 52f, and at the second central axis C2 of the second transducer 53, that is, the respective acoustic radiation directions themselves.

[0076] Furthermore, when the ultrasonic sonar device 1 performs horizontal detection using its sonar function, it uses a small number of transducers (six in this embodiment), namely the first transducers 52a to 52f, which significantly reduces the azimuth resolution. Therefore, in horizontal detection, the filter 14 sets a virtual direction at an intermediate position between adjacent first central axes C1a to C1f of the first transducers 52a to 52f, which are predetermined directions in which ultrasonic TB is transmitted and received. The filter then generates a received signal from the received signals of the first transducers 52a to 52f, assuming that ultrasonic TB was virtually transmitted and received in that virtual direction.

[0077] By generating a virtual received signal in a virtual direction, the number of directions in which ultrasonic TB is transmitted and received, including the virtual direction, can be double the actual number of first transducers 52 (12 directions in this embodiment), thereby improving the azimuth resolution.

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

[0079] The filter 14 performs a predetermined filtering process on the original received signals of each of the first transducers 52a to 52f and the second transducer 53. The filter 14 then outputs the values ​​obtained from the filtering process as the received signals of each of the first transducers 52a to 52f and the second transducer 53, and also includes the virtual received signal if a virtual received signal is generated for a virtual direction, to the first detection result image generation means 15 and the second detection result image generation means 16, which will be described next. The receiving units 13a to 13g and the filter 14 correspond to the received signal generation means of the present invention.

[0080] 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 ultrasonic sonar device 1 performs horizontal detection as a sonar function. 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, when horizontal detection is performed. 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] Now, with reference to Figure 6, the first detection result image 22, the second detection result image 23, and the third detection result image 24 will be explained. Figure 6 (a) and (b) are schematic diagrams showing examples of display screens that appear on the display device 21 when the ultrasonic sonar device 1 performs horizontal detection as a sonar function.

[0082] As shown in Figure 6, when the ultrasonic sonar device 1 performs horizontal detection as a sonar function, the display device 21 displays the first detection result image 22. Furthermore, when the ultrasonic sonar device 1 performs horizontal detection, the user can operate the operation button 6 to display not only the first detection result image 22, but also the second detection result image 23 and even the third detection result image 24 on the display device 21.

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

[0084] The first detection result image generation means 15 generates a first detection result image 22 using the filtered received signals from the first transducers 52a to 52f, which are input from the filter 14, and virtual received signals for each virtually set direction. The user can easily determine from the first detection result image 22 displayed on the display device 21 which the detected object GF is currently located in the direction relative to the ship 71, and how far it is located horizontally from the ship 71 (what is the horizontal distance), etc.

[0085] The second detection result image 23 is a time-series arrangement of detection results in the distance direction from the transmitting / receiving unit 50, based on a received signal from at least one direction. In this embodiment, the detection results in the distance direction from the transmitting / receiving unit 50 in the first range are arranged in a time-series manner, similar to a fish finder, based on the received signals of the first transducers 52a to 52f having the first central axes C1a to C1f included in the first range, which is a predetermined direction included in the first range among the predetermined range set in all directions relative to the ship 71. Alternatively, the second detection result image 23 may be a time-series arrangement of detection results in the distance direction from the transmitting / receiving unit 50 in the vertical direction, based on the received signal of the second transducer 53 having the second central axis C2 in the vertical direction, that is, the fish finder result image itself as displayed in a conventional fish finder.

[0086] Furthermore, 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. It is a time-series arrangement of detection results in the second range, similar to a fish finder, based on the received signals of the first transducers 52a to 52f having the first central axes C1a to C1f included in the second range, which is a predetermined direction included in the second range, which is different from the first range, among the predetermined range set in all directions relative to the ship 71. Note that this "second range" also corresponds to the "first range" of the present invention. The third detection result image 24 may also be the fish finder result image itself, arranged in time series based on the received signals of the second transducer 53 having the second central axis C2 in the vertical direction, in the case where the second detection result image 23 is not a fish finder result image based on the received signals of the second transducer 53, which has the second central axis C2 in the vertical direction, in the direction of distance from the transmitting / receiving unit 50 in the vertical direction.

[0087] The first detection result image 22 only includes the detection result at a certain point in time for each predetermined direction (first central axis C1a to C1f), so there is a risk of frequently overlooking the detected object GF. Furthermore, it is difficult to distinguish and identify the detected object GF located vertically below the vessel 71 in the first detection result image 22.

[0088] In response to this, a second detection result image 23, which arranges the detection results of the first range in chronological order based on the received signals in a predetermined direction included in the first range of the predetermined range, is generated by the second detection result image generation means 16 and can be displayed on the display device 21. Furthermore, a third detection result image 24, which arranges the detection results of the second range in chronological order based on the received signals in a predetermined direction included in the second range of the predetermined range, can also be generated by the second detection result image generation means 16 and can be displayed on the display device 21.

[0089] As a result, the detection history of objects GF present in the first range is recorded in the second detection result image 23, and the detection history of objects GF present in the second range is recorded in the third detection result image 24. Therefore, it is possible to suppress the oversight of objects GF that would otherwise be easily missed if only the first detection result image 22 were used. 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 suppress the oversight of objects GF while making it easier to understand which ranges objects GF have been present in, including in the past.

[0090] Furthermore, the second detection result image 23 or the third detection result image 24 can also display a fish detection result image in which the vertical detection results are arranged in chronological order. As a result, the ultrasonic sonar device 1 can show the user both horizontal detection and fish detection results by displaying the conventional fish detection result image as the second detection result image 23 or the third detection result image 24, along with the first detection result image 22, which is the result image of horizontal detection. Therefore, the user can distinguish and understand the detected object GF located vertically below the vessel 71.

[0091] Here, the first range and the second range may be set to non-overlapping ranges within a predetermined range, or they may be set to ranges that partially overlap.

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

[0093] Therefore, in this case, the second detection result image generation means 16 synthesizes the received signals from the first transducers 52b, 52a, and 52f for each depth to generate one detection result line, and arranges them in chronological order so that the oldest detection result line is on the right and the newest detection result line is on the left, thereby generating a second detection result image 23 that is equivalent to the fish detection result image of a fish finder. Furthermore, the second detection result image generation means 16 synthesizes the received signals from the first transducers 52c, 52d, and 52e for each depth to generate one detection result line, and arranges them in chronological order so that the oldest detection result line is on the right and the newest detection result line is on the left, thereby generating a third detection result image 24 that is equivalent to the fish detection result image of a fish finder.

[0094] As a result, the second detection result image 23 retains the detection history of object GF that was located within the range of the starboard side of the vessel 71, and the third detection result image 24 retains the detection history of object GF that was located within the range of the port side of the vessel 71. Therefore, it is easy to determine whether object GF was located on the starboard side or the port side of the vessel 71, including in the past.

[0095] Here, the synthesis of received signals performed by the second detection result image generation means 16 is carried out by selecting the maximum level among the levels of multiple received signals to be synthesized for each depth. This ensures that reflected waves with high reflection intensity, which are likely to be the detection target object GF, are reliably represented in the second detection result image 23 or the third detection result image 24. Therefore, the oversight of the detection target object GF can be more reliably suppressed. Note that the synthesis of received signals may also be carried out by selecting the average or median value of the multiple received signals to be synthesized for each depth, and 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 vessel 71, and the second range may be set to the aft half of the range of all directions relative to the vessel 71. In this case, the predetermined directions included in the first range are the first central axes C1b and C1c, and the predetermined directions included in the second range are the first central axes C1e and C1f (see Figure 4(a)).

[0097] Therefore, in this case, the second detection result image generation means 16 synthesizes the received signals from the first transducers 52b and 52c for each depth to generate one detection result line, and arranges them in chronological order so that the right side is the oldest detection result line and the left side is the newest detection result line, thereby generating a second detection result image 23 that is equivalent to the fish detection result image of a fish finder. Furthermore, the second detection result image generation means 16 synthesizes the received signals from the first transducers 52e and 52f for each depth to generate one detection result line, and arranges them in chronological order so that the right side is the oldest detection result line and the left side is the newest detection result line, thereby generating a third detection result image 24 that is equivalent to the fish detection result image of a fish finder.

[0098] As a result, the second detection result image 23 retains the detection history of object GF that was located in the forward area of ​​the vessel 71, and the third detection result image 24 retains the detection history of object GF that was located in the rear area of ​​the vessel 71. This makes it easy to determine whether object GF was located in the forward or rear area of ​​the vessel 71, including in the past.

[0099] In this case, the predetermined directions included in the first range may be defined as the first central axes 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 directions included in the second range may be defined as the first central axes 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, the received signals of the first transducers 52a and 52d may be included in either the second detection result image 23 or the third detection result image 24, or the received signals of the first transducers 52a and 52d may be included in either the second detection result image 23 or the third detection result image 24. The latter case is an example of a situation where the first range and the second range are set to overlap in some areas. These features allow the detection results from all directions in which the reflected waves of the ultrasonic TB are received to be included in at least one of the second detection result image 23 and the third detection result image 24.

[0100] Furthermore, the first range or the second range may be set to encompass all directions relative to the vessel 71, and may be a predetermined direction in which all first central axes C1a to C1f are 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 generation means 16 synthesizes the received signals from all first transducers 52a to 52f for each depth to generate one detection result line, and arranges them in chronological order so that the right side is the oldest detection result line and the left side is the newest detection result line, thereby generating a second detection result image 23 or a third detection result image 24 equivalent to a fish finder's fish finder result image.

[0101] As a result, the detection history of the target object GF that was present within the detection range (i.e., a predetermined range) of the detection result shown in the first detection result image 22 is recorded in the second detection result image 23 or the third detection result image 24, thereby suppressing the oversight of target objects GF within that predetermined range.

[0102] Furthermore, when the first or second range is set to cover all directions relative to the ship 71, the second detection result image generation means 16 may synthesize the received signals from all the first transducers 52a to 52f, as well as the received signal from the second transducer 53, for each depth to generate a single detection result line, and generate a second detection result image 23 or a third detection result image 24 that is equivalent to the fish detection result image of a fish finder. The received signals from the first transducers 52a to 52f also include the detection results in the vertical direction directly below the ship 71, but by including the received signal from the second transducer 53 when generating the second detection result image 23 or the third detection result image 24, the vertical detection results can be reflected in the second detection result image 23 or the third detection result image 24 with high sensitivity.

[0103] Furthermore, if the first range is set to all directions relative to the vessel 71, the second detection result image generation 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. Alternatively, the second detection result image generation means 16 may generate a fish school detection result image, which is a detection result image in the vertical direction directly below the vessel 71, as the third detection result image 24 based on the received signal from the second transducer 53, and display the third detection result image 24 on the display device 21. In the latter case, the user can, through the third detection result image 24, determine the presence or absence of a detected object GF in the vertical direction directly below the vessel 71, going back in time.

[0104] Similarly, if the second range is set to all directions relative to the ship 71, the second detection result image generation means 16 may choose not to generate the second detection result image 23 and instead hide the second detection result image 23 on the display device 21, or it may generate a fish school detection result image based on the received signal from 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] Furthermore, when the first range shown in the second detection result image 23 is set to cover all directions relative to the vessel 71, the user may be able to set whether or not to include the detection result of the second transducer 53 in the second detection result image 23. Also, when the first range shown in the second detection result image 23 is set to cover all directions relative to the vessel 71, the user may be able to set whether or not to display the third detection result image 24 as the detection result in the vertical direction directly below the vessel 71. Similarly, when the second range shown in the third detection result image 24 is set to cover all directions relative to the vessel 71, the user may be able to set whether or not to display the second detection result image 23 as the detection result in the vertical direction directly below the vessel 71.

[0106] Furthermore, the ultrasonic sonar device 1 may be configured by the user to set whether the first range shown in the second detection result image 23 and the second range shown in the third detection result image 24 are on the starboard / port side of the vessel 71, or on the forward / stern side of the vessel 71, or whether the first range shown in the second detection result image 23 or the second range shown in the third detection result image 24 is omnidirectional relative to the vessel 71.

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

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

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

[0110] The initial position has predetermined fixed coordinates relative to the coordinate system set in the first detection result image 22. As a result, when the user operates the "up" button or "down" button to start displaying the first marker 31 on the first detection result image 22, even if the scale of the first detection result image 22 (the number of dots per meter of distance on a plane parallel to the horizontal plane) is changed, the first marker 31 will always appear to be displayed in the same position relative to the first detection result image 22.

[0111] Furthermore, the initial position may be predetermined to be a position where the horizontal distance from the vessel 71 in the first detection result image 22 is a predetermined distance (for example, 10 m). This ensures that when the user operates the "up" button or the "down" button to start displaying the first marker 31 on the first detection result image 22, the first marker 31 is always displayed on the first detection result image 22 at a predetermined horizontal distance from the vessel 71, regardless of the scale of the first detection result image 22.

[0112] Furthermore, the initial position may be predetermined in the first detection result image 22 to be a position where the slant distance from the vessel 71 (distance along the first central axis C1a to C1f) or the depth is a predetermined distance (for example, 10 m). In this embodiment, the first central axis C1a to C1f is fixed at a predetermined depression angle, but some ultrasonic sonar devices allow the depression angle of the transmission and reception direction of the ultrasonic TB to be changed. When the user operates the "up" button or the "down" button to start displaying the first marker 31 on the first detection result image 22, the first marker 31 can always be displayed on the first detection result image 22 at a predetermined slant distance from the vessel 71 or at a predetermined depth, regardless of the scale of the first detection result image 22 or the depression angle of the transmission and reception direction of the ultrasonic TB.

[0113] When the first marker drawing means 15a detects that the user has operated the "Up" button (not shown) on the operation button 6 while the first marker 31 is displayed, it widens the diameter of the first marker 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 allows the diameter of the first marker 31 displayed on the first detection result image 22 to be widened based on the user's operation, as shown in Figure 6(b).

[0114] Furthermore, when the first marker drawing means 15a detects that the user has operated the "down" button (not shown) on the operation button 6 while the first marker 31 is displayed, it narrows the diameter of the first marker 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 marker 31 displayed on the first detection result image 22 based on the user's operation.

[0115] Note that 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 marker 31 displayed in the first detection result image 22 may be narrowed, and when the "Down" button is operated, the diameter of the first marker 31 displayed in the first detection result image 22 may be widened. Furthermore, although the use of the "Up" and "Down" buttons to operate the display of the first marker 31 has been described, operations related to the display of the first marker 31 may be assigned to any operation button 6.

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

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

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

[0119] Furthermore, when the predetermined position (drawing position) where the first marker 31 is drawn by the first marker drawing means 15a is changed, the second marker drawing means 16a draws the second marker 32 in conjunction with the changed first marker 31, as shown in Figure 6(b), at the position of the second detection result image 23 and / or the third detection result image 24 corresponding to the depth of the changed first marker 31 or the distance (slant distance) from the ship 71 (transmitter / receiver unit 50).

[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 to 52f having the first central axes C1a to C1f included in the first range or the second range of the first central axes C1a to C1f, then they will be a time-series arrangement of detection results for each slant distance along the distance direction along the first central axes C1a to C1f. Therefore, for such a second detection result image 23 and / or third detection result image 24, the second marker drawing means 16a can easily draw the second marker 32 at the position in the second detection result image 23 and / or third detection result image 24 corresponding to that distance (slant distance) by receiving information from the first marker drawing means 15a about the distance (slant distance) from the ship 71 (transmitter / receiver unit 50) at the drawing position (predetermined position) of the first marker 31. Then, as shown in Figure 6, the user can intuitively grasp the depth at the first marker 31 displayed in the first detection result image 22 from the second marker 32 displayed in the second detection result image 23 and / or the third detection result image 24.

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

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

[0123] Furthermore, the second marker drawing means 16a can receive information from the first marker drawing means 15a regarding the distance (slant distance) from the ship 71 (transmitting / receiving unit 50) at the drawing position (predetermined position) of the first marker 31, and calculate the depth at the drawing position (predetermined position) of the first marker 31 based on the received information. The second marker drawing means 16a can also draw the second marker 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 controls the display device 21 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. 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 a single image on the display device 21.

[0125] Next, a method for performing horizontal detection using the sonar function with the ultrasonic sonar device 1 of this embodiment, configured as described above, will be explained, mainly with reference to Figure 5.

[0126] When the user turns on the power to the ultrasonic sonar device 1 via the operation button 6, or when the user is instructed to start horizontal detection using the sonar function while the power is on, the ultrasonic sonar device 1 first drives the lifting device 41 to bring the transmitting and receiving unit 50 out of the water from the bottom of the ship 71. In the case of an ultrasonic sonar device 1 that does not have a lifting device 41 and in which the transmitting and receiving unit 50 is fixed to the ship 71 in a position where ultrasonic TB can be sent and received toward the water, the operation of driving the lifting device 41 is omitted.

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

[0128] The ultrasonic TB transmitted from the first transducers 52a to 52f and the second transducer 53 is reflected from the detection target object GF, seabed SB, etc., that are present in a predetermined range from which the ultrasonic TB is transmitted. The reflected waves are received by the first transducers 52a to 52f and the second transducer 53, and signals (voltages) are output from the first transducers 52a to 52f and the second transducer 53 as the intensity of the reflected waves received in each direction of the first central axis C1a to C1f and the second central axis C2, respectively.

[0129] The signals (voltages) output from the first transducers 52a to 52f and the second transducer 53 are amplified by 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 central axis C1a to C1f and the second central axis C2.

[0130] These original received signals are subjected to spatial (and temporal) filtering by filter 14. Furthermore, filter 14 sets a virtual direction for each of the first central axes C1a to C1f at a position midway between adjacent first central axes C1a to C1f, and generates received signals from the respective received signals of the first transducers 52a to 52f, assuming that ultrasonic TB was virtually transmitted and received in that virtual direction.

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

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

[0133] Furthermore, based on the received signals in the direction of the first central axis C1a to C1f, which is included in the first range set by the user within a predetermined range set in all directions relative to the vessel 71, the second detection result image 23 is generated by the second detection result image generation means 16, which arranges the detection results of the first range in a time series, similar to a fish finder.

[0134] Furthermore, based on the received signals in the direction of the first central axis C1a to C1f, which is included in the second range set by the user within a predetermined range set in all directions relative to the vessel 71, the second detection result image generation means 16 generates a third detection result image 24 in which the detection results of the second range are arranged in chronological order, similar to a fish finder.

[0135] Furthermore, the second detection result image generation means 16 can, based on the user's instructions, generate a fish school detection result image as the second detection result image 23 or the third detection result image 24, which arranges the vertical detection results in chronological order, based on the received signal in the direction of the second central axis C2, which is the vertical direction, instead of the received signal in the direction of the first central axis C1a to C1f included in the first range or the second range.

[0136] These first detection result images 22, as well as the second detection result images 23 and third detection result images 24, which are set to be displayed by the user, are displayed on the display device 21 by the display control means 18, as shown in Figure 6.

[0137] Furthermore, according to the ultrasonic sonar device 1, if the user views a detection result image such as the first detection result image 22 and notices a reaction of interest (reflected ultrasonic TB), they can operate the "up" button or the "down" button (not shown) provided on the operation button 6 to display the first marker 31 at the location of the reaction of interest in the first detection result image 22. Also, according to the ultrasonic sonar device 1, when the first marker 31 is displayed on the first detection result image 22, the second marker 32 is displayed on the second detection result image 23 and / or the third detection result image 24 in conjunction with the first marker 31.

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

[0139] When the marker drawing process is started, the control device 10 first determines whether or not the first marker 31 is currently displayed in the first detection result image 22 (S11). If the first marker 31 is not displayed in the first detection result image 22 (S11: No), the control device 10 determines whether the "up" button or the "down" button on the operation button 6 has been pressed (S12).

[0140] If the first marker 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 terminates the marker drawing process.

[0141] On the other hand, if the "Up" button or the "Down" button is pressed while the first marker 31 is not displayed in the first detection result image 22 (S12: Yes), the first marker drawing means 15a of the control device 10 draws the first marker 31 at a predetermined position (initial position) in the first detection result image 22 (S13), and proceeds to the process of S18 described later. As a result of the process in S13, the first marker 31 is displayed at the initial position of the first detection result image 22.

[0142] On the other hand, if, as a result of the processing in S11, the first marker 31 is displayed in the first detection result image 22 (S11: Yes), the control device 10 then determines whether the "Up" button has been pressed (S14).

[0143] If the "Up" button is pressed while the first marker 31 is displayed in the first detection result image 22 (S14: Yes), the first marker drawing means 15a of the control device 10 widens the diameter of the first marker 31 displayed in the first detection result image 22 by a predetermined number of dots and redraws it in the first detection result image 22 (S15), and then proceeds to the process of S18 described later. Through the process of S15, the user can widen the diameter of the first marker 31 that was displayed in the first detection result image 22 by pressing the "Up" button.

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

[0145] On the other hand, if, as a result of the judgment in S16, the "down" button is pressed while the first marker 31 is displayed in the first detection result image 22 (S16: Yes), the first marker drawing means 15a of the control device 10 narrows the diameter of the first marker 31 displayed in the first detection result image 22 by a predetermined number of dots and redraws it in the first detection result image 22 (S17), and proceeds to the process in S18 described later. Through the process in S17, the user can narrow the diameter of the first marker 31 that was displayed in the first detection result image 22 by pressing the "down" button.

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

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

[0148] As a result of the processing in S19, the second marker 32 is displayed in the second detection result image 23 and / or the third detection result image 24 in conjunction with the first marker 31 displayed in the first detection result image 22. From the second marker 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 marker 31 displayed in the first detection result image 22.

[0149] The ultrasonic sonar device 1 configured as described above produces the following effects.

[0150] (1) According to the ultrasonic sonar device 1, the transmitting and receiving unit 50 transmits ultrasonic TB into the water over a predetermined range, and for each predetermined direction (direction of the first central axis C1a to C1f and the second central axis C2), which includes at least a plurality of directions set in the azimuthal direction (direction of the first central axis C1a to C1f), reflected waves of ultrasonic TB reflected from each position in the water are received. Based on the reflected waves received by the transmitting and receiving unit 50, a received signal is generated for each predetermined direction by the receiving units 13a to 13g and the filter 14. Based on these generated received signals for each predetermined direction, a first detection result image 22 is generated by the first detection result image generation means 15, which shows the latest detection results over a predetermined range projected onto a plane parallel to the horizontal plane.

[0151] Furthermore, based on the received signal in at least one direction among the directions of the first central axis C1a to C1f and the second central axis C2, the second detection result image 23 and / or third detection result image 24 are generated by the second detection result image generation means 16, which arrange the detection results in the distance direction from the transmitting / receiving unit 50 in chronological order. The first detection result image 22 generated by the first detection result image generation means 15 and the second detection result image 23 and / or third detection result image 24 generated by the second detection result image generation means 16 can be displayed together on the display device 21.

[0152] The user can determine from the first detection result image 22 whether or not there is a target object GF within a predetermined range, and the direction and horizontal distance in which the target object GF is located. 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 formed the basis for generating the second detection result image 23 and the third detection result image 24, so the user can reduce the likelihood of overlooking the target object GF in that direction. In addition, the second detection result image 23 and the third detection result image 24 show the detection results in the distance direction from the transmitting / receiving unit 50, allowing the user to understand the depth in which the target object GF is located.

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

[0154] As a result, when the user draws the first marker 31 at a desired position specified on the first detection result image 22, the second marker 32 is drawn in conjunction with it on the second detection result image 23 and / or the third detection result image 24. Therefore, the depth of the first marker 31 can be intuitively grasped from the second marker 32 drawn on the second detection result image 23 and / or the third detection result image 24. Thus, the ultrasonic sonar device 1 can intuitively grasp the depth of the object GF being detected in horizontal detection.

[0155] (3) According to the ultrasonic sonar device 1, the second detection result image generation means 16 synthesizes the received signals in the direction of the first central axis C1a to C1f included in the first range of a predetermined range, generates a detection result in the distance direction in the first range, and the second detection result image 23 can be generated by arranging the detection results of the first range in chronological order. Furthermore, the second detection result image generation means 16 synthesizes the received signals in the direction of the first central axis C1a to C1f included in the second range of a predetermined range, generates a detection result in the distance direction in the second range, and the third detection result image 24 can be generated by arranging the detection results of the second range in chronological order.

[0156] As a result, the detection results of the target object GF based on the transmission and reception of ultrasonic TB performed for each of the multiple first central axes C1a to C1f included in the first range are included without omission in the second detection result image 23, and furthermore, the history of the detection results is recorded in the second detection result image 23. In addition, the detection results of the target object GF based on the transmission and reception of ultrasonic TB performed for each of the multiple first central axes C1a to C1f included in the second range are included without omission in the third detection result image 24, and furthermore, the history of the detection results is recorded in the third detection result image 24. Therefore, there is an effect in which the oversight of the target object GF can be more reliably suppressed.

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

[0158] (4) According to the ultrasonic sonar device 1, the transmitting and receiving unit 50 receives reflected waves of ultrasonic waves TB reflected from each position in the water in the direction of the second central axis C2, which is the vertical direction as one of the predetermined directions. The second detection result image generation means 16 generates detection results in the distance direction based on the vertical received signals in the transmitting and receiving unit 50, and a second detection result image 23 or a third detection result image 24 is generated by arranging the detection results in chronological order. This second detection result image 23 or third detection result image 24 is a so-called conventional fish finder result image.

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

[0160] (5) According to the ultrasonic sonar device 1, the first marker drawing means 15a draws a ring-shaped first marker 31 on the first detection result image 22, centered on a point that is assumed to be the position of the ship 71 (transmitter / receiver unit 50). In the first detection result image 22, the ring-shaped first marker 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 marker 31. Furthermore, the depth of this ring-shaped first marker 31 can be intuitively grasped from the second marker 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 marker drawing means 16a draws the second marker 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 marker 32 displayed on the second detection result image 23 or the third detection result image 24, so that the depth of the object GF being detected in horizontal detection can be grasped more intuitively from the second marker 32.

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

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

[0164] Although the present invention has been described above based on embodiments, it is easy to infer that the present invention is not limited in any way to the above embodiments, and that various improvements and modifications are possible without departing from the spirit of the present invention. For example, each embodiment may be modified by adding or replacing some or more parts of the configuration of other embodiments with parts or more parts of the configuration of other embodiments, including the modifications described below. Furthermore, the numerical values ​​given in the above embodiments are merely examples, and it is naturally possible to use other numerical values.

[0165] In the above embodiment, the case in which the transmitter / receiver unit 50 is equipped with a second transducer 53 whose second central axis C2 is in the vertical direction directly below the ship 71 was described. However, at least when performing horizontal detection as a sonar function, detection in the vertical direction directly below the ship 71 may not always be necessary. Also, in the above embodiment, since the directional characteristics of the ultrasonic TB transmitted from the first transducers 52a to 52f include the vertical direction directly below the ship 71, it is possible to detect an object GF located in the vertical direction directly below the ship 71 using only the first transducers 52a to 52f, although the detection sensitivity and / or accuracy will decrease. Therefore, the second transducer 53 may be omitted from the transmitter / receiver unit 50.

[0166] In the above embodiment, the case in which the first transducers 52a to 52f are inclined to face inward (towards the side where the second transducer 53 is located) has been described. However, the invention is not limited to this, and the first transducers 52a to 52f may also be inclined to face outward (towards the side opposite to the side where the second transducer 53 is located) with respect to each other. In this case as well, it is preferable that the first central axes C1a to C1f each form a predetermined angle θ with respect to the second central axis C2 (the vertical direction when the transmitting / receiving unit 50 is attached to the ship 71), selected from a range of 20° to 50°.

[0167] In the above embodiment, the case in which the first transducers 52a to 52f are provided around the second transducer 53 in the transmitting and receiving unit 50 was described. However, the arrangement of the first transducers 52a to 52f and the second transducer 53 in the transmitting and receiving unit 50 can be arbitrary, as long as, when the transmitting and receiving 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 make 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 or two rows, or the first oscillators 52a to 52f may be arranged in two rows and the second oscillator 53 may be placed at any position between the two rows of the first oscillators 52a to 52f.

[0168] In the above embodiment, the case in which detection is performed over a predetermined range set in all directions of the vessel 71 was described. However, the predetermined range may be a predetermined range set for a part of the direction of the vessel 71. In this case as well, the first range may be set to a part or all of the predetermined range. Furthermore, the second range may be set to a part or all of the predetermined range, insofar as it differs from the first range.

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

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

[0171] In the above embodiment, the case in which the second marker 32 is drawn linearly along the time axis with respect to the second detection result image 23 and / or the third detection result image 24 was described, but the length of the line may be arbitrary. Also, the second marker 32 may be represented as a point, such as an "X" mark or a "+" mark, rather than a line. In this case, when the position of the first marker 31 is changed, the second marker 32 may move in conjunction with the first marker 31 along the distance direction of the detection result at a given time.

[0172] In the above embodiment, a case was described in which the number of first transducers 52 in the transmitting / receiving unit 50 is reduced, and ultrasonic TB is transmitted and received simultaneously from the first transducers 52 over a predetermined range set in all directions of the ship 71 to perform horizontal detection. However, the present invention displays not only the first detection result image 22, but also the second detection result image 23 and the third detection result image 24 on the display device 21, and displays the second marker 32 in the second detection result image 23 and / or the third detection result image 24 based on the depth of the first marker 31 in the water at the position of the first marker 31 displayed in the first detection result image 22, or the distance from the transmitting / receiving unit. This invention is also applicable to detection using PPI sonar and scanning sonar.

[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 Filter 15 First detection result image generation means 15a First marker drawing means 16 Second detection result image generation means 16a Second marker 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 marker 32 Second marker 50 Transmitting and receiving unit 52 First transducer 52a First transducer 52b First transducer 52c First transducer 52d First transducer 52e First transducer 52f First transducer 53 Second transducer 71 Ship C1a First central axis C1b First central axis C1c First central axis C1d First central axis C1e First central axis C1f First central axis C2 Second central axis TB Ultrasonic wave

Claims

1. A transmitting / receiving unit configured to transmit ultrasonic waves into water over a predetermined range and to receive reflected ultrasonic waves reflected from each position in the water for each predetermined direction including at least a plurality of directions set in the azimuthal direction; a receiving signal generation means that generates a received signal for each predetermined direction based on the reflected waves received by the transmitting / receiving unit; a first detection result image generation means that generates a first detection result image showing the latest detection results over the predetermined range projected onto a plane parallel to the horizontal plane based on the received signals for each predetermined direction generated by the receiving signal generation means; a second detection result image generation means that generates a second detection result image showing the detection results in the distance direction from the transmitting / receiving unit arranged in chronological order based on the received signal from at least one direction; and a display means that displays the first detection result image generated by the first detection result image generation means and the second detection result image generated by the second detection result image generation means together, wherein the first detection result image generation means is An ultrasonic sonar device comprising a first marker drawing means for drawing a first marker at a predetermined position in the first detection result image based on an operation from the user, and a second marker drawing means for drawing a second marker at a position in the second detection result image corresponding to the depth in the water at the predetermined position where the first marker is drawn in the first detection result image by the first marker drawing means, or the distance from the transmitting / receiving unit.

2. The ultrasonic sonar device according to claim 1, characterized in that the second detection result image generation means synthesizes the received signals in the predetermined direction included in the first range from the predetermined range to generate detection results in the distance direction in the first range, and generates the second detection result image by arranging the detection results of the first range in chronological order.

3. The ultrasonic sonar device according to claim 1, wherein the transmitting and receiving unit is configured to receive reflected 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 generation means generates detection results in the distance direction based on the received signal in the vertical direction, and generates the second detection result image by arranging the detection results in chronological order.

4. The ultrasonic sonar apparatus according to claim 1, characterized in that the first marker drawing means draws the first marker in a ring shape on the first detection result image, with a point representing the assumed position of the transmitting and receiving unit as the center.

5. The ultrasonic sonar apparatus according to claim 1, characterized in that the second marker drawing means draws the second marker linearly along the time axis on the second detection result image.

6. The ultrasonic sonar device according to claim 1, comprising an operating means for receiving operations from a user, wherein the first marker drawing means changes the position of the first marker to be drawn on the first detection result image based on the operation of the operating means by the user.

Images