阅读说明：本技术 回波信号处理装置与系统、以及回波信号处理方法 (Echo signal processing device and system, and echo signal processing method ) 是由 林孝二 狭间拓人 于 2019-07-10 设计创作，主要内容包括：本发明提供一种回波信号处理装置,用户能够容易且迅速地掌握鱼群的活动状况。鱼群回波检测部(12)利用由声纳传感器(3)所生成的回波信号检测鱼群的回波。对应关系特定部(17)确定第一鱼群回波及第二鱼群回波的对应关系,所述第一鱼群回波是在第一时序检测到的鱼群的回波,所述第二鱼群回波是在比第一时序更早的时序即第二时序检测到的鱼群的回波。关联信息生成部(15)生成关联信息,所述关联信息是将已由对应关系特定部(17)确定对应关系的第一鱼群回波及第二鱼群回波加以关联的信息。显示控制部(16)进行如下的控制,即,显示鱼群的回波及关联信息。(The invention provides an echo signal processing device, which can easily and rapidly grasp the activity status of fish. A fish school echo detection unit (12) detects the echo of a fish school by using the echo signal generated by the sonar sensor (3). A correspondence relation specifying unit (17) specifies a correspondence relation between a first fish echo, which is an echo of a fish school detected at a first timing, and a second fish echo, which is an echo of a fish school detected at a second timing that is earlier than the first timing. A correlation information generation unit (15) generates correlation information that correlates the first and second fish-swarm echoes for which the correspondence relationship has been specified by the correspondence relationship specification unit (17). A display control unit (16) performs control for displaying the echo of the fish and the related information.)

1. An echo signal processing apparatus characterized by comprising:

a fish school echo detection unit that detects an echo of a fish school from an echo signal generated by a sonar sensor based on a reflected wave of a transmission wave transmitted into water;

a correspondence relation specifying unit that specifies a correspondence relation between a first fish school echo that is an echo of the fish school detected at a first timing and a second fish school echo that is an echo of the fish school detected at a second timing that is earlier than the first timing;

a correlation information generating unit that generates correlation information that correlates the first and second fish school echoes for which the correspondence relationship has been specified by the correspondence relationship specifying unit; and

and a display control unit that performs control to display the echo of the fish school and the related information.

2. An echo signal processing apparatus according to claim 1, further comprising:

a ship position information acquisition unit that acquires ship position information, which is information of a ship position where the sonar sensor is mounted;

a fish school center relative coordinate calculation unit that calculates relative coordinates of the center of the echo of the fish school with reference to the ship position, based on the echo of the fish school; and

a fish school center absolute coordinate calculation unit that calculates an absolute coordinate of the center of the echo of the fish school based on the own ship position information and the relative coordinate of the center of the echo of the fish school; and is

The correlation information generating unit generates the correlation information based on absolute coordinates of a center of an echo of the fish school.

3. Echo signal processing device according to claim 1 or 2,

the correspondence relation specifying unit associates the first fish school echo and the second fish school echo, the centers of which are located within a range of a predetermined distance from the center of the second fish school echo.

4. The echo signal processing apparatus according to any one of claims 1 to 3,

the display control unit performs control to display the second fish school echo and the first fish school echo together with the related information.

5. The echo signal processing apparatus according to any one of claims 1 to 4,

the correlation information generating unit generates, as the correlation information, information of a vector connecting the second fish school echo and the first fish school echo,

the display control unit performs control to display the vector display as a line segment.

6. The echo signal processing apparatus according to any one of claims 1 to 4,

the correlation information generating unit generates, as the correlation information, information including a numerical value of a vector connecting the second fish school echo and the first fish school echo,

the display control unit performs control to display information including a numerical value of the vector.

7. The echo signal processing apparatus according to claim 6,

the information including the numerical value of the vector includes a direction and a velocity in the horizontal direction and a velocity in the vertical direction of the fish school.

8. The echo signal processing apparatus according to any one of claims 1 to 7,

the correlation information generating unit generates the correlation information in which the second fish swarm echo is correlated with the first fish swarm echoes when the first fish swarm echoes correspond to the second fish swarm echo.

9. The echo signal processing apparatus according to any one of claims 1 to 8,

the correlation information generating unit generates the correlation information in which the plurality of second fish group echoes and the first fish group echo are correlated with each other when the plurality of second fish group echoes correspond to the first fish group echo.

10. An echo signal processing system, characterized by comprising:

a sonar sensor that generates an echo signal based on a reflected wave of a transmission wave transmitted into water;

the echo signal processing device according to any one of claims 1 to 9, processing the echo signal; and

and a display unit that displays a map based on the data generated by the echo signal processing device.

11. An echo signal processing method is characterized in that,

detecting an echo of a fish shoal using an echo signal generated by a sonar sensor based on a reflected wave of a transmission wave transmitted into water;

determining a correspondence between a first fish school echo, which is an echo of the fish school detected at a first timing, and a second fish school echo, which is an echo of the fish school detected at a second timing that is earlier than the first timing;

generating association information, wherein the association information is information for associating the first fish school echo and the second fish school echo which have determined corresponding relation; and is

And performing control of displaying the echo of the fish and the related information.

Technical Field

The present invention relates to an echo signal processing device that processes an echo signal generated by a sonar sensor based on a reflected wave of a transmission wave transmitted into water, an echo signal processing system including the echo signal processing device, and an echo signal processing method.

Background

For example, patent document 1 discloses an echo signal processing device that processes an echo signal generated by a sonar sensor based on a reflected wave of a transmission wave transmitted into water. Further, patent document 1 discloses a structure in which: based on the data generated by the echo signal processing device, the echo of the fish detected by the echo signal processing device is displayed on a display unit such as a display, together with a map of the surroundings of the ship on which the sonar sensor is mounted.

[ Prior art documents ]

[ patent document ]

[ patent document 1] specification of U.S. patent application publication No. 2017/0242113A1

Disclosure of Invention

[ problems to be solved by the invention ]

According to the configuration disclosed in patent document 1, the echo of the fish school displayed on the display unit based on the data generated by the echo signal processing device is displayed on the screen of the display unit together with the map of the periphery of the ship. However, since only the echo of the fish school is displayed together with the map, it is difficult for the user to grasp what movement the fish school is performing, by viewing only the screen of the display unit. Therefore, the user must keep watching the screen of the display unit for a long time in order to grasp what kind of activity the fish school is doing. This makes it difficult for the user to easily and quickly grasp the movement of the fish school.

The present invention has been made to solve the above-described problems, and an object of the present invention is to provide an echo signal processing device, an echo signal processing system, and an echo signal processing method, which enable a user to easily and quickly grasp a moving state of a fish school.

[ means for solving problems ]

(1) In order to solve the problem, an echo signal processing device according to an aspect of the present invention includes: a fish school echo detection unit that detects an echo of a fish school from an echo signal generated by a sonar sensor based on a reflected wave of a transmission wave transmitted into water; a correspondence relation specifying unit that specifies a correspondence relation between a first fish school echo that is an echo of the fish school detected at a first timing and a second fish school echo that is an echo of the fish school detected at a second timing that is earlier than the first timing; a correlation information generating unit that generates correlation information that correlates the first and second fish school echoes for which the correspondence relationship has been specified by the correspondence relationship specifying unit; and a display control unit that performs control to display the echo of the fish school and the related information.

(2) There are the following cases: the echo signal processing apparatus further includes: a ship position information acquisition unit that acquires ship position information, which is information of a ship position where the sonar sensor is mounted; a fish school center relative coordinate calculation unit that calculates relative coordinates of the center of the echo of the fish school with reference to the ship position, based on the echo of the fish school; and a fish school center absolute coordinate calculation unit that calculates an absolute coordinate of the center of the echo of the fish school based on the own ship position information and the relative coordinate of the center of the echo of the fish school; and the correlation information generating unit generates the correlation information based on absolute coordinates of the center of the echo of the fish school.

(3) There are the following cases: the correspondence relation specifying unit associates the first fish school echo and the second fish school echo, the centers of which are located within a range of a predetermined distance from the center of the second fish school echo.

(4) There are the following cases: the display control unit performs control to display the second fish school echo and the first fish school echo together with the related information.

(5) There are the following cases: the correlation information generating unit generates information of a vector (vector) connecting the second fish school echo and the first fish school echo, and the display control unit performs control to display the vector as a line segment.

(6) There are the following cases: the related information generating unit generates information including a numerical value of a vector connecting the second fish school echo and the first fish school echo, and the display control unit performs control to display the information including the numerical value of the vector as the related information.

(7) There are the following cases: the information including the numerical value of the vector includes a direction and a velocity in the horizontal direction and a velocity in the vertical direction of the fish school.

(8) There are the following cases: the correlation information generating unit generates the correlation information in which the second fish swarm echo is correlated with the first fish swarm echoes when the first fish swarm echoes correspond to the second fish swarm echo.

(9) There are the following cases: the correlation information generating unit generates the correlation information in which the plurality of second fish group echoes and the first fish group echo are correlated with each other when the plurality of second fish group echoes correspond to the first fish group echo.

(10) In order to solve the above problem, an echo signal processing system according to an aspect of the present invention includes: a sonar sensor that generates an echo signal based on a reflected wave of a transmission wave transmitted into water; the echo signal processing device processes the echo signal; and a display unit that displays a map based on the data generated by the echo signal processing device.

(11) In order to solve the above problem, an echo signal processing method according to an aspect of the present invention is: detecting an echo of a fish shoal using an echo signal generated by a sonar sensor based on a reflected wave of a transmission wave transmitted into water; determining a correspondence between a first fish school echo, which is an echo of the fish school detected at a first timing, and a second fish school echo, which is an echo of the fish school detected at a second timing that is earlier than the first timing; generating association information, wherein the association information is information for associating the first fish school echo and the second fish school echo which have determined corresponding relation; and performing control of displaying the echo of the fish school and the related information.

[ Effect of the invention ]

According to the present invention, it is possible to provide an echo signal processing device, an echo signal processing system, and an echo signal processing method, which enable a user to easily and quickly grasp the activity status of a fish school.

Drawings

Fig. 1 is a block diagram showing a configuration of an echo signal processing system according to an embodiment of the present invention.

Fig. 2 is a diagram schematically showing a transmission space in which a transmission wave is transmitted by a wave transceiver of a sonar sensor, and a reception space in which a reflected wave is received by the wave transceiver.

Fig. 3 is a block diagram showing a configuration of an echo signal processing device according to an embodiment of the present invention.

Fig. 4 is a diagram for explaining the processing of the fish echo detecting unit of the echo signal processing device.

Fig. 5 is a diagram for explaining processing of the correspondence relation specifying unit of the echo signal processing device.

Fig. 6 is a diagram for explaining the processing of the related information generating unit of the echo signal processing device.

Fig. 7 is a diagram schematically showing an example of a video displayed on the display screen of the display unit.

Fig. 8 is a diagram schematically showing an example of a video displayed on the display screen of the display unit.

Fig. 9 is a flowchart for explaining the operation of the echo signal processing device and the echo signal processing system.

Fig. 10 is a diagram for explaining the first modification, and schematically shows an example of a video displayed on the display screen of the display unit.

Fig. 11 is a diagram for explaining the second modification, and schematically shows an example of a video displayed on the display screen of the display unit.

Fig. 12 is a diagram for explaining the third modification, and schematically shows an example of a video displayed on the display screen of the display unit.

Fig. 13 is a diagram for explaining the fourth modification, and schematically shows an example of a video displayed on the display screen of the display unit.

Fig. 14 is a diagram for explaining another modification, and schematically shows an example of a video displayed on the display screen of the display unit.

Detailed Description

Hereinafter, an echo signal processing system 1 and an echo signal processing device 2 according to an embodiment of the present invention will be described with reference to the drawings.

[ echo Signal processing System ]

Fig. 1 is a block diagram showing a configuration of an echo signal processing system 1 according to an embodiment of the present invention. The echo signal processing system 1 includes an echo signal processing device 2 according to an embodiment of the present invention. The echo signal processing system 1 and the echo signal processing device 2 according to the present embodiment are used in a ship such as a fishing boat, for example. Hereinafter, the ship provided with the echo signal processing system 1 and the echo signal processing device 2 will be referred to as "own ship".

As shown in fig. 1, an echo signal processing system 1 according to the present embodiment includes an echo signal processing device 2, a sonar sensor 3, and a display unit 4.

[ Sonar sensor ]

In the present embodiment, the sonar sensor 3 is configured as follows: a scanning sonar (scanning sonar) is transmitted to a transmission wave as an ultrasonic wave in water, and an echo signal is generated based on a reflected wave of the transmission wave transmitted in water. The sonar sensor 3 includes a wave transceiver 5 and a signal transceiver 6.

The wave transceiver 5 has a function of transmitting and receiving ultrasonic waves, and is mounted on the bottom of the ship. For example, the wave transceiver 5 is formed in a substantially cylindrical shape. More specifically, the wave transceiver 5 includes a substantially cylindrical housing, and ultrasonic transducers (not shown) as a plurality of wave transmitting/receiving elements attached to the outer peripheral surface of the housing. The ultrasonic transducer transmits ultrasonic waves as transmission waves to a transmission space in water, receives reflected waves of the transmission waves at a target (target) in water, converts the received reflected waves into electric signals, generates echo signals, and outputs the echo signals to the signal transceiver 6. The objects in the water reflected by the transmission waves transmitted from the wave transceiver 5 include fish schools, submarine topography, and the like.

Fig. 2 is a diagram schematically showing a transmission space TS in which a transmission wave is transmitted by the wave transceiver 5, and a plurality of reception spaces RS in which a reflected wave is received by the wave transceiver 5. The transmission wave transmitted from the wave transceiver 5 mounted on the ship S is transmitted from the wave transceiver 5 to all directions in the water around the ship S at the same time, and forms a conical transmission beam, for example. When a conical transmission beam is formed, the transmission space TS in which transmission waves are transmitted is a space configured in a conical shape. The shape of the transmission beam is not limited to the conical shape, but may be formed in various shapes depending on the shape of the wave transceiver 5 or the amplitude and phase of the electric signal input to each wave transmitting/receiving element of the wave transceiver 5.

After transmitting the transmission beam, the wave transceiver 5 forms a plurality of reception beams that scan in the circumferential direction (in the direction of the azimuth angle θ indicated by an arrow in fig. 2) all at once in the transmission space TS. That is, all reception beams are formed at the primary reception timing by the wave transceiver 5. In addition, reflected waves reflected by a target such as a fish school in water are received in each of a plurality of reception spaces RS (i.e., each of the spaces in which a reception beam is formed) arranged in parallel in the circumferential direction of the transmission space TS (i.e., in the direction along the azimuth angle θ).

The signal transceiver 6 includes a transmission/reception switching unit 7, a transmission circuit unit 8, and a reception circuit unit 9.

The transmission/reception switching unit 7 is a member for switching transmission and reception of signals to and from the wave transceiver 5. Specifically, when transmitting the drive signal for driving the wave transceiver 5 to the wave transceiver 5, the transmission/reception switching unit 7 outputs the drive signal output from the transmission circuit unit 8 to the wave transceiver 5. On the other hand, when receiving the echo signal from the wave transceiver 5, the transmission/reception switching unit 7 outputs the echo signal received from the wave transceiver 5 to the reception circuit unit 9.

The transmission circuit section 8 generates a drive signal which is a basis of the transmission wave transmitted from the wave transceiver 5. More specifically, the transmission circuit unit 8 includes transmission circuits (not shown) provided corresponding to the respective ultrasonic transducers, and each transmission circuit generates a drive signal.

The receiving circuit unit 9 is provided in association with each ultrasonic transducer, and includes a receiving circuit (not shown) that processes an echo signal generated by a received reflected wave. The receiving circuit unit 9 amplifies an echo signal, which is an electric signal generated and output by the wave transceiver 5 using a reflected wave, and removes unnecessary frequency components by limiting the frequency band (bandfrequency). Then, the reception circuit unit 9 converts the amplified echo signal into an echo signal which is a digital signal, and outputs the echo signal to the echo signal processing device 2.

[ display part ]

The display unit 4 is configured as a display device such as a display. The display unit 4 displays a video on the display screen based on data (more specifically, video data for display described later) generated by the echo signal processing device 2 and output from the echo signal processing device 2. The display unit 4 displays a state in the sea below the ship S, for example, in a form of an overhead view in three dimensions. Thus, the user of the echo signal processing system 1 can view the display screen and estimate the presence or absence and the position of the fish school under the ship S.

[ entire Structure of echo Signal processing device ]

Fig. 3 is a block diagram showing the configuration of the echo signal processing device 2. Referring to fig. 1 and 3, the echo signal processing device 2 performs processing for processing the echo signal output from the receiving circuit unit 9 to detect the echo of the fish school, generating information relating to the echo of the fish school detected at a different timing, and displaying the echo of the fish school on the display unit 5 together with the information.

The echo signal processing device 2 includes a ship position information acquiring unit 11, a fish school echo detecting unit 12, a fish school center relative coordinate calculating unit 13, a fish school center absolute coordinate calculating unit 14, a correspondence specifying unit 17, a related information generating unit 15, a display control unit 16, and the like.

The echo signal processing device 2 is a device connected to the signal transceiver 6 of the sonar transducer 3 by a cable or the like, and includes, for example, a Personal Computer (PC). The echo signal Processing device 2 includes a hardware processor 10 (e.g., a Central Processing Unit (CPU), a Field Programmable Gate Array (FPGA), etc.) and a device such as a nonvolatile memory. The hardware processor 10 functions as a ship position information acquiring unit 11, a fish echo detecting unit 12, a fish center relative coordinate calculating unit 13, a fish center absolute coordinate calculating unit 14, a related information generating unit 15, and a display control unit 16, which will be described in detail below. For example, the CPU reads and executes a program from the nonvolatile memory, and causes the hardware processor 10 to function as the ship position information acquiring unit 11, the fish echo detecting unit 12, the fish center relative coordinate calculating unit 13, the fish center absolute coordinate calculating unit 14, the related information generating unit 15, and the display control unit 16.

[ own ship position information acquisition section ]

The ship position information acquisition unit 11 is configured to acquire ship position information, which is information on the position of the ship S on which the sonar sensor 3 is mounted. The ship S is equipped with a Global Positioning System (GPS) antenna (not shown) for receiving radio waves transmitted from positioning satellites, and a GPS receiver (not shown) for detecting the Position of the ship S based on a positioning signal received by the GPS antenna. The GPS receiver is connected to the echo signal processing device 2, and is configured to output the detected position of the ship S to the echo signal processing device 2. The detection result of the GPS receiver is input to the echo signal processing device 2, so that the own ship position information acquisition unit 11 acquires own ship position information.

The ship position information acquiring unit 11 is configured to acquire information on the direction of the ship S, that is, information on the bow direction of the ship S. The ship S is mounted with a gyrocompass (not shown) or a satellite compass (not shown) for detecting the azimuth of the ship S as an absolute azimuth. The satellite compass includes, for example, two GPS antennas attached to the ship S, and is configured to receive radio waves transmitted from positioning satellites via the two GPS antennas, to position a relative position between the two GPS antennas based on a carrier phase of a received radio wave signal, and to detect the azimuth of the ship S as an absolute azimuth. The compass or the satellite compass mounted on the ship S is connected to the echo signal processing device 2, and is configured to output the detected azimuth of the ship S to the echo signal processing device 2. The ship position information acquiring unit 11 acquires information on the azimuth of the ship S by inputting the detection result of the compass or the satellite compass to the echo signal processing device 2.

[ Fish echo detecting section ]

The fish school echo detection unit 12 is configured to detect an echo of a fish school by using an echo signal generated by the sonar sensor 3 based on a reflected wave of a transmission wave transmitted into water. Fig. 4 is a diagram for explaining the processing of the fish echo detecting unit 12. Fig. 4 schematically shows a state in which echoes (E1, E2) of a fish school are detected in a probe region DR, which is a region where a fish school is probed and echoes of the fish school are detected, that is, a region corresponding to a transmission space TS in which transmission waves are transmitted.

The fish school echo detection unit 12 is configured to perform beamforming (more specifically, phasing and adding) and filtering processing for each of the plurality of reception spaces RS, based on the echo signals received from the reception circuit unit 9. Furthermore, the fish echo detecting unit 12 generates a reception beam signal in the beam forming process, the reception beam signal being equivalent to a signal obtained by a single ultrasonic transducer having a clear directivity in a specific direction. Next, the fish echo detecting unit 12 repeats the beam forming process while changing the combination of the ultrasonic transducers to be subjected to the process, and generates a plurality of reception beam signals having directivity in each direction corresponding to each reception space RS. Then, the fish school echo detection unit 12 performs filtering processing such as band limiting filtering or pulse compression filtering on each reception beam formed in correspondence with each reception space RS. By these processes, the fish echo detecting unit 12 generates an echo signal subjected to the beamforming process and the filtering process.

Next, the fish school echo detection unit 12 detects an echo existing above the sea floor as an echo of a fish school based on the echo signal subjected to the beamforming processing and the filtering processing, the own ship position information acquired by the own ship position information acquisition unit 11, and the sea floor information including the depth information of the sea floor. That is, in the probe region DR centered on the position of the own ship specified by the own ship position information, an echo existing at a position above the depth of the sea bottom specified by the sea bottom information is detected as an echo of the fish school. The seafloor information is acquired from, for example, a chart (chart) stored in a storage medium connected to the echo signal processing device 2. In addition, the echo signal processing device 2 may be configured to store a chart of the sea area in which the ship S is sailing in advance, and to acquire the sea floor information from the stored chart. Further, a depth measuring instrument for measuring the depth of the sea floor may be mounted on the ship S, the echo signal processing device 2 may be connected to the depth measuring instrument, and the sea floor information may be acquired by inputting the measurement result of the depth measuring instrument to the echo signal processing device 2. The depth measuring device may include a fish finder, for example.

[ Fish school center relative coordinates calculation part ]

The fish school center relative coordinate calculation unit 13 calculates relative coordinates of the center of the echo of the fish school with reference to the position of the ship S based on the echo of the fish school detected by the fish school echo detection unit 12 (E1, E2). The fish center relative coordinate calculation unit 13 calculates the relative coordinates of the centers of the echoes of the fish using the three-dimensional coordinates for the echoes (E1, E2) of each fish. That is, in the example shown in fig. 4, the fish school center relative coordinate calculation unit 13 calculates the relative coordinates of the center position of the echo E1 of the fish school with respect to the ship S and the relative coordinates of the center position of the echo E2 of the fish school with respect to the ship S, using the three-dimensional coordinates.

Furthermore, in the fish echo detection unit 12, the arrival azimuth and arrival distance of the reflected wave corresponding to the echo (E1, E2) of each fish are determined by the three-dimensional coordinates of the curved coordinate system for each echo (E1, E2) of each fish. Accordingly, the fish center relative coordinate calculation unit 13 calculates the relative coordinates of the centers of the echoes (E1, E2) of the respective fish groups based on the position of the ship S as the three-dimensional coordinates of the orthogonal coordinate system. The position of the center of the echo (E1, E2) for each fish is determined as the position of the center of the area of the echo (E1, E2) for each fish, or as the position at which the signal intensity level of the echo signal of the echo (E1, E2) for each fish is the strongest, for example.

[ Absolute coordinate calculation part of fish school ]

The fish school center absolute coordinate calculation unit 14 calculates the absolute coordinates of the center of the echo of the fish school based on the ship position information acquired by the ship position information acquisition unit 11 and the relative coordinates of the center of the echo of the fish school calculated by the fish school center relative coordinate calculation unit 13. The fish school center absolute coordinate calculation unit 14 calculates the absolute coordinates of the centers of the echoes of the fish schools using the three-dimensional coordinates for the echoes (E1, E2) of each fish school. That is, in the example shown in fig. 4, the fish center absolute coordinate calculation unit 14 calculates the absolute coordinates of the center position of the echo E1 of the fish and the absolute coordinates of the center position of the echo E2 of the fish using the three-dimensional coordinates.

The ship position information acquiring unit 11 acquires the ship position information, and thereby specifies the position of the ship S in absolute coordinates. Next, the fish-swarm-center absolute-coordinate calculation unit 14 calculates the absolute coordinates of the centers of the echoes (E1, E2) for each fish swarm by adding the relative coordinates of the center positions of the echoes (E1, E2) for each fish swarm to the coordinates of the position of the ship S specified in absolute coordinates, for the echoes (E1, E2) for each fish swarm.

[ correspondence specifying unit and correlation information generating unit ]

The correspondence relation specifying unit 17 specifies a correspondence relation between a first fish school echo, which is an echo of a fish school detected at a first time series, and a second fish school echo, which is an echo of a fish school detected at a second time series. Next, the correlation information generating unit 15 generates correlation information in which the first fish school echo and the second fish school echo, the correspondence of which has been determined by the correspondence determining unit 17, are correlated with each other. The first timing is configured as the latest timing (i.e., the latest timing), for example. Further, the first timing may be a timing before the latest timing rather than the latest timing. The second timing is a timing earlier than the first timing. Therefore, the first fish school echo is an echo of a fish school detected by the fish school echo detecting unit 12 at a first timing such as a latest timing by using an echo signal generated by the sonar sensor 3. The second fish school echo is an echo of a fish school detected by the fish school echo detecting unit 12 at a second timing earlier than the first timing by using the echo signal generated by the sonar sensor 3. The correspondence relationship between the first fish echo and the second fish echo detected at different timings is determined by the correspondence relationship determining unit 17, and the correlation information is generated by the correlation information generating unit 15. In the present embodiment, the correspondence relation specifying unit 17 is configured to identify the correspondence relation between the first fish echo and the second fish echo by associating the first fish echo with the second fish echo based on the absolute coordinates of the center of the echo of the fish. The related information generating unit 15 is configured to generate information for relating the first fish school echo and the second fish school echo, which have been associated with each other, based on the absolute coordinates of the centers of the echoes of the fish school.

Then, each time an echo signal is generated by the sonar sensor 3 and an echo of a fish school is detected by the fish school echo detecting unit 12, and then the absolute coordinates of the center of the echo of the fish school are calculated by the fish school center absolute coordinate calculating unit 14, the correspondence relation specifying unit 17 and the related information generating unit 15 specify the correspondence relation between the first fish school echo and the second fish school echo and generate related information that relates these. Further, as the second fish group echo that specifies the correspondence with the first fish group echo and generates the correlation information in association with the first fish group echo, for example, an echo of a fish group detected at a second timing that is a timing before the first timing with respect to the first timing at which the first fish group echo is detected may be selected. Alternatively, as the second fish school echo, an echo of a fish school detected at a second time series that is a plurality of times earlier than the first time series at which the first fish school echo is detected may be selected.

Fig. 5 is a diagram for explaining the processing of the correspondence relation specifying unit 17, and is a diagram for explaining the processing of specifying the correspondence relation between the first fish school echo and the second fish school echo. In fig. 5, a state in which the echoes (E1, E2) of the fish school are detected in the probe region DR and a state in which the echoes (E1', E2') of the fish school are detected in the probe region DR ' are schematically illustrated. In fig. 5, outline lines of a probe region DR corresponding to a transmission space TS in which transmission waves are transmitted at a timing corresponding to a first timing such as a latest timing, and first fish echo (E1, E2) which is echo (E1, E2) of a fish detected at the first timing in the probe region DR are shown by solid lines. In fig. 5, outline lines of a probe region DR 'corresponding to the transmission space TS in which the transmission wave is transmitted at a timing corresponding to a second timing which is a timing earlier than the first timing, and outline lines of second fish echo (E1', E2') which are echoes (E1', E2') of a fish detected at the second timing in the probe region DR' are shown by broken lines.

The correspondence relation specifying unit 17 associates the first fish group echoes (E1, E2) having centers within a range of a predetermined distance from the centers of the second fish group echoes (E1', E2') with the second fish group echoes (E1', E2'). Specifically, when the correlation information generating unit 15 identifies the correspondence relationship between the first fish group echoes (E1, E2) and the second fish group echoes (E1', E2'), it first identifies the first fish group echoes (E1, E2) whose center is within a predetermined distance from the center of the second fish group echoes (E1', E2'). In this case, the correspondence relation specifying unit 17 sets the balls (S1, S2) having the predetermined radius R (i.e., the predetermined distance R) with the center position of each of the second fish echo (E1', E2') as the center on the absolute coordinates, and the balls (S1, S2) set the range in which the fish can move. In fig. 5, the size of the predetermined radius R is indicated by an arrow in a two-dot chain line, and the sphere is indicated by a circle in a two-dot chain line (S1, S2). The value of the predetermined radius R is appropriately set based on, for example, an input operation from a user. Alternatively, the value of the predetermined radius R is stored in advance as a set value in the echo signal processing device 2.

When a sphere (S1, S2) having a predetermined radius R is set with the center position of each second fish group echo (E1', E2') as the center, the correspondence specifying unit 17 specifies each first fish group echo (E1, E2) having the center within the sphere (S1, S2) on the absolute coordinates. Specifically, first fish group echoes (E1, E2) having centers within a predetermined distance R from the centers of the second fish group echoes (E1', E2') are identified. Next, second fish swarm echoes (E1', E2') corresponding to the first fish swarm echoes (E1, E2) are determined. Thus, the correspondence relation specifying unit 17 associates the first fish echo (E1, E2) with the second fish echo (E1', E2') to specify the correspondence relation therebetween. In the example shown in fig. 5, the first fish school echo E1 centered within the sphere S1 of radius R centered on the second fish school echo E1' is determined. Thereby, the correspondence relationship between the first fish school echo E1 and the second fish school echo E1' is determined. Then, the first fish school echo E2 centered within the sphere S2 of radius R centered on the second fish school echo E2' is determined. Thereby, the correspondence relationship between the first fish school echo E2 and the second fish school echo E2' is determined. In this way, the correspondence between the first fish school echoes (E1, E2) corresponding to the same fish school and the second fish school echoes (E1', E2') is determined.

When the plurality of second fish group echoes (E1', E2') are not close to each other and the centers of the first fish group echoes (E1, E2) are present in the respective balls (S1, S2) having a predetermined radius R centered on the center positions of the second fish group echoes (E1', E2'), the correspondence relationship between the respective first fish group echoes (E1, E2) and the respective second fish group echoes (E1', E2') is determined. However, when the plurality of second fish school echoes (E1', E2') are close to each other and the centers of the plurality of first fish school echoes are present within a sphere of a predetermined radius R centered on the center position of the second fish school echo, for example, the second fish school echo and the first fish school echo are associated with each other at a short distance. Alternatively, in this case, the second fish school echoes are associated with the first fish school echoes in the order of the intensity of the echo signal intensity.

After identifying the second fish group echoes (E1', E2') corresponding to the first fish group echoes (E1, E2) as described above, the related information generating unit 15 generates related information in which the first fish group echoes (E1, E2) are related to the second fish group echoes (E1', E2') corresponding to the first fish group echoes (E1, E2). That is, the correlation information generating unit 15 generates the correlation information in which the first fish school echoes (E1, E2) and the second fish school echoes (E1', E2') whose correlation has been specified by the correlation specifying unit 17 are correlated with each other. At this time, the correlation information generator 15 generates correlation information based on the absolute coordinates of the center of each first fish echo (E1, E2) and the absolute coordinates of the center of each second fish echo (E1', E2'). Fig. 6 is a diagram for explaining the processing of the related information generating unit 15, and schematically illustrates related information videos (V1 and V2) together with the first fish echo (E1 and E2), the second fish echo (E1 'and E2'), and the probe region DR. The related information videos (V1, V2) schematically illustrated in fig. 6 are display videos when the related information generated by the related information generating unit 15 is displayed on the display unit 4.

The correlation information generating unit 15 generates vector information for connecting the second fish group echoes (E1', E2') and the first fish group echoes (E1, E2) as correlation information for correlating the first fish group echoes (E1, E2) and the second fish group echoes (E1', E2') having the determined correspondence relationship. That is, in the example shown in fig. 6, the correlation information generating unit 15 generates vector information in which the first fish echo E1 and the second fish echo E1 'are connected as the correlation information of the first fish echo E1 and the second fish echo E1'. The related information generating unit 15 generates vector information for connecting the first fish echo E2 and the second fish echo E2 'as related information of the first fish echo E2 and the second fish echo E2'. Referring to fig. 6, the related information image V1 is a display image of vector information in which the first fish group echo E1 and the second fish group echo E1 'are connected, and the related information image V2 is a display image of vector information in which the first fish group echo E2 and the second fish group echo E2' are connected.

When generating the correlation information, that is, when generating the information of the vector connecting the first fish echo (E1, E2) and the second fish echo (E1', E2'), the correlation information generating unit 15 generates the information of the vector connecting the absolute coordinates of the centers of the echoes of the fish groups.

More specifically, when generating the information of the vector connecting the first fish echo E1 and the second fish echo E1', the related information generating unit 15 generates the information of the vector connecting the absolute coordinates of the center of the second fish echo E1' to the absolute coordinates of the center of the first fish echo E1. Thus, information of a vector corresponding to the related information image V1 is generated as information of a vector connecting the first fish echo E1 and the second fish echo E1'. The vector information obtained by connecting the first fish echo E1 and the second fish echo E1' constitutes information of a velocity vector indicating the moving velocity of the fish corresponding to the first fish echo E1 or information using the velocity vector as an index.

When generating the information of the vector connecting the first fish echo E2 and the second fish echo E2', the related information generating unit 15 generates the information of the vector connecting the absolute coordinates of the center of the second fish echo E2' to the absolute coordinates of the center of the first fish echo E2. Thus, information of a vector corresponding to the related information image V2 is generated as information of a vector connecting the first fish echo E2 and the second fish echo E2'. The vector information obtained by connecting the first fish echo E2 and the second fish echo E2' constitutes information of a velocity vector indicating the moving velocity of the fish corresponding to the first fish echo E2 or information using the velocity vector as an index.

[ display control part ]

The display control unit 16 performs control to display the echo of the fish school and the related information, which is the vector information generated by the related information generating unit 15, on the display unit 4. More specifically, the display control unit 16 generates display image data for displaying the echo of the fish school and the related information on the display unit 4 and outputs the display image data to the display unit 4, thereby performing control for displaying the echo of the fish school and the related information on the display unit 4. In the present embodiment, the display controller 16 generates display map data for displaying the second fish school echo (E1', E2') and the first fish school echo (E1, E2) on the display 4 together with the related information, and outputs the display map data to the display 4. Thus, the display controller 16 controls the display 4 to display the second fish school echoes (E1', E2') and the first fish school echoes (E1, E2) together with the related information.

The display control unit 16 generates display map data including data for displaying echoes (E1, E2, E1', E2') of the fish school in a three-dimensional map by performing iso-surface processing (i.e., surface rendering) or volume rendering (volume rendering) processing, for example. The display control unit 16 generates display map data including data showing information of vectors connecting the first fish echo (E1, E2) and the second fish echo (E1', E2'). In this case, in the present embodiment, the display control unit 16 generates and outputs to the display unit 4 display map data including data for displaying a vector connecting the first fish echo (E1, E2) and the second fish echo (E1', E2') as a line segment on the display unit 4. Thus, the display controller 16 controls the display 4 to display a vector connecting the first fish echo (E1, E2) and the second fish echo (E1', E2') as a line segment.

In the present embodiment, the display control unit 16 generates display map data including data for displaying an equal-depth line indicating an equal-depth position of the sea floor topography on the display unit 4, based on the sea floor information acquired from the sea floor map. In the present embodiment, the display control unit 16 generates the display map data including data for displaying the movement history of the probe region DR that moves along with the movement of the own ship S.

The display image data generated by the display control unit 16 is input to the display unit 4 and displayed on the display screen of the display unit 4. Fig. 7 is a diagram schematically showing an example of a video displayed on the display screen of the display unit 4. In the example shown in fig. 7, the display unit 4 displays the state in the sea below the ship S as an overhead view in three dimensions. As shown in fig. 7, the display unit 4 displays the echoes (E1, E2, E1', E2') of the fish and the line segment display as a vector of the display of the related information of the first fish echo (E1, E2) and the second fish echo (E1', E2') on the basis of the display map data generated by the display control unit 16.

In the display of the echoes (E1, E2, E1', E2') of the fish illustrated in fig. 7, the regions of the echoes with high intensity levels of the corresponding echo signals are indicated by hatched regions with hatched lines, and the regions of the echoes with low intensity levels of the corresponding echo signals are indicated by hatched regions with dotted lines. The display map data generated by the display control unit 16 includes information on the display color when displayed on the display unit 4. In the display unit 4, for example, a hatched area with diagonal lines is represented by red, and a hatched area with dots is represented by yellow.

As illustrated in fig. 7, the information on the first fish group echoes (E1, E2) and the second fish group echoes (E1', E2') is displayed as a line segment of a vector connecting the second fish group echoes (E1', E2') and the first fish group echoes (E1, E2). Specifically, the related information of the first fish echo E1 and the second fish echo E1 'is the related information image V1 displayed as a segment of a vector connecting the second fish echo E1' to the first fish echo E1. Further, the related information of the first fish echo E2 and the second fish echo E2 'is the related information image V2 displayed as a line segment of a vector connecting the second fish echo E2' to the first fish echo E2. Further, in the display unit 4, the related information images (V1, V2) are displayed in a display color different from the echoes (E1, E2, E1', E2') of the fish school. For example, when echoes (E1, E2, E1', E2') of a fish school are displayed in red and yellow, the related information images (V1, V2) are displayed in black.

As shown in the example of fig. 7, in the present embodiment, the probe region DR in which the first fish echo (E1, E2) is detected is also displayed on the display unit 4 together with the echoes (E1, E2, E1', E2') of the fish and the related information videos (V1, V2). As shown in the example of the display of fig. 7, in the present embodiment, the display unit 4 also displays an equal-depth line VL indicating the equal-depth position of the submarine topography and a movement history DH of the probe region DR that moves along with the movement of the ship S, based on the display map data generated by the display control unit 16. As the movement history DH of the probe region DR displayed on the display unit 4, for example, only the history of the region moving along the surface of the sea bottom among the regions where the probe region DR has moved is displayed.

In the example shown in fig. 7, the display unit 4 is shown as an overhead view of the state in the sea below the ship S, and the display unit 4 may be displayed in another display mode. That is, the display unit 4 may display the information related to the echoes of the fish group (E1, E2, E1', E2') and the first fish group echoes (E1, E2) and the second fish group echoes (E1', E2') in another mode different from the display example of fig. 7 based on the display map data generated by the display control unit 16. Fig. 8 is a diagram schematically showing an example of a video displayed on the display screen of the display unit 4, and is a diagram showing another display example different from the display example of fig. 7. In the display example of fig. 8, the display unit 4 displays the state in the sea below the ship S two-dimensionally in the form of a map viewed from above.

As shown in the display example of fig. 8, the display unit 4 may display the echoes (E1, E2, E1', E2') of the fish and the related information images (V1, V2) as a two-dimensional image viewed from above together with the probe region DR, the movement history DH of the probe region DR, and the equal depth line VL based on the display map data. Further, the images of the form illustrated in fig. 7 and the images of the form illustrated in fig. 8 may be switched as appropriate, for example, based on a user operation. For example, by a user appropriately operating an operation device (not shown) such as a keyboard or a pointing device (not shown) included in the echo signal processing system 1 according to the present embodiment, a map having a form illustrated in fig. 7 may be displayed on the display unit 4, or a map having a form illustrated in fig. 8 may be displayed on the display unit 4.

[ operation of echo Signal processing device and echo Signal processing System ]

Fig. 9 is a flowchart for explaining the operation of the echo signal processing device 2 and the echo signal processing system 1, and is a flowchart illustrating an example of the operation of the echo signal processing device 2 and the echo signal processing system 1. Fig. 9 shows an operation until the images of the echoes (E1, E2, E1', E2') of the fish and the related information images (V1, V2) are displayed on the display unit 4 after the transmission wave is transmitted from the wave transceiver 5 of the sonar sensor 3 into the water and the reflected wave of the transmission wave is received by the wave transceiver 5 and the above-described processing is performed by the echo signal processing device 2. After the images of the echoes (E1, E2, E1', E2') of the fish and the like are displayed on the display unit 4, the wave transceiver 5 transmits the transmission waves into the water, and the operation shown in the flowchart of fig. 9 is performed again. As shown in fig. 9, the echo signal processing method according to the present embodiment is implemented by operating the echo signal processing device 2.

In the operation of the echo signal processing device 2 and the echo signal processing system 1, first, a transmission wave is transmitted from the wave transceiver 5 of the sonar sensor 3 to the transmission space TS in the water. The transmission wave transmitted to the underwater transmission space TS is reflected by a target such as a fish school in the water and received by the wave transceiver 5. The wave transceiver 5 receives a reflected wave of the transmission wave on the target in the water, and generates an echo signal based on the received reflected wave (step S101). After generating the echo signal, the wave transceiver 5 outputs the generated echo signal to the signal transceiver 6. In the signal transceiver 6, the reception circuit unit 9 amplifies the received echo signal to remove unnecessary frequency components, converts the amplified echo signal into a digital signal, and outputs the digital signal to the echo signal processing device 2.

After the echo signal is input from the signal transceiver 6, the echo signal processing device 2 detects the echo of the fish in the fish echo detecting unit 12 (step S102). That is, as described above, the fish school echo detection unit 12 detects the echo of the fish school by using the echo signal generated by the sonar sensor 3 based on the reflected wave of the transmission wave transmitted through the water. When the fish school echo detection unit 12 detects the echo of the fish school, the ship position information acquisition unit 11 then acquires the ship position information, which is the information of the position of the ship S on which the sonar sensor 3 is mounted, as described above. In fig. 9, the echo of the fish school is detected by the fish school echo detecting unit 12, and then the own ship position information is acquired by the own ship position information acquiring unit 11, but this may not be the case. The ship position information acquiring unit 11 may acquire the ship position information and the fish echo detecting unit 12 may detect the echo of the fish.

When the echo of the fish school is detected and the own ship position information is acquired, next, the fish school center relative coordinate calculation unit 13 calculates the relative coordinates of the center of the echo of the fish school with reference to the position of the own ship S, as described above, based on the echo of the fish school (step S104). When the relative coordinates of the centers of the echoes of the fish school are calculated, next, the absolute coordinates of the centers of the echoes of the fish school are calculated in the fish school center coordinate calculation unit 14 based on the own ship position information and the relative coordinates of the centers of the echoes of the fish school as described above (step S105).

After calculating the absolute coordinates of the centers of the echoes of the fish school, the correspondence relationship specifying unit 17 specifies the correspondence relationship between the first fish school echoes (E1, E2) and the second fish school echoes (E1', E2') as described above (step S106). Next, after the processing for specifying the correspondence relationship by the correspondence relationship specifying unit 17, the correlation information generating unit 15 generates the correlation information for correlating the first fish school echoes (E1, E2) and the second fish school echoes (E1', E2') for which the correspondence relationship has been specified, based on the absolute coordinates of the center of the echo of the fish school, as described above (step S107). As described above, the first fish group echoes (E1, E2) are echoes (E1, E2) of a fish group detected at the first time sequence such as the latest time sequence, and the second fish group echoes (E1', E2') are echoes (E1', E2') of a fish group detected at the second time sequence earlier than the first time sequence. As described above, the related information generating unit 15 generates vector information that connects the first fish group echoes (E1, E2) and the second fish group echoes (E1', E2') as related information of the first fish group echoes (E1, E2) and the second fish group echoes (E1', E2'). The timing when the echo of the fish is first detected after the echo signal processing device 2 and the echo signal processing system 1 are started is, for example, as follows: only the first fish school echo detected at the first time sequence configured as the latest time sequence, and the second fish school echo does not exist yet. In this case, the related information generating unit 15 is not used to generate related information. In addition, at the time when the echo of the fish school is detected next time or later, since the second fish school echo is present, the correlation information is generated every time.

After the correlation information of the first fish group echoes (E1, E2) and the second fish group echoes (E1', E2') is generated, the display control unit 16 then generates display map data for displaying the echoes (E1, E2, E1', E2') of the fish group and the correlation information on the display unit 4 as described above (step S108). Next, the display map data generated by the display control unit 16 is input to the display unit 4 (step S109). Thus, the display controller 16 controls the display 4 to display the echoes (E1, E2, E1', E2') of the fish school and the related information. The display unit 4 displays the echo of the fish school and the related information on the display unit 4 based on the inputted image data for display. That is, as illustrated in fig. 7 or 8, the display unit 4 displays the first fish echo (E1, E2) and the second fish echo (E1', E2'), and also displays the related information image (V1, V2). After the echoes (E1, E2, E1', E2') of the fish and the related information images (V1, V2) are displayed on the display unit 4, the operations shown in fig. 9 of the echo signal processing device 2 and the echo signal processing system 1 are temporarily ended. After the operations shown in fig. 9 of the echo signal processing device 2 and the echo signal processing system 1 are once completed, the transmission wave is transmitted from the wave transceiver 5 to the transmission space TS in the water, and the operations shown in fig. 9 are restarted.

[ Effect ]

According to the present embodiment, the correlation information is generated that correlates the first fish school echo detected at the first timing with the second fish school echo detected at the second timing that is earlier than the first timing, and the correspondence relationship with the first fish school echo is determined. Further, according to the present embodiment, the echo of the fish school and the related information are displayed on the display unit 4 by the control of the display control unit 16. More specifically, the display control unit 16 generates display map data for displaying the echo of the fish school and the related information on the display unit 4, and displays the echo of the fish school and the related information on the display unit 4 based on the display map data. Therefore, the user can immediately grasp what action the fish school has performed from the second time series, which is a time series earlier than the first time series, to the first time series after the second time series by viewing the echo of the fish school and the related information displayed on the display unit 4. That is, according to the present embodiment, the user can easily and quickly grasp the activity of the fish school by viewing the display of the display unit 4.

Therefore, according to the present embodiment, it is possible to provide the echo signal processing device 2, the echo signal processing system 1, and the echo signal processing method, which enable the user to easily and quickly grasp the activity status of the fish.

Further, according to the present embodiment, the display controller 16 performs control to display the second fish school echo (E1', E2') and the first fish school echo (E1, E2) on the display unit 4 together with the related information, and displays the second fish school echo and the first fish school echo on the display unit 4 based on the control. Therefore, the user can grasp the position of the second fish school echoes (E1', E2'), the position of the first fish school echoes (E1, E2), and the related information at a time by viewing the display on the display unit 4, and can grasp the activity status of the fish school more easily and quickly.

Further, according to the present embodiment, the related information generating unit 15 generates, as related information, vector information in which the second fish group echoes (E1', E2') and the first fish group echoes (E1, E2) are connected. Next, the display control unit 16 performs control to display the vector on the display unit 4 as a line segment, and displays the vector on the display unit 4 based on the control. Therefore, the user can grasp the movement of the fish school more intuitively by displaying the line segment of the vector connecting the second fish school echoes (E1', E2') and the first fish school echoes (E1, E2), and thus can grasp the movement state of the fish school more easily and quickly.

[ first modification ]

Fig. 10 is a diagram for explaining a first modification of the above embodiment, and schematically shows an example of a video displayed on the display screen of the display unit 4. In the following description, the description is given of the aspects different from the above-described embodiments, and the same or corresponding configurations as those of the above-described embodiments are denoted by the same reference numerals or reference numerals in the drawings, and overlapping descriptions are appropriately omitted.

In the above embodiment, the second fish school echoes (E1', E2') and the first fish school echoes (E1, E2) are displayed on the display unit 4 together with the related information. In contrast, in the first modification, the second fish school echoes (E1', E2') are not displayed on the display unit 4, but the first fish school echoes (E1, E2) are displayed on the display unit 4 together with the related information.

As a specific configuration, in the first modification, the display control unit 16 generates the display map data for displaying the first fish group echo (E1, E2) and the related information in which the first fish group echo (E1, E2) and the second fish group echo (E1', E2') are related together on the display unit 4, and outputs the display map data to the display unit 4. Thus, the display controller 16 controls the display 4 to display the first fish echo (E1, E2) and the related information together. As illustrated in fig. 10, the display unit 4 displays the first fish-group echoes (E1, E2) and the line segment display as a vector of the display of the related information of the first fish-group echoes (E1, E2) and the second fish-group echoes (E1', E2') under the control of the display control unit 16. In the display example of fig. 10, the example is shown in which the related information images (V1, V2) that are the display of the related information of the first fish group echo (E1, E2) and the second fish group echo (E1', E2'), that is, the display of the vector line segment are displayed as the line segment display of the vector extending from the center position of the first fish group echo (E1, E2). Further, not limited to the display example of fig. 10, the related information images (V1, V2) that are the display of the related information of the first fish group echoes (E1, E2) and the second fish group echoes (E1', E2') may be displayed as line segment displays of vectors that extend with the center positions of the first fish group echoes (E1, E2) as the end points.

As shown in the first modification, the following configuration may be implemented: the second fish school echoes (E1', E2') are not displayed on the display unit 4, and the first fish school echoes (E1, E2) are displayed on the display unit 4 together with the related information.

[ second modification ]

Fig. 11 is a diagram for explaining a second modification of the above embodiment, and schematically shows an example of a video displayed on the display screen of the display unit 4. In the following description, the description is given of aspects different from the above-described embodiments, and the same or corresponding configurations as those of the above-described embodiments are denoted by the same reference numerals or reference numerals in the drawings, and overlapping descriptions are appropriately omitted.

In the above embodiment, the second fish school echoes (E1', E2') and the first fish school echoes (E1, E2) are displayed on the display unit 4 together with the related information, and the line segments of the vectors are displayed on the display unit 4 as the related information. In contrast, in the second modification, the second fish school echoes (E1', E2') are not displayed on the display unit 4, but the first fish school echoes (E1, E2) are displayed on the display unit 4 together with the related information, and information including the numerical value of the vector is displayed on the display unit 4 as the display of the related information.

As a specific configuration, in the second modification, the correlation information generating unit 15 generates information including numerical values of vectors connecting the second fish-group echoes (E1', E2') and the first fish-group echoes (E1, E2) as correlation information correlating the first fish-group echoes (E1, E2) and the second fish-group echoes (E1', E2'). In the second modification, the related information generating unit 15 generates information including numerical values of velocity vectors of fish groups indicating the moving velocities of the fish groups corresponding to the first fish group echoes (E1, E2) as information including numerical values of vectors connecting the second fish group echoes (E1', E2') and the first fish group echoes (E1, E2). The information including the numerical value of the velocity vector of each fish group corresponding to each first fish group echo (E1, E2) is calculated based on, for example, the absolute coordinates of the center of each second fish group echo (E1', E2'), the absolute coordinates of the center of each first fish group echo (E1, E2), and the time when the reflected wave corresponding to each echo (E1', E2', E1, E2) is received by the sonar sensor 3.

The related information generating unit 15 generates information on the velocity in the horizontal direction and information on the velocity in the vertical direction as information including the numerical value of the velocity vector of each fish corresponding to each first fish echo (E1, E2). That is, the related information generating unit 15 generates information including the direction and speed in the horizontal direction and the direction and speed in the vertical direction of each fish as information including the numerical value of the velocity vector of each fish corresponding to each first fish echo (E1, E2). Then, as the information of the velocity in the horizontal direction, information in the direction of the horizontal direction component of the velocity vector of the fish school heading toward the bow direction of the ship S and information of the velocity of the horizontal direction component of the velocity vector of the fish school are generated. Alternatively, as the information of the velocity in the horizontal direction, information in the direction of the horizontal direction component of the velocity vector of the fish school in the absolute azimuth and information of the velocity of the horizontal direction component of the velocity vector of the fish school are generated. Further, as the information of the velocity in the vertical direction, information for determining whether the direction of the vertical direction component of the velocity vector of the fish school is the upward direction or the downward direction, and information for determining the velocity of the vertical direction component of the velocity vector of the fish school are generated.

The display control unit 16 generates display map data for displaying the echo of the fish school and the related information on the display unit 4 based on the related information generated by the related information generation unit 15. In the second modification, the display control unit 16 generates display map data including data for displaying on the display unit 4 numerical value information of a vector connecting the second fish school echoes (E1', E2') and the first fish school echoes (E1, E2) as the display map data, and outputs the display map data to the display unit 4. More specifically, in the second modification, the display control unit 16 generates display map data for displaying information including the numerical values of the velocity vectors of the respective fish groups corresponding to the respective first fish group echoes (E1, E2) on the display unit 4 as information including the numerical values of vectors connecting the respective second fish group echoes (E1', E2') and the respective first fish group echoes (E1, E2), and outputs the display map data to the display unit 4. Thus, the display controller 16 controls the display 4 to display information including the numerical value of the vector connecting the second fish echo (E1', E2') and the first fish echo (E1, E2).

As illustrated in fig. 11, the display unit 4 displays the first fish group echoes (E1, E2) and information including numerical values of the velocity vectors of the fish groups displayed as the related information of the first fish group echoes (E1, E2) and the second fish group echoes (E1', E2') on the basis of the control of the display control unit 16. In addition, the display unit 4 displays the echo number (No.) for each first fish echo (E1, E2), and displays information including the numerical value of the velocity vector of each fish corresponding to each first fish echo (E1, E2) for each echo number (No.). In the display example of fig. 11, the following modes are illustrated: the "number (No.) 1" is displayed as the echo number (No.) for the first fish group echo E1, and the "number (No.) 2" is displayed as the echo number (No.) for the first fish group echo E2.

The direction and velocity in the horizontal direction and the direction and velocity in the vertical direction of the velocity vector of each fish are displayed on the display unit 4 as information including the numerical value of the velocity vector of each fish corresponding to each first fish echo (E1, E2) displayed as related information. In the display example of fig. 11, the following modes are illustrated: the direction and velocity of the horizontal component of the velocity vector of the fish school heading toward the bow of the ship S are displayed as the direction and velocity of the velocity vector of each fish school in the horizontal direction. Specifically, the display example of fig. 11 illustrates the following mode: numerical values in which the direction of the component in the horizontal direction is "-30 °" and the velocity is "1.5 nautical miles per hour (knob)", the direction of the component in the vertical direction is "up" and the velocity is "0.5 nautical miles per hour" are shown as information including numerical values of velocity vectors of fish groups corresponding to the first fish group echo E1 having an echo number (No.) of "number (No. -) 1". Further, the following embodiments are illustrated: numerical values of a component in the horizontal direction, the direction of which is "40 °" and the velocity of which is "1.2 nautical miles per hour", and a component in the vertical direction, the direction of which is "lower" and the velocity of which is "0.4 nautical miles per hour", are displayed as information including numerical values of velocity vectors of fish groups corresponding to the first fish group echo E2 having an echo number (No.) of "number (No.) 2".

In the example shown in fig. 11, the direction and the speed of the horizontal component of the velocity vector of the fish school heading toward the bow of the ship S are shown as the direction and the speed of the horizontal component of the velocity vector of each fish school, but this may not be the case. The following embodiments may be implemented: the direction and speed of the horizontal component of the velocity vector of the fish group in the absolute orientation are displayed as the direction and speed of the horizontal component of the velocity vector of each fish group. The direction and the speed of the velocity vector of each fish displayed on the display unit 4 in the horizontal direction may be appropriately switched based on, for example, a user operation. For example, by appropriately operating an operation device (not shown) such as a pointing device by the user, the direction and speed of the horizontal component of the velocity vector of the fish school heading toward the bow of the ship S, or the direction and speed of the horizontal component of the velocity vector of the fish school in the absolute direction may be displayed on the display unit 4 as the direction and speed of the horizontal component of the velocity vector of each fish school.

According to the second modification, the correlation information generating unit 15 generates, as the correlation information, information including numerical values of vectors connecting the second fish echo (E1', E2') and the first fish echo (E1, E2). The display control unit 16 performs control to display information including the numerical value of the vector on the display unit 4, and displays the information on the display unit 4 based on the control. Therefore, the user can grasp the movement of the fish group more accurately by displaying information including the numerical value of the vector connecting the second fish group echo (E1', E2') and the first fish group echo (E1, E2).

Further, according to the second modification, information including numerical values of velocity vectors of respective fish groups corresponding to the respective first fish group echoes (E1, E2) is generated as information including numerical values of vectors connecting the respective second fish group echoes (E1', E2') and the respective first fish group echoes (E1, E2). The information including the numerical value of the velocity vector includes the direction and velocity in the horizontal direction and the direction and velocity in the vertical direction of each fish, and the information including these numerical values is displayed on the display unit 4. Therefore, the user can accurately grasp the direction and velocity of the fish school in the horizontal direction and the direction and velocity in the vertical direction.

[ third modification ]

Fig. 12 is a diagram for explaining a third modification of the above embodiment, and schematically shows an example of a video displayed on the display screen of the display unit 4. In the following description, the description will be given of the aspects different from the above-described embodiments, and the same reference numerals are given to the same or corresponding structures as those of the above-described embodiments, and overlapping descriptions will be omitted as appropriate.

In the above embodiment, when the second fish group echoes (E1', E2') and the first fish group echoes (E1, E2) are correlated in a one-to-one correspondence relationship, the related information that relates one second fish group echo to one first fish group echo is generated, and the echoes of the fish group and the related information are displayed on the display unit 4 together. In contrast, in the third modification, when a plurality of first fish school echoes correspond to one second fish school echo, the related information in which the one second fish school echo is related to the plurality of first fish school echoes is generated, and the echoes of the fish school and the related information are displayed on the display unit 4 together.

As a specific configuration, in the third modification, when the plurality of first fish group echoes correspond to the second fish group echo, the related information generating unit 15 generates related information that relates the second fish group echo to the plurality of first fish group echoes. That is, in the third modification, when the correspondence relationship between the first fish group echo and the second fish group echo is determined by causing the correspondence relationship determination unit 17 to correspond a plurality of first fish group echoes to one second fish group echo, the correlation information generation unit 15 generates the correlation information in which the one second fish group echo having the determined correspondence relationship is correlated with the plurality of first fish group echoes. The related information generating unit 15 generates vector information in which one second fish school echo and a plurality of first fish school echoes corresponding to the one second fish school echo are connected, as related information in which the second fish school echo and the plurality of first fish school echoes corresponding to the second fish school echo are related to each other. The display control unit 16 generates image data for display for displaying the echo of the fish school and the related information in which the second fish school echo and the plurality of first fish school echoes are related to each other on the display unit 4, and outputs the image data to the display unit 4. At this time, the display control unit 16 generates, for example, display map data including data for displaying a vector connecting one second fish school echo and a plurality of first fish school echoes corresponding to the second fish school echo as a line segment on the display unit 4 and outputting the generated display map data to the display unit 4. Thus, the display control unit 16 performs control to display a vector connecting one second fish school echo and a plurality of first fish school echoes corresponding to the one second fish school echo as a line segment on the display unit 4. As illustrated in fig. 12, the display unit 4 displays echoes of the fish school and line segment display of the vector displayed as the related information based on the control of the display control unit 16.

In the display example of fig. 12, the following case is exemplified: in the correspondence relation specifying unit 17, the correspondence relation between the second fish school echo E3 'and the two first fish school echoes (E3a, E3b) corresponding to the second fish school echo E3' is determined. Referring to fig. 12, the correlation information generating unit 15 generates, as the correlation information, vector information in which the second fish echo E3' and the two first fish echoes (E3a, E3b) are connected. That is, the related information generating unit 15 generates, as related information, information of a vector connecting the second fish echo E3 'and the first fish echo E3a, and information of a vector connecting the second fish echo E3' and the first fish echo E3 b.

When the correspondence relationship between the second fish school echo E3 'and the plurality of first fish school echoes (E3a, E3b) is determined, the correspondence relationship specification unit 17 sets a sphere having a predetermined radius, which is a range in which the fish school can move, on the absolute coordinates with the center position of the second fish school echo E3' as the center. The correspondence relation specifying unit 17 sets a sphere having a predetermined radius with the center position of the second fish school echo E3' as the center, and then specifies a plurality of first fish school echoes (E3a, E3b) having centers within the sphere on absolute coordinates. Next, a second fish swarm echo E3' corresponding to the plurality of first fish swarm echoes (E3a, E3b) is determined. That is, a plurality of first fish school echoes (E3a, E3b) and one second fish school echo E3' are correlated to determine their correlation. In this way, even if the fish group detected as one second fish group echo E3 'is split into a plurality of fish groups in the middle of the time series at the second time series earlier than the first time series, when the first time series is detected as a plurality of first fish group echoes (E3a, E3b), the plurality of first fish group echoes (E3a, E3b) are correlated with the second fish group echo E3'.

The display control unit 16 generates display map data for displaying the information of the vector as the related information on the display unit 4 together with the second fish school echo E3' and the first fish school echoes (E3a, E3b), and outputs the display map data to the display unit 4. At this time, the display control unit 16 generates display map data including data for displaying the vector as a line segment on the display unit 4. That is, the display control unit 16 generates the display map data including the vector connecting the second fish echo E3 'and the first fish echo E3a and the vector connecting the second fish echo E3' and the first fish echo E3b, which are displayed on the display unit 4 as line segments, and outputs the display map data to the display unit 4. Thus, the display control unit 16 performs control to display the two vectors as line segments on the display unit 4.

As illustrated in fig. 12, the display unit 4 displays, under the control of the display control unit 16, a vector of the second fish echo E3', the first fish echo (E3a, E3b), and the first fish echo (E3a, E3b) and the second fish echo E3'. Specifically, the related information images (V3a, V3b) displayed as line segments of vectors connecting the second fish echo E3 'and the two first fish echoes (E3a, E3b) are displayed on the display unit 4 together with the second fish echo E3' and the first fish echoes (E3a, E3 b). The related information image V3a is a line segment display of a vector connecting the second fish echo E3 'and the first fish echo E3a, and the related information image V3b is a line segment display of a vector connecting the second fish echo E3' and the first fish echo E3 b.

According to the third modification, when the plurality of first fish group echoes (E3a, E3b) correspond to the second fish group echo E3', the related information generating unit 15 generates related information that relates the second fish group echo E3' to the plurality of first fish group echoes (E3a, E3 b). The display controller 16 controls the display 4 to display information related to the second fish school echo E3' and the plurality of first fish school echoes (E3a, E3b), and displays the information on the display 4 based on the control. Therefore, even when one fish school is separated into a plurality of fish schools in the middle, the user can easily and quickly grasp the activity state of one fish school separated into a plurality of fish schools by displaying the related information in which the second fish school echo E3' and the plurality of first fish school echoes (E3a, E3b) are related to each other.

[ fourth modification ]

Fig. 13 is a diagram for explaining a fourth modification of the above embodiment, and schematically shows an example of a video displayed on the display screen of the display unit 4. In the following description, the description of the aspects different from the above-described embodiment will be given, and the same or corresponding configurations as those of the above-described embodiment will be given with the same reference numerals or will be referred to with the same reference numerals, so that the overlapping description will be omitted as appropriate.

In the above embodiment, when the first fish group echoes (E1, E2) and the second fish group echoes (E1', E2') are correlated in a one-to-one correspondence relationship, the related information that relates one second fish group echo to one first fish group echo is generated, and the echoes of the fish group and the related information are displayed on the display unit 4 together. In contrast, in the fourth modification, when a plurality of second fish group echoes correspond to one first fish group echo, the related information in which the one first fish group echo and the plurality of second fish group echoes are related to each other is generated, and the echoes of the fish group and the related information are displayed on the display unit 4 together.

As a specific configuration, in the fourth modification, when the plurality of second fish group echoes correspond to the first fish group echo, the related information generating unit 15 generates related information that relates the plurality of second fish group echoes to the first fish group echo. That is, in the fourth modification, when the correspondence relationship between the first fish group echo and the second fish group echo is determined by causing the correspondence relationship determination unit 17 to correspond the plurality of second fish group echoes to one first fish group echo, the correlation information generation unit 15 generates the correlation information for correlating the one first fish group echo and the plurality of second fish group echoes for which the correspondence relationship has been determined. The related information generating unit 15 generates, as related information that relates a first fish school echo to a plurality of second fish school echoes corresponding to the first fish school echo, vector information that connects one first fish school echo to a plurality of second fish school echoes corresponding to the one first fish school echo. The display control unit 16 generates image data for display for displaying the echo of the fish school and the related information for relating the first fish school echo and the plurality of second fish school echoes on the display unit 4 together, and outputs the image data to the display unit 4. At this time, the display control unit 16 generates, for example, display map data including data for displaying a vector connecting a plurality of second fish school echoes and one first fish school echo corresponding to the plurality of second fish school echoes as a line segment on the display unit 4 and outputting the generated display map data to the display unit 4. Thus, the display control unit 16 performs control to display a vector connecting the plurality of second fish school echoes and one first fish school echo corresponding to the plurality of second fish school echoes as a line segment on the display unit 4. As illustrated in fig. 13, the display unit 4 displays echoes of the fish school and line segment display of the vector displayed as the related information based on the control of the display control unit 16.

In the display example of fig. 13, the following case is illustrated: the correspondence relationship specifying unit 17 specifies the correspondence relationship between two second fish school echoes (E4'a, E4' b) and one first fish school echo E4 corresponding to these second fish school echoes (E4'a, E4' b). Referring to fig. 13, the correlation information generating unit 15 generates, as the correlation information, vector information in which two second fish school echoes (E4'a and E4' b) and one first fish school echo E4 are connected. That is, the related information generating unit 15 generates, as related information, information of a vector connecting the second fish echo E4'a and the first fish echo E4, and information of a vector connecting the second fish echo E4' b and the first fish echo E4.

When the correspondence relationship between the plurality of second fish-group echoes (E4'a, E4' b) and the first fish-group echo E4 is determined, the correspondence relationship specification unit 17 sets a sphere having a predetermined radius, which sets a range in which the fish group can move, on the absolute coordinates with the center position of each of the second fish-group echoes (E4'a, E4' b) as the center. The correspondence relation specifying unit 17 sets a sphere having a predetermined radius with the center position of each second fish school echo (E4'a, E4' b) as the center, and then specifies the first fish school echo E4 having the center within each sphere on absolute coordinates. Next, a plurality of second fish group echoes (E4'a, E4' b) corresponding to the first fish group echo E4 are determined. That is, one first fish school echo E4 and a plurality of second fish school echoes (E4'a, E4' b) are correlated to determine their correlation. In this way, even when a plurality of fish groups detected as a plurality of second fish group echoes (E4'a, E4' b) at a timing earlier than the first timing are grouped together in the middle as one fish group and detected as one first fish group echo E4 at the first timing, one first fish group echo E4 is associated with a plurality of second fish group echoes (E4'a, E4' b).

The display control unit 16 generates display map data for displaying the information of the vector as the related information on the display unit 4 together with the plurality of second fish school echoes (E4'a, E4' b) and the first fish school echo E4, and outputs the display map data to the display unit 4. At this time, the display control unit 16 generates display map data including data for displaying the vector as a line segment on the display unit 4. That is, the display control unit 16 generates the display map data including the vector connecting the second fish echo E4'a and the first fish echo E4 and the vector connecting the second fish echo E4' b and the first fish echo E4, which are displayed on the display unit 4 as line segments, and outputs the display map data to the display unit 4. Thus, the display control unit 16 performs control to display the two vectors as line segments on the display unit 4.

As illustrated in fig. 13, the display unit 4 displays, under the control of the display control unit 16, line segment displays of vectors of the second fish echo (E4'a, E4' b), the first fish echo E4, and the associated information of the first fish echo E4 and the second fish echo (E4'a, E4' b). Specifically, the related information images (V4a, V4b) displayed as line segments of vectors connecting the two second fish group echoes (E4'a, E4' b) and the first fish group echo E4 are displayed on the display unit 4 together with the second fish group echoes (E4'a, E4' b) and the first fish group echo E4. The related information image V4a is a line segment display of a vector connecting the second fish echo E4'a and the first fish echo E4, and the related information image V4b is a line segment display of a vector connecting the second fish echo E4' b and the first fish echo E4.

According to the fourth modification, when the plurality of second fish group echoes (E4'a, E4' b) correspond to the first fish group echo E4, the related information generating unit 15 generates related information that relates the plurality of second fish group echoes (E4'a, E4' b) to the first fish group echo E4. The display controller 16 controls the display 4 to display information related to the plurality of second fish school echoes (E4'a and E4' b) and the first fish school echo E4, and displays the information on the display 4 based on the control. Therefore, even when a plurality of fish groups are collected halfway into one fish group, the user can easily and quickly grasp the activity state in which the plurality of fish groups have been collected into one fish group by displaying the related information in which the plurality of second fish group echoes (E4'a and E4' b) and the first fish group echo E4 are related to each other.

[ other modifications ]

While the embodiments and modifications of the present invention have been described above, the present invention is not limited to these embodiments, and various modifications may be made without departing from the spirit of the present invention.

(1) In the above-described embodiment and modification, the description is given taking as an example the form of an echo signal processing system in which the sonar sensor includes a wave transceiver that functions as a wave transmitter and functions as a wave receiver, but this need not be the case. For example, an echo signal processing system may be configured to include a sonar sensor including a wave transmitter and a wave receiver separately.

(2) In the above-described embodiment and modification, a description is given of an example of a form of an echo signal processing system including a sonar sensor provided as a scanning sonar that forms transmission beams all at once to all directions in water with the ship as a center, but this may not be the case. For example, an echo signal processing system may be configured to include a sonar sensor provided as a search light sonar (PPI) sonar that rotates a transmission beam and a reception beam.

(3) In the above-described embodiment and modification, the related information is displayed as a line segment of a vector or as a numerical value of a vector, but this may not be the case. For example, the following embodiments may be implemented: the display of the related information is displayed as a display image of a cylinder connecting the second fish school echo and the first fish school echo, or as a display image of a cone connecting the second fish school echo and the first fish school echo. In this case, the display size of the diameter of the circular cross section of the cylinder in the display image of the cylinder may be determined in accordance with the signal intensity level of the echo signal corresponding to the second fish school echo or the first fish school echo. Further, the display size of the diameter of the circle on the bottom surface of the cone of the display image of the cone may be determined in accordance with the signal intensity level of the echo signal corresponding to the second fish school echo or the first fish school echo.

(4) In the above-described embodiment and modification, the form in which the related information generating unit automatically generates the related information with respect to the echo of the detected fish school is exemplified, but this may not be the case. The related information generating unit may generate the related information for an echo of a fish group specified based on an operation performed by a user among the detected fish groups.

(5) In the above-described embodiment and modification, the example is shown in which the related information generating unit 15 generates related information that relates the first fish school echo and the second fish school echo detected at the first second time series earlier than the first time series, but this may not be the case. The related information generating unit 15 may be configured to generate related information that relates the first fish school echo to second fish school echoes detected at a plurality of second timings earlier than the first timing, the second fish school echoes spanning a plurality of second timings.

In the case of the present modification, for example, the related information may be displayed as shown in the display example shown in fig. 14. Fig. 14 is a diagram for explaining the present modification, and schematically shows an example of a video displayed on the display screen of the display unit 4. In the display example of fig. 14, the following forms are illustrated: each of the first fish group echoes (E5, E6), the one-time previous second fish group echo (E5', E6') detected at the second timing which is a timing earlier than the first timing, i.e., the one-time previous second timing, and the two-time previous second fish group echo (E5 ", E6") detected at the second timing which is a timing earlier than the one-time previous second timing, i.e., the two-time previous second timing, are displayed.

In the present modification, the correspondence relation specifying unit 17 specifies the correspondence relation between the first fish-group echo (E5, E6), the first fish-group echo (E5', E6') and the second fish-group echo (E5 ", E6") that is two times earlier. The correlation information generating unit 15 generates the correlation information that correlates the first fish-swarm echoes (E5, E6) for which the correspondence relationship has been determined by the correspondence relationship specifying unit 17 with the first-time second fish-swarm echoes (E5', E6') and the second-time previous fish-swarm echoes (E5 ", E6"). For example, the correlation information generating unit 15 generates vector information in which the first fish-group echoes (E5, E6) are sequentially connected to the first fish-group echoes (E5', E6') and the second fish-group echoes (E5 ", E6") that are one time before and two times before. That is, the related information generating unit 15 generates vector information in which the first fish group echo E5, the first-but-one second fish group echo E5', and the second-but-two-before fish group echo E5 "are sequentially connected, and vector information in which the first fish group echo E6, the first-but-one second fish group echo E6', and the second-but-two-before fish group echo E6" are sequentially connected. Next, the display control unit 16 generates the image data for display for displaying the first fish group echo (E5, E6) and the second fish group echo (E5', E5 ", E6', E6") on the display unit 4 together with the information of the vector, and outputs the image data for display to the display unit 4. Thus, the display control unit 16 performs control to display the first fish echo (E5, E6) and the second fish echo (E5', E5 ", E6', E6") on the display unit 4 together with the information of the vector.

As illustrated in fig. 14, the display unit 4 displays the second fish group echo (E5', E5 ", E6', E6"), the first fish group echo (E5, E6), and information of a vector as related information, based on the control of the display control unit 16. Specifically, the display unit 4 displays related information images (V5, V6) as information of vectors connecting the second fish group echoes (E5 ", E6"), the second fish group echoes (E5', E6'), and the first fish group echoes (E5, E6) together with the second fish group echoes (E5 ", E6"). Further, in the above-described case,

the related information image V5 is a display of a vector connecting the two previous second fish group echo E5 ", the one previous second fish group echo E5 'and the first fish group echo E5, and the related information image V6 is a display of a vector connecting the two previous second fish group echo E6", the one previous second fish group echo E6' and the first fish group echo E6.

As in the present modification, the display unit 4 may display the related information in which the first fish school echoes (E5, E6) and the second fish school echoes (E5', E5 ", E6', E6") at the plurality of second timings that are detected at the plurality of second timings earlier than the first timing are related to each other.

[ industrial applicability ]

The present invention is widely applicable as an echo signal processing device that processes an echo signal generated by a sonar sensor based on a reflected wave of a transmission wave transmitted into water, an echo signal processing system including the echo signal processing device, and an echo signal processing method.