JP3740033B2 - Object search method and object search apparatus - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an object search method and an object search apparatus.
[0002]
[Prior art]
As shown in FIG. 3, the object search device 1 includes a transmitter 2, a plurality of, that is, five receivers 3 a to 3 e, and an analyzer 4 as main components. FIG. 3 is a schematic configuration diagram showing a conventional object search apparatus 1, in which a signal transmitted from the transmitter 2 is reflected by the target object 5, and the reflected signal is reflected by the receivers 3a to 3e. It is a figure which shows the state currently received.
[0003]
The wave transmitter 2 transmits a signal (sound wave, electromagnetic wave, etc.). The wave receivers 3a to 3e receive a reflected signal that the signal transmitted from the wave transmitter 2 reflects on the target object 5 or an output signal that is output from the target object 5 itself. The analyzer 4 is connected to five receivers 3a to 3e, and the reflected signal or output signal received by these receivers 3a to 3e is converted into a beamformer method (Science & Technology Publishing, “Adaptation by Array Antenna”). The position of the target object 5 is determined by analysis using a technique such as “signal processing”.
[0004]
The object search apparatus 1 is further provided with moving means (not shown) for moving the transmitter 2, the receivers 3a to 3e, and the analyzer 4 according to a predetermined movement path. Since this moving means is conventionally known, such as a combination of a rail and a traveling body running on the rail, the description thereof is omitted here. The object exploration device 1 provided with a moving means is provided on a moving body (not shown, for example, a ship, an underwater exploration ship, an aircraft, a spacecraft, etc.). As a result, the transmitter 2, the receivers 3a to 3e, and the analyzer 4 are moved along the predetermined moving path by the moving means on the moving body.
[0005]
Next, an object searching method performed using the object searching apparatus 1 will be described with reference to FIG.
FIG. 4 shows that the transmitter 2, the receivers 3a to 3e, and the analyzer 4 (see FIG. 3) provided in the moving body are moved from Y = 0 to Y = when X = 0 and Z = 0 by the moving means. A state of linear movement (one-dimensional movement) in the direction of Y6 is shown.
[0006]
In FIG. 4, the target object 5a is located at a point of X = X3, Y = Y3, Z = −Z2. Further, the target objects 5b to 5e are respectively X = X2, Y = Y4, Z = −Z3; X = X4, Y = Y4, Z = −Z3; X = X4, Y = Y2, Z = −Z3, and It is located at the point of X = X2, Y = Y2, Z = −Z3.
[0007]
First, a signal is transmitted from the transmitter 2 (see FIG. 3) at a point a. The signal transmitted from the transmitter 2 is reflected by the target objects 5a to 5e. The reflected signal is received by the receiver 3 (see FIG. 3). Next, it moves to point b and transmits a signal from the transmitter 2 at this point b. The signal transmitted from the transmitter 2 is reflected by the target objects 5a to 5e. The reflected signal is received by the receiver 3. The same thing is carried out at each point from point c to point u. Then, the reflected signals received by the wave receiver 3 at the points a to u are analyzed by the analyzer 4 (see FIG. 3) to determine the locations of the target objects 5a to 5e.
[0008]
An analysis result obtained through the analyzer 4 is shown in FIG. FIG. 5 is a diagram showing in which position on the XYZ coordinates of FIG. 4 the target objects 5a to 5e are located. 5A shows the position of the target object on the X and Y coordinates when Z = −3Z, and FIG. 5B shows the position of the target object on the X and Y coordinates when Z = −2Z.
[0009]
[Problems to be solved by the invention]
However, in such a conventional object search method, the target object 5a located at the height Z = −2Z is displayed as shown in FIG. 5A, and the height is shown in FIG. 5B. There is a problem that the target objects 5b to 5e positioned at Z = −3Z are displayed.
Because even if the target objects are located at different heights, there is no difference in propagation time when the distance from the transmitter / receiver to these target objects is the same. It was not possible to determine whether it is located in
[0010]
That is, the conventional object search method has a problem that the height (vertical) direction in which the target object is located cannot be determined at all.
[0011]
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an object search method and an object search device that can accurately determine the position of a target object even in the height (vertical; Z) direction. To do.
[0012]
[Means for Solving the Problems]
The object search method and object search apparatus of the present invention employ the following means in order to solve the above-described problems.
In other words, according to the object search method of the first aspect, the reflected signal reflected from the target object by the signal transmitted from the transmitter or the output signal emitted from the target object itself is moved along a predetermined movement path. The signal is received at a plurality of points using at least one receiver, and the signal received by the at least one receiver is analyzed by an analyzer connected to the at least one receiver. In the object search method for determining a location, the moving path includes both a horizontal component parallel to a reference plane including the target object and a vertical component perpendicular to the reference plane. To do.
In this object exploration method, the receiver is moved according to a moving path including both a horizontal component parallel to a reference plane such as the sea floor and the ground surface and a vertical component perpendicular to the reference plane. The Rukoto.
[0013]
According to the object searching method of claim 2, in the object searching method of claim 1, the moving path is set in a plane other than a horizontal plane.
In this object exploration method, the receiver is moved according to a moving path including both a horizontal component parallel to a reference plane such as the sea floor and the ground surface and a vertical component perpendicular to the reference plane. The Rukoto.
[0014]
According to the object search method of claim 3, in the object search method of claim 2, the movement path is set in a vertical plane.
In this object exploration method, the receiver is moved according to a moving path including both a horizontal component parallel to a reference plane such as the sea floor and the ground surface and a vertical component perpendicular to the reference plane. The Rukoto.
[0015]
According to the object searching method of claim 4, in the object searching method of claim 2 or 3, the trajectory of the movement route is a substantially circle.
In this object exploration method, the receiver is moved according to a moving path including both a horizontal component parallel to a reference plane such as the sea floor and the ground surface and a vertical component perpendicular to the reference plane. The Rukoto.
[0016]
According to the object searching method described in claim 5, in the object searching method according to claim 1, the moving path is set three-dimensionally.
In this object search method, the receiver is moved along a three-dimensional movement path, and more data on the location of the target object can be obtained.
[0017]
According to an object search method of claim 6, in the object search method of claim 5, the trajectory of the movement route is a substantially sphere.
In this object search method, the receiver is moved along a three-dimensional movement path, and more data on the location of the target object can be obtained.
[0018]
According to the object exploration device of claim 7, at least one receiver for receiving a reflected signal reflected from a target object by a signal transmitted from a transmitter or an output signal emitted from the target object itself, Moving means for moving at least one receiver according to a predetermined movement path; and connected to the at least one receiver and analyzing a signal received by the at least one receiver; And an analyzer for discriminating the location of the object, wherein the movement path includes both a horizontal component parallel to a reference plane including the target object and a vertical component perpendicular to the reference plane. It is characterized by including.
In this object exploration device, the receiver is moved according to a movement path including both a horizontal component parallel to a reference plane such as the sea floor and the ground surface and a vertical component perpendicular to the reference plane. The Rukoto.
[0019]
According to an object search device according to an eighth aspect, in the object search device according to the seventh aspect, the movement path is set in a plane other than a horizontal plane.
In this object exploration device, the receiver is moved according to a movement path including both a horizontal component parallel to a reference plane such as the sea floor and the ground surface and a vertical component perpendicular to the reference plane. The Rukoto.
[0020]
According to an object search device according to claim 9, in the object search device according to claim 8, the movement path is set in a vertical plane.
In this object exploration device, the receiver is moved according to a movement path including both a horizontal component parallel to a reference plane such as the sea floor and the ground surface and a vertical component perpendicular to the reference plane. The Rukoto.
[0021]
According to an object search device according to a tenth aspect, in the object search device according to the eighth or ninth aspect, the trajectory of the movement route is a substantially circle.
In this object exploration device, the receiver is moved according to a movement path including both a horizontal component parallel to a reference plane such as the sea floor and the ground surface and a vertical component perpendicular to the reference plane. The Rukoto.
[0022]
According to an object search device according to an eleventh aspect, in the object search device according to the seventh aspect, the movement path is set three-dimensionally.
In this object search apparatus, the receiver is moved along a three-dimensional movement path, and more data relating to the location of the target object can be obtained.
[0023]
According to an object search device according to claim 12, in the object search device according to claim 11, the trajectory of the movement route is a substantially spherical shape.
In this object search apparatus, the receiver is moved along a three-dimensional movement path, and more data relating to the location of the target object can be obtained. The moving path of the receiver is assumed to be three-dimensional, and three-dimensional information is obtained.
[0024]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings. Moreover, the same code | symbol is attached | subjected to the member same as the past. The description of the main components of the object search device 1 (see FIG. 3) and the individual components is the same as that described in the section of the prior art, so description thereof will be omitted here.
[0025]
Next, an object searching method performed using the object searching apparatus 1 will be described with reference to FIG.
FIG. 1 shows that the transmitter 2, the receivers 3a to 3e, and the analyzer 4 (see FIG. 3) provided in a moving body are moved by means of X = 0, Y = 0 to Y6, Z = 0 to 0. The figure shows a state in which a substantially circular movement (two-dimensional movement) is performed in the Y6 plane, that is, the vertical plane.
[0026]
In FIG. 1, the target object 5a is located at a point of X = X3, Y = Y3, Z = −Z2. Further, the target objects 5b to 5e are respectively X = X2, Y = Y4, Z = −Z3; X = X4, Y = Y4, Z = −Z3; X = X4, Y = Y2, Z = −Z3, and It is located at the point of X = X2, Y = Y2, Z = −Z3.
[0027]
First, a signal is transmitted from the transmitter 2 (see FIG. 3) at the point a1. The signal transmitted from the transmitter 2 is reflected by the target objects 5a to 5e. The reflected signal is received by the receiver 3 (see FIG. 3). Next, it moves to a2 point and transmits a signal from the transmitter 2 at this a2 point. The signal transmitted from the transmitter 2 is reflected by the target objects 5a to 5e. The reflected signal is received by the receiver 3. The same thing is carried out at each point from point a3 to point a33. The reflected signals received by the wave receiver 3 at the points a1 to a33 are analyzed by the analyzer 4 (see FIG. 3) to determine the location of the target objects 5a to 5e.
[0028]
An analysis result obtained through the analyzer 4 is shown in FIG. FIG. 2 is a diagram showing in which position on the XYZ coordinates of FIG. 1 the target objects 5a to 5e are located. 2A shows the position of the target object on the X, Y coordinate plane (reference plane) at Z = −3Z, and FIG. 5B shows the position of the target object on the X, Y coordinate plane at Z = −2Z. Indicates the position.
[0029]
As shown in FIG. 1, by moving the transmitter 2, the receivers 3a to 3e, and the analyzer 4 in a substantially circular plane, the horizontal component parallel to the reference plane and the reference plane Data having both directional components of the vertical component can be collected and analyzed to obtain a result as shown in FIG. That is, it can be seen that the position of the target object is accurately determined even in the height (vertical; Z) direction.
[0030]
In the present embodiment, the transmitter 2, the receivers 3a to 3e, and the analyzer 4 are moved circularly in a vertical plane of X = 0, Y = 0 to Y6, Z = 0 to Y6 by the moving means. It is supposed to be. However, the plane in which the transmitter 2, the receivers 3a to 3e, and the analyzer 4 move is not limited to such a vertical plane. That is, any plane may be used as long as the moving path of the transmitter 2, the receivers 3a to 3e, and the analyzer 4 includes both the horizontal component and the vertical component. In other words, any plane other than the horizontal plane may be used.
[0031]
In the present embodiment, the trajectory of the moving route by the moving means is set to be a substantially circle. However, the present invention is not limited to this, and any trajectory is drawn as long as the trajectory of the moving path includes both a horizontal component and a vertical component, such as an ellipse, a polygon, or a cross. It may be a thing.
[0032]
Furthermore, the movement path by the moving means is not only set in the above-described plane, that is, two-dimensionally, but can also be set three-dimensionally so that the locus thereof draws a substantially sphere, for example.
[0033]
Furthermore, in this embodiment, the transmitter 2, the receivers 3a to 3e, and the analyzer 4 are attached to the moving body via the moving means, but the present invention is not limited to this, The transmitter 2, the receivers 3a to 3e, and the analyzer 4 may be directly attached to the moving body, and the moving body itself may be moved as described above.
[0034]
Furthermore, in the present embodiment, the transmitter 2, the receivers 3a to 3e, and the analyzer 4 are configured to move along a predetermined movement path, but the present invention is not limited to this. The transmitter 2 may be attached to the moving body, and the receivers 3a to 3e and the analyzer 4 may be attached to the moving means, and the transmitter 2 may be fixed in the sea or at the bottom of the sea. 3a-3e and the analyzer 4 may be attached to a moving body. That is, the transmitter 2 does not move, and only the receivers 3a to 3e and the analyzer 4 may move on the moving path by the moving means as described above.
[0035]
Furthermore, in the present embodiment, the receivers 3a to 3e are connected to the analyzer 4, but the present invention is not limited to this, and the analyzer 4 is a place away from the moving body or moving means. The signal received by the receivers 3a to 3e may be sent to the analyzer 4 by means other than wired, such as radio waves, electromagnetic waves, and sound waves.
[0036]
In the above-described embodiment, the description has been given of the case where the signal transmitted from the transmitter is reflected on the target object and the reflected signal is received by the receiver. However, this is not limited to the reflected signal reflected by the target object, and the same applies when the output signal generated by the target object itself is received by the receiver.
[0037]
Further, the position of the receiver or the moving body can be specified using a known technique such as acoustic positioning such as LBL, SBL, and SSBL.
[0038]
【The invention's effect】
According to the object search method and the object search apparatus of the present invention, the following effects can be obtained.
That is, the receiver is moved according to a moving path including both a horizontal component parallel to the reference plane such as the sea bottom and the ground surface and a vertical component perpendicular to the reference plane. There is an effect that the positions of the target objects located at different heights can be accurately determined.
[0039]
In addition, since the receiver is moved along a three-dimensional movement path, more data on the location of the target object can be obtained, so the amount of information increases and the object search accuracy can be improved. There is an effect.
[Brief description of the drawings]
FIG. 1 is a diagram showing an embodiment according to the present invention, and is a diagram showing a state in which a transmitter, a receiver, and an analyzer are moved substantially circularly by a moving means.
FIG. 2 is a diagram showing an analysis result obtained by analyzing a signal received by a moving receiver as shown in FIG. 1 with an analyzer.
FIG. 3 is a schematic configuration diagram showing a conventional object search apparatus, in which a signal transmitted from a transmitter is reflected by a target object, and the reflected signal is received by a receiver. It is a figure which shows a state.
FIG. 4 is a diagram showing a state in which a transmitter, a receiver, and an analyzer are linearly moved by a moving unit.
FIG. 5 is a diagram showing an analysis result obtained by analyzing a signal received by a moving receiver as shown in FIG. 4 with an analyzer.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Object search apparatus 2 Transmitter 3a Receiver 3b Receiver 3c Receiver 3d Receiver 3e Receiver 4 Analyzer 4 Target object 5a Target object 5b Target object 5c Target object 5d Target object 5e Target object

Claims (2)

At least one of the reflected signal reflected from the target object by the signal transmitted from the transmitter or the output signal generated by the target object itself is moved along a predetermined movement path by the moving means provided in the ship or underwater exploration ship. Receiving at a plurality of points using one receiver and analyzing the signal received by the at least one receiver with an analyzer connected to the at least one receiver, In the object exploration method for discriminating
The movement path includes both a horizontal direction component parallel to a reference plane including the target object and a vertical direction component perpendicular to the reference plane. Then, the object search method characterized by being a substantially circle or a substantially sphere . At least one receiver that receives a reflected signal reflected from the target object by the signal transmitted from the transmitter, or an output signal generated by the target object itself, and a moving means provided in the ship or the underwater exploration ship. And moving means for moving the at least one receiver according to a predetermined movement path; and analyzing the signal received by the at least one receiver connected to the at least one receiver; An exploration device comprising an analyzer for determining the location of the target object,
The movement path includes both a horizontal direction component parallel to a reference plane including the target object and a vertical direction component perpendicular to the reference plane. Then, the object search apparatus characterized by being a substantially circle or a substantially sphere .

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