JP2001208830A - Detector - Google Patents

Abstract

PROBLEM TO BE SOLVED: To display an accuarte wake irrespective of a dispay mode, and to allow instantaneous switcing of the display mode. SOLUTION: Memory areas 100, 200 are provided in a single radar image processing display memory. A track processing data is written, for example, by a TM/NUP mode in the memory area 100 and by an RM/HUP mode in the memory area 200, and a data in past for wake signal processing is read out from the memory area 100. Since the data in the past is read out from the area 100 to process a wake signal, the accurate are stored in both of the memory areas 100, 200, and the accurate wakes is displayed in the every display mode by a user. The display mode is switched instantaneously only by change of a display address supplied to the radar image processing display memory, and the accurate wake is dispalyed from the beginning of the switching.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a detection device represented by a marine radar device and the like. In particular, the present invention relates to a method in which a radar image is displayed on a screen of a raster scan display by PPI (PPI).
(lan Position Indicator) When displaying, a function to control the display mode by converting the data into polar orthogonal coordinates by address control when writing data to the radar image processing display memory, which is a kind of frame memory, and a radar image processing The present invention relates to a marine radar apparatus having a function of generating track processing data indicating a track of another ship or the like based on past track processing data stored on a display memory, that is, past data and recent echo data, that is, current data.

[0002]

2. Description of the Related Art FIG. 1 shows a configuration of a conventional marine radar apparatus. In the drawing, an antenna 10 is installed at a location with a good view on a ship. The antenna 10 includes, for example, a radiator for transmitting and receiving a radio signal such as a radio wave, an axis supporting the radiator, a driving mechanism (including a motor and the like) for rotating the radiator about this axis, and a radiator. It comprises a transceiver for generating a radio signal to be transmitted and amplifying or performing other processing on the reception output of the radiator. The CPU circuit 12 is a member that controls the operation of the entire marine radar device. The transmission / reception control circuit 14 operates the transceiver in the antenna 10 under the control of the CPU circuit 12 to transmit and receive radio signals from the radiating unit. Controls reception of radio signals by the radiator. When there is another ship or land on the surroundings of the own ship, reflection is caused by those objects (targets), and the signal received by the radiating unit includes a reflected wave (echo) from the target. The A / D conversion circuit 16 converts the received signal into digital data, and the sweep memory 18 holds the data for at least one sweep (one transmission / reception operation).

The wake signal processing circuit 20, the radar image processing display memory 22, and the coordinate conversion circuit 24 are based on the principle described below.
According to the procedure, the PPI display data for displaying the PPI format radar image on the CRT display 26 is created from the data stored in the sweep memory 18, that is, the current data. The D / A conversion circuit 28 performs D / A conversion of the PPI display data and the graphic display data to generate an analog image signal for providing a radar image and a graphic image, and supplies the analog image signal to the CRT display 26. The graphic display data is data giving characters, symbols, vector graphics, and the like to be displayed on the screen of the CRT display 26. The graphic control circuit 30 develops the graphic frame memory 32 under the control of the CPU circuit 12. Graphic display data is supplied from the graphic frame memory 32 to the D / A conversion circuit 28. The CRT display 26 used here is a raster scan type display, and the radar image displayed on the screen based on the image signal related to the PPI display data is displayed on the earth surface around the ship. This is an image showing the presence or absence, position, trend, property, etc. of the target, that is, a PPI format radar image. As described later, the radar image here includes an image showing the wake of the target. Instead of the CRT display 26, a liquid crystal display, an EL display or the like may be used.

[0004] In connection with the operation of the coordinate conversion circuit 24, which is a circuit necessary for creating PPI display data, an antenna rotation signal generation circuit 34, an angle signal control circuit 36, a gyro interface circuit 38, and a speed information input circuit 40. Is provided. Among these, the antenna rotation signal generation circuit 34 generates a signal in synchronization with the rotation of the antenna 10 in the radiation direction, and supplies the signal to the angle signal control circuit 36. The signal supplied from the antenna rotation signal generating circuit 34 to the angle signal control circuit 36 is, for example, a pulse signal generated every time the radiation direction of the antenna 10 changes by a predetermined angle. By counting the number of pulse signal generations from the time when the radiation direction of the antenna turns to the own bow direction, the radiation direction ANT of the antenna 10 based on the own bow direction can be obtained.
The gyro interface circuit 38 is a circuit for connection to an external device such as a gyro compass (not shown), and the angle signal control circuit 36 receives an absolute signal in the bow direction of the ship from the external circuit via the gyro interface circuit 38. A signal indicating an azimuth GYRO, that is, an angle with respect to the north is input. The angle signal control circuit 36 also holds the own ship course COURSE at the time when a reset switch (not shown) is operated, that is, information on the own bow direction based on the north at that time. Then, the speed information input circuit 40 inputs a signal indicating the speed of the ship from an external device (not shown).

The angle signal control circuit 36 includes ANT, GYR
The angle θ at the time of conversion is obtained based on O and COURSE and supplied to the coordinate conversion circuit 24. An expression used by the angle signal control circuit 36 to obtain the conversion angle θ is determined according to a display mode instructed by the user to the CPU circuit 12 using an operation member (not shown).

## EQU00001 ## HUP mode: .theta. = ANT NUP mode: .theta. = ANT + GYRO CUP mode: .theta. = ANT + GYRO-COURSE. Among these modes, the HUP mode is
This is a mode in which a display is displayed on the screen of the CRT display 26 so that the bow of the ship is always facing upward. The NUP mode is a mode for displaying the image on the screen of the CRT display 26 so that the north always faces upward. In the CUP mode, the course of the ship at the time when a reset switch (not shown) is operated is displayed on the CRT display 26.
In this mode, the screen is displayed so that it always faces upward on the screen. C
More specifically, the display mode on the screen of the RT display 26 is a combination mode of three types of modes, HUP, NUP, and CUP, and two types of modes, TM and RM. The TM mode is a mode for displaying the true motion of the own ship or the target, and the RM is a mode for displaying the relative motion of the target or the like with respect to the own ship.

The coordinate conversion circuit 24 generates an address for writing to the radar image processing display memory 22 based on the angle θ at the time of conversion. The radar image processing display memory 22 stores X,
This is a memory that can read and write data by specifying an address based on the Y orthogonal coordinate system.
6 provides a storage space having a storage capacity of one or more radar images displayed on the screen. The write address here is an address for writing wake processing data in the radar video processing display memory 22 and reading out past data from the radar video processing display memory 22, and is represented by a pair of X and Y.

The formula for generating the write address (X, Y) is as follows:

X = XC + R · sin θ Y = YC + R · cos θ R is a value corresponding to the distance from the ship to the target, and also corresponds to the position of the data on the sweep memory 18. In this equation, the upward direction of the screen is the direction of θ = 0. Coordinate conversion start address (XC, YC)
Is an address where data of R = 0, that is, data relating to own ship position is to be written. Therefore, by generating the write address (X, Y) in accordance with this equation, essentially the polar coordinates associated with the echo arrival time, that is, the distance from the ship to the target and the radiation direction from the antenna 10 are obtained. The received signal (data) in the format can be written in the storage space on the radar video processing display memory 22 in accordance with the positional relationship in a substantially horizontal plane. The data once written in this manner is transferred to the CRT display 26, which is a raster scan type display, by the CPU circuit 12 designating a display address in accordance with the screen scanning order and in synchronization with the screen scanning.
As PPI display data suitable for PPI display in
Can be read.

The method of determining the coordinate conversion start address (XC, YC) in the coordinate conversion circuit 24 depends on whether the display mode specified by the user by operating an operation member (not shown) is TM or RM.
It depends on the situation. That is, when the RM mode is designated, the coordinate conversion start address (XC, YC) is set to a value corresponding to the center of the screen of the CRT display 26 (or the center of the window displaying the radar image). When the TM mode is designated, the position of the ship on the screen changes according to the movement of the ship based on information given to the coordinate conversion circuit 24, that is, information on the speed of the ship and information on the bow direction of the ship. Coordinate conversion start address (X
C, YC) are sequentially changed.

The data written to the radar video processing display memory 22 in accordance with the write address (X, Y) is:
It is not the current data itself, but the wake processing data generated by the wake signal processing circuit 20 from the past data and the current data, that is, data indicating the wake of the target. That is, when the write address (X, Y) is designated, the address has been stored as wake processing data at that address by the previous scan (period in which the radiation direction makes one revolution in the antenna 10). Data is read as past data, and
The track processing data obtained by the track signal processing circuit 20 is written to the address. The wake signal processing circuit 20
By combining the present data and the past data by a conventionally known method, a wake where the "tail" portion of the wake fades and disappears with the passage of time (a wake by time), or the current data and the past data are combined By selectively outputting, a wake in which the luminance is preserved regardless of the passage of time is generated (continuous wake). By this wake signal processing, the wake of the target can be read from the screen of the CRT display 26. In other words, images useful for collision avoidance and fleet behavior maintenance can be provided to the user, thereby contributing to the safe and efficient operation of the ship.

As described above, the conventional marine radar apparatus operates a polar orthogonal coordinate conversion process for efficiently obtaining an image signal suitable for a raster scan type display and operates a frame memory writing address at that time. The device incorporates various devices, such as diversification of display modes, and wake signal processing for generating wake images by accumulating received signals. However, this prior art has several problems.

First, in order to accurately execute the wake signal processing, the coordinate system to which the current data conforms and the coordinate system to which the wake processing data accumulated as past data conforms. There must be. If the latter coordinate system moves, rotates, etc. with respect to the former coordinate system,
The wake accumulated and provided for display on the radar image processing display memory 22 is distorted with respect to the true wake. Therefore, when the designated display mode is, for example, the RM / HUP mode in which the display position of the target on the screen changes with the movement or turning of the ship, the wake is determined when the ship moves or turns. Signal processing cannot be executed accurately, and a track different from the true track may be displayed (No. 1).
Problem).

This first problem does not occur in the TM / NUP mode in which a chart-like display is performed according to a coordinate system fixed on the earth's surface. However, in the TM / NUP mode, since the position of the ship moves downward on the screen when the ship is sailing south, it is difficult for the user who is already in the RM / HUP mode. When the ship hits the ship, the display looks strange. Therefore, trying to get an accurate wake
When the M / NUP mode is selected, a problem of apparent discrepancy or a sense of incongruity between the actual direction of the own course and the direction on the screen must be accepted (second example).
Problem). This problem is manifested in vessels that change course frequently, such as small fishing boats. A similar problem is TM / CUP in which the course of the ship moves away from the top of the screen as the ship turns.
Mode also occurs.

Further, the processing for switching the display mode includes C
Although it can be started immediately in response to the display mode command from the PU circuit 12 to each unit of the apparatus, it is necessary to wait at least one scan from the start of the switching until the display screen in the new display mode after the switching is completed (third. Problem). Further, in order to obtain a useful track for maneuvering, data accumulated in the radar image processing display memory 22 for a sufficient number of scans is necessary. The state in which the data relating to the new display mode is not sufficiently accumulated on 22 continues. For this reason, it takes more time from when the display mode is changed to the display of a wake useful for maneuvering (fourth problem).

Techniques that can partially solve these problems include Japanese Patent Publication No. Hei 6-90271 and Japanese Patent Publication No. Hei 6-90271.
There is a technique disclosed in Japanese Patent No. 90272. 2 and 3 show a configuration of an apparatus obtained by modifying the conventional apparatus shown in FIG. 1 according to the disclosure of the above publication. In FIGS. 2 and 3, FIG.
The same parts as in FIG. 1 are not shown.

In the apparatus shown in FIGS. 2 and 3, two radar image processing and display memories 22A and 22B are provided, and two coordinate conversion circuits 24A and 24B are provided. The angle signal control circuit 36A generates a conversion angle θ1 for the coordinate conversion circuit 24A using an expression for NUP or CUP mode. The coordinate conversion circuit 24A is a write address in the TM / NUP or TM / CUP mode for writing wake processing data into the radar image processing display memory 22A and reading past data from the radar image processing display memory 22A. (X1, Y1) is generated based on the conversion angle θ1 and the speed of the own ship.

The angle signal control circuit 36A generates a conversion angle θ2 for the coordinate conversion circuit 24B using an expression for a designated display mode. Coordinate conversion circuit 24
B is a write address (X2, Y2) related to the designated display mode for writing wake processing data (in the case of FIG. 2) or past data (in the case of FIG. 3) to the radar image processing display memory 22B. ) Is generated based on the conversion angle θ2 (and the speed of the own ship if necessary) and according to the designated display mode. The PPI display data is stored in the CPU circuit 12
Is read out from the radar video processing display memory 22B in accordance with the display address specified by.

As described above, in the apparatus shown in FIG. 2 or FIG. 3, as shown in FIG. 4A, the first storage area 100 provided by the radar image processing display memory 22A.
Are used for data storage for wake signal processing, and the second storage area 200 provided by the radar video processing display memory 22B is used for display. In the apparatus shown in FIG. 2, past data (FIG. 4B) read from the first storage area 100 is input to the wake signal processing circuit 20 and used for generating wake processing data (FIG. 4C). .
Further, the wake processing data is written into the radar video processing display memory 22A by designating the write address (X1, Y1) for the TM / NUP or TM / CUP mode (see FIG. 4).
(B)), while writing the wake processing data into the radar video processing display memory 22B by specifying the write address (X2, Y2) related to the specified display mode (FIG. 4).
(D)) is performed. The PPI display data is always read from the second storage area 200. Thus, for example, RM
Even when the / HUP mode is specified, the wake signal processing itself is performed using data accumulated in the TM / NUP mode or the like on the radar video processing display memory 22A.
A situation in which an accurate wake cannot be displayed due to the turning or movement of the own ship is unlikely to occur. On the screen, the PPI image relating to the specified display mode including the accurate wake image is displayed. In addition, there is no need to specify the TM / NUP mode or the like in order to display an accurate wake (be patient with a sense of discomfort).

[0018]

As described above, in the apparatus shown in FIGS. 2 and 3, the first and second problems among the problems in the prior art shown in FIG. 1 are solved. . However, the third and fourth problems are still
Not resolved. In addition, a two-coordinate conversion circuit and two radar image processing and display memories must be provided, which causes a new problem that the circuit scale becomes large and the device price becomes high (fifth problem). ).

The present invention has been made to solve such problems, and at least the first to fourth problems out of the above-mentioned problems do not occur. It is an object of the present invention to realize an improved detection device, such as a marine radar device, which does not cause the fifth problem.

[0020]

In order to achieve such an object, in one of the preferred embodiments of the present invention,
(1) Existence, location,
(2) Current data indicating the result of the detection and data accumulated in the past as wake processing data in a detection device that detects a trend or property and generates display data for displaying the result on a screen. A wake signal processing circuit that generates wake processing data indicating a wake of a target based on past data; and (3) a memory that independently provides a plurality of storage areas each having a storage capacity of one image or more;
(4) For the first storage area of the plurality of storage areas, a write address is generated so that wake processing data is written and past data is read according to a coordinate system fixed to the earth surface, Writing address generation means for generating a writing address so that wake processing data or past data is written in accordance with an arbitrary coordinate system in the second storage area of (1).
And in the second storage area, for displaying from the memory, so that the data in the storage area in which writing is performed in accordance with the coordinate system corresponding to the designated display mode is supplied to the display device as display data. And means for controlling the reading of data.

In this detection device, the write address is generated according to a coordinate system fixed on the earth surface.
Since the past data is read from the storage area and the track processing data is generated, and the track processing data or the past data is written in the first and second storage areas, an accurate track can be obtained regardless of the mounting destination, for example, the movement or turning of the ship. The given track processing data is written into the first and second storage areas, and the first problem described above does not occur. In addition, since an accurate wake is displayed irrespective of the display mode, it is not necessary to select a display mode having a sense of incongruity, and the second problem does not occur. Further, from the track processing data that gives an accurate track or the first and second storage areas in which past data is written, one of them is selected according to the display mode, and displayed based on the data in the selected storage area. Is performed, it is possible to display an accurate wake related to the display mode at the same time as the designation change of the display mode, so that the third and fourth problems do not occur. Since a plurality of storage areas including the first and second storage areas are provided by a single memory, there is no need to provide a plurality of memories, write address generation means, and the like, and the fifth problem does not occur.

In an embodiment in which a plurality of storage areas including the first and second storage areas are provided by a single memory,
It is preferable to provide a means for giving a time difference to data to be supplied to the memory so that the same track processing data is repeatedly supplied to the memory or the track processing data and the past data are successively supplied to the memory. desirable. Also,
Means for switching between writing the wake processing data and writing the past data in the second storage area may be provided. Means may be provided for changing the coordinate system related to the first and / or second storage area according to the specified display mode.

In another preferred embodiment of the present invention, (1) a method for detecting the presence, location, movement or property of a target at each point in the vicinity and displaying the result on a screen; In a detection device that generates display data,
(2) a wake signal processing circuit that generates wake processing data indicating the wake of the target based on the current data indicating the result of the detection and past data that is data accumulated as wake processing data in the past; and (3) One or more memories for providing a plurality of storage areas having a storage capacity of one or more images, and (4) a wake track according to a coordinate system fixed on the earth surface for the first storage area among the plurality of storage areas. A write address is generated so that the processing data is written and the past data is read, and in the second storage area of the plurality of storage areas, the wake processing data or the past data is written according to an arbitrary coordinate system. Writing address generating means for generating a writing address;
(5) At the time of writing the track processing data or the past data into the second storage area, if the value of the track processing data or the past data does not satisfy a predetermined criterion, the above-mentioned second of the track processing data or the past data is written. (2) invalid data blocking means for blocking writing to the storage area, and (6) a storage area in the first and second storage areas where writing is performed according to the coordinate system corresponding to the designated display mode. Means for controlling the reading for display from the memory and the supply of the display data to the display device side so that the data is supplied to the display device side as the display data.

Also in this embodiment, the past data is read from the first storage area in which the wake processing data is written according to the coordinate system fixed on the earth surface to generate the wake processing data, and the wake processing data or the wake processing data or the past data is stored. Since valid data in the data (data determined by the invalid data blocking means to satisfy a predetermined criterion) is written in the first or second storage area, an accurate trajectory can be obtained regardless of the mounting location, for example, the movement or turning of the ship. Is written in the first and second storage areas, and the first problem described above does not occur. In addition, since data indicating an accurate wake is written to the memory and read for display irrespective of the display mode, it is not necessary to select a display mode having a sense of incongruity, and the second problem does not occur. Furthermore, while the track processing data is written in the first storage area and the track processing data or the past data satisfying the predetermined criteria are written in the second storage area, one of the first and second storage areas is selected according to the display mode. Is selected, and the display is performed based on the data in the selected storage area. Therefore, at the same time as the designation of the display mode is changed, the image related to the display mode can be displayed together with the accurate wake image. And the fourth problem does not occur.

The invalid data blocking means according to this embodiment, when writing the track processing data or the past data to the second storage area, if the value of the track processing data or the past data does not satisfy the predetermined standard. This can be realized as means for supplying data of a value indicating the absence of a target to the second storage area instead of the wake processing data or the past data. Further, the invalid data blocking means is provided with a means for selecting data to be determined based on the predetermined criterion from the wake processing data and the past data.
desirable.

The wake signal processing to which the present invention can be applied includes processing for combining current data and past data and outputting the result to a memory (processing for displaying a wake based on time), and processing for combining current data and past data. For selectively outputting data to memory (processing for displaying continuous wakes)
Can be raised.

[0027]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below with reference to the drawings. The present invention can be implemented by partially modifying the prior art shown in FIG. 1 or partially modifying the reference technology shown in FIGS. 2 to 4 (however, it can be implemented in other forms). The same components as those shown in FIGS. 1 to 4 are denoted by the same reference numerals or not shown,
The description is omitted.

FIG. 5 shows the configuration of a marine radar device according to the first embodiment of the present invention. In this embodiment,
As shown in FIG. 6A, the first storage area 100 and the second storage area 100
A radar image processing and display memory 22C that provides the storage area 200 alone is provided. Storage area 1
Each of 00 and 200 has a capacity capable of storing data of one or more radar images. Further, in this embodiment, a write data selection circuit 42 and a delay circuit 44 are provided. The write data selection circuit 42 in the present embodiment is an addition circuit that adds the wake processing data obtained by the wake signal processing circuit 20 and data obtained by delaying the wake processing data by the delay circuit 44 for a predetermined time. .
Wake process data output period from the wake signal processing circuit 20
The timing and the delay time in the delay circuit 44 are obtained by calculating the wake processing data shown in FIG. 6B output from the wake signal processing circuit 20 and the wake processing data shown in FIG.
The data shown in FIG. 6C is set so as to be supplied to the radar video processing display memory 22C at different timings as shown in FIG. 6D. That is, the delay time is set so that data that is duplicated on the time axis is generated as shown in FIG. 6D in synchronization with the write cycle of the radar video processing display memory 22C. Therefore, the same wake processing data is repeatedly supplied to the radar video processing display memory 22C twice.

On the other hand, there are two types of angles at the time of conversion given from the angle signal control circuit 36A to the coordinate conversion circuit 24C, namely, θ1 and θ2. θ1 is derived, for example, by an expression for a NUP or CUP mode which is a display mode suitable for realizing accurate wake signal processing. θ2 is derived by, for example, an equation for a specified display mode. The coordinate conversion circuit 24C stores the data in the storage area 10 as shown in FIG.
Write address (X1, Y1) for writing wake processing data and reading of past data for 0, and write address (X2, Y2) for writing wake processing data for storage area 200. ) Are output alternately at predetermined time intervals (= delay times). Write address (X1,
Y1) is based on the angle θ1 at the time of conversion and the speed of the ship, and is based on the procedure related to the TM / NUP or TM / CUP mode.
Generated in a way. Write address (X2, Y2)
Is generated based on the conversion angle θ2 (and the speed of the ship if necessary under the designated display mode) and by a procedure / method related to the designated display mode.

The wake signal processing circuit 20 has a storage area 10
By performing wake signal processing on the current data using the past data read from 0, wake processing data is generated. Further, the CPU circuit 12 selects a storage area in which writing is performed by a writing address related to the display mode according to the display mode instructed by the user, and selects from the storage area (100 or 200). A display address is generated to read the PPI display data (see FIG. 6).
(F)).

FIG. 6 conceptually shows the relationship between the timing of supplying the wake processing data to the radar video processing display memory 22C and the switching timing of the write address, and shows the detailed contents of the memory cycle.・ It does not indicate specific contents. The method of realizing the multiplexing processing on the time axis shown in FIGS. 6B to 6D is based on what kind of memory is used to realize the radar video processing display memory 22C, and what kind of memory is used. Since it is determined depending on whether the memory is accessed using a procedure or a cycle, a person skilled in the art can appropriately realize this by referring to FIG.

FIGS. 7 to 9 show an example of a use mode of the apparatus according to the present embodiment. Here, the RM / HUP mode has been designated by the user, and
It is assumed that writing in the M / NUP mode and writing in the RM / HUP mode as the designated display mode are performed in the storage area 200, respectively. At one time, if the transformation start coordinates (XC, YC), which is the own ship position, are located at the center in both the storage areas 100 and 200, and the own ship bow is facing north, the storage areas 100 and 200 at that time are assumed. Are as shown in FIG. In the figure, (HDXC, HDYC) is the origin of the display address (start point of horizontal and vertical scanning). (HD
XC, HDYC) is an area corresponding to the screen of the CRT display 26 (or a window for displaying a radar image) and a portion provided for display. The solid circle is the portion scanned by the azimuth cursor.

As shown in FIG. 7, at some point TM
Track processing data pertaining to the / NUP mode (storage area 10
0) and the wake processing data (storage area 200) related to the RM / HUP mode, even if the ship turns or moves thereafter, the two no longer match. FIG.
Is (XC, YC) from the position corresponding to (XC, YC)
1, YC1), the first and second storage areas when approaching the island, and at the same time the own ship turns and changes from a state in which the island looks forward on the starboard side to a state in which it looks forward on the port side. Is shown. Here, first, in the storage area 100, writing of wake processing data and reading of past data in the TM / NUP mode are continued. Therefore, high-quality wake processing data as a result of accurate wake signal processing can be obtained regardless of the movement or turning of the own ship. Since the wake processing data written in the storage areas 100 and 200 are both obtained (or delayed), the RM / H is stored in the storage area 200.
Although the wake processing data is written at the write address (X2, Y2) relating to the UP mode, unlike the prior art shown in FIG. 1, based on the data on the storage area 200, in the RM / HUP mode, It can always display accurate track signal processing results. There is no need to change the mode to the TM / NUP mode (which has a sense of discomfort) in order to display an accurate wake.

Further, the user sets the display mode to RM / HUP.
When the mode is changed from the mode to the TM / NUP mode, the CPU circuit 12 changes the display address accordingly,
The reading of the PPI display data from the storage area 100 is started. That is, as shown in FIG. 9, (HDXC, HDYC)
Is moved into the storage area 100. Storage area 100
Since the result of the accurate wake-up signal processing is already stored in the memory, only the display address is changed, that is, immediately after receiving the display mode designation change, the display mode is changed to the display mode after the designation change in the TM / NUP mode. An accurate track can be displayed on the screen. The same effect can be obtained when switching from the TM / NUP mode to the RM / HUP mode.

In addition, two storage areas 100 and 200 are provided on a single radar video processing display memory 22C,
Since the wake processing data multiplexed on the time axis is written into both storage areas according to a coordinate system related to a predetermined or specified display mode, the radar video processing display memory 22C also generates a write address. Only one coordinate conversion circuit 24C may be used. In the present embodiment, an embodiment in which three or more storage areas (one of them is a first storage area and the other is a second storage area) is provided on a single radar video processing display memory 22C, T
An embodiment in which modes other than M / NUP and RM / HUP are prepared, an embodiment in which past data is delayed instead of wake-up processing data as shown in FIG. 10, or a wake-up signal is input to the delay circuit 44 as shown in FIG. The present invention can be implemented in various forms, such as an embodiment including a switch 46 for switching between processing data and past data according to a signal from the CPU circuit 12 or the like. The track may be a track based on time or a continuous track.

FIG. 12 shows the configuration of a marine radar apparatus according to another embodiment of the present invention. In this embodiment, the radar image processing and displaying memory has two memories 22A and 22B.
And two coordinate conversion circuits 24A and 24B are provided, respectively, and the angle signal control circuit 36A provides a conversion angle θ.
1 and θ2, and the former is sent to the coordinate conversion circuit 24A.
The latter is supplied to a coordinate conversion circuit 24B. Coordinate conversion circuit 2
4A is a writing address (X1, Y) related to the radar image processing display memory 22A based on the conversion angle θ1 and the speed.
1) is generated, and the coordinate conversion circuit 24B converts the angle θ2 during the conversion.
A write address (X2, Y2) for the radar video processing display memory 22B is generated based on (and speed if necessary) and according to the display mode. The wake processing data generated by the wake signal processing circuit 20 is written to the radar image processing display memory 22A on the one hand, and is supplied to the valid / invalid discrimination circuit 48 on the other hand. The valid / invalid discriminating circuit 48 supplies the wake processing data to the radar image processing display memory 22B when the wake processing data satisfies a predetermined criterion, and blocks the wake processing data otherwise. For example, when the track processing data exceeds a predetermined value, the track processing data or data having the predetermined value is supplied to the radar image processing display memory 22B as valid data. If the value is below, data of a value indicating the absence of the target is supplied. The display selection circuit 50 is a circuit for selecting one of the radar video processing display memories 22A and 22B and connecting it to the D / A conversion circuit 28, and the CPU circuit 12 operates according to the display mode specified by the user. The selection is performed according to the display selection signal to be generated.

Therefore, in this embodiment, TM / N
Write addresses (X1, Y) according to a mode related to a coordinate system fixed on the earth surface, such as an UP or TM / CUP mode.
As long as 1) is generated, the past data is read from the radar image processing display memory 22A, the wake signal processing using the read past data, and the radar image processing display memory 22A of the wake processing data resulting therefrom is read. Writing to 22B is performed successfully. Therefore, no matter which of the radar image processing display memories 22A and 22B is selected by the display selection circuit 50, a radar image including an accurate wake is displayed on the screen of the CRT display 26. . Further, since the valid / invalid discriminating circuit 48 is provided, the space for retaining the wake processing data in the radar video processing display memory 22B can be saved (for example, the valid / invalid discriminating circuit 48 converts the wake processing data to valid data = 1 value). Since invalid data is binarized to a value of 0, it is sufficient to store only one bit of wake processing data for each pixel.)

Further, the data on the radar video processing display memory 22A and the data on the radar video processing display memory 22B can be selectively displayed according to the designation of the display mode by the user. A radar image including an accurate wake image can be displayed immediately after the mode change, so that there is no need to wait for one or more scans (usually for a longer period). In addition, in the present embodiment, the angle signal control circuit 36A and the coordinate conversion circuit 24 according to the display mode designated by the user.
B operation (and if necessary, the coordinate conversion circuit 24A
Operation can also be switched). This makes it possible to appropriately change the mode for writing to the radar video processing display memory 22A or the radar video processing display memory 22B.

FIG. 13 shows the configuration of a marine radar device according to another embodiment of the present invention. In this embodiment, the data input to the valid / invalid discriminating circuit 48 is not wake processing data but past data. In the present embodiment, the same effects as those of the embodiment shown in FIG. 12 can be obtained. FIG. 14 shows a configuration of a marine radar device according to another embodiment of the present invention. This embodiment is an embodiment related to a combination of the embodiment shown in FIG. 12 and the embodiment shown in FIG. A switch 52 for deciding whether or not to input to the invalidity discriminating circuit 48 is provided in front. The switch 52 is, for example,
The control signal supplied from the CPU circuit 12 enables / disables
The input data to the invalidation determination circuit 48 is switched. By providing such a switch 52, the content of data written as valid data in the radar video processing display memory 22B can be changed.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a configuration of a marine radar device according to one related art.

2 is a block diagram showing a configuration of a marine radar device obtained by modifying the conventional technique shown in FIG. 1, particularly a configuration near a radar video processing display memory.

3 is a block diagram showing a configuration of a marine radar device obtained by modifying the conventional technique shown in FIG. 1, particularly a configuration near a radar video processing display memory.

4A and 4B are diagrams showing a use mode of a radar image processing and display memory in the apparatus shown in FIG. 2, in particular, FIG. 4A shows a storage area provided by two radar image processing and display memories, and FIG. The timing of the operation of reading past data from the first storage area and the writing of wake processing data to the first storage area, (C) shows the operation timing of the wake signal processing circuit, and (D) shows the second operation timing. FIG. 9A is a diagram showing the timing of the writing operation of the wake processing data to the storage area of FIG. 1, and FIG. 9E is a diagram showing the storage area to be read out for display.

FIG. 5 is a block diagram showing a configuration of the marine radar device according to the first embodiment of the present invention, particularly a configuration near the radar video processing display memory;

FIG. 6 is a diagram showing a use mode of a radar video processing display memory in the embodiment shown in FIG. 5, and in particular, (A) shows two storage areas provided by one radar video processing display memory; (B) shows the timing of the wake processing data supplied from the wake signal processing circuit to the write data selection circuit without passing through the delay circuit, and (C) shows the write data selection circuit via the delay circuit from the wake signal processing circuit. (D) indicates the timing of supplying the wake processing data from the write data selection circuit to the radar video processing display memory, and (E) indicates the writing destination in the radar video processing display memory. (F) indicates an area and address switching operation timing, and (F) indicates an area to be read out for display among storage areas in the radar video processing display memory. FIG.

FIG. 7 shows a TM / NUP mode in a first storage area;
FIG. 9 is a diagram showing the contents of a radar video processing display memory when wake processing data is written in a second storage area in RM / HUP mode, and PPI data is read from the second storage area.

8 is a diagram showing the contents of a radar image processing display memory in a state where the own ship has moved and turned around from the state shown in FIG. 7;

9 is a diagram showing the contents of a radar video processing display memory in a state in which the read source of PPI display data has been switched to a first storage area from the state shown in FIG. 8;

FIG. 10 is a block diagram showing a configuration of a marine radar device according to a second embodiment of the present invention, particularly a configuration in the vicinity of a radar video processing display memory thereof.

FIG. 11 is a block diagram showing a configuration of a marine radar device according to a third embodiment of the present invention, particularly around a write data selection circuit thereof.

FIG. 12 is a block diagram showing a configuration of a marine radar device according to a fourth embodiment of the present invention, particularly around a radar image processing display memory thereof.

FIG. 13 is a block diagram showing a configuration of a marine radar device according to a fifth embodiment of the present invention, particularly around a radar video processing display memory thereof.

FIG. 14 is a block diagram showing a configuration of a marine radar device according to a sixth embodiment of the present invention, particularly around a valid / invalid discrimination circuit thereof.

[Explanation of symbols]

10 antenna, 12 CPU circuit, 18 sweep memory, 20 wake signal processing circuit, 22A, 22B, 22C
Radar image processing display memory, 24A, 24B, 24C
Coordinate conversion circuit, 26 CRT display, 36A angle signal control circuit, 42 write data selection circuit, 44 delay circuit, 46, 52 switch, 48 valid / invalid discrimination circuit, 50 display selection circuit, 100, 200 storage area.

Claims (8)

[Claims] 1. A detection device for detecting the presence, absence, position, trend or property of a target at each point in the vicinity and generating display data for displaying the result on a screen, wherein the detection result is indicated. A wake signal processing circuit that generates wake processing data indicating a wake of a target based on current data and past data that has been accumulated as wake processing data in the past, and a storage having a storage capacity of at least one image. A memory for providing a plurality of areas by itself; and a first storage area of the plurality of storage areas being written so that wake processing data is written in accordance with a coordinate system fixed on the earth surface and past data is read out. Address, and for the second storage area of the plurality of storage areas, wake processing data or past data is stored in accordance with an arbitrary coordinate system. A write address generating means for generating a write address so as to be written, on a storage area of the first and second storage areas where writing is performed according to a coordinate system corresponding to a designated display mode. Means for controlling reading from a memory for display so that the data is supplied to the display device as display data. 2. The detection device according to claim 1, wherein the same track processing data is supplied to the memory such that the same track processing data is repeatedly supplied to the memory, or the track processing data and the past data are supplied to the memory one after another. A detection device comprising means for giving a mutual time difference to data to be detected. 3. The detection device according to claim 1, further comprising means for switching between writing the wake processing data and writing the past data in the second storage area. 4. The detection device according to claim 1, further comprising: a unit that changes a coordinate system related to the first and / or second storage area in accordance with the specified display mode. Detection device. 5. A detection device for detecting the presence, absence, position, trend, or property of a target at each point in the vicinity and generating display data for displaying the result on a screen, wherein the detection result indicates the result of the detection. A wake signal processing circuit for generating wake processing data indicating the wake of a target based on current data and past data that has been accumulated as wake processing data in the past, and a storage area having a storage capacity of at least one image And a plurality of memories for providing a plurality of data, and a first storage area of the plurality of storage areas is written so that wake processing data is written according to a coordinate system fixed to the earth surface and past data is read. Address, and in the second storage area of the plurality of storage areas, wake processing data or past data is written according to an arbitrary coordinate system. Write address generating means for generating a write address, and when writing the track processing data or past data into the second storage area, the value of the track processing data or past data satisfies a predetermined standard. If not, invalid data blocking means for blocking writing of the wake processing data or past data into the second storage area, and the first and second storage areas corresponding to the designated display mode. Means for controlling reading from the memory for display and supply of display data to the display device side so that data in the storage area written in accordance with the coordinate system is supplied to the display device side as display data. A detection device, comprising: 6. The detection device according to claim 5, wherein the invalid data blocking means, when writing the track processing data or the past data to the second storage area, determines whether the value of the track processing data or the past data meets a predetermined standard. A detection unit that supplies, to the second storage area, data indicating a value indicating the absence of the target, in place of the wake-up processing data or the past data when the condition is not satisfied. 7. The detection device according to claim 5, further comprising: means for selecting data to be determined based on the predetermined criterion by the invalid data blocking means from either track processing data or past data. A detection device characterized by the above-mentioned. 8. The detection device according to claim 1, wherein the processing executed by the wake signal processing circuit is a processing of combining current data and past data and outputting the combined data to a memory or current data. A detection device, which is a process of selectively outputting past data to a memory.