JP2006065831A - Operation control method and apparatus for vessel - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method of performing operation control of a vessel not equipped with a GPS (Global Positioning System) and communication system, without using a large and expensive land radar. <P>SOLUTION: By this method, travelling radar vessels having a camera that can be rotated, a GPS and communication system are arranged in a plurality of control areas which can be investigated by radar, respectively. The position of this radar vessel, distance and direction between the radar vessel and target vessel located in the area corresponding to the radar vessel, and image information of camera are transmitted by radio from the radar vessel to land control office, and position relation between the radar vessel and the target vessel is compounded and displayed on picture. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a ship operation management method and apparatus, and more particularly to a ship operation management method and apparatus using a GPS, a radar, a camera, and a communication system.

  Conventionally, as a ship operation management system, position information by GPS that is in operation and various data of at least the engine part of the ship are recorded in the ship as ship information, and this is recorded by the system management company via the communication system. A device that is transmitted to a server for management and display is known (Patent Document 1).

There is also known a ship operation management system that superimposes and displays electronic chart data and electronic map data based on a map created by a plan view method (Patent Document 2).
JP 2004-110443 A JP 2002-63693 A

  FIG. 20 shows a plurality of ships 1 equipped with GPS, a communication system, and an AIS (automatic identification device), and ship information and position information of such ships 1 are communicated from the ship 1 by a land management office (not shown). To be grasped. However, ship information and position information cannot be sent to a management office from a ship not equipped with such GPS and communication system, and therefore cannot be grasped.

  FIG. 21 shows a case where the position of the ship 3 not equipped with GPS and a communication system can be grasped using the land radar 2. In FIG. 21, 4 is a construction area or a management area.

  However, when the land radar 2 is used, the land radar 2 is not only large and expensive, but also requires a license for operation, and requires time for installation permission application. Further, the type of ship cannot be known only from the image of the marine radar and the position information of the ship.

  The present invention is intended to eliminate such drawbacks.

  According to the ship operation management method of the present invention, a mobile radar ship having a GPS and a communication system is arranged in each of a plurality of management areas that can be explored by a radar, the position of the radar ship, the radar ship, and the radar ship. The distance and direction between the target ships located in the corresponding area are transmitted wirelessly from the radar ship to the land management office, and the positional relationship between the radar ship and the target ship is synthesized and displayed on the image. It is characterized by.

  Further, according to the ship management method of the present invention, a mobile radar ship having a turnable camera, a GPS, and a communication system is arranged in each of a plurality of management areas that can be explored by a radar. The position, distance between the radar ship and the target ship located in the area corresponding to the radar ship, direction, and camera image information are wirelessly transmitted from the radar ship to the land management office, and the radar ship and the target ship are transmitted. The positional relationship between them is synthesized and displayed on an image, and the operation management of the ships in the area is performed.

  In the ship operation management method of the present invention, the information of the management office is distributed to a ship having a communication means and a personal computer display without having a radar.

  The ship operation management method of the present invention is characterized in that the sensitivity adjustment of the radar is achieved by increasing / decreasing the outer contour of the image captured from the radar and adjusting the gradation level.

  The ship operation management apparatus of the present invention includes a mobile radar ship having a GPS and a communication system arranged in each of a plurality of management areas that can be explored by a radar, the position of the radar ship, the radar ship, and the radar ship. The measuring means provided in the radar ship for measuring the distance and direction between the target ships located in the corresponding area, the land management office that receives the measurement information from the radar ship, and the management It is characterized by comprising means for synthesizing and displaying the positional relationship between the radar ship and the target ship provided in the office on an image.

  The measurement information includes the position information of each radar ship, the digital information indicating the relative azimuth and relative distance of the target ship as viewed from the radar ship, the position information of the radar ship observed by GPS, and the radar ship measured by a gyrocompass or the like. Azimuth information and communication means.

  Further, the ship operation management device of the present invention includes a turnable camera, GPS, a mobile radar ship having a communication system, and a radar ship arranged in each of a plurality of management areas that can be searched by a radar. Measuring means provided in the radar ship for measuring the position, distance between the radar ship and the target ship located in the area corresponding to the radar ship, direction and camera image information, and measurement information by the measuring means The land management office receives from the radar ship, and means for synthesizing and displaying the positional relationship between the radar ship and the target ship provided in the management office on an image.

  The measurement information includes the position information of each radar ship, the digital information indicating the relative azimuth and relative distance of the target ship as viewed from the radar ship, the position information of the radar ship observed by GPS, and the radar ship measured by a gyrocompass or the like. Orientation information, camera image information, and communication means.

  According to the ship operation management method and apparatus of the present invention,

  (1) It is possible to construct a system with a mobile small radar that is inexpensive and does not require a license.

  The management area can be easily expanded and moved.

  Can be combined with other flight management systems.

  Necessary management information such as radar information can be distributed to a ship that does not have a radar if it has a communication system and a personal computer.

  It can be displayed in real time.

  A collision prevention alarm can be issued.

  Safe and efficient navigation of ships in the route and construction area becomes possible.

  Moreover, the type of the object can be clearly grasped by combining with the camera.

  Embodiments of the present invention will be described below with reference to the drawings.

  In the present invention, as shown in FIGS. 1 and 2, each management capable of exploring a plurality of, for example, two mobile radar ships 5 having a small GPS, a communication system, and a TV camera capable of turning 360 degrees by a radar. The mobile radar ship 5 is used to make the mobile radar ship 5 obtain the position information of each of the ships 1 and 3 located within the range of the radar, and the camera information and communication means such as a mobile phone or a wireless LAN are obtained. Use to send to the management office.

  3 and 4 show information on the target ship sent from each of these radar ships 5, respectively.

  However, since the position and orientation of each radar ship 5 are unknown only by the information shown in FIGS. 3 and 4, this information cannot be synthesized assuming that the ships 3 are the same. Therefore, the position of the ship is observed by a positioning system such as GPS, and the direction of the ship is detected by a GPS compass, a gyro, etc., as shown in FIG. A control unit in the own ship includes radar digital information 6 indicating the relative direction and relative distance of the target ship, GPS position information 7 of the ship observed by GPS, and compass direction information 8 of the ship measured by a gyrocompass or the like. 9, and wirelessly transmitted to the land-based centralized management office 11 via the data communication unit 10.

  The central management office 11 receives the information sent from each radar ship 5 by the data communication unit 12, the arithmetic processing composition unit 13 computes the absolute position and the absolute direction of each radar ship 5, and synthesizes and displays the display unit 14 is displayed as shown in FIG.

  If such centralized screen data is transmitted from the land-based centralized management office 11 to each necessary ship 1 by a mobile phone or the like as shown in FIG. In addition, it becomes possible to operate efficiently, and it is also possible to issue an alarm when there is a danger such as a collision with the ship.

  Since a general radar has an exploration distance of 10 to 20 nautical miles, when a wider range needs to be managed, for example, three radar ships 5 are used as shown in FIG.

  In the present invention, the sensitivity of the radar is adjusted so that the radar itself can be automatically adjusted to some extent, and the fine adjustment is performed by increasing / decreasing (thickening or thinning) the outer contour of the image captured from the radar in the central management office. ).

  FIG. 8 shows raw image data, and FIG. 9 shows an image with a reduced outline.

  Adjust the color gradation at the same time. The same operation is performed for each level of the contoured image as shown in FIG. 10 according to the image reception sensitivity. For example, as shown in FIG. 11, the image is reduced except for the center, and at the same time, the color is also changed to make the image smaller with the same color pattern.

  The type of each ship 1 is determined from the radar information and camera information.

  In addition, the intensity of the reflected wave sent from the radar varies depending on the topography and conditions of the reflecting surface, the distance, the condition of the radar equipment, the atmospheric conditions, and the influence of waves from fog, rain, snow, and wind. Adjustments need to be made. When fog, rain, or snow is present, fine dots appear on the radar image as shown in FIG. If the sensitivity is lowered by image processing, the small dots disappear as shown in FIG. In addition, this is dealt with by erasing the image below the designated cluster of dots. Further, if there is a wave, an image of the influence of the reflected wave appears at the center of the image shown in FIG. Therefore, as shown in FIG. 15, the gradation level of the designated central portion is lowered, and at the same time, an image with weak reflection is erased.

  A method for obtaining the coordinates of the moving ship from the radar image will be described below.

  1) For this process, image data that changes every moment is required. However, since the image data is large, it takes time for wireless transmission and communication costs are high, which is not practical.

  2) In image processing, ships pass by each other, and when they cross each other, the phenomenon of coordinate transfer or loss of sight. Therefore, human operation is also necessary.

  In order to use such a thing for the system which monitors a marine radar on land, the processing of the personal computer connected to the ship radar and the land personal computer is processed separately in consideration of data communication capacity and operability.

  (Processing on the ship)

  Obtain ship chart and center of gravity

  The center of gravity of the image of the size that seems to be the image of the ship, for example, A (X1, Y1), B (X2, Y2), C (X3, Y3) in FIG. To the central management office. The numerical data has a smaller transfer amount than the image data, and the compression is efficient.

  (Treatment on land computer)

  A method for obtaining vector information of a moving ship is known. A search is made for a collective property (neighborhood) of the previous and current coordinates, and the positional relationship is displayed as a vector. The technique for obtaining the collectiveness, continuity, and vector of the center-of-gravity position continuous change data image is that if the following coordinates are in the circle shown in FIG. Finally, 0 and → are displayed as shown in FIG.

  In addition, FIG. 19 is explanatory drawing of the operation management apparatus of the ship of this invention.

  The features of the ship operation management method and apparatus of the present invention are as follows.

  (1) Since the GPS and compass information are sent to the mobile radar ship at the same time, the coordinate lap part on the display unit 14 is automatically configured based on the ship coordinate and display area.

  (2) Moreover, about the ship which moves between display areas, when it is the same ship based on a position, a direction, and reflection intensity, it displays as 1 ship.

  (3) Radar data and navigation management system data using GPS and communication systems are the same for ships moving between display areas, if they are the same ship based on position, orientation, and reflection intensity. Is displayed.

  (4) If there is a risk of collision due to the vectors of all ships, an alarm such as an alarm is issued.

  (5) Know the type of object in combination with information from a TV camera capable of 360-degree turning.

  As described above, in the ship operation management method and apparatus of the present invention, it is possible to construct a system with an inexpensive and license-free mobile small radar, and it is easy to expand and move the management area. The ship can be operated safely and efficiently.

It is explanatory drawing of the operation management method and apparatus of the ship of this invention using two mobile radar ships. FIG. 2 is an explanatory view of the positional relationship of the ship shown in FIG. It is a screen which shows the information sent from a radar ship. It is a screen which shows the information sent from another radar ship. It is a block diagram of the ship operation management method and apparatus of this invention. It is explanatory drawing of the synthesized image obtained with the ship operation management method and apparatus of this invention. It is explanatory drawing of other Examples of the ship operation management method and apparatus of this invention. It is image data explanatory drawing from a radar. It is explanatory drawing at the time of deleting the outline of the image data of FIG. It is explanatory drawing which shows the color gradation of the image from a radar. FIG. 11 is an explanatory diagram when the level of the radar image data in FIG. 10 is lowered. It is explanatory drawing of the radar image in case there exists fog, rain, and snow. It is explanatory drawing of the image data obtained by reducing the image processing sensitivity of the radar image shown in FIG. It is sensitivity level distribution explanatory drawing of a radar image when there exists a wave. It is explanatory drawing of the process of the radar image of FIG. It is explanatory drawing of a ship original and a gravity center position. It is explanatory drawing of the personal computer processing by the land side. It is vector information explanatory drawing of the ship shown in FIG. It is explanatory drawing of the operation management apparatus of the ship of this invention. It is explanatory drawing of the conventional ship operation management system. It is explanatory drawing of the operation management system of the other conventional ship.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Ship 2 Land radar 3 Ship 4 Management area 5 Radar ship 6 Radar digital information 7 GPS position information 8 Compass direction information 9 Control part 10 Data communication part 11 Centralized management office 12 Data communication part 13 Arithmetic processing composition part 14 Display part

Claims (8)

  A mobile radar ship having a GPS and a communication system is arranged in each of a plurality of management areas that can be explored by radar, and the position of the radar ship and the target ship located in the radar ship and the area corresponding thereto. A ship operation management method comprising: wirelessly transmitting a distance and an azimuth between the radar ship to an onshore management office, and combining and displaying a positional relationship between the radar ship and a target ship on an image.   A mobile radar ship having a turnable camera, GPS, and communication system in each of a plurality of management areas that can be explored by a radar is arranged, the position of the radar ship, the radar ship, and the corresponding radar ship. The distance, direction, and camera image information between the target ships located in the area are transmitted wirelessly from the radar ship to the land management office, and the positional relationship between the radar ship and the target ship is synthesized and displayed on the image. And a ship operation management method characterized by performing operation management of the ship in the area.   3. The ship operation management method according to claim 1, wherein the management office information is distributed to a ship having a communication means and a personal computer display without having a radar.   3. The ship operation management method according to claim 2, wherein the sensitivity adjustment of the radar is achieved by increasing / decreasing the outer contour of the image captured from the radar and adjusting the gradation level.   A mobile radar ship having a GPS and a communication system arranged in each of a plurality of management areas that can be searched by a radar, the position of the radar ship, and the target ship located in the radar ship and the area corresponding thereto Measuring means provided in the radar ship for measuring the distance and direction between them, a land management office that receives measurement information from the radar ship from the radar ship, and the radar ship and target provided in the management office A ship operation management apparatus comprising means for combining and displaying a positional relationship between ships on an image.   The measurement information includes the position information of each radar ship, digital information indicating the relative azimuth and relative distance of the target ship as viewed from the radar ship, the position information of the radar ship observed by GPS, and a radar ship measured by a gyrocompass or the like. The ship operation management device according to claim 5, further comprising direction information and communication means.   A rotatable camera arranged in each of a plurality of management areas that can be explored by radar, a GPS, a mobile radar ship having a communication system, the position of the radar ship, the radar ship, and the corresponding radar ship Measuring means provided in the radar ship for measuring the distance, direction and camera image information between the target ships located in the area, and a land management office that receives the measurement information from the radar ship from the radar ship; A ship operation management apparatus comprising: means for combining and displaying the positional relationship between the radar ship and the target ship provided in the management office on an image.   The measurement information includes the position information of each radar ship, digital information indicating the relative azimuth and relative distance of the target ship as viewed from the radar ship, the position information of the radar ship observed by GPS, and a radar ship measured by a gyrocompass or the like. The ship operation management device according to claim 7, further comprising: azimuth direction information, camera image information, and communication means.

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