JP2559707B2 - Ship monitoring equipment - Google Patents

Description

TECHNICAL FIELD The present invention relates to a ship monitoring device for centrally monitoring the movement of a ship on land for accident prevention in a harbor, marine traffic control, and the like.

(B) Conventional Technology Generally, a radar device has been used to centrally monitor the movement of a ship while navigating in a port or the like on land. That is, a signal from the radar device is input to a computer or the like to perform processing during capturing and tracking of a moving object on the water, and the position, speed, size, etc. are displayed on the display.

(C) Problems to be Solved by the Invention However, if only the information by the conventional radar device is used,
It was difficult to reliably capture the movement of the ship. In particular,
If there are rain clouds / dense fog in the low sky, or if there is sea surface reflection due to waves, these will become noise and it will not be possible to reliably capture small vessels, or conversely, noise may be captured as vessels. Yes, there was a problem that it was not a reliable system.

In view of the above, it is an object of the present invention to provide a highly reliable ship monitoring device that does not have a mistake in capturing a ship.

(D) Means and Actions for Solving Problems In the present invention, in order to solve the above problems, a detecting device for a ship that is relatively insensitive to weather conditions is used together with a radar device. That is, the ship monitoring device of the present invention includes: a. A plurality of object detection sensors laid on the seabed; and b. Processing signals from these object detection sensors to determine the ship position (distance from radar reference position, azimuth). ), C. Radar device, d. Distance from the radar reference position of the ship being tracked by the radar acquired by this radar device, and estimation of the ship obtained by the ship position estimating device. Distance calculating means for calculating the difference between the position and the distance from the radar reference position, first comparing means for comparing the calculated distance difference with a preset prescribed value, and radar captured by the radar device The absolute value of the difference between the azimuth of the ship being tracked from the radar reference position and the azimuth of the estimated position of the ship obtained by the ship position estimating means from the radar reference position, the specified value being the radar reference of the estimated position. From position At least second comparison means for comparing with a value divided by the distance is included, the processing difference in the comparison result of the first comparison means is smaller than a predetermined reference value, and the absolute value in the comparison result of the second comparison means. Is smaller than the division value, a collation unit that determines that the ship being tracked by the radar exists within an area surrounded by two predetermined distances from the radar reference position and two predetermined azimuths; and e. When it is determined that there is a tracking ship, the display unit is configured to display that the verification target is the radar tracking ship.

In this vessel monitoring device, when the vessel to be tracked by the radar is caused by noise or the like, the vessel position estimated by the vessel position estimating means and the radar tracking position are separated by a predetermined value or more, and the comparing means does not include the vessel. Is judged. On the other hand, when the radar-tracked ship actually exists, the estimated ship position and the radar-tracked position are within the predetermined range, and the verification means determines that the ship exists.

(E) Examples Hereinafter, the present invention will be described in more detail with reference to Examples.

FIG. 1 is a block diagram of a ship monitoring device showing an embodiment of the present invention.

The radar device 1 is adapted to add a radar video signal to the radar signal processing device 2. The radar signal processing device 2 is composed of a digitizer, an arithmetic processor, and the like, digitizes a radar video signal, and performs acquisition / tracking processing.

The acoustic sensors 5 _-1 , ..., 5 _-n are laid on the seabed in the harbor, emit sound waves individually so as not to interfere with each other, and receive the reflected waves to convert them into electric signals, which is an acoustic signal processing device. Tell 6. The acoustic signal processing device 6 is composed of an A / D converter, an arithmetic processor, etc., receives an electric signal from the acoustic sensor 5 _-1 , ..., 5 _-n , converts it into a digital signal, and a well-known signal. By processing, for example, the ship is detected by comparing the detection signal levels of the acoustic sensors _5-1 , ..., 5- _n with each other, and the position of the ship is estimated.

The signals from the radar signal processing device 2 and the acoustic signal processing device 6 are both input to the matching device 3. The collation device 3 is the position of the ship being tracked by the radar signal processing device 2 at regular intervals (direction and distance from the radar reference position).
Data, other specification data (speed, ship size)
Along with this, it is adapted to be received, edited in a form that can be displayed, and sent to the display device 4. In addition, the acoustic signal processing device 6
The estimated position data of the ship detected from is received, the radar signal processing device 2 compares the estimated position data with the position of the object being tracked, and the comparison result is displayed on the display device 4.

Next, the matching procedure in the matching device 3 will be described with reference to the flowchart shown in FIG. Note that, as shown in FIG. 2, it is assumed that n acoustic sensors (indicated by a mark) are provided in the harbor and the number of vessels (indicated by a mark) being tracked is N. Further, the estimated position of the ship (indicated by ▲) detected by the acoustic signal processing device 6 is Q (γ, θ). γ is the distance from the radar reference position P, and θ is the same direction. Further, the distance from the radar reference position P of the ship j being tracked by the radar device 1 is Rj, and the bearing is Θj.

The estimated position data (γ,
θ) is sent, the determination of “Estimated position data reception” in step ST1 is YES, and the tracking vessel number j is subsequently incremented by 1 (step ST2). That is, j is incremented every time one cycle of collation is completed, and eventually, collation is performed with vessels 1 to N being tracked.

First, the distance difference | γ-Rj | from the radar reference point P is calculated for the vessel under tracking with j = 1 and the estimated position, and it is determined whether this difference value | γ-Rj | is smaller than the specified value ε. Yes (step ST3). If | γ−Rj | <ε in this determination, step ST
4. If | γ−Rj |> ε, the process proceeds to 4, and it is determined that the ship j (= 1) is not near the estimated position (γ, θ), and unless j reaches N (step ST6), that is, Unless the verification is completed for all tracking vessels, the process returns to step ST2, and then j is incremented by +1 for verification (step
ST2).

At step ST4, azimuths θ and Θ from the radar reference point P
The difference value | θ−Θj | of j is calculated, and this difference value and ε / γ are compared. If | θ−Θj | <ε / γ, the process proceeds to step ST5.
If | θ−Θj |> ε / γ, it is determined that the ship j (= 1) is not near the estimated position (γ, θ), and step ST
After 6, the process returns to step ST2, the vessel j is incremented by 1, and the next verification is performed.

The relationship of | γ−Rj | <ε means that the radar reference point P
It is shown that the distance difference between the estimated position Q and the estimated position Q is smaller than ε, and the ship exists between the curves a ₁ and a _{2 in} FIG.

The relationship of | θ−Θj | <ε / γ means that the estimated position Q
Means that the azimuth difference between the tracking vessel j and the radar reference point P is smaller than ε / γ, and it exists between the straight lines b ₁ and b _{2 in} FIG.

Therefore, if the determinations in steps ST3 and ST4 are YES, the tracking vessel j exists in the range connected by the curves a ₁ and a ₂ and the straight lines b ₁ and b ₂ , and in this case, it is considered that the tracking vessel j is a substantially collation target. You can

However, in this embodiment, in step ST6,
Estimated position Q (γ, θ) and position of tracking vessel j (Rj, Θj)
Is less than ε, that is, γ ² + Rj ² -2γRjcos
It is determined whether (θ−Θj) <ε ² , and if the determination is YES,
The tracking vessel j is determined to be a verification target (step ST
7), the result is displayed on the display device 4 (step ST
9).

In step ST5, γ ² + Rj ² -2γRjcos (θ-Θj)
If <ε ² is not satisfied, it means that the ship j is not included in the circle q having the radius ε centered on the estimated position Q and is not near the estimated position (γ, θ).

If YES is not obtained in all steps ST3, ST4, ST5 even if all j = 1, 2, ..., N, that is, all tracking vessels are compared, the determination in step ST6 becomes YES and the verification target object The process of nothing is performed (step ST8), and that effect is displayed on the display device 4.

The relationship of γ ² + Rj ² −2γRjcos (θ−Θj) <ε ² indicates that the tracking vessel j exists within the range of the circle q, and if the determination in step ST5 is YES, the tracking is performed. The ship is considered to be the matching object.

In addition, as a method of displaying the collation result, for example, the estimated position of the ship detected by the acoustic signal processing device 6 is displayed as a point on the screen, and a circle having a radius ε centering on the point is “with the verification ship” It is recommended to display in different colors in the case of and “no matching vessel”.

Further, although the acoustic sensor is used as the object detection sensor in the above embodiment, a magnetic sensor may be used instead of the acoustic sensor.

(F) Effect of the Invention According to the present invention, when there is a ship under radar tracking, the position on the radar signal is collated with the estimated position by an object detection sensor such as an acoustic sensor or a magnetic sensor without relying only on the radar signal. Since the presence / absence determination is performed by the above, it is possible to reliably know the existence of the ship without catching the ship (especially a small ship) due to noise caused by rain clouds, dense fog, and waves in the low sky, or capturing noise as the ship. This is because the object detection sensors such as acoustic sensors and magnetic sensors detect the sound (engine sound, screw sound) emitted by the ship itself and magnetism without being affected by rain clouds, dense fog, or waves, and reliably estimate the position of the ship. Due to being able to do it.

Even if a ship exists, even if it cannot be captured by the radar due to the influence of noise, etc., the position detected by an object detection sensor such as an acoustic sensor is estimated, so the ship monitoring function at the port is enhanced. it can.

[Brief description of drawings]

FIG. 1 is a block diagram of a ship monitoring device showing an embodiment of the present invention, FIG. 2 is a schematic view in a harbor for explaining the operation of the device, and FIG. 3 is a collation processing operation of the device. It is a flow diagram for explaining. 1: Radar device, 2: Radar signal processing device, 3: Matching device, 4: Display device, 5 _-1 ... 5 _-n : Acoustic sensor, 6: Acoustic signal processing device.

Claims (1)

(57) [Claims] Claims: 1. A plurality of object detection sensors laid on the seabed, and b. A ship which processes signals from these object detection sensors and estimates the position of the ship (distance from the radar reference position, bearing). Position estimating means, c. Radar device, d. Distance from the radar reference position of the ship being tracked by the radar acquired by this radar device and the radar reference position of the estimated position of the ship obtained by the ship position estimating device. Distance difference calculating means for calculating a difference from the distance from the ship, first comparing means for comparing the calculated distance difference with a preset predetermined value, and a ship being tracked by the radar device and being tracked by the radar device. The absolute value of the difference between the azimuth from the radar reference position and the azimuth from the radar reference position of the estimated position of the ship obtained by the ship position estimation means, the specified value is the distance from the radar reference position of the estimated position. Compare with the value divided by Including at least second comparing means, wherein the distance difference is smaller than a prescribed value in the comparison result of the first comparing means, and the absolute value is smaller than the division value in the comparison result of the second comparing means, Collating means for determining that a vessel under radar tracking exists within an area surrounded by two predetermined distances and two predetermined azimuths from the radar reference position, and e. Through this collating means, a vessel under radar tracking exists. And a display unit that displays that the verification target is a ship that is being tracked by the radar.