JP2900833B2 - Area judgment alarm issuing device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an area judging alarm issuing device, and more particularly, sets an area including a monitoring coverage area of a sensor such as a radar, an air area and a sea area as a plurality of monitoring areas, and monitors an intruding object. If it is necessary to issue an alarm to a suspicious object trying to enter the surveillance area, or if it is necessary to take an action, an alert can be issued to the responder in advance in stepwise time steps corresponding to the proximity status. Field of the Invention The present invention relates to a region determination alarm issuing device that is useful for a monitoring system that can be used.

[0002]

2. Description of the Related Art As an example of a conventional device of this type, there is an alarm prompting / display device for a target invading the airspace (for example, Japanese Patent Application No. 1-226797, "Segment-based multi-stage alarm issuing display device"). FIG. 4 is a diagram showing the configuration of the above-mentioned "section-specific multi-stage alarm issuance display device", and FIG. 5 is an explanatory diagram of alarm issuance calculation by the device of FIG.

This device stores a memory (1) 11 for storing information on a plurality of flight targets including an enemy aircraft captured by a sensor 10 such as a radar, and information on a reference point for each section set for each section of a monitoring area. A memory (2) 12 for storing, a path angle calculating circuit 13 for calculating a target path angle with respect to the section-based reference point based on the section-based reference point stored in the memory (1) 11, and a target at the section-based reference point. Predicted arrival time calculation circuit 14 for calculating the estimated arrival time to arrive
And, based on the course angle of the target and the estimated arrival time, an alarm issuance value is calculated using the speed at which the target approaches the reference point for each section as an evaluation scale, and the maximum alarm issuance value indicating the maximum value is calculated for each section. A maximum alarm value calculating circuit 15 to be output; a memory (3) 16 for storing alarm generation reference values of a plurality of levels set in advance for each section using the approach speed of the enemy target as a scale; An alarm issuance level determination circuit 17 that determines an alarm level by comparing the alarm issuance reference value with an alarm issuance reference value, a display circuit 18 that displays an alarm issuance level for each section, and a clock generator 9.

In this apparatus, as shown in FIG. 5, a monitoring target area is divided into sections 1, 2 and the like of a predetermined unit area, and one section-specific reference point 1, 2 and the like serving as a reference point for each section. The speeds V ₁ , V _{2 of} the target information captured by the sensors, the path angles θ ₁₁ , θ ₁₂ , θ ₂₁ , θ ₂₂ and the distances R ₁₁ , R to the preset reference points 1, 2, etc. _12, R _21, and determines the alarm issuance level calculated predicted arrival time from R ₂₂ Metropolitan.

[0005]

In the above-described conventional apparatus, the monitoring target area is divided into unit areas, and only one reference point is set in each unit area. There is a problem that a predicted arrival time becomes long despite being intruded into a monitoring area, and a case where an alarm is not promoted occurs.

In order to avoid such a problem, two methods are conceivable: one is to provide a plurality of reference points in each unit area, and the other is to respond by dividing the unit area very finely. But in order to handle all cases,
In the former measure, it is necessary to set a dense (that is, huge) reference point for each unit area, and in the latter case, it is necessary to make the unit area very fine. Therefore, whichever of these methods is used, the amount of calculation for calculating the predicted arrival time becomes enormous, and cannot be said to be a realistic method.

An object of the present invention is to solve the above-mentioned problems,
Provided is an area determination alarm issuing device that can accurately promote an alarm even when a slow-speed suspicious object enters a monitoring area, does not require setting of an alarm issuing reference point in advance, and can more accurately promote an alarm. It is in.

[0008]

The present invention has the following means in order to achieve the above object. That is, the area determination alarm issuance apparatus of the present invention is an area determination alarm issuance apparatus that sequentially issues a stepwise alarm corresponding to a proximity state when a suspicious object enters a monitoring area of a sensor such as a radar,
It has the following configurations (a) to (f). (B) A plurality of monitoring areas previously set in the monitoring coverage area in a planar or three-dimensional manner, and a multi-step configuration that is preset as a reference time for a multi-step alarm issuance in response to the proximity of a suspicious object. Storage means for storing the multi-step warning issuance reference time of the suspicious object obtained by the sensor and the position information of the suspicious object in a storage medium (b) based on the past position information and the latest position information of the suspicious object obtained by the sensor Calculating a traveling direction and speed of the suspicious object, and calculating a traveling direction speed stored in the storage means; (c) determining whether the suspicious object has entered the plurality of preset monitoring areas; If the suspicious object has entered the monitoring area, the suspicious object has not entered the monitoring area by the monitoring area inside / outside determination means for promoting the multi-stage alarm issuance. A monitoring area distance calculating means for calculating a distance from the suspicious object to the monitoring area based on a positional relationship between the suspicious object and the monitoring area and a traveling direction of the suspicious object and storing the distance in the storage means; The estimated arrival time at which the suspicious object reaches the monitoring area is calculated based on the distance from the suspicious object to the monitoring area determined by the distance calculating means and the speed of the suspicious object, and stored in the storage means. If it is present, the predicted arrival time for all suspicious objects is calculated, and the calculated minimum predicted arrival time is used as the predicted arrival time for the monitoring area. Multi-stage alarm promoting means for promoting and sending the multi-stage alarm issuance based on the stage alarm issuance reference time

[0009]

[0010] Further, the area determination alarm issuing device of the present invention comprises:
An evaluation scale for determining whether or not the suspicious object is present in the area by the monitoring area inside / outside determination means is set in accordance with the geometric shape of the monitoring area, and the shape of the monitoring area is a circle or a circle.
When the shape of the monitoring area is a circle or a sphere, the distance between the center position and the suspicious object is used as the evaluation scale when the sphere is spherical.
In the figure expressed on the xy plane, the presence or absence of the suspicious object in the area is determined using the number of intersections obtained by setting a straight line parallel to the x axis through the suspicious object as an evaluation scale. Is determined.

[0011]

The operation of the present invention will be described below. In the conventional alarm issuance when a suspicious object captured by a sensor such as a radar enters the monitoring area, the monitoring area is divided into a plurality of sections as predetermined unit areas, and a reference point is set for each section. Calculates the estimated arrival time of the suspicious object from the speed of the suspicious object, the path angle and the distance to the reference point obtained by the sensor, and determines the value of the alarm issuance level that expresses the urgency of the alarm that warns of proximity .

However, in such a response, in the case of a suspicious object having a low speed, there is a case where the predicted arrival time becomes long even though the suspicious object is intruded into the surveillance cover area and the warning is not issued. To avoid this, the number of reference points is increased, the monitoring area is subdivided, and the system becomes enormous, and the calculation of the estimated arrival time becomes enormous.

According to the present invention, a plurality of monitoring areas to be set in the monitoring coverage area and a multi-stage alarm issuing reference time (0 to T1 seconds, T1 to T2, T2 to T3,...
..) Are set in advance, the traveling direction and the speed are calculated from the past and latest position information of the suspicious object, and it is determined whether the object is located inside or outside the monitoring area. As a result of this inside / outside judgment, if it is within the monitoring area, an alarm issuance is promoted, and if it is outside the monitoring area, the predicted arrival time is calculated from the positional relationship between the suspicious object and the monitoring area, the traveling direction, and the speed, and By collating with the alarm issuance reference time, it is possible to promptly and promptly promote an alarm corresponding to every condition.

[0014]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a configuration of an area determination alarm issuing device according to one embodiment of the present invention. The configuration of the embodiment shown in FIG. 1 has a monitoring area setting device 7 for setting a plurality of monitoring areas in advance.
An alarm issuance reference time setting device 8 for presetting a multi-stage alarm issuance reference time, a sensor 10 such as a radar for detecting the position of a suspicious object, and a storage device 1 for storing various setting information and calculation results. A traveling direction speed calculator 2 for calculating the traveling direction and speed of the suspicious object based on the past position information and the latest position information of the suspicious object; and a monitoring area for determining whether the suspicious object is in the monitoring area. Inside / outside judgment device 3
A monitoring area distance calculator 4 for calculating the distance to the monitoring area of the suspicious object based on the positional relationship between the suspicious object and the monitoring area and the traveling direction of the suspicious object; and based on the distance and the speed of the suspicious object. A predicted arrival time calculator 5 for calculating a predicted arrival time, a multi-stage alarm promoter 6 for promoting a multi-stage alarm based on a preset alarm issuance reference time and a predicted arrival time, A clock generator 9 for transmitting a driving clock.

Among these components, the storage device 1, the monitoring area setting device 7 and the alarm issuing reference time setting device 8 store the storage means.
The traveling direction speed calculator 2 and the storage device 1 serve as the traveling direction speed calculation means, the monitoring area inside / outside determination device 3 and the multi-stage alarm promoting device 6 and the storage device 1 serve as the monitoring region inside / outside determination means, and the monitoring region distance calculation device. 4 and the storage device 1 as the monitoring area distance calculating means, the predicted arrival time calculator 5 and the monitoring area distance calculator 4 and the storage device 1 as the predicted arrival time calculating means, and the multi-stage alarm promoter 6
Constitute the multi-stage alarm promotion means. FIG. 1 also shows a sensor 10 as a radar device and a clock generator 9 for generating a clock for driving the above-described units.

Next, the operation of this embodiment will be described.
The monitoring area setting device 7 sets a plurality of monitoring target areas, and this shape can be set two-dimensionally and three-dimensionally. As a specific shape, a circle, a polygon, a cylinder, a polygon, a sphere, and the like can be set.

The alarm issuance reference time setting unit 8 sets the alarm issuance reference time for each monitoring target area set by the monitoring area setting unit 7 in multiple steps. For example, monitoring area A
Alarm level 1 is when the suspicious object reaches the monitoring area
The interval is 0 seconds or more to less than T1 seconds, the alarm level 2 is T1 seconds or more to less than T2 seconds, the alarm level 3 is T2 seconds or more to less than T3 seconds, and so on. Set.

The sensor 10 periodically detects a suspicious object and obtains its position information. When the sensor 10 can detect position information two-dimensionally, the position information is indicated by two-dimensional coordinates (x, y), and when three-dimensionally detectable, three-dimensional coordinates (x, y, z). ).

The storage unit 1 stores various kinds of preset information (position coordinates of a monitoring area, a reference time for issuing an alarm), a sensor 1
The information on the position of the suspicious object and the information on the calculation result (the traveling direction, speed, and estimated arrival time of the suspicious object) provided from 0 are stored.

The traveling direction speed calculator 2 calculates the traveling direction and speed of the suspicious object based on the past position information and the latest position information of the suspicious object obtained from the sensor 10. As the simplest example of the calculation method, the traveling direction can be calculated from the latest two pieces of position information, and the speed can be calculated from the distance between the two points and the detected time difference.

The monitoring area inside / outside determiner 3 determines whether a suspicious object is present in a predetermined monitoring area based on the geometric shape of the monitoring area. One of the inside / outside judgment
An example is shown below. When the shape of the monitoring area is a circle or a sphere
Depends on the position of the suspicious object and the center position of the monitoring area.
Is calculated and the distance is within the radius r of the circle of the monitoring area.
, It is determined that the suspicious object exists in the monitoring area.
When the monitoring area is a polygon or a polygonal pillar, FIG.
As shown in, lines L ₁ , L _2, etc. parallel to the x-axis are drawn through the position coordinates of the suspicious object, and the intersection with the monitoring area (a straight line in the case of a polygon, a plane in the case of a polygonal prism) is determined. calculate. When the intersection and the x-coordinate of the suspicious object are summed and arranged in the order of smaller x-coordinate, the x-coordinate of the suspicious object is inside the monitoring area when it is even-numbered, and outside the monitoring area when it is odd-numbered. It will be in.

In the case of FIG. 2, the x coordinate of the suspicious object 1 is the intersection P
The x coordinate of the suspicious object 2 is at the fourth even number following the intersections P ₂₁ , P ₂₂ , and P ₂₃ ,
Both are determined to be within the monitoring area.

The monitoring area distance calculator 4 calculates the distance to the monitoring area when the suspicious object is outside the monitoring area. As shown in FIG. 3A and FIG. 3B, there are generally two ways of thinking about the distance to the monitoring area. First, assuming that the suspicious object proceeds in the current traveling direction as it is, a distance until the suspicious object comes into contact with the monitoring area is calculated as a standard reach distance. Second, the distance at which the suspicious object and the monitoring area are shortest is calculated as the shortest reachable distance.

In FIG. 3, when the monitored area is a polygon, as shown in FIG. 3A, the standard reach distance RS1 and the shortest reach distance RL1 are set for the suspicious object 1, and the standard reach distance RL1 is set for the suspicious object 2. The reach distance RS2 and the shortest reach distance RL2 are calculated. When the monitoring area is a circle, the standard reach distance RS3 and the shortest reach distance RL3 are calculated for the suspicious object 3, as shown in FIG. This distance calculation is performed for all suspicious objects.

The predicted arrival time calculator 5 calculates the predicted arrival time by dividing the distance between the suspicious object and the monitored area obtained by the monitored area distance calculator 4 by the speed of the suspicious object. This is calculated for all the suspicious objects, and the minimum predicted arrival time among them is set as the predicted arrival time in the target monitoring area. This calculation is performed for all monitoring areas.

The multi-stage alarm facilitator 6 generates an alarm level based on the estimated arrival time obtained by the estimated arrival time calculator 5 and the multi-stage alarm issuance standard time preset by the alarm issuance reference time setting unit 8. Is calculated, and an alarm promotion process (lighting of a lamp on a display device, generation of a buzzer sound, etc.) is performed according to the alarm level. When the suspicious object is determined to be in the monitoring area by the monitoring area inside / outside determining unit 3, the predicted arrival time is regarded as 0 second, and the alarm level 1 (0 second or more to less than T1 second) is set. To correspond to.

The clock generator 9 periodically performs a series of alarm promotion processes from the traveling speed calculator 2 to the multi-stage alarm promoter 6 which are performed on the position information of the suspicious object periodically obtained from the sensor 10. A clock is sent out as a trigger for implementation. In this way, it is possible to promptly and promptly warn an alarm in accordance with the movement of the suspicious object whose situation changes sequentially.

[0028]

As described above, according to the present invention, it is possible to issue an accurate warning prompt even for a suspicious object having a low speed by performing an area determination as to whether the suspicious object exists inside or outside the monitoring area. It is not necessary to set the alarm issuing reference point, and by automatically calculating the distance from the suspicious object to the monitoring area each time, it is possible to promptly issue an accurate alert prompt.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of an area determination alarm issuing device according to one embodiment of the present invention.

FIG. 2 is an explanatory diagram of inside / outside monitoring area determination in the embodiment of FIG. 1;

FIG. 3 is an explanatory diagram of calculating a monitoring area distance in the embodiment of FIG. 1;

FIG. 4 shows a conventional warning prompt for a target entering a monitoring area.
FIG. 3 is a block diagram illustrating a configuration example of a display device.

FIG. 5 is an explanatory diagram of a conventional alarm issuance calculation.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 storage device 2 traveling direction speed calculator 3 monitoring area inside / outside judgment device 4 monitoring area distance calculator 5 predicted arrival time calculator 6 multi-stage alarm facilitator 7 monitoring area setting device 8 alarm generation reference time setting device 9 clock generator 10 Sensor

Claims (2)

(57) [Claims] 1. An area determination alarm issuing device having the following components and sequentially issuing a stepwise alarm corresponding to a proximity state when a suspicious object enters a monitoring area of a sensor such as a radar. (B) A plurality of monitoring areas previously set in the monitoring coverage area in a planar or three-dimensional manner, and a multi-step configuration that is preset as a reference time for a multi-step alarm issuance in response to the proximity of a suspicious object. Storage means for storing the multi-step warning issuance reference time of the suspicious object obtained by the sensor and the position information of the suspicious object in a storage medium (b) based on the past position information and the latest position information of the suspicious object obtained by the sensor Calculating a traveling direction and speed of the suspicious object, and calculating a traveling direction speed stored in the storage means; (c) determining whether the suspicious object has entered the plurality of preset monitoring areas; If the suspicious object has entered the monitoring area, the suspicious object has not entered the monitoring area by the monitoring area inside / outside determination means for promoting the multi-stage alarm issuance. A monitoring area distance calculating means for calculating a distance from the suspicious object to the monitoring area based on a positional relationship between the suspicious object and the monitoring area and a traveling direction of the suspicious object and storing the distance in the storage means; The estimated arrival time at which the suspicious object reaches the monitoring area is calculated based on the distance from the suspicious object to the monitoring area determined by the distance calculating means and the speed of the suspicious object, and stored in the storage means. If it is present, the predicted arrival time for all suspicious objects is calculated, and the calculated minimum predicted arrival time is used as the predicted arrival time for the monitoring area. Multi-stage alarm promoting means for promoting and sending the multi-stage alarm issuance based on the stage alarm issuance reference time 2. An evaluation scale for determining whether or not a suspicious object exists in a region by the monitoring region inside / outside determination means is set in accordance with a geometric shape of the monitoring region.
If the shape of the monitoring area is a circle or a sphere, the distance between the center position and the suspicious object is used as the evaluation scale, and the shape of the monitoring area is a polygon.
In the case of a shape or polygonal prism, the number of intersections obtained by setting a straight line parallel to the x-axis through the suspicious object with respect to the figure expressed on the xy plane is the suspicious object as an evaluation scale. 2. The area determination alarm issuing device according to claim 1, wherein the presence / absence of the area is determined.