JP3848817B2 - Navigation obstacle detection device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a navigation obstacle detection device for detecting obstacles on the water, underwater, and bottom of the water, and navigating safely while avoiding the obstacles.
[0002]
[Prior art]
A conventional example will be described with reference to FIG. The avoidance ship maneuvering apparatus 1 is connected to the Doppler sonar 2, the satellite navigation apparatus 3, and the gyrocompass 4 through an interface 19, and is connected to a radar (collision prevention apparatus) 5 through an interface 20. The evacuation ship maneuvering apparatus 1 is connected to the voyage apparatus 6 via the planned route input apparatus 13 and is connected to the autopilot 7, the main engine remote controller 8, and the steering remote controller 8 a via the interface 21.
[0003]
The vertical ship speed v _v and the horizontal ship speed v _h of the own ship are transmitted from the Doppler sonar 2 to the ship speed / route arithmetic unit 9 via the interface 19, where the ship speed v and the course ψ of the ship are calculated. The The ship speed v and the course ψ are taken into the evacuation route planning apparatus 10 from the ship speed / course arithmetic device 9.
[0004]
From the satellite navigation device 3, the own ship position data p is sent to the avoidance route planning device 10 via the interface 19, and from the gyrocompass 4 the bow direction φ is sent via the interface 19.
[0005]
From the radar (collision prevention device) 5, the direction φ _{t, i} from the own ship to the other ship, the distance d _{t, i from} the other ship, the course ψ _{t, i of} the other ship, the ship speed v _{t, i} is sent to the avoidance route planning device 10 via the interface 20 and the computing device 22 and also taken into the closed region computing device 11. In closed area operation unit 11 calculates the CA _i (region-Funama distance not put other vessels) occluded region for each other ship as a rectangle. Choke area CA _i of other vessels are sent to the Collision route planning device 10.
[0006]
The planned route PR to be navigated by the ship is input from the navigation device 6 or the CRT input device 12 to the avoidance route planning device 10 via the planned route input device 13. In the avoidance route planning apparatus 10, the avoidance route is determined using the above-mentioned various data, the grounding danger area DA input based on the chart stored in the storage device 14, and the rules in the knowledge base stored in the storage device 15. AR is planned.
[0007]
In the above processing, the data actually handled by the avoidance route planning device 10 is displayed on the CRT display device 16 in the form shown in FIG. In the figure, the symbol pv is the own ship vector, t _v1 , t _v2 and _{tv 3} are the other ship vectors, DA is the grounding danger area, CA ₁ , CA ₂ and CA ₃ are the blocked areas of the other ships, and PR is the original , TR is the wake of the ship, AR is the evacuation route, WP ₁ , WP ₂ and WP ₃ are the changes planned for evasion, and ψ ₀ is the ship along the evacuation route AR course command value for, V ₀ is the ship speed command value.
[0008]
The heading command value ψ ₀ and the boat speed command value V ₀ serve as support information for avoiding ship maneuvering, and manual ship maneuvering can be performed in accordance therewith. As shown in FIG. 4, when the switch 17 is closed and the switch 18 is opened, the information ψ ₀ , V ₀ is sent to the autopilot 7 via the interface 21 to enter an automatic ship maneuvering state. On the other hand, when the switch 17 is opened and the switch 18 is closed, the information ψ ₀ , V ₀ is sent to the main engine remote control 8 and the steering remote control 8a, and a manual boat maneuvering state is set.
[0009]
As described above, the grounding danger area DA stored in the storage device 14 and the blocked area CA _{i for} each other ship data calculated from the other ship data fetched from the radar 5 should not be mixed in both areas. The avoidance route planning device 10 sets the avoidance route AR. At this time, regulations (such as the maritime collision prevention method) and empirical rules as a knowledge base in the storage device 15 are referred to, and finally the avoidance route AR that is safe and conforms to the regulations is determined. Safety evaluation is performed on the set evacuation route AR at regular intervals, and if the danger increases due to changes in the surrounding environment, the plan is re-planned based on the latest data.
[0010]
As shown in FIG. 5, the obtained evacuation route AR is graphically displayed on the screen of the CRT display device 16 together with the grounded danger area DA, the other ship mark, and the own ship mark, and can be constantly monitored. At the same time, the course for navigating the ship along the avoidance route AR, the ship speed command values ψ ₀ and V ₀ are also displayed on the screen of the CRT display device 16 and the switches 17 and 18 are switched. Automatic / manual ship maneuvering by the auto remote controller 7, the main machine remote controller 8, and the steering remote controller 8a is also possible.
[0011]
As described above, according to the present system, it is possible to improve the safety and reliability of evacuation to shallow waters, reefs, and other ships, and to reduce the work burden on the ship operator and to contribute to the labor saving of personnel. It is also effective as a support device for preventing misjudgment of sailors and misoperation.
[0012]
[Problems to be solved by the invention]
On the other hand, navigation support equipment for preventing collisions still relies on conventional radio radars, and cannot recognize obstacles such as wooden or plastic small ships or floating fishing nets. In addition, although charts are being prepared for obstacles in the water, reefs not shown here are not input to the storage device, so they cannot be recognized, and there is a need for a device that can recognize them from the operating side. Sex continues to be pointed out.
[0013]
The present invention has been made in view of the above circumstances, and an object thereof is to provide a navigation obstacle detection device capable of detecting a wooden small ship and an underwater obstacle that cannot be achieved by the conventional technology.
Other objects of the present invention will be described more specifically through the following embodiments.
[0014]
[Means for Solving the Problems]
The navigation obstacle detection device of the present invention is a navigation obstacle detection device including a laser radar unit, wherein the laser radar unit is configured to irradiate a recognition target object with a pulse laser beam, and the pulse laser. A shutter unit that performs a shutter operation in response to an operation start signal and an operation interval signal synchronized with light irradiation, and a light receiving unit, and the reflected light from the recognition target object is transmitted by the light receiving unit via the shutter unit. An imaging unit that receives and captures an image, and guides the pulse laser beam emitted from the laser beam irradiation unit so that the pulse laser beam travels on the optical axis of the light receiving unit toward the recognition target object. Guide means.
[0015]
In the navigation obstacle detection device of the present invention, the laser radar unit is mounted on a pan head, and is based on a pan head driving means for driving the pan head, a sensor for detecting a shake of a ship, and a detection result of the sensor. And a pan head control means for controlling the driving operation by the pan head drive means.
[0016]
In the navigation obstacle detection device of the present invention, the reflection means further includes a reflection unit that reflects the pulse laser beam guided by the guide unit so that the pulse laser beam is irradiated onto the recognition target object. Is a pan head mounted on the pan head and driving the pan head, a sensor for detecting the movement of the ship, and a pan head for controlling the driving operation by the pan head driving means based on the detection result of the sensor. Control means.
[0017]
In the navigation obstacle detection device according to the present invention, the camera platform is provided with a vibration isolating means.
[0018]
DETAILED DESCRIPTION OF THE INVENTION
Next, a first embodiment of the present invention will be described with reference to the accompanying drawings.
FIG. 1 is a block diagram showing a configuration of a laser radar unit constituting the navigation obstacle detection maneuvering apparatus according to the present embodiment.
In the present embodiment, the same components as those in the conventional example are denoted by the same reference numerals, and detailed description thereof is omitted.
[0019]
As shown in FIGS. 1 and 4, in this embodiment, in addition to the conventional radio wave laser 5,
A laser radar unit 23 is connected to the evacuation ship maneuvering apparatus 1 via the interface 20.
[0020]
The laser radar unit 23 will be described with reference to FIG.
The laser radar unit 23 includes a light transmission system unit 230 and a light reception system unit 240. The pulsed laser beam 40 used for illuminating the recognition target object is generated by the pulse laser device 100. Here, characteristics such as the output of the pulse laser beam 40, the pulse width, and the repetition frequency of generation are specified by the user (observer) by the control signal generator 160 constituted by a personal computer or the like. A control signal in accordance with this designation is transmitted from the control signal generator 160 to the pulse laser controller 200, and the pulse laser apparatus 100 is operated by the pulse laser controller 200.
[0021]
Further, the power required at this time is supplied from the pulse laser power supply device 300.
Further, as for the transmission means between the control signal generator 160 and the pulse laser controller 200, the operation control over a long distance can be performed by using the optical cable 180a or the like.
[0022]
The pulsed laser light 40 emitted from the pulsed laser device 100 is spatially enlarged (or reduced) by the illumination optical lens system 50, and is irradiated as a pulsed laser illumination light 40a to illuminate the recognition target object. . Here, the illumination optical lens system 50 is controlled by the illumination area control device 60 so that the pulse laser illumination light 40a (that is, 40c) is in an appropriate area. Specifically, when the distance to the recognition target object is short or the recognition target object is large, the illumination area 40K is set wide so that the entire image area includes the recognition target object, and the distance to the recognition target object is When it is long or when the recognition target object is small, the illumination area 40K is set narrow so that the ratio of the recognition target object in the entire image area is large. As a result, in the final image, the recognition target object is always displayed at an optimal ratio with respect to the entire image area. Therefore, the resolution is always high regardless of the distance to the recognition target object and the size of the recognition target object. Can keep.
[0023]
The control signal for the illumination area control device 60 can also be designated by the user (observer) via the control signal generation device 160 using the optical cable 180b or the like, as described above.
[0024]
The pulsed laser illumination light 40a is reflected by the reflectors (mirrors or prisms) 190, 201, and 210 to change from the state indicated by the reference numeral 40b to the state 40c and irradiate the illumination region 40K. In this manner, the pulsed laser light 40c is irradiated onto the illumination region 40K, and if there is an object in the region 40K, the pulsed laser light 40c is reflected by the object and returns as reflected light 80a. Then, the reflected light 80 a is reflected by the reflector 210 to become reflected light 80 b and is received by the light receiving optical lens system 70. By providing the reflectors 190 and 201, the irradiation light 40a is reflected (40b) and re-reflected (40c) to be coaxial with the reflected light 80a. That is, the reflectors 190 and 201 guide the laser light 40a emitted from the pulse laser device 100 so that the irradiation light 40c travels on the optical axis of the light-receiving optical lens system (light receiving unit) 70. Thereby, the laser beam 40c can be irradiated to the whole area of the light receiving area (image pickup possible range) by the light receiving unit, and it is possible to prevent the recognition target object from being overlooked and improve the visibility. In particular, when the distance from the light receiving unit to the recognition target object is short or the recognition target object is large, if there is no guide means such as the reflectors 190 and 201, the irradiation area 40K and the light receiving area 80K are more inconsistent. It was a big problem.
The reflector 210 does not function as the guide means, and the optical axes of the irradiation light and the reflected light coincide with each other by the reflectors 190 and 201.
[0025]
The light receiving region 80K of the reflected light 80b is designated by the user (observer) by the control signal generator 160 so as to have substantially the same region as the illumination region 40K by the light receiving optical lens system 70, and the illumination region control device 60 and The light receiving area control device 90 is automatically controlled so that the illumination / light receiving areas 40K and 80K are the same. This control is performed by changing the position of the lens group constituting the optical lens system 70 for light reception by driving the light reception area control device 90 with a signal from the control signal generator 160.
[0026]
The signal light from the recognition target object collected by the light receiving optical lens system 70 is introduced into the light receiving device 120 through the shutter device 101. Here, in the shutter device 101, the shutter operation control device 110 that operates according to the operation start signal and the operation interval signal generated by the control signal generation device 160 opens and closes the shutter operation.
[0027]
This operation start time is synchronized with the irradiation of the pulsed laser light 40 emitted from the pulsed laser device 100 (that is, synchronized with the pulsed laser control device 200), and can be changed according to the distance to the recognition target object. Set to At this time, even when the distance to the recognition target object is unknown, it is possible to search for the recognition target object by slightly shifting the operation start time. Further, an open time interval of the shutter operation is set by the operation interval signal, and it becomes possible to capture only the signal light from the area designated by the user (observer). That is, the user (observer) can perform selective tomographic observation by combining the two signals (operation start time and operation interval).
[0028]
In addition, a control signal related to light receiving characteristics such as a gain, an iris (aperture), and an imaging cycle is transmitted from the light receiving device control device 130 to the light receiving device 120, and an image is captured according to the control signal. Here, all the control signals for the light receiving area control device 90, the shutter operation control device 110, and the light receiving device control device 130 described above are transmitted via the optical cables 180c, 180d, 180e, etc. so that they can be transmitted remotely. It is emitted from the generator 160.
[0029]
The image information of the recognition target object introduced and imaged in the light receiving device 120 is sent to the avoidance route planning device 10 and the blockage region calculation device 11 via the interface 20.
[0030]
Next, a second embodiment will be described with reference to FIG.
The light transmission system unit 231 and the light receiving system unit 241 of the laser radar unit 23 are mounted on a camera platform 41A via an anti-vibration device such as an anti-vibration rubber and a spring, and a camera platform drive device 42A is attached to the lower surface thereof. ing. The pan head drive device 42A is connected to the pan head control device 43A, and is further connected to a ship motion sensor (accelerometer, etc.) 44A.
[0031]
According to this embodiment, the pan head 41A is designated by the user by the pan head control device 43A and is moved in any direction up, down, left, and right by the pan head drive device 42A, and searches (scans) the front of the ship over a wide range. . Further, the shake of the ship is detected by the shake sensor 44A, a signal that cancels the shake is calculated by the pan head control device 43A, the pan head drive device 42A is moved by the signal, and the action of the vibration isolator is used. It is possible to prevent laser radar recognition errors due to ship shake and vibration.
[0032]
Next, a third embodiment will be described with reference to FIG.
The reflector 210B for illumination light and reflected light is mounted on the camera platform 41B via a vibration isolator, and the camera platform drive device 42B is attached to the lower surface thereof. The pan head drive device 42B is connected to the pan head control device 43B, and is further connected to a ship motion sensor 44B.
[0033]
The pan head 41B equipped with the reflector 210B is designated by the user by the pan head control device 43B, and the front of the ship can be extensively searched by the pan head drive device 42B. Furthermore, the pan head control device 43B controls the pan head drive device 42B so as to cancel out the ship shake signal of the shake sensor 44B, and the erroneous recognition of the laser radar can be prevented together with the action of the vibration isolator.
[0034]
【The invention's effect】
According to the navigation obstacle detection apparatus of the present invention, the laser radar unit includes a laser beam irradiation unit that irradiates a recognition target object with a pulse laser beam, an operation start signal and an operation interval signal synchronized with the pulse laser beam irradiation. A shutter unit that performs a shutter operation in response to the image sensor, a light receiving unit, and an image capturing unit that receives reflected light from the recognition target object via the shutter unit and captures an image, and the light receiving unit. And a guide unit that guides the pulsed laser beam emitted from the laser beam irradiation unit so that the pulsed laser beam travels toward the recognition target object on the optical axis. Can detect small wooden ships, sea-floating objects, and underwater obstacles that could not be achieved by the laser. Can be irradiated, it can be subjected to improve oversight of prevention and visibility of the recognition target object. In particular, when the distance from the light receiving unit to the recognition target object is short or when the recognition target object is large, if there is no guide means, the mismatch between the irradiation region and the light receiving region has been a greater problem. According to the method, the problem can be solved.
[0035]
Further, according to the present invention, the laser radar unit is mounted on a pan head, and the pan head driving means for driving the pan head, a sensor for detecting the shaking of the ship, and the detection result of the sensor A pan head control means for controlling the driving operation of the pan head driving means, or the reflection means is mounted on the pan head, the pan head driving means for driving the pan head, and a sensor for detecting the shaking of the ship. And a pan head control means for controlling the driving operation by the pan head drive means based on the detection result of the sensor, and the pan head is provided with a vibration isolating means. The head is designated by the user by the pan head control means and is moved in any direction up, down, left and right by the pan head drive means, and the front of the ship is searched (scanned) over a wide range. Further, the movement of the ship is detected by a sensor, a signal that cancels the fluctuation is calculated by the pan head control means, the pan head drive means is moved by the signal, and the vibration of the ship is also affected by the action of the vibration isolating means. The recognition error of the laser radar due to vibration can be prevented.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a laser radar section constituting a navigation obstacle detection maneuvering apparatus according to a first embodiment of the present invention.
FIG. 2 is a block diagram showing a configuration of a laser radar unit constituting the second embodiment.
FIG. 3 is a block diagram showing a configuration of a laser radar unit constituting the third embodiment.
FIG. 4 is a block diagram showing a configuration of a conventional general navigation obstacle detection ship operating device.
FIG. 5 is a diagram showing an example of a screen of a CRT display device that constitutes a conventional general navigation obstacle detection ship operating device.
[Explanation of symbols]
5 ... Radar (obstacle detection part)
7 ... Autopilot (automatic navigation means)
8 ... Main machine remote control (automatic navigation means)
9 ... Ship speed and course calculation device (ship speed course calculation means)
10 ... Avoidance route planning device (Avoidance route plan decision means, course speed command value calculation means)
11: Blocking area calculation device (blocking area calculation means)
14 ... 1st memory | storage means 15 ... 2nd memory | storage means 16 ... CRT display apparatus (display means)
DESCRIPTION OF SYMBOLS 23 ... Laser radar part 23a ... Laser radar part 23b ... Laser radar part 40 ... Pulse laser beam 40a ... Pulse laser beam 40b ... Pulse laser beam 40c ... Pulse laser beam 41A ... Pan head 41B ... Pan head 42A ... Pan head drive device ( Pan head drive means)
42B... Pan head drive device (head drive means)
43A: Head control device (head control means)
43B: Head control device (head control means)
44A ... sensor 44B ... sensor 70 ... light receiving lens system (light receiving portion)
80a ... Reflected light 80b ... Reflected light 100 ... Pulse laser device (laser light irradiation means)
101. Shutter device (shutter means)
120. Light receiving device (imaging means)
190 ... Reflector (guide part)
201: Reflector (guide part)
p ... ship position data v ... ship of course [psi ... boat speed v v _... own longitudinal ship speed boat data v h _... lateral ship speed data phi ... heading d _t of the ship in the traveling direction of the ship _{, I} ... distance between own ship and other ship ψ _{t, i} ... course (course) of other ship
v _{t, i} ... other ship's speed CA _i ... blocked area DA ... grounding danger area AR ... avoidance route v ₀ ... ship speed command value ψ ₀ ... course command value pv ... own ship vector t _v1 ... other ship vector t _v2 ... other ship vector _tv3 ... other ship vector TR ...

Claims (4)

A navigation obstacle detection device including a laser radar unit,
The laser radar unit is
Laser light irradiation means for irradiating a recognition target object with pulsed laser light;
Shutter means for performing a shutter operation in response to an operation start signal and an operation interval signal synchronized with the irradiation of the pulse laser beam;
An imaging unit that includes a light receiving unit, receives the reflected light from the recognition target object through the shutter unit, and performs imaging by the light receiving unit;
Guide means for guiding the pulse laser light emitted from the laser light irradiation means so that the pulse laser light travels on the optical axis of the light receiving unit toward the recognition target object;
A navigation obstacle having an illumination and light receiving area control device that automatically controls the illumination area irradiated with the pulsed laser light by the laser light irradiation means and the light receiving area of the light receiving unit to be the same. Detecting device. The navigation obstacle detection device according to claim 1,
A navigation obstacle detection device in which an open time interval of the shutter operation is set in response to the operation interval signal. The navigation obstacle detection device according to claim 1,
Furthermore,
Reflecting means for reflecting the pulsed laser light guided by the guiding means so that the pulsed laser light is irradiated onto the recognition target object,
The reflecting means is mounted on a pan head,
A pan head driving means for driving the pan head;
A sensor that detects the movement of the ship,
A navigation obstacle detection device comprising pan head control means for controlling a driving operation by the pan head driving means based on a detection result of the sensor. In the navigation obstacle detection device according to any one of claims 1 to 3,
The light receiving unit is a navigation obstacle detection device that collects reflected light from the object to be recognized by an optical lens system.

Images