JPH0476562B2 - - Google Patents
Info
- Publication number
- JPH0476562B2 JPH0476562B2 JP61140982A JP14098286A JPH0476562B2 JP H0476562 B2 JPH0476562 B2 JP H0476562B2 JP 61140982 A JP61140982 A JP 61140982A JP 14098286 A JP14098286 A JP 14098286A JP H0476562 B2 JPH0476562 B2 JP H0476562B2
- Authority
- JP
- Japan
- Prior art keywords
- ship
- navigation
- navigation aid
- information
- video signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000003384 imaging method Methods 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 7
- 238000004020 luminiscence type Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims 2
- 230000000007 visual effect Effects 0.000 description 5
- 238000012790 confirmation Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000000605 extraction Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
Landscapes
- Navigation (AREA)
- Radar Systems Or Details Thereof (AREA)
Description
【発明の詳細な説明】
産業上の利用分野
この発明は航路標識を自動的に識別する自動視
認装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to an automatic visual recognition device that automatically identifies navigational aids.
従来技術
従来、操船者が航路標識を確認する手順は、
海図上に自船の推測位置をプロツトし、同
時に海図上で付近の航路標識の存在を確認する。
目視やレーダによつて航路標識を探し、その方
位や距離を計測することで海図上の航路標識と一
致することを確認するという手順をとつている。Prior Art Conventionally, the procedure for a vessel operator to check navigation aids is to plot the estimated position of the own ship on a nautical chart, and at the same time confirm the presence of nearby navigation aids on the nautical chart.
The procedure is to search for navigation aids visually or by radar, and measure their bearings and distances to confirm that they match the navigation aids on the nautical chart.
この発明が解決すべき問題点
従つて、潮流などの影響で自船位置がズレてい
たり、類似の航路標識が存在していたりすると標
識を誤認する可能性は大きく、更に船舶が輻湊し
ていたりすると操船者の注意はどうしてもその方
へ注がれるため標識の確認がおろそかになり誤認
の可能性が高まる。Problems to be Solved by this Invention Therefore, if the own ship's position is shifted due to the effects of tidal currents, etc., or if similar navigational markings exist, there is a high possibility that the markings will be misidentified. In this case, the operator's attention is inevitably focused on that person, and the possibility of misidentification increases as the operator neglects to check the signs.
また、操船者が航路標識の確認に注意をうばわ
れすぎて他船や障害物への注意がおろそかになる
と衝突や座礁等の海難事故の大きな原因の１つに
なつていた。 Additionally, when ship operators become too focused on checking navigational aids and neglect paying attention to other ships and obstacles, this is one of the major causes of maritime accidents such as collisions and groundings.
そこで、この発明は前記の様な従来技術の問題
点を解決して航路標識を自動的に視認し、標識の
種類や位置の情報を与え、操船者の負担軽減と航
路標識誤認による海難事故の防止が図れる航路標
識自動視認装置を提供することを目的とする。 Therefore, this invention solves the problems of the prior art as described above, automatically recognizes navigational aids visually, provides information on the type and position of the navigational aids, reduces the burden on ship operators, and prevents marine accidents caused by misidentification of navigational aids. The purpose of the present invention is to provide an automatic navigational aid visual recognition device that can prevent such problems.
発明の構成
この発明による航路標識自動視認装置は船位情
報を出力する船位測定装置と、航路標識に関する
航路標識データフアイル情報が登録された航路標
識データフアイルと、自船の方向を測定して方位
信号を出力する方位測定装置と、自船周囲を撮像
する撮像装置と、この撮像装置からの映像信号を
入力して画像処理し航路標識の特徴を表わす抽出
データを出力する画像処理装置と、さらに前記各
機器から船位情報、航路標識データフアイル及び
方位信号を入力して自船に対する航路標識存在位
置を演算して前記撮像装置の撮像方向を位置決め
し、画像処理装置から得られる抽出情報と航路標
識データとのマツチングを行ない映像信号中の航
路標識を特定する航路標識確定装置を備えた点に
特徴がある。Structure of the Invention The automatic navigational aid visual recognition device according to the present invention includes a ship position measuring device that outputs ship position information, a navigational aid data file in which information regarding navigational aids is registered, and a navigation aid data file that measures the direction of own ship and generates an azimuth signal. an imaging device that images the surroundings of the own ship; an image processing device that inputs the video signal from the imaging device, processes the image, and outputs extracted data representing the characteristics of the navigational aid; Input ship position information, navigation aid data files, and direction signals from each device, calculate the navigation aid presence position relative to the own ship, determine the imaging direction of the imaging device, and extract information and navigation aid data obtained from the image processing device. A distinctive feature is that it is equipped with a navigation aid identification device that identifies navigation aids in video signals by matching them with the navigation signals.
実施例
以下、図示するこの発明の実施例により説明す
る。Embodiments The present invention will be explained below with reference to illustrated embodiments.
添付した図面は実施例の装置構成ブロツク図で
あつてテレビカメラ旋回装置７で任意の方向に旋
回制御されるテレビカメラを備えている。テレビ
カメラ旋回装置７には後段で詳述する航路標識確
定装置４から出力される旋回指令信号８で制御さ
れ、またテレビカメラ旋回装置７からは航路標識
確定装置４にフイードバツク制御用の回転信号９
が出力される。 The attached drawing is a block diagram of the device configuration of the embodiment, which includes a television camera that can be rotated in any direction by a television camera rotation device 7. The television camera turning device 7 is controlled by a turning command signal 8 output from the navigation aid determination device 4, which will be described in detail later, and the television camera rotation device 7 sends a rotation signal 9 for feedback control to the navigation aid determination device 4.
is output.
テレビカメラ１から出力される映像信号２は画
像処理装置３に入力され、この画像処理装置３は
航路標識確定装置４から出力される画像処理コマ
ンド５に従つて映像信号２を処理し当該映像信号
２中の航路標識の色、形および発光時間等の抽出
情報６を航路標識確定装置４に出力する。 A video signal 2 output from the television camera 1 is input to an image processing device 3, and this image processing device 3 processes the video signal 2 in accordance with the image processing command 5 output from the navigation aid determination device 4, and converts the video signal into a Extracted information 6 such as the color, shape and luminescence time of the navigation aid in 2 is output to the navigation aid determination device 4.
また、この装置には電波式船位測定装置１０と
航路標識に関する情報が記録された航路標識デー
タフアイル１２とジヤイロコンパス１４が備えら
れており、航路標識確定装置４に各々船位情報１
１、航路標識データフアイル情報１３及び方位信
号１５が出力される。 Additionally, this device is equipped with a radio wave ship position measuring device 10, a navigation aid data file 12 in which information regarding navigation aids is recorded, and a gyroscope 14.
1. Navigation aid data file information 13 and direction signal 15 are output.
さらに、この装置にはレーダ１６が設けられて
おり、レーダビデオ信号１７はレーダ指示機１８
で極座標レーダビデオ信号１９に変換されてスキ
ヤンコンバータ２０に出力される。スキヤンコン
バータ２０にはジヤイロコンパス１４からの方位
信号１５が別途入力されており、極座標レーダビ
デオ信号を極座標／直交座標変換されてラスター
スキヤン形式のノースアツプレーダ映像信号２１
となり航路標識確定装置４に出力される。 Furthermore, this device is equipped with a radar 16, and a radar video signal 17 is transmitted to a radar indicator 18.
The polar coordinate radar video signal 19 is converted into a polar coordinate radar video signal 19 and output to a scan converter 20. The direction signal 15 from the gyro compass 14 is separately input to the scan converter 20, and the polar coordinate radar video signal is converted into polar coordinates/orthogonal coordinates and is converted into a north up radar video signal 21 in raster scan format.
This is output to the navigation aid determination device 4.
以上の構成において、航路標識確定装置４は自
船位置情報１１と航路標識データフアイル情報１
３および真方位と自船方位信号１５により自船付
近の航路標識がどの方向に存在するかを計算し、
存在する方向にテレビカメラ１が向くようテレビ
カメラ旋回装置７に対し旋回指令信号を出力す
る。旋回装置７からのフイードバツク信号である
回転信号により指令方向にテレビカメラ１が向い
たのを確認した後、航路標識確定装置４は画像処
理装置３に対し画像処理スタートの画像処理コマ
ンド５を与える。画像処理装置３はテレビカメラ
１から送られてくる映像信号２を解析し、航路標
識の形状や色をビツトマツプイメージ等の情報と
して、又、発光時間の情報を決められたフオーマ
ツトの数値情報として航路標識のもつ情報を抽出
し抽出情報６として航路標識確定装置４へ送る。 In the above configuration, the navigation aid determining device 4 stores own ship position information 11 and navigation aid data file information 1.
3 and the true bearing and the own ship's bearing signal 15, calculate in which direction the navigational aid near the own ship is located,
A rotation command signal is output to the television camera rotation device 7 so that the television camera 1 faces in the existing direction. After confirming that the television camera 1 is directed in the commanded direction based on a rotation signal which is a feedback signal from the rotation device 7, the navigation aid determining device 4 gives an image processing command 5 to the image processing device 3 to start image processing. The image processing device 3 analyzes the video signal 2 sent from the television camera 1, and converts the shape and color of the navigation aid into information such as a bitmap image, and the information on the light emission time as numerical information in a predetermined format. The information possessed by the navigation aids is extracted and sent as extracted information 6 to the navigation aid determination device 4.
航路標識確定装置４は抽出情報６と航路標識デ
ータフアイル１２から選択した航路標識と抽出情
報６が一致するか否かチエツクし一致すればこの
航路標識であると確定し、表示装置上にノースア
ツプレーダ映像信号２１と航路標識の存在を示す
マーカー及び航路標識の名称、種類を表示し操船
者に知らせる。 The navigation aid determining device 4 checks whether the extracted information 6 matches the navigation aid selected from the navigation aid data file 12 and the extracted information 6, and if they match, it determines that it is this navigation aid, and displays the north up on the display device. The radar image signal 21, a marker indicating the presence of a navigational aid, and the name and type of the navigational aid are displayed to notify the operator.
確定作業が完了すると航路標識確定装置４より
画像処理装置３に対し処理ストツプのコマンド５
が与えられ、画像処理装置３は動作を停止する。 When the confirmation work is completed, the navigation aid confirmation device 4 issues a processing stop command 5 to the image processing device 3.
is given, and the image processing device 3 stops its operation.
航路標識確定装置４は再び上記の手順を繰り返
し次の航路標識の確定と表示を行なう。 The navigation aid determining device 4 repeats the above procedure again to determine and display the next navigation aid.
こうして、航路標識を自動的に視認できると共
に視認した結果はレーダ画像と共に表示されるの
で操船情報として極めて有用である。 In this way, the navigation aids can be automatically visually recognized, and the results of the visual recognition are displayed together with the radar image, which is extremely useful as vessel maneuvering information.
発明の効果
この発明による航路標識自動視認装置の実施例
は以上の通りであり、次に述べる効果を挙げるこ
とができる。Effects of the Invention The embodiments of the automatic navigation aid visual recognition device according to the present invention are as described above, and the following effects can be achieved.
航路標識を自動的に視認し、標識の種類や位置
の情報を与え、操船者の負担軽減と航路標識誤認
による海難事故の防止が図れる。 It can automatically visually recognize navigation aids and provide information on the type and location of the navigation aids, reducing the burden on vessel operators and preventing maritime accidents due to misidentification of navigation aids.
図面は実施例の構成を示すブロツク図である。
１……テレビカメラ、２……映像信号、３……
画像処理装置、４……航路標識確定装置、５……
画像処理コマンド、６……抽出情報、７……テレ
ビカメラ旋回装置、８……旋回指令信号、９……
回転信号、１０……電波式船位測定装置、１１…
…船位情報、１２……航路標識データフアイル、
１３……航路標識データフアイル情報、１４……
ジヤイロコンパス、１５……方位信号、１６……
レーダ、１７……レーダビデオ信号、１８……レ
ーダ指示機、１９……極座標レーダビデオ信号、
２０……スキヤンコンバータ、２１……ノースア
ツプレーダ映像信号。
The drawing is a block diagram showing the configuration of an embodiment. 1...TV camera, 2...Video signal, 3...
Image processing device, 4... Navigation aid confirmation device, 5...
Image processing command, 6...extraction information, 7...TV camera rotation device, 8...rotation command signal, 9...
Rotation signal, 10... Radio wave position measuring device, 11...
...Ship position information, 12...Naviway aid data file,
13...Navigation aid data file information, 14...
Gyroscope compass, 15...Direction signal, 16...
Radar, 17... Radar video signal, 18... Radar indicator, 19... Polar coordinate radar video signal,
20... Scan converter, 21... North up radar video signal.
Claims (1)
装置と、 航路に設置された航路標識に関する位置、形
状、色、発光時間等の航路標識データフアイル情
報が登録された航路標識データフアイルと、 自船の方位を測定して方位信号を出力する方位
測定装置と、 撮像方向自在に制御されて自船周囲を撮像し映
像信号を出力する撮像装置と、 当該撮像装置からの映像信号を入力して画像処
理し、航路標識の形状、色、発光時間等の抽出デ
ータを出力する画像処理装置と、 前記船位測定装置、航路標識データフアイル及
び方位測定装置から各々船位情報、航路標識デー
タ及び方位信号を入力し、自船に対する航路標識
存在位置を演算して前記撮像装置の撮像方向を前
記存在方向に駆動制御し、前記画像処理装置から
の抽出情報と前記航路標識データとのマツチング
を行ない前記映像信号中の航路標識を特定する航
路標識確定装置とを備えた航路標識自動視認装
置。[Scope of Claims] 1. A ship position measuring device that measures a ship's position and outputs ship position information; and a sea route in which navigation sign data file information such as the position, shape, color, and luminescence time of navigation signs installed on the sea route is registered. A beacon data file, an azimuth measuring device that measures the azimuth of the own ship and outputs a azimuth signal, an imaging device that is freely controlled in the imaging direction to image the surroundings of the own ship and outputs a video signal, and a an image processing device that inputs a video signal, processes the image, and outputs extracted data such as the shape, color, and luminescence time of the navigation aid; and an image processing device that inputs a video signal, processes the image, and outputs extracted data such as the shape, color, and luminescence time of the navigation aid; and ship position information and navigation route information from the ship position measurement device, navigation aid data file, and direction measurement device, respectively. Input the beacon data and the direction signal, calculate the navigational beacon existing position with respect to own ship, drive and control the imaging direction of the imaging device in the said existing direction, and combine the extracted information from the image processing device with the navigational beacon data. A navigation aid automatic viewing device comprising: a navigation aid determination device that performs matching to identify the navigation aid in the video signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61140982A JPS62297714A (en) | 1986-06-17 | 1986-06-17 | Automatic visually recognizing device course mark |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61140982A JPS62297714A (en) | 1986-06-17 | 1986-06-17 | Automatic visually recognizing device course mark |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS62297714A JPS62297714A (en) | 1987-12-24 |
| JPH0476562B2 true JPH0476562B2 (en) | 1992-12-04 |
Family
ID=15281375
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP61140982A Granted JPS62297714A (en) | 1986-06-17 | 1986-06-17 | Automatic visually recognizing device course mark |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS62297714A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022137952A1 (en) | 2020-12-24 | 2022-06-30 | 古野電気株式会社 | Sea mark identification device, autonomous navigation system, sea mark identification method, and program |
| WO2022137953A1 (en) * | 2020-12-24 | 2022-06-30 | 古野電気株式会社 | Sea mark identification device, autonomous navigation system, sea mark identification method, and program |
| WO2022137931A1 (en) | 2020-12-24 | 2022-06-30 | 古野電気株式会社 | Channel marker identification device, autonomous navigation system, channel marker identification method, and program |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6446244A (en) * | 1987-08-12 | 1989-02-20 | Matsushita Electric Ind Co Ltd | Optical disk |
| JP6198374B2 (en) * | 2012-05-29 | 2017-09-20 | 日本無線株式会社 | River mile marker display system |
-
1986
- 1986-06-17 JP JP61140982A patent/JPS62297714A/en active Granted
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022137952A1 (en) | 2020-12-24 | 2022-06-30 | 古野電気株式会社 | Sea mark identification device, autonomous navigation system, sea mark identification method, and program |
| WO2022137953A1 (en) * | 2020-12-24 | 2022-06-30 | 古野電気株式会社 | Sea mark identification device, autonomous navigation system, sea mark identification method, and program |
| WO2022137931A1 (en) | 2020-12-24 | 2022-06-30 | 古野電気株式会社 | Channel marker identification device, autonomous navigation system, channel marker identification method, and program |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS62297714A (en) | 1987-12-24 |
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