JPH0840355A - Sea area supervisory system - Google Patents

Abstract

PURPOSE:To easily perform supervisory of a sea area by setting up a mooring device of receiving an echo sounder receiver and a necessary circuit for calculation in the sea bottom just under a mooring buoy. CONSTITUTION:A sound wave generated in an ocean sailing object is converted into an electric signal by echo sounder receivers Sx, Sy, Sc arranged orthogonal to the sea bottom just under a mooring buoy. Based on a phase difference between received wave signals respectively output from these echo sounder receivers, a decision value, changed in accordance with a distance between the mooring buoy and the ocean sailing object, is calculated in an adder 405. A value, shown by the decision value in the case of positioning the ocean sailing object on a boundary line of a sea area of fixed range, is previously stored in a memory 407 as the reference value. This decision value is compared with the reference value in a comparator 406, to decide whether the ocean sailing object is advanced or not into a sea area of fixed range.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sea area monitoring system, and more particularly to a system for monitoring a certain area of sea area from a mooring buoy.

[0002]

2. Description of the Related Art FIG. 6 is a schematic diagram showing an example of a conventional sea area monitoring system. The mooring buoy 101 is moored by a mooring device 102 on the sea floor, and a land-based radar 201 monitors whether or not the vessel 104 has entered a boundary 103 having a radius R from the mooring buoy 101. When the radar 201 confirms the approach of the ship 104, the alarm device 202 sends a radio signal to the ship approach warning device 10 provided on the mooring buoy 101.
5 to the ship 10 by siren and light emission signal, etc.
Warn 4

[0003]

However, the above-mentioned conventional system has a problem that the radar 201 for monitoring the approach of a ship needs to be installed on the ground, and the system becomes large in scale. . Further, since the alarm is issued by wireless remote control, the system configuration of the system becomes complicated.

An object of the present invention is to provide a sea area monitoring system that does not require ground facilities and remote control.

[0005]

The sea area monitoring system according to the present invention comprises at least three wave receivers which are orthogonally arranged on the seabed immediately below a mooring buoy and which convert sound waves emitted by a seagoing vehicle into electric signals, and these wave receivers. Judgment value calculating means for calculating a judgment value that changes according to the distance between the mooring buoy and the sea navigation vehicle based on the phase difference of the received signals output from the vessels, and the boundary of the sea area where the sea navigation vehicle is within a certain range A memory means for pre-storing the value indicated by the judgment value as a reference value when it is located on the line, and comparing the judgment value with the reference value to judge whether or not the sea navigation vehicle has entered a certain range of sea area. Means and
It is characterized by consisting of.

[0006]

According to the present invention, a sound wave emitted from a marine navigation body is received by a receiver provided on the seabed immediately below a mooring buoy, and the received signal is transmitted from the mooring buoy of the marine navigation body based on a phase difference between the receivers. A determination value according to the distance is calculated and compared with a reference value calculated in advance to monitor whether or not the marine navigation vehicle has entered a predetermined sea area.

[0007]

Embodiments of the present invention will now be described in detail with reference to the drawings.

FIG. 1 is a schematic diagram showing an embodiment of a sea area monitoring system according to the present invention. The mooring buoy 1 is connected by a mooring cable 2 to a mooring device 3 fixed to the seabed. The mooring cable 2 has a built-in line for transmitting a signal.

The mooring device 3 has a built-in sea area judging device 4. The sea area judging device 4 detects a radiated sound 6 emitted from the propulsion unit of the ship 5 as described later, and issues an alarm of a radius R from the mooring buoy 1. It is determined whether or not the ship 5 has entered the sea area 7.

When it is determined that the ship 5 has entered the warning sea area 7, the sea area judgment device 4 transmits a judgment signal 501 to the alarm device 8 through the line of the mooring cable 2, and an alarm means such as an alarm sound and a light emission signal. A warning is issued to the ship 5 by the command.

FIG. 2 shows a sea area determination device 4 in this embodiment.
3 is a block diagram showing the circuit configuration of FIG. The sea area determination device 4 has three wave receivers Sx, Sy, and Sc, and these wave receivers are arranged so that a straight line connecting Sx and Sc and a straight line connecting Sy and Sc are orthogonal (orthogonal arrangement). (See FIG. 4).

The receivers Sx, Sy, and Sc receive the radiated sound 6 emitted from the ship 5 at each position, and receive the receiver Sx
The received signals of Sc and Sc are output to the phase difference detection circuit 401, and the received signals of the wave receivers Sy and Sc are output to the phase difference detection circuit 402, respectively. The phase difference signals φx and φy output from the phase difference detection circuits 401 and 402 are respectively squared by multipliers 403 and 404, and their outputs φx ² and φy ² are added by an adder 405 to obtain an addition value φx ² + Φy ² is input to the comparator 406 as a judgment value.

[0013] The comparator 406 compares the determination value .phi.x ² + [phi] y ² and decision data (reference value) Cpi, vessels 5 the radius R
Is determined inside or outside the warning sea area 7, and a determination signal 501 is output to the warning device 8 through the cable 2.

The judgment data Cpi is stored in the judgment data memory 40.
7 is stored in advance, and the determination data output circuit 409 reads it from the memory 407 and outputs it to the comparator 406 according to the depth Hi measured by the depth device 408.

FIG. 3 is a schematic diagram showing an example of data stored in the determination data memory 407 in this embodiment. The determination data Cpi is stored corresponding to each depth Hi.

[0016] waters determination method Figure 4 is a wave receiver Sx waters judging device 4 in this embodiment,
FIG. 5 is a coordinate diagram showing a positional relationship between Sy and Sc and the ship 5, and FIG. 5 is a coordinate diagram for explaining a reception phase difference of the receiver.

First, in FIG. 4, the following equation is established from the formula of the direction cosine.

1 = cos ² θx + cos ² θy + cos ² θz (1) where θx is an angle between a straight line connecting the receiver Sc and the ship position P and the X axis, and θy is the receiver Sc and the ship. The angle between the straight line connecting the position P and the Y axis and θz are the angle between the straight line connecting the wave receiver Sc and the ship position P and the Z axis.

As shown in FIG. 5, since there is a distance difference d · cos θx between the receivers Sx and Sc with respect to the sound wave plane of the radiated sound 6, the reception of the receivers A phase difference φx corresponding to the distance difference occurs between the signals. Similarly, a phase difference φy occurs between the reception signals of the receivers Sy and Sc. Where d is the receivers Sx and Sc
And the distance between the receivers Sy and Sc.

Phase differences φx and φy and direction cosine angle θx
And θy, the following equations hold.

Cos θx = λφx / 360d (2) cos θy = λφy / 360d (3) where λ is the wavelength of the radiated sound 6.

By substituting equations (2) and (3) into equation (1), φx ² + φy ² = 360d (1-cos ² θz) / λ ² (4) θz = arctan (D / H) ... (5) Here, D is the distance between the position Po of the mooring buoy 1 and the ship position P, and H is the distance (depth) of the receiver Sc from the sea surface.
Is.

Therefore, the judgment data Cpi stored in the judgment data memory 407 is given as the right side of the equation (4), and Cpi = 360d (1-cos ² θz) / λ ² (6) where θz = arctan (R / Hi). That is, the determination data Cpi corresponding to the depth Hi is calculated in advance using Expression (6) and stored in the memory 407.

The judgment data output circuit 409 is provided with a depth unit 408.
Is input, and as shown in FIG. 3, the determination data Cpn corresponding to the depth is stored in the memory 40.
It is read from 7 and output to the comparator 406.

The comparator 406 is a square addition value φx of the phase difference calculated from the reception signals of the wave receivers Sx, Sc and Sy.
² + φy ² is compared with the read determination data Cpn,
φx ² + φy ² ≦ Cpn if the ship position P is the decision signal 501 determines that the area of the radius R and '1', φx ²
If + φy ² > Cpn, the ship position P is determined to be outside the area of the radius R, and the determination signal 501 is set to '0'.

The alarm device 8 of the mooring buoy 1 uses the determination signal 50
Only when 1 is '1', an alarm is issued by means such as a siren or a light emission signal to inform the ship 5 that it is entering the alarm area 7.

[0027]

As described in detail above, in the sea area monitoring system according to the present invention, at least three wave receivers provided on the bottom of the sea immediately below the mooring buoy receive sound waves emitted by the sea navigation vehicle, and Calculate the judgment value according to the distance from the mooring buoy of the maritime navigation vehicle based on the phase difference between the receivers of the received signals, and compare it with the reference value calculated in advance to reach the prescribed sea area of the navigation vehicle. To monitor the presence of For this reason, it is possible to monitor the sea area simply by installing a receiver and a mooring device that accommodates the circuits required for computation on the sea floor directly below the mooring buoy, eliminating the need for conventional ground equipment and remote control by radio Becomes

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram showing an embodiment of a sea area monitoring system according to the present invention.

FIG. 2 is a block diagram illustrating a circuit configuration of the sea area determination device 4 according to the present embodiment.

FIG. 3 is a schematic diagram illustrating an example of data stored in a determination data memory 407 according to the present embodiment.

FIG. 4 is a diagram illustrating a receiver S of the sea area determination device 4 according to the embodiment.
FIG. 3 is a coordinate diagram showing a positional relationship between x, Sy, and Sc and a ship 5.

FIG. 5 is a coordinate diagram for explaining a reception phase difference of the receiver in the embodiment.

FIG. 6 is a schematic configuration diagram showing an example of a conventional sea area monitoring system.

[Explanation of symbols]

 1 Mooring buoy 2 Cable 3 Mooring device 4 Sea area judging device 5 Ship 6 Radiant sound 7 Warning sea area 8 Warning device Sx, Sy, Sc Receiver Cpi judgment data (reference value)

Claims (4)

[Claims] 1. A system for monitoring a certain range of sea area centered on a mooring buoy, wherein at least three receiving waves are arranged orthogonally on the seabed immediately below the mooring buoy and convert sound waves emitted by a marine navigation vehicle into electric signals. A determination value calculating unit that calculates a determination value that changes in accordance with a distance between the mooring buoy and the marine navigation vehicle, based on a phase difference between reception signals output from the receiver. A memory means for pre-storing a value indicated by the determination value as a reference value when the marine navigation vehicle is located on a boundary of the sea area in the certain range; and comparing the determination value with the reference value to obtain the marine navigation vehicle. And a comparing means for determining whether or not has entered the certain area of the sea area. 2. The determination value calculating means includes phase difference detecting means for detecting phase differences between received signals output from two wave receivers arranged in two orthogonal directions, respectively, and the detected phase difference. The sea area monitoring system according to claim 1, further comprising: a multiplying unit that calculates a square of the phase difference and an adding unit that adds the square of the phase difference. 3. A depth measuring means for measuring a vertical distance between a sea surface and the wave receiver is further provided, and the memory means stores a reference value corresponding to the measured depth in a table format. The sea area monitoring system according to claim 1. 4. A mooring device installed on the seabed and a mooring buoy moored to the mooring device by a cable, wherein the mooring device includes the at least three wave receivers, the determination value calculating means, The memory means and the comparison means are built in, the cable has a line for transmitting a judgment signal of the comparison means, and the mooring buoy receives the judgment signal from the line of the cable and issues an alarm. The sea area monitoring system according to any one of claims 1 to 3, further comprising an alarm means.