OBJECT DETECTION DEVICE, OBJECT DETECTION METHOD, AND OBJECT DET

Abstract

To provide an object detector that detects a driftage drifting along a tidal current or an object flying along a tidal current.SOLUTION: An object detector 101 is constituted from a radar detection unit 124 for detecting an object by a radar, a radar information determination unit 119 for determining the radar information of the object, a first speed vector calculation unit 125 for calculating the first speed vector of the object on the basis of the radar information, a tidal current information acquisition unit for acquiring tidal current information in water, a second speed vector calculation unit 126 for calculating a second speed vector on the basis of tidal current information, a classification unit 121 for comparing the first speed vector and the second speed vector and classifying the object, and a notification unit 127 for notifying a user of the object determined to be a target that requires notification, on the basis of classification of the classification unit 121.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an object detection device, an object detection method, and an object detection program used for detecting an object. [Background technology]

[0002] With the advancement of marine radar technology, marine radar is now used in many marine activities. For example, marine radar is used in surveillance systems to detect objects such as airplanes, icebergs, etc. located very far from the vessel, and to obtain useful information about the detected objects, such as the speed of the object and the object's location. Conventionally, a user places an origin mark, which is a mark that moves in accordance with the speed of the underwater current, near the acquired object, and determines the positional relationship between the origin mark and the object at a certain time. If the positional relationship of the object does not change, it is determined to be a stationary object, and if the positional relationship changes, it is determined to be a moving object. However, in the conventional method of determining the positional relationship, it is necessary to insert an origin mark every time an object is acquired, which is troublesome and time-consuming. In addition, if the origin mark is not inserted, it is difficult to determine whether the object acquired by the radar is a moving object or an object riding on the current. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Document JP2003-114267A Summary of the Invention [Problem to be solved by the invention]

[0004] Document JP2003-114267A relates to an object detection device. This device detects objects that have fallen into water and emit radio waves. This device is equipped with a direction finder that detects objects (ships or suspicious objects) in a search area by emitting radio waves. This device can further search for suspicious objects in the search area. The suspicious objects are determined by removing objects detected by a radar device from the objects detected by the direction finder. However, this device has a limitation in that it can only detect underwater objects that have radio antennas.

[0005] The present invention has been made in view of the above circumstances, and a main object of the present invention is to automatically and efficiently detect an object.

[0006] The present invention provides an object detection device, a system, a program, and a method for detecting an object. [Means for solving the problem]

[0007] The present invention provides an object detection device that overcomes the above-mentioned problems. The device includes a radar detection unit that detects an object by radar, a radar information determination unit that determines radar information of the object, a first velocity vector calculation unit that calculates a first velocity vector of the object based on the radar information, a tidal current information acquisition unit that obtains underwater tidal current information, a second velocity vector calculation unit that calculates a second velocity vector based on the tidal current information, a classification unit that compares the first velocity vector and the second velocity vector to classify the object, and a notification unit that notifies a user of an object determined as a target requiring notification based on the classification by the classification unit.

[0008] The tidal current information may also include at least one of a speed and a direction of the tidal current, and the radar information may include at least one of a speed and a direction of movement of an object.

[0009] The notification unit may also notify by generating a display signal in which a display mode related to the target is changed.

[0010] The notification unit may also notify by generating a display signal with a mark corresponding to the target.

[0011] The classifier may also determine a type of object, and the type of object may be at least one of a stationary object, an object that moves with the tide, and an object that moves in a direction independent of the tide.

[0012] The notification unit may also notify by generating a display signal corresponding to the target based on the type of object.

[0013] The classification unit may also determine an object moving along a tidal current as a target.

[0014] The classifier may also determine a similarity value between the first velocity vector and the second velocity vector, and classify the object based on the similarity value.

[0015] The similarity value may also be determined based on at least one of a dot product and a difference of the first velocity vector and the second velocity vector.

[0016] The notification unit may also notify by generating a display signal in which the color of the target is changed based on a change in the distance between the ship and the target.

[0017] The object detection device may further include a radar device that transmits and receives radar signals.

[0018] The present invention also provides a method for detecting an object by a radar, determining radar information related to the object, calculating a first velocity vector, which is a velocity vector of the object, based on the radar information, obtaining information about underwater currents, calculating a second velocity vector based on the information about the currents, comparing the first velocity vector and the second velocity vector to classify the object, and notifying a user of the object determined as a target requiring notification based on the classification.

[0019] The present invention also provides the following program, which includes a process for detecting an object by radar, a process for determining radar information related to the object, a process for calculating a first velocity vector that is a velocity vector of the object based on the radar information, a process for acquiring information about underwater currents, a process for calculating a second velocity vector based on the information about the currents, a process for classifying the object by comparing the first velocity vector and the second velocity vector, and a notification process for notifying a user of an object determined to be a target requiring notification based on the classification.

[0020] The above summary is of illustrative aspects and is not intended to be limiting in any respect. In addition to the exemplary aspects, embodiments, and features described above, further embodiments and features can be found in the drawings and detailed description that follows. [Brief description of the drawings]

[0021] [Figure 1] FIG. 1 is a schematic diagram showing an example of an operating environment of an object detection device. [Diagram 2] FIG. 2 is a block diagram of an object detection device for detecting an object. [Diagram 3] FIG. 3 is a schematic diagram showing a display screen of the display unit. [Figure 4] FIG. 4 illustrates an example scenario in which a vessel uses the device to detect schools of fish in the water; and [Diagram 5] FIG. 5 is a flow chart showing the steps for detecting wreckage or underwater objects. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] In the following description, a number of specific embodiments are described in order to provide a thorough disclosure. However, it will be apparent to those skilled in the art that the present disclosure is sufficient to practice the invention without these specific embodiments. Devices and the like are shown in block diagram form or the like in order to avoid obscuring the present disclosure.

[0023] In this specification, "embodiment" means that a particular feature, structure, or characteristic described in connection with this embodiment is included in at least one embodiment of the present disclosure. "Embodiment" in various places in this specification are not necessarily all referring to the same embodiment, nor are they mutually exclusive separate or alternative embodiments from other embodiments. Furthermore, the terms "one or more" or "one" and the like in this specification do not indicate a limitation of quantity, but rather indicate the presence of at least one of the referenced item. Furthermore, there are various features that are exhibited by some embodiments but not by other embodiments. Similarly, various requirements are described that are requirements for some embodiments but not for other embodiments.

[0024] Some embodiments of the present disclosure will be described below with reference to the drawings. The drawings show some, but not all, embodiments of the present disclosure. Indeed, various embodiments of the present disclosure may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are described so that the present disclosure meets applicable requirements. Reference numerals refer to the same elements throughout. As used herein, the terms "data," "content," "information," and similar terms are used to refer to data that may be transmitted, received, and / or stored according to embodiments of the present invention. Thus, such terms should not be construed to limit the scope of the embodiments of the present invention.

[0025] The embodiments are described herein for illustrative purposes and have many variations. Various omissions and substitutions of equivalents are included in the embodiments without departing from the scope of the present disclosure. Furthermore, the terms used herein are for illustrative purposes and are not necessarily limited to the meanings described. The headings used herein are for convenience and have no legal or limiting effect.

[0026] As used in this specification and claims, terms such as "for example," "such as," "having," and "including," and other forms thereof, when used in conjunction with a list of one or more components or other items, shall each be construed as open-ended, meaning that the list is not to be construed as excluding other additional components or items. Other terms are to be construed using their broadest reasonable meaning unless used in a context requiring a different interpretation.

[0027] One of the objectives of the present disclosure is to detect a school of fish in water based on one or more objects, such as seabirds that chase the school of fish. To this end, the present disclosure proposes an object detection device that may be installed on a ship. To detect the object, the device detects at least one object from radar information and determines radar information related to the detected object. The device further determines underwater tidal current information and compares the tidal current information with information related to the detected object to determine a type of the detected object. The type of object may include at least one of an object moving along the tidal current, a stationary object, and an object moving regardless of the tidal current. If it is determined that the detected object is moving at the same speed and in the same direction as the tidal current, it can be determined that the detected object is chasing a school of fish that usually swims along the tidal current in the water. By notifying a user of such an object as a target, the user (e.g., a fisherman) can estimate the presence of one or more schools of fish at a long distance range, compared to a conventional fish finder method in which the range is limited to a short distance, and the efficiency of catching fish can be improved.

[0028] Furthermore, in determining the type of the detected object, the object detection device generates a display signal for each object according to the type of the object, so that the type of the detected object can be visually identified by the user. Note that the object detection device may include a display unit (user device) and may be displayed on the display unit. For example, different types of detected objects may be shown on the display screen in different colors or different frames. By visually distinguishing the representations of different types of detected objects, the user can easily identify whether the detected object is moving at the same speed and in the same direction as the current, is stationary, or is flowing independently of the current, and can even obtain the location (e.g., longitude and latitude) of the detected object.

[0029] FIG. 1 is a schematic diagram illustrating an exemplary working environment 100 of an object detection device 101 for detecting one or more objects in a vessel, according to an exemplary embodiment. In the illustrated embodiment, the object detection device 101 may be installed in water or on a vessel traveling on water. The object detection device 101 may include a radar device that is a sensor 107 for detecting objects in the atmosphere around the vessel, or the object detection device 101 may be included in the radar device. The object detection device 101 also includes a radar detection unit 124 for detecting objects. The radar detection unit 124 may be in the radar device. The object detection device 101 also obtains radar information related to the detected objects. The object detection device 101 may be communicatively coupled to a user device 103, a plurality of sensors 107, and a database 111 via a network 109.

[0030] The user device 103 may include an application 103a installed thereon that displays information related to one or more detected objects for a user 105 operating the user device 103. The user device 103 may be any device accessible to a user, such as a smartphone, a portable computer, a display unit, etc. The user device 103 may include a processor, a memory, and a communication interface. The processor, the memory, and the communication interface may be communicatively coupled to each other.

[0031] Additionally, the multiple sensors 107 may be used to determine tidal currents. In one embodiment, the multiple sensors 107 may be a tidal current gauge that determines the speed and direction of tidal currents in the water. In another exemplary embodiment, the multiple sensors 107 may be ultrasonic sensors installed on the vessel. The multiple sensors 107 may determine information about the tidal currents, such as the speed and direction of the currents, based on the echoes obtained.

[0032] Additionally, the database 111 may store up-to-date information regarding weather forecasts, information regarding tides, and nautical charts that the vessel can use to navigate underwater and determine the location of one or more detected objects. The database 111 may further include locations of hazards in the water, such as the location of whirlpools. The database 111 may include navigational vessel information such as salinity, water and air temperature, air pressure and wind (speed, gusts, direction), geographic location of the information (in terms of longitude and latitude), etc.

[0033] The network 109 may include logic circuits and interfaces that provide multiple network ports and multiple communication channels for transmitting and receiving objects, such as tide current information, radar information related to detected information, and the like. Each network port may correspond to a virtual address (or physical machine address) for transmitting and receiving communication information. For example, the virtual address may be an Internet Protocol version 4 (IPv4) or IPv6 address, and the physical address may be a Media Access Control (MAC) address. The network 109 is associated with an application layer that utilizes a communication protocol based on one or more communication requirements of the communication device. The communication information may be transmitted and received via the communication protocol. Examples of such wired and wireless communication protocols include, but are not limited to, Transmission Control Protocol and Internet Protocol (TCP / IP), User Datagram Protocol (UDP), Hypertext Transfer Protocol (HTTP), File Transfer Protocol (FTP), ZigBee, EDGE, Infrared (IR), IEEE 802.11, 802.16, cellular communication protocols, and the like.

[0034] Examples of the network 109 include, but are not limited to, wireless channels, wired channels, and combinations of wireless and wired channels. The wireless or wired channels may be associated with a network standard defined by one of a local area network (LAN), a personal area network (PAN), a wireless local area network (WLAN), a wireless sensor network (WSN), a wireless area network (WAN), a wireless wide area network (WWAN), a long term evolution (LTE) network, a plain old telephone service (POTS), and a metropolitan area network (MAN). Furthermore, the wired channel may be selected based on a bandwidth criterion. For example, a fiber optic channel may be used for high bandwidth communications. Furthermore, a coaxial cable-based or Ethernet-based communications channel may be used for medium bandwidth communications.

[0035] 2 shows a block diagram of an object detection device 101 for detecting one or more objects. As can be seen in FIG. 2, the object detection device 101 may include a processor 115 configured to execute stored instructions, and a memory 113 for storing instructions executable by the processor 115. The memory 113 may include a random access memory (RAM), a read only memory (ROM), a flash memory, or any other suitable memory system. The processor 115 may be connected to the memory 113 via a bus 117.

[0036] The processing unit 115 includes a radar detection unit 124, a radar information determination unit 119, a classification unit 121, and a navigation information management unit 123. Furthermore, the processing unit 115 configuration is connected to the user device 103, the plurality of sensors 107, and the database 111 via the network 109. The radar detection unit 124 is configured to detect at least one object and outputs the detected information to the radar information determination unit 119. The radar information determination unit 119 can then determine radar information related to the detected at least one object based on the echo. Here, the sensor 107 can include a transceiver used to transmit and receive radio signals. A reflected signal, i.e., an echo, corresponding to the transmitted radio signal from the detected at least one object is received by the transceiver.

[0037] The radar information includes the speed of the detected object, the position of the object, and the direction in which the object is traveling. The radar information determination unit 119 outputs the radar information to the first vector calculation unit, and the first velocity vector calculation unit 125 calculates a first velocity vector of the detected object based on the radar information. Here, the multiple sensors 107 include a radar device that transmits a radar signal so that the radar detection unit 124 detects at least one target in the air around the ship.

[0038] In the embodiment, the radar detection unit 124 detects a stationary ship, such as a lighthouse, located in the south direction and 3 km away from the object. The radar detection unit 124 also detects a seabird flying at a speed of 6 km / h in the north direction and 5 km away from the ship. For example, the first velocity vector calculation unit 125 calculates the first velocity vector of the detected object as follows:

number

[0039] Here, for example, the first row of the first velocity vector represents the velocity, direction, and distance corresponding to a detected stationary object, and the second row represents the velocity, direction, and distance corresponding to a seabird. Here, in order to determine the type of at least one detected object, information about the tide needs to be obtained. Note that the velocity vector may only include speed and direction.

[0040] The processing unit 115 uses the multiple sensors 107 configured to determine the speed and direction of the tidal current. In one embodiment, the multiple sensors 107 can include a tidal current gauge installed on the vessel to determine the tidal current information. In another embodiment, the multiple sensors 107 may correspond to an ultrasonic Doppler current meter (ADCP) installed on the vessel to determine the tidal current information. The multiple sensors 107 use the working principle of the Doppler effect to measure the vertical distribution of water velocity and the direction of the current. Echoes reflected from particles suspended in the moving water may be received by the multiple sensors 107. Since the particles move at the same speed as the water carrying them, the echoes received from the particles can be used to determine the tidal current information in the water.

[0041] In one embodiment, the sensor 107 may include four acoustic transducers that transmit ultrasonic waves and receive reflected acoustic pulses from four different directions. For example, a tidal current indicator determines the current direction based on the received acoustic pulses. The tidal current indicator can then convert the current direction to Earth coordinates using a trigonometric relationship. When the transmitted sound waves propagate from the vessel to the bottom of the water, the tidal current indicator can measure the current at different depths simultaneously. As a result, the speed and current direction can be determined from the surface to the bottom of the water.

[0042] In another embodiment, the tidal current meter uses low ultrasonic frequencies to measure the underwater velocity relative to the bottom of the vessel. The vessel velocity is subtracted from the tidal current to obtain a more accurate measurement of tidal current information, such as the velocity of the tidal current. The tidal current information includes the direction of the tidal current. Additionally, the tidal current meter can provide the tidal current information to the navigation information management unit 123 of the processing unit 115.

[0043] The navigation information management unit 123 obtains information on tidal currents. Furthermore, the navigation information management unit 123 can obtain weather information from the database 111 and use the weather information in real time to determine or update information on tidal currents, such as the speed and direction of the tidal currents. In the illustrated embodiment, the navigation information management unit 123 can obtain the tidal current information directly from the database 111. However, the information obtained from the database 111 may not be as accurate as the information obtained from the multiple sensors 107 (or tidal current indicators). Furthermore, the navigation information management unit 123 calculates a second velocity vector, which is a flow velocity vector of the tidal current, based on the information on the tidal currents.

[0044] In the illustrated embodiment, it is assumed that the multiple sensors 107 and the navigation information management unit 123 have determined tidal current information from the surface of the water to a depth of 3 km. It is assumed that the tidal current has a speed of 10 km / h at a depth of 2 km and is moving northward. Also, the tidal current is moving northward at a speed of 6 km / h at a depth of 3 km. Here, the second velocity vector calculation unit 126 calculates the second velocity vector, for example, as follows:

number

[0045] The first line shows the first current flowing northward at a speed of 10 km / h in a depth of 2 km. Similarly, the second line shows the second current flowing northward at a speed of 6 km / h in a depth of 3 km. Note that the velocity vector may only show the speed and direction.

[0046] The navigation information manager 123 also determines and provides navigation information to the user device 103. The navigation information can be used by the user device 103 to create a map and indicate at least one type of object detected at a corresponding position in the map. The navigation information can include a nautical chart providing basic navigation information such as underwater depth and hazards such as underwater whirlpools. The navigation information can further include information regarding salinity, water and air temperature, air pressure and wind (speed, gusts, direction), the geographical position of the vessel (in terms of longitude and latitude), etc.

[0047] The processing unit 115 is further configured to determine a type of at least one detected object using the classification unit 121. To that end, the classification unit 121 compares the speed and direction of the detected object with the speed and direction of the tidal current. Based on the comparison result, the classification unit 121 determines whether the detected object is moving in the same direction at the same tidal current speed. The classification unit 121 may also determine whether the detected object is stationary with respect to the tidal current or moving in a direction independent of the tidal current.

[0048] To that end, the classifier 121 determines a velocity vector of at least one detected object corresponding to the first and a second velocity vector corresponding to an underwater current. The processor 115 is further configured to compare the first and second velocity vectors using the classifier 121 and determine a similarity value between the first and second velocity vectors. In one embodiment, the similarity value may be a vector that may be generated using:

number

[0049] where V1 is the velocity of at least one detected object and V2 is the velocity of the current.

[0050] The classification unit 121 is further configured to determine the detected second type based on the similarity between the velocity vector of the object and the first velocity vector. The similarity value between the first velocity vector and the second velocity vector is calculated by the inner product of the first velocity vector and the second velocity vector, as described in the above formula. In another embodiment, the similarity is calculated by the difference between the velocity and direction of the first velocity vector and the second velocity vector. To this end, the velocity threshold and the direction threshold may be preset or dynamically set based on the tide. If the velocity difference between the first velocity vector and the second velocity vector is equal to or smaller than the predetermined velocity threshold, it is determined that the object corresponding to the first velocity vector is moving at the same velocity as the velocity of the tide. On the other hand, if the velocity difference between the first velocity vector and the second velocity vector is greater than the predetermined velocity threshold, it is determined that the object corresponding to the first velocity vector is moving at a velocity different from the velocity of the tide.

[0051] Similarly, if the difference between the directions of the first and second velocity vectors is less than or equal to a threshold degree (e.g., in the azimuth plane), the at least one detected object is determined to be moving in the same direction as the tidal current, whereas if the difference between the directions of the first and second velocity vectors is greater than a threshold degree (e.g., in the azimuth plane), the detected object is determined to be moving in a direction different from the direction of the tidal current.

[0052] In one embodiment, if it is determined that at least one detected object (e.g., a flock of seabirds) is moving in the same direction and at the same speed as the current, it is determined that one or more objects, such as a school of fish, are present at the location of the detected object (e.g., a location where the flock of seabirds flies to track the flock of fish). The classification unit 121 also outputs the comparison result to the notification unit 127. The notification unit 127 outputs a display screen based on the comparison result to the user device 103. Note that the notification unit 127 may be included in the user device 103. The user device 103 is used to provide visual information related to the detected object and / or current. The information is the location of the detected object, the type of object, the speed of the object, the speed and direction of the current, etc. The user device 103 may include a liquid crystal display (LCD) screen, a light emitting diode (LED) screen, a cathode ray tube (CRT) screen, etc. to display the visual information.

[0053] The user device 103 includes an application 103a installed thereon, and the application 103a can display a display screen in which a display signal is modified based on a similarity value between the first velocity vector and the second velocity vector. In the illustrated embodiment, the user device 103 can modify the display signal based on the similarity vector. Modifying the one or more display signals can correspond to changing a color of at least one detected object based on the similarity vector. By using the display signals of different types of detected objects, the user 105 can distinguish between types of detected objects, for example, stationary objects or moving objects.

[0054] In another embodiment, the notification unit 127 can generate an indication signal using a color to indicate a detected object based on a similarity between a first velocity vector and a second velocity vector associated with the detected object. The notification unit 127 can also generate an indication signal that changes the indication of the object based on a change in the distance of the detected object.

[0055] FIG. 3 is a schematic diagram showing a display screen of the user device 103 of an embodiment. The display screen shows concentric range rings 201a, 201b, 201c, a range area 203, a heading line 205, stationary objects 207a, 207b, 207c, 207d, objects 209a, 209b, 209c, 209d moving at the same speed and in the same direction as the tide, and objects 211a, 211b, 211c moving in a direction independent of the tide. That is, objects 211b, 211c, 211d move in a different direction from the tide. Depending on the general situation and conditions of the environment, an appropriate range width can be selected. In FIG. 3, the object detection device 101 detects one or more objects within a 6-mile range scale shown in the range area 203, and each fixed concentric range ring 201a-201c is predefined at intervals of 2 miles. The outer concentric range ring 201c further represents the azimuth angle in degrees. The concentric range rings 201a-201c make it easier to see the position of detected objects relative to the vessel that constitutes the object detection device 101, and can represent the distance from the center of the display screen, i.e., the vessel's position.

[0056] The display screen also uses a heading line 205, which extends from the center to the outer edge, and indicates the forward-most position of the vessel at the current time. In some embodiments, the heading line 205 may point to the direction the vessel is heading and may rotate on the screen as the vessel changes to a new course. In another embodiment, the heading line 205 may be temporarily hidden to make it easier to see weakly responsive objects ahead. The display screen may further show detected objects and their positions. Also, at least one object of the different types of detected objects is displayed on the screen based on the similarity between the first velocity vector and the second velocity vector so that the user 105 can visually distinguish between the different types of objects. Therefore, the user device 103 can represent the different types of objects using different colors or different frames around the detected different types of objects. As can be seen from FIG. 3, the detected stationary objects 207a to 207d are displayed on the screen surrounded by frames. The user 105 can easily distinguish between the stationary objects 207b to 207e by looking at the screen. Additionally, the user 105 can determine the location of stationary objects 207a-207d. For example, if one scale indicates 1 mile, the fixed object 207a is located approximately 2.2 miles from the vessel. Also, objects 209a-209d moving at the same speed and in the same direction as the current are displayed on the screen without a frame around them. Similarly, objects 211a-211c moving in a direction independent of the current are displayed on the screen with a circular frame around the objects 211a-211c. In another embodiment, different types of objects can be displayed on the display screen in different colors.

[0057] According to one embodiment, the processing unit 115 is configured to display on the display a mark associated with at least one object moving along the current that is determined to have the same speed and direction as the current (i.e., a drifting object). The mark allows the user 105 to distinguish between a drifting object and a stationary object. The mark can be modified based on a similarity between a first velocity vector and a second velocity vector associated with the detected object moving along the current.

[0058] In another embodiment, the processing unit 115 is configured to display a cursor (not shown) on the display screen of the user device 103 to allow the user 105 to move the cursor to different points on the nautical chart. Furthermore, the processing unit 115 is configured to display the distance and azimuth between the object and the cursor when the object has the same speed and direction as the current.

[0059] FIG. 4 illustrates an example of a scenario 300 in which a ship 301 detects schools of fish 305a, 305b in water 303 using an object detection device 101. The ship 301 includes the object detection device 101. One of the objectives of the present disclosure is to detect schools of fish such as 305a, 305b based on the detection of seabirds flying in the speed and direction of the current in the water 303. To this end, the object detection device 101 transmits a radar signal 309 (electromagnetic wave) upward into the water 303 at a predetermined range. When the radar signal 309 comes into contact with an object 307, the radar signal 309 is reflected or scattered in many directions. Then, a part of the radar signal is reflected 311 back (i.e., echo), and the object detection device 101 receives the radar signal. The reflection 311 is used to determine radar information related to the object 307. Radar information related to a detected object 307 may include position information of the object 307, the speed of the object 307, the direction the object 307 is moving, and the like.

[0060] The object detection device 101 may transmit radar signals 309 in a 360 degree circle above the surface of the water 303. The object detection device 101 detects the bearing and distance of echoes returning from surrounding objects of interest and generates a map-like display on the display, which may show the position (latitude and longitude) of the detected objects 307, the speed and direction of the objects 307, etc.

[0061] It is important to determine whether the detected object 307 is moving at the same speed as the tidal current and in the same direction as the tidal current. When the detected object is moving in the direction of the tidal current, it can be determined that the object 307 is a seabird chasing a school of fish 305a, 305b. Furthermore, based on the speed and direction of the object 307, the type of the object 307 may be determined.

[0062] Thus, to determine whether the object 307 is moving in the direction of the current, the object detection device 101 can obtain the speed and direction of the current and compare the speed and direction of the object 307 with the speed and direction of the current. Furthermore, the object detection device 101 classifies the object 307 into different types based on the speed and direction of the object 307 and the speed and direction of the current. In an exemplary embodiment, the object detection device 101 can obtain the current information directly from the database 111. In another embodiment, the vessel 301 can determine the current using multiple sensors 107. Here, a tidal current meter can be used to determine the current using sound waves. To determine the current, the vessel 301 transmits a "ping" of sound waves (ultrasonic waves) 313 at a certain frequency into the water 303. As the sound waves 313 move, they bounce off particles suspended in the moving water and are reflected back as echoes 315. Due to the Doppler effect, the frequency of the echo 315 will be higher or lower depending on the particle moving towards or away from the vessel 301. For example, sound waves reflected by a particle moving away from the instrument will be received at a lower frequency and vice versa. The difference in frequency between the sound wave 313 and the frequency of the reflected wave or echo 315 is called the Doppler shift. Because particles move at the same speed as the water carrying them, the Doppler shift is proportional to the speed of the water or current, i.e., tides.

[0063] The type of the detected object 307 is at least one of a stationary object, an object moving in the same direction at the same speed as the tidal current, and an object moving in a direction independent of the tidal current. The object may include a seabird (as shown in FIG. 4), which may move in the same direction at the same speed as the tidal current. Thus, the object detection device 101 may determine that the seabird is chasing a school of fish 305a, 305b, or that there is drift on the sea surface. Furthermore, the object detection device 101 may detect a stationary object such as a lighthouse, or other objects not moving with the tidal current, such as a helicopter, airplane, or other bird that is not chasing a school of fish. In this way, the object detection device 101 detects a school of fish such as 305a, 305b based on the object 307. Note that when the object 307 is detected, it may be detected as a drifting object flowing along the tidal current.

[0064] As used herein, a target may be a portion of an object that is of interest to a user, and thus the object detection device notifies the user of objects that are classified as targets. Depending on the situation, the user may be interested in a different subset of objects and thus be notified of objects that are classified as targets. In an exemplary embodiment, a target is at least one type of object that can be distinguished from other types of objects.

[0065] 5 is an example flow chart showing steps of a method 400 performed by the object detection device 101 for marine tracking. The method 400 begins at step 401 with determining radar information of an object. Radar may be used to detect the object using high frequency radio waves. At step 403, echoes received from the object may be used to determine radar information associated with the object. The radar information associated with the object may include the speed and direction of the object.

[0066] In step 405, a first velocity vector of the detected object may be calculated based on radar information associated with the object. The first velocity vector may include the speed of the object, the distance at which the object was detected, the direction in which the object is moving, etc. In step 407, current information may be obtained. The information regarding the current may be obtained from database 111. In another embodiment, the current information may be obtained from multiple sensors 107 installed on the vessel. The current information may include the speed and direction of the current.

[0067] In step 409, a second velocity vector, which is a vector of the underwater current speed, is calculated based on the second tidal current information. The second velocity vector is determined by the navigation information management unit 123 or the second velocity vector calculation unit. The second velocity vector may include the direction of the flowing tidal current, the speed of the tidal current, the water depth that determines the speed of the tidal current, and the like.

[0068] In step 411, the speed and direction associated with the object can be compared with the speed and direction of the current to determine the object as a target. Specifically, a first velocity vector, which is the vector of the object, can be compared with a second velocity vector, which is the vector of the current. In addition, the type of object detected can be a stationary object, an object moving at the same speed and in the same direction as the current, or an object moving in a direction independent of the current. Based on the detection that the object is moving at the same speed and in the same direction as the current, the location of the drifting object or school of fish is determined. This is because an object moving at the same speed and in the same direction as the current can be determined to be a seabird chasing a school of fish or a drifting object.

[0069] In step 413, the user 105 is notified on the display screen of the user device 103 about the target detected or classified in step 411. The notification may include the location of the detected object. Also, the display screen of the user device 103 may display different types of detected objects. Depending on the type of object, it may be displayed in different colors or frames so that the user 105 can easily distinguish between the types of detected objects.

[0070] Therefore, an example embodiment of the present disclosure provides an object detection device 101 that detects objects based on a flock of seabirds chasing an underwater object (i.e., a school of fish) moving along a tidal current, or a drifting object moving along a tidal current. To this end, the device can determine whether the detected object is a stationary object, an object moving in the same direction at the same speed as the tidal current, or an object moving in a direction unrelated to the tidal current. If it is determined that the detected object is moving in the same direction at the same speed as the tidal current, it can be determined that the detected object is chasing a school of fish. Therefore, it is important for a user 105, such as a fisherman, to detect such objects and further determine the location of these objects. Furthermore, to determine whether the at least one detected object is chasing a school of fish, the device calculates a first velocity vector of the detected object based on radar information of the detected object. The device further calculates a second velocity vector based on tidal current information. The device then compares the first velocity vector and the second velocity vector to determine a similarity between the two vectors. Based on the similarity, the device determines a type of the at least one detected object. The device further displays the objects in different colors or frames depending on the detected type so that the user 105 can visually distinguish between different types of objects.

[0071] Furthermore, the device determines the location of another object based on an object moving in the same direction and at the same speed as the tidal current, i.e., an object moving in the direction of the tidal current may be determined to be a seabird chasing a school of fish, and the school of fish is therefore determined to be in a position corresponding to the position of the detected object moving along the tidal current.

[0072] The present invention is not limited to the specific embodiments disclosed. Moreover, while the above description and the associated drawings describe the illustrated embodiments in the context of certain exemplary combinations of elements and / or functions, it should be understood that different combinations of elements and / or functions may be provided by alternative embodiments without departing from the scope of the appended claims. In this regard, for example, it is contemplated that combinations of elements and / or functions different from those explicitly described above may also be set forth in some of the appended claims. Although specific terms are used herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims

1. a radar detection unit that detects an object by a radar; a radar information determination unit for determining radar information of the object; a first velocity vector calculation unit that calculates a first velocity vector of the object based on the radar information; a tidal current information acquisition unit for acquiring underwater tidal current information; a second velocity vector calculation unit that calculates a second velocity vector based on the tidal current information; a classification unit that compares the first velocity vector with the second velocity vector to classify the object; a notification unit that notifies a user of the object determined as a target requiring notification based on the classification by the classification unit; An object detection device having the following features.

2. The tidal current information includes at least one of a tidal current speed and a tidal current direction, The radar information includes at least one of a speed and a direction of movement of the object.

2. The apparatus of claim 1.

3. The device according to claim 1 , wherein the notification unit notifies the target by generating a display signal in which a display mode corresponding to the target is changed.

4. The object detection device according to claim 1 , wherein the notification unit notifies the user by generating an indication signal having a mark corresponding to the target.

5. The classification unit determines a type of the object; 5. The object detection device according to claim 1, wherein the type of the object is at least one of a stationary object, an object that moves with a tidal current, and an object that moves in a direction independent of a tidal current.

6. The object detection device according to claim 5 , wherein the notification unit notifies the user by generating a display signal in which a color corresponding to the target is changed based on the type of the object.

7. The object detection device according to claim 5 , wherein the classification unit determines an object moving along a tidal current as the target.

8. The classifier determines a similarity value between the first velocity vector and the second velocity vector; classifying the object based on the similarity value; The object detection device according to any one of claims 1 to 7.

9. The object detection apparatus of claim 8 , wherein the similarity value is determined based on at least one of an inner product and a difference of a first velocity vector and a second velocity vector.

10. The object detection device according to claim 1 , wherein the notification unit notifies by generating a display signal in which a color of the target is changed based on a change in the distance between the ship and the target.

11. The object detection device according to claim 1 , further comprising a radar device that transmits and receives radar signals.

12. Radar detects objects, determining associated radar information of said object; calculating a first velocity vector, which is a velocity vector of the object, based on the radar information; Acquire underwater current information, Calculating a second velocity vector based on the tidal current information; comparing the first velocity vector and the second velocity vector to classify the object; notifying a user of the object determined as a target requiring notification based on the classification; Object detection methods.

13. A process of detecting an object by a radar; determining associated radar information of said object; A process of calculating a first velocity vector, which is a velocity vector of the object, based on the radar information; obtaining underwater current information; Calculating a second velocity vector based on the tidal current information; comparing the first velocity vector with the second velocity vector to classify the object; a notification process for notifying a user of the object determined as a target requiring notification based on the classification; An object detection program having

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