Management server in ship navigation support system, ship navigation support method, and ship navigation support program

Abstract

To provide navigation support for small vessels which enables clear depiction of a radar image.SOLUTION: A management server in a vessel navigation support system comprises: communication means of transmitting / receiving data via a network between the management server and a user terminal connected with a detection device for a target; and vertex information management means of identifying vertices moving as a group among a plurality of vertices of the target extracted on the basis of detection result information of the target as belonging to the same target, wherein the communication means transmits an instruction to the user terminal to display a rough outline of the target on the basis of the vertices identified as belonging to the same target.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to a navigation support system for a ship, and more particularly to a management system for a navigation support system for a ship. The present invention relates to a navigation support server, a navigation support method for ships, and a navigation support program for ships. [Background technology]

[0002] To assist ship navigation, various ships are equipped with target detection devices such as radar. However, radar does not always accurately capture the external shape of a target depending on its performance and surrounding conditions. In particular, in the case of small vessels, it may be difficult to accurately display the ship's hull. The ship is easily affected by environmental changes, causing it to sway up and down and side to side. If the image is displayed as is, the image may become blurry.

[0003] Furthermore, there are various types of radar magnetron oscillation output, but in Japan, low output is used. For example, for smaller vessels (less than 5kW), no operating qualification is required. It is equipped with a low-power device. Therefore, especially for small vessels, on-board radar alone does not provide sufficient navigational support. There is a risk.

[0004] As background art in this technical field, there is Japanese Patent Application Laid-Open No. 2006-65831 (Patent Document 1). This publication states that "a rotating camera is installed in each of the multiple control areas that can be detected by radar. A mobile radar ship equipped with a camera, GPS, and a communication system is deployed, and the radar ship's Position, distance and direction between the radar vessel and the corresponding target vessel located within the area The radar ship transmits the image information of the camera wirelessly to the management office on land, and the radar The positional relationship between the target ship and the target vessel is synthesized and displayed on the image. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2006-65831 Summary of the Invention [Problem to be solved by the invention]

[0006] However, the performance of radars installed on small vessels is limited, so it is difficult to For example, Patent Document 1 discloses that image information of targets is not always available. However, the image information obtained from the radar is not clear. and it was not possible to clearly display the outline of the target's contour.

[0007] Therefore, the present invention provides a system that allows data to be transmitted and received between a ship and land via a network. At the same time, target images obtained by target detection devices on one or more small vessels are By performing image processing on these and integrating them, the outline of the target's contour can be clearly displayed. To provide a navigation support system for ships that can display the [Means for solving the problem]

[0008] In order to solve the above problems, for example, the configurations described in the claims are adopted. 。 [Effects of the Invention]

[0009] The present invention enables data transmission and reception between a ship and land via a network. At the same time, for target images obtained by target detection devices on one or more small vessels, By processing the images and integrating them, the outline of the target can be clearly displayed. The present invention provides a navigation support system for ships. Preferably, on small vessels, inexpensive and easy-to-use devices such as smartphones and tablet terminals should be used. This makes it possible to build a network that utilizes portable user terminals. Problems, configurations, and effects other than those described above will become apparent from the following description of the embodiments. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a conceptual diagram showing an example of a navigation support system for a ship (Example 1). [Figure 2] FIG. 2 is a conceptual diagram of a circuit configuration of a target detection device (first embodiment). [Figure 3] FIG. 3 is a conceptual diagram of an example of data flow between a user terminal, a management server, and a land-based management terminal (Example 1). [Figure 4] Fig. 4 is a modified example of the conceptual diagram of the data flow between the user terminal, the management server, and the land management terminal shown in Fig. 3 (Embodiment 1). [Figure 5] FIG. 5 is a conceptual diagram showing an example of operations performed by the image processing module, divided into (A), (B), and (C). (Example 1) [Figure 6] FIG. 6 is a conceptual diagram showing an example of the operations performed by the vertex information management module, divided into (A), (B), and (C). (Example 1) [Figure 7] FIG. 7 is a conceptual diagram showing an example of a map displayed on a terminal display, divided into (A) and (B). (Example 1) [Figure 8] FIG. 8 is a conceptual diagram showing an example of radar detection of one small boat from two small boats (Example 2). [Figure 9] Figure 9 shows an example of detection results from the two small boats shown in Figure 8. (Example 2) [Figure 10]Fig. 10 is a conceptual diagram showing an example of radar detection of one small boat from two small boats after a predetermined time has elapsed from the point shown in Fig. 8 (Example 2). [Figure 11] FIG. 11 is a conceptual diagram showing an example of the detection results from the two small boats shown in FIG. 10, divided into (A) and (B). (Example 2) [Figure 12] FIG. 12 is a conceptual diagram showing an example of radar detection of one large ship from three small ships (Example 3). [Figure 13] Figure 13 shows conceptual diagrams (A) and (B) illustrating examples of cases where two small boats cannot be distinguished from one ship due to the radar's range resolution when two small boats are detected by radar from one ship. (Example 4) [Figure 14] Figure 14 is a conceptual diagram showing an example of a case where an object cannot be distinguished due to the minimum radar detection distance when radar is detecting an object from a single ship (A), and an example of a case where an object cannot be distinguished due to the influence of a large ship when radar is detecting an object from a single ship (B) (Example 5). [Figure 15] FIG. 15 is a conceptual diagram showing an example of a case where a false image is generated when detecting an object from a ship near a bridge using radar. (Example 6) [Figure 16] Figure 16 is an example of a conceptual diagram showing the radar detection results of the two ships shown in Figure 15, divided into (A) and (B). (Example 6) [Figure 17] FIG. 17 is an example of a conceptual diagram showing the flow of processing on the user terminal side in the method for assisting ship navigation according to the present invention. [Figure 18] FIG. 18 is an example of a conceptual diagram showing the flow of processing on the management server side in the ship navigation support method according to the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. [Example]

[0012] FIG. 1 is a conceptual diagram showing an example of a ship navigation support system according to the present invention. The ship navigation support system 1 includes a user terminal 30 used by ships 2, 4, and 6 and a management server. The ship is connected to a platform 50 via a network 70. The navigation support system 1 connects the land management terminal 40 and the management server 50 via a network 70. The user terminals 30 are also able to communicate with each other.

[0013] Vessels 2, 4, and 6 are mainly pleasure boats used by individuals for sports and leisure. This refers to small vessels such as motorboats, yachts, and jet skis. It is possible to apply the ship navigation support system 1 to larger ships. Now, the user terminal 30 in which the program related to the ship navigation support system 1 is installed is is now available for use. The user terminal 30 is, for example, a tablet or a smartphone that can be used by the user on the ships 2, 4, 6, etc. It is any device that has the functionality of a portable computer, such as a smartphone.

[0014] The land management terminal 40 is, for example, a shipping company that owns small ships or commercial ships, or a construction company The equipment includes computers and other equipment provided by land-based companies such as leisure companies. In addition to the business management, the company also provides ship operation management using the land-based management terminal 40. Do the following. The land-based control terminal 40 is, for example, a normal personal computer that can be used by a user on land. It has the functions of a fixed or portable computer such as a laptop or notebook personal computer. Any device that:

[0015] The management server 50 controls the overall data management of the ship navigation support system 1 according to the present invention. do. The management server 50 may be, for example, a regular personal computer that can be used by a user on land. Or has the functionality of a fixed or portable computer such as a notebook personal computer The management server 50 may be implemented as a server on a cloud. No.

[0016] In this ship navigation support system 1, maritime communications (signals) are performed between the land and the ship to support the ship's navigation. 70) has been established, and it is now possible to establish maritime communications between ships. For example, the communication means of the user terminal 30 is a mobile phone communication (SIM (Subscriber Data communication (code) via Identity Module (IDM) card 72) to the management server 50, the land management terminal 40, or other user terminals 30. Data can be sent and received between the user terminal and the ship's Wi-Fi (registered trademark). The system may be configured to connect to the management server 50 and communicate with the management server 50 via Wi-Fi. The land management terminal 40 may be connected to a land network using satellite communication or the like. The data communication between the management server 50 and the network 74 may be performed via a wireless network or a wired network. Each terminal 30, 40 is connected to a network 70 (72, 74). Information can be sent and received between the management server 50 and the server 50 via the above.

[0017] Network 70 includes AIS (Automatic Identification System) It is also possible to further connect the Automatic Identification System (AI) system 60. The S system 60 receives the ship's own identification code, ship name, position, and course from the AIS device installed on the ship. Individual information such as route, speed, and destination is transmitted wirelessly via VHF radio waves. The signal is received by other ships sailing and by maritime traffic centers on land. Others include GPS (Global Positioning System) system and wind direction. Anemometer system, international VHF (Very High Frequency) radio The systems and the like can be connected to a network 70 .

[0018] This ship navigation support system1 replaces the functions of the main electronic equipment of conventional small ships with those of IoT and AI. This will be realized on the cloud using I, and all ships' information will be available via the Internet. It also enables real-time sharing of information, weather, surrounding information, etc. By displaying the information on your smartphone or tablet, you can reduce the cost of installing, maintaining, and updating electronic equipment. The time costs of obtaining and applying for licenses, the learning costs of mastering operation, and paid training It solves the problems that have been a barrier to personal ownership of electronic equipment, such as the cost of You can enjoy a fulfilling marine life.

[0019] The terminals 30, 40 and the management server 50 of the ship navigation support system 1 are not limited to the above examples. For example, smartphones, tablets, mobile phones, personal digital assistants (PDAs), etc. It may be a mobile device, or a wearable device such as glasses, a wristwatch, or clothing. It can be a stationary computer or a portable laptop computer, or it can be a cloud or network It may be a server located on a network, or a combination of multiple terminals. For example, the combination of one smartphone and one wearable device may be logically It can also function as a single terminal.

[0020] The terminals 30, 40 and the management server 50 of the ship navigation support system 1 are each operated by The processor that runs the operating system, applications, and programs, and the RA M (Random Access Memory) and other main memory devices, such as IC cards and hard disks. Hard disk drive, SSD (Solid State Drive), flash memory Auxiliary storage devices such as memory cards, network cards, wireless communication modules, and mobile communication modules The communication control unit, such as the controller, and the touch panel, keyboard, mouse, voice input, and camera unit imaging It is equipped with an input device such as a motion detection input device and an output device such as a monitor or display. The output device may be an external monitor, display, printer, or other device. It may also be a device or terminal that transmits information for the purpose of

[0021] The main memory stores various programs and applications (modules). The processor runs these programs and applications to operate the entire system. Each of these modules can be integrated into a hardware system. Each module may be implemented as an independent program or application. It can be a program or a subprogram within an integrated program or application. It may be implemented in the form of a program or a function. In this specification, each module is described as a subject that performs processing. In this case, a processor that processes various programs and applications (modules) is used. Implement the theory.

[0022] The auxiliary storage device stores various databases (DB). Any data manipulation (e.g., extraction, addition) from a processor or external computer It is a functional element (storage unit) that stores data sets so that they can be updated (deleted, overwritten, etc.). The method of implementing the database is not limited, and it may be, for example, a database management system. It can be a spreadsheet software or a text file such as XML or JSON.

[0023] "Target detection device" FIG. 2 is a conceptual diagram showing an example of the circuit configuration of the target object detection device 10 according to the present invention. Referring to FIG. 2, a target detection device 10 mounted on each of the ships 2, 4, and 6 is illustrated. To support the navigation of a ship, various target detection devices can be installed on the ship. The detection device 10 is a radar 10. However, the target detection device 10 is a target (target) It is possible to use a camera capable of acquiring images, such as LIDAR, instead.

[0024] Typically, the antenna unit 12 of the radar 10 is installed near the top of the mast of the ship 2. The antenna part 12 has a blade part that emits radio waves (microwaves), and the motor part 1 below it The antenna part 12 has a slot for emitting microwaves. (Radiation section) is provided.

[0025] In the circuit configuration of a normal radar 10, a pulse voltage is generated in the modulation section 16. The magnetron 18 is controlled by the power supply voltage. The magnetron 18 generates a microwave pulse. When the transmission / reception switching unit 20 is switched to transmission, the microwave is transmitted through the waveguide. The microwaves are then guided to the antenna section 12 and emitted from the slots in the antenna section 12. The microwaves emitted from the antenna travel over the surface of the sea and collide with targets such as other ships. When the signal is reflected, it returns to the original antenna section 12. When the reflected signal is received by the antenna unit 12 and the transmission / reception switching unit 20 is switched to reception, After passing through the wave number conversion unit 22, the detection circuit 24, the video amplifier unit 26, etc., it is sent to the instruction unit 28. The instruction unit 28 stores the image using a drawing circuit or the like and displays the radar image on the screen. .

[0026] The transmitted signal emitted from the radar is a pulse wave that is repeatedly emitted. The pulse width, which is the time it is transmitted, is used depending on the distance to be detected. It transmits short, sharp pulses for long-distance detection and long, powerful pulses for long-distance detection. Generally, small radars have three stages of pulse width switching. do. The number of transmitted pulse signals emitted per second is called the pulse repetition frequency. The pulse repetition frequency is determined by the detection distance and the pulse width used. When detecting the ocean surface, the pulse repetition frequency is high. , the pulse repetition frequency is lower because the round trip time of the radio waves is longer.

[0027] The radar image displayed on the indicator 28 shown in FIG. 2 is displayed in a PPI (Plan Position Indicator). The position is displayed in a plane position display format. On the screen, you can see 360 ​​degrees around the ship's position. It is set up in the bridge of the ship 2. The instruction unit 28 includes a video amplifier and a program for image processing. The display unit 28 is a digital display unit that can be used to control the movement of the human body. The power supply to the indicator 28 is via this wiring. The antenna unit 12 and the indicator unit 28 are connected by an antenna cable. Therefore, power is supplied to the antenna unit 12. Furthermore, the indicator unit 28 includes a direction sensor It is possible to connect devices such as a gyrocompass to obtain a true direction signal.

[0028] Information on the detection results of the radar 10, i.e., information on targets around the ship detected by the radar 10 The information (signal) is displayed as a radar image on the screen of the display unit 28. It has a built-in target tracking function that automatically tracks isolated targets in radar images and determines their positions. Target information (also called TT information) regarding (relative distance, direction) and speed (course, speed) can be obtained. The target information that can be output by the radar 10 includes, for example, the relative distance from the ship to the target, It is possible to detect the direction from the ship to the target, the time when the target was detected, and the target's speed. Automatically assigning target numbers to targets detected by the radar 10. This target information is transmitted every time the antenna unit 12 is rotated by the motor unit 14 (for example, The display may be updated every 3 seconds.

[0029] "Flow of Ship Navigation Support System 1" FIG. 3 shows an overview of the data flow between the user terminal 30, the management server 50, and the land-based management terminal 40. This is an example of a mental diagram. The user terminal 30 is connected to the instruction unit 28 of the radar 10 (see FIG. 2). The detection result receiving module 31 receives target detection result information (target information and radar image information) The information received by the radar detection result receiving module 31 can be obtained as follows. The information can be stored in the user terminal 30 along with the time of day. The user terminal 30 is equipped with an external device such as a direction sensor or a gyrocompass to obtain a true direction signal. The user terminal 30 has a device, an internal device, a program, etc. The position receiving module 32 and the ship's direction receiving module 33 receive the ship's position information (latitude, longitude, It is possible to obtain information on the direction (degrees) and orientation. Note that the orientation can be based on true north or Some systems use the ship's heading (navigation direction) as the basis, but this system can be used for both. The information received by the ship's position receiving module 32 and the ship's heading receiving module 33 is The information can be stored in the user terminal 30 together with the time of the recording.

[0030] The user terminal 30 may further include an image processing module 34. In this case, The target detection result information (especially radar image) obtained from the radar detection result receiving module 31 The image processing module 34 performs image processing on the target object to extract multiple vertices of the target object. Furthermore, the user terminal 30 can obtain the position information of each vertex. The speed and direction of movement of a point can be calculated. The user terminal 30 includes a communication module 35 and is connected to the network 7 shown in FIG. 0 and the communication module 55 of the management server 50. The radar detection result information, own ship position information, own ship direction information, and user The terminal 30 manages information on a plurality of vertices of the target (especially, latitude, longitude, speed, course, etc.). The data can be uploaded to Server 50 sequentially.

[0031] The management server 50 has a vertex information management module 56, and receives the vertex information from the user terminal 30. Furthermore, the vertex information management module 56 can store the stored information. Based on this information, vertices that move as a group are identified as the same object. At this time, the vertex information management module 56 can The same object ID (object identification information) is assigned to the set of vertices to be created, and the management server 50 It may be made public.

[0032] The management server 50 manages information on pre-registered nautical charts for each region. The management server 5 has pre-registered various shapes of coasts, inland seas, ports, anchorages, and land. The system may have a map creation module 58 that can call and use any map. For example, based on the latitude and longitude of the ship obtained from the user terminal 30, A surrounding map may be optionally selected within the area. On the selected map, the vertex information management module 56, and enables display of targets based on the object ID obtained from the The management server 50 transmits the map information created by the map creation module 58 to the user terminal 30. and can be transmitted to the land management terminal 40. The map information can be transmitted to at least the same object. This includes information on the vertices that are identified as belonging to the same object ID. By connecting the vertices on the map, it is possible to outline the contour of the target. Additionally, the map information may include map information of the area surrounding the object ID.

[0033] Alternatively, the user terminal 30 may have a map creation module 58, which can create any map. For example, the latitude and longitude of the ship obtained from the user terminal 30 may be used. For example, the map information of each area can be displayed on the map. Nautical charts include various figures of coasts, inland seas, harbors, anchorages, and land. Then, on the selected map, the vertex information management module 56 generates a vertex based on the object ID. It allows for the outline of the target's contours to be drawn. The user terminal 30 has a map display module 39 and a map creation module 3 The map created in 8 and 58 is displayed on a display or screen. The map may be updated accordingly based on the map creation module 38, 58.

[0034] Similarly, the land-based control terminal 40 may have a map generation module 48, and any For example, the latitude and longitude of the ship obtained from the user terminal 30 may be used. The map of the surrounding area may be selected arbitrarily within a predetermined range based on the degree of the navigation. For example, the information of the nautical chart of each area may be The chart includes various shapes of coasts, inland seas, ports, anchorages, and land. Furthermore, on the selected map, the vertex information management module 56 generates a vertex based on the object ID. This allows for a clear outline of the target. The land control terminal 40 has a map display module 49 and a map creation module The map created in 48 and 58 is displayed on a display or screen. The map may be updated accordingly based on the map creation modules 48, 58. Furthermore, the land management terminal 40 has a ship information management module 47, and The ship information management module manages information such as the name, size, shape, etc. of each ship in the fleet. The information on ships and the like obtained from the map generation module 47 is sent to the map generation module 48, 58 as appropriate. You can then display that information on a map.

[0035] FIG. 4 shows the data exchange between the user terminal 30, the management server 50, and the land management terminal 40 shown in FIG. 10 is a modified example of the conceptual diagram of the data flow. In the configuration illustrated in FIG. 3, the image processing module 34 on the user terminal 30 side performs target detection. Based on the detection result information (particularly radar images), the user terminal 30 performs image processing to identify the target. Multiple vertices are extracted. In the configuration illustrated in FIG. 4, the user terminal 30 includes a radar detection result receiving module 31, Various information obtained from the ship's position receiving module 32 and the ship's direction receiving module 33 is transmitted to the communication module. The information is transmitted to the management server 50 via the module 35 . The management server 50 includes an image processing module 54, which processes the image data transmitted from the user terminal 30. Based on the detected target information (particularly radar images), the management server 50 performs image processing. to extract multiple vertices of the target. Image processing module 34 of user terminal 30 and image processing module 54 of management server 50 can be configured substantially the same as that illustrated in FIG. 3, and other configurations are the same as those illustrated in FIG. So, further explanation will be omitted.

[0036] "Image processing modules 34, 54" FIG. 5 shows the operations performed by the image processing modules 34 and 54, divided into (A), (B), and (C). 1 is an example of a conceptual diagram showing the above. Referring to FIG. 5(A), three targets Oa, Ob, and Oc are obtained from the radar 10. The radar image is illustrated in a conceptual diagram. The radar can be used to Therefore, the external shapes of targets Oa, Ob, and Oc may not always be displayed accurately. do. For example, small vessels in particular are susceptible to environmental changes from the sea due to their hull characteristics, and The ship is also affected by the movement of the sea surface due to weather conditions, etc. As a result, the hull of the ship is shaking in the up and down and left and right directions. If the digital image is displayed as is, the image may become unclear. Referring to Fig. 5(B), three targets Oa and Ob on the radar image shown in Fig. 5(A) are , Oc, the image processing module 34 of the user terminal 30 or the image of the management server 50 As a result of image processing performed by the processing module 54, multiple vertices K1-K7 are extracted. is shown as an example.

[0037] Here, the "vertex" refers to a characteristic point such as the outer edge of a target (object) displayed on a radar image. For example, if a part of the outer edge extending in one direction changes direction, Alternatively, both ends of the linearly extending outer edge can be extracted as vertices. Preferably, the vertex is a corner or end of the outer edge of the target. Or, if the target exists almost like a point, the vertex can be extracted as a single point. do. Although radar images cannot accurately depict the outline of a target, they can show characteristic vertices. It is possible to show. For example, if the target is a particularly small object such as a buoy, it will be displayed in a narrow, stationary area on the radar image. The target Oa is drawn as a vertex K1, for example, at the center of the target Oa. In addition, for example, the middle of the length in the X-axis direction and the middle of the length in the Y-axis direction of the image of Oa can be The intersection point between them may be set as vertex K1, or the center of gravity of the image of Oa may be set as vertex K1. In addition, if the target is a small vessel such as a pleasure boat, it will be displayed as a bar on the radar image. At the bow and stern positions of the target Ob, two vertices K2 and K3 are formed at both ends of the target Ob. You can find 3. In addition, if the target is a large ship such as a barge, the bow and stern positions in the ship width direction are For the four corners of this target Oc, the four vertices K4, K5, K6, and K7 can be found. Cut. Furthermore, depending on the external shape of the target, three, five or more target vertices may be found. This may also be the case (not shown).

[0038] Referring to Figure 5(C), the result of image processing on the radar image shown in Figure 5(B) is shown. , only the calculated K1-K7 are shown. Image processing may include, for example, the following operations: The user terminal 30 or the management server 50 converts the radar image into a "pixelated image." A "pixelated image" is an image that is divided into multiple pixels (patches) or multiple It is an image that contains a set of pixels (a set of patches). The image processing module 34 of the user terminal 30 or the image processing module of the management server 50 54 responds to a trigger signal by capturing the pixelated image. Perform image processing.

[0039] For example, the radar image shown in Figure 5(A) is segmented. ,Classification is performed for each pixel or for each set of pixels (e.g., classification between sea and objects). In this case, even if you analyze the color (hue, saturation, brightness) for each pixel or for each pixel group, A graphical contour identification may also be performed for each target. The image processing modules 34 and 54 have previously undergone training in image processing for various radar images. Training can involve, for example, hundreds, thousands, or even more images of different targets. The results are then accumulated. For example, images of the sea surface alone, the sea surface and a ship We process images in various situations, such as images of only small boats, images of the sea surface and two small boats, etc. , and may calculate and generate statistics about the results. After a high recognition rate, for example, about 99%, is achieved through training, During the process, radar image processing is performed to identify and extract target vertices from pixelated images. .

[0040] The above training can also be performed using AI machine learning. Using radar images and target vertex information as training data, the input is output as a radar image. A decision model is generated by machine learning, which uses force as target vertex information. By inputting a radar image, target vertex information can be obtained as output. The target vertex information should include at least the date and time when the radar image was taken (or supplementary information). If vertex information is calculated for a few seconds before or after the calculation, the time and the coordinate information of the vertex are used. In addition, radar specific information, user terminal specific information, speed, direction, movement vector It may also include the following:

[0041] "Vertex information management module 56" FIG. 6 shows the operations performed by the vertex information management module 56 divided into (A), (B), and (C). 1 is an example of a conceptual diagram showing the above. The vertex information management module 56 of the management server 50 performs the image processing by the image processing modules 34 and 54. The information of the extracted vertices K1-K7 (see FIG. 5(C)) is stored. Every time the target detection device (radar) 10 updates the target detection result (for example, every 3 seconds), Each time the image processing is repeated, the vertex information management module 56 accumulates the vertex information. Therefore, the time-varying change of the position coordinates of each of the extracted vertices K1 to K7 is The vertex information management module 56 monitors and records the extracted vertex information. By tracking the information of each vertex (especially the latitude and longitude), the division of multiple vertices K1-K7 is performed. This is done.

[0042] Figure 6(A) shows the state of the vertices after a certain time has elapsed since Figure 5(C). The rule 56 compares the vertex coordinate information of FIG. 6(A) with that of FIG. 5(C), and determines, for example, the coordinates of multiple vertices K Among vertices 1-K7, one vertex K1 remains unchanged in position coordinates, while two vertices It is determined that the position coordinates of points K2 and K3 have changed simultaneously in the same direction and at the same speed. In addition, the four vertices K4-K7 move in different directions and at different speeds from K2 and K3, and simultaneously change their position coordinates. In this case, the vertex information management module 56 identifies that the vertices K1 -K7, K1, K2 and K3, and each subgroup (subgroup) of K4-K7 It can be classified. Referring to FIG. 6A, the vertex information management module 56 performs the following for each classified small group: Each vertex is assigned a different object ID. For example, object ID 1 is assigned to vertex K1, and object ID 2 is assigned to vertex K2. K2 and K3 are assigned object ID 2, and vertices K4-K7 are assigned object ID 3. There are.

[0043] In this way, the vertex information management module 56 stores information for all extracted vertices. Accumulation and tracking, resulting in one or more vertices moving as a group Preferably, this operation is carried out by the target detection device (radar) 10 identifying the target. This is repeated every time the detection result is updated (for example, every 3 seconds). You can also weight D. For example, there are cases where an object ID is assigned only once, and cases where The same object ID is assigned 10 times in a row, and the same object ID is assigned 100 times in a row. This is because the reliability differs depending on whether the data is transmitted or not. Furthermore, it is possible to assign a new object ID to an object ID that has already been assigned. (For example, a group identified as one object is classified into two subgroups. In addition, it is possible to cancel an object ID that has already been assigned. (For example, a group of objects identified as a single object may be identified as an illusion.)

[0044] Here, "one or more vertices moving as a unit" means that each of the moving vertices It is a set of vertices that integrates information about points and maintains their relative positions in close proximity. Each object is assigned an object ID. For example, only one vertex (e.g., K1) can store its position coordinates, movement direction, movement speed, etc. , if it is observed that the vertex is different from other surrounding vertices, then only for that vertex, One object ID (e.g., ID1) can be assigned. For example, when the object is on the surface or underwater, There are buoys (drifting or moored) in the area, but buoys are fixed on the sea surface with a certain size and shape. A buoy may be included on the radar image to represent one object I per vertex. When assigning D, it is done within the range of the size of the buoy to be used, for example.

[0045] In addition, two vertices (for example, K2 and K3) have their position coordinates, movement direction, movement speed, etc. If it is observed that the vertices are different from the other surrounding vertices, then only for those two vertices , one object ID (e.g., ID2) can be assigned. If the distance between two vertices remains constant, then the two We can assume that the vertices belong to the same object. We assign one object ID to the two vertices. If so, for example, it should be within the range of the size of a small vessel (especially the length between bow and stern).

[0046] However, the present invention is not limited to the above classification. For personal watercraft, only one vertex is assigned, and for yachts over 6m in length, To give two vertices, one or two vertices are used to accommodate various small vessel sizes. In the former case, the size of a detected point is about 5m at maximum, and the If the error is maintained within the range of about minus 1m-0.5m, one vertex will be a single mass. In the latter case, the distance between the detected two points is If the value is about 10m and is maintained within an error range of about plus or minus 1-2m, two We can assume that the vertices of move as a unit. Other classifications are possible. .

[0047] In addition, four vertices (for example, K4, K5, K6, and K7) have their position coordinates, movement direction, If it is observed that the movement speed, etc. of the four vertices differs from that of the other surrounding vertices, Only one object ID (e.g., ID3) can be assigned to the object. The distance between two adjacent vertices, the distance between two adjacent sides of a four-sided polygon (quadrilateral) You can also look at the angle between the four vertices or the area enclosed by the four vertices. If the distance, angle, or area remains constant, the four vertices belong to the same object. If one object ID is assigned to four vertices, for example, It may be performed over a range of sizes (especially the length between bow and stern). The minimum distance between the two largest points is about 9m, and is maintained within an error range of about plus or minus 2m. If the four vertices are moved in a single block, we can assume that they are moving in a single block. In the case of a ship, the maximum distance between two detected points is about 100m, plus or minus If the error is maintained within a range of about 3 m, it is assumed that the four vertices move as a single unit. It is also possible to do this.

[0048] Therefore, the vertex information management module 52 of the management server 50 may, for example, Relative relationship of coordinates, distance between multiple vertices, angle between multiple vertices, area between multiple vertices the area of ​​the vertices, at least one, preferably two, of the movement vectors of the vertices, more preferably If the distance between the vertices is kept within a certain range, the vertices moving as a group are considered to be part of the same object. In this case, the relative speed, acceleration, center position, etc. of multiple vertices are identified. It is possible to combine additional information to further improve the accuracy of the identification. This process can be repeated to further improve the accuracy of the identification.

[0049] The vertex information management module 52 of the management server 50 transmits the object ID to the terminals 30 and 40. By connecting each vertex based on this object ID, it is possible to draw an outline of the target's contour. To perform Noh. For example, referring to FIG. 6B, one vertex K1 assigned with an object ID (ID1) has A small circle L1 is shown with its position coordinates as its center. When attached to a point, the coordinates of that point are expressed by the point. The point may have a radial dimension. good. In addition, for two vertices K2 and K3 to which an object ID (ID2) is assigned, the position coordinates are A thin rod-like shape L2 is shown to connect the two points. The lines may be connected. The lines may have a thickness and the ends of the lines may be rounded. Also good (R processing).

[0050] In addition, for the four vertices K4-K7 assigned the object ID (ID3), the position coordinates are The line L3 is shown connecting the four vertices K4-K7. It is drawn in a single stroke, connecting two adjacent points. The thickness of the line can be set to various values. Good too. Also, when assigning a common object ID to three or five or more vertices, the polygon The outline of the contour is displayed by connecting the points in one stroke along the outer edge. Therefore, conventional radars do not always provide clear images of targets (Fig. 5( A)), in the present invention, the outline of the target is calculated based on the vertices of the target moving as a group. The main points are displayed as straight lines, resulting in a clearer image of the target (see Figure 6(B)).

[0051] Referring to FIG. 6(C), another embodiment of the present invention is illustrated. Radar images do not necessarily show the contours of targets precisely, so the vertices extracted from them For example, referring to FIG. 6(C), the four positions K4-K7 Among the vertices, vertices K4 and K5 are slightly shifted forward, backward, left and right compared to the actual positions K8 and K9. is shown. In the present invention, instead of connecting the extracted K4, K5, K6, and K7 with a straight line, the positions of each vertex are After the position adjustment, the adjusted positions K8, K9, K6, and K7 may be connected by a straight line L4. For example, a plurality of pieces of known hull information are registered in advance in the management server 50. The vertices may be compared with the registered hull information to find the closest vertices. The management server 50 undergoes training before actual operation. For example, hundreds, thousands, or even more images of different targets are run and the results are accumulated. In this case, for example, the deviation between the extracted position and the actual position is 0. We will handle various situations, such as when it occurs at a rate of 1%, 1%, or 2%, and the results will be Statistical data may be calculated and generated for the training. After achieving a success rate of, say, 99%, the number of points actually extracted (e.g., For example, based on K4, K5, K6, and K7), the best match among the pre-registered hull information is selected. Select the one you want to change and click on the adjusted position (e.g. K8, K9, K6, K7). Similarly, if the radar image of the same target changes slightly over time, the vertices may be connected by lines. When extracting, the small changes are canceled and the relative positions of each vertex are adjusted to maintain their original positions. That's fine.

[0052] "Map display example" FIG. 7 shows the maps displayed on the displays of the terminals 30 and 40, divided into (A) and (B). 1 is an example of a conceptual diagram showing the above. Referring to FIG. 7(A), on the display of the user terminal 30 or the land management terminal 40, An example of a map that can be displayed is shown. Among the multiple vertices K1-K7 (see FIG. 6(A)), the vertices that move as a group are classified as the same object. By identifying them as belonging to the field, the vertices K1-K7 are grouped into three groups. The objects are classified into groups, each represented as a different object (see ID1, ID2, ID3). do.

[0053] Objects with ID 1 are displayed as small circles, and objects with ID 2 are displayed as bars. The object with ID 3 is a long object with four vertices connected by one line. It is displayed in a rectangular shape. As each object is displayed, relevant chart information can be overlaid. As shown in Q13 and Q14, the nautical chart is displayed so that the latitude and longitude can be seen. As shown in the example of symbol Q15, a map showing nearby land (coast etc.) may be displayed. The contours of coastal areas may change depending on the time of day in accordance with the water level. When displaying coastal areas, etc., display a map of the reference time. If possible, display the time or water level. A map of the coastline, etc., which is expected to change in accordance with the weather may also be displayed.

[0054] When the land management terminal 40 displays the map on the screen, it selects the ships among the small ships displayed. Based on the information obtained from the information management module 47, the vessels currently managed by the land-based company If any of the following applies, detailed information about the vessel will be displayed in the vessel details display area on the screen. The ship details display area shows the image of the ship (see symbol R2) and its details. This information may be displayed in the ship information of the land management terminal 40. The information can be acquired from the information management module 47. A list of ships managed by the company may also be displayed (not shown). The user can input the object name for each object with an object ID. For example, By tapping the square object ID3, the user can see the input screen and enter the name of the barge. You can enter things like "XX circle". In addition, if the location information of the ship has been obtained in advance, the ship will be located at the location of that location information. The name of the ship may be displayed in association with the object ID.

[0055] Referring to FIG. 7B, on the display of the user terminal 30 or the land management terminal 40, Another example of a map display (radar image display) is shown. In this example, the code ID 1 indicates the ship's position. Note that Figure 7(A) and Figure 7(B) do not strictly correspond to each other. On the radar image display, the ship's position ID1 is in the center of the screen and moving upward. The line A12 extending directly upward from the ship's position ID1 corresponds to the bow line. The speed vector indicating the vessel's speed is aligned with the heading line A12. A message may be displayed (not shown). In Figure 7(B), as shown by symbols G1-G5, concentric circles are drawn with the ship's position ID1 at the center. Although multiple rings are displayed, they are fixed distance rings that are displayed at fixed distances and do not move. The fixed distance ring is used to quickly read the approximate distance to other ships ID2, ID3, etc. Each fixed distance ring, which is displayed as a multiple circle, can be turned on or off as desired. This may be done. One of the fixed distance rings, G3, has a 360-degree scale centered on the ship's position, ID1. The bearing scale value is displayed. The bearing scale value is centered on own ship ID1 and other objects such as other ships. It is used as a scale to determine the direction of a landmark.

[0056] Although not shown in the drawing, a variable distance ring (VRM: Variabl A variable range ring can be provided. This is used to measure the distance to a target more accurately. Although not shown in the drawing, an electronic cursor (EBI) The electronic cursor can be positioned at the ship's position ID in the center of the screen. It is a variable bearing mark extending from 1, and is used to measure the bearing of targets such as other ships more accurately. Used. As with conventional technology, the distance and direction to targets such as other ships and islands on the radar image are displayed on the screen. Measurement can be performed using a VRM or EBI on the surface, but this specification does not provide a detailed explanation of this. is omitted. In Figure 7(B), the heading up (HU) display method is adopted, with the own ship's position ID1 at the center. Although the display format is currently used, it is possible to change it to the north-up (NU) display format. In Figure 7(B), by tracking the position coordinates of each vertex, we can calculate the position based on the past position coordinates of the vertex. The movement of each object is displayed as an echo trail (see P13 and P14). Echo trail is a function that can display the ship's shadow as a wake while the ship is moving. Echo Trail displays the trajectory of each ship on the screen, making it easy to understand the movements of each ship. However, you can switch the echo trail image display to a non-echo trail image. It is possible to display it. [Example]

[0057] Figure 8 shows an example of a conceptual diagram of radar detection of one small boat from two small boats. Figure 9 shows an example of detection results from the two small boats shown in Figure 8. Example 1 is based on image processing of radar images obtained from a single radar 10. 1, a case where a plurality of radars 10 are used will be exemplified. Referring to Figure 8, there are three small ships O1, O2, and O3 on the sea. The small boat O3 in the center is stationary and does not have a user terminal 30 according to the present invention. The small vessel O1 is sailing from right to left as shown by the bow line A1. The small boat O2 below has a user terminal 30 related to the navigation system. As shown, the ship is sailing diagonally upward from the bottom left to the top right, and has a user terminal 30 according to the present invention. These small ships O1 and O2 use their respective radars 10 to detect surrounding targets. In particular, the small ship O3 in the center can be detected. For example, the small vessels O1-O3 are pleasure boats that sail within a harbor or the like.

[0058] Referring to FIG. 9(A), the radar of the small vessel O1 shown in the upper part of FIG. The radar image shows a schematic of the radar detection results for the line B1 in the true north direction. As shown in the figure, the north-up display method is used. Line A1 indicates the direction of the bow. For ease of explanation, other information such as land and other ships O2 is omitted. are. Referring to FIG. 9(B), similarly, the radar of the small boat O2 shown at the bottom of FIG. A schematic representation of the radar detection results for small vessel O3. The radar detection result information transmitted from multiple small vessels O1 and O2 is based on the standard (true (based on north direction or bow direction) and transmit it to the management server 50 The vertex information management module 56 tracks and manages each position information based on a unified standard. A comparison is made.

[0059] By image processing the radar image in Figure 9(A), the bow position of target O3 and Two vertices M1 and M2 corresponding to the stern position can be found (see Figure 5(A)-(C)). (see). Referring to FIG. 9(C), based on the two extracted vertices M1 and M2, the ring of the target O3 is This shows an example of drawing the outline of a boundary. For example, when connecting two points M1 and M2 with a line, It can have a fixed width. Also, each vertex can have rounded corners. It is also possible to simply connect two points M1 and M2 with a straight line. Similarly, the radar image of small vessel O3 is processed by the radar of small vessel O2. Two vertices M3 and M4 corresponding to the bow and stern positions of the marker can be determined. The user terminal 30 analyzes the detection result information, particularly the image information of the target on the radar image, and Calculate the position coordinates, movement vector, movement speed, etc. of the identified target from the target's position information at the time do. The calculated change in the target position coordinates, for example, time (timestamp), terminal ID, latitude The data is uploaded to the management server 50 in a format having fields such as longitude, speed, and direction. Load. The unit of the transmitted value is made clear to both the sender and receiver. For example, the units of speed are (m / s, km / h, or kn). Also, the direction must be clearly indicated with its reference (true north or ship's heading) and unit (degrees). To do. For example, the following vertex information is sent: [M1,20191212090000,O1,35.55345117,139.24523411,1.32,278...] This vertex information is, in order from the beginning, the vertex ID (identification information of the vessel detected by radar or radar ID information indicating the device), time (timestamp), latitude, device ID, longitude, speed, and direction They are connected with comma separators. This sentence is sent from the terminal 30 to the management server 50 every time the radar detection result is updated. will be uploaded to.

[0060] Figure 10 shows the results of selecting one small boat from two small boats after a certain time has elapsed since the time shown in Figure 8. 10 is an example of a conceptual diagram for detecting a radar. Figure 11 shows the detection results from the two small boats shown in Figure 10, divided into (A) and (B). 1 is an example of a conceptual diagram. Referring to FIG. 10, for the three small boats O1-O3 shown in FIG. 8, after a predetermined time has elapsed, The small ship O3 in the center remains stationary, and the small ship O1 above is As shown by the neck line A1, the ship is sailing further from right to left, and the smaller ship O2 below is As shown by the heading line A2, the ship is sailing diagonally upward from the bottom left to the top right. Similarly, the two small boats O1 and O2 on the top and bottom detect the small boat O3 in the middle by radar. It is now possible to know.

[0061] Referring to Figure 11(A), similarly, the radar of the small vessel O1 shown in the upper part of Figure 10 The figure shows a schematic of the radar detection results of a small vessel O3. Therefore, the two vertices M5 and M6 of the target can be determined. Referring to Figure 11(B), similarly, the radar of the small boat O2 shown at the bottom of Figure 10 shows The figure shows a schematic of the radar detection results of a small vessel O3. Therefore, the two vertices M7 and M8 of the target can be found.

[0062] The management server 50 manages the vertex information management module 56 (see FIGS. 3 and 4) of each small vessel O1 and O2, and accumulates information received from the user terminal 30. Information may be compiled into a database for each item. For example, first, the vertex information of vertices M1 and M2 is obtained from the radar of the small vessel O1. The vertex information includes the identification number of each vertex, the identification number of the vessel that performed the radar detection, and the latitude of the vertex. The vertex information includes the longitude, speed, direction, and time (timestamp). By analyzing the radar images obtained from the radar and using the target tracking function of the radar 10, It can be done.

[0063] Next, after a certain time has passed, the vertex information of vertices M3 and M4 is obtained from the radar of small vessel O2. can be. Next, after a certain time has passed, the vertex information of vertices M5 and M6 is obtained from the radar of small vessel O1. can be. Next, after a certain time has passed, the vertex information of vertices M7 and M8 is obtained from the radar of small vessel O2. can be. The management server 50 accumulates this information in a database and assigns it to each vertex M1-M8. Then, pairs that belong to the same object are searched for.

[0064] [Table 1]

[0065] Table 1 shows the vertex information obtained from the small vessels O1 and O2 in chronological order, and the vertex information of the management server 50. This is an example where the information is stored in the point information management module 56. The vertex information management module 56 of the management server 50 manages the vertex information in a database. In this database, a set of vertices is obtained from various viewpoints for multiple vertices. It is possible. In Table 1, the time (detection time), latitude, longitude, terminal ID (ship number), and vertex ID (vertex number) are displayed. Other information such as speed, direction, and orientation standards are also collected in the database. do. For example, referring to vertex number M1 in Table 1, the small vessel O1 was involved in a collision on December 12, 2019. The radar detected vertex M1 at 09:00:00 on the same day, and the latitude (35.5534 5117) and longitude (139.24523411) are shown as examples.

[0066] Similarly, referring to vertex number M2, the small vessel O1 arrived at 09:00 on December 12, 2019. The radar detected vertex M2 at 00 minutes 00 seconds, and the latitude (35.55395227 ) and longitude (139.24528425) are shown as examples. This allows two vertices with different latitudes and longitudes to be identified by the same radar at the same time. When comparing two latitudes and longitudes, for example, plus or minus It is judged whether or not the values ​​match within an error range of about 1m or 0.5m. (For example, in Japan, the latitude per meter is 0.000008983148616 , 1m per longitude: 0.000010966382364). The latitude and longitude values ​​are based on the location of the ship. The area where the person is located is used as the basis.

[0067] Next, referring to vertex number M5 in Table 1, the small vessel O1 was involved in the accident on December 12, 2019. The radar detected vertex M5 at 09:03:00. The latitude (35.55345 119) and longitude (139.24523413) are shown as examples. Similarly, referring to vertex number M6, it was discovered by small vessel O1 at 9:00 on December 12, 2019. The radar detected vertex M6 at 03:00, latitude (35.55395229 ) and longitude (139.24528427) are shown as examples. This allows the same time and same radar signal to be received after a predetermined time (3 minutes) has elapsed since receiving M1 and M2. It can be seen that the map identifies two vertices, M5 and M6, which are at different latitudes and longitudes.

[0068] Here, when comparing vertex M1 and vertex M5, although they do not match perfectly, they are almost the same. Similarly, when vertex M2 and vertex M6 are compared, there is no perfect match. Although they are not identical, they have values ​​that are almost identical to each other. The vertices M1 and M5, and the vertices M2 and M6 are predicted to be, for example, 99% or 99.9%. It is assumed that the latitude and longitude of each point coincide within the range specified by the Let's assume that the velocity of the vertex is 0, and that it is not moving in any particular direction. The vertex information management module 56 determines that the vertices have not moved and that the vertices M1 and M5 are the same. However, it can be determined that vertex M2 and vertex M6 match. Module 56 says that vertices M1 and M2 (vertices M5 and M6) belong to the same object. By repeating this process, the vertex information management module 56 can estimate This can improve the accuracy of the determination of the vertex pairs.

[0069] In this way, the vertex information management module 56 of the management server 50 performs the following for multiple vertices: ,The set of vertices can be found from various viewpoints. The vertex information management module 56 stores all the vertex information obtained from each ship in a database. accumulates in Next, among the vertex information obtained by the radar 10 of the same ship, For example, the peaks are kept in relative position within a few meters, taking into account the length of the small vessel. Find a pair of points (for example, the pair of ends of the bow and stern of a small boat).

[0070] At this time, the vertex information management module 56 stores the obtained vertex information in order to avoid unnecessary work. Among them, those combinations for which the combination is already known are excluded from the work. For example, Figure 8 From the small vessel O1, two targets O2 and O3 can be detected by radar. Of these, for O2, the hull information etc. is registered in advance on the management server 50 side. Therefore, O2's location information (time, latitude, longitude, speed, direction, etc.) can be obtained separately. Therefore, the vertex information management module 56 determines the vertex information of O2 and O3 obtained from O1. ,For the information on the vertices of O2 (time, latitude, longitude, speed, direction, etc.), Exclude from the scope of.

[0071] For example, Table 1 shows the vertex information of O3 (M Only M1, M2, M5, and M6) are shown. Next, the vertex information management module 56 receives the history of the points uploaded from the terminal 30. The coordinates of the vertex to be worked on are calculated at multiple times (see Table 1). The radar image may not always show all the contours of the target. If a target is hidden in the shadow of a large ship, it may disappear from radar detection range. In such a case, when tracking the apex of a target, it is necessary to know the apex of the target from known information after a predetermined time has elapsed. The vertex information can be calculated.

[0072] For example, if the position coordinates, velocity, and direction of a target are known at a discrete succession of points in time, In this case, the future or past position coordinates of the target can be obtained by extrapolation. Considering the target's speed, acceleration, etc., from the future time, coordinates, averaged speed, and course, The current or past position can be calculated. Also, if the position coordinates, velocity, and direction of the target are known at a discrete succession of points in time, The position coordinates of the target at any intermediate point can be calculated by interpolation. Considering the target's speed, acceleration, etc., from the time, coordinates, averaged speed, and course immediately after, The position at any intermediate point can be calculated.

[0073] That is, the vertex information management module 56 of the management server 50 stores a plurality of vertex information. By tracking the target, it is possible to predict its past or future movements. Assume that the position coordinates of a certain vertex are obtained at 10:00 and 9:13:00. Based on these values, for example, the position coordinates are 9:11:00 (interpolated) or 9:15 The position coordinates (extrapolation) of the minute 00 seconds can be estimated. In Rule 56, the target apex is tracked for a specified time and the accumulated information is used to determine the target. Even if there is no radar detection, the coordinates of the vertex can be estimated.

[0074] The vertex information management module 56 further focuses on the distance between two vertices and calculates the distance between each vertex. It is possible to determine whether or not the two belong to the same target. For example, the vertex information management module 56 may use the vertex information obtained from O1 at a certain time (2019 in Table 1). The distance L1 between two vertices M1 and M2 at 09:00:00 on December 12, 2012 This value is calculated based on the Pythagorean theorem from the position coordinates (see latitude and longitude in Table 1). If the latitude and longitude of M1 are X1 and Y1, and the latitude and longitude of M2 are X2 and Y2, then The distance between these two points is the square of (X1-X2) plus the square of (Y1-Y2). L11 can be calculated from the square root of the value. Next, the time after the predetermined time obtained from O1 (December 12, 2019, 9:00 in Table 1) Calculate the distance L12 between the two vertices M5 and M6 at the intersection of M1 and M6 (see 03:00). Similarly, if the degrees and longitude are X5 and Y5, and the latitude and longitude of M2 are X6 and Y6, then (X5-X6 L12 can be calculated by taking the square root of the sum of the square of (Y5-Y6) and the square of (Y5-Y6). do.

[0075] Next, the vertex information management module 56 checks whether the values ​​of L11 and L12 are maintained at constant values. That is, it is determined whether the difference between L11 and L12 is within a predetermined threshold E (for example, 5 m). It is determined whether the value is maintained within the range. L11-L12 <E1 When the value is less than E1 (preferably zero), the two vertices M1 and M2 It can be provisionally determined that the pair M5 and the pair M6 belong to the same target. As a result, for example, the same object ID is assigned to the above vertices M1, M2, M5, and M6. do.

[0076] At this time, by tracking the position coordinates of each vertex M1, M2, M5, and M6, the above judgment can be performed. Furthermore, by repeating this determination over time, the accuracy of the determination can be improved. The degree can be increased. Do the same for vertices M3, M4, M7, and M8, and find the distance between the vertices L21. As a result, for example, for the above vertices M1, M2, M5, and M6, The same object ID is assigned to each object.

[0077] When comparing coordinates or lengths of two vertices, assuming that they are moving as the same block, Not only in the case of perfect match (when the difference is zero), but also in the case of imperfect match (when the difference is small) In the latter case, a comparison operation with a predetermined threshold (for example, 5 m) may be performed. (See Threshold E.) The above threshold may be changed taking into account weather conditions, etc. It may be possible. In the case of a ship, the hull may shake and be affected by rolling and pitching. In the case of small vessels, their hull characteristics make them susceptible to environmental changes from the sea, and they tend to sway up and down and to the left and right. For this reason, when determining the vertex coordinates of a ship, the bow direction (forward and backward directions) or the The threshold value may be set taking into consideration the swaying of the hull in the width direction (left and right direction).

[0078] In addition, for example, it is possible to predict that the sea surface will move significantly due to weather conditions, and the hull will move significantly. On the other hand, if the rolling of the sea surface is small and the rolling of the ship is small, the threshold value may be set relatively large. If it is possible to predict the size of the water, the threshold may be set relatively small. , a threshold may be set. The threshold value may be changed manually or based on an externally input climate. The switching may be performed automatically based on the information.

[0079] In the above case, target detection information from different radars is sent simultaneously for the same target. vertices M1, M2, M5, and M6 belong to the target, and vertices M3, M4, and M 7, M8 and the target to which they belong may be assigned separate object IDs. When displaying targets on the screen based on the object ID, two target images are displayed for a single target. Therefore, the vertex information management module 56 manages the vertex information of the same target object. The object ID may further include a determination unit for determining whether or not duplicate object IDs are assigned to the objects. For example, the vertex information management module 56 manages each vertex information in a database. Each vertex is associated with an object ID in the database. (e.g., 5 minutes), and have substantially the same location coordinates (e.g., 99.9% accuracy), but different objects The presence or absence of the body ID is determined periodically (for example, every 3 minutes).

[0080] For example, referring to Table 1 again, with a time difference of 1 minute, the position coordinates of M1 obtained from O1 and The position coordinates of M3, M2 obtained from O2, and M4 are substantially equal. (See the latitude and longitude in Table 1). Also, the position coordinates of M5 obtained from O1 with a time lag of 1 minute. The position coordinates of M6 and M7 obtained from O2 are substantially equal to the position coordinates of M8. (See the latitude and longitude in Table 1.) In this case, the vertex information management module 56 It can be assumed that the radars detect the same object. In this case, the vertex information management module 56 calculates M1, M2, M5, and M6 based on O1. and the object IDs assigned to M3, M4, M7, and M8 based on O1. This process may be repeated for a predetermined time (for example, , 30 minutes, etc.) If no difference is found in the vertex information, the The object ID and the object IDs assigned to M3, M4, M7, and M8 may be combined into one. At this time, preferably, the vertex information management module 56 checks whether there are any points to which an object ID has already been assigned. If there are any, all points are assigned to the object with the smallest (youngest) object ID. Can.

[0081] In addition, the management server 50 manages the small vessels O1 and O2 that use this system. The previously registered ship information, position coordinates, direction, speed, etc. can be used. The management server 50 receives the radar information of the other ships from the radar 10 of the other ships for the small ships O1 and O2. By associating the object ID identified based on the radar image with the pre-registered ship information, Therefore, for small vessels O1 and O2, radar signals from other vessels' radars 10 can be detected. By combining radar detection results information with known ship information, small ships O1 can be more accurately displayed on the map. and the appearance of O2 can be displayed. [Example]

[0082] Figure 12 shows the radar image of one large ship, O24, from three small ships, O21, O22, and O23. 10 is an example of a conceptual diagram for detection. Referring to Figure 12, there are three small boats, O21, O22 and O23, and a small boat located in the middle of them. The central large ship O14 is at anchor and is the largest ship in the world. The user terminal 30 does not include such a program. O21, O22 and O23 each represent a user terminal 30 including a program according to the present invention. Each radar 10 can be used to detect surrounding targets, and in particular The large ship in the center, O24, can now be detected. For example, the large vessel O24 is a barge or lighter that carries heavy cargo and navigates within ports and harbors. is.

[0083] Depending on the size and shape of the target, it may not be possible to extract the entire outer edge of the target. be. For example, the radar of the small ship O21 detects four vertices D1-D4 of the large ship O24. The three vertices D1, D2, and D4 in the foreground are discernible, but the furthest vertex D3 is clearly discernible. In this case, the three vertices D1, D2, and For D4, the respective information is transmitted to the management server 50. In addition, the radar of the small vessel O22 detects that one of the four vertices D1-D4 of the large vessel O24 is in the hand position. The three anterior vertices D1-D3 are discernible, but the most distant vertex D4 is not clearly discernible. In this case, for the three vertices D1-D3 identified at time T22, Each piece of information is sent to the management server 50.

[0084] In addition, the radar of the small vessel O23 showed that the four vertices D1-D4 of the large vessel O14 were The two anterior vertices D3 and D4 can be distinguished, but the furthest vertices D1 and D2 cannot be distinguished clearly. In this case, the two vertices D3 and D4 identified at time T23 are Then, the respective pieces of information are transmitted to the management server 50. The management server 50 stores the vertex information received from each of the small vessels O21-O23 in a database. It accumulates.

[0085] The vertex information management module 56 checks whether each vertex moves while maintaining its relative position. When calculating the distance, if the coordinates of at least three vertices are known in addition to the position coordinates and length, The vertex information management module 56 tracks this angle. If the vertices are kept constant over time, then they belong to the same object. It can be determined that: For example, in the state of Figure 12, when viewed from the small vessel O22, the four vertices of the target O24 are The three vertices D1, D2, and D3 on the near side can be identified, but the vertex D4 on the far side cannot be identified. Assume that this is not possible.

[0086] In this case, from the position coordinates of the three vertices D1-D3, the lengths of the sides of the triangle formed by the three points and , the angle between the two sides can be found. For example, from the two sides (e.g., sides AB and AC) obtained from the coordinates of the above three points, cosθ Find the value of . cosθ = (AB·AC) / (|AB|*|AC|) Using the arccosine function, θ(∠BAC) can be calculated from cosθ. By tracking the change in the calculated angle over time, it is possible to determine whether the angle remains within a certain range over time. It is possible to determine whether the value is kept within the range.

[0087] The management server 50 further stores information obtained from the small vessels O21-O23. Then, extract four vertices that are densely packed within a certain time range (e.g., D1, D2, D3, D4), the area of ​​these vertices can be calculated. For example, the area of ​​a quadrangle defined by four vertices can be calculated. The area may be determined based on the area of ​​the shape. Similarly, the management server 50 side detects two, three, or four events that are densely packed in a certain time range. Extract the vertices of (for example, at least two of D1, D2, D3, and D4) and The distance between the vertices can be calculated.

[0088] The management server 50 side stores the relative relationship between the position coordinates of the plurality of vertices, the distance between the plurality of vertices, and the The angle between the vertices, the area of ​​the area formed by multiple vertices, and the movement vector (orientation) of multiple vertices Among them, at least one, preferably two, more preferably three, and even more preferably four By tracking each of these, if the values ​​are kept within a specified range over time, Vertices that move as a group can be identified as belonging to the same object. Combine additional information such as the relative speed, acceleration, and center position of multiple vertices It may be possible.

[0089] The management server 50 side, for example, calculates these values ​​based on the values ​​of D1-D3 from the small vessel O22. Assume that the vertices belong to the same target and are assigned a common object ID (for example, based on angle). In addition, the management server 50 side, for example, based on the values ​​of D1, D2, and D4 from the small vessel O21, These vertices are then determined to belong to the same target and assigned a different common object ID. Assume (e.g., based on angle).

[0090] Furthermore, the management server 50 side, for example, based on the values ​​of D3 and D4 from the small vessel O23, These vertices were determined to belong to the same target and were assigned a different common object ID. Assume (e.g., based on length). In this case, multiple object IDs are assigned to one object, so they cannot be displayed on the screen. Three images can be overlaid based on the object ID. As in the second embodiment, the management server 50 tracks the changes in each vertex over time and If it is determined that multiple object IDs are assigned to a single object, the object with the smallest ID will be used. It may be possible to unify it into the body ID.

[0091] The vertex information management module 56 of the management server 50 accumulates information on each vertex over time. However, you can also distinguish and memorize which ship's radar the data was obtained from. The vertex information management module 56 of the management server 50 manages the vertex information obtained from the radar of each ship. Using point information, group the vertex information and calculate the relative distance between each group. Alternatively, it may be possible to determine whether the vertex is moving while maintaining its relative position. For example, for a group of vertices organized by radar, we can track the trajectory of the vertices over time. Therefore, if there are vertices that show matching trajectories between groups, they belong to the same object. Classify as.

[0092] The type of radar installed on each vessel O21-O23 is not necessarily the same, and Even if the equipment is operated under the same conditions, it is not necessarily the case that the equipment is operated under the same conditions on each ship O21-O23. It is not necessarily the case that radars are detecting at the same time and with the same update intervals, so simply detecting multiple radars Simply arranging the vertex information from the imager in chronological order results in errors in the vertex information obtained. On the other hand, first of all, we first group the vertex information for each radar (each user terminal) in this way. Looping and then determining relative movement between multiple groups provides greater accuracy. [Example]

[0093] Radar imaging can be affected by radar-specific issues, such as: The present ship navigation support system 1 focuses on the azimuth resolution and distance resolution of the radar. . Bearing resolution is the ability to distinguish two targets at the same distance from the ship but with slightly different bearings from each other. The azimuth resolution refers to the image resolution that can be distinguished on the radar screen. The horizontal beam width of the radar determines the lateral resolution. Generally, the narrower the horizontal beam width, the higher the lateral resolution. circle. The horizontal beam width refers to the angular characteristics of the emitted radio waves in the left-right direction. Generally, the horizontal beam width is It is determined by the horizontal length of the antenna. As the horizontal length of the antenna increases, the horizontal beam width In the case of small vessels, the horizontal beam width of the antennas installed is generally wide. Distance resolution is the ability of the radar to distinguish two targets at different distances from the ship in the same direction. The distance resolution is the transmission power of the antenna used on the ship. The distance resolution is determined by the transmission pulse width, and typically the shorter the transmission pulse width, the higher the distance resolution. In other words, the distance resolution is affected by the pulse width setting.

[0094] Figure 13 shows the radar range resolution when detecting two small ships from one ship. (A) and (B) are conceptual diagrams showing cases where two small vessels cannot be distinguished due to the nature of the vessels. R Referring to Figure 13(A), three small boats O31, O33, and O34 are shown. Let us assume that each of the two small ships O33 and O34 in the center of the figure are anchored. are moored close to each other, and each of them has a user terminal 30 The small boat O31 at the bottom of the figure does not have the program according to the present invention. It is assumed that the small vessel O31 has a user terminal 30. Therefore, the small vessel O31 uses the radar 10 This allows the detection of surrounding targets, especially the small ships O33 and O34 in the center. It has become.

[0095] Referring to Figure 13(B), the radar of the small boat O31 shown at the bottom of the figure shows two boats. The radar detection results of the two small boats O33 and O34 are shown in schematic form. O34 is located close to each other, so the radar of the small vessel O31 can see the two small vessels. It is possible that the ships O33 and O34 are displayed as if they were one mass. , which may be caused by the limitations of radar azimuth and range resolution (see symbol A31) As a result, the radar result from the small vessel O31 is a single object, as shown by symbol O35. It is possible that the image will be displayed as a target. As shown in Figure 13(A), two small boats O33 and O34 are moving from the small boat O31. When they are arranged closely together vertically as seen from the front, the radar distance resolution (see symbol A31) becomes an issue. In addition, two small boats, O33 and O34, are lined up close together from the side of the small boat O21. In this case (not shown), the radar's azimuth resolution is likely to become an issue.

[0096] At this time, the image processing modules 34 and 54 perform the following operations based on the radar detection result information of the small vessel O31. Based on this, the radar displayed two small ships O33 and O34 as if they were one ship O35. Based on the image, the vertices (for example, two points on the bow and stern) U1 and U2 are extracted. The vertex information management module 56 of the processing server 50 proceeds with the processing based on this vertex information. Therefore, vertices U1 and U2 of O35 can be identified as belonging to a single object. However, the two small boats O33 and O34 no longer maintain their relative relationship with each other, even if If the image processing model is used, it is assumed that each object starts moving in a different direction. Based on radar detection information from the small vessel O31, Joules 34 and 54 announced the launch of two new vessels. Based on the radar image that distinguishes between small ships O33 and O34, the peaks of O33 and O34 Extract points (for example, two points on the bow and two points on the stern, for a total of four points).

[0097] The vertex information management module 56 of the management server 50 proceeds with the processing based on this vertex information. First, once we identify the vertices U1 and U2 of O35 as belonging to a single object, we can identify the object I D was assigned, but then, based on the newly discovered vertices O33 and O34, new objects were added. When a body ID is assigned, the previous body ID may be cancelled. In this way, the vertex information management module 56 of the management server 50 manages the time-series data of each vertex information. By tracking changes, it is possible to make appropriate corrections to object IDs that have already been assigned. . That is, the vertex information management module 56 stores the transmitted vertex information in a database or the like. Accumulation of the target error is affected by the radar's azimuth resolution or range resolution. Even if recognition occurs, it can be corrected as needed. When updating the vertices of a point, if there is a point that no longer maintains its relative position, an object ID is issued. From then on, it is treated as a separate object. [Example]

[0098] This ship navigation support system1 is designed to analyze the influence of the minimum detection distance of the radar on radar detection and We also look at the impact of large ships on radar detection. The minimum detection distance is the closest distance from your ship that can be displayed on the radar screen by detection information. In other words, the minimum detection distance is the distance at which a target image such as another ship can be identified on the radar screen. Usually, targets that are further than the minimum detection distance are not visible on the radar image. It is not possible to display the image on the surface. Therefore, it is difficult to detect objects that are closer than the minimum detection distance. Even if a target is close to your ship, it may not be displayed on the radar screen. This can occur. The minimum detection distance is mainly determined by the transmission pulse width. The shorter the pulse width, the shorter the minimum detection distance. The minimum detection range is also related to the vertical beam width of the radar. The beam width is the vertical angle of the radio waves emitted from the radar. The vertical beam width of the small radar that can be used is about 25 degrees. Even if the radar is affected by rolling or pitching, the detection angle of the vertical beam does not deviate significantly. This is to ensure that

[0099] Figure 14 shows the minimum radar detection time when detecting an object from a single ship. (A) When objects cannot be distinguished due to distance, and (B) when objects are detected by radar from one ship. This is an example of a conceptual diagram showing (A) and (B) separately the case where objects cannot be distinguished due to the influence of a large ship. Referring to Figure 14(A), a side view of three objects O41, O42, and O43 on the sea is shown. Here, the object (e.g., buoy) O43 in the center of the figure is the smallest and is the object according to the present invention. The two ships O41 and O42 on the left and right of the figure do not have a user terminal 30 that contains a program. Each of the users has a user terminal 30 that includes a program according to the present invention.

[0100] Referring to Figure 14(A), the radar of the small boat O41 shown on the left shows the central buoy O43 is located at a distance shorter than the minimum detection range of the radar of the left ship O41. It may happen that the target cannot be identified due to the radar (see V1 and V2). In this case, the image processing modules 34 and 54 use the radar detection result information of the small vessel O41. Based on the radar image of buoy O43, the vertices are extracted. The vertex information management module 56 of the management server 50 can ,For further processing, buoy O43 can be identified as not present.

[0101] However, the radar of the small boat O42 shown on the right side of Figure 14(A) shows the central block. Since O43 is located at a distance greater than the minimum detection range of the radar of the right-hand vessel O42, It is assumed that the target can be identified by the radar (see V3 and V4). In this case, the image processing modules 34 and 54 perform the following operations based on the radar detection result information of the small vessel O42. Based on the radar image showing the central buoy O43, the vertex of O43 (e.g., 1 point) ) to extract. The vertex information management module 56 of the management server 50 proceeds with the processing based on this vertex information. For the first time, buoy O43 was not assigned an object ID because it did not exist, but after that, A new object ID may be assigned based on the vertices of O43. In this way, the vertex information management module 56 can track changes in each vertex information over time. Therefore, under the influence of the radar's minimum detection distance, the object ID that was not assigned once is appropriately assigned. Modifications can be made.

[0102] Similarly, the ship navigation support system 1 also takes into account the influence of large ships. Referring to Figure 14(B), three objects O51, O52, O53, and O54 are located on the sea. A side view is shown in which the object O53 on the right side of the center of the figure is the smallest and is the object according to the present invention. The ship O54 on the left side of the center of the figure is the first The two left and right sides of the figure are large and do not have a user terminal 30 that includes the program according to the present invention. The ships O51 and O52 each have a user terminal 30 including a program according to the present invention. are.

[0103] Referring to Figure 14(B), the radar of the small ship O51 shown on the left shows the large ship in the center. Ship O54 can be identified as a target, but the smaller ship O54 is located beyond the larger ship O54. 53 cannot be identified as a target due to the influence of the large vessel O54 (V11, V1 2). In this case, the image processing modules 34, 54 process the radar detection results of the small vessel O51. Based on the result information, the vertices are extracted based on the radar image showing only the large ship O54. The vertex information management module 56 of the management server 50 performs processing based on this vertex information. In order to proceed, the existence of the large vessel O54 can be identified, but the small vessel O53 is identified as not existing. possible.

[0104] However, the radar of the small boat O52 shown on the right side of Figure 14(B) shows the small boat in the center. The small ship O53 is located closer to the front than the large ship O54, so the radar can see the targets on each side. (See V13 and V14.) In this case, the image processing model Based on the radar detection results of the small ship O52, the ships in the center, Joules 34 and 54, Extract each vertex based on the radar images showing O53 and large ship O54. . The vertex information management module 56 of the management server 50 proceeds with the processing based on this vertex information. For the first time, the small vessel O53 was not assigned an object ID as it did not exist, but after that Based on the vertex of O53 detected by the small vessel O52, a new object ID is assigned. Good too.

[0105] In this way, the vertex information management module 56 can track changes in each vertex information over time. This allows you to make appropriate corrections to object IDs that were not assigned at first. This is not limited to large ships, but also covers the effects of islands and large structures on radar targets. The same is true. Therefore, with the conventional radar 10, when a tracking target enters the rear of a large ship or the shadow of an island, etc., The radar image disappeared under the influence of the storm, and target information was lost. System 1 utilizes radars on multiple ships10 in combination to detect and detect the presence of a single radar. It is possible to acquire target information that could not be acquired by other radars. [Example]

[0106] The present ship navigation support system 1 also focuses on false images. A false image is a phenomenon caused by secondary reflection of the emitted radio wave. It refers to an image that appears on a radar screen as if it does exist, even though it does not actually exist. The false image is caused by signals from strong reflecting targets around the ship, as well as structures on the ship itself. With conventional technology, it is difficult to detect objects located directly in front of the sea lane, such as the Inland Sea Strait Bridge. It is said that this phenomenon is unavoidable because the radar reflection from these objects is strong.

[0107] Figure 15 shows the effects of false images when detecting objects on radar from two ships, O61 and O65. This is an example of a conceptual diagram showing both cases where the device is affected and cases where it is not affected. Figure 16 shows the radar detection results of the two ships O61 and O65 shown in Figure 15 (A), (B) is an example of a conceptual diagram shown separately. Referring to Figure 15, three ships were passing near a bridge or other structure O63 connecting two lands. Assume that O61, O62, and O65 are moving forward. Then, near bridge O63, ship O61 , 65 and other ships in the vicinity will be detected by radar.

[0108] At this time, when ship O61 is closest to bridge O63, a signal is emitted from its radar. Some of the microwaves travel directly to the target O62 and are reflected from the target O62. In addition to the normal case where the radar returns to the original position (see line H1), After a part of the wave hits the bridge O63 and is reflected, the reflected wave indirectly hits the other ship O62. If the radar is reflected by the target O62 and returns to the original radar position (light In the former case, other ships are not displayed on the radar screen as usual. The image of O62 is displayed, but in the latter case, the image is on the extension of the straight line between the ship O61 and the bridge O63 (line (See section H3) may display an image O64 of another ship that should not exist (see Figure 16 ( See A).

[0109] In this case, the image processing modules 34 and 54 use the radar detection result information of the small vessel O61. Based on this, in addition to the radar image of another ship O62, an image of a ship that should not exist (O64) is displayed. The vertices are extracted based on the radar image. The rule 56 proceeds with the process based on this vertex information, and therefore, in addition to the presence of other ships O62, virtual images O 64 can also be identified as if a target exists.

[0110] Referring again to FIG. 15, below the ship O61 located near the bridge O63, Another ship O65 is located away from 63. Ship O61 is in a position affected by the virtual image O64. However, the other vessel O65 is not in a position that would be affected by the false image, so the radar image from the other vessel It is assumed that no virtual image O64 occurs on the surface (see FIG. 16(B)). In this case, the image processing modules 34 and 54 use the radar detection result information of the small vessel O65. Based on radar images, it is not affected by secondary reflections of the emitted radio waves. The vertices of the virtual image O64 are not extracted. Processing proceeds based on vertex information, so the output results are different from those from the small ship O61. possible.

[0111] In this case, if the numbers of detected targets differ, the vertex information management module 56 The terminals 30 and 40 transmit the instructions of the different object IDs to the terminals 30 and 40. If conflicting object IDs are received for the same position coordinates at the same time, When displaying an outline of an object based on its body ID, the outline is displayed in a different format than the usual display format. For example, when displaying O62 and when displaying O64 (see Figure 16( A) (see reference), the color, flashing state, line thickness, and line style displayed on the map The display may be changed to a different shape (straight line, dotted line, etc.). In this way, the vertex information management module 56 is When outputting information on vertices identified as belonging to the same object to the terminals 30 and 40, If there is data to be identified, the identification information may be added and output (for example, (The target ID is weighted for the virtual image.) Furthermore, the vertex information management module 56 tracks changes in each vertex information over time. If O64 is determined to be a virtual image, the object ID once assigned can be changed, for example, Appropriate modifications can be made to cancel the transaction. In addition, the radar's azimuth and distance resolution, the minimum detection range of the radar, and the radar detection by large ships are also important. In the case of impacts on radar detection, there are also inconsistencies in detection results from multiple different radars. In this case, the display mode may be changed in the same way.

[0112] As described above, when radar 10 is used on a ship, the object recognition information from the radar image is used. The ship navigation support system 1 according to the present invention has been described. However, the target detection device used on a ship is not limited to radar. For example, Lidar can be used on ships, where objects can be detected from Lidar images. The recognition information can be used in place of object recognition information from radar images. Cameras can also be used on ships. In this case, camera images (visible light, infrared) Object recognition information from the radar image can be used instead of object recognition information from the radar image. . Image processing to find vertices from images obtained by a lidar or camera is performed by a radar. This can be done in the same way as in the case of the driver (see Figures 5 and 6).

[0113] FIG. 17 shows the flow of processing on the user terminal 30 side in the method for assisting navigation of a ship according to the present invention. 1 is an example of a conceptual diagram showing In step S71, the user terminal 30 starts image processing in response to a predetermined trigger signal. Begin. In step S72, the user terminal 30 receives the radar detection result information from the radar 10. The radar detection result information is particularly a radar image (see Figure 5(A)). In step S73, the user terminal 30 performs image processing on the radar image and extracts vertices. (See Figure 5(B)). In step S74, the user terminal 30 transmits the extracted vertex information to the management server 50. (See Figure 5(C)). In step S75, the flow is once terminated. However, for example, When the reader detection result information is updated, the same process is repeated again from step S71.

[0114] FIG. 18 shows the flow of processing on the management server 50 side in the method for assisting navigation of a ship according to the present invention. 1 is an example of a conceptual diagram showing In step S81, the management server 50 receives a predetermined trigger signal and performs a process of identifying vertex information. Start another one. In step S82, the management server 50 stores the vertex information in a database or the like. The information includes vertex number, vessel number, latitude and longitude, speed, direction, etc. In step S83, the management server 50 extracts a set of vertices that belong to the same object, and An object ID is assigned (see Figure 6(A)). In step S84, the management server 50 transmits the object ID to the terminals 30 and 40. 30, 40, based on the received object ID, display an outline of the target corresponding to the object ID. (See FIG. 6(B)). In step S85, the flow is terminated. However, if a new When the new vertex information is sent, the same process is repeated from step S81.

[0115] Therefore, in this ship navigation support method, The management server 50 and the user terminal 30 connected to the target object detection device 10 are connected to a network. 70 to send and receive data (see Figure 1). The multiple vertices of the target (see Figure 5(C)) extracted based on the target detection result information are managed. The server 50 receives the data from the user terminal 30, Among the multiple vertices of the target extracted by the user terminal 30, the vertices that move as a group are identified as the same vertex. The management server 50 identifies the object as belonging to the target (see FIG. 6(A)). Displaying an outline of the target contour based on vertices identified as belonging to the same target The management server 50 sends an instruction to the user terminal 30 so that the Each step has its own structure.

[0116] The present invention provides a ship navigation support program that causes the management server 50 to execute the above steps. This program performs at least steps S81-85 in FIG. Make it executable.

[0117] As described above, the present invention is a system for transmitting and receiving data between a ship and a shore via a network. In addition, image processing is performed on target images obtained by the target detection device of the small vessel. A navigation support system for ships that can clearly display the outline of the target by Management server in navigation support system, ship navigation support method, and ship navigation support program grams). For example, conventional radars do not always provide clear images of targets. Due to the characteristics of the radar image, the outline of the target may become unclear. In this invention, image processing is performed on the radar image. Since the vertices are extracted by the above method, the contour of the target can be clearly displayed by each vertex. By identifying and managing pairs of vertices that belong to the same target, the target can be tracked based on each vertex. By storing the position coordinates of each vertex, it is possible to calculate each It also becomes possible to predict the future trends of the vertex. Preferably, on small vessels, inexpensive and easy-to-use devices such as smartphones and tablet terminals should be used. This makes it possible to build a network that utilizes portable user terminals.

[0118] The present invention is not limited to the above-described embodiment, but includes various modifications. For example, the above-described embodiment has been described in detail to clearly explain the present invention. The present invention is not limited to an embodiment having all of the configurations described above. It is possible to replace a part of the configuration of an embodiment with the configuration of another embodiment, and it is also possible to replace a part of the configuration of an embodiment with the configuration of another embodiment. It is also possible to add the configuration of other embodiments to the configuration of this embodiment. It is possible to add, remove, or replace other configurations.

[0119] Furthermore, the above-described configurations, functions, processing units, processing means, etc. may be partially or entirely implemented in hardware, for example, by designing them as integrated circuits. The above-described configurations, functions, etc. may also be implemented in software, with a processor interpreting and executing a program that implements each function. Information such as the programs, tables, and files that implement each function can be stored in a memory, a recording device such as a hard disk or SSD (Solid State Drive), or a recording medium such as an IC card, SD card, or DVD. In addition, the control lines and information lines shown are those that are considered necessary for the explanation, and do not necessarily show all the control lines and information lines in the product. In reality, it can be assumed that almost all components are interconnected. (1) A management server in a ship navigation support system, The management server a communication means for transmitting and receiving data via a network between the target detection device and a user terminal connected thereto; a vertex information management means for identifying vertices that move as a group among a plurality of vertices of the target extracted based on the detection result information of the target as belonging to the same target, The communication means transmits an instruction to the user terminal to display an outline of the target object based on the vertices identified as belonging to the same target object. A management server comprising: (2) The management server according to (1), The target detection device is a radar, and the target detection result information includes a radar image; The user terminal extracts the plurality of vertices by performing image processing on the radar image. (3) The management server according to (1) or (2), The vertex information management means identifies a set of vertices that are moving while maintaining their relative positions as vertices that move as a group belonging to the same target. (4) A management server according to any one of (1) to (3), The vertex information management means a relative relationship between the position coordinates of the plurality of vertices; the distance between the vertices; the angle formed by the plurality of vertices; The area of ​​the region formed by the plurality of vertices, and A management server identifies a set of vertices in which at least one of the movement vectors of the plurality of vertices is maintained as vertices that move as a group belonging to the same target. (5) A management server according to any one of (1) to (4), The management server transmits an instruction to the user terminal to display an outline of the target object's contour by connecting the vertices identified as belonging to the same target object with straight lines. (6) A management server according to any one of (1) to (5), A management server assigns common object identification information to the vertices identified as belonging to the same target. (7) The management server according to (6), wherein the target detection device is a radar, and the target detection result information includes a radar image; radar azimuth resolution, Radar range resolution, The minimum detection range of the radar, The influence of large ships on radar, and and a radar artifact. (8) (6) or (7), the management server according to (6) or (7), The vertex information management means assigns different object identification information to each of the multiple targets when the vertex identified as belonging to the same target is identified as belonging to multiple targets. (9) (6) or (7), the management server according to (6) or (7), When the vertex information management means determines that a vertex identified as belonging to the same target and a vertex identified as belonging to another same target overlap and belong to the same target, the management server integrates the object identification information of each vertex into one object identification information. (10) A ship navigation support method in a management server, comprising: The management server and the user terminal connected to the target detection device are connected so as to be able to send and receive data via a network, receiving from the user terminal a plurality of vertices of the target extracted based on detection result information of the target; Identifying vertices that move as a group among the plurality of vertices of the target as belonging to the same target; and sending an instruction to the user terminal to display an outline of the target based on the vertices identified as belonging to the same target. A navigation support method characterized by: (11) A method for assisting a ship's navigation according to (10), The target detection device is a radar, and the target detection result information includes a radar image; A method for supporting navigation of a ship, in which the user terminal selects the plurality of vertices by performing image processing on the radar image. (12) A method for assisting a ship's navigation according to (10) or (11), A method for assisting navigation of a ship, which identifies a set of vertices that are moving while maintaining their relative positions as vertices that move as a group belonging to the same target. (13) A method for supporting navigation of a ship according to any one of (10) to (12), a relative relationship between the position coordinates of the plurality of vertices; the distance between the vertices; the angle formed by the plurality of vertices; The area of ​​the region formed by the plurality of vertices, and A method for assisting navigation of a ship, which identifies a set of vertices in which at least one of the movement vectors of the plurality of vertices is maintained as vertices that move as a group belonging to the same target. (14) A method for supporting navigation of a ship according to any one of (10) to (13), A method for supporting navigation of a vessel, comprising transmitting an instruction to the user terminal to display an outline of the target's contour by connecting vertices identified as belonging to the same target with straight lines. (15) A method for supporting navigation of a ship according to any one of (10) to (14), A method for assisting navigation of a ship, which assigns common object identification information to vertices identified as belonging to the same target. (16) (15) A method for supporting navigation of a ship according to (15), wherein the target detection device is a radar, and the target detection result information includes a radar image; radar azimuth resolution, Radar range resolution, The minimum detection range of the radar, The influence of large ships on radar, and and radar artifacts. (17) A method for assisting a ship's navigation according to (15) or (16), A method for assisting navigation of a ship, wherein, for a vertex identified as belonging to the same target, if the same target is identified as belonging to multiple targets, different object identification information is assigned to each of the multiple targets. (18) A method for assisting a ship's navigation according to (15) or (16), A method for supporting navigation of a ship, in which, when it is determined that a vertex identified as belonging to the same target and a vertex identified as belonging to another same target overlap and belong to the same target, the object identification information of each vertex is integrated into one object identification information. (19) A navigational aid program for a ship, comprising: A program for causing a management server to execute each step of any one of the methods (10) to (18). [Explanation of symbols]

[0120] 1. Ship navigation support systems 2, 4, 6 ships 10 Target detection device (marine radar) 28 Radar indicator 30 User terminals 34, 54 Image processing module (image processing means) 35, 45, 55 Communication module (communication means) 40 Land control terminal 50 Management Server 56 Vertex information management module (vertex information management means) 70, 72, 74 Network

Claims

1. A management server in a ship navigation support system, The management server a vertex information management means for identifying two or more moving vertices of a target object, among the plurality of vertices of the target object extracted based on the detection result information of the target object, as belonging to the same target object; transmitting information for displaying an outline of the target to a user terminal or a land-based management terminal based on the vertices identified as belonging to the same target; the vertex information management means determines whether a pair of vertices among the plurality of vertices is moving while maintaining a relative position, and when it is determined that the pair of vertices is moving while maintaining a relative position, identifies the pair of vertices as vertices that move as a group belonging to the same target; the vertex information management means determines whether the angle formed by the pair of vertices is maintained within a certain range over time, thereby determining whether the pair of vertices is moving while maintaining its relative position; A management server comprising:

2. 2. The management server according to claim 1, The target detection device is a radar, and the target detection result information includes a radar image; The user terminal extracts the plurality of vertices by performing image processing on the radar image.

3. 3. The management server according to claim 1, The vertex information management means a relative relationship between the position coordinates of the plurality of vertices; the distance between the vertices; the angle formed by the plurality of vertices; The area of ​​the region formed by the plurality of vertices, and A management server identifies a set of vertices in which at least one of the movement vectors of the plurality of vertices is maintained as vertices that move as a group belonging to the same target.

4. The management server according to any one of claims 1 to 3, The management server transmits an instruction to the user terminal to display an outline of the target object's contour by connecting the vertices identified as belonging to the same target object with straight lines.

5. The management server according to any one of claims 1 to 4, A management server assigns common object identification information to the vertices identified as belonging to the same target.

6. 6. The management server according to claim 5, wherein the target detection device is a radar, and the target detection result information includes a radar image, radar azimuth resolution, Radar range resolution, The minimum detection range of the radar, The influence of large ships on radar, and and a radar artifact.

7. 7. The management server according to claim 5, The vertex information management means assigns different object identification information to each of the multiple targets when the vertex identified as belonging to the same target is identified as belonging to multiple targets.

8. 7. The management server according to claim 5, When the vertex information management means determines that a vertex identified as belonging to the same target and a vertex identified as belonging to another same target overlap and belong to the same target, the management server integrates the object identification information of each vertex into one object identification information.

9. A ship navigation support method in a management server, comprising: an identification step of identifying two or more moving vertices of the target extracted based on the detection result information of the target as belonging to the same target; a transmitting step of transmitting information for displaying an outline of the target to a user terminal or a land management terminal based on the vertices identified as belonging to the same target; and In the identification step, it is determined whether a pair of vertices among the plurality of vertices is moving while maintaining a relative position, and when it is determined that the pair of vertices is moving while maintaining a relative position, the pair of vertices is identified as vertices moving as a group belonging to the same target; In the identifying step, it is determined whether the angle formed by the set of vertices is maintained within a certain range over time, thereby determining whether the set of vertices is moving while maintaining its relative position. A navigation support method characterized by:

10. 10. A method for assisting navigation of a ship according to claim 9, The target detection device is a radar, and the target detection result information includes a radar image; A method for supporting navigation of a ship, in which the user terminal selects the plurality of vertices by performing image processing on the radar image.

11. 11. A method for assisting navigation of a ship according to claim 9 or 10, a relative relationship between the position coordinates of the plurality of vertices; the distance between the vertices; the angle formed by the plurality of vertices; The area of ​​the region formed by the plurality of vertices, and A method for assisting navigation of a ship, which identifies a set of vertices in which at least one of the movement vectors of the plurality of vertices is maintained as vertices that move as a group belonging to the same target.

12. A method for assisting a ship's navigation according to any one of claims 9 to 11, A method for supporting navigation of a vessel, comprising transmitting an instruction to the user terminal to display an outline of the target's contour by connecting vertices identified as belonging to the same target with straight lines.

13. A method for assisting navigation of a ship according to any one of claims 9 to 12, A method for assisting navigation of a ship, which assigns common object identification information to vertices identified as belonging to the same target.

14. 14. A method for supporting navigation of a vessel according to claim 13, wherein the target detection device is a radar, and the target detection result information includes a radar image; radar azimuth resolution, Radar range resolution, The minimum detection range of the radar, The influence of large ships on radar, and and radar artifacts.

15. 15. A method for assisting navigation of a ship according to claim 13 or 14, comprising: A method for assisting navigation of a ship, wherein, for a vertex identified as belonging to the same target, if the same target is identified as belonging to multiple targets, different object identification information is assigned to each of the multiple targets.

16. 15. A method for assisting navigation of a ship according to claim 13 or 14, comprising: A method for supporting navigation of a ship, in which, when it is determined that a vertex identified as belonging to the same target and a vertex identified as belonging to another same target overlap and belong to the same target, the object identification information of each vertex is integrated into one object identification information.

17. A navigational aid program for a ship, comprising: A program for causing a management server to execute each step of the method according to any one of claims 9 to 16.

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