JP2007003455A - Method and system for searching object at sea and recording medium for executing method for searching object - Google Patents

Abstract

A marine search system and apparatus capable of ensuring a search according to the state of a search object and a search area, and a program for executing the search.
A search method for searching for an object floating or drifting or traveling on the sea, wherein the input device 103 inputs sea conditions of the sea area of the floating or drifting or traveling object, and A reading device 101 that reads a detection rate change according to the input sea state condition and the size of the target object from the database 106 stored in the storage device 105 in advance, and a recognition probability of the target object from the read detection rate change And an output device 104 that outputs the search mode calculated by the calculation device, and formulates search conditions according to sea conditions.
[Selection] Figure 1

Description

  In the present invention, for example, a search method and system for an object on the sea for searching for an object to be searched on the sea such as a distress, a distressed ship, a suspicious ship, etc., and a program for causing a computer to execute the object search method The present invention relates to a computer-readable recording medium.

  Marine victims or maritime ships are searched by ships. A radar search is also performed to supplement the visual search. Radar that is mounted on a ship and forms an image as a video results in a visual search of binoculars. A technique for forming a still image by scanning with a radar is known (see Patent Document 1 below). Further, a technique for processing the obtained image is known (see Patent Document 2 below).

JP 2000-188747 A JP 2002-063575 A

  However, as shown in FIG. 18, when an object 54 such as a searcher or a search object floating on the sea surface is monitored / searched from the search ship 51, the object appears and disappears due to the wave 03 or the like, and therefore there is an object. There is a problem that the object 54 cannot be detected even if the direction is monitored or photographed by the search device.

  Normally, monitoring is performed while turning the search area, but the state of the object's visibility changes depending on the sea conditions and the operational conditions of the ship, etc., so set the operating conditions such as the turning operation according to each condition Although it is necessary, the current technology has not set the operating conditions according to such marine conditions and the efficiency of monitoring and searching activities is low, so the appearance of efficient searching methods is desired. ing.

  In addition, at sea, for example, when searching for a victim and searching for a distressed ship, the size of the object 54 to be searched is different, so it is necessary to perform a search according to the situation. However, an appropriate search system according to such a situation has not been established, and an efficient search method has been demanded.

  In view of the above problems, the present invention provides a marine search system and apparatus capable of ensuring a search according to the situation of a search object and a search area, and a computer reading in which a program for causing a computer to execute a search method for an object is recorded. It is an object to provide a possible recording medium.

  A first invention of the present invention for solving the above-described problem is a search method for searching for an object floating or drifting or traveling on the sea, wherein the object of the floating or drifting or traveling object is detected. A first input step for inputting sea conditions in the sea area, and a change in detection rate according to the sea conditions and the size of the object input in the first input step are read from a database stored in a storage device in advance. A maritime characterized by comprising: a reading step; a calculating step for calculating a recognition probability of an object from the read detection rate change; and an output step for outputting a search mode calculated in the calculating step. In the search method of the object.

  According to a second invention, in the first invention, the change in the detection rate is obtained from a relationship between a distance to the object and a detection rate that is a rate at which the object can be confirmed within a predetermined time. The feature is a method for searching for an object at sea.

  According to a third aspect of the present invention, in the first or second aspect of the invention, the sea state condition is determined by a wave period and a significant wave height.

According to a fourth aspect of the present invention, in the second or third aspect of the invention, the recognition probability is obtained from the following equation (1), and the object is a search method for an object on the sea.
1- [1-detection rate (first time)] × [1-detection rate (second time)] × [1-detection rate (third time)] ×... × [1-detection rate (nth time)]. (1)
Here, n is an arbitrary integer.

  According to a fifth invention, in any one of the first to fourth inventions, a search method for a target object at sea, wherein the search for the target object is performed using a search device from either the ground or a ship. is there.

  According to a sixth aspect of the present invention, in the fifth aspect of the present invention, when searching with a ship, the traveling speed (kt) of the ship, the viewing angle (°) of the searching device, the turning scanning speed of the searching device ( (2) A method for searching for an object on the sea, comprising a second input step for inputting a rotation amplitude (°) of the search device.

  According to a seventh invention, in any one of the first to sixth inventions, there is further provided a search method for an object on the sea, further comprising a third input step for inputting a search range.

  An eighth invention is the object on the sea according to any one of the fifth to seventh inventions, wherein the search device is a laser radar, a visible camera, an infrared camera, or a combination thereof. It is in the search method of things.

  A ninth invention is a search system for searching for an object floating or drifting or traveling on the sea, wherein the first input for inputting the sea condition of the target area of the floating, drifting or traveling object A device, a reading device that reads a detection rate change according to a sea condition and a size of an object input by the first input device from a database stored in a storage device in advance, and the read detection rate There is provided a search system for an object on the sea, comprising a calculation device that calculates a recognition probability of an object from a change, and an output device that outputs a search mode calculated by the calculation device.

  According to a tenth aspect, in the ninth aspect, the change in the detection rate is obtained from a relationship between a distance to the object and a detection rate that is a rate at which the object can be confirmed within a predetermined time. It is in the characteristic ocean search system.

  An eleventh aspect of the invention is the search system for an object on the sea according to the ninth or tenth aspect of the invention, wherein the sea condition is determined by a wave period and a significant wave height.

  A twelfth aspect of the invention is a search system for an object on the sea according to any one of the ninth to eleventh aspects, wherein the search for the object is performed using a search device from either the ground or a ship. is there.

  According to a thirteenth invention, in the twelfth invention, when searching with a ship, the traveling speed (kt) of the ship, the viewing angle (°) of the search device, the turning scanning speed of the search device ( Or a second input device for inputting a swiveling amplitude (°) of the search device.

  In a fourteenth aspect of the invention, in any one of the ninth to thirteenth aspects, a search system for an object on the sea further includes a third input device for inputting a search range.

  A fifteenth aspect of the present invention is the object on the sea according to any one of the ninth to fourteenth aspects, wherein the search device is any one of a laser radar, a visible camera, an infrared camera, or a combination thereof. In the object search system.

A sixteenth aspect of the present invention is a computer-readable recording medium recorded with a program for causing a computer to execute a search method for searching for an object floating, drifting or traveling on the sea. A first input step for inputting a sea condition condition of the target area of the target object, and a detection rate change corresponding to the size of the target object from the sea condition condition input in the first input step A reading step of reading from a database stored in a calculation step of calculating a recognition probability of an object from the read detection rate change;
An output step for outputting a search mode calculated in the calculation step, and a computer-readable recording medium on which a program for causing a computer to execute a search method for an object is recorded.

  According to a seventeenth aspect, in the sixteenth aspect, when searching with a ship, the traveling speed (kt) of the ship, the viewing angle (°) of the searching device, the turning scanning speed of the searching device ( Or a computer-readable recording medium in which a program for causing a computer to execute a search method for an object including a second input step for inputting a swing amplitude (°) of the search device is recorded.

  According to an eighteenth aspect of the present invention, in the sixteenth or seventeenth aspect of the present invention, a computer-readable recording medium on which a program for causing a computer to execute an object searching method further including a third input step for inputting a search range is recorded It is in.

According to the search method for an object on the sea of the present invention, by inputting the sea condition around the object, the recognition probability can be accurately obtained from the detection rate corresponding to the sea condition, and an efficient search can be performed. It becomes possible.
In addition, according to the search system for an object at sea, the recognition probability can be accurately obtained from the detection rate corresponding to the sea state condition, and an efficient search becomes possible.
In addition, by causing a computer to read a program recorded on a recording medium, it is possible to cause the computer to execute the method for searching for an object on the sea.

  Hereinafter, an example of an embodiment of a computer-readable recording medium in which a search method and apparatus for an object on the sea and a program for the search method according to the present invention are recorded will be described in detail with reference to the drawings. Note that the present invention is not limited to the embodiments. In addition, constituent elements in the following embodiments include those that can be easily assumed by those skilled in the art or those that are substantially the same.

FIG. 1 is a block diagram showing the configuration of this embodiment.
As shown in FIG. 1, a search device for an object on the sea is a search method for searching for an object floating or drifting or traveling on the sea, and the sea area of the object floating or drifting or traveling An input device 103 for inputting a marine state condition, a reading device 101 for reading a change in detection rate according to the inputted sea state condition and the size of the object from a database 106 stored in the storage device 105 in advance, and the reading device A calculation device 102 that calculates a recognition probability of an object from the detected change in detection rate and an output device 104 that outputs a search mode calculated by the calculation device are provided, and search conditions are formulated according to sea conditions.
Here, in FIG. 1, reference numeral 100 denotes a central processing unit. The central processing unit 100 includes a CPU, a parallel processor, a vector processor, and the like. The central processing unit 100 includes a reading device 101, a calculation device 102, and an input device 103.

  In FIG. 1, reference numeral 103 denotes an input device. The input device 103 includes a keyboard, OCR, mouse, tablet, light pen, image scanner, and the like. In FIG. 1, reference numeral 104 denotes an output device. The output device 104 includes a display device, a printer, and the like.

  In FIG. 1, reference numeral 105 denotes a storage device. The storage device 105 includes HD, FD, CD, MD, magnetic tape, various memories, and the like. The storage device 105 includes a database 106 in which a search device file 106a, a sea condition file 106b, a ship operation condition file 106c, and the like are hierarchically constructed.

  The central processing unit 100, the input device 103, the output device 104, and the storage device 105 are connected via a bus 107 and constitute a computer.

  As shown in FIG. 2, the search system searches using a search device 52 installed in a monitoring ridge 50 on the ground or a search ship 51 such as a patrol boat at sea. The search device 52 can be performed using various search devices such as a laser radar, a visible camera, an infrared camera, etc. alone or in combination. In the following, in this embodiment, monitoring using a laser radar will be described.

  FIG. 3 is a conceptual diagram showing a search area of the camera 52 a of the search device 52 mounted on the search ship 51. As shown in FIG. 3, when the camera 52a is mounted on the search ship 51, the position H is specified from the sea surface, and when the front end side of the monitoring distance is specified, the instantaneous area 53 that can be monitored is specified in the search sea area.

4 to 6 show the relationship between the viewing angle of the laser and the instantaneous region 53 that can be monitored. FIG. 4 shows the resolution of the camera 52a, and FIGS. 5 and 6 are a corresponding plan view and side view in FIG. As shown in FIG. 4, in this monitorable instantaneous region 53, the horizontal viewing angle (view angle) θ ₁ is determined from the resolution α of the object 54 of the camera 52a of the search device 52. As shown in FIG. 6, φ is the depression angle of the camera 52a.

Here, the resolution α of the camera 52a is obtained from the following equation (2).
α = tan ⁻¹ [(size D of the object 54 / number of pixels necessary for detection N) / distance L] (2)
The viewing angle θ _{1 in the} lateral direction of the camera can be obtained from the following formula (3).
θ ₁ = Resolution α × Camera pixel (3)
Generally, the minimum number of pixels necessary for detection is 2 × 2, so the number of pixels is 2 or more.
Therefore, the viewing angle is calculated by inputting the monitoring distance L, the size D of the object 54, and the number N of pixels.

Here, the number of pixels of the camera is 4: 3 in the case of NTSC (National TV Standards Committee) according to Japanese Industrial Standards and 4: 3 in the case of HV (High-Definition Television). Since the horizontal viewing angle θ ₁ is specified, the vertical viewing angle θ ₂ is specified. As a result, the depth monitoring area (tip-side monitoring distance) is specified. An area 55) identified by L1 and the rear end side monitoring distance L2 is specified.

  For example, in the case of recognizing a 0.2 m target 54 that is 500 m ahead, the viewing angle is narrowed to 1 to 2 °, and only a width of about several tens of meters is displayed on the screen. Therefore, although the naked eye recognizes that the front is being monitored, the search device 52 that actually searches for the object 54 is monitoring only a part of the front.

  Therefore, when the search area is set to 10 km square, for example, when the detection width is 20 m, when the round trip search is performed such that the vehicle travels 10 km as it is and turns at a predetermined distance, the sea area of 10 km square is obtained. To search all of them, it will take 500 turns repeatedly and it will take a lot of time.

For this reason, as shown in FIG. 7, it is necessary to widen the effective search width W by turning the camera 52a of the search device 52 left and right around the traveling direction.
The element that widens the effective search width W is the search amplitude β, and, for example, ± 1 to 70 ° turning operation is performed on the basis of the traveling direction to widen the monitoring area.
By performing this turning operation, the effective search width W can be set to, for example, 500 m. As a result, the search can be performed by performing 20 turns for a 10 km square search.

FIG. 8 is a schematic diagram showing the search situation of the search ship and its effective search width. As shown in FIG. 8, since the search ship 51 is moving forward, the two circles are not circles due to the advance, and the envelopes 56, 57 of constant radius circles in which the center points of the circles increase on the time series. , 58.
Therefore, the effective search width can be increased.

Here, a laser radar as an example of a search device will be described with reference to the block diagram of FIG.
As shown in FIG. 9, the laser radar is composed of an imaging unit A and a control / radar unit B. By irradiating the pulse laser beam 4 from the pulse laser device 1, the reflected laser beam is reflected from the object 54. Light is received by the imaging device 12 and converted into image data. The shutter device 10 is used to receive light only when necessary.
Here, in this embodiment, as the laser, a range-gate type image acquisition laser radar that irradiates a pulse laser and captures reflected light by high-speed shutter opening / closing control of the camera is used. The laser radar may be used.

  As shown in FIG. 9, the laser radar is driven by the driving power supplied from the pulse laser power supply device 3 via the pulse laser control device 2 to the pulse laser device 1 to generate the pulse laser light 4. The pulse laser light 4 is irradiated as illumination light to a recognition object on the sea through the illumination optical lens system 5, and the reflected light from the recognition object is imaged through the light reception optical lens system 7 and the shutter device 10. The image of the recognition object is imaged on the image 12 and the image signal obtained from the image pickup device 12 is processed by the image processing device 14 and displayed on the display device 15.

  The illumination optical lens system 5, the light receiving optical lens system 7, the shutter device 10 and the imaging device 12 are respectively an illumination area control device 6, a light receiving region control device 9, a shutter operation control device 11 and an imaging control device 13. Controlled by

  The control signal generation device 16 controls the entire object recognition device, and according to the designation of the user (observer) input from the user interface 17, the pulse laser control device 2, the illumination area control device 6, and the light reception. A predetermined control signal is output to each of the area control device 9, the shutter operation control device 11, and the imaging control device 13. This control signal generator 16 and the above-described pulse laser control device 2, illumination area control device 6, light receiving area control device 9, shutter operation control device 11 and imaging control device 13 are connected by transmission lines such as optical cables. The remote control using the user interface 17 and the display device 15 is possible.

  When recognizing an object at sea using this laser radar, the user uses a user interface 17 constituted by a personal computer or the like to output the pulse laser beam 4 generated in the pulse laser device 1, the pulse width, the repetition period, etc. And the width of the illumination area 8a by the irradiation of the pulse laser beam 4 is specified.

  The illumination area 8a is changed according to the distance to the object 54 and the size of the recognition object. The user observes the illumination area 8a while adjusting the recognition object on the display device 15. The image shown is displayed at an optimal rate. Specifically, when the distance to the recognition object is short or the recognition object is large, the illumination area 8a is designated widely so that the entire recognition object is included in the image, and the distance to the recognition object is When it is long or when the recognition target is small, the illumination area 8a is specified to be narrow so that the ratio of the recognition target in the image is large.

  Each data indicating the characteristics of the pulse laser beam 4 thus specified and the width of the illumination area 8a is output to the control signal generator 16, and a control signal corresponding to each data is pulsed from the control signal generator 16. It is output to the laser control device 2 and the illumination area control device 6, respectively.

  The pulse laser control device 2 drives the pulse laser device 1 in accordance with the control signal output from the control signal generating device 16, and the pulse laser device 1 has characteristics according to the control of the pulse laser control device 2, that is, specified by the user. A pulsed laser beam 4 having the specified characteristics is generated.

  The pulsed laser light 4 generated by the pulsed laser device 1 is guided to the illumination optical lens system 5. The illumination optical lens system 5 includes a lens group that changes its position in accordance with the control of the illumination area control device 6, and spatially transmits the pulse laser light 4 guided from the pulse laser device 1 by this lens group. The light is enlarged or reduced and irradiated toward the illumination area 8a.

  At this time, the illumination area control device 6 controls the illumination optical lens system 5 such that the illumination area 8a designated by the user is irradiated with the pulsed laser light 4. Further, when the light receiving area 8b described later is designated by the user, the illumination area control device 6 automatically sets the illumination optical lens system 5 so that the light receiving area 8b and the illumination area 8a are as identical as possible. Control.

  In this way, when the pulsed laser light 4 is irradiated onto the illumination region 8a, the pulsed laser light 4 is reflected by the recognition object existing in the illumination region 8a, thereby generating reflected light (scattered light). Hereinafter, the process of receiving the reflected light and imaging the recognition object will be described.

  First, the light receiving region 8b that receives the reflected light is adjusted to be as identical as possible to the illumination region 8a. Specifically, a predetermined control signal is output from the control signal generating device 16 to the light receiving area control device 9, and the light receiving area control device 9 determines the position of the lens group constituting the light receiving optical lens system 7 according to the control signal. And the light receiving region 8b is automatically adjusted so as to receive the reflected light from the same region as possible as the illumination region 8a. Note that the user may designate the light receiving region 8b as necessary.

  At this time, the light-receiving area control device 9 simultaneously performs focus control in the light-receiving optical lens system 7, and controls the light-receiving optical lens system 7 so that the area is focused on the area (distance) specified by the user. To do. Note that this focus is adjusted according to the distance to the recognition target object to be photographed in correspondence with an operation start time described later.

  The reflected light from the recognition object condensed by the light receiving optical lens system 7 is introduced into the imaging device 12 via the shutter device 10. Here, the shutter device 10 is controlled by the shutter operation control device 11 to be opened (open) and closed (closed). By opening and closing the shutter at a predetermined timing, reflection from the recognition target object is performed. Only the light is guided to the imaging device 12, and the reflected light from other suspended particles and the like is shielded.

  In order to operate the shutter device 10 in this way, it is necessary to appropriately specify the operation start time and the operation interval time in advance. The operation start time represents the time from the start of irradiation of the pulse laser beam 4 by the pulse laser apparatus 1 to the start of exposure with the shutter open, and depends on the distance to the recognition object in synchronization with the pulse laser beam 4. Is set. The operation interval time represents the time for which the shutter device 10 is kept open, and is set according to the sensitivity of the imaging device 12 and the like. By adjusting the operation start time and the operation interval time, it is possible to capture only the reflected light from the recognition target existing in an arbitrary region (distance). The operation start time and the operation interval time are designated by the user interface 17, and a control signal corresponding to each value is output from the control signal generator 16 to the shutter operation controller 11.

  The shutter operation control device 11 closes the shutter device 10 simultaneously with the start of irradiation of the pulse laser beam 4 by the pulse laser device 1 based on the control signal output from the control signal generator 16. Then, by outputting an operation start signal and an operation interval signal synchronized with the pulse laser beam 4, the shutter device 10 is opened and closed at an optimal timing, and only the reflected light from the recognition object is guided to the imaging device 12.

  When the distance to the recognition object is unknown, the position of the recognition object can be searched by slightly shifting the operation start time. In this case, the distance to the recognition object may be measured based on the propagation time from the irradiation of the pulsed laser beam 4 to the reception of the reflected light, and the operation start time may be set based on this distance.

  The imaging device 12 receives the reflected light thus guided, performs imaging in accordance with control signals relating to light receiving characteristics such as gain, iris, and imaging cycle output from the imaging control device 13, and obtains the obtained image signal. The image is output to the image processing apparatus 14. It is assumed that the above-described light receiving characteristics are designated in advance using the user interface 17.

  The image processing device 14 performs A / D conversion on the image signal output from the imaging device 12, further performs processing such as edge enhancement processing, and outputs the result to the display device 15. Here, in the image processing device 14, for example, integration is performed so that the object can be accurately recognized even when the recognition target (or the object recognition device main body) is slightly moved (including minute vibrations). It is desirable not to perform image processing that requires image information over a relatively long time as in the method, but to perform image processing based only on a single image information over a relatively short time as in the edge enhancement processing described above. .

  The display device 15 displays an image indicated by the image signal output from the image processing device 14, and the user recognizes an object based on the displayed image. At this time, the data indicating the width of the irradiation region 8a and the light receiving region 8b and the distance to the recognition object, and various data designated by the user may be displayed at the same time. The size of the recognition object can be easily grasped.

  In the configuration described above, one type of pulse laser is generated from the pulse laser device 1, but the present invention is not limited to this, and for example, monitoring is performed using both infrared and ultraviolet pulse laser beams. You may make it do. In this case, a wavelength conversion unit is interposed between the pulse laser device 1 and the illumination optical lens system 5, and the infrared laser beam and the ultraviolet laser beam are irradiated by the wavelength conversion unit. .

  Note that the wavelength on the infrared side is preferably such that the wavelength of the pulse laser is from 760 nm to 1600 nm. Such a wavelength range is preferable when it is not desired to know the fact that a port is being monitored for a stowed ship, particularly at a port.

  On the ultraviolet side, the wavelength of the pulse laser is preferably 220 nm or more and 440 nm or less. In particular, even when the ship name or the like is covered with an infrared absorbing material, the component on the ultraviolet side is well reflected, so that the recognition object can be imaged.

  Further, the imaging device 12 may be provided with a color visible camera and an IR camera.

  The construction of the search system conditions using such a laser radar will be described.

[Construction of search conditions according to the condition of the object]
Examples of the search object 54 include a drifter and a drifting ship due to a marine accident, an unidentified floating object, an unidentified navigation ship, and the like. The recognition probabilities of these objects 54 change depending on their sizes and discriminating power (for example, whether or not they have a reflecting portion).
In addition, although the operation | work of a search ship becomes search or monitoring by a target object, in the following Examples, searching for a victim is demonstrated.

[Construction of search conditions according to sea conditions in the search area]
Since the sea conditions in the search area differ from sea area to sea area, the search mode is changed according to the sea conditions in the search sea area. Here, the sea condition is determined by a wave period 60 and a significant wave height 61 in the search region, as shown in FIG. As a result, the time during which the object is visible is determined according to the wave and distance conditions. This oceanographic condition is databased in FIG.
An example of the sea conditions is shown in “Table 1” below.

Next, a change in detection rate that is a relationship between the position of the object 54 and the detection rate is obtained from the sea condition. This change in detection rate varies depending on the size D of the object and the installation position H of the search device 52.
FIG. 11 shows an example of a change in detection rate of an object.
FIG. 11 shows a case where the size of the object is 0.2 m. Here, the definition of the detection rate means time / monitoring time during which an object can be detected. FIG. 11 shows the case of 1000 seconds of monitoring.
From this change in detection rate, a recognition probability that can recognize an object can be set.

Here, the recognition probability is obtained by the following equation (1).
1- [1-detection rate (first time)] × [1-detection rate (second time)] × [1-detection rate (third time)] ×... × [1-detection rate (nth time)]. (1)
Note that n is an arbitrary integer.
Therefore, when the recognition probability is set to a certain threshold, the number of searches can be set from the relationship between the position of the object and the detection rate.

[Construction of search conditions according to the situation of the object of the search ship equipped with the search device]
The search mode is selected according to the speed of the search ship and the operating conditions of the monitoring system.
To select the search mode, it is necessary to enter operational conditions.
FIG. 12 is an example of an operation screen input by the operator.
In FIG. 12, the operation screen 30 includes an object display portion 31 that displays a captured image of the object 54 and a search area display screen 32. The search area imaged on the object display part 31 is displayed in polar coordinates. In FIG. 12, the object 54 is confirmed in the object display part 31.

  The search area display screen 32 is divided into a number of partial search areas. The presence of an object in the partial search area is determined with high accuracy by image processing. Here, it is exemplarily shown that a drifter's head drifting in the vicinity of the sea surface in front of 500 m exists in the region 33-1.

The operation screen 30 is an area 34-1 for inputting a vessel traveling speed (kt), a viewing device viewing angle (°), a searching device turning amplitude (°), and a searching device turning scanning speed (° / s). , 34-2, 34-3, 34-4. Moreover, it has the area | region 35 which inputs sea state conditions. Moreover, it has the area | region 36 which inputs a weather condition, and the area | region 37 which inputs the day and night conditions.
Based on these modes, the irradiation solid angle or distance search range of the laser radar 1 is automatically determined. The operation screen 30 has an actual speed setting area 38 for setting the actual ship speed v and the turning speed (actual angular speed) ω. Moreover, it has a display area 39 such as a time in which the search time, the number of searches, and the effective search width are displayed.

[Search simulation]
Next, the search simulation will be described with reference to FIGS. FIG. 13 is a flowchart of search simulation.
(1) Input sea conditions (Step 1)
First, the operator inputs sea conditions on the operation screen 30 of the input device 103. Then, the reading device 101 reads the wave pattern from the sea state condition file 106b of the database.
(2) Calculation of detection rate change (step 2)
A change in detection rate (see FIG. 11) is calculated from a database of wave pattern data that simulates the sea condition from the input sea condition.
At this time, the installation height H of the search device 52 is input.
(3) Calculation of detection rate for each distance (step 3)
When the ship is moving, the distance L to the object 54 and the detection rate for each distance to look forward when turning are calculated. As a result, the instantaneous region 53 (see FIG. 3 etc.) that can be monitored is specified.
(4) Calculation of recognition probability (step 4)
Then, the recognition probability of the object while the instantaneous region 53 that can be monitored passes through the object position 54 is calculated by the calculation device 102.
Furthermore, the traveling speed of the search ship 51 and the operation conditions of the search device 52 are input, and the overlapping state of the instantaneous regions 53 that can be monitored during the turning operation of the camera is selected. This confirms how many times each point is scanned.
(5) Output effective search width and time (Step 5)
As a result, an effective search width W effective for searching is obtained, and a time required for searching the search area is obtained, and is output by the output device 104 and displayed on the operation screen 30.

Thereby, the search mode in the search area is specified.
As a result, before starting search activities such as monitoring and searching, the expected values such as recognition probability and search time can be obtained, so it is possible to judge whether the system operating conditions are good or not, and perform inefficient monitoring activities The risk is reduced and an efficient search can be performed.
It should be noted that the search simulation results under various conditions are stored in the database 106 and collated with the results under the same conditions as the input information to provide data such as the expected recognition probability and the time required for the search. May be. As a result, the simulation immediately before operation is omitted.

Next, a specific search flow will be described with reference to FIG.
For example, suppose a search ship is dispatched at the same time as a report of a distress, and arrives at the distress area and searches for a drifter.

(1) Search condition setting (step 11)
As soon as you arrive at the distressed sea area, enter the sea conditions of the sea area.
Next, the recognition probability is selected from the detection rate change obtained from the sea condition.
At the same time, based on the obtained recognition probability, the traveling speed, viewing angle, search amplitude, and turning speed of the patrol boat are set and input. Furthermore, the search range is input.
(2) Start searching for an object (step 12)
The search device is automatically operated, and the monitoring screen is monitored by the operator.
(3) Object detection (step 13)
When the operator visually confirms the object on the screen, the direction and distance are confirmed. Display the object on the search map.
(4) Lock-on and identification of the object (step 14)
Re-detection is performed by an operator's manual operation such as a joystick. The object is zoomed up after the object is locked on, and the object is identified. You may make it identify with the screen of a stop motion.
(5) Determining whether or not the object is an object (step 15)
Whether or not the object is an object is determined by visual inspection on the screen.
As a result, if it is a search object, the process proceeds to the next step. On the other hand, if it is not a search object (for example, a simple drifting object), the process returns to step 12 to continue searching for the object again.
(6) Tracking / approach / capture (step 16)
As a result of the visual discrimination, if the object is a search object, it is switched to an automatic tracking device, and the search object is quickly approached and accommodated while tracking the search object.

  FIG. 15 shows a sea area (10 km square) 40 to be actually searched. With the object 54 as the center point of the sea area, the search ship 51 starts searching from any one side of the sea area.

In FIGS. 16A and 16B, the concept of monitoring by laser radar is illustrated by stop motion. In the figure, the encircled numbers represent the travel position of the search ship 51 and the search area corresponding to it in time series.
FIG. 16-1 shows the case where the search speed of the search ship 51 is low and the overlap of search ranges is increased in the case of bad weather and at night (when monitoring points are performed a plurality of times).
FIG. 16-2 shows a case where the search ship 51 has a high navigation speed and there is little overlap of search areas in fine weather.

  FIG. 17 shows the search range and the number of times when the traveling speed of the ship is 10 kt, the viewing angle of the searching device is 2 °, the turning scanning speed of the searching device is 2 ° / s, and the turning amplitude of the searching device is ± 35 °. Show. The effective search width W is 800 m.

  In addition, in order to keep the effective search width W constant, the position and movement history information of the ship is acquired by GPS (Global Positioning System), etc., and double monitoring and the presence of an oversight area are determined. You may make it do.

  As described above, the method for searching for an object on the sea according to the present invention is to instantly respond to a person who is drifting on the sea, a distressed ship, an unidentified ship, etc. It is possible to cope with it, and the recognition probability is improved.

It is a block diagram which shows the structure of an Example. It is a conceptual diagram which shows the example of installation of a search device. It is a conceptual diagram which shows the search area | region of a camera. It is a figure which shows the relationship between the viewing angle of a laser, and the instantaneous area | region which can be monitored. FIG. 5 is a plan view of FIG. 4. FIG. 5 is a side view of FIG. 4. It is the schematic which shows the effective search width of a laser. It is the schematic which shows the search condition of the search ship, and its effective search width. It is a block diagram of a laser radar. It is a figure which shows the relationship between the significant wave height of a wave, and a period. It is a figure which shows an example of the detection rate change of a target object. It is a figure which shows an example of the operation screen which an operator inputs. It is a flowchart of search simulation. It is a flow chart of search. It is a conceptual diagram of a search sea area. It is a conceptual diagram of the monitoring by the laser radar mounted in a search ship. It is a conceptual diagram of the monitoring by the laser radar mounted in a search ship. It is a conceptual diagram of the monitoring by a laser radar. It is a related figure of a wave and a subject.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Central processing unit 101 Reading apparatus 102 Calculation apparatus 103 Input apparatus 104 Output apparatus 105 Storage apparatus 106 Database 107 Bus 50 Monitoring tower 51 Search ship 52 Search apparatus 53 Instantaneous area | region 54 which can be monitored 54 Target object

Claims (18)

A search method for searching for an object floating, drifting or traveling on the sea,
A first input step for inputting sea conditions of the target area of a floating or drifting or traveling object;
A reading step of reading a change in detection rate according to the sea condition and the size of the object input in the first input step from a database stored in a storage device in advance;
A calculation step of calculating a recognition probability of the object from the read detection rate change;
An output step of outputting the search mode calculated in the calculation step;
A method for searching for an object on the sea, characterized by comprising: In claim 1,
A method of searching for an object on the sea, wherein the change in the detection rate is obtained from a relationship between a distance to the object and a detection rate that is a ratio at which the object can be confirmed within a predetermined time. In claim 1 or 2,
A search method for an object on the sea, wherein the sea condition is determined by a wave period and a significant wave height. In claim 2 or 3,
A search method for an object on the sea, wherein the recognition probability is obtained from the following equation (1).
1- [1-detection rate (first time)] × [1-detection rate (second time)] × [1-detection rate (third time)] ×... × [1-detection rate (nth time)]. (1)
Here, n is an arbitrary integer. In any one of Claims 1 thru | or 4,
A search method for a target object at sea, wherein the search for the target object is performed by using a search device from either the ground or a ship. In claim 5,
When searching by ship,
Further, a second method of inputting a vessel traveling speed (kt), a search device viewing angle (°), a search device turning scanning speed (° / s), or a search device turning amplitude (°) according to sea conditions. A search method for an object on the sea characterized by comprising the following input step. In any one of Claims 1 thru | or 6,
Furthermore, the search method of the target object on the sea provided with the 3rd input step which inputs a search range. Any one of claims 5 to 7,
A search method for an object on the sea, wherein the search device is any one of a laser radar, a visible camera, an infrared camera, or a combination thereof. A search system for searching for an object floating or drifting or traveling on the sea,
A first input device for inputting sea conditions of the sea area of a floating, drifting or traveling object;
A reading device that reads a detection rate change according to a sea condition and a size of an object input by the first input device from a database stored in advance in a storage device;
A calculation device for calculating a recognition probability of an object from the read detection rate change;
An output device for outputting the search mode calculated by the calculation device;
A search system for objects on the sea, characterized by comprising: In claim 9,
The search system for an object on the sea, wherein the change in the detection rate is obtained from a relationship between a distance to the object and a detection rate that is a rate at which the object can be confirmed within a predetermined time. In claim 9 or 10,
A marine object search system, wherein the sea condition is determined by a wave period and a significant wave height. In any one of Claims 9 thru | or 11,
A search system for an object on the sea, wherein the search for the object is performed using a search device from either the ground or a ship. In claim 12,
When searching by ship,
Further, a second method of inputting a vessel traveling speed (kt), a search device viewing angle (°), a search device turning scanning speed (° / s), or a search device turning amplitude (°) according to sea conditions. A search system for an object at sea, characterized by comprising an input device. In any one of Claims 9 thru | or 13,
Furthermore, the search system of the target object on the sea provided with the 3rd input device which inputs a search range. In any one of Claims 9 thru | or 14,
A search system for an object on the sea, wherein the search device is any one of a laser radar, a visible camera, an infrared camera, or a combination thereof. A computer-readable recording medium having recorded thereon a program for causing a computer to execute a search method for searching for an object floating, drifting or traveling on the sea,
A first input step for inputting sea conditions of the target area of a floating or drifting or traveling object;
A reading step of reading a detection rate change according to the size of the object from the sea condition input in the first input step from a database stored in advance in a storage device;
A calculation step of calculating a recognition probability of the object from the read detection rate change;
An output step of outputting the search mode calculated in the calculation step;
A computer-readable recording medium having recorded thereon a program for causing a computer to execute a method for searching for an object comprising In claim 16,
When searching by ship,
Further, a second method of inputting a vessel traveling speed (kt), a search device viewing angle (°), a search device turning scanning speed (° / s), or a search device turning amplitude (°) according to sea conditions. A computer-readable recording medium on which a program for causing a computer to execute a method for searching for an object including the following input steps is recorded. In claim 16 or 17,
Furthermore, a computer-readable recording medium on which a program for causing a computer to execute a method for searching for an object including a third input step for inputting a search range is recorded.

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