Ship monitoring system, ship monitoring method, information processing device, and program

Abstract

A ship monitoring system capable of appropriately evaluating collision risks against a plurality of other ships forming a fleet is provided. The ship monitoring system has a first data generation section that generates first ship data indicating a position and a speed of a first ship; a second data generation section that generates a plurality of second ship data indicating positions and speeds of a plurality of second ships; a risk value calculation section that calculates, respectively, risk values indicating risks of collision of the first ship with the plurality of second ships, from the first ship data and the plurality of second ship data; a fleet determination section that determines whether the plurality of second ships are a fleet, from the plurality of second ship data; and a representative value selection section that selects a representative value from the risk values calculated with respect to the plurality of second ships determined to be the fleet.

Description

TECHNICAL FIELD

[0001] The present application relates to a ship monitoring system, a ship monitoring method, an information processing apparatus, and a program. BACKGROUND

[0002] Conventionally, there are various methods of evaluating the risk of collision of ships with each other. For example, Non-Patent Literature 1 discloses a method of displaying an OZT (Obstacle Zone by Target).

[0003] PRIOR ART DOCUMENTS

[0004] PATENT LITERATURE

[0005] Non-Patent Literature 1: Tadashi Ima, Atsushi Fukuda, Masayoshi Numano, "On the Obstacle Zone by Other Ships and Its Display", Transactions of the West Japan Society of Navigation, 2002, Vol. 107, p. 191-197. SUMMARY

[0006] PROBLEMS TO BE SOLVED BY THE INVENTION

[0007] However, in the conventional method, the risk of collision is evaluated for each of a plurality of other ships, and in the case where the plurality of other ships form a fleet, even if the other ships having a low risk of collision are included in the fleet, the entire fleet needs to be avoided.

[0008] The present application was made in view of the above problems, and a main object thereof is to provide a ship monitoring system, a ship monitoring method, an information processing apparatus, and a program capable of appropriately evaluating the risk of collision with respect to a plurality of other ships forming a fleet.

[0009] MEANS FOR SOLVING THE PROBLEMS

[0010] To solve the above problems, a ship monitoring system according to an aspect of the present application includes a first data generation section that generates first ship data indicating a position and a speed of a first ship; a second data generation section that generates a plurality of second ship data indicating positions and speeds of a plurality of second ships; a risk value calculation section that calculates, based on the first ship data and the plurality of second ship data, a risk value indicating a risk of collision of the first ship with each of the plurality of second ships, respectively; a fleet determination section that determines whether the plurality of second ships are a fleet based on the plurality of second ship data; and a representative value selection section that selects a representative value from the risk values calculated with respect to the plurality of second ships determined to be the fleet.

[0011] Further, another aspect of the ship monitoring method of the present application, a first ship data indicating a position and a speed of a first ship is generated by a first data generating section, a plurality of second ship data indicating positions and speeds of a plurality of second ships is generated by a second data generating section, a risk value indicating a risk of collision of the first ship with each of the plurality of second ships is calculated from the first ship data and the plurality of second ship data, respectively, it is determined whether the plurality of second ships is a fleet from the plurality of second ship data, and a representative value is selected from the risk values calculated for the plurality of second ships determined as the fleet.

[0012] Further, another aspect of the information processing apparatus of the present application has: a risk value calculating section that calculates a risk value indicating a risk of collision of a first ship with each of a plurality of second ships from first ship data indicating a position and a speed of the first ship and a plurality of second ship data indicating positions and speeds of the plurality of second ships; a fleet determining section that determines whether the plurality of second ships is a fleet from the plurality of second ship data; and a representative value selecting section that selects a representative value from the risk values calculated for the plurality of second ships determined as the fleet.

[0013] Further, another aspect of the program of the present application causes a computer to execute the following steps: calculating a risk value indicating a risk of collision of a first ship with each of a plurality of second ships from first ship data indicating a position and a speed of the first ship and a plurality of second ship data indicating positions and speeds of the plurality of second ships; determining whether the plurality of second ships is a fleet from the plurality of second ship data; and selecting a representative value from the risk values calculated for the plurality of second ships determined as the fleet.

[0014] Effects of the Invention

[0015] According to the present application, it is possible to appropriately evaluate a risk of collision with respect to a plurality of other ships forming a fleet. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a view showing a configuration example of a ship monitoring system of an embodiment.

[0017] Figure 2 is a view showing an example of an other ship management database.

[0018] Figure 3 is a view showing a display example (conventional example) of an OZT.

[0019] Figure 4 is a view showing a configuration example of an information processing apparatus of an embodiment.

[0020] Figure 5This is a diagram illustrating an example of a fleet management database.

[0021] Figure 6 This is a diagram illustrating an example of the steps involved in determining and processing a sent message.

[0022] Figure 7 This is a diagram representing a case of message transmission determination.

[0023] Figure 8 This is a diagram illustrating the steps involved in updating and displaying risk values.

[0024] Figure 9 This is a graph representing an example of risk value updates.

[0025] Figure 10 This is a diagram representing a display example. Detailed Implementation

[0026] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0027] Figure 1 This is a block diagram illustrating an example configuration of a ship surveillance system 100 according to an embodiment. The ship surveillance system 100 is a system mounted on a ship and used to monitor ships present in the surrounding area.

[0028] The vessel equipped with the vessel surveillance system 100 is an example of a first vessel, referred to as "this vessel" in the following description. Additionally, vessels existing around this vessel are examples of second vessels, referred to as "other vessels" in the following description.

[0029] Additionally, in the following explanation, "speed" is a vector representing rate and bearing (the so-called ship speed vector), and "rate" is a scalar.

[0030] The ship surveillance system 100 includes an information processing unit 1, a display unit 2, a radar 3, an AIS 4, a GNSS receiver 5, a gyrocompass 6, an ECDIS 7, and an alarm unit 8. These devices can be connected to a network N, such as a LAN, and can communicate with each other via the network.

[0031] Information processing device 1 is a computer including a CPU, RAM, ROM, non-volatile memory, and input / output interfaces. The CPU of information processing device 1 executes information processing according to a program loaded from ROM or non-volatile memory into RAM.

[0032] The program can be provided, for example, via information storage media such as optical discs or memory cards, or via communication networks such as the Internet or LAN.

[0033] Display unit 2 is, for example, a display device with a touch sensor. The touch sensor detects the position of a finger or other object within the screen. It is not limited to a touch sensor; the position can also be input via a trackball or similar device.

[0034] Radar 3 emits radio waves around the ship and receives the reflected waves, generating echo data based on the received signals. Additionally, Radar 3 identifies objects based on the echo data and generates target tracking data (TT data) representing the position and velocity of the target.

[0035] The AIS (Automatic Identification System) receives AIS data from other ships or land-based control systems in the vicinity of the vessel. It is not limited to AIS; VDES (VHF Data Exchange System) can also be used. AIS data includes the positions and speeds of other ships, etc.

[0036] GNSS receiver 5 detects the ship's position based on radio waves received from GNSS (Global Navigation Satellite System). Gyrocompass 6 detects the ship's bearing. It is not limited to a gyrocompass; a GPS compass or magnetic compass can also be used.

[0037] The ECDIS (Electronic Chart Display and Information System) 7 obtains the vessel's position from the GNSS receiver 5 and displays it on the electronic chart. Additionally, the ECDIS 7 also displays the vessel's planned route on the electronic chart. It is not limited to ECDIS; a GNSS plotter can also be used.

[0038] Alarm unit 8 issues an alarm when there is a risk of collision between the vessel and other vessels. Alarm unit 8 can be a visual alarm, an audible alarm, or a visual alarm. Visual alarms can be issued from display unit 2. That is, display unit 2 can also serve as alarm unit 8.

[0039] In this embodiment, the information processing device 1 is a standalone device, but it is not limited to this and can also be integrated with other devices such as ECDIS7. That is, the functional parts of the information processing device 1 can also be implemented by other devices such as ECDIS7.

[0040] In addition, the display unit 2 is also a separate device, but it is not limited to this. The display units of other devices such as ECDIS7 can also be used as the display unit 2 to display images generated by the information processing device 1.

[0041] In this embodiment, the group consisting of GNSS receiver 5 and ECDIS 7 is an example of a first data generation unit, which generates ship data representing the ship's position and speed. Specifically, GNSS receiver 5 detects the ship's position, and ECDIS 7 detects the ship's speed based on the time-varying changes in the ship's position.

[0042] Not limited to this, the ship's speed can also be detected based on the ship's bearing detected by the gyrocompass 6 and the ship's speed detected by the speedometer (not shown).

[0043] Additionally, radar 3 or AIS 4 is an example of a second data generation unit that generates data representing the positions and speeds of other ships. Specifically, the TT data generated by radar 3 is equivalent to the data of other ships. Similarly, the AIS data generated by AIS 4 is also equivalent to the data of other ships.

[0044] Figure 2 This diagram illustrates an example of other ship management databases built into the memory of information processing device 1. Other ship management databases contain data on other ships generated by radar 3 or AIS 4.

[0045] The other vessel management database includes fields such as "other vessel identification," "position," "speed," and "bearing." Furthermore, the positions and bearings of other vessels detected by Radar 3 are converted to the same coordinate system as GNSS.

[0046] Figure 3 This is a diagram showing an example (conventional example) of OZT. OZT is the area where the ship's navigation is obstructed by other ships, shown on the other ships' planned course.

[0047] Additionally, as shown in the diagram, when there is a convoy that includes other vessels with a high risk of collision, it is necessary to avoid the entire convoy, rather than just avoiding the vessels with a high risk of collision.

[0048] However, in previous collision alerts, the collision risk was assessed separately for each of the other vessels, and an alert was issued separately. Therefore, as shown in the figure, it is possible to issue an alert only to a portion of the other vessels in the fleet, without alerting the rest of the vessels.

[0049] Therefore, in this embodiment, as described below, multiple other ships are managed as a fleet, enabling the issuance of alerts to the entire fleet.

[0050] Figure 4 This is a block diagram illustrating an example configuration of the information processing apparatus 1 in the embodiment. The information processing apparatus 1 includes a risk value calculation unit 11, a fleet determination unit 12, a representative value selection unit 13, a risk value update unit 14, a transmission determination unit 15, and a display control unit 16. These functional units are implemented by the CPU of the information processing apparatus 1 executing information processing according to a program.

[0051] Figure 5 This diagram illustrates an example of a fleet management database used to manage multiple other vessels identified as part of a fleet by the fleet determination unit 12. The fleet management database includes fields such as "Fleet Identifier," "Other Vessel Identifier," and "Risk Value." It should be noted that the fleet management database can also be integrated into the aforementioned other vessel management database (see [reference]). Figure 2 ).

[0052] "Fleet Identifier" is an identifier used to identify a fleet. Multiple other ships identified as part of a fleet by the fleet determination unit 12 are assigned the same fleet identifier. "Risk Value" represents the risk value calculated by the risk value calculation unit 11 or the risk value updated by the risk value update unit 14.

[0053] Figure 6 This is a flowchart illustrating an example of the reporting determination process in a ship surveillance method implemented in a ship surveillance system 100. The information processing device 1 executes the information processing shown in this diagram according to the program. Figure 7 This is a diagram representing a case of message transmission determination.

[0054] First, the information processing device 1 calculates risk values ​​representing the risk of collision between the ship and multiple other ships based on the ship's own data and other ship data (S11: processing by the risk value calculation unit 11).

[0055] For example, a known method for displaying OZT (Obstacle Zone by Target) can be used to calculate the risk value. In this method, the risk of collision with other vessels is assessed, assuming the vessel turns and reaches each of the multiple decision points set on the predicted course of other vessels.

[0056] It is not limited to this. For example, the risk value can also be calculated using TCPA (Time to Closest Point of Approach) / DCPA (Distance to Closest Point of Approach), or the SJ (Subject Judgement) value method can be used.

[0057] Then, the information processing device 1 determines whether multiple other ships constitute a fleet based on data from other ships (S12: processing as part of the fleet determination unit 12). Specifically, the information processing device 1 groups multiple other ships that are relatively close in terms of position, speed, and bearing into a fleet from the detected other ships. For example, the information processing device 1 groups multiple other ships whose position and speed are within a specified range centered on the ship and whose state lasts for a specified time or more into a fleet.

[0058] When multiple other ships are determined to be part of a fleet (S12: Yes), the information processing device 1 selects the maximum value from the risk values ​​calculated for each of the multiple other ships determined to be part of a fleet (S13: Processing by the representative value selection unit 13). It is not limited to the maximum value; a representative value such as the average value can also be selected.

[0059] Specifically, information processing device 1 retrieves data from the fleet management database (refer to...). Figure 5 Select the highest risk value from other ships with the same fleet identifier in the (). Figure 7 In the example, the risk value of the leftmost ship among the three other ships in the fleet is 0.7, which is the maximum value.

[0060] Then, if the maximum risk value is above the threshold, the information processing device 1 issues an alarm to the fleet (S14, S15: processing as part of the reporting determination unit 15). That is, an alarm is issued to the fleet as long as the risk value of any one of the multiple other ships in the fleet is above the threshold.

[0061] Issuing an alert to a convoy means issuing an alert to all other vessels identified as part of the convoy. That is, not only is an alert issued to the vessel with the highest risk value among the other vessels identified as part of the convoy, but also to all other vessels. Therefore, even vessels like... Figure 7 In the example, other ships on the far right, whose individual risk values ​​are less than the threshold, will trigger an alarm as long as they are identified as part of a fleet.

[0062] An alarm can be issued, for example, by changing the color of the symbols of multiple other ships identified as part of the fleet in the display unit 2, which also serves as the alarm unit 8, turning them on or off, or adding an emphasis display such as a box to indicate that they are alarm targets.

[0063] Following the steps described above, since an alert is issued to the entire fleet, it is easy to take evasive action by avoiding the entire fleet.

[0064] Furthermore, if it is determined that multiple other ships are not part of a fleet (S12: No), the information processing device 1 performs a transmission determination on each of the other ships. That is, if it is determined to be part of a fleet, the transmission determination on the fleet is performed as described above; if it is determined not to be part of a fleet, the transmission determination on each of the other ships is performed in the same manner as before.

[0065] Figure 8 This is a flowchart illustrating an example of the steps involved in the risk value update and display processing in a ship monitoring method implemented in a ship monitoring system 100. The information processing device 1 executes the information processing shown in this diagram according to the program. Figure 9 This is a graph representing an example of risk value updates. Figure 10 This is a diagram representing a display example.

[0066] First, the information processing device 1 calculates the risk value of collisions between the ship and multiple other ships respectively, and determines whether the multiple other ships are a fleet. The maximum value is selected from the risk values ​​calculated for the multiple other ships that are determined to be a fleet (S21 to S23). This process is the same as S11 to S13 above.

[0067] Then, the information processing device 1 increases the risk value of the other ships among the multiple other ships in the fleet, except for the ship with the highest risk value (S24: processing as a risk value update unit 14).

[0068] Specifically, the information processing device 1 increases the risk values ​​of all ships except those with the maximum risk value (hereinafter referred to as the updated target other ships) within a range not exceeding the maximum value, and updates the fleet management database (refer to...). Figure 5 The risk value recorded in ).

[0069] The revised risk values ​​for other target vessels are calculated, for example, by weighted averaging as described below.

[0070] The revised risk value = (0.7 × maximum risk value) × (0.3 × updated target other ships × risk value)

[0071] It should be noted that the correction methods and weighting coefficients are not limited to this.

[0072] exist Figure 9 In the example, the risk value of the leftmost ship among the three other ships in the fleet is 0.7, which is the maximum. The risk value of the other ship in the middle is 0.6, and the risk value of the other ship in the rightmost position is 0.3. These are the other ships in the updated target fleet.

[0073] By updating the risk values ​​of other ships based on the above formula for the updated target, the risk value of other ships in the center increases from 0.6 to 0.67, and the risk value of other ships on the far right increases from 0.3 to 0.58.

[0074] Therefore, even Figure 9 In the example, other ships on the far right, whose risk values ​​were less than the threshold before the update, will have their risk values ​​increased because they are classified as part of the fleet, thus making it easier to issue an alert.

[0075] Then, the information processing device 1 generates an image for display and outputs it to the display unit 2 (S25: processing as part of the display control unit 16).

[0076] Figure 10 This diagram illustrates an example of a display image shown in display unit 2. In the display image, multiple other ships determined to be part of a fleet are identified and displayed. That is, the multiple other ships belonging to the fleet are displayed in a way that allows them to be identified as ships not belonging to the fleet. For example, as shown in this diagram, the multiple other ships determined to be part of a fleet can be surrounded by a frame representing the fleet, or their color can be changed, etc.

[0077] Additionally, in the displayed image, OZTs are positioned along the predicted routes of multiple other ships identified as part of a fleet; these OZTs can also be displayed as a single unit. Specifically, an integrated OZT surrounding multiple OZTs is displayed. An integrated OZT is formed, for example, by connecting multiple OZTs with wiring in a manner that maximizes the area.

[0078] In this way, by identifying and displaying multiple other vessels identified as part of a convoy, the convoy can be easily identified visually. Furthermore, by displaying integrated OZT, navigable areas used to avoid the convoy can be easily identified visually.

[0079] The above describes the embodiments of the present invention. The present invention is not limited to the embodiments described above, and those skilled in the art can make various modifications.

[0080] Explanation of reference numerals in the attached figures

[0081] 1. Information processing unit; 2. Display unit; 3. Radar; 4. AIS; 5. GNSS receiver; 6. Gyrocompass; 7. ECDIS; 8. Alarm unit; 11. Risk value calculation unit; 12. Fleet determination unit; 13. Representative value selection unit; 14. Risk value update unit; 15. Transmission and determination unit; 16. Display and control unit; 100. Ship surveillance system

Claims

1. A ship surveillance system, wherein, have: The first data generation unit generates first ship data representing the position and speed of the first ship. The second data generation unit generates multiple sets of second vessel data representing the positions and speeds of multiple second vessels; The risk value calculation unit calculates risk values ​​representing the risk of collision between the first vessel and each of the plurality of second vessels based on the first vessel data and the plurality of second vessel data. The fleet determination department determines whether the plurality of second vessels constitute a fleet based on the data of the plurality of second vessels. as well as The representative value selection unit selects a representative value from the risk values ​​calculated for each of the plurality of second vessels identified as part of the fleet.

2. The ship surveillance system as described in claim 1, wherein, It also has an alarm unit that issues an alarm to the plurality of second vessels identified as part of a fleet if any one of the risk values ​​calculated for each of the plurality of second vessels identified as part of a fleet is above a threshold.

3. The ship surveillance system as described in claim 1, wherein, It also has a risk value update unit that increases the risk value of the second vessel among the plurality of second vessels identified as part of the fleet, excluding the second vessel with the highest risk value.

4. The ship surveillance system as described in claim 3, wherein, The risk value update unit increases the risk value of the second vessel, other than the second vessel with the maximum risk value, within a range that does not exceed the maximum value.

5. The ship surveillance system as described in any one of claims 1 to 4, wherein, It also has a display unit that identifies and displays the plurality of second vessels determined to be part of the fleet.

6. The ship surveillance system as described in any one of claims 1 to 4, wherein, It also has a display unit that integrally displays the OZT (Obstacle Zone by Target) configured on each of the predicted course of the plurality of second vessels identified as part of the fleet.

7. The ship surveillance system as described in any one of claims 1 to 4, wherein, The fleet determination unit determines the plurality of second vessels as a fleet if the positions and speeds of the plurality of second vessels are less than a specified difference and their state persists for more than a specified time.

8. The ship surveillance system as described in any one of claims 1 to 4, wherein, It also has an alarm unit that issues an alarm to the second vessel with the representative value among the plurality of second vessels identified as part of the fleet, as well as to any other second vessels.

9. The ship surveillance system as described in any one of claims 1 to 8, wherein, The first data generation unit includes a GNSS (Global Navigation Satellite System) receiver mounted on the first ship, which detects the position of the first ship based on radio waves received from the GNSS.

10. The ship surveillance system as described in any one of claims 1 to 4, wherein, The second data generation unit includes a radar mounted on the first vessel, which detects the position and speed of the second vessel based on echo data generated by receiving reflected waves of radio waves emitted around the first vessel.

11. A method for ship surveillance, wherein, The first data generation unit generates first ship data representing the position and speed of the first ship. The second data generation unit generates multiple sets of data representing the positions and speeds of multiple second vessels. Based on the first vessel data and the plurality of second vessel data, risk values ​​representing the risk of collision between the first vessel and each of the plurality of second vessels are calculated. Based on the data of the multiple second vessels, determine whether the multiple second vessels constitute a fleet. A representative value is selected from the risk values ​​calculated for each of the multiple second vessels identified as part of the fleet.

12. An information processing apparatus, wherein, have: The risk value calculation unit calculates risk values ​​representing the risk of collision between the first vessel and the plurality of second vessels, respectively, based on first vessel data representing the position and speed of the first vessel and multiple second vessel data representing the position and speed of multiple second vessels. The fleet determination department determines whether the plurality of second vessels constitute a fleet based on the data of the plurality of second vessels. as well as The representative value selection unit selects a representative value from the risk values ​​calculated for each of the plurality of second vessels identified as part of the fleet.

13. A storage medium storing a program that causes a computer to perform the following steps: Based on the first vessel data representing the position and speed of the first vessel and the multiple second vessel data representing the positions and speeds of multiple second vessels, risk values ​​representing the risk of collision between the first vessel and each of the multiple second vessels are calculated respectively. Based on the data of the plurality of second vessels, it is determined whether the plurality of second vessels constitute a fleet; as well as A representative value is selected from the risk values ​​calculated for each of the multiple second vessels identified as part of the fleet.

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