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

Abstract

The present application provides a ship monitoring system capable of improving the visual recognition of OZT. The ship monitoring system has: a first data generation unit that generates first ship data indicating the position and speed of a first ship; a second data generation unit that generates second ship data indicating the position and speed of a second ship; a risk value calculation unit that calculates, based on the first ship data and the second ship data, a risk value indicating the risk of collision between the first ship and the second ship assuming that the first ship turns and reaches each point on the predicted heading of the second ship; a range determination unit that determines a range in which points with a risk value of a threshold or more are continuous for two or more; and a display unit that displays a risk area including the range in which points with a risk value of a threshold or more are continuous for two or more.

Description

Technical Field

[0001] This invention relates to ship surveillance systems, ship surveillance methods, information processing devices, and programs. Background Technology

[0002] Previously, various methods existed for assessing the risk of collisions between ships. For example, Non-Patent Document 1 discloses a method for displaying OZT (Obstacle Zone by Target) as a risk area.

[0003] Existing technical documents

[0004] Patent documents

[0005] Non-patent literature 1: Hayato Imatsu, Junji Fukuto, and Masayoshi Numano, “On the Obstruction Zone Caused by the Other Vessel and Its Display”, Proceedings of the Japan Navigation Society, 2002, Vol. 107, pp. 191-197. Summary of the Invention

[0006] The problem the invention aims to solve

[0007] However, in methods that display OZT as risk areas, visual recognition is sometimes low because multiple circular OZTs are displayed overlapping on the predicted course of other ships.

[0008] The present invention was made in view of the above-mentioned problems, and its main objective is to provide a ship surveillance system, ship surveillance method, information processing device and program that can improve the visual recognition of risk areas.

[0009] means for solving problems

[0010] To address the aforementioned issues, a ship monitoring system according to one aspect of the present invention comprises: a first data generation unit that generates first ship data representing the position and speed of a first ship; a second data generation unit that generates second ship data representing the position and speed of a second ship; a risk value calculation unit that, based on the first ship data and the second ship data, calculates a risk value for each point on the predicted course of the second ship, representing the risk of a collision between the first ship and the second ship if the first ship were to turn and reach each point; a range determination unit that determines two or more consecutive ranges of points where the risk value is above a threshold; and a display unit that displays a risk area including two or more consecutive ranges of points where the risk value is above the threshold.

[0011] In another aspect, the ship monitoring method of the present invention generates first ship data representing the position and speed of a first ship by a first data generation unit, generates second ship data representing the position and speed of a second ship by a second data generation unit, calculates risk values ​​representing the risk of collision between the first ship and the second ship for each point on the predicted course of the second ship, assuming the first ship turns and reaches each point, determines two or more consecutive ranges of points with risk values ​​above a threshold, and displays a risk area including two or more consecutive ranges of points with risk values ​​above the threshold.

[0012] Furthermore, another aspect of the information processing apparatus of the present invention includes: a risk value calculation unit that, based on first ship data representing the position and speed of a first ship and second ship data representing the position and speed of a second ship, calculates a risk value for each point on the predicted course of the second ship, representing the risk of a collision between the first ship and the second ship if the first ship were to turn and reach each point; a range determination unit that determines two or more consecutive ranges of points where the risk value is above a threshold; and a display control unit that displays a risk area including two or more consecutive ranges of points where the risk value is above the threshold.

[0013] In addition, another aspect of the present invention provides a procedure that causes a computer to perform the following steps: based on first ship data representing the position and speed of a first ship and second ship data representing the position and speed of a second ship, for each point on the predicted course of the second ship, calculate a risk value representing the risk of a collision between the first ship and the second ship if the first ship were to turn and reach each point; determine two or more consecutive ranges of points where the risk value is above a threshold; and display a risk region including two or more consecutive ranges of points where the risk value is above the threshold.

[0014] The effects of the invention

[0015] According to the present invention, it is possible to improve the visual recognition of risk areas. Attached Figure Description

[0016] Figure 1 This is a diagram illustrating an example of the configuration of a ship surveillance system according to an implementation method.

[0017] Figure 2 This is a diagram representing an example of other ship management databases.

[0018] Figure 3 This is a diagram showing an example (previous example) of OZT.

[0019] Figure 4 This is a diagram illustrating an example of the configuration of an information processing apparatus according to an embodiment.

[0020] Figure 5 This is a diagram showing an example of a total OZT.

[0021] Figure 6 This is a diagram showing a variation of the example of OZT. Detailed Implementation

[0022] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0023] Figure 1 This is a block diagram illustrating an example configuration of the ship surveillance system 100 according to an embodiment. The ship surveillance method of the embodiment is implemented in the ship surveillance system 100. The ship surveillance system 100 is a system mounted on a ship and used to monitor ships present in the surrounding area.

[0024] 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.

[0025] Additionally, in the following explanation, "speed" refers to a vector representing the magnitude and direction of speed (the so-called ship speed vector), and "speed magnitude" is a scalar.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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 targets based on the echo data and generates target tracking data (TT data) indicating the target's position and velocity.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] Alarm unit 8 issues an alarm when there is a risk of collision with other vessels. Alarm unit 8 can be a display-based alarm, or an audible or visual alarm. Display-based alarms can be issued from display unit 2. That is, display unit 2 can also serve as alarm unit 8.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] Not limited to this, the ship's speed can also be determined based on the ship's bearing detected by the gyrocompass 6 and the ship's speed detected by the speedometer (not shown).

[0039] 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.

[0040] Figure 2 This diagram illustrates an example of other ship management databases constructed in the memory of information processing device 1. Other ship management databases contain data on other ships generated by radar 3 or AIS 4.

[0041] The other vessel management database includes fields such as "other vessel identifier," "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.

[0042] Figure 3 This is a diagram showing an example (previous example) of OZT. OZT (Obstacle Zone by Target) is the area where the ship's navigation is obstructed by other ships, shown on the predicted course of the other ships.

[0043] In the method of displaying OZTs, multiple decision points are discretely set on the predicted course of other ships to calculate the collision risk value. Circular OZTs are displayed at decision points where the risk value is above a threshold. When decision points with risk values ​​above the threshold are consecutive, unevenness may appear at the edges of the repeatedly drawn OZTs, thus reducing visual recognizability.

[0044] By further shortening the interval between decision points, the unevenness of the edges of multiple OZTs can be made less noticeable, but this increases the computational load. On the other hand, if the interval between decision points is longer than the diameter of the OZT, OZTs will not be displayed where they should be. Therefore, the interval between decision points is limited to less than the diameter of the OZT.

[0045] Therefore, in this embodiment, as described below, by displaying the comprehensive OZT, which includes two or more decision points, as a risk area, visual recognition can be improved.

[0046] Figure 4 This diagram illustrates an example configuration of an information processing device 1, which implements the ship surveillance method of the embodiment. The information processing device 1 includes a risk value calculation unit 11, an OZT range determination unit 12, and a display control unit 13. These functional units are implemented by the CPU of the information processing device 1 executing information processing according to a program. Figure 5 This is a diagram showing an example of total OZT. Total OZT is an example of a risk area.

[0047] The risk value calculation unit 11 calculates a risk value, representing the risk of collision between the ship and other ships if the ship were to turn and reach each decision point on the predicted course of the other ships, based on data from the ship itself and other ships. In calculating the risk value, a known method for displaying OZT is used.

[0048] Specifically, the risk value calculation unit 11 calculates the probability that the ship and other ships are simultaneously present at the decision point, assuming the ship maintains its speed and turns from its current position to reach the decision point, and other ships maintain their speed from their current positions to reach the decision point. This probability is used as the collision risk value. Furthermore, points with risk values ​​above a threshold are designated as OZT display points.

[0049] The OZT range determination unit 12 determines two or more consecutive ranges of points (OZT display points) with risk values ​​above the threshold as the OZT display range. Specifically, the OZT range determination unit 12 determines the OZT display point as the starting point and the OZT display point as the ending point within two or more consecutive ranges of OZT display points.

[0050] The display control unit 13 displays the total OZT value (including two or more consecutive ranges of points with a risk value above the threshold, or the OZT display range) on the display unit 2 (see reference). Figure 1 ).like Figure 5 As shown, the total OZT is displayed in the image along with the symbol of this vessel, the bow line of this vessel, the symbols of other vessels, and the predicted course of other vessels.

[0051] Specifically, the total OZT has a shape that extends in the same direction as the predicted course of other ships, such as a rounded rectangle with semicircular ends. It is not limited to this; the total OZT can also be elliptical, etc. The portion of the edge of the total OZT between the start and end points is a straight line extending along the predicted course of other ships (hereinafter referred to as the envelope).

[0052] Unlike previous round OZT (see reference) Figure 3 Similarly, the radius of the envelope encompassing the OZT is determined by the distance between the predicted course of other vessels and the radius of the semicircles at both ends of the OZT using a predetermined safety interval.

[0053] It should be noted that, for convenience, the straight line connecting the two semicircles encompassing the OZT in the above description is called the "envelope". However, the envelope is not actually obtained by making the interval between the decision points very small and arranging multiple circular OZTs.

[0054] As described above, in this embodiment, since the total OZT is displayed within two or more consecutive ranges of points with risk values ​​above the threshold, visual recognizability is improved. In particular, since the total OZT has a straight edge extending along the predicted course of other ships, visual recognizability is improved compared to conventional edges on uneven surfaces.

[0055] like Figure 6 As shown, the display control unit 13 can change the display mode of the total OZT based on the risk values ​​of each judgment point included in the total OZT. Specifically, the intensity of the portions belonging to each judgment point of the total OZT can be changed, for example, to be more concentrated when the risk value is higher. It is not limited to this; other display modes such as color or texture can also be changed.

[0056] 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.

[0057] Explanation of reference numerals in the attached figures

[0058] 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. OZT range determination unit; 13. 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 second ship data representing the position and speed of the second ship. The risk value calculation unit calculates a risk value for each point on the predicted course of the second vessel, based on the first vessel data and the second vessel data, representing the risk of a collision between the first vessel and the second vessel if the first vessel were to turn and reach each of the points. The range determination unit determines two or more consecutive ranges of points whose risk values ​​are above the threshold. as well as The display unit shows a risk area comprising two or more consecutive ranges of points whose risk values ​​are above the threshold.

2. The ship surveillance system as described in claim 1, wherein, The range determination unit determines the start and end points of two or more consecutive ranges of points where the risk value is above the threshold.

3. The ship surveillance system as described in claim 1 or 2, wherein, The risk area extends in the same direction as the predicted course of the second vessel.

4. The ship surveillance system as described in claim 1 or 2, wherein, The portion between the start and end points of two or more consecutive ranges of points with risk values ​​above the threshold in the edge of the risk area extends along the predicted course of the second vessel.

5. The ship surveillance system as described in claim 1 or 2, wherein, The display unit changes the display mode of the risk area according to the risk value of each point included in the risk area.

6. The ship surveillance system as described in claim 5, wherein, The display unit changes the density of the portion of the risk area to which each point belongs based on the risk value of each point included in the risk area.

7. The ship surveillance system as described in claim 1 or 2, wherein, The first data generation unit includes a Global Navigation Satellite System (GNSS) receiver, which is mounted on the first ship and detects the position of the first ship based on radio waves received from the GNSS.

8. The ship surveillance system as described in claim 1 or 2, 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.

9. A ship surveillance method, 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 second ship data representing the position and speed of the second ship. Based on the first vessel data and the second vessel data, for each point on the predicted course of the second vessel, a risk value representing the risk of a collision between the first vessel and the second vessel is calculated, assuming the first vessel turns and reaches each point. Identify a range of two or more consecutive points whose risk value is above the threshold. Displays a risk area consisting of two or more consecutive ranges of points whose risk value is above the threshold.

10. An information processing apparatus, wherein, have: The risk value calculation unit calculates a risk value for each point on the predicted course of the second vessel, based on first vessel data representing the position and speed of the first vessel and second vessel data representing the position and speed of the second vessel, representing the risk of a collision between the first vessel and the second vessel if the first vessel were to turn and reach the predicted points. The range determination unit determines two or more consecutive ranges of points whose risk values ​​are above a threshold. as well as The display control unit displays a risk area comprising two or more consecutive ranges of points whose risk values ​​are above the threshold.

11. A storage medium having a program stored thereon, wherein, This program is used to make the computer perform the following steps: Based on first vessel data representing the position and speed of the first vessel and second vessel data representing the position and speed of the second vessel, for each point on the predicted course of the second vessel, a risk value representing the risk of collision between the first vessel and the second vessel is calculated, assuming the first vessel turns and reaches each point. Determine a range of two or more consecutive points whose risk value exceeds the threshold; and Displays a risk area consisting of two or more consecutive ranges of points whose risk value is above the threshold.

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