Ship information sharing device, ship information sharing method, and ship information sharing system

Abstract

[Problem] To provide a ship information sharing device capable of sharing navigation relationship data in an amount suitable for the capacity of a communication path. [Solution] A ship information sharing device is provided with: an acquisition unit that sequentially acquires navigation relationship data relating to the navigation of a ship detected by a detection device mounted on the ship; a communication path capacity acquisition unit that acquires a communication path capacity of a communication path to the ship information collection device; a culling processing unit that changes, in accordance with the communication path capacity, the frequency at which the navigation relationship data is included in a transmission data set that is sequentially transmitted to the ship information collection device; and a transmission processing unit that transmits the transmission data set to the ship information collection device.

Description

Technical Field

[0001] The invention relates to a ship information sharing device, a ship information sharing method and a ship information sharing system. Background Art

[0002] Patent Document 1 discloses a radar signal recording and reproducing device including: a recording system for recording a radar video obtained from a radar device in a recording medium; and a reproducing system for reproducing the radar video from the recording medium.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 10-253749 Summary of the invention

[0006] Problems to be solved by the invention

[0007] However, it is expected that navigation-related data generated by detection equipment such as radar mounted on a ship can be shared between ship and land or between ships. However, the communication path capacity of marine communications such as satellite communications sometimes fluctuates, making it difficult to always share a large amount of navigation-related data.

[0008] The present invention has been made in view of the above-mentioned problems, and its main object is to provide a ship information sharing device, a ship information sharing method and a ship information sharing system capable of sharing an amount of navigation-related data appropriate to the capacity of a communication path.

[0009] Technical solutions to the problem

[0010] In order to solve the above-mentioned problem, a ship information sharing device according to one embodiment of the present invention comprises: an acquisition unit, which sequentially acquires navigation-related data of the ship detected by a detection device mounted on the ship; a communication path capacity acquisition unit, which acquires the communication path capacity of the communication path to the ship information collection device; a rejection processing unit, which changes the frequency of including the navigation-related data in the transmission data set sequentially sent to the ship information collection device according to the communication path capacity; and a transmission processing unit, which transmits the transmission data set to the ship information collection device. Thus, the navigation-related data of an amount suitable for the communication path capacity can be shared.

[0011] In the above-mentioned aspect, the acquisition unit may acquire other ship data indicating the position of other ships existing around the ship as the navigation relationship data, and the other ship data of other ships whose distance from the ship is greater than a threshold value is not included in the transmission data set, and the elimination processing unit changes the threshold value according to the communication path capacity. Thus, the smaller the communication path capacity is, the more the other ship data of other ships relatively close to the ship can be narrowed down, and the larger the communication path capacity is, the more the other ship data of other ships relatively far from the ship can be included.

[0012] In the above-mentioned method, the acquisition unit may acquire other ship data indicating the position of other ships existing around the ship as the navigation relationship data, the ship information sharing device may further include a calculation unit, the calculation unit calculates the collision risk between the ship and the other ship, and does not include other ship data of other ships whose collision risk is below a threshold value in the transmission data set, and the elimination processing unit changes the threshold value according to the communication path capacity. Thus, the smaller the communication path capacity, the more it can narrow down to other ship data of other ships with high collision risk, and the larger the communication path capacity, the more it can include other ship data of other ships with low collision risk.

[0013] In the above aspect, the acquisition unit may acquire the position and speed of the ship as the navigation-related data, and the elimination processing unit may change the frequency of including the position of the ship in the transmitted data set according to the ship speed. Thus, the higher the ship speed, the higher the frequency of including the position of the ship.

[0014] In the above-mentioned aspect, the acquisition unit may acquire other ship data indicating the position of other ships existing around the ship as the navigation relationship data, and the elimination processing unit may make the frequency of other ship data of other ships included in a non-focus range other than the focus range included in the transmission data set lower than the frequency of other ship data of other ships included in the focus range included in the transmission data set as the communication path capacity is smaller. Thus, even if the communication path capacity is reduced, the communication data amount can be suppressed as a whole without reducing the frequency of other ship data including the focus range.

[0015] In the above-mentioned aspect, there may be further an acquisition unit, the acquisition unit acquiring the bow bearing of the ship, and the elimination processing unit setting the range between the bow bearing and the starboard bearing as the focus range based on the ship. Thus, when there is another ship, the range between the bow bearing and the starboard bearing that causes the own ship to have an avoidance obligation can be set as the focus range.

[0016] In the above aspect, there may be further an acquisition unit that acquires the bow direction of the ship, and the elimination processing unit sets the range in front of the ship as the focus range. Thus, the range in front of the ship that the operator needs to pay special attention to can be set as the focus range.

[0017] In the above aspect, there may be further an acquisition unit that acquires the bow direction of the ship, and the elimination processing unit sets a protection area for detecting the intrusion of a target object set in the radar based on the ship as the focus range. Thus, the protection area can be set as the focus range.

[0018] In the above-mentioned method, it is also possible to further include: an acquisition unit for acquiring the position of the ship; and a calculation unit for calculating the collision risk between the ship and the other ship; the elimination processing unit sets the range corresponding to the other ship or area with a collision risk greater than a threshold as the focus range. In this way, the range corresponding to the other ship or area with a relatively high collision risk can be set as the focus range.

[0019] In the above-mentioned aspect, the acquisition unit may acquire the plurality of types of the navigation-related data detected by the plurality of types of the detection devices, and the elimination processing unit may make the frequency of the other types of the navigation-related data included in the plurality of types of the navigation-related data in the transmission data set lower than the frequency of the prescribed type of the navigation-related data included in the plurality of types of the navigation-related data in the transmission data set as the communication path capacity becomes smaller. Thus, when the communication path capacity becomes smaller, the navigation-related data can be narrowed down to the prescribed type.

[0020] In the above-mentioned method, the acquisition unit may acquire the own ship data related to the ship itself and other ship data related to other ships other than the ship as the navigation relationship data, and the elimination processing unit may make the frequency of including the own ship data in the transmission data set lower than the frequency of including the other ship data in the transmission data set as the communication path capacity becomes smaller. Thus, when the communication path capacity becomes smaller, it is possible to narrow down to the other ship data.

[0021] In addition, another aspect of the present invention is a ship information sharing method, which sequentially obtains navigation-related data of the ship detected by a detection device mounted on the ship; obtains the communication path capacity of the communication path to the ship information collection device; changes the frequency of including the navigation-related data in the transmission data set sequentially sent to the ship information collection device according to the communication path capacity; and sends the transmission data set to the ship information collection device. Thus, the navigation-related data of an amount suitable for the communication path capacity can be shared.

[0022] In addition, another embodiment of the ship information sharing system of the present invention comprises: a ship information collection device; a detection device mounted on a ship and sequentially generating navigation-related data related to the navigation of the ship; a ship information sharing device that obtains the communication path capacity of the communication path to the ship information collection device, and changes the frequency of including the navigation-related data in the transmission data set sequentially sent to the ship information collection device according to the communication path capacity; and a communication device that sends the transmission data set to the ship information collection device. Thus, it is possible to share the navigation-related data in an amount suitable for the communication path capacity. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a diagram showing an example of a ship information sharing system.

[0024] Figure 2 It is a diagram showing an example of a ship-side system.

[0025] Figure 3 It is a diagram showing an example of a land-side system.

[0026] Figure 4 It is a diagram showing an example of a ship information sharing device.

[0027] Figure 5 It is a diagram showing an example of the ship information sharing method according to the first embodiment.

[0028] Figure 6 It is a diagram showing an example of echo data.

[0029] Figure 7 : is a diagram showing an example of lightweight echo data.

[0030] Figure 8 : is a diagram showing an example of lightweight echo data.

[0031] Fig. 9 : is a diagram showing an example of lightweight echo data.

[0032] Fig.10 : is a diagram showing an example of lightweight echo data.

[0033] Fig.11 : is a diagram showing an example of lightweight echo data.

[0034] Fig.12 : is a diagram showing an example of lightweight echo data.

[0035] Fig.13 : is a diagram showing an example of lightweight echo data.

[0036] Fig.14 : is a diagram showing an example of lightweight echo data.

[0037] Fig.15 : is a diagram showing an example of lightweight echo data.

[0038] Fig.16 It is a diagram showing an example of the ship information sharing method according to the second embodiment.

[0039] Fig.17 FIG. 1 is a diagram showing an example of an image based on echo data.

[0040] Fig.18 FIG. 1 is a diagram showing an example of an image based on lightweight echo data.

[0041] Fig.19 The diagram shows an example of a synthesized image.

[0042] Fig. 20 The diagram shows an example of a synthesized image.

[0043] Fig.21 The diagram shows an example of a synthesized image.

[0044] Fig. 22 It is a diagram showing an example of the ship information sharing method according to the third embodiment.

[0045] Fig.23 This is a diagram showing an example of frequency change according to the capacity and type of communication path.

[0046] Fig.24 This is a diagram showing an example of frequency change according to the capacity and type of communication path.

[0047] Fig.25 This is a diagram showing an example of frequency change according to the communication path capacity and range.

[0048] Fig.26 This is a diagram showing an example of a threshold change according to the communication path capacity.

[0049] Fig. 27 This is a diagram showing an example of a threshold change according to the communication path capacity. DETAILED DESCRIPTION

[0050] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0051] [System Overview]

[0052] Figure 1 1 is a diagram showing an example of a ship information sharing system 100. This diagram schematically shows a ship S sailing on the sea and a land control C. The ship information sharing system 100 includes a ship-side system 10 mounted on the ship S and a land-side system 20 installed in the control C.

[0053] The ship-side system 10 and the land-side system 20 can communicate with each other by satellite communication via a satellite ST. Not limited to satellite communication, wireless communication using, for example, ultra-short wave, ultra-short wave, short wave or medium wave can also be used. Similarly, the ship-side systems 10 can also communicate with each other.

[0054] The ship-side system 10 sequentially transmits the navigation-related data related to the navigation of the ship S to the land-side system 20 . The land-side system 20 collects and uses the navigation-related data transmitted from the ship-side system 10 .

[0055] Figure 2 1 is a block diagram showing a configuration example of the ship-side system 10. In the following description, when viewed from a certain ship-side system 10, the ship S equipped with the ship-side system 10 is referred to as "own ship", and other ships S are referred to as "other ships".

[0056] The ship side system 10 includes a ship information sharing device 1, a display unit 2, a radar 3, an AIS 4, a GNSS receiver 6, a gyroscope 7, and an ECS 8. These devices are connected to a network such as a LAN (Local Area Network) and can communicate with each other.

[0057] The ship information sharing device 1 is a computer including a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read-Only Memory), a non-volatile memory, and an input / output interface. The CPU of the ship information sharing device 1 performs information processing according to a program loaded from the ROM or the non-volatile memory to the RAM. The program may be provided via an information storage medium such as an optical disk or a memory card, or may be provided via a communication network such as the Internet or a LAN.

[0058] The display unit 2 displays a display image generated by the ship information sharing device 1. The display unit 2 displays a radar image, an electronic chart, or a composite image of these. The display unit 2 is, for example, a display device with a touch sensor, a so-called touch panel. The touch sensor detects the position indicated by the user's finger or the like on the screen. However, this is not limited to this, and the indicated position may also be input by a trackball or the like.

[0059] Radar 3 emits radio waves around the ship and receives the reflected waves, generating echo data based on the received signals. The echo data includes echo intensity values ​​at various directions and distances based on the ship. In addition, radar 3 identifies the target object based on the echo data and generates TT data (Target Tracking Data) indicating the position and speed of the target object.

[0060] AIS (Automatic Identification System) 4 receives AIS data from other ships or land control C around the ship. However, it is not limited to AIS, and VDES (VHF Data Exchange System) can also be used. AIS data includes the identification symbol of other ships, ship name, position, course, ship speed, ship type, ship length, destination, etc.

[0061] The GNSS receiver 6 detects the position of the own ship based on radio waves received from the GNSS (Global Navigation Satellite System). The gyroscope 7 detects the heading of the own ship. However, the gyroscope is not limited to the gyroscope, and a GPS compass may also be used.

[0062] The ECS (Electronic Chart System) 8 obtains the position of the vessel from the GNSS receiver 6 and displays the position of the vessel on the electronic chart. In addition, the ECS 8 also displays the planned route of the vessel on the electronic chart. The ECS 8 is, for example, an ECDIS (Electronic Chart Display and Information System). However, this is not limited to this, and a GNSS plotter may also be used.

[0063] The communication device 9 is a wireless device for realizing satellite communication, and realizes communication with the land control C or other ships. In addition, the communication device 9 also includes wireless devices such as ultra-short wave, ultra-short wave, short wave or medium wave.

[0064] In the present embodiment, the ship information sharing device 1 and the display unit 2 are independent devices, but the present invention is not limited thereto. The ship information sharing device 1 and the display unit 2 may be an integrated device.

[0065] In addition, although the ship information sharing device 1 is an independent device, it is not limited to this, and other devices such as the radar 3 and the ECS 8 may be integrated. In other words, the functional parts of the ship information sharing device 1 may also be realized by other devices.

[0066] In addition, the display unit 2 is also an independent device, but is not limited to this. The display unit of other devices such as the radar 3 and the ECS 8 can also be used as the display unit 2 for displaying the display image generated by the ship information sharing device 1.

[0067] Figure 32 is a diagram showing an example of a land-side system 20. The land-side system 20 includes a ship information collection device 21, a display unit 22, a radar 23, an AIS 24, an ECS 28, and a communication device 29. Since these devices are the same as those included in the above-mentioned ship-side system 10, detailed descriptions thereof are omitted.

[0068] [Device structure]

[0069] Figure 4 1 is a block diagram showing a configuration example of the ship information sharing device 1. The control unit 30 of the ship information sharing device 1 includes an acquisition unit 31, a rejection processing unit 32, a transmission processing unit 33, a display processing unit 34, a risk calculation unit 35, and a communication path capacity acquisition unit 36. These functional units are realized by the CPU of the ship information sharing device 1 executing information processing according to a program.

[0070] The acquisition unit 31 sequentially acquires navigation-related data related to the navigation of the own ship detected by the detection equipment mounted on the own ship. For example, the acquisition unit 31 acquires echo data generated by the radar 3 mounted on the own ship.

[0071] The detection device is, for example, a radar 4 , an AIS 5 , a GNSS receiver 6 , a gyroscope 7 or an ECS 8 .

[0072] The navigation-related data include, for example, echo data generated by the radar 4 , AIS data received by the AIS 5 , the position of the own ship detected by the GNSS receiver 6 , the bow direction of the own ship detected by the gyroscope 7 , or route data generated by the ECS 8 .

[0073] The AIS data received by the AIS 5 is an example of other ship data indicating the position of other ships existing around the own ship. However, the present invention is not limited thereto, and the TT data generated by the radar 4 can also be used as an example of other ship data.

[0074] The navigation-related data may be the ship speed measured by a speedometer or log data of an engine, etc. The position of the own ship, the bow direction, the ship speed, and the log data are examples of the own ship data indicating the state of the own ship.

[0075] The navigation-related data may be tidal currents measured by tidal current meters, wind direction and wind speed measured by wind direction and anemometers, or wave height and period measured by wave meters, etc. These data are examples of own ship surrounding environment data indicating the state of the surrounding environment of the own ship.

[0076] The elimination processing unit 32 performs a predetermined elimination process on the navigation-related data acquired by the acquisition unit 31. For example, the elimination processing unit 32 eliminates values ​​from the echo data to generate lightweight echo data with a smaller data volume than the echo data (the generation of lightweight echo data is described in detail in the first embodiment).

[0077] In addition, the elimination processing unit 32 changes the frequency of including navigation-related data in the sending data set sent sequentially to the ship information collection device 21 according to the communication path capacity acquired by the communication path capacity acquisition unit 36 ​​(the details of changing the frequency according to the communication path capacity are described in the third embodiment).

[0078] The transmission processing unit 33 sequentially transmits the transmission data set to the ship information collection device 21 using the communication device 9. For example, the transmission processing unit 33 includes the lightweight echo data generated by the elimination processing unit 32 in the transmission data set and transmits it. In addition, the transmission processing unit 33 includes the navigation-related data in the transmission data set at a frequency determined by the elimination processing unit 32 and transmits it.

[0079] The display processing unit 34 generates a display image based on the navigation-related data acquired by the acquisition unit 31, and displays it on the display unit 2. For example, the display processing unit 34 generates an image based on the echo data acquired by the acquisition unit 31.

[0080] Furthermore, the display processing unit 34 generates and displays information based on the lightweight echo data generated by the elimination processing unit 32 (display of information based on the lightweight echo data will be described in detail in the second embodiment).

[0081] The risk calculation unit 35 calculates the collision risk between the own ship and the other ship based on the own ship data and the other ship data acquired by the acquisition unit 31. The risk calculation unit 35 uses, for example, an index such as DCPA (Distance to Closest Point of Approach) to determine the other ship with a collision risk. In addition, the risk calculation unit 35 can also use methods such as OZT (Obstacle Zone by Target) to determine the area with a collision risk.

[0082] The communication path capacity acquisition unit 36 ​​acquires the communication path capacity of the communication path between the ship information sharing device 1 and the ship information collecting device 21. The communication path capacity is an index indicating the information transmission capability of the communication path, and is also called transmission capacity, communication capacity, transmission speed or communication speed.

[0083] For example, the communication path capacity acquisition unit 36 ​​acquires the communication path capacity by sending dummy packets to the ship information collection device 21 and receiving feedback of the communication path capacity measured based on the dummy packets by the ship information collection device 21. However, the communication path capacity acquisition unit 36 ​​is not limited thereto, and the communication path capacity acquisition unit 36 ​​may also acquire the communication path capacity by measuring the radio wave strength of the radio wave received from the satellite ST.

[0084] [First embodiment]

[0085] Figure 5 1 is a flowchart showing an example of a process step for generating lightweight echo data in a ship information sharing method implemented in the ship information sharing system 100. The control unit 30 of the ship information sharing device 1 executes the information processing shown in the figure according to a program, thereby Figure 4 The acquisition unit 32, the elimination processing unit 32, and the transmission processing unit 33 shown in the figure function.

[0086] First, the control unit 30 acquires echo data generated by the radar 3 mounted on the ship (S11, as processing of the acquisition unit 31). The echo data is acquired once every antenna rotation.

[0087] Figure 6 This is a schematic diagram showing an example of echo data for one cycle. θ represents the azimuth direction based on the own ship SS, and r represents the distance direction based on the own ship SS. As shown in the figure, the echo data includes the echo intensity value EP (black dots in the figure) for each direction and distance based on the own ship SS.

[0088] Next, the control unit 30 acquires other data used in the rejection process of the echo data, such as the position of the own ship or the heading of the bow ( S12 , as the process of the acquisition unit 31 ).

[0089] Next, the control unit 30 performs a elimination process on the echo data to generate lightweight echo data having a smaller data volume than the echo data ( S13 , as a process of the elimination processing unit 32 ).

[0090] In the elimination process, the echo intensity values ​​EP included in the echo data that correspond to at least one of the azimuth direction θ and the distance direction r are eliminated. The value corresponding to the azimuth direction θ refers to a value at a certain position in the azimuth direction θ, and the value corresponding to the distance direction r refers to a value at a certain position in the distance direction r.

[0091] Next, the control unit 30 transmits the transmission data set including the lightweight echo data to the ship information collection device 21 using the communication device 9 ( S14 , as processing of the transmission processing unit 33 ). The transmission data set is transmitted from the communication device 9 to the outside of the ship and acquired by the ship information collection device 21 .

[0092] The above process of generating lightweight echo data is completed. According to this, by generating lightweight echo data, it is possible to share echo data while suppressing the data amount.

[0093] A specific example of the culling process will be described below. Figure 7 to Figure 15 FIG. 2 is a schematic diagram showing an example of lightweight echo data generated by the elimination process. Figure 7 to Figure 9 The white circle in the figure indicates the value to be rejected (rejection value SK). Figure 10 to Figure 15 In order to indicate the range, the circle marks are omitted in the illustration.

[0094] like Figure 7 As shown, the elimination processing unit 32 can also generate lightweight echo data by periodically eliminating values ​​in the azimuth direction θ. The figure shows an example of eliminating every other value in the azimuth direction θ to reduce the amount of data by half. However, it is not limited to this, and every two or more values ​​in the azimuth direction θ can also be eliminated.

[0095] like Figure 8 As shown, the elimination processing unit 32 can also generate lightweight echo data by periodically eliminating values ​​in the distance direction r. The figure shows an example of eliminating every other value in the distance direction r to reduce the amount of data by half. However, it is not limited to this, and it is also possible to eliminate every two or more values ​​in the distance direction r.

[0096] like Fig. 9 As shown, the elimination processing unit 32 may generate lightweight echo data by eliminating all values ​​whose distance to the ship SS is greater than or equal to the threshold value TH. This allows the data amount to be suppressed while leaving values ​​relatively close to the ship SS that are more important.

[0097] like Figure 10 to Figure 15 As shown, the elimination processing unit 32 may also set the attention range AA and the non-attention range NA around the own ship SS so that the elimination rate of the values ​​in the attention range AA is lower than the elimination rate of the values ​​in the non-attention range NA. In other words, the elimination rate of the values ​​in the non-attention range NA may be higher than the elimination rate of the values ​​in the attention range AA.

[0098] The rejection rate is represented by the ratio of the number of values ​​after rejection to the number of values ​​before rejection. The rejection rate corresponds to the period of the rejection value, for example. If the period of the rejection value becomes smaller, the rejection rate becomes higher, and if the period of the rejection value becomes larger, the rejection rate becomes lower.

[0099] like Fig.10As shown, the elimination processing unit 32 may also set the range in front of the own ship SS as the focus range AA, and set the range other than this as the non-focus range NA. The range in front of the own ship SS is an angular range of a predetermined width centered at the bow azimuth. In this way, the elimination rate of the range in front of the own ship SS, which the operator needs to pay special attention to, can be suppressed.

[0100] like Fig.11 As shown, the elimination processing unit 32 may also set the range between the bow bearing and the starboard bearing as the attention range AA based on the own ship SS, and set the range other than this as the non-attention range NA. Thus, when there is another ship, the elimination rate of the range between the bow bearing and the starboard bearing that causes the own ship to have an avoidance obligation can be suppressed.

[0101] like Fig.12 As shown, the rejection processing unit 32 may set the protection area for detecting the intrusion of the target object set in the radar 3 based on the own ship SS as the attention range AA, and set the other ranges as the non-attention range NA. In this way, the rejection rate of the protection area for detecting the intrusion of the target object can be suppressed.

[0102] like Fig.13 As shown, the elimination processing unit 32 may also set the range corresponding to the land LD determined based on the nautical chart data of ECS8 as the non-attention range NA, and set the range other than this as the attention range AA. In this way, the elimination rate of the range corresponding to the land can be increased to suppress the data volume. In addition, all values ​​of the range corresponding to the land can be eliminated.

[0103] like Fig.14 As shown, the rejection processing unit 32 may set the range corresponding to the other ship TG specified based on the other ship data from the AIS 4 as the attention range AA and set the other ranges as the non-attention range NA. This can suppress the rejection rate of the range including the other ship.

[0104] like Fig.15 As shown, the elimination processing unit 32 may also set the range corresponding to the other ship TGa or the area OZ whose collision risk is calculated by the risk calculation unit 35 to be the focus range AA, and set the range other than that to be the non-focus range NA. In this case, the other ship TGb whose collision risk is less than the threshold value is not included in the focus range AA. Thus, the elimination rate of the range including the other ship TGa or the area OZ whose collision risk is more than the threshold value can be suppressed.

[0105] As described above, by setting the attention range AA and the non-attention range NA around the ship SS and making the rejection rate of values ​​in the attention range AA lower than the rejection rate of values ​​in the non-attention range NA, it is possible to retain information required for remotely operated ships or land surveillance services and suppress the amount of data.

[0106] In addition, the rejection processing unit 32 may adaptively change the rejection rate according to the communication path capacity or the ship speed of the own ship acquired by the communication path capacity acquisition unit 36. Figure 7 or Figure 8 In the example of , the smaller the communication path capacity, the smaller the period of the elimination value. Fig. 9 In the example, the smaller the communication path capacity is, the smaller the threshold TH is.

[0107] In addition, Figure 10 to Figure 15 In the example, the smaller the communication path capacity is, the higher the rejection rate of the non-interest range NA is than the rejection rate of the attention range AA. That is, the smaller the communication path capacity is, the greater the difference between the rejection rate of the attention range AA and the rejection rate of the non-interest range NA is.

[0108] In the above-described embodiment, values ​​are removed from echo data to generate lightweight echo data, but the invention is not limited thereto. For example, an image compressed and converted from one cycle of echo data into a format such as JPEG or GIF may be generated as lightweight echo data.

[0109] [Second embodiment]

[0110] Fig.16 1 is a flowchart showing an example of a process step related to display of information based on lightweight echo data in a ship information sharing method implemented in the ship side system 10. The control unit 30 of the ship information sharing device 1 performs the information processing shown in the figure according to a program, thereby serving as the above-mentioned Figure 4 The acquisition unit 32, the elimination processing unit 32, the transmission processing unit 33, and the display processing unit 34 shown function.

[0111] First, the control unit 30 performs a process of eliminating echo data and a process of transmitting lightweight echo data in the same manner as in the first embodiment ( S11 to S14 ).

[0112] Next, the control unit 30 generates a radar image based on the echo data (S15, as processing by the display processing unit 34). The control unit 30 may generate a composite image by combining the radar image and the electronic nautical chart.

[0113] Fig.17 1 is a diagram showing an example of a radar image RMG based on echo data. The radar image RMG includes object marker symbols TB representing objects detected by the radar 3 within a circular range RR corresponding to the radio wave arrival distance centered on the own ship position SB. The radar image RMG may also include object marker symbols AB representing other ships detected by the AIS 4.

[0114] Next, the control unit 30 generates information based on the lightweight echo data, and displays the radar image based on the echo data and the information based on the lightweight echo data on the display unit 2 ( S16 , S17 , as processing by the display processing unit 34 ).

[0115] By displaying information based on lightweight echo data, it is possible to understand information displayed on the ship information collecting device 21 side on the ship information sharing device 1 side.

[0116] Next, a display example of information based on lightweight echo data will be described.

[0117] like Fig.18 As shown in FIG. 1 , the display processing unit 34 may also display the radar image RMGc based on the lightweight echo data. That is, the display processing unit 34 may also display the radar image RMG based on the echo data alone (see FIG. 1 ). Fig.17 ) and radar image RMGc based on lightweight echo data (refer to Fig.18 ).

[0118] For example, the two radar images RMG and RMGc may be displayed side by side, or the two radar images RMG and RMGc may be switched by operating a button displayed on the screen.

[0119] In the example shown in the figure, the light echo data is shown after the values ​​whose distance to the ship is greater than or equal to the threshold value TH are eliminated (see Fig. 9 ). Therefore, the circular range RRc of the radar image RMGc is smaller than the circular range RR of the radar image RMG.

[0120] The radar image RMGc based on the lightweight echo data is the same as the radar image displayed on the ship information collecting device 21. Therefore, it is easy to grasp the information displayed on the ship information collecting device 21 on the ship information sharing device 1 side.

[0121] like Fig.19 As shown in FIG. 1 , the display processing unit 34 may also display an image based on the lightweight echo data by overlapping the radar image RMG based on the echo data. Fig. 20 As shown, the display processing unit 34 may display an image based on the lightweight echo data by superimposing it on the radar image and the electronic nautical chart CMG.

[0122] Specifically, the display processing unit 34 displays the light echo data (see FIG. 1 ) after removing the values ​​whose distance to the ship is greater than or equal to the threshold value TH. Fig. 9 ) and displays a circular range HR corresponding to a threshold value TH based on the own ship's position SB on the radar image RMG or the electronic nautical chart CMG.

[0123] In addition, the display processing unit 34 distinguishes and displays the other ship symbols TB and AB within the circular range HR corresponding to the threshold value TH and the other ship symbols TBz and ABz outside the circular range HR. For example, the other ship symbols TB and AB within the circular range HR are represented by solid lines, and the other ship symbols TBz and ABz outside the circular range HR are represented by dotted lines. However, this is not limited to this, and for example, the colors, shapes, patterns, or transparency etc. may be different from each other.

[0124] Furthermore, the display processing unit 34 may display a character string indicating a method of eliminating values ​​from echo data when generating lightweight echo data. The character string indicating the elimination method is displayed in a display frame LS provided in the image. The elimination method indicates, for example, a range of values ​​to be eliminated or a elimination rate of values.

[0125] For example, a character string such as "d<10 NM" is displayed, indicating that the lightweight echo data is limited to values ​​within 10 NM from the own ship, that is, values ​​exceeding 10 NM from the own ship are excluded from the echo data.

[0126] In addition, when the transmitted data set includes other ship data, for example, a character string such as "DCPA<0.5NM" may be displayed, indicating that the DCPA of the collision risk is limited to other ship data below 0.5NM, and other ship data exceeding 0.5NM is excluded.

[0127] Furthermore, when the transmission data set includes the own ship data or the own ship surrounding environment data, for example, a character string such as "Δt=3sec" may be displayed to indicate that the frequency at which the own ship data or the own ship surrounding environment data is included in the transmission data is every 3 seconds.

[0128] like Fig.21 As shown, the display processing unit 34 may distinguish and display a plurality of ranges A1 to A3 having different culling rates in the radar image RMG by making the colors, patterns, transmittances, etc. different from each other.

[0129] In the example shown in the figure, the range A1 with high attention and low rejection rate is displayed more obviously by darkening the color, etc., compared with the range A2 with normal rejection rate. On the other hand, the range A3 with low attention and high rejection rate is displayed less obviously by lightening the color, etc., compared with the range A2 with normal rejection rate.

[0130] In addition, the display control unit 34 may also be based on the light echo data including the missing range after all values ​​in the range corresponding to the land LD are removed (see Fig.13 ), a range A0 corresponding to the missing range is missing from the circular range RR of the radar image RMG.

[0131] Furthermore, the display processing unit 34 may display, in the display frame LS, a character string indicating the rejection rate in the distance direction or the azimuth direction, such as “distance direction rejection rate 10%” or “azimuth direction rejection rate 10%”.

[0132] As described above, by superimposing and displaying an image based on lightweight echo data on the radar image RMG or the electronic nautical chart CMG, it is possible to grasp information displayed on the ship information collecting device 21 side while checking the radar image RMG or the electronic nautical chart CMG.

[0133] [Third Embodiment]

[0134] Fig. 22 1 is a flowchart showing an example of a process procedure related to a change in frequency corresponding to the communication path capacity in the ship information sharing method implemented in the ship side system 10. The control unit 30 of the ship information sharing device 1 executes the information processing shown in the figure according to a program as described above. Figure 4 The acquisition unit 32, the elimination processing unit 32, the transmission processing unit 33, and the communication path capacity acquisition unit 36 ​​shown in the figure function.

[0135] First, the control unit 30 acquires the communication path capacity of the communication path between the ship information sharing device 1 and the ship information collecting device 21 ( S21 , as processing by the communication path capacity acquisition unit 36 ​​).

[0136] Next, the control unit 30 determines the frequency of including the navigation-related data in the transmitted data set (for example, once every several seconds, several minutes, or several tens of minutes, or once every several times or several tens of times) based on the acquired communication path capacity (S22, as processing by the elimination processing unit 32).

[0137] Next, the control unit 30 acquires navigation-related data such as echo data, AIS data, the position of the own ship, the heading, or route data (S23, as processing by the acquisition unit 31).

[0138] Next, the control unit 30 performs a rejection process based on the determined frequency. Specifically, when the transmission data set includes the navigation-related data (S24: Yes), the control unit 30 generates a transmission data set including the navigation-related data (S25, as a process of the rejection processing unit 32).

[0139] On the other hand, when the transmission data set does not include the navigation related data (S24: No), the control unit 30 generates a transmission data set not including the navigation related data (S26, as processing of the elimination processing unit 32). The navigation related data not included in the transmission data set is discarded.

[0140] Next, the control unit 30 transmits the transmission data set to the ship information collection device 21 using the communication device 9 ( S27 , as processing by the transmission processing unit 33 ). The transmission data set is transmitted from the communication device 9 to the outside of the ship and acquired by the ship information collection device 21 .

[0141] The control unit 30 repeats the above-described processing of S21 to S27 every time a predetermined time has passed (S28). In addition, when the communication channel capacity changes during the communication, the control unit 30 changes the frequency of including the navigation-related data in the transmission data set in conjunction with the change in the communication channel capacity.

[0142] The above is the end of the processing related to the change of the frequency corresponding to the communication channel capacity. In this way, by changing the frequency of including the navigation-related data in the transmission data set according to the communication channel capacity, it is possible to share as much navigation-related data as possible.

[0143] A specific example of the culling process will be described below. Fig.23 and Fig.24 This is a diagram showing an example of frequency change according to communication path capacity and data type. Fig.25 This is a diagram showing an example of frequency change according to the communication path capacity and range. Fig.26 and Fig. 27 This is a diagram showing an example of a threshold change according to the communication path capacity.

[0144] like Fig.23 and Fig.24 As shown, the elimination processing unit 32 may also change the frequency according to the type of navigation-related data. That is, the smaller the communication path capacity is, the lower the frequency of including other types of navigation-related data in the transmission data set may be, the elimination processing unit 32 may make the frequency of including the specified type of navigation-related data in the transmission data set lower than the frequency of including the specified type of navigation-related data in the transmission data set.

[0145] For example, Fig.23 As shown, the smaller the communication path capacity is, the more the elimination processing unit 32 makes the frequency of including the own ship data in the transmission data set lower than the frequency of including the other ship data in the transmission data set. That is, when the communication path capacity is greater than the threshold, the frequencies of both the other ship data and the own ship data are increased, and when the communication path capacity is less than the threshold, the frequency of the other ship data is kept high, while the frequency of the own ship data is reduced.

[0146] The other ship data is, for example, echo data or TT data generated by the radar 4, or AIS data received by the AIS 5. The own ship data is, for example, the position of the own ship detected by the GNSS receiver 6, the bow direction of the own ship detected by the gyroscope 7, or the route data generated by the ECS 8.

[0147] For example Fig.24As shown, the smaller the communication path capacity is, the more the elimination processing unit 32 gradually increases the types of navigation-related data with reduced frequencies in the order of, for example, echo data generated by the radar 4, AIS data received by the AIS 5, the position of the ship detected by the GNSS receiver 6, the bow heading of the ship detected by the gyroscope 7, and the route data generated by the ECS 8.

[0148] As a result, when the capacity of the communication path decreases, the frequency of including more important types of navigation-related data in the transmission data set is maintained, and the frequency of including other types of data in the navigation-related data is reduced, thereby suppressing the transmission data amount.

[0149] like Fig.25 As shown, the elimination processing unit 32 may also change the frequency of the other ship data by range. That is, as the communication path capacity is smaller, the elimination processing unit 32 makes the frequency of including the other ship data in the non-interest range NA in the transmission data set lower than the frequency of including the other ship data in the interest range AA in the transmission data set. Figure 10 to Figure 15 As described in the description.

[0150] Thus, when the communication path capacity decreases, the frequency of including other ship data within the attention range AA in the transmission data set is maintained, and the frequency of including other ship data within the non-attention range NA in the transmission data set is reduced, thereby suppressing the transmission data amount.

[0151] like Fig.26 and Fig. 27 As shown, the elimination processing unit 32 may change the threshold value TH for including the other ship data in the transmission data set according to the communication channel capacity.

[0152] For example, Fig.26 As shown, when the sending data set includes other ship data of other ships GS whose distance from the ship SS is below the threshold TH, and when the sending data set does not include other ship data of other ships GSz whose distance exceeds the threshold TH, the elimination processing unit 32 changes the distance threshold TH according to the communication path capacity.

[0153] For example, Fig. 27 As shown, when the sent data set includes other ship data of other ships GS whose DCPA indicating collision risk is below the threshold TH, and when the sent data set does not include other ship data of other ships GSz exceeding the threshold, the elimination processing unit 32 changes the DCPA threshold TH according to the communication path capacity.

[0154] The smaller the DCPA, the higher the collision risk, and the larger the DCPA, the lower the collision risk. Therefore, the case where the DCPA is below the threshold TH corresponds to the case where the collision risk is above the threshold, and the case where the DCPA exceeds the threshold TH corresponds to the case where the collision risk is less than the threshold.

[0155] Thus, when the communication path capacity decreases, the frequency of including the ship data of the other ship with higher importance in the transmission data set is maintained, and the frequency of including the ship data of other ships in the navigation-related data is reduced, thereby suppressing the transmission data amount.

[0156] Furthermore, the elimination processing unit 32 may change the frequency of including the position of the own ship in the transmitted data set not only according to the communication path capacity but also according to the ship speed of the own ship. That is, the higher the ship speed of the own ship, the more the elimination processing unit 32 increases the frequency of including the position of the own ship in the transmitted data set, and the lower the ship speed of the own ship, the more the elimination processing unit 32 decreases the frequency of including the position of the own ship in the transmitted data set.

[0157] As mentioned above, although embodiment of this invention was described, this invention is not limited to the embodiment mentioned above, It is needless to say that a person skilled in the art can make various changes.

[0158] Description of Reference Numerals

[0159] 1 ship information sharing device, 2 display unit, 3 radar, 4 AIS, 6 GNSS receiver, 7 gyroscope, 8 ECS, 9 communication equipment, 10 ship side system, 20 land side system, 21 ship information collection device, 22 display unit, 23 radar, 24 AIS, 28 ECS, 30 control unit, 31 acquisition unit, 32 elimination processing unit, 33 transmission processing unit, 34 display processing unit, 35 risk calculation unit, 36 communication path capacity acquisition unit, 100 ship information sharing system.

Claims

1. A ship information sharing device, wherein: have: an acquisition unit that sequentially acquires navigation-related data related to the navigation of the ship detected by a detection device mounted on the ship; A communication path capacity acquisition unit, which acquires the communication path capacity of the communication path to the ship information collection device; a rejection processing unit that changes the frequency of including the navigation-related data in the transmission data set sequentially transmitted to the ship information collection device according to the communication path capacity; as well as The sending processing unit sends the sending data set to the ship information collection device.

2. The ship information sharing device according to claim 1, wherein: The acquisition unit acquires other ship data indicating positions of other ships existing around the ship as the navigation related data, The sent data set does not include data of other ships whose distance from the ship is greater than a threshold value, The elimination processing unit changes the threshold value according to the communication path capacity.

3. The ship information sharing device according to claim 1 or 2, wherein: The acquisition unit acquires other ship data indicating positions of other ships existing around the ship as the navigation related data, The ship information sharing device further comprises a calculation unit, which calculates the collision risk between the ship and the other ship. The sent data set does not include other ship data of other ships whose collision risk is below the threshold value, The elimination processing unit changes the threshold value according to the communication path capacity.

4. The ship information sharing device according to any one of claims 1 to 3, wherein: The acquisition unit acquires the position and speed of the ship as the navigation related data, The elimination processing unit changes the frequency of including the position of the ship in the transmission data set according to the ship speed.

5. The ship information sharing device according to any one of claims 1 to 4, wherein: The acquisition unit acquires other ship data indicating positions of other ships existing around the ship as the navigation related data, The smaller the communication path capacity is, the more the elimination processing unit makes the frequency of other ship data of other ships included in a non-focus range other than the focus range included in the transmitted data set lower than the frequency of other ship data of other ships included in the focus range included in the transmitted data set.

6. The ship information sharing device according to claim 5, wherein: It also has an acquisition unit, which acquires the bow position of the ship. The elimination processing unit sets the range between the bow direction and the starboard direction as the focus range based on the ship.

7. The ship information sharing device according to claim 5, wherein: It also has an acquisition unit, which acquires the bow position of the ship. The elimination processing unit sets the range in front of the ship as the focus range.

8. The ship information sharing device according to claim 5, wherein: It also has an acquisition unit, which acquires the bow position of the ship. The rejection processing unit sets a protection area for detecting the intrusion of a target object, which is set in the radar based on the ship, as the attention range.

9. The ship information sharing device according to claim 5, wherein: Also features: an acquiring unit, which acquires the position of the vessel; and A calculation unit, calculating the collision risk between the ship and the other ship; The elimination processing unit sets a range corresponding to another ship or area whose collision risk is equal to or greater than a threshold value as the focus range.

10. The ship information sharing device according to any one of claims 1 to 9, wherein: The acquisition unit acquires a plurality of the navigation-related data detected by a plurality of the detection devices, The smaller the communication path capacity is, the more the elimination processing unit makes the frequency of including other types of the navigation related data among the plurality of navigation related data in the transmission data set lower than the frequency of including a specified type of the navigation related data among the plurality of navigation related data in the transmission data set.

11. The ship information sharing device according to any one of claims 1 to 10, wherein: The acquisition unit acquires own ship data related to the ship itself and other ship data related to other ships other than the ship as the navigation related data, The elimination processing unit makes the frequency of including the own ship data in the transmission data set lower than the frequency of including the other ship data in the transmission data set as the communication path capacity is smaller.

12. A method for sharing ship information, wherein: sequentially acquiring navigation-related data related to the navigation of the ship detected by detection equipment carried on the ship; obtaining a communication path capacity of a communication path to a ship information collection device; changing the frequency of including the navigation-related data in the transmission data sets sequentially transmitted to the ship information collecting device according to the communication path capacity; The transmission data set is transmitted to the ship information collection device.

13. A ship information sharing system, wherein: have: Ship information collection device; The detection equipment is carried on the ship and sequentially generates navigation-related data related to the navigation of the ship; A ship information sharing device, which obtains a communication path capacity of a communication path to the ship information collecting device, and changes the frequency of including the navigation relationship data in a transmission data set sequentially sent to the ship information collecting device according to the communication path capacity; as well as The communication device sends the transmission data set to the ship information collection device.

Images