Ship navigation system

Abstract

A ship navigation system, in particular a ship navigation system for a ship, comprising: a positioning unit configured to detect a position of the ship; a nautical chart database; a display configured to present nautical chart information and a view of a position of the vessel on the nautical chart; a short range sensor module disposed on the vessel, the short range sensor module configured to provide scan data of the surroundings of the vessel; a control unit operably connected with the short range sensor module, the positioning unit, the nautical chart database and the display, the control unit configured to process the scan data to provide a scan view of the ambient environment, the control unit is configured to present the nautical chart and an enhanced view of the scan data on the display, and is configured to indicate a portion of the scan data that does not match the nautical chart information in the enhanced view.

Description

Technical Field

[0001] The present disclosure generally relates to ship navigation of ships. In particular aspects, the present disclosure relates to a ship navigation system. The present disclosure may be applied to any ship, such as a commercial ship, a leisure boat, a motorboat, and / or an autonomous ship. Although the present disclosure may be described with respect to a particular ship, the present disclosure is not limited to any particular ship. Background Art

[0002] When navigating and maneuvering a vessel, the captain relies on onboard navigation systems, such as nautical charts, and visual observation of the surroundings. However, during low visibility, where visual observation is limited and other onboard navigation systems may be inaccurate, navigation and maneuvering in close quarters may be difficult and uncertain. However, even during good visibility, additional assistance may be required when maneuvering at sea. Summary of the invention

[0003] According to a first aspect of the present disclosure, a ship navigation system for a ship comprises: - a positioning unit configured to detect the position of the vessel, - Nautical chart database, - a display configured to present nautical chart information and a view of the position of the vessel on the nautical chart, - a short-range distance sensor module arranged on the vessel, the short-range distance sensor module being configured to provide scanning data of the vessel's surroundings, - a control unit operatively connected to the short-range distance sensor module, the positioning unit, the nautical chart database and the display, the control unit being configured to process the scan data to provide a scanned view of the surrounding environment, wherein the control unit is configured to present an enhanced view of the nautical chart and the scan data on the display, and Wherein the control unit is configured to indicate in the enhanced view the portions of the scanned data that do not match the nautical chart information. A first aspect of the present disclosure may seek to address the shortcomings of the prior art, particularly the navigation and maneuvering of vessels in low visibility. Technical benefits may include providing real-time information about the vessel's surroundings independent of visibility, while presenting the information to the captain in an intuitive manner, thereby obtaining safer navigation and maneuvering of the vessel. By pairing the nautical chart with a highly accurate, real-time updated view of the vessel's surroundings in an enhanced view, the captain can rely on a single stream of information for any type of navigation, thereby improving interpretation efficiency and reducing cognitive load.

[0004] Optionally, in some examples, including at least one preferred example, the control unit is configured to compare the scanned view of the scanned data with the nautical chart information and identify portions of the scanned data that differ from the nautical chart information so as to provide an enhanced view of the nautical chart information including the scanned view. Technical benefits may include comparing the nautical chart information available from the nautical chart database with the scanned surroundings so that an enhanced view can be presented to the captain.

[0005] Optionally, in some examples, including at least one preferred example, the scanned view is presented on the display as a graphical overlay of the nautical chart information. Technical benefits may include presenting information to the captain in one place, rather than across multiple sources / displays where he / she must combine information. Thus, interpretation efficiency is improved and cognitive load on the captain is reduced.

[0006] Optionally, in some examples, including at least one preferred example, the graphic overlay provides information to an operator or captain about the difference between the scanned view and the nautical chart information. Technical benefits may include presenting the difference to the captain / operator, thereby enabling the captain to interpret the surrounding environment more effectively, thereby achieving safer navigation and operation of the vessel.

[0007] Optionally, in some examples, including at least one preferred example, the scanned data is stored in a storage unit. Technical benefits may include that the scanned surroundings may be stored so that the control unit can access the scanned information at any time, and the control unit may compare new scanned data with the stored scanned data and the nautical chart information. The environmental data interpreted from the scanned data may be stored in a storage unit, and a location reference may be assigned to each scanned data.

[0008] Optionally, in some examples, including at least one preferred example, the control unit is configured to determine an object provided by the scan data. Technical benefits may include that the control unit can identify the scanned object, so that the control unit can graphically present the scanned object.

[0009] Optionally, in some examples, including in at least one preferred example, an object database having a classification of known objects and / or scan data points, the control unit is configured to compare the scan data with the object database to determine an object substantially similar to the scan data. Technical benefits may include enhancing the reliability of the system by the control unit performing the comparison of the scan data with the data of known objects in the object database. Convenient and fast segmentation is thereby obtained.

[0010] Optionally, in some examples, including at least one preferred example, the control unit is configured to divide the scan data into segmented objects, and the control unit is configured to present the segmented objects in different graphical forms on the display. Technical benefits may include that the system according to the present disclosure can present different scanned objects in patterns, lines or designs in different graphical forms, so that the operator / captain can easily identify these objects, especially objects of particular interest.

[0011] Optionally, in some examples, including at least one preferred example, the augmented view is corrected by redrawing the overlay or adding other geometric indications and / or colors. Technical benefits may include facilitating identification and / or detection of corrected objects in the augmented view, thereby allowing the operator / captain to recognize areas and objects that he / she needs to pay more attention to during navigation and maneuvering.

[0012] Optionally, in some examples, including at least one preferred example, the system collects scan data over time based on the vessel position and orientation, and presents an average scan view as an overlay on the nautical chart. Technical benefits may include that the scan data collected over time may more accurately detect objects and their locations because the scan data may establish the location and size of the object as it is scanned from different positions, headings, and orientations of the vessel.

[0013] Optionally, in some examples, including at least one preferred example, the system compares the scan data collected over time with the nautical chart information to identify portions of the scan data that are consistently different from the nautical chart information. Technical benefits may include that the scan data collected over time may more accurately detect objects and their locations because the scan data may establish the location and size of the object as it is scanned from different positions, headings, and orientations of the vessel.

[0014] Optionally, in some examples, including at least one preferred example, the short-range distance sensor module includes one or more lidar sensors and / or one or more short-range radars. Technical benefits may include the application of reliable sensors and / or radars that function in harsh marine environments and can provide information about the presence, location, and movement of objects in their respective detection areas.

[0015] Optionally, in some examples, including at least one preferred example, the short-range distance sensor module includes one or more lidar sensors that provide lidar scan data. Technical benefits can include that the lidar sensors are able to provide very high resolution 3D point clouds, which means that they can very accurately detect and measure the location and size of objects.

[0016] Optionally, in some examples, including at least one preferred example, the lidar scan data is raw lidar data, and the control unit is configured to convert the raw lidar data into a 2D grid map with probability and / or class values, the 2D grid map being the scan view. Technical benefits may include converting the high-resolution raw lidar scan data into a more compact 2D grid map, and requiring less data, thereby reducing the demand on processor power when processing the lidar scan data.

[0017] According to a second aspect of the invention, a vessel comprises a vessel navigation system according to any one of the preceding claims. The second aspect of the disclosure may seek to address the shortcomings of the prior art, particularly the navigation and maneuvering of vessels in low visibility. Technical benefits may include providing real-time information about the vessel's surroundings independent of visibility, while presenting the information to the captain in an intuitive manner, thereby obtaining safer navigation and maneuvering of the vessel. By pairing the nautical chart with a high-precision, real-time updated view of the vessel's surroundings in an enhanced view, the captain can rely on a single stream of information for any type of navigation, thereby improving interpretation efficiency and reducing cognitive load.

[0018] According to a third aspect of the present invention, a ship navigation method is proposed, which comprises: - determine the position of the vessel, - displaying nautical chart information and said position of said vessel on said nautical chart, - providing scanning data of the surrounding environment of the vessel by means of a short-range distance sensor module arranged on the vessel, - processing the scan data to provide a scanned view of the surrounding environment, - presenting an enhanced view of said nautical chart and said scanned data on said display, and - indicating in the enhanced view the portions of the scanned data that do not match the nautical chart information. A third aspect of the present disclosure may seek to address the shortcomings of the prior art, particularly the navigation and maneuvering of vessels in low visibility. Technical benefits may include providing real-time information about the vessel's surroundings independent of visibility, while presenting the information to the captain in an intuitive manner, resulting in safer navigation and maneuvering of the vessel. By pairing the nautical chart with a highly accurate, real-time updated view of the vessel's surroundings in an enhanced view, the captain can rely on a single stream of information for any type of navigation, thereby improving interpretation efficiency and reducing the captain's cognitive load.

[0019] It will be appreciated by those skilled in the art that the disclosed aspects, examples (including any preferred examples), and / or the appended claims may be appropriately combined with each other. Additional features and advantages are disclosed in the following description, claims, and drawings, and will in part be apparent to those skilled in the art or recognized by practicing the disclosure as described herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Examples are described in more detail below with reference to the accompanying drawings.

[0021] Figure 1 is an exemplary ship navigation system according to an example.

[0022] Figure 2a is an example of a nautical chart.

[0023] Figure 2b is an example of a scan view.

[0024] Figure 2c is an example of an enhanced view, where Figure 2b The scan view is presented as Figure 2a The covering on the nautical chart.

[0025] Figure 3a is an example of an enhanced view where the positioning signal of the positioning unit is unreliable.

[0026] Figure 3b is an example of matching the graph to the scan data.

[0027] Figure 4a is an example of identifying new coastlines based on statically scanned objects.

[0028] Figure 4b is to redraw the chart to match Figure 4a Example of scan data.

[0029] Figure 4c is an example of a redrawn chart that highlights the coastline from the old chart.

[0030] Figure 4d is an example of a redrawn chart that highlights the coastline of the old chart but does not show statically scanned objects.

[0031] Figure 4e is an example of a redrawn chart that does not show statically scanned objects.

[0032] Figure 5 is an example of a presentation of available stops on an enhanced nautical chart. DETAILED DESCRIPTION

[0033] The detailed description set forth below provides information and examples of the disclosed technology in sufficient detail to enable those skilled in the art to practice the disclosure.

[0034] Different solutions exist to assist the captain in navigating the vessel, such as showing nautical charts on a display. Gaining and maintaining an accurate and reliable perception of the surroundings while steering the vessel is a key part of safe maneuvering. The captain's primary source of information is direct observation of the vessel's surroundings. However, there are situations where the captain may be navigating and maneuvering the vessel in low visibility where additional information proves useful. Presenting the captain with additional information from different navigation sources about the surrounding area, the vessel's position, the vessel's speed, etc. certainly helps them to construct an awareness of their surroundings and any obstacles and objects. However, each additional independent stream of information increases the cognitive load on the captain, and they are often required to consult many different sources to assist in navigating the vessel during all visibility periods. Effectively interpreting multiple different streams of information is key to an effective navigation system that provides valuable assistance without excessive effort on the part of the captain.

[0035] The nautical chart is the core information flow in the helm system with the help of positioning devices. They are usually connected together so that the position of the ship can be seen on the nautical chart, for example on a display.

[0036] Figure 1 1 is an exemplary ship navigation system 100 according to an example. The ship navigation system 100 is arranged on a ship 1. The ship navigation system 100 comprises a positioning unit 2 configured to detect the position of the ship 1. The positioning unit may be a GPS (Global Positioning System), a GNSS (Global Navigation Satellite System), an INS (Inertial Navigation System) or any combination thereof.

[0037] The ship navigation system 100 further comprises a nautical chart database 3, which has different digital nautical charts of different regions and / or areas. The nautical chart database comprises different nautical chart information of different nautical charts. In addition, the ship navigation system comprises a display 4, which is configured to present a view of the nautical chart information and the position of the ship 1 on the nautical chart.

[0038] In addition, a short-range distance sensor module 5 is arranged on the ship 1, and the short-range distance sensor module 5 is configured to provide scanning data of the surrounding environment 7 of the ship 1. In the example, the short-range distance sensor module 5 includes five short-range sensors 6 arranged on the ship 1. The short-range sensors 6 can be arranged to facilitate detection and scanning in various directions of the ship, so that the entire surrounding environment 7 is scanned during navigation. In other examples, the short-range distance sensor module 5 may include a different number of short-range distance sensors.

[0039] The ship navigation system 100 also includes a control unit 8, which is operably connected to the short-range distance sensor module 5, the positioning unit 2, the nautical chart database 3 and the display 4, and the control unit 8 is configured to process the scan data to provide a scan view of the surrounding environment 7. In addition, the control unit 8 is configured to present an enhanced view of the nautical chart and the scan data on the display, and the control unit is also configured to indicate the portion of the scan data that does not match the nautical chart information in the enhanced view. Therefore, by combining the scan data of the surrounding environment 7 with the nautical chart information, an enhanced view can be presented on the display. Combining the scan data with the nautical chart allows for a more accessible information flow in a smaller screen area, because all information can be presented in an enhanced view on one display. In addition, considering that there are many different systems available and observation is required during navigation and maneuvering, driving a ship using increasingly complex auxiliary technologies can be a daunting task. Through the present disclosure and by using the short-range distance sensor module to enhance the most traditional information system in the ship-the nautical chart, the captain can effortlessly perceive his surroundings more accurately. Known nautical charts excel in mapping the sailing environment over long distances, but are unreliable when maneuvering close to shore or at dock due to a lack of accuracy and update frequency. By pairing the nautical chart with a highly accurate, live-updated view of the vessel’s surroundings in an enhanced combined view, the captain can rely on a single stream of information for any type of navigation, making interpretation more efficient and reducing the captain’s cognitive load, ultimately navigating more safely than known solutions.

[0040] Furthermore, the control unit 8 may be configured to compare the scanned view of the scanned data with the nautical chart information and identify portions of the scanned data that differ from the nautical chart information so as to provide an enhanced view of the nautical chart information including the scanned view.

[0041] Furthermore, the scanned view can be presented on the display as a graphic overlay of the nautical chart information. Thus, the captain or operator can easily detect any differences between the scanned view and the nautical chart information. The graphic overlay can thus provide the operator with information about the differences between the scanned view and the nautical chart information. Furthermore, the view can also be displayed in the form of a satellite image and / or a nautical chart view (map view).

[0042] Furthermore, the short-range distance sensor module 5 may include one or more lidar sensors 6 and / or one or more short-range radars 6. Both lidar sensors and short-range radars are sensing technologies that can be used for object detection and distance measurement.

[0043] LiDAR sensors use laser beams to measure distances and create detailed 3D maps of their surroundings. It emits laser pulses and measures the time it takes for the pulses to bounce back after hitting an object. By calculating the time of flight of the laser pulses, LiDAR determines the distance to the object. LiDAR sensors are able to provide very high-resolution 3D point clouds, which means they can detect and measure the position of objects very accurately. LiDAR sensors can provide accurate object recognition and identification thanks to their high-resolution data.

[0044] Short-range radar uses radio waves in the microwave frequency range. Short-range radar transmits radio waves and measures the time it takes for the waves to reflect from an object. By analyzing the received signal, the radar can determine the distance, speed, and sometimes even the angle of the detected object. Short-range radars, especially those operating at, for example, 76 GHz or 77 GHz, are well suited to detecting objects at greater distances and in adverse weather conditions. They can detect the presence of objects, estimate their relative speed, and provide general information about their size and movement.

[0045] In the short-range sensor module, a lidar sensor may be used or a short-range radar may be used, but a combination of the two may also be used. Other short-range sensors capable of detecting the surrounding environment may also be used.

[0046] like Figure 1 As shown, the short-range distance sensor module 5 may include one or more sensors 6 and / or radars configured to scan preferably between 270 degrees and 360 degrees around the vessel 1. In addition, the one or more sensors 6 and / or radars may be configured to continuously scan the surrounding environment and, in combination, continuously locate the vessel 1 with the aid of a positioning unit.

[0047] The short-range distance sensor module may also include at least one underwater LiDAR sensor arranged relative to the water for scanning the seabed. The underwater LiDAR sensor is configured to emit green light. Thus, the seabed is scanned while sailing, so that a scanned view of the seabed can be provided. The underwater LiDAR sensor can also detect objects on the seabed, such as large rocks or stones that are not visible in the nautical chart information.

[0048] The sensor and / or radar may be configured to scan at least 40 meters.

[0049] Figures 2a to 2c An example of combining scanned data with a nautical chart is shown. Figure 2a In FIG. 1 , a nautical chart 10 is shown. The nautical chart 10 displays a ship 1 in the surrounding environment of the nautical chart based on nautical chart information and a positioning unit. Figure 2a In the example shown, the vessel 1 is approaching a port having a coastline and a berth. The surroundings of the nautical chart 10 (ie, the chart information) are depicted as dashed line elements in the example shown. Figure 2b A scanning view 11 provided by a short-range sensor module arranged on a vessel 1 is disclosed. In the scanning view 11, different objects 50 detected by the short-range sensor module are presented. Figure 2b As shown, Figure 2a The scanned view reveals additional details and objects compared to the nautical chart, and the elements of the scanned view are shown in hatched lines. Figure 2c In FIG. 1 , an enhanced view 12 is shown. An enhanced view is a scan view presented as an overlay on a nautical chart, thereby combining the two systems in a shared view. The scan data is presented to the captain or operator in real time, for example in contrasting colors, so that the captain can easily distinguish between the two information sources. The scan data is simply placed on top of the nautical chart, matching the headings of the two data sources to merge the two interpreted environments together in an enhanced view.

[0050] Furthermore, the scan data may be stored in a storage unit 15. The storage unit 15 may be configured to store the scan data, the scan view and / or the position of the vessel. The storage unit 15 may be a hard disk or the like configured to store data. The storage unit 15 may be connected to the control unit 8. Environmental data interpreted from the scan data may be stored in the storage unit 15, and a position reference may be assigned to each scan data. The position reference may be provided by the positioning unit 2.

[0051] The vessel navigation system 100 may also include navigation devices or sensors, such as a compass, an odometer, a speed log, a gyroscope, a depth sounder, an AIS (Automatic Identification System), a radar module or any combination thereof to further assist in navigating and maneuvering the vessel 1 .

[0052] Furthermore, the control unit 8 may continuously process the scan data and compare it to the nautical chart information to continuously update the enhanced view. Furthermore, the control unit 8 may continuously compare the scan data to the nautical chart information to determine when the scan data continuously differs from the nautical chart information. Thus, the control unit 8 may be configured to verify continuous differences between the scan data and the nautical chart information, and based on the verified differences, the control unit is configured to update the enhanced view accordingly so that the operator can see the differences.

[0053] Furthermore, the control unit 8 may be configured to determine an object 50 provided by the scan data. The determination of the object 50 may be performed by a segmentation method.

[0054] The vessel navigation system 100 may also include an object database having a classification of known objects 50 and / or scan data points, and the control unit 8 is configured to compare the scan data with the object database to determine objects that are substantially similar to the scan data.

[0055] The object 50 may be a stationary object or a movable object. The object may be a coastline, a shoreline, a buoy, a dock, a platform, a pier, a breakwater, a ship, a vessel, a wreck, a building, equipment, a port unit, a rock or stone, a wild animal or the like. Thus, the object may be something relevant to navigation and maneuvering of the vessel, or may be something of particular interest to the captain.

[0056] The control unit 8 is configured to determine whether the scanned object is moving or stationary and may mark the object accordingly so that it can be easily geographically inferred from the augmented view whether it is a moving object or a stationary object.

[0057] In addition, the control unit can be configured to divide the scan data into segmented objects, and the control unit is configured to present the segmented objects in different graphical forms on the display. As described above, if the system recognizes an object, the control unit 8 can inform the captain whether the object belongs to a static environment or a dynamic environment. In addition, the control unit 8 can specifically highlight objects that the captain may be interested in. For example, buoys, people falling into the water, wild animals, etc. It can also identify and update the location of objects / waypoints added by the user. For example, if fishermen add buoys as points in a digital nautical chart, the control unit can allow them to directly click on the object in the enhanced view to add it as a custom waypoint. If the buoy has moved when they return to check, the location of the waypoint may be updated to the new location.

[0058] exist Figure 3a, an example of an enhanced view in which the positioning signal of the positioning unit 2 is unreliable is shown. The vessel 1 has a positioning unit 2, and in some cases, the positioning unit 2 provides an unreliable positioning signal. Therefore, when the positioning unit 2 provides an unreliable positioning signal, it may be difficult to safely maneuver and drive the vessel 1. Through the present disclosure, the scanning data provides real-time detection of the environment around the vessel 1 independently of the positioning signal. Figure 3a In the embodiment, the scan data is shown as an overlay of the nautical chart, so the captain can detect that the scan data and the object 50 detected thereby are offset from the chart information of the nautical chart 10. Therefore, the captain is informed that the positioning signal of the positioning unit 2 may be unreliable, resulting in uncertainty in the maneuvering of the vessel 1.

[0059] The captain can request the control unit to match the chart information of the nautical chart 10 with the scanned data, or in the event that the nautical chart positioning is unreliable, the control unit can automatically match the nautical chart with the scanned data to provide an accurate depiction of the surrounding environment. Figure 3b The matching of the nautical chart 10 with the scanned data is shown in the enhanced view 12. Thus, the captain can steer and navigate the vessel 1 in a safe manner.

[0060] The enhanced view may be corrected by redrawing the drapes or adding other geometric indications and / or colors to the enhanced view.

[0061] Figure 4a This is an example of identifying a new coastline 16 based on a stationary scanned object. The control unit is configured to detect and identify differences between the real-time detection and the nautical chart information of the nautical chart 10. Figure 4a In the example, the interpreted scan data shows that the coastline 16 (shown as a solid line) is slightly offset from the chart information of the nautical chart 10. Therefore, in this example, the control unit adds a geometric indication, namely the solid line 16, to the augmented view 12 so that the captain is aware of the difference. The scanned stationary objects 50 in the chart are based on real-time sensor measurements, thereby gradually redrawing the chart. The control unit can distinguish between the scan data, the original chart and the updated chart, or merge them together.

[0062] Figure 4b is to redraw the chart to match Figure 4a The scanned stationary objects 50 in the nautical chart are detected based on real-time, and the control unit can be configured to gradually redraw the nautical chart in the enhanced view 12. The control unit is configured to distinguish the scanned data, the nautical chart information of the original nautical chart 10 and the enhanced view, or to merge them together. Figure 4b In the example above, the chart information of Nautical Chart 10 is redrawn to match the newly detected coastline.

[0063] Figure 4cis an example of a redrawn chart with the coastline of the old chart highlighted. The control unit has redrawn the chart to match the new coastline, e.g. Figure 4b As shown, however, Figure 4c In FIG. 1 , the control unit is identifying the old coastline, as shown by the dashed line 17 , so that the captain can observe the changes in the original nautical chart 10 and the real-time detection of the object 50 .

[0064] Figure 4d is an example of a redrawn nautical chart, in which the coastline 17 of the old chart is highlighted, but the stationary scanned object is not shown. A scanned movable object 50 is shown. The movable object may be a ship or a boat present in the port 18. Figure 4e is an example of a redrawn chart without showing the old coastline and the stationary scanned objects. A movable object 50 is shown.

[0065] In addition, the position of the vessel 1 and / or the heading of the vessel 1 is continuously determined based on the determined position of the scanned object, and the control unit 8 can be configured to continuously compare the position and / or heading of the vessel 1 based on the determined position of the scanned object to determine whether the determined position of the scanned object is maintained independently of the position and / or heading of the vessel 1, and then set the scanned object to the verified scanned object.

[0066] The system collects scan data over time based on the vessel's position and orientation, and presents an average scan view as an overlay on a nautical chart. In addition, the system can compare the scan data collected over time with the nautical chart information to identify portions of the scan data that are consistently different from the nautical chart information. Thus, to improve the long-term accuracy of a vessel's nautical chart, the collected scan data can be used to update the nautical chart, such as updating coastlines and port terminals, for future reference, as presented in an enhanced view.

[0067] The ship navigation system 100 may further include a communication unit configured to send scan data to and / or receive scan data from the central storage unit. For example, when a ship is in a port, it may be connected to the central storage unit to exchange scan data. In one example, the central storage unit may be configured to receive scan data from multiple ships including the ship navigation system. Thus, crowdsourcing of scan data may be provided to jointly build an up-to-date, accurate cloud-based nautical chart system. By allowing multiple ships having the same ship navigation system according to the present disclosure to share measurements and scan data in a cloud-based storage unit or server, each captain may be provided with nautical charts updated with crowdsourced information about high-precision coastline and port measurements.

[0068] Furthermore, the scanned stationary objects may be updated in the enhanced view by progressively redrawing the enhanced view based on the real-time scan data. The control unit may be configured to distinguish the scan data, the nautical chart, and the enhanced view, or to fuse them together on the display, such as Figures 4a to 4e In addition, the vessel's heading can be used together with the vessel's position to determine the direction of the scanned object.

[0069] Furthermore, the system is configured to identify movable or dynamic objects that move relative to stationary objects. Dynamic objects can be highlighted so that the captain can easily detect them. This can be, for example, by coloring them in another way so as to clearly indicate to the captain that the object is dynamic and therefore more important (more dangerous) than a stationary object.

[0070] Additionally, locations that were previously visited by movable or dynamic objects should receive very low probability values ​​for building internal memory charts. For example, over time, another docked vessel receives a probability of 50 points for entering and exiting a dock the last 10 times. Then on the 11th time it passes by, it leaves the dock as well. When it is thought to be a stationary object but is clearly not, a very low probability of, say, -1000 points should be set. If the location is later reconstructed as a dock, it will take a long time to build up the probability / confidence that the location is actually stationary and not dynamic. Therefore, to get the best confidence in a chart, removing biases from locations where there are objects can be fast, while building up stationary objects can be very slow.

[0071] In addition, the system can be configured to display in the chart overlay what the system is currently doing, while it also shows where the system is trying to go at the moment. For example, this could be a shadow of a ship moving in that direction or a small set point marker.

[0072] Additionally, the system may be configured to add memory of stationary objects to the local chart very slowly, but remove them very quickly.

[0073] As mentioned above, the short-range distance sensor module 5 may include one or more lidar sensors 6, which provide lidar scan data. The lidar scan data may be a lidar point cloud data set. The lidar point cloud data set is a 3D scan, and the control unit 8 may be configured to process the 3D scan to present it in a 2D view, which is preferably a scan view.

[0074] In addition, the lidar scan data may be raw lidar data, and the control unit may be configured to convert the raw lidar data into a 2D grid map with probabilities and / or class values, the 2D grid map being a scan view. By converting the high-resolution raw lidar scan data into a more compact 2D grid map, it requires less data, thereby reducing the demand on processor power when processing the lidar scan data.

[0075] The vessel navigation system 100 may also include a photo imaging module that provides images of the surrounding environment, which may be processed and compared to the scan data to verify the scanned object.

[0076] Additionally, the scanned views (i.e. points) may be smoothed on the nautical chart so that straight edges are found and the view is split rather than plotted in a mess. For points that are less than X meters apart, the area may need to be interpolated and perhaps polygons saved rather than points as this is computationally more efficient.

[0077] Furthermore, the vessel shown on the view may be matched to the size of the vessel on which the system is implemented. The size of the vessel may be read out from the control system and the image may then be resized according to these values. The system is configured to automatically resize the vessel on the nautical chart according to the actual size of the vessel being used.

[0078] Figure 5 is an example of presenting available docking points 19 in the enhanced nautical chart 12. Therefore, when the vessel 1 approaches the port 18, the control unit is configured to identify available docking points 19 based on the interpreted scan data and present these docking points to the captain in the enhanced view 12 to assist the captain in finding a suitable docking point and then docking the vessel 1.

[0079] The present disclosure also relates to a vessel 1 comprising a vessel navigation system 100 as described above. The vessel 1 may be a commercial vessel, a leisure boat or an autonomous vessel.

[0080] The present disclosure also relates to a ship navigation method, which comprises - determine the position of vessel 1, - displaying the nautical chart information and the position of vessel 1 on the nautical chart, - providing scanning data of the surroundings of the vessel 1 by means of a short-range distance sensor module 5 arranged on the vessel 1, - Process the scan data to provide a scanned view of the surrounding environment, - an enhanced view of the chart and scan data on display 4, and - Indicates in the enhanced view the parts of the scan data that do not match the chart information.

[0081] Certain aspects and variations of the present disclosure are illustrated in the following examples, which are numbered sequentially below.

[0082] Example 1: A ship navigation system for a ship, comprising - a positioning unit configured to detect the position of the vessel, - Nautical chart database, - a display configured to display nautical chart information and a view of the position of the vessel on the nautical chart, - a short-range distance sensor module arranged on the vessel, the short-range distance sensor module being configured to provide scanning data of the vessel's surroundings, - a control unit operatively connected to the short-range distance sensor module, the positioning unit, the nautical chart database and the display, the control unit being configured to process the scan data to provide a scanned view of the surrounding environment, wherein the control unit is configured to present an enhanced view of the nautical chart and the scan data on the display, and The control unit is configured to indicate, in the enhanced view, portions of the scan data that do not match the nautical chart information.

[0083] Example 2: A ship navigation system according to Example 1, wherein the control unit is configured to compare the scanned view of the scanned data with the nautical chart information and identify portions of the scanned data that are different from the nautical chart information so as to provide the enhanced view of the nautical chart information including the scanned view.

[0084] Example 3: A vessel navigation system according to Examples 1 and / or 2, wherein the scan view is presented on the display as a graphical overlay of the nautical chart information.

[0085] Example 4: A vessel navigation system according to Example 3, wherein the graphic overlay provides information to an operator or captain regarding differences between the scanned view and the nautical chart information.

[0086] Example 5: A ship navigation system according to any of the preceding examples, wherein the scan data is stored in a storage unit.

[0087] Example 6: The vessel navigation system of Example 5, wherein the storage unit is configured to store the scan data, the scan view and / or the position of the vessel.

[0088] Example 7: A vessel navigation system according to any of the preceding examples, wherein the control unit continuously processes the scan data and compares it with the nautical chart information to continuously update the enhanced view.

[0089] Example 8: The vessel navigation system of any of the preceding examples, wherein the control unit continuously compares the scan data with the nautical chart information to determine when the scan data continuously differs from the nautical chart information.

[0090] Example 9: A ship navigation system according to any of the preceding examples, wherein the control unit is configured to verify persistent differences between the scanned data and the nautical chart information, and based on the verified differences, the control unit is configured to update the enhanced view accordingly so that the operator can see the differences.

[0091] Example 10: A ship navigation system according to any of the preceding examples, wherein the control unit is configured to determine an object provided by the scanning data.

[0092] Example 11: A ship navigation system according to Example 10, wherein the determination of the object is performed by a segmentation method.

[0093] Example 12: According to any of the preceding examples, the ship navigation system further comprises an object database having a classification of known objects and / or scan data points, wherein the control unit is configured to compare the scan data with the object database to determine an object that is substantially similar to the scan data.

[0094] Example 13: A ship navigation system according to any of the preceding examples, wherein the scanned data points are lidar points.

[0095] Example 14: A ship navigation system according to any of the preceding examples, wherein the object is a stationary object or a movable object.

[0096] Example 15: The ship navigation system of Example 14, wherein the control unit determines whether the scanned object is moving or stationary.

[0097] Example 16: A ship navigation system according to any one of the preceding examples, wherein the control unit is configured to divide the scan data into segmented objects, and the control unit is configured to present the segmented objects in different graphical forms on the display.

[0098] Example 17: A ship navigation system according to any of the preceding examples, wherein a certain amount of scan data is required to verify the position and size of the scanned object.

[0099] Example 18: A ship navigation system according to any of the preceding examples, wherein the augmented view is corrected by redrawing the overlay or adding other geometric indications and / or colors.

[0100] Example 19: A ship navigation system according to any one of the preceding examples, wherein the position of the ship and / or the heading of the ship are continuously determined based on the determined position of the scanned object, and the control unit is configured to continuously compare the position and / or the heading of the ship based on the determined position of the scanned object to determine whether the determined position of the scanned object is maintained independently of the position and / or the heading of the ship, and then set the scanned object to a verified scanned object.

[0101] Example 20: A vessel navigation system according to any of the preceding examples, wherein the system collects scan data over time according to vessel position and orientation, and presents an average scan view as an overlay on the nautical chart.

[0102] Example 21: A vessel navigation system according to any of the preceding examples, wherein the system compares scan data collected over time with the nautical chart information to identify the portion of the scan data that is consistently different from the nautical chart information.

[0103] Example 22: A vessel navigation system according to any of the preceding examples, wherein the scanned stationary objects are updated in the enhanced view by progressively redrawing the enhanced view based on real-time scanning data.

[0104] Example 23: A ship navigation system according to any of the preceding examples, wherein the control unit is configured to distinguish between the scan data, the nautical chart and the enhanced view, or to merge them together on the display.

[0105] Example 24: A ship navigation system according to any of the preceding examples, wherein the positioning unit is a GPS (Global Positioning System), a GNSS (Global Navigation Satellite System), an INS (Inertial Navigation System), or any combination thereof.

[0106] Example 25: A ship navigation system according to any of the preceding examples, further comprising a navigation device or sensor, such as a compass, an odometer, a speed log, a gyroscope, a depth sounder, an AIS (Automatic Identification System), a radar module or any combination thereof.

[0107] Example 26: A vessel navigation system according to any of the preceding examples, wherein the heading of the vessel is used together with the position of the vessel to determine the direction of the scanned object.

[0108] Example 27: A ship navigation system according to any of the preceding examples, wherein the object is a coastline, a shoreline, a buoy, a dock, a platform, a pier, a breakwater, a ship, a vessel, equipment, a port unit, a rock or stone or the like.

[0109] Example 28: A ship navigation system according to any of the preceding examples, wherein the short-range distance sensor module includes one or more lidar sensors and / or one or more short-range radars.

[0110] Example 29: A vessel navigation system according to any of the preceding examples, wherein the short-range distance sensor module includes one or more sensors and / or radars configured to scan 360 degrees around the vessel.

[0111] Example 30: A vessel navigation system according to Example 29, wherein the one or more sensors and / or radars are configured to continuously scan the surrounding environment and, in combination, continuously locate the vessel.

[0112] Example 31: The ship navigation system of Example 1, wherein the short-range distance sensor module includes at least one underwater sensor, the at least one underwater sensor being arranged relative to the water for scanning the seabed.

[0113] Example 32: A ship navigation system according to Example 31, wherein the underwater sensor is an underwater lidar sensor or an underwater sonar sensor.

[0114] Example 33: A ship navigation system according to Example 32, wherein the underwater lidar sensor is configured to emit green light.

[0115] Example 34: The ship navigation system of Example 32, wherein the underwater sonar sensor is a 3D sonar sensor.

[0116] Example 35: A vessel navigation system according to Example 29, wherein the sensor and / or radar is configured to scan at least 40 meters.

[0117] Example 36: A ship navigation system according to any of the preceding examples, wherein the short-range distance sensor module includes one or more lidar sensors that provide lidar scanning data.

[0118] Example 37: A ship navigation system according to Example 36, wherein the lidar scan data is a lidar point cloud dataset.

[0119] Example 38: A ship navigation system according to Example 37, wherein the lidar point cloud dataset is a 3D scan, and the control unit is configured to process the 3D scan to present it in a 2D view, and the 2D view is preferably the scan view.

[0120] Example 39: A ship navigation system according to Example 36, wherein the lidar scanning data is raw lidar data, and the control unit is configured to convert the raw lidar data into a 2D grid map with probabilities and / or class values, and the 2D grid map is the scanning view.

[0121] Example 40: According to any of the preceding examples, the ship navigation system further comprises a communication unit configured to send scanning data to a central storage unit and / or receive scanning data from the central storage unit.

[0122] Example 41: The vessel navigation system of Example 40, wherein the central storage unit is configured to receive scan data from a plurality of vessels comprising the vessel navigation system.

[0123] Example 42: A ship navigation system according to any of the preceding examples, further comprising a photo imaging module that provides an image of the surrounding environment, processes the image and compares it with the scan data to verify the scanned object.

[0124] Example 43: A vessel comprising a vessel navigation system according to any of the preceding examples.

[0125] Example 44: A vessel according to Example 43, wherein the vessel is a commercial vessel, a leisure vessel or an autonomous vessel.

[0126] Example 45: A ship navigation method, comprising: - determine the position of the vessel, - displaying nautical chart information and said position of said vessel on said nautical chart, - providing scanning data of the surrounding environment of the vessel by means of a short-range distance sensor module arranged on the vessel, - processing the scan data to provide a scanned view of the surrounding environment, - presenting an enhanced view of said nautical chart and said scanned data on said display, and - indicating in the enhanced view portions of the scan data that do not match the nautical chart information.

[0127] Example 46: According to the ship navigation method according to Example 45, it also includes - comparing the scanned view of the scanned data with the nautical chart information, and - identifying the parts of the scanned data that are different from the nautical chart information so as to provide the enhanced view of the nautical chart information including the scanned view.

[0128] Example 47: The ship navigation method according to Example 45 and / or 46 also includes presenting the scanned view as a graphic overlay of the nautical chart information on the display.

[0129] Example 48: The vessel navigation method of Example 47, further comprising providing information to an operator on the graphic overlay regarding differences between the scanned view and the nautical chart information.

[0130] Example 49: A ship navigation method according to any one of Examples 45 to 48, further comprising continuously processing the scan data and comparing it with the nautical chart information to continuously update the enhanced view.

[0131] Example 50: A vessel navigation method according to any one of Examples 45 to 49, further comprising continuously comparing the scan data with the nautical chart information to determine when the scan data is continuously different from the nautical chart information.

[0132] Example 51: A ship navigation method according to any one of Examples 45 to 50, further comprising verifying persistent differences between the scan data and the nautical chart information, and based on the verified differences, updating the enhanced view accordingly so that the operator can see the differences.

[0133] Example 52: A ship navigation method according to any one of Examples 45 to 51, which also includes determining an object provided by the scanning data.

[0134] Example 53: A ship navigation method according to Example 52, wherein the determination of the object is performed by a segmentation method.

[0135] Example 54: A ship navigation method according to any one of Examples 45 to 53, further comprising: - provide an object database with classifications of known objects and / or scanned data points, - comparing the scan data to the object database to determine objects that are substantially similar to the scan data.

[0136] Example 55: A ship navigation method according to any one of Examples 45 to 54, further comprising: - dividing the scan data into segmented objects, and - presenting said segmented object in different graphical forms on said display.

[0137] Example 56: A vessel navigation method according to any one of Examples 45 to 55, further comprising collecting scan data over time based on the vessel position and orientation, and presenting an average scan view as an overlay on the nautical chart.

[0138] Example 57: A ship navigation method according to any one of Examples 45 to 56, further comprising comparing the scan data collected over time with the nautical chart information to identify the portion of the scan data that is continuously different from the nautical chart information.

[0139] Example 58: A vessel navigation method according to any one of Examples 45 to 57, further comprising updating the scanned stationary objects in the enhanced view by gradually redrawing the enhanced view based on real-time scanning data.

[0140] Example 59: A ship navigation method according to any one of Examples 45 to 58, further comprising distinguishing the scanned data, the nautical chart and the enhanced view, or fusing them together on the display.

[0141] Example 60: A ship navigation method according to any one of Examples 45 to 59, further comprising: - Provides LiDAR point cloud datasets as 3D scans, and - processing the 3D scan to present it in a 2D view, preferably the scan view.

[0142] Example 61: A ship navigation method according to any one of Examples 45 to 59, further comprising: - Provides lidar scan data as raw lidar data, and - Converting the raw LiDAR data into a 2D grid map with probabilities and / or class values, the 2D grid map being the scan view.

[0143] The terms used herein are only for the purpose of describing specific aspects and are not intended to limit the present disclosure. As used herein, unless the context clearly indicates otherwise, the singular forms "one", "a kind of" and "the" are intended to also include plural forms. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. It should also be understood that the terms "include" and / or "comprising" when used herein indicate the presence of stated features, integers, actions, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, integers, actions, steps, operations, elements, parts and / or their groups.

[0144] It should be understood that although the terms first, second, etc. can be used to describe various elements in this article, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, without departing from the scope of the present disclosure, the first element can be referred to as the second element, and similarly, the second element can be referred to as the first element.

[0145] Relative terms such as "below" or "above" or "upper" or "lower" or "horizontal" or "vertical" may be used herein to describe the relationship of one element to another element, as shown in the figures. It should be understood that these terms and those discussed above are intended to cover different device orientations in addition to the orientations depicted in the figures. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, the element may be directly connected or directly coupled to the other element, or there may be intervening elements. In contrast, when an element is referred to as being "directly connected to" or "directly coupled to" another element, there are no intervening elements.

[0146] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those commonly understood by those skilled in the art to which the present disclosure belongs. It should also be understood that, unless otherwise clearly defined herein, the terms used herein should be interpreted as meanings consistent with their meanings in the context of this specification and the relevant art, and should not be interpreted in an idealized or overly formal sense.

[0147] It should be understood that the present disclosure is not limited to the aspects described above and shown in the accompanying drawings; rather, those skilled in the art will recognize that many changes and modifications may be made within the scope of the present disclosure and the appended claims. In the drawings and description, various aspects have been disclosed for illustrative purposes only and not for limiting purposes, and the scope of the present disclosure is set forth in the appended claims.

Claims

1. A ship navigation system (100) for a ship (1), comprising: - a positioning unit (2) configured to detect the position of the vessel, - Nautical chart database (3), - a display (4) configured to display nautical chart information and a view of the position of the vessel on the nautical chart, - a short-range distance sensor module (5) arranged on the vessel (1), the short-range distance sensor module being configured to provide scanning data of the vessel's surroundings (7), - a control unit (8) operatively connected to the short-range distance sensor module (5), the positioning unit (2), the nautical chart database (3) and the display (4), the control unit (8) being configured to process the scan data to provide a scan view of the surrounding environment, wherein the control unit (8) is configured to present an enhanced view of the nautical chart and the scan data on the display (4), and The control unit (8) is configured to indicate in the enhanced view the portion of the scan data that does not match the nautical chart information.

2. A vessel navigation system (100) according to claim 1, wherein the scan view is presented on the display (4) as a graphical overlay of the nautical chart information.

3. The ship navigation system (100) of claim 2, wherein the graphic overlay provides information to an operator or captain regarding differences between the scanned view and the nautical chart information.

4. The ship navigation system (100) according to claim 1, wherein the scan data is stored in a storage unit (15).

5. The ship navigation system (100) of claim 1, wherein the control unit (8) is configured to determine an object (50) provided by the scan data.

6. The ship navigation system (100) according to claim 1, further comprising an object database having a classification of known objects and / or scan data points, wherein the control unit (8) is configured to compare the scan data with the object database to determine an object that is substantially similar to the scan data.

7. The ship navigation system (100) according to claim 1, wherein the control unit (8) is configured to divide the scan data into segmented objects, and the control unit is configured to present the segmented objects in different graphical forms on the display (4).

8. The vessel navigation system (100) of claim 1, wherein the augmented view is corrected by redrawing the overlay or adding other geometric indications and / or colors.

9. The vessel navigation system (100) of claim 1, wherein the system collects scan data over time based on the vessel's position and orientation, and presents an average scan view as an overlay on the nautical chart.

10. The vessel navigation system (100) of claim 1, wherein the system compares scan data collected over time with the nautical chart information to identify the portions of the scan data that are consistently different from the nautical chart information.

11. The vessel navigation system (100) of claim 1, wherein the scanned stationary objects are updated in the enhanced view by progressively redrawing the enhanced view based on real-time scan data.

12. The ship navigation system (100) according to claim 1, wherein the control unit is configured to distinguish the scan data, the nautical chart and the enhanced view, or to merge them together on the display.

13. The ship navigation system (100) according to claim 1, wherein the short-range distance sensor module (5) comprises one or more lidar sensors (6) and / or one or more short-range radars (6).

14. The ship navigation system (100) of claim 1, wherein the short-range distance sensor module (5) comprises one or more lidar sensors (6) providing lidar scan data.

15. A ship navigation system (100) according to claim 14, wherein the lidar scanning data is raw lidar data, and the control unit (8) is configured to convert the raw lidar data into a 2D grid map with probability and / or class value, and the 2D grid map is the scanning view.

16. A ship (1) comprising a ship navigation system (100) according to any one of claims 1 to 15.

17. A ship navigation method, comprising: - determine the position of the vessel(1), - display of chart information and the position of the vessel in question on the chart, - providing scanning data of the surroundings (7) of the vessel (1) by means of a short-range distance sensor module (5) arranged on the vessel, - processing the scan data to provide a scanned view of the surrounding environment (7), - presenting an enhanced view of said nautical chart and said scanned data on a display (4), and - indicating in an enhanced view portions of the scan data that do not match the chart information.

18. The ship navigation method according to claim 17, further comprising: - comparing said scanned view of said scanned data with said nautical chart information, and - identifying portions of said scanned data that differ from said chart information in order to The enhanced view of the nautical chart information including the scanned view is provided.

19. A vessel navigation method according to claim 17 and / or 18, further comprising presenting the scanned view as a graphic overlay of the nautical chart information on the display.

20. The vessel navigation method of claim 19, further comprising providing information to an operator on the graphics overlay regarding differences between the scanned view and the nautical chart information.

Images