Ship operation management system

Abstract

To provide a ship operation management system that can recognize a ship based on ship information, and can determine a movement of the ship engaged in marine navigation in a surrounding area including a peripheral situation.SOLUTION: A ship operation management system comprises: a master station ship; an AIS appliance which is provided on the master station ship, and receives AIS information from a target ship equipped with the AIS appliance; an infrared camera 52 provided on the master station ship; a display monitor 54 provided on the master station ship for displaying an image captured by the infrared camera 52; and a personal computer 53 which analyzes the image data from the infrared camera 52. The personal computer 53 comprises a size classification AI determination unit 61 that determines whether a ship exists in the image captured by the infrared camera 52, and determines a size classification from the image of the ship, and the display monitor 54 displays a determination frame, the size classification, and ship information of an AIS-mounted target ship based on the AIS information on the image of the ship that has been determined to be the ship.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a ship traffic management system. [Background technology]

[0002] Conventional devices of this type include navigation aids (e.g., Patent Document 1) that display on a radar display screen the ship's own symbol, a course display of the predicted course, the ship's predicted position symbol, a dangerous target symbol, and symbols of other ships input from AIS, and ship navigation aids (e.g., Patent Document 2) that use arrows to indicate the ship's own course and the predicted courses of other ships.

[0003] Although the above-mentioned navigation aid devices and ship navigation support devices use arrows to show the relative positions of one's own ship and other ships and the predicted course, there is a problem in that it is difficult to intuitively know which of multiple other ships is approaching one's own ship and how long it will take for that ship to approach.

[0004] In contrast, a ship safety navigation network system (for example, Patent Document 3) displays indicators (arrows) on a display device at the positions of other ships, with the ship itself as the reference point, and also displays the ship's movement speed close to each indicator.This display allows the crew of the ship to determine where other ships in the vicinity of the ship are located, in what direction, and at what speed, making it easier for the crew to estimate in advance the possibility of a collision with another ship.

[0005] In addition, the ship safety navigation network system indicates an alarm boundary based on the latest navigation information received by the terrestrial digital broadcasting receiver.This alarm boundary is a circle centered on the position of the ship itself, and its radius is set arbitrarily by the crew.The control unit detects whether another ship is entering the alarm boundary, and if it detects that another ship is entering, it causes the alarm device to issue an alarm.

[0006] However, all of the above conventional systems show the status of surrounding ships on a planar map, whereas systems have been proposed that use imaging means to display images of actual ships.

[0007] For example, there is a ship monitoring system that includes an analysis device that includes a thermal camera as an imaging means that acquires images of a monitoring area at predetermined time intervals, a central processing unit that processes the images received from the thermal camera, and a memory unit that stores the images received from the thermal camera, wherein the central processing unit includes a contour extraction unit, a moving object detection unit, a filter processing unit, and an AI discrimination unit for processing the images, wherein the contour extraction unit calculates the temperature difference in the image and extracts the contour of an object in the image, the moving object detection unit compares pixel values ​​at the same position between the image and another image taken at a different time from the time the image was acquired and extracts the contour of the moving object, the filter processing unit performs filter processing on the object and extracts the object that may be a ship, the AI ​​discrimination unit performs image analysis processing on the object using artificial intelligence (AI) and distinguishes between the object and a ship, and the AI ​​discrimination unit performs processing to attach a mark to distinguish the ship in the image (e.g., Patent Document 4). [Prior art documents] [Patent documents]

[0008] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-21947 [Patent Document 2] Japanese Patent Application Laid-Open No. 2013-28296 [Patent Document 3] Japanese Patent Application Laid-Open No. 2010-92245 [Patent Document 4] Japanese Patent Publication No. 2022-144853 Summary of the Invention [Problem to be solved by the invention]

[0009] The ship monitoring system of Patent Document 4 uses image analysis of images from an imaging device to visually confirm nearby ships using images of marked ships, but the information obtained from the ship's image alone does not determine what kind of ship it is, and there is insufficient information about the ship.In contrast, the navigation support device of Patent Document 1 uses AIS information, but in order to combine this AIS information with the results of the image analysis of Patent Document 4 with the corresponding ship, it is necessary to correctly link the results of the image analysis to the AIS information.

[0010] In view of the above-mentioned problems, the present invention aims to provide a ship operation management system that can recognize ships based on ship information and determine the movements of ships sailing in the vicinity, including the surrounding conditions. [Means for solving the problem]

[0011] The invention of claim 1 comprises a master station vessel, an AIS device installed on the master station vessel for receiving AIS information from vessels equipped with AIS equipment, an imaging means installed on the master station vessel, a display means installed on the master station vessel for displaying images captured by the imaging means, and an analysis device for analyzing image data from the imaging means, wherein the analysis device determines whether a vessel is present in an image from the imaging means and is equipped with a size classification AI determination unit for determining a size classification from the image of the vessel, and the display means displays a determination frame, the size classification, and vessel information of the vessel based on the AIS information on the image of the vessel determined to be the vessel.

[0012] The invention according to claim 2 is characterized in that the imaging means is an infrared camera.

[0013] The invention of claim 3 is characterized in that the ship information is a ship name or an MMSI number, and the analysis device calculates the distance between the master ship and the ship based on the ship information of the ship from the AIS information, and displays this calculated distance on an image of the ship on the display means.

[0014] The invention of claim 4 is characterized in that the angular position of the ship relative to an angle reference line with the imaging means as its vertex is detected from the position information of the ship from the AIS information, and the judgment frame, the size classification, and the ship information of the ship from the AIS information are displayed on the image of the ship that is closest to the angular position corresponding to the position information of the ship from the AIS information.

[0015] The invention according to claim 5 is characterized in that the horizontal center position of the judgment frame is set to the angular position of the ship.

[0016] The invention of claim 6 is characterized in that when the angular difference between the angular position of the ship corresponding to the ship's position information from the AIS information and the horizontal center position of the judgment frame is within a threshold value, the judgment frame, the size classification, and the AIS information are displayed on the image of the ship, and the threshold value can be set arbitrarily. [Effects of the Invention]

[0017] According to the configuration of claim 1, the size classification and AIS information of the ship are displayed together with the image of the ship, and the ship can be recognized along with its image using the ship information, so that the movements of ships sailing in the vicinity can be determined, including the surrounding conditions.

[0018] According to the configuration of claim 2, it is possible to take an image even in the dark where there is no light source, and it is possible to take an image of a ship even at night or in bad weather when it is difficult to see with the naked eye.

[0019] According to the configuration of claim 3, by displaying the ship name or MMSI number and the distance to the ship, it becomes easier to identify the ship.

[0020] According to the configuration of claim 4, the angle position of the ship determined by the infrared camera personal computer can be used to link the ship with the ship information of the system personal computer.

[0021] According to the configuration of claim 5, even when a plurality of judgment frames are positioned close to each other, it is possible to correctly judge the corresponding ship and link the ship information to that ship.

[0022] According to the configuration of claim 6, if the threshold value is too narrow, errors will occur and the relevant ship information will not be obtained, and if it is too wide, errors will occur, which is undesirable.In addition, the threshold value can be set arbitrarily according to on-site conditions such as the imaging range, size of the ship, number of ships sailing, and distance from the infrared camera. [Brief explanation of the drawings]

[0023] [Figure 1] 1 is an explanatory diagram of an entire traffic management system showing a first embodiment of the present invention; [Figure 2] FIG. 10 is a diagram showing the operational control system on the display monitor of the same. [Figure 3] 1 is a diagram of a screen showing the passage of ships on a display monitor. [Figure 4] FIG. 10 is a perspective view showing the transportation of the underwater structure onto the water. [Figure 5] This is a block diagram of the AI ​​infrared thermal camera device. [Figure 6] FIG. 10 is a diagram showing a screen of the display monitor of the same as above, showing a ship image. [Figure 7] 7 is a diagram showing an enlarged screen of a part of the ship image on the display monitor of FIG. 6. [Figure 8] FIG. 10 is a diagram showing another ship image on the display monitor. [Figure 9] FIG. 10 is a plan view illustrating the imaging range with angle lines drawn thereon. [Figure 10] FIG. 10 is a plan view illustrating the imaging range with angle lines omitted. [Figure 11] This is an explanatory plan view of the master ship. [Figure 12] FIG. 10 is an explanatory diagram of the screen of the display monitor of the same. [Figure 13] FIG. 10 is a diagram showing an example of the display of ship-specific information. [Figure 14] FIG. 10 is an explanatory plan view of a master ship showing a second embodiment of the present invention. [Figure 15] FIG. 10 is an explanatory diagram of a screen of a display monitor showing a third embodiment of the present invention. [Figure 16] FIG. 10 is a diagram showing an enlarged screen of a part of a ship image on a display monitor according to a fourth embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0024] Preferred embodiments of the present invention will be described with reference to the accompanying drawings. [Example]

[0025] The ship operation management system of the present invention will be described below with reference to the accompanying drawings.

[0026] 1 to 13 show a first embodiment of the present invention. In the ship traffic management system, a master station ship 1 is equipped with an AIS device 2, and this master station ship 1 acquires AIS information from an AIS-equipped target ship 4 equipped with an AIS device 3 using the AIS device 2. Ship information (ship data including the ship name) based on the AIS information from this target ship 4, ship information for a non-AIS-equipped target ship 5 that is not equipped with an AIS device, and ship information (ship data) for the master station ship 1 are collected in a server 7 via an internet line. The ship traffic management system of this embodiment is suitable for a construction ship traffic management system.

[0027] Examples of non-AIS-equipped vessels 5 include small vessels such as boats and yachts that are different from construction vessels, monitoring vessels that are construction vessels, and construction vessels such as slave vessels 6 that send vessel information (vessel data including the vessel name) to server 7. Slave vessels 6 are vessels that do not carry AIS equipment, but are equipped with GNSS receivers 8 and send vessel information such as position information to server 7. Note that server 7 can also be located in the onshore office of the company that manages the construction vessels.

[0028] The master vessel 1 and the multiple slave vessels 6 are construction vessels, in other words, the master vessel is the vessel among the multiple construction vessels that is equipped with the AIS device 2. The master vessel 1 is the vessel that serves as the master station, and the slave vessel 6 is the vessel that serves as the slave station.

[0029] The AIS information from the AIS-equipped vessel 4 includes vessel information such as longitude and latitude position information, speed information, and course information in addition to vessel name information and / or MMSI number (Maritime Mobile Service Identification Code). The vessel name information and MMSI number of the construction vessel are stored in the server 7 and the computers 13 and 16 (described later) installed on the construction vessel. The vessel name information and MMSI number are vessel identification information that identify the vessel.

[0030] Furthermore, the master vessel 1 and the slave vessel 6 are equipped with a GNSS receiver 8, and ship information about the master vessel 1 and the slave vessel 6 obtained by this GNSS receiver 8 is sent to the server 7 via an internet line. In this example, the GNSS receiver 8 uses a DGPS system and is equipped with a beacon receiver (not shown) for receiving DGPS position correction data broadcast by the Japan Coast Guard, and the position data is corrected using the position correction data.

[0031] The master vessel 1 is equipped with the AIS equipment 2, the GNSS receiver 8, an automatic tracking radar device 11, a web camera 12, a system PC 13, and a display monitor 14. If the system PC 13 of the master vessel 1 has a server function, the system PC 13 of the master vessel 1 may be used as a server instead of the server 7, in which case the server 7 on land will not be necessary.

[0032] The slave vessel 6 is equipped with the GNSS receiver 8, a personal computer 16, and a display monitor 17, and transmits ship information such as position information, speed information, and course information from the GNSS receiver 8 to the server 7 in addition to information identifying the vessel. An example of the master vessel 1 is a crane vessel 41 (FIG. 4), and examples of the slave vessels 6 include tugboats, patrol vessels, and traffic vessels. In this example, a web camera 18 is mounted on the patrol vessel among the multiple slave vessels 6. The web camera 18 captures images of the master vessel and surrounding construction vessels, and displays the images on the screens of the display monitors 14, 17.

[0033] In order to obtain ship information such as position information of the non-AIS-equipped target ships 5 that do not have a GNSS receiver 8, the master ship 1 is equipped with the radar device 11, which acquires ship information of the non-AIS-equipped target ships 5 that do not have a GNSS receiver 8 and of construction ships that do not have a GNSS receiver 8. The radar device 11 sets the distance and direction based on the master ship 1's own position, and then converts this into latitude and longitude information to obtain ship information, which is then sent to the server 7. The ship information (ship data) of the master ship 1, including the position of the master ship 1, is obtained by the GNSS receiver 8 installed on the master ship 1.

[0034] To summarize, ship position information (ship position data) is obtained from the GNSS receiver 8 on the master ship 1 and slave ship 6, from the AIS equipment 3 on the AIS-equipped target ship 4, and from the radar device 11 on the non-AIS-equipped target ship 5 that does not have the GNSS receiver 8.

[0035] The radar device 11 is equipped with an automatic collision prevention assist device (hereinafter also referred to as an ARPA device) 15 that uses the radar image generated by the radar device 11 to prevent collision with targets such as other ships.

[0036] In addition, the automatic collision prevention assistance device 15 can select the non-AIS target ship 5 as a target to be tracked (captured) based on the radar image, track the selected target, and display the radar image and the tracking status of the non-AIS target ship 5 on the screens of each of the display monitors 14 and 17.

[0037] The server 7 has established a communication network with the master vessel 1 and multiple slave vessels 6 via an internet line. Each of the personal computers 13, 16 is an information terminal that can be connected to an internet line, and functions as an information transmission means for transmitting information from the master vessel 1 and the slave vessels 6. The system personal computer 13 mounted on the master vessel 1 transmits information about the start and end of work and other work information to the server 7 via the internet line, in response to operations by a worker on board the master vessel 1.

[0038] Furthermore, regardless of the operation of the personal computers 13, 16, the personal computers 13, 16 on the construction vessels periodically transmit vessel information, etc. to the server 7 via the Internet line. The server 7 aggregates the vessel information and transmits it to the system personal computer 13 on the master vessel 1 via the Internet line.

[0039] In this way, the server 7 aggregates the received ship information of the master ship 1, the target ship 4 which is an AIS-equipped ship, the target ship 5 which is a non-AIS-equipped ship, and the slave ship 6, and transmits this aggregated information to the master ship 1.The system computer 13 of the master ship 1 processes this aggregated information, and then transmits this processed aggregated information to the slave ship 6.

[0040] The server 7 receives information transmitted from the master vessel 1 and the slave vessel 6 via the Internet and registers the received information in a database. The information registered in this database can be viewed using a web browser on the personal computers 13 and 16 of the master vessel 1 and the slave vessel 6.

[0041] Next, we will explain the processing of the two-dimensional traffic control system personal computer 13 of the master ship 1. The system personal computer 13 displays the course, position and speed information of the master ship 1, target ships 4 and 5 and slave ship 6 as vectors 21, 24, 25 and 26 on the screens of the display monitors 14 and 17, based on the course, position and speed information of the AIS-equipped target ship 4, the non-AIS-equipped target ship 5, the master ship 1 equipped with personal computers 13 and 16 and the slave ship 6, which are included in the ship information.

[0042] In this case, the display monitor 14 of the master ship 1 displays at least the master ship 1, which is the master ship, and the display monitor 17 of the slave ship 6 displays at least the slave ship 6, which is the master ship. In this way, the master ship is displayed in the center on each of the personal computers 13 and 16. Each of the personal computers 13 and 16 is provided with a display switching means (not shown), which makes it possible to selectively switch between a master ship display centered on the master ship 1 and a slave ship display centered on the slave ship 6 on the display monitors 14 and 17 of the personal computers 13 and 16. The slave ship display can be selected and switched from among multiple slave ships 6.

[0043] The processing of the computer 13 for the two-dimensional traffic control system will be explained using Figures 1 to 4. The display monitors 14, 17 in Figure 2 display the selected master ship 1, and a ship-shaped mark 31 representing the master ship 1 is displayed in the center of the display monitors 14, 17. The ship-shaped mark 31 is displayed with its pointed tip 31S pointing toward the approximate direction of travel. The course of the master ship 1 is displayed as a vector 21, which is a straight line display, based on the current position, direction, and speed of the master ship 1, and the starting point of this vector 21 is the current center position of the master ship 1. The vector 21 displays dot display areas 21A, which are predicted position display areas that show predicted positions corresponding to multiple set times, and the diameter of these dot display areas 21A is greater than the thickness of the line of the vector 21.

[0044] In addition, the display monitors 14, 17 display the AIS-equipped target vessel 4 and the non-AIS-equipped target vessel 5 using ship-shaped marks 34, 35 based on AIS information and information obtained by the radar device 11, and at the same time, the courses of the target vessels 4, 5 and the subordinate vessel 6 are displayed as linear vectors 24, 25, 26 based on the current positions, directions, and speeds of the target vessels 4, 5 and the subordinate vessel 6, and the starting points of these vectors 24, 25, 26 are the current positions of the target vessels 4, 5 and the subordinate vessel 6.

[0045] Moreover, the vectors 24, 25, and 26 are displayed with point display portions 24A, 25A, and 26A indicating predicted positions corresponding to a plurality of set times.

[0046] Marks 31, 34, 35 and / or the ship name are displayed at the starting points of the vectors 21, 24, 25, 26. In addition, a set time can be displayed corresponding to the point display areas 21A, 24A, 25A, 26A. Specifically, as shown in FIG. 2, a hull identification information display area 80 that displays the ship name or information identifying the hull is displayed near the marks 31, 34, 35, and a set time display area 37 that indicates the set time is displayed near the point display areas 21A, 24A, 25A, 26A. In addition, although the set time display area 37 displays, for example, "3 minutes later" in FIGS. 2 and 3, any display that indicates the set time, such as "3 minutes" or "3," can be selected as appropriate.

[0047] In the example shown in Figure 2, if the main vessel 1 and the target vessel 4 continue on their current course and speed, it is clear at a glance that they will meet in three minutes, allowing them to take evasive action quickly. By displaying the positions, directions, and predicted positions of the main vessel and the target vessel 4 after a set time has elapsed on the display monitors 14 and 17 in this way, collision avoidance actions and decisions on intrusion into or crossing the route can be made early, day or night, improving the ease of construction work using construction vessels. Furthermore, if the target vessel 4 is a large vessel, simply approaching it will cause a shock wave, so if an approach is expected, the approach can be avoided.

[0048] 2, a warning area 39 is displayed on the screen of the display monitors 14, 17. This warning area 39 surrounds the construction site, for example, surrounding the construction site where underwater structures such as caissons are installed. In the construction vessel operation management system, the caissons 45 are managed in substantially the same way as the slave vessels 6 of the construction vessel.

[0049] As shown in Figure 4, a crane body 42 is disposed at the front of the crane ship 41, which serves as the master ship, and this crane body 42 is rotatable relative to the crane ship 41 and is equipped with a crane arm 43 that can be raised and lowered. Furthermore, a caisson 45 is attached to the front of the crane ship 41, which serves as the master ship 1, and is pushed, and this caisson 45 is towed by a tugboat 46. In this way, the caisson 45 is transported on the sea in a floating state by the tugboat 46 and crane ship 41, which are ships. In this case, the tugboat 46 is the slave ship 6.

[0050] Furthermore, by using a personal computer 13 on the main station vessel 1 that has server functions, the personal computer 13 on the main station vessel 1 can be used as a server instead of the server 7.In this case, the server 7 on land is no longer necessary, and various information is sent to the personal computer 13, and processing by the server 7 is performed by the personal computer 13.

[0051] As described above, this embodiment is equipped with a master vessel 1, an AIS device 2 installed on the master vessel 1 and equipped with an AIS device 3 to receive AIS information from a target vessel 4, a slave vessel 6 equipped with a GNSS receiver 8 and sending its own vessel information obtained by the GNSS receiver 8 to the master vessel 1, and display monitors 14, 17 which display the course and position information of the master vessel 1, slave vessel 6 and target vessel 4 using vectors 21, 26 and 24 as linear display units based on the vessel information of the target vessel 4 from the AIS information, the vessel information of the master vessel 1 and the vessel information of the slave vessel 6 obtained by the GNSS receiver 8, and which also display the predicted positions of the master vessel 1, which is one of the master vessel 1 and slave vessel 6, and the target vessel 4 after multiple set times have elapsed on the vectors 21, 24. Therefore, the position and time of approach to the target vessel 4 can be intuitively known from the vector 21 which displays the position of the master vessel 1 after a set time has elapsed and the vector 24 which displays the position of the target vessel 4 after multiple set times have elapsed.

[0052] As described above, in this embodiment, there is a master vessel 1, an AIS device 2 installed on the master vessel 1 and receiving AIS information from a target vessel 4 equipped with an AIS device 3, a slave vessel 6 equipped with a GNSS receiver 8 and transmitting its own vessel information obtained by the GNSS receiver 8 to the master vessel 1, a radar device 11 installed on the master vessel 1 and acquiring vessel information from a target vessel 5 not equipped with an AIS device, and based on the vessel information from the target vessel 4 obtained from the AIS information, the vessel information from the radar device 11 from the target vessel 5 not equipped with an AIS device, and the vessel information from the master vessel 1 and the vessel information from the slave vessel 6 obtained by the GNSS receiver 8, the master vessel 1, the slave vessel 6 and the slave vessel 6 are connected to each other. The navigation system is equipped with display monitors 14, 17 which display the course and position information of the target vessel 4 and the target vessel 4 using vectors 21, 26, 24 as linear display sections, and which display the predicted positions of the master vessel 1, which is one of the master vessel 1 and the slave vessel 6, and the target vessels 4, 5 after multiple set times have elapsed using vectors 21, 24, 25.Therefore, regardless of whether the target vessels 4, 5 are equipped with AIS equipment or not, the approach position and time of the target vessels 4, 5 can be intuitively known by using vector 21 which displays the position of one of the master vessel 1 and the slave vessel 6 after a set time has elapsed and vectors 24, 25 which display the position of the target vessels 4, 5 after multiple set times have elapsed.

[0053] As shown in Figure 5, an AI infrared thermal camera device 51 is added to the ship traffic control system described above. This AI infrared thermal camera device 51 includes multiple (three) infrared cameras 52, 52, 52 as imaging means, an infrared camera computer 53, a display monitor 54, and a display control unit 55 that controls the display on the display monitor 54. It also includes a switching unit 56 that selects one of the multiple infrared cameras 52, 52, 52 and connects it to the infrared camera computer 53. The switching operation of this switching unit 56 is performed by operating the system computer 13.

[0054] It is preferable to use an infrared thermal camera that does not emit infrared rays as the infrared camera 52, and image data captured by the infrared thermal camera is input to the infrared camera personal computer 53. The infrared thermal camera is a type of infrared camera that does not measure temperature and captures heat radiated from an object to generate an image. An image based on the image data from the infrared thermal camera mounted on the crane ship 41, which serves as the master ship 1, is then displayed on the display monitor 54. The infrared thermal camera is a thermal imaging device that detects infrared rays (blackbody radiation) radiated from an object and outputs image information. The infrared thermal camera is equipped with, for example, an infrared detection element and detects thermal infrared rays (electromagnetic waves) with a wavelength of approximately 8 μm to 15 μm. When an infrared thermal camera is used as the imaging device, the images obtained from the imaging device are less susceptible to the effects of external visible light illuminance, temperature, humidity, external disturbances such as oblique light and backlight, and obstructions such as smoke. Infrared thermal cameras include thermal sensors that output images based on the amount of heat generated by the detector element, and quantum sensors that output images based on the amount of electricity generated by the detector element.

[0055] The infrared camera 52 captures images of ships on the water surface. The camera computer 53, which serves as an analyzer for image information (image data), is equipped with a size classification AI determination unit 61 (Fig. 5). This size classification AI determination unit 61 analyzes the image data acquired by the infrared camera 52 to detect ships within the field of view of the infrared camera 52 and determine the size classification of those ships. To make these determinations using artificial intelligence (AI), the camera computer 53 is equipped with a memory unit 62 that stores, as training data, image data of multiple types of ships captured using the infrared camera 52 from various angles, front, rear, left, and right.

[0056] In this case, to determine the size classification of a ship, a prediction model that has been machine-trained using, as training data, a group of image data of small ships such as yachts and boats, a group of image data of medium-sized ships such as fishing boats, and a group of image data of large ships such as large passenger ships and tankers is stored in the memory unit 62, and the size classification AI determination unit 61 performs a size classification determination using the prediction model and the image data.

[0057] The size classification AI determination unit 61 is a computer program for determining whether a ship is present in the image data and for determining the size classification of the ship. For this purpose, image processing technology or deep learning-based object detection technology such as SSD (Single Shot MultiBox Detector), YOLO (You Only Look Once), or YOLX (YOLO's latest model at the time of filing) can be used for analyzing the image data using a personal computer.

[0058] Furthermore, the overall length of a ship determined by the artificial intelligence is, for example, 10m (meters) or less for a small ship, approximately 10m to 100m (more than 10m but less than 100m) for a medium-sized ship, and approximately 100m to 200m for a large ship. Note that image data groups of objects other than ships may be stored, and by using image data of objects other than ships as training data, it is possible to determine that an object in an image is something other than a ship.

[0059] The image of the vessel determined by the size classification AI determination unit 61 is displayed with a determination frame 65 and a size classification 69 on the image of the display monitor 54. As shown in Figure 7, the determination frame 65 is rectangular and includes upper and lower horizontal frame lines 66, 67 that sandwich the vessel image from above and below, and left and right vertical frame lines 68L, 68R that sandwich the vessel image from the left and right, with the left and right vertical frame lines 68L, 68R displayed tangentially in contact with or close to the left and right ends of the vessel image 64. Note that closeness in this case refers to the left-right width W of the vessel image 64 on the display monitor 54 being equal to the width W of the vessel image 64, and the distance W1 between the left and right vertical frame lines 68L, 68R being equal to or less than 1.2 times the width W.

[0060] Note that Figure 7 is an actual image on the display monitor 54, whereas Figure 6 shows the actual image with the ship image 64 outlined to make it easier to understand, and Figure 8 is a drawing based on the actual image.

[0061] The size classification 69 is displayed above the upper horizontal border of the judgment box 65, with large ships being labeled "large_ship," medium ships being labeled "medium_ship," and small ships being labeled "small_ship." The judgment box 65 and size classification 69 are displayed in different colors: red for large ships, blue for medium ships, and pink for small ships. The letters of the alphabet are written in white against red, blue, and pink.

[0062] The infrared camera 52, which serves as an imaging device, can be an infrared thermal camera (model MD-625 manufactured by FLIR), and an example using this infrared thermal camera will be shown below. The infrared thermal camera is used to distinguish it from a thermography camera, and is a type of infrared camera that does not measure temperature. The infrared light it detects is different from visible light, as it is emitted even by objects at room temperature. Therefore, it is used in situations where it is not necessary to measure the temperature of the object, such as when it is necessary to detect animals or people as a surveillance camera in the dark, or when it is only necessary to know whether the temperature is higher or lower than the surrounding area.

[0063] The infrared thermal camera has an imaging range with a horizontal angle of view of 25 degrees and a vertical angle of view of 20 degrees, and is placed at any position on the master station ship 1 in any orientation, and the range of the horizontal angle of view of 25 degrees with the camera as the apex is the horizontal determination range for analyzing ship images. Note that the horizontal angle of view of 25 degrees and the vertical angle of view of 20 degrees are just examples, and the angle of view varies depending on the camera, but these angles will be used in the following examples.

[0064] 9, the area enclosed by a pair of left and right field lines 72L, 72R extending radially from a vertex 71, which is the position of the infrared camera 52 of the crane ship 41, is the horizontal imaging range 73 with a horizontal field angle of 25 degrees, and the angle between the pair of field lines 72L, 72R is the horizontal field angle of 25 degrees. An angle reference line 74 extending radially from the vertex 71 is set in the center of the horizontal imaging range 73, and a local coordinate system of the infrared camera 52 is set. The angle reference line 74 is located at a position that divides the imaging range 73 in half in the horizontal direction.

[0065] For ease of understanding, in this example, in the local coordinate system of the infrared camera 52, the angular position of the angle reference line 74 is assumed to be 0 degrees, the right side of the angle reference line 74 is assumed to be a positive angular position, and the left side of the angle reference line 74 is assumed to be a negative angular position. Therefore, as shown in FIG. 9 , the angular position of the right side field of view line 72R is +12.5 degrees, and the angular position of the left side field of view line 72L is -12.5 degrees. Note that the direction of the angle reference line 74 can be set arbitrarily as long as it is from the vertex 71. For example, if the angular position of the left side field of view line 72L is assumed to be 0 degrees, the angular position of the right side field of view line 72R is +25 degrees.

[0066] Furthermore, the size classification AI judgment unit 61 makes a judgment successively for images in which at least a portion of the ship image is within the imaging range 73, and for example, when the ship judgment evaluation falls below 80%, the judgment frame 65 disappears, and when the ship judgment evaluation rises to 80% or more, the judgment frame 65 is displayed. Generally, when a portion of the ship image disappears to the left or right outside the field of view lines 72L, 72R, it can no longer be judged as a ship, and the judgment frame 65 disappears, and when the ship image returns to within the horizontal field of view, the judgment frame 65 is often displayed again.

[0067] In addition, with regard to the setting position of the infrared camera 52 on the main station vessel 1, as shown in Figure 11, the port side of the bow of the main station vessel 1 is set as the origin 100, the starboard side from this origin 100 is set as the positive X direction, and the rear from the origin 100 is set as the positive Y direction, and a local coordinate system of the main station vessel 1 is set with the bow direction as the reference angle of the main station vessel 1, with a clockwise direction as a positive angle and a counterclockwise direction as a negative angle, and from this the camera computer 53 can calculate the position of the infrared camera 52 on the main station vessel 1, its imaging range 73 and data reception range 75, etc.

[0068] In the master ship 1, the traffic control system personal computer 13 calculates, from the ship information sent from the server 7, the angular position, which is the position of the ship within the data reception range 75, which is twice the threshold value θS added to the imaging range 73, and the distance between the master ship 1 and the ship, as shown in Figures 9 and 11. This calculation is performed by calculating the imaging range 73 within the range of the horizontal angle of view of the infrared camera 52 from the position of the master station ship 1, the position of the infrared camera 52 used on the master station ship 1, the orientation of the infrared camera 52, and the horizontal angle of view of the infrared camera 52, and further calculating the angular position, which is the position of the ship within the data reception range 75, from the ship position information of the ship, and this ship information is sent to the camera personal computer 53.

[0069] When the position of the master ship 1 is the antenna position of the AIS device 2 or GNSS receiver 8, the distance and positional relationship between the master ship 1 and the ships is calculated from the position of the target ship 4, which is a distance L away from the infrared camera 52, and the positional relationship between the infrared camera 52 and the antenna position of the AIS device 2 or GNSS receiver 8, as shown in Figure 10, and the distance is displayed on the distance display 70. Note that the distance display 70 is displayed in meters.

[0070] The position information of the slave ship 6, which is a ship, is sent to the server 7 as position information from the GNSS receiver 8, and the position information of the non-AIS-equipped target ship 5, which does not have a GNSS receiver 8, is detected by the radar device 11 and sent to the server 7.

[0071] The camera computer 53 is equipped with a ship information determination unit 63 that compares the ship in the determination frame 65 determined by the size classification AI determination unit 61 with the angular position of the ship in the data reception range 75 received from the computer 13, and determines that the ship in the determination frame 65 is the ship information of the ship received from the computer 13. This ship information determination unit 63 calculates the center position 68S in the left-right direction of the determination frame 65 as the angular position in the ship's imaging range 73, and determines that the ship information of the ship whose angular position according to the ship position information sent from the computer 13 is closest to that center position 68S and whose angle difference is within the threshold value θS is the ship information of the ship in the corresponding determination frame 65.

[0072] A distance display 70 based on the determined ship information is displayed in the lower left of the judgment frame 65, and the ship name 81 or MMSI number of the ship information from the AIS information is displayed above the size classification 69 in the upper left of the judgment frame 65. In addition, the judgment frame 65, size classification 69, ship name 81 or MMSI number of the ship information, and distance display 70 showing the distance between the ship and the master station ship are displayed on the display monitor 54 by the display control unit 55. Note that if the angular position of the ship based on the ship information is farther away from the center position 68S in the left-right direction of the judgment frame 65 than the threshold value θS, no matching is performed.

[0073] In this case, since it is practically difficult for the memory unit 62 and size classification AI determination unit 61 to determine the ship names of all ships through image analysis, the ship position information (AIS information and GNSS information for ships without AIS) is combined with the images and information obtained by the imaging means, and a new determination method is used in which the angle position in the ship's imaging range 73 is closest to the center position 68S of the determination frame 65, and the angle difference is within a threshold value, making it possible to display ship names (for example, XXXXXXMARU, △△△△MARU, XXXXXXMARU) or MMSI numbers that cannot be determined by the imaging means alone.

[0074] The threshold value θS is an angle that can be selected as appropriate, and is set to 4 degrees for an infrared camera 52 with a horizontal angle of view of 25 degrees. Therefore, the ship angle position sent from the server 7 that is closest to the center position 68S in the left-right direction of the judgment frame 65 and that is within a range of -4 degrees or less to +4 degrees or more with respect to the center position 68S of the judgment frame 65 is determined to be the position of the ship in the judgment frame 65, and the ship information is applied to the ship in the judgment frame 65.

[0075] If the imaging range 73 is a horizontal angle of view of 25 degrees and the center position 68S of the judgment frame 65 moves to an angle position where the horizontal angle of view is -12.5 degrees or +12.5 degrees, it will only be possible to match the ship position information within a narrow range of -12.5 degrees to -8.5 degrees and +8.5 degrees to +12.5 degrees. However, by setting the data reception range 75 to a horizontal angle of view of 43 (25 degrees + 4 degrees x 2) degrees, even if the center position 68S of the judgment frame 65 moves to an angle position where the horizontal angle of view is -12.5 degrees or +12.5 degrees, it will be possible to match the ship data from the server 7 within a range twice the threshold value θS, as with other positions.

[0076] In this way, ship data of ships within a data reception range 75 that is twice the threshold value θS wider than the horizontal angle of view of the infrared camera 52 is received, and from the ship data, the ship that is closest to the center position 68S of the judgment frame 65 and whose angular position difference is within the threshold value θS is determined to be the ship of the judgment frame 65, and the ship information of this determined ship is displayed in the judgment frame 65.

[0077] Furthermore, the data receiving range 75 can be set arbitrarily not only in terms of the range of angular position but also in terms of the range of distance LH from the infrared camera 52 .

[0078] In this way, the ship information of ships located at a distance greater than the distance LH from the master ship 1 is not sent to the size classification AI determination unit 61, and the ship information of the ship 91 (Figure 10) located at a distance greater than the distance LH is not determined.

[0079] This prevents the incorrect display of ship information for a ship 91 that is far away from the master ship 1 and cannot be imaged by the infrared camera 52, as shown in Figure 10, in the judgment frame 65 of a ship image that has been determined to be a ship 4 by the size classification AI judgment unit 61.

[0080] For example, if ship information is obtained from AIS information or GNSS information within a data reception range 75 with a horizontal angle of view of 43 (25 + 4 × 2) degrees, and images near +12.5 degrees and near -12.5 degrees are determined to be a ship, the ship information closest to the center position 68S at that position and within the threshold value θS will be displayed. However, if part of the judgment frame 65 moves outside the imaging range 73, it becomes difficult for the artificial intelligence to determine whether the ship is a ship, and even if part of the ship image is visible, the judgment frame 65 will disappear, and when the ship enters the imaging range 73 again, the judgment frame 65 will be displayed.

[0081] Based on the ship information of ships within the data reception range 75 that have been determined to be ships in the judgment frame 65, the display control unit 55 displays a distance display 70 indicating the distance from the main station ship 1 below the lower horizontal border 67 of the judgment frame 65, and displays ship identification information 80 such as the ship name or MMSI number above the size classification 69 of the judgment frame 65, and further displays a distance display 70 indicating the distance between the ship and the main station ship 1 above the ship identification information 80.

[0082] In this case, the judgment frame 65 and size classification 69 are displayed in red for large vessels, blue for medium-sized vessels, and pink for small vessels. Furthermore, vessel identification information such as the vessel name 81 is displayed in red if based on AIS information, in blue if based on the GNSS receiver 8, and in pink if vessel position information is obtained from the radar device 11. The distance display 70 and vessel identification information 80 are displayed in white letters on red, blue, and pink backgrounds.

[0083] Furthermore, in the case of a non-AIS-equipped target ship 5 that does not have a GNSS receiver 8, the target ship 5 can be tracked using a radar device 11 to obtain ship position information, and a distance display 70 indicating the distance between the master ship 1 detected from this ship position information and the target ship can be displayed in the judgment frame 65.

[0084] In this case, the radar device 11 cannot acquire information such as the ship name, so instead of the ship name, ship identification information 80 such as a serial number 82 (Fig. 13) is displayed. In this example, after an image of the non-AIS target ship 5 that does not have a GNSS receiver 8 is displayed on the display monitor 54, an operator operates the radar device 11, but this operation may be performed automatically by the infrared camera computer 53.

[0085] An example of control and determination by the camera personal computer 53 will be described using the explanatory diagram of Figure 12. For the purpose of explanation, the display monitor 54 displays the angle reference line 74 at the 0 degree position, which is the center of the horizontal angle of view, and displays angle lines 77 in increments of +1 degree to the right from the angle reference line 74, as well as angle lines 77 in increments of -1 degree to the left from the angle reference line 74, and displays the angle of view lines 72L and 72R. However, the angle reference line 74 and angle lines 77 are not actually displayed on the display monitor 54. Here, the center position 68SA of the upper ship A in the imaging range 73 is "-1 degree," and the center position 68SA of the lower ship B is "+0.4 degrees."

[0086] When vessel A and vessel B are equipped with AIS or GNSS receiver 8 and transmit vessel information to server 7, size classification AI determination unit 61 determines the image of vessel A and the image of vessel B as vessels from the images of the vessels, determines the size classification of vessel A and vessel B, and displays a determination frame 65 and a size classification not shown.

[0087] In addition, the center positions 68SA, 68SB of the judgment frames 65 of ship A and ship B are calculated, and ship information for two ships at angle positions of "-1.5 degrees" and "+1 degree" is received within the data reception range 75.The angle position within the data reception range 75 that is closest to the center position "-1 degree" and whose angle difference is within the threshold value θS is determined to be "-1.5 degrees" for ship A.Similarly, the angle position within the data reception range 75 that is closest to the center position "+0.4 degrees" and whose angle difference is within the threshold value θS is determined to be "+1 degree" for ship B, and the ship information corresponding to each judgment frame 65 is displayed.

[0088] In Figure 12, if there is only one piece of ship information received within the data reception range 75, for example, if ship A is an AIS-equipped ship or a ship equipped with a GNSS receiver 8, and ship B is a non-AIS ship that does not have a GNSS receiver 8 and does not send ship information to the server 7, the size classification AI determination unit 61 determines ships A and B as ships from the imaging range 73, determines the size classification 69 of ships A and B, and displays the determination frame 65 and the size classification (not shown).

[0089] Next, the ship information determination unit 63 calculates the center position 68S of the determination frame 65 of ship A and ship B, and determines that ship information has been received from only one ship, A, at an angle position of "-1.5 degrees" within the data reception range 75, and that the angle position within the data reception range 75 that is closest to the center position "-1 degree" and whose angle difference is within the threshold value θS is "-1.5 degrees" for ship A.Similarly, it determines that the angle position within the data reception range that is closest to the center position "+0.4 degrees" and whose angle difference is within the threshold value θS is "-1 degree" for ship B, and the same ship information is displayed in the respective determination frames 65 of ship A and ship B.

[0090] In this case, the radar device 11 detects the ship position information of ship B, and based on this ship position information, the personal computer 53 controls the display of the distance display 70 in the judgment frame 65, and can display the serial number 82, such as No. 1, No. 2, etc., as ship identification information.

[0091] In this way, in this embodiment, the movement of the captured vessel can be seen at a glance by quantitatively recognizing the distance between the company's vessel and the captured vessel, and the movement of surrounding vessels can be grasped from both AI judgment and AIS information, preventing oversights and improving the reliability of operation management. This is particularly effective during nighttime work, and since the infrared thermal camera can also capture small vessels 5 that are not equipped with AIS, double checks are possible when capturing radar.

[0092] Thus, in this embodiment, corresponding to claim 1, the system comprises a master station vessel 1, an AIS device 2 installed on the master station vessel 1 and receiving AIS information from a target vessel 4 which is a vessel equipped with an AIS device 3, an infrared camera 52 serving as an imaging means installed on the master station vessel 1, a display monitor 54 installed on the master station vessel 1 and serving as a display means for displaying images captured by the infrared camera 52, and an infrared camera personal computer 53 serving as an analysis device for analyzing image data from the infrared camera 52. The personal computer 53 determines whether a vessel is present in the image of the infrared camera 52 and is equipped with a size classification AI determination unit 61 which determines the size classification from the image of the vessel, and the display monitor 54 displays a determination frame 65, the size classification 69, and vessel information of the AIS-equipped target vessel 4 which is the vessel based on the AIS information on the image of the vessel, so that the vessel size classification 69 and AIS information are displayed together with the image of the vessel, and the vessel can be recognized along with its image using the vessel information, making it possible to determine the movements of vessels sailing in the vicinity, including the surrounding conditions.

[0093] In this embodiment, corresponding to claim 2, the imaging means is an infrared camera, so imaging is possible even in the dark when there is no light source, and images of ships can be captured even at night or in rough weather when they are difficult to see visually.

[0094] In this embodiment, corresponding to claim 3, the ship information is the ship name or MMSI number, and the infrared camera computer 53, which is the analysis device, calculates the distance between the master ship 1 and the AIS-equipped target ship 4 based on the ship information of the AIS-equipped target ship 4, which is the ship, from the AIS information, and displays this calculated distance on the image of the ship on the display monitor 54, which is the display means.Therefore, by displaying the ship name or MMSI number and the distance to the ship, it becomes easier to identify the ship.

[0095] In this way, in this embodiment, corresponding to claim 4, the angular position of the AIS-equipped target ship 4, which is a ship based on AIS information, is detected from the position information of the AIS-equipped target ship 4 relative to the angle reference line 74 with the infrared camera 52, which is the imaging means, as its vertex 71, and the judgment frame 65, size classification 69, and ship information of the ship based on the AIS information are displayed on the image of the ship that is closest to the angular position corresponding to the position information of the ship based on the AIS information, so that the angular position of the ship determined by the infrared camera computer 53 can be used to link the ship to the ship information of the system computer 13.

[0096] In this embodiment, in accordance with claim 5, the horizontal center position 68S of the judgment frame 65 is set to the angular position of the ship, so that even when multiple judgment frames 65 are positioned close to each other, the corresponding ship can be correctly determined and ship information can be linked to that ship.

[0097] In this embodiment, corresponding to claim 6, when the angular difference between the angular position of the ship corresponding to the ship's position information from the AIS information and the horizontal center position 68S of the judgment frame 65 is within the threshold value θS, the judgment frame 65, size classification 69, and AIS information are displayed on the image of the ship, and the threshold value θS can be set arbitrarily.Therefore, if the threshold value θS is too narrow, errors will occur and the relevant ship information will not be obtained, and if it is too wide, errors will occur, which is undesirable.In addition, the threshold value θS can be set arbitrarily to suit on-site conditions such as the imaging range 73, the size of the ship, the number of ships sailing, and the distance from the infrared camera 52.

[0098] As an effect of the embodiment described below, the position information of the slave ship 6, which is a ship, is sent to the server 7 along with the position information of the GNSS receiver 8, so that, similar to the AIS-equipped target ship 4, the angular position of the slave ship 6 determined by the infrared camera computer 53 can be used to link the slave ship 6 with the ship information of the system computer 13, and the ship information can be displayed on the display monitor 54 together with the ship image.

[0099] In addition, the position information of the non-AIS-equipped target vessel 5, which does not have a GNSS receiver 8, is the vessel position information detected by the radar device 11 and sent to the server 7. Therefore, just like with AIS-equipped vessels, the angle position of the vessel determined by the infrared camera computer 53 can be used to link the non-AIS-equipped target vessel 5 with the vessel information of the system computer 13, and the vessel information can be displayed on the display monitor 54.

[0100] Furthermore, the judgment frame 65 for the non-AIS target vessel 5 that does not have a GNSS receiver 8 displays vessel identification information 80 such as a serial number 82 (Figure 13), making it easy to distinguish between vessels even if there are multiple non-AIS target vessels 5 that do not have a GNSS receiver 8 on the display monitor 54.

[0101] Furthermore, since the data receiving range 75 is wider than the imaging range 73 by the threshold value θS on both sides of the horizontal angle of view, even if a ship image located near the angle lines 72L and 72R within the imaging range 73 is determined to be a ship by the size classification AI determination unit 61, the ship in the ship image can be linked to the ship information of the system computer 13, even if the angle position of the ship obtained by the system computer 13 is outside the imaging range 73, as long as the angle difference from the center position 68S is within the threshold value θS.

[0102] Furthermore, the data reception range 75 shown in Figures 9 and 10 can be set arbitrarily within the range of the distance LH from the infrared camera 52, so that the judgment frame 65 of the ship image determined to be a ship by the size classification AI judgment unit 61 will not erroneously display ship information of a ship 91 (Figure 10) that is far away from the master ship 1 and cannot be imaged by the infrared camera 52.

[0103] In addition, the judgment frame 65 and size classification 69 are displayed in red for large ships, blue for medium-sized ships, and pink for small ships, so the size classification 69 of the ship can be recognized by the difference in display color.

[0104] Furthermore, ship specific information 80 such as the ship name 81 is displayed in red if it is based on AIS information, in blue if it is based on the GNSS receiver 8, and in pink if the ship position information is obtained from the radar device 11, so it is easy to tell what the ship position information (ship position data) is based on by the difference in display color. [Example]

[0105] 14 shows a second embodiment of the present invention, in which the same parts as those in the first embodiment are denoted by the same reference numerals and detailed description thereof will be omitted. The figure illustrates the installation positions of three infrared cameras 52, 52, 52.

[0106] When the crane ship 41 performs construction using the crane body 42, for example, the construction range 47 is defined as the bow side 41S and the starboard side 41R, and work is performed at the left end of the construction range 47, the infrared camera 52 is placed on the bow side 41S facing forward, the infrared camera 52 is placed in the center of the port side 41L facing outward, and the infrared camera 52 is placed on the stern side 41B facing rearward. Note that when work is performed at the right end of the construction range 47, the infrared camera 52 is placed in the center of the starboard side 41R facing outward.

[0107] In this way, multiple infrared cameras 52, for example, three infrared cameras 52, 52, 52 can be connected, eliminating the need to move the infrared cameras 52 according to the construction situation. In addition, the ship operation management system's camera computer 53 can be used to switch between infrared cameras 52 with a single click, making it easy to monitor multiple directions.

[0108] In this way, this embodiment corresponds to the claims and provides the same functions and effects as the first embodiment. [Example]

[0109] FIG. 15 shows a third embodiment of the present invention, in which the same parts as those in the above-described embodiments are given the same reference numerals, and detailed description thereof will be omitted.

[0110] In the first embodiment, the angular position of the ship relative to the angle reference line 74 was explained by dividing the circumference into 360 equal parts and assuming that the central angle of each unit of the circumference is 1 degree. However, in this third embodiment, the angular position of the ship relative to the angle reference line 74 is calculated using pixels. For the infrared thermal camera with a horizontal angle of view of 25 degrees, if the screen is 640 pixels (px) wide by 480 pixels (px) high, then 640 / 25 (approximately 25.6) is the pixel value per degree, and the threshold value θS is set to 100 pixels. The position of the angle reference line 74 is a 0 pixel value, and the angle position can be expressed as positive pixel values ​​to the right of the angle reference line 74 and negative pixel values ​​to the left of the angle reference line 74.

[0111] FIG. 15 shows the angles in FIG. 12 converted into pixels, with the center position 68SA "-1 degree" of the upper ship A in the imaging range 73 being -25.6 pixels, the center position 68SB "+0.4 degrees" of the lower ship B being +10.2 pixels, the angular position "-1.5 degrees" of the ship information for the two ships being -38.4 pixels, and the angular position "+1 degree" being +25.6 pixels. As in the first embodiment, the position information for the two ships can be linked to the corresponding ships A and B from the central angular positions 68SA and 68SB of the two ships A and B. The angular position of the right-side field of view line 72R is +320 pixels, and the angular position of the left-side field of view line 72L is -320 pixels. The threshold value θS is set to 100 pixels (approximately 4 degrees).

[0112] In this way, this embodiment corresponds to the claims and provides the same functions and effects as the above-described embodiments. [Example]

[0113] FIG. 16 shows a fourth embodiment of the present invention, in which the same parts as those in the above-described embodiments are designated by the same reference numerals, and detailed description thereof will be omitted.

[0114] In this example, the size classification 69, distance display 70, and hull identification information 80 are displayed at the top of the judgment frame 65, and the distance display 70 is displayed to the right of the size classification 69, so that the size classification 69 and distance display 70 can be read in a horizontal row.

[0115] Furthermore, if the right side of the distance display 70 extends beyond the right field of view line 72R to the right and the entire display cannot be displayed, the distance display 70 will be displayed at the bottom left of the judgment frame 65, and the distance display 70 above the judgment frame 65 will disappear, as shown in Figure 8. Note that the distance display 70 can also be displayed in Figures 6 and 7 in the same way as in this embodiment.

[0116] The present invention is not limited to the present embodiment, and various modifications are possible within the scope of the present invention. For example, the number of infrared cameras installed on the master ship is not limited to the embodiment, and can be selected appropriately, such as one, two, four or more. Furthermore, the analysis device may be installed in a location other than the master ship. Furthermore, the AIS information may be information other than that exemplified in the embodiment. [Explanation of symbols]

[0117] 1 Main station ship 2 AIS equipment 3 AIS equipment 4. Target vessels (vessels equipped with AIS) 5. Target vessels (vessels not equipped with AIS) 6 Follower ship 7 Server 8 GNSS receivers 11 Radar equipment 13. Computer 41 Hoist ship (main station ship) 52 Infrared camera (imaging means) 53 PC for infrared camera (analysis device) 54 Display Monitor 61 Size Classification AI Judgment Unit 65 Judgment Frame 68S center position 69 Size Classification 71 Vertex 74 Angle Reference Line L distance θS threshold

Claims

1. The main station ship and An AIS device provided on the master ship for receiving AIS information from ships equipped with the AIS device; an imaging means provided on the master ship; a display means provided on the master vessel for displaying an image captured by the imaging means; an analysis device that analyzes image data from the imaging means; Equipped with The analysis device includes a size classification AI determination unit that determines whether a ship is present in the image of the imaging means and determines a size classification from the image of the ship, A ship operation management system characterized in that the display means displays a judgment frame, the size classification, and ship information of the ship based on the AIS information on an image of the ship that has been determined to be the ship.

2. 2. A ship traffic management system according to claim 1, wherein the imaging means is an infrared camera.

3. The vessel information is a vessel name or an MMSI number, The ship operation management system according to claim 1, characterized in that the analysis device calculates the distance between the master ship and the ship based on the ship information of the ship from the AIS information, and displays this calculated distance on an image of the ship on the display means.

4. A ship operation management system as described in any one of claims 1 to 3, characterized in that the angular position of the ship relative to an angle reference line with the imaging means as its vertex is detected from the position information of the ship obtained from the AIS information, and the judgment frame, the size classification, and the ship information of the ship obtained from the AIS information are displayed on the image of the ship that is closest to the angular position corresponding to the position information of the ship obtained from the AIS information.

5. 5. A ship traffic management system according to claim 4, wherein the horizontal center position of the judgment frame is set to the angular position of the ship.

6. A ship operation management system as described in claim 5, characterized in that when the angular difference between the angular position of the ship corresponding to the ship's position information from the AIS information and the horizontal center position of the judgment frame is within a threshold value, the judgment frame, the size classification, and the AIS information are displayed on an image of the ship, and the threshold value can be set arbitrarily.

Images