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

Abstract

[Problem] To provide a ship monitoring system capable of appropriately evaluating the risk of collision for a plurality of other ships forming a fleet. [Solution] This ship monitoring system is provided with: a first data generating unit for generating first ship data representing the position and speed of a first ship; a second data generating unit for generating a plurality of sets of second ship data representing the positions and speeds of a plurality of second ships; a risk value calculating unit for calculating a risk value representing the risk of collision between the first ship and each of the plurality of second ships, on the basis of the first ship data and the plurality of sets of second ship data; a fleet determining unit for determining whether the plurality of second ships constitute a fleet, on the basis of the plurality of sets of second ship data; and a representative value selecting unit for selecting a representative value from the risk values calculated for each of the plurality of second ships determined to constitute a fleet.

Description

[Technical Field]

[0001] The present invention relates to a ship monitoring system, a ship monitoring method, an information processing device, and a program. [Background technology]

[0002] Conventionally, there are various methods for evaluating the risk of collision between ships. For example, Non-Patent Document 1 discloses a method for displaying OZT (Obstacle Zone by Target). [Prior art documents] [Patent documents]

[0003] [Non-Patent Document 1] Imazu, Junji Fukuto, Masayoshi Numano, "About the Obstruction Zone and its Display by Other Vessels", Journal of the Japan Institute of Navigation, 2002, Vol. 107, pp. 191-197 Summary of the Invention [Problem to be solved by the invention]

[0004] Conventional methods assess the risk of collision for each of multiple other ships individually, but when multiple other ships form a convoy, the entire convoy must be avoided even if the convoy contains ships with a low risk of collision.

[0005] The present invention has been made in consideration of the above-mentioned problems, and its main purpose is to provide a ship monitoring system, a ship monitoring method, an information processing device, and a program that are capable of appropriately assessing the risk of collision with multiple other ships that make up a fleet. [Means for solving the problem]

[0006] In order to solve the above problem, one embodiment of the ship monitoring system of the present invention comprises a first data generation unit that generates first ship data representing the position and speed of a first ship, a second data generation unit that generates multiple second ship data representing the positions and speeds of multiple second ships, a risk value calculation unit that calculates risk values representing the risk of collision between the first ship and each of the multiple second ships based on the first ship data and the multiple second ship data, a convoy determination unit that determines whether the multiple second ships are a convoy based on the multiple second ship data, and a representative value selection unit that selects a representative value from the risk values calculated for each of the multiple second ships determined to be a convoy.

[0007] In another aspect of the ship monitoring method of the present invention, a first data generation unit generates first ship data representing the position and speed of a first ship, a second data generation unit generates multiple second ship data representing the positions and speeds of multiple second ships, calculates risk values representing the risk of collision between the first ship and each of the multiple second ships based on the first ship data and the multiple second ship data, determines whether the multiple second ships are a fleet based on the multiple second ship data, and selects a representative value from the risk values calculated for each of the multiple second ships determined to be a fleet.

[0008] In addition, another aspect of the information processing device of the present invention includes a risk value calculation unit that calculates a risk value that represents the risk of collision between a first ship and each of the multiple second ships based on first ship data that represents the position and speed of a first ship and multiple second ship data that represent the positions and speeds of multiple second ships, a fleet determination unit that determines whether the multiple second ships are a fleet based on the multiple second ship data, and a representative value selection unit that selects a representative value from the risk values calculated for each of the multiple second ships that are determined to be a fleet.

[0009] In addition, another aspect of the program of the present invention causes a computer to perform the following steps: calculate a risk value representing the risk of collision between a first ship and each of the multiple second ships based on first ship data representing the position and speed of a first ship and multiple second ship data representing the positions and speeds of multiple second ships; determine whether the multiple second ships are a fleet based on the multiple second ship data; and select a representative value from the risk values calculated for each of the multiple second ships determined to be a fleet. [Effects of the Invention]

[0010] According to the present invention, it is possible to appropriately evaluate the risk of collision between multiple ships in a fleet. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a diagram illustrating an example of the configuration of a vessel monitoring system according to an embodiment. [Figure 2] FIG. 2 is a diagram illustrating an example of a other ship management database. [Figure 3] FIG. 1 is a diagram showing a display example (conventional example) of OZT. [Figure 4] FIG. 1 is a diagram illustrating an example of the configuration of an information processing device according to an embodiment. [Figure 5] FIG. 2 is a diagram illustrating an example of a fleet management database. [Figure 6] FIG. 10 is a diagram illustrating an example of a procedure for an alarm determination process. [Figure 7] FIG. 10 is a diagram illustrating an example of alarm determination. [Figure 8] FIG. 10 is a diagram illustrating an example of a procedure for risk value update and display processing. [Figure 9] FIG. 10 is a diagram illustrating an example of updating a risk value. [Figure 10] FIG. 10 is a diagram showing a display example. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0013] 1 is a block diagram showing an example of the configuration of a ship monitoring system 100 according to an embodiment. The ship monitoring system 100 is a system that is installed on a ship and monitors ships present in the vicinity.

[0014] The vessel equipped with the vessel monitoring system 100 is an example of a first vessel, and will be referred to as the "own vessel" in the following description. The vessels present around the own vessel are examples of second vessels, and will be referred to as the "other vessels" in the following description.

[0015] In the following description, "speed" is a vector quantity representing speed and direction (so-called ship speed vector), and "velocity" is a scalar quantity.

[0016] The vessel monitoring system 100 includes an information processing device 1, a display unit 2, a radar 3, an AIS 4, a GNSS receiver 5, a gyrocompass 6, an ECDIS 7, and an alarm unit 8. These devices are connected to a network N such as a LAN, and are capable of network communication with each other.

[0017] The information processing device 1 is a computer including a CPU, RAM, ROM, nonvolatile memory, an input / output interface, etc. The CPU of the information processing device 1 executes information processing in accordance with a program loaded from the ROM or nonvolatile memory to the RAM.

[0018] The program may be supplied via an information storage medium such as an optical disk or a memory card, or may be supplied via a communication network such as the Internet or a LAN.

[0019] The display unit 2 is, for example, a display device with a touch sensor. The touch sensor detects a position on the screen pointed to by a finger or the like. The pointed position may be input by a trackball or the like, instead of the touch sensor.

[0020] The radar 3 emits radio waves around the ship and receives the reflected waves, generating echo data based on the received signals. The radar 3 also identifies targets from the echo data and generates target tracking data (TT data) that indicate the position and speed of the targets.

[0021] The AIS (Automatic Identification System) 4 receives AIS data from other ships around the ship or from land-based control. Instead of AIS, a VDES (VHF Data Exchange System) may also be used. The AIS data includes the position and speed of other ships.

[0022] The GNSS receiver 5 detects the ship's position based on radio waves received from the GNSS (Global Navigation Satellite System). The gyrocompass 6 detects the ship's heading. A GPS compass or a magnetic compass may be used instead of a gyrocompass.

[0023] An ECDIS (Electronic Chart Display and Information System) 7 acquires the ship's position from the GNSS receiver 5 and displays the ship's position on an electronic chart. The ECDIS 7 also displays the ship's planned route on the electronic chart. A GNSS plotter may be used instead of an ECDIS.

[0024] The warning unit 8 issues a warning when there is a risk of collision between the ship and another ship. The warning unit 8 may issue a warning by display, sound, or light, for example. A warning by display may be issued by the display unit 2. In other words, the display unit 2 may also function as the warning unit 8.

[0025] In this embodiment, the information processing device 1 is an independent device, but is not limited to this and may be integrated with another device such as the ECDIS 7. In other words, the functional units of the information processing device 1 may be realized by another device such as the ECDIS 7.

[0026] Furthermore, the display unit 2 is also an independent device, but is not limited to this. A display unit of another device such as the ECDIS 7 may be used as the display unit 2 that displays the image generated by the information processing device 1.

[0027] In this embodiment, the combination of the GNSS receiver 5 and the ECDIS 7 is an example of a first data generator, which generates ship data indicating the ship's position and speed. Specifically, the GNSS receiver 5 detects the ship's position, and the ECDIS 7 detects the ship's speed from changes in the ship's position over time.

[0028] However, the speed of the ship may be detected based on the direction of the ship detected by the gyrocompass 6 and the speed of the ship detected by a ship's speedometer (not shown).

[0029] The radar 3 or the AIS 4 is an example of a second data generator, and generates other ship data indicating the position and speed of other ships. Specifically, the TT data generated by the radar 3 corresponds to other ship data. The AIS data generated by the AIS 4 also corresponds to other ship data.

[0030] 2 is a diagram showing an example of the other ship management database constructed in the memory of the information processing device 1. Other ship data generated by the radar 3 or the AIS 4 is registered in the other ship management database.

[0031] The other ship management database includes fields such as "other ship identifier," "position," "speed," and "direction." The positions and directions of other ships detected by radar 3 are converted into the same coordinate system as GNSS.

[0032] Fig. 3 shows an example of an OZT display (conventional example). The OZT is a zone in which the navigation of the ship is obstructed by other ships, and is displayed on the planned course of the other ships.

[0033] As shown in the figure, when there is a fleet that includes other ships with a high risk of collision, it is necessary to avoid the entire fleet rather than just avoiding the other ships with a high risk of collision individually.

[0034] However, conventional collision warnings assess the risk of collision for each other ship and issue warnings individually, so as shown in the figure, it is possible that a warning will only be issued to some of the other ships in the convoy, and no warning will be issued to the remaining ships.

[0035] Therefore, in this embodiment, as will be described below, multiple other ships are managed as a fleet, and alarms can be issued for the entire fleet.

[0036] 4 is a block diagram showing an example of the configuration of an information processing device 1 according to an embodiment. The information processing device 1 includes a risk value calculation unit 11, a fleet determination unit 12, a representative value selection unit 13, a risk value update unit 14, an alarm determination unit 15, and a display control unit 16. These functional units are realized by the CPU of the information processing device 1 executing information processing in accordance with a program.

[0037] Figure 5 is a diagram showing an example of a fleet management database for managing multiple other ships that have been determined to be a fleet by the fleet determination unit 12. The fleet management database includes fields such as "fleet identifier," "other ship identifier," and "risk value." The fleet management database may also be integrated with the above-mentioned other ship management database (see Figure 2).

[0038] The "fleet identifier" is an identifier for identifying a fleet. Multiple other ships determined to be a fleet by the fleet determination unit 12 are assigned the same fleet identifier. The "risk value" represents the risk value calculated by the risk value calculation unit 11 or the risk value updated by the risk value update unit 14.

[0039] Fig. 6 is a flow diagram showing an example of the procedure of the alarm generation determination process in the ship monitoring method according to the embodiment, which is realized in the ship monitoring system 100. The information processing device 1 executes the information processing shown in the figure according to a program. Fig. 7 is a diagram showing an example of the alarm generation determination process.

[0040] First, the information processing device 1 calculates a risk value representing the risk of collision between the own ship and each of the multiple other ships based on the own ship data and the other ship data (S11: processing as the risk value calculation unit 11).

[0041] The risk value is calculated using a known method for displaying OZT (Obstacle Zone by Target), which evaluates the risk of collision between the ship and the other ship for each of multiple decision points set on the other ship's predicted course, assuming that the ship changes course and reaches each decision point.

[0042] Without being limited to this, the risk value may be calculated using, for example, a method using TCPA (Time to Closest Point of Approach) / DCPA (Distance to Closest Point of Approach), or a method using SJ (Subject Judgment) values.

[0043] Next, the information processing device 1 determines whether the multiple other ships are a fleet based on the other ship data (S12: processing as the fleet determination unit 12). Specifically, the information processing device 1 groups, from among the detected other ships, multiple other ships that are similar in position, speed, heading, etc., into one fleet. For example, the information processing device 1 groups, within a predetermined range centered on the own ship, multiple other ships whose positions and speeds are within a predetermined difference or less, and whose state continues for a predetermined time or more, into one fleet.

[0044] If it is determined that the multiple other ships are a fleet (S12: YES), the information processing device 1 selects the maximum value from the risk values calculated for each of the multiple other ships determined to be a fleet (S13: processing as the representative value selection unit 13). A representative value such as an average value may be selected instead of the maximum value.

[0045] Specifically, the information processing device 1 selects the maximum risk value from the risk values of other ships that have been assigned the same fleet identifier in the fleet management database (see Figure 5). In the example of Figure 7, the risk value of the ship located at the leftmost position among the three other ships determined to be part of a fleet is 0.7, which is the maximum value.

[0046] Next, the information processing device 1 issues an alert for the fleet if the maximum value of the risk value is equal to or greater than the threshold value (S14, S15: processing as the alert determination unit 15). In other words, if the risk value of any one of the multiple other ships determined to be part of the fleet is equal to or greater than the threshold value, an alert for the fleet is issued.

[0047] Issuing an alert for a convoy means issuing an alert for all of the multiple other ships determined to be part of a convoy. In other words, an alert is issued not only for the ship with the highest risk value among the multiple other ships determined to be part of a convoy, but also for other ships. Therefore, even if a ship has a risk value below the threshold on its own, such as the ship located at the far right in the example of Figure 7, an alert will be issued if it is determined to be part of a convoy.

[0048] An alarm is issued, for example, on the display unit 2, which also serves as the alarm unit 8, by highlighting the symbols of multiple other ships determined to be part of a fleet, such as by changing the color of the symbols or making them blink, or by adding a frame to indicate that they are the subject of an alarm.

[0049] According to the procedure described above, an alarm is issued for the entire convoy, making it easier to take evasive action to avoid the entire convoy.

[0050] If it is determined that the multiple other ships are not a convoy (S12: NO), the information processing device 1 performs an alert determination for each individual other ship. That is, if it is determined to be a convoy, an alert determination is performed for the convoy as described above, and if it is determined not to be a convoy, an alert determination is performed for each individual other ship as in the conventional manner.

[0051] Fig. 8 is a flow diagram showing an example of the procedure for risk value update and display processing in the ship monitoring method according to the embodiment, which is realized in the ship monitoring system 100. The information processing device 1 executes the information processing shown in the figure in accordance with a program. Fig. 9 is a diagram showing an example of risk value update. Fig. 10 is a diagram showing an example of display.

[0052] First, the information processing device 1 calculates a risk value of collision between the own ship and each of the multiple other ships, determines whether the multiple other ships are a convoy, and selects the maximum value from the calculated risk values for the multiple other ships determined to be a convoy (S21 to S23). This process is the same as S11 to S13 above.

[0053] Next, the information processing device 1 increases the risk values of other ships other than the other ship with the maximum risk value among the multiple other ships determined to be part of the fleet (S24: processing as the risk value update unit 14).

[0054] Specifically, the information processing device 1 increases the risk values of other ships (hereinafter referred to as other ships to be updated) other than the other ship with the maximum risk value within a range that does not exceed the maximum value, and updates the risk values recorded in the fleet management database (see Figure 5).

[0055] The corrected risk value of the other ship to be updated is calculated, for example, by the weighted average as shown below. TIFF0007720321000001.tif999 Note that the correction method, weighting coefficients, etc. are not limited to these.

[0056] In the example of Figure 9, of the three ships determined to be part of a fleet, the ship located on the far left has a risk value of 0.7, which is the maximum value. The ship located in the middle has a risk value of 0.6, and the ship located on the far right has a risk value of 0.3, and these are the ships to be updated.

[0057] By updating the risk values of the other ships to be updated using the above formula, the risk value of the other ship located in the center increases from 0.6 to 0.67, and the risk value of the other ship located on the far right increases from 0.3 to 0.58.

[0058] According to this, even if a ship, such as the ship located on the far right in the example of Figure 9, had a risk value below the threshold before the update, its risk value will be increased when it is determined to be a fleet, making it more likely that an alert will be issued.

[0059] Next, the information processing device 1 generates a display image and outputs it to the display unit 2 (S25: processing as the display control unit 16).

[0060] FIG. 10 is a diagram showing an example of a display image displayed on the display unit 2. In the display image, multiple other ships determined to be part of a fleet are displayed in a distinguishable manner. That is, multiple other ships belonging to the fleet are displayed in a manner that allows them to be distinguished from other ships that do not belong to the fleet. For example, multiple other ships determined to be part of a fleet may be surrounded by a frame representing the fleet as shown in the figure, or the color, etc. may be changed.

[0061] In addition, in the display image, OZTs are placed on the predicted routes of multiple other ships determined to be part of a fleet, but these OZTs may also be displayed together. Specifically, an integrated OZT that surrounds multiple OZTs is displayed. The integrated OZT is formed, for example, by connecting the tangents of multiple OZTs so that the area is maximized.

[0062] In this way, by identifying and displaying multiple other ships that are determined to be part of a convoy, it is possible to make the convoy easier to visually recognize. Furthermore, by displaying the integrated OZT, it is possible to make it easier to visually recognize the navigable area to avoid the convoy.

[0063] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and it goes without saying that various modifications can be made by those skilled in the art. [Explanation of symbols]

[0064] 1 Information processing device, 2 Display unit, 3 Radar, 4 AIS, 5 GNSS receiver, 6 Gyrocompass, 7 ECDIS, 8 Alarm unit, 11 Risk value calculation unit, 12 Fleet determination unit, 13 Representative value selection unit, 14 Risk value update unit, 15 Alert determination unit, 16 Display control unit, 100 Ship monitoring system

Claims

1. a first data generation unit that generates first vessel data representing the position and velocity of the first vessel; a second data generation unit that generates a plurality of second vessel data representing positions and velocities of a plurality of second vessels; a risk value calculation unit that calculates a risk value representing a risk of collision between the first vessel and each of the plurality of second vessels based on the first vessel data and the plurality of second vessel data; a fleet determination unit that determines whether the plurality of second ships are a fleet based on the plurality of second ship data; a representative value selection unit that selects a representative value from the risk values calculated for each of the second ships determined to be a fleet; A vessel monitoring system comprising:

2. and an alarm unit that issues an alarm for the second ships determined to be a fleet when any of the risk values calculated for the second ships determined to be a fleet is equal to or greater than a threshold value. The vessel monitoring system of claim 1 .

3. a risk value update unit that increases the risk values of second ships other than the second ship with the maximum risk value among the plurality of second ships determined to be a fleet; 3. A vessel monitoring system according to claim 1 or 2.

4. the risk value update unit increases the risk values of second vessels other than the second vessel with the maximum risk value within a range not exceeding the maximum risk value; The vessel monitoring system according to claim 3 .

5. A display unit is further provided to identify and display the plurality of second ships determined to be a fleet.

5. A vessel monitoring system according to claim 1.

6. A display unit is further provided that integrally displays an OZT (Obstacle Zone by Target) located on the predicted course of each of the plurality of second ships determined to be a fleet.

6. A vessel monitoring system according to any one of claims 1 to 5.

7. The fleet determination unit determines that the second ships are a fleet when the positions and speeds of the second ships are within a predetermined difference and this state continues for a predetermined time or more.

7. A vessel monitoring system according to any one of claims 1 to 6.

8. The system further includes an alarm unit that issues an alarm to the second ship having the representative value and the other second ships among the plurality of second ships determined to be a fleet.

8. A vessel monitoring system according to any one of claims 1 to 7.

9. the first data generation unit is mounted on the first vessel and includes a GNSS (Global Navigation Satellite System) receiver that detects the position of the first vessel based on radio waves received from a GNSS; 9. A vessel monitoring system according to any one of claims 1 to 8.

10. the second data generation unit includes a radar mounted on the first vessel and configured to detect the position and speed of the second vessel from echo data generated by receiving reflected waves of radio waves emitted around the first vessel; 10. A vessel monitoring system according to any one of claims 1 to 9.

11. a first data generation unit generating first vessel data representing the position and velocity of the first vessel; a second data generation unit generates a plurality of second vessel data representing positions and velocities of a plurality of second vessels; a risk value calculation unit calculates a risk value representing a risk of collision between the first vessel and each of the plurality of second vessels based on the first vessel data and the plurality of second vessel data; A fleet determination unit determines whether the second ships are a fleet based on the second ship data; a representative value selection unit selects a representative value from the risk values calculated for each of the second ships determined to be a fleet; Ship monitoring method.

12. a risk value calculation unit that calculates a risk value that represents a risk of collision between the first vessel and each of the plurality of second vessels based on first vessel data that represents the position and velocity of the first vessel and a plurality of second vessel data that represent the positions and velocities of the plurality of second vessels; a fleet determination unit that determines whether the plurality of second ships are a fleet based on the plurality of second ship data; a representative value selection unit that selects a representative value from the risk values calculated for each of the second ships determined to be a fleet; An information processing device comprising:

13. calculating a risk value representing a risk of collision between the first vessel and each of the plurality of second vessels based on first vessel data representing a position and a velocity of the first vessel and a plurality of second vessel data representing positions and velocities of the plurality of second vessels; Determining whether the second ships are a fleet based on the second ship data; and selecting a representative value from the risk values calculated for each of the second ships determined to be a fleet; A program that causes a computer to execute the following.

Images