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

Abstract

[Problem] To provide a ship monitoring system in which comprehension of course directions of other ships is easy. [Solution] A ship monitoring system according to the present invention includes: a first data generating unit that generates first ship data representing a position and speed of a first ship; a second data generating unit that generates second ship data representing a position and speed of a second ship; a risk value calculating unit that calculates, on the basis of the first ship data and the second ship data, a risk value representing a risk of the first ship and the second ship colliding when assuming that, with respect to each of points on a predicted course of the second ship, the first ship will alter course and arrive at each of the points; and a display unit that displays a risk zone representing the course direction of the second ship, at a point of which the risk value is no less than a threshold value.

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 an OZT (Obstacle Zone by Target) as a risk area. [Prior art documents] [Patent documents]

[0003] [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] However, in the method of displaying the OZT as a risk area, the circular OZT is displayed at a distance from other ships, making it difficult for users to grasp the course direction of other ships just by looking at the OZT.

[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 make it easy to grasp the course direction of other ships. [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 second ship data representing the position and speed of a second ship, a risk value calculation unit that calculates, for each point on the predicted course of the second ship based on the first ship data and the second ship data, a risk value that represents the risk of collision between the first ship and the second ship when assuming that the first ship changes course and reaches each point, and a display unit that displays a risk area representing the course direction of the second ship at points where the risk value is above a threshold.

[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, and a second data generation unit generates second ship data representing the position and speed of a second ship.Based on the first ship data and the second ship data, for each point on the predicted course of the second ship, a risk value representing the risk of collision between the first ship and the second ship when assuming that the first ship changes course and reaches each point is calculated, and a risk area representing the course direction of the second ship is displayed at points where the risk value is above a threshold.

[0008] In addition, another aspect of the information processing device of the present invention includes a risk value calculation unit that calculates, for each point on the predicted course of the second ship, a risk value that represents the risk of collision between the first ship and the second ship when assuming that the first ship changes course and reaches each point, based on first ship data that represents the position and speed of the first ship and second ship data that represents the position and speed of the second ship, and a display control unit that displays a risk area that represents the course direction of the second ship at points where the risk value is above a threshold.

[0009] In addition, another aspect of the program of the present invention causes a computer to calculate a risk value representing the risk of collision between the first vessel and the second vessel for each point on the predicted course of the second vessel, based on first vessel data representing the position and speed of the first vessel and second vessel data representing the position and speed of the second vessel, when it is assumed that the first vessel changes course and reaches each of the points, and display a risk area representing the course direction of the second vessel at points where the risk value is above a threshold. [Effects of the Invention]

[0010] According to the present invention, it becomes easy to grasp the course direction of other ships. [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. 10 is a diagram showing a display example of a conventional 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. 10 is a diagram showing a display example of a pointer OZT. [Figure 6] FIG. 10 is a diagram showing a display example of a pointer OZT. [Figure 7] FIG. 10 is a diagram showing a display example of a pointer OZT. [Figure 8] FIG. 10 is a diagram showing a display example of a pointer OZT. [Figure 9] FIG. 10 is a diagram showing a display example of a pointer OZT. [Figure 10] FIG. 10 is a diagram showing another display example. DETAILED DESCRIPTION OF THE INVENTION

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

[0013] Fig. 1 is a block diagram showing an example of the configuration of a ship monitoring system 100 according to an embodiment. A ship monitoring method according to an embodiment is realized in the ship monitoring system 100. 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] Figure 3 shows an example of a conventional OZT display. An OZT (Obstacle Zone by Target) is a zone in which the navigation of one ship is obstructed by another ship, and is displayed on the other ship's predicted course. In the method of displaying the OZT, a collision risk value is calculated at each of multiple judgment points set discretely on the other ship's predicted course, and the OZT is displayed at judgment points where the risk value is above a threshold.

[0033] Incidentally, in a crossing encounter, navigation dictates that the give-way vessel (the vessel with the other vessel on its right) must change course to starboard and pass the other vessel's stern. However, with conventional OZT display methods, the circular OZT is displayed at a distance from the other vessel, making it difficult for users to determine the course of the other vessel just by looking at the OZT, and making it difficult to immediately determine whether their own vessel is the give-way vessel.

[0034] Therefore, in this embodiment, as described below, a risk area representing the course direction of another ship is displayed on the course of the other ship, making it easier for the user to understand the course direction of the other ship.

[0035] Fig. 4 is a diagram showing an example of the configuration of an information processing device 1 that realizes a ship monitoring method according to an embodiment. Fig. 5 and Fig. 6 are diagrams showing examples of the display of an OZT pointer. The OZT pointer is an example of a risk area that indicates the course direction of other ships.

[0036] The information processing device 1 includes a risk value calculation unit 11, an OZT range identification unit 12, and a display control unit 13. These functional units are realized by the CPU of the information processing device 1 executing information processing according to a program.

[0037] The risk value calculation unit 11 calculates a risk value representing the risk of collision between the ship and the other ship, assuming that the ship changes course and reaches each decision point on the predicted course of the other ship, based on the ship's own data and the other ship's data. A known method for displaying OZT is used to calculate the risk value.

[0038] Specifically, the risk value calculation unit 11 calculates the probability that the ship and the other ship will be present at the judgment point at the same time, assuming that the ship changes course from its current position while maintaining its speed and reaches the judgment point, and that the other ship maintains its speed from its current position and reaches the judgment point, as the collision risk value, and sets the judgment point with a risk value above a threshold as the OZT display point.

[0039] The OZT range specifying unit 12 specifies a range where two or more consecutive judgment points (OZT display points) whose risk value is equal to or greater than the threshold value are present as the OZT display range. Specifically, the OZT range specifying unit 12 specifies an OZT display point that is the start point and an OZT display point that is the end point of the range where two or more consecutive OZT display points are present.

[0040] The display control unit 13 displays OZTs at judgment points (OZT display points) where the risk value is equal to or greater than a threshold. The display control unit 13 also displays at least one of the OZTs as an OZT pointer indicating the course direction of the other ship. As shown in Figure 5, the image showing the positions of the ship and the other ships displayed on the display unit 2 displays multiple OZTs on the predicted course of the other ship, and at least one of them is displayed as an OZT pointer.

[0041] Specifically, the display control unit 13 displays the pointer OZT at a point at the beginning of the course direction of the other ship (end point in Figure 5) within the OZT display range identified by the OZT range identification unit 12. Without being limited to this, the pointer OZT may be displayed at a point at the end of the course direction of the other ship (start point in Figure 5) or at an intermediate point within the OZT display range.

[0042] The pointer OZT is an OZT shaped to indicate the course direction of the other ship. The pointer OZT is, for example, triangular, with one corner of the triangle pointing in the course direction of the other ship, thereby indicating the course direction of the other ship. However, the pointer OZT may be shaped like an arrow or a boomerang, for example.

[0043] The pointer OZT has a size comparable to that of the other circular OZTs. For example, the pointer OZT is arranged so that its center point is located on the OZT display point, and the distance from the center point of the pointer OZT to its vertex is set to a safe distance equal to the radius of the other circular OZTs.

[0044] Alternatively, the pointer OZT may be positioned so that its center in the width direction perpendicular to the course direction of the other ship is located on the predicted course of the other ship, and the length from the center of the pointer OZT to the edge in the width direction may be set to a safe separation distance equal to the radius of the other circular OZT.

[0045] The interval between the judgment points is set so that when OZTs are displayed at adjacent judgment points, the OZTs do not separate from each other, i.e., so that the OZTs touch or partially overlap each other. For this reason, the interval between the judgment points is set to be no more than twice the safe separation distance, which is the radius of the OZT.

[0046] In the present embodiment described above, the indicator OZT indicating the course direction of the other ship is displayed on the course of the other ship, making it easy for the user to grasp the course direction of the other ship.

[0047] In addition, in this embodiment, a needle OZT is displayed at some points within the OZT display range, and a circular OZT is displayed at the remaining points, so that the needle OZT can be used to indicate the course direction of other ships, while the remaining circular OZT can be used to indicate the safe separation distance as in the conventional manner.

[0048] Furthermore, in this embodiment, the needle OZT is displayed at a point at the beginning of the course direction of the other ship within the OZT display range, making it particularly easy for the user to grasp the course direction of the other ship.

[0049] Furthermore, in this embodiment, the pointer OZT itself has a shape such as a triangle that indicates the course direction of the other ship, making it particularly easy for the user to grasp the course direction of the other ship.

[0050] The display mode of the OZT is not limited to the mode in which the pointer OZT is displayed at the beginning of the OZT display range as shown in Fig. 6. For example, the pointer OZT may be displayed at all points in the OZT display range as shown in Fig. 7. Also, as shown in Fig. 8, the OZT other than the pointer OZT is not limited to being circular, and may be, for example, rectangular.

[0051] Furthermore, as shown in Figure 9, an indicator OZT may be configured as a pair of an OZT and an indicator by adding an indicator shaped to represent the course direction of other ships to a circular OZT at the beginning of the OZT display range. The indicator may be, for example, mountain-shaped, and the direction of the convex part represents the course direction of other ships. However, the indicator may also be, for example, arrow-shaped or boomerang-shaped.

[0052] 10, the OZT of another ship to the right of the ship's bow line may be displayed in a different manner, such as with different shading, color, or texture, than the OZT of another ship to the left of the ship's bow line. For example, the OZT of another ship to the right of the ship's bow line may be displayed darker than the OZT of another ship to the left of the ship's bow line. This makes it easier to determine whether the ship is an giving way vessel.

[0053] 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.

[0054] The risk area indicating the course direction of the other ship may be realized by, for example, a PAD (Predict Area of ​​Danger) or a DAC (Dangerous Area of ​​Collision). [Explanation of symbols]

[0055] 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 OZT range identification unit, 13 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 second vessel data representing the position and velocity of the second vessel; a risk value calculation unit that calculates, for each point on the predicted course of the second vessel, a risk value that represents a risk of collision between the first vessel and the second vessel when it is assumed that the first vessel changes course and reaches each point, based on the first vessel data and the second vessel data; a display unit that displays a risk area representing the course direction of the second vessel at points where the risk value is equal to or greater than a threshold; A vessel monitoring system comprising:

2. a range specifying unit that specifies two or more consecutive points where the risk value is equal to or greater than a threshold value; the display unit displays a risk area representing the course direction of the second vessel at at least one point among the two or more consecutive points. The vessel monitoring system of claim 1 .

3. the display unit displays a risk area representing the course direction of the second vessel at a point that is at the beginning of the course direction of the second vessel among the two or more consecutive points, The vessel monitoring system according to claim 2 .

4. The risk area representing the heading direction of the second vessel is an OZT having a shape representing the heading direction of the second vessel.

4. A vessel monitoring system according to claim 1.

5. The risk area representing the course direction of the second vessel is a risk area to which an indicator of a shape representing the course direction of the second vessel is added.

4. A vessel monitoring system according to claim 1.

6. the display unit causes the display mode of the OZT of the second vessel located to the right of the bow line of the first vessel to differ from the display mode of the OZT of the second vessel located to the left of the bow line of the first vessel.

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

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

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

9. a first data generation unit generating first vessel data representing the position and velocity of the first vessel; a second data generation unit generating second vessel data representing the position and velocity of the second vessel; a computer calculates, based on the first vessel data and the second vessel data, a risk value representing the risk of collision between the first vessel and the second vessel for each point on the predicted course of the second vessel when it is assumed that the first vessel changes course and reaches each point; a computer displays a risk area representing the course direction of the second vessel at points where the risk value is equal to or greater than a threshold value; Ship monitoring methods.

10. a risk value calculation unit that calculates, for each point on the predicted course of the second vessel, a risk value that represents a risk of collision between the first vessel and the second vessel when it is assumed that the first vessel will change course and reach each point, based on first vessel data that represents the position and speed of the first vessel and second vessel data that represents the position and speed of the second vessel; a display control unit that displays a risk area representing the course direction of the second vessel at points where the risk value is equal to or greater than a threshold; An information processing device comprising:

11. calculating, for each point on the predicted course of the second vessel, a risk value representing the risk of collision between the first vessel and the second vessel when it is assumed that the first vessel will change course and reach each point, based on first vessel data representing the position and speed of the first vessel and second vessel data representing the position and speed of the second vessel; Displaying a risk area representing the course direction of the second vessel at points where the risk value is equal to or greater than a threshold value; A program that causes a computer to execute the following.

Images