Ship monitoring device, ship monitoring method, and program

Abstract

[Problem] To provide a ship monitoring device that easily recognizes the relationship between a ship object and a collision risk region. [Solution] This ship monitoring device comprises: a designation reception unit that receives designation of a position in an image displayed in a display unit; a first data acquisition unit that acquires a first ship data item indicating the position and the speed of a first ship; a second data acquisition unit that acquires a plurality of second ship data items indicating positions and speeds of a plurality of second ships; a risk region calculation unit for calculating a collision risk region where the level of risk that the first ship and each of the second ships collide with each other becomes at least a predetermined level, on the basis of the first ship data item and the plurality of second ship data items; and a display control unit that disposes and displays a plurality of ship objects indicating the plurality of second ships and the collision risk region at corresponding positions in an image and that, when designation of the collision risk region has been received, displays a ship object corresponding to the designated collision risk region so as to be identifiable from other ship objects.

Description

Technical Field

[0001] The present invention relates to a ship monitoring device, a ship monitoring method, and a program.

Background Art

[0002] Patent Document 1 discloses a technique for displaying a danger area in which there is a risk of collision with other ships when the own ship enters, together with images of other ships existing around the own ship, on a radar image in PPI (Plan Position Indicator) format.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, since a ship object representing another ship and a collision risk area representing the risk of collision with the other ship are often displayed separately from each other, when a plurality of ship objects are displayed in an image, it is difficult to grasp which ship object the collision risk area relates to.

[0005] The present invention has been made in view of the above problems, and its main object is to provide a ship monitoring device, a ship monitoring method, and a program that make it easy to grasp the relationship between a ship object and a collision risk area.

Means for Solving the Problems

[0006] To solve the above problems, a ship monitoring device according to one aspect of the present invention includes: a designation reception unit that receives a designation of a position in an image displayed on a display unit; a first data acquisition unit that acquires first ship data representing the position and speed of a first ship; a second data acquisition unit that acquires a plurality of second ship data representing the positions and speeds of a plurality of second ships; a risk area calculation unit that calculates a collision risk area in which the risk of collision between the first ship and each of the second ships exceeds a predetermined level; and a display control unit that arranges and displays a plurality of ship objects representing the plurality of second ships and the collision risk area at corresponding positions in the image, and when a designation of the collision risk area is received, identifies and displays the ship object corresponding to the designated collision risk area from other ship objects. This makes it easy to grasp the relationship between ship objects and collision risk areas.

[0007] In the above embodiment, the display control unit may identify and display an information display object containing ship information in association with the ship object corresponding to the designated collision risk area. This makes it easier to identify the ship object corresponding to the designated collision risk area and also makes it possible to grasp the ship information.

[0008] In the above embodiment, the display control unit may distinguish the display of the ship object corresponding to the designated collision risk area by making it different from the display of other ship objects. This makes it easier to identify the ship object corresponding to the designated collision risk area.

[0009] In the above embodiment, when a location is specified in which the collision risk area and another object overlap, the display control unit may perform one of the following predetermined actions: displaying the identification of the ship object corresponding to the collision risk area, or performing a predetermined action associated with the specification of the other object. This makes it possible to prevent conflicts in processing.

[0010] In the above embodiment, when a location is specified in which the collision risk area and another object overlap, the display control unit may perform a predetermined process associated with the specification of the other object without performing the identification display of the ship object corresponding to the collision risk area. This makes it possible to prioritize the specification of the other object over the collision risk area, which is displayed over a relatively wide area and can also be specified at other locations.

[0011] In the above embodiment, the other object is the ship object, and the predetermined processing associated with the designation of the other object may be the processing of displaying an information display object containing ship information in association with the designated ship object. This makes it possible to prevent processing conflicts when a location is specified in which the collision risk area and the ship object overlap.

[0012] In the above embodiment, the display control unit displays an echo object in the image that represents an area with an echo intensity of a predetermined value or higher, based on echo data generated by the radar mounted on the first vessel, and the other object is the echo object, and the predetermined processing associated with the designation of the other object may be the process of registering the designated echo object as a tracking target. This makes it possible to prevent processing conflicts when a location is specified in which the collision risk area and the echo object overlap.

[0013] In the above embodiment, the display control unit may, when the position where the collision risk area and another object overlap is specified in the first designation mode, perform identification display of the ship object corresponding to the collision risk area, and when the position where the collision risk area and the other object overlap is specified in the second designation mode, perform predetermined processing associated with the designation of the other object. This makes it possible to perform both processing by changing the designation mode.

[0014] In the above embodiment, when a location where multiple collision risk areas overlap is specified, the display control unit may identify and display one of the multiple ship objects, determined based on the degree of collision risk, distance from the specified location, distance from the first ship, or degree to which it obstructs the navigation of the first ship. This makes it possible to identify and display one ship object determined based on predetermined conditions.

[0015] In the above embodiment, the display control unit may identify and display multiple ship objects corresponding to the specified multiple collision risk areas when a location where multiple collision risk areas overlap is specified. This makes it possible to identify and display all ship objects involved.

[0016] In the above embodiment, the first data may include the position of the first vessel as detected by a GNSS (Global Navigation Satellite System) receiver installed on the first vessel. The second data may also include the position and speed of the second vessel as detected by a radar installed on the first vessel. The second data may also include the position and speed of the second vessel as detected by an AIS (Automatic Identification System) installed on the first vessel.

[0017] Furthermore, in another aspect of the present invention, a ship monitoring method involves a first data generation unit generating first ship data representing the position and speed of a first ship, a second data generation unit generating a plurality of second ship data representing the positions and speeds of a plurality of second ships, calculating a collision risk area where the risk of collision between the first ship and each of the second ships exceeds a predetermined level based on the first ship data and the plurality of second ship data, and displaying an image in which a plurality of ship objects representing the plurality of second ships and the collision risk area are placed at corresponding positions using a display unit, and when the collision risk area is specified, the ship object corresponding to the specified collision risk area is distinguished and displayed from other ship objects. This makes it easy to understand the relationship between ship objects and collision risk areas.

[0018] Furthermore, a program in another aspect of the present invention causes a computer to perform the following actions: acquire first ship data representing the position and speed of a first ship; acquire multiple second ship data representing the positions and speeds of multiple second ships; calculate a collision risk area where the risk of collision between the first ship and each of the second ships exceeds a predetermined level, based on the first ship data and the multiple second ship data; display an image on a display unit in which multiple ship objects representing the multiple second ships and the collision risk area are arranged at corresponding positions; and, when a collision risk area is specified, distinguish and display the ship object corresponding to the specified collision risk area from other ship objects. This makes it easy to understand the relationship between ship objects and collision risk areas. [Brief explanation of the drawing]

[0019] [Figure 1] This is a diagram showing an example configuration of a ship monitoring system. [Figure 2] This diagram shows an example of a database for managing other vessels. [Figure 3] This is a diagram showing an example of the configuration of a ship monitoring system. [Figure 4] This figure shows an example of how collision risk is calculated. [Figure 5]This is a diagram showing an example of a display image. [Figure 6] This is a diagram showing an example of the procedure of a ship monitoring method. [Figure 7] This is a diagram showing an example of a display image. [Figure 8] This is a diagram showing an example of a display image. [Figure 9] This is a diagram showing an example of processing content. [Figure 10] This is a diagram showing an example of processing content. [Figure 11] This is a diagram showing an example of a display image.

Embodiments for Carrying out the Invention

[0020] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0021] FIG. 1 is a block diagram showing a configuration example of a ship monitoring system 100. The ship monitoring method is realized in the ship monitoring system 100. The ship monitoring system 100 is a system that is mounted on a ship and monitors ships existing around it.

[0022] The ship on which the ship monitoring system 100 is mounted is an example of the first ship and is referred to as "own ship" in the following description. Also, the ships existing around the own ship are examples of the second ships and are referred to as "other ships" in the following description.

[0023] Also, in the following description, "speed" is a vector quantity (so-called ship speed vector) representing speed and direction, and "speed" is a scalar quantity.

[0024] The ship monitoring system 100 includes a ship monitoring 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, for example, and can communicate with each other via the network.

[0025] The ship monitoring device 1 is a computer that includes a CPU, RAM, ROM, non-volatile memory, and input / output interfaces. The CPU of the ship monitoring device 1 performs information processing according to a program loaded from ROM or non-volatile memory into RAM.

[0026] The program may be supplied via an information storage medium such as an optical disc or memory card, or via a communication network such as the Internet or LAN.

[0027] The display unit 2 is, for example, a display device with a touch sensor. The touch sensor detects the position indicated on the screen by a finger or the like. The indicated position may be input not only by a touch sensor, but also by a trackball or the like.

[0028] Radar 3 emits radio waves around the vessel and receives the reflected waves, generating echo data based on the received signals. Radar 3 also identifies targets from the echo data and generates target tracking data (TT data) that represents the position and speed of the targets.

[0029] The Automatic Identification System (AIS) 4 receives AIS data from other vessels or shore-based control systems in the vicinity of the vessel. While AIS is not the only option, a VHF Data Exchange System (VDES) may also be used. The AIS data includes information such as the position and speed of other vessels.

[0030] 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 bearing. A GPS compass may be used instead of a gyrocompass.

[0031] The ECDIS (Electronic Chart Display and Information System) 7 obtains the ship's position from the GNSS receiver 5 and displays the ship's position on the electronic chart. The ECDIS 7 also displays the ship's planned route on the electronic chart. A GNSS plotter may be used instead of the ECDIS.

[0032] The alarm unit 8 issues an alarm when there is a risk of the vessel colliding with another vessel. The alarm unit 8 may issue an alarm by means of a display, or by means of sound or light. The alarm by display may be issued by the display unit 2. In other words, the display unit 2 may also function as the alarm unit 8.

[0033] In this embodiment, the ship monitoring device 1 is an independent device, but it is not limited to this and may be integrated with other devices such as ECDIS7. In other words, the functional parts of the ship monitoring device 1 may be implemented by other devices.

[0034] Furthermore, although the display unit 2 is an independent device, it is not limited to this, and the display unit of another device such as ECDIS7 may be used as the display unit 2 that displays the display image generated by the ship monitoring device 1.

[0035] In this embodiment, the GNSS receiver 5 and ECDIS 7 are examples of first data generation units, and generate ship data representing 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 the time change of the ship's position.

[0036] In addition, the ship's speed may be determined based on the ship's bearing detected by the gyrocompass 6 and the ship's speed detected by a speedometer (not shown).

[0037] Furthermore, radar 3 or AIS 4 is an example of a second data generation unit, and generates other vessel data representing the position and speed of other vessels. Specifically, the TT data generated by radar 3 corresponds to other vessel data. Similarly, the AIS data generated by AIS 4 also corresponds to other vessel data.

[0038] Figure 2 shows an example of a ship management database built in the memory of the ship monitoring device 1. The ship management database registers ship data generated by radar 3 or AIS 4.

[0039] The other vessel management database includes fields such as "other vessel identifier," "position," "speed," and "bearing." The position and bearing of other vessels detected by radar 3 are converted to the same coordinate system as GNSS.

[0040] Figure 3 shows an example of the configuration of a ship monitoring device 1 according to an embodiment. The ship monitoring device 1 includes a self-ship data acquisition unit 11, a non-ship data acquisition unit 12, a risk area calculation unit 13, a display control unit 14, a coordinate information storage unit 15, a designation reception unit 17, a coordinate information acquisition unit 18, and a processing selection unit 19.

[0041] These functional units are realized by the CPU of the ship monitoring device 1 executing information processing according to a program. The coordinate information storage unit 15 is reserved in the memory of the ship monitoring device 1 as an area for holding display images to be displayed on the display device 2.

[0042] The self-ship data acquisition unit 11 acquires self-ship data representing the position and speed of the ship from the GNSS receiver 5, etc. The self-ship data acquisition unit 11 is an example of a first data acquisition unit, and the self-ship data is an example of first ship data.

[0043] The other vessel data acquisition unit 12 acquires other vessel data representing the position and speed of other vessels from the radar 3 or AIS 4. The other vessel data acquisition unit 12 is an example of a second data acquisition unit, and the other vessel data is an example of second vessel data.

[0044] The risk area calculation unit 13 calculates the risk of collision between the vessel and each of the other vessels based on the vessel's own data and data from multiple other vessels, and calculates a collision risk area where the collision risk exceeds a predetermined level. The collision risk area is, for example, the OZT (Obstacle Zone by Target).

[0045] The following explains an example of calculating OZT as the collision risk area, but other methods such as PAD (Predict Area of ​​Danger) or DAC (Dangerous Area of ​​Collision) may also be used.

[0046] Figure 4 shows an example of collision risk calculation. The risk area calculation unit 13 identifies a risk range L within the predicted course R of the other vessel CO where the risk of collision between the own vessel CS and the other vessel CO is greater than or equal to a threshold, based on the predicted positions of the own vessel CS and the other vessel CO at each point in time, assuming that the own vessel CS changes course in any direction and crosses the predicted course R of the other vessel CO.

[0047] The calculation of the predicted position of the vessel's CS is performed under the assumption that the vessel maintains its speed and changes course in any direction at its current position. That is, it is assumed that the magnitude of the vessel's speed vector is constant, but the direction of the speed vector changes course in any direction at the reference point, and thereafter continues to sail in a constant direction from the vessel's position at the reference point. Therefore, the predicted position of the vessel's CS at each point in time lies on concentric circles centered on the vessel's position at the reference point. The radius of the circle is expressed as the product of the elapsed time from the reference point and the magnitude of the vessel's speed vector.

[0048] The predicted position of the vessel's CS at each point in time is represented by multiple concentric circles calculated for each of several discrete time points. However, the predicted position of the vessel's CS at each point in time may also be represented by a circle equation that includes the elapsed time from the reference time point.

[0049] In this embodiment, the predicted position of the vessel CS was calculated under the assumption that the speed of the vessel CS is constant. However, the vessel CS's speed may be treated as a variable that changes with time. That is, as long as the predicted position of the vessel CS can be determined according to the elapsed time from a reference point, the speed of the vessel CS does not have to be constant. For example, the speed of the vessel CS may gradually increase or decrease with the passage of time.

[0050] The predicted position of the other vessel CO is calculated under the assumption that the other vessel CO maintains its speed from its current position. That is, it is assumed that the magnitude and direction of the other vessel CO's speed vector remain constant and that it continues sailing from the other vessel's position at the reference time. Therefore, the predicted position of the other vessel CO at each point in time lies on a straight line extending from the other vessel's speed vector, passing through the other vessel's position at the reference time.

[0051] The predicted position of other ships at each point in time is represented by a series of discrete points on a straight line, calculated for each of several discrete time points. However, the predicted position of other ships at each point in time may also be represented by a linear function that passes through the position of other ships at the reference time.

[0052] In this embodiment, the predicted position of the other vessel CO was calculated under the assumption that its speed was constant. However, the embodiment is not limited to this, and at least one of the speed and direction of the other vessel CO may be treated as a variable that changes with time. That is, as long as the predicted position of the other vessel CO can be determined according to the elapsed time from a reference point, the speed of the other vessel CO does not have to be constant. For example, the speed of the other vessel CO may gradually increase or decrease with the passage of time. In addition, the other vessel CO may change course in a predetermined direction or turn at a predetermined ROT (Rate of Turn).

[0053] The risk area calculation unit 13 calculates the distance between the predicted position of the own vessel CS and the predicted position of the other vessel CO at each point in time, and calculates the risk of collision based on the distance and the size of the vessels. As described above, the predicted position of the own vessel CS at a given time is represented by a circle, so the risk area calculation unit 13 extracts the position closest to the predicted position of the other vessel CO at the same time from the circle representing the predicted position of the own vessel CS at a given time, and calculates the distance between them.

[0054] The risk area calculation unit 13 determines that the risk of collision is above a threshold when, for example, the warning area P set in the area of ​​the own ship's CS or around the own ship's CS overlaps with a point representing the predicted position of another ship's CO, and identifies a risk range L where the risk of collision is above a threshold. For example, the rear end LR of the risk range L is the position where the front end of the own ship's warning area P abuts the point representing the predicted position of the other ship's CO. The front end LF of the risk range L is the position where the rear end of the own ship's warning area P abuts the point representing the predicted position of the other ship's CO.

[0055] The risk area calculation unit 13 may, for example, determine that the risk of collision is above a threshold when the area of ​​the own vessel's CS or the warning area P set around the own vessel's CS overlaps with the area of ​​the other vessel's CO or the warning area set around the other vessel's CO. Furthermore, the risk area calculation unit 13 may, for example, determine that the risk of collision is above a threshold when the separation distance between the point representing the predicted position of the own vessel's CS and the point representing the predicted position of the other vessel's CO is below a threshold.

[0056] Returning to the explanation of Figure 3, the display control unit 14 generates a display image DM based on the ship data acquired by the ship data acquisition unit 11, the other ship data acquired by the other ship data acquisition unit 12, and the collision risk area calculated by the risk area calculation unit 13, and outputs it to the coordinate information storage unit 15. The display image DM held in the coordinate information storage unit 15 is transmitted to the display unit 2 and displayed on the screen of the display unit 2.

[0057] Figure 5 shows an example of a display image DM. The display image DM is an image that shows the positional relationship between the ship and other ships. In the display image DM, the ship object SS representing the ship and the other ship objects OS1 and OS2 representing other ships are placed in positions within the image that correspond to their actual positions.

[0058] Of the other vessel objects OS1 and OS2, the other vessel object OS1 based on AIS4 is displayed as a triangle, for example, and the other vessel object OS2 based on radar3 is displayed as a circle, for example. In addition, vector lines VS, V1, and V2 representing velocity vectors are added to the own vessel object SS and the other vessel objects OS1 and OS2.

[0059] The display image DM shows the predicted courses R1 and R2 of other vessels calculated based on other vessel data, and on the predicted courses R1 and R2, the OZT1 and OZT2 calculated by the risk area calculation unit 13 are displayed as collision risk areas. In the example shown in the figure, the predicted courses R1 and OZT1 are related to other vessel object OS1, and the predicted courses R2 and OZT2 are related to other vessel object OS2.

[0060] OZT1 and OZT2 are displayed within the risk range L (see Figure 4) identified by the risk area calculation unit 13. OZT1 and OZT2 have a shape that extends in the same direction as the predicted courses R1 and R2 of other vessels with a predetermined width, for example, a rounded rectangle with semicircular ends. However, OZT1 and OZT2 may also have shapes such as an ellipse or a polygon.

[0061] The display image DM also displays echo objects E based on echo data acquired from radar 3. Echo objects E represent areas where the echo intensity is above a predetermined level. In other words, echo objects E indicate the presence of potential targets such as other vessels. The display image DM may also further display the vessel's planned route and surrounding nautical charts acquired from ECDIS 7.

[0062] Figure 6 shows an example of a procedure for ship monitoring implemented in the ship monitoring device 1. This figure mainly shows the process when the ship monitoring device 1 receives a request to specify a position within the display image DM. This process is implemented by the specification reception unit 17, coordinate information acquisition unit 18, processing selection unit 19, and display control unit 14 included in the ship monitoring device 1 (see Figure 3).

[0063] First, the designation reception unit 17 determines whether or not it has received a designation for a position within the display image DM (S11). The position within the display image DM is represented by two-dimensional coordinates. The designation for a position within the display image DM may be input from a touch sensor provided on the display unit 2, or from a trackball or mouse used to operate the cursor on the screen of the display unit 2.

[0064] When the system receives a request to specify a location within the display image DM (S12: YES), the coordinate information acquisition unit 18 acquires the coordinate information of the specified location within the display image DM from the coordinate information storage unit 15 (S12). The coordinate information includes information such as the type of object present at the specified location.

[0065] Next, the processing selection unit 19 determines whether an object exists at the specified location (S13), and whether there are multiple objects (S14). If only one object exists at the specified location (S13: YES, S14: NO), the display control unit 14 executes a predetermined process associated with the designation of that single object and displays it (S16).

[0066] On the other hand, if multiple objects exist at the specified location (S13:YES, S14:YES), the processing selection unit 19 selects one predetermined processing from among the predetermined processing associated with the specification of the multiple objects (S15), and the display control unit 14 executes and displays the selected processing (S16).

[0067] For example, as shown in Figure 7, if one OZT1 is specified, that is, if only one OZT1 exists at the specified location, the display control unit 14 identifies and displays the other ship object OS1 corresponding to the specified OZT1.

[0068] Specifically, the display control unit 14 displays an information display object IF containing ship information in association with the other ship object OS1 corresponding to the specified OZT1, and identifies the other ship object OS1 by making its display mode different from that of another other ship object OS2. However, identification may also be performed by changing only one of the two methods: displaying the information display object IF or changing the display mode of the other ship object OS1.

[0069] The information display object (IF) includes information such as identification code, ship name, position, course, speed, and destination. This information is extracted from, for example, AIS data.

[0070] The display mode of the other vessel object OS1 is preferably changed to a more conspicuous color or brightness (so-called highlight display). Furthermore, it is preferable to similarly change the display modes of not only the other vessel object OS1, but also OZT1, predicted course R1, and vector line V1 to emphasize the relationship between the specified OZT1 and the other vessel object OS1.

[0071] Figures 8 and 9 illustrate examples of cursor positions C1 to C6 within the display image DM and their corresponding processing actions. Cursor positions C1 to C3 indicate locations where multiple objects overlap. Cursor positions C4 to C6 indicate locations where only one object exists.

[0072] The cursor position C4 is the position where only OZT1 exists, and when this position is specified, the display control unit 14 performs the other ship identification display. That is, as shown in Figure 7 above, the display control unit 14 identifies and displays the other ship object OS1 corresponding to the specified OZT1.

[0073] The cursor position C5 is the location where only the echo object E exists. When this position is specified, the display control unit 14 performs echo tracking and acquisition. Specifically, the display control unit 14 registers the specified echo object E as the tracking target and, accordingly, displays a new circular object of another ship at the specified position.

[0074] The cursor position C6 is the location where only the other ship object OS2 exists. When this position is specified, the display control unit 14 executes ship information display. Specifically, the display control unit 14 displays an information display object IF (see Figure 7) containing ship information, associated with the other ship object OS2.

[0075] The cursor position C1 is the position where the echo object E and OZT2 overlap. When this position is specified, the display control unit 14 performs one of the predetermined actions: echo tracking and acquisition or other vessel identification display. In this example, echo tracking and acquisition is performed, but it is not limited to this; other vessel identification display may also be performed. Furthermore, both echo tracking and acquisition and other vessel identification display may be performed in parallel.

[0076] The cursor position C2 is the position where echo object E, OZT1, and OZT2 overlap. When this position is specified, the display control unit 14 performs one of the predetermined actions: echo tracking and acquisition, or other vessel identification display. In this example, echo tracking and acquisition is performed, but it is not limited to this; other vessel identification display may also be performed. The other vessel identification display when the position where the two OZT1 and OZT2 overlap is specified will be described later. It is not limited to this; both echo tracking and acquisition and other vessel identification display may be performed in parallel.

[0077] The cursor position C3 is the position where the other ship objects OS3 and OZT2 overlap. When this position is specified, the display control unit 14 executes one of the predetermined options: ship information display or other ship identification display. In this example, ship information display is executed, but it is not limited to this; other ship identification display may also be executed. Furthermore, both ship information display and other ship identification display may be performed in parallel.

[0078] OZT1 and OZT2 are often displayed over a wider area than the other vessel object OS3 or echo object E, and it is easy to specify a position where the other vessel object OS3 or echo object E does not overlap with them. Therefore, in positions where OZT1 or OZT2 overlaps with the other vessel object OS3 or echo object E, it is preferable that the processing related to the other vessel object OS3 or echo object E takes priority.

[0079] The process is not limited to the example in Figure 9 above; for example, as shown in Figure 10, different processes may be selected depending on how the position is specified. For example, at cursor positions C1 and C2, echo tracking and acquisition are performed when clicked, and other vessel identification is displayed when the cursor hovers over it. At cursor position C3, ship information is displayed when clicked, and other vessel identification is displayed when the cursor hovers over it.

[0080] Additionally, at cursor position C4, nothing is executed when clicked, but other vessel identification is displayed when the cursor hovers over it. At cursor position C5, echo tracking is executed when clicked, but nothing is executed when the cursor hovers over it. At cursor position C6, ship information is displayed when clicked, but nothing is executed when the cursor hovers over it.

[0081] Furthermore, as shown in Figure 11, if a position ZL is specified where multiple OZT1 and OZT2 overlap, the display control unit 14 identifies and displays one other vessel object CS1 from among the multiple other vessel objects OS1 and OS2, determined according to the degree of collision risk, distance from the specified position ZL, distance from the own vessel object SS, or the degree to which it obstructs the navigation of the own vessel.

[0082] Regarding the degree of collision risk, for example, among the other vessel objects OS1 and OS2, the one with the higher collision risk at the specified position ZL is selected. The collision risk is calculated as shown in Figure 4 above, with the risk increasing as the other vessel CO is closer to the own vessel CS. Therefore, the collision risk is higher in the central part of the risk range L compared to both ends.

[0083] Regarding the distance from the specified position ZL, for example, among the other ship objects OS1 and OS2, the one closer to the specified position ZL will be selected. Alternatively, the one further away from the specified position ZL (i.e., the one with the higher ship speed) may be selected. Regarding the distance from the own ship object SS, for example, among the other ship objects OS1 and OS2, the one closer to the own ship object SS will be selected.

[0084] Regarding the degree to which the navigation of one's own vessel is obstructed, for example, among the other vessel objects OS1 and OS2, the one in which OZT1 and OZT2 occupy a larger proportion within a 360-degree range centered on the own vessel object SS is selected. Furthermore, this angular range is not limited to 360 degrees, but may be a predetermined angular range in front of the own vessel.

[0085] The display control unit 14 may, when a position ZL where multiple OZT1 and OZT2 overlap is specified, identify and display other ship objects OS1 and OS2 corresponding to all specified OZT1 and OZT2.

[0086] Although embodiments of the present invention have been described above, the present invention is not limited to the embodiments described above, and various modifications are of course possible for those skilled in the art. [Explanation of Symbols]

[0087] 1. Ship monitoring device, 2. Display unit, 3. Radar, 4. AIS, 5. GNSS receiver, 6. Gyrocompass, 7. ECDIS, 8. Alarm unit, 11. Self-ship data acquisition unit, 12. Other ship data acquisition unit, 13. Risk area calculation unit, 14. Display control unit, 15. Coordinate information storage unit, 17. Designation reception unit, 18. Coordinate information acquisition unit, 19. Processing selection unit, 100. Ship monitoring system

Claims

1. A specification reception unit that accepts the specification of a position within the image displayed on the display unit, A first data acquisition unit that acquires first ship data representing the position and speed of the first ship, A second data acquisition unit that acquires multiple second vessel data representing the position and speed of multiple second vessels, A risk area calculation unit calculates a collision risk area in which the risk of collision between the first vessel and each of the second vessels exceeds a predetermined level, based on the first vessel data and a plurality of second vessel data. A display control unit that arranges and displays multiple ship objects representing multiple second ships and the collision risk area at corresponding positions in the image, and when a collision risk area is specified, identifies and displays the ship object corresponding to the specified collision risk area from other ship objects, A ship monitoring device equipped with the following features.

2. The display control unit identifies and displays an information display object containing ship information in association with the ship object corresponding to the designated collision risk area. The ship monitoring device according to claim 1.

3. The display control unit identifies and displays the ship object corresponding to the designated collision risk area by making its display mode different from that of other ship objects. The ship monitoring device according to claim 1.

4. When a location is specified in which the collision risk area and another object overlap, the display control unit performs either the identification display of the ship object corresponding to the collision risk area or a predetermined process associated with the specification of the other object. A ship monitoring device according to any one of claims 1 to 3.

5. When a location is specified in which the collision risk area and another object overlap, the display control unit performs predetermined processing associated with the specification of the other object without performing identification display of the ship object corresponding to the collision risk area. A ship monitoring device according to any one of claims 1 to 3.

6. The other object is the ship object, The predetermined processing associated with the designation of the other object is the process of displaying an information display object containing ship information in association with the designated ship object. The ship monitoring device according to claim 4 or 5.

7. The display control unit displays echo objects in the image that represent regions with an echo intensity of a predetermined value or higher, based on echo data generated by the radar installed on the first vessel. The aforementioned other object is the echo object, The predetermined process associated with the designation of the other object is the process of registering the designated echo object as a tracking target. The ship monitoring device according to claim 4 or 5.

8. The display control unit, when the position where the collision risk area and another object overlap is specified in a first designation manner, performs identification display of the ship object corresponding to the collision risk area, and when the position where the collision risk area and the other object overlap is specified in a second designation manner, performs predetermined processing associated with the designation of the other object. A ship monitoring device according to any one of claims 1 to 3.

9. When a location where multiple collision risk areas overlap is specified, the display control unit identifies and displays one of the multiple vessel objects, determined based on the degree of collision risk, distance from the specified location, distance from the first vessel, or degree to which it obstructs the navigation of the first vessel. A ship monitoring device according to any one of claims 1 to 3.

10. The display control unit, when a location is specified where multiple collision risk areas overlap, identifies and displays multiple ship objects corresponding to the specified multiple collision risk areas. A ship monitoring device according to any one of claims 1 to 3.

11. The first ship data includes the position of the first ship as detected by a GNSS (Global Navigation Satellite System) receiver installed on the first ship. A ship monitoring device according to any one of claims 1 to 10.

12. The second ship data includes the position and speed of the second ship as detected by radar installed on the first ship, A ship monitoring device according to any one of claims 1 to 11.

13. The second vessel data includes the position and speed of the second vessel detected by the AIS (Automatic Identification System) installed on the first vessel. A ship monitoring device according to any one of claims 1 to 12.

14. By computer, The first data generation unit generates first ship data representing the position and speed of the first ship, The second data generation unit generates multiple second vessel data representing the positions and speeds of multiple second vessels. Based on the first vessel data and the multiple second vessel data, a collision risk region is calculated in which the risk of collision between the first vessel and each of the second vessels exceeds a predetermined value. The display unit displays an image in which multiple ship objects representing multiple second ships and the collision risk areas are placed in corresponding positions. When the collision risk area is specified, the ship object corresponding to the specified collision risk area is distinguished from other ship objects. Ship monitoring method.

15. To acquire first vessel data representing the position and speed of the first vessel, To acquire multiple second vessel data representing the position and speed of multiple second vessels, Based on the first vessel data and the multiple second vessel data, calculate the collision risk area in which the risk of collision between the first vessel and each of the second vessels exceeds a predetermined value. Displaying on the display unit an image in which multiple ship objects representing multiple second ships and the collision risk area are placed in corresponding positions, and When the collision risk area is designated, the ship object corresponding to the designated collision risk area is distinguished from other ship objects. A program that causes a computer to execute something.

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